CN105662783A - Exoskeletal rehabilitation robot for upper limbs - Google Patents
Exoskeletal rehabilitation robot for upper limbs Download PDFInfo
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- CN105662783A CN105662783A CN201610158560.9A CN201610158560A CN105662783A CN 105662783 A CN105662783 A CN 105662783A CN 201610158560 A CN201610158560 A CN 201610158560A CN 105662783 A CN105662783 A CN 105662783A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 62
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 43
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims description 59
- 210000000707 wrist Anatomy 0.000 claims description 25
- 210000000245 forearm Anatomy 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000000712 assembly Effects 0.000 claims description 16
- 238000000429 assembly Methods 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 238000003780 insertion Methods 0.000 claims description 12
- 230000037431 insertion Effects 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 210000003414 extremity Anatomy 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000000979 retarding effect Effects 0.000 claims description 4
- 235000004443 Ricinus communis Nutrition 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 210000002310 elbow joint Anatomy 0.000 abstract description 5
- 230000007659 motor function Effects 0.000 description 10
- 238000011084 recovery Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 230000033228 biological regulation Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001447 compensatory effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 208000006820 Arthralgia Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 210000000142 acromioclavicular joint Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 210000002758 humerus Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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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
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—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
- A61H2201/1635—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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
-
- 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
- A61H2205/062—Shoulders
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly, a mechanical hand part assembly and a motor driving assembly, wherein the base supports the whole exoskeletal rehabilitation robot for the upper limbs; the mechanical shoulder girdle assembly is connected with the base; the mechanical shoulder joint assembly is connected with the mechanical shoulder girdle assembly; the mechanical elbow joint assembly is connected with the mechanical shoulder joint assembly; the mechanical front arm assembly is connected with the mechanical elbow joint assembly; the mechanical elbow joint assembly is connected with the mechanical front arm assembly; the mechanical hand part assembly is connected with the mechanical wrist joint assembly; the motor driving assembly is used as a power source of the whole exoskeletal rehabilitation robot for the upper limbs. The exoskeletal rehabilitation robot disclosed by the invention can be used for assisting the upper limbs of a human body in moving in a three-dimensional space and performing rehabilitation training.
Description
Technical field
The present invention relates to robot technology, body biomechanics, medical science of recovery therapy and rehabilitation project field, particularly relate to a kind of dermaskeleton type upper limb rehabilitation image training robot.
Background technology
Exoskeleton-type robot is that one can be worn on human body, assists or expand the electromechanical device of human motion ability. The range of application of exoskeleton-type robot is very widely, comprises remote control, function of human body enhancing, function of human body compensation and limb rehabilitation training. At present in the world, have developed the robot of several money for patients with cerebral apoplexy limb rehabilitation training. Use robot to carry out the limb rehabilitation training of cerebral apoplexy, it is expected to shorten the time of patient's recovery, promotes the effect recovered and reduce total treatment cost.
In the design of exoskeleton-type machine recovery training appliance for recovery people, the matching of mechanical joint motion axle and human body joint motion axle is extremely important. During mismatch, exoskeleton-type recovery exercising robot will produce unexpected reactive force in junction, patient joint. This not only can cause arthralgia, and patient is caused damage, also can limit the motion space of limbs of patient, reduces the effect of rehabilitation training. So in order to avoid above-mentioned unfavorable result, the design of exoskeleton rehabilitation image training robot must make mechanical joint motion axle mate as much as possible mutually with human body joint motion axle. But, current dermaskeleton type upper limb rehabilitation robot still has bigger defect in this respect.
For the motion of shoulder, early stage exoskeleton-type recovery exercising robot uses ball joint to provide the three degree of freedom of shoulder to move, but this is because at that time people only think that shoulder is only made up of Glenohumeral joint. But, the complex body that shoulder is made up of shoulder joint (Glenohumeral joint) and pectoral girdle. Pectoral girdle comprises chest lock joint, acromioclavicular joint and the scapulothoracu (non-usual joint). The rotation center of Glenohumeral joint can have slippage along with the motion of pectoral girdle along the direction of humerus, so the kinematic structure of exoskeleton-type recovery exercising robot must consider the motion of pectoral girdle. The motion in these three joints causes the reason of Glenohumeral joint center (CGH) slippage just. These three joints constitute kinematic link jointly, so all cannot independently move in any single joint.In the motion of shoulder joint complex body, Glenohumeral joint is a ball joint with three degree of freedom, and pectoral girdle then provides the motion of two degree of freedom, but mainly carries on coronal-plane/decline, in/retrude two motion of protracting of horizontal plane.
Patients with cerebral apoplexy, due to nerve injury, cannot independently produce the motion of pectoral girdle. So it is very crucial that robot assisted patient realizes the motion of pectoral girdle. In rehabilitation training process, patient is very difficult due to pectoral girdle motion, compensates so trunk can be moved, and this will reduce the effect of rehabilitation training. So in clinical, it is often necessary to restriction patient compensates the motion of pectoral girdle with trunk, and induces patient to improve the frequency of pectoral girdle motion, and the rehabilitation of head movement function is very crucial by this.
But existing dermaskeleton type upper limb rehabilitation image training robot realizes the motion not considering pectoral girdle in the motion of shoulder joint, this makes man-machine joint shaft mismatch, if training after now being fixed by trunk, easily user is caused damage again.
Summary of the invention
The object of the present invention: a kind of dermaskeleton type upper limb rehabilitation image training robot is provided, can be used for auxiliary human upper limb and move in three-dimensional space, carry out rehabilitation training.
