CN109893398A - A kind of bionical healing robot - Google Patents
A kind of bionical healing robot Download PDFInfo
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- CN109893398A CN109893398A CN201910270649.8A CN201910270649A CN109893398A CN 109893398 A CN109893398 A CN 109893398A CN 201910270649 A CN201910270649 A CN 201910270649A CN 109893398 A CN109893398 A CN 109893398A
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Abstract
The invention discloses a kind of bionical healing robots, belong to robotic technology field, which includes mobile platform, waist joint structure, upper body structure, shoulder joint and arm structure.Wherein, waist joint structure is set on mobile platform, and upper body structure setting is on waist joint structure, body structure is enabled to relatively move platform rotation and pitching, shoulder joint rotation is set on body structure, and arm structure is articulated in shoulder joint, and arm structure can be relative to upper body structure rotation.The bionical healing robot copies waist, shoulder, arm in organization of human body etc., and the gimmick that can simulate therapist implements the rehabilitation training of auxiliary to patient, can greatly improve the versatility of equipment, meet the diversity requirement of clinical rehabilitation training.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of bionical healing robots.
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.
Existing healing robot, mostly based on simple function training, the design of non-treatment's teacher analog angle.With therapist's phase
Than lacking corresponding freedom degree, it is unable to complete therapist's action simulation, causes patient trained and generates larger difference with therapist's training
It is different, so that patient be made to cannot get good recovery.
Therefore, the present invention proposes a kind of bionical healing robot, by patient comprehensively train for the purpose of, with therapist be it is bionical
Object designs mechanical mechanism according to bionics principle, simulates the gimmick of therapist to assist patient to carry out rehabilitation training, mitigates
The burden of therapist, makes the patient obtain comprehensive rehabilitation training.
Summary of the invention
The purpose of the present invention is to provide a kind of bionical healing robots, therapist's training operation are simulated, to be embodied as suffering from
Person's rehabilitation training provides booster action, and patient is helped to train comprehensively.
As above design, the technical scheme adopted by the invention is that:
A kind of bionical healing robot, comprising:
Mobile platform；
Waist joint structure is set on the mobile platform；
Upper body structure is set on the waist joint structure, and the upper body structure being capable of the relatively described mobile platform rotation
Turn；
Shoulder joint, rotation are set on the upper body structure；And
Arm structure is articulated in the shoulder joint, and the arm structure can be rotated relative to the upper body structure.
Further, the waist joint structure includes sequentially connected support base, tilting component and side-sway component, described to bow
It faces upward component and is able to drive the relatively described support base of the side-sway component and do pitching motion, the side-sway component being capable of the relatively described branch
Support seat swings movement.
Further, the tilting component includes bracket, connecting shaft and dynamical element, and the bracket is set to the support
On seat, the bracket includes two support arms, forms accommodation space between two support arms, the connecting shaft is rotationally worn
Set on the support arm, and it is located between two support arms, the output end of the dynamical element is connected to the connecting shaft.
Further, the side-sway component includes rotating seat, adjustable shelf, transmission shaft and side-sway element, and the rotating seat is opened
Equipped with through slot, the transmission shaft is arranged in the through slot, and the transmission shaft can rotate in the rotating seat, the activity
Frame includes two cantilevers, is connected with the transmission shaft between two cantilevers, the side-sway element is set to the rotating seat
On, the output end of the side-sway element is connected to the transmission shaft, and the side-sway element is able to drive the transmission shaft rotation, institute
It states transmission shaft and is able to drive the adjustable shelf and rotated relative to the rotating seat.
Further, the support base includes mounting plate and erecting bed, is rotationally provided with driving cog on the erecting bed
Wheel, the transmission gear are connected to the bracket, driving assembly are provided on the mounting plate, and the driving component is connected to institute
Transmission gear is stated, so that the relatively described support base of the bracket rotates horizontally.
Further, the upper body structure setting is in the top of the adjustable shelf, so that the upper body structure can be opposite
The mobile platform rotation.
Further, the arm structure includes:
Mounting base is rotationally provided with shoulder joint thereon；
Large arm, interconnecting piece and rotating part including rotation connection, the interconnecting piece are articulated with the shoulder joint；
Forearm bends and stretches portion and rotating part including rotation connection, and the portion of bending and stretching is articulated with the rotating part；And
Wrist joint is set on the rotating part, and the wrist joint can be bent and stretched towards the forearm direction.
Further, the wrist joint includes:
Fixing seat is set on the rotating part, and the first connection component and the second connection are provided in the fixing seat
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 by spacer pin, waist type groove is offered on the locating part,
The other end of the connecting fork is slidingly arranged in the waist type groove, and the locating part is set on the spacer pin, described
Locating part and the spacer pin rotate synchronously and the connecting fork are driven to rotate around second axis；
The first axle and the second axis are arranged in angle；And
Driving part, the driving part can drive the connecting fork to move.
Further, the quantity of the arm structure is two, and two arm structures are symmetrically disposed on the upper body
The two sides of structure.
Further, the mobile platform includes cabinet body and the wheel that is rotatably dispose in below the cabinet body, the cabinet body
It is inside provided with wheel drive motor, the wheel drive motor is able to drive the wheel rotation.
