CN109363811A - A kind of upper limb exoskeleton robot based on wheelchair - Google Patents
A kind of upper limb exoskeleton robot based on wheelchair Download PDFInfo
- Publication number
- CN109363811A CN109363811A CN201811360416.9A CN201811360416A CN109363811A CN 109363811 A CN109363811 A CN 109363811A CN 201811360416 A CN201811360416 A CN 201811360416A CN 109363811 A CN109363811 A CN 109363811A
- Authority
- CN
- China
- Prior art keywords
- arm
- wheelchair
- upper limb
- sleeve
- exoskeleton robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Abstract
The present invention proposes a kind of upper limb exoskeleton robot based on wheelchair, it is characterized in that, including back fixation mechanism, vertical lifting mechanism, horizontal connection mechanism and ectoskeleton mechanical arm, back fixation mechanism includes rack, fixing piece, bandage and back box shell, fixing piece and bandage are symmetrically set to the two sides of rack, and back box shell is set in rack；Vertical lifting mechanism includes rack gear, transmission mechanism and wind, and transmission mechanism is set in the box shell of back, and wind drive transmission device control rack gear moves up and down, and the top of rack gear extends vertically through the top side of back box shell；Horizontal connection mechanism one end is flexibly connected with ectoskeleton mechanical arm, and the other end is flexibly connected with rack gear.In this application, innovative that the mechanical arm of upper limb rehabilitation robot is mounted on wheelchair, not only can be mobile by means of wheelchair, but also the rehabilitation training of upper limb can be completed on wheelchair, simplify the volume of upper limb rehabilitation robot.
Description
Technical field
The present invention relates to rehabilitation appliances field more particularly to a kind of upper limb exoskeleton robots based on wheelchair.
Background technique
Exoskeleton-type robot is that one kind can be worn on human body, the electromechanical assembly of auxiliary or extension Human Stamina.
The application range of exoskeleton-type robot is very extensive, including remote control, function of human body enhancing, the compensation of human body technical ability with
And limb rehabilitation training.
There are the exoskeleton robot of a plurality of rehabilitation training of upper limbs, the more perfect Intelligent upper limb of function both at home and abroad at present
Exoskeleton robot is usually above the structure or pedestal of mobile base, lifting support and cantilever beam with seat, have than
More perfect training mode and function inevitably causes complicated in mechanical structure, and volume is excessively huge, operation is more complicated
Deng, and generally require and carried out under the cooperation of professional treatment teacher, it is only suitable for using in the professional rehabilitation institution such as convalescent home, no
Family can widely be entered.Another kind of upper limb exoskeleton robot relatively simple for structure, the driving such as typically no installation motor
Structure, using V belt translation, connecting rod etc. as connection type, small volume and light, often only simple power-assisted effect.This kind of rehabilitation
Robot it is easy to operate, it is easy to carry, but function is simple, applies in general to the use of slight hemiplegic patient, be not suitable on
Limb severe dysfunction carries out rehabilitation.
Existing dermaskeleton type upper limb rehabilitation robot does not all fully achieve lightweight, portability and function in design
The combination of improvement brings very big puzzlement to the use of rehabilitation.
Summary of the invention
The purpose of the invention is to provide a kind of upper limb exoskeleton robot based on wheelchair, structure is simple, and function is complete
Face occupies small in size, installation easy to carry.
To achieve the goals above, the present invention proposes that a kind of upper limb exoskeleton robot based on wheelchair, including back are consolidated
Determine mechanism, vertical lifting mechanism, horizontal connection mechanism and ectoskeleton mechanical arm, in which:
The back fixation mechanism includes rack, fixing piece, bandage and back box shell, and the fixing piece and bandage are symmetrical
The two sides set on the rack, the back box shell be set to the rack on；
The vertical lifting mechanism includes rack gear, transmission mechanism and wind, and the transmission mechanism is set to the back case
In shell, the wind drives rack gear described in the transmission mechanism control to move up and down, and the top of the rack gear extends vertically through institute
State the top side of back box shell；
Horizontal connection mechanism one end is flexibly connected with the ectoskeleton mechanical arm, and the other end and the rack gear activity connect
It connects.
Further, in the upper limb exoskeleton robot described based on wheelchair, the transmission mechanism is to utilize turbine
With the secondary drive mechanism of worm screw running, the transmission mechanism outsourcing is wrapped with elevating control case, and the elevating control case passes through
The rack support pipe of bottom side connection is mounted in the back box shell, and the transmission mechanism controls under the driving of the wind
The rack gear moves up and down in the rack support pipe, and the end of the rack gear is equipped with and connect with the width adjusting arm
Rack gear connector.
