CN106420268B - A kind of lasso trick transmission mechanism with two-freedom - Google Patents
A kind of lasso trick transmission mechanism with two-freedom Download PDFInfo
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- CN106420268B CN106420268B CN201611109147.XA CN201611109147A CN106420268B CN 106420268 B CN106420268 B CN 106420268B CN 201611109147 A CN201611109147 A CN 201611109147A CN 106420268 B CN106420268 B CN 106420268B
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- wrist joint
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 title claims abstract description 14
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 58
- 238000009434 installation Methods 0.000 claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 15
- 210000000707 wrist Anatomy 0.000 claims abstract description 13
- 239000000758 substrate Substances 0.000 claims description 44
- 239000007787 solid Substances 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 7
- 239000000203 mixture Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- 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
- A61H1/0285—Hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2205/065—Hands
Landscapes
- 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
A kind of lasso trick transmission mechanism with two-freedom, one end of forearm component of the invention is connect with wrist elbow connector, wrist joint oar partially/that spindle nose with first is installed in one end of the inclined moving component of ruler is hinged, the other end is connect with one end of wrist joint flexion and extension component, first encoder mounting rack and the first encoder are set gradually from the inside to the outside on the second installation spindle nose, first encoder mounting rack and the second installation spindle nose are hinged and connected with the first wrist joint, the wrist joint flexion and extension component other end and joint shaft are hinged, one end of palm component is packed on joint shaft, the other end is connect with palmrest component, second encoder is arranged on joint shaft, the left end of first rope and the left end of the second rope are all packed on the first output wheel, right end be fixed on wrist joint oar partially/the inclined moving component of ruler on, the left end of the left end of third rope 3 and the 4th rope It is all packed on the second output wheel, right end is fixed on palm component.The present invention is for old man, disabled person's auxiliary and rehabilitation training.
Description
Technical field
The present invention relates to a kind of lasso trick transmission mechanisms, and in particular to a kind of lasso trick transmission mechanism with two-freedom.
Background technique
Human body wrist joint is a very flexible joint, should be as far as possible in design when the wearable ectoskeleton wrist joint of limb
Mitigate the weight of ectoskeleton wrist joint structure.Currently, wrist joint ectoskeleton is typically all that motor is arranged on the arm of people, from
And guarantee that motor is closely connect with by driving joint, increase the ectoskeleton weight that arm is born, this is one for human arm
A very big burden.Furthermore, it is also necessary to motor installing structure is accordingly being designed by driving juxtra-articular, motor installing structure can contract
The movable range of small wrist joint ectoskeleton.
Summary of the invention
The present invention is to solve the problems, such as that existing ectoskeleton wrist joint overall weight is more little than heavier and range of motion,
And provide a kind of lasso trick transmission mechanism with two-freedom.
