CN106031669A - A seven-degree-of-freedom upper limb assisting exoskeleton robot - Google Patents
A seven-degree-of-freedom upper limb assisting exoskeleton robot Download PDFInfo
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- CN106031669A CN106031669A CN201510103109.2A CN201510103109A CN106031669A CN 106031669 A CN106031669 A CN 106031669A CN 201510103109 A CN201510103109 A CN 201510103109A CN 106031669 A CN106031669 A CN 106031669A
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Abstract
The invention provides a seven-degree-of-freedom upper limb assisting exoskeleton robot and relates to the technical field of rehabilitation robots. The seven-degree-of-freedom upper limb assisting exoskeleton robot comprises a shoulder part, an upper arm part, a forearm part and a hand part. A shoulder part connecting member of the shoulder part is connected with a first connecting member of the upper arm part; a second upper arm connecting member of the upper arm part is connected with a first forearm connecting member; a first forearm connecting member of the forearm part is connected with a wrist ring toothed rail of the hand part. Compared with the prior art, the seven-degree-of-freedom upper limb assisting exoskeleton robot can simulate the bending/extending and the outward extending/inward retraction of upper arms, the bending/extending of forearms, the bending/extending and the inward rotation and outward rotation of wrists, the bending/extending of palms and the bending/extending of thumbs of the upper limbs of human bodies, thereby having seven degrees of freedom; the movement ranges of the degrees of freedom are based on reasonable distribution and restriction, so that the robot can better fit the physiological structure of the upper limbs of human bodies, can be worn by a patient conveniently and has high flexibility.
Description
Technical field
The present invention relates to healing robot technical field, particularly relate to outside a kind of seven freedom upper limb power-assisted
Skeleton robot.
Background technology
Along with the aggravation of China's aged tendency of population, the serious threat middle-aged and elderly people health such as apoplexy, hemiplegia
The sickness rate of healthy disease also presents the trend risen year by year, and these diseases have caused limbs of patient fortune
The some lost of dynamic function and related complication.Further, since wound, athletic injury, occupational injury
Etc. the decline that also result in extremity motor function.The some lost of extremity motor function and decline, especially
It is some lost and the decline of upper extremity exercise function, greatly have impact on the ability of patient's daily life.
To this end, design safety, effectively, easily auxiliary patient's upper limb complete basic self care ability
Upper limb assistance exoskeleton robot has practical significance.
By literature search, the Chinese invention patent application of Application No. 201410038145.0 proposes one
Planting the dermaskeleton type upper limb rehabilitation robot system that rope drives, it uses wire drive to drive
Arm rope and forearm rope stretch, it is achieved the rehabilitation exercise of human arm.This towed upper limb healing machine
People typically only has 2-3 degree of freedom, and degree of freedom is low, and directly acts on the far-end of human upper limb,
Cannot be independent control or assist the motion in single joint.
The Chinese invention patent application of Application No. 201410196915.4 proposes a kind of exoskeleton-type
Upper limb rehabilitation robot, this robot is only used for assisting patients with cerebral apoplexy to complete elbow joint and bends and stretches, forearm
Inside and outside rotation two kinds motion, degree of freedom arranges and simplifies very much, can be only used for skimulated motion therapy and carries out
Simple rehabilitation training, it is impossible to auxiliary patients with cerebral apoplexy completes some daily self-care activitieses.
Summary of the invention
The present invention provides one to be applicable to daily wearing, seven freedom upper limb assistance exoskeleton robot.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows:
A kind of seven freedom upper limb assistance exoskeleton robot, including shoulder, upper arm part, forethiga
Divide and hand, wherein:
Described shoulder includes C-shaped rack rails one, and described C-shaped rack rails one is provided with C-shaped rack rails two He
Shoulder slide block, the two ends of described C-shaped rack rails one are respectively provided with limited location one and spacing two, described shoulder
Be provided with bevel gear one, servomotor with encoder one and harmonic speed reducer one on slide block, described in watch
The outfan taking motor one connects the input of described harmonic speed reducer one, described harmonic speed reducer one
Outfan axle connects described bevel gear one, and described C-shaped rack rails two is provided with shoulder connector；
Described upper arm parts is divided and is included upper arm connector one, and one end of described upper arm connector one connects described
Shoulder connector, the other end connects upper arm connector two by upper arm lengths regulating part, and described upper arm is even
Servomotor two with encoder and harmonic speed reducer two, described servomotor two it is provided with on fitting one
Outfan connect described harmonic speed reducer two input, the outfan axle of described harmonic speed reducer two
Connecing bevel gear two, described bevel gear two can slide along described C-shaped rack rails two.