Further, in the upper limb exoskeleton robot described based on wheelchair, the wind is placed in the back
Outside box shell, the back box shell is equipped with fluting, and the wind is through the fluting and the institute in the elevating control case
State transmission mechanism drive connection.
Further, in the upper limb exoskeleton robot described based on wheelchair, the horizontal connection mechanism includes adjusting
The width adjusting arm and front and back regulating arm of length are saved, the width adjusting arm passes through center rotating joint and the rack gear activity phase
It connects, the width adjusting arm and the front and back regulating arm are connected by outside cradle head activity, and the front and back regulating arm passes through
The vertical cradle head of shoulder is flexibly connected with the ectoskeleton mechanical arm.
Further, in the upper limb exoskeleton robot described based on wheelchair, the width adjusting arm includes first
The end of runing rest, first sleeve and the first adjusting rod, first runing rest is equipped with lantern ring, first runing rest
It is connected by lantern ring and center rotating joint rotation；Described first sleeve one end is embedded in described first by circlip limiting card
In runing rest, the other end is equipped with first sleeve connector, and the first sleeve connector is equipped with first and tightens nut；Described first
Adjusting rod is equipped with first sliding groove, and the first sleeve is inserted into after running through the first sleeve connector in first adjusting rod one end
Interior, the other end connects with the outside cradle head, and it is sliding along described first that the first sleeve connector controls the first sleeve
Slot direction is mobile, and described first tightens nut and support to be stuck in the first sliding groove and carry out fastening limit.
Further, in the upper limb exoskeleton robot described based on wheelchair, the first sleeve is described in being equipped with
Sensor and rotating element are equipped at one end of circlip, the sensor is set to the first sleeve by sensor mounting sleeve
End, the rotating element are placed between the sensor mounting sleeve and the circlip.
Further, in the upper limb exoskeleton robot described based on wheelchair, the front and back regulating arm includes second
The end of runing rest, the second casing, the second adjusting rod, adjusting block and support rod, second runing rest is equipped with lantern ring, institute
The second runing rest is stated to connect by lantern ring and outside cradle head rotation；The adjusting block passes through the support rod and institute
It states the vertical cradle head of shoulder to be connected, the adjusting block is equipped with second and tightens nut；It is sliding that second casing is equipped with second
Slot, the adjusting block set are stuck on second casing, and the adjusting block is along the second sliding slot direction in second casing
Upper movement, and described second tightens nut and supports and be stuck in the second sliding slot and carry out fastening limit；Second casing one end is logical
Circlip limiting card is crossed in second runing rest, the other end is equipped with the second casing joint, second adjusting rod one end
It is inserted into after second casing joint in second casing, the other end connects with the vertical cradle head of the shoulder.
Further, in the upper limb exoskeleton robot described based on wheelchair, second casing is described in being equipped with
Sensor and rotating element are equipped at one end of circlip, the sensor is set to second casing by sensor mounting sleeve
End, the rotating element are placed between the sensor mounting sleeve and the circlip.
Further, in the upper limb exoskeleton robot described based on wheelchair, the rotating element includes rotation limit
Position set, ball bearing and bearing abutment sleeve.
Further, in the upper limb exoskeleton robot described based on wheelchair, the ectoskeleton mechanical arm include according to
Preceding arm unit, rear arm unit and the wrist joints moving mechanism of secondary connection, the preceding arm unit and rear arm unit are connected by a pair
Shoulder elbow cradle head and arm before and after regulating mechanism composition, the arm before and after regulating mechanism be equipped with fupport arm, the preceding arm unit
Fupport arm and the wrist joints moving mechanism it is hinged.
Further, in the upper limb exoskeleton robot described based on wheelchair, the shoulder elbow cradle head includes driving
The output shaft of dynamic electric machine assembly, motor connecting base and motor contact, the driving motor component runs through the motor connecting base
It is connect afterwards with the motor contact, the arm before and after regulating mechanism is by the motor contact in the driving motor component
Driving under around the motor connecting base axis rotate.
Further, in the upper limb exoskeleton robot described based on wheelchair, the arm before and after regulating mechanism includes
Third adjusting rod, loop bar and loop bar connector, third adjusting rod one end connect with the motor contact, and the other end plugs
In the loop bar, the end that the loop bar connects with the third adjusting rod is equipped with the loop bar connector, and the loop bar is logical
It crosses the loop bar connector to fix on the third adjusting rod, the fupport arm is fixed on the loop bar.
