CN106667722A - Man-machine spatial gravity balance exoskeleton - Google Patents
Man-machine spatial gravity balance exoskeleton Download PDFInfo
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- CN106667722A CN106667722A CN201610925253.9A CN201610925253A CN106667722A CN 106667722 A CN106667722 A CN 106667722A CN 201610925253 A CN201610925253 A CN 201610925253A CN 106667722 A CN106667722 A CN 106667722A
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- 230000005484 gravity Effects 0.000 title claims abstract description 18
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 15
- 239000010959 steel Substances 0.000 claims abstract description 15
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 12
- 229910052802 copper Inorganic materials 0.000 claims description 12
- 239000010949 copper Substances 0.000 claims description 12
- 230000035876 healing Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 230000006835 compression Effects 0.000 abstract 1
- 238000007906 compression Methods 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 230000008859 change Effects 0.000 description 13
- 238000005381 potential energy Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000004804 winding Methods 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
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- 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)
Abstract
The invention relates to a man-machine spatial gravity balance upper limb rehabilitation exoskeleton. The exoskeleton comprises a first joint, a second joint, a third joint, a fourth joint, a first-stage spring device, a first-stage steering device, a second-stage spring device and a second-stage steering device; the first-stage spring device is installed on an upper plate of the second joint, the first-stage steering device is installed on a lower plate of the first joint, and a first-stage steel wire rope is fixed to a second-stage shaft through the first-stage spring device and the first-stage steering device. The second-stage spring device and the second-stage steering device are installed on a lower plate of the fourth joint, and a second-stage steel wire rope is fixed to a fourth-stage shaft through the second-stage spring device and the second-stage steering device. By arranging a first-stage pulley component, large overall motion of the upper limbs can be met through small motion displacement of a compression spring. By adjusting the length of the second-stage shaft and the positions of the second-stage shaft, the second-stage steering device, the fourth-stage shaft and a fourth-stage steering device on the exoskeleton, spatial gravity balance on the exoskeleton and the upper limbs which have different weights and lengths is achieved.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, and in particular to a kind of man-machine space gravity balances ectoskeleton.
Background technology
Medical ectoskeleton is a kind of roboticses of complicated man-computer cooperation, comprising machinery, control and artificial intelligence etc.
Technology, realizes that the functions such as the transmission of power and detection realize human-computer interaction function with this by the physical contact between man-machine,
Realize more preferable rehabilitation.
Existing medical exoskeleton robot is substantially realizes the health to patient using motor or hydraulically powered mode
There is the shortcomings of energy expenditure is big, safety coefficient is relatively low in multiple treatment, this kind of mode.Existing some gravitational equilibrium ectoskeletons
The gravitational equilibrium of human upper limb and both ectoskeletons can not typically be realized or regard as ectoskeleton and human upper limb integrally to carry out
Process, model there is error during setting up, and cause balance quality to decline, and increased using parallelogram principle
The complexity of mechanism.Based on this, the present invention devises a kind of human upper limb with ectoskeleton while reaching the ectoskeleton of spatial balance
Healing robot.
The content of the invention
The invention aims to solving existing gravitational equilibrium ectoskeleton can not realize both human upper limb and ectoskeleton
The problem of space gravity balance is reached simultaneously and is designed.And then a kind of gravitational equilibrium ectoskeleton to a greater extent is provided.
The embodiment provides a kind of man-machine space gravity balance upper limb healing ectoskeleton, including the first joint,
Second joint, the 3rd joint, the 4th joint, one-level spring assembly, one-level transfer, two-level spring device, two grades turn to dress
Put, primary axis, two grades of axles, three-level axle, level Four axle, forearm retainer rings,
Further first joint includes the first joint upper plate, the first joint lower plate, and the first joint lower plate elastic conjunction has one
Level bearing, the first joint upper plate is connected by one-level fixing axle with the first joint lower plate, is fixed by one-level axle end baffle plate, first
Joint upper plate is connected with pedestal.
Further second joint includes second joint upper plate, second joint lower plate, and second joint lower plate elastic conjunction has two
Level bearing, second joint upper plate is connected by two grades of fixing axles with second joint lower plate, is fixed by two grades of axle end baffle plates, second
Joint upper plate is connected with the first joint lower plate.