Further, described forethiga divides and includes forearm connector one, the one of described forearm connector one
End connects on described upper arm connector two by connecting shaft one, and the other end of described forearm connector one leads to
Cross forearm regulating part and connect forearm connector two, described forearm connector one is provided with band coding
The servomotor three of device and harmonic speed reducer three, the outfan of described servomotor three connects described harmonic wave
The input of decelerator three, the outfan axle of described harmonic speed reducer three connects bevel gear three, described cone tooth
The mode that wheel three and the bevel gear four being arranged in described connecting shaft one use gear to engage connects, described
Bevel gear three is vertical with the Gear axis of bevel gear four.
Further, described hand includes that wrist, described wrist include wrist annular rack rails and be arranged on
Wrist slide block on wrist annular rack rails, described wrist annular rack rails is connected to described forearm connector two
On, described wrist slide block is provided with servomotor four with encoder and harmonic speed reducer four, described
The outfan of servomotor four connects the input of described harmonic speed reducer four, described harmonic speed reducer four
Outfan axle connect bevel gear five, described bevel gear five connects described wrist annular rack rails.
Further, described hand also includes that palmar hand, described palmar hand include palm goods of furniture for display rather than for use and palm
Backplate, palm backplate is fixed on palm goods of furniture for display rather than for use, and described palm goods of furniture for display rather than for use is provided with encoder watching
Taking motor five and harmonic speed reducer five, the outfan of described servomotor five connects described harmonic speed reducer
The input of five, the outfan axle of described harmonic speed reducer five connects bevel gear six, and described bevel gear six is even
Connecing bevel gear seven, described bevel gear six is vertical with the Gear axis of bevel gear seven, on described palm backplate
It is provided with servomotor six with encoder and harmonic speed reducer six, the outfan of described servomotor six
Connecting the input of described harmonic speed reducer six, the outfan axle of described harmonic speed reducer six connects bevel gear
Eight, described bevel gear nine connects bevel gear nine, and the Gear axis of described bevel gear eight and bevel gear nine hangs down
Directly.
Further, described hand also includes that finger section, described finger section include thumb plate and tetrad
Fingerboard, described tetrad fingerboard and thumb plate connect described hands by connecting shaft three and connecting shaft four respectively
Palm backplate, the outside of described thumb plate is provided with servomotor seven with encoder and harmonic speed reducer
Seven, the outfan of described servomotor seven connects the input of described harmonic speed reducer seven, described harmonic wave
The outfan axle of decelerator seven connects bevel gear ten, and described bevel gear ten connects bevel gear 11, described cone
Gear ten is vertical with the Gear axis of bevel gear 11.
Further, the two ends of described C-shaped rack rails two are respectively provided with limited location three and spacing four.
Further, the described solid set of upper arm connector one is inserted on upper arm connector two.
Further, described upper arm lengths regulating element is provided with upper arm regulation bolt.
Further, described bevel gear 11 is arranged in connecting shaft four, and bevel gear ten is arranged on servo
On the motor shaft of motor seven, gear shaft and the connecting shaft four of bevel gear 11 are connected to by shaft coupling four
Together.
Further, described seven freedom upper limb assistance exoskeleton robot also includes power module and control
Box processed, described power module give control box, servomotor one, servomotor two, servomotor three,
Servomotor four, servomotor five, servomotor six, servomotor seven are powered, in described control box
Servomotor one, servomotor two, servomotor three, servomotor described in the control card control arranged
Four, servomotor five, servomotor six, servomotor seven.
The method have the advantages that
The degree of freedom that existing upper limb exoskeleton robot has is the highest, have be not easy to single joint is entered
Row controls, very flexible, compared with prior art, and the seven freedom upper limb assistance exoskeleton of the present invention
The flexion/extension of the upper arm of robot simulation's human upper limb, abduction/adduction, the flexion/extension of forearm, wrist
Flexion/extension, outside medial rotation/rotation, palm flexion/extension, thumb flexion/extension, altogether 7 degree of freedom, degree of freedom is high,
The range of movement of each degree of freedom has carried out rational distribution and restriction, can well matching human upper limb
Physiological structure, the relatively flexible motion of multi-angle of auxiliary human upper limb, be worn on patient's body easily
On, and there is higher motility, each joint during movement can keep good with human upper limb
Concordance, preferably auxiliary wearer completes some basic physiological movements.