A kind of lasso trick transmission mechanism with two-freedom of the invention, composition include the first rope, the second rope, the
Three ropes, the 4th rope, backboard, flute profile substrate, the first pre-tightening apparatus, the second pre-tightening apparatus, third pre-tightening apparatus, the 4th pre-tighten
Device, the first rope set, the second rope set, third rope set, the 4th rope set, the first output wheel, the second output wheel, the first electricity
Machine, the second motor, joint shaft, wrist elbow connector, forearm component, wrist joint oar partially/the inclined moving component of ruler, wrist joint flexion and extension
Component, palm component, palmrest component, the first encoder, the first encoder mounting rack, second encoder, first bearing, the second axis
It holds, 3rd bearing, one end of forearm component is connect with wrist elbow connector, and the other end of forearm component is equipped with the first installation spindle nose,
Wrist joint oar partially/one end of the inclined moving component of ruler and the first installation spindle nose it is hinged by first bearing, wrist joint oar is inclined/ruler transports partially
Dynamic component is equipped with the second installation spindle nose, and the first encoder mounting rack and the first encoder are successively set on the second peace from the inside to the outside
Fill spindle nose on, the first encoder mounting rack with second installation spindle nose pass through second bearing it is hinged, the first encoder mounting rack it is another
One end and forearm component are connected, wrist joint oar partially/other end of the inclined moving component of ruler and one end of wrist joint flexion and extension component
Connection, the wrist joint flexion and extension component other end is hinged by 3rd bearing with joint shaft, and one end of palm component is packed in pass
On nodal axisn, the other end of palm component is connect with palmrest component, and second encoder is arranged on joint shaft, the second installation spindle nose
The axis of axis and joint shaft is vertically arranged, and flute profile substrate is arranged in front of backboard, the first rope, the second rope, third rope
Rope and the 4th rope are from top to bottom successively set in the slot of flute profile substrate, and the left end of the first rope passes through the left end of flute profile substrate
It is packed on the first output wheel, the right end of the first rope is fixed on wrist joint after passing through the right end of flute profile substrate, the first rope set
Oar partially/the inclined moving component of ruler on, the left end that the left end of the second rope passes through flute profile substrate is packed on the first output wheel, the second rope
The right end of rope pass through flute profile substrate right end, the second rope set after be fixed on wrist joint oar partially/the inclined moving component of ruler on, third rope
The left end that the left end of rope passes through flute profile substrate is packed on the second output wheel, and the right end of third rope passes through the right side of flute profile substrate
It is fixed on palm component after end, third rope set, it is defeated that the left end that the left end of the 4th rope passes through flute profile substrate is packed in second
Out on wheel, the right end of the 4th rope is fixed on palm component after passing through the right end of flute profile substrate, the 4th rope set, the first output
Wheel is packed on the output shaft of first motor, and the second output wheel is packed on the output shaft of the second motor, and the first pre-tightening apparatus is solid
On the first rope, the second pre-tightening apparatus is packed on the second rope, and third pre-tightening apparatus is packed on third rope, and the 4th
Pre-tightening apparatus is packed on the 4th rope.
Technical solution of the present invention has the advantages that
One, wrist joint of the invention is there are two freedom degree, respectively wrist joint bend and stretch freedom degree and wrist joint oar partially/ruler is inclined
Freedom degree.The present invention utilizes rope structure, and motor power is transmitted to wrist joint, drives the movement of wrist joint both direction.For
Be not in backlash phenomenon in guarantee transmission process, also disposed lasso trick pre-tightening apparatus on rope on backboard, ensure that
Rope is always maintained at tension in transmission process, so that stable drive is reliable.Corresponding two ropes of each freedom degree, are protected
Demonstrate,prove stretch/shrink movement.The present invention facilitate increase wrist joint ectoskeleton motion range so that auxiliary human body wrist joints sporting can
It is bigger up to space, more meet the actual motion range of people's wrist joint.
Two, since rope drive inevitably has friction, so that motor output torque be lost.Motor output torque
There are a hysteresis phenomenons with carpal torque is transmitted to, so, two encoders (the i.e. first coding is installed in wrist joint
Device 26 and second encoder 28), two encoders are for measuring actual joint rotation angle, the feedback letter as control system
Number, guarantee that whole system is run according to the track of anticipation.
Three, the first pre-tightening apparatus 7 of the invention, the second pre-tightening apparatus 8, third pre-tightening apparatus 9 and the 4th pre-tightening apparatus 10
It can guarantee that lasso trick transmission does not occur backlash phenomenon,
Four, structure of the invention is compact, can be widely used for old man, disabled person's life auxiliary and rehabilitation training.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is that the master of the first pre-tightening apparatus 7, the second pre-tightening apparatus 8, third pre-tightening apparatus 9 and the 4th pre-tightening apparatus 10 cuts open
View；
Fig. 3 is that overall structure stereogram of the invention (removes joint shaft 19, wrist elbow connector 20, forearm component 21, wrist to close
Save oar partially/the inclined moving component 22 of ruler, wrist joint flexion and extension component 23, palm component 24, palmrest component 25, the first encoder
26, the first encoder mounting rack 27, second encoder 28,29 second bearing 30 of first bearing and 3rd bearing 31).
