CN109822555A - A kind of wrist joint bio-mechanism and robot arm configuration - Google Patents
A kind of wrist joint bio-mechanism and robot arm configuration Download PDFInfo
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- CN109822555A CN109822555A CN201910270658.7A CN201910270658A CN109822555A CN 109822555 A CN109822555 A CN 109822555A CN 201910270658 A CN201910270658 A CN 201910270658A CN 109822555 A CN109822555 A CN 109822555A
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 53
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims abstract description 5
- 229960001030 mephenoxalone Drugs 0.000 claims abstract description 5
- 210000000245 forearm Anatomy 0.000 claims description 18
- 125000006850 spacer group Chemical group 0.000 claims description 17
- 230000004308 accommodation Effects 0.000 claims description 7
- 210000000707 wrist Anatomy 0.000 abstract description 15
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 22
- 210000000323 shoulder joint Anatomy 0.000 description 20
- 238000012549 training Methods 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 13
- 238000005452 bending Methods 0.000 description 11
- 239000002360 explosive Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000035876 healing Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000004126 nerve fiber Anatomy 0.000 description 3
- 230000002980 postoperative effect Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000027669 Wrist injury Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
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- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention discloses a kind of wrist joint bio-mechanisms, belong to robotic technology field.The wrist joint bio-mechanism includes fixing seat, connecting fork and locating part.The first connection component and the second connection component are provided in fixing seat, connecting fork one end is articulated on the first connection component, connecting fork can be rotated around first axle, locating part is articulated on the second connection component, waist type groove is offered on locating part, the other end of connecting fork is slidingly arranged in waist type groove, and locating part and connecting fork are rotated around second axis jointly, and first axle and second axis are arranged in angle.I.e. connecting fork can rotate respectively around first axle and second axis, simulate the palmar flexion dorsiflex and interior receipts outreach of human body wrist.Wrist joint can also realize carpal inward turning outward turning around its own rotation simultaneously.The present invention proposes a kind of robot arm configuration, using above-mentioned wrist joint bio-mechanism, improves the flexibility of robot arm structure end, optimizes robot mechanism.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of wrist joint bio-mechanisms and robot arm configuration.
Background technique
With the fast development of artificial intelligence and electronic technology, robot gradually incorporates in people's lives, and one
The mankind, which can be substituted, in a little fields completes a series of work.
In medical field, for postoperative patient, postoperative rehabilitation training is often needed.Traditional training method is by therapist
Patient is assisted to carry out postoperative rehabilitation.But traditional mode has some limitations, such as between therapist and patient
One-to-one service is needed, due to therapist's quantity wretched insufficiency, the patient for causing each therapist to be responsible for is more, and increases and control
Treat the burden of room；Under the auxiliary of therapist, patient usually only receives the passive exercise from therapist, and cannot instruct active
Experienced and passive exercise is effectively combined.In addition, therapist ignores integrally trained effect using part training stage by stage
Fruit limits the recovery of nervous system, leads to patient not and can be carried out comprehensive recovery.
Existing healing robot, the healing robot flexibility wretched insufficiency compared with therapist, wherein healing robot
End joint flexibility it is particularly important, the flexible performance of wrist joints sporting effectively improves the application range of robot.
Therefore, the present invention proposes a kind of wrist joint bio-mechanism, to assist rehabilitation training of the patient for wrist.
Summary of the invention
It is an object of the present invention to provide a kind of wrist joint bio-mechanisms to provide good the patient of wrist injury
Good auxiliary rehabilitation exercise helps the nerve fiber of patient's wrist to obtain fast quick-recovery.
It is another object of the present invention to provide a kind of robot arm configurations, including the above-mentioned bionical machine of wrist joint
Structure may be implemented wrist joint bio-mechanism and rotate in a circumferential direction around it, to simulate the revolution movement of human body wrist.
As above design, the technical scheme adopted by the invention is that:
A kind of wrist joint bio-mechanism, comprising:
Fixing seat is provided with the first connection component and the second connection component；
Connecting fork, one end are articulated on first connection component, and the connecting fork can be rotated around first axle；
Locating part is articulated on second connection component, and waist type groove, the connecting fork are offered on the locating part
The other end be slidingly arranged in the waist type groove, the locating part and the connecting fork are rotated around second axis jointly；
The first axle and the second axis are arranged in angle；And
Driving part, is connected to the connecting fork, and the driving part can drive the connecting fork to move.
Further, the first axle is vertically arranged with the second axis.
