CN107198639A - A kind of master for upper limb healing exoskeleton mechanism is fused joint - Google Patents
A kind of master for upper limb healing exoskeleton mechanism is fused joint Download PDFInfo
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- CN107198639A CN107198639A CN201710332562.XA CN201710332562A CN107198639A CN 107198639 A CN107198639 A CN 107198639A CN 201710332562 A CN201710332562 A CN 201710332562A CN 107198639 A CN107198639 A CN 107198639A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 230000035876 healing Effects 0.000 title claims abstract description 25
- 210000000245 forearm Anatomy 0.000 claims abstract description 72
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 4
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
- 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
- A61H2201/1215—Rotary drive
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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)
- Rehabilitation Tools (AREA)
Abstract
Joint is fused the present invention relates to a kind of master for upper limb healing exoskeleton mechanism, the exoskeleton mechanism by the way of connection of compacting and human upper limb upper arm and forearm connect, active joint and passive sliding pair are merged at man-machine linkage interface, formation upper arm master is fused joint and forearm master is fused joint.Upper arm master is fused joint and is connected by two grades of semi-rings with upper arm bondage, two and half drive upper arm to rotate around own axes, forearm master is fused joint and is connected by Pyatyi semi-ring with forearm bondage, and Pyatyi semi-ring drives forearm around own axis with forearm casing.The master is fused joint using toothed belt transmission mode, timing belt drives one-level semi-ring and level Four semi-ring to rotate, simultaneously, the flexible passive sliding pair of upper arm and the passive sliding pair of forearm is provided with the inside of one-level semi-ring and level Four semi-ring, guide rod and stage clip, active force/square of the reduction upper limb healing exoskeleton mechanism at man-machine linkage interface are provided with passive sliding pair.
Description
Technical field
The present invention relates to one kind, master is fused joint, specifically, is related to and is melted for the main of upper limb healing exoskeleton mechanism
Close joint.
Background technology
To make up the deficiency of Traditional Man rehabilitation training, reduce doctor's hard work intensity and for patient provide accurately,
Effective rehabilitation medical service, the laboratory of some domestic and international universities and colleges and rehabilitation medical mechanism have carried out wearable type upper limbs 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, the free degree to human upper limb are analyzed, and show that upper limbs (being free of palm) has 5 frees degree
(5-DOF)：Shoulder joint is anteflexion/after stretch, interior receipts/abduction, outside medial rotation/rotation, elbow joint flexion/extension, outside forearm medial rotation/rotation.For people
Scope of activities and the free degree requirement in each joint of body upper limbs, the body configuration and driving side of design and comprehensive upper limb rehabilitation robot
Formula, realizes accurate rehabilitation training, the flexible training to patient's upper limbs, and real-time and accurately adjustment is applied to the motion in suffering limb
Parameter and power/square parameter.
The shoulder joint of current exoskeleton mechanism is mainly combined by two or three axis are orthogonal in the revolute pair for turning the heart surely
Form, elbow joint is dead axle line single-degree-of-freedom revolute pair, shoulder, elbow joint intend the distribution characteristics arrangement of human upper limb corresponding joint,
Component yardstick is then determined with reference to the physical sign parameters of human upper limb.In man-machine connected mode, the wearing tool of ectoskeleton is fixed on
Middle and lower part with upper arm, forearm in the way of the wearing that compacts is connected.The advantage of this kind of exoskeleton mechanism design is to have used for reference human body
Correspondence is good between the moving anatomy feature of upper limbs, man-machine joint, obtains the brief exoskeleton mechanism of configuration.
The weak point of the type rehabilitation exoskeleton mechanism is the axis (or turning the heart) of the man-machine corresponding joint of requirement in rehabilitation
Alignment (or coincidence) is remained in training process, otherwise man-machine closed chain translates into incompatible " overdetermination " system of man-machine motion
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 elastic 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 produces 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 relevant, and change with the change of man-machine closed chain motion bit shape.When this internal constraint
Power/square with complete operative constraint power/square that rehabilitation training task needs it is superimposed when, can significantly increase it is man-machine between about beam intensity
Degree, and cause comfortableness variation, rehabilitation training to be difficult to or occur safety issue.
The content of the invention
Joint is fused it is an object of the invention to provide a kind of master for upper limb healing exoskeleton mechanism, with solution
State problem.