Further, in the upper limb exoskeleton robot described based on wheelchair, the wrist joints moving mechanism includes
Wrist joint rotating handle, sensor fixture and angular transducer, the both ends of the wrist joint rotating handle respectively with the arm
The two sides of support are hinged, and the angular transducer is fixed on the hinged of the wrist joint rotating handle by the sensor fixture
Position.
Compared with prior art, the beneficial effects are mainly reflected as follows: it is innovative by upper limb rehabilitation robot
Mechanical arm is mounted on wheelchair, not only can be mobile by means of wheelchair, but also the rehabilitation training of upper limb can be completed on wheelchair.It simplifies
The volume of upper limb rehabilitation robot, gets rid of that traditional large-scale healing robot volume is excessive, excessively heavy and patient is necessary
To arrive the constraint that specified place receives rehabilitation training.Pass through driving motor using in horizontal connection mechanism and ectoskeleton mechanical arm
Control running is driving joint, and patient can be assisted to complete the active-passive rehabilitation training of upper limb, realize lightweight and vdiverse in function
The unification of change.Meanwhile ectoskeleton mechanical arm portable construction is flexibly, it can be achieved that shoulder joint is taken down the exhibits, bent and stretched, interior outward turning, flexor of elbow joints
It stretches, wrist joint bends and stretches the movement of totally 5 freedom degrees, and the regulating arm of four length can match different building shape patient, can also pass through
Shirtsleeve operation is suitable for more patients in fact, and function is very comprehensive.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the upper limb exoskeleton robot based on wheelchair in the present invention；
Fig. 2 is the structural schematic diagram of apparent direction after Fig. 1；
Fig. 3 is the structural schematic diagram of Tu1Zhong back fixation mechanism；
Fig. 4 is the explosive decomposition figure of Tu1Zhong horizontal connection mechanism；
Fig. 5 is the structural schematic diagram of the preceding arm unit of ectoskeleton mechanical arm in Fig. 1；
Fig. 6 is the structural schematic diagram of the rear arm unit of ectoskeleton mechanical arm in Fig. 1.
Wherein: rack 11, fixing piece 12, bandage 13, back box shell 141, fluting 142, rack gear 211, rack gear connector
212, rack support pipe 213, elevating control case 22, wind 23, center rotating joint 31, outside cradle head 32, shoulder are perpendicular
Straight cradle head 33, L shape connector 34, width adjusting arm 4, the first runing rest 41, first sleeve 42, first sliding groove 421, the
A set of pipe fitting 422, first tighten nut 423, the first adjusting rod 43, lantern ring 44, front and back regulating arm 5, the second runing rest 51,
Second casing 52, second sliding slot 521, the second casing joint 522, the second adjusting rod 53, adjusting block 541, second tighten nut
542, support rod 543, sensor 61, sensor mounting sleeve 62, rotary stopper set 63, ball bearing 64, bearing abutment sleeve 65,
Circlip 66, shoulder elbow cradle head 7, driving motor component 71, motor connecting base 72, motor contact 73, joint protection upper cover 74,
Protect bottom case 75, arm before and after regulating mechanism 8, third adjusting rod 81, loop bar 82, loop bar connector 831, spring catch 832, arm in joint
Support 841, third tighten nut 842, arm before and after protective shell 85, wrist joint rotating handle 91, sensor fixture 92.
Specific embodiment
The upper limb exoskeleton robot of the invention based on wheelchair is described in more detail below in conjunction with schematic diagram,
Which show the preferred embodiment of the present invention, it should be appreciated that and those skilled in the art can modify invention described herein,
And still realize advantageous effects of the invention.Therefore, following description should be understood as the extensive of those skilled in the art
Know, and is not intended as limitation of the present invention.
In the description of the present invention, it should be noted that " transverse direction ", " vertical if any term " center " for the noun of locality
To ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top",
The indicating positions such as "bottom", "inner", "outside", " clockwise ", " counterclockwise " and positional relationship are orientation based on the figure or position
Relationship is set, the narration present invention is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It constructs and operates with specific orientation, with particular orientation, should not be understood as limiting specific protection scope of the invention.
In addition, being used for description purposes only if any term " first ", " second ", it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating technical characteristic." first " is defined as a result, " second " feature can be expressed or implicit include
One or more this feature, in the present description, " at least " are meant that one or more, unless otherwise clearly having
The restriction of body.
