CN105997430B - A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly - Google Patents

A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly Download PDF

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Publication number
CN105997430B
CN105997430B CN201610455443.9A CN201610455443A CN105997430B CN 105997430 B CN105997430 B CN 105997430B CN 201610455443 A CN201610455443 A CN 201610455443A CN 105997430 B CN105997430 B CN 105997430B
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CN
China
Prior art keywords
shoulder
flat
vertical
thin plate
shoulder joint
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Expired - Fee Related
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CN201610455443.9A
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Chinese (zh)
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CN105997430A (en
Inventor
刘瑞素
叶协通
王强
邢新闯
刘亚男
朱琳琳
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Hebei University of Technology
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Hebei University of Technology
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Priority to CN201610455443.9A priority Critical patent/CN105997430B/en
Publication of CN105997430A publication Critical patent/CN105997430A/en
Application granted granted Critical
Publication of CN105997430B publication Critical patent/CN105997430B/en
Expired - Fee Related legal-status Critical Current
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277Elbow
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281Shoulder
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5069Angle sensors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • A61H2205/062Shoulders

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a kind of direct drive with driving the upper limb rehabilitation robot being combined indirectly, it is characterised in that the robot includes upper shoulder joint assembly, flat shoulder joint component, vertical shoulder joint assembly, upper arm assembly, forearm component, frame and motor housing;The upper shoulder joint assembly is fixed in frame;The flat shoulder joint component is connected with upper shoulder joint assembly;The vertical shoulder joint assembly is connected with flat shoulder joint component;The upper arm assembly is connected with vertical shoulder joint assembly;The forearm component is connected with upper arm assembly;The motor housing and frame are rest on the ground.The robot combines direct drive and drives respective advantage indirectly, and the direct drive mode of partial joint is become and turns to indirect drive manner, mitigates the weight of mechanical arm, increases adjustable controllability, improve the flexibility of each joint motions.Patient's shoulder joint realize exhibition receive, be open and flat, interior outward turning, flexion and extension, elbow joint realizes flexion and extension, can be with single training, and can also link up training motion.

Description

A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly
Technical field
The invention belongs to healing robot field, specifically a kind of direct drive the same as driving the upper limb healing being combined indirectly Robot.
Background technology
With the progress of social science and technology, healing robot is frequent all the more in the use of patient and convalescent home, to intellectuality Healing robot demand also more and more higher.Shoulder joint and elbow joint are the bases of human upper limb function.But machine in the market Device people is mostly the rehabilitation training to shoulder joint, and existing rehabilitation appliances are only limitted to bend and stretch, open up receipts, interior outward turning these three frees degree Motion, it is impossible to complete the open and flat motion of shoulder and the flexion and extension of elbow joint.Traditional rope drive system distinguishes steel wire rope It is fixed on driving wheel and driven pulley, the driving wheel being connected with motor drives steel wire rope, and steel wire rope drives driven pulley, driven Band movable joint completes motion to wheel again.Need by middle joint in power transmitting procedure, therefore when joint motions, can also influence To rope, there may be the motion coupled problem in joint.In addition, in order to increase, principal and subordinate wheel and steel wire cable are mutual to rub Wipe, it is necessary to by steel wire cable on wheel around several circles, this structure can cause drive steel wire cable length change, motion coupling Problem is not eliminated, and steel wire cable can be caused to be pulled off or fluff.
Moreover, another problem of robot is that each joint needs a motor driving in the market.It is this direct Motor is rest directly upon on joint by type of drive, although direct drive efficiency is higher, healing robot is slow in one's movements, and The driving force that motor provides is far longer than the driving force needed for mechanical arm;Next to that motor itself has weight, each joint adds one Individual motor, from preceding shoulder joint to upper shoulder joint, then to shoulder joint, required motor is increasing, and the weight in each joint increases Add.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention intends to solve is to provide a kind of direct drive with driving indirectly The dynamic upper limb rehabilitation robot being combined.The robot combines direct drive and drives respective advantage indirectly, by partial joint Direct drive mode become turn to indirect drive manner, mitigate the weight of mechanical arm, increase adjustable controllability, improve each pass Save the flexibility of motion.
