CN107049705B - A kind of upper limb healing exoskeleton mechanism containing passive sliding pair - Google Patents
A kind of upper limb healing exoskeleton mechanism containing passive sliding pair Download PDFInfo
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- CN107049705B CN107049705B CN201710332557.9A CN201710332557A CN107049705B CN 107049705 B CN107049705 B CN 107049705B CN 201710332557 A CN201710332557 A CN 201710332557A CN 107049705 B CN107049705 B CN 107049705B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 60
- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 230000035876 healing Effects 0.000 title claims abstract description 32
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- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 210000000323 shoulder joint Anatomy 0.000 claims description 7
- 238000012549 training Methods 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 9
- 210000003414 extremity Anatomy 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
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- 238000000034 method Methods 0.000 description 4
- 210000003484 anatomy Anatomy 0.000 description 3
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- 239000007788 liquid Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000036541 health Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- QEIQEORTEYHSJH-UHFFFAOYSA-N Armin Natural products C1=CC(=O)OC2=C(O)C(OCC(CCO)C)=CC=C21 QEIQEORTEYHSJH-UHFFFAOYSA-N 0.000 description 1
- 208000037062 Polyps Diseases 0.000 description 1
- 210000000142 acromioclavicular joint Anatomy 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
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- 210000001519 tissue Anatomy 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Engineering & Computer Science (AREA)
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- Animal Behavior & Ethology (AREA)
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Abstract
The present invention relates to a kind of upper limb healing exoskeleton mechanisms containing passive sliding pair, the upper limb healing exoskeleton mechanism includes 5 active joints, 4 passive sliding pairs and 3 adjustment units, the form that human upper limb is used for reference in 5 active joints is in series arrangement, by introducing 4 passive sliding pairs, proper restraint system is converted by the upper limb healing exoskeleton mechanism.First passive sliding and the second passive sliding pair are using double guide rails and slide block structure, the passive sliding pair of third and the 4th passive sliding pair are using double polished rods and linear bearing mechanism, simultaneously, extension spring and pressure spring are added in passive sliding pair, so that passive sliding pair has centainly flexible, certain supporting role can be provided ectoskeleton active joint and human upper limb.3 adjustment units are introduced in the upper limb healing exoskeleton mechanism, be can adapt to the body sizes of different patients, are increased the versatility of the mechanism.
Description
Technical field
The present invention relates to a kind of upper limb healing exoskeleton mechanisms, specifically, are related to outside the upper limb healing containing passive sliding pair
Bone mechanism.
Background technique
For the deficiency for making up traditional artificial rehabilitation training, reduce doctor's hard work intensity and for patient provide accurately,
Effective rehabilitation medical service, the laboratory of domestic and international some universities and colleges and rehabilitation medical mechanism have carried out wearable type upper limb health in succession
The correlative study of multiple exoskeleton mechanism.From exercise anatomy, biomethanics and the angle of human factor engineering, according on human body
The formation and function of limb, analyze the freedom degree of human upper limb, show that upper limb (without palm) has 5 freedom degrees
(5-DOF): shoulder joint is anteflexion/extend back, interior receipts/outreach, outside medial rotation/rotation, elbow joint flexion/extension, outside forearm medial rotation/rotation.For people
Scope of activities and the freedom degree requirement in each joint of body upper limb, the body configuration and driving side of design and comprehensive upper limb rehabilitation robot
Formula realizes accurate rehabilitation training, flexible training to patient's upper limb, and real-time and accurately adjusts the movement being applied in suffering limb
Parameter and power/square parameter.