In the present invention, except as otherwise clear stipulaties and restriction, should make if any term " assembling ", " connected ", " connection " term
Broad sense goes to understand, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It is also possible to mechanical connect
It connects；It can be directly connected, be also possible to be connected by intermediary, can be and be connected inside two elements.For ability
For the those of ordinary skill of domain, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In invention, unless otherwise specified and limited, fisrt feature second feature "upper" or "lower" may include
First and second features directly contact, also may include fisrt feature and second feature be not direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " under " and " above " include fisrt feature
Right above two features and oblique upper, or be only to indicate that first feature horizontal height is higher than the height of second feature.Fisrt feature
Second feature " on ", " under " and " below " include that fisrt feature is directly under or diagonally below the second feature, or only table
Show first feature horizontal height lower than second feature.
The present invention is more specifically described by way of example referring to attached drawing in the following passage.According to following explanation, the present invention
The advantages of and feature will become apparent from.It should be noted that attached drawing is all made of very simplified form and uses non-accurate ratio,
Only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
As shown in Figure 1 to Figure 2, the present invention proposes a kind of upper limb exoskeleton robot based on wheelchair, including back fixation
Mechanism, vertical lifting mechanism, horizontal connection mechanism and ectoskeleton mechanical arm, specific as follows:
As shown in Figure 1 to Figure 3, back fixation mechanism includes rack 11, fixing piece 12, bandage 13 and back box shell 141, Gu
Determine the two sides that part 12 and bandage 13 are symmetrically set to rack 11, back box shell 141 is set in rack 11, and rack 11 passes through fixation
After part 12 and bandage 13 are fixed on the seat back of intelligent wheel chair, back box shell 141 plays vertical lift in seat back rear support
Mechanism.
As shown in Figure 1 to Figure 3, vertical lifting mechanism includes rack gear 211, rack support pipe 213, transmission mechanism and wind
23, transmission mechanism is the secondary drive mechanism operated using turbine and worm screw, and transmission mechanism package is set in elevating control case 22,
Elevating control case 22 is supported and fixed in back box shell 141 by the rack support pipe 213 that bottom side connects.Wind 23 is placed in back
Outside portion's box shell 141, back box shell 141 is equipped with fluting 142, and wind 23 is in fluting 142 and elevating control case 22
Transmission mechanism be drivingly connected, transmission mechanism controlled under the driving of wind 23 rack gear 211 in rack support pipe 213 on move down
Dynamic, the top of rack gear 211 extends vertically through the top side of back box shell 141, and end is equipped with the rack gear connecting with width adjusting arm 4 and connects
Connector 212.
As shown in Figure 1 to Figure 2, horizontal connection mechanism one end is flexibly connected with ectoskeleton mechanical arm, the other end and rack gear 211
It is flexibly connected.Horizontal connection mechanism includes the width adjusting arm 4 and front and back regulating arm 5 of adjustment length, during width adjusting arm 4 passes through
Heart cradle head 31 connects with 211 activity of rack gear, and width adjusting arm 4 and front and back regulating arm 5 pass through 32 activity of outside cradle head
Connect, front and back regulating arm 5 is flexibly connected by the vertical cradle head 33 of shoulder with ectoskeleton mechanical arm.
As shown in figure 4, width adjusting arm 4 include the first runing rest 41, first sleeve 42 and the first adjusting rod 43, first
The end of runing rest 41 is equipped with lantern ring 44, and the first runing rest 41 is connected by lantern ring 44 and the rotation of center rotating joint 31；
For 42 one end of first sleeve through 66 limiting card of circlip in the first runing rest 41, the other end is equipped with first sleeve connector 422,
First sleeve connector 422 is equipped with first and tightens nut 423；First adjusting rod 43 is equipped with first sliding groove 421, the first adjusting rod
43 one end are inserted into first sleeve 42 after running through first sleeve connector 422, and the other end connects with outside cradle head 32, first set
Pipe fitting 422 controls first sleeve 42 and moves along 421 direction of first sliding groove, with the length of adjustment width regulating arm 4, and passes through the
One, which tightens nut 423, supports and is stuck in first sliding groove 421 and carries out fastening limit.
