CN107669442A - A kind of flexible strand drives upper limbs exoskeleton robot - Google Patents
A kind of flexible strand drives upper limbs exoskeleton robot Download PDFInfo
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- CN107669442A CN107669442A CN201711066608.4A CN201711066608A CN107669442A CN 107669442 A CN107669442 A CN 107669442A CN 201711066608 A CN201711066608 A CN 201711066608A CN 107669442 A CN107669442 A CN 107669442A
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- upper arm
- forearm
- sliding block
- joint
- shell
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Abstract
The invention discloses a kind of flexible strand to drive upper limbs exoskeleton robot, including knapsack, back width adjusting device, shoulder joint mechanism, upper arm lengths adjusting means, elbow joint mechanism, forearm adjusting means, wrist joint mechanism.Driving control system is placed among knapsack, back width adjusting device and knapsack cage connection, shoulder joint mechanism is connected with back width adjusting device, and shoulder joint mechanism is connected by upper arm lengths adjusting means with elbow joint mechanism, and elbow joint is connected by forearm adjusting means with wrist joint.Flexible actuator is driven transmission with rope and combined by the present invention so that robot motion is submissive, it is simple for structure it is compact, joint is light；4 active frees degree are included altogether, 2 passive freedom degrees, can be very good to be fitted human upper limb physiological structure；Structure of adjusting length is equipped with back, upper arm, fore-arm so that robot is adapted to the size of different users, more wearable property.The present invention can be in rehabilitation training and power-assisted etc. application.
Description
Technical field
The invention belongs to human body auxiliary robot field, is related to a kind of upper limbs exoskeleton robot, is specifically a kind of flexible
Rope drives upper limbs exoskeleton robot.
Background technology
As aging population accelerates, for the demand rapid growth of humanoid robot of helping the disabled of helping the elderly, and human upper limb is in day
It is often particularly significant, it is necessary to power-assisted or training in life.Exoskeleton robot, which relies on, can effectively solve human motion dysfunction,
User is driven to carry out daily exercise or provide the advantages such as a part of power-assisted for human body, it is wide in recent years concerned.
Compared to external ripe upper limbs exoskeleton robot technology, domestic research starting evening, level fall behind relatively, few
There is successful commercially produced product, be primarily present flexible deficiency, the problems such as shoulder joint structure simplifies, and wearable property is poor.
Find by prior art documents, Chinese invention patent application number 201510103109.2, the technology is public
A kind of exoskeleton wearable upper limb rehabilitation robot is opened, mainly including shoulder joint, elbow joint, wrist joint and hand ectoskeleton
The part of structure four, wherein shoulder joint do not consider the outer free degree of medial rotation/rotation, are the joints of a two-freedom, limit outside upper limbs
The working space of bone robot.Type of drive is directly placed on joint using disc type electric machine harmonic decelerator so that each
Joint quality increase, weakens its carrying load ability.
Chinese Patent Application No. 201320559244.4, the technology disclose a kind of upper limbs ectoskeleton of pneumatic muscles driving
Servomechanism, including back bracket, shoulder joint, wherein three parts of elbow joint, shoulder joint structure are although with similar with human body
Three degree of freedom, but in fact only have the flexion/extension free degree can realize active drive.The design has used pneumatic muscles+rope
Drive is driven so that ectoskeleton motion has flexibility, and reduces the weight of each joint, but air pressure driving is easily by environment
Influence, position control is inaccurate and energy efficiency is low.
The content of the invention
It is contemplated that being directed to above-mentioned the deficiencies in the prior art, develop a kind of flexible strand and drive upper limbs exoskeleton robot.Core
The heart is that exploitation is a kind of with motion flexibility and the stronger upper limbs robot architecture of bio-imitability.
Known according to human upper limb locomotion mechanism, human upper limb is made up of shoulder, upper arm, forearm and the part of palm four, by shoulder
Joint, elbow joint, wrist joint, articulations digitorum manus connect each several part.Wherein shoulder joint mainly have abduction/adduction, medial rotation/rotation it is outer, it is in the wrong/
Three kinds of motions are stretched, are a 3DOF ball pivot joints；Elbow joint is mainly flexion/extension motion, is that a single-degree-of-freedom hinge closes
Section；Wrist joint mainly has three kinds of medial rotation/rotation outer, abduction/adduction, flexion/extension motions, be a single-degree-of-freedom pivot joint and it is double from
By the combination of degree condyloid joint.To be matched with human upper limb locomotion, robot sets 3 active frees degree in shoulder joint, and elbow closes
Section sets 1 active free degree, and wrist joint sets 2 passive freedom degrees.
Combined in addition, the present invention drives transmission using flexible actuator+rope, develop a kind of soft drive mode, wherein flexible
Driver selects series elastic driver, be connected between rigid driving power source and load it is certain soft to obtain into spring
Property, restrict to drive and select Bowden wire type, the steel wire rope of Bowden cable also has certain flexibility, the two combination, and robot motion can be made soft
It is suitable, resistance to shock loads, ensure the safety of user；Rope drives transmission and can separate the shoulder joint of driver and robot, elbow joint,
By steel wire rope transition, passing power, driver and control system are put into knapsack, compact-sized light, easy to wear.