Further 3rd joint includes upper slip ring, retainer ring, lower slip ring, ball fixed mount, ball, upper slip ring and lower slip ring
Ball fixed mount is fixed with groove, ball fixed mount includes ball, and upper slip ring is fixed to form arcuate groove with lower slip ring, and section is
Rectangle, retainer ring relative in arcuate groove can be slided, and retainer ring is connected with second joint lower plate, on lower slip ring and the 4th joint
Plate connects.
Further 4th joint includes the 4th joint upper plate, the 4th joint lower plate, and the 4th joint lower plate elastic conjunction has four
Level bearing, the 4th joint upper plate is connected by level Four fixing axle with the 4th joint lower plate, is fixed by level Four axle end baffle plate.
Further second joint upper plate is fixed with one-level spring assembly and primary axis, and one-level transfer is fixed on the first pass
In section lower plate, the 4th joint lower plate is respectively fixed with two-level spring device, three-level axle and two grades of transfers and two grades of axles, level Four
Axle is fixed on the 4th joint upper plate.
Further forearm retainer ring is fixed on the end of the 4th joint lower plate.
Further one-level transfer include sister block support, one-level angle pulley, two grades of angle pulleies, one-level pin, one
Level pressing plate, two grades of pressing plates, one-level angle pulley is fixed on sister block support by one-level pin and one-level pressing plate, and two grades turn to cunning
Wheel is fixed on sister block support by two grades of pressing plates.
Further one-level spring assembly includes primary pulley component, one-level guide rail, one-level slide block, feed rod fixed plate, one-level
Feed rod, one-level spring, feed rod gripper shoe, little bracing frame, big bracing frame, one-level steel wire rope.
Two one-level guide rails are housed on second joint upper plate, one-level slide block is housed on one-level guide rail, be equipped with one-level slide block
Little bracing frame, primary pulley component is supported by two little bracing frames, and feed rod fixed plate is connected to the pulley spindle of primary pulley component
On, one-level spring is mounted on one-level feed rod, and the other end of one-level feed rod passes through feed rod gripper shoe, and feed rod gripper shoe is fixed on another
In the pulley fixing axle of the primary pulley component of side, the side primary pulley component is fixed on second joint by two big bracing frames
On plate, one-level steel wire rope is fixed on second joint upper plate by primary axis, by being wrapped on primary pulley, is turned by one-level
It is fixed on two grades of axles to device, two grades of axles are fixed in the 4th joint lower plate.
Further primary pulley component includes pulley spindle, big copper sheathing, little copper sheathing, primary pulley.
On pulley spindle by big copper sheathing two each with little copper sheathing fix two primary pulleys pulley spindle two ends are each.
Further two grades of transfers include that three-level angle pulley pin, three-level angle pulley, level Four angle pulley, level Four turn
To pulley pin, Pyatyi angle pulley, Pyatyi angle pulley pin.
Lead installed in two grades in the outside that three-level angle pulley pin is arranged on the 4th joint lower plate with level Four angle pulley pin
Rail side, both fix respectively three-level angle pulley, level Four angle pulley, and Pyatyi angle pulley pin is arranged on the 4th joint lower plate
Opposite side, and fixed Pyatyi angle pulley.
Further two-level spring device include two grades of guide rails, two grades of slide blocks, secondary light thick stick, feed rod support base, secondary pulley,
Two-level spring, feed rod fixed mount.
Two grades of guide rails are fixed in the 4th joint lower plate, there is two grades of slide blocks on two grades of guide rails, and feed rod support is fixed with thereon
Seat, feed rod support base is fixed with secondary pulley, and feed rod support base supports secondary light thick stick simultaneously, and the other end of secondary light thick stick is by feed rod
Fixed mount is connected in the 4th joint lower plate.Two grades of steel wire ropes are fixed in the 4th joint lower plate by three-level axle, by winding
In secondary pulley, it is fixed on the level Four axle of the 4th joint upper plate by two grades of transfers.
The position and its length of two grades of axles in the 4th joint lower plate is with ectoskeletal overall barycenter distribution, human upper limb
Barycenter distribution and upper arm and forearm length change and change.Pyatyi angle pulley pin is fixed on the 4th joint lower plate itself
On axis, and the distance of its joint rotary shaft of distance the 4th is with the barycenter point of ectoskeletal overall barycenter distribution, human upper limb
The length change of cloth and upper arm and forearm and change.Level Four axle is fixed on the 4th joint upper plate own axes, and its distance
The distance of the 4th joint rotary shaft is with ectoskeletal overall barycenter distribution, the barycenter distribution of human upper limb and upper arm and forearm
Length change and change.The above change is changed by the change in location of pin, is fixed for a finished product
's.
Compared with prior art the invention has the beneficial effects as follows：1st, the space of both human upper limb and ectoskeleton can be realized
Gravitational equilibrium.2nd, determine that the installation site and stiffness factor of spring avoid using parallel four using kinesiology and potential energy conservation principle
Bian Xing mechanisms, and then simplify ESD.3rd, spring assembly is realized at the beginning of zero using the compound mode of stage clip and running block
Long spring, has the advantage for taking small volume compared with traditional single extension spring.4th, balanced using the change of the elastic potential energy of spring
Fall the change of the gravitional force of both upper limb and ectoskeleton, using completely passive method gravitional force is balanced, eliminate upper limb
Gravitional force is overcome to do work in motor process.
Description of the drawings
Fig. 1 balances the ectoskeletal population structure schematic three dimensional views of upper limb healing for a kind of man-machine space gravity；
Fig. 2 balances the ectoskeletal population structure axis side view of upper limb healing for a kind of man-machine space gravity；
Fig. 3 is the connection diagram of the first joint and one-level transfer；
Fig. 4 is second joint upper plate and one-level spring assembly and primary axis connection diagram；
Fig. 5 is the 3rd joint connection diagram；
Fig. 6 is the 4th joint lower plate and two-level spring device and two grades of axles and three-level axle connection diagram；
Fig. 7 is primary pulley component explosive view；
Fig. 8 is second joint connection diagram；
Fig. 9 is the 4th joint connection diagram；
Figure 10 is human upper limb and ectoskeleton centroid position Distribution Principle figure；
Figure 11 is spring attachment positions Distribution Principle figure；
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1 to Fig. 9, present embodiment includes：Pedestal 1, joint angle
Plate 2, one-level fixing axle 3-1, the first joint upper plate 3-2, the first joint lower plate 3-3, one-level bearing 3-4, one-level axle end baffle plate 3-
5th, sister block support 8-1, one-level angle pulley 8-2, one-level pin 8-3, one-level pressing plate 8-4, two grades of angle pulley 8-5, two grades of pressures
Plate 8-6, pedestal 1 is connected by connection gusset 2 with the first joint upper plate 3-2, and the first joint upper plate 3-2 passes through one-level fixing axle 3-
1 is connected with the first joint lower plate 3-3, is fixed using one-level axle end baffle plate 3-5, and elastic conjunction has one in the first joint lower plate 3-3
Level bearing 3-4, the first joint lower plate 3-3 is connected with sister block support 8-1, is fixed by one-level pin 8-3 on sister block support 8-1
One-level angle pulley 8-2 is simultaneously locked by one-level pressing plate 8-4, and two grades of angle pulley 8-5 are fixed by two grades of pressing plate 8-6.
Specific embodiment two：Present embodiment is illustrated with reference to Fig. 1 to Fig. 9, present embodiment includes：Connection gusset 2, the
Two joint upper plate 4-2, primary pulley component 7-1, big copper sheathing 7-1-1, primary pulley 7-1-2, little copper sheathing 7-1-3, pulley spindle 7-
1-4, one-level guide rail 7-2, one-level slide block 7-3, feed rod fixed plate 7-4, one-level feed rod 7-5, one-level spring 7-6, feed rod gripper shoe
7-7, little bracing frame 7-8, big bracing frame 7-9, one-level steel wire rope 7-10, primary axis 11, second joint upper plate 4-2 passes through joint angle
Plate 2 is connected with the first joint lower plate 3-3, and one-level guide rail 7-2 two, the guide rail 7-2 mono- are fixed with second joint upper plate 4-2
End is provided with one-level slide block 7-3, and little bracing frame 7-8, two little bracing frame 7-8 have been installed and fixed on the one-level slide block 7-3
Feed rod is fixed with the pulley spindle 7-1-4 for supporting and fixing on primary pulley component 7-1, the primary pulley component 7-1 to fix
Plate 7-4, is fixed with two one-level feed rod 7-5 in feed rod fixed plate 7-4, the one-level feed rod 7-5 is passed through and is provided with through hole
Feed rod gripper shoe 7-7, feed rod gripper shoe 7-7 is fixed on the pulley spindle 7-1-4 on the primary pulley component 7-1 of the other end
On, the pulley spindle 7-1-4 at the end is supported and fixed by two big bracing frame 7-9, and one-level spring 7-6 is arranged on one-level feed rod 7-5
On.Primary pulley component 7-1 left ends fix two primary pulley 7-1-2, one-level by big copper sheathing 7-1-1 and little copper sheathing 7-1-3
Pulley assembly 7-1 right-hand members fix two primary pulley 7-1-2, primary pulley 7-1- by big copper sheathing 7-1-1 and little copper sheathing 7-1-3
One-level steel wire rope 7-10 is wrapped on 2, one end of one-level steel wire rope 7-10 is fixed by primary axis 11, one-level steel wire rope 7-10's
The other end is fixed in the 4th joint lower plate 6-3 after being turned by one-level angle pulley 8-2 and two grades of angle pulley 8-5
On two grades of axles 12.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 1 to Fig. 9, present embodiment includes：Two grades of fixing axles 4-
1st, second joint upper plate 4-2, secondary bearing 4-3, second joint lower plate 4-4, two grades of axle end baffle plate 4-5, upper slip ring 5-1, balls
Fixed mount 5-2, ball 5-3, retainer ring 5-4, lower slip ring 5-5, level Four axle end baffle plate 6-1, the 4th joint upper plate 6-2, the 4th are closed
Section lower plate 6-3, level Four bearing 6-4, level Four fixing axle 6-5, level Four axle 14, second joint upper plate 4-2 passes through two grades of fixing axles 4-1
It is connected with second joint lower plate 4-4, is fixed by two grades of axle end baffle plate 4-5, elastic conjunction there are two grades in second joint lower plate 4-4
Bearing 4-3, second joint lower plate 4-4 is fixedly connected with retainer ring 5-4, and retainer ring 5-4 is in upper slip ring 5-1 and lower slip ring 5-5 shapes
Into groove in rotate, upper slip ring 5-1 is fixedly connected with lower slip ring 5-5, installs in the groove of upper slip ring 5-1 and lower slip ring 5-5
There are ball fixed mount 5-2, ball fixed mount 5-2 to be contained within ball 5-3, lower slip ring 5-5 and the 4th joint upper plate 6-2 to fix and connect
Connect, level Four axle 14 is fixed with the 4th joint upper plate 6-2, the 4th joint upper plate 6-2 and the 4th joint lower plate 6-3 are solid by level Four
Dead axle 6-5 connects, and is fixed by level Four axle end baffle plate 6-1, and elastic conjunction has level Four bearing 6-4 in the 4th joint upper plate.
Specific embodiment four：Present embodiment is illustrated with reference to Fig. 1 to Fig. 9, present embodiment includes：4th joint lower plate
6-3, two grades of guide rail 9-1, two grades of slide block 9-2, feed rod support base 9-3, secondary pulley 9-4, two-level spring 9-5, feed rod fixed mounts
9-6, secondary light thick stick 9-7, two grades of steel wire rope 9-8, three-level angle pulley pin 10-1, three-level angle pulley 10-2, level Four are turned to and slided
Wheel 10-3, level Four angle pulley pin 10-4, Pyatyi angle pulley 10-5, Pyatyi angle pulley pin 10-6, two grades of axles 12, three-level axles
13rd, forearm retainer ring 15,
Two grades of guide rail 9-1 are mounted with 4th joint lower plate 6-3, two grades of slide block 9- are installed on two grades of guide rail 9-1
2, feed rod support base 9-3 is fixed with two grades of slide block 9-2, there is through hole on feed rod support base 9-3, feed rod support base 9-3 is supported by
The other end of secondary light thick stick 9-7, secondary light thick stick 9-7 is fixed by feed rod fixed mount 9-6, and two grades of bullets are provided with secondary light thick stick 9-7
Spring 9-5, is fixed with three-level angle pulley pin 10-1, level Four angle pulley pin 10-4, Pyatyi and turns to cunning in the 4th joint lower plate 6-3
Wheel pin 10-6, two grades of axles 12, three-level axles 13, are fixed with three-level angle pulley 10-2 on three-level angle pulley pin 10-1, level Four turns
Level Four angle pulley 10-3 is fixed with pulley pin 10-4, on Pyatyi angle pulley pin 10-6 Pyatyi angle pulley is fixed with
10-5, two grades of steel wire rope 9-8 one end are fixed on three-level axle 13, by secondary pulley 9-4, three-level angle pulley 10-2, level Four
Angle pulley 10-3, Pyatyi angle pulley 10-5 are fixed on level Four axle 14 after being oriented to, before being fixed with the 4th joint lower plate 6-3
Arm retainer ring 15.
The device equilibrium principle is illustrated with reference to Fig. 7 Fig. 8：
As shown in fig. 7, people is put on after ectoskeleton, each joint coordinate system is set up on the axis of human upper limb barycenter place, false
If human upper limb barycenter is on axis as shown in the figure, it is r that the distance between it is with ectoskeleton barycenter place axis, human body upper arm
Length is d2, barycenter is m away from the initial point distance of coordinate system 22, quality is M2, human body forearm length is l3, centroid distance coordinate system 3 is former
Point is m3, quality is M3, ectoskeleton second joint lower plate and its upper-part centroid distance ectoskeleton second joint are m4, quality is
M4, the joint upper plate of ectoskeleton the 4th and its joint of upper-part centroid distance ectoskeleton the 4th are m5, quality is M5, under the 4th joint
Plate and its upper-part centroid distance end are m6, quality is M6。
The coordinate that each barycenter is located under respective coordinate system is：[0 -m2 0 1]T[0 -m3 01]T, [0 r m4 1]T, [0-
m5 -r 1]T, [- m6 0 -r 1]T
Can row transfer matrix by DH coordinatesHere is omitted, wherein θ1The joint rotation angle of ectoskeleton first is represented,
θ2Represent ectoskeleton second joint corner, θ3Represent the joint rotation angle of ectoskeleton the 3rd, θ4The joint rotation angle of ectoskeleton the 4th is represented, respectively
Individual center-of-mass coordinate is transformed into after 0 coordinate system, and each coordinate is
[(m2-d2) sinθ1 (d2-m2)cosθ1 0 1]T
[-m4 sinθ1 m4 cosθ1 r 1]T
Potential energy of system can be obtained now, x coordinate of each barycenter in base system is only needed to when seeking potential energy, by each gravity
Potential energy merges similar terms, separately shown for V1V2V3, g represents acceleration of gravity
V1=[M2gm2-(M2g+M3g+M5g+M6g)d2-M4gm4+M5gms]sinθ1
V2=[M3g(m3-l3)+M6g(m6-l3)](sθ1sθ3-cθ1cθ2cθ3)
V3=[- r (M5+M6)g]cθ1sθ2
If device of spring stiffness coefficient is K1Installation site coordinate in coordinate system 0 is (K1d K1s K1f)T, in coordinate
Be installation site in 3 be (K3a K3b K3c)T, to seek K1Elongation, should be by K1Installation position in coordinate system 3
Put
Coordinate transform is after change in coordinate system 0,
K3ccθ1sθ2-(K3a+l3)(sθ1sθ3-cθ1cθ2cθ3)-K3b(cθ3sθ1+cθ1cθ2cθ3)-d2sθ1
K3csθ1sθ2+(K3a+l3)(cθ1sθ3+cθ2cθ3sθ1)+K3b(cθ1cθ3-cθ2sθ1sθ3)+d2cθ1
K3ccθ2-(K3a+l3)cθ3sθ2+K3bsθ2sθ3
If coordinate of the spring 2 in coordinate system 2 is [KA KB KC]T, the installation site in coordinate system 3 is [KD KE KF
]T, the elongation to seek spring 2 should be by the installation site coordinate transform in coordinate system 3 to coordinate system 2, and the coordinate after conversion is
The elastic potential energy of spring 2 is sought below, and after abbreviation, all constant terms are omitted in this together
Row gravitational equilibrium condition is obtained
V1+K1K1dd2sθ1=0
V2+K1K1d(K3a+l3)(sθ1sθ3-cθ1cθ2cθ3)=0
V3-K1K1dK3ccθ1sθ2=0
K2KB(l3+KD)-K1(K3s+l3)d2=0
The K that above-mentioned equilibrium condition is obtained1dOne-level angle pulley is determined along the position of the first joints axes, K3a、K3cIt is determined that
The position of two grades of axles and length, KB、KDDetermine the position of level Four axle and Pyatyi angle pulley.
The installation site and stiffness factor of spring so far can be obtained, and system is able to complete equipilibrium, and this device has used dynamic
Assembly pulley realizes zero first long spring with stage clip, therefore, for the stiffness factor of the one-level spring for calculating, k1, its storage
Elastic potential energy is 1/2k1x2, due to having used assembly pulley and two stage clips, if stage clip stiffness factor is kk1One-level spring assembly is deposited
The potential energy of storage is 1/2 (2kk1)(x/8)2, both are equal to obtain actually required device of spring stiffness coefficient to calculate k132 times.
Similar with one-level spring for the calculating of two-level spring, actually used device of spring stiffness coefficient is 4 times for calculating, and is made
Ectoskeleton volume can be obviously reduced with running block and stage clip.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included within the scope of the present invention.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Claims (7)
1. a kind of man-machine space gravity balances upper limb healing ectoskeleton, it is characterised in that including the first joint, second joint, the
Three joints, the 4th joint, one-level spring assembly, one-level transfer, two-level spring device, two grades of transfers, primary axis, two
Level axle, three-level axle, level Four axle, forearm retainer ring,
First joint includes the first joint upper plate, the first joint lower plate, and the interference of one-level bearing is arranged on first joint
In lower plate, first joint upper plate is connected with first joint lower plate by one-level fixing axle, by one-level axle end baffle plate
Fixed, first joint upper plate is connected with pedestal；
The second joint includes second joint upper plate, second joint lower plate, and the second joint lower plate elastic conjunction has two grades
Bearing, the second joint upper plate is connected with the second joint lower plate by two grades of fixing axles, solid by two grades of axle end baffle plates
Fixed, the second joint upper plate is with first joint lower plate by being connected gusset connection；
3rd joint includes upper slip ring, retainer ring, lower slip ring, ball fixed mount, ball, and the ball fixed mount is arranged on
In the upper slip ring and the downslide ring groove, the ball fixed mount includes ball, and the upper slip ring is solid with the lower slip ring
Arcuate groove is shaped as, rectangular cross-section, the retainer ring relative in arcuate groove can be slided, the retainer ring and described second
Joint lower plate connection, the lower slip ring is connected with the 4th joint upper plate；
4th joint includes the 4th joint upper plate, the 4th joint lower plate, and the interference of level Four bearing is arranged on the 4th joint
In lower plate, the 4th joint upper plate is connected with the 4th joint lower plate by level Four fixing axle, by level Four axle end baffle plate
It is fixed；
The one-level spring assembly and primary axis are mounted and fixed on the second joint upper plate, the one-level transfer peace
Fill and be fixed in the lower plate of first joint, the two-level spring device, two grades of transfers, two grades of axles, three-level axles are installed
And be fixed in the 4th joint lower plate, level Four axle is mounted and fixed on the 4th joint upper plate；
The forearm retainer ring is mounted and fixed on the end of the 4th joint lower plate.
2. a kind of man-machine space gravity according to claim 1 balances upper limb healing ectoskeleton, it is characterised in that one-level turns
Include sister block support, one-level angle pulley, two grades of angle pulleies, one-level pin, one-level pressing plate, two grades of pressing plates to device, it is described
Sister block support is mounted and fixed in the lower plate of first joint, the one-level angle pulley by the one-level pin with it is described
One-level pressing plate is mounted and fixed on the sister block support, and two grades of angle pulleies are mounted and fixed on the sister block
On frame.
3. a kind of man-machine space gravity according to claim 1 balances upper limb healing ectoskeleton, it is characterised in that one-level bullet
Spring device includes primary pulley component, one-level guide rail, one-level slide block, feed rod fixed plate, one-level feed rod, one-level spring, feed rod
Fagging, little bracing frame, big bracing frame, one-level steel wire rope, two one-level guide rails assemblings are simultaneously fixed on the second joint
On plate, the one-level slide block is mounted and fixed on the one-level guide rail, and the little bracing frame is mounted and fixed on the one-level
On slide block, on two little bracing frames, the feed rod fixed plate is connected and fixed to slide the primary pulley modular support
On wheel shaft, the one-level spring is arranged on the one-level feed rod, and the other end of the one-level feed rod is supported through the feed rod
Plate, the feed rod gripper shoe is fixed in the pulley fixing axle of the one-level feed rod opposite side, and described pulley fixing axle is by two
Individual big bracing frame is fixed on second joint upper plate, and one-level steel wire rope is fixed on the second joint upper plate by primary axis,
One-level steel wire rope is directed through one-level transfer and is fixed on two grades of axles by primary pulley, and two grades of axles are fixed on the 4th pass
In section lower plate.
4. a kind of man-machine space gravity according to claim 3 balances upper limb healing ectoskeleton, it is characterised in that one-level is slided
Wheel assembly includes pulley spindle, big copper sheathing, little copper sheathing, primary pulley, and the pulley spindle two ends are each to fix two primary pulleys.
5. a kind of man-machine space gravity according to claim 1 balances upper limb healing ectoskeleton, it is characterised in that two grades turn
Include that three-level angle pulley, three-level angle pulley pin, level Four angle pulley, level Four angle pulley pin, Pyatyi are turned to device to slide
Wheel, Pyatyi angle pulley pin, the three-level angle pulley pin is arranged on the 4th joint lower plate with the level Four angle pulley pin
Outside is arranged on two grades of guide rail sides, and both fix respectively the three-level angle pulley, level Four angle pulley, and the Pyatyi turns
The inner side of the 4th joint lower plate is arranged on to pulley pin, the 4th joint lower plate installs and fixes the Pyatyi angle pulley.
6. a kind of man-machine space gravity according to claim 1 balances upper limb healing ectoskeleton, it is characterised in that two grades of bullets
Spring device includes two grades of guide rails, two grades of slide blocks, secondary light thick stick, feed rod support base, secondary pulley, two-level spring, feed rod fixed mounts,
Two grades of guide rails assemblings are simultaneously fixed in the 4th joint lower plate, and two grades of slide blocks are mounted and fixed on two grades of guide rails
On, the feed rod support base is mounted and fixed on two grades of slide blocks, and the secondary pulley is mounted and fixed on the feed rod
On support base, the feed rod support base supports the other end of the secondary light thick stick, the secondary light thick stick to be consolidated by the feed rod simultaneously
Determine frame to be connected in the 4th joint lower plate；
Two grades of steel wire ropes are fixed in the 4th joint lower plate by three-level axle, and are wrapped in secondary pulley, by two grades of steerings
Device is fixed on the level Four axle of the 4th joint upper plate.
7. a kind of man-machine space gravity according to claim 1 balances upper limb healing ectoskeleton, it is characterised in that one-level turns
It is arranged on the first joint place axis to pulley.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610925253.9A CN106667722B (en) | 2016-10-30 | 2016-10-30 | A kind of man-machine space gravity balance ectoskeleton |
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| CN201610925253.9A CN106667722B (en) | 2016-10-30 | 2016-10-30 | A kind of man-machine space gravity balance ectoskeleton |
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| CN106667722A true CN106667722A (en) | 2017-05-17 |
| CN106667722B CN106667722B (en) | 2018-10-09 |
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| CN110974602A (en) * | 2019-12-06 | 2020-04-10 | 中国医学科学院生物医学工程研究所 | Upper limb exoskeleton movement joint protection device |
| CN111938990A (en) * | 2020-07-20 | 2020-11-17 | 哈尔滨工程大学 | Muscle-imitating driving rope for lower limb rehabilitation training |
| CN113181006A (en) * | 2021-06-03 | 2021-07-30 | 长春工业大学 | Gravity balance bionic upper limb rehabilitation robot |
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| Publication number | Publication date |
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| CN106667722B (en) | 2018-10-09 |
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