Further, first connection component further includes rotary shaft and two lugs, and two lugs are oppositely arranged
In in the fixing seat, the rotary shaft is rotatably arranged in the through-hole of two lugs, and the connecting fork is articulated with institute
State rotary shaft；
Second connection component further includes spacer pin and two lugs, and two lugs are relatively arranged on the fixation
On seat, the both ends of the locating part offer mounting hole, and the spacer pin sequentially passes through the through-hole and the mounting hole, so that
The locating part can be rotated relative to the fixing seat.
Further, the connecting fork includes fork body and connecting rod interconnected, and the fork body and the rotary shaft are hinged,
So that the connecting fork can be rotated relative to the rotary shaft, the rod slide it is set in the waist type groove.
Further, the quantity of the fork body is two, and two fork bodies form accommodation space, the portion of the rotary shaft
Partial volume is contained in the accommodation space.
Further, connecting hole is offered on the opposite position of two fork bodies, offers and runs through in the rotary shaft
Hole, the connecting hole are connect with the through hole by pin.
Further, the driving part includes drive motor, live-roller, reversing roller and drive line, the drive motor
It is set in the fixing seat, the reversing roller is rotatably arranged in the fixing seat, and the live-roller is set to the drive
On the output shaft of dynamic motor, one end of the drive line is connected to the live-roller, and the other end is connected to the rotary shaft, described
Drive line is wound on the reversing roller, so that the rotary shaft is able to drive the connecting fork rotation, to realize the wrist joint
The interior receipts and abduction exercise of bio-mechanism.
Further, the driving part includes drive motor, live-roller, reversing roller and drive line, the drive motor
It is set in the fixing seat, the live-roller is set on the drive motor output shaft, and the reversing roller is rotationally arranged
In in fixing seat, one end of the drive line is connected to the live-roller, and the other end is connected on the spacer pin, the transmission
Line is wound on the reversing roller, and the spacer pin is connect with the locating part, so that the spacer pin drives the locating part
Rotation, to realize that dorsiflex and the palmar flexion of the wrist joint bio-mechanism move.
A kind of robot arm configuration, including above-mentioned wrist joint bio-mechanism.
Further, further includes:
Forearm comprising portion and rotating part are bent and stretched in rotation connection, and the free end of the rotating part is connected to the wrist and closes
Bio-mechanism is saved, and wrist joint bio-mechanism the rotating in a circumferential direction around the rotating part can be driven.
The invention has the benefit that
Wrist joint bio-mechanism proposed by the present invention, including fixing seat, connecting fork and locating part.Wherein, it is set in fixing seat
It is equipped with the first connection component and the second connection component, connecting fork one end is articulated on the first connection component, and connecting fork can be around
First axle rotation, locating part are articulated on the second connection component, and waist type groove is offered on locating part, and the other end of connecting fork is sliding
It is set in waist type groove dynamicly, locating part and connecting fork are rotated around second axis jointly, and first axle and second axis are in folder
Angle setting.I.e. connecting fork can rotate respectively around first axle and second axis, so that circular-rotation may be implemented in connecting fork, with
This corresponds to the bending and rotation of human body wrist, and then patient can be assisted to carry out the rehabilitation training of wrist joint bio-mechanism.
The present invention also proposes a kind of robot arm configuration, using above-mentioned wrist joint bio-mechanism, passes through three freedom
The rotation of degree, to simulate the operation technique of therapist, back song bent to the palm of human body wrist, interior receipts, outreach and revolution are moved
It simulates, realizes the simulation of human body wrist joints sporting.
Detailed description of the invention
Fig. 1 is the main view of robot provided by the invention；
Fig. 2 is the structural schematic diagram of waist joint structure provided by the invention；
Fig. 3 is the side view of waist joint structure provided by the invention；
Fig. 4 is the explosive view of waist joint part-structure provided by the invention；
Fig. 5 is the structural schematic diagram of connecting shaft provided by the invention and rotating seat；
Fig. 6 is the explosive view of dynamical element provided by the invention；
Fig. 7 is the structural schematic diagram of shoulder joint provided by the invention and robot arm configuration；
Fig. 8 is the explosive view of shoulder joint provided by the invention and robot arm configuration；
Fig. 9 is the structural schematic diagram of shoulder joint provided by the invention；
Figure 10 is the structural schematic diagram of interconnecting piece provided by the invention；
Figure 11 is the structural schematic diagram of rotating part provided by the invention；
Figure 12 is the structural schematic diagram of forearm provided by the invention；
Figure 13 is the explosive view of forearm provided by the invention；
Figure 14 is the structural schematic diagram of wrist joint bio-mechanism provided by the invention；
Figure 15 is the explosive view of wrist joint bio-mechanism provided by the invention.
