CN108186279B - Rotary internal and external joint for rehabilitation exoskeleton mechanism - Google Patents
Rotary internal and external joint for rehabilitation exoskeleton mechanism Download PDFInfo
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- CN108186279B CN108186279B CN201711444348.XA CN201711444348A CN108186279B CN 108186279 B CN108186279 B CN 108186279B CN 201711444348 A CN201711444348 A CN 201711444348A CN 108186279 B CN108186279 B CN 108186279B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 210000000245 forearm Anatomy 0.000 claims abstract description 67
- 230000001360 synchronised effect Effects 0.000 claims abstract description 41
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 2
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 210000002310 elbow joint Anatomy 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000005477 standard model Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an internal rotation external joint for an exoskeleton mechanism for upper limb rehabilitation, which comprises an upper arm internal rotation external joint and a forearm internal rotation external joint, wherein the upper arm internal rotation external joint and the forearm internal rotation external joint adopt similar transmission principles and components, the two joints are respectively connected with the upper arm and the forearm of an upper limb of a human body in a tightening connection mode, and a passive sliding pair is respectively added at a human-computer connection interface. The upper arm internal rotation external joint performs internal rotation external movement around the axis of the upper arm internal rotation external joint in a synchronous belt transmission mode, and the upper arm outer ring drives the upper arm inner ring and the upper arm to move together. The upper arm outer ring is fixed and supported by a support bearing and is in rolling contact with related parts; the tensioning wheel for tensioning the synchronous belt adopts a deep groove ball bearing combination mode, so that the synchronous belt is in rolling contact with the tensioning wheel; the belt wheel shaft is arranged on the upper arm box body and the upper arm cover plate, and two ends of the belt wheel shaft are supported by rolling bearings; by adopting a rolling contact mode, the movement resistance of the upper arm outer ring in the rotating process is greatly reduced.
Description
Technical Field
The invention relates to an internal rotation and external rotation joint, in particular to an internal rotation and external rotation joint for an upper limb rehabilitation exoskeleton mechanism.
Background
In order to make up for the defects of the traditional artificial rehabilitation training, reduce the heavy working strength of doctors and provide accurate and effective rehabilitation medical services for patients, laboratories and rehabilitation medical institutions of some colleges and universities at home and abroad successively develop related researches on wearable upper limb rehabilitation exoskeleton mechanisms. From the viewpoint of kinematic anatomy, biomechanics and human factors engineering, the degree of freedom of the upper limb of the human body is analyzed according to the morphological structure and function of the upper limb of the human body, and the upper limb (without palm) has 5 degrees of freedom (5-DOF): the shoulder joints are flexed/extended backward, adducted/extended outward, rotated inward/outward, the elbow joints are flexed/extended, and the forearms are rotated inward/outward. The body configuration and the driving mode of the upper limb rehabilitation robot are designed and integrated according to the requirements of the range of motion and the degree of freedom of each joint of the upper limb of the human body, so that the accurate rehabilitation training and the flexible training of the upper limb of a patient are realized, and the motion parameters and the force/moment parameters applied to the affected limb are accurately adjusted in real time.
The shoulder joint of the current exoskeleton mechanism is mainly formed by compounding two or three revolute pairs with axes orthogonal to a fixed rotation center, an elbow joint is a fixed axis single-degree-of-freedom revolute pair, the shoulder joint and the elbow joint are arranged by simulating the distribution characteristics of the joints corresponding to the upper limbs of a human body, and the component size is determined by referring to the physical sign parameters of the upper limbs of the human body. In the man-machine connection mode, the wearing tool fixedly connected to the exoskeleton is connected with the middle lower parts of the upper arm and the forearm in a tightening wearing mode. The exoskeleton mechanism has the advantages that the exoskeleton mechanism with simple configuration is obtained by using the characteristics of the motion anatomical structure of the upper limbs of the human body for reference and having good correspondence between the human-computer joints.