Accompanying drawing explanation
Fig. 1 is a kind of seven freedom upper limb assistance exoskeleton robot side-looking structural representation；
Fig. 2 is a kind of seven freedom upper limb assistance exoskeleton robot forward sight structural representation；
Fig. 3 is a kind of seven freedom upper limb assistance exoskeleton robot plan structure schematic diagram；
Fig. 4 is a kind of seven freedom upper limb assistance exoskeleton robot architecture's functional schematic.
In figure: 1-C shape rack rails one；2-spacing one；3-spacing two；4-shoulder slide block；5-bevel gear one；
6-servomotor with encoder one；7-harmonic speed reducer one；8-shoulder connector and C-shaped rack rails two；
9-spacing three；10-spacing four；11-bearing pin；12-upper arm connector one；13-upper arm connector two；14-
Upper arm supports；15-upper arm lengths regulating part；16-upper arm regulation bolt；17-servo with encoder electricity
Machine two；18-harmonic speed reducer two；19-bevel gear two；20-connecting shaft one；21-shaft coupling one；22-
Forearm connector one；23-forearm connector two；24-forearm supports；25-forearm regulating part；26-
Forearm regulation bolt；27-servomotor with encoder three；28-harmonic speed reducer three；29-bevel gear
Three；30-bevel gear four；31-wrist circle rack rails；32-spacing five；33-spacing six；34-wrist is sliding
Block；35-servomotor with encoder four；36-harmonic speed reducer four；37-bevel gear five；38-is even
Spindle two；39-shaft coupling two；40-servomotor with encoder five；41-harmonic speed reducer five；42-
Bevel gear six；43-bevel gear seven；44-palm goods of furniture for display rather than for use；45-palm backplate；46-tetrad fingerboard；47-
Connecting shaft three；48-shaft coupling three；49-servomotor with encoder six；50-harmonic speed reducer six；
51-bevel gear eight；52-bevel gear nine；53-thumb plate；54-connecting shaft four；55-shaft coupling four；
56-servomotor with encoder seven；57-harmonic speed reducer seven；58-bevel gear ten；59-bevel gear
11,60-power module, 61-control box.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below will knot
Conjunction drawings and the specific embodiments are described in detail.
The present invention provides a kind of seven freedom upper limb assistance exoskeleton robot, as shown in Figures 1 to 4,
Including shoulder, upper arm part, forearm part and hand, wherein:
Shoulder includes C-shaped rack rails 1, C-shaped rack rails 1 is provided with C-shaped rack rails two and shoulder is sliding
Block 4, the two ends of C-shaped rack rails 1 are respectively provided with limited location 1 and spacing 23, shoulder slide block 4
On be provided with bevel gear 1, servomotor with encoder 1 and harmonic speed reducer 1, servo
The outfan of motor 1 connects the input of harmonic speed reducer 1, the output of harmonic speed reducer 1
End axle connects bevel gear 1, and on C-shaped rack rails two, 8 are provided with shoulder connector；
Upper arm parts is divided and is included upper arm connector 1, and one end of upper arm connector 1 connects described shoulder
Portion's connector, the other end connects upper arm connector 2 13 by upper arm lengths regulating part 15, and upper arm is even
Servomotor 2 17 with encoder and harmonic speed reducer 2 18, servo electricity it is provided with on fitting 1
The outfan of machine 2 17 connects the input of harmonic speed reducer 2 18, harmonic speed reducer 2 18 defeated
Going out to hold axle to connect bevel gear 2 19, bevel gear two can slide along C-shaped rack rails 28.
Compared with prior art, the seven freedom upper limb assistance exoskeleton robot simulation of present invention people
The flexion/extension of the upper arm of body upper limb, abduction/adduction, the flexion/extension of forearm, the flexion/extension of wrist, medial rotation/rotation
Outward, palm flexion/extension, thumb flexion/extension, altogether 7 degree of freedom, the range of movement of each degree of freedom is carried out
Rational distribution and restriction, can well the physiological structure of matching human upper limb, dress easily
With patient, and having higher motility, each joint during movement can be protected with human upper limb
Hold good concordance.