In order to realize above-mentioned purpose, the technical scheme of the present invention is:
A kind of dermaskeleton type upper limb rehabilitation image training robot, comprises pedestal, machinery pectoral girdle assembly, machinery shoulder joint assembly, machinery wrist assembly, machinery forearm component, machinery wrist joint assembly, mechanical manipulator parts and motor drive component, the whole dermaskeleton type upper limb rehabilitation image training robot of described base supports, described mechanical pectoral girdle assembly is connected with described pedestal, described mechanical shoulder joint assembly is connected with described mechanical pectoral girdle assembly, described mechanical wrist assembly is connected with described mechanical shoulder joint assembly, described mechanical forearm component is connected with described mechanical wrist assembly, described mechanical wrist joint assembly is connected with described mechanical forearm component, described mechanical manipulator parts is connected with described mechanical wrist joint assembly, described motor drive component is as the propulsion source of whole dermaskeleton type upper limb rehabilitation image training robot.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described pedestal comprises moving assembly, lifting assembly and support, described moving assembly moves integrally described dermaskeleton type upper limb rehabilitation image training robot by castor, and lock after movement, make described dermaskeleton type upper limb rehabilitation image training robot keep fixing; Described lifting assembly regulated by electric lifting platform described in the height of dermaskeleton type upper limb rehabilitation image training robot.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical pectoral girdle assembly includes the first joint assembly and the 2nd joint assembly, and is connected with described pedestal by the first described joint assembly; The first described joint assembly moves axle lifting in perpendicular by the first described joint, and the 2nd described joint assembly is connected with the first described joint assembly, and the 2nd described joint assembly is stretched in horizontal plane by the 2nd joint turning axle; The first described joint assembly comprises shoulder breadth governor lever, the first joint guide rail and the first joint slide block, described shoulder breadth governor lever and described support connect to form shoulder breadth and regulate moving sets, and can the chute in described support move, the first described joint guide rail is fixed on described shoulder breadth governor lever, and form the first joint moving sets with the first described joint slide block, the first described joint moving sets is provided with the first joint and moves axle, and described shoulder breadth regulates the angle between the axis of moving sets and the axis of the first joint moving sets to be 80 °-90 °;The 2nd described joint assembly comprise inboardend connecting rod, front swing bar, motion end link and after swing bar, define one group of parallel-crank mechanism, described inboardend connecting rod is fixed on the first described joint slide block.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical shoulder joint assembly comprises the 3rd joint assembly, the 4th joint assembly and the 5th joint assembly, and be connected with the 2nd described joint assembly by the 3rd described joint assembly, the 3rd described joint assembly is provided with the 3rd joint turning axle; The axis of the 3rd described joint turning axle passes through the motorium of human body Glenohumeral joint, and parallel to each other with the axis of the 2nd described joint turning axle; The 4th described joint assembly is connected with the 3rd described joint assembly, the 4th described joint assembly is provided with the 4th joint turning axle, the axis of the 4th described joint turning axle is by the motorium of human body Glenohumeral joint, and the angle in 90 ° with the axis of the 3rd described joint turning axle; The 5th described joint assembly is connected with the 4th described joint assembly, the 5th described joint assembly offsets mechanism by rotary motion and rotates, the 5th described joint assembly is provided with the 5th joint turning axle, the axis of the 5th described joint turning axle is by the motorium of human body Glenohumeral joint, and keeps overlapping with the axis of human body shoulder internal rotator/outward turning in scope of activity.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described rotary motion offsets mechanism and comprises first rotating arm, the 2nd pivot arm, a Y type connecting rod, the 2nd Y type connecting rod, fixing arm, pivot arm, permanent sleeve position adjustments part and limbs permanent sleeve, one end of described fixing arm is connected with the 4th described joint assembly, described fixing arm is connected to form the first turning axle with described first rotating arm respectively, and is connected to form the 2nd turning axle with the 2nd described pivot arm; Described first rotating arm is connected to form the 3rd turning axle with a described Y type connecting rod respectively, and is connected to form the 4th turning axle with the 2nd described Y type connecting rod; The 2nd described pivot arm is connected to form the 5th turning axle with a described Y type connecting rod respectively, and is connected to form the 6th turning axle with the 2nd described Y type connecting rod; Described pivot arm is connected to form the 7th turning axle with a described Y type connecting rod respectively, and is connected to form the 8th turning axle with the 2nd described Y type connecting rod; Described the first turning axle, the 2nd turning axle, the 4th turning axle and the 6th turning axle constitute four articles of rotating shafts of the first parallelogram jointly, the Plane intersects at four articles of rotating shafts of the first described parallelogram and described first rotating arm and the 2nd pivot arm place; Described the 3rd turning axle, the 4th turning axle, the 7th turning axle and the 8th turning axle constitute four articles of rotating shafts of the 2nd parallelogram jointly, four articles of rotating shafts of the 2nd described parallelogram and the Plane intersects at described first rotating arm and the 2nd pivot arm place; Described permanent sleeve position adjustments part regulate described in limbs permanent sleeve apart from the spacing of the 5th described joint turning axle, and the 5th joint turning axle described in keeping with inside and outside human body upper arm/spin axis line overlaps.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical wrist assembly is connected with the 5th described joint assembly, described mechanical wrist assembly is provided with the 6th joint turning axle, the axes normal of the 6th described joint turning axle in the axis of the 5th described joint turning axle, and by the rotation center of human elbow; Described mechanical wrist assembly passes through described motor drive component as performer outputting power, and the mechanical wrist assembly described in controlling rotates around the 6th described joint turning axle.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical forearm component is provided with the 7th joint turning axle, before the axis of the 7th described joint turning axle revolves with human body forearm/axis of supination overlaps in scope of activity.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical wrist joint assembly is provided with the 8th joint turning axle, the axis that the axis of the 8th described joint turning axle moves with human body wrist joint flexion/extension within the scope of motion overlaps, and connects the mechanical wrist joint assembly described in retarding mechanism driving by rotating machine and rotates around the 8th described joint turning axle.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical manipulator parts comprises machinery hand tie-in module and machinery hand, and described mechanical hand is connected and is fixed on described mechanical wrist joint assembly by described mechanical hand tie-in module.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described the 3rd joint assembly, the 4th joint assembly and machinery wrist assembly all use described motor drive component as driving joint motion propulsion source, described motor drive component comprises drive-motor, deceleration assembly, torque transducer assembly and the transmission assembly being arranged in frame, described deceleration assembly is docked with drive-motor by standard interface, described deceleration assembly is made up of gear reducer and capstan winch deceleration assembly, described capstan winch deceleration assembly comprises input pad, input shaft, many ropes, capstan winch output shaft, export capstan winch and rope tightener, described input shaft one end is connected with the standard output interface of described gear reducer by described input pad, make the output shaft/bore synchronous axial system of described input shaft and described gear reducer, described output capstan winch is fixed on described capstan winch output shaft and synchronous axial system, described input shaft is provided with spiral groove, and described output capstan winch is provided with circular arc face, described input shaft and described output capstan winch are by many described rope transmission power, the middle portion of many described ropes is around in the spiral groove of described input shaft, one end of many described ropes is fixed on described output capstan winch behind one section of circular arc face of described output capstan winch, the other end of many described ropes, after one section of cambered surface of described output capstan winch, is fixed on described output capstan winch by described rope tightener, described moment of torsion sensing assembly comprises sensor outer ring, spring limited block, spring terminal, the first spring assembly, the 2nd spring assembly and rotor sensor, described sensor outer ring is fixedly connected with described output capstan spindle, described moment of torsion sensing assembly comprises the spring limited block that three are distributed on described inside, sensor outer ring, and be fixedly connected with described sensor outer ring, described rotor sensor is exporting rotation on capstan spindle, spring parameter in the first described spring assembly and the 2nd spring assembly is identical and in the interval that is distributed between described rotor sensor and three spring limited blocks, each spring is fixed between described spring limited block and described rotor sensor by the spring terminal described in two, described transmission assembly comprises input rotating disk, tighten up and regulate assembly, the first Bowden line, the 2nd Bowden line, the first guide wheel assemblies, the 2nd guide wheel assemblies, export rotating disk, the first Bowden spool mounting block and the 2nd Bowden spool locking member, described input rotating disk is fixedly connected with described rotor sensor, described output rotating disk is connected to corresponding to driving joint assembly, the circumference face of described input rotating disk is provided with two parallel circular grooves, and the circumference face of described output rotating disk is provided with two parallel circular grooves,Described tighten up regulate assembly comprise first tighten up adjustable column, first before after set nut, first set nut, the 2nd tighten up adjustable column, the 2nd before set nut after set nut, the 2nd, synchronously tighten up adjustable column, synchronously tighten up adjustable plate and two tail rods, described first is tightened up adjustable column and is threaded in and described synchronously tightens up on adjustable plate, before described first, after set nut and described first, set nut is threaded in described first and tightens up on adjustable column, and withstands at two ends respectively and described synchronously tighten up adjustable plate; Described the 2nd tightens up adjustable column and is threaded in and described synchronously tightens up on adjustable plate, before described the 2nd, after set nut and the described the 2nd, set nut is threaded in described the 2nd and tightens up on adjustable column, and withstands at two ends respectively and described synchronously tighten up adjustable plate; Two described tail rods are fixed in described frame, and the described adjustable plate that synchronously tightens up slides on described two tail rods, and the described adjustable column that synchronously tightens up is threaded in and described synchronously tightens up on adjustable plate and one end withstands in described frame; The first described Bowden line is made up of wireline and Bowden spool, described first is tightened up in adjustable column and the first Bowden spool mounting block and is equipped with ladder hole, described in the insertion of one end the first of described Bowden spool tightens up the ladder hole on adjustable column, the ladder hole on the first Bowden spool mounting block described in the other end insertion of described Bowden spool; Described wireline one end is connected on described wireline mounting block, and by circular groove around on described input rotating disk, via the first guide wheel assemblies guiding being fixed in described frame, enter described Bowden spool, then by the circular groove on described output rotating disk around on described output rotating disk, and it is connected on the wireline mounting block of described output rotating disk; The 2nd described Bowden line is made up of wireline and Bowden spool, described the 2nd tightens up in adjustable column and the 2nd described Bowden spool mounting block and is provided with ladder hole, the described in the insertion of one end the 2nd of described Bowden spool tightens up the ladder hole on adjustable column, the ladder hole on the 2nd Bowden spool mounting block described in the other end insertion of described Bowden spool; Described wireline one end is connected on described wireline mounting block, and by circular groove around on described input rotating disk, via the 2nd guide wheel assemblies guiding being fixed in described frame, enter described Bowden spool, then by the circular groove on described output rotating disk around on described output rotating disk, and it is connected on the wireline mounting block of described output rotating disk.