The disadvantage of this type of rehabilitation exoskeleton mechanism is that the axes (or the rotational centers) of the corresponding joints of the human-computer are required to be always aligned (or superposed) in the rehabilitation training process, otherwise the human-computer closed chain is converted into an 'overdetermined' system with incompatible human-computer movement. Under the assumption of a rigid body model, the human-machine closed chain which is 'overdetermined' cannot move, but in fact can move when the driving force/moment of the exoskeleton joint is large enough due to the elastic deformation of the limb tissues at the human-machine connection interface, but additional constraint force/moment which is irrelevant to the rehabilitation training task can be generated at the human-machine connection interface. In a mechanical sense, the constraint force/moment of the attribute belongs to internal acting force/moment caused by the lack of freedom (or redundant driving) of the man-machine closed chain, is related to factors such as the configuration of the exoskeleton mechanism, the connection position of the man-machine and the like of the man-machine closed chain, and is changed along with the change of the movement configuration of the man-machine closed chain. When such internal restraint forces/moments are superimposed with the effective restraint forces/moments required to complete the rehabilitation training task, the strength of restraint between the human and machine is significantly increased, and results in poor comfort, difficulty in rehabilitation training, or safety issues.
Disclosure of Invention
The invention aims to provide a rotary internal and external joint for an upper limb rehabilitation exoskeleton mechanism, so as to solve the problems.
The embodiment of the invention provides an internal rotation and external rotation joint for an exoskeleton mechanism for upper limb rehabilitation, which is characterized in that the internal rotation and external rotation joint comprises an upper arm internal rotation and external rotation joint and a forearm internal rotation and external rotation joint, the two joints are respectively connected with the upper arm and the forearm of the upper limb of a human body in a tightening connection mode, and a passive sliding pair is respectively added at a human-computer connection interface. The upper arm internal rotation external joint is connected with an upper arm binding through an upper arm inner ring, an upper arm outer ring does internal rotation external motion around the axis of the upper arm outer ring under the driving of the synchronous belt, and the upper arm outer ring drives the upper arm inner ring and the upper arm to move together. The forearm internal rotation external joint is connected with the forearm by binding through a forearm inner ring, the forearm outer ring keeps synchronous motion with the upper arm outer ring, the forearm inner ring is connected with a forearm box body through a switching ring, the forearm inner ring and the forearm box body rotate around the axis of the forearm outer ring, and the forearm inner ring drives the forearm to do internal rotation external motion.
Furthermore, the upper arm internal rotation external joint and the forearm internal rotation external joint have the same transmission principle and composition.
Furthermore, the upper arm rotary internal rotation external joint mainly comprises an upper arm box body, a synchronous belt wheel, an upper arm outer ring and a support bearing.
Furthermore, the upper arm internal rotation external joint adopts a transmission mode of a synchronous belt, an upper arm motor transmits power to a synchronous belt wheel, the synchronous belt wheel is meshed with the synchronous belt, two ends of the synchronous belt are respectively fixed at two ends of an upper arm outer ring, and the synchronous belt drives the upper arm to rotate around the axis of the upper arm. Two grooves are symmetrically arranged on the inner side of the upper arm outer ring along the axis direction of the upper arm outer ring.
Furthermore, the support bearings are arranged on the inner sides of the upper arm box body and the upper arm cover plate, four support bearings are respectively arranged on the two inner sides, two sides of an upper arm outer ring are supported by the support bearings, and the upper arm outer ring rotates around the axis of the upper arm outer ring along the bearings; the inner side and the outer side of the upper arm outer ring both contain shaft shoulders, and the two sides of the shaft shoulders are in contact with the side faces of the supporting bearings.
Furthermore, two groups of tension pulleys are arranged between the synchronous belt pulley and the outer ring of the upper arm, the tension pulleys are in close contact with the synchronous belt, and each tension pulley consists of two bearings which are arranged side by side. One set of tension wheel is arranged on the fixed pin shaft, and the other set of tension wheel is arranged on the pin shaft with the adjustable position so as to adjust the tightness of the synchronous belt.
Furthermore, the synchronous belt wheel is arranged on a belt wheel shaft, the belt wheel shaft is arranged on an upper arm box body, and two ends of the belt wheel shaft are supported by deep groove ball bearings. The upper arm motor is decelerated by a harmonic reducer, a torque sensor is connected in series between the harmonic reducer and a pulley shaft, and a first-stage encoder is installed at the tail of the upper arm motor.
Furthermore, an upper arm driven sliding pair is arranged on the inner side of the groove of the upper arm inner ring, the upper arm driven sliding pair comprises a guide rail, a sliding block, an upper arm inner ring, a guide rod and a pressure spring, the two guide rails are arranged in the two grooves on the inner side of the upper arm inner ring, and the sliding block is in sliding fit with the guide rails. Two bosses are designed on the upper side and the lower side of the upper arm inner ring, the upper boss and the lower boss are connected with two corresponding sliding blocks through screws, the upper arm inner ring can slide along the guide rail, and the middle parts of the two bosses respectively comprise a through hole. And two sides of the boss are respectively provided with a pressure spring, and the guide rod sequentially penetrates through the pressure springs and the through hole and is fixed on the outer ring of the upper arm.
Compared with the prior art, the invention has the beneficial effects that: the moving part components of the upper arm rotation internal rotation external joint are supported by bearings, the movement resistance of the upper arm outer ring is extremely small, and the torque sensor can measure the rotation torque between the upper arm and the harmonic reducer in real time. Meanwhile, a passive sliding pair is introduced in a man-machine connection link, so that the motion compatibility of a man-machine closed chain is improved.
Drawings
Figure 1 is an isometric view of an upper extremity rehabilitation exoskeleton mechanism of the present invention;
FIG. 2 is a partial view of an upper extremity rehabilitation exoskeleton mechanism of the present invention;
FIG. 3 is an isometric view of the supinator outer joint of the upper arm;
FIG. 4 is an isometric view of the forearm pronation supination outer joint;
FIG. 5 is a cross-sectional view of the forearm pronation external joint;
FIG. 6 is a partial cross-sectional view of the upper arm outer ring support location;
FIG. 7 is a sectional view of the upper arm passive sliding pair;
FIG. 8 is a cross-sectional view of the tensioner;
fig. 9 is a sectional view of the upper arm drive unit;
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
Fig. 1 to 9 show an axial view of an upper limb rehabilitation exoskeleton mechanism of the present invention, fig. 2 shows a partial view of an upper limb rehabilitation exoskeleton mechanism of the present invention, fig. 3 shows an axial view of an upper arm internal rotation external joint, fig. 4 shows an axial view of a forearm internal rotation external joint, fig. 5 shows a sectional view of a forearm internal rotation external joint, fig. 6 shows a partial sectional view of an upper arm outer ring support position, fig. 7 shows a sectional view of an upper arm passive sliding pair, fig. 8 shows a sectional view of a tension pulley, and fig. 9 shows a sectional view of an upper arm drive unit.
In the present embodiment, referring to fig. 1 to 2, the mechanism body of the upper limb rehabilitation exoskeleton mechanism includes 5 active joints, which are a first joint 106, a second joint 107, an upper arm internal rotation external joint 108, an elbow joint 109, and a forearm internal rotation external joint 110. In order to improve the position adaptability of the mechanism body in the horizontal plane, a position tracking mechanism 105 comprising two passive sliding pairs is added between the mechanism body and the cantilever beam 104. The mechanism body and the position tracking mechanism 105 are arranged on the lower side of the front part of the cantilever beam 104, the rear part of the cantilever beam 104 is arranged on an adjustable turntable 103, the adjustable turntable 103 is arranged on the top of the lifting column 102, and the control box 101 is arranged on the rear part of the lifting column 102. The stroke patient 111 sits on the special chair 112, the upper limb of the patient 111 is worn on the upper arm internal rotation external joint 108 and the forearm internal rotation external joint 110, the upper limb is fixed in the corresponding semi-ring by adopting a binding belt, and the palm of the patient 111 is held on the handle 113 of the mechanism body.
Referring to fig. 3 and 5, the upper arm inward-rotation external joint 108 mainly comprises an upper arm box 1, an upper arm cover plate 2, an upper arm outer ring 3 and an upper arm inner ring 5, an upper arm motor 6 is mounted on the upper arm box 1, energy is transmitted to a synchronous pulley 15 in a synchronous belt transmission manner, and the synchronous pulley 15 is engaged with a synchronous belt 4 to drive the upper arm outer ring 3 to rotate along the axis of the synchronous belt 4; the upper arm inner ring 5 is connected with the upper arm outer ring 3 through a passive sliding pair, the upper arm inner ring 5 rotates together with the upper arm outer ring 3, and meanwhile, the upper arm inner ring 5 can slide along the axis of the upper arm inner ring 5 relative to the upper arm outer ring 3. Therefore, the upper arm inner ring 5 has a movement characteristic of rotation and sliding. The upper arm of the upper limb of the human body is connected with the inner ring 5 in a binding way, the upper arm inward-rotation external joint 108 can drive the upper arm to perform inward-rotation external movement, and meanwhile, the upper arm can move along the axis of the upper arm relative to the inward-rotation external joint. In order to facilitate the binding and the release of the upper arm, the upper arm outer ring 3 and the upper arm inner ring 5 both adopt semi-rings with notches. And two grooves in the upper arm outer ring 3 are symmetrically designed at the notches at the two ends.
Referring to fig. 3 and 4, the forearm internal rotation external joint 110 and the upper arm internal rotation external joint 108 have the same transmission principle and composition. The forearm internal rotation external joint 110 mainly comprises a forearm box body 8, a forearm cover plate 9, a forearm outer ring 10, a switching ring 44 and a forearm inner ring 12, a forearm motor 13 is fixed on the forearm box body 8 through a switching flange 42, a second-stage encoder 14 is arranged and installed at the tail part of the forearm motor 13, a synchronous belt transmission mode is adopted, a forearm synchronous belt 11 drives the forearm box body 8 and the forearm inner ring 12 are opposite to the forearm outer ring 10, the forearm inner ring 12 is fixed on the forearm box body 8 and the forearm cover plate 9 through the switching ring 44, a passive sliding pair is arranged between the switching ring 44 and the forearm inner ring 12, and therefore, relative to the forearm outer ring 10, the forearm inner ring 12 also has the motion characteristics of rotation and sliding.
Referring to fig. 3, 5 and 6, the synchronous belt 4 is an open belt, two ends of which are respectively fixed on the section of the gap of the upper arm outer ring 13 and are pressed by a pressing plate 18, so as to drive the upper arm outer ring 3 to rotate around its own axis. In order to reduce the rotation resistance of the upper arm outer ring 3, a two-side rolling support mode is adopted, four support bearings are respectively arranged on the inner sides of the upper arm box body 1 and the upper arm cover plate 2, and the upper arm outer ring 3 is clamped on the support bearings on the two sides. Referring to fig. 6, a first-stage pin 21 and a second-stage pin 25 are installed on the inner side of the upper arm case 1, the inner side of the upper arm case 1 includes a positioning spigot and a thread, a first-stage bearing 22 and a second-stage bearing 26 are respectively installed on the first-stage pin 21 and the second-stage pin 25, the upper arm outer ring 3 is clamped between the first-stage bearing 22 and the second-stage bearing 26, similarly, a third-stage bearing 24 is installed on the third-stage pin 23, the third-stage pin 23 is fixed on the inner side of the upper arm cover plate 2 by using a similar principle, and a fourth-stage pin 45 and a fourth-stage bearing 46 are installed on the upper arm case 1, so as to realize the rolling contact of the upper arm outer. The inner side and the outer side of the upper arm outer ring 3 both comprise shaft shoulders, and both sides of each shaft shoulder are in contact with the outer ring of the supporting bearing, so that the upper arm outer ring 3 is in rolling contact with adjacent parts in the self axial direction. Through the design scheme, the upper arm outer ring is in rolling contact with other parts in the axial direction and the circumferential direction, and the movement resistance of the upper arm outer ring is further reduced.
Referring to fig. 3 and 8, the timing pulley 15 is engaged with the timing belt 4, and a primary tension pulley 16 and a secondary tension pulley 17 are installed between the timing pulley 15 and the upper arm outer ring 3 in order to tension the timing belt 4. The secondary tension pulley 17 is mounted on a secondary cylinder 30, the secondary cylinder 30 is fixed between the upper arm box body 1 and the upper arm cover plate 2 in a threaded connection mode, and the position of the secondary tension pulley 17 is fixed. The position of the first-stage tension pulley 16 is adjustable to adjust the compression tightness of the synchronous belt 4, the first-stage tension pulley 16 is installed on a first-stage cylinder 31, the first-stage cylinder 31 can move up and down along the width direction of the upper arm box body 1, the position of the first-stage cylinder 31 is controlled by a left jackscrew 32 and a right jackscrew 43 at two ends, and the two jackscrews are respectively installed on one side of the upper arm box body 1 and one side of the upper arm cover plate 2. The primary tension wheel 16 and the secondary tension wheel 17 both adopt a mode of combining two deep groove ball bearings, so that the synchronous belt 4 and the tension wheel are in rolling contact, and the friction resistance of the synchronous belt tension is reduced.
Referring to fig. 5 and 9, the driving unit of the upper arm internal rotation external joint 108 mainly includes an upper arm motor 6, a harmonic reducer 34, a torque sensor 36 and a pulley shaft 38, the upper arm motor 6 is fixed on the upper arm casing 1 through an adapter flange 42, the upper arm motor 6 is connected with the harmonic reducer 34, the torque sensor 36 is mounted on an output end face of the harmonic reducer 34 through an adapter 35, a flat shaft 37 and the torque sensor 36 are locked together through screws, the flat shaft 37 is connected with the pulley shaft 38 through a flat key, and further, torque output and detection of the upper arm motor 6 are achieved. The pulley shaft 38 is mounted on the inner sides of the upper arm casing 1 and the upper arm cover plate 2 and is supported by a left bearing 40 and a right bearing 39, and an end cover 41 is used for axially positioning the right bearing 39. The timing pulley 15 is mounted on the pulley shaft 38 so that the timing pulley 15 and the pulley shaft 38 are in rolling contact with the upper arm casing 1 and the upper arm cover 2. In order to measure the rotating speed of the upper arm motor 6, a primary encoder 7 is added at the tail part of the motor.
Referring to fig. 5 and 7, in order to improve the position adaptability of the upper arm inner ring 5 along the self axis direction, a passive sliding pair is added between the upper arm outer ring 3 and the upper arm inner ring 5, the passive pair mainly comprises a sliding block 19, a guide rail 20, a guide rod 28, a pressure spring 29 and a fixed side plate 27, the sliding block 19 is in sliding fit with the guide rail 20, the sliding block 19 and the guide rail 20 are of market standard models, the sliding block 19 is mounted on bosses on the upper side and the lower side of the upper arm inner ring 5, the sliding block and the bosses are in screw connection, and the guide rail is mounted in grooves at the notches at the two ends of the guide rail 20. The passive sliding pair adopts two sets of guide rail sliding block units which are arranged in parallel so as to ensure that the passive sliding pair can reliably and stably slide. In order to restrain the position stability of the upper arm inner ring 5, the guide rod 28 and the compression spring 29 are added along the length direction of the guide rail 20, the compression spring 29 is positioned on the left side of the slide block 19, and the same compression spring is arranged on the right side of the slide block 19. The middle parts of the two bosses are respectively provided with a through hole, the guide rod 28 penetrates through the pressure spring 29 and the boss of the upper arm inner ring 5 to guide the pressure spring 29, one end of the guide rod 28 is installed on the fixed side plate 27, and the other end of the guide rod is installed on the fixed side plate with the same structure. As described above, the passive sliding pair is provided with four compression springs in total, and restricts the bidirectional sliding of the inner ring of the upper arm.