Fig. 4 be joint shaft 19, wrist elbow connector 20, forearm component 21, wrist joint oar partially/the inclined moving component 22 of ruler, wrist close
Flexion and extension component 23, palm component 24, palmrest component 25, the first encoder 26, the first encoder mounting rack 27, second is saved to compile
The connection relationship perspective view of code device 28, first bearing 29 second bearing 30 and 3rd bearing 31；
Fig. 5 be wrist elbow connector 20, forearm component 21, wrist joint oar partially/the inclined moving component 22 of ruler, wrist joint flexion and extension
The connection relationship solid of component 23, palm component 24, palmrest component 25, the first encoder 26 and the first encoder mounting rack 27
Figure；
Fig. 6 is the A-A cross-sectional view of Fig. 5；
Fig. 7 is the structural perspective of flute profile substrate 6.
Specific embodiment
Specific embodiment 1: illustrate present embodiment in conjunction with FIG. 1 to FIG. 7, present embodiment includes the first rope 1, the
Two ropes 2, third rope 3, the 4th rope 4, backboard 5, flute profile substrate 6, the first pre-tightening apparatus 7, the second pre-tightening apparatus 8, third
Pre-tightening apparatus 9, the 4th pre-tightening apparatus 10, the first rope cover the 11, second rope set 12, third rope covers the 13, the 4th rope set
14, the first output wheel 15, the second output wheel 16, first motor 17, the second motor 18, joint shaft 19, wrist elbow connector 20, forearm
Component 21, wrist joint oar partially/the inclined moving component 22 of ruler, wrist joint flexion and extension component 23, palm component 24, palmrest component 25,
First encoder 26, the first encoder mounting rack 27, second encoder 28, first bearing 29, second bearing 30,3rd bearing
31, one end of forearm component 21 is connect by connecting element with wrist elbow connector 20, and the other end of forearm component 21 is equipped with first
Spindle nose 21-1 is installed, wrist joint oar partially/one end of the inclined moving component 22 of ruler with the first installation spindle nose 21-1 passes through first bearing 29
Hingedly, wrist joint oar partially/the inclined moving component 22 of ruler is equipped with the second installation spindle nose 22-1, the first encoder mounting rack 27 and the
One encoder 26 is successively set on from the inside to the outside on the second installation spindle nose 22-1, the first encoder mounting rack 27 and the second installation axle
Head 22-1 is hinged by second bearing 30, and the other end and forearm component 21 of the first encoder mounting rack 27 are connected, wrist joint oar
The other end of the inclined moving component 22 of partially/ruler is connect by connecting element with one end of wrist joint flexion and extension component 23, wrist joint
23 other end of flexion and extension component and joint shaft 19 are hinged by 3rd bearing 31, and one end of palm component 24 is packed in joint shaft
On 19, the other end of palm component 24 is connect by connecting element with palmrest component 25, and second encoder 28 is arranged in joint shaft
On 19, the axis of the axis and joint shaft 19 of the second installation spindle nose 22-1 is vertically arranged, before backboard 5 is arranged in flute profile substrate 6
Face, flute profile substrate 6 and backboard 5 are affixed, and the first rope 1, the second rope 2, third rope 3 and the 4th rope 4 are from top to bottom
It is successively set in the slot of flute profile substrate 6, the left end that the left end of the first rope 1 passes through flute profile substrate 6 is packed in the first output wheel
On 15, the right end of the first rope 1 pass through be fixed on after the right end of flute profile substrate 6, the first rope set 11 wrist joint oar partially/ruler is inclined
On moving component 22, the left end that the left end of the second rope 2 passes through flute profile substrate 6 is packed on the first output wheel 15, the second rope 2
Right end pass through be fixed on after the right end of flute profile substrate 6, the second rope set 12 wrist joint oar partially/the inclined moving component 22 of ruler on, the
The left end that the left end of three ropes 3 passes through flute profile substrate 6 is packed on the second output wheel 16, and the right end of third rope 3 passes through flute profile
Right end, the third rope of substrate 6 are fixed on palm component 24 after covering 13, and the left end of the 4th rope 4 passes through a left side for flute profile substrate 6
End is packed on the second output wheel 16, and the right end of the 4th rope 4 is fixed after passing through the right end of flute profile substrate 6, the 4th rope set 14
On palm component 24, the first output wheel 15 is packed on the output shaft of first motor 17, and the second output wheel 16 is packed in second
On the output shaft of motor 18, the first pre-tightening apparatus 7 is packed on the first rope 1, and the second pre-tightening apparatus 8 is packed in the second rope 2
On, third pre-tightening apparatus 9 is packed on third rope 3, and the 4th pre-tightening apparatus 10 is packed on the 4th rope 4.