Further, as it is shown in figure 1, forearm part can use those skilled in the art to be readily apparent that
Various structures, preferably include forearm connector 1, one end of forearm connector 1 is by even
Spindle one connects on upper arm connector 2 13, and the other end of forearm connector 1 passes through forearm
Regulating part 25 connects forearm connector 2 23, and forearm connector 1 is provided with encoder watching
Taking motor 3 27 and harmonic speed reducer 3 28, the outfan of servomotor 3 27 connects harmonic speed reducer
The input of 3 28, the outfan axle of harmonic speed reducer 3 28 connects bevel gear 3 29, bevel gear three
29 use the mode of gear engagement to connect with the bevel gear 4 30 being arranged in connecting shaft one, bevel gear
3 29 is vertical with the Gear axis of cone bevel gear 4 30.
As it is shown in figure 1, servomotor 1 is by the harmonic speed reducer one being arranged on servomotor one
7 reduction of speed drive installations bevel gear 1 on servomotor one axle, promotes bevel gear 1 in C-shaped
Move in gear guide 1, drive shoulder slide block 4, thus realize the flexion/extension motion of upper arm,
C-shaped rack rails 1 rear and front end is respectively arranged with a mechanical position limitation, spacing 1 and spacing 23, can limit
Upper arm flexion/extension processed moves in the movement angle of reasonable benefit/risk.
Servomotor 2 17 is driven by harmonic speed reducer 2 18 reduction of speed being arranged on servomotor two
It is arranged on the bevel gear 2 19 on servomotor two axle, promotes bevel gear 2 19 at C-shaped rack rails 28
On roll, drive upper arm connector 1 motion, thus realize the interior receipts/abduction exercise of upper arm,
The both sides of C-shaped rack rails two are respectively arranged with a mechanical position limitation, spacing 39 and spacing 4 10, limit in upper arm
Receipts/abduction exercise is in the movement angle of reasonable benefit/risk.
Servomotor 3 27 is driven by harmonic speed reducer 28 3 reduction of speed being arranged on servomotor three
The bevel gear 3 29 being arranged on the motor shaft of servomotor three, bevel gear 3 29 and bevel gear 4 30
Connecting by the way of gear engages, bevel gear 4 30 is arranged in connecting shaft one, servomotor three
Motor shaft and connecting shaft one linked together by shaft coupling 1, bevel gear 3 29 promotes cone tooth
Taking turns 4 30 rotations, bevel gear 4 30 rotational band is dynamically connected axle one rotation, thus arm swing before driving,
Thus realize the flexion/extension motion of forearm.
Owing to patient completes some basic life activities, as having a meal, wear the clothes, washing one's face, need
Hand motion is more, it is preferred that the hand of the present invention includes that wrist, wrist include wrist annular rack rails
31 and the wrist slide block 34 that is arranged on wrist annular rack rails 31, wrist annular rack rails 31 is connected to
On forearm connector 2 23, wrist annular rack rails 31 is also preferably provided with restricted wrist slide block 34
Spacing the 5 32 and spacing 6 33 of sliding scale, wrist slide block 34 is provided with servomotor 4 35
With harmonic speed reducer 4 36, the outfan of servomotor 4 35 connects the input of harmonic speed reducer 4 36
End, the outfan axle of harmonic speed reducer 4 36 connects bevel gear 5 37, and bevel gear 5 37 connects wrist ring
Shape rack rails 31.
Concrete, as in figure 2 it is shown, servomotor 4 35 is humorous by be arranged on servomotor four
Ripple decelerator 36 4 reduction of speed drive installation bevel gear 5 37 on servomotor four motor shaft, promotes
Bevel gear 5 37 moves on wrist annular rack rails 31, bevel gear 5 37 and wrist annular rack rails 31
Use the mode of gear engagement, thus drive wrist to complete internal/external rotations motion.At wrist annular rack rails
Two mechanical position limitations, spacing 5 32 and spacing 6 33 are preferably installed on 31, limit the inward turning of wrist
/ outward turning campaign is in the anglec of rotation of reasonable benefit/risk.
