CN105583812B - Structure for offset rotary motion - Google Patents
Structure for offset rotary motion Download PDFInfo
- Publication number
- CN105583812B CN105583812B CN201610158387.2A CN201610158387A CN105583812B CN 105583812 B CN105583812 B CN 105583812B CN 201610158387 A CN201610158387 A CN 201610158387A CN 105583812 B CN105583812 B CN 105583812B
- Authority
- CN
- China
- Prior art keywords
- arm
- rotating
- rotating shaft
- connecting rod
- shaped connecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 210000003414 extremity Anatomy 0.000 description 11
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 208000006820 Arthralgia Diseases 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a structure for offset rotary motion, which comprises a first rotary arm, a second rotary arm, a first Y-shaped connecting rod, a second Y-shaped connecting rod, a fixed arm, a rotary arm, a fixed sleeve position adjusting piece and a limb fixed sleeve; the fixed arm is connected with the first rotating arm to form a first rotating shaft and connected with the second rotating arm to form a second rotating shaft; the first rotating arm is connected with the first Y-shaped connecting rod to form a third rotating shaft, and is connected with the second Y-shaped connecting rod to form a fourth rotating shaft; the second rotating arm is connected with the first Y-shaped connecting rod to form a fifth rotating shaft and is connected with the second Y-shaped connecting rod to form a sixth rotation; the rotating arm is connected with the first Y-shaped connecting rod to form a seventh rotating shaft, and is connected with the second Y-shaped connecting rod to form an eighth rotating shaft; the limb fixing sleeve is arranged on the rotating arm through a fixing sleeve position adjusting piece. The invention realizes the internal/external rotation movement of the joints of the human body, and reduces the problems of large volume and low modularization degree caused by the traditional implementation mode of circular arc guide rails.
Description
Technical Field
The present invention relates to mechanical structures and robotics, and more particularly to a structure for offset rotational motion.
Background
An exoskeleton robot is an electromechanical device that can be worn on the human body to assist or expand the mobility of the human body. The exoskeleton robot has a very wide range of applications including remote control, body function enhancement, body function compensation, and limb rehabilitation training.
In wearable exoskeleton robot design, matching of the mechanical articulation axis to the human articulation axis is very important. When mismatched, the wearable exoskeleton robot can generate unintended forces at the patient's articulation. The utility model not only can cause joint pain and damage to the user, but also can limit the movement space of the limbs of the user and reduce the rehabilitation training effect. Taking the human shoulder joint inward/outward rotation as an example, the rotation axis of the motion is located inside the upper arm. In order to match the mechanical articulation axis to the axis of rotation of the human shoulder joint in/out as closely as possible, in many existing wearable exoskeleton robot designs, a circular arc shaped rail assembly is used. The design wraps and fixes the arms of the human body in the circular arc, and controls the arms to move on the guide rail through the driving part, so that the movement function of driving the internal rotation/external rotation of the shoulder joint of the human body is realized. However, the whole assembly of the design is relatively large in volume, parts are relatively scattered, and modularization difficulty is high. The same is true for forearm in/out/spin designs.
Disclosure of Invention
The purpose of the invention is that: a structure for shifting rotational movement is provided for a wearable exoskeleton robot that shifts the center of rotational movement of a mechanical joint into the interior of a user's limb coincident with the axis of the user's limb rotational movement.
In order to achieve the above object, the technical scheme of the present invention is as follows:
a structure for offset rotary motion comprises a first rotary arm, a second rotary arm, a first Y-shaped connecting rod, a second Y-shaped connecting rod, a fixed arm, a rotary arm, a fixed sleeve position adjusting piece and a limb fixed sleeve; the fixed arm is connected with the first rotating arm to form a first rotating shaft, and the fixed arm is connected with the second rotating arm to form a second rotating shaft; the first rotating arm is connected with the first Y-shaped connecting rod to form a third rotating shaft, and the first rotating arm is connected with the second Y-shaped connecting rod to form a fourth rotating shaft; the second rotating arm is connected with the first Y-shaped connecting rod to form a fifth rotating shaft, and the second rotating arm is connected with the second Y-shaped connecting rod to form a sixth rotation; the rotating arm is connected with the first Y-shaped connecting rod to form a seventh rotating shaft, and the rotating arm is connected with the second Y-shaped connecting rod to form an eighth rotating shaft; the limb fixing sleeve is arranged on the rotating arm through the fixing sleeve position adjusting piece, and the fixing arm is used as a part which is fixed in the inward/outward rotation of the joint of the human body.
The structure for offset rotary motion, wherein the first rotary shaft, the second rotary shaft, the fourth rotary shaft and the sixth rotary shaft form four rotary shafts of a first parallelogram structure together.