Joint is fused The embodiment provides a kind of master for upper limb healing exoskeleton mechanism, its feature exists
Connected in, the upper limb healing exoskeleton mechanism by the way of connection of compacting with the upper arm and forearm of human upper limb, in man-machine company
Connect interface to be merged active joint and passive sliding pair, formation upper arm master is fused joint and forearm master is fused pass
Section.Upper arm master is fused joint and is connected by two grades of semi-rings with upper arm bondage, and two and half drive upper arm to rotate around own axes,
Forearm master is fused joint and is connected by Pyatyi semi-ring with forearm bondage, and Pyatyi semi-ring drives forearm around itself axle with casing
Line is rotated.
Further, upper arm master is fused joint and mainly includes upper arm casing, level synchronization band, level synchronization belt wheel, one-level
Semi-ring, one level of support roller, the passive sliding pair of upper arm；Upper arm master is fused the kind of drive that joint uses level synchronization band, on
Power is transferred to level synchronization belt wheel by arm motor, and level synchronization is fixed on the two ends of one-level semi-ring, level synchronization band with two ends
One-level half is driven around own axis.
Further, be mounted with the passive sliding pair of upper arm on the inside of one-level semi-ring, the passive sliding pair of upper arm include one-level guide rail,
One-level sliding block, two grades of semi-rings, one-level guide rod, one-level stage clips；Two one-level guide rails are arranged on two grooves on the inside of one-level semi-ring
Interior, one-level sliding block is slidably matched with one-level guide rail；Both sides, which are devised, above and below two grades of semi-rings is provided with edge in the middle part of two boss, boss
The through hole of two grades of Half-ring axis, up and down two boss linked together with corresponding two one-level sliding blocks, two grades of semi-rings being capable of edge
One-level guide rail is slided.
Further, forearm master is fused joint and mainly includes forearm casing, secondary synchronization band, secondary synchronization belt wheel, three-level
Semi-ring, level Four semi-ring, Pyatyi semi-ring, two grades of back-up roller wheels, the passive sliding pairs of forearm；Three-level semi-ring and upper limb healing ectoskeleton machine
The elbow joint connection of structure, three-level semi-ring is fixed with respect to elbow joint, and it is overall relative to the rotation of three-level semi-ring that forearm master is fused joint.
Forearm master is fused the kind of drive that joint uses timing belt, and power is transferred to secondary synchronization belt wheel by forearm motor, and two grades same
Step is fixed on the two ends of three-level semi-ring with two ends, and secondary synchronization band driving forearm master is fused joint and turned around the axis of three-level semi-ring
It is dynamic；
Further, the passive sliding pair of forearm includes two grades of guide rails, two grades of sliding blocks, Pyatyi semi-ring, two grades of guide rods, two grades of pressures
Spring, two two grades of guide rails are arranged in two grooves on the inside of level Four semi-ring, and two grades of sliding blocks are slidably matched with two grades of guide rails, Pyatyi
Both sides devise two boss above and below semi-ring, while two prominent pilot holes are devised on the outside of Pyatyi semi-ring, Pyatyi half
Two boss up and down of ring are linked together with corresponding two two grades of sliding blocks, and Pyatyi semi-ring can be slided along two grades of guide rails.
Compared with prior art the beneficial effects of the invention are as follows：Made one by introducing passive sliding pair in man-machine connecting link
Machine closed chain is converted into the proper constrained system of kinematics, and man-machine corresponding joint axis (turning the heart) need not be kept in rehabilitation training
Alignment, just can realize the motion compatibility between human upper limb and exoskeleton mechanism.Simultaneously as ectoskeleton main machine frame directly with
Cantilever beam is connected, and ectoskeleton gravity is mainly born with frictional force/square in passive sliding pair by cantilever beam and driver, can be effective
Reduce load and the additional binding/square of suffering limb.
Brief description of the drawings
Fig. 1 is a kind of axle surveys view of upper limb healing exoskeleton mechanism of the invention；
Fig. 2 is a kind of partial view of upper limb healing exoskeleton mechanism of the invention；
Fig. 3 is the axis side view that upper arm master is fused joint；
Fig. 4 is the sectional view that upper arm master is fused joint；
Fig. 5 is the sectional view of the passive sliding pair of upper arm；
Fig. 6 is the axle surveys view that forearm master is fused joint；
Fig. 7 is the sectional view that forearm master is fused joint；
Fig. 8 is the sectional view of the passive sliding pair of forearm；
Fig. 9 is the axle surveys view of the passive sliding pair of forearm.
Embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment not limitation of the present invention, those of ordinary skill in the art according to these embodiment work done energy, method,
Or equivalent transformation or replacement in structure, belong within protection scope of the present invention.
Join shown in Fig. 1 to Fig. 9, Fig. 1 is a kind of axle surveys view of upper limb healing exoskeleton mechanism of the invention, and Fig. 2 is this hair
A kind of partial view of bright upper limb healing exoskeleton mechanism, Fig. 3 is the axis side view that upper arm master is fused joint, and Fig. 4 is upper arm
The main sectional view for being fused joint, Fig. 5 is the sectional view of the passive sliding pair of upper arm, and Fig. 6 is the axle survey that forearm master is fused joint
View, Fig. 7 is the sectional view that forearm master is fused joint, and Fig. 8 is the sectional view of the passive sliding pair of forearm, and Fig. 9 is that forearm is passive
The axle surveys view of sliding pair.
Present embodiments provide a kind of master for upper limb healing exoskeleton mechanism and be fused joint, ginseng Fig. 1~Fig. 9 institutes
Show, the upper limb healing exoskeleton mechanism includes 5 active joints, 4 passive sliding pairs and 3 adjustment units, active joint bag
The first joint 3, second joint 4, the 3rd joint 6, the 4th joint 7 and the 5th joint 8 are included, it is passive sliding that passive sliding pair includes first
Dynamic pair, the second passive sliding pair, the 3rd passive sliding pair 11 of passive sliding pair 10 and the 4th, adjustment unit including adjustable rotating disk 1,
Leading screw adjustment unit 5 and guide rod adjustment unit 9.Five active joints of the upper limb healing exoskeleton mechanism are in arranged in series, by
Direct current generator drives through harmonic speed reducer.The main machine frame of upper limb healing ectoskeleton is arranged on lifting column 102 by adjustable rotating disk 1
Top, the lower connecting connection parts bottom plate 101 of the lifting column 102, patient 104 is seated against on seat special 103, adjusts the liter
The height of post 102 is dropped to adapt to the height size of different patients 104.The difference connecting cantilever of adjustable rotating disk 1 beam 12 and active
Joint, passive sliding pair, active joint and passive sliding pair are arranged on the end of the cantilever beam 12, described adjustable by rotating
Rotating disk 1, adjusts the distance in the cantilever beam 12 and the off-center face in active joint.First passive sliding pair and the second passive slip
Secondary horizontal vertical is arranged on the end bottom of cantilever beam 12, and two sliding pairs are wrapped up by outer cover 2, and is provided with each sliding pair
Two extension springs, to improve the elasticity of sliding pair and to main diarthrodial supporting role.First joint 3 is vertically mounted to
The bottom of two passive sliding pairs, the axis in first joint 3 points to the Glenohumeral joint center of the patient 104.Second joint 4
First joint 3 is connected by cant board 13, the second joint 4 is vertically installed on the cant board 13, described
Point to the axis horizontal in two joints 4 the Glenohumeral joint center of the patient 104.Upper arm master is fused joint 6 and is arranged on described
On the turning arm of second joint 4, the upper arm master is fused upper arm of the axis in joint 6 along the patient 104 and points to its broad-mouthed receptacle for holding liquid upper arm
Articulation center.Leading screw adjustment unit 5 is arranged on the turning arm and the upper arm master is fused between joint 6, adjusts on described
Arm master is fused position of the joint 6 along own axes direction, to adapt to the upper arm size of different patients.The passive sliding pair 10 of upper arm
The upper arm master is arranged on to be fused in the one-level semi-ring 18 in joint 6, two grades of semi-rings 19 of the passive sliding pair 10 of upper arm with
The upper arm bondage connection of the patient 104, by the way of guide rail and sliding block combination so that two grades of semi-rings 19 can be along institute
The relative slip of one-level semi-ring 18 is stated, and is provided with four one-level stage clips 29 between the two, the passive sliding pair 10 of upper arm is used for
Compensation and the displacement that upper arm is fused joint 6 with the upper arm master during lifting of adaptation human upper limb deviate.4th joint 7
Elbow joint with the patient 104 is corresponding, and the 4th joint 7 connects the upper arm master and is fused joint 6 and the main quilt of forearm
Merge joint 8.The forearm master, which is fused on the level Four semi-ring 36 in joint 8, is mounted with the passive sliding pair 11 of forearm, before described
Four two grades of stage clips 44 are provided with the passive sliding pair 11 of arm, Pyatyi semi-ring 37 can be slided along level Four semi-ring 36, the Pyatyi
Semi-ring 37 is connected with the forearm bondage of the patient 104, and joint 8 is fused relative to the forearm master to compensate and adapt to forearm
Change in displacement.Guide rod adjustment unit 9 is fused on the forearm casing 31 in joint 8 installed in the forearm master, and handle is arranged on
On two guide rods, it can be moved along the guide rod, to adapt to the forearm size of the different patients 104.
The upper arm master is fused the kind of drive of the joint 6 using timing belt, and upper arm motor 14 is arranged on upper arm casing 15
On, power is transferred to one-level output shaft 20, level synchronization belt wheel 21 is installed on the one-level output shaft 20, level synchronization band 17
Engaged with the synchronous pulley 21, the two ends of the level synchronization band 17 are pressed on the one-level semi-ring by one-level pressing plate 23 respectively
On 18 semi-ring section.The level synchronization band 17 is tensioned by two one-level tensioning wheels 24, one of energy of one-level tensioning wheel 24
It is enough to adjust tension in vertical direction.Four one level of support rollers 22 are mounted with upper arm casing 15, while in upper arm lid
Four one level of support rollers 22 are equally mounted with plate 16, the one level of support roller 22 is distributed in the outer of the one-level semi-ring 18
Side and inner side, support and constrain the one-level semi-ring 18, the level synchronization band 17 drives the one-level semi-ring 18 around itself axle
Line is rotated.The inner side of the one-level semi-ring 18 has been symmetrical arranged two grooves along own axes direction.
The inner side of one-level semi-ring 18 is mounted with the passive sliding pair 10 of the upper arm, and the passive sliding pair 10 of upper arm includes one
Level guide rail 25, one-level sliding block 26, switching annex 27, two grades of semi-rings 19, one-level guide rod 28 and one-level stage clip 29, two one-level guide rails
25 are arranged in two grooves of the inner side of one-level semi-ring 18, and the one-level sliding block 26 is slided with the one-level guide rail 25 matches somebody with somebody
Close, two grades of semi-rings devise two boss in both sides about 19, and boss passes through the switching annex with the one-level sliding block 26
27 connections, the middle part of switching annex 27 sets a through hole, and two grades of semi-rings 19 can be slided along the one-level guide rail 25.It is described
One-level guide rod 28 is arranged on the one-level semi-ring 18, and two ends are positioned and fixed by end cap 46, and the one-level guide rod 28 is passed through
Through hole on the switching annex 27, pacifies between the one-level semi-ring 18 and two grades of semi-rings 19 along the one-level guide rod 28
Two one-level stage clips 29 are filled, two one-level stage clips 29 are arranged on the both sides of the annex 27, and four one-level stage clips 29 are installed altogether.
It is mainly same comprising forearm casing 31, box cover 32, secondary synchronization band 33, two that the forearm master is fused joint 8
Walk belt wheel 39, three-level semi-ring 34, level Four semi-ring 36, Pyatyi semi-ring 37, two grades of back-up roller wheels 40, the passive sliding pairs 11 of forearm.Institute
State three-level semi-ring 34 to be connected with the 4th joint 7 of upper limb healing exoskeleton mechanism, therefore, the three-level semi-ring 34 is with respect to institute
State the 4th joint 7 to fix, the forearm master is fused the entirety of joint 8 and rotated relative to the three-level semi-ring 34.The forearm master
The kind of drive of the joint 8 using timing belt is fused, the forearm motor 30 is arranged on the forearm casing 31, power is passed
Two grades of output shafts 38 are handed to, the secondary synchronization belt wheel 39 is arranged on two grades of output shafts 38 by flat key, described two grades
The two ends of timing belt 33 are fixed on the two ends of the three-level semi-ring 34, are compressed by two grades of pressing plates 35, and the secondary synchronization band 33 drives
The forearm master is fused the axis rotation for closing 8 sections around the three-level semi-ring 34.The secondary synchronization band 33 is by two two grades
Bearing up pulley 41 is tensioned, and one of them two grades of tensioning wheel 41 can adjust tension in vertical direction.On the forearm casing 31
Four two grades of back-up roller wheels 40 are mounted with, while the corresponding position on the box cover 32 is mounted with four two grades of branch
Roller 40 is supportted, eight two grades of back-up roller wheels of both sides support the forearm casing 31 and the passive sliding pair 11 of the forearm jointly,
The forearm master to be fused joint 8 integrally to rotate along the three-level semi-ring 34.The level Four semi-ring 36 is fixed on institute
State on forearm casing 31, the inner side of the level Four semi-ring 36 has been symmetrical arranged two grooves along own axes direction.
The inner side of the level Four semi-ring 36 is mounted with the passive sliding pair 10 of the forearm, and the passive sliding pair 10 of forearm is wrapped
Include two grades of guide rails 42, two grades of sliding blocks 43, Pyatyi semi-ring 37, two grades of guide rods 45, two grades of stage clips 44；Two two grades of guide rails 42 use spiral shell
The mode of nail connection is arranged in two grooves of the inner side of level Four semi-ring 36, two grades of sliding blocks 43 and two grades of guide rails
42 are slidably matched.The Pyatyi semi-ring devises two boss in both sides about 37, while being set in the outside of the Pyatyi semi-ring 37
Two prominent pilot holes are counted, two boss up and down and the two grades of sliding blocks 43 of the Pyatyi semi-ring 37 link together,
The Pyatyi semi-ring 37 can be slided along two grades of guide rails 42.
Two grades of guide rods 45 are plugged on the level Four semi-ring 36 by the way of interference connection, and two grades of guide rods
45 through the pilot hole on the outside of the Pyatyi semi-ring 37, along described two between the level Four semi-ring 36 and the Pyatyi semi-ring 37
Level guide rod 45 installs two two grades of stage clips 44, and two two grades of stage clips 44 are arranged on the both sides of pilot hole, and four two grades of pressures are installed altogether
The a series of detailed description of the those listed above of spring 44 illustrating only for the feasibility embodiment of the present invention, it
And be not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention or change
It should be included in the scope of the protection.
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 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, 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 (5)
1. a kind of master for upper limb healing exoskeleton mechanism is fused joint, it is characterised in that the upper limb healing ectoskeleton machine
Upper arm and the forearm connection of structure and human upper limb, by active joint and the fusion of passive sliding pair one at man-machine linkage interface
Rise, formation upper arm master is fused joint and forearm master is fused joint；
Upper arm master is fused joint and is connected by two grades of semi-rings with upper arm bondage, and two and half drive upper arm to turn around own axes
Dynamic, forearm master is fused joint and is connected by Pyatyi semi-ring with forearm bondage, and Pyatyi semi-ring drives forearm with forearm casing
Around own axis.
2. a kind of master for upper limb healing exoskeleton mechanism according to claim 1 is fused joint, it is characterised in that
Upper arm master be fused joint comprising upper arm casing, level synchronization band, level synchronization belt wheel, one-level semi-ring, one level of support roller, on
The passive sliding pair of arm；
Upper arm master is fused the kind of drive that joint uses timing belt, and power is transferred to level synchronization belt wheel, one by upper arm motor
Level synchronous pulley two ends are fixed on the two ends of one-level semi-ring, and level synchronization band driving one-level half is around own axis；
One level of support roller is in the both sides of upper arm casing, and four one level of support rollers are respectively installed in both sides, and one-level semi-ring is by both sides
One level of support roller supporting；
The inner side of one-level semi-ring has been symmetrical arranged two grooves along own axes direction.
3. a kind of master for upper limb healing exoskeleton mechanism according to claim 2 is fused joint, it is characterised in that
The passive sliding pair of upper arm is mounted with the inside of one-level semi-ring, the passive sliding pair of upper arm includes one-level guide rail, one-level sliding block, two and half
Ring, one-level guide rod, one-level stage clip；
Two one-level guide rails are arranged in two grooves on the inside of one-level semi-ring, and one-level sliding block is slidably matched with one-level guide rail；
Both sides devise two boss above and below two grades of semi-rings, and two boss are slided by annex of transferring with corresponding two one-levels up and down
Block is linked together, and two grades of semi-rings can be slided along one-level guide rail, and a through hole is set in the middle part of switching annex；
One-level guide rod is arranged on one-level semi-ring, and one-level guide rod is through the through hole in the middle part of switching annex, in one-level semi-ring and two
Four one-level stage clips are installed along one-level guide rod between level semi-ring, four one-level stage clips are arranged on the both sides of switching annex.
4. a kind of master for upper limb healing exoskeleton mechanism according to claim 1 is fused joint, it is characterised in that
Forearm master is fused joint and includes forearm casing, secondary synchronization band, two synchronous pulleys, three-level semi-ring, level Four semi-ring, Pyatyi half
Ring, two grades of back-up roller wheels, the passive sliding pairs of forearm；
Three-level semi-ring is connected with the elbow joint of upper limb healing exoskeleton mechanism, and three-level semi-ring is fixed with respect to elbow joint, the main quilt of forearm
Merge joint overall relative to the rotation of three-level semi-ring；
Forearm master is fused the kind of drive that joint uses timing belt, and power is transferred to secondary synchronization belt wheel, two by forearm motor
Level timing belt is engaged with secondary synchronization belt wheel, and secondary synchronization is fixed on the two ends of three-level semi-ring, the driving of secondary synchronization band with two ends
Forearm master is fused joint and rotated around the axis of three-level semi-ring；
Two grades of back-up roller wheels are arranged on the both sides of forearm casing, and four two grades of back-up roller wheels are respectively installed in both sides, forearm casing and preceding
The passive sliding pair of arm is supported on three-level semi-ring by two grades of back-up roller wheels；
Level Four semi-ring is fixed on forearm casing, and the inner side of level Four semi-ring has been symmetrical arranged two grooves along own axes direction.
5. a kind of master for upper limb healing exoskeleton mechanism according to claim 4 is fused joint, it is characterised in that
The passive sliding pair of forearm is mounted with the inside of level Four semi-ring, the passive sliding pair of forearm includes two grades of guide rails, two grades of sliding blocks, Pyatyis half
Ring, two grades of guide rods, two grades of stage clips；
Two two grades of guide rails are arranged in two grooves on the inside of level Four semi-ring, and two grades of sliding blocks are slidably matched with two grades of guide rails；
Both sides devise two boss above and below Pyatyi semi-ring, while devising two prominent guiding on the outside of Pyatyi semi-ring
Hole, two boss up and down of Pyatyi semi-ring are linked together with corresponding two two grades of sliding blocks, and Pyatyi semi-ring can be led along two grades
Rail is slided；
Two grades of guide rods are arranged on level Four semi-ring, and two grades of guide rods are through the pilot hole on the outside of Pyatyi semi-ring, in level Four semi-ring and
Four two grades of stage clips are installed along two grades of guide rods between Pyatyi semi-ring, four two grades of stage clips are arranged on the both sides of pilot hole.
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|---|---|---|---|
| CN201710332562.XA CN107198639B (en) | 2017-05-12 | 2017-05-12 | A kind of master for upper limb healing exoskeleton mechanism is fused joint |
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|---|---|---|---|
| CN201710332562.XA CN107198639B (en) | 2017-05-12 | 2017-05-12 | A kind of master for upper limb healing exoskeleton mechanism is fused joint |
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| CN107198639A true CN107198639A (en) | 2017-09-26 |
| CN107198639B CN107198639B (en) | 2019-05-03 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107806837A (en) * | 2017-10-29 | 2018-03-16 | 北京工业大学 | A kind of non-intrusion type wrist joint axis motion model measuring method |
| CN108186279A (en) * | 2017-12-27 | 2018-06-22 | 北京工业大学 | A kind of medial rotation for rehabilitation exoskeleton mechanism revolves extrinsic articulation |
| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | Rounding arc guide rail mechanism inside and outside a kind of upper limb ectoskeleton forearm |
| CN112536821A (en) * | 2020-12-02 | 2021-03-23 | 北方工业大学 | Exoskeleton design method for carrying load in situ |
| CN112603767A (en) * | 2021-01-04 | 2021-04-06 | 燕山大学 | Flexible exoskeleton type upper limb rehabilitation training device |
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| WO2015099858A3 (en) * | 2013-09-30 | 2015-10-08 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107806837A (en) * | 2017-10-29 | 2018-03-16 | 北京工业大学 | A kind of non-intrusion type wrist joint axis motion model measuring method |
| CN108186279A (en) * | 2017-12-27 | 2018-06-22 | 北京工业大学 | A kind of medial rotation for rehabilitation exoskeleton mechanism revolves extrinsic articulation |
| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | Rounding arc guide rail mechanism inside and outside a kind of upper limb ectoskeleton forearm |
| CN109730892B (en) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | Inner and outer circular arc guide rail mechanism for forearm of exoskeleton of upper limb |
| CN112536821A (en) * | 2020-12-02 | 2021-03-23 | 北方工业大学 | Exoskeleton design method for carrying load in situ |
| CN112603767A (en) * | 2021-01-04 | 2021-04-06 | 燕山大学 | Flexible exoskeleton type upper limb rehabilitation training device |
| CN112603767B (en) * | 2021-01-04 | 2022-04-01 | 燕山大学 | Flexible exoskeleton type upper limb rehabilitation training device |
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