CN105597280B - The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind - Google Patents
The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind Download PDFInfo
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- CN105597280B CN105597280B CN201610161507.4A CN201610161507A CN105597280B CN 105597280 B CN105597280 B CN 105597280B CN 201610161507 A CN201610161507 A CN 201610161507A CN 105597280 B CN105597280 B CN 105597280B
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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
-
- 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
-
- 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
-
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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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
- 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
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Animal Behavior & Ethology (AREA)
- Mechanical Engineering (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Robotics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind,Elbow joint connecting seat in the large arm of the present invention is connected with the elbow joint output wheel on forearm,One end of outer spin axis is hinged in the crossbearer of shoulder joint skeleton,The other end of outer spin axis is connected with bearing inner ring,Driving pulley is packed in outer spin axis,One end of timing belt is sleeved on driving pulley,The other end of timing belt is sleeved on passive belt wheel,Passive belt wheel is packed on the output shaft of back motor,Back motor is connected with back motor seat,Back motor seat is connected with the curved rod on back,Back drive motor driver is connected by back drive motor driver bracket and back motor seat,Back drive motor driver is electrically connected with back motor,Forearm binding mechanism is hinged with the ectoskeleton substrate on forearm,Large arm binding mechanism is hinged with the ectoskeleton upper arm in large arm.The present invention is used in medical science of recovery therapy, in heavy construction construction or in material transport operation.
Description
Technical field
The present invention relates to a kind of exoskeleton robot, and in particular to the main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind.
Background technology
Exoskeleton robot is a kind of technology of complicated man-computer cooperation, and it has merged machinery, sensing, control, information, electricity
Numerous scientific domain knowledge such as sub- technology and artificial intelligence, one is incorporated in by the mechanical energy of the intelligence of people and mechanical driver unit
Rise, power and motion are transmitted to realize the functions such as action auxiliary and attitude detection by man-machine physical contact, while rely on sensor
Information exchange is realized with wearer.
By the development of more than 40 years, ectoskeleton had more and more common application in many fields.Such as in military affairs,
The auxiliary of ectoskeleton can make the endurance enhancing that army fights in the wild, and ectoskeleton is that soldier provides energy, bearing with soldier
Weight is undertaken by ectoskeleton, greatly improves capacity for individual action；On civilian.Ectoskeleton can be used for carrying thing, in large-scale work
In journey construction or in material transport operation, labourer's endurance can be made more longlasting；Medically, exoskeleton robot can be wide
General to apply in medical science of recovery therapy, patient can not only carry out effective function rehabilitation training by dressing exoskeleton robot, and
And can be controlled by wearer's electromyographic signal and help Rehabilitation muscle, promote cental system to recover.In configuration, ectoskeleton
Also it is varied, different configurations can be taken, has the perfect fitting person, there is software, there is what end was bonded etc.,
Each have their own advantage, also there is difference in principle, useful hydraulic pressure, it is useful pneumatic, it is also useful electronic, there are some dermoskeletons
Bone is also mingled with the principles such as gravitational equilibrium, drive lacking.With social modernization, process of industrialization further deeply, machinery is outer
The application of bone will be related to the various aspects of human lives' production, it is contemplated that the prospect of mechanical exoskeleton is very wide
Big.
In ectoskeleton design aspect, it is its key property that structure, which personalizes, and the guarantor of security and comfortableness
Barrier.Human upper limb mainly includes three shoulder, ancon and wrist physiological joints, and it can complete extremely complex fine motion,
If it is desired to intactly reappearing the motion, upper limbs exoskeleton robot needs intactly to reappear the motion, upper limbs exoskeleton robot
The numerous free degree is needed, but this can cause the problems such as mechanism cumbersome is with redundancy is controlled.Therefore, it is necessary to analyze human upper limb
Physiological movement form simultaneously makees appropriate simplification, obtains ectoskeleton and designs available kinematics model, while ensures good man-machine fortune
Dynamic chain compatibility.Existing upper limbs exoskeleton robot uses seven freedom serial kinematic model, i.e. shoulder flexion/extension mostly
(front and rear pendulum), interior receipts/abduction (left and right pendulum), internal/external rotations (large arm rotation)；Ancon flexion/extension；Wrist internal/external rotations, interior receipts/
Abduction, flexion/extension.Due to the shoulder internal/external rotations free degree be both considered as shoulder joint complete can also regard as it is complete in elbow joint
Into, so, shoulder joint and elbow joint generally have two kinds of arrangement methods, and the first is that the complete free degree of shoulder joint three is closed plus elbow
Single-degree-of-freedom is saved, second is shoulder joint flexion/extension, and interior receipts/abduction free degree adds elbow joint flexion/extension, around large arm internal/external rotations
The free degree.
For the ectoskeleton having at present, it is driving of taking the initiative to be mostly, but in the motion process of human body, there is one
A little energy such as gravitional force back and forth change, but during active drive, and gravitional force is being raised and reduced
During, driving element does positive work, wastes gravitional force, while also wastes the output of driving element.And current
Existing upper limbs ectoskeleton structure is more complicated, and capacity usage ratio is extremely low, and does not have indirect and aesthetic property.There are some profits
With the ectoskeleton of gravitational equilibrium principle, structure is more complicated, or can not completely realize gravitational equilibrium.Instructed for rehabilitation
Practice, in some cases, rely solely on gravitational equilibrium not enough, such as patients with cerebral apoplexy, just start, upper limbs does not have any fortune
Then kinetic force could gradually recover, it is necessary to passive motion upper limbs, be capable of the initial stage of active movement, compare due to contributing
It is small, the torque of itself output balance inertial force is also needed to after balance upper limbs weight under gravitational equilibrium effect, so can cause
Movement velocity is excessively slow, influences resume speed.Based on this, a kind of main passive rehabilitation training of upper limbs ectoskeleton of present invention design.