The present invention is carried on pectoral girdle by increase recovery exercising robot/is declined, protract/the degree of freedom of retrude, can effectively solve the problem of man-machine joint shaft mismatch, thus allow at the trunk carrying out regular user in rehabilitation training of upper limbs process, limit the compensatory motion of its trunk, improve the effect of rehabilitation training, the upper limb joint of user can not be caused damage simultaneously; Provide the design of shoulder joint three degree of freedom, and keep the motorium of shoulder joint assembly to overlap with the motorium of human body Glenohumeral joint, reduce further the degree of man-machine joint shaft mismatch, simultaneously, the inside/outside that rotary motion skew mechanism achieves shoulder joint revolves, and reduces traditional problem that volume is big, modularization degree is low brought with arc-shaped rail implementation;According to different user's hand situations, by changing different mechanical hands, for realizing different training programs; Rope and capstan winch is utilized to complete power transmission, it is possible to avoid the problem that conventional gears step-down gear back of the body gap is relatively big, gear is easy to wear, reduce difficulty and the cost of manufacture simultaneously; Many ropes are used to connect the input shaft of capstan winch deceleration assembly and output capstan winch, load is shared on each rope, effectively strengthen the performance of capstan winch deceleration assembly, extend its work-ing life, devising tightening component can make rope keep tensioning simultaneously, thus reduces the back of the body gap of capstan winch deceleration assembly further. Utilizing Bowden line to complete the remote transmission of motor power so that the motor drive component that weight is bigger can not be arranged on joint, reduces the inertia of healing robot mechanical arm, having is be beneficial to the unite optimization of control and the optimization of system power; Utilize input rotating disk and the circular groove that exports on rotating disk to be staggered by the wireline that two directions are rotated, and further by guide wheel assemblies by wireline more fully around, on rotating disk, increase effectively motion scope when being used for joint of robot transmission; What be designed with Bowden line tightens up setting device, it is possible to independent or synchronous adjustment two Bowden line tensioning degrees, thus regulation output rotation dish and the performance inputting rotating disk synchronous axial system.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of dermaskeleton type upper limb rehabilitation image training robot of the present invention.
Fig. 2 is the structural representation of the pedestal of a kind of dermaskeleton type upper limb rehabilitation image training robot of the present invention.
Fig. 3 is the structural representation of the mechanical pectoral girdle assembly of the present invention's a kind of dermaskeleton type upper limb rehabilitation image training robot.
Fig. 4 is the structural representation of the mechanical shoulder joint assembly of the present invention's a kind of dermaskeleton type upper limb rehabilitation image training robot.
Fig. 5 is the rotation structural representation of the mechanical shoulder joint assembly of the present invention's a kind of dermaskeleton type upper limb rehabilitation image training robot.
Fig. 6 is the state graph after the mechanical shoulder joint assembly rotation of the present invention's a kind of dermaskeleton type upper limb rehabilitation image training robot.
Fig. 7 is the connection diagram of the mechanical wrist assembly of the present invention's a kind of dermaskeleton type upper limb rehabilitation image training robot, mechanical forearm component, machinery wrist joint assembly and mechanical manipulator parts.
Fig. 8 is the structural representation of the motor drive component of a kind of dermaskeleton type upper limb rehabilitation image training robot of the present invention.
Fig. 9 is the structural representation of the deceleration assembly of a kind of dermaskeleton type upper limb rehabilitation image training robot of the present invention.
Figure 10 is the structural representation of the torque transducer assembly of a kind of dermaskeleton type upper limb rehabilitation image training robot of the present invention.
Figure 11 is the installation plan of the transmission assembly of a kind of dermaskeleton type upper limb rehabilitation image training robot of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described further.
Refer to shown in accompanying drawing 1, a kind of dermaskeleton type upper limb rehabilitation image training robot, comprises pedestal 1000, machinery pectoral girdle assembly 2000, machinery shoulder joint assembly 3000, machinery wrist assembly 4000, machinery forearm component 5000, machinery wrist joint assembly 6000, mechanical manipulator parts 7000 and motor drive component 8000; Described pedestal 1000 supports whole dermaskeleton type upper limb rehabilitation image training robot, and described mechanical pectoral girdle assembly 2000 is connected with described pedestal 1000, for realize pectoral girdle on put forward/decline, protract/rear shrink movement function; Described mechanical shoulder joint assembly 3000 is connected with described mechanical pectoral girdle assembly 2000, for realizing the adduction/abduction of shoulder joint, flexion/extension, internal/external rotations motor function;Described mechanical wrist assembly 4000 is connected with described mechanical shoulder joint assembly 3000, for realizing the flexion/extension motor function of elbow joint; Described mechanical forearm component 5000 is connected with described mechanical wrist assembly 4000, for before realizing the revolving of forearm/supination function; Described mechanical wrist joint assembly 6000 is connected with described mechanical forearm component 5000, for realizing wrist joint flexion/extension motor function; Described mechanical manipulator parts 7000 is connected with described mechanical wrist joint assembly 6000, for realizing the rehabilitation training function of user's hand; Described motor drive component 8000 is as the propulsion source of whole dermaskeleton type upper limb rehabilitation image training robot.