The axis of present embodiment is specific embodiment 2: embodiment is described with reference to Fig.6, the second installation spindle nose 22-1
Line is overlapped with the axis of the first installation spindle nose 21-1.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: embodiment is described with reference to Fig. 2, present embodiment is that the first pre-tightening apparatus 7, second is pre-
Tight device 8, third pre-tightening apparatus 9 and the 4th pre-tightening apparatus 10 are by U-shaped seat 7-1, left U-shaped connector 7-2, right U shape connector
7-3, left pretension bolt 7-4, right pretension bolt 7-5, left screw 7-6, right screw 7-7, left nut 7-8 and right nut 7-9 are constituted,
The U-shaped opening of U-shaped seat 7-1 is arranged forward, and the left side of U-shaped seat 7-1 is equipped with left-hand thread hole 7-1-1, the right side of U-shaped seat 7-1
Side is equipped with the left and right that right-hand thread hole 7-1-2, left U-shaped connector 7-2 and right U-shaped connector 7-3 are symmetricly set on U-shaped seat 7-1
End, and the U-shaped opening of left U-shaped connector 7-2 and right U-shaped connector 7-3 are respectively facing outside, left U-shaped connector 7-2 is equipped with
It is equipped with and right-hand thread hole 7-1- with the left pretension bolt through hole 7-2-1 of left-hand thread hole 7-1-1 face, right U-shaped connector 7-3
The right pretension bolt through hole 7-3-1 of 2 faces, left pretension bolt 7-4 pass through left pretension bolt through hole 7-2-1 and left-hand thread
Hole 7-1-1 is threadedly coupled, and right pretension bolt 7-5 passes through right pretension bolt through hole 7-3-1 and right-hand thread hole 7-1-2 screw thread connects
It connects, left screw 7-6 is threadedly coupled after vertically passing through two U-shaped sides on left U-shaped connector 7-2 with left nut 7-8, right screw 7-
7 are vertically threadedly coupled behind two U-shaped sides on right U-shaped connector 7-3 with right nut 7-9.
Left screw 7-6 and right screw 7-7 is used to connect the rope at both ends, and rope can knot around the screw.Left nut
7-8 and right nut 7-9 is used for fixing screws, prevents toner screw.Left nut 7-8 and right nut 7-9 is also used to adjust both ends rope
The relative displacement of rope, thus play the role of preload, due to the pulling force of rope, so, left U-shaped connector 7-2 is connected with right U shape
Part 7-3 is close to left pretension bolt 7-4 and right pretension bolt 7-5, the connection of left pretension bolt 7-4 and left U-shaped connector 7-2
Hole is through-hole, and the connecting hole of right pretension bolt 7-5 and right U-shaped connector 7-3 are through-hole, so, in adjustment process, both ends
Rope will not be rotated with the rotation of left pretension bolt 7-4 and right pretension bolt 7-5.
Other compositions and connection relationship are the same as one or two specific embodiments.
Specific embodiment 4: embodiment is described with reference to Fig.7, present embodiment is that flute profile substrate 6 includes substrate 6-
1, two gusset 6-2, two connecting plate 6-3 and several casing 6-4, two gusset 6-2 are arranged in front of substrate 6-1, and two
Connecting plate 6-3 is arranged in behind substrate 6-1, and the vertical centerline N-N of two gusset 6-2 opposing substrate 6-1 is symmetrical arranged, and
Inwardly, the side of each gusset 6-2 is from top to bottom successively arranged several bridle port 6-2-1, each bridle port to the interior angle of gusset 6-2
The corresponding casing 6-4 in the outside of 6-2-1, and connect on the outside of casing 6-4 and gusset 6-2.Casing 6-4 is passed through for rope.Its
It is formed and connection relationship is the same as the specific implementation mode 3.
Specific embodiment 4: embodiment is described with reference to Fig. 2, present embodiment is that lasso trick transmission mechanism further includes
One motor mounting rack 32 and the second motor mounting rack 33, first motor 17 are packed on first motor mounting rack 32, first motor
Mounting rack 32 is packed on backboard 5, and the second motor 18 is packed on the second motor mounting rack 33, and the second motor mounting rack 33 is fixedly mounted with
On backboard 5.Other compositions and connection relationship are identical as specific embodiment four.
The working principle of the invention:
First motor 17 drive carpal oar partially/ruler moves partially: by the first rope 1 and the second rope 2 realize oar partially/
Ruler moves partially, the first encoder 26 measure practical oar partially/the inclined movement angle of ruler.First motor 17 drives 15 turns of the first output wheel
It is dynamic, by the first rope 1 and the second rope 2 drive wrist joint oar partially/the inclined moving component 22 of ruler rotates, utilize the first pre-tightening apparatus
7, the second pre-tightening apparatus 8 pre-tightens the first rope 1 and the second rope 2, wrist joint oar partially/the inclined moving component 22 of ruler drives wrist
Joint flexion and extension component 23, palm component 24, palmrest component 25 around wrist joint oar partially/inclined 22 rotation axis of moving component of ruler
Rotation, palmrest component 25 connect with human body palm, thus realize wrist joint drive human body palm around wrist joint realization oar it is inclined/ruler
Movement partially.
Second motor 18 drives carpal flexion and extension: flexion and extension is realized by third rope 3 and the 4th rope 4,
Second encoder 28 measures practical flexion and extension.Second motor 18 drives the rotation of the second output wheel 16, passes through third rope 3, the
Four ropes 4 drive palm component 24 to rotate around rotation axis, using third pre-tightening apparatus 9, the 4th pre-tightening apparatus 10 to third rope
Rope 3, the 4th rope 4 are pre-tightened, and palm component drives palmrest component 25 to rotate around the rotation axis of palm component, palmrest component
25 connect with human body palm, so that wrist joint drives human body palm to realize flexion and extension around wrist joint.