Currently, the Perry of University of Washington develops 7-DOF dermaskeleton type upper limb rehabilitation robot CADEN-7, from mechanism
It learns angle to see, the two freedom degree quantity phase, CADEN-7 and human upper limb form and just constrain man-machine closed chain；Except upper arm, forearm rotation
Interior/rotation is outer, remaining cradle head has certain flexibility using rope driving method, but power transmission line is long, structure is more multiple
It is miscellaneous.Influence of the Ball of Canadian Queen's University by shoulder girdle to upper extremity exercise is taken into account, and a kind of 6- of rope driving is developed
DOF upper limb rehabilitation robot MEDARM, at acromioclavicular joint, shoulder blade be provided with two revolute pairs, remaining is distributed in shoulder, ancon
Position, so that the proper motion track of shoulder Glenohumeral joint is approached in exoskeleton mechanism center movement track.University of California at Irvine
Active training of the Norman based on patient and kinematic parameter have developed 5-DOF robotic exoskeleton T-WREX, be not provided with driving
Device increases movement parameter measurement system in each joint；Then Wolbrecht develops the shoulder for upper limb, elbow is passively instructed
Experienced 5-DOF Pneu-WREX helps patient to carry out passive rehabilitation training using having certain flexible pneumatic actuation.Beauty
The He JP (He Jiping) of the state's University of Arizona and Huang J (Huang Jian) of the Central China University of Science and Technology has developed based on artificial pneumatic
The reciprocal training device RUPERT of the upper limb of 4-DOF, 5-DOF of polyp (PM), wherein the RUPERT of 5-DOF can be directed to patient
Shoulder, elbow and wrist flexion/extension be trained, system motion feature is similar to human upper limb, has preferable flexibility.Imperial family, Sweden
The Nef T of the Institute of Technology and affiliated hospital, Balgrist university have developed motor-driven upper limb rehabilitation robot system-cooperatively
ARMin (6-DOF), ARMinII, ARMinIII, using the movement of exercise anatomy and ergonomic analysis upper limb shoulder joint
Rule and characteristic, fit the position function at shoulder Glenohumeral joint center, and the position CGH is mapped to robot system.It is domestic
Some colleges and universities and research unit equally develop and have developed human upper limb rehabilitation robot system, such as Harbin Institute of Technology
HIT system, the AERR system of the Central China University of Science and Technology, the ZJUARM system of Zhejiang University, the A6 system of one health of Guangzhou.
Revolute pair of the shoulder joint of current exoskeleton mechanism mainly by the orthogonal Yu Dingzhuan heart of two or three axis is compound
It forming, elbow joint is dead axle line single-degree-of-freedom revolute pair, and shoulder, elbow joint intend the distribution characteristics arrangement of human upper limb corresponding joint,
Component scale is then determined referring to the physical sign parameters of human upper limb.In man-machine connection type, it is fixed on the wearing tool of ectoskeleton
It is connect in a manner of compact wearing with the middle and lower part of upper arm, forearm.The advantages of this kind of exoskeleton mechanism designs is to have used for reference human body
The moving anatomy feature of upper limb, correspondence is good between man-machine joint, can obtain the brief exoskeleton mechanism of configuration.
The shortcoming of the type rehabilitation exoskeleton mechanism is to require the axis (or turning the heart) of man-machine corresponding joint in rehabilitation
Alignment (or coincidence) is remained in training process, otherwise man-machine closed chain translates into incompatible " overdetermination " system of man-machine movement
System.Under rigid model hypothesis, the man-machine closed chain of " overdetermination " can not be moved, and in fact due to limbs at man-machine linkage interface
The flexible deformation of tissue, when ectoskeleton joint drive power/square is sufficiently large, man-machine closed chain can be moved, but can be in man-machine connection circle
Face generates the additional binding/square unrelated with rehabilitation training task.In theory of mechanisms meaning, restraining force/square category of this attribute
Inertial forces/square caused by man-machine closed chain insufficient DOF (or redundant drive), the composition such as ectoskeleton machine with man-machine closed chain
The factors such as structure configuration, man-machine link position are related, and change with the variation of man-machine closed chain motion bit shape.When this internal constraint
When power/square and the operative constraint power/square for completing rehabilitation training task needs are superimposed, the about beam intensity between man-machine can be significantly increased
Degree, and comfort variation, rehabilitation training is caused to be difficult to carry out or occur safety issue.
Summary of the invention
The purpose of the present invention is to provide a kind of upper limb healing exoskeleton mechanisms containing passive sliding pair, to solve above-mentioned ask
Topic.