Refer to shown in accompanying drawing 2, described pedestal 1000 comprises moving assembly 1100, lifting assembly 1200 and support 1300, described moving assembly 1100 moves integrally described dermaskeleton type upper limb rehabilitation image training robot by castor 1101, and lock after movement, make described dermaskeleton type upper limb rehabilitation image training robot keep fixing; Described lifting assembly 1200 regulated by electric lifting platform described in the height of dermaskeleton type upper limb rehabilitation image training robot; Moving assembly 1100 facilitates user to put, carries recovery exercising robot, and lifting assembly 1200 adjustable-height is to adapt to different human body height.
Referring to shown in accompanying drawing 3, described mechanical pectoral girdle assembly 2000 includes the first joint assembly 2100 and the 2nd joint assembly 2200, and is connected with described pedestal 1000 by the first described joint assembly 2100; The first described joint assembly 2100 moves axle 2000A lifting in perpendicular by the first described joint, for realize driving human body pectoral girdle in vertical plane on the motor function carrying/decline. Preferably, the first described joint assembly 2100 can use rotating machine, ball-screw, line slideway to realize the motor function needed for it. The 2nd described joint assembly 2200 is connected with the first described joint assembly 2100, and the 2nd described joint assembly 2200 is stretched in horizontal plane by the 2nd joint turning axle 2000B; For realizing driving human body pectoral girdle to protract in horizontal plane/the motor function of retrude. Preferably, the 2nd described joint assembly 2200 can use parallelogram linkage to provide the 2nd joint turning axle 2000B, and any one rotating shaft that rotating machine can be used to connect in retarding mechanism control parallelogram linkage in four rotating shafts rotates, thus realize the motor function needed for the 2nd joint assembly 2200. The first described joint assembly 2100 comprises shoulder breadth governor lever 2101, first joint guide rail 2102 and the first joint slide block 2013, described shoulder breadth governor lever 2101 and described support 1300 connect to form shoulder breadth and regulate moving sets, and can the chute in described support 1300 move, thus adapt to human body shoulder breadth. The first described joint guide rail 2102 is fixed on described shoulder breadth governor lever 2101, and forms the first joint moving sets with the first described joint slide block 2103, and the first described joint moving sets is provided with the first joint and moves axle 2000A. Further, the angle and between the axis of described shoulder breadth adjustment moving sets and the axis of the first joint moving sets is 80 °-90 °; Further, the 2nd described joint assembly 2200 comprises inboardend connecting rod 2201, front swing bar 2202, motion end link 2203 and rear swing bar 2204, defining one group of parallel-crank mechanism 2000P, described inboardend connecting rod 2201 is fixed on the first described joint slide block 2013.In parallelogram sturcutre 2000P, when current swing bar 2202 and rear swing bar 2204 rotate relative to inboardend connecting rod 2201, intrinsic theory of machines according to parallelogram, motion end link 2203 at horizontal in-plane moving, and will remain parallel to inboardend connecting rod 2201. This motion is protracted/retrude for driving human body pectoral girdle in horizontal plane, it is possible to by regulating front swing bar 2202 to adapt to human body shoulder breadth with the length of rear swing bar 2204.
Refer to shown in accompanying drawing 4 to accompanying drawing 6, described mechanical shoulder joint assembly 3000 comprises the 3rd joint assembly 3100, the 4th joint assembly 3200 and the 5th joint assembly 3300, and be connected with the 2nd described joint assembly 2200 by the 3rd described joint assembly 3300, the 3rd described joint assembly 3300 is provided with the 3rd joint turning axle 3000A; The axis of the 3rd described joint turning axle 3000A passes through the motorium of human body Glenohumeral joint, and parallel to each other with the axis of the 2nd described joint turning axle 2000B; The 4th described joint assembly 3200 is connected with the 3rd described joint assembly 3100, the 4th described joint assembly 3200 is provided with the 4th joint turning axle 3000B, the axis of the 4th described joint turning axle 3000B is by the motorium of human body Glenohumeral joint, it is possible to the angle in 90 ° with the axis of the 3rd described joint turning axle 3000A; 3rd joint assembly 3100, the 4th joint assembly 3200 all can use motor drive component 8000 as performer outputting power, and accurately control the 3rd joint assembly 3100 around the 3rd joint turning axle 3000A and the 4th joint assembly 3200 around the rotational motion parameter of the 4th joint turning axle 3000B, comprise speed, displacement and moment. The 5th described joint assembly 3300 is connected with the 4th described joint assembly 3200, the 5th described joint assembly 3300 offsets mechanism by rotary motion and rotates, the 5th described joint assembly 3300 is provided with the 5th joint turning axle 3000C, the axis of the 5th described joint turning axle 3000C is by the motorium of human body Glenohumeral joint, and keeps overlapping with the axis of human body shoulder internal rotator/outward turning in scope of activity. 5th joint assembly 3300 can use the guide rail of circular arc, is wrapped up by human arm, is fixed in circular arc, and control arm by drive element and move on guide rail, the motor function of simulation shoulder internal rotator/outward turning. But this kind of mode will make the 5th joint assembly 3300 volume relatively big, and component comparatively disperse, and modularization difficulty increases. Preferably, the 5th joint assembly 3300 can use a kind of rotary motion skew mechanism to realize. Rotary motion offsets the rotary motion synchronization principles that mechanism mainly make use of relative edge in parallelogram, drives a limit in parallelogram to rotate, and rotary motion is offset to a relative limit.
Described rotary motion offsets mechanism and comprises first rotating arm 3301, the 2nd pivot arm 3302, Y type connecting rod the 3303, a 2nd Y type connecting rod 3304, fixing arm 3305, pivot arm 3306, permanent sleeve position adjustments part 3307 and limbs permanent sleeve 3308, one end of described fixing arm 3305 is connected with the 4th described joint assembly 3200, revolves the parts maintained static in motion as upper arm inside/outside. Described fixing arm 3305 is connected to form the first turning axle 3300A with described first rotating arm 3301 respectively, and is connected to form the 2nd turning axle 3300B with the 2nd described pivot arm 3302;Described first rotating arm 3301 is connected to form the 3rd turning axle 3300C with a described Y type connecting rod 3303 respectively, and is connected to form the 4th turning axle 3300D with the 2nd described Y type connecting rod 3304; The 2nd described pivot arm 3302 is connected to form the 5th turning axle 3300E with a described Y type connecting rod 3303 respectively, and is connected to form the 6th turning axle 3300F with the 2nd described Y type connecting rod 3304; Described pivot arm 3306 is connected to form the 7th turning axle 3300G with a described Y type connecting rod 3303 respectively, and is connected to form the 8th turning axle 3300H with the 2nd described Y type connecting rod 3304; Described the first turning axle 3300A, the 2nd turning axle 3300B, the 4th turning axle 3300D and the 6th turning axle 3300F constitute four articles of rotating shafts of the first parallelogram 3001P jointly, the Plane intersects at four articles of rotating shafts of the first described parallelogram 3001P and described first rotating arm 3301 and the 2nd pivot arm 3302 place, intersection point is respectively A, B, C, D; Described the 3rd turning axle 3300C, the 4th turning axle 3300D, the 7th turning axle 3300G and the 8th turning axle 3300H constitute four articles of rotating shafts of the 2nd parallelogram 3002P jointly, the Plane intersects at four articles of rotating shafts of the 2nd described parallelogram 3002P and described first rotating arm 3301 and the 2nd pivot arm 3302 place, intersection point is respectively C, D, G, H; Described permanent sleeve position adjustments part 3307 can regulate described limbs permanent sleeve 3308 apart from the spacing of the 5th described joint turning axle 3000C, rotary motion is made to be applicable to the upper arm of different thicknesses, and inside and outside the 5th joint turning axle 3000C and human body upper arm described in keeping/spin axis line overlaps.
When described first rotating arm 3301 rotates around the first turning axle 3300A, in the first parallelogram 3001P, limit CD will rotate around the first turning axle 3300A, and according to the intrinsic theory of machines of parallelogram, limit EF also does same rotation by around the 2nd spin axis. Owing to limit GH is the opposite side of limit CD in the 2nd flat tetragon 3002P, also it is the opposite side of limit EF in the 3rd parallelogram 3003P, so the rotating shaft fixing around is rotated by limit GH, and the distance of this rotating shaft and the 8th turning axle 3300H equals the length of limit AC, also equaling the length of limit BE, this length is fixing. So can using this rotating shaft as the 5th joint turning axle 3000C, as drive human body shoulder internal rotator/outward turning campaign axis.
Referring to shown in accompanying drawing 7, described mechanical wrist assembly 4000 is connected with the 5th described joint assembly 3300, and described mechanical wrist assembly 4000 is provided with the 6th joint turning axle 4000A, for realizing the motor function of human elbow flexion/extension. The axes normal of the 6th described joint turning axle 4000A in the axis of the 5th described joint turning axle 3000C, and by the rotation center of human elbow; Described mechanical wrist assembly 4000 can by described motor drive component 8000 as performer outputting power, and the motion parameter that the mechanical wrist assembly 4000 described in accurately controlling rotates around the 6th described joint turning axle 4000A, comprise speed, displacement and moment.
Described mechanical forearm component 5000 is provided with the 7th joint turning axle 5000A, for realize human body forearm revolve before/motor function of supination. Before the axis of the 7th described joint turning axle 5000A revolves with human body forearm/axis of supination overlaps in scope of activity. Preferably, principle is realized identical with the 5th joint assembly 3300, machinery forearm component 5000 can use one group of rotary motion to offset mechanism equally and realize, it is possible to according to the dimensional parameters of forearm, and the rotary motion described in adjustment offsets the part dimension of mechanism to adapt to the thickness of forearm.
Described mechanical wrist joint assembly 6000 is provided with the 8th joint turning axle 6000A, for realizing the function driving the motion of human body wrist joint flexion/extension. The axis that the axis of the 8th described joint turning axle 6000A moves with human body wrist joint flexion/extension within the scope of motion overlaps. Preferably, it is possible to connect the mechanical wrist joint assembly 6000 described in retarding mechanism driving by rotating machine and rotate around the 8th described joint turning axle 6000A.
Described mechanical manipulator parts 7000 comprises machinery hand tie-in module 7100 and machinery hand 7200, and described mechanical hand 7200 is connected and is fixed on described mechanical wrist joint assembly 6000 by described mechanical hand tie-in module 7100. Machinery hand 7200 can carry out dismantling, exchanging according to demand.
Referring to shown in accompanying drawing 8 to accompanying drawing 11, described motor drive component 8000 can as the propulsion source of driving joint motion. Described the 3rd joint assembly 3100, the 4th joint assembly 3200 and machinery wrist assembly 4000 can use described motor drive component 8000 as driving joint motion propulsion source; Described motor drive component 8000 comprises the drive-motor 8100, deceleration assembly 8200, torque transducer assembly 8300 and the transmission assembly 8400 that are arranged in frame 8001; Drive-motor 8100 is as the propulsion source of motor drive component, it is possible to be the one in alternating current machine, direct-current machine, stepper-motor. Described deceleration assembly 8200 is docked with drive-motor 8100 by standard interface, and described deceleration assembly 8200 is made up of gear reducer 8210 and capstan winch deceleration assembly 8220, completes the function to drive-motor 8100 deceleration force amplifier. Gear reducer 8210 can be the one in planetary reduction gear device, harmonic speed reducer, RV speed reduction unit. Described capstan winch deceleration assembly 8220 is a kind of based on the slowing-down structure of capstan winch and rope. Described capstan winch deceleration assembly 8220 comprises input pad 8221, input shaft 8222, many ropes 8223, capstan winch output shaft 8224, exports capstan winch 8225 and rope tightener 8226, described input shaft 8222 one end is connected with the standard output interface of described gear reducer 8210 by described input pad 8221, making described input shaft 8222 and the output shaft/bore synchronous axial system of described gear reducer 8210, described output capstan winch 8225 is fixed on described capstan winch output shaft 8224 and synchronous axial system; Described input shaft 8222 is provided with spiral groove, and described output capstan winch 8225 is provided with circular arc face; Described input shaft 8222 transmits power by described many ropes 8223 with described output capstan winch 8225, described capstan winch output shaft 8224 middle portion is around in the spiral groove of described input shaft 8222, one end of described many ropes 8223 is fixed on described output capstan winch 8225 behind one section of circular arc face of described output capstan winch 8225, the other end of described many ropes 8223, after one section of cambered surface of described output capstan winch 8225, is fixed on described output capstan winch 8225 by described rope tightener 8226; Preferably, rope tightener 8226 can use spring to realize. Now, if input shaft 8222 rotates, export capstan winch 8225 and also will rotate. Further, owing to the rotation radius of input shaft 8222 is less than the rotation radius exporting capstan winch 8225, thus capstan winch deceleration assembly 8220 achieves the effect of deceleration force amplifier. Capstan winch deceleration assembly 8220 can use many capstan winch output shafts 8224 to connect input shaft 8222 with exporting capstan winch 8225, load is shared on each rope.Described rope tightener 8226 can make capstan winch output shaft 8224 keep tensioning, thus reduces the back of the body gap of capstan winch deceleration assembly 8220. described moment of torsion sensing assembly 8300 comprises sensor outer ring 8301, spring limited block 8302, spring terminal 8303, first spring assembly 8304, the 2nd spring assembly 8305 and rotor sensor 8306. further, described sensor outer ring 8301 is fixedly connected with described output capstan spindle 8224, described moment of torsion sensing assembly 8300 comprises the spring limited block 8302 that three are distributed on described inside, sensor outer ring 8301, and be fixedly connected with described sensor outer ring 8301, described rotor sensor 8305 can export rotation on capstan spindle 8224, spring parameter in the first described spring assembly 8304 and the 2nd spring assembly 8305 is identical and in the interval that is distributed between described rotor sensor 8306 and three spring limited blocks 8302, each spring 8304 is fixed between described spring limited block 8302 and described rotor sensor 8306 by the spring terminal 8303 described in two, when there is difference in torque τ between sensor outer ring 8301 and rotor sensor 8306, one group of spring in first spring assembly 8304 and the 2nd spring assembly 8305 will compress simultaneously, other one group of spring will extend simultaneously, can produce relative rotation between rotor sensor 8306 and sensor outer ring 8301, corner and difference in torque τ between rotor sensor 8306 with sensor outer ring 8301 are relevant, by detecting corner between the two, difference in torque τ can be calculated. described transmission assembly 8400 uses Bowden line to complete the remote transmission of power. described transmission assembly 8400 comprises input rotating disk 8410, tightens up adjustment assembly 8420, first Bowden line 8430, the 2nd Bowden line 8440, first guide wheel assemblies 8450, the 2nd guide wheel assemblies 8460, output rotating disk 8470, first Bowden spool mounting block 8480 and the 2nd Bowden spool locking member 8490, described input rotating disk 8410 is fixedly connected with described rotor sensor 8305, and described output rotating disk 8470 is