The content of the invention
The present invention does not have any locomitivity to solve existing upper limbs ectoskeleton, it is necessary to passive motion upper limbs, then
It could gradually recover, be capable of the initial stage of active movement, it is smaller due to contributing, balance upper limbs weight under gravitational equilibrium effect
The torque of itself output balance inertial force is also needed to later, so as to cause movement velocity excessively slow, influences asking for resume speed
Topic, and a kind of main passive mixing rehabilitation training of upper limbs ectoskeleton is provided.
The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind of the present invention includes forearm, large arm, back, outer spin axis, axle
Hold, driving pulley, timing belt, passive belt wheel, back motor, back motor seat, forearm binding mechanism, large arm binding
Mechanism, back drive motor driver and back drive motor driver bracket, elbow joint connecting seat in large arm with forearm
Elbow joint output wheel be connected, one end of outer spin axis is hinged in the crossbearer of shoulder joint skeleton, the other end and bearing of outer spin axis
Inner ring is connected, and driving pulley is packed in outer spin axis, and one end of timing belt is sleeved on driving pulley, the other end set of timing belt
On passive belt wheel, passive belt wheel is packed on the output shaft of back motor, back motor and back driving electricity
Support is connected, and back motor seat is connected with the curved rod on back, and back drive motor driver is driven by back
Motor driver bracket is connected with back motor seat, and back drive motor driver is electrically connected with back motor,
Forearm binding mechanism is hinged with the ectoskeleton substrate on forearm, and large arm binding mechanism is hinged with the ectoskeleton upper arm in large arm.
Technical scheme has the advantages that：
First, the present invention devises the rehabilitation training of upper limbs ectoskeleton that a kind of active-passive for upper limbs is combined, and utilizes
Gravitational equilibrium principle, balance the gravitional force of wearer and ectoskeleton, driving of taking the initiative, balance rehabilitation training motion process
In inertia force.The ectoskeleton takes new upper limb joint to design, and is not interfered with human body, and bullet is placed with ectoskeleton
Spring, for compensating the change of gravitional force caused by the change of shoulder joint angle, spring is due to joint during upper extremity exercise
The change change of elastic potential energy caused by the change of its length caused by angle change, just balanced human's upper extremity exercise mistake
The change of the gravitional force of upper limbs in journey, reach and do not have to overcome gravity acting purpose in motion process so that human muscle can be with
Upper limbs is set to keep any posture without exporting any power.The present invention is used to aid in shoulder joint and elbow joint, shares 4 freedom
Degree, including shoulder joint 2DOF, elbow joint 2DOF, take second of arrangement method described in background.The present invention can
To cause wearer's upper limbs to be not influenced by gravitation, and the inertia force during upper extremity exercise is can compensate for, it is injured for upper limbs
Patient, upper limbs force weakness, it is necessary to recover, it has to largely moved, can with utilization such a ectoskeleton, enable
Rehabilitation training is carried out by its faint strength, then gradually recovers, in rehabilitation training, the big of spring balancing can be adjusted
Small and control system inertia force compensating size is to adapt to the different size of output of needs in rehabilitation training.The ectoskeleton
It can be used as damper, carry out body building etc..In addition, the ectoskeleton also has other application, and reader can freely play.
2nd, the invention enables the freedom of motion that ectoskeleton can meet wearer's upper limbs, will not occur again with wearer
Interference.
3rd, the present invention is simple in construction, and weight is slim and graceful, pollution-free suitable rehabilitation training, and flexibility is high, adapts to various types of
Need the patient of rehabilitation or can also be used for other purposes.
4th, it is completely passive using spring balancing gravitional force, mitigate motor burden so that cost reduces, and stability carries
It is high.
5th, due to the effect of spring balancing so that upper limbs is under any posture after wearer puts on ectoskeleton
Equilbrium position, posture is maintained so need not contribute.
6th, the present invention has regulatory function, can perceive the weight of the upper limbs of wearer, automatic adjuster spring hanging point, with
Different loads is adapted to, realizes real-time gravitational equilibrium, if adjustable range useable electric moter auxiliary adjustment should be exceeded.
7th, motor inertia force compensating so that wearer does not have to overcome inertia force in rehabilitation training so that rehabilitation is instructed
Practice speed to accelerate, accommodation is wider.
8th, because motor drives, it is possible to achieve rehabilitation training early stage actively drives wearer to carry out rehabilitation training, rear
Phase, damper can also be served as, carry out strength recovery, and then completely aid in whole rehabilitation course.
Brief description of the drawings
Fig. 1 is a kind of overall structure stereogram for leading passive mixing rehabilitation training of upper limbs ectoskeleton of the present invention；
Fig. 2 is a kind of overall structure stereogram for leading passive mixing rehabilitation training of upper limbs ectoskeleton of the present invention (with regarding for Fig. 1
Figure angle is different)；
Fig. 3 is a kind of overall structure stereogram for leading passive mixing rehabilitation training of upper limbs ectoskeleton of the present invention (with Fig. 1, Fig. 2
Viewing angles it is different)；
Fig. 4 is forearm A stereogram；
Fig. 5 is Fig. 4 top view；
Fig. 6 is large arm B stereogram；
Fig. 7 is large arm B stereogram (different from Fig. 6 viewing angles)；
Fig. 8 is large arm B stereogram (different from Fig. 6, Fig. 7 viewing angles)；
Fig. 9 is the stereogram of double parallel quadrilateral connecting rod mechanism；
Figure 10 is back C stereogram；
Figure 11 is forearm A and large arm B annexation stereogram；
Figure 12 is back motor seat J and large arm B annexations stereogram (driving pulley F, timing belt G, passive belt wheel
H drive connections stereogram).
