CN107320910A - A kind of submissive rehabilitation ectoskeleton of upper limbs - Google Patents
A kind of submissive rehabilitation ectoskeleton of upper limbs Download PDFInfo
- Publication number
- CN107320910A CN107320910A CN201710518866.5A CN201710518866A CN107320910A CN 107320910 A CN107320910 A CN 107320910A CN 201710518866 A CN201710518866 A CN 201710518866A CN 107320910 A CN107320910 A CN 107320910A
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- forearm
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- large arm
- elbow joint
- inner ring
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 28
- 210000000245 forearm Anatomy 0.000 claims abstract description 144
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000010276 construction Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000013016 damping Methods 0.000 claims abstract description 13
- 230000010358 mechanical oscillation Effects 0.000 claims abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 230000003068 static effect Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 9
- 230000035876 healing Effects 0.000 claims description 7
- 210000004247 hand Anatomy 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 2
- 230000035939 shock Effects 0.000 abstract description 5
- 210000000323 shoulder joint Anatomy 0.000 description 5
- 210000003857 wrist joint Anatomy 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010057178 Osteoarthropathies Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of submissive rehabilitation ectoskeleton of upper limbs, including the large arm being sequentially connected, forearm and hand, large arm includes device of rotation driving, forearm is driven to rotate, the position that forearm passes through passive joint institutional adjustment hand and forearm, device of rotation driving also includes having inner ring, the elbow joint actuator and damping module connected in parallel of outer shroud and elastic construction, in motion process, the device of rotation driving of large arm drives the inner ring of elbow joint actuator to rotate, inner ring drives outer shroud to rotate by elastic construction, outer shroud drives forearm to rotate, damping module is used for suppressing the mechanical oscillation of the forearm produced in motion process by the elastic construction of elbow joint actuator.The submissive rehabilitation ectoskeleton integrated model of upper limbs of the present invention is light, and is avoided that the rigid shock in motion process, it is ensured that mechanism in itself and human body security, and the telescoping mechanism of big forearm ensure that mechanism adapts to the people of different statures, it is ensured that the applicability of mechanism.
Description
Technical field
The present invention relates to medical robot technical field, and in particular to a kind of submissive rehabilitation ectoskeleton of upper limbs.
Background technology
China human mortality radix is huge, and the limbs disability size of population increases year by year, and as aging process accelerates, physiology
The incidences of disease such as hypofunction, osteoarthropathy, cranial vascular disease increase so that the need of China's rehabilitation equipment supply and clinical rehabilitation
Obtain now huge vacancy.Rehabilitation section office of China and rehabilitation equipment supply wretched insufficiency, ended for the end of the year 2012, possess rehabilitation department
General hospital is 3288, far can not meet requirement.In addition, many patient homes are faced with more on medical rehabilitation again
Serious economic restriction.Therefore, exploitation has our the rehabilitation ectoskeletons of independent intellectual property right very urgent.
Rehabilitation ectoskeleton, as a kind of typical medical robot, is robot research and the focus of industry instantly, in being
One of the emphasis support of state's intelligence manufacture and developing direction.Be mostly conventional rehabilitation by doctor and patient carry out it is one-to-one,
Prolonged motion auxiliary treatment, or continue passively treatment to patient by machine.But, patient after the treatment half
Phase still needs can be only achieved preferable therapeutic effect by self neural domination progress rehabilitation training.Therefore, it is later half in rehabilitation
Stage phase should instruct the active of progress half and active training more than patient.And rehabilitation ectoskeleton can not only improve this repeated one
To one training efficiency it is low, cost is high and the work for the operation that should not be in, and can make treatment more quantify with it is scientific,
Some current rehabilitation ectoskeleton products are applied in clinic.
The research of upper limb healing ectoskeleton passes through the research of decades since last century, have developed it is towed,
The upper limb healing equipment of artificial-muscle pneumatic type, the form such as drive-type and exoskeleton-type of restricting.