connected to corresponding to driving joint assembly. further, the circumference face of described input rotating disk 8410 is provided with two parallel circular grooves, and the circumference face of described output rotating disk 8470 is provided with two parallel circular grooves, described tightening up regulates assembly 8420 to comprise first to tighten up adjustable column 8421, set nut 8422 before first, set nut 8423 after first, 2nd tightens up adjustable column 8424, set nut 8425 before 2nd, set nut 8426 after 2nd, synchronously tighten up adjustable column 8427, synchronously tighten up adjustable plate 8428 and two tail rods 8429, described first is tightened up adjustable column 8421 and is threaded in and described synchronously tightens up on adjustable plate 8428, before described first, after set nut 8422 and described first, set nut 8423 is threaded in described first and tightens up on adjustable column 8421, and withstand at two ends respectively and described synchronously tighten up adjustable plate 8428, described the 2nd tightens up adjustable column 8424 and is threaded in and described synchronously tightens up on adjustable plate 8428, before described the 2nd, after set nut 8425 and the described the 2nd, set nut 8426 is threaded in described the 2nd and tightens up on adjustable column 8424, and withstands at two ends respectively and described synchronously tighten up adjustable plate 8428, two described tail rods 8429 are fixed in described frame 8001, described synchronously tightening up adjustable plate 8428 and can slide on described two tail rods 8429, the described adjustable column 8427 that synchronously tightens up is threaded in and described synchronously tightens up on adjustable plate 8429 and one end withstands in described frame 8001,The first described Bowden line 8440 is made up of wireline 8441 and Bowden spool 8442. Further, described first is tightened up in adjustable column 8421 and the first Bowden spool mounting block 8480 and is equipped with ladder hole, described in the insertion of one end the first of described Bowden spool 8442 tightens up the ladder hole on adjustable column 8421, ladder hole on the first Bowden spool mounting block 8480 described in the other end insertion of described Bowden spool 8442, thus fix Bowden spool 8442, allow wireline 8441 freely to pass through simultaneously; Described wireline 8441 one end is connected on described wireline mounting block 8411, and by circular groove around on described input rotating disk 8410, lead via the first guide wheel assemblies 8450 being fixed in described frame 8001, enter described Bowden spool 8442, then by the circular groove on described output rotating disk 8470 around on described output rotating disk 8470, and it is connected on the wireline mounting block 8471 of described output rotating disk 8470; Due to the guide effect of the first guide wheel assemblies 8450, the axis of wireline 8441 can overlap with the axis that first tightens up adjustable column 8421. The 2nd described Bowden line 8450 is made up of wireline 8451 and Bowden spool 8452. Further, described the 2nd tightens up in adjustable column 8424 and the 2nd described Bowden spool mounting block 8490 and is provided with ladder hole, the described in the insertion of one end the 2nd of described Bowden spool 8452 tightens up the ladder hole on adjustable column 8424, the ladder hole on the 2nd Bowden spool mounting block 8490 described in the other end insertion of described Bowden spool 8452; Thus fix Bowden spool 8452, allow wireline 8451 freely to pass through simultaneously. Described wireline 8451 one end is connected on described wireline mounting block 8412, and by circular groove around on described input rotating disk 8410, lead via the 2nd guide wheel assemblies 8460 being fixed in described frame 8001, enter described Bowden spool 8452, then by the circular groove on described output rotating disk 8470 around on described output rotating disk 8470, and it is connected on the wireline mounting block 8472 of described output rotating disk 8470. Due to the guide effect of the 2nd guide wheel assemblies 8460, the axis of wireline 8451 can overlap with the axis that the 2nd tightens up adjustable column 8424.
When inputting rotating disk 8410 and rotate, owing to the two ends of Bowden spool 8442 and Bowden spool 8452 are all held out against respectively, wireline 8441 and wireline 8451 slide in respective Bowden spool so that export rotation dish 8460 and input rotating disk 8410 synchronous axial system.
By regulating first to tighten up adjustable column 8421 in the screw-in amount synchronously tightened up on adjustable plate 8428 and back-out amount, it is possible to regulate the tensioning degree of wireline 8441. By regulating the 2nd to tighten up adjustable column 8424 in the screw-in amount synchronously tightened up on adjustable plate 8428 and back-out amount, it is possible to regulate the tensioning degree of wireline 8451. Adjustable column 8427 is synchronously tightened up in the screw-in amount synchronously tightened up on adjustable plate 8429 and back-out amount, it is possible to the tensioning degree of synchronization regulation wireline 8441 and wireline 8451 by regulating. By regulating the tensioning degree of wireline 8441 with wireline 8451, it is possible to regulation output rotation dish 8460 and the performance inputting rotating disk 8410 synchronous axial system.
In described motor drive component 8000, it is possible to according to the needs of actual design, exchange the order of connection of gear reducing case, capstan winch deceleration assembly, torque transducer assembly. Further, according to the needs of actual design, it is possible to only use a kind of function completing deceleration force amplifier in gear reducing case, capstan winch deceleration assembly.
In sum, the present invention is carried on pectoral girdle by increase recovery exercising robot/is declined, protract/the degree of freedom of retrude, can effectively solve the problem of man-machine joint shaft mismatch, thus allow at the trunk carrying out regular user in rehabilitation training of upper limbs process, the compensatory motion of its trunk preposition, it is to increase the effect of rehabilitation training, can not cause damage to the upper limb joint of user simultaneously;Provide the design of shoulder joint three degree of freedom, and keep the motorium of shoulder joint assembly to overlap with the motorium of human body Glenohumeral joint, reduce further the degree of man-machine joint shaft mismatch, simultaneously, the inside/outside that rotary motion skew mechanism achieves shoulder joint revolves, and reduces traditional problem that volume is big, modularization degree is low brought with arc-shaped rail implementation; According to different user's hand situations, by changing different mechanical hands, for realizing different training programs; Rope and capstan winch is utilized to complete power transmission, it is possible to avoid the problem that conventional gears step-down gear back of the body gap is relatively big, gear is easy to wear, reduce difficulty and the cost of manufacture simultaneously; Many ropes are used to connect the input shaft of capstan winch deceleration assembly and output capstan winch, load is shared on each rope, effectively strengthen the performance of capstan winch deceleration assembly, extend its work-ing life, devising tightening component can make rope keep tensioning simultaneously, thus reduces the back of the body gap of capstan winch deceleration assembly further. Utilize Bowden line to complete the remote transmission of motor power so that the motor drive component that weight is bigger can not be arranged on joint, reduces the inertia of healing robot mechanical arm, be conducive to the optimization of Systematical control and the optimization of system power; Utilize the circular groove on input rotating disk and output rotating disk to be staggered by the wireline that two directions are rotated simultaneously, and further by guide wheel assemblies by wireline more fully around, on rotating disk, increase effectively motion scope when being used for joint of robot transmission. What be designed with Bowden line tightens up setting device, it is possible to independent or synchronous adjustment two Bowden line tensioning degrees, thus regulation output rotation dish and the performance inputting rotating disk synchronous axial system.
The foregoing is only the preferred embodiments of the present invention; not thereby the patent scope of the present invention is limited; every equivalent structure conversion utilizing description of the present invention to do; or directly or indirectly use the technical field being attached to other related productss, all it is included in the scope of patent protection of the present invention with reason.
Claims (10)
1. a dermaskeleton type upper limb rehabilitation image training robot, it is characterised in that: comprise pedestal, machinery pectoral girdle assembly, machinery shoulder joint assembly, machinery wrist assembly, machinery forearm component, machinery wrist joint assembly, mechanical manipulator parts and motor drive component, the whole dermaskeleton type upper limb rehabilitation image training robot of described base supports, described mechanical pectoral girdle assembly is connected with described pedestal, described mechanical shoulder joint assembly is connected with described mechanical pectoral girdle assembly, described mechanical wrist assembly is connected with described mechanical shoulder joint assembly, described mechanical forearm component is connected with described mechanical wrist assembly, described mechanical wrist joint assembly is connected with described mechanical forearm component, described mechanical manipulator parts is connected with described mechanical wrist joint assembly, described motor drive component is as the propulsion source of whole dermaskeleton type upper limb rehabilitation image training robot.
2. dermaskeleton type upper limb rehabilitation image training robot according to claim 1, it is characterized in that: described pedestal comprises moving assembly, lifting assembly and support, described moving assembly moves integrally described dermaskeleton type upper limb rehabilitation image training robot by castor, and lock after movement, make described dermaskeleton type upper limb rehabilitation image training robot keep fixing; Described lifting assembly regulated by electric lifting platform described in the height of dermaskeleton type upper limb rehabilitation image training robot.
3. dermaskeleton type upper limb rehabilitation image training robot according to claim 2, it is characterised in that: described mechanical pectoral girdle assembly includes the first joint assembly and the 2nd joint assembly, and is connected with described pedestal by the first described joint assembly;The first described joint assembly moves axle lifting in perpendicular by the first described joint, and the 2nd described joint assembly is connected with the first described joint assembly, and the 2nd described joint assembly is stretched in horizontal plane by the 2nd joint turning axle; The first described joint assembly comprises shoulder breadth governor lever, the first joint guide rail and the first joint slide block, described shoulder breadth governor lever and described support connect to form shoulder breadth and regulate moving sets, and can the chute in described support move, the first described joint guide rail is fixed on described shoulder breadth governor lever, and form the first joint moving sets with the first described joint slide block, the first described joint moving sets is provided with the first joint and moves axle, and described shoulder breadth regulates the angle between the axis of moving sets and the axis of the first joint moving sets to be 80 °-90 °; The 2nd described joint assembly comprise inboardend connecting rod, front swing bar, motion end link and after swing bar, define one group of parallel-crank mechanism, described inboardend connecting rod is fixed on the first described joint slide block.
4. dermaskeleton type upper limb rehabilitation image training robot according to claim 3, it is characterized in that: described mechanical shoulder joint assembly comprises the 3rd joint assembly, the 4th joint assembly and the 5th joint assembly, and be connected with the 2nd described joint assembly by the 3rd described joint assembly, the 3rd described joint assembly is provided with the 3rd joint turning axle; The axis of the 3rd described joint turning axle passes through the motorium of human body Glenohumeral joint, and parallel to each other with the axis of the 2nd described joint turning axle; The 4th described joint assembly is connected with the 3rd described joint assembly, the 4th described joint assembly is provided with the 4th joint turning axle, the axis of the 4th described joint turning axle is by the motorium of human body Glenohumeral joint, and the angle in 90 ° with the axis of the 3rd described joint turning axle; The 5th described joint assembly is connected with the 4th described joint assembly, the 5th described joint assembly offsets mechanism by rotary motion and rotates, the 5th described joint assembly is provided with the 5th joint turning axle, the axis of the 5th described joint turning axle is by the motorium of human body Glenohumeral joint, and keeps overlapping with the axis of human body shoulder internal rotator/outward turning in scope of activity.
5. dermaskeleton type upper limb rehabilitation image training robot according to claim 4, it is characterized in that: described rotary motion offsets mechanism and comprises first rotating arm, the 2nd pivot arm, a Y type connecting rod, the 2nd Y type connecting rod, fixing arm, pivot arm, permanent sleeve position adjustments part and limbs permanent sleeve, one end of described fixing arm is connected with the 4th described joint assembly, described fixing arm is connected to form the first turning axle with described first rotating arm respectively, and is connected to form the 2nd turning axle with the 2nd described pivot arm; Described first rotating arm is connected to form the 3rd turning axle with a described Y type connecting rod respectively, and is connected to form the 4th turning axle with the 2nd described Y type connecting rod; The 2nd described pivot arm is connected to form the 5th turning axle with a described Y type connecting rod respectively, and is connected to form the 6th turning axle with the 2nd described Y type connecting rod; Described pivot arm is connected to form the 7th turning axle with a described Y type connecting rod respectively, and is connected to form the 8th turning axle with the 2nd described Y type connecting rod; Described the first turning axle, the 2nd turning axle, the 4th turning axle and the 6th turning axle constitute four articles of rotating shafts of the first parallelogram jointly, the Plane intersects at four articles of rotating shafts of the first described parallelogram and described first rotating arm and the 2nd pivot arm place;Described the 3rd turning axle, the 4th turning axle, the 7th turning axle and the 8th turning axle constitute four articles of rotating shafts of the 2nd parallelogram jointly, four articles of rotating shafts of the 2nd described parallelogram and the Plane intersects at described first rotating arm and the 2nd pivot arm place; Described permanent sleeve position adjustments part regulate described in limbs permanent sleeve apart from the spacing of the 5th described joint turning axle, and the 5th joint turning axle described in keeping with inside and outside human body upper arm/spin axis line overlaps.
6. dermaskeleton type upper limb rehabilitation image training robot according to claim 4, it is characterized in that: described mechanical wrist assembly is connected with the 5th described joint assembly, described mechanical wrist assembly is provided with the 6th joint turning axle, the axes normal of the 6th described joint turning axle in the axis of the 5th described joint turning axle, and by the rotation center of human elbow; Described mechanical wrist assembly passes through described motor drive component as performer outputting power, and the mechanical wrist assembly described in controlling rotates around the 6th described joint turning axle.
7. dermaskeleton type upper limb rehabilitation image training robot according to claim 1, it is characterized in that: described mechanical forearm component is provided with the 7th joint turning axle, before the axis of the 7th described joint turning axle revolves with human body forearm/axis of supination overlaps in scope of activity.
8. dermaskeleton type upper limb rehabilitation image training robot according to claim 1, it is characterized in that: described mechanical wrist joint assembly is provided with the 8th joint turning axle, the axis that the axis of the 8th described joint turning axle moves with human body wrist joint flexion/extension within the scope of motion overlaps, and connects the mechanical wrist joint assembly described in retarding mechanism driving by rotating machine and rotates around the 8th described joint turning axle.
9. dermaskeleton type upper limb rehabilitation image training robot according to claim 1, it is characterized in that: described mechanical manipulator parts comprises machinery hand tie-in module and machinery hand, and described mechanical hand is connected and is fixed on described mechanical wrist joint assembly by described mechanical hand tie-in module.
10. dermaskeleton type upper limb rehabilitation image training robot according to claim 4, it is characterised in that: described the 3rd joint assembly, the 4th joint assembly and machinery wrist assembly all use described motor drive component as driving joint motion propulsion source, described motor drive component comprises drive-motor, deceleration assembly, torque transducer assembly and the transmission assembly being arranged in frame, described deceleration assembly is docked with drive-motor by standard interface, described deceleration assembly is made up of gear reducer and capstan winch deceleration assembly, described capstan winch deceleration assembly comprises input pad, input shaft, many ropes, capstan winch output shaft, export capstan winch and rope tightener, described input shaft one end is connected with the standard output interface of described gear reducer by described input pad, make the output shaft/bore synchronous axial system of described input shaft and described gear reducer, described output capstan winch is fixed on described capstan winch output shaft and synchronous axial system, described input shaft is provided with spiral groove, and described output capstan winch is provided with circular arc face, described input shaft is by many described ropes and described output capstan winch transmission power, many described rope middle portions are around in the spiral groove of described input shaft, one end of many described ropes is fixed on described output capstan winch behind one section of circular arc face of described output capstan winch, the other end of many described ropes, after one section of cambered surface of described output capstan winch, is fixed on described output capstan winch by described rope tightener, described moment of torsion sensing assembly comprises sensor outer ring, spring limited block, spring terminal, the first spring assembly, the 2nd spring assembly and rotor sensor, described sensor outer ring is fixedly connected with described output capstan spindle, described moment of torsion sensing assembly comprises the spring limited block that three are distributed on described inside, sensor outer ring, and be fixedly connected with described sensor outer ring, described rotor sensor is exporting rotation on capstan spindle, spring parameter in the first described spring assembly and the 2nd spring assembly is identical and in the interval that is distributed between described rotor sensor and three spring limited blocks, each spring is fixed between described spring limited block and described rotor sensor by the spring terminal described in two, described transmission assembly comprises input rotating disk, tighten up and regulate assembly, the first Bowden line, the 2nd Bowden line, the first guide wheel assemblies, the 2nd guide wheel assemblies, export rotating disk, the first Bowden spool mounting block and the 2nd Bowden spool locking member, described input rotating disk is fixedly connected with described rotor sensor, described output rotating disk is connected to corresponding to driving joint assembly, the circumference face of described input rotating disk is provided with two parallel circular grooves, and the circumference face of described output rotating disk is provided with two parallel circular grooves, described tighten up regulate assembly comprise first tighten up adjustable column, first before after set nut, first set nut, the 2nd tighten up adjustable column, the 2nd before set nut after set nut, the 2nd, synchronously tighten up adjustable column, synchronously tighten up adjustable plate and two tail rods, described first is tightened up adjustable column and is threaded in and described synchronously tightens up on adjustable plate, before described first, after set nut and described first, set nut is threaded in described first and tightens up on adjustable column, and withstands at two ends respectively and described synchronously tighten up adjustable plate, described the 2nd tightens up adjustable column and is threaded in and described synchronously tightens up on adjustable plate, before described the 2nd, after set nut and the described the 2nd, set nut is threaded in described the 2nd and tightens up on adjustable column, and withstands at two ends respectively and described synchronously tighten up adjustable plate, two described tail rods are fixed in described frame, and the described adjustable plate that synchronously tightens up slides on described two tail rods, and the described adjustable column that synchronously tightens up is threaded in and described synchronously tightens up on adjustable plate and one end withstands in described frame, the first described Bowden line is made up of wireline and Bowden spool, described first is tightened up in adjustable column and the first Bowden spool mounting block and is equipped with ladder hole, described in the insertion of one end the first of described Bowden spool tightens up the ladder hole on adjustable column, the ladder hole on the first Bowden spool mounting block described in the other end insertion of described Bowden spool, described wireline one end is connected on described wireline mounting block, and by circular groove around on described input rotating disk, via the first guide wheel assemblies guiding being fixed in described frame, enter described Bowden spool, then by the circular groove on described output rotating disk around on described output rotating disk, and it is connected on the wireline mounting block of described output rotating disk, the 2nd described Bowden line is made up of wireline and Bowden spool, described the 2nd tightens up in adjustable column and the 2nd described Bowden spool mounting block and is provided with ladder hole, the described in the insertion of one end the 2nd of described Bowden spool tightens up the ladder hole on adjustable column, the ladder hole on the 2nd Bowden spool mounting block described in the other end insertion of described Bowden spool, described wireline one end is connected on described wireline mounting block, and by circular groove around on described input rotating disk, via the 2nd guide wheel assemblies guiding being fixed in described frame, enter described Bowden spool, then by the circular groove on described output rotating disk around on described output rotating disk, and it is connected on the wireline mounting block of described output rotating disk.
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| CN201610158560.9A CN105662783B (en) | 2016-03-21 | 2016-03-21 | Exoskeleton type upper limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610158560.9A CN105662783B (en) | 2016-03-21 | 2016-03-21 | Exoskeleton type upper limb rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN105662783A true CN105662783A (en) | 2016-06-15 |
| CN105662783B CN105662783B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610158560.9A Active CN105662783B (en) | 2016-03-21 | 2016-03-21 | Exoskeleton type upper limb rehabilitation training robot |
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| CN111906815B (en) * | 2020-08-19 | 2024-04-12 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Execution joint integrated structure for exoskeleton robot joint |
| CN111956453A (en) * | 2020-08-31 | 2020-11-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible power assisting exoskeleton |
| CN111956453B (en) * | 2020-08-31 | 2022-05-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible assistance exoskeleton |
| CN111991190A (en) * | 2020-09-08 | 2020-11-27 | 太原量标医疗科技有限责任公司 | Combined inertial power assisted joint flexion and extension moving device |
| CN112057298A (en) * | 2020-09-22 | 2020-12-11 | 岳池县人民医院 | Arm fracture postoperative rehabilitation device |
| CN112220644A (en) * | 2020-09-23 | 2021-01-15 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
| CN112220644B (en) * | 2020-09-23 | 2024-04-02 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
| CN112494271B (en) * | 2020-11-18 | 2021-08-20 | 燕山大学 | Upper limb rehabilitation training device |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
| CN112545836B (en) * | 2020-12-09 | 2022-08-30 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | Wearable shoulder joint autonomous rehabilitation training mechanism |
| CN112545836A (en) * | 2020-12-09 | 2021-03-26 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | Wearable shoulder joint autonomous rehabilitation training mechanism |
| CN112545834A (en) * | 2020-12-10 | 2021-03-26 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
| CN113952090A (en) * | 2021-10-19 | 2022-01-21 | 上海交通大学 | Prosthetic hand support with wrist overturning freedom degree and application thereof |
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