A kind of specific embodiment is that servomotor 5 40 is by being arranged on servomotor five
Harmonic speed reducer 5 41 reduction of speed drive installation bevel gear 6 42 on motor shaft, bevel gear 6 42
Connecting by the way of gear engages with bevel gear 7 43, bevel gear 7 43 is arranged on connecting shaft 2 38
On, bevel gear 6 42 promotes bevel gear 7 43 to rotate, and bevel gear 7 43 rotational band is dynamically connected axle two
38 rotate, thus drive the swing of wrist, thus realize the flexion/extension motion of wrist.
Further, as it is shown in figure 1, hand can also include palmar hand, palmar hand can include hands
Palm goods of furniture for display rather than for use 44 and palm backplate 45, the servomotor 5 40 that palm goods of furniture for display rather than for use 44 is provided with and harmonic wave
Decelerator 5 41, the outfan of servomotor 5 40 connects the input of harmonic speed reducer 5 41, humorous
The outfan axle of ripple decelerator 5 41 connects bevel gear 6 42, and bevel gear 6 42 connects bevel gear 7 43,
Bevel gear 6 42 is vertical with the Gear axis of bevel gear 7 43, and palm backplate 45 is provided with servo
Motor 6 49 and harmonic speed reducer 6 50, the outfan of servomotor 49 connects harmonic speed reducer six
The input of 50, the outfan axle of harmonic speed reducer 6 50 connects bevel gear 8 51, bevel gear 8 51
Connecting bevel gear 9 52, bevel gear 8 51 is vertical with the Gear axis of bevel gear 9 52.
Further, as it is shown in figure 1, hand also includes finger section, finger section includes thumb plate
53 and tetrad fingerboard 46, tetrad fingerboard 46 and thumb plate 53 respectively by connecting shaft 3 47 and even
Spindle 4 54 connects palm backplate 45, and the outside of thumb plate 53 is provided with servomotor 7 56 He
Harmonic speed reducer 7 57, the outfan of servomotor 7 56 connects the input of harmonic speed reducer 7 57,
The outfan axle of harmonic speed reducer 7 56 connects bevel gear 10, and bevel gear 10 connects bevel gear 11
59, bevel gear 10 is vertical with the Gear axis of bevel gear 11.
Concrete, servomotor 6 49 is by the harmonic speed reducer 6 50 being arranged on servomotor six
Reduction of speed drive installation bevel gear 8 51 on the motor shaft of servomotor six, bevel gear 8 51 and cone
Gear 9 52 connects by the way of gear engages, and bevel gear 9 52 is arranged in connecting shaft 3 47,
Motor shaft and the connecting shaft 3 47 of servomotor six are linked together by shaft coupling 3 48, bevel gear
8 51 promote bevel gears 9 52 rotate, bevel gear 9 52 rotational band be dynamically connected axle 3 48 rotate, from
And drive tetrad fingerboard 46 to swing, thus realize the flexion/extension motion of four fingers.
Servomotor 7 56 is driven by harmonic speed reducer 7 57 reduction of speed being arranged on servomotor seven
The bevel gear 10 being arranged on the motor shaft of servomotor seven, bevel gear 10 and bevel gear 11
59 connect by the way of gear engages, and bevel gear 11 is arranged in connecting shaft 4 54, servo
Motor shaft and the connecting shaft 4 54 of motor seven are linked together by shaft coupling 4 55, bevel gear 10
Promote bevel gear 11 rotate, bevel gear 11 rotational band be dynamically connected axle 4 54 rotate, from
And drive thumb plate 53 to swing, thus realize the flexion/extension motion of thumb.
The concrete structure of above-mentioned shoulder, upper arm part, forearm part and hand is only the one of the present invention
Detailed description of the invention, above-mentioned four parts can also use other that those skilled in the art is readily apparent that
Embodiment.
Wherein, as it is shown in figure 1, the two ends of C-shaped rack rails 28 are respectively provided with limited location 39 and spacing
4 10, so can ensure that the interior receipts/abduction exercise of upper arm, in the movement angle of reasonable benefit/risk, is kept away
Exempt from wearer range of movement in use excessive cause injured, improve the present invention use safety.
Owing to the upper arm lengths of user is different, in order to improve the versatility that the present invention uses, on
Arm connector 1 can be that solid set is inserted on upper arm connector 2 13, such upper arm connecting rod one
Go deep into adjustable in length, be suitable for the wearer of different upper arm lengths, forearm connecting rod 1 is also
Being preferably set admittedly to be inserted in forearm connecting rod 2 23, the length of going deep into of such forearm connecting rod one can
Regulation, adapts to the wearer of different forearm, enhances the versatility that the present invention dresses, and make
The dismounting of the system of obtaining is easy to assembly.