The present invention is achieved by the following technical solutions：
A kind of flexible strand drives upper limbs exoskeleton robot, it is characterised in that：Closed including knapsack, shoulder joint mechanism, upper arm, elbow
Save mechanism and forearm, the knapsack includes knapsack shell, in knapsack shell provided with multiple drivers and with driver power transmission
Connected wire spool, the shoulder joint mechanism are a six bar mechanism, and it includes back contiguous block, the first pedestal, the first master
Bar, the first secondary bar, the second mobile jib, the second secondary bar and the second pedestal, the back contiguous block are arranged on knapsack by attachment means
On shell, back contiguous block is provided with the first connected therewith shoulder joint nodal axisn, and first pedestal one end is arranged on first by bearing
The first shoulder joint wire spool being coaxially disposed with the first shoulder joint nodal axisn, the first base are also fixed with shoulder joint nodal axisn, on the first pedestal
The seat other end is provided with the second fixed shoulder joint nodal axisn, and first mobile jib one end is arranged on the second shoulder joint nodal axisn by bearing, and first
The second shoulder joint wire spool being coaxially disposed with the second shoulder joint nodal axisn is also fixed with mobile jib, the first mobile jib other end passes through bearing pin
It is connected with second mobile jib one end, the second mobile jib other end is hinged and connected with second pedestal one end, and the second pedestal other end is provided with solid
The 3rd fixed shoulder joint nodal axisn, the first secondary bar both ends are hinged and connected with the first pedestal and the second mobile jib respectively, the second secondary bar both ends point
It is not hinged and connected with the first mobile jib and the second pedestal, the first secondary bar and the second secondary bar are staggered, and are led respectively with corresponding first
Bar and the second mobile jib form parallelogram；Upper arm one end is arranged on the 3rd shoulder joint nodal axisn by bearing, also fixed on upper arm
Provided with the 3rd shoulder joint wire spool being coaxially disposed with the 3rd shoulder joint nodal axisn, the upper arm other end passes through elbow joint mechanism and forearm phase
Even, the forearm front end is provided with wrist joint mechanism；Three shoulder joint wire spools are corresponding with knapsack shell by drive of restricting respectively
Wire spool is connected.
As an improvement, three shoulder joint wire spools are respectively equipped with fixed thereto be connected and for the coding of measuring angle displacement
Device.
As an improvement, the attachment means are back width adjusting device, it includes back pedestal, back shell, back cunning
Block, adjusting rod, spring and handwheel, described back shell one end are fixed on knapsack shell by back pedestal, set on the pedestal of back
There is tapped through hole, for adjusting rod in the shell of back, the adjusting rod left end is the threaded rod matched with tapped through hole, and its middle part is
Polished rod, on the freely slidable polished rod being enclosed in the middle part of adjusting rod of back sliding block, handwheel is fixedly mounted on adjusting rod right-hand member, back
Two identical springs are cased with the adjusting rod at sliding block both ends respectively, are tended to by two spring back sliding blocks on adjusting rod
Middle position, the back contiguous block of shoulder joint mechanism are fixedly linked by the slotted eye that back shell-side face is opened and back sliding block.
As an improvement, the back sliding block both sides are provided with symmetrically arranged screw pulley, back shell both sides are respectively equipped with confession
The guide groove that screw pulley slides.
As an improvement, the upper arm lengths regulation that the upper arm includes the first upper arm plate, the second upper arm plate is connected with by both
Device, the upper arm lengths adjusting means include upper arm shell and upper arm link in upper arm shell, upper arm locking sliding block and
Upper arm locking wrench, upper arm shell are fixedly mounted on the first upper arm plate bottom, and the upper arm link is fixedly mounted on the first upper arm plate
End, upper arm locking sliding block and upper arm link composition sliding block guide track structure, the second upper arm plate upper end is consolidated with upper arm locking sliding block
Fixed to be connected, upper arm locking sliding block side is provided with the gap of elastic compression, and upper arm locking sliding block, which is provided with, passes perpendicularly through elastic compression seam
The screw of gap, upper arm locking wrench are made up of the screw rod and handle being arranged in a mutually vertical manner, and screw rod passes through spiral shell on upper arm locking sliding block
Hole coordinates, and passes through the screw-in of screw rod and screw and screws out and coordinates so that upper arm locking sliding block and upper arm link relative position lock or
Unblock, upper arm shell are provided with the chute slided up and down for upper arm locking wrench with upper arm locking sliding block.
As an improvement, the elbow joint mechanism includes elbow joint axle, elbow joint wire spool and encoder, the elbow joint axle
The second upper arm plate bottom, forearm and elbow joint wire spool is fixedly mounted on to install on elbow joint axle by bearing, and forearm and elbow
Joint wire spool is fixedly linked, and encoder is fixed on elbow joint wire spool, and elbow joint wire spool is driven and knapsack shell by restricting
Interior corresponding wire spool is connected.
As an improvement, the second upper arm plate bottom and forearm opposite face are respectively equipped with both limitation relative rotation angles
Limited block.
As an improvement, the forearm regulation that the forearm includes the first forearm plate, the second forearm plate is connected with by both
Device, the forearm adjusting means include forearm shell and forearm link in forearm shell, forearm locking sliding block and
Forearm locking wrench, forearm shell are fixedly mounted on the first forearm plate bottom, and the forearm link is fixedly mounted on the first forearm plate
End, forearm locking sliding block and forearm link composition sliding block guide track structure, the second forearm plate upper end is consolidated with forearm locking sliding block
Fixed to be connected, forearm locking sliding block and forearm locking wrench mounting means and structure are pacified with upper arm locking sliding block and upper arm locking wrench
Dress mode and structure are just the same.
As an improvement, the wrist joint mechanism includes wrist joint outer shroud, wrist joint sliding block, wrist joint inner ring and holding rod, wrist
Joint outer shroud is fixedly mounted on the second forearm front edge of board, and the wrist joint outer shroud inner side is provided with the sliding groove as its arc,
Wrist joint sliding block is connected, the holding rod passes through on the outside of wrist joint inner ring in sliding groove by connector with wrist joint sliding block
Wrist joint connecting rod is arranged on wrist joint inner ring inner opposite end.
Preferably, the back contiguous block and the first pedestal, the second pedestal and the first upper arm plate, the first forearm plate and second
Confined planes are respectively provided with the outside of equal limited location block on upper arm plate opposite face, the first pedestal and the first mobile jib, realize each freedom of shoulder joint
Spend angle limit.
Preferably, semi-flexible adapter sleeve, wrist half of the exoskeleton robot by back bandage, two, upper arm staggeredly
Flexible connecting sleeve, wrist holding rod are connected with user, and connecting portion has porous pad, ensure that the ectoskeleton machine
The wearable property of people, and make it that its wearing is more comfortable.
Preferably, it is driven at each axle using duplex bearing so that each cradle head smooth running, friction are small.
The present invention has advantages below compared with prior art：
1) drive transmission from flexible actuator+rope to combine so that submissive, structure is simple with moving for upper limbs exoskeleton robot
Clean compact, light weight.
2) upper limbs exoskeleton robot sets 3 active frees degree in shoulder joint, and elbow joint sets 1 active free degree,
Wrist joint sets 2 passive freedom degrees, and the range of movement of each free degree has carried out rational distribution and limitation, can be fine
Fitting human upper limb physiological structure.
3) free degree outside shoulder joint medial rotation/rotation is corresponded into rotating shaft virtualization from six bar mechanism, conceded above shoulders of human body
Space, avoid robot from being collided with human body neck, ensure user's safety, and make robot have larger work empty
Between.
4) structure of adjusting length is equipped with back, upper arm, fore-arm, step-less adjustment can be achieved so that robot can be with
Adapt to the size of different users, more wearable property.
Brief description of the drawings
Fig. 1 is the overall schematic of the present invention；
Fig. 2 is the front side overall schematic of the present invention；
Fig. 3 is inside backpacks structural representation；
Fig. 4 is back width adjusting device schematic diagram；
Fig. 5 is shoulder joint structural scheme of mechanism；
Fig. 6 is shoulder joint mechanism top view；
Fig. 7 is upper arm and forearm assembling schematic diagram；
Fig. 8 is upper arm decomposing schematic representation；
Fig. 9 is elbow joint mechanism exploded perspective view；
Figure 10 is forearm decomposing schematic representation；
Figure 11 is wrist joint mechanism exploded perspective view；
Figure 12 is six bar mechanism structure principle chart.
I-knapsack, II-back width adjusting device, III-shoulder joint mechanism, IV-upper arm lengths adjusting means, V-elbow close
Save mechanism, VI-forearm adjusting means, VII-wrist joint mechanism, 1- knapsack shells, 2- batteries, 3- control panels, 4- drivers
Fixed plate, 5- Bowden cables, 6- ropes drive fixed seat, 7- wire spools, 8- DC servo motors, 9- series elastic drivers, 10- codings
Device fixed mount, 11- driver encoders, 12- backs pedestal, 13- back stops, the first backs of 14- shell, the screw rods of 15- first are slided
Wheel, 16- backs sliding block, 17- springs, 18- double offset ring spanners, 19- adjusting rods, the screw pulleys of 20- second, 21- backs contiguous block,
The second backs of 22- shell, 23- the first shoulder joint nodal axisns, the pedestals of 24- first, 25- the first shoulder joint wire spools, 26- encoders, 27-
One mobile jib, 28- the second shoulder joint wire spools, 29- the second shoulder joint nodal axisns, the main shafts of 30- first, the mobile jibs of 31- second, 32- second are secondary
Bar, the countershafts of 33- first, the main shafts of 34- second, the pedestals of 35- second, the upper arm plates of 36- first, the shoulder joint nodal axisns of 37- the 3rd, 38- the 3rd
Shoulder joint wire spool, the countershafts of 39- second, the secondary bars of 40- first, 41- the first upper arm shells, the upper arm plates of 42- second, 43- upper arm links,
44- upper arm locking sliding blocks, 45- the second upper arm shells, 46- upper arm locking wrenchs, 47- elbow joint axles, 48- elbow joint rib bearings,
49- the first forearm plates, 50- elbow joint jump rings, 51- elbow joint wire spools, 52- the first forearm shells, 53- the second forearm plates, before 54-
Arm link, 55- forearm locking sliding blocks, 56- the second forearm shells, 57- forearm locking wrenchs, 58- wrist joint outer shrouds, 59- wrist joints
Outer shroud block, 60- wrist joint sliding blocks, 61- wrist joint contiguous blocks, 62- wrist joint inner ring, 63- wrist joint connecting rods, 64- wrist joints
Jump ring, 65- end caps, 66- holding rod bearings, 67- wrist joint axles, 68- holding rods.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
As depicted in figs. 1 and 2, robot of the invention includes knapsack I, back width adjusting device II, shoulder joint mechanism
IIIth, upper arm lengths adjusting means IV, elbow joint mechanism V, forearm adjusting means VI, wrist joint mechanism VII.
As shown in figure 3, the knapsack I of the present invention includes knapsack shell 1, battery 2, control panel 3, driver fixed plate 4, Bowden
Line 5, rope drive fixed seat 6, wire spool), DC servo motor 8, series elastic driver 9, encoder fixed mount 10, driver compile
Code device 11.
Whole knapsack I divides for 3 layers, and basecoat is battery 2, and the second layer is control panel 3 and driver fixed plate 4, most upper
One layer is that series elastic driver 9 and wire spool 7, Bowden cable 5, rope drive the part that the composition ropes such as fixed seat 10 drive transmission.Direct current
Servomotor 8 is the power source of robot, and series elastic driver 9 produces output angle position by the relative rotation of inside and outside sleeve
Move, the afterbody of wire spool 7 and the inner sleeve of series elastic driver 9 is fixed by screw, therefore DC servo motor 8 drives series connection bullet
Property driver 9 inner sleeve rotate, so as to drive the wire spool 7 fixed with inner sleeve to rotate, different wire spools 7 passes through Bowden cable
5 transition, drive corresponding shoulder joint wire spool and elbow joint wire spool to rotate so as to drive articulation, realize driving.
As shown in figure 4, the back width adjusting device II of the present invention includes back pedestal 12, back shell, back cunning
Block 16, adjusting rod 19, spring 17 and handwheel, the back shell are connected by the first back shell 14 with the second back shell 22 by bolt
Composition, back shell one end are fixed on knapsack shell 1 by back pedestal 12, and back pedestal 12 is provided with tapped through hole, regulation
For bar 19 in the shell of back, the left end of adjusting rod 19 is the threaded rod matched with tapped through hole, and its middle part is polished rod, and back is slided
Block 16 it is freely slidable be enclosed on regulation, on the polished rod at 19 middle parts, handwheel be double offset ring spanner 18 in the present embodiment, and handwheel, which is fixed, pacifies
Mounted in the right-hand member of adjusting rod 19, two identical springs 17 are cased with the adjusting rod 19 at the both ends of back sliding block 16 respectively, pass through two
Spring 17 causes back sliding block 16 to tend to middle position on adjusting rod 19, and the back contiguous block 21 of shoulder joint mechanism III passes through back
The slotted eye that shell-side face is opened is fixedly linked with back sliding block 16；
Adjustment double offset ring spanner 18 can cause adjusting rod 19 screws in the tapped through hole of back pedestal 12 to screw out, so as to adjust
The relative distance of back sliding block 16 and back pedestal 12, and then adjust shoulder joint mechanism III and namely carried on the back relative to the distance of knapsack
Portion's width adjusting, after adjusting rod 19 and the fixation of the relative distance of back pedestal 12, i.e., after back width determines, back sliding block 16 exists
The middle part left and right small range of adjusting rod 19 is slided, and the shoulder abduction/interior receipts free degree corresponds to rotating shaft can be made micro- with human motion or so
Width is adjusted.