In the above structure for offset rotary motion, four axes of rotation of the first parallelogram structure intersect with planes of the first rotating arm and the second rotating arm respectively, and intersection points are A, B, C, D respectively.
In the above structure for offset rotary motion, the third rotation axis, the fourth rotation axis, the seventh rotation axis and the eighth rotation axis form four rotation axes of the second parallelogram structure together.
In the above structure for offset rotary motion, four axes of rotation of the second parallelogram structure intersect with planes of the first rotating arm and the second rotating arm respectively, and intersection points are C, D, G, H respectively.
In the above structure for offset rotary motion, the fifth rotation axis, the sixth rotation axis, the seventh rotation axis and the eighth rotation axis form four rotation axes of the third parallelogram structure together.
In the above structure for offset rotary motion, the four axes of rotation of the third parallelogram are respectively intersected with the planes where the first rotating arm and the second rotating arm are located, and the intersection points are E, F, G, H respectively.
The structure for offset rotary motion, wherein the distance between the adjusting limb fixing sleeve and the joint rotation shaft is adjusted by the fixing sleeve position adjusting piece, so that the joint rotation shaft is kept to coincide with the inner and outer/rotation axes of the joint of the human body.
The invention realizes the internal/external rotation movement of the human joint by using the rotation movement offset mechanism, and reduces the problems of large volume and low modularization degree caused by the traditional implementation mode of circular arc guide rails.
Drawings
Fig. 1 is a schematic view of a structure for an offset rotational motion according to the present invention.
Fig. 2 is a schematic view of a structure for offset rotational movement according to the present invention in a rotated state.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, a structure for offset rotation includes a first rotating arm 101, a second rotating arm 102, a first Y-shaped connecting rod 103, a second Y-shaped connecting rod 104, a fixed arm 105, a rotating arm 106, a fixed sleeve position adjusting member 107 and a limb fixing sleeve 108; the fixed arm 105 is connected with the first rotating arm 101 to form a first rotating shaft 100A, and the fixed arm 105 is connected with the second rotating arm 102 to form a second rotating shaft 100B; the first rotating arm 101 is connected with the first Y-shaped connecting rod 103 to form a third rotating shaft 100C, and the first rotating arm 101 is connected with the second Y-shaped connecting rod 104 to form a fourth rotating shaft 100D; the second rotating arm 102 is connected with the first Y-shaped connecting rod 103 to form a fifth rotating shaft 100E, and the second rotating arm 102 is connected with the second Y-shaped connecting rod 104 to form a sixth rotating shaft 100F; the rotating arm 106 is connected with the first Y-shaped connecting rod 103 to form a seventh rotating shaft 100G, and the rotating arm 106 is connected with the second Y-shaped connecting rod 104 to form an eighth rotating shaft 100H; the limb fixation sleeve 108 is arranged on the rotating arm 106 through the fixation sleeve position adjusting piece 107, and the fixation arm 105 is used as a part which is fixed in the inward/outward rotation movement of the human joint.
The first rotation axis 100A, the second rotation axis 100B, the fourth rotation axis 100D, and the sixth rotation axis 100F together form four rotation axes of the first parallelogram structure 101P.
The four rotation axes of the first parallelogram structure 101P intersect with the planes of the first rotation arm 101 and the second rotation arm 102 respectively, and the intersection points are A, B, C, D respectively.
The third rotation axis 100C, the fourth rotation axis 100D, the seventh rotation axis 100G, and the eighth rotation axis 100H together form four rotation axes of the second parallelogram structure 102P.
The four axes of rotation of the second parallelogram structure 102P intersect the planes of the first rotating arm 101 and the second rotating arm 102 respectively, and the intersection points are C, D, G, H respectively.
The fifth rotation axis 100E, the sixth rotation axis 100F, the seventh rotation axis 100G, and the eighth rotation axis 100H together form four rotation axes of the third parallelogram structure 103P.
The four rotation axes of the third parallelogram 103P intersect with the planes of the first rotation arm 101 and the second rotation arm 102, and the intersection points are E, F, G, H.
The distance between the adjusting limb fixing sleeve 108 and the joint rotation shaft 1000C is adjusted through the fixing sleeve position adjusting piece 107, so that the rotating motion is suitable for limbs with different thicknesses, and the joint rotation shaft 1000C is kept to coincide with the inner and outer/rotation axes of the joint of a human body.
When the first rotating arm 101 rotates about the first rotation axis 100A, in the first parallelogram structure 101P, the edge CD will rotate about the first rotation axis 100A and the edge EF will also do the same rotation about the second rotation axis according to the inherent mechanical principles of the parallelogram. Since the edge GH is the opposite of both the edge CD in the second parallelogram 102P and the edge EF in the third parallelogram 103P, the edge GH will rotate about a fixed axis of rotation, and the distance of this axis of rotation from the eighth axis of rotation 100H is equal to the length of the edge AC and also equal to the length of the edge BE, which is fixed. The shaft can be used as the joint rotation shaft 1000C as an axis for driving the internal/external rotation of the human joint.