Referring to fig. 3 and 4, the forearm internal rotation external joint 110 and the upper arm internal rotation external joint 108 have similar structures and transmission principles, and the difference is that the forearm external ring 10 and the upper arm external ring 3 are connected through the elbow joint 109, the whole forearm internal rotation external joint 110 rotates together with the upper arm external ring 3, the box body of the forearm internal rotation external joint 100 and the forearm internal ring 12 are connected through the adapter ring 44, and the box body and the forearm internal ring rotate together relative to the forearm external ring, so as to realize the internal rotation and external rotation of the forearm. A passive sliding pair is arranged between the adapter ring 44 and the upper arm inner ring 12, and has the same structure as the passive sliding pair of the upper arm inward-rotation outer joint, and the description is omitted here.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. An internal rotation external joint for an upper limb rehabilitation exoskeleton mechanism is characterized in that the internal rotation external joint comprises an upper arm internal rotation external joint and a forearm internal rotation external joint, the two joints are respectively connected with the upper arm and the forearm of the upper limb of a human body in a tightening connection mode, and a passive sliding pair is respectively added at a human-computer connection interface;
the upper arm internal rotation external joint is connected with an upper arm binding through an upper arm inner ring, an upper arm outer ring does internal rotation external motion around the axis of the upper arm outer ring under the driving of a synchronous belt, and the upper arm outer ring drives the upper arm inner ring and the upper arm to move together;
the forearm internal rotation external joint is connected with a forearm by binding through a forearm inner ring, a forearm outer ring and an upper arm outer ring keep synchronous motion, the forearm inner ring is connected with a forearm box body through a transfer ring, the forearm inner ring and the forearm box body rotate around the axis of the forearm outer ring, and the forearm inner ring drives the forearm to do internal rotation external motion;
the forearm outer ring and the forearm inner ring are semi-rings with notches;
the upper arm internal rotation external joint comprises an upper arm box body, a synchronous belt wheel, an upper arm outer ring and a support bearing;
the upper arm rotation internal rotation external joint adopts a transmission mode of a synchronous belt, an upper arm motor transmits power to a synchronous belt wheel, the synchronous belt wheel is meshed with the synchronous belt, two ends of the synchronous belt are respectively fixed at two ends of an upper arm outer ring, and the synchronous belt drives the upper arm to rotate around the axis of the synchronous belt;
two grooves are symmetrically arranged on the inner side of the upper arm outer ring along the axis direction of the upper arm outer ring;
an upper arm driven sliding pair is arranged in a groove of the upper arm outer ring, and comprises a guide rail, a sliding block, an upper arm inner ring, a guide rod and a pressure spring;
the two guide rails are arranged in two grooves on the inner side of the outer ring of the upper arm, and the sliding block is in sliding fit with the guide rails;
two bosses are designed on the upper side and the lower side of the upper arm inner ring, the upper boss and the lower boss are connected with the corresponding two sliding blocks through screws, the upper arm inner ring can slide along the guide rail, and the middle parts of the two bosses respectively comprise a through hole;
two sides of the boss are respectively provided with a pressure spring, and the guide rod sequentially penetrates through the pressure springs and the through holes and is fixed on the outer ring of the upper arm;
in order to improve the position adaptability of the mechanism body in the horizontal plane, a position tracking mechanism comprising two passive sliding pairs is added between the mechanism body and the cantilever beam.
2. The supination external joint for exoskeleton mechanism for rehabilitation of upper limbs as claimed in claim 1, wherein the support bearings are installed inside the upper arm box and the upper arm cover plate, four support bearings are installed inside each of the two sides, both sides of the upper arm outer ring are supported by the support bearings, and the upper arm outer ring rotates around its axis along the bearings;
the inner side and the outer side of the upper arm outer ring both contain shaft shoulders, and the two sides of the shaft shoulders are in contact with the outer ring of the supporting bearing.
3. The internal rotation and external rotation joint for the exoskeleton mechanism for upper limb rehabilitation as claimed in claim 1, wherein two sets of tension pulleys are installed between the synchronous pulley and the outer ring of the upper arm, the tension pulleys are in close contact with the synchronous belt, and each tension pulley is composed of two bearings which are placed side by side;
one set of tension wheel is arranged on the fixed pin shaft, and the other set of tension wheel is arranged on the pin shaft with the adjustable position so as to adjust the tightness of the synchronous belt.
4. The supination external joint for exoskeleton mechanism for upper limb rehabilitation as claimed in claim 1, wherein the synchronous pulley is mounted on a pulley shaft mounted on the upper arm box and the upper arm cover plate, and both ends are supported by deep groove ball bearings;
the upper arm motor is decelerated by a harmonic reducer, a torque sensor is connected in series between the harmonic reducer and a pulley shaft, and a first-stage encoder is installed at the tail of the upper arm motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444348.XA CN108186279B (en) | 2017-12-27 | 2017-12-27 | Rotary internal and external joint for rehabilitation exoskeleton mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444348.XA CN108186279B (en) | 2017-12-27 | 2017-12-27 | Rotary internal and external joint for rehabilitation exoskeleton mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108186279A CN108186279A (en) | 2018-06-22 |
| CN108186279B true CN108186279B (en) | 2020-02-07 |
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| CN109730892B (en) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | Inner and outer circular arc guide rail mechanism for forearm of exoskeleton of upper limb |
| CN109846673B (en) * | 2019-03-11 | 2020-05-15 | 上海大学 | Co-fusion type double-arm rehabilitation training robot |
| CN112023333A (en) * | 2020-09-10 | 2020-12-04 | 王加猛 | Joint strength test and resistance training integrated instrument |
| CN112603767B (en) * | 2021-01-04 | 2022-04-01 | 燕山大学 | Flexible exoskeleton type upper limb rehabilitation training device |
| CN112691000B (en) * | 2021-01-13 | 2023-04-11 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113101611B (en) * | 2021-04-09 | 2022-02-22 | 陕西科技大学 | Shank muscle and soft tissue rehabilitation training instrument and control method thereof |
| CN113425548B (en) * | 2021-04-23 | 2022-09-20 | 北京工业大学 | Mirror image upper limb rehabilitation robot |
| CN113599193A (en) * | 2021-09-03 | 2021-11-05 | 河海大学 | Wearable upper limb rehabilitation exoskeleton |
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| KR101163903B1 (en) * | 2010-08-13 | 2012-07-09 | 한국과학기술원 | Robot shoulder appratus for stroke patients rehabilitation |
| IT1401979B1 (en) * | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | BIOMEDICAL DEVICE FOR ROBOTIZED REHABILITATION OF THE HUMAN UPPER BODY, PARTICULARLY FOR THE NEUROMOTORY REHABILITATION OF THE ARTICULATION OF THE SHOULDER AND OF THE ELBOW. |
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| CN107198639B (en) * | 2017-05-12 | 2019-05-03 | 北京工业大学 | A kind of master for upper limb healing exoskeleton mechanism is fused joint |
| CN107049705B (en) * | 2017-05-12 | 2019-04-12 | 北京工业大学 | A kind of upper limb healing exoskeleton mechanism containing passive sliding pair |
| CN107260488B (en) * | 2017-07-06 | 2019-02-05 | 北京航空航天大学 | The apery arm skeleton of wearable rope driving upper limb exoskeleton rehabilitation robot |
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