Such as a kind of application publication number exoskeleton wearable upper limb rehabilitation disclosed in CN102499857A patent document
Robot, including shoulder joint ectoskeleton, elbow joint ectoskeleton, wrist joint ectoskeleton and hand ectoskeleton.Wherein, outside shoulder joint
Bone has two frees degree；Elbow joint ectoskeleton has two frees degree；Wrist joint ectoskeleton has one degree of freedom；Hand dermoskeleton
Bone has 3 frees degree.The total of eight free degree.It is driven and disc type electric machine, is realized using harmonic speed reducer for heavy-duty motor
Zero turn error and driving and the good fit of patient articular, can be driven by battery, solve Traditional Rehabilitation device
The problem of scope of activities is limited, with portable characteristic.But due to being rigidity for overall drive mechanism, lack between patient
Good interactive function, the rigid shock produced in motion process easily causes decelerator and the abrasion of other mechanisms, also can
Sense of discomfort is caused to patient..
The upper limb rehabilitation robot for the pneumatic muscles driving that application publication number provides for CN204562790U patent document,
It is characterized in that：Using the assist exercise form of ectoskeleton, upper limb shoulder joint of human body, elbow joint, wrist joint main movement are realized
The rehabilitation training of function.Robot includes shoulder joint, elbow joint, wrist joint.Wherein shoulder joint have flexing/stretching, extension, interior receipts/
Two frees degree of outer pendulum, elbow joint has flexing/stretching, extension one degree of freedom, and wrist joint has flexing/stretching, extension one degree of freedom.
All joint shafts are using two oppositely oriented pneumatic muscles drivings, and the submissive performance of motion of joint of robot is good, preferably
Ground meets the requirement of rehabilitation training ergonomics., can not in motion process but pneumatic muscles position control accuracy is low
Vibration is avoided, and pneumatic equipment needs the auxiliary equipment worn more, such as air pump etc., and work noise is larger, uses and takes
Band is inconvenient.
A kind of wearable two degrees of freedom ancon rehabilitation that application publication number provides for CN105411815A patent document
Trainer, it is related to a kind of ancon device for healing and training, specifically related to a kind of wearable two degrees of freedom ancon rehabilitation training
Device.But it is due to that therefore rigidity driving does not equally exist rigid shock problem.
In order to solve the problems of above-mentioned healing robot, main upper limbs health of the research with compliant characteristic of the present invention
Multiple exoskeleton robot.
The content of the invention
In view of the above-mentioned problems, the invention provides a kind of submissive rehabilitation ectoskeleton of upper limbs, solving prior art and being moved through
High rigidity present in journey, large impact, man-machine interaction experience are poor and lack actively/half active backward impedance training function etc.
Problem.
The technical scheme that the present invention takes is as follows:
A kind of submissive rehabilitation ectoskeleton of upper limbs, including large arm 1, forearm 2 and the hand 3 being sequentially connected, the large arm 1 include
Device of rotation driving 1.4, the forearm 2 described for driving is rotated, and described forearm 2 passes through passive joint institutional adjustment hand 3
With the position of described forearm 2, it is characterised in that
Described device of rotation driving 1.4 include an elbow joint actuator 1.4.5 and with described elbow joint actuator
1.4.5 damping module 1.4.6 in parallel, described elbow joint actuator 1.4.5 include the inner ring that with one heart and can be relatively rotated and
Elastic construction between outer shroud, and described inner ring 1.4.5.2 and described outer shroud 1.4.5.1；Described inner ring with it is described
Large arm connection, described outer shroud is connected with described forearm；
In motion process, the device of rotation driving 1.4 in described large arm 1 drives described elbow joint actuator 1.4.5
Inner ring rotate, described inner ring drives described outer shroud to rotate by described elastic construction, and described outer shroud drives described
Forearm 2 rotate, described damping module is used for suppressing the elasticity in motion process by described elbow joint actuator 1.4.5
The mechanical oscillation for the forearm that structure is produced.