The technical scheme that the present invention solves the technical problem is to provide a kind of directly drive with driving what is be combined indirectly Upper limb rehabilitation robot, it is characterised in that the robot include upper shoulder joint assembly, flat shoulder joint component, vertical shoulder joint assembly, Upper arm assembly, forearm component, frame and motor housing;The upper shoulder joint assembly is fixed in frame;The flat shoulder joint component It is connected with upper shoulder joint assembly;The vertical shoulder joint assembly is connected with flat shoulder joint component;The upper arm assembly and vertical shoulder joint Component connects;The forearm component is connected with upper arm assembly;The motor housing and frame are rest on the ground;
The upper shoulder joint assembly includes shoulder driven sprocket, the first axle sleeve, main shaft, upper shoulder joint rectangular box, second Axle sleeve, upper fillet contact ball bearing, upper shoulder T-shaped plastics plate, main shaft sleeve, long duct bar, upper shoulder angle displacement sensor, on Shoulder chain, upper shoulder line card and upper shoulder steel wire rope;First axle sleeve and the second axle sleeve are fixed in frame;The upper fillet contact Ball bearing is two, is clamped on respectively by the first axle sleeve and the second axle sleeve in frame;The main shaft passes through the through hole of frame, peace Loaded between two upper fillet contact ball bearings;The upper shoulder driven sprocket be arranged on main shaft one end, the other end of main shaft with The axle center connection of upper shoulder angle displacement sensor;The outer surface of upper shoulder angle displacement sensor is fixedly connected with frame;On described Shoulder driven sprocket is engaged with upper shoulder chain, and the end of upper shoulder chain is connected by upper shoulder line card with one end of upper shoulder steel wire rope;On The other end of shoulder steel wire rope passes through upper shoulder T-shaped plastics plate and the motor connection in motor housing;In the upper shoulder joint rectangular box Between there is through hole, main shaft is connected through the through hole of upper shoulder joint rectangular box with upper shoulder joint rectangular box;The main shaft sleeve installation On main shaft, main shaft sleeve lower end contacts with upper shoulder joint rectangular box, upper end and the upper fillet contact ball bearing in the first axle sleeve Inner ring contacts;One end of the long duct bar is connected with upper shoulder joint rectangular box;
The flat shoulder joint component includes flat shoulder driven sprocket, flat shoulder chain, flat shoulder line card, flat shoulder steel wire rope, flat shoulder T-shaped Plastic plate, flat shoulder joint axle, the long thin plate of flat shoulder rectangle, flat shoulder bearing rectangular box, flat fillet contact ball bearing, flat shoulder axle sleeve, One ring flange, flat shoulder long plates of rectangular shape block, flat shoulder axial end snap ring peace shoulder angle displacement sensor;The long duct bar other end It is connected by first flange disk with flat shoulder bearing rectangular box;Two flat fillet contacts are installed inside the flat shoulder bearing rectangular box Ball bearing;The flat shoulder joint axle is installed between two flat fillet contact ball bearings;The flat shoulder rectangle is grown thin piece and is fixed on In flat shoulder bearing rectangular box;The flat shoulder rectangle, which is grown, is provided with flat shoulder T-shaped plastics plate on thin piece;The one of the flat shoulder joint axle End is provided with flat shoulder driven sprocket;The flat shoulder driven sprocket engages with flat shoulder chain, and the end of flat shoulder chain passes through flat shoulder line Card is connected with one end of flat shoulder steel wire rope;The other end of the flat shoulder steel wire rope is passed through in flat shoulder T-shaped plastics plate and motor housing Motor connection;The flat shoulder axial end snap ring is fixed on flat shoulder long plates of rectangular shape block;The other end of flat shoulder joint axle passes through flat Shoulder long plates of rectangular shape block peace shoulder axial end snap ring is connected with the axle center of flat shoulder angle displacement sensor;Flat shoulder angle displacement sensor Outer surface be fixedly connected with flat shoulder bearing rectangular box;
The vertical shoulder joint assembly includes vertical shoulder angle displacement sensor, Z-shaped long thin plate, vertical shoulder joint nodal axisn, vertical shoulder bearing It is rectangular box, vertical fillet contact ball bearing, the long thin plate of vertical shoulder rectangle, vertical shoulder axial end snap ring, vertical shoulder axle sleeve, second flange disk, short Catheter shaft, the 3rd ring flange, vertical shoulder driven sprocket, vertical shoulder chain, vertical shoulder line card, vertical shoulder steel wire rope and vertical shoulder T-shaped plastics plate; The other end of the flat shoulder long plates of rectangular shape block is connected by the 3rd ring flange with short-range missile tube rod;The other end of the short-range missile tube rod leads to Second flange disk is crossed to be connected with vertical shoulder bearing rectangular box;Two vertical shoulder angular contact ball axles are installed inside vertical shoulder bearing rectangular box Hold;The vertical shoulder axle sleeve is arranged on the outside of each self-support fillet contact ball bearing, and oppose fillet contact ball bearing axial restraint;Vertical shoulder Joint shaft is installed between two vertical fillet contact ball bearings;The vertical long thin plate of shoulder rectangle is fixed on vertical shoulder bearing rectangular box On;The vertical shoulder T-shaped plastics plate is arranged on the long thin plate of vertical shoulder rectangle;One end of vertical shoulder joint nodal axisn passes through vertical shoulder rectangle length thin The through hole of plate, its end are provided with vertical shoulder driven sprocket;The vertical shoulder driven sprocket engages with vertical shoulder chain, stands the end of shoulder chain End is connected by vertical shoulder line card with one end of vertical shoulder steel wire rope;The other end of the vertical shoulder steel wire rope passes through vertical shoulder T-shaped plastic plate Block and the motor connection in motor housing;The vertical shoulder axial end snap ring is connected with Z-shaped long thin plate;The other end of vertical shoulder joint nodal axisn with Z-shaped long thin plate connection;The other end of vertical shoulder joint nodal axisn sequentially passes through Z-shaped long thin plate and vertical shoulder axial end snap ring and vertical fillet degree position The axle center connection of displacement sensor;The outer surface of vertical shoulder angle displacement sensor is fixedly connected with vertical shoulder bearing rectangular box;
Upper arm assembly includes the thin annulus of wedge, annulus outer ring, ball, annulus inner ring, rack circle, Z-shaped short thin plate, T-shaped Thin plate, upper arm motor, hook-shaped thin plate, small Knucle-gear and upper arm angle displacement sensor;The other end and T of the Z-shaped long thin plate Shape thin plate connects;The T-shaped thin plate is connected with annulus outer ring;There is boss on the inside of the annulus outer ring;Outside the annulus inner ring Side is fixed with the thin annulus of wedge;There is gap between the annulus outer ring and annulus inner ring, ball adapts to annulus outer ring and annulus In gap between inner ring;The annulus inner ring lower end is fixed with rack circle, and rack circle engages with small Knucle-gear;The hook One end of shape thin plate is connected with annulus outer ring, and the other end is fixedly connected with the outer surface of upper arm angle displacement sensor;On described Arm motor is arranged on hook-shaped thin plate, and its power transmission shaft is connected through hook-shaped thin plate with the core wheel of small Knucle-gear;The upper arm motor Transmission shaft end be connected with the axle center of upper arm angle displacement sensor;
The forearm component include forearm motor, small boss, forearm angle displacement sensor, long thin plate block, elliptical ring and Handle;Described long thin plate block one end is connected with Z-shaped short thin plate, and the other end is connected by bolt with elliptical ring;The forearm motor It is connected with Z-shaped short thin plate;The output shaft of forearm motor sequentially passes through Z-shaped short thin plate and the through hole of long thin plate block connects with small boss Connect, while small boss is fixed on long thin plate block;The handle is installed on the side of elliptical ring;The output shaft end of forearm motor It is connected with the axle center of forearm angle displacement sensor;Fix and connect with Z-shaped short thin plate on the outer surface of forearm angle displacement sensor Connect;
The motor box assembly include active motor sprocket wheel, active motor chain, active motor steel wire rope, active motor, Wall of computer case, rectangular small block, active motor line card and active motor steel wire rope spool;The active motor line card is fixed on cabinet On plate;The active motor is fixed on wall of computer case, and the hole of its output end axle through wall of computer case is connected with active motor sprocket wheel, main Dynamic motor sprocket engages with active motor chain, active motor chain connection active motor steel wire rope;Active motor steel wire rope leads to Active motor line card is crossed to fix;The one side of the rectangular small block is fixed on wall of computer case, and countersunk head is provided with rectangular small block Hole;The active motor steel wire penetrating active motor steel wire rope spool respectively with upper shoulder steel wire rope, flat shoulder steel wire rope and vertical shoulder Steel wire rope connects.
Compared with prior art, beneficial effect of the present invention is:
1st, the robot combines direct drive and drives respective advantage indirectly, and the direct drive mode of partial joint is become Indirect drive manner is turned to, mitigates the weight of mechanical arm, increases adjustable controllability, improves the flexibility of each joint motions.
2nd, the advantage fast using the easy for installation of direct drive and driving of the invention, is closed on component and upper arm assembly in forearm Use direct drive.Driving uses lasso trick flexible transmission system by structure optimization of traditional wirerope-winding on wheel for chain indirectly Wheel and chain pull construction of wire rope, and principal and subordinate's movable sprocket is mutually nibbled with motor shaft and joint axis connection, sprocket wheel and chain respectively Close, steel wire rope and chain are by the way that together with snapping connection, its operation principle is similar to brake cable, in upper shoulder joint assembly, flat shoulder Driving indirectly is used on joint assembly and vertical shoulder joint assembly.
3rd, driving has power size than high, good trackability indirectly, flexible, working space is big, without transition machine The advantages such as structure;Driving can cause mechanical arm to be easier to pack indirectly, mitigate fuselage pts wt, and required driving force diminishes, and makes pass Section motor selection can diminish, and disperse fuselage weight, avoid fuselage weight from excessively concentrating, facilitate mechanical handing and adjusting training position Deng.
4th, shoulder joint can realize exhibition receive, be open and flat, interior outward turning, flexion and extension, and elbow joint can realize flexion and extension, lead to Single training can be realized by crossing control, can also realize coherent training motion, the angle displacement sensor of each component can To feed back the range of movement of robot, reasonable employment healing robot, patient is recovered displacement function as far as possible, reach raw The purpose living taken care of oneself.
Brief description of the drawings
Fig. 1 is present invention direct drive with a kind of entirety for the embodiment for driving the upper limb rehabilitation robot being combined indirectly Structural representation;
Fig. 2 is present invention direct drive with a kind of upper shoulder for the embodiment for driving the upper limb rehabilitation robot being combined indirectly Joint assembly installation diagram;
Fig. 3 is the flat shoulder joint of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly Save component installation diagram;
Fig. 4 is the vertical shoulder joint of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly Save component installation diagram;
Fig. 5 is the upper arm group of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly Part installation diagram;
Fig. 6 is the forearm group of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly Part installation diagram;
Fig. 7 is present invention direct drive with driving a kind of motor housing of embodiment of upper limb rehabilitation robot being combined indirectly Equipment figure;
Embodiment
Clear, complete description will be carried out to the technical scheme in the embodiment of the present invention below, it is clear that described implementation Example is the part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the common skill in this area The every other embodiment that art personnel are obtained on the premise of creative work is not made, belong to the model that the present invention protects Enclose.
The invention provides a kind of direct drive with driving the upper limb rehabilitation robot (referring to Fig. 1-7) being combined indirectly, Including upper shoulder joint assembly 1, flat shoulder joint component 2, vertical shoulder joint assembly 3, upper arm assembly 4, forearm component 5, frame 6 and motor Case 7;The upper shoulder joint assembly 1 is fixed in frame 6;The flat shoulder joint component 2 is connected with upper shoulder joint assembly 1;It is described Vertical shoulder joint assembly 3 is connected with flat shoulder joint component 2;The upper arm assembly 4 is connected with vertical shoulder joint assembly 3;The forearm group Part 5 is connected with upper arm assembly 4;The motor housing 7 and frame 6 are rest on the ground;
The upper shoulder joint assembly 1 includes shoulder driven sprocket 11, the first axle sleeve 12, main shaft 13, upper shoulder joint rectangle Box 14, the second axle sleeve 15, upper fillet contact ball bearing 16, upper shoulder T-shaped plastics plate 17, main shaft sleeve 18, long duct bar 19, on Shoulder angle displacement sensor 110, upper shoulder chain 111, upper shoulder line card 112 and upper shoulder steel wire rope 113;First axle sleeve 12 and Two axle sleeves 15 are fixed in frame 6;The upper fillet contact ball bearing 16 is two, passes through the first axle sleeve 12 and the second axle respectively Set 15 is clamped in frame 6;The main shaft 13 passes through the through hole of frame 6, is installed between two upper fillet contact ball bearings 16; The upper shoulder driven sprocket 11 is arranged on one end of main shaft 13, the other end of main shaft 13 and upper shoulder angle displacement sensor 110 Axle center connects;The outer surface of upper shoulder angle displacement sensor 110 is fixedly connected with frame 6, when upper shoulder angle displacement sensor 110 During measurement, its axle center rotates with main shaft 13, measures;The upper shoulder driven sprocket 11 engages with upper shoulder chain 111, upper shoulder chain The end of bar 111 is connected by upper shoulder line card 112 with one end of upper shoulder steel wire rope 113;The other end of upper shoulder steel wire rope 113 passes through Upper shoulder T-shaped plastics plate 17 and the motor connection in motor housing 7;There is through hole, main shaft among the upper shoulder joint rectangular box 14 13 pass through the through hole of upper shoulder joint rectangular box 14, and are connected main shaft 13 with upper shoulder joint rectangular box 14 by woodruff key, to master Axle 13 plays radially fixed effect;The main shaft sleeve 18 is arranged on main shaft 13, the lower end of main shaft sleeve 18 and upper shoulder joint Rectangular box 14 is contacted, and upper end is contacted with the upper inner ring of fillet contact ball bearing 16 in the first axle sleeve 12, and joint rectangular box 14 is risen To the effect of axial restraint;One end of the long duct bar 19 is connected by screw with upper shoulder joint rectangular box 14;Upper shoulder joint Component 1 can realize the open and flat motion of shoulder, and open and flat motion is that above shoulder joint is that main shaft 13 is rotary shaft, makes whole piece horn in water Open and flat motion is done in plane.
The flat shoulder joint component 2 includes flat shoulder driven sprocket 21, flat shoulder chain 22, flat shoulder line card 23, flat shoulder steel wire rope 24th, flat shoulder T-shaped plastic plate 25, flat shoulder joint axle 26, the long thin plate 27 of flat shoulder rectangle, flat shoulder bearing rectangular box 28, the contact of flat fillet Ball bearing 29, flat shoulder axle sleeve 210, first flange disk 211, flat shoulder long plates of rectangular shape block 212, flat 213 peaceful shoulder of shoulder axial end snap ring Angle displacement sensor 214;The other end of long duct bar 19 is connected by first flange disk 211 and flat shoulder bearing rectangular box 28 Connect, realize the connection of upper shoulder joint assembly 1 and flat shoulder joint component 2;Two are provided with inside the flat shoulder bearing rectangular box 28 Flat fillet contact ball bearing 29;The flat shoulder joint axle 26 is installed between two flat fillet contact ball bearings 29;The flat shoulder Rectangle is grown thin piece 27 and is fixed by screws in flat shoulder bearing rectangular box 28;The flat shoulder rectangle, which is grown, is provided with flat shoulder on thin piece 27 T-shaped plastics plate 25;One end of the flat shoulder joint axle 26 is provided with flat shoulder driven sprocket 21;The flat shoulder driven sprocket 21 with Flat shoulder chain 22 is engaged, and the end of flat shoulder chain 22 is connected by flat shoulder line card 23 with one end of flat shoulder steel wire rope 24;It is described flat The other end of shoulder steel wire rope 24 passes through flat shoulder T-shaped plastics plate 25 and the motor connection in motor housing 7;The flat shoulder axial end card Ring 213 is fixed on flat shoulder long plates of rectangular shape block 212, relative with flat shoulder long plates of rectangular shape block 212 for fixing flat shoulder joint axle 26 Position;The other end of flat shoulder joint axle 26 passes through the peaceful shoulder axial end snap ring 213 of flat shoulder long plates of rectangular shape block 212 and flat fillet degree position The axle center connection of displacement sensor 214;The outer surface of flat shoulder angle displacement sensor 214 is fixed with flat shoulder bearing rectangular box 28 to be connected Connect, when flat shoulder angle displacement sensor 214 measures, its axle center rotates with flat shoulder joint axle 26, measures;Flat shoulder joint group Part 2, which can be realized, receives motion in shoulder abduction, outreach adduction campaign is for rotary shaft with flat shoulder joint axle 26, can make arm perpendicular Straight plane does telescopic motion.
The vertical shoulder joint assembly 3 includes vertical shoulder angle displacement sensor 31, Z-shaped long thin plate 32, founds shoulder joint nodal axisn 33, be vertical Shoulder bearing rectangular box 34, vertical fillet contact ball bearing 35, the long thin plate 36 of vertical shoulder rectangle, vertical shoulder axial end snap ring 37, vertical shoulder axle sleeve 38th, second flange disk 39, short-range missile tube rod 310, the 3rd ring flange 311, vertical shoulder driven sprocket 312, vertical shoulder chain 313, vertical shoulder line Card 314, vertical shoulder steel wire rope 315 and vertical shoulder T-shaped plastics plate 316;The other end of the flat shoulder long plates of rectangular shape block 212 passes through the 3rd Ring flange 311 is connected with short-range missile tube rod 310, realizes the connection of flat shoulder joint component 2 and vertical shoulder joint assembly 3;The tubulature The other end of bar 310 is connected by second flange disk 39 with vertical shoulder bearing rectangular box 34;Install the vertical inside of shoulder bearing rectangular box 34 There are two vertical fillet contact ball bearings 35;The vertical shoulder axle sleeve 38 is arranged on each outside of self-support fillet contact ball bearing 35, opposition The axial restraint of fillet contact ball bearing 35;Vertical shoulder joint nodal axisn 33 is installed between two vertical fillet contact ball bearings 35;It is described vertical The long thin plate 36 of shoulder rectangle is fixed by screws in vertical shoulder bearing rectangular box 34;The vertical shoulder T-shaped plastics plate 316 is arranged on vertical On the long thin plate 36 of shoulder rectangle;One end of vertical shoulder joint nodal axisn 33 passes through the through hole of the long thin plate 36 of vertical shoulder rectangle, and its end is provided with vertical Shoulder driven sprocket 312;The vertical shoulder driven sprocket 312 engages with vertical shoulder chain 313, stands the end of shoulder chain 313 by founding shoulder Line card 314 is connected with one end of vertical shoulder steel wire rope 315;The other end of the vertical shoulder steel wire rope 315 passes through vertical shoulder T-shaped plastics plate 316 with motor housing 7 in motor connection;The vertical shoulder axial end snap ring 37 is connected with Z-shaped long thin plate 32, founds shoulder axial end snap ring 37 are used for the position of the Z-shaped long thin plate 32 of axial restraint;The other end of vertical shoulder joint nodal axisn 33 is connected with Z-shaped long thin plate 32, and Z-shaped length is thin Plate 32 rotates with vertical shoulder joint nodal axisn 33;The other end of vertical shoulder joint nodal axisn 33 sequentially passes through Z-shaped long thin plate 32 and vertical shoulder axial end card Ring 37 is connected with the axle center of vertical shoulder angle displacement sensor 31;The outer surface of vertical shoulder angle displacement sensor 31 and vertical shoulder bearing square Shape box 34 is fixedly connected, and when vertical shoulder angle displacement sensor 31 measures, its axle center rotates with vertical shoulder joint nodal axisn 33, is surveyed Amount;Vertical shoulder joint assembly 3 realizes that shoulder does anterior flexion and rear stretching motion by the vertical rotary motion of shoulder joint nodal axisn 33;
Upper arm assembly 4 includes the thin annulus 41 of wedge, annulus outer ring 42, ball 43, annulus inner ring 44, rack circle 45, Z-shaped Short thin plate 46, T-shaped thin plate 47, upper arm motor 48, hook-shaped thin plate 49, small Knucle-gear 410 and upper arm angle displacement sensor 411; The other end of the Z-shaped long thin plate 32 is connected with T-shaped thin plate 47, realizes the connection of vertical shoulder joint assembly 3 and upper arm assembly 4;Institute T-shaped thin plate 47 is stated to be connected with annulus outer ring 42;The inner side of annulus outer ring 42 has boss, for installation ball 43 to be placed in In boss;The outside of annulus inner ring 44 is fixed with the thin annulus 41 of wedge, for fixing the relative position of ball 43;The annulus There is gap between outer ring 42 and annulus inner ring 44, ball 43 is adapted in the gap between annulus outer ring 42 and annulus inner ring 44, The relative motion of annulus inner ring 44 and annulus outer ring 42 can be realized;The lower end of annulus inner ring 44 is fixed with circle by screw Rack 45, rack circle 45 engage with small Knucle-gear 410;One end of the hook-shaped thin plate 49 is connected with annulus outer ring 42, another End is fixedly connected with the outer surface of upper arm angle displacement sensor 411;The upper arm motor 48 is arranged on hook-shaped thin plate 49, its Power transmission shaft is connected through hook-shaped thin plate 49 with the core wheel of small Knucle-gear 410, and upper arm motor 48 drives small Knucle-gear 410 to move, and makes Obtain annulus inner ring 44 and relative motion occurs with annulus outer ring 42, realize outward turning campaign in upper arm assembly 4;The upper arm motor 48 Transmission shaft end is connected with the axle center of upper arm angle displacement sensor 411.The rotation of upper arm motor 48, drive small Knucle-gear 410 Rotation, the engagement of gear cause upper arm assembly 4 to realize outward turning campaign in upper arm.
The forearm component 5 include forearm motor 51, small boss 52, forearm angle displacement sensor 53, long thin plate block 54, Elliptical ring 55 and handle 56;Described long one end of thin plate block 54 is connected with Z-shaped short thin plate 46, and the other end passes through bolt and elliptical ring 55 Connection;The forearm motor 51 is connected with Z-shaped short thin plate 46;The output shaft of forearm motor 51 sequentially passes through the Z-shaped He of short thin plate 46 The through hole of long thin plate block 54 is connected with small boss 52, while small boss 52 is fixed by screws on long thin plate block 54;The hand Handle 56 is installed on the side of elliptical ring 55, available for holding;The output shaft end of forearm motor 51 senses with forearm angle displacement The axle center connection of device 53;It is fixedly connected on the outer surface of forearm angle displacement sensor 53 with Z-shaped short thin plate 46;Forearm motor 51 Rotation drive long thin plate block 54 to swing up and down;Forearm component 5 is allowd to realize that arm elbow joint does flexion and extension.
The height adjustable of the frame 6;The component of motor housing 7 include active motor sprocket wheel 71, active motor chain 72, Active motor steel wire rope 73, active motor 74, wall of computer case 75, rectangular small block 76, active motor line card 77 and active motor steel Cord spool 78;The active motor line card 77 is fixed on wall of computer case 75;The active motor 74 is fixed on wall of computer case 75, The hole of its output end axle through wall of computer case 75 is connected with active motor sprocket wheel 71, active motor sprocket wheel 71 and active motor chain 72 Engagement, active motor chain 72 connect active motor steel wire rope 73;Active motor steel wire rope 73 is solid by active motor line card 77 It is fixed, ensure that active motor steel wire rope 73 is in tensioned state;The one side of the rectangular small block 76 is fixed on wall of computer case 75, Counter sink is provided with rectangular small block 76, for fixing active motor steel wire rope spool 78;The active motor steel wire rope 73 is worn Active motor steel wire rope spool 78 is crossed to be connected with upper shoulder steel wire rope 113, flat shoulder steel wire rope 24 and vertical shoulder steel wire rope 315 respectively.
The present invention operation principle and workflow be:
(1) patient dresses:Before patient carries out rehabilitation training, first according to patient's stance or sitting position height, frame 6 is adjusted Highly.The height of long duct bar 19 and flat shoulder joint component 2 is adjusted, makes the axis of flat shoulder joint component 2 and patient's shoulder joint big Alignment is caused, now the axis of vertical shoulder joint assembly 3 also should be substantially aligned with patient's shoulder joint.Further according to the length for protecting suffering limb upper arm Degree, adjust Z-shaped long thin plate 32 and the relative position of T-shaped thin plate 47, make the elbow joint of patient with the axis of robot forearm component 5 substantially Alignment.Patient's upper arm is stretched into annulus inner ring 44, and forearm is stretched into elliptical ring 55.
(2) patient trains:Proceed by rehabilitation training.Active motor 74 drives upper shoulder driven by upper shoulder steel wire rope 113 Sprocket wheel 11 rotates, and upper shoulder steel wire rope 113 pulls shoulder driven sprocket 11 to move back and forth, completes the open and flat motion of shoulder;Active motor 74 drive flat shoulder driven sprocket 21 to rotate by flat shoulder steel wire rope 24, complete shoulder telescopic motion;Active motor 74 is by founding shoulder Steel wire rope 315 drives vertical shoulder driven sprocket 312 to rotate, and completes the motion of shoulder anterior flexion and rear stretching;Upper arm motor 48 drives small Knucle-gear 410 rotations, by meshed transmission gear to annulus inner ring 44, complete outward turning campaign in upper arm;Forearm motor 51 drives long thin plate Block rotates about 54, completes the flexion and extension of ancon.Can be selected according to the rehabilitation state of patient single joint training mode or Multi-joint compound motion training mode.
The present invention does not address part and is applied to prior art.

Claims (1)

1. a kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly, it is characterised in that the robot includes upper shoulder Joint assembly, flat shoulder joint component, vertical shoulder joint assembly, upper arm assembly, forearm component, frame and motor housing;The upper shoulder joint Section component is fixed in frame;The flat shoulder joint component is connected with upper shoulder joint assembly;The vertical shoulder joint assembly and flat shoulder Joint assembly connects;The upper arm assembly is connected with vertical shoulder joint assembly;The forearm component is connected with upper arm assembly;The electricity Cabinet and frame are rest on the ground;
The upper shoulder joint assembly include shoulder driven sprocket, the first axle sleeve, main shaft, upper shoulder joint rectangular box, the second axle sleeve, Upper fillet contact ball bearing, upper shoulder T-shaped plastics plate, main shaft sleeve, long duct bar, upper shoulder angle displacement sensor, upper shoulder chain Bar, upper shoulder line card and upper shoulder steel wire rope;First axle sleeve and the second axle sleeve are fixed in frame;The upper shoulder angular contact ball axle Hold as two, be clamped on respectively by the first axle sleeve and the second axle sleeve in frame;The main shaft passes through the through hole of frame, is installed on Between two upper fillet contact ball bearings;The upper shoulder driven sprocket is arranged on one end of main shaft, the other end of main shaft and upper shoulder The axle center connection of angle displacement sensor;The outer surface of upper shoulder angle displacement sensor is fixedly connected with frame;The upper shoulder from Movable sprocket is engaged with upper shoulder chain, and the end of upper shoulder chain is connected by upper shoulder line card with one end of upper shoulder steel wire rope;Upper shoulder steel The other end of cord passes through upper shoulder T-shaped plastics plate and the motor connection in motor housing;Have among the upper shoulder joint rectangular box There is through hole, main shaft is connected through the through hole of upper shoulder joint rectangular box with upper shoulder joint rectangular box;The main shaft sleeve is arranged on master On axle, main shaft sleeve lower end contacts with upper shoulder joint rectangular box, upper end and the upper shoulder angular contact ball bearing inner ring in the first axle sleeve Contact;One end of the long duct bar is connected with upper shoulder joint rectangular box;
The flat shoulder joint component includes flat shoulder driven sprocket, flat shoulder chain, flat shoulder line card, flat shoulder steel wire rope, flat shoulder T-shaped plastics Plate, flat shoulder joint axle, the long thin plate of flat shoulder rectangle, flat shoulder bearing rectangular box, flat fillet contact ball bearing, flat shoulder axle sleeve, the first method Blue disk, flat shoulder long plates of rectangular shape block, flat shoulder axial end snap ring peace shoulder angle displacement sensor;The long duct bar other end passes through First flange disk is connected with flat shoulder bearing rectangular box;Two flat shoulder angular contact ball axles are installed inside the flat shoulder bearing rectangular box Hold;The flat shoulder joint axle is installed between two flat fillet contact ball bearings;The flat shoulder rectangle grows thin piece and is fixed on flat shoulder In bearing rectangular box;The flat shoulder rectangle, which is grown, is provided with flat shoulder T-shaped plastics plate on thin piece;One end peace of the flat shoulder joint axle Equipped with flat shoulder driven sprocket;The flat shoulder driven sprocket engages with flat shoulder chain, the end of flat shoulder chain by flat shoulder line card with One end connection of flat shoulder steel wire rope;The other end of the flat shoulder steel wire rope passes through flat shoulder T-shaped plastics plate and the electricity in motor housing Machine connects;The flat shoulder axial end snap ring is fixed on flat shoulder long plates of rectangular shape block;The other end of flat shoulder joint axle passes through flat shoulder square The long plate peace shoulder axial end snap ring of shape is connected with the axle center of flat shoulder angle displacement sensor;Outside flat shoulder angle displacement sensor Surface is fixedly connected with flat shoulder bearing rectangular box;
The vertical shoulder joint assembly includes vertical shoulder angle displacement sensor, Z-shaped long thin plate, vertical shoulder joint nodal axisn, vertical shoulder bearing rectangle Box, vertical fillet contact ball bearing, the long thin plate of vertical shoulder rectangle, vertical shoulder axial end snap ring, vertical shoulder axle sleeve, second flange disk, tubulature Bar, the 3rd ring flange, vertical shoulder driven sprocket, vertical shoulder chain, vertical shoulder line card, vertical shoulder steel wire rope and vertical shoulder T-shaped plastics plate;It is described The other end of flat shoulder long plates of rectangular shape block is connected by the 3rd ring flange with short-range missile tube rod;The other end of the short-range missile tube rod passes through Two ring flanges are connected with vertical shoulder bearing rectangular box;Two vertical fillet contact ball bearings are installed inside vertical shoulder bearing rectangular box;Institute Vertical shoulder axle sleeve is stated on the outside of each self-support fillet contact ball bearing, oppose fillet contact ball bearing axial restraint;Vertical shoulder joint Axle is installed between two vertical fillet contact ball bearings;The vertical long thin plate of shoulder rectangle is fixed in vertical shoulder bearing rectangular box;Institute Vertical shoulder T-shaped plastics plate is stated to be arranged on the long thin plate of vertical shoulder rectangle;One end of vertical shoulder joint nodal axisn passes through the long thin plate of vertical shoulder rectangle Through hole, its end are provided with vertical shoulder driven sprocket;The vertical shoulder driven sprocket engages with vertical shoulder chain, and the end of vertical shoulder chain leads to Vertical shoulder line card is crossed to be connected with one end of vertical shoulder steel wire rope;The other end of the vertical shoulder steel wire rope pass through vertical shoulder T-shaped plastics plate with Motor connection in motor housing;The vertical shoulder axial end snap ring is connected with Z-shaped long thin plate;The other end of vertical shoulder joint nodal axisn with it is Z-shaped Long thin plate connection;The other end of vertical shoulder joint nodal axisn sequentially passes through Z-shaped long thin plate and vertical shoulder axial end snap ring and vertical shoulder angle displacement The axle center connection of sensor;The outer surface of vertical shoulder angle displacement sensor is fixedly connected with vertical shoulder bearing rectangular box;
Upper arm assembly include the thin annulus of wedge, annulus outer ring, ball, annulus inner ring, rack circle, Z-shaped short thin plate, T-shaped thin plate, Upper arm motor, hook-shaped thin plate, small Knucle-gear and upper arm angle displacement sensor;The other end of the Z-shaped long thin plate and T-shaped thin plate Connection;The T-shaped thin plate is connected with annulus outer ring;There is boss on the inside of the annulus outer ring;It is fixed on the outside of the annulus inner ring There is the thin annulus of wedge;Have gap between the annulus outer ring and annulus inner ring, ball adapt to annulus outer ring and annulus inner ring it Between gap in;The annulus inner ring lower end is fixed with rack circle, and rack circle engages with small Knucle-gear;The hook-shaped thin plate One end be connected with annulus outer ring, the other end is fixedly connected with the outer surface of upper arm angle displacement sensor;The upper arm motor On hook-shaped thin plate, its power transmission shaft is connected through hook-shaped thin plate with the core wheel of small Knucle-gear;The transmission of the upper arm motor Shaft end is connected with the axle center of upper arm angle displacement sensor;
The forearm component includes forearm motor, small boss, forearm angle displacement sensor, long thin plate block, elliptical ring and handle; Described long thin plate block one end is connected with Z-shaped short thin plate, and the other end is connected by bolt with elliptical ring;The forearm motor with it is Z-shaped Short thin plate connection;The output shaft of forearm motor sequentially passes through Z-shaped short thin plate and the through hole of long thin plate block is connected with small boss, simultaneously Small boss is fixed on long thin plate block;The handle is installed on the side of elliptical ring;The output shaft end and forearm of forearm motor The axle center connection of angle displacement sensor;It is fixedly connected on the outer surface of forearm angle displacement sensor with Z-shaped short thin plate;
The motor box assembly includes active motor sprocket wheel, active motor chain, active motor steel wire rope, active motor, cabinet Plate, rectangular small block, active motor line card and active motor steel wire rope spool;The active motor line card is fixed on wall of computer case On;The active motor is fixed on wall of computer case, and the hole of its output end axle through wall of computer case is connected with active motor sprocket wheel, actively Motor sprocket engages with active motor chain, active motor chain connection active motor steel wire rope;Active motor steel wire rope passes through Active motor line card is fixed;The one side of the rectangular small block is fixed on wall of computer case, and counter sink is provided with rectangular small block; The active motor steel wire penetrating active motor steel wire rope spool respectively with upper shoulder steel wire rope, flat shoulder steel wire rope and vertical shoulder steel wire Rope connection.
CN201610455443.9A 2016-06-19 2016-06-19 A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly Expired - Fee Related CN105997430B (en)

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