1, a kind of upper limb healing exoskeleton mechanism containing passive sliding pair, which is characterized in that the upper limb healing ectoskeleton machine
Structure includes 5 active joints, 4 passive sliding pairs and 3 adjustment units, and active joint includes the first joint, second joint, the
Three joints, the 4th joint and the 5th joint, passive sliding pair include the first passive sliding pair, the second passive sliding pair, third quilt
Dynamic sliding pair and the 4th passive sliding pair, adjustment unit include adjustable turntable, lead screw adjustment unit and guide rod adjustment unit；
The upper limb healing exoskeleton mechanism is mounted on the top of lifting column by adjustable turntable, and the lower part of lifting column connects dress
Bottom set plate adjusts the height of lifting column to adapt to the height size of different patients；
Adjustable turntable is separately connected cantilever beam and active joint and passive sliding pair, active joint and the installation of passive sliding pair
It adjusts cantilever beam by rotating adjustable turntable in the end of cantilever beam and the distance of median plane is deviateed in active joint；
First passive sliding pair and the second passive sliding pair horizontal vertical are mounted on cantilever beam end lower part, and each sliding pair
In be provided with two extension springs, to improve the elasticity of sliding pair and to the diarthrodial supporting role of master；
First joint is vertically mounted to the lower part of two passive sliding pairs, and the axis vertical in the first joint is directed toward the human body broad-mouthed receptacle for holding liquid upper arm
The center in joint；
Second joint connects the first joint by cant board, and second joint is vertically installed on cant board, second joint
Axis horizontal be directed toward the center of human body Glenohumeral joint；
Third joint is mounted on the rotating arm of second joint, and the axis in third joint is directed toward the human body broad-mouthed receptacle for holding liquid upper arm along human body upper arm
The center in joint；
Lead screw adjustment unit is mounted between rotating arm and third joint, by adjusting third joint along own axes direction
Position, to adapt to the upper arm size of different patients；
The passive sliding pair of third is arranged in the outer semi-ring in third joint, on the interior semi-ring and human body of the passive sliding pair of third
Arm bondage connection enables interior semi-ring along the opposite sliding of outer semi-ring, and be provided between the two by the way of linear bearing
Four pressure springs, the displacement which is used to compensate and adapt to human upper limb upper arm and third joint during lifting deviate；
4th joint is corresponding with human elbow, and the 4th joint connects third joint and the 5th joint；
The 4th passive sliding pair is mounted on the Pyatyi cabinet in the 5th joint, and four pressures are provided in the 4th sliding pair
Spring, half slip ring can be slided along fixed ring, and half slip ring is connect with human body forearm bondage, with compensate and adapt to human body forearm relative to
The change in displacement in the 5th joint；
Guide rod adjustment unit is mounted on Pyatyi cabinet, and handle and holding frame are mounted on two polished rods, can be along polished rod
It is mobile, to adapt to the forearm size of different patients.
2, further, adjustable turntable includes support shaft, rotary base, locking handwheel and level-one deep groove ball bearing；
Support shaft is supported by two level-one deep groove ball bearings, and support shaft is provided with positioning spigot using hollow structure and top,
Locking handwheel is used to turntable being locked at operating position.
3, further, the first passive sliding pair is suspended on the lower part of cantilever beam end by fixed bottom plate, and first is passive sliding
By the way of double parallel guide rail and sliding block, level-one panel is mounted on four sliding blocks dynamic pair, in fixed bottom plate and level-one panel
Between be provided with two extension springs, while being provided with two limited blocks along level-one panel glide direction on fixed bottom plate.
4, further, the second passive sliding pair is vertically mounted on level-one panel, and the second passive sliding pair equally uses double
The mode of closed slide and sliding block, second level panel are mounted on four sliding blocks, are provided between level-one panel and second level panel
Two extension springs, while two limited blocks are provided with along second level panel glide direction on level-one panel.
5, further, lead screw adjustment unit is mounted on the rotation of second joint using lead screw and double guide rod structures, the unit
On arm, two through-holes are provided on the three-level cabinet in third joint, and one pair of nut, spiral shell are installed in the inside of three-level cabinet
Female secondary and lead screw cooperates；
The both ends of lead screw are supported by second level deep groove ball bearing and three-level deep groove ball bearing, and lead screw one end is mounted with rotation hand
Wheel, manually adjusts position of the third joint on lead screw adjustment unit.
6, further, the passive sliding pair of third is mounted in the outer semi-ring in third joint, and outer semi-ring drives third passively to slide
Dynamic secondary rotation；
The two sides up and down of the interior semi-ring of the passive sliding pair of third respectively devise a boss, using interference in two boss
Fit system respectively installs a level-one linear bearing, and level-one linear bearing is matched with the level-one polished rod sliding being mounted in outer semi-ring
It closes；
A piece level-one pressure spring is respectively set in the two sides of level-one linear bearing, is mounted with four level-one pressure springs altogether.
7, a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 1, which is characterized in that
4th passive sliding pair is mounted on the Pyatyi cabinet in the 5th joint, the 4th passive sliding pair include stationary half, sliding semi-ring,
Second level linear bearing, second level polished rod and second level pressure spring；
Stationary half is connected by screw to Pyatyi cabinet, and the two sides up and down for sliding semi-ring respectively devise boss, convex two
One second level linear bearing, second level linear bearing and the second level being mounted in stationary half are respectively installed by the way of interference in platform
Polished rod cooperation；
A piece second level pressure spring is respectively set in the two sides of second level linear bearing, is mounted with four second level pressure springs altogether.
