CN107569363B - 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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- CN107569363B CN107569363B CN201710792656.5A CN201710792656A CN107569363B CN 107569363 B CN107569363 B CN 107569363B CN 201710792656 A CN201710792656 A CN 201710792656A CN 107569363 B CN107569363 B CN 107569363B
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Abstract
A kind of wearable wrist recovery training Flexible Transmission ectoskeleton, the present invention relates to a kind of wrist training Flexible Transmission ectoskeletons, the purpose of the present invention is to solve the kinds of drive in the prior art using 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 motion range of spin also reduces, and ectoskeleton joint is low with the compatibility of human synovial, it causes to move between man-machine 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 ruler oar, coordinate Movement mechanism bracket, coordinated movement of various economic factors mechanism assembly, human hands fixation kit, the first support frame of forearm and forearm second support, the invention belongs to robot fields.
Description
Technical field
The present invention relates to a kind of wrist training Flexible Transmission ectoskeletons, and in particular to a kind of wearable wrist recovery training is soft
Property transmission ectoskeleton.
Background technique
Stiff traumatic wrist joint is to carry out fixation outside long-term gypsum after fracturing near wrist joint and wrist joint and formed
A bad sequelae.Arthrodesis more than 6 weeks can cause anchylosis, so that it is unfavorable the movement such as to bend and stretch.Current
Treatment has two major classes, first is that operation, second is that external therapy cooperates functional training.Operative treatment wound itself is larger, postoperative still to have hair
The chance of raw adhesion again, and the exercise of outer therapy functionality then works well.Rehabilitation exoskeleton system is to introduce robot technology
One of work as the means that can be assisted or substitute Physical Therapist and carry out rehabilitation training to clinic.Not only reduce the work of Physical Therapist
It measures, saves rehabilitation cost, and be capable of providing objective data, evaluate the rehabilitation progress of rehabilitation clients, facilitate Physical Therapist to formulate and close
The rehabilitation strategies of reason.Since human body wrist motion freedom degree is more, wrist size is small, and at present wrist recovery ectoskeleton generally there are
The problems such as volume is larger, and freedom degree is on the low side, lower with human compatibility.The spin mechanics of ectoskeleton forearm first are to influence wrist
The principal element of ectoskeleton mainly realizes forearm and carpal spin using two ways at present, the first is to pass through annulus
Envelope arm, i.e., human arm is directly passed through from annulus, when wrist internal/external rotations, opposite can be turned between annulus by bearing
It is dynamic, to realize in elbow joint internal/external rotations, it ensure that the centre of gyration is overlapped with human arm center.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
The double parallel quadrangular mechanism of Cheng Zhongxin so that radial dimension reduce, but parallelogram linkage angle it is smaller when, with
Human arm can interfere, and the motion range of spin also reduces.Secondly wrist ectoskeleton joint is low with the compatibility of human synovial is
Since the inclined center of rotation of wrist joint ruler oar is not fixed, ectoskeleton and human synovial decentraction is caused to make that is, caused by dislocation
Uncoordinated at 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 of Flexible Transmission for adapting to wearing
Wrist recovery exoskeleton robot.
Summary of the invention
The purpose of the present invention is to solve the kinds of drive in the prior art using gear mesh transmission or wire rope gearing
The radial dimension of mechanism, ectoskeleton is larger, and the angle of parallelogram linkage is smaller to be interfered with human arm, spin
Motion range also reduces and ectoskeleton joint is low with the compatibility of human synovial, causes to move uncoordinated, wearing between man-machine
The problem of discomfort reduces the scope of activities of joint motions, needs external skeletal joint mis-registry compensation, and then a kind of wearing is provided
Formula wrist recovery trains Flexible Transmission ectoskeleton.
The present invention in order to solve the above problem and the technical solution adopted is that:
It includes spin wire rope gearing component, flexible cross universal coupling transmission component, forearm spin ring, thin wall shaft
It holds, bearing holder (housing, cover) component, forearm tighten part, bend and stretch wire rope gearing component, the inclined lasso trick transmission component of ruler oar, coordinated movement of various economic factors mechanism branch
Frame, coordinated movement of various economic factors mechanism assembly, human hands fixation kit, two the first support frames of forearm and two forearm second supports；From
Rotation wire rope gearing component is mounted on forearm and tightens on part, and forearm spins ring setting 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 by two first, forearm
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 connect to the other end of shaft coupling transmission component with spin wire rope gearing component, bends and stretches wire rope gearing component and ruler oar covers partially
Rope transmission component is separately mounted in a forearm second support, and two forearm second supports are mounted on forearm spin ring, association
Movement mechanism bracket and two forearm second supports is adjusted to be rotatablely connected, coordinated movement of various economic factors mechanism assembly is mounted on coordinated movement of various economic factors mechanism branch
On frame, human hands fixation kit is mounted on coordinated movement of various economic factors mechanism assembly, the inclined lasso trick transmission component of ruler oar and coordinated movement of various economic factors machine
Structure bracket is connected with coordinated movement of various economic factors mechanism assembly.
The beneficial effects of the present invention are:
1, 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 ruler is inclined
The outer movement of the medial rotation of movement and forearm rotation, auxiliary wrist joint function obstacle person lives, and can be used for the wrist joint of patient
Rehabilitation training.