In the present invention, adjust as it is shown in figure 1, be preferably provided with upper arm on upper arm lengths regulating element 15
Joint bolt 16, forearm regulating element 25 is also provided with forearm regulation bolt 27, so
Respectively the length of upper arm and forearm can be carried out micro-by upper arm regulation bolt and pencil regulation bolt
Adjust, improve the movable motility of upper limb and accuracy of action.Adjusted by forearm regulation bolt and upper arm
Joint bolt finely tunes forearm part and the total length of upper arm part respectively, thus adapts to different forearm and difference
The crowd of upper arm body parameter.
In order to improve the stability of the present invention, as it is shown in figure 1, bevel gear 11 is preferably mounted at
In connecting shaft 4 54, described bevel gear 11 is arranged in connecting shaft 4 54, bevel gear 10
It is arranged on the motor shaft of servomotor 7 56, the gear shaft of bevel gear 11 and connecting shaft 4 54
Linked together by shaft coupling 4 55.
Further, as it is shown in figure 1, seven freedom upper limb assistance exoskeleton robot also includes controlling
Box, the control card control servomotor 1 arranged in controlling box 61, servomotor 2 17, servo
Motor 3 27, servomotor 4 35, servomotor 5 40, servomotor 6 49, servomotor seven
56。
Preferably, seven freedom upper limb assistance exoskeleton robot also includes power module 60, power supply mould
Block 60 is given and is controlled box 61, servomotor 1, servomotor 2 17, servomotor 3 27, servo
Motor 4 35, servomotor 5 40, servomotor 6 49, servomotor 7 56 are powered.
In sum, the method have the advantages that
One, the present invention is based on ergonomics and the analysis of human upper limb locomotion feature, and employing personalizes
Design, simulates the flexion/extension of the upper arm of human upper limb, abduction/adduction, the flexion/extension of forearm, wrist
Outside flexion/extension, medial rotation/rotation, palm flexion/extension, thumb flexion/extension, the motion of totally 7 degree of freedom, each
Rational distribution and restriction has been carried out by the range of movement spent, can well the life of matching human upper limb
Reason structure, can be worn on a patients body easily, and have higher motility, and each joint is in fortune
Dynamic period can keep good concordance with human body, has preferable people-machine fusion characteristics.
Two, the solid set of upper arm connector one of the present invention is inserted on upper arm connector two, the dismounting of system
Easy to assembly, and, the built-in length scalable of upper arm connector one, it is adapted to different upper arm length
The wearer of degree, strengthens the versatility dressed；The solid set of forearm connector one is inserted into forearm connector two
On, the dismounting of system is easy to assembly, and, the built-in length scalable of forearm connector one is permissible
Adapt to the wearer of different forearm, strengthen the versatility dressed.
Three, the present invention have employed substantial amounts of section bar, such as upper arm connector one, upper arm connector two,
The parts such as forearm connector one, forearm connector two, bevel gear are all conventional materials, are substantially reduced
Manufacturing cost, for this, the batch production for device provides possibility, and cost can reduce by more than 20%.
Four, compact conformation, safety is high, cost is relatively low, may be used for the rehabilitation training of hospital, special
It not that patient can directly use in family daily life, assist patient to complete some basic lives
Self-care ability, such as, have a meal, wear the clothes, wash one's face.
The above is the preferred embodiment of the present invention, it is noted that general for the art
For logical technical staff, on the premise of without departing from principle of the present invention, it is also possible to make some changing
Entering and retouch, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a seven freedom upper limb assistance exoskeleton robot, it is characterised in that include shoulder,
Upper arm part, forearm part and hand, wherein:
Described shoulder includes C-shaped rack rails one, and described C-shaped rack rails one is provided with C-shaped rack rails two He
Shoulder slide block, the two ends of described C-shaped rack rails one are respectively provided with limited location one and spacing two, described shoulder
Be provided with bevel gear one, servomotor with encoder one and harmonic speed reducer one on slide block, described in watch
The outfan taking motor one connects the input of described harmonic speed reducer one, described harmonic speed reducer one
Outfan axle connects described bevel gear one, and described C-shaped rack rails two is provided with shoulder connector；
Described upper arm parts is divided and is included upper arm connector one, and one end of described upper arm connector one connects described
Shoulder connector, the other end connects upper arm connector two by upper arm lengths regulating part, and described upper arm is even
Servomotor two with encoder and harmonic speed reducer two, described servomotor two it is provided with on fitting one
Outfan connect described harmonic speed reducer two input, the outfan axle of described harmonic speed reducer two
Connecing bevel gear two, described bevel gear two can slide along described C-shaped rack rails two.