Further, the large arm includes：
Large arm telescoping mechanism 1.1, for adjusting the length of large arm 1 along human arm；
Large arm holding unit 1.2, is fixed on described large arm telescoping mechanism 1.1, for binding human body large arm and upper limbs
Rehabilitation exoskeleton mechanism；
Motor rack 1.3, the motor rack 1.3 is arranged on the lower end of large arm telescoping mechanism 1.1, is driven for installing described rotation
Dynamic device 1.4；
Device of rotation driving 1.4, the rotation for driving forearm 2；
Spacing module 1.5, described spacing module 1.5 is fixed on the described end of device of rotation driving 1.4, for moving
The range of movement of described forearm 2 is limited under state in the range of human-body safety；
Static locking module mechanism 1.6, in described spacing module 1.5, for solid during static state traction
Determine the angle position of forearm 2；
Further, the device of rotation driving 1.4 includes：
It is fixed on the motor 1.4.1 on described motor rack 1.3；
It is fixed on the bevel gear set 1.4.2 coordinated on described motor rack 1.3 with motor 1.4.1；
It is fixed on the synchronous pulley group 1.4.3 coordinated on described motor rack 1.3 with described bevel gear set 1.4.2；
It is fixed on the harmonic speed reducer 1.4.4 coordinated on described motor rack 1.3 with described synchronous pulley group 1.4.3；
The elbow joint actuator 1.4.5 coordinated with described harmonic speed reducer 1.4.4；
The damping module 1.4.6 in parallel with described elbow joint actuator 1.4.5；
Described elbow joint actuator 1.4.5 includes the inner ring 1.4.5.2 and outer shroud that with one heart and can be relatively rotated
And the elastic construction between inner ring outer shroud 1.4.5.1,；Described inner ring 1.4.5.2 and described harmonic speed reducer 1.4.4
Fixed, outer shroud 1.4.5.1 is fixed with forearm output flange 2.1；
First angle sensor 1.4.7, it is fixedly connected with described elbow joint actuator 1.4.5 inner ring 1.4.5.2；
Second angle sensor 1.4.8, it is fixedly connected with described elbow joint actuator 1.4.5 outer shroud 1.4.5.1.
Further, the large arm telescoping mechanism 1.1 includes：
Large arm fixed block 1.1.1, for the motor rack 1.3 described in fixation and large arm holding unit 1.2；
Large arm sliding block 1.1.2, it is socketed with described large arm fixed block 1.1.1, and relative can slide；
First cam handle 1.1.3, it is fixed on described large arm fixed block 1.1.1 and can compress described large arm
Sliding block 1.1.2 and described large arm fixed block 1.1.1, required position is fixed on by frictional force by described large arm sliding block 1.1.2
Put.
Further, the large arm holding unit 1.2 includes：
It is fixed on described large arm sliding block 1.1.2 large arm fixed mount 1.2.1；
One group of large arm being fixed on described large arm holding unit frame fixes blade 1.2.2；
The large arm holding unit 1.2 is fixed on described large arm sliding block 1.1.2, can bind human body large arm.
Further, the forearm includes：
Forearm output flange 2.1, one end is hinged with described device of rotation driving 1.4；
Forearm stretches module 2.2, is fixedly connected with the other end of described forearm output flange 2.1；
Forearm holding unit 2.3, is fixed on described forearm and stretches in module 2.2, for fixing human forearm.
Further, the flexible module 2.2 of the forearm includes：
Forearm fixed block 2.2.1, is fixed on described forearm output flange 2.1；
Forearm sliding block 2.2.2, it is socketed with described forearm fixed block 2.2.1, and relative can slide；
Second cam handle 2.2.3, is fixed on described forearm fixed block 2.2.1, will be described small by frictional force
Arm sliding block 2.2.2 is fixed on required position.