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1~Figure 12, present embodiment includes forearm A, large arm
B, back C, outer spin axis D, bearing E, driving pulley F, timing belt G, passive belt wheel H, back motor I, back motor
Seat J, forearm binding mechanism K, large arm binding mechanism L, back drive motor driver P and back drive motor driver bracket Q,
See Figure 11, the elbow joint connecting seat B45 and elbow joint output wheel A4 on forearm A on large arm B is connected, outer spin axis D
One end be hinged in shoulder joint skeleton B1 crossbearer B1-2, the outer spin axis D other end is connected with bearing E inner ring, shaft end ring M
Fixed outer spin axis D axial location, driving pulley F are packed on outer spin axis D, and timing belt G one end is sleeved on driving pulley F
On, the timing belt G other end is sleeved on passive belt wheel H, and passive belt wheel H is packed on back motor I output shaft, after
Back of the body motor I and back motor seat J is connected, and back motor seat J is connected with the curved rod C18 on back C, after
Back of the body drive motor driver P is connected by back drive motor driver bracket Q and back motor seat J, back driving electricity
Machine driver P and back motor I is electrically connected with, and forearm binding mechanism K is hinged with the ectoskeleton substrate A8 on forearm A, greatly
Arm binding mechanism L is hinged with the ectoskeleton upper arm B21 on large arm B.Forearm A is driven by large arm B and around wearer's upper arm axis
Rotate.Large arm binding mechanism L bundlees with wearer, transmits motion and power.Elbow joint connecting seat B45 on large arm B is by large arm B
On steering motor B20 driving, elbow joint connecting seat B45 drive forearm A around wearer's upper arm axis Z1 rotate.Back drives
Motor I drives timing belt G to rotate by driving pulley F, so as to drive passive belt wheel H to rotate, and then causes the shoulder joint on large arm B
Skeleton B1 is saved to rotate.
Embodiment two：Illustrate present embodiment with reference to Fig. 4 and Fig. 5, the forearm A of present embodiment drives including forearm
Dynamic device A1, forearm motor A2, forearm bearing block A3, elbow joint output wheel A4, forearm steel wire pre-tightening mechanism A5, forearm chute
A7, ectoskeleton substrate A8, forearm motor seat A9, forearm decelerator A10, elbow joint input shaft A11, forearm steel wire rope are fixed
Device A13, elbow joint rotary shaft A16 and forearm steel wire rope A17, forearm driver A1 are connected in an ectoskeleton substrate A8 side
On face, forearm binding mechanism K is hinged on ectoskeleton substrate A8 another side end face, forearm driver A1 and ectoskeleton substrate A8
It is connected, forearm driver A1 and forearm motor A2 is electrically connected with, and forearm motor A2 is connected with forearm decelerator A10,
Forearm decelerator A10 is connected by forearm motor seat A9 and ectoskeleton substrate A8, and elbow joint input shaft A11 is supported on forearm
In bearing block A3, forearm bearing block A3 is connected with ectoskeleton substrate A8, elbow joint input shaft A11 input and forearm decelerator
A10 output end is connected, and elbow joint input shaft A11 output end and elbow joint rotary shaft A16 are hinged, elbow joint rotary shaft A16
It is connected with ectoskeleton substrate A8, elbow joint rotary shaft A16 and forearm bearing block A3 limit elbow joint input shaft A11 and axially moved
Dynamic, elbow joint output wheel A4 is hinged with elbow joint rotary shaft A16, and elbow joint output wheel A4 upper surface is provided with several first steel wires
Grooving A4-1, elbow joint input shaft A11 are provided with the first helicla flute A11-1, and forearm steel wire rope A17 one end is by forearm steel wire rope
Fixing device A13 is fixed, and forearm wire rope fixing device A13 is fixed on elbow joint output wheel A4, and forearm steel wire rope A17's is another
One end is entangled in the first steel wire rope groove A4-1 on elbow joint output wheel A4, is twined to elbow joint output wheel A4 and elbow joint input shaft
It is entangled to during A11 junction in the first helicla flute A11-1, winding twines back for three weeks again after (can specifically depend on the circumstances in how many week)
In elbow joint output wheel A4 another the first steel wire rope groove A4-1, forearm steel wire rope A17 ends enter forearm steel wire pretightening machine
Structure A5, forearm steel wire pre-tightening mechanism the A5 pretension in forearm chute A7, forearm chute A7 are connected with elbow joint output wheel A4.When small
When arm motor A2 rotates the A11 rotations of drive elbow joint input shaft, forearm steel wire rope A17 is pulled, so as to drive elbow joint defeated
Go out to take turns A4 to rotate (or driving ectoskeleton substrate A8 to rotate).Other compositions and annexation are identical with embodiment one.
Embodiment three：Illustrate present embodiment with reference to Fig. 4 and Fig. 5, present embodiment and embodiment
Forearm A unlike two also includes forearm encoder bracket A6 and forearm encoder A12, forearm encoder bracket A6 and elbow joint
Output wheel A4 is connected, and forearm encoder A12 is connected with forearm encoder bracket A6.Forearm encoder A12 is used to detect elbow joint
The anglec of rotation.The free degree is elbow joint rotational freedom herein, is driven by forearm motor A2.Other compositions and connection are closed
System is identical with embodiment two.