As shown in Figure 5 and Figure 6, the shoulder joint mechanism III of the invention is a six bar mechanism, and it includes back company
Meet block 21, the first pedestal 24, the first mobile jib 27, the first secondary bar 40, the second mobile jib 31, the second secondary bar 32 and the second pedestal 35, institute
State back contiguous block 21 to be arranged on by connector on the back sliding block 16 of back width adjusting device II, on back contiguous block 21
Provided with the first connected therewith shoulder joint nodal axisn 23, the one end of the first pedestal 24 is arranged on the first shoulder joint nodal axisn 23 by bearing, the
The first shoulder joint wire spool 25 being coaxially disposed with the first shoulder joint nodal axisn 23, the first shoulder joint coiling are also fixed with one pedestal 24
Disk 25 is provided with the encoder 26 being fixedly linked therewith by screw, for can be achieved to shoulder abduction/interior receipts free degree
Driving and angle displacement measurement；The other end of first pedestal 24 is provided with the second fixed shoulder joint nodal axisn 29, and the one end of the first mobile jib 27 passes through
Bearing is arranged on the second shoulder joint nodal axisn 29, and second be coaxially disposed with the second shoulder joint nodal axisn 29 is also fixed with the first mobile jib 27
Shoulder joint wire spool 28, the second shoulder joint wire spool 28 are provided with the encoder 26 being fixedly linked therewith by screw, can be achieved
Driving and angle displacement measurement to the free degree outside shoulder joint medial rotation/rotation；The other end of first mobile jib 27 passes through the first main shaft 30 and
The one end of two mobile jib 31 is hinged and connected, and the other end of the second mobile jib 31 is hinged and connected by the second main shaft 34 and the one end of the second pedestal 35,
The other end of second pedestal 35 is provided with the 3rd fixed shoulder joint nodal axisn 37, and the both ends of the first secondary bar 40 pass through the first countershaft 33 and the respectively
One pedestal 24 and the second mobile jib 31 are hinged and connected, and the both ends of the second secondary bar 32 pass through the second countershaft 39 and the first mobile jib 27 and respectively
Two pedestals 35 are hinged and connected, and the first secondary bar 40 and the second secondary bar 32 are staggered, respectively with corresponding first mobile jib 27 and second
Mobile jib 31 forms parallelogram；The upper end of first upper arm plate 36 is arranged on the 3rd shoulder joint nodal axisn 37 by bearing, the first upper arm
The 3rd shoulder joint wire spool 38 being coaxially disposed with the 3rd shoulder joint nodal axisn 37, the 3rd shoulder are also fixedly connected with by screw on plate 36
Joint wire spool 38 is provided with the encoder 26 being fixedly linked therewith by screw, can be achieved to the shoulder joint flexion/extension free degree
Driving and angle displacement measurement；First shoulder joint wire spool 25, the second shoulder joint wire spool 28 and the 3rd shoulder joint wire spool 38 divide
It is not connected by Bowden cable 5 with corresponding wire spool in knapsack shell, three shoulder joint wire spools are respectively equipped with phase fixed thereto
Even and for the encoder 26 of measuring angle displacement.
Have on the opposite face of 21 and first pedestal of back contiguous block 24, on the second pedestal 35 and the opposite face of the first upper arm plate 36
Limited block, the first pedestal 24 and the outside of the first mobile jib 27 are respectively provided with confined planes, and each free degree angle limit of shoulder joint can be achieved.
Due to the characteristic that shoulder joint mechanism III is a six bar mechanism, the first shoulder joint nodal axisn 23 and the 3rd shoulder can be caused
The crossing point of axes O of joint shaft 37 is in a stable position, in six bar mechanism motion process, the first shoulder joint nodal axisn 23 and the 3rd
Shoulder joint nodal axisn 37 rotates around intersection point O all the time, below the six bar mechanism principle explanation to be used to the present invention：
The outer free degree of medial rotation/rotation is the emphasis of shoulder joint design, and the design realizes its corresponding rotating shaft from six bar mechanism
Virtualization.As shown in figure 12 axle A1, axle A2 are respectively flexion/extension, rotating shaft corresponding to two frees degree of abduction/adduction.By parallel heavy
The geometrical constraints such as conjunction can fix axle A11, axle A2 intersection point, corresponding first mobile jib 27 of Tu12Zhong, BD, corresponding second mobile jibs of DF
31, AE corresponding first secondary bars 40, corresponding second secondary bars 32 of CG, the corresponding first shoulder joint nodal axisns 23 of axle A1, corresponding 3rd shoulder joints of axle A2
Nodal axisn 37.
Using connecting rod AB as frame, freedom calculation is carried out to this six bar mechanism, shares 5 movable parts, 7 rotations
Pair, bring plane mechanism freedom calculation formula into
F=3n- (2p1+ph)
In formula：F is plane mechanism free degree number, and n is movable part number, p1For low secondary number, phFor higher pair number.
The free degree for obtaining this six-bar linkage is 1, therefore it has fixed motion.Therefore, when connecting rod BD rotates around B points, axle
A2 by relative to axle A1 around the axis of rotation that O points are crossed perpendicular to paper, you can realize the rotating shaft virtualization of the outer free degree of medial rotation/rotation.
To make mechanism more attractive in appearance, connecting rod is replaced with arcuation bar.