2, the inclined driving mechanism of the inclined oar of ruler of the invention is that a kind of underactuatuated drive is made by increasing by two passive freedom degrees
Ectoskeleton ruler is suitable for the variation of human synovial shaft with oar yawing axis axis partially so that partially and being bent and stretched dynamic in ectoskeleton ruler oar
When making, dislocation is compensated, it is more preferable with the sports coordination of human body.
3, the present invention uses wire rope gearing, and wire rope gearing is high-efficient, and precision is high, stable drive and noise is small.
4, double parallel quadrangle coordination organization of the invention can self-adapting stretching, it is not necessary that by manually adjusting, wearing is more
For convenience, different pushing sizes is adapted to.
5, the present invention can be used for wrist joint paralytic, the life auxiliary and rehabilitation training of the stiff patient of wrist joint.
6, ectoskeleton forearm spin is driven using scalable shaft coupling, while guaranteeing that ectoskeleton radial dimension is small,
Also it can guarantee the scope of activities degree in joint.
Detailed description of the invention
Fig. 1 is overall structure main view of the present invention, and Fig. 2 is spin wire rope gearing component 1, forearm spin ring 4 and thin-walled
5 scheme of installation of bearing, Fig. 3 are flexible 2 scheme of installation of cross universal coupling transmission component, and Fig. 4 is to bend and stretch wirerope biography
Dynamic 8 scheme of installation of component, Fig. 5 is inclined 9 scheme of installation of lasso trick transmission component of ruler oar, and Fig. 6 is coordinated movement of various economic factors mechanism assembly 12
Scheme of installation, Fig. 7 are the first rod piece 1201, the second rod piece 1202, third rod piece 1203, the 4th rod piece 1204, the 5th rod piece
1205 and 1206 scheme of installation of the 6th rod piece, Fig. 8 are the schematic diagrames that the present invention is mounted on forearm, and Fig. 9 is installation of the present invention
Schematic diagram on forearm, Figure 10 are before spinning wire rope gearing component 1, the flexible drive of cross universal coupling transmission component 2
Arm spin 4 rotary principle figure of ring, Figure 11 are that lasso trick wirerope 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, third coordinated movement of various economic factors mechanism steel wire rope wheel 1210 and 1211 rotation work principle of guide wheel
Figure, Figure 12 lasso trick wirerope 907 drive 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, on third coordinated movement of various economic factors mechanism steel wire rope wheel 1210 and guide wheel 1211 rotate schematic diagram.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of wearable wrist described in present embodiment in conjunction with Fig. 1-Fig. 9
Rehabilitation training Flexible Transmission ectoskeleton, it include spin wire rope gearing component 1, flexible cross universal coupling transmission component 2,
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, the inclined lasso trick of ruler oar
13, two 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
One support frame 3 and two forearm second supports 10；Spin wire rope gearing component 1 is mounted on forearm and tightens on part 7, forearm spin
Ring 4 is arranged in bearing holder (housing, cover) component 6, and is equipped with thin-wall bearing 5, bearing holder (housing, cover) group 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 the first support frames of forearm 3, cross universal coupling transmission of stretching
One end of component 2 is fixedly connected with forearm spin ring 4, the other end and spin steel of the cross universal coupling transmission component 2 that stretches
Cord transmission component 1 connects, and bends and stretches wire rope gearing component 8 and the inclined lasso trick transmission component 9 of ruler oar is separately mounted to a forearm
In second support 10, two forearm second supports 10 are mounted on forearm spin ring 4, before coordinated movement of various economic factors mechanism rack 11 and two
Arm second support 10 is rotatablely connected, and coordinated movement of various economic factors mechanism assembly 12 is mounted on coordinated movement of various economic factors mechanism rack 11, and human hands are solid
Determine component 13 to be mounted on coordinated movement of various economic factors mechanism assembly 12, the inclined lasso trick transmission component of ruler oar 9 and coordinated movement of various economic factors mechanism rack 11 and
Coordinated movement of various economic factors mechanism assembly 12 connects.
Specific embodiment 2: illustrating present embodiment, a kind of wearable wrist described in present embodiment in conjunction with Fig. 1-Fig. 3
Rehabilitation training Flexible Transmission ectoskeleton, forearm tighten part 7 and include top frame body and lower curved plate, top frame body and lower curved
Plate is connected by multiple bolt threads, is tightened part 7 by forearm and is tightened on the forearm to reactivate, other and specific embodiment party
Formula one is identical.
Specific embodiment 3: illustrating present embodiment, one kind described in present embodiment in conjunction with Fig. 1, Fig. 2, Fig. 8 and Fig. 9
Wearable wrist recovery training Flexible Transmission ectoskeleton, spin wire rope gearing component 1 include spin wire rope gearing motor, from
The dynamic driven wheel support of wirerope, automatic wirerope driving wheel 101, automatic wirerope driven wheel 102, the pre- bearing up pulley of automatic wirerope
103, the pre- bearing up pulley pre-loading screw 104 of automatic wirerope, the pre- bearing up pulley guide plate 105 of automatic wirerope, the pre- bearing up pulley of automatic wirerope are pre-
Bearing up pulley slide unit 106 and the pre- bearing up pulley wirerope 107 of automatic wirerope；Automatic wirerope driving wheel 101 is sleeved on spin wirerope and passes
On the output revolving shaft of dynamic motor, the automatic pre- bearing up pulley preload wheel slide unit 106 of wirerope is slidably arranged in the pre- bearing up pulley of automatic wirerope and leads
To on plate 105, the automatic pre- rotation connection of bearing up pulley 103 of wirerope is mounted on the pre- bearing up pulley of automatic wirerope and pre-tightens on wheel slide unit 106, from
The dynamic pre- rotation connection of bearing up pulley pre-loading screw 104 of wirerope is arranged on the pre- bearing up pulley guide plate 105 of automatic wirerope, and automatic steel wire
Restrict the bottom end of pre- bearing up pulley pre-loading screw 104 and the pre- bearing up pulley of automatic wirerope pre-tighten wheel slide unit 106 and is threadedly coupled, automatic wirerope from
The rotation connection of driving wheel 102 is arranged on the driven wheel support of automatic wirerope, the automatic pre- bearing up pulley guide plate 105 of wirerope and automatic steel
Cord driven wheel is mounted on forearm and tightens on the top frame body of part 7, and the automatic pre- bearing up pulley wirerope 107 of wirerope is sequentially sleeved at certainly
On dynamic wirerope driving wheel 101, automatic wirerope driven wheel 102 and the pre- bearing up pulley 103 of automatic wirerope, automatic wirerope driving wheel
The centerline parallel of 101 center line and the center line of automatic wirerope driven wheel 102 and the pre- bearing up pulley 103 of automatic wirerope is set
It sets, it is other to be identical with embodiment two.
The pre- bearing up pulley of automatic wirerope is adjusted by the pre- bearing up pulley pre-loading screw 104 of automatic wirerope in present embodiment and pre-tightens wheel
Slide unit 106 slides on the pre- bearing up pulley guide plate 105 of automatic wirerope and then adjusts the tensile force of the pre- bearing up pulley 103 of automatic wirerope,
Automatic wirerope driving wheel 101, automatic is driven by spin wire rope gearing motor and the pre- bearing up pulley wirerope 107 of automatic wirerope
Wirerope driven wheel 102 and the pre- bearing up pulley 103 of automatic wirerope rotate.
Specific embodiment 4: illustrating present embodiment, one kind described in present embodiment in conjunction with Fig. 1, Fig. 3, Fig. 8 and Fig. 9
Wearable wrist recovery training Flexible Transmission ectoskeleton, the cross universal coupling transmission component 2 that stretches include the first miniature shaft coupling
It is universal to save the 201, first Hooks coupling universal coupling attachment base, the first cross axle 202, regular hexagon shaft coupling 203, shaft coupling sleeve 204, second
Shaft coupling attachment base, the second cross axle 205 and the second miniature shaft coupling 206；Shaft on automatic wirerope driven wheel 102 and the
One end of one miniature shaft coupling 201 is fixedly connected, and the other end of the first miniature shaft coupling 201 passes through the first cross axle 202 and the
One end of one Hooks coupling universal coupling attachment base connects, the other end and the regular hexagon shaft coupling 203 of the first Hooks coupling universal coupling attachment base
One end is fixedly connected, and one end of the second miniature shaft coupling 206 is fixedly connected with one end of forearm spin ring 4, the second universal joint shaft
One end of device attachment base is connect by the second cross axle 205 with the other end of the second miniature shaft coupling 206, in shaft coupling sleeve 204
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 connect
The other end of joint chair 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 with
Specific embodiment three is identical.
Automatic wirerope driving wheel 101 is driven automatically by the pre- bearing up pulley wirerope 107 of automatic wirerope in present embodiment
Wirerope driven wheel 102 rotates, and drives the first miniature shaft coupling 201, the first cross axle by automatic wirerope driven wheel 102
202, regular hexagon shaft coupling 203, shaft coupling sleeve 204, the second Hooks coupling universal coupling attachment base, 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
Movement, the first miniature shaft coupling 201 is parallel with the second miniature 206 space of shaft coupling, therefore the first miniature shaft coupling 201 and second is micro-
The input of type shaft coupling 206 is equal with the torque of output and angle.Simultaneously because 203 maximum angle of regular hexagon shaft coupling is up to 60
Degree reasonably selects the collapsing length of scalable shaft coupling, guarantees that ectoskeleton can reach -90 degree to 90 degree of motion range.
