CN105597280A - Active-passive upper limb rehabilitation training exoskeleton - Google Patents
Active-passive upper limb rehabilitation training exoskeleton Download PDFInfo
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- CN105597280A CN105597280A CN201610161507.4A CN201610161507A CN105597280A CN 105597280 A CN105597280 A CN 105597280A CN 201610161507 A CN201610161507 A CN 201610161507A CN 105597280 A CN105597280 A CN 105597280A
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- forearm
- shoulder joint
- ectoskeleton
- hinged
- steel wire
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Abstract
The invention discloses an active-passive upper limb rehabilitation training exoskeleton. An elbow joint connecting base on a big arm is fixedly connected with an elbow joint output wheel on a forearm, one end of an outward turning shaft is hinged to a crossarm of a shoulder joint skeleton, and the other end of the outward turning shaft is connected with a bearing inner race; a driving belt wheel is fixedly installed on the outward turning shaft and sleeved with one end of a synchronous belt, a driven belt wheel is sleeved with the other end of the synchronous belt and fixedly installed on an output shaft of a back driving motor, the back driving motor is fixedly connected with a back driving motor base, the back driving motor base is fixedly connected with an arched connecting rod on the back, a back driving motor driver is fixedly connected with the back driving motor base through a back driving motor driver bracket, the back driving motor driver is electrically connected with the back driving motor, a forearm binding mechanism is hinged to an exoskeleton substrate on the forearm, and a big arm binding mechanism is hinged to an exoskeleton upper arm on the big arm. The active-passive upper limb rehabilitation training exoskeleton is applied to rehabilitation medicine, large-scale engineering construction and material handling.
Description
Technical field
The present invention relates to a kind of exoskeleton robot, be specifically related to the moving rehabilitation training of upper limbs ectoskeleton that mixes of a kind of main quilt.
Background technology
Exoskeleton robot is a kind of technology of man-machine combination of complexity, and it has merged machinery, sensing, control, information, electricityNumerous scientific domain knowledge such as sub-technology and artificial intelligence, are combined in one by the mechanical energy of people's intelligence and mechanical driver unitRise, transmit force and motion by man-machine physical contact and realize the functions such as the auxiliary and attitude detection of action, rely on sensor simultaneouslyRealize information interaction with wearer.
Through the development of more than 40 years, ectoskeleton had more and more general application in a lot of fields. Such as, in military affairs,The endurance that ectoskeletal auxiliary Hui Shi army fights in the wild strengthens, and ectoskeleton provides energy for soldier, with it negative of soldierWeigh and born by ectoskeleton, capacity for individual action is improved greatly; On civilian. Ectoskeleton can be used for carrying thing, large-scaleIn engineering construction or in material handling operation, can make labourer's endurance more lasting; Medically, exoskeleton robot canTo be widely used in medical science of recovery therapy, patient not only can carry out effective functional rehabilitation instruction by dressing exoskeleton robotPractice, and can help Rehabilitation muscle by the control of wearer electromyographic signal, promote cental system to recover. In configuration,Ectoskeleton is also varied, can take different configuration modes, have the perfect laminating person, has software, has the end to pasteClose etc., each have their own advantage also has difference in principle, useful hydraulic pressure, useful pneumatic, also useful electronic, there are some ectoskeletons being also mingled with gravitational equilibrium, owe the principles such as driving. Along with entering of social modernization, process of industrializationDeeply, the application of mechanical exoskeleton will relate to the various aspects that human lives produces to one step, can predict mechanical dermoskeletonThe prospect of bone is very vast.
At ectoskeleton design aspect, it is its key property that structure personalizes, and is also the guarantee of security and comfortableness.Human upper limb mainly comprises shoulder, ancon and three physiological joint of wrist, and it can complete extremely complicated meticulous motion, asFruit thinks intactly to reappear this motion, and upper limbs exoskeleton robot need to intactly reappear this motion, and upper limbs exoskeleton robot needsWant the numerous free degree, but this can cause mechanism's heaviness and control the problems such as redundancy. Therefore, need to analyze human upper limbPhysiological movement form is also made appropriateness and is simplified, and obtains ectoskeleton and designs available kinematics model, ensures good man-machine fortune simultaneouslyMoving chain compatibility. Existing upper limbs exoskeleton robot adopts seven freedom series connection kinematics model, i.e. shoulder flexion/extension mostly(front and back pendulum), interior receipts/abduction (left and right pendulum), internal/external rotations (large arm rotation); Ancon flexion/extension; Wrist inward turning/outerRevolve, interior receipts/abduction, flexion/extension. Because the shoulder internal/external rotations free degree both can be regarded as in shoulder joint and complete also and can regard asElbow joint completes, so shoulder joint and elbow joint have two kinds of layout ways conventionally, the first is three complete freedom of shoulder jointDegree adds that elbow joint single-degree-of-freedom, the second are shoulder joint flexion/extensions, and interior receipts/abduction free degree adds elbow joint flexion/extension, around greatlyThe arm internal/external rotations free degree.
For the ectoskeleton having at present, be to be all the drivings of taking the initiative mostly, but in the motion process of human body, haveEnergy Ratios as gravitional force be back and forth to change, but in the process of active drive, gravitional force is in the mistake that raises and reduceCheng Zhong, driving element all does positive work, has wasted gravitional force, has also wasted exerting oneself of driving element simultaneously. And currentThe equal more complicated of existing upper limbs ectoskeleton structure, capacity usage ratio is extremely low, does not have indirect and aesthetic property. HaveThe ectoskeleton that utilizes gravitational equilibrium principle, structure is more complicated but, or can not realize completely gravitational equilibrium. For healthRefreshment is practiced, and in some cases, only relies on gravitational equilibrium not enough, such as patients with cerebral apoplexy, just starts, and upper limbs is notThere is any locomitivity, need passive motion upper limbs, then could recover gradually, at initial stage that can active movement, bySmaller in exerting oneself, under gravitational equilibrium effect, after balance upper limbs weight, also need self output balance inertial force moment,So can cause movement velocity too slow, affect resume speed. Based on this, the present invention designs the moving upper limb healing of a kind of main quiltTraining ectoskeleton.
Summary of the invention
The present invention, for solving existing upper limbs ectoskeleton without any locomitivity, needs passive motion upper limbs, then couldRecover gradually, at initial stage that can active movement, smaller owing to exerting oneself, under gravitational equilibrium effect balance upper limbs weight withAfter also need self output balance inertial force moment, thereby cause movement velocity too slow, affect the problem of resume speed,And provide a kind of main quilt the moving rehabilitation training of upper limbs ectoskeleton that mixes.
A kind of main quilt of the present invention is moving mix rehabilitation training of upper limbs ectoskeleton comprise forearm, large arm, back, outer spin axis, bearing,Driving pulley, Timing Belt, passive belt wheel, back drive motors, back drive motors seat, forearm binding mechanism, large arm bundleTie up mechanism, back drive motor driver and back drive motor driver bracket, elbow joint Connection Block and forearm on large armOn elbow joint output wheel be connected, one end of outer spin axis is hinged in the crossbearer of shoulder joint skeleton, the other end of outer spin axis and axleHold interior ring and connect, driving pulley is packed in outer spin axis, and one end of Timing Belt is sleeved on driving pulley, another of Timing BeltEnd is sleeved on passive belt wheel, and passive belt wheel is packed on the output shaft of back drive motors, and back drive motors and back driveMoving motor cabinet is connected, and the curved rod on back drive motors seat and back is connected, and back drive motor driver is passed through backDrive motor driver bracket and back drive motors seat are connected, and back drive motor driver and back drive motors electrically connectConnect, the ectoskeleton substrate on forearm binding mechanism and forearm is hinged, and large arm binding mechanism is hinged with the ectoskeleton upper arm on large arm.
Technical scheme of the present invention has following beneficial effect:
One, the present invention has designed a kind of rehabilitation training of upper limbs ectoskeleton combining for the active-passive of upper limbs, has utilized heavyForce balance principle, balance wearer and ectoskeletal gravitional force, the driving of taking the initiative, in balance rehabilitation training motion processInertia force. This ectoskeleton is taked novel upper limb joint design, does not interfere with human body, is placed with spring on ectoskeleton,The change of the gravitional force causing for the variation that compensates shoulder joint angle, at upper extremity exercise process medi-spring due to joint anglesThe variation of the elastic potential energy that changes the variation of the spring length causing and cause changes, just in balance human upper limb locomotion processThe variation of the gravitional force of upper limbs, reaches in motion process and need not overcome gravity acting object, makes the human muscle canExport any power and make upper limbs keep any attitude. The present invention, for auxiliary shoulder joint and elbow joint, has 4 frees degree,Comprise shoulder joint 2DOF, elbow joint 2DOF, has taked the second described in background to arrange way. The present invention canSo that wearer upper limbs is not affected by gravity, and can compensate the inertia force in upper extremity exercise process, injured for upper limbsPatient, upper limbs force weakness, need recover, have to move in a large number, just can utilize this kind of ectoskeleton, make itCan rely on its faint strength to carry out rehabilitation training, then recover gradually, in during rehabilitation training, can put down by regulating springThe size of weighing apparatus and control system inertia force compensation size are so that the difference size of needs exerts oneself in adaptation rehabilitation training. This is outerBone also can be used as damper, carries out body building etc. In addition, this ectoskeleton also has other application, and reader can be certainlyBy bringing into play.
Two, the invention enables ectoskeleton can meet the freedom of motion of wearer upper limbs, can not occur dry with wearer againRelate to.
Three, the present invention is simple in structure, and weight is slim and graceful, pollution-free applicable rehabilitation training, and flexibility is high, adapts to various types ofNeed the patient of rehabilitation or also can be used for other purposes.
Four, utilize spring balancing gravitional force, completely passive, alleviate motor burden, make cost, stability improves.
Five, due to the effect of spring balancing, make wearer put on after ectoskeleton upper limbs under any attitude all in balancePosition, maintains attitude so do not take efforts.
Six, the present invention has regulatory function, the weight of upper limbs that can perception wearer, and automatic adjuster spring hanging point, to fitAnswer different loads, realize real-time gravitational equilibrium, if this exceedes adjustable range useable electric moter auxiliary adjustment.
Seven, motor inertia force compensation, makes wearer need not overcome inertia force in during rehabilitation training, makes rehabilitation trainingSpeed is accelerated, and accommodation is wider.
Eight, because motor drives, can realize rehabilitation training and initiatively drive wearer to carry out rehabilitation training in early days, in the later stage,Also can serve as damper, carry out strength recovery, and then complete auxiliary whole rehabilitation course.
Brief description of the drawings
Fig. 1 is the moving ectoskeletal overall structure stereogram of rehabilitation training of upper limbs that mixes of a kind of main quilt of the present invention;
Fig. 2 is that the moving ectoskeletal overall structure stereogram of rehabilitation training of upper limbs that mixes of a kind of main quilt of the present invention is (with the view of Fig. 1Angle difference);
Fig. 3 is that the moving ectoskeletal overall structure stereogram of rehabilitation training of upper limbs that mixes of a kind of main quilt of the present invention is (with Fig. 1, Fig. 2View angle difference);
Fig. 4 is the stereogram of forearm A;
Fig. 5 is the top view of Fig. 4;
Fig. 6 is the stereogram of large arm B;
Fig. 7 is the stereogram (different from the view angle of Fig. 6) of large arm B;
Fig. 8 is the stereogram (different from the view angle of Fig. 6, Fig. 7) of large arm B;
Fig. 9 is the stereogram of two parallelogram linkages;
Figure 10 is the stereogram of back C;
Figure 11 is the annexation stereogram of forearm A and large arm B;
Figure 12 is back drive motors seat J and large arm B annexation stereogram (driving pulley F, Timing Belt G, passiveBelt wheel H drive connection stereogram).
Detailed description of the invention
Detailed description of the invention one: in conjunction with Fig. 1～Figure 12, present embodiment is described, present embodiment comprise forearm A, largeArm B, back C, outer spin axis D, bearing E, driving pulley F, Timing Belt G, passive belt wheel H, back drive motorsI, back drive motors seat J, forearm binding mechanism K, large arm binding mechanism L, back drive motor driver P and backDrive motor driver bracket Q,
See Figure 11, the elbow joint Connection Block B45 on large arm B and the elbow joint output wheel A4 on forearm A are connected, outward turningOne end of axle D is hinged in the crossbearer B1-2 of shoulder joint skeleton B1, and the other end of outer spin axis D is connected with ring in bearing E,The axial location of the fixing outer spin axis D of shaft end ring M, it is upper that driving pulley F is packed in outer spin axis D, one of Timing Belt GIt is upper that end is sleeved on driving pulley F, and it is upper that the other end of Timing Belt G is sleeved on passive belt wheel H, after passive belt wheel H is packed inOn the output shaft of back of the body drive motors I, back drive motors I and back drive motors seat J are connected, back drive motors seat JBe connected with the curved rod C18 on back C, back drive motor driver P is by back drive motor driver bracketQ and back drive motors seat J are connected, and back drive motor driver P and back drive motors I are electrically connected, forearm bundleTie up ectoskeleton substrate A8 on the K of mechanism and forearm A hinged, the ectoskeleton upper arm on large arm binding mechanism L and large arm BB21 is hinged. Forearm A is driven and is rotated around wearer upper arm axis by large arm B. Large arm binding mechanism L and wearerBinding, transmits motion and power. Elbow joint Connection Block B45 on large arm B is driven by the steer motor B20 on large arm B,Elbow joint Connection Block B45 drives forearm A to rotate around wearer upper arm axis Z1. Back drive motors I is with by activeWheel F drives Timing Belt G to rotate, thereby drives passive belt wheel H to rotate, and then makes the shoulder joint skeleton on large arm BB1 rotates.
Detailed description of the invention two: in conjunction with Fig. 4 and Fig. 5, present embodiment is described, the forearm A of present embodiment comprises forearmDriver A1, forearm drive motors A2, forearm bearing block A3, elbow joint output wheel A4, forearm steel wire pre-tightening mechanismA5, forearm chute A7, ectoskeleton substrate A8, forearm drive motors seat A9, forearm decelerator A10, elbow joint inputAxle A11, forearm wire rope fixing device A13, elbow joint rotating shaft A16 and forearm steel wire rope A17, forearm driverA1 is connected on a side end face of ectoskeleton substrate A8, and forearm binding mechanism K is hinged on another of ectoskeleton substrate A8On side end face, forearm driver A1 and ectoskeleton substrate A8 are connected, forearm driver A1 and forearm drive motors A2Be electrically connected, forearm drive motors A2 is connected with forearm decelerator A10, and forearm decelerator A10 drives electricity by forearmSupport A9 and ectoskeleton substrate A8 are connected, and elbow joint power shaft A11 is supported in forearm bearing block A3, forearm bearingSeat A3 and ectoskeleton substrate A8 are connected, the output phase of the input of elbow joint power shaft A11 and forearm decelerator A10Connect, output and the elbow joint rotating shaft A16 of elbow joint power shaft A11 are hinged, elbow joint rotating shaft A16 and ectoskeletonSubstrate A8 is connected, and elbow joint rotating shaft A16 and forearm bearing block A3 have limited elbow joint power shaft A11 and moved axially,Elbow joint output wheel A4 and elbow joint rotating shaft A16 are hinged, and the upper surface of elbow joint output wheel A4 is provided with several the first steelSilk grooving A4-1, elbow joint power shaft A11 is provided with the first helicla flute A11-1, and one end of forearm steel wire rope A17 is by littleArm wire rope fixing device A13 fixes, and it is upper that forearm wire rope fixing device A13 is fixed on elbow joint output wheel A4, littleThe other end of arm steel wire rope A17 is entangled in the first steel wire rope groove A4-1 on elbow joint output wheel A4, twines to elbow joint defeatedWhile going out to take turns the junction of A4 and elbow joint power shaft A11, be entangled in the first helicla flute A11-1, be wound around three weeks (specifically how manyWeek can depend on the circumstances) after twine back again in another first steel wire rope groove A4-1 of elbow joint output wheel A4, forearm steelSilk rope A17 end enters forearm steel wire pre-tightening mechanism A5, forearm steel wire pre-tightening mechanism A5 pretension in forearm chute A7,Forearm chute A7 and elbow joint output wheel A4 are connected. When rotating, forearm drive motors A2 drives elbow joint power shaft A11When rotation, pull forearm steel wire rope A17, (or drive ectoskeleton substrate thereby drive elbow joint output wheel A4 to rotateA8 rotates). Other composition and annexation are identical with detailed description of the invention one.
Detailed description of the invention three: in conjunction with Fig. 4 and Fig. 5, present embodiment is described, present embodiment with detailed description of the invention twoDifferent is that forearm A also comprises forearm encoder bracket A6 and forearm encoder A12, forearm encoder bracket A6 and elbowJoint output wheel A4 is connected, and forearm encoder A12 and forearm encoder bracket A6 are connected. Forearm encoder A12 is used forDetect the anglec of rotation of elbow joint. The free degree is elbow joint rotational freedom herein, and by forearm drive motors, A2 drives. ItsIts composition and annexation are identical with detailed description of the invention two.
Detailed description of the invention four: present embodiment, this reality are described in conjunction with Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 11 and Figure 12The large arm B that executes mode comprises shoulder joint skeleton B1, stepper motor seat B2, stepper motor B3, large arm chute B4, large armSteel wire pre-tightening mechanism B5, shoulder joint power shaft B7, shoulder joint bearing block B8, shoulder joint drive motors seat B9, shoulder jointDecelerator B10, shoulder joint drive motors B11, the first drive bay B12, the first driver B13, first company of turning toBar B14, the second steering link B15, encoder B16, the 3rd steering link B17, the 4th steering link B18, turn toMotor cabinet B19, steer motor B20, ectoskeleton upper arm B21, spring staple B22, aluminum pipe analog bracket B23, aluminiumPipe B24, spring B 25, shoulder joint driver B26, connecting steel wire ropes B27, steel wire guiding mechanism B28, shoulder joint nodal axisnB29, shoulder joint steel wire rope B31, shoulder joint wire rope fixing device B32, the first guide rail B36, the second guide rail B37,Feed screw nut B38, slide block B 39, leading screw gland B40, lead screw shaft bearing B41, guide rail holder B44, elbow jointConnection Block B45, leading screw B48, speed reducing steering system B49, the first bearing pin B51, the second bearing pin B52, the 3rd bearing pin B53,The 4th bearing pin B54, the 5th bearing pin B55 and the 6th bearing pin B56;
Outside end face on the vertical frame B1-1 of shoulder joint skeleton B1 is provided with several the second steel wire rope groove B1-3, shoulder joint boneOn inner side end on the vertical frame B1-1 of frame B1, be fixed with lead screw shaft bearing B41 and guide rail holder B44, leading screw is fixedB40 and lead screw shaft bearing B41 are hinged, and the output of leading screw B48 and leading screw gland B40 are connected, leading screw B48'sInput is connected with stepper motor B3, and it is upper that stepper motor B3 is fixed on motor cabinet B2, and motor cabinet B2 is fixed on shoulder jointSkeleton B1 is upper, and feed screw nut B38 is threaded with leading screw B48, and stepper motor B3 drives leading screw B48 to make leading screw spiral shellFemale B38 moves along leading screw B48, and feed screw nut B38 and slide block B 39 are connected, and slide block B 39 is sleeved on the first guide rail B36Upper with the second guide rail B37, the first guide rail B36 and the second guide rail B37 are optical axis and play the guiding role, and slide block B 39 canTo slide on the first guide rail B36 and the second guide rail B37, one end and the guide rail of the first guide rail B36 and the second guide rail B37Holder B44 is connected, the crossbearer B1-2 of the other end of the first guide rail B36 and the second guide rail B37 and shoulder joint skeleton B1Be connected, ectoskeleton upper arm B21 and shoulder joint nodal axisn B29 are hinged, and ectoskeleton upper arm B21 and shoulder joint skeleton B1 formation are revolvedTurn joint, ectoskeleton upper arm B21 is around shoulder joint nodal axisn B29 rotation (around shoulder joint skeleton B1 rotation);
Shoulder joint driver B26 is connected on the upper surface of ectoskeleton upper arm B21, and large arm binding mechanism L is connected in dermoskeletonOn the lower surface of bone upper arm B21, see Fig. 7, shoulder joint driver B26 and shoulder joint drive motors B11 are electrically connected,Shoulder joint drive motors B11 is connected with shoulder joint decelerator B10, and shoulder joint decelerator B10 is by shoulder joint drive motorsSeat B9 and ectoskeleton upper arm B21 are connected, and shoulder joint power shaft B7 is supported in shoulder joint bearing block B8, shoulder joint nodal axisnBearing B8 and ectoskeleton upper arm B21 are connected, the output of the input of shoulder joint power shaft B7 and shoulder joint decelerator B10End is connected, and output and the shoulder joint nodal axisn B29 of shoulder joint power shaft B7 are hinged, shoulder joint nodal axisn B29 and shoulder joint skeletonB1 is connected, and shoulder joint nodal axisn B29 and shoulder joint bearing block B8 have limited shoulder joint power shaft B7 and moved axially, and shoulder joint is defeatedEnter axle B7 and be provided with the second helicla flute B7-1;
One end of shoulder joint steel wire rope B31 is fixed by shoulder joint wire rope fixing device B32, the fixing dress of shoulder joint steel wire ropePutting B32, to be fixed on shoulder joint skeleton B1 upper, and the other end of shoulder joint steel wire rope B31 is entangled to the on shoulder joint skeleton B1In two steel wire rope groove B1-3, while twining the junction to shoulder joint skeleton B1 and shoulder joint power shaft B7, be entangled to the second helicla fluteIn B7-1, be wound around three weeks (concrete how many weeks can depend on the circumstances), and then twine back shoulder joint skeleton B1 anotherIn the second steel wire rope groove B1-3, shoulder joint steel wire rope K2 end enters large arm steel wire pre-tightening mechanism B5, large arm steel wire pretensionThe B5 of mechanism is pretension in large arm chute B4, and large arm chute B4 and shoulder joint skeleton B1 are connected, when shoulder joint drive motorsB11 rotates while driving shoulder joint power shaft B7 to rotate, pulls shoulder joint steel wire rope B31, thereby drives shoulder joint skeleton B1Rotate (or driving ectoskeleton upper arm B21 to rotate);
It is upper that aluminum pipe bracket B23 is sleeved on aluminum pipe B24, and it is upper that aluminum pipe bracket B23 is fixed on ectoskeleton upper arm B21, springB25 is fixed in aluminum pipe B24 by spring staple B22, and steel wire guiding mechanism B28 and ectoskeleton upper arm B21 are connected,One end of connecting steel wire ropes B27 is connected with spring B 25, and the other end of connecting steel wire ropes B27 is walked around steel wire guiding mechanism B28Be connected with slide block B 39, realize gravitational equilibrium, in the time that wearer is dressed ectoskeleton motion, ectoskeleton upper arm B21 and shoulder jointThe relative angle of joint skeleton B1 changes, and the gravitional force of the system that wearer and ectoskeleton form changes, withTime spring B 25 elongation also change, spring B 25 elastic potential energys are changed, spring B 25 elastic potential energysChange just in time compensate the system that ectoskeleton and wearer form, due to ectoskeleton upper arm B21 and shoulder joint skeleton B1 generationRelatively rotate the variation of caused gravitional force, realize gravitational equilibrium. In the time that load changes, can regulate stepping electricityMachine B3, the position of adjusting slider B39, thus the elongation of change spring B 25 is realized gravitational equilibrium again. RegulateThe position of feed screw nut B38, pulls connecting steel wire ropes B27 by slide block B 39, thereby changes initially stretching of spring B 25Long amount;
Steer motor B20 is connected with speed reducing steering system B49, and speed reducing steering system B49 and steer motor seat B19 are affixed, turnEnd to motor cabinet B19 and ectoskeleton upper arm B21 is affixed, has slotted hole B19-1, this slotted hole on steer motor seat B19B19-1 is used for regulating with the link position of ectoskeleton upper arm B21 so that adjusting upper arm length adapts to the wearer of different heights,One end of the 3rd steering link B17 and speed reducing steering system B49 output shaft fixed connection, the other end of the 3rd steering link B17 withThe first bearing pin B51 is hinged, and the middle part of the second steering link B15 and the second bearing pin B52 are hinged, the second steering link B15One end and the first bearing pin B51 hinged, the other end of the second steering link B15 and the 3rd bearing pin B53 are hinged, the 4th turnsMiddle part and the second bearing pin B52 to connecting rod B18 are hinged, and one end of the 4th steering link B18 and the 4th bearing pin B54 are hinged,The 5th bearing pin B55 is hinged for the other end of the 4th steering link B18, and the 4th bearing pin B54 and steer motor seat B19 are hinged,One end of the first steering link B14 and the 5th bearing pin B55 are hinged, the other end of the first steering link B14 and the 6th bearing pinB56 is hinged, and the 3rd bearing pin B53 and the 6th bearing pin B56 are all hinged with elbow joint Connection Block B45, and encoder B16 installsOn the first bearing pin B51 and with the second steering link B15, be connected, encoder B16 is for detection of corner size, herein certainlyBe the elbow joint outward turning free degree by degree, by steer motor, B20 drives. The 3rd steering link B17, the 4th steering link B18,The second steering link B15 and steer motor seat B19 form the first parallelogram linkage; The second steering link B15,The 4th steering link B18, the first steering link B14 and elbow joint Connection Block B45 form the second parallelogram connection-rod machineStructure; The first parallelogram linkage and the second parallelogram linkage are two parallelogram linkages. When turningWhen fixing to motor cabinet B19, steer motor B20 drives speed reducing steering system B49 to rotate, and speed reducing steering system B49 drives theThree steering link B17 swing, and drive elbow joint Connection Block B45 around on wearer by two parallelogram linkagesArm axle line rotates. The first driver B13 is fixed on ectoskeleton upper arm B21 by the first drive bay B12. When turningWhile rotation to motor B20, drive elbow joint Connection Block B45 and the forearm A being connected thereof turn around wearer upper arm axisMoving.
Other composition and annexation are identical with detailed description of the invention one, two or three.
Detailed description of the invention five: in conjunction with Fig. 6 and Fig. 8, present embodiment is described, present embodiment and detailed description of the invention four are notSame is that large arm B also comprises shoulder joint encoder B6 and shoulder joint encoder bracket B30, shoulder joint encoder bracket B30B1 is connected with shoulder joint skeleton, and shoulder joint encoder B6 and shoulder joint encoder bracket B30 are connected. Shoulder joint encoderB6 is for detection of the anglec of rotation of shoulder joint. The free degree is the shoulder joint swing free degree herein, drives electricity by shoulder jointMachine B11 drives. Other composition and annexation are identical with detailed description of the invention four.
Detailed description of the invention six: in conjunction with Fig. 7, present embodiment is described, what present embodiment was different from detailed description of the invention five isLarge arm B also comprise spring fixed mechanism B43, spring fixed mechanism B43 is arranged on aluminum pipe analog bracket B23. BulletSpring fixed mechanism B43 be when mounted for fixing spring B25 to facilitate installation, installed after by spring fixing machineStructure B43 unloads. Other composition and annexation are identical with detailed description of the invention five.
Detailed description of the invention seven: in conjunction with Figure 10, present embodiment is described, the back C of present embodiment comprise spine C1,Fixed mount C2, ectoskeleton waist C3, ectoskeleton back C4, the first back connecting rod C5, contiguous block C6, the 3rd backConnecting rod C7, curved rod C18, the 4th back connecting rod C19, spring C20 and the second back connecting rod C21, spine C1One end and fixed mount C2 and ectoskeleton waist C3 be connected, the other end of spine C1 is connected with ectoskeleton back C4, ridgeBone C1 can regulate the position of connection to adapt to the wearer of different statures from ectoskeleton back C4, ectoskeleton back C4C3 bundlees mutually with wearer with ectoskeleton waist, and contiguous block C6 and ectoskeleton waist C4 are connected, the first back connecting rod C5One end and contiguous block C6 hinged, the other end of the first back connecting rod C5 is connected with the second back connecting rod C21, after secondThe other end and the curved rod C18 of back of the body connecting rod C21 are hinged, and the first back connecting rod C5 and the second back connecting rod C21 canRegulate the position length connecting; The 3rd back connecting rod C7 and the first back connecting rod C5 be arranged in parallel, the 3rd back connecting rod C7One end and contiguous block C6 hinged, the other end of the 3rd back connecting rod C7 is connected with the 4th back connecting rod C19, after the 4thThe other end and the curved rod C18 of back of the body connecting rod C19 are hinged, and the 3rd back connecting rod C7 and the 4th back connecting rod C19 canRegulate the position length connecting; Contiguous block C6, the first back connecting rod C5, the second back connecting rod C21, the 3rd back connecting rodC7, the 4th back connecting rod C19 and curved rod C18 form the 3rd parallelogram linkage, the 3rd parallelogramLinkage remains vertically curved rod C18, makes shoulder joint to rotate around clavicle joint simultaneously, thisThe free degree is the clavicle joint free degree; One end of spring C20 is connected with the 3rd back connecting rod C7, the other end of spring C20Be connected with the second back connecting rod C21, when the free degree angle of the 3rd back connecting rod C7 and the second back connecting rod C21 becomesWhen change, spring C20 length changes, and elastic potential energy changes, and compensates this angle and changes caused gravitional forceVariation realize gravitational equilibrium. Other composition and annexation are identical with detailed description of the invention one, two, three, five or six.
Detailed description of the invention eight: in conjunction with Fig. 4, present embodiment is described, the forearm binding mechanism K of present embodiment and large armBinding mechanism L forms by the first hinged seat K1, the second hinged seat K2, fixed head K3 and two annular binding K4, theOne hinged seat K1 and the second hinged seat K2 are arranged on a side end face of fixed head K3, and two annular binding K4 are arranged on solidDetermine on the opposite side end face of plate K3, the first hinged seat K1 and the second hinged seat K2 are hinged, fixed head K3 and one of themHinged seat is connected, and two annular binding K4 coaxially arrange, and two annular binding K4 are all connected with fixed head K3. Forearm bundleTie up the K of mechanism and large arm binding mechanism L for bundling with wearer, between the first hinged seat K1 and the second hinged seat K2, haveRotational freedom, can regulate the angle of binding, on the upper and ectoskeleton upper arm B21 of ectoskeleton substrate A8, is equipped with multiple axlesHole, can regulate the position of binding. Other composition and annexation are identical with detailed description of the invention seven.
Detailed description of the invention nine: in conjunction with Figure 10 and Figure 12, present embodiment is described, present embodiment and detailed description of the invention one,Two, three, five, six or eight different be that ectoskeleton also comprises back encoder U and back encoder bracket V, back is compiledCode device bracket V and back drive motors seat J are connected, and back encoder U and back encoder bracket V are connected. Back is compiledCode device U is for detection of the corner of back drive motors I. Other composition and annexation and detailed description of the invention one, two,Three, five, six or eight is identical.
Detailed description of the invention ten: in conjunction with Figure 10 and Figure 12, present embodiment is described, present embodiment and detailed description of the invention nineDifferent is that ectoskeleton also comprises regulating shaft S and regulating wheel T, and it is upper that regulating wheel T is packed in regulating shaft S, regulating shaft S peaceBe contained on back drive motors seat J. The link position of regulating shaft S and back drive motors seat J can change in order to pretension sameStep band G. Regulating wheel T plays pretension, and this free degree is the shoulder joint outward turning free degree, and by back drive motors, I drives.Other composition and annexation are identical with detailed description of the invention nine.
Operation principle of the present invention and operation process:
The first back connecting rod C5, contiguous block C6, the 3rd back connecting rod C7, curved rod C18, the 4th back connecting rod C19,Spring C20 and the second back connecting rod C21 form clavicle joint;
Shoulder joint skeleton B1, stepper motor seat B2, stepper motor B3, large arm steel wire pre-tightening mechanism B5, shoulder joint inputAxle B7, shoulder joint bearing block B8, shoulder joint drive motors seat B9, shoulder joint decelerator B10, shoulder joint drive motorsB11, shoulder joint nodal axisn B29 and, shoulder joint steel wire rope B31 forms shoulder joint;
Elbow joint output wheel A4, forearm steel wire pre-tightening mechanism A5, ectoskeleton substrate A8, forearm drive motors seat A9, littleArm decelerator A10, elbow joint power shaft A11, forearm wire rope fixing device A13, elbow joint rotating shaft A16 and littleArm steel wire rope A17 forms elbow joint;
In the time that forearm drive motors A2 rotates drive elbow joint power shaft A11 rotation, pull forearm steel wire rope A17, therebyDrive elbow joint output wheel A4 to rotate, steer motor B20 drives elbow joints around greatly by two parallelogram linkagesThe upper arm axis Z1 of arm binding mechanism L rotates (be also the bone axis of wearer upper arm, see Fig. 5 and Fig. 7), shoulder jointJoint drive motors B11 drives the shoulder joint swing free degree, and back drive motors I drives the shoulder joint inward turning outward turning free degree.The clavicle joint free degree does not have motor to drive.
When before and after shoulder joint, the free degree swings, shoulder joint angle (angle of shoulder joint skeleton B1 and ectoskeleton upper arm B21)Cause spring B 25 length and change, and then cause that spring B 25 elastic potential energys change, and just compensate shoulder joint swing angleThe change of the gravitional force of the system that the wearer upper limbs that degree variation causes and ectoskeleton form, realizes gravitational equilibrium; Work as shoulder jointWhen the inside and outside rotary freedom of joint rotates (when shoulder joint skeleton B1 rotates around back drive motor driver P), dermoskeletonBone gravitional force does not change.
In the time that clavicle joint rotates, ectoskeletal position changes, and causes the change of gravitional force, now spring B 25Length is corresponding changing also, and spring B 25 elastic potential energys change, and just compensate the change that gravitional force occurs, and realizes heavyDynamic balance.
So the present invention can realize passive gravitational equilibrium, make the system of wearer upper limbs and ectoskeleton formation in the time of motionGravitional force does not change, thereby need not overcome gravitional force acting, but owing to there being the change of speed in motion process,Cause acceleration, cause inertia force, so, forearm drive motors A2, shoulder joint drive motors B11, steer motor B20Can play with the effect of back drive motors I the effect that compensates inertia force, meanwhile, if loading range exceedes ectoskeleton bulletSpring system can balance scope, can utilize the motor auxiliary balance of exerting oneself, reach the effect of gravitational equilibrium.
In the time that exoskeleton system moves, each joint encoders detection angles value, obtains acceleration signal by differential filtering,Calculate inertia force, apply inertia force by motor, can slim and graceful drive ectoskeleton thereby make wearer need not go out inertia forceMove, reach the effect of rehabilitation training.
Claims (10)
1. the moving rehabilitation training of upper limbs ectoskeleton that mixes of main quilt, is characterized in that: described ectoskeleton comprise forearm (A),Large arm (B), back (C), outer spin axis (D), bearing (E), driving pulley (F), Timing Belt (G), quiltMovable belt pulley (H), back drive motors (I), back drive motors seat (J), forearm binding mechanism (K), large arm bundleTie up mechanism (L), back drive motor driver (P) and back drive motor driver bracket (Q), on large arm (B)Elbow joint Connection Block (B45) and forearm (A) on elbow joint output wheel (A4) be connected, one end of outer spin axis (D)Be hinged in the crossbearer (B1-2) of shoulder joint skeleton (B1), the other end of outer spin axis (D) is connected with ring in bearing (E),It is upper that driving pulley (F) is packed in outer spin axis (D), and it is upper that one end of Timing Belt (G) is sleeved on driving pulley (F), synchronousIt is upper that the other end of band (G) is sleeved on passive belt wheel (H), and passive belt wheel (H) is packed in the defeated of back drive motors (I)On shaft, back drive motors (I) is connected with back drive motors seat (J), back drive motors seat (J) and back (C)On curved rod (C18) be connected, back drive motor driver (P) is by back drive motor driver bracket (Q)Be connected with back drive motors seat (J), back drive motor driver (P) is electrically connected with back drive motors (I),Forearm binding mechanism (K) is hinged with the ectoskeleton substrate (A8) on forearm (A), large arm binding mechanism (L) and large arm(B) the ectoskeleton upper arm (B21) on is hinged.
2. a kind of main quilt is moved mixing rehabilitation training of upper limbs ectoskeleton according to claim 1, it is characterized in that: described forearm(A) comprise forearm driver (A1), forearm drive motors (A2), forearm bearing block (A3), elbow joint output wheel(A4), forearm steel wire pre-tightening mechanism (A5), forearm chute (A7), ectoskeleton substrate (A8), forearm drive electricitySupport (A9), forearm decelerator (A10), elbow joint power shaft (A11), forearm wire rope fixing device (A13),Elbow joint rotating shaft (A16) and forearm steel wire rope (A17), forearm driver (A1) is connected in ectoskeleton substrate (A8)A side end face on, forearm binding mechanism (K) is hinged on the opposite side end face of ectoskeleton substrate (A8), forearm driveDevice (A1) is connected with ectoskeleton substrate (A8), and forearm driver (A1) is electrically connected with forearm drive motors (A2),Forearm drive motors (A2) is connected with forearm decelerator (A10), and forearm decelerator (A10) is by forearm drive motors seat(A9) be connected with ectoskeleton substrate (A8), elbow joint power shaft (A11) is supported in forearm bearing block (A3), littleArm axle bearing (A3) is connected with ectoskeleton substrate (A8), the input of elbow joint power shaft (A11) and forearm decelerator(A10) output is connected, and the output of elbow joint power shaft (A11) and elbow joint rotating shaft (A16) are hinged, elbowJoint rotating shaft (A16) is connected with ectoskeleton substrate (A8), elbow joint output wheel (A4) and elbow joint rotating shaft (A16)Hinged, the upper surface of elbow joint output wheel (A4) is provided with several the first steel wire rope grooves (A4-1), elbow joint power shaft (A11)Be provided with the first helicla flute (A11-1), one end of forearm steel wire rope (A17) is by forearm wire rope fixing device (A13)Fixing, it is upper that forearm wire rope fixing device (A13) is fixed on elbow joint output wheel (A4), forearm steel wire rope (A17)The other end is entangled in the first steel wire rope groove (A4-1) on elbow joint output wheel (A4), twines to elbow joint output wheel (A4)During with the junction of elbow joint power shaft (A11), be entangled in the first helicla flute (A11-1), be wound around three Zhou Houzai and twine go back to elbow passIn another first steel wire rope groove (A4-1) of joint output wheel (A4), forearm steel wire rope (A17) end enters forearm steelSilk pre-tightening mechanism (A5), forearm steel wire pre-tightening mechanism (A5) is pretension in forearm chute (A7), forearm chute (A7)Be connected with elbow joint output wheel (A4).
3. a kind of main quilt is moved mixing rehabilitation training of upper limbs ectoskeleton according to claim 2, it is characterized in that: described forearm(A also comprises forearm encoder bracket (A6) and forearm encoder (A12), and forearm encoder bracket (A6) closes with elbowJoint output wheel (A4) is connected, and forearm encoder (A12) is connected with forearm encoder bracket (A6).
4. according to the moving rehabilitation training of upper limbs ectoskeleton that mixes of a kind of main quilt described in claim 1,2 or 3, it is characterized in that:Described large arm (B) comprises shoulder joint skeleton (B1), stepper motor seat (B2), stepper motor (B3), large arm chute(B4), large arm steel wire pre-tightening mechanism (B5), shoulder joint power shaft (B7), shoulder joint bearing block (B8), shoulder jointDrive motors seat (B9), shoulder joint decelerator (B10), shoulder joint drive motors (B11), the first drive bay (B12),The first driver (B13), the first steering link (B14), the second steering link (B15), encoder (B16),Three steering links (B17), the 4th steering link (B18), steer motor seat (B19), steer motor (B20), outerBone upper arm (B21), spring staple (B22), aluminum pipe analog bracket (B23), aluminum pipe (B24), spring (B25),Shoulder joint driver (B26), connecting steel wire ropes (B27), steel wire guiding mechanism (B28), shoulder joint nodal axisn (B29),Shoulder joint steel wire rope (B31), shoulder joint wire rope fixing device (B32), the first guide rail (B36), the second guide rail (B37),Feed screw nut (B38), slide block (B39), leading screw gland (B40), lead screw shaft bearing (B41), guide rail holder(B44), elbow joint Connection Block (B45), leading screw (B48), speed reducing steering system (B49), the first bearing pin (B51),The second bearing pin (B52), the 3rd bearing pin (B53), the 4th bearing pin (B54), the 5th bearing pin (B55) and the 6th bearing pin (B56);
Outside end face in the vertical frame (B1-1) of shoulder joint skeleton (B1) is provided with several the second steel wire rope grooves (B1-3),On inner side end in the vertical frame (B1-1) of shoulder joint skeleton (B1), be fixed with lead screw shaft bearing (B41) and guide rail is fixedSeat (B44), leading screw gland (B40) is hinged with lead screw shaft bearing (B41), output and the leading screw of leading screw (B48)Gland (B40) is connected, and the input of leading screw (B48) is connected with stepper motor (B3), and stepper motor (B3) is fixingUpper at motor cabinet (B2), it is upper that motor cabinet (B2) is fixed on shoulder joint skeleton (B1), feed screw nut (B38) and leading screw(B48) be threaded, feed screw nut (B38) is connected with slide block (B39), and slide block (B39) is sleeved on the first guide rail (B36)Upper with the second guide rail (B37), one end of the first guide rail (B36) and the second guide rail (B37) and guide rail holder (B44)Be connected, the other end of the first guide rail (B36) and the second guide rail (B37) and the crossbearer (B1-2) of shoulder joint skeleton (B1)Be connected, ectoskeleton upper arm (B21) is hinged with shoulder joint nodal axisn (B29);
Shoulder joint driver (B26) is connected on the upper surface of ectoskeleton upper arm (B21), and large arm binding mechanism (L) is solidBe connected on the lower surface of ectoskeleton upper arm (B21) shoulder joint driver (B26) and shoulder joint drive motors (B11) electricityProperty connects, and shoulder joint drive motors (B11) is connected with shoulder joint decelerator (B10), and shoulder joint decelerator (B10) is logicalCross shoulder joint drive motors seat (B9) and be connected with ectoskeleton upper arm (B21), shoulder joint power shaft (B7) is supported on shoulder jointIn nodal axisn bearing (B8), shoulder joint bearing block (B8) is connected with ectoskeleton upper arm (B21), shoulder joint power shaft (B7)Input be connected with the output of shoulder joint decelerator (B10), output and the shoulder joint of shoulder joint power shaft (B7)(B29) is hinged for axle, and shoulder joint nodal axisn (B29) is connected with shoulder joint skeleton (B1), and shoulder joint power shaft (B7) is provided withThe second helicla flute (B7-1);
One end of shoulder joint steel wire rope (B31) is fixing by shoulder joint wire rope fixing device (B32), and shoulder joint steel wire rope is solidDetermine device (B32) and be fixed on shoulder joint skeleton (B1) above, the other end of shoulder joint steel wire rope (B31) is entangled to shoulder joint boneIn the second steel wire rope groove (B1-3) on frame (B1), twine to shoulder joint skeleton (B1) and shoulder joint power shaft (B7), be entangled in the second helicla flute (B7-1) when the junction, be wound around three weeks, and then twine back shoulder joint skeleton (B1) anotherIn the second steel wire rope groove (B1-3), shoulder joint steel wire rope (K2) end enters large arm steel wire pre-tightening mechanism (B5), large armSteel wire pre-tightening mechanism (B5) is pretension in large arm chute (B4), and large arm chute (B4) is connected with shoulder joint skeleton (B1);
It is upper that aluminum pipe bracket (B23) is sleeved on aluminum pipe (B24), and aluminum pipe bracket (B23) is fixed on ectoskeleton upper arm (B21)Upper, spring (B25) is fixed in aluminum pipe (B24) by spring staple (B22), steel wire guiding mechanism (B28) andEctoskeleton upper arm (B21) is connected, and one end of connecting steel wire ropes (B27) is connected with spring (B25), connecting steel wire ropes (B27)The other end walk around steel wire guiding mechanism (B28) and be connected with slide block (B39);
Steer motor (B20) is connected with speed reducing steering system (B49), speed reducing steering system (B49) and steer motor seat (B19)Affixed, steer motor seat (B19) is affixed with the end of ectoskeleton upper arm (B21), on steer motor seat (B19), has lengthHole (B19-1), one end of the 3rd steering link (B17) and speed reducing steering system (B49) output shaft fixed connection, the 3rd turns toThe other end of connecting rod (B17) and the first bearing pin (B51) are hinged, the middle part of the second steering link (B15) and the second bearing pin(B52) hinged, one end of the second steering link (B15) and the first bearing pin (B51) are hinged, the second steering link (B15)The other end and the 3rd bearing pin (B53) hinged, the middle part of the 4th steering link (B18) and the second bearing pin (B52) are hinged,One end of the 4th steering link (B18) and the 4th bearing pin (B54) are hinged, the other end of the 4th steering link (B18)(B55) is hinged for five bearing pins, and the 4th bearing pin (B54) is hinged with steer motor seat (B19), the first steering link (B14)One end and the 5th bearing pin (B55) hinged, the other end of the first steering link (B14) and the 6th bearing pin (B56) are hinged,The 3rd bearing pin (B53) and the 6th bearing pin (B56) are all hinged with elbow joint Connection Block (B45), and encoder (B16) is installedGo up and be connected with the second steering link (B15) at the first bearing pin (B51), the first driver (B13) drives by firstDevice bracket (B12) is fixed on ectoskeleton upper arm (B21).
5. a kind of main quilt is moved mixing rehabilitation training of upper limbs ectoskeleton according to claim 4, it is characterized in that: described large arm(B) also comprise shoulder joint encoder (B6) and shoulder joint encoder bracket (B30), shoulder joint encoder bracket (B30)Be connected with shoulder joint skeleton (B1), shoulder joint encoder (B6) is connected with shoulder joint encoder bracket (B30).
6. a kind of main quilt is moved mixing rehabilitation training of upper limbs ectoskeleton according to claim 5, it is characterized in that: described large arm(B) also comprise spring fixed mechanism (B43), spring fixed mechanism (B43) is arranged on aluminum pipe analog bracket (B23).
7. according to moving rehabilitation training of upper limbs ectoskeleton, its feature of mixing of a kind of main quilt described in claim 1,2,3,5 or 6Be: described back (C) comprises spine (C1), fixed mount (C2), ectoskeleton waist (C3), ectoskeleton back(C4), the first back connecting rod (C5), contiguous block (C6), the 3rd back connecting rod (C7), curved rod (C18),The 4th back connecting rod (C19), spring (C20) and the second back connecting rod (C21), one end of spine (C1) is with fixingFrame (C2) and ectoskeleton waist (C3) are connected, and the other end of spine (C1) is connected with ectoskeleton back (C4), dermoskeletonBone back (C4) bundlees with wearer mutually with ectoskeleton waist (C3), and contiguous block (C6) is solid with ectoskeleton waist (C4)Connect, one end of the first back connecting rod (C5) and contiguous block (C6) are hinged, the other end of the first back connecting rod (C5) and theTwo back connecting rods (C21) connect, and the other end of the second back connecting rod (C21) and curved rod (C18) are hinged, and the 3rdBack connecting rod (C7) be arranged in parallel with the first back connecting rod (C5), one end of the 3rd back connecting rod (C7) and contiguous block (C6)Hinged, the other end of the 3rd back connecting rod (C7) is connected with the 4th back connecting rod (C19), the 4th back connecting rod (C19)The other end and curved rod (C18) hinged, one end of spring (C20) is connected with the 3rd back connecting rod (C7), spring(C20) the other end is connected with the second back connecting rod (C21).
8. a kind of main quilt is moved mixing rehabilitation training of upper limbs ectoskeleton according to claim 7, it is characterized in that: described forearmBinding mechanism (K) and large arm binding mechanism (L) are by the first hinged seat (K1), the second hinged seat (K2), fixingPlate (K3) and two annular binding (K4) composition, the first hinged seat (K1) and the second hinged seat (K2) are arranged on fixingOn one side end face of plate (K3), two annular binding (K4) are arranged on the opposite side end face of fixed head (K3), the first hingeJoint chair (K1) is hinged with the second hinged seat (K2), and fixed head (K3) is connected with one of them hinged seat, two annular binding(K4) coaxially arrange, and two annular binding (K4) are all connected with fixed head (K3).
9. according to the moving mixing of a kind of main quilt described in claim 1,2,3,5,6 or 8 rehabilitation training of upper limbs ectoskeleton, its spyLevy and be: described ectoskeleton also comprises back encoder (U) and back encoder bracket (V), back encoder bracket (V)Be connected with back drive motors seat (J), back encoder (U) is connected with back encoder bracket (V).
10. a kind of main quilt is moved mixing rehabilitation training of upper limbs ectoskeleton according to claim 9, it is characterized in that: outside describedBone also comprises regulating shaft (S) and regulating wheel (T), and it is upper that regulating wheel (T) is packed in regulating shaft (S), regulating shaft (S)Be arranged on back drive motors seat (J).
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| CN105997430A (en) * | 2016-06-19 | 2016-10-12 | 河北工业大学 | Upper-limb rehabilitation robot with direct drive and indirect drive combined |
| CN105997065A (en) * | 2016-06-15 | 2016-10-12 | 苏州海神联合医疗器械有限公司 | Automatic myoelectricity detector |
| CN106073773A (en) * | 2016-06-15 | 2016-11-09 | 苏州海神联合医疗器械有限公司 | Automatic checking with EMG method equipment |
| CN106109166A (en) * | 2016-06-19 | 2016-11-16 | 河北工业大学 | One drives upper limb rehabilitation robot indirectly |
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