Seven freedom the most according to claim 1 upper limb assistance exoskeleton robot, its feature
Being, described forethiga divides and includes forearm connector one, and one end of described forearm connector one is by even
Spindle one connects on described upper arm connector two, and the other end of described forearm connector one passes through forearm length
Degree regulating part connects forearm connector two, and described forearm connector one is provided with servo with encoder
Motor three and harmonic speed reducer three, the outfan of described servomotor three connects described harmonic speed reducer three
Input, the outfan axle of described harmonic speed reducer three connects bevel gear three, described bevel gear three and setting
Put the mode that the bevel gear four in described connecting shaft one uses gear to engage to connect, described bevel gear three
Vertical with the Gear axis of bevel gear four.
Seven freedom the most according to claim 1 upper limb assistance exoskeleton robot, its feature
Being, described hand includes that wrist, described wrist include wrist annular rack rails and be arranged on wrist annular
Wrist slide block on rack rails, described wrist annular rack rails is connected on described forearm connector two, described
Servomotor four with encoder and harmonic speed reducer four, described servomotor it is provided with on wrist slide block
The outfan of four connects the input of described harmonic speed reducer four, the outfan of described harmonic speed reducer four
Axle connects bevel gear five, and described bevel gear five connects described wrist annular rack rails.
Seven freedom the most according to claim 3 upper limb assistance exoskeleton robot, its feature
Being, described hand also includes that palmar hand, described palmar hand include palm goods of furniture for display rather than for use and palm backplate, hands
Palm backplate is fixed on palm goods of furniture for display rather than for use, and described palm goods of furniture for display rather than for use is provided with servomotor five with encoder
With harmonic speed reducer five, the outfan of described servomotor five connects the input of described harmonic speed reducer five
End, the outfan axle of described harmonic speed reducer five connects bevel gear six, and described bevel gear six connects bevel gear
Seven, described bevel gear six is vertical with the Gear axis of bevel gear seven, and described palm backplate is provided with band
The servomotor six of encoder and harmonic speed reducer six, the outfan of described servomotor six connects institute
Stating the input of harmonic speed reducer six, the outfan axle of described harmonic speed reducer six meets bevel gear eight, institute
Stating bevel gear nine and connect bevel gear nine, described bevel gear eight is vertical with the Gear axis of bevel gear nine.
Seven freedom the most according to claim 4 upper limb assistance exoskeleton robot, its feature
Being, described hand also includes that finger section, described finger section include thumb plate and tetrad fingerboard, institute
State tetrad fingerboard and thumb plate connect described palm backplate by connecting shaft three and connecting shaft four respectively,
The outside of described thumb plate is provided with servomotor seven with encoder and harmonic speed reducer seven, described
The outfan of servomotor seven connects the input of described harmonic speed reducer seven, described harmonic speed reducer seven
Outfan axle connect bevel gear ten, described bevel gear ten connects bevel gear 11, described bevel gear ten He
The Gear axis of bevel gear 11 is vertical.
Seven freedom the most according to claim 1 upper limb assistance exoskeleton robot, its feature
Being, the two ends of described C-shaped rack rails two are respectively provided with limited location three and spacing four.
Seven freedom the most according to claim 1 upper limb assistance exoskeleton robot, its feature
Being, the described solid set of upper arm connector one is inserted on upper arm connector two.
Seven freedom the most according to claim 7 upper limb assistance exoskeleton robot, its feature
It is, described upper arm lengths regulating element is provided with upper arm regulation bolt.
Seven freedom the most according to claim 2 upper limb assistance exoskeleton robot, its feature
Being, described bevel gear 11 is arranged in connecting shaft four, and bevel gear ten is arranged on servomotor seven
On motor shaft, gear shaft and the connecting shaft four of bevel gear 11 are linked together by shaft coupling four.