8, further, guide rod adjustment unit is mounted on the Pyatyi cabinet in the 5th joint, two second level guide rod grafting cabinets
On, handle and holding frame are mounted on second level polished rod by two open trays, and two through-holes, and through-hole side are devised on open tray
Cut the gap with one fixed width in side.
It is compared with prior art the beneficial effects of the present invention are: man-machine by making in man-machine connecting link introducing passive joint
Closed chain is converted into the proper restraint system of kinematics, does not need to keep man-machine corresponding joint axis (turning the heart) right in rehabilitation training
Together, the motion compatibility between human upper limb and exoskeleton mechanism can be realized.Simultaneously as ectoskeleton main machine frame directly with it is outstanding
Arm beam is connected, and frictional force/square in ectoskeleton gravity and passive sliding pair is mainly born by cantilever beam and driver, can effectively drop
The load of low suffering limb and additional binding/square.
Detailed description of the invention
Fig. 1 is a kind of axis surveys view of upper limb healing exoskeleton mechanism of the present invention；
Fig. 2 is a kind of partial view of upper limb healing exoskeleton mechanism of the present invention；
Fig. 3 is the cross-sectional view of adjustable turntable；
Fig. 4 is the explosive view of the first passive sliding pair and the second passive sliding pair；
Fig. 5 is the cross-sectional view of lead screw adjustment unit；
Fig. 6 is the axis surveys view in third joint and the passive sliding pair of third；
Fig. 7 is the cross-sectional view of the passive sliding pair of third；
Fig. 8 is the axis side view in the 5th joint and the 4th passive sliding pair；
Fig. 9 is the cross-sectional view of the 4th passive sliding pair.
Specific embodiment
The present invention is described in detail for each embodiment shown in reference to the accompanying drawing, but it should be stated that, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiments work done energy, method,
Or equivalent transformation or substitution in structure, all belong to the scope of protection of the present invention within.
Join shown in Fig. 1 to Fig. 9, Fig. 1 is the axis surveys view of the upper limb healing exoskeleton mechanism, and Fig. 2 is outside the upper limb healing
The partial view of bone mechanism, Fig. 3 are the cross-sectional views of adjustable turntable, and Fig. 4 is the first passive sliding pair and the second passive sliding pair
Explosive view, Fig. 5 is the cross-sectional view of lead screw adjustment unit, and Fig. 6 is the axis surveys view in third joint and the passive sliding pair of third,
Fig. 7 is the cross-sectional view of the passive sliding pair of third, and Fig. 8 is the axis side view in the 5th joint and the 4th passive sliding pair, and Fig. 9 is the 4th
The cross-sectional view of passive sliding pair.
A kind of upper limb healing exoskeleton mechanism containing passive sliding pair is present embodiments provided, is joined shown in FIG. 1 to FIG. 9, it should
Upper limb healing exoskeleton mechanism includes 5 active joints, 4 passive sliding pairs and 3 adjustment units, and active joint includes first
Joint 3, second joint 4, third joint 6, the 4th joint 7 and the 5th joint 8, passive sliding pair include the first passive sliding pair,
The passive sliding pair 10 of second passive sliding pair, third and the 4th passive sliding pair 11, adjustment unit include adjustable turntable 1, lead screw
Adjustment unit 5 and guide rod adjustment unit 9.The main machine frame of upper limb healing ectoskeleton is mounted on lifting column 102 by adjustable turntable 1
Top, the lower connecting connection parts bottom plate 101 of the lifting column 102, patient 104 are seated against on seat special 103, adjust the liter
The height of column 102 is dropped to adapt to the height size of different patients 104.Five active joints of the upper limb healing exoskeleton mechanism are in
Arranged in series is driven by direct current generator through harmonic speed reducer.
Adjustable turntable 1 is separately connected cantilever beam 21 and active joint, passive sliding pair, active joint and passive sliding pair peace
It is adjusted in the cantilever beam 21 and the deviation of active joint mounted in the end of the cantilever beam 21 by rotating the adjustable turntable 1
The distance in heart face.First passive sliding pair and the second passive sliding pair horizontal vertical are mounted on the 21 end lower part of cantilever beam,
Two sliding pairs are wrapped up by outer cover 2, and two extension springs are provided in each sliding pair, to improve the elasticity of sliding pair and to master
Diarthrodial supporting role.First joint 3 is vertically mounted to the lower part of the second passive sliding pair, the axis in first joint 3
Line is directed toward the Glenohumeral joint center of the patient 104.Second joint 4 connects first joint 3 by cant board 22, and described the
Two joints 4 are vertically installed on the cant board 22, are directed toward the patient's 104 to the axis horizontal of the second joint 4
Glenohumeral joint center.Third joint 6 is mounted on the rotating arm 39 of the second joint 4, and the axis in the third joint 6 is along institute
The upper arm for stating patient 104 is directed toward its Glenohumeral joint center.Lead screw adjustment unit 5 is mounted on the rotating arm 39 and closes with the third
Between section 6, the third joint 6 is adjusted along the position in own axes direction, to adapt to the upper arm size of different patients.Third quilt
Dynamic sliding pair 10 is arranged in the outer semi-ring 47 in the third joint 6, the interior semi-ring 48 of the passive sliding pair 10 of third and institute
The upper arm bondage connection for stating patient 104, by the way of linear bearing, enables the interior semi-ring 48 along the outer semi-ring 47
Opposite sliding, and it is provided with four pressure springs 54 between the two, the passive sliding pair 10 of third is for compensating and adapting to human body
The displacement in limb upper arm and third joint 6 during lifting deviates.The elbow joint phase in the 4th joint 7 and the patient 104
Corresponding, the 4th joint 7 connects the third joint 6 and the 5th joint 8.It is installed on the Pyatyi cabinet in the 5th joint 8
4th passive sliding pair 11, is provided with four pressure springs 63 in the described 4th passive sliding pair 11, and half slip ring 61 can be along solid
Determine the sliding of ring 56, half slip ring 61 is connect with the forearm bondage of the patient 104, to compensate and adapt to forearm relative to described
The change in displacement in the 5th joint 8.Guide rod adjustment unit 9 is mounted on the Pyatyi cabinet in the 5th joint 8, handle 68 and clamping
Frame 67 is mounted on two second level guide rods 64, can be moved along the second level guide rod 64, before adapting to the different patients 104
Arm size.
The adjustable turntable 1 includes support shaft 23, rotary base 24, locking handwheel 26 and level-one deep groove ball bearing 25, institute
It states support shaft 23 to be supported by two level-one deep groove ball bearings 25, the support shaft 23 is provided with positioning using hollow structure and top
Seam allowance, the locking handwheel 26 is for locking the support shaft 23.The cantilever beam 21 is mounted in the support shaft 23, and two
Person is connected by screw to, and the cantilever beam 21 rotates together with the support shaft 23.
First passive sliding pair passes through the lower part that fixed bottom plate 28 is suspended on 21 end of cantilever beam, the first passive sliding
Pair is by the way of double parallel guide rail and sliding block, and two level-one guide rails 31 are mounted on the fixed bottom plate 28, and the level-one is led
Two level-one sliding blocks 32 are respectively installed, level-one panel 29 is mounted on four level-one sliding blocks 32, in the fixed bottom plate 28 on rail 31
Two level-one extension springs 33 are provided between the level-one panel 29,33 both ends of level-one extension spring are separately fixed at
The fixed bottom plate 28 and the level-one panel 29, two level-one extension springs 33 tense the level-one from both direction
Panel 29, so that with certain elasticity when the level-one panel 29 is slided along the level-one guide rail 31.Meanwhile in the fixation
Two level-one limited blocks 34 are devised on bottom plate 28, to limit the range of the level-one panel 29.
Second passive sliding pair is vertically mounted on the level-one panel 29, and the second passive sliding pair equally uses double parallel
The mode of guide rail and sliding block, two second level guide rails 35 are mounted on the level-one panel 29, are respectively installed on the second level guide rail 35
Two second level sliding blocks 36, second level panel 30 are mounted on four second level sliding blocks 36, in the level-one panel 29 and the second level face
Two secondary drawing springs 37 are provided between plate 30,37 both ends of secondary drawing spring are separately fixed at the level-one panel
29 on the second level panel 30, and two secondary drawing springs 37 tense the second level panel 30 from both direction, make
It obtains when the second level panel 30 is slided along the second level guide rail 35 with certain elasticity.Meanwhile on the level-one panel 29
Two second level limited blocks 38 are devised, to limit the range of the second level panel 30.
Using lead screw and double guide rod structures, which is mounted on the rotating arm 39 the lead screw adjustment unit 5, described
Two through-holes are provided on the three-level cabinet in third joint 6, two level-one guide rods 40 pass through through-hole, described 40 one end of level-one guide rod
It is plugged in the rotating arm 39, the other end of the level-one guide rod 40 is mounted in square base 44.In the inside of three-level cabinet
Pair of nut 42 is installed, the pair of nut 42 cooperates with lead screw 41.The both ends of the lead screw 41 are by 43 He of second level deep groove ball bearing
Three-level deep groove ball bearing 45 supports, and described 41 one end of lead screw is mounted with rotation hand wheel 46, rotates the rotation hand wheel 46 manually, adjusts
Position of the whole third joint 6 on the lead screw adjustment unit 5.
The passive sliding pair 10 of third is mounted in the outer semi-ring 47 in the third joint 6, the third joint 6
Drive the outer semi-ring 47 around own axis using level synchronization band 49,49 both ends of level synchronization band are fixed on described
The open end of outer semi-ring 47, is compressed by level-one pressing plate 50；Meanwhile the outer semi-ring 47 drives the passive sliding pair 10 of the third
Rotation.Two level-one polished rods 52 are mounted in the outer semi-ring 47, the both ends of the level-one polished rod 52 are by two level-one end caps
51 is fixed, and two level-one polished rods 52 are in symmetrical parallel arrangement.About 48 two sides of interior semi-ring of the passive sliding pair 10 of third are each
A boss is devised, a level-one linear bearing 53, the level-one straight line are respectively installed by the way of interference in two boss
Bearing 53 is slidably matched with the level-one polished rod 52, and the interior semi-ring 48 is connect with human body upper arm bondage, therefore, the interior semi-ring
48 can slide along the level-one polished rod 52, to adapt to position of the upper arm relative to the third joint 6 during upper limb is lifted
Move variation.In order to enable the passive sliding pair 10 of third has certain elasticity, in the two sides of the level-one linear bearing 53
Respectively therefore a piece level-one pressure spring 54 of setting is mounted with four level-one pressure springs 54 altogether.
4th joint 7 is connect with opening ring seat 55, and the 5th joint 8 is mounted in the opening ring seat 55 and two
Person is connected by secondary synchronization band 57, and the both ends of the secondary synchronization band 57 are fixed on the opening ring seat by second level pressing plate 58
55, the 5th joint 8 can be rotated along the opening ring seat 55, meanwhile, drive the synchronous rotation of the described 4th passive sliding pair 11
Turn.
The 4th passive sliding pair 11 is mounted on the Pyatyi cabinet in the 5th joint 8, the described 4th passive sliding
Pair 11 includes stationary half 56, sliding semi-ring 61, second level linear bearing 62, second level polished rod 60 and second level pressure spring 63.The fixation
Semi-ring 56 is connected by screw to Pyatyi cabinet, and two second level polished rods 60, the second level polished rod are mounted in stationary half 56
60 both ends are fixed by two second level end caps 59, and the two second level polished rods 60 are in symmetrical parallel arrangement.The sliding semi-ring 61
Upper and lower two sides respectively devise boss, respectively install a second level linear bearing 62 by the way of interference in two boss, and described two
Grade linear bearing 62 and the second level polished rod 60 cooperate.The sliding semi-ring 61 is connect with human body forearm bondage, therefore, the cunning
Dynamic semi-ring 61 can slide along the second level polished rod 60, to adapt to during upper limb lifting forearm relative to the 5th joint
8 change in displacement.In order to enable the 4th passive sliding pair 11 has certain elasticity, in the second level linear bearing 62
A second level pressure spring 63 is respectively arranged in two sides, therefore, is mounted with four second level pressure springs 63 altogether.
Guide rod adjustment unit 9 is mounted on the Pyatyi cabinet in the 5th joint 8, one end grafting of two second level guide rods 64
On cabinet, the other end fixes 65 by rectangle seat, and the two second level guide rods 64 are arranged in parallel.Handle 68 and holding frame 67 pass through two
Open tray 66 is mounted on the second level guide rod 64, two through-holes is devised on the open tray 66, and tool is cut in through-hole side
There is the gap of one fixed width.There is threaded hole in the Position Design of cracking of the open tray 66, gap is controlled by attachment screw
Width, so that the open tray is fixed on the second level guide rod 64.The present invention provides a kind of upper limb containing passive sliding pair
Rehabilitation exoskeleton mechanism, has the following beneficial effects:
1) by increasing by four passive sliding pairs, which can track and compensate patient's broad-mouthed receptacle for holding liquid upper arm pass
The change in displacement at section center, so that exoskeleton mechanism is converted into proper restraint system.