As shown in figure 4, front and back regulating arm 5 includes the second runing rest 51, the second casing 52, the second adjusting rod 53, adjusts
Block 541 and support rod 543, the end of the second runing rest 51 are equipped with lantern ring 44, and the second runing rest 51 is by lantern ring 44 and outside
The rotation connection of side cradle head 32；Adjusting block 541 is connected by support rod 543 and the vertical cradle head 33 of shoulder, adjusting block 541
It is equipped with second and tightens nut 542；Second casing 52 is equipped with second sliding slot 521, and 541 sets of adjusting block are stuck in the second casing 52
On, adjusting block 541 moves on the second casing 52 along 521 direction of second sliding slot, and second tightens nut 542 and support that be stuck in second sliding
Fastening limit is carried out on slot 521；Second casing, 52 one end is embedded in the second runing rest 51 by 66 limiting card of circlip, the other end
Equipped with the second casing joint 522,53 one end of the second adjusting rod is inserted into the second casing 52 after running through the second casing joint 522, separately
One end connects with the vertical cradle head 33 of shoulder.Adjusting block 541 drives the ectoskeleton connected by the vertical cradle head 33 of shoulder
Mechanical arm is moved along 52 direction of the second casing, to adjust the length of front and back regulating arm 5.
Further, first sleeve 42 and the second casing 52 are equipped with sensor 61 and rotation at the one end for being equipped with circlip 66
Turn element, sensor 61 is respectively arranged on the end of first sleeve 42 and the second casing 52, rotation member by sensor mounting sleeve 62
Part is placed between sensor mounting sleeve 62 and circlip 66.And rotating element includes rotary stopper set 63, ball bearing 64 and bearing
Abutment sleeve 65.
Meanwhile as shown in Figure 1 to Figure 2, ectoskeleton mechanical arm includes that sequentially connected preceding arm unit, rear arm unit and wrist close
Movable device, preceding arm unit and rear arm unit are saved by the shoulder elbow cradle head 7 of a pair of connection and 8 groups of arm before and after regulating mechanism
At arm before and after regulating mechanism 8 is equipped with fupport arm 841, and the fupport arm 841 and wrist joints moving mechanism of preceding arm unit are hinged.Postbrachium list
The shoulder elbow cradle head 7 of member is connected by L shape connector 34 with vertical 33 activity of cradle head of shoulder.
As shown in Figure 5 to Figure 6, shoulder elbow cradle head 7 includes driving motor component 71, motor connecting base 72, motor connection
Part 73, joint protection upper cover 74, joint protection bottom case 75 and limit switch assembly, the output shaft of driving motor component 71 is through electricity
The connection of part 73 is connected to motor after machine attachment base 72, arm before and after regulating mechanism 8 is by motor contact 73 in driving motor component
It is rotated under 71 driving around the axis of motor connecting base 72.Joint protection upper cover 74 is set in 71 outside of driving motor component, closes
Section protection bottom case 75, which covers to set, is equipped with the side of motor contact 73 in motor connecting base 72, and joint protection bottom case 75 connects motor
Part 73 blocks in 72 outside of motor connecting base.
As shown in Figure 5 to Figure 6, arm before and after regulating mechanism 8 includes third adjusting rod 81, loop bar 82 and loop bar connector 831,
81 one end of third adjusting rod is connected to motor part 73 and connects, and the other end is plugged in loop bar 82, loop bar 82 and third adjusting rod 81
The end to connect is equipped with loop bar connector 831, and loop bar 82 fixes the loop bar on third adjusting rod 81 by loop bar connector 831
Connector 831 is equipped with the spring catch 832 for fixing with third adjusting rod 81.The side of loop bar 82 is equipped with fupport arm 841, another
Side is equipped with arm before and after protective shell 85, is equipped with third at fupport arm 841 and 82 fastening of loop bar and tightens nut 842, arm before and after protective shell 85
Third is tightened including nut 842 blocks.
As shown in fig. 6, wrist joints moving mechanism includes wrist joint rotating handle 91, sensor fixture 92 and angle sensor
Device, the both ends of wrist joint rotating handle 91 are hinged with the two sides of fupport arm 841 respectively, and angular transducer 61 passes through sensor fixture
92 are fixed on the hinge point of wrist joint rotating handle 91, and the angular transducer 61 at hinge point is capable of measuring carpal bend and stretch
Angle.