10. according to outside the seven freedom upper limb power-assisted described in any claim in claim 1 to 9
Skeleton robot, it is characterised in that described seven freedom upper limb assistance exoskeleton robot also includes electricity
Source module and control box, described power module is given control box, servomotor one, servomotor two, is watched
Take motor three, servomotor four, servomotor five, servomotor six, servomotor seven power supply, institute
State servomotor one described in the control card control controlling to arrange in box, servomotor two, servomotor three,
Servomotor four, servomotor five, servomotor six, servomotor seven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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Cited By (9)
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| CN106730642A (en) * | 2017-01-17 | 2017-05-31 | 上海交通大学医学院附属第九人民医院 | A kind of upper limbs exoskeleton rehabilitation arm |
| CN108992306A (en) * | 2018-08-08 | 2018-12-14 | 龚映清 | A kind of multiple degrees of freedom Table top type thumb convalescence device |
| CN109363811A (en) * | 2018-11-15 | 2019-02-22 | 上海理工大学 | A kind of upper limb exoskeleton robot based on wheelchair |
| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | Rounding arc guide rail mechanism inside and outside a kind of upper limb ectoskeleton forearm |
| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
| CN111616848A (en) * | 2020-06-02 | 2020-09-04 | 中国科学技术大学先进技术研究院 | Five-degree-of-freedom upper arm prosthesis control system based on FSM |
| CN112022628A (en) * | 2020-09-25 | 2020-12-04 | 西北工业大学 | Active-passive six-degree-of-freedom upper limb assistance exoskeleton based on flexible transmission mechanism |
| CN112472523A (en) * | 2020-12-10 | 2021-03-12 | 清华大学 | Elbow joint exoskeleton rehabilitation training robot |
| EP3936104A1 (en) | 2020-06-28 | 2022-01-12 | Vysoká Skola Bánská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
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| CN106730642A (en) * | 2017-01-17 | 2017-05-31 | 上海交通大学医学院附属第九人民医院 | A kind of upper limbs exoskeleton rehabilitation arm |
| CN108992306A (en) * | 2018-08-08 | 2018-12-14 | 龚映清 | A kind of multiple degrees of freedom Table top type thumb convalescence device |
| CN108992306B (en) * | 2018-08-08 | 2021-03-16 | 苏州睿智瀚医疗科技有限公司 | Multi freedom desktop formula thumb rehabilitation device |
| CN109363811B (en) * | 2018-11-15 | 2021-07-13 | 上海理工大学 | Upper limb exoskeleton robot based on wheelchair |
| CN109363811A (en) * | 2018-11-15 | 2019-02-22 | 上海理工大学 | A kind of upper limb exoskeleton robot based on wheelchair |
| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | Rounding arc guide rail mechanism inside and outside a kind of upper limb ectoskeleton forearm |
| CN109730892B (en) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | Inner and outer circular arc guide rail mechanism for forearm of exoskeleton of upper limb |
| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
| CN110202555B (en) * | 2019-07-10 | 2024-05-10 | 贵州大学 | Mechanical structure suitable for wrist movement of upper limb exoskeleton mechanism and driving method |
| CN111616848A (en) * | 2020-06-02 | 2020-09-04 | 中国科学技术大学先进技术研究院 | Five-degree-of-freedom upper arm prosthesis control system based on FSM |
| CN111616848B (en) * | 2020-06-02 | 2021-06-08 | 中国科学技术大学先进技术研究院 | Five-degree-of-freedom upper arm prosthesis control system based on FSM |
| EP3936104A1 (en) | 2020-06-28 | 2022-01-12 | Vysoká Skola Bánská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
| CZ309407B6 (en) * | 2020-06-28 | 2022-11-30 | Vysoká Škola Báňská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
| CN112022628B (en) * | 2020-09-25 | 2022-06-14 | 西北工业大学 | Active-passive six-degree-of-freedom upper limb assistance exoskeleton based on flexible transmission mechanism |
| CN112022628A (en) * | 2020-09-25 | 2020-12-04 | 西北工业大学 | Active-passive six-degree-of-freedom upper limb assistance exoskeleton based on flexible transmission mechanism |
| CN112472523A (en) * | 2020-12-10 | 2021-03-12 | 清华大学 | Elbow joint exoskeleton rehabilitation training robot |
| CN112472523B (en) * | 2020-12-10 | 2024-05-10 | 清华大学 | Elbow joint exoskeleton rehabilitation training robot |
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