Embodiment four：Illustrate present embodiment, this embodiment party with reference to Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 11 and Figure 12
The large arm B of formula includes 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 input shaft B7, shoulder joint bearing block B8, shoulder joint motor seat B9, shoulder joint decelerator B10, shoulder joint are driven
Dynamic motor B11, the first drive bay B12, the first driver B13, the first steering link B14, the second steering link B15, volume
Code device B16, the 3rd steering link B17, the 4th steering link B18, steering motor seat B19, steering motor B20, ectoskeleton upper arm
B21, spring fixing glue B22, aluminum pipe mounting bracket B23, aluminum pipe B24, spring B 25, 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, first
Guide rail B36, the second guide rail B37, feed screw nut B38, slide block B 39, leading screw gland B40, lead screw shaft bearings B41, guide rail are fixed
Seat B44, elbow joint connecting seat 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；
End face outside on shoulder joint skeleton B1 vertical frame B1-1 is provided with several second steel wire rope groove B1-3, shoulder joint bone
Lead screw shaft bearings B41 and guide rail fixed seat B44, leading screw gland B40 are fixed with inner side end on frame B1 vertical frame B1-1
It is hinged with lead screw shaft bearings B41, leading screw B48 output end and leading screw gland B40 are connected, leading screw B48 input and stepping
Motor B3 connections, stepper motor B3 are fixed on stepper motor seat B2, and stepper motor seat B2 is fixed on shoulder joint skeleton B1, silk
Thick stick nut B38 is threadedly coupled with leading screw B48, and stepper motor B3 drivings leading screw B48 causes feed screw nut B38 to be moved along leading screw B48,
Feed screw nut B38 is connected with slide block B 39, and slide block B 39 is sleeved on the first guide rail B36 and the second guide rail B37, the first guide rail B36
It is optical axis and play the guiding role with the second guide rail B37, slide block B 39 can be slided on the first guide rail B36 and the second guide rail B37
Dynamic, the first guide rail B36 and the second guide rail B37 one end and guide rail fixed seat B44 are connected, the first guide rail B36 and the second guide rail B37
The crossbearer B1-2 of the other end and shoulder joint skeleton B1 be connected, ectoskeleton upper arm B21 is hinged with shoulder joint nodal axisn B29, on ectoskeleton
Arm B21 and shoulder joint skeleton B1 forms rotary joint, and ectoskeleton upper arm B21 is rotated (i.e. around shoulder joint bone around shoulder joint nodal axisn B29
Frame B1 rotates)；
Shoulder joint driver B26 is connected on ectoskeleton upper arm B21 upper surface, and large arm binding mechanism L is connected in dermoskeleton
On bone upper arm B21 lower surface, see that Fig. 7, shoulder joint driver B26 and shoulder joint motor B11 are electrically connected with, shoulder joint is driven
Dynamic motor B11 is connected with shoulder joint decelerator B10, and shoulder joint decelerator B10 passes through shoulder joint motor seat B9 and ectoskeleton
Upper arm B21 is connected, and shoulder joint input shaft B7 is supported in shoulder joint bearing block B8, shoulder joint bearing block B8 and ectoskeleton upper arm
B21 is connected, and shoulder joint input shaft B7 input is connected with shoulder joint decelerator B10 output end, shoulder joint input shaft B7's
Output end is hinged with shoulder joint nodal axisn B29, and shoulder joint nodal axisn B29 is connected with shoulder joint skeleton B1, shoulder joint nodal axisn B29 and shoulder joint bearings
Seat B8 limits shoulder joint input shaft B7 axial movements, and shoulder joint input shaft B7 is provided with the second helicla flute B7-1；
Shoulder joint steel wire rope B31 one end is fixed by shoulder joint wire rope fixing device B32, and shoulder joint steel wire rope fixes dress
Put B32 to be fixed on shoulder joint skeleton B1, the shoulder joint steel wire rope B31 other end is entangled to the second steel wire on shoulder joint skeleton B1
In grooving B1-3, it is entangled in the second helicla flute B7-1, twines when twining the junction to shoulder joint skeleton B1 and shoulder joint input shaft B7
Around three weeks (can specifically depend on the circumstances in how many week), shoulder joint skeleton B1 another the second steel wire rope groove was then twined back again
In B1-3, shoulder joint steel wire rope K2 ends enter large arm steel wire pre-tightening mechanism B5, and large arm steel wire pre-tightening mechanism B5 is in large arm chute
Pretension in B4, large arm chute B4 are connected with shoulder joint skeleton B1, and shoulder joint input shaft is driven when shoulder joint motor B11 is rotated
When B7 is rotated, shoulder joint steel wire rope B31 is pulled, (or drives ectoskeleton upper arm B21 to turn so as to drive shoulder joint skeleton B1 to rotate
It is dynamic)；
Aluminum pipe mounting bracket B23 is sleeved on aluminum pipe B24, and aluminum pipe mounting bracket B23 is fixed on ectoskeleton upper arm B21,
Spring B 25 is fixed in aluminum pipe B24 by spring fixing glue B22, and steel wire guiding mechanism B28 is connected with ectoskeleton upper arm B21, even
The one end for meeting steel wire rope B27 is connected with spring B 25, and the connecting steel wire ropes B27 other end bypasses steel wire guiding mechanism B28 and sliding block
B39 is connected, and realizes gravitational equilibrium, when wearer dresses ectoskeleton motion, ectoskeleton upper arm B21 and shoulder joint skeleton B1 phase
Angle is changed, then the gravitional force for the system that wearer is formed with ectoskeleton changes, while the elongation of spring B 25
Amount also changes so that the elastic potential energy of spring B 25 changes, and the change of the elastic potential energy of spring B 25 just compensates ectoskeleton
The system formed with wearer, the gravitational potential caused by ectoskeleton upper arm B21 and shoulder joint skeleton B1 relatively rotate
The change of energy, realizes gravitational equilibrium.When load changes, stepper motor B3 can be adjusted, adjusting slider B39 position,
So as to change the elongation of spring B 25, gravitational equilibrium is realized again.Adjusting screw nut B38 position, passes through slide block B 39
Connecting steel wire ropes B27 is pulled, so as to change the initial elongation amount of spring B 25；
Steering motor B20 is connected with speed reducing steering system B49, and speed reducing steering system B49 and steering motor seat B19 are affixed, is turned to
Motor cabinet B19 and ectoskeleton upper arm B21 end are affixed, have elongated hole B19-1 on steering motor seat B19, and elongated hole B19-1 is used for
Adjust from ectoskeleton upper arm B21 link position to adjust the wearer of the different heights of upper arm lengths adaptation, the 3rd steering connects
Bar B17 one end and speed reducing steering system B49 output shaft fixed connections, the 3rd steering link B17 other end and the first bearing pin B51 are cut with scissors
Connect, the second steering link B15 middle part is hinged with the second bearing pin B52, the second steering link B15 one end and the first bearing pin B51
Be hinged, the second steering link B15 other end and the 3rd bearing pin B53 are hinged, the 4th steering link B18 middle part and the second bearing pin
B52 is hinged, and the 4th steering link B18 one end and the 4th bearing pin B54 are hinged, and the 4th steering link B18 other end the 5th is sold
Axle B55 is hinged, and the 4th bearing pin B54 is hinged with steering motor seat B19, and the first steering link B14 one end and the 5th bearing pin B55 are cut with scissors
Connect, the first steering link B14 other end and the 6th bearing pin B56 are hinged, and the 3rd bearing pin B53 and the 6th bearing pin B56 close with elbow
Section connecting seat B45 is hinged, and encoder B16 is arranged on the first bearing pin B51 and is connected with the second steering link B15, encoder B16
For detecting corner size, the free degree is the elbow joint outward turning free degree herein, is driven by steering motor B20.3rd steering link
B17, the 4th steering link B18, the second steering link B15 and steering motor seat B19 form the first parallelogram linkage；
It is parallel that second steering link B15, the 4th steering link B18, the first steering link B14 and elbow joint connecting seat B45 form second
Quadrilateral connecting rod mechanism；First parallelogram linkage and the second parallelogram linkage connect for double parallel quadrangle
Linkage.When steering motor seat B19 is fixed, steering motor B20 driving speed reducing steering systems B49 is rotated, speed reducing steering system B49 bands
Dynamic 3rd steering link B17 is swung, and elbow joint connecting seat B45 is driven on wearer by double parallel quadrilateral connecting rod mechanism
Arm axle line rotates.First driver B13 is fixed on ectoskeleton upper arm B21 by the first drive bay B12.Work as steering motor
When B20 is rotated, elbow joint connecting seat B45 and its forearm A being connected is driven to be rotated around wearer's upper arm axis.