In figure:
1, mobile platform；2, support column；3, waist joint structure；4, upper body structure；5, shoulder joint；6, robot arm knot
Structure；7, wrist joint bio-mechanism；
11, wheel；31, support base；32, transmission gear；33, tilting component；34, side-sway component；35, part is sprung back；36, it drives
Dynamic component；51, connection frame；52, the second driving element；53, drive shaft；61, mounting base；62, large arm；63, forearm；71, fixed
Seat；72, lug；73, rotary shaft；74, connecting fork；75, locating part；76, drive motor；77, spacer pin；78, clamp hand is helped；
311, erecting bed；312, mounting plate；331, dynamical element；332, bracket；333, connecting shaft；341, adjustable shelf；
342, rotating seat；343, side-sway element；344, transmission shaft；361, gear is driven；362, actuated element；611, the first driving member
Part；621, interconnecting piece；622, rotating part；631, engaging lug；632, the second gear ring；633, the 5th driving element；634, the second tooth
Wheel；635, rotating part；636, bearing retainer；637, connection ring；721, through-hole；741, body is pitched；742, connecting rod；751, waist type
Slot；752, mounting hole；
3311, cabinet；3312, motor one；3313, gear one；3314, gear two；3315, worm screw one；3316, gear
Three；3421, through slot；6211, linking arm；6212, ontology；6213, the first gear ring；6214, third driving element；6215, first
Gear；6221, fixed part；6222, the 4th driving element；6223, gear four；6224, gear five；6225, worm screw two；6226,
Gear six；6227, driving end；7411, connecting hole.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " on ", "lower", "left", "right", "vertical", "horizontal",
The orientation or positional relationship of the instructions such as "inner", "outside" be based on the orientation or positional relationship shown in the drawings or the invention produce
Product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as referring to
Show or imply relative importance.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two with
On.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
Traditional robots for rehabilitation therapy carries out usually structurally and functionally only for the local joint part of patient
Supplemental training, so that patient cannot comprehensively assist in the treatment of, robot provided in this embodiment, by copying organization of human body,
To the upper limb of patient, such as waist joint, shoulder joint, arm, the comprehensive rehabilitation training of wrist joint carry out, receive patient comprehensively
Training, while alleviating the burden of therapist.
It is as shown in Figure 1 the structural schematic diagram of robot provided in this embodiment, including mobile platform 1, waist joint structure
3, upper body structure 4, shoulder joint 5 and robot arm configuration 6.Wherein, support column 2, waist joint structure are provided on mobile platform 1
3 are set on support column 2, and upper body structure 4 is set on waist joint structure 3, and body structure 4 is enabled to relatively move platform 1
Rotation and pitching, what shoulder joint 5 rotated is set on body structure 4, and robot arm configuration 6 is articulated in shoulder joint 5, machine
Manpower arm configuration 6 can be rotated relative to upper body structure 4.The robot utilizes bionics principle, copy waist in organization of human body,
Shoulder, arm etc. can imitate the gimmick of therapist, and the rehabilitation training of auxiliary is realized to each position of patient's upper limb, meanwhile, with
The part training that traditional treatment teacher compares is compared, which can also carry out whole training to patient's upper limb, to the health of patient
Refreshment white silk is more comprehensive.
Wherein, mobile platform 1 includes cabinet body and the wheel 11 being rotatably dispose in below cabinet body, is provided with wheel drive in cabinet body
Motor, wheel drive motor is able to drive the rotation of wheel 11, to realize moving horizontally for mobile platform 1.In addition, in mobile platform 1
With electric control gear, to provide energy supply and control instruction for the driving element inside healing robot.
As Fig. 2, Fig. 3, Fig. 4 and Fig. 5 show the structural schematic diagram of the waist joint structure 3 of the present embodiment proposition, wherein waist
Joint structure 3 includes support base 31, tilting component 33 and side-sway component 34, and tilting component 33 is set on support base 31, side-sway
Component 34 is set on tilting component 33, and tilting component 33 is able to drive side-sway component 34 and does pitching motion with respect to support base 31,
Side-sway component 34 can swing movement with respect to support base 31.
Specifically, tilting component 33 includes bracket 332, connecting shaft 333 and dynamical element 331, and bracket 332 is set to support
On seat 31, bracket 332 is U-shaped structure, including two support arms, forms accommodation space between two support arms, 333 turns of connecting shaft
It is arranged between two support arms dynamicly, the output end of dynamical element 331 is connected to connecting shaft 333.It is arranged on bracket 332
Dynamical element 331 can be drivingly connected the rotation of axis 333, so that the side-sway component 34 that is arranged on tilting component 33 be driven to bow
Movement is faced upward, the movement that human body bends over and stands up is imitated.
Side-sway component 34 includes rotating seat 342, adjustable shelf 341, side-sway element 343 and transmission shaft 344.Wherein, rotating seat
342 offer through slot 3421, and transmission shaft 344 is arranged in through slot 3421, and transmission shaft 344 is matched with through slot 3421 for gap at this time
It closes, is also equipped with bearing between, transmission shaft 344 is rotated in the through slot 3421 of rotating seat 342.Adjustable shelf
341 include two cantilevers, and one in two cantilevers is connected to one end of transmission shaft 344, and the other end of transmission shaft 344 is connected to
Side-sway element 343, side-sway element 343 are set on rotating seat 342, and the output end of side-sway element 343 is connected to another cantilever
One end, and be able to drive 341 relative rotation seat 342 of adjustable shelf rotation.Specifically, when waist joint structure 3 needs to realize pitching
When movement, then by the element 331 that turns on the power, the rotating seat 342 of side-sway component 34 is driven to rotate, to realize side-sway component 34
Entirety does pitching；When needing to realize side-sway movement, then opens side-sway element 343 and adjustable shelf 341 is driven to swing, with band
Dynamic other positions that adjustable shelf 341 is arranged in are swung.
In the present embodiment, as shown in figure 5, connecting shaft 333 is an integral molding structure with rotating seat 342, connecting shaft 333 is convex
It is located at the side of rotating seat 342.
In order to enable adjustable shelf 341 can further include rebound part 35 with Rapid reset, side-sway component 34, one end of part 35 is sprung back
Be fixed on rotating seat 342, the other end is fixed on adjustable shelf 341, when adjustable shelf 341 under the action of side-sway element 343 side
After pendulum, rebound part 35 is in tensional state, and under the elastic force effect of rebound part 35, adjustable shelf 341 is reset.It should be noted that
In original state, the cantilever for springing back the length direction and adjustable shelf 341 of part 35 is arranged in parallel.In the present embodiment, part 35 is sprung back
Preferably spring, or other have the part for stretching rebound.
As shown in Fig. 2, support base 31 includes mounting plate 312 and erecting bed 311, biography is rotationally provided on erecting bed 311
Moving gear 32, transmission gear 32 are connected to bracket 332, and bracket 332 is set to the top of transmission gear 32, sets on mounting plate 312
It is equipped with driving assembly 36, driving assembly 36 is connected to transmission gear 32, so that bracket 332 is rotated horizontally with respect to support base 31.Tool
Body, driving assembly 36 includes driving gear 361 and actuated element 362, and driving gear 361 is rotatably arranged in actuated element
On 362, actuated element 362 is able to drive driving gear 361 and rotates, and is provided between driving gear 361 and transmission gear 32
Synchronous belt (not shown), synchronous belt are engaged with the two respectively, realize the transmitting of power.Under the action of driving assembly 36,
The horizontal direction rotation of tilting component 33 and side-sway component 34 may be implemented, to imitate the movement that human body waist is turned round.
In addition, upper body structure 4 is set to the top of adjustable shelf 341, so that upper body structure 4 can relatively move platform 1
The movement such as pitching, rotation and side-sway.
In the present embodiment, dynamical element 331, side-sway element 343 and actuated element 362 are same structure composition.Its
In, it is specific to introduce by taking dynamical element 331 as an example.As shown in fig. 6, dynamical element 331 includes cabinet 3311 and is arranged in cabinet
Motor 1, gear 1, gear 2 3314, worm screw 1 and gear 3 3316 in 3311.Specifically, motor one
3312 output end is connected with gear 1, and can rotate with moving gear 1, gear 2 3314 and gear 1
Engagement connection, gear 2 3314 are connected to one end of worm screw 1, and gear 3 3316 engages connection with worm screw 1.It connects down
Come, the specific course of work for introducing lower dynamical element 331, under the driving of motor 1, one 3313 band moving gear two of gear
3314 rotations, gear 2 3314 drive worm screw 1 to rotate, and one 3315 band moving gear three of worm screw rotates.3 3316 conduct of gear
The output end of power can be used to connect the components wait need to be driven.
It as shown in Figs. 7-8, is the structural schematic diagram of robot arm configuration 6 provided in this embodiment, Fig. 9 show this
The structural schematic diagram for the shoulder joint that embodiment provides.Wherein robot arm configuration 6 includes mounting base 61, large arm 62, forearm 63
With wrist joint bio-mechanism 7.Wherein, large arm 62 is rotatably arranged in mounting base 61, is arranged between mounting base 61 and large arm 62
There is shoulder joint 5, shoulder joint 5 includes connection frame 51, the second driving element 52 and drive shaft 53, and wherein connection frame 51 is rotationally arranged
In in mounting base 61, the second driving element 52 is mounted on connection frame 51, on the setting connection frame 51 that drive shaft 53 rotates, and
Under the driving of second driving element 52, drive shaft 53 can rotate on connection frame 51.Large arm 62 is articulated with shoulder joint 5.Specifically
Ground, large arm 62 include interconnecting piece 621 and rotating part 622, and interconnecting piece 621 is articulated with shoulder joint 5, and rotating part 622 rotationally connects
In interconnecting piece 621, forearm 63 includes bending and stretching portion and rotating part 635, and the portion of bending and stretching is articulated with rotating part 622, and rotating part 635 is rotationally
It is connected to the portion of bending and stretching, wrist joint bio-mechanism 7 is set on rotating part 635, and wrist joint bio-mechanism 7 can be towards 63 side of forearm
To bending and stretching.
Specifically, the quantity of robot arm configuration 6 is two, and two robot arm configurations 6 are symmetrically disposed on upper body
The two sides of structure 4.In order to which robot arm configuration 6 to be mounted on upper body structure 4, mounting base 61 is set to upper body structure 4
On, shoulder joint 5 can be rotated relative to mounting base 61, and the relatively upper body structure 4 of large arm 62 hingedly may be implemented in large arm 62 and shoulder joint 5
Swinging arm of leaning to one side, can relatively rotate between the interconnecting piece 621 and rotating part 622 of large arm 62, help to train patient
The bending of the relatively upper body structure 4 of forearm 63 hingedly may be implemented in 62 muscle of large arm and nerve fiber, forearm 63 and large arm 62, with reality
Existing forearm 63 lifting and putting down, and has a good effect for training elbow joint, forearm 63 bend and stretch portion and rotating part 622 can also
It relatively rotates.For shoulder joint 5, large arm 62 and the forearm 63 in robot arm configuration 6, the present embodiment passes through using bionical
Learn, imitate the movement at each position of human arm, and use the rotation of five freedom degrees, to realize to patient's forearm muscle and
The training of nerve fiber, to assist patient to carry out comprehensive rehabilitation training to its arm.
With continued reference to Fig. 8, the first driving element 611 is provided in mounting base 61, the output end of the first driving element 611 connects
It is connected to connection frame 51.The second driving element 52 is provided on connection frame 51, the output end of the second driving element 52 is connected to connection
Portion 621.When work, the first driving element 611 of starting can then drive shoulder joint 5 to rotate around mounting base 61, and start second
When driving element 52, the second driving element 52 then drives interconnecting piece 621 connected to it to rotate around shoulder joint 5.
As shown in Figure 10, interconnecting piece 621 includes linking arm 6211 and ontology 6212, and ontology 6212 is hollow structure, in
It is provided with accommodating chamber.The quantity of linking arm 6211 is two, and two linking arms 6211 are arranged on ontology 6212.Two linking arms
One in 6211 is hinged with shoulder joint 5, another then connect with the output end of the second driving element 52, when the second driving element
When 52 work, then it will drive the rotation of interconnecting piece 621.The first gear ring 6213, the first gear ring are rotationally provided on ontology 6212
6213 with the connection type of ontology 6212 can be clamping.Third driving element 6214 is provided in the accommodating chamber of ontology 6212,
First gear 6215 is provided on the output end of third driving element 6214, the first gear ring 6213 is engaged with first gear 6215,
To drive 6213 opposing body 6212 of the first gear ring rotation.Wherein, third driving element 6214 is to be fixedly installed on ontology 6212
Inside, when first gear 6215 rotates, the first gear ring 6213 is then rotated around first gear 6215.
As shown in figure 11, rotating part 622 includes fixed part 6221, the 4th driving element 6222, gear 4 6223, gear five
6224, worm screw 2 6225, gear 6 6226 and driving end 6227.Wherein the 4th driving element 6222 is arranged in fixed part 6221
Portion, output end connection gear 4 6223 pass through toothed belt transmission, gear 5 6224 between gear 5 6224 and gear 4 6223
It is connect with worm screw 2 6225, gear 6 6226 engages connection with worm screw 6225, and gear 6 6226 is fixedly connected with driving end 6227.
Specific work process are as follows: the 4th driving element 6222 is rotated with moving gear 4 6223, and gear 4 6223 passes through synchronous belt band movable tooth
5 6224 rotations are taken turns, gear 5 6224 drives worm screw 2 6225 to rotate, and worm screw 2 6225 drives the gear 6 6226 engaged
Rotation, gear 6 6226 drive driving end 6227 to rotate together, and driving end 6227 can connect forearm 63, to drive forearm 63 to do
Correspondingly rotate movement.
In order to enable being relatively rotatable to each other between rotating part 622 and interconnecting piece 621, the first gear ring 6213 is connected to fixed part
6221, and the shape of fixed part 6221 is identical as the shape of the first gear ring 6213, to guarantee the compactness of connection.Rotating part 622
The one end connecting with forearm 63 is internally provided with driving end 6227, and driving end 6227 is connected to the portion of bending and stretching, so that the portion of bending and stretching can
Relative rotation portion 622 rotates.
As shown in Figure 12-Figure 13, the portion of bending and stretching includes engaging lug 631 and connection ring 637, wherein engaging lug 631 be two and
It is arranged in connection ring 637, in two engaging lugs 631, one hinged with rotating part 622, another is then first with the 4th driving
The output end of part 6222 connects, and the portion's of bending and stretching rotation is driven under the action of the 4th driving element 6222.The free end of connection ring 637
It is fixedly connected with the second gear ring 632, is provided with bearing retainer 636 between the second gear ring 632 and rotating part 635, wherein connection
Ring 637, the second gear ring 632 are fixedly connected with 636 three of bearing retainer.Bearing retainer 636 and rotating part 635 are clamped, axis
It holds and is arranged between bearing retainer 636 and rotating part 635, rotating part 635 is rotated relative to bearing retainer 636,
The 5th driving element 633 is fixedly installed in rotating part 635, the output end of the 5th driving element 633 is connected with second gear
634, second gear 634 is engaged with the second gear ring 632, and under the action of the 5th driving element 633, second gear 634 is rotated, by
It is limited in the second gear ring 632 along its circumferential direction, therefore, second gear 634 is rotated around the second gear ring 632, and is driven back
Transfer part 635 is rotated relative to the portion of bending and stretching.
If Figure 14-Figure 15 show the structural schematic diagram of the wrist joint bio-mechanism 7 of the present embodiment proposition, wrist joint is bionical
Mechanism 7 includes fixing seat 71, connecting fork 74, locating part 75 and helps clamp hand 78.Wherein, the first connection is provided in fixing seat 71
Component and the second connection component, 74 one end of connecting fork are articulated on the first connection component, and the other end of connecting fork 74, which is connected with, to be helped
Clamp hand 78 is held, is just helped with the wrist to patient.Connecting fork 74 can be rotated around first axle, and locating part 75 is articulated with
On two connection components, waist type groove 751 is offered on locating part 75, the other end of connecting fork 74 is slidingly arranged at waist type groove 751
Interior, locating part 75 and connecting fork 74 are rotated around second axis jointly, and first axle and second axis are arranged in angle, preferably
Ground, first axle are vertically arranged with second axis.
Specifically, the first connection component further includes rotary shaft 73 and two lugs 72, and two lugs 72 are relatively arranged on solid
In reservation 71, rotary shaft 73 is rotatably arranged in the through-hole 721 of two lugs 72, and connecting fork 74 is articulated with rotary shaft 73, rotation
Shaft 73 is rotated around the center line of through-hole 721, and connecting fork 74 is then rotated towards the extending direction of 73 length of rotary shaft；Second
Connection component further includes spacer pin 77 and two lugs 72, and two lugs 72 are relatively arranged in fixing seat 71, locating part 75
Both ends offer mounting hole 752, and spacer pin 77 sequentially passes through through-hole 721 and mounting hole 752 is arranged, so that locating part 75 being capable of phase
Fixing seat 71 is rotated.
In the present embodiment, the line of 721 center line of through-hole of two lugs 72 in the first connection component is first axle
Line, the line of 721 center line of through-hole of two lugs 72 in the second connection component are second axis so that connecting fork 74 around
First axle rotation, locating part 75 and connecting fork 74 are rotated around second axis jointly.If by the hand for being compared to people of connecting fork 74
Portion, then interior receipts outreach, the movement that the palm is bent and back is bent may be implemented in hand, imitates the movement of artificial wrist part structure, Lai Shixian human body
Wrist joints sporting simulation.