In summary, the invention realizes the internal/external rotation movement of the human joint by using the rotation movement offset mechanism, and reduces the problems of large volume and low modularization caused by the traditional implementation mode of circular arc guide rails.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the content of the present invention or technical fields directly or indirectly attached to other related products are included in the scope of the present invention.
Claims (5)
1. A structure for offset rotational movement, characterized by: the device comprises a first rotating arm, a second rotating arm, a first Y-shaped connecting rod, a second Y-shaped connecting rod, a fixed arm, a rotating arm, a fixed sleeve position adjusting piece and a limb fixed sleeve; the fixed arm is connected with the first rotating arm to form a first rotating shaft, and the fixed arm is connected with the second rotating arm to form a second rotating shaft; the first rotating arm is connected with the first Y-shaped connecting rod to form a third rotating shaft, and the first rotating arm is connected with the second Y-shaped connecting rod to form a fourth rotating shaft; the second rotating arm is connected with the first Y-shaped connecting rod to form a fifth rotating shaft, and the second rotating arm is connected with the second Y-shaped connecting rod to form a sixth rotating shaft; the rotating arm is connected with the first Y-shaped connecting rod to form a seventh rotating shaft, and the rotating arm is connected with the second Y-shaped connecting rod to form an eighth rotating shaft; the limb fixing sleeve is arranged on the rotating arm through the fixing sleeve position adjusting piece, and the fixing arm is used as a part which is fixed in the inward/outward rotation of the joint of the human body;
the first rotating shaft, the second rotating shaft, the fourth rotating shaft and the sixth rotating shaft form four rotating shafts of a first parallelogram structure together;
the third rotating shaft, the fourth rotating shaft, the seventh rotating shaft and the eighth rotating shaft form four rotating shafts of a second parallelogram structure together;
the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft form four rotating shafts of a third parallelogram structure.
2. The structure for offset rotational movement of claim 1, wherein: the four rotating shafts of the first parallelogram structure are respectively intersected with planes where the first rotating arm and the second rotating arm are located, and the intersection points are A, B, C, D respectively.
3. The structure for offset rotational movement of claim 2, wherein: the four rotating shafts of the second parallelogram structure are respectively intersected with the planes where the first rotating arm and the second rotating arm are located, and the intersection points are C, D, G, H respectively.
4. The structure for offset rotational movement of claim 1, wherein: the four rotating shafts of the third parallelogram are respectively intersected with the planes where the first rotating arm and the second rotating arm are located, and the intersection points are E, F, G, H respectively.
5. The structure for offset rotational movement of claim 1, wherein: the distance between the adjusting limb fixing sleeve and the joint rotating shaft is adjusted through the fixing sleeve position adjusting piece, and the joint rotating shaft is kept to coincide with the inner/outer rotation axis of the joint of the human body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158387.2A CN105583812B (en) | 2016-03-21 | 2016-03-21 | Structure for offset rotary motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158387.2A CN105583812B (en) | 2016-03-21 | 2016-03-21 | Structure for offset rotary motion |
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| Publication Number | Publication Date |
|---|---|
| CN105583812A CN105583812A (en) | 2016-05-18 |
| CN105583812B true CN105583812B (en) | 2024-02-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610158387.2A Active CN105583812B (en) | 2016-03-21 | 2016-03-21 | Structure for offset rotary motion |
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| Country | Link |
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| CN (1) | CN105583812B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120119738A (en) * | 2011-04-22 | 2012-10-31 | 한양대학교 에리카산학협력단 | Rehabilitation medicine device for compound joint motion |
| CN103070756A (en) * | 2013-01-06 | 2013-05-01 | 北京工业大学 | Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility |
| CN205394529U (en) * | 2016-03-21 | 2016-07-27 | 上海卓道医疗科技有限公司 | A structure for squinting rotary motion |
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 |
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2016
- 2016-03-21 CN CN201610158387.2A patent/CN105583812B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120119738A (en) * | 2011-04-22 | 2012-10-31 | 한양대학교 에리카산학협력단 | Rehabilitation medicine device for compound joint motion |
| CN103070756A (en) * | 2013-01-06 | 2013-05-01 | 北京工业大学 | Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility |
| CN205394529U (en) * | 2016-03-21 | 2016-07-27 | 上海卓道医疗科技有限公司 | A structure for squinting rotary motion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105583812A (en) | 2016-05-18 |
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