Other compositions and annexation are identical with embodiment one, two or three.
Embodiment five：Illustrate present embodiment, present embodiment and embodiment four with reference to Fig. 6 and Fig. 8
Unlike large arm B also include shoulder joint encoder B6 and shoulder joint encoder bracket B30, shoulder joint encoder bracket B30 with
Shoulder joint skeleton B1 is connected, and shoulder joint encoder B6 is connected with shoulder joint encoder bracket B30.Shoulder joint encoder B6 is used to examine
Survey the anglec of rotation of shoulder joint.The free degree is the shoulder joint swing free degree herein, is driven by shoulder joint motor B11.
Other compositions and annexation are identical with embodiment four.
Embodiment six：Illustrate present embodiment with reference to Fig. 7, present embodiment is different from embodiment five
The large arm B for being also includes Spring retention features B43, and Spring retention features B43 is arranged on aluminum pipe mounting bracket B23.Spring is consolidated
It is to be used for fixed spring B25 when mounted to facilitate installation to determine mechanism B43, unloads Spring retention features B43 after having installed
Under.Other compositions and annexation are identical with embodiment five.
Embodiment seven：Illustrate present embodiment with reference to Figure 10, the back C of present embodiment includes spine C1, consolidated
Determine frame C2, ectoskeleton waist C3, ectoskeleton back C4, the first back connecting rod C5, contiguous block C6, the 3rd back connecting rod C7, arc
Connecting rod C18, the 4th back connecting rod C19, spring C20 and the second back connecting rod C21, spine C1 one end and fixed mount C2 and dermoskeleton
Bone waist C3 is connected, and the spine C1 other end is connected with ectoskeleton back C4, and spine C1 and ectoskeleton back C4 can the company of regulation
To adapt to the wearer of different statures, ectoskeleton back C4 and ectoskeleton waist C3 mutually bundle with wearer for the position connect, connection
Block C6 is connected with ectoskeleton waist C4, and the first back connecting rod C5 one end is hinged with contiguous block C6, and the first back connecting rod C5's is another
One end is connected with the second back connecting rod C21, and the second back connecting rod C21 other end is hinged with curved rod C18, and the first back connects
Bar C5 can adjust the position length being connected with the second back connecting rod C21；3rd back connecting rod C7 is put down with the first back connecting rod C5
Row is set, and the 3rd back connecting rod C7 one end is hinged with contiguous block C6, and the 3rd back connecting rod C7 other end and the 4th back connect
Bar C19 connections, the 4th back connecting rod C19 other end are hinged with curved rod C18, and the 3rd back connecting rod C7 and the 4th back connect
Bar C19 can adjust the position length of connection；Contiguous block C6, the first back connecting rod C5, the second back connecting rod C21, the 3rd back
Connecting rod C7, the 4th back connecting rod C19 and curved rod C18 form the 3rd parallelogram linkage, the 3rd parallelogram
Linkage causes curved rod C18 to remain vertical, while shoulder joint is rotated around clavicle joint, this freedom
Spend for the clavicle joint free degree；Spring C20 one end is connected with the 3rd back connecting rod C7, after the spring C20 other end and second
Carry on the back connecting rod C21 connections, when the 3rd back connecting rod C7 and the second back connecting rod C21 free degree angle change, spring C20
Length changes, and elastic potential energy produces change, and the change for compensating the gravitional force caused by the angle change realizes that gravity is put down
Weighing apparatus.Other compositions and annexation are identical with embodiment one, two, three, five or six.
Embodiment eight：Illustrate present embodiment, the forearm binding mechanism K and large arm of present embodiment with reference to Fig. 4
Binding mechanism L is by the first hinged seat K1, the second hinged seat K2, fixed plate K3 and two annular binding K4 compositions, the first hinged seat
K1 and the second hinged seat K2 are arranged on a fixed plate K3 side end face, and two annular binding K4 are arranged on fixed plate K3 opposite side
On end face, the first hinged seat K1 is hinged with the second hinged seat K2, and fixed plate K3 is connected with one of hinged seat, two annular bindings
K4 is coaxially disposed, and two annular binding K4 are connected with fixed plate K3.Forearm binding mechanism K and large arm binding mechanism L be used for
Wearer bundlees, and has rotational freedom between the first hinged seat K1 and the second hinged seat K2, can adjust the angle of binding, dermoskeleton
On bone substrate A8 and multiple axis holes are equipped with ectoskeleton upper arm B21, the position of binding can be adjusted.Other compositions and connection are closed
System is identical with embodiment seven.