As shown in figure 15, connecting fork 74 includes fork body 741 interconnected and connecting rod 742, and fork body 741 and rotary shaft 73 are cut with scissors
Connect so that connecting fork 74 can relative rotation axi 73 rotate, connecting rod 742 is slidingly arranged in waist type groove 751.In the present embodiment
In, the quantity of fork body 741 is two, and two fork bodies 741 form accommodation space, and rotary shaft 73 is partially accommodated in accommodation space
It is interior.
In order to be articulated with connecting fork 74 in rotary shaft 73, is pitched at two and offer connecting hole on the opposite position of body 741
7411, through hole is offered in rotary shaft 73, and connecting hole 7411 is connect with through hole by pin.
In the present embodiment, locating part 75 is arcuate structure, and the both ends of arcuate structure offer mounting hole 752, arc knot
Structure can be rotated relative to fixed seat 71, waist type groove 751 be offered on arcuate structure, so that connecting rod 742 always can be in waist
Sliding in type groove 751, and be unlikely to detach the limit of waist type groove 751.
Wrist joint bio-mechanism 7 further includes driving part, driving part include drive motor 76, live-roller, reversing roller and
Drive line, drive motor 76 are set in fixing seat 71, and live-roller is set to the output end of drive motor 76, and reversing roller is rotationally
It is set in fixing seat 71.One end of drive line is connected to live-roller, and the other end is connected in rotary shaft 73, and the office of drive line
Portion is wrapped on reversing roller.Rotary shaft 73 is connect with connecting fork 74, when drive motor 76 pulls drive line by live-roller, is passed
The terminal of moving-wire then drives rotary shaft 73 to rotate, and rotary shaft 73 drives connecting fork 74 to rotate, connecting fork 74, and end, which is connected with, to be helped
Clamp hand 78 is held, so that helping clamp hand 78 that rotary shaft 73 is followed to rotate, to realize dorsiflex and the palmar flexion of wrist joint bio-mechanism 7
Movement.It certainly can also rotating in the forward direction and reversely rotating and realize the connecting fork 74 rotating around first by control drive motor 76
Axis is rotated forward and is rotated backward, so that the movement of human body wrist dorsiflex palmar flexion is simulated, so that patient be assisted to carry out wrist pass
The training of section.
In the present embodiment, wrist joint bio-mechanism 7 is arranged on the rotating part 635 of forearm, and rotating part 635 can be opposite
Portion's rotation is bent and stretched, to then wrist joint bio-mechanism 7 can be driven to rotate together when rotating part 635 rotates, to realize that wrist closes
Section bio-mechanism 7 does the movement of revolution inwardly or outwardly, the revolution movement of simulation human body wrist part structure, to assist patient to do wrist
The rehabilitation training of revolution movement.
In addition, the palm song and back song in order to realize wrist joint bio-mechanism 7 act, further include in wrist joint bio-mechanism 7
An other drive line, one end of the drive line are connected to live-roller, and the other end is connected on spacer pin 77.Due to spacer pin 77
It is connect with locating part 75, so that then spacer pin 77 drives locating part 75 to rotate, in turn when drive line pulls spacer pin 77 to rotate
It drives the support clamp hand 78 for being set to 74 end of connecting fork to move together, realizes the movement that the carpal palm is bent and back is bent.
Therefore to sum up, wrist joint bio-mechanism 7 realized on three degree of freedom respectively in receive and outreach, the palm be bent and back is bent and
The inwardly or outwardly movement such as revolution to simulate the corresponding actions of human body wrist structure, and assists patient to carry out corresponding rehabilitation instruction
Practice.
In other embodiments, driving part includes drive motor 76 and geared parts, and drive motor 76 is set to fixation
On seat 71, being set in fixing seat 71 for geared parts rotation is provided with tooth-shape structure, tooth-shape structure and gear in connecting fork 74
Component engagement, when drive motor 76 drives geared parts rotation, connecting fork 74 then follows rotary shaft 73 to rotate together or phase
Rotary shaft 73 is rotated, helps clamp hand 78 to rotate to drive, to realize the interior receipts of wrist joint bio-mechanism 7, outreach, slap bent and back
The movement such as song.
It should be understood that the first driving element 611 being designed into the present embodiment, the second driving element 52, third are driven
Dynamic element 6214, the 4th driving element 6222, the 5th driving element 633, drive motor 76 and dynamical element 331 etc. are existing
There are common motor, motor etc. in technology, selection replacement can also be carried out as needed.
The working process of this embodiment is as follows: robot is moved to the Ipsilateral of patient first with mobile platform 1, and is adjusted
Whole good suitable position.If desired rehabilitation supplemental training is carried out to the arm of patient, then the gimmick of robot simulation therapist,
Clamp hand 78 is helped to help in the shoulder joint or large arm or elbow joint of patient's Ipsilateral or small 6 end of robot arm configuration
On the positions such as arm or wrist joint, the support clamp hand 78 of another robot arm configuration 6 is helped on the corresponding position of patient.So
After start robot so that the support clamp hand 78 of two robot arm configurations 6 simulates human arm under the control of the controller
Movement realizes that human arm is accurately simulated.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of wrist joint bio-mechanism characterized by comprising
Fixing seat (71), is provided with the first connection component and the second connection component；
Connecting fork (74), one end are articulated on first connection component, and the connecting fork (74) can be around first axle
Rotation；
Locating part (75) is articulated on second connection component, offers waist type groove (751) on the locating part (75),
The other end of the connecting fork (74) is slidingly arranged in the waist type groove (751), the locating part (75) and the connection
(74) are pitched to rotate around second axis jointly；
The first axle and the second axis are arranged in angle；And
Driving part is connected to the connecting fork (74), and the driving part can drive the connecting fork (74) to move.
2. wrist joint bio-mechanism according to claim 1, which is characterized in that the first axle and the second axis
It is vertically arranged.
3. wrist joint bio-mechanism according to claim 1, which is characterized in that first connection component further includes rotation
Axis (73) and two lugs (72), two lugs (72) are relatively arranged on the fixing seat (71), the rotary shaft
(73) it is rotatably arranged in the through-hole (721) of two lugs (72), the connecting fork (74) is articulated with the rotary shaft
(73)；
Second connection component further includes spacer pin (77) and two lugs (72), and two lugs (72) are relatively arranged on
On the fixing seat (71), the both ends of the locating part (75) are offered mounting hole (752), and the spacer pin (77) sequentially passes through
The through-hole (721) and the mounting hole (752), so that the locating part (75) can be rotated relative to the fixing seat (71).
4. wrist joint bio-mechanism according to claim 3, which is characterized in that the connecting fork (74) includes being connected with each other
Fork body (741) and connecting rod (742), the fork body (741) and the rotary shaft (73) hingedly so that the connecting fork (74) energy
Enough to rotate relative to the rotary shaft (73), the connecting rod (742) is slidingly arranged in the waist type groove (751).
5. wrist joint bio-mechanism according to claim 4, which is characterized in that the quantity of fork body (741) is two,
Two fork bodies (741) form accommodation space, and the rotary shaft (73) is partially accommodated in the accommodation space.
6. wrist joint bio-mechanism according to claim 4, which is characterized in that the opposite position of two forks body (741)
It sets and offers connecting hole (7411), through hole is offered on the rotary shaft (73), the connecting hole (7411) is passed through with described
It is punched through pin connection.
7. wrist joint bio-mechanism according to claim 3, which is characterized in that the driving part includes drive motor
(76), live-roller, reversing roller and drive line, the drive motor (76) are set on the fixing seat (71), the reversing roller
It is rotatably arranged on the fixing seat (71), the live-roller is set on the output shaft of the drive motor (76), described
One end of drive line is connected to the live-roller, and the other end is connected to the rotary shaft (73), and the drive line is wound in described
On reversing roller, the rotary shaft (73) is set to be able to drive the connecting fork (74) rotation, to realize the wrist joint bio-mechanism
Interior receipts and abduction exercise.
8. wrist joint bio-mechanism according to claim 3, which is characterized in that the driving part includes drive motor
(76), live-roller, reversing roller and drive line, the drive motor (76) are set on the fixing seat (71), the live-roller
It is set on the drive motor (76) output shaft, the reversing roller is rotatably arranged on fixing seat (71), the drive line
One end be connected to the live-roller, the other end is connected on the spacer pin (77), and the drive line is wound in the commutation
On roller, the spacer pin (77) connect with the locating part (75), so that the spacer pin (77) drives the locating part (75)
Rotation, to realize that dorsiflex and the palmar flexion of the wrist joint bio-mechanism move.
9. a kind of robot arm configuration, which is characterized in that including the bionical machine of the described in any item wrist joints of claim 1-8
Structure.
10. robot arm configuration according to claim 9, which is characterized in that further include:
Forearm (63) comprising portion and rotating part (635), the free end connection of the rotating part (635) are bent and stretched in rotation connection
In the wrist joint bio-mechanism, and wrist joint bio-mechanism the rotating in a circumferential direction around the rotating part (635) can be driven.
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