In addition, driving motor component 71 includes disc type electric machine and harmonic speed reducer, output shaft and the harmonic wave of disc type electric machine subtract
Fast device connects, and the output shaft of harmonic speed reducer is connected to motor part 73 after motor connecting base 72 and connects, and harmonic speed reducer will
The high-power revolving speed of disc type electric machine is converted into slow revolving speed, and the motor contact 73 convenient for being driven drives third adjusting rod 81
Slowly it is defined angle rotation.Limit switch assembly includes limit switch fixing groove and limit switch locating plate, limit switch
Locating plate is fixed on motor contact 73, and limit switch fixing groove is connected on motor connecting base 72.Limit switch assembly energy
The angle for effectively limiting rotation, the motor contact 73 after enabling rotation extremely to limit angle stop operating in time, avoid rotation angle
Degree exceeds demand.Preferably, limit switch locating plate and limit switch fixing groove are that both ends are symmetrical arranged, and motor is facilitated to connect
Part 73 is defined when rotating 180 °.
To sum up, in the present embodiment, the upper limb exoskeleton robot based on wheelchair of proposition, it is innovative by upper limb healing
The mechanical arm of robot is mounted on wheelchair, not only can be mobile by means of wheelchair, but also the rehabilitation of upper limb can be completed on wheelchair
Training.The volume for having simplified upper limb rehabilitation robot, get rid of traditional large-scale healing robot volume it is excessive, it is excessively heavy and
Patient has to specified place receive the constraint of rehabilitation training.Utilize passing through in horizontal connection mechanism and ectoskeleton mechanical arm
Driving motor control running be driving joint, can assist patient complete upper limb active-passive rehabilitation training, realize lightweight and
The unification of functional diversities.Meanwhile ectoskeleton mechanical arm portable construction is flexibly, it can be achieved that shoulder joint is taken down the exhibits, bent and stretched, interior outward turning,
Elbow joint is bent and stretched, and wrist joint bends and stretches the movement of totally 5 freedom degrees, and the regulating arm of four length can match different building shape patient,
It can also be suitable in fact more patients by shirtsleeve operation, function is very comprehensive.
The above is only a preferred embodiment of the present invention, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical solution of the present invention, to the invention discloses technical solution and
Technology contents make the variation such as any type of equivalent replacement or modification, belong to the content without departing from technical solution of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (13)
1. a kind of upper limb exoskeleton robot based on wheelchair, which is characterized in that including back fixation mechanism, vertical conveyor
Structure, horizontal connection mechanism and ectoskeleton mechanical arm, in which:
The back fixation mechanism includes rack, fixing piece, bandage and back box shell, and the fixing piece and bandage are symmetrically set
In the two sides of the rack, the back box shell is set in the rack；
The vertical lifting mechanism includes rack gear, transmission mechanism and wind, and the transmission mechanism is set in the back box shell,
The wind drives rack gear described in the transmission mechanism control to move up and down, and the top of the rack gear extends vertically through the back
The top side of box shell；
Horizontal connection mechanism one end is flexibly connected with the ectoskeleton mechanical arm, and the other end is flexibly connected with the rack gear.
2. the upper limb exoskeleton robot according to claim 1 based on wheelchair, which is characterized in that the transmission mechanism is
The secondary drive mechanism operated using turbine and worm screw, the transmission mechanism outsourcing are wrapped with elevating control case, the lifting control
The rack support pipe of bottom side connection processed is mounted in the back box shell, and the transmission mechanism is under the driving of the wind
It controls the rack gear to move up and down in the rack support pipe, and the end of the rack gear is equipped with and connects with the width adjusting arm
The rack gear connector connect.
3. the upper limb exoskeleton robot according to claim 2 based on wheelchair, which is characterized in that the wind is placed in
Outside the back box shell, the back box shell is equipped with fluting, and the wind is through the fluting and the elevating control
The transmission mechanism in case is drivingly connected.
4. the upper limb exoskeleton robot according to claim 1 based on wheelchair, which is characterized in that the horizontal connection machine
Structure includes the width adjusting arm and front and back regulating arm of adjustment length, and the width adjusting arm passes through center rotating joint and the tooth
Item activity connects, and the width adjusting arm and the front and back regulating arm are connected by outside cradle head activity, the front and back tune
Joint arm is flexibly connected by the vertical cradle head of shoulder with the ectoskeleton mechanical arm.