Further, described forearm holding unit 2.3 includes the first forearm holding unit 2.3.1 and the second small arm fixing
Device 2.3.2；
The first forearm holding unit 2.3.1 includes：It is fixed on the first forearm on described forearm fixed block 2.2.1
Fixed mount 2.3.1.1；First group of forearm being fixed on the first described forearm fixed mount 2.3.1.1 fixes blade
2.3.1.2；
The second forearm holding unit 2.3.2 includes：The second forearm being fixed on described forearm sliding block 2.2.2 is consolidated
Determine frame 2.3.2.1；Second group of forearm being fixed on the second described forearm fixed mount 2.3.2.1 fixes blade 2.3.2.2；
Further, the hand 3 includes：
Wrist sidespin articulation mechanism 3.1, is fixed on the lower end of described forearm 2, can realize that the position of two angles is consolidated
It is fixed；
Hand bend and stretch joint mechanism 3.2, is fixed on the described lower end of wrist sidespin articulation mechanism 3.1, being capable of adjustment angle
The length and thickness of different human hands are adapted to, and knob latched position can be passed through；
Handle mechanism 3.3, is fixed on the described lower end of hand bend and stretch joint mechanism 3.2, is gripped for human hand.
The beneficial effects of the invention are as follows：Pass through structure optimization, it is ensured that the lightweight of upper limb healing ectoskeleton integrated model,
It ensure that required output torque and power.Pass through elbow joint actuator, it is to avoid the rigid shock occurred in motion process,
Ensure that mechanism in itself and human body security, by control algolithm, can also realize the backward impedance function in joint, meet
The rehabilitation later stage actively/half active rehabilitation training demand, contribute to lifted rehabilitation training effect.Pass through parallel connection damping
Element limits the shake of motion process elastic element, it is ensured that the positional precision of total system motion.Tied up using rigidity
Band, contributes to human body fixing structure to keep fixing angle.The telescoping mechanism of big forearm ensure that mechanism adapts to different statures
People, it is ensured that the applicability of mechanism.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the submissive rehabilitation ectoskeleton of upper limbs of the invention；
Fig. 2 is the structural representation of large arm；
Fig. 3 is the structural representation of forearm and hand；
Fig. 4 is device of rotation driving structural representation；
Fig. 5 is large arm holding device constructions schematic diagram；
Fig. 6 is forearm holding device constructions schematic diagram；
Fig. 7 is elbow joint actuator principle schematic；
Fig. 8 is elbow joint actuator structure schematic diagram；
1 large arm, 1.1 large arm telescoping mechanisms, 1.1.1 large arm fixed blocks, 1.1.2 large arm sliding blocks, 1.1.3 the first cam hands
Handle, 1.2 large arm holding units, 1.2.1 large arm fixed mounts, 1.2.2 large arm fixes blade, 1.3 motor racks, 1.4 rotation driving dresses
Put, 1.4.1 motors, 1.4.2 bevel gear sets, 1.4.3 synchronous pulley groups, 1.4.4 harmonic speed reducers, 1.4.5 elbow joints are held
Row device, 1.4.5.1 outer shrouds, 1.4.5.2 inner ring, 1.4.6 damping modules, 1.4.7 first angle sensors, 1.4.8 second angles
Sensor, 1.5 spacing modules, 1.6 static locking module mechanisms, 2 forearms, 2.1 forearm output flanges, 2.2 forearms stretch mould
Block, 2.2.1 forearm fixed blocks, 2.2.2 forearm sliding blocks, the cam handles of 2.2.3 second, 2.3 forearm holding units, 2.3.1 first
Forearm holding unit, 2.3.1.1 the first forearm fixed mounts, first group of forearm of 2.3.1.2 fixes blade, and the forearms of 2.3.2 second are consolidated
Device is held, 2.3.2.1 the first forearm fixed mounts, second group of forearm of 2.3.2.2 fixes blade, 3 hands, 3.1 wrist sidespin joints
Mechanism, 3.2 hand bend and stretch joint mechanisms, 3.3 handle mechanisms.
Embodiment
As shown in Fig. 1~8, a kind of submissive rehabilitation ectoskeleton of upper limbs, including large arm 1, forearm 2 and the hand 3 being hinged successively.
Device of rotation driving 1.4 of the large arm 1 provided with driving forearm 2.
Large arm 1 include be used for along human arm adjust the length of large arm 1 large arm telescoping mechanism 1.1, be fixed on large arm stretch
In mechanism 1.1, stretched for binding human body large arm with the large arm holding unit 1.2 of upper limb healing exoskeleton mechanism, installed in large arm
The lower end of contracting mechanism 1.1, for installing the motor rack 1.3 of device of rotation driving 1.4, the device of rotation driving for driving forearm 2
1.4th, the end of device of rotation driving 1.4 is fixed on, for limiting the range of movement of forearm 2 under motion state in human-body safety model
Enclose interior spacing module 1.5, in spacing module 1.5, the angle position for fixing forearm 2 during static state traction
The static locking module mechanism 1.6 put；
Large arm telescoping mechanism 1.1 includes, the large arm fixed block for fixing motor rack 1.3 and large arm holding unit 1.2
1.1.1, it is socketed with large arm fixed block 1.1.1, and relative can slides large arm sliding block 1.1.2 and the first cam handle
1.1.3, the first cam handle 1.1.3 is fixed on large arm fixed block 1.1.1 and can compress large arm sliding block 1.1.2 and large arm
Fixed block 1.1.1, required position is fixed on by frictional force by large arm sliding block 1.1.2.
Large arm holding unit 1.2 includes being fixed on large arm sliding block 1.1.2 large arm fixed mount 1.2.1 and being fixed on large arm consolidating
The one group of large arm held on device frame fixes blade 1.2.2, and large arm holding unit 1.2 is fixed on large arm sliding block 1.1.2, can
Bind human body large arm；
It is motor 1.4.1 that device of rotation driving 1.4 includes being fixed on motor rack 1.3, bevel gear set 1.4.2, same
Belt wheel group 1.4.3, harmonic speed reducer 1.4.4 are walked, in addition to the elbow joint coordinated with described harmonic speed reducer 1.4.4 is performed
Device 1.4.5, the damping module 1.4.6 in parallel with described elbow joint actuator 1.4.5, first angle sensor 1.4.7,
Two angular transducer 1.4.8, bevel gear set 1.4.2 and bevel gear set 1.4.2 coordinate, synchronous pulley group 1.4.3 and bevel gear set
1.4.2 coordinate, harmonic speed reducer 1.4.4 and synchronous pulley group 1.4.3 coordinates；
Elbow joint actuator 1.4.5 is single flexible member such as Fig. 8, and it includes the inner ring that with one heart and can be relatively rotated
1.4.5.2 the elastic construction between outer shroud 1.4.5.1, and inner ring outer shroud；Inner ring 1.4.5.2 and harmonic speed reducer 1.4.4
Fixed, outer shroud 1.4.5.1 is fixed with forearm output flange 2.1；First angle sensor 1.4.7, itself and elbow joint actuator
1.4.5 inner ring 1.4.5.2 is fixedly connected；Second angle sensor 1.4.8, it is with described elbow joint actuator 1.4.5's
Outer shroud 1.4.5.1 is fixedly connected.The structure can realize the compliance of motion, coordinate damping element in parallel to realize matter
The structure of spring-damp system is measured, by damping motion can be avoided to produce vibrations simultaneously in the compliance for ensureing motion, it is ensured that
The compliance of motion and the precision of position.
After the motor 1.4.1 of the application starts, subtracted by bevel gear set 1.4.2, synchronous pulley group 1.4.3 and harmonic wave
Fast device 1.4.4 drives inner ring 1.4.5.2 to be rotated relative to outer shroud 1.4.5.1, and outer shroud 1.4.5.1 is fixed with forearm 2, and is driven
Rotation process is realized in the motion of forearm 2.
Forearm includes forearm output flange 2.1, forearm flexible module 2.2, forearm holding unit 2.3, forearm output flange
2.1 one end are hinged with device of rotation driving 1.4, the other end is fixedly connected with the flexible module 2.2 of forearm, forearm holding unit
2.3, it is fixed on forearm and stretches in module 2.2, for fixing human forearm；
Forearm stretches module 2.2 again including forearm fixed block 2.2.1, forearm sliding block 2.2.2 and the second cam handle
2.2.3, forearm fixed block 2.2.1 is fixed on forearm output flange 2.1, forearm sliding block 2.2.2 and forearm fixed block 2.2.1
Socket, and relative can slide；Second cam handle 2.2.3 is fixed on forearm fixed block 2.2.1, by frictional force by forearm
Sliding block 2.2.2 is fixed on required position；
Forearm holding unit 2.3 includes the first forearm holding unit 2.3.1 and the second forearm holding unit 2.3.2, first
Forearm holding unit 2.3.1 includes the first forearm fixed mount 2.3.1.1 being fixed on forearm fixed block 2.2.1 and is fixed on
First group of forearm on first forearm fixed mount 2.3.1.1 fixes blade 2.3.1.2；
Second forearm holding unit 2.3.2 includes the second forearm fixed mount 2.3.2.1 being fixed on forearm sliding block 2.2.2
Blade 2.3.2.2 is fixed with second group of forearm being fixed on the second forearm fixed mount 2.3.2.1.
As shown in figure 3, hand 3 includes the wrist sidespin articulation mechanism 3.1 for being fixed on forearm sliding block 2.2.2 lower ends, it is fixed
Hand bend and stretch joint mechanism 3.2 in the lower end of wrist sidespin articulation mechanism 3.1, is fixed on the lower end of forearm bend and stretch joint mechanism 13
Handle mechanism 3.3；
Wrist sidespin articulation mechanism 3.1 can realize that the position of two angles is fixed, and hand bend and stretch joint mechanism 3.2 can
Adjustment angle adapts to the length and thickness of different human hands, and can be used for people by knob latched position, handle mechanism 3.3
Hand is gripped.
Operation principle of the present invention is big needed for by being determined to large arm sliding block 1.1.2 slips relative with large arm fixed block 1.1.1
Arm lengths are simultaneously fixed by the first cam handle 1.1.3 progress position, by forearm fixed block 2.2.1 and forearm sliding block
2.2.2 with respect to slide determine needed for forearm lengths and by the second cam handle 2.2.3 carry out position fix.And by big
Arm fixing device 1.2, first, second forearm holding unit 2.3.1,2.3.2, bind human arm by exoskeleton mechanism, pass through
Adjustment wrist sidespin articulation mechanism 3.1 reaches suitable hand thickness and length with hand bend and stretch joint mechanism 3.2, and passes through
Handle mechanism 3.3 is gripped.
The present invention has two kinds of mode of operations, dynamic mode and static state traction pattern.In dynamic mode, work as motor
When 1.4.1 starting working, synchronous pulley group 1.4.3, synchronous pulley group 1.4.3 transmissions are driven to by angular wheel group 1.4.2
To harmonic speed reducer 1.4.4, driven by harmonic wave accelerator 1.4.4 outside elbow joint actuator 1.4.5 inner ring 1.4.5.2, inner ring
Elastic construction between ring compresses and drives outer shroud 1.4.5.1 and rotated with the outer shroud 1.4.5.1 forearms 2 fixed and hand 3,
Dynamic rehabilitation pattern further is realized, the rigidity punching occurred in motion process is eliminated by elbow joint actuator 1.4.5 elasticity
Hit, it is to avoid the abrasion that rigid shock is brought to structure and the harm brought to human body.The vibrations that elastic construction is produced pass through resistance
Buddhist nun's module 1.4.6 suppresses, it is ensured that the positional precision of motion.First angle sensor 1.4.7 and harmonic speed reducer 1.4.4 are defeated
Shaft and elbow joint actuator 1.4.5 inner ring 1.4.5.2 are fixed, and determine turning for elbow joint actuator 1.4.5 inner ring 1.4.5.2
Dynamic angle, second angle sensor 1.4.8 is fixed with elbow joint actuator 1.4.5 outer shrouds 1.4.5.1, determines forearm 2 and hand
3 rotational angle, it is elastic construction that two angular transducers, which determine the difference of numerical value for elbow joint actuator inner and outer ring rotational angle difference,
Angle is compressed, load in motion process is obtained by being multiplied with elastic construction coefficient of elasticity and bears torque, integrated model is realized
Torque Control.Ensure that range of movement is in the range of human-body safety by spacing module 1.5 in motion process.
In static state traction pattern, when the locking forearm of static locking module mechanism 1.6 output flange 2.1, forearm 2 and large arm 1
Position is locked, and energy holding position, for static state traction arm muscles.
Claims (9)
1. a kind of submissive rehabilitation ectoskeleton of upper limbs, including large arm (1), forearm (2) and the hand (3) being sequentially connected, the large arm
(1) device of rotation driving (1.4) is included, described forearm (2) is rotated for driving, described forearm (2) passes through passive joint
The position of hand (3) and described forearm (2) described in institutional adjustment, it is characterised in that
Described device of rotation driving (1.4) include elbow joint actuator (1.4.5) and with described elbow joint actuator
Damping module (1.4.6) (1.4.5) in parallel, what described elbow joint actuator (1.4.5) included with one heart and can relatively rotated
Between inner ring (1.4.5.2) and outer shroud (1.4.5.1), and described inner ring (1.4.5.2) and described outer shroud (1.4.5.1)
Elastic construction；Described inner ring (1.4.5.2) is connected with described large arm, described outer shroud (1.4.5.1) with it is described small
Arm (2) is connected.
In motion process, the device of rotation driving (1.4) in described large arm (1) drives described elbow joint actuator
The inner ring of (1.4.5) is rotated, and described inner ring drives described outer shroud to rotate by described elastic construction, described outer band
Move described forearm (2) to rotate, described damping module (1.4.6) is used for suppressing in motion process being performed by described elbow joint
The mechanical oscillation for the forearm that the elastic construction of device (1.4.5) is produced.
2. the submissive rehabilitation ectoskeleton of upper limbs according to claim 1, the large arm includes：
Large arm telescoping mechanism (1.1), for adjusting described large arm (1) length along human arm；
Large arm holding unit (1.2), is fixed on described large arm telescoping mechanism (1.1), for bind human body large arm with it is described
Upper limb healing ectoskeleton；
Motor rack (1.3), the motor rack (1.3) is arranged on described large arm telescoping mechanism (1.1) lower end, described for installing
Device of rotation driving (1.4)；
Device of rotation driving (1.4), the rotation for driving forearm (2)；
Spacing module (1.5), described spacing module (1.5) is fixed on described device of rotation driving (1.4) end, for transporting
The range of movement of described forearm (2) is limited under dynamic state in the range of human-body safety；
Static locking module mechanism (1.6), in described spacing module (1.5), for solid during static state traction
The angle position of fixed described forearm (2).
3. the submissive rehabilitation ectoskeleton of upper limbs according to claim 2, the device of rotation driving (1.4) includes：
It is fixed on the motor (1.4.1) on described motor rack (1.3)；
It is fixed on the bevel gear set (1.4.2) coordinated on described motor rack (1.3) with described motor (1.4.1)；
It is fixed on the synchronous pulley group (1.4.3) coordinated on described motor rack (1.3) with described bevel gear set (1.4.2)；
It is fixed on the harmonic speed reducer coordinated on described motor rack (1.3) with described synchronous pulley group (1.4.3)
(1.4.4)；
The elbow joint actuator (1.4.5) coordinated with described harmonic speed reducer (1.4.4)；
The damping module (1.4.6) in parallel with described elbow joint actuator (1.4.5)；
Described elbow joint actuator (1.4.5) includes inner ring (1.4.5.2) and the outer shroud that with one heart and can be relatively rotated
Elastic construction between (1.4.5.1), and inner ring outer shroud；Described inner ring (1.4.5.2) and described harmonic speed reducer
(1.4.4) is fixed, and the output flange (2.1) of outer shroud (1.4.5.1) and described forearm is fixed；
First angle sensor (1.4.7), the inner ring (1.4.5.2) of itself and described elbow joint actuator (1.4.5) is fixed to be connected
Connect；
Second angle sensor (1.4.8), the outer shroud (1.4.5.1) of itself and described elbow joint actuator (1.4.5) is fixed to be connected
Connect.
4. the submissive rehabilitation ectoskeleton of upper limbs according to claim 2, the large arm telescoping mechanism includes：
Large arm fixed block (1.1.1), for the motor rack (1.3) described in fixation and large arm holding unit (1.2)；
Large arm sliding block (1.1.2), it is socketed with described large arm fixed block (1.1.1), and relative can slide；
First cam handle (1.1.3), it is fixed on described large arm fixed block (1.1.1) and can compress described large arm
Described large arm sliding block (1.1.2), is fixed on by sliding block (1.1.2) and described large arm fixed block (1.1.1) by frictional force
Required position.
5. the submissive rehabilitation ectoskeleton of upper limbs according to claim 2, the large arm holding unit (1.2) includes：
It is fixed on the large arm fixed mount (1.2.1) of described large arm sliding block (1.1.2)；
One group of large arm being fixed on described large arm fixing-holding rack (1.2.1) fixes blade (1.2.2)；
The large arm holding unit (1.2) is fixed on described large arm sliding block (1.1.2), can bind human body large arm.
6. the submissive rehabilitation ectoskeleton of upper limbs according to claim 1, the forearm (2) includes：
Forearm output flange (2.1), one end is hinged with described device of rotation driving (1.4)；
Forearm stretches module (2.2), with described forearm output flange 2.1) the other end be fixedly connected；
Forearm holding unit (2.3), is fixed on described forearm and stretches in module (2.2), for fixing human forearm.
7. the submissive rehabilitation ectoskeleton of upper limbs according to claim 6, forearm module (2.2) of stretching includes：
Forearm fixed block (2.2.1), is fixed on described forearm output flange (2.1)；
Forearm sliding block (2.2.2), it is socketed with described forearm fixed block (2.2.1), and relative can slide；
Second cam handle (2.2.3), is fixed on described forearm fixed block (2.2.1), will be described small by frictional force
Arm sliding block (2.2.2) is fixed on required position.
8. the submissive rehabilitation ectoskeleton of upper limbs according to claim 6, it is small that described forearm holding unit (2.3) includes first
Arm fixing device (2.3.1) and the second forearm holding unit (2.3.2)；
The first forearm holding unit (2.3.1) includes：It is fixed on the first forearm on described forearm fixed block (2.2.1)
Fixed mount (2.3.1.1)；First group of forearm being fixed on the first described forearm fixed mount (2.3.1.1) fixes blade
(2.3.1.2)；
The second forearm holding unit (2.3.2) includes：The second forearm being fixed on described forearm sliding block (2.2.2) is consolidated
Determine frame (2.3.2.1)；Second group of forearm being fixed on the second described forearm fixed mount (2.3.2.1) fixes blade
(2.3.2.2)。
9. the submissive rehabilitation ectoskeleton of upper limbs according to claim 1, the hand (3) includes：
Wrist sidespin articulation mechanism (3.1), is fixed on the lower end of described forearm (2), can realize that the position of two angles is consolidated
It is fixed；
Hand bend and stretch joint mechanism (3.2), is fixed on described wrist sidespin articulation mechanism (3.1) lower end, being capable of adjustment angle
The length and thickness of different human hands are adapted to, and knob latched position can be passed through；
Handle mechanism (3.3), is fixed on described hand bend and stretch joint mechanism (3.2) lower end, is gripped for human hand.
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