Claims (5)
1. a kind of lasso trick transmission mechanism with two-freedom, it is characterised in that: the lasso trick transmission mechanism includes the first rope
(1), the second rope (2), third rope (3), the 4th rope (4), backboard (5), flute profile substrate (6), the first pre-tightening apparatus (7),
Second pre-tightening apparatus (8), third pre-tightening apparatus (9), the 4th pre-tightening apparatus (10), the first rope set (11), the second rope set
(12), third rope set (13), the 4th rope set (14), the first output wheel (15), the second output wheel (16), first motor
(17), the second motor (18), joint shaft (19), wrist elbow connector (20), forearm component (21), wrist joint oar partially/ruler moves partially
Component (22), wrist joint flexion and extension component (23), palm component (24), palmrest component (25), the first encoder (26), first
Encoder mounting rack (27), second encoder (28), first bearing (29), second bearing (30), 3rd bearing (31), forethiga
One end of part (21) is connect with wrist elbow connector (20), and the other end of forearm component (21) is equipped with the first installation spindle nose (21-1),
Wrist joint oar partially/one end of the inclined moving component of ruler (22) and the first installation spindle nose (21-1) by first bearing (29) hingedly, wrist
Joint oar partially/the inclined moving component of ruler (22) be equipped with second installation spindle nose (22-1), the first encoder mounting rack (27) and first
Encoder (26) is successively set on from the inside to the outside on the second installation spindle nose (22-1), the first encoder mounting rack (27) and the second peace
It fills spindle nose (22-1) and passes through second bearing (30) hingedly, the other end of the first encoder mounting rack (27) and forearm component (21) are solid
Even, wrist joint oar partially/other end of the inclined moving component of ruler (22) connect with one end of wrist joint flexion and extension component (23), wrist pass
It saves flexion and extension component (23) other end and joint shaft (19) passes through 3rd bearing (31) hingedly, one end of palm component (24) is solid
On joint shaft (19), the other end of palm component (24) is connect with palmrest component (25), and second encoder (28) setting exists
On joint shaft (19), the axis of the axis and joint shaft (19) of the second installation spindle nose (22-1) is vertically arranged, and flute profile substrate (6) is set
Set before backboard (5), the first rope (1), the second rope (2), third rope (3) and the 4th rope (4) by up to
Under be successively set in the slot of flute profile substrate (6), the left end that the left end of the first rope (1) passes through flute profile substrate (6) is packed in the
On one output wheel (15), the right end of the first rope (1) is fixed on after passing through the right end of flute profile substrate (6), the first rope set (11)
Wrist joint oar partially/the inclined moving component of ruler (22) on, the left end that the left end of the second rope (2) passes through flute profile substrate (6) is packed in the
On one output wheel (15), the right end of the second rope (2) is fixed on after passing through the right end of flute profile substrate (6), the second rope set (12)
Wrist joint oar partially/the inclined moving component of ruler (22) on, the left end that the left end of third rope (3) passes through flute profile substrate (6) is packed in the
On two output wheels (16), the right end of third rope (3) is fixed on after passing through the right end of flute profile substrate (6), third rope set (13)
On palm component (24), the left end that the left end of the 4th rope (4) passes through flute profile substrate (6) is packed on the second output wheel (16),
The right end of 4th rope (4) is fixed on palm component (24) after passing through the right end of flute profile substrate (6), the 4th rope set (14),
First output wheel (15) is packed on the output shaft of first motor (17), and the second output wheel (16) is packed in the second motor (18)
On output shaft, the first pre-tightening apparatus (7) is packed on the first rope (1), and the second pre-tightening apparatus (8) is packed in the second rope (2)
On, third pre-tightening apparatus (9) is packed on third rope (3), and the 4th pre-tightening apparatus (10) is packed on the 4th rope (4).
2. a kind of lasso trick transmission mechanism with two-freedom according to claim 1, it is characterised in that: second peace
The axis for filling spindle nose (22-1) is overlapped with the axis of the first installation spindle nose (21-1).