Embodiment nine：Illustrate present embodiment, present embodiment and embodiment with reference to Figure 10 and Figure 12
First, ectoskeleton unlike two, three, five, six or eight also includes back encoder U and back encoder bracket V, back encoder
Bracket V is connected with back motor seat J, and back encoder U is connected with back encoder bracket V.Back encoder U is used to examine
Survey back motor I corner.Other compositions and annexation are identical with embodiment one, two, three, five, six or eight.
Embodiment ten：Illustrate present embodiment, present embodiment and embodiment with reference to Figure 10 and Figure 12
Ectoskeleton unlike nine also includes adjustment axis S and tensioning wheel T, and tensioning wheel T is packed on adjustment axis S, after adjustment axis S is arranged on
Carry on the back on motor seat J.Adjustment axis S and back motor seat J link position can change to pretension timing belt G.
Bearing up pulley T plays pretension, and this free degree is the shoulder external rotator free degree, is driven by back motor I.Other compositions and company
It is identical with embodiment nine to connect relation.
The operation principle and operation process of the present invention：
First back connecting rod C5, contiguous block C6, the 3rd back connecting rod C7, curved rod C18, the 4th back connecting rod C19, bullet
Spring C20 and the second back connecting rod C21 forms clavicle joint；
Shoulder joint skeleton B1, stepper motor seat B2, stepper motor B3, large arm steel wire pre-tightening mechanism B5, shoulder joint input shaft
B7, shoulder joint bearing block B8, shoulder joint motor seat B9, shoulder joint decelerator B10, shoulder joint motor B11, shoulder joint
Axle B29 and, shoulder joint steel wire rope B31 form shoulder joint；
Elbow joint output wheel A4, forearm steel wire pre-tightening mechanism A5, ectoskeleton substrate A8, forearm motor seat A9, forearm
Decelerator A10, elbow joint input shaft A11, forearm wire rope fixing device A13, elbow joint rotary shaft A16 and forearm steel wire rope
A17 forms elbow joint；
When forearm motor A2, which is rotated, drives elbow joint input shaft A11 to rotate, forearm steel wire rope A17 is pulled, so as to
Elbow joint output wheel A4 is driven to rotate, steering motor B20 drives elbow joint around large arm by double parallel quadrilateral connecting rod mechanism
Binding mechanism L upper arm axis Z1 rotates (and bone axis of wearer's upper arm, see Fig. 5 and Fig. 7), shoulder joint motor
B11 drives the shoulder joint swing free degree, the back motor I driving shoulder internal rotator outward turning frees degree.Clavicle joint is certainly
By spending no motor driving.
When shoulder joint Anterior-Posterior is swung, shoulder joint angle (shoulder joint skeleton B1 and ectoskeleton upper arm B21 folder
Angle) trigger the length of spring B 25 to change, and then cause the elastic potential energy of spring B 25 to change, just compensate shoulder joint swing angle
The change of the gravitional force for the system that wearer's upper limbs caused by change and ectoskeleton are formed, realizes gravitational equilibrium；Work as shoulder joint
When inside and outside rotary freedom rotates while rotating (shoulder joint skeleton B1 around back drive motor driver P), ectoskeleton gravity
Potential energy does not change.
When clavicle joint rotates, the position of ectoskeleton changes, and causes the change of gravitional force, now spring B 25
Length also accordingly changes, and the elastic potential energy of spring B 25 changes, and just compensates the change that gravitional force occurs, realizes that gravity is put down
Weighing apparatus.
So the present invention can realize passive gravitational equilibrium so that wearer's upper limbs is being transported with the system that ectoskeleton is formed
Gravitional force does not change when dynamic, so as to not have to overcome gravitional force to do work, but due to there is changing for speed in motion process
Become, cause acceleration, cause inertia force, so, forearm motor A2, shoulder joint motor B11, steering motor B20 and
Back motor I effect can be played a part of compensating inertia force, meanwhile, if loading range exceedes ectoskeleton spring system
The scope that system can balance, can utilize motor output auxiliary balance, reach the effect of gravitational equilibrium.
When exoskeleton system moves, each joint encoders detection angles value, acceleration is obtained by differential filtering and believed
Number, inertia force is calculated, inertia force is applied by motor, so that wearer does not have to the drive dermoskeleton that inertia force can be slim and graceful
Bone moves, and reaches the effect of rehabilitation training.
Claims (9)
1. the main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind, the ectoskeleton include forearm (A), large arm (B), back (C),
Outer spin axis (D), bearing (E), driving pulley (F), timing belt (G), passive belt wheel (H), back motor (I), back driving
Motor cabinet (J), forearm binding mechanism (K), large arm binding mechanism (L), back drive motor driver (P) and back motor
Drive bay (Q), the elbow joint connecting seat (B45) in large arm (B) are connected with the elbow joint output wheel (A4) on forearm (A),
One end of outer spin axis (D) is hinged in shoulder joint skeleton (B1) crossbearer (B1-2), the other end and the bearing (E) of outer spin axis (D)
Inner ring is connected, and driving pulley (F) is packed in outer spin axis (D), and one end of timing belt (G) is sleeved on driving pulley (F), synchronous
The other end of band (G) is sleeved on passive belt wheel (H), and passive belt wheel (H) is packed on back motor (I) output shaft,
Back motor (I) is connected with back motor seat (J), back motor seat (J) and the curved rod on back (C)
(C18) it is connected, back drive motor driver (P) passes through back drive motor driver bracket (Q) and back motor seat
(J) it is connected, back drive motor driver (P) is electrically connected with back motor (I), forearm binding mechanism (K) and forearm
(A) the ectoskeleton substrate (A8) on is be hinged, and large arm binding mechanism (L) and the ectoskeleton upper arm (B21) in large arm (B) are be hinged,
It is characterized in that：The forearm (A) include forearm driver (A1), forearm motor (A2), forearm bearing block (A3),
Elbow joint output wheel (A4), forearm steel wire pre-tightening mechanism (A5), forearm chute (A7), ectoskeleton substrate (A8), forearm driving electricity
Support (A9), forearm decelerator (A10), elbow joint input shaft (A11), forearm wire rope fixing device (A13), elbow joint rotation
Axle (A16) and forearm steel wire rope (A17), forearm driver (A1) are connected on a side end face of ectoskeleton substrate (A8), forearm
Binding mechanism (K) is hinged on another side end face of ectoskeleton substrate (A8), forearm driver (A1) and ectoskeleton substrate (A8)
It is connected, forearm driver (A1) is electrically connected with forearm motor (A2), forearm motor (A2) and forearm decelerator
(A10) connect, forearm decelerator (A10) is connected by forearm motor seat (A9) and ectoskeleton substrate (A8), and elbow joint is defeated
Enter axle (A11) to be supported in forearm bearing block (A3), forearm bearing block (A3) is connected with ectoskeleton substrate (A8), elbow joint input
The input of axle (A11) is connected with the output end of forearm decelerator (A10), and output end and the elbow of elbow joint input shaft (A11) close
It is be hinged to save rotary shaft (A16), elbow joint rotary shaft (A16) is connected with ectoskeleton substrate (A8), elbow joint output wheel (A4) and elbow
Joint rotary shaft (A16) is be hinged, and the upper surface of elbow joint output wheel (A4) is provided with several first steel wire rope grooves (A4-1), elbow joint
Input shaft (A11) is provided with the first helicla flute (A11-1), and one end of forearm steel wire rope (A17) is by forearm wire rope fixing device
(A13) fixed, forearm wire rope fixing device (A13) is fixed on elbow joint output wheel (A4), forearm steel wire rope (A17) it is another
One end is entangled to the first steel wire rope groove (A4-1) on elbow joint output wheel (A4) Nei, is twined to elbow joint output wheel (A4) and elbow joint
It is entangled to during the junction of input shaft (A11) in the first helicla flute (A11-1), three Zhou Houzai of winding twine back elbow joint output wheel (A4)
Another the first steel wire rope groove (A4-1) in, forearm steel wire rope (A17) end enters forearm steel wire pre-tightening mechanism (A5), forearm
Steel wire pre-tightening mechanism (A5) is connected in forearm chute (A7) interior pretension, forearm chute (A7) with elbow joint output wheel (A4).
A kind of 2. main passive mixing rehabilitation training of upper limbs ectoskeleton according to claim 1, it is characterised in that：The forearm
(A) forearm encoder bracket (A6) and forearm encoder (A12), forearm encoder bracket (A6) and elbow joint output wheel are also included
(A4) it is connected, forearm encoder (A12) is connected with forearm encoder bracket (A6).
A kind of 3. main passive mixing rehabilitation training of upper limbs ectoskeleton according to claim 1 or claim 2, it is characterised in that：It is described big
Arm (B) includes shoulder joint skeleton (B1), stepper motor seat (B2), stepper motor (B3), large arm chute (B4), large arm steel wire pretension
Mechanism (B5), shoulder joint input shaft (B7), shoulder joint bearing block (B8), shoulder joint motor seat (B9), shoulder joint decelerator
(B10), shoulder joint motor (B11), the first drive bay (B12), the first driver (B13), the first steering link
(B14), the second steering link (B15), encoder (B16), the 3rd steering link (B17), the 4th steering link (B18), steering
Motor cabinet (B19), steering motor (B20), ectoskeleton upper arm (B21), spring fixing glue (B22), aluminum pipe mounting 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), sliding block (B39), leading screw gland (B40), lead screw shaft bearings (B41), guide rail fixed seat
(B44), elbow joint connecting seat (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)；
End face outside in the vertical frame (B1-1) of shoulder joint skeleton (B1) is provided with several second steel wire rope grooves (B1-3), shoulder joint
Lead screw shaft bearings (B41) and guide rail fixed seat (B44), leading screw are fixed with inner side end in the vertical frame (B1-1) of skeleton (B1)
Gland (B40) is be hinged with lead screw shaft bearings (B41), and output end and the leading screw gland (B40) of leading screw (B48) are connected, leading screw
(B48) input is connected with stepper motor (B3), and stepper motor (B3) is fixed on stepper motor seat (B2), stepper motor seat
(B2) it is fixed on shoulder joint skeleton (B1), feed screw nut (B38) is threadedly coupled with leading screw (B48), and feed screw nut (B38) is with sliding
Block (B39) is connected, and sliding block (B39) is sleeved on the first guide rail (B36) and the second guide rail (B37), the first guide rail (B36) and second
One end of guide rail (B37) is connected with guide rail fixed seat (B44), the other end and shoulder of the first guide rail (B36) and the second guide rail (B37)
The crossbearer (B1-2) of joint skeleton (B1) is connected, and ectoskeleton upper arm (B21) is be hinged with shoulder joint nodal axisn (B29)；
Shoulder joint driver (B26) is connected on ectoskeleton upper arm (B21) upper surface, and large arm binding mechanism (L) is connected in outer
On the lower surface of bone upper arm (B21), shoulder joint driver (B26) is electrically connected with shoulder joint motor (B11), shoulder joint
Motor (B11) is connected with shoulder joint decelerator (B10), and shoulder joint decelerator (B10) passes through shoulder joint motor seat
(B9) it is connected with ectoskeleton upper arm (B21), shoulder joint input shaft (B7) is supported in shoulder joint bearing block (B8), shoulder joint bearings
Seat (B8) is connected with ectoskeleton upper arm (B21), the input of shoulder joint input shaft (B7) and the output of shoulder joint decelerator (B10)
End is connected, and the output end and shoulder joint nodal axisn (B29) of shoulder joint input shaft (B7) are be hinged, shoulder joint nodal axisn (B29) and shoulder joint skeleton
(B1) it is connected, shoulder joint input shaft (B7) is 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), and shoulder joint steel wire rope fixes dress
Put (B32) to be fixed on shoulder joint skeleton (B1), the other end of shoulder joint steel wire rope (B31) is entangled on shoulder joint skeleton (B1)
In second steel wire rope groove (B1-3), the second spiral shell is entangled to when twining the junction to shoulder joint skeleton (B1) and shoulder joint input shaft (B7)
In spin slot (B7-1), wind three weeks, in another the second steel wire rope groove (B1-3) for then twining back shoulder joint skeleton (B1) again, shoulder