As shown in figure 8, upper arm of the present invention include the first upper arm plate 36, the second upper arm plate 42 be connected with by both it is upper
Arm lengths adjusting means IV, the upper arm lengths adjusting means IV include upper arm shell and the upper arm link in upper arm shell
43rd, upper arm locking sliding block 44 and upper arm locking wrench 46, the upper arm shell are passed through by the first upper arm shell 41 and the second upper arm shell 45
Screw is connected to form, and upper arm shell is fixedly mounted on the bottom of the first upper arm plate 36 by screw, and the upper arm link 43 passes through screw thread
Screw is fixedly mounted on the end of the first upper arm plate 36, and upper arm locking sliding block 44 forms sliding block guide track structure with upper arm link 43,
The upper end of second upper arm plate 42 is fixedly linked with upper arm locking sliding block 44, and the side of upper arm locking sliding block 44 is provided with the seam of elastic compression
Gap, upper arm locking sliding block 44 are provided with the screw for passing perpendicularly through elastic compression gap, and upper arm locking wrench 46 is by being arranged in a mutually vertical manner
Screw rod and handle composition, screw rod coordinated by screw on upper arm locking sliding block 44, is matched somebody with somebody by the back-out of the screw-in of screw rod and screw
Close so that upper arm locking sliding block 44 is locked or unlocked with the relative position of upper arm link 43, and upper arm shell is provided with to be pulled for upper arm locking
The chute that hand 46 slides up and down with upper arm locking sliding block 44.Upper arm locking sliding block 44 is by unscrewing or screwing upper arm locking wrench
46 can slide or lock in upper arm link 43, therefore upper arm lengths can be adjusted with human dimension.
As shown in figure 9, the elbow joint mechanism V of the present invention includes elbow joint axle 47, the second upper arm plate 42, elbow joint rib
Bearing 48, the first forearm plate 49, elbow joint jump ring 50, elbow joint wire spool 51, encoder 26.
Wherein, the first forearm plate 49 and the second upper arm plate 42 are connected by elbow joint axle 47 with elbow joint rib bearing 48,
One end of elbow joint axle 47 is connected by screw fixation with the second upper arm plate 42, and the first forearm plate 49 can be relative around elbow joint axle 47
Rotate.First forearm plate 49 and elbow joint wire spool 51, elbow joint wire spool 51 and encoder 26 are connected by screw, and can be achieved
Have on driving and angle displacement measurement to the elbow joint flexion/extension free degree, the first forearm plate 49 and the opposite face of the second upper arm plate 42
Limited block, achievable Angle of Elbow Joint is spacing, and elbow joint wire spool 51 passes through Bowden cable 5 and corresponding coiling in knapsack shell 1
Disk is connected, and drives elbow joint wire spool 51 to rotate by the driver being connected in knapsack shell 1 with wire spool, so as to realize to elbow
Joint flexion/extension action.
As shown in Figure 10, the forearm that forearm of the present invention includes the first forearm plate 49, the second forearm plate 53 is connected with by both
Length adjustment device VI, the forearm adjusting means VI include forearm link 54, forearm locking sliding block 55, forearm and lock and pull
Hand 57 and forearm shell, the forearm shell are connected to form by the first forearm shell 52 and the second forearm shell 56 by screw.
Wherein forearm link 54 is connected by screw thread with the bottom of the first forearm plate 49, before forearm locking sliding block 55 and second
Arm plate 53 is fixedly linked by screw, and forearm shell is fixedly linked with the first forearm plate 49 by screw, forearm locking sliding block 55 with
The structure and mounting means of upper arm locking sliding block 44 are just the same, by unscrewing or screwing forearm locking wrench 57, forearm locking
Sliding block 55 can be slided or locked in forearm link 54, therefore forearm can be adjusted with human dimension.
As shown in figure 11, the wrist joint outer shroud 58 of wrist joint mechanism VII of the invention, wrist joint outer shroud block 59, wrist joint are slided
Block 60, wrist joint contiguous block 61, wrist joint inner ring 62, wrist joint connecting rod 63, wrist joint jump ring 64, end cap 65, holding rod bearing 66,
Wrist joint axle 67 and holding rod 68.
Wherein, 58 outer middle side part of wrist joint outer shroud is fixedly mounted on the front end of the second forearm plate 53 by screw, outside wrist joint
The inner side of ring 58 is provided with the sliding groove as its arc, and wrist joint sliding block 60 can slide in the sliding groove of wrist joint outer shroud 58,
Wrist joint sliding block 60 is connected by wrist joint contiguous block 61 with 62 outer middle side part of wrist joint inner ring, and wrist joint inner ring 62 can be with respect to wrist
Joint outer shroud 58 rotates, you can realizes and is moved outside the passive medial rotation/rotation of wrist joint；Wrist joint connecting rod 63 and the one end of wrist joint inner ring 62
It is connected by screw, wrist joint connecting rod 63 and holding rod 68 are connected by wrist joint axle 67 and holding rod bearing 66, wrist joint axle 67
One end is fixed by screw and wrist joint connecting rod 63, and holding rod 68 can rotate relative to wrist joint connecting rod 63, you can realize wrist joint quilt
Dynamic flexion/extension motion.
Claims (10)
1. a kind of flexible strand drives upper limbs exoskeleton robot, it is characterised in that：Including knapsack, shoulder joint mechanism, upper arm, elbow joint
Mechanism and forearm, the knapsack include knapsack shell, be provided with knapsack shell multiple drivers and with driver power transmission phase
Even wire spool, the shoulder joint mechanism is a six bar mechanism, it include back contiguous block, the first pedestal, the first mobile jib,
First secondary bar, the second mobile jib, the second secondary bar and the second pedestal, the back contiguous block are arranged on knapsack shell by attachment means
On, back contiguous block is provided with the first connected therewith shoulder joint nodal axisn, and first pedestal one end is arranged on the first shoulder joint by bearing
The first shoulder joint wire spool being coaxially disposed with the first shoulder joint nodal axisn is also fixed with nodal axisn, on the first pedestal, the first pedestal is another
One end is provided with the second fixed shoulder joint nodal axisn, and first mobile jib one end is arranged on the second shoulder joint nodal axisn by bearing, the first mobile jib
On be also fixed with the second shoulder joint wire spool being coaxially disposed with the second shoulder joint nodal axisn, the first mobile jib other end passes through bearing pin and
Two mobile jib one end are connected, and the second mobile jib other end is hinged and connected with second pedestal one end, and the second pedestal other end is provided with fixed
3rd shoulder joint nodal axisn, the first secondary bar both ends are hinged and connected with the first pedestal and the second mobile jib respectively, the second secondary bar both ends respectively with
First mobile jib and the second pedestal are hinged and connected, and the first secondary bar and the second secondary bar are staggered, respectively with corresponding first mobile jib and
Second mobile jib forms parallelogram；Upper arm one end is arranged on the 3rd shoulder joint nodal axisn by bearing, is also fixed with upper arm
The 3rd shoulder joint wire spool being coaxially disposed with the 3rd shoulder joint nodal axisn, the upper arm other end are connected by elbow joint mechanism with forearm,
The forearm front end is provided with wrist joint mechanism；Three shoulder joint wire spools are driven and corresponding coiling in knapsack shell by restricting respectively
Disk is connected.
2. a kind of flexible strand as claimed in claim 1 drives upper limbs exoskeleton robot, it is characterised in that：Three shoulder joint coilings
Disk is respectively equipped with fixed thereto be connected and for the encoder of measuring angle displacement.
3. a kind of flexible strand as claimed in claim 2 drives upper limbs exoskeleton robot, it is characterised in that：The attachment means are
Back width adjusting device, it includes back pedestal, back shell, back sliding block, adjusting rod, spring and handwheel, the back shell
One end is fixed on knapsack shell by back pedestal, and back pedestal is provided with tapped through hole, and adjusting rod is in the shell of back, institute
It is the threaded rod that match with tapped through hole to state adjusting rod left end, is polished rod in the middle part of it, back sliding block it is freely slidable be enclosed on tune
On polished rod in the middle part of pole, handwheel is fixedly mounted on adjusting rod right-hand member, and two are cased with respectively on the adjusting rod at back sliding block both ends
Identical spring, tend to middle position on adjusting rod, the back connection of shoulder joint mechanism by two spring back sliding blocks
Block is fixedly linked by the slotted eye that back shell-side face is opened and back sliding block.
4. a kind of flexible strand as claimed in claim 3 drives upper limbs exoskeleton robot, it is characterised in that：The back sliding block two
Side is provided with symmetrically arranged screw pulley, and back shell both sides are respectively equipped with the guide groove slided for screw pulley.
5. a kind of flexible strand as claimed in claim 3 drives upper limbs exoskeleton robot, it is characterised in that：The upper arm includes the
The upper arm lengths adjusting means that one upper arm plate, the second upper arm plate are connected with by both, the upper arm lengths adjusting means include upper
Arm shell and upper arm link, upper arm locking sliding block and upper arm locking wrench in upper arm shell, upper arm shell are fixedly mounted on
One upper arm plate bottom, the upper arm link are fixedly mounted on the end of the first upper arm plate, upper arm locking sliding block and upper arm link group
Into sliding block guide track structure, the second upper arm plate upper end is fixedly linked with upper arm locking sliding block, and upper arm locking sliding block side is provided with elasticity
The gap of compression, upper arm locking sliding block are provided with the screw for passing perpendicularly through elastic compression gap, and upper arm locking wrench is by being mutually perpendicular to
Screw rod and the handle composition of setting, screw rod are coordinated by screw on upper arm locking sliding block, screwed out by the screw-in of screw rod and screw
Coordinate so that upper arm locking sliding block is locked or unlocked with upper arm link relative position, and upper arm shell is provided with and supplies upper arm locking wrench
The chute slided up and down with upper arm locking sliding block.
6. a kind of flexible strand as claimed in claim 5 drives upper limbs exoskeleton robot, it is characterised in that：The elbow joint mechanism
Including elbow joint axle, elbow joint wire spool and encoder, the elbow joint axle is fixedly mounted on the second upper arm plate bottom, forearm and
Elbow joint wire spool is installed on elbow joint axle by bearing, and forearm and elbow joint wire spool are fixedly linked, and encoder is fixed on
On elbow joint wire spool, elbow joint wire spool is connected by restricting to drive with corresponding wire spool in knapsack shell.
7. a kind of flexible strand as claimed in claim 6 drives upper limbs exoskeleton robot, it is characterised in that：Second upper arm plate
Bottom and forearm opposite face are respectively equipped with the limited block of both relative rotation angles of limitation.
8. a kind of flexible strand as claimed in claim 6 drives upper limbs exoskeleton robot, it is characterised in that：The forearm includes the
The forearm adjusting means that one forearm plate, the second forearm plate are connected with by both, before the forearm adjusting means includes
Arm shell and forearm link, forearm locking sliding block and forearm locking wrench in forearm shell, forearm shell are fixedly mounted on
One forearm plate bottom, the forearm link are fixedly mounted on the end of the first forearm plate, forearm locking sliding block and forearm link group
Into sliding block guide track structure, the second forearm plate upper end is fixedly linked with forearm locking sliding block, and forearm locking sliding block and forearm locking are pulled
Hand mounting means and structure and upper arm locking sliding block and upper arm locking wrench mounting means and structure are just the same.
9. a kind of flexible strand as claimed in claim 8 drives upper limbs exoskeleton robot, it is characterised in that：The wrist joint mechanism
Including wrist joint outer shroud, wrist joint sliding block, wrist joint inner ring and holding rod, before wrist joint outer shroud is fixedly mounted on the second forearm plate
End, the wrist joint outer shroud inner side are provided with the sliding groove as its arc, and wrist joint sliding block is in sliding groove, in wrist joint
It is connected on the outside of ring by connector with wrist joint sliding block, the holding rod is arranged on one on the inside of wrist joint inner ring by wrist joint connecting rod
End.
10. a kind of flexible strand as claimed in claim 9 drives upper limbs exoskeleton robot, it is characterised in that：The back connection
Between block and the first pedestal, opposite face between the second pedestal and the first upper arm plate and between the first forearm plate and the second upper arm plate
Upper equal limited location block, the first pedestal and the first mobile jib outside are respectively provided with confined planes, realize each free degree angle limit of shoulder joint.
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| CN201711066608.4A CN107669442B (en) | 2017-11-02 | 2017-11-02 | A kind of flexible strand drive upper limb exoskeleton robot |
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|---|---|---|---|
| CN201711066608.4A CN107669442B (en) | 2017-11-02 | 2017-11-02 | A kind of flexible strand drive upper limb exoskeleton robot |
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| CN107669442A true CN107669442A (en) | 2018-02-09 |
| CN107669442B CN107669442B (en) | 2019-10-11 |
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| CN108451747B (en) * | 2018-04-23 | 2020-09-01 | 上海理工大学 | Wearable elbow joint skeleton rehabilitation training device |
| CN112074380A (en) * | 2018-05-02 | 2020-12-11 | Iuvo公司 | Actuation system for an exoskeleton |
| CN112074380B (en) * | 2018-05-02 | 2024-04-26 | Iuvo公司 | Exoskeleton actuation system |
| CN108652919A (en) * | 2018-05-27 | 2018-10-16 | 北京工业大学 | A kind of line driving wearable upper limb medical treatment ectoskeleton structure of multiple degrees of freedom |
| CN108839002A (en) * | 2018-09-04 | 2018-11-20 | 赤源动力（大连）科技有限责任公司 | Wearable ectoskeleton shoulder power assistive device |
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| CN110123582B (en) * | 2019-05-31 | 2021-08-06 | 北京工业大学 | Robot for rehabilitation therapy of scapula |
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| CN110787027B (en) * | 2019-11-29 | 2021-09-17 | 东莞理工学院 | Exoskeleton robot for upper limb rehabilitation training |
| CN111000699A (en) * | 2019-12-26 | 2020-04-14 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Rigid-flexible hybrid upper limb auxiliary motion device |
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| US20210275379A1 (en) * | 2020-03-09 | 2021-09-09 | Hyundai Motor Company | Wearable muscular strength assisting apparatus |
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| CN111888186A (en) * | 2020-07-21 | 2020-11-06 | 埃斯顿(南京)医疗科技有限公司 | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof |
| CN111956453A (en) * | 2020-08-31 | 2020-11-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible power assisting exoskeleton |
| CN112022628A (en) * | 2020-09-25 | 2020-12-04 | 西北工业大学 | Active-passive six-degree-of-freedom upper limb assistance exoskeleton based on flexible transmission mechanism |
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| CN114601681A (en) * | 2021-10-30 | 2022-06-10 | 南京华骨科技有限公司 | Intelligent exoskeleton for rehabilitation of patient with paralyzed upper limbs |
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| CN115177490A (en) * | 2021-11-26 | 2022-10-14 | 安徽大学 | Device for detecting man-machine interaction force of lower limb exoskeleton |
| CN114145960B (en) * | 2021-11-26 | 2022-09-27 | 深圳市人民医院 | Intelligent multifunctional wrist and finger joint training device |
| CN115177490B (en) * | 2021-11-26 | 2024-03-08 | 安徽大学 | Device for detecting man-machine interaction force of lower limb exoskeleton |
| CN114145960A (en) * | 2021-11-26 | 2022-03-08 | 深圳市人民医院 | Intelligent multifunctional wrist and finger joint training device |
| CN114404216A (en) * | 2021-12-23 | 2022-04-29 | 燕山大学 | Wearable exoskeleton shoulder rehabilitation assistive device |
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