Specific embodiment 5: illustrating present embodiment, one kind described in present embodiment in conjunction with Fig. 1, Fig. 4, Fig. 8 and Fig. 9
Wearable wrist recovery training Flexible Transmission ectoskeleton, bending and stretching wire rope gearing component 8 includes bending and stretching wire rope gearing motor, bending
Wirerope driving wheel 801 is stretched, wirerope driven wheel 802 is bent and stretched, bends and stretches the pre- bearing up pulley 803 of wirerope, bends and stretches wirerope preload skidding
Platform 804 bends and stretches the pre- bearing up pulley wirerope 805 of wirerope, bends and stretches wire rope gearing motor cabinet 806 and bends and stretches the pre- bearing up pulley preload of wirerope
Screw 807；It bends and stretches wire rope gearing motor cabinet 806 to be mounted in a forearm second support 10, bends and stretches wire rope gearing motor
It is mounted on and bends and stretches on wire rope gearing motor cabinet 806, bend and stretch wirerope driving wheel 801 and be sleeved on and bend and stretch wire rope gearing motor
On, two forearm second supports 10 are relatively fixed respectively to be mounted on forearm spin ring 4, and coordinated movement of various economic factors mechanism rack 11 is to stand upside down
" Qian " font, two vertical plates of coordinated movement of various economic factors mechanism rack 11 respectively with two forearm second supports 10 pass through two shafts
Any one vertical plate bottom end of rotation connection, the shaft and coordinated movement of various economic factors mechanism rack 11 of bending and stretching wirerope driven wheel 802 is solid
Fixed connection, and bend and stretch the axis and coordinated movement of various economic factors mechanism rack 11 and two forearm second supports of 802 shaft of wirerope driven wheel
Two axis of 10 rotation connection shafts are overlapped, and are bent and stretched wirerope and are pre-tightened wheel slide unit 804 and are mounted on by bolt and bend and stretch steel wire
In two strip-shaped holes of rope drive motor cabinet 806, bend and stretch the pre- bearing up pulley 803 of wirerope be mounted on bend and stretch wirerope pre-tighten wheel slide unit
On 804, the end of thread for bending and stretching the pre- bearing up pulley pre-loading screw 807 of wirerope is threadedly coupled with wirerope preload wheel slide unit 804 is bent and stretched, and is bent
The other end for stretching the pre- bearing up pulley pre-loading screw 807 of wirerope, which is stuck in, to be bent and stretched on wire rope gearing motor cabinet 806, and wirerope preload is bent and stretched
Wheel wirerope 805, which is sleeved on, to be bent and stretched wirerope driving wheel 801, bend and stretch wirerope driven wheel 802 and bends and stretches the pre- bearing up pulley 803 of wirerope
On, it bends and stretches the central axis of wirerope driving wheel 801 and the central axis for bending and stretching wirerope driven wheel 802 and to bend and stretch wirerope pre-
The centerline axis parallel of bearing up pulley 803 is arranged, other to be the same as the specific implementation mode 3.
The pre- bearing up pulley pre-loading screw 807 of wirerope is bent and stretched in rotation when present embodiment works, and is bent and stretched wirerope and is pre-tightened wheel slide unit
804 slide on bending and stretching the pre- bearing up pulley guide plate of wirerope, and adjusting is bent and stretched the pre- bearing up pulley wirerope 805 of wirerope and pre-tightened, and open
It bends and stretches the drive of wire rope gearing motor and bends and stretches the rotation of wirerope driving wheel 801, and then drive and bend and stretch 802 turns of wirerope driven wheel
It is dynamic, by driving the shaft for bending and stretching wirerope driven wheel 802 to drive coordinated movement of various economic factors mechanism rack 11 around two forearm second supports
10 rotations realize that wrist joint is bent and stretched.
Specific embodiment 6: illustrating present embodiment, one kind described in present embodiment in conjunction with Fig. 1, Fig. 5, Fig. 8 and Fig. 9
Wearable wrist recovery training Flexible Transmission ectoskeleton, the inclined lasso trick transmission component 9 of ruler oar include lasso trick wire rope gearing motor, set
Rope wirerope driving wheel 901, lasso trick wirerope pre-tighten plate 902, lasso trick wire rope gearing motor cabinet 904, lasso trick pre-loading screw
905,907, two, the lasso trick wirerope 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 on the output end of lasso trick wire rope gearing machine shaft
Wirerope driving wheel 901, lasso trick wirerope pre-tightens plate 902 and is mounted on lasso trick wire rope gearing motor cabinet 904, and lasso trick steel wire
Rope, which pre-tightens, to be set between the transverse slat on plate 902 and lasso trick wire rope gearing motor cabinet 904 there are two lasso trick head tube hoop 903, and two cover
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 pre-tightens plate 902 and lasso trick steel wire with lasso trick wirerope respectively
A lasso trick head tube hoop 903 on rope drive motor cabinet 904 is fixedly connected, and one end of lasso trick wirerope 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 wire
Rope sleeve 906 is fixedly connected with the other end of lasso trick wirerope 907.It is other identical as specific embodiment five.
Lasso trick wirerope driving wheel 901 is driven to rotate by lasso trick wire rope gearing motor in present embodiment.
Specific embodiment 7: illustrating that present embodiment, one kind described in present embodiment are wearable in conjunction with Fig. 1, Fig. 6-Fig. 9
Wrist recovery trains Flexible Transmission ectoskeleton, and coordinated movement of various economic factors mechanism assembly 12 includes the first rod piece 1201, the second rod piece 1202, the
Three rod pieces 1203, the 4th rod piece 1204, the 5th rod piece 1205, the 6th rod piece 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, third coordinated movement of various economic factors mechanism steel wire rope wheel 1210 and guide wheel
1211；One end of first rod piece 1201 and one end of the second rod piece 1202 are mounted on the coordinated movement of various economic factors by pin shaft rotation connection respectively
On the transverse slat on 11 top of mechanism rack, and the first coordinated movement of various economic factors mechanism steel is equipped between the first rod piece 1201 and the second rod piece 1202
The bottom end of the shaft of cord wheel 1208,1208 shaft of the first coordinated movement of various economic factors mechanism steel wire rope wheel is fixedly mounted on coordinated movement of various economic factors mechanism
On the transverse slat of bracket 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 shaft of rope sheave 1208, the other end of the other end of the first rod piece 1201 and the second rod piece 1202 passes through pin shaft and third bar
Part 1203 is rotatablely connected, and third rod piece 1203 is equipped with the shaft of the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209, the second association
The bottom end of 1209 shaft of movement mechanism wire rope pulley is adjusted to be fixedly mounted on third rod piece 1203, the second coordinated movement of various economic factors mechanism steel wire
The rotation connection of rope sheave 1209 is sleeved in the shaft of the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209, the first rod piece 1201 and second
Guide wheel bar 1207 is equipped between rod piece 1202, the both ends of guide wheel bar 1207 pass through respectively in two pin shafts and the first rod piece 1201
Portion and the rotation connection of the middle part of the second rod piece 1202, the shaft of guide wheel 1211 are arranged on guide wheel bar 1207, and 1211 turns of guide wheel
The bottom end of axis is fixedly connected with guide wheel bar 1207, and the rotation connection of guide wheel bar 1207 is sleeved in the shaft of guide wheel bar 1207, and the 4th
One end of rod piece 1204 and one end of the 5th rod piece 1205 are arranged on third rod piece 1203 by pin shaft rotation connection, the 4th bar
The other end of the other end of part 1204 and the 5th rod piece 1205 is arranged on the 6th rod piece 1206 by pin shaft rotation connection, third
The shaft of coordinated movement of various economic factors mechanism steel wire rope wheel 1210 is arranged on the 6th rod piece 1206, third coordinated movement of various economic factors mechanism steel wire rope wheel
The bottom end of 1210 shafts is fixedly mounted on the 6th rod piece 1206, the rotation connection set of third coordinated movement of various economic factors mechanism steel wire rope wheel 1210
In the shaft of third coordinated movement of various economic factors mechanism steel wire rope wheel 1210, the center of the first coordinated movement of various economic factors mechanism steel wire rope wheel 1208
The center line of line, the center line of the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209 and third coordinated movement of various economic factors mechanism steel wire rope wheel 1210
It is arranged in parallel, the 6th rod piece 1206 and the 4th rod piece 1204 and the 5th rod piece 1205 are rotatablely connected, human hands fixation kit 13
It is rotatablely connected with the 6th rod piece 1206, lasso trick wirerope 907 is sequentially sleeved at the first coordinated movement of various economic factors mechanism steel wire rope wheel 1208, the
On two coordinated movement of various economic factors mechanism steel wire rope wheels 1209, third coordinated movement of various economic factors mechanism steel wire rope wheel 1210, and lasso trick wirerope 907 bypasses
Guide wheel 1211 is arranged, and the center line of 11 upper cross plate of coordinated movement of various economic factors mechanism rack along its length and third rod piece 1203 are along length side
To center line, the centerline parallel of center line and guide wheel bar 1207 along its length of the 6th rod piece 1206 along its length sets
It sets, the first rod piece 1201 is equal with the distance of shaft centers that the second rod piece 1202 rotates, coordinated movement of various economic factors mechanism rack 11, third rod piece
1203, the distance of shaft centers that the 6th rod piece 1206 and guide wheel bar 1207 rotate is equal, other identical as specific embodiment six.
Present embodiment lasso trick wirerope driving wheel 901 drives the first coordinated movement of various economic factors mechanism steel by lasso trick wirerope 907
Cord wheel 1208, the second coordinated movement of various economic factors mechanism steel wire rope wheel 1209 and third coordinated movement of various economic factors mechanism steel wire rope wheel 1210 rotate, into
And drive drive human hands fixation kit 13, realize people wrist joint ruler partially, oar biased make.
Forearm spin mechanics working principle:
As shown in figs. 10-12: motor driven wire rope gearing component, output torque is by the way that scalable shaft coupling to be transmitted to
The rotation of the shaft coupling other end finally realizes the outer movement of medial rotation rotation of human body forearm, summarizes torque so that forearm collar rotates
Transfer route is axis z --- axis z-b --- axis z1.Scalable coupling assembly both ends shaft coupling carry down shaft line z-a and forearm from
The space spin axis line z-b is 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 reasonably selects the collapsing length of scalable shaft coupling up to 30 degree, guarantees ectoskeleton forearm collar angle of rotation
Degree can reach -90 degree to 90 degree of motion range, while guarantee higher transmission stiffness.Therefore the mechanism freedom are as follows:
It bends and stretches the drive of wire rope gearing motor and bends and stretches wirerope driving wheel (801) and bend and stretch wirerope driven wheel (802) and turn
It is dynamic, and then coordinated movement of various economic factors mechanism rack (11) is driven to rotate around two forearm second supports (10), thus realize that wrist joint is bent and stretched,
Duplex bearing acts on lower coordinated movement of various economic factors mechanism rack (11) keeps transmission stiffness higher around two forearm second support (10) rotations.
Lasso trick wire rope gearing motor drives lasso trick wirerope driving wheel (901), is driven to by lasso trick wirerope (907)
Rod piece in double parallel quadrilateral structure coordinated movement of various economic factors component drives 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 third coordinated movement of various economic factors mechanism steel wire rope wheel (1210) rotation, and then drive human body hand
Portion's fixation kit (13), realization ruler is inclined, oar biased is made.
The mathematical principle of double parallel quadrangle coordinated movement of various economic factors mechanism is as shown in the figure: the Kinematic Decomposition by hand is rotation peace
The movement in face, the expression of L9h rod piece are coupled with hand.The double parallel quadrangular mechanism, which is realized to be translatable, determines the position of L9h bar,
L9 bar is directly driven, determines the corner of L9h.Assuming that the rope length for moving into connecting rod of connecting rod is XL, then its expression formula are as follows:
Wherein Δ L indicates remaining rope length, is steady state value during mechanism kinematic.
It can be obtained by the geometrical constraint of connecting rod again
WhereinFor ruler partially/oar inclination angle, if enabling each wheel radius r1=r2=r3=r, guide wheel o4Radius r0Then have
X known to having in the formulaLWithLinear function, it is unrelated with the interior angle of each parallelogram.Therefore when compensation
When dislocation, each parallelogram interior angle variation, the position of the rod piece L9h coupled with manpower changes, until hand and bar
The interaction force of part is zero, stillBut it remains constant.
Claims (4)
1. a kind of wearable wrist recovery training Flexible Transmission ectoskeleton, it includes spin wire rope gearing component (1), flexible ten
Word Hooks coupling universal coupling transmission component (2), forearm spin ring (4), thin-wall bearing (5), bearing holder (housing, cover) component (6), forearm tighten part
(7), the inclined lasso trick transmission component (9) of wire rope gearing component (8), ruler oar, coordinated movement of various economic factors mechanism rack (11), the coordinated movement of various economic factors are bent and stretched
Mechanism assembly (12), human hands fixation kit (13), two the first support frames of forearm (3) and two forearm second supports
(10)；It includes top frame body and lower curved plate that forearm, which tightens part (7), and spin wire rope gearing component (1) includes spin steel wire
Rope drive motor, the driven wheel support of automatic wirerope, automatic wirerope driving wheel (101), automatic wirerope driven wheel (102),
The automatic pre- bearing up pulley of wirerope (103), the pre- bearing up pulley pre-loading screw (104) of automatic wirerope, the pre- bearing up pulley guide plate of automatic wirerope
(105), the pre- bearing up pulley of automatic wirerope pre-tightens wheel slide unit (106) and the pre- bearing up pulley wirerope (107) of automatic wirerope；Its feature exists
In: bending and stretching wire rope gearing component (8) includes bending and stretching wire rope gearing motor, bending and stretching wirerope driving wheel (801), bend and stretch steel wire
Rope driven wheel (802) bends and stretches the pre- bearing up pulley of wirerope (803), bends and stretches wirerope preload wheel slide unit (804), bends and stretches wirerope preload
Wheel wirerope (805) bends and stretches wire rope gearing motor cabinet (806) and bends and stretches the pre- bearing up pulley pre-loading screw (807) of wirerope；Spin steel
Cord transmission component (1) is mounted on forearm and tightens on part (7), and forearm spins ring (4) setting in bearing holder (housing, cover) component (6), and preceding
It is equipped with thin-wall bearing (5) between arm spin ring (4) and bearing holder (housing, cover) component (6), one end of bearing holder (housing, cover) component (6) and forearm tighten
Part (7) is fixedly connected by two the first support frames of forearm (3), stretch cross universal coupling transmission component (2) one end with
Forearm spin ring (4) is fixedly connected, the other end and spin wire rope gearing group of flexible cross universal coupling transmission component (2)
Part (1) connection, bends and stretches wire rope gearing component (8) and the inclined lasso trick transmission component (9) of ruler oar is separately mounted to a forearm second
On bracket (10), two forearm second supports (10) are mounted in forearm spin ring (4), coordinated movement of various economic factors mechanism rack (11) and two
A forearm second support (10) rotation connection, coordinated movement of various economic factors mechanism assembly (12) are mounted on coordinated movement of various economic factors mechanism rack (11),
Human hands fixation kit (13) is mounted on coordinated movement of various economic factors mechanism assembly (12), the inclined lasso trick transmission component (9) of ruler oar and coordination
Movement mechanism bracket (11) and coordinated movement of various economic factors mechanism assembly (12) connection, top frame body and lower curved plate pass through multiple bolt spiral shells
Line connection, automatic wirerope driving wheel (101) are sleeved on the output revolving shaft of spin wire rope gearing motor, and automatic wirerope is pre-
Bearing up pulley pre-tightens wheel slide unit (106) and is slidably arranged on the pre- bearing up pulley guide plate (105) of automatic wirerope, the automatic pre- bearing up pulley of wirerope
(103) rotation connection is mounted on the pre- bearing up pulley of automatic wirerope and pre-tightens on wheel slide unit (106), the automatic pre- bearing up pulley pre-loading screw of wirerope
(104) rotation connection is arranged on the pre- bearing up pulley guide plate (105) of automatic wirerope, and the pre- bearing up pulley pre-loading screw of automatic wirerope
(104) bottom end pre-tightens wheel slide unit (106) with the pre- bearing up pulley of automatic wirerope and is threadedly coupled, and automatic wirerope driven wheel (102) turns
Dynamic connection is arranged on the driven wheel support of automatic wirerope, the automatic pre- bearing up pulley guide plate (105) of wirerope and automatic wirerope from
Driving wheel is mounted on forearm and tightens on the top frame body of part (7), and the automatic pre- bearing up pulley wirerope (107) of wirerope is sequentially sleeved at automatically
On wirerope driving wheel (101), automatic wirerope driven wheel (102) and the pre- bearing up pulley of automatic wirerope (103), automatic wirerope master
The center line of driving wheel (101) and the center line of automatic wirerope driven wheel (102) and the center of the pre- bearing up pulley of automatic wirerope (103)
Line is arranged in parallel, and bends and stretches wire rope gearing motor cabinet (806) and is mounted on a forearm second support (10), bends and stretches wirerope biography
Dynamic motor, which is mounted on, to be bent and stretched on wire rope gearing motor cabinet (806), is bent and stretched wirerope driving wheel (801) and is sleeved on and bends and stretches wirerope
On driving motor, two forearm second supports (10) are relatively fixed respectively to be mounted in forearm spin ring (4), coordinated movement of various economic factors mechanism
Bracket (11) be stand upside down " Qian " font, two vertical plates of coordinated movement of various economic factors mechanism rack (11) respectively with two second, forearm
Frame (10) bends and stretches shaft and coordinated movement of various economic factors mechanism rack (11) of wirerope driven wheel (802) by two shaft rotation connections
Any one vertical plate bottom end be fixedly connected, and bend and stretch wirerope driven wheel (802) shaft axis and coordinated movement of various economic factors mechanism
Bracket (11) and two axis of two forearm second support (10) rotation connection shafts are overlapped, and are bent and stretched wirerope and are pre-tightened skidding
Platform (804) is mounted in two strip-shaped holes for bending and stretching wire rope gearing motor cabinet (806) by bolt, and the pre- bearing up pulley of wirerope is bent and stretched
(803) it is mounted on and bends and stretches on wirerope preload wheel slide unit (804), bend and stretch the end of thread of the pre- bearing up pulley pre-loading screw (807) of wirerope
It is threadedly coupled with wirerope preload wheel slide unit (804) is bent and stretched, the other end for bending and stretching the pre- bearing up pulley pre-loading screw (807) of wirerope is stuck in
It bends and stretches on wire rope gearing motor cabinet (806), bends and stretches the pre- bearing up pulley wirerope (805) of wirerope and be sleeved on and bend and stretch wirerope driving wheel
(801), it bends and stretches wirerope driven wheel (802) and bends and stretches on the pre- bearing up pulley of wirerope (803), bend and stretch wirerope driving wheel (801)
Central axis with bend and stretch the central axis of wirerope driven wheel (802) and bend and stretch the pre- bearing up pulley of wirerope (803) central axis put down
Row setting.
2. a kind of wearable wrist recovery training Flexible Transmission ectoskeleton according to claim 1, it is characterised in that: flexible
Cross universal coupling transmission component (2) includes the first miniature shaft coupling (201), the first Hooks coupling universal coupling attachment base, the 10th
Word axis (202), regular hexagon shaft coupling (203), shaft coupling sleeve (204), the second Hooks coupling universal coupling attachment base, the second cross axle
(205) and the second miniature shaft coupling (206)；Shaft and the first miniature shaft coupling (201) on automatic wirerope driven wheel (102)
One end be 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
One end of attachment base connects, the fixed company of the other end of the first Hooks coupling universal coupling attachment base and the one end of regular hexagon shaft coupling (203)
It connects, one end of the second miniature shaft coupling (206) is fixedly connected with one end of forearm spin ring (4), the connection of the second Hooks coupling universal coupling
One end of seat is connect by the second cross axle (205) with the other end of the second miniature shaft coupling (206), in shaft coupling sleeve (204)
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 universal joint shaft
The other end of device attachment base is fixedly connected, and regular hexagon shaft coupling (203) is inserted into the regular hexagon through-hole of shaft coupling sleeve (204)
It is interior.
3. a kind of wearable wrist recovery training Flexible Transmission ectoskeleton according to claim 1, it is characterised in that: ruler oar
Inclined lasso trick transmission component (9) includes lasso trick wire rope gearing motor, lasso trick wirerope driving wheel (901), the preload of lasso trick wirerope
Plate (902), lasso trick wire rope gearing motor cabinet (904), lasso trick pre-loading screw (905), lasso trick wirerope (907), two lasso tricks
Guide 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 is mounted on lasso trick wirerope biography
On dynamic motor cabinet (904), a lasso trick wirerope driving wheel is set on the output end of lasso trick wire rope gearing machine shaft
(901), lasso trick wirerope pre-tightens plate (902) and is mounted on lasso trick wire rope gearing motor cabinet (904), and lasso trick wirerope pre-tightens
It is set between transverse slat on plate (902) and lasso trick wire rope gearing motor cabinet (904) there are two lasso trick head tube hoop (903), two cover
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 guiding
A lasso trick head tube hoop mounting hole is machined on 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 wirerope
One end of casing (906) is fixedly connected, and the other end of each lasso trick wire rope casing (906) is pre-tightened with lasso trick wirerope respectively
Plate (902) is fixedly connected with a lasso trick head tube hoop (903) on lasso trick wire rope gearing motor cabinet (904), lasso trick wirerope
(907) one end is around lasso trick wirerope 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 wirerope (907).
4. a kind of wearable wrist recovery training Flexible Transmission ectoskeleton according to claim 3, it is characterised in that: coordinate
Movement mechanism component (12) includes the first rod piece (1201), the second rod piece (1202), third rod piece (1203), the 4th rod piece
(1204), the 5th rod piece (1205), the 6th rod piece (1206), guide wheel bar (1207), 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), third coordinated movement of various economic factors mechanism steel wire rope wheel (1210) and guide wheel
(1211)；One end of first rod piece (1201) and one end of the second rod piece (1202) are mounted on association by pin shaft rotation connection respectively
The first association is equipped on the transverse slat for adjusting movement mechanism bracket (11) top, and between the first rod piece (1201) and the second rod piece (1202)
Adjust the shaft of movement mechanism wire rope pulley (1208), the fixed peace in the bottom end of first coordinated movement of various economic factors mechanism steel wire rope wheel (1208) shaft
On the transverse slat of coordinated movement of various economic factors mechanism rack (11), the rotation connection of the first coordinated movement of various economic factors mechanism steel wire rope wheel (1208) is sleeved on
In the shaft of first coordinated movement of various economic factors mechanism steel wire rope wheel (1208), the other end and the second rod piece (1202) of the first rod piece (1201)
The other end pass through pin shaft and third rod piece (1203) and be rotatablely connected, and third rod piece (1203) is equipped with second coordinated movement of various economic factors
The shaft of mechanism steel wire rope wheel (1209), the bottom end of second coordinated movement of various economic factors mechanism steel wire rope wheel (1209) shaft are fixedly mounted on
On three rod pieces (1203), 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
In the shaft of cord wheel (1209), guide wheel bar (1207) are equipped between the first rod piece (1201) and the second rod piece (1202), guide wheel
The both ends of bar (1207) pass through the middle part of two pin shafts and the first rod piece (1201) and the middle part of the second rod piece (1202) respectively and turn
The shaft of dynamic connection, guide wheel (1211) is arranged on guide wheel bar (1207), and the bottom end of guide wheel (1211) shaft and guide wheel bar
(1207) it is fixedly connected, guide wheel bar (1207) rotation connection is sleeved in the shaft of guide wheel bar (1207), the 4th rod piece (1204)
One end and the 5th rod piece (1205) one end by pin shaft rotation connection be arranged on third rod piece (1203), the 4th rod piece
(1204) other end of the other end and the 5th rod piece (1205) is arranged on the 6th rod piece (1206) by pin shaft rotation connection,
The shaft of third coordinated movement of various economic factors mechanism steel wire rope wheel (1210) is arranged on the 6th rod piece (1206), third coordinated movement of various economic factors mechanism steel
The bottom end of cord wheel (1210) shaft is fixedly mounted on the 6th rod piece (1206), third coordinated movement of various economic factors mechanism steel wire rope wheel
(1210) rotation connection is sleeved in the shaft of third 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 of cord wheel (1208), the center line of the second coordinated movement of various economic factors mechanism steel wire rope wheel (1209) and third coordinated movement of various economic factors mechanism
The centerline parallel of wire rope pulley (1210) is arranged, the 6th rod piece (1206) and the 4th rod piece (1204) and the 5th rod piece (1205)
Rotation connection, human hands fixation kit (13) and the 6th rod piece (1206) are rotatablely connected, and lasso trick wirerope (907) is successively arranged
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 third coordinated movement of various economic factors
On mechanism steel wire rope wheel (1210), and lasso trick wirerope (907) is around guide wheel (1211) setting, coordinated movement of various economic factors mechanism rack (11)
The center line of upper cross plate along its length and third rod piece (1203) center line along its length, the 6th rod piece (1206) are along length
Spend the centerline parallel setting of the center line and guide wheel bar (1207) in direction along its length.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710792656.5A CN107569363B (en) | 2017-09-05 | 2017-09-05 | A kind of wearable wrist recovery training Flexible Transmission ectoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN107569363B true CN107569363B (en) | 2019-10-22 |
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| CN111110516B (en) * | 2020-02-12 | 2021-09-10 | 上海理工大学 | Three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101455609B (en) * | 2008-12-29 | 2011-01-19 | 哈尔滨工业大学 | Exoskeleton mechanism based on parallelogram connection-rod and wire rope |
| CN102119902B (en) * | 2011-03-29 | 2012-08-29 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN104665962B (en) * | 2015-02-05 | 2017-04-05 | 华南理工大学 | Wearable function strengthens machine hand system and its assisted finger and control method |
| CN105252522B (en) * | 2015-11-20 | 2017-03-29 | 哈尔滨工业大学 | A kind of Flexible Transmission upper limb exoskeleton robot for wearing |
| CN105662783B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN105597280B (en) * | 2016-03-21 | 2018-03-13 | 哈尔滨工业大学 | The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind |
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