Joint steel wire rope (K2) end enters large arm steel wire pre-tightening mechanism (B5), and large arm steel wire pre-tightening mechanism (B5) is at large arm chute (B4)
Interior pretension, large arm chute (B4) are connected with shoulder joint skeleton (B1)；
Aluminum pipe mounting bracket (B23) is sleeved on aluminum pipe (B24), and aluminum pipe mounting bracket (B23) is fixed on ectoskeleton upper arm (B21)
On, spring (B25) is fixed in aluminum pipe (B24) by spring fixing glue (B22), on steel wire guiding mechanism (B28) and ectoskeleton
Arm (B21) is connected, and one end of connecting steel wire ropes (B27) is connected with spring (B25), and the other end of connecting steel wire ropes (B27) bypasses
Steel wire guiding mechanism (B28) is connected with sliding block (B39)；
Steering motor (B20) is connected with speed reducing steering system (B49), and speed reducing steering system (B49) and steering motor seat (B19) are affixed,
The end of steering motor seat (B19) and ectoskeleton upper arm (B21) is affixed, there is elongated hole (B19-1) on steering motor seat (B19), the
One end of three steering links (B17) and speed reducing steering system (B49) output shaft fixed connection, the other end of the 3rd steering link (B17) with
First bearing pin (B51) is be hinged, and the middle part of the second steering link (B15) and the second bearing pin (B52) are be hinged, the second steering link
(B15) one end is be hinged with the first bearing pin (B51), and the other end of the second steering link (B15) and the 3rd bearing pin (B53) are be hinged,
The middle part of 4th steering link (B18) is be hinged with the second bearing pin (B52), one end and the 4th bearing pin of the 4th steering link (B18)
(B54) it is hinged, the bearing pin (B55) of the other end the 5th of the 4th steering link (B18) is be hinged, the 4th bearing pin (B54) and steering motor
Seat (B19) is be hinged, and one end of the first steering link (B14) is be hinged with the 5th bearing pin (B55), the first steering link (B14) it is another
One end is be hinged with the 6th bearing pin (B56), and the 3rd bearing pin (B53) and the 6th bearing pin (B56) are cut with scissors with elbow joint connecting seat (B45)
Connect, encoder (B16) is arranged on the first bearing pin (B51) and is connected with the second steering link (B15), the first driver (B13)
It is fixed on by the first drive bay (B12) on ectoskeleton upper arm (B21).
A kind of 4. main passive mixing rehabilitation training of upper limbs ectoskeleton according to claim 3, it is characterised in that：The large arm
(B) shoulder joint encoder (B6) and shoulder joint encoder bracket (B30), shoulder joint encoder bracket (B30) and shoulder joint are also included
Save skeleton (B1) to be connected, shoulder joint encoder (B6) is connected with shoulder joint encoder bracket (B30).
A kind of 5. main passive mixing rehabilitation training of upper limbs ectoskeleton according to claim 4, it is characterised in that：The large arm
(B) Spring retention features (B43) are also included, Spring retention features (B43) are arranged in aluminum pipe mounting bracket (B23).
6. according to a kind of main passive mixing rehabilitation training of upper limbs ectoskeleton of claim 1,2 or 5, it is characterised in that：It is described
Back (C) includes 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
Second back connecting rod (C21), one end of spine (C1) and fixed mount (C2) and ectoskeleton waist (C3) are connected, spine (C1) it is another
One end is connected with ectoskeleton back (C4), and ectoskeleton back (C4) and ectoskeleton waist (C3) mutually bundle with wearer, contiguous block
(C6) it is connected with ectoskeleton waist (C4), one end of the first back connecting rod (C5) and contiguous block (C6) are be hinged, the first back connecting rod
(C5) the other end is connected with the second back connecting rod (C21), the other end and the curved rod (C18) of the second back connecting rod (C21)
Be hinged, the 3rd back connecting rod (C7) be arranged in parallel with the first back connecting rod (C5), one end of the 3rd back connecting rod (C7) and connection
Block (C6) is be hinged, and 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) it is be 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).
A kind of 7. main passive mixing rehabilitation training of upper limbs ectoskeleton according to claim 6, it is characterised in that：The forearm bundle
Mechanism (K) and large arm binding mechanism (L) are tied up by the first hinged seat (K1), the second hinged seat (K2), fixed plate (K3) and two
Annular binding (K4) is formed, and the first hinged seat (K1) and the second hinged seat (K2) are arranged on a side end face of fixed plate (K3), and two
Individual annular binding (K4) is arranged on another side end face of fixed plate (K3), and the first hinged seat (K1) is cut with scissors with the second hinged seat (K2)
Connect, fixed plate (K3) is connected with one of hinged seat, and two annular bindings (K4) are coaxially disposed, and two annular bindings (K4) with
Fixed plate (K3) connects.
8. according to a kind of main passive mixing rehabilitation training of upper limbs ectoskeleton of claim 1,2 or 5, it is characterised in that：It is described
Ectoskeleton also includes back encoder (U) and back encoder bracket (V), back encoder bracket (V) and back motor
Seat (J) is connected, and back encoder (U) is connected with back encoder bracket (V).
A kind of 9. main passive mixing rehabilitation training of upper limbs ectoskeleton according to claim 8, it is characterised in that：The ectoskeleton
Also include adjustment axis (S) and tensioning wheel (T), tensioning wheel (T) is packed in adjustment axis (S), and adjustment axis (S) drives installed in back
On motor cabinet (J).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610161507.4A CN105597280B (en) | 2016-03-21 | 2016-03-21 | The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind |
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|---|---|---|---|
| CN201610161507.4A CN105597280B (en) | 2016-03-21 | 2016-03-21 | The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind |
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| CN105597280B true CN105597280B (en) | 2018-03-13 |
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| CN106109166B (en) * | 2016-06-19 | 2018-04-06 | 河北工业大学 | A kind of driving upper limb rehabilitation robot indirectly |
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