5. the upper limb exoskeleton robot according to claim 4 based on wheelchair, which is characterized in that the width adjusting arm
Including the first runing rest, first sleeve and the first adjusting rod, the end of first runing rest is equipped with lantern ring, and described first
Runing rest is connected by lantern ring and center rotating joint rotation；Described first sleeve one end is embedded in by circlip limiting card
In first runing rest, the other end is equipped with first sleeve connector, and the first sleeve connector is equipped with first and tightens nut；
First adjusting rod is equipped with first sliding groove, and first adjusting rod one end is after the first sleeve connector described in insertion
In first sleeve, the other end connects with the outside cradle head, and the first sleeve connector controls the first sleeve along institute
It is mobile to state first sliding groove direction, and described first tightens nut and support to be stuck in the first sliding groove and carry out fastening limit.
6. the upper limb exoskeleton robot according to claim 5 based on wheelchair, which is characterized in that the first sleeve in
Sensor and rotating element are equipped at one end equipped with the circlip, the sensor is set to described the by sensor mounting sleeve
The end of sleeve, the rotating element are placed between the sensor mounting sleeve and the circlip.
7. the upper limb exoskeleton robot according to claim 4 based on wheelchair, which is characterized in that the front and back regulating arm
Including the second runing rest, the second casing, the second adjusting rod, adjusting block and support rod, the end of second runing rest is set
There is lantern ring, second runing rest is connected by lantern ring and outside cradle head rotation；The adjusting block passes through described
Support rod and the vertical cradle head of the shoulder are connected, and the adjusting block is equipped with second and tightens nut；On second casing
Equipped with second sliding slot, the adjusting block set is stuck on second casing, and the adjusting block is along the second sliding slot direction in institute
It states and is moved on the second casing, and described second tightens nut and support and be stuck in the second sliding slot and carry out fastening limit；Described second
Through circlip limiting card in second runing rest, the other end is equipped with the second casing joint for casing one end, and described second
Adjusting rod one end is inserted into second casing after running through second casing joint, and the other end and the shoulder rotate pass vertically
Section connects.
8. the upper limb exoskeleton robot according to claim 7 based on wheelchair, which is characterized in that second casing in
Sensor and rotating element are equipped at one end equipped with the circlip, the sensor is set to described the by sensor mounting sleeve
The end of two casings, the rotating element are placed between the sensor mounting sleeve and the circlip.
9. the upper limb exoskeleton robot according to claim 6 or 8 based on wheelchair, which is characterized in that the rotation member
Part includes rotary stopper set, ball bearing and bearing abutment sleeve.
10. the upper limb exoskeleton robot according to claim 1 based on wheelchair, which is characterized in that the ectoskeleton machine
Tool arm includes sequentially connected preceding arm unit, rear arm unit and wrist joints moving mechanism, and the preceding arm unit and rear arm unit are equal
It is made of the shoulder elbow cradle head and arm before and after regulating mechanism of a pair of connection, the arm before and after regulating mechanism is equipped with fupport arm, institute
The fupport arm and the wrist joints moving mechanism of arm unit are hinged before stating.
11. the upper limb exoskeleton robot according to claim 10 based on wheelchair, which is characterized in that the shoulder elbow rotation
Joint includes driving motor component, motor connecting base and motor contact, and the output shaft of the driving motor component is through described
It is connect after motor connecting base with the motor contact, the arm before and after regulating mechanism is by the motor contact in the drive
Axis under the driving of dynamic electric machine assembly around the motor connecting base rotates.
12. the upper limb exoskeleton robot according to claim 11 based on wheelchair, which is characterized in that the arm before and after tune
Saving mechanism includes third adjusting rod, loop bar and loop bar connector, and third adjusting rod one end connects with the motor contact,
The other end is plugged in the loop bar, and the end that the loop bar connects with the third adjusting rod is equipped with the loop bar connector,
The loop bar is fixed on the third adjusting rod by the loop bar connector, and the fupport arm is fixed on the loop bar.
