CN105055111B - Mechanical arm for exoskeleton rehabilitation training - Google Patents
Mechanical arm for exoskeleton rehabilitation training Download PDFInfo
- Publication number
- CN105055111B CN105055111B CN201510488210.4A CN201510488210A CN105055111B CN 105055111 B CN105055111 B CN 105055111B CN 201510488210 A CN201510488210 A CN 201510488210A CN 105055111 B CN105055111 B CN 105055111B
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- motor
- gear
- axle
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- bevel gear
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- 210000000245 forearm Anatomy 0.000 claims description 19
- 238000005452 bending Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000001537 neural effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to a mechanical arm for exoskeleton rehabilitation training and belongs to the technical field of medical instruments. According to the mechanical arm, a motor I and a motor II are installed on a supporting plate. A shaft III of a shoulder supporting rod and a hollow shaft of a bevel gear II are connected with bearing holes in the supporting plate through bearings. A motor gear I and a motor gear II are connected with the motor II and the motor I respectively. A small gear is connected with the shaft III of the shoulder supporting rod. A large gear is connected with the hollow shaft of the bevel gear II. The shaft III of the shoulder supporting rod penetrates through the middle of the hollow shaft of the bevel gear II. A shaft I is matched with a shaft hole of the shoulder supporting rod. A bevel gear I and an upper arm are both fixedly connected with the shaft I. A fixing device I is arranged at the lower end of the upper arm. A front arm is fixedly connected with a shaft II and then is connected with the upper arm. A motor III is installed at the lower end of the upper arm. A motor gear III is installed on the motor III and meshed with a gear on the shaft II. A fixing device II is arranged at the lower end of the front arm. The mechanical arm for exoskeleton rehabilitation training is simple in structure, comprehensive in training function and easy to wear.
Description
Technical field
The present invention relates to a kind of exoskeleton rehabilitation training manipulator arm, belongs to technical field of medical instruments.
Background technology
China is just marching toward aging society, hemiplegia, extremity dysfunction for being caused due to nervous system disease such as apoplexy etc.,
The quality of life of patient is had a strong impact on, to society and family white elephant, the achievement in research table of neural rehabilitation field are brought
Bright, central nervous system has the plasticity of height, and experimentation shows, in neural rehabilitation course, specific functional training
It is requisite, this provides important medical science foundation for the research of rehabilitation system, using light mechanical and electrical integration, develops
The rehabilitation equipment of ill limb motion motility can be improved, with important theoretical significance and actual application value.
The content of the invention
The invention provides a kind of exoskeleton rehabilitation training manipulator arm, for solving what old people caused because of disease
The problem of arm function obstacle.
The technical scheme is that：A kind of exoskeleton rehabilitation training manipulator arm, including motor I 1, motor II 2, support
Plate 3, bearing 4, motor gear I 5, little gear 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, electricity
Machine gear II 12, upper arm 13, fixing device I 14, motor III 15, axle II 16, forearm 17, fixing device II 18, motor gear III
19th, gear 20；Wherein motor I 1, motor II 2 are arranged in gripper shoe 3, the 9_2 of axle III of shoulder support bar 9 and bevel gear II 10
Hollow axle 10_1 and gripper shoe 3 on dead eye junction all connected using bearing 4, motor gear I 5, motor gear II 12
It is connected with motor II 2, motor I 1 respectively, little gear 6 is connected with the 9_2 of axle III of shoulder support bar 9, and little gear 6 and motor tooth
II 12 engagements are taken turns, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 is engaged with motor gear I 5, shoulder
The 9_2 of axle III of support bar 9 is passed through from the middle of the hollow axle 10_1 of bevel gear II 10, and can be relatively rotated, and axle I 11 is propped up with shoulder
The axis hole 9_1 of strut 9 coordinates, and can freely rotate, and bevel gear I 8 and upper arm 13 are all fixedly connected with axle I 11, and bevel gear I
8 engage with bevel gear II 10, and the lower end of upper arm 13 is provided with fixing device I 14, and forearm 17 is fixedly connected rear and upper arm 13 with axle II 16
Connection, motor III 15 is arranged on the lower end of upper arm 13, and motor gear III 19 is arranged on motor III 15, motor gear III 19 and axle II
Gear 20 on 16 is engaged, and the lower end of forearm 17 is provided with fixing device II 18.
The fixing device I 14 and fixing device II 18 stated can be adjusted according to the size of arm, to fix handss
Arm.
The mechanism controls upper arm of the motor I 1, motor gear II 12, little gear 6, shoulder support bar 9 and axle I 11 composition
13 swings.
Mechanism's control of the motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 composition
The sideshake of upper arm processed 13.
The motor III 15, axle II 16, motor gear III 19, the mechanism controls forearm 17 of the composition of gear 20 bend and stretch
Exhibition.
The present invention use process be：
This exoskeleton rehabilitation training manipulator arm is worn on patient's arm, patient or medical personnel will need training
Content is input into host computer, and host computer issues instructions to real-time controller, the motion of controller motor, and Poewr transmission mechanism is by power
Target arm is delivered to away from displacement, arm is moved by specified motion mode, power, displacement, velocity sensor are real-time
Ectoskeletal kinestate is measured, and measurement data is fed back to into controller, form close loop control circuit.
The invention has the beneficial effects as follows：Simple structure, training function is more comprehensive, easily wearing；Using straight tooth column tooth
Wheel and the combination of bevel gear, dexterously solve two degree of freedom problem more rambunctious of shoulder.
Description of the drawings
Fig. 1 is the front overall structure diagram of the present invention；
Fig. 2 is the side overall structure diagram of the present invention；
Fig. 3 is the shoulder controlling organization structural representation of the present invention；
Fig. 4 is the elbow structure schematic diagram of the present invention；
Fig. 5 is the shoulder support bar structural representation of the present invention；
Fig. 6 is the structural representation of bevel gear II of the present invention；
Each label in figure：1- motors I, 2- motors II, 3- gripper shoes, 4- bearings, 5- motor gears I, 6- little gears, 7- are big
Gear, 8- bevel gears I, 9- shoulder support bars, 9_1- axis holes, 9_2- axles III, 10- bevel gears II, 10_1- hollow axles, 11- axles I,
12- motor gears II, 13- upper arm, 14- fixing devices I, 15- motors III, 16- axles II, 17- forearms, 18- fixing devices II,
19- motor gears III, 20- gears.
Specific embodiment
Embodiment 1：As shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, including motor I 1, motor II 2,
Fagging 3, bearing 4, motor gear I 5, little gear 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11,
Motor gear II 12, upper arm 13, fixing device I 14, motor III 15, axle II 16, forearm 17, fixing device II 18, motor gear
III 19, gear 20；Wherein motor I 1, motor II 2 are arranged in gripper shoe 3, the 9_2 of axle III of shoulder support bar 9 and bevel gear II
Dead eye junction on 10 hollow axle 10_1 and gripper shoe 3 is all connected using bearing 4, motor gear I 5, motor gear II
12 are connected respectively with motor II 2, motor I 1, and little gear 6 is connected with the 9_2 of axle III of shoulder support bar 9, and little gear 6 and motor
Gear II 12 is engaged, and gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 is engaged with motor gear I 5, shoulder
The 9_2 of axle III of portion's support bar 9 is passed through from the middle of the hollow axle 10_1 of bevel gear II 10, and can be relatively rotated, axle I 11 and shoulder
The axis hole 9_1 of support bar 9 coordinates, and can freely rotate, and bevel gear I 8 and upper arm 13 are all fixedly connected with axle I 11, and bores tooth
Take turns I 8 to engage with bevel gear II 10, the lower end of upper arm 13 is provided with fixing device I 14, forearm 17 is fixedly connected rear and upper arm with axle II 16
13 connections, motor III 15 is arranged on the lower end of upper arm 13, and motor gear III 19 is arranged on motor III 15, motor gear III 19 and axle
Gear 20 on II 16 is engaged, and the lower end of forearm 17 is provided with fixing device II 18.
The fixing device I 14 and fixing device II 18 stated can be adjusted according to the size of arm, to fix handss
Arm.
The mechanism controls upper arm of the motor I 1, motor gear II 12, little gear 6, shoulder support bar 9 and axle I 11 composition
13 swings.
Mechanism's control of the motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 composition
The sideshake of upper arm processed 13.
The motor III 15, axle II 16, motor gear III 19, the mechanism controls forearm 17 of the composition of gear 20 bend and stretch
Exhibition.
Embodiment 2：As shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, including motor I 1, motor II 2,
Fagging 3, bearing 4, motor gear I 5, little gear 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11,
Motor gear II 12, upper arm 13, fixing device I 14, motor III 15, axle II 16, forearm 17, fixing device II 18, motor gear
III 19, gear 20；Wherein motor I 1, motor II 2 are arranged in gripper shoe 3, the 9_2 of axle III of shoulder support bar 9 and bevel gear II
Dead eye junction on 10 hollow axle 10_1 and gripper shoe 3 is all connected using bearing 4, motor gear I 5, motor gear II
12 are connected respectively with motor II 2, motor I 1, and little gear 6 is connected with the 9_2 of axle III of shoulder support bar 9, and little gear 6 and motor
Gear II 12 is engaged, and gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 is engaged with motor gear I 5, shoulder
The 9_2 of axle III of portion's support bar 9 is passed through from the middle of the hollow axle 10_1 of bevel gear II 10, and can be relatively rotated, axle I 11 and shoulder
The axis hole 9_1 of support bar 9 coordinates, and can freely rotate, and bevel gear I 8 and upper arm 13 are all fixedly connected with axle I 11, and bores tooth
Take turns I 8 to engage with bevel gear II 10, the lower end of upper arm 13 is provided with fixing device I 14, forearm 17 is fixedly connected rear and upper arm with axle II 16
13 connections, motor III 15 is arranged on the lower end of upper arm 13, and motor gear III 19 is arranged on motor III 15, motor gear III 19 and axle
Gear 20 on II 16 is engaged, and the lower end of forearm 17 is provided with fixing device II 18.
The mechanism controls upper arm of the motor I 1, motor gear II 12, little gear 6, shoulder support bar 9 and axle I 11 composition
13 swings.
Mechanism's control of the motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 composition
The sideshake of upper arm processed 13.
The motor III 15, axle II 16, motor gear III 19, the mechanism controls forearm 17 of the composition of gear 20 bend and stretch
Exhibition.
Embodiment 3：As shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, including motor I 1, motor II 2,
Fagging 3, bearing 4, motor gear I 5, little gear 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11,
Motor gear II 12, upper arm 13, fixing device I 14, motor III 15, axle II 16, forearm 17, fixing device II 18, motor gear
III 19, gear 20；Wherein motor I 1, motor II 2 are arranged in gripper shoe 3, the 9_2 of axle III of shoulder support bar 9 and bevel gear II
Dead eye junction on 10 hollow axle 10_1 and gripper shoe 3 is all connected using bearing 4, motor gear I 5, motor gear II
12 are connected respectively with motor II 2, motor I 1, and little gear 6 is connected with the 9_2 of axle III of shoulder support bar 9, and little gear 6 and motor
Gear II 12 is engaged, and gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 is engaged with motor gear I 5, shoulder
The 9_2 of axle III of portion's support bar 9 is passed through from the middle of the hollow axle 10_1 of bevel gear II 10, and can be relatively rotated, axle I 11 and shoulder
The axis hole 9_1 of support bar 9 coordinates, and can freely rotate, and bevel gear I 8 and upper arm 13 are all fixedly connected with axle I 11, and bores tooth
Take turns I 8 to engage with bevel gear II 10, the lower end of upper arm 13 is provided with fixing device I 14, forearm 17 is fixedly connected rear and upper arm with axle II 16
13 connections, motor III 15 is arranged on the lower end of upper arm 13, and motor gear III 19 is arranged on motor III 15, motor gear III 19 and axle
Gear 20 on II 16 is engaged, and the lower end of forearm 17 is provided with fixing device II 18.
Above in conjunction with accompanying drawing to the present invention specific embodiment be explained in detail, but the present invention be not limited to it is above-mentioned
Embodiment, in the ken that those of ordinary skill in the art possess, can be with before without departing from present inventive concept
Put that various changes can be made.
Claims (3)
1. a kind of exoskeleton rehabilitation training manipulator arm, it is characterised in that：Including motor I（1）, motor II（2）, gripper shoe（3）、
Bearing（4）, motor gear I（5）, little gear（6）, gear wheel（7）, bevel gear I（8）, shoulder support bar（9）, bevel gear II
（10）, axle I（11）, motor gear II（12）, upper arm（13）, fixing device I（14）, motor III（15）, axle II（16）, forearm
（17）, fixing device II（18）, motor gear III（19）, gear（20）；Wherein motor I（1）, motor II（2）Installed in support
Plate（3）On, shoulder support bar（9）Axle III（9_2）With bevel gear II（10）Hollow axle（10_1）With gripper shoe（3）On axle
Bearing bore junction all uses bearing（4）Connection, motor gear I（5）, motor gear II（12）Respectively with motor II（2）, motor I
（1）Connection, little gear（6）With shoulder support bar（9）Axle III（9_2）Connection, and little gear（6）With motor gear II（12）Nibble
Close, gear wheel（7）With bevel gear II（10）Hollow axle（10_1）Connection, and gear wheel（7）With motor gear I（5）Engagement, shoulder
Portion's support bar（9）Axle III（9_2）From bevel gear II（10）Hollow axle（10_1）Centre passes through, and can relatively rotate, axle I
（11）With shoulder support bar（9）Axis hole（9_1）Coordinate, and can freely rotate, bevel gear I（8）And upper arm（13）All with axle I
（11）It is fixedly connected, and bevel gear I（8）With bevel gear II（10）Engagement, upper arm（13）Lower end is provided with fixing device I（14）, it is front
Arm（17）With axle II（16）It is fixedly connected rear and upper arm（13）Connection, motor III（15）Installed in upper arm（13）Lower end, motor tooth
Wheel III（19）Installed in motor III（15）On, motor gear III（19）With axle II（16）On gear（20）Engagement, forearm（17）
Lower end is provided with fixing device II（18）；
The motor I（1）, motor gear II（12）, little gear（6）, shoulder support bar（9）With axle I（11）Mechanism's control of composition
Upper arm processed（13）Swing；
The motor II（2）, motor gear I（5）, gear wheel（7）, bevel gear I（8）, bevel gear II（10）With axle I（11）Composition
Mechanism controls upper arm（13）Sideshake.
2. exoskeleton rehabilitation training manipulator arm according to claim 1, it is characterised in that：The fixing device I（14）
With fixing device II（18）Can be adjusted according to the size of arm, with fixing arm.
3. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, it is characterised in that：The motor III（15）、
Axle II（16）, motor gear III（19）, gear（20）The mechanism controls forearm of composition（17）Bending and stretching, extension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510488210.4A CN105055111B (en) | 2015-08-11 | 2015-08-11 | Mechanical arm for exoskeleton rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510488210.4A CN105055111B (en) | 2015-08-11 | 2015-08-11 | Mechanical arm for exoskeleton rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105055111A CN105055111A (en) | 2015-11-18 |
| CN105055111B true CN105055111B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510488210.4A Expired - Fee Related CN105055111B (en) | 2015-08-11 | 2015-08-11 | Mechanical arm for exoskeleton rehabilitation training |
Country Status (1)
| Country | Link |
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| CN (1) | CN105055111B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017006322A2 (en) * | 2015-07-06 | 2017-01-12 | Rewalk Robotics Ltd. | Methods and apparatuses for exoskeleton attachment |
| CN106181970B (en) * | 2016-08-23 | 2018-11-27 | 上海中军哈工大企业发展有限公司 | A kind of Robot model |
| CN106378772B (en) * | 2016-11-28 | 2019-02-26 | 国网山东省电力公司济南市长清区供电公司 | One kind carrying wearable mechanical-assisted arm based on lever principle |
| CN108032295A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of mobile rotating mechanism for manipulator |
| CN111098293B (en) * | 2020-02-19 | 2023-03-24 | 孟子权 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
| CN113018106B (en) * | 2021-03-31 | 2022-11-01 | 李建军 | Shoulder neck massage appearance for department of neurology |
| CN113018105B (en) * | 2021-03-31 | 2022-08-23 | 马兴顺 | Department of neurology shoulder neck pain adjunctie therapy device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1480119A (en) * | 2003-07-25 | 2004-03-10 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
| EP2067462A1 (en) * | 2007-12-04 | 2009-06-10 | Istituto S. Anna di Ezio Pugliese s.r.l. | System and method for rehabilitation |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
| CN104666049A (en) * | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
| CN205019347U (en) * | 2015-08-11 | 2016-02-10 | 昆明理工大学 | Ectoskeleton rehabilitation training robotic arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
-
2015
- 2015-08-11 CN CN201510488210.4A patent/CN105055111B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1480119A (en) * | 2003-07-25 | 2004-03-10 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
| EP2067462A1 (en) * | 2007-12-04 | 2009-06-10 | Istituto S. Anna di Ezio Pugliese s.r.l. | System and method for rehabilitation |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
| CN104666049A (en) * | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
| CN205019347U (en) * | 2015-08-11 | 2016-02-10 | 昆明理工大学 | Ectoskeleton rehabilitation training robotic arm |
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| Publication number | Publication date |
|---|---|
| CN105055111A (en) | 2015-11-18 |
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