3. a kind of lasso trick transmission mechanism with two-freedom according to claim 1 or 2, it is characterised in that: first is pre-
Tight device (7), the second pre-tightening apparatus (8), third pre-tightening apparatus (9) and the 4th pre-tightening apparatus (10) are by U-shaped seat (7-1), left U
Shape connector (7-2), right U-shaped connector (7-3), left pretension bolt (7-4), right pretension bolt (7-5), left screw (7-6), the right side
Screw (7-7), left nut (7-8) and right nut (7-9) are constituted,
The U-shaped opening of U-shaped seat (7-1) is arranged forward, and the left side of U-shaped seat (7-1) is equipped with left-hand thread hole (7-1-1), U-shaped seat
The right edge of (7-1) is equipped with right-hand thread hole (7-1-2), and left U-shaped connector (7-2) and right U-shaped connector (7-3) are symmetrical arranged
At the left and right end of U-shaped seat (7-1), and the U-shaped opening of left U-shaped connector (7-2) and right U-shaped connector (7-3) is respectively facing outside
Side, left U-shaped connector (7-2) are equipped with the left pretension bolt through hole (7-2-1) with left-hand thread hole (7-1-1) face, right U-shaped
Connector (7-3) is equipped with the right pretension bolt through hole (7-3-1) with right-hand thread hole (7-1-2) face, left pretension bolt (7-
4) it passes through left pretension bolt through hole (7-2-1) to be threadedly coupled with left-hand thread hole (7-1-1), right pretension bolt (7-5) passes through the right side
Pretension bolt through hole (7-3-1) is threadedly coupled with right-hand thread hole (7-1-2), and left screw (7-6) vertically passes through left U-shaped connector
It is threadedly coupled behind two U-shaped sides on (7-2) with left nut (7-8), right screw (7-7) vertically passes through right U-shaped connector (7-3)
On two U-shaped sides after be threadedly coupled with right nut (7-9).
4. a kind of lasso trick transmission mechanism with two-freedom according to claim 3, it is characterised in that: the flute profile base
Plate (6) includes substrate (6-1), two gussets (6-2), two connecting plates (6-3) and several casings (6-4), two gussets (6-2)
It is arranged before substrate (6-1), two connecting plates (6-3) are arranged behind substrate (6-1), and two gussets (6-2) are opposite
The vertical centerline (N-N) of substrate (6-1) is symmetrical arranged, and the interior angle of gusset (6-2) is inwardly, the side of each gusset (6-2)
It is from top to bottom successively arranged several bridle ports (6-2-1), the corresponding casing (6-4) in the outside of each bridle port (6-2-1), and
It is connect on the outside of casing (6-4) and gusset (6-2).
5. a kind of lasso trick transmission mechanism with two-freedom according to claim 4, it is characterised in that: the lasso trick passes
Motivation structure further includes first motor mounting rack (32) and the second motor mounting rack (33), and first motor (17) is packed in first motor
On mounting rack (32), first motor mounting rack (32) is packed on backboard (5), and the second motor (18) is packed in the installation of the second motor
On frame (33), the second motor mounting rack (33) is packed on backboard (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611109147.XA CN106420268B (en) | 2016-12-06 | 2016-12-06 | A kind of lasso trick transmission mechanism with two-freedom |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611109147.XA CN106420268B (en) | 2016-12-06 | 2016-12-06 | A kind of lasso trick transmission mechanism with two-freedom |
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| CN106420268A CN106420268A (en) | 2017-02-22 |
| CN106420268B true CN106420268B (en) | 2018-12-11 |
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| CN201611109147.XA Active CN106420268B (en) | 2016-12-06 | 2016-12-06 | A kind of lasso trick transmission mechanism with two-freedom |
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| CN109093596B (en) * | 2018-07-27 | 2021-02-05 | 北京机械设备研究所 | Dual-mode passive ankle power assisting exoskeleton |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7364555B1 (en) * | 2004-12-03 | 2008-04-29 | John Davidson | Self-assisted shoulder passive range of motion apparatus |
| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN104873360A (en) * | 2015-04-17 | 2015-09-02 | 东南大学 | Lasso drive based upper limb rehabilitation exoskeleton robot |
| CN105662782A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8317730B2 (en) * | 2007-02-16 | 2012-11-27 | Rehabtek Llc | Robotic rehabilitation apparatus and method |
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7364555B1 (en) * | 2004-12-03 | 2008-04-29 | John Davidson | Self-assisted shoulder passive range of motion apparatus |
| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN104873360A (en) * | 2015-04-17 | 2015-09-02 | 东南大学 | Lasso drive based upper limb rehabilitation exoskeleton robot |
| CN105662782A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
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