2) extension spring and pressure spring are added in passive sliding pair, so that passive sliding pair has certain flexible, energy
It is enough that certain supporting role is provided ectoskeleton active joint and human upper limb.
3) three adjustment units are introduced in the present invention, be can adapt to the body sizes of different patients, are increased the upper limb healing
The versatility of exoskeleton mechanism.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
Claims (8)
1. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair, which is characterized in that the upper limb healing exoskeleton mechanism packet
5 active joints, 4 passive sliding pairs and 3 adjustment units are included, active joint includes the first joint, second joint, third pass
Section, the 4th joint and the 5th joint, passive sliding pair are passively slided including the first passive sliding pair, the second passive sliding pair, third
Dynamic secondary and the 4th passive sliding pair, adjustment unit include adjustable turntable, lead screw adjustment unit and guide rod adjustment unit；
The upper limb healing exoskeleton mechanism is mounted on the top of lifting column, the lower connecting connection parts bottom of lifting column by adjustable turntable
Plate adjusts the height of lifting column to adapt to the height size of different patients；
Adjustable turntable is separately connected cantilever beam and active joint and passive sliding pair, and active joint and passive sliding pair are mounted on outstanding
The end of arm beam adjusts cantilever beam and the distance of median plane is deviateed in active joint by rotating adjustable turntable；
First passive sliding pair and the second passive sliding pair horizontal vertical are mounted on cantilever beam end lower part, and set in each sliding pair
Two extension springs are set, to improve the elasticity of sliding pair and to the diarthrodial supporting role of master；
First joint is vertically mounted to the lower part of two passive sliding pairs, and the axis vertical in the first joint is directed toward human body Glenohumeral joint
Center；
Second joint connects the first joint by cant board, and second joint is vertically installed on cant board, the axis of second joint
Line is horizontally directed toward the center of human body Glenohumeral joint；
Third joint is mounted on the rotating arm of second joint, and the axis in third joint is directed toward human body Glenohumeral joint along human body upper arm
Center；
Lead screw adjustment unit is mounted between rotating arm and third joint, by adjusting third joint along the position in own axes direction
It sets, to adapt to the upper arm size of different patients；
The passive sliding pair of third is arranged in the outer semi-ring in third joint, and interior semi-ring and the human body upper arm of the passive sliding pair of third are tied up
Connection is tied up, by the way of linear bearing, enables interior semi-ring along the opposite sliding of outer semi-ring, and be provided with four between the two
Pressure spring, the passive sliding pair of third are inclined for compensating and adapting to human upper limb upper arm and displacement in third joint during lifting
From；
4th joint is corresponding with human elbow, and the 4th joint connects third joint and the 5th joint；
The 4th passive sliding pair is mounted on the Pyatyi cabinet in the 5th joint, and four pressures are provided in the 4th passive sliding pair
Spring, the 4th passive sliding pair include stationary half, sliding semi-ring, second level linear bearing, second level polished rod and second level pressure spring；Sliding half
Ring can be slided along stationary half, and sliding semi-ring is connect with human body forearm bondage, to compensate and adapt to human body forearm relative to the
The change in displacement in five joints；
Guide rod adjustment unit is mounted on Pyatyi cabinet, and handle and holding frame are mounted on two polished rods, can be moved along polished rod,
To adapt to the forearm size of different patients.
2. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 1, which is characterized in that adjustable
Turntable includes support shaft, rotary base, locking handwheel and level-one deep groove ball bearing；
Support shaft is supported by two level-one deep groove ball bearings, and support shaft is provided with positioning spigot, locking using hollow structure and top
Handwheel is used to turntable being locked at operating position.
3. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 1, which is characterized in that first
Passive sliding pair is suspended on the lower part of cantilever beam end by fixed bottom plate, and the first passive sliding pair uses double parallel guide rail and cunning
The mode of block, level-one panel are mounted on four sliding blocks, are provided with two extension springs between fixed bottom plate and level-one panel,
Two limited blocks are provided with along level-one panel glide direction on fixed bottom plate simultaneously.
4. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 3, which is characterized in that second
Passive sliding pair is vertically mounted on level-one panel, the second passive sliding pair equally by the way of double parallel guide rail and sliding block,
Second level panel is mounted on four sliding blocks, two extension springs is provided between level-one panel and second level panel, while one
Two limited blocks are provided with along second level panel glide direction on grade panel.
5. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 1, which is characterized in that lead screw
Adjustment unit is mounted on the rotating arm of second joint using lead screw and double guide rod structures, the unit, the three-level case in third joint
It is provided with two through-holes on body, and one pair of nut is installed in the inside of three-level cabinet, pair of nut and lead screw cooperate；
The both ends of lead screw are supported by second level deep groove ball bearing and three-level deep groove ball bearing, and lead screw one end is mounted with rotation hand wheel, hand
Position of the dynamic adjustment third joint on lead screw adjustment unit.
6. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 5, which is characterized in that third
Passive sliding pair is mounted in the outer semi-ring in third joint, and outer semi-ring drives the passive sliding pair rotation of third；
The two sides up and down of the interior semi-ring of the passive sliding pair of third respectively devise a boss, and the cooperation of interference is used in two boss
Mode respectively installs a level-one linear bearing, and level-one linear bearing is slidably matched with the level-one polished rod being mounted in outer semi-ring；
A piece level-one pressure spring is respectively set in the two sides of level-one linear bearing, is mounted with four level-one pressure springs altogether.
7. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 1, which is characterized in that the 4th
Passive sliding pair is mounted on the Pyatyi cabinet in the 5th joint；
Stationary half is connected by screw to Pyatyi cabinet, and the two sides up and down for sliding semi-ring respectively devise boss, in two boss
One second level linear bearing, second level linear bearing and the second level polished rod being mounted in stationary half are respectively installed by the way of interference
Cooperation；
A piece second level pressure spring is respectively set in the two sides of second level linear bearing, is mounted with four second level pressure springs altogether.
8. a kind of upper limb healing exoskeleton mechanism containing passive sliding pair according to claim 1, which is characterized in that guide rod
Adjustment unit is mounted on the Pyatyi cabinet in the 5th joint, and on two second level guide rod grafting cabinets, handle and holding frame pass through two
A open tray is mounted on second level polished rod, two through-holes is devised on open tray, and through-hole side is cut with one fixed width
Gap.
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| CN201710332557.9A CN107049705B (en) | 2017-05-12 | 2017-05-12 | A kind of upper limb healing exoskeleton mechanism containing passive sliding pair |
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Families Citing this family (11)
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| CN108186279B (en) * | 2017-12-27 | 2020-02-07 | 北京工业大学 | Rotary internal and external joint for rehabilitation exoskeleton mechanism |
| CN108324282B (en) * | 2018-01-31 | 2021-02-05 | 北京工业大学 | Human body shoulder pelvis brachial joint rotation center motion information detection system |
| CN108514496B (en) * | 2018-05-11 | 2023-11-24 | 常州市钱璟康复股份有限公司 | Rehabilitation training system and method for evaluating upper limb joint function |
| CN110420096B (en) * | 2018-09-12 | 2020-07-21 | 哈尔滨理工大学 | Upper limb rehabilitation robot with elastic right-angle rotating arm |
| 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 |
| CN111184620B (en) * | 2020-01-14 | 2021-11-30 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
| CN112294594A (en) * | 2020-01-15 | 2021-02-02 | 南通市第一人民医院 | Upper limb rehabilitation training device convenient for adjusting swing arm track |
| CN111803329B (en) * | 2020-07-17 | 2022-05-24 | 哈尔滨工业大学 | Elbow exoskeleton for rehabilitation robot |
| CN112603767B (en) * | 2021-01-04 | 2022-04-01 | 燕山大学 | Flexible exoskeleton type upper limb rehabilitation training device |
| CN113599193A (en) * | 2021-09-03 | 2021-11-05 | 河海大学 | Wearable upper limb rehabilitation exoskeleton |
| CN114055434B (en) * | 2021-11-18 | 2023-08-04 | 同济大学 | Wearable space gravity balance mechanism without man-machine joint alignment |
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| KR20160066083A (en) * | 2014-12-01 | 2016-06-10 | 한국과학기술원 | Method to control rehabilitation robot for stroke patients |
| CN105662783A (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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| CA2678425A1 (en) * | 2007-02-16 | 2008-08-21 | Rehabtek Llc | Robotic rehabilitation apparatus and method |
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|---|---|---|---|---|
| KR20160066083A (en) * | 2014-12-01 | 2016-06-10 | 한국과학기술원 | Method to control rehabilitation robot for stroke patients |
| CN105662783A (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 |
| 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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