13. the upper limb exoskeleton robot according to claim 11 based on wheelchair, which is characterized in that the wrist joint is living
Motivation structure includes wrist joint rotating handle, sensor fixture and angular transducer, the both ends point of the wrist joint rotating handle
Not hinged with the two sides of the fupport arm, the angular transducer is fixed on the wrist joint by the sensor fixture and rotates
The hinge point of handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360416.9A CN109363811B (en) | 2018-11-15 | 2018-11-15 | Upper limb exoskeleton robot based on wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360416.9A CN109363811B (en) | 2018-11-15 | 2018-11-15 | Upper limb exoskeleton robot based on wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109363811A true CN109363811A (en) | 2019-02-22 |
| CN109363811B CN109363811B (en) | 2021-07-13 |
Family
ID=65388823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811360416.9A Active CN109363811B (en) | 2018-11-15 | 2018-11-15 | Upper limb exoskeleton robot based on wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109363811B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772401A (en) * | 2019-12-02 | 2020-02-11 | 苏州好博医疗器械有限公司 | Upper limb rehabilitation training device and using method thereof |
| IT202100009095A1 (en) * | 2021-04-12 | 2022-10-12 | Fondazione St Italiano Tecnologia | WEARABLE DEVICE FOR PHYSICAL REHABILITATION AND METHOD FOR ITS CONTROL |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
| WO2010092089A1 (en) * | 2009-02-10 | 2010-08-19 | Universite Catholique De Louvain | Rehabilitation robot |
| CN202270358U (en) * | 2011-07-18 | 2012-06-13 | 上海理工大学 | Lightened upper-limb rehabilitation training device |
| CN106031669A (en) * | 2015-03-09 | 2016-10-19 | 山东建筑大学 | A seven-degree-of-freedom upper limb assisting exoskeleton robot |
| CN107835675A (en) * | 2015-05-18 | 2018-03-23 | 加利福尼亚大学董事会 | Method and apparatus for human arm supporting ectoskeleton |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN108433940A (en) * | 2018-04-02 | 2018-08-24 | 上海理工大学 | Upper limb exoskeleton robot based on wheel-chair |
-
2018
- 2018-11-15 CN CN201811360416.9A patent/CN109363811B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
| WO2010092089A1 (en) * | 2009-02-10 | 2010-08-19 | Universite Catholique De Louvain | Rehabilitation robot |
| CN202270358U (en) * | 2011-07-18 | 2012-06-13 | 上海理工大学 | Lightened upper-limb rehabilitation training device |
| CN106031669A (en) * | 2015-03-09 | 2016-10-19 | 山东建筑大学 | A seven-degree-of-freedom upper limb assisting exoskeleton robot |
| CN107835675A (en) * | 2015-05-18 | 2018-03-23 | 加利福尼亚大学董事会 | Method and apparatus for human arm supporting ectoskeleton |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN108433940A (en) * | 2018-04-02 | 2018-08-24 | 上海理工大学 | Upper limb exoskeleton robot based on wheel-chair |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772401A (en) * | 2019-12-02 | 2020-02-11 | 苏州好博医疗器械有限公司 | Upper limb rehabilitation training device and using method thereof |
| IT202100009095A1 (en) * | 2021-04-12 | 2022-10-12 | Fondazione St Italiano Tecnologia | WEARABLE DEVICE FOR PHYSICAL REHABILITATION AND METHOD FOR ITS CONTROL |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109363811B (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108743243B (en) | Wrist rehabilitation device | |
| CN201743884U (en) | Robot for rehabilitating and training upper limb | |
| CN110859731B (en) | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot | |
| CN107224385B (en) | Active/passive both arms upper limb rehabilitation robot | |
| CN204293444U (en) | A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot | |
| US11160715B2 (en) | Support rehabilitation training robot and operation method thereof | |
| CN107648013A (en) | A kind of upper limbs exoskeleton robot 4DOF forearm | |
| CN105853141A (en) | Shoulder rehabilitation system with gravity compensation mechanism | |
| CN109363811A (en) | A kind of upper limb exoskeleton robot based on wheelchair | |
| CN108814905A (en) | A kind of upper limb healing platform | |
| CN109875841A (en) | A kind of wrist convalescence device | |
| CN108814902A (en) | A kind of man-machine motion match and can the upper limb exoskeleton rehabilitation device that exchanges of opposite side | |
| CN105520820A (en) | Three-freedom-degree wrist function rehabilitation robot | |
| CN110123584B (en) | Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN105520819A (en) | Exoskeleton-type shoulder girdle and upper limb synergistic rehabilitation robot | |
| CN108972515A (en) | A kind of bionic movement function upper limb | |
| CN107307974A (en) | A kind of Wearable healing and training elbow joint and life assistant apparatus | |
| CN203710320U (en) | Shoulder joint rehabilitation trainer | |
| EP4134059A1 (en) | Knee joint mechanism without power source | |
| CN109662867A (en) | Based on the improved ankle rehabilitation institution of Stewart platform | |
| CN108836732A (en) | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic | |
| CN109124984B (en) | Joint module for upper limb rehabilitation training robot | |
| CN110547945A (en) | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism | |
| CN109893398A (en) | A kind of bionical healing robot | |
| CN109758339A (en) | A kind of Spatial Parallel driving wrist robots for rehabilitation therapy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |