CN107569363A - A kind of wearable wrist recovery training Flexible Transmission ectoskeleton - Google Patents
A kind of wearable wrist recovery training Flexible Transmission ectoskeleton Download PDFInfo
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- CN107569363A CN107569363A CN201710792656.5A CN201710792656A CN107569363A CN 107569363 A CN107569363 A CN 107569363A CN 201710792656 A CN201710792656 A CN 201710792656A CN 107569363 A CN107569363 A CN 107569363A
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Abstract
A kind of wearable wrist recovery training Flexible Transmission ectoskeleton,The present invention relates to a kind of wrist to train Flexible Transmission ectoskeleton,The invention aims to solve the kind of drive in the prior art to use gear mesh transmission or wire cable transmission mechanism,The radial dimension of ectoskeleton is larger,The angle of parallelogram linkage is smaller to be interfered with human arm,The range of movement of spin also reduces,And ectoskeleton joint is low with the compatibility of human synovial,Cause it is man-machine between move it is uncoordinated,Wearing is uncomfortable,Reduce the scope of activities of joint motions,The problem of needing external skeletal joint mis-registry compensation,It includes spin wire rope gearing component,Flexible cross universal coupling transmission component,Forearm spin ring,Thin-wall bearing,Bearing holder (housing, cover) component,Forearm tightens part,Bend and stretch wire rope gearing component,The inclined lasso trick transmission component of chi oar,Coordinated movement of various economic factors mechanism rack,Coordinated movement of various economic factors mechanism assembly,Human hands fixation kit,The support frame of forearm first and forearm second support,The invention belongs to robot field.
Description
Technical field
The present invention relates to a kind of wrist to train Flexible Transmission ectoskeleton, and in particular to a kind of wearable wrist recovery training is soft
Property transmission ectoskeleton.
Background technology
Stiff traumatic wrist joint is after being fractured near wrist joint and wrist joint, carries out fixation outside long-term gypsum and is formed
A bad sequelae.Arthrodesis more than 6 weeks, anchylosis can be caused so that it is unfavorable the action such as to bend and stretch.Current
Treatment has two major classes, when operation, second, external therapy coordinates functional training.Operative treatment wound itself is larger, postoperative still to have hair
The chance of raw adhesion again, and outer therapy feature is taken exercise and then worked well.Rehabilitation exoskeleton system is to introduce robot technology
A kind of means that can be aided in or substitute Physical Therapist and carry out rehabilitation training among to clinic.Not only reduce the work of Physical Therapist
Measure, save rehabilitation cost, and objective data can be provided, evaluate the rehabilitation progress of rehabilitation clients, facilitate Physical Therapist to formulate and close
The rehabilitation strategies of reason.Because the human body wrist motion free degree is more, wrist size is small, and wrist recovery ectoskeleton generally there are at present
Volume is larger, and the free degree is on the low side, with human compatibility it is relatively low the problems such as.The spin mechanics of ectoskeleton forearm first are to influence wrist
The principal element of ectoskeleton, main at present to realize forearm and carpal spin using two ways, the first is to pass through annulus
Envelope arm, i.e., human arm directly passes through from annulus, during wrist internal/external rotations, relative can be turned by bearing between annulus
It is dynamic, so as to realize in elbow joint internal/external rotations, it ensure that the centre of gyration and human arm center superposition.And existing transmission
Mode is driven using gear mesh or wire cable transmission mechanism, causes the radial dimension of ectoskeleton larger；Second of use is gone the long way round
Cheng Zhongxin double parallel quadrangular mechanism so that radial dimension reduce, but parallelogram linkage angle it is smaller when, with
Human arm can interfere, and the range of movement of spin also reduces.Secondly wrist ectoskeleton joint is low with the compatibility of human synovial is
Because the inclined center of rotation of wrist joint chi oar is not fixed, ectoskeleton and human synovial decentraction are caused, i.e., caused by dislocation, is made
Uncoordinated into moving between man-machine, wearing is uncomfortable, and motor can also occur stall, reduce the scope of activities of joint motions, thus
Need external skeletal joint mis-registry compensation.Based on this, the present invention devises a kind of Three Degree Of Freedom for the Flexible Transmission for adapting to wearing
Wrist recovery exoskeleton robot.
The content of the invention
The invention aims to solve the kind of drive in the prior art to use gear mesh transmission or wire rope gearing
Mechanism, the radial dimension of ectoskeleton is larger, and the angle of parallelogram linkage is smaller to be interfered with human arm, spin
Range of movement also reduces, and ectoskeleton joint is low with the compatibility of human synovial, cause it is man-machine between move it is uncoordinated, wearing
Discomfort, reduce the scope of activities of joint motions, it is necessary to externally skeletal joint mis-registry compensation the problem of, and then provide a kind of wearing
Formula wrist recovery trains Flexible Transmission ectoskeleton.
It is of the invention to be for the technical scheme used that solves the above problems：
It includes spin wire rope gearing component, flexible cross universal coupling transmission component, forearm spin ring, thin wall shaft
Hold, bearing holder (housing, cover) component, forearm tighten part, bend and stretch wire rope gearing component, the inclined lasso trick transmission component of chi oar, coordinated movement of various economic factors mechanism branch
Frame, coordinated movement of various economic factors mechanism assembly, human hands fixation kit, two support frames of forearm first and two forearm second supports；From
Rotation wire rope gearing component is tightened on part installed in forearm, and forearm spin ring is arranged in bearing holder (housing, cover) component, and forearm spin ring
Thin-wall bearing is installed between bearing holder (housing, cover) component, one end of bearing holder (housing, cover) component and forearm tighten part and pass through two first, forearms
Support is fixedly connected, and one end of flexible cross universal coupling transmission component is fixedly connected with forearm spin ring, and stretch cross ten thousand
It is connected to the other end of shaft coupling transmission component with spin wire rope gearing component, bends and stretches wire rope gearing component and chi oar covers partially
Rope transmission component is separately mounted in a forearm second support, and two forearm second supports are arranged on forearm spin ring, association
Motion support and two forearm second supports are adjusted to be rotatablely connected, coordinated movement of various economic factors mechanism assembly is arranged on coordinated movement of various economic factors mechanism branch
On frame, human hands fixation kit is arranged on coordinated movement of various economic factors mechanism assembly, and the inclined lasso trick transmission component of chi oar is with adjusting motion
Support connects with coordinated movement of various economic factors mechanism assembly.
The beneficial effects of the invention are as follows：
1st, the wearable wrist joint healing robot of the present invention can drive human body wrist joint to complete flexion/extension, and the inclined oar of chi is inclined
The rotation of the medial rotation of motion and forearm is outer to be moved, and auxiliary wrist joint function obstacle person is lived, and available for the wrist joint of patient
Rehabilitation training.
2nd, the inclined drive mechanism of the inclined oar of chi of the invention is a kind of underactuatuated drive, by increasing by two passive freedom degrees, is made
Ectoskeleton chi is suitable for the change of human synovial rotating shaft with oar yawing axis axis partially so that partially and bent and stretched dynamic in ectoskeleton chi oar
When making, dislocation is compensated, it is more preferable with the sports coordination of human body.
3rd, the present invention use wire rope gearing, wire rope gearing efficiency high, precision height, stable drive and noise is small.
4th, double parallel quadrangle coordination organization of the invention can self-adapting stretching, without manually adjusting, wearing is more
For convenience, different pushing sizes is adapted to.
5th, the present invention can be used for wrist joint paralytic, the life auxiliary of the stiff patient of wrist joint and rehabilitation training.
6th, ectoskeleton forearm spin is driven using scalable shaft coupling, while ensureing that ectoskeleton radial dimension is small,
Also it can guarantee that the scope of activities degree in joint.
Brief description of the drawings
Fig. 1 is overall structure front view of the present invention, and Fig. 2 is spin wire rope gearing component 1, forearm spin ring 4 and thin-walled
The scheme of installation of bearing 5, Fig. 3 are the flexible scheme of installations of cross universal coupling transmission component 2, and Fig. 4 is to bend and stretch steel wire rope biography
The dynamic scheme of installation of component 8, Fig. 5 is the inclined scheme of installation of lasso trick transmission component 9 of chi oar, and Fig. 6 is coordinated movement of various economic factors mechanism assembly 12
Scheme of installation, Fig. 7 are the first rod member 1201, the second rod member 1202, the 3rd rod member 1203, the 4th rod member 1204, the 5th rod member
1205 and the scheme of installation of the 6th rod member 1206, Fig. 8 are the schematic diagrames that the present invention is arranged on forearm, and Fig. 9 is installation of the present invention
Schematic diagram on forearm, before Figure 10 is spin wire rope gearing component 1, the cross universal coupling transmission component 2 that stretches drives
The arm spin rotary principle figure of ring 4, Figure 11 are that lasso trick steel wire rope 907 drives the first coordinated movement of various economic factors mechanism steel wire rope wheel 1208, second
On coordinated movement of various economic factors mechanism steel wire rope wheel 1209, the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210 and the rotation work principle of guide wheel 1211
Figure, Figure 12 are that lasso trick steel wire rope 907 drives the first coordinated movement of various economic factors mechanism steel wire rope wheel 1208, the second coordinated movement of various economic factors mechanism steel wire rope
Take turns on the 1209, the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210 and guide wheel 1211 rotates schematic diagram.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of wearable wrist described in present embodiment with reference to Fig. 1-Fig. 9
Rehabilitation training Flexible Transmission ectoskeleton, it includes spin wire rope gearing component 1, flexible cross universal coupling transmission component
2nd, forearm spin ring 4, thin-wall bearing 5, bearing holder (housing, cover) component 6, forearm tighten part 7, bend and stretch wire rope gearing component 8, chi oar covers partially
13, two rope transmission component 9, coordinated movement of various economic factors mechanism rack 11, coordinated movement of various economic factors mechanism assembly 12, human hands fixation kit forearms
First support frame 3 and two forearm second supports 10；Spin wire rope gearing component 1 is tightened on part 7 installed in forearm, and forearm is certainly
Rotation ring 4 is arranged in bearing holder (housing, cover) component 6, and is provided with thin-wall bearing 5, bearing between forearm spin ring 4 and bearing holder (housing, cover) component 6
One end of set component 6 tightens part 7 with forearm and is fixedly connected by two the first support frames of forearm 3, and stretch cross universal coupling
One end of transmission component 2 and forearm spin ring 4 are fixedly connected, the other end for the cross universal coupling transmission component 2 that stretches with from
Rotation wire rope gearing component 1 connects, and bends and stretches wire rope gearing component 8 and the inclined lasso trick transmission component 9 of chi oar is separately mounted to one
In forearm second support 10, two forearm second supports 10 are arranged on forearm spin ring 4, coordinated movement of various economic factors mechanism rack 11 and two
Individual forearm second support 10 is rotatablely connected, and coordinated movement of various economic factors mechanism assembly 12 is arranged on coordinated movement of various economic factors mechanism rack 11, human body hand
Portion's fixation kit 13 is arranged on coordinated movement of various economic factors mechanism assembly 12, and the inclined lasso trick transmission component 9 of chi oar is with adjusting motion support 11
Connected with coordinated movement of various economic factors mechanism assembly 12.
Embodiment two：Illustrate present embodiment, a kind of wearable wrist described in present embodiment with reference to Fig. 1-Fig. 3
Rehabilitation training Flexible Transmission ectoskeleton, forearm, which tightens part 7, includes top support body and lower curved plate, top support body and lower curved
Plate is connected by multiple bolt threads, and tightening part 7 by forearm tightens on the forearm to reactivate, other and specific embodiment party
Formula one is identical.
Embodiment three：Illustrate present embodiment, one kind described in present embodiment with reference to Fig. 1, Fig. 2, Fig. 8 and Fig. 9
Wearable wrist recovery trains Flexible Transmission ectoskeleton, spin wire rope gearing component 1 include spin wire rope gearing motor, from
The driven wheel support of dynamic steel wire rope, automatic steel wire rope driving wheel 101, automatic steel wire rope driven pulley 102, the pre- bearing up pulley of automatic steel wire rope
103rd, the pre- bearing up pulley pre-loading screw 104 of automatic steel wire rope, the pre- bearing up pulley guide plate 105 of automatic steel wire rope, the pre- bearing up pulley of automatic steel wire rope are pre-
Bearing up pulley slide unit 106 and the pre- bearing up pulley steel wire rope 107 of automatic steel wire rope；Automatic steel wire rope driving wheel 101 is sleeved on spin steel wire rope and passed
On the output revolving shaft of dynamic motor, the automatic pre- bearing up pulley pretension wheel slide unit 106 of steel wire rope is slidably arranged in the pre- bearing up pulley of automatic steel wire rope and led
To on plate 105, the automatic pre- rotation connection of bearing up pulley 103 of steel wire rope is arranged on the pre- bearing up pulley pretension wheel slide unit 106 of automatic steel wire rope, from
The dynamic pre- rotation connection of bearing up pulley pre-loading screw 104 of steel wire rope is arranged on the pre- bearing up pulley guide plate 105 of automatic steel wire rope, and automatic steel wire
The restrict bottom of pre- bearing up pulley pre-loading screw 104 is threadedly coupled with the pre- bearing up pulley pretension wheel slide unit 106 of automatic steel wire rope, automatic steel wire rope
The rotation connection of driven pulley 102 is arranged on the driven wheel support of automatic steel wire rope, the automatic pre- bearing up pulley guide plate 105 of steel wire rope and automatic
Steel wire rope driven pulley is tightened on the top support body of part 7 installed in forearm, and the automatic pre- bearing up pulley steel wire rope 107 of steel wire rope is sequentially sleeved at
On automatic steel wire rope driving wheel 101, automatic steel wire rope driven pulley 102 and the pre- bearing up pulley 103 of automatic steel wire rope, automatic steel wire rope is actively
The centerline parallel of the center line and the center line of automatic steel wire rope driven pulley 102 and the pre- bearing up pulley 103 of automatic steel wire rope of wheel 101 is set
Put, it is other identical with embodiment two.
The pre- bearing up pulley pretension wheel of automatic steel wire rope is adjusted by the pre- bearing up pulley pre-loading screw 104 of automatic steel wire rope in present embodiment
Slide unit 106 slides on the pre- bearing up pulley guide plate 105 of automatic steel wire rope and then adjusts the tensile force of the pre- bearing up pulley 103 of automatic steel wire rope,
By spinning wire rope gearing motor and the pre- bearing up pulley steel wire rope 107 of automatic steel wire rope drives automatic steel wire rope driving wheel 101, automatic
Steel wire rope driven pulley 102 and the pre- bearing up pulley 103 of automatic steel wire rope rotate.
Embodiment four：Illustrate present embodiment, one kind described in present embodiment with reference to Fig. 1, Fig. 3, Fig. 8 and Fig. 9
Wearable wrist recovery trains Flexible Transmission ectoskeleton, and flexible cross universal coupling transmission component 2 includes the first miniature shaft coupling
It is universal to save the 201, first Hooks coupling universal coupling connecting seat, the first cross axle 202, regular hexagon shaft coupling 203, shaft coupling sleeve 204, second
Shaft coupling connecting seat, the second cross axle 205 and the second miniature shaft coupling 206；Rotating shaft on automatic steel wire rope driven pulley 102 with
One end of first miniature shaft coupling 201 is fixedly connected, the other end of the first miniature shaft coupling 201 by the first cross axle 202 with
One end connection of first Hooks coupling universal coupling connecting seat, the other end and the regular hexagon shaft coupling 203 of the first Hooks coupling universal coupling connecting seat
One end be fixedly connected, one end of one end of the second miniature shaft coupling 206 and forearm spin ring 4 is fixedly connected, and second is universal
One end of axle device connecting seat is connected by the second cross axle 205 with the other end of the second miniature shaft coupling 206, shaft coupling sleeve 204
Inside it is machined with regular hexagon through hole corresponding with regular hexagon shaft coupling 203, one end of shaft coupling sleeve 204 and the second Hooks coupling universal coupling
The other end of connecting seat is fixedly connected, and regular hexagon shaft coupling 203 is inserted into the regular hexagon through hole of shaft coupling sleeve 204.It is other
It is identical with embodiment three.
Automatic steel wire rope driving wheel 101 is driven automatically by the pre- bearing up pulley steel wire rope 107 of automatic steel wire rope in present embodiment
Steel wire rope driven pulley 102 is rotated, and the first miniature shaft coupling 201, the first cross axle are driven by automatic steel wire rope driven pulley 102
202nd, regular hexagon shaft coupling 203, shaft coupling sleeve 204, the second Hooks coupling universal coupling connecting seat, the second cross axle 205 and second are miniature
Shaft coupling 206 rotates, and drives forearm spin ring 4 to rotate by the second miniature shaft coupling 206, realizes that the medial rotation rotation of human body forearm is outer
Motion, the first miniature shaft coupling 201 is parallel with the second miniature space of shaft coupling 206, therefore the first miniature shaft coupling 201 and second
The input of miniature shaft coupling 206 is equal with the torque and angle that export.Simultaneously because the maximum angle of regular hexagon shaft coupling 203 can
Up to 60 degree, the collapsing length of the scalable shaft coupling of reasonable selection, ensure that ectoskeleton can reach -90 degree to 90 degree of range of movement.
Embodiment five：Illustrate present embodiment, one kind described in present embodiment with reference to Fig. 1, Fig. 4, Fig. 8 and Fig. 9
Wearable wrist recovery trains Flexible Transmission ectoskeleton, and bending and stretching wire rope gearing component 8 includes bending and stretching wire rope gearing motor, bends
Steel wire rope driving wheel 801 is stretched, steel wire rope driven pulley 802 is bent and stretched, bends and stretches the pre- bearing up pulley 803 of steel wire rope, bends and stretches steel wire rope pretension skidding
Platform 804, the pre- bearing up pulley steel wire rope 805 of steel wire rope is bent and stretched, bend and stretch wire rope gearing motor cabinet 806 and bends and stretches the pre- bearing up pulley pretension of steel wire rope
Screw 807；Wire rope gearing motor cabinet 806 is bent and stretched in a forearm second support 10, bends and stretches wire rope gearing motor
Installed in bending and stretching on wire rope gearing motor cabinet 806, bend and stretch steel wire rope driving wheel 801 and be sleeved on and bend and stretch wire rope gearing motor
On, two forearm second supports 10 are relatively fixed on forearm spin ring 4 respectively, and coordinated movement of various economic factors mechanism rack 11 is handstand
" Qian " font, two vertical plates of coordinated movement of various economic factors mechanism rack 11 pass through two rotating shafts with two forearm second supports 10 respectively
Rotation connection, bends and stretches the rotating shaft of steel wire rope driven pulley 802 and consolidates with any one vertical plate bottom of coordinated movement of various economic factors mechanism rack 11
Fixed connection, and bend and stretch the axis and coordinated movement of various economic factors mechanism rack 11 and two forearm second supports of the rotating shaft of steel wire rope driven pulley 802
10 rotation connection rotating shafts two axis overlap, bend and stretch steel wire rope pretension wheel slide unit 804 by bolt be arranged on bend and stretch steel wire
On two bar holes of rope drive motor cabinet 806, bend and stretch the pre- bearing up pulley 803 of steel wire rope be arranged on bend and stretch steel wire rope pretension wheel slide unit
On 804, the end of thread for bending and stretching the pre- bearing up pulley pre-loading screw 807 of steel wire rope is threadedly coupled with bending and stretching steel wire rope pretension wheel slide unit 804, is bent
The other end for stretching the pre- bearing up pulley pre-loading screw 807 of steel wire rope is stuck in and bent and stretched on wire rope gearing motor cabinet 806, bends and stretches steel wire rope pretension
Wheel steel wire rope 805, which is sleeved on, to be bent and stretched steel wire rope driving wheel 801, bend and stretch steel wire rope driven pulley 802 and bends and stretches the pre- bearing up pulley 803 of steel wire rope
On, bend and stretch the central axis of steel wire rope driving wheel 801 and bend and stretch the central axis of steel wire rope driven pulley 802 and to bend and stretch steel wire rope pre-
The centerline axis parallel of bearing up pulley 803 is set, other identical with embodiment three.
The pre- bearing up pulley pre-loading screw 807 of steel wire rope is bent and stretched in rotation when present embodiment works, and bends and stretches steel wire rope pretension wheel slide unit
804 slide on the pre- bearing up pulley guide plate of steel wire rope is bent and stretched, and regulation bends and stretches the pre- bearing up pulley steel wire rope 805 of steel wire rope and carries out pretension, opens
Bend and stretch wire rope gearing motor driven and bend and stretch steel wire rope driving wheel 801 and rotate, and then drive and bend and stretch 802 turns of steel wire rope driven pulley
Dynamic, the rotating shaft that steel wire rope driven pulley 802 is bent and stretched by driving drives coordinated movement of various economic factors mechanism rack 11 around two forearm second supports
10 rotate, and realize that wrist joint is bent and stretched.
Embodiment six：Illustrate present embodiment, one kind described in present embodiment with reference to Fig. 1, Fig. 5, Fig. 8 and Fig. 9
Wearable wrist recovery trains Flexible Transmission ectoskeleton, and the inclined lasso trick transmission component 9 of chi oar includes lasso trick wire rope gearing motor, set
Rope steel wire rope driving wheel 901, lasso trick steel wire rope pretension plate 902, lasso trick wire rope gearing motor cabinet 904, lasso trick pre-loading screw
905th, 907, two, the lasso trick steel wire rope lasso trick wire rope casing 906 of lasso trick guide plate 908, two and four lasso trick head tube hoops 903；
Lasso trick wire rope gearing motor cabinet 904 is fixedly mounted in another forearm second support 10, lasso trick wire rope gearing motor peace
On lasso trick wire rope gearing motor cabinet 904, a lasso trick is set with the output end of lasso trick wire rope gearing machine shaft
Steel wire rope driving wheel 901, lasso trick steel wire rope pretension plate 902 is arranged on lasso trick wire rope gearing motor cabinet 904, and lasso trick steel wire
Two lasso trick head tube hoops 903, two sets are provided between transverse slat on rope pretension plate 902 and lasso trick wire rope gearing motor cabinet 904
Rope guide plate 908 is separately mounted on the top of two vertical plates of coordinated movement of various economic factors mechanism rack 11, each lasso trick guide plate 908
It is upper to be machined with a lasso trick head tube hoop mounting hole respectively, and a lasso trick head tube hoop is installed in each lasso trick head tube hoop mounting hole
903, and on the lasso trick head tube hoop 903 in each lasso trick head tube hoop mounting hole respectively with a lasso trick wire rope casing 906 one
End is fixedly connected, and the other end of each lasso trick wire rope casing 906 respectively with lasso trick steel wire rope pretension plate 902 and lasso trick steel wire
A lasso trick head tube hoop 903 on rope drive motor cabinet 904 is fixedly connected, and one end of lasso trick steel wire rope 907 bypasses lasso trick steel wire
Rope driving wheel 901 simultaneously sequentially passes through a lasso trick wire rope casing 906, coordinated movement of various economic factors mechanism assembly 12 another and lasso trick steel
Cord sleeve pipe 906 is fixedly connected with the other end of lasso trick steel wire rope 907.It is other identical with embodiment five.
Rotated in present embodiment by lasso trick wire rope gearing motor driven lasso trick steel wire rope driving wheel 901.
Embodiment seven：Illustrate present embodiment with reference to Fig. 1, Fig. 6-Fig. 9, it is a kind of wearable described in present embodiment
Wrist recovery trains Flexible Transmission ectoskeleton, and coordinated movement of various economic factors mechanism assembly 12 includes the first rod member 1201, the second rod member 1202, the
Three rod members 1203, the 4th rod member 1204, the 5th rod member 1205, the 6th rod member 1206, guide wheel bar 1207, the first coordinated movement of various economic factors mechanism
Wire rope pulley 1208, the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209, the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210 and guide wheel
1211；One end of first rod member 1201 and one end of the second rod member 1202 are arranged on the coordinated movement of various economic factors by bearing pin rotation connection respectively
On the transverse slat on the top of mechanism rack 11, and the first coordinated movement of various economic factors mechanism steel is provided between the first rod member 1201 and the second rod member 1202
The rotating shaft of cord wheel 1208, the bottom of the rotating shaft of the first coordinated movement of various economic factors mechanism steel wire rope wheel 1208 are fixedly mounted on coordinated movement of various economic factors mechanism
On the transverse slat of support 11, the rotation connection of the first coordinated movement of various economic factors mechanism steel wire rope wheel 1208 is sleeved on the first coordinated movement of various economic factors mechanism steel wire
In the rotating shaft of rope sheave 1208, the other end of the other end of the first rod member 1201 and the second rod member 1202 passes through bearing pin and the 3rd
Rod member 1203 is rotatablely connected, and rotating shaft of the 3rd rod member 1203 provided with the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209, and second
The bottom of the rotating shaft of coordinated movement of various economic factors mechanism steel wire rope wheel 1209 is fixedly mounted on the 3rd rod member 1203, the second coordinated movement of various economic factors mechanism steel
The rotation connection of cord wheel 1209 is sleeved in the rotating shaft of the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209, the He of the first rod member 1201
Guide wheel bar 1207 is provided between second rod member 1202, the both ends of guide wheel bar 1207 pass through two bearing pins and the first rod member 1201 respectively
Middle part and the second rod member 1202 middle part rotation connection, the rotating shaft of guide wheel 1211 is arranged on guide wheel bar 1207, and guide wheel
The bottom of 1211 rotating shafts is fixedly connected with guide wheel bar 1207, and guide wheel bar 1207 is rotatablely connected the rotating shaft for being sleeved on guide wheel bar 1207
On, one end of the 4th rod member 1204 and one end of the 5th rod member 1205 are arranged on the 3rd rod member 1203 by bearing pin rotation connection
On, the other end of the 4th rod member 1204 and the other end of the 5th rod member 1205 are arranged on the 6th rod member by bearing pin rotation connection
On 1206, the rotating shaft of the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210 is arranged on the 6th rod member 1206, the 3rd coordinated movement of various economic factors machine
The bottom of the rotating shaft of structure wire rope pulley 1210 is fixedly mounted on the 6th rod member 1206, the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210
Rotation connection is sleeved in the rotating shaft of the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210, the first coordinated movement of various economic factors mechanism steel wire rope wheel
The center line and the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel of 1208 center line, the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209
1210 centerline parallel is set, and the 6th rod member 1206 is rotatablely connected with the 4th rod member 1204 and the 5th rod member 1205, human body hand
Portion's fixation kit 13 is rotatablely connected with the 6th rod member 1206, and lasso trick steel wire rope 907 is sequentially sleeved at the first coordinated movement of various economic factors mechanism steel
Cord wheel 1208, the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209, on the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210, and lasso trick
Steel wire rope 907 is set around guide wheel 1211, the center line and the 3rd bar of the upper cross plate of coordinated movement of various economic factors mechanism rack 11 along its length
The center line along its length of part 1203, the 6th rod member 1206 center line along its length and guide wheel bar 1207 are along its length
Centerline parallel set, the first rod member 1201 is equal with the distance of shaft centers that the second rod member 1202 rotates, coordinated movement of various economic factors mechanism rack
11st, the distance of shaft centers that the 3rd rod member 1203, the 6th rod member 1206 and guide wheel bar 1207 rotate is equal, other and embodiment
Six is identical.
Present embodiment lasso trick steel wire rope driving wheel 901 drives the first coordinated movement of various economic factors mechanism steel by lasso trick steel wire rope 907
Cord wheel 1208, the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209 and the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel 1210 rotate, and enter
And human hands fixation kit 13 is driven, realize that the wrist joint chi of people is inclined, oar biased is made.
Forearm spin mechanics operation principle：
As shown in figs. 10-12：Motor drives wire rope gearing component, and output torque is by the way that scalable shaft coupling is delivered to
The shaft coupling other end rotates, and then forearm collar is rotated, and finally realizes that the medial rotation rotation of human body forearm is outer and moves, summarizes torque
Transfer route is axle z --- axle z-b --- axle z1.Scalable coupling assembly both ends shaft coupling carry down shaft line z-a and forearm from
Spin axis line z-b spaces are parallel, therefore the power of the input and output of the first miniature shaft coupling (201) and the second miniature shaft coupling (206)
Square and angle are equal.Simultaneously because the first miniature shaft coupling (201) and the second miniature shaft coupling (206) and regular hexagon shaft coupling
(203) maximum angle the collapsing length of the scalable shaft coupling of reasonable selection, ensures ectoskeleton forearm collar angle of rotation up to 30 degree
Degree can reach -90 degree to 90 degree of range of movement, while ensure higher transmission stiffness.Therefore the mechanism freedom is：
Bend and stretch wire rope gearing motor driven and bend and stretch steel wire rope driving wheel (801) and bend and stretch steel wire rope driven pulley (802) and turn
It is dynamic, and then drive coordinated movement of various economic factors mechanism rack (11) to be rotated around two forearm second supports (10), so as to realize that wrist joint is bent and stretched,
The lower coordinated movement of various economic factors mechanism rack (11) of duplex bearing effect rotates around two forearm second supports (10) makes transmission stiffness higher.
Lasso trick wire rope gearing motor driven lasso trick steel wire rope driving wheel (901), driven to by lasso trick steel wire rope (907)
Rod member in double parallel quadrilateral structure coordinated movement of various economic factors component, drive the first coordinated movement of various economic factors mechanism steel wire rope wheel (1208), second
Coordinated movement of various economic factors mechanism steel wire rope wheel (1209) and the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel (1210) rotate, and then drive human body hand
Portion's fixation kit (13), realize chi partially, oar biased make.
The mathematical principle of double parallel quadrangle coordinated movement of various economic factors mechanism is as shown in the figure：This is peaceful to rotate by the Kinematic Decomposition of hand
The movement in face, L9h rod members represent to be coupled with hand.The double parallel quadrangular mechanism realizes that translation determines the position of L9h bars,
L9 bars are directly driven, determine L9h corner.Assuming that the rope length for moving into connecting rod of connecting rod is XL, then its expression formula be：
Wherein Δ L represents remaining rope length, is steady state value during mechanism kinematic.
It can be obtained by the geometrical constraint of connecting rod again
WhereinFor chi partially/oar inclination angle, if making each wheel radius r1=r2=r3=r, guide wheel o4Radius r0Then have
Have and X is understood in the formulaLWithLinear function, it is unrelated with the interior angle of each parallelogram.Therefore when compensation is closed
During section dislocation, each parallelogram interior angle change, the rod member L9h coupled with human hand position changes, until hand and rod member
Interaction force be zero, stillBut remain constant.
Claims (7)
- A kind of 1. wearable wrist recovery training Flexible Transmission ectoskeleton, it is characterised in that：It includes spin wire rope gearing group Part (1), flexible cross universal coupling transmission component (2), forearm spin ring (4), thin-wall bearing (5), bearing holder (housing, cover) component (6), Forearm tightens part (7), bends and stretches the inclined lasso trick transmission component (9) of wire rope gearing component (8), chi oar, coordinated movement of various economic factors mechanism rack (11), before coordinated movement of various economic factors mechanism assembly (12), human hands fixation kit (13), two support frames of forearm first (3) and two Arm second support (10)；Spin wire rope gearing component (1) is tightened on part (7) installed in forearm, and forearm spin ring (4) is arranged on In bearing holder (housing, cover) component (6), and thin-wall bearing (5), bearing set group are installed between forearm spin ring (4) and bearing holder (housing, cover) component (6) One end of part (6) tightens part (7) with forearm and is fixedly connected by two support frames of forearm first (3), and stretch cross universal shaft coupling One end of device transmission component (2) is fixedly connected with forearm spin ring (4), and stretch the another of cross universal coupling transmission component (2) One end is connected with spin wire rope gearing component (1), bends and stretches wire rope gearing component (8) and the inclined lasso trick transmission component (9) of chi oar It is separately mounted on a forearm second support (10), two forearm second supports (10) are arranged on forearm spin ring (4), association Motion support (11) is adjusted to be rotatablely connected with two forearm second supports (10), coordinated movement of various economic factors mechanism assembly (12) is arranged on association Adjust on motion support (11), human hands fixation kit (13) is arranged on coordinated movement of various economic factors mechanism assembly (12), and chi oar is inclined Lasso trick transmission component (9) is with adjusting motion support (11) and coordinated movement of various economic factors mechanism assembly (12) to be connected.
- 2. stating a kind of wearable wrist recovery according to claim 1 trains Flexible Transmission ectoskeleton, it is characterised in that：Forearm tightens Part (7) includes top support body and lower curved plate, and top support body is connected with lower curved plate by multiple bolt threads.
- A kind of 3. wearable wrist recovery training Flexible Transmission ectoskeleton according to claim 2, it is characterised in that：Spin steel Cord transmission component (1) includes spin wire rope gearing motor, the driven wheel support of automatic steel wire rope, automatic steel wire rope driving wheel (101), automatic steel wire rope driven pulley (102), the pre- bearing up pulley of automatic steel wire rope (103), the pre- bearing up pulley pre-loading screw of automatic steel wire rope (104), the pre- bearing up pulley guide plate (105) of automatic steel wire rope, the pre- bearing up pulley pretension wheel slide unit (106) of automatic steel wire rope and automatic steel wire rope Pre- bearing up pulley steel wire rope (107)；Automatic steel wire rope driving wheel (101) is sleeved on the output revolving shaft of spin wire rope gearing motor, The automatic pre- bearing up pulley pretension wheel slide unit (106) of steel wire rope is slidably arranged on the pre- bearing up pulley guide plate (105) of automatic steel wire rope, automatic steel The pre- bearing up pulley of cord (103) rotation connection is arranged on the pre- bearing up pulley pretension wheel slide unit (106) of automatic steel wire rope, automatic steel wire rope pretension Wheel pre-loading screw (104) rotation connection is arranged on the pre- bearing up pulley guide plate (105) of automatic steel wire rope, and the pre- bearing up pulley of automatic steel wire rope The bottom of pre-loading screw (104) bearing up pulley pretension wheel slide unit (106) pre- with automatic steel wire rope is threadedly coupled, automatic steel wire rope driven pulley (102) rotation connection is arranged on the driven wheel support of automatic steel wire rope, the automatic pre- bearing up pulley guide plate (105) of steel wire rope and automatic steel Cord driven pulley is tightened on the top support body of part (7) installed in forearm, and the automatic pre- bearing up pulley steel wire rope (107) of steel wire rope is arranged successively On automatic steel wire rope driving wheel (101), automatic steel wire rope driven pulley (102) and the pre- bearing up pulley of automatic steel wire rope (103), automatic steel The center line of cord driving wheel (101) and the center line and the pre- bearing up pulley of automatic steel wire rope (103) of automatic steel wire rope driven pulley (102) Centerline parallel set.
- 4. stating a kind of wearable wrist recovery according to claim 3 trains Flexible Transmission ectoskeleton, it is characterised in that：Flexible cross Hooks coupling universal coupling transmission component (2) includes the first miniature shaft coupling (201), the first Hooks coupling universal coupling connecting seat, the first cross axle (202), regular hexagon shaft coupling (203), shaft coupling sleeve (204), the second Hooks coupling universal coupling connecting seat, the second cross axle (205) and Second miniature shaft coupling (206)；Rotating shaft and one end of the first miniature shaft coupling (201) on automatic steel wire rope driven pulley (102) It is fixedly connected, the other end of the first miniature shaft coupling (201) passes through the first cross axle (202) and the first Hooks coupling universal coupling connecting seat One end connection, the other end of the first Hooks coupling universal coupling connecting seat is fixedly connected with one end of regular hexagon shaft coupling (203), second One end of miniature shaft coupling (206) is fixedly connected with one end of forearm spin ring (4), one end of the second Hooks coupling universal coupling connecting seat Be connected by the second cross axle (205) with the other end of the second miniature shaft coupling (206), be machined with shaft coupling sleeve (204) with Regular hexagon through hole corresponding to regular hexagon shaft coupling (203), one end of shaft coupling sleeve (204) and the second Hooks coupling universal coupling connecting seat The other end be fixedly connected, regular hexagon shaft coupling (203) is inserted into the regular hexagon through hole of shaft coupling sleeve (204).
- 5. stating a kind of wearable wrist recovery according to claim 3 trains Flexible Transmission ectoskeleton, it is characterised in that：Bend and stretch steel wire Rope drive component (8) includes bending and stretching wire rope gearing motor, bending and stretching steel wire rope driving wheel (801), bend and stretch steel wire rope driven pulley (802) the pre- bearing up pulley of steel wire rope (803), is bent and stretched, steel wire rope pretension wheel slide unit (804) is bent and stretched, bends and stretches the pre- bearing up pulley steel wire rope of steel wire rope (805), bend and stretch wire rope gearing motor cabinet (806) and bend and stretch the pre- bearing up pulley pre-loading screw (807) of steel wire rope；Bend and stretch wire rope gearing Motor cabinet (806) is arranged on a forearm second support (10), is bent and stretched wire rope gearing motor and is passed installed in steel wire rope is bent and stretched On dynamic motor cabinet (806), bend and stretch steel wire rope driving wheel (801) and be sleeved on and bend and stretch on wire rope gearing motor, two forearms second Support (10) is relatively fixed on forearm spin ring (4) respectively, and coordinated movement of various economic factors mechanism rack (11) is " Qian " word to stand upside down Shape, two vertical plates of coordinated movement of various economic factors mechanism rack (11) pass through two axis of rotation with two forearm second supports (10) respectively Connection, bends and stretches the rotating shaft of steel wire rope driven pulley (802) and consolidates with any one vertical plate bottom of coordinated movement of various economic factors mechanism rack (11) Fixed connection, and bend and stretch the axis and coordinated movement of various economic factors mechanism rack (11) and two forearms second of steel wire rope driven pulley (802) rotating shaft Two axis of support (10) rotation connection rotating shaft overlap, and bend and stretch steel wire rope pretension wheel slide unit (804) and are arranged on by bolt Bend and stretch on two bar holes of wire rope gearing motor cabinet (806), bend and stretch the pre- bearing up pulley of steel wire rope (803) be arranged on bend and stretch steel wire rope On pretension wheel slide unit (804), bend and stretch the end of thread of the pre- bearing up pulley pre-loading screw (807) of steel wire rope and bend and stretch steel wire rope pretension wheel slide unit (804) it is threadedly coupled, the other end for bending and stretching the pre- bearing up pulley pre-loading screw (807) of steel wire rope is stuck in and bends and stretches wire rope gearing motor cabinet (806) on, bend and stretch the pre- bearing up pulley steel wire rope (805) of steel wire rope be sleeved on bend and stretch steel wire rope driving wheel (801), to bend and stretch steel wire rope driven Take turns (802) and bend and stretch on the pre- bearing up pulley of steel wire rope (803), bend and stretch the central axis of steel wire rope driving wheel (801) and bend and stretch steel wire rope The central axis of driven pulley (802) and the centerline axis parallel setting for bending and stretching the pre- bearing up pulley of steel wire rope (803).
- 6. stating a kind of wearable wrist recovery according to claim 5 trains Flexible Transmission ectoskeleton, it is characterised in that：Chi oar covers partially Rope transmission component (9) includes lasso trick wire rope gearing motor, lasso trick steel wire rope driving wheel (901), lasso trick steel wire rope pretension plate (902), lasso trick wire rope gearing motor cabinet (904), lasso trick pre-loading screw (905), lasso trick steel wire rope (907), two lasso tricks are led To plate (908), two lasso trick wire rope casings (906) and four lasso trick head tube hoops (903)；Lasso trick wire rope gearing motor cabinet (904) it is fixedly mounted in another forearm second support (10), lasso trick wire rope gearing motor passes installed in lasso trick steel wire rope On dynamic motor cabinet (904), a lasso trick steel wire rope driving wheel is set with the output end of lasso trick wire rope gearing machine shaft (901), lasso trick steel wire rope pretension plate (902) is arranged on lasso trick wire rope gearing motor cabinet (904), and lasso trick steel wire rope pretension Two lasso trick head tube hoops (903), two sets are provided between transverse slat on plate (902) and lasso trick wire rope gearing motor cabinet (904) Rope guide plate (908) is separately mounted on the top of two vertical plates of coordinated movement of various economic factors mechanism rack (11), and each lasso trick is oriented to A lasso trick head tube hoop mounting hole is machined with plate (908) respectively, and a set is installed in each lasso trick head tube hoop mounting hole Rope head pipe collar (903), and on the lasso trick head tube hoop (903) in each lasso trick head tube hoop mounting hole respectively with a lasso trick steel wire rope One end of sleeve pipe (906) is fixedly connected, and the other end of each lasso trick wire rope casing (906) respectively with lasso trick steel wire rope pretension Plate (902) is fixedly connected with a lasso trick head tube hoop (903) on lasso trick wire rope gearing motor cabinet (904), lasso trick steel wire rope (907) one end is around lasso trick steel wire rope driving wheel (901) and sequentially passes through a lasso trick wire rope casing (906), coordination fortune Moving mechanism assembly (12), another is fixedly connected with lasso trick wire rope casing (906) with the other end of lasso trick steel wire rope (907).
- 7. stating a kind of wearable wrist recovery according to claim 6 trains Flexible Transmission ectoskeleton, it is characterised in that：The coordinated movement of various economic factors Mechanism assembly (12) include the first rod member (1201), the second rod member (1202), the 3rd rod member (1203), the 4th rod member (1204), 5th rod member (1205), the 6th rod member (1206), guide wheel bar (1207), the first coordinated movement of various economic factors mechanism steel wire rope wheel (1208), Two coordinated movement of various economic factors mechanism steel wire rope wheels (1209), the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel (1210) and guide wheel (1211)；First One end of rod member (1201) and one end of the second rod member (1202) are arranged on coordinated movement of various economic factors mechanism by bearing pin rotation connection respectively On the transverse slat on support (11) top, and the first coordinated movement of various economic factors mechanism is provided between the first rod member (1201) and the second rod member (1202) The rotating shaft of wire rope pulley (1208), the bottom of first coordinated movement of various economic factors mechanism steel wire rope wheel (1208) rotating shaft are fixedly mounted on coordination fortune On the transverse slat of dynamic mechanism rack (11), the rotation connection of the first coordinated movement of various economic factors mechanism steel wire rope wheel (1208) is sleeved on the first coordination fortune In the rotating shaft of motivation structure wire rope pulley (1208), the other end of the first rod member (1201) and the other end of the second rod member (1202) are equal It is rotatablely connected by bearing pin and the 3rd rod member (1203), and the 3rd rod member (1203) is provided with the second coordinated movement of various economic factors mechanism steel wire rope The rotating shaft of (1209) is taken turns, the bottom of second coordinated movement of various economic factors mechanism steel wire rope wheel (1209) rotating shaft is fixedly mounted on the 3rd rod member (1203) on, the rotation connection of the second coordinated movement of various economic factors mechanism steel wire rope wheel (1209) is sleeved on the second coordinated movement of various economic factors mechanism steel wire rope wheel (1209) in rotating shaft, guide wheel bar (1207), guide wheel bar are provided between the first rod member (1201) and the second rod member (1202) (1207) both ends are rotated by the middle part at the middle part and the second rod member (1202) of two bearing pins and the first rod member (1201) respectively Connection, the rotating shaft of guide wheel (1211) are arranged on guide wheel bar (1207), and the bottom of guide wheel (1211) rotating shaft and guide wheel bar (1207) it is fixedly connected, guide wheel bar (1207) rotation connection is sleeved in the rotating shaft of guide wheel bar (1207), the 4th rod member (1204) One end and the 5th rod member (1205) one end by bearing pin rotation connection be arranged on the 3rd rod member (1203), the 4th rod member (1204) the other end and the other end of the 5th rod member (1205) is arranged on the 6th rod member (1206) by bearing pin rotation connection, The rotating shaft of 3rd coordinated movement of various economic factors mechanism steel wire rope wheel (1210) is arranged on the 6th rod member (1206), the 3rd coordinated movement of various economic factors mechanism steel The bottom of cord wheel (1210) rotating shaft is fixedly mounted on the 6th rod member (1206), the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel (1210) rotation connection is sleeved in the rotating shaft of the 3rd coordinated movement of various economic factors mechanism steel wire rope wheel (1210), the first coordinated movement of various economic factors mechanism steel The center line and the 3rd coordinated movement of various economic factors mechanism of the center line of cord wheel (1208), the second coordinated movement of various economic factors mechanism steel wire rope wheel (1209) The centerline parallel of wire rope pulley (1210) is set, the 6th rod member (1206) and the 4th rod member (1204) and the 5th rod member (1205) Rotation connection, human hands fixation kit (13) are rotatablely connected with the 6th rod member (1206), and lasso trick steel wire rope (907) is arranged successively In the first coordinated movement of various economic factors mechanism steel wire rope wheel (1208), the second coordinated movement of various economic factors mechanism steel wire rope wheel (1209), the 3rd coordinated movement of various economic factors On mechanism steel wire rope wheel (1210), and lasso trick steel wire rope (907) is set around guide wheel (1211), coordinated movement of various economic factors mechanism rack (11) The center line and the 3rd rod member (1203) of upper cross plate along its length center line along its length, the 6th rod member (1206) are along length The centerline parallel of the center line and guide wheel bar (1207) in direction along its length is spent to set.
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| CN201710792656.5A CN107569363B (en) | 2017-09-05 | 2017-09-05 | A kind of wearable wrist recovery training Flexible Transmission ectoskeleton |
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| CN111110516A (en) * | 2020-02-12 | 2020-05-08 | 上海理工大学 | Three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation |
| CN111603356A (en) * | 2020-05-20 | 2020-09-01 | 中国科学院苏州生物医学工程技术研究所 | Under-actuated knee joint device for lower limb exoskeleton |
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| CN107569363B (en) | 2019-10-22 |
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