The invention has the benefit that
Bionical healing robot proposed by the present invention includes mobile platform, waist joint structure, upper body structure, shoulder joint and hand
Arm configuration.Wherein, waist joint structure is set on mobile platform, and upper body structure setting is on waist joint structure, so that upper body knot
Structure can relatively move platform rotation and pitching, and shoulder joint rotation is set on body structure, and arm structure is articulated with shoulder joint
On section, arm structure can be relative to upper body structure rotation.The bionical healing robot copy waist in organization of human body, shoulder,
Arm etc., simulation therapist's movement can realize the rehabilitation training of auxiliary to patient, meanwhile, which may be used also
To carry out whole training to patient, the part compared with traditional treatment teacher is trained, more comprehensive to the rehabilitation training of patient.
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 arm structure；
Fig. 8 is the explosive view of shoulder joint provided by the invention and arm structure；
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 carpal structural schematic diagram provided by the invention；
Figure 15 is carpal explosive view provided by the invention.
In figure:
1, mobile platform；2, support column；3, waist joint structure；4, upper body structure；5, shoulder joint；6, arm structure；7, wrist
Joint；
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 arm structure 6.Wherein, support column 2 is provided on mobile platform 1, waist joint structure 3 is arranged
In on support column 2, upper body structure 4 is set on waist joint structure 3, enable body structure 4 relatively move platform 1 rotation and
Pitching, what shoulder joint 5 rotated is set on body structure 4, and arm structure 6 is articulated in shoulder joint 5, and arm structure 6 being capable of phase
Upper body structure 4 is rotated.The robot utilizes bionics principle, copies waist, shoulder, the arm etc. in organization of human body, can be with
The gimmick for imitating therapist realizes the rehabilitation training of auxiliary to each position of patient's upper limb, meanwhile, compared with traditional treatment teacher
Part training is compared, which can also carry out whole training to patient's upper limb, more comprehensive to the rehabilitation training of patient.
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 be U-shaped frame, and including two cantilevers, and one in two cantilevers is connected to one end of transmission shaft 344, transmission shaft 344 it is another
One end is connected to side-sway element 343, and side-sway element 343 is set on rotating seat 342, and the output end of side-sway element 343 is connected to
One end of another cantilever, and it is able to drive the rotation of 341 relative rotation seat 342 of adjustable shelf.Specifically, when waist joint structure 3 needs
When realizing pitching motion, 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 is whole to do pitching；When needing to realize side-sway movement, then opens side-sway element 343 and drive adjustable shelf 341 left
Right swing, to drive other positions that adjustable shelf 341 is arranged in swing.
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 arm structure 6 provided in this embodiment, Fig. 9 show the present embodiment
The structural schematic diagram of the shoulder joint of offer.Wherein arm structure 6 includes mounting base 61, large arm 62, forearm 63 and wrist joint 7.Its
In, large arm 62 is rotatably arranged in mounting base 61, and shoulder joint 5 is provided between mounting base 61 and large arm 62, and shoulder joint 5 includes
Connection frame 51, the second driving element 52 and drive shaft 53, wherein connection frame 51 is rotatably arranged 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 in the driving of the second driving element 52
Under, drive shaft 53 can rotate on connection frame 51.Large arm 62 is articulated with shoulder joint 5.Specifically, large arm 62 includes interconnecting piece
621 and rotating part 622, interconnecting piece 621 is articulated with shoulder joint 5, and rotating part 622 is rotationally connected with interconnecting piece 621, and forearm 63 wraps
The portion of bending and stretching and rotating part 635 are included, the portion of bending and stretching is articulated with rotating part 622, and rotating part 635 is rotationally connected with the portion of bending and stretching, wrist joint 7
It is set on rotating part 635, wrist joint 7 can be bent and stretched towards 63 direction of forearm.
Specifically, the quantity of arm structure 6 is two, and two arm structures 6 are symmetrically disposed on the two sides of body structure 4.
In order to which arm structure 6 to be mounted on upper body structure 4, mounting base 61 is set on upper body structure 4, shoulder joint 5 can be opposite
Mounting base 61 rotates, and the swinging arm of leaning to one side of the relatively upper body structure 4 of large arm 62 hingedly may be implemented with shoulder joint 5 for large arm 62, greatly
It can be relatively rotated between the interconnecting piece 621 and rotating part 622 of arm 62, facilitate 62 muscle of large arm for training patient and neural group
It knits, the above bending of body structure 4 relatively of forearm 63 hingedly may be implemented in forearm 63 and large arm 62, to realize lifting and putting for forearm 63
Under, there is a good effect for training elbow joint, forearm 63 bends and stretches portion and rotating part 622 and can also relatively rotate.For arm
Shoulder joint 5, large arm 62 and forearm 63 in structure 6, the present embodiment imitate each position of human arm by utilizing bionics
Movement, and the rotation of five freedom degrees is used, to realize training to patient's forearm muscle and nerve fiber, to assist suffering from
Person carries 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 7 of the present embodiment proposition, wrist joint 7 includes fixing seat
71, connecting fork 74, locating part 75 and support clamp hand 78.Wherein, the first connection component and the second connection are provided in fixing seat 71
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, helps clamp hand 78, to trouble
The wrist of person is just helped.Connecting fork 74 can be rotated around first axle, and locating part 75 is articulated on the second connection component, limit
Waist type groove 751 is offered on the part 75 of position, the other end of connecting fork 74 is slidingly arranged in waist type groove 751, locating part 75 and company
It connects fork 74 to rotate around second axis jointly, first axle and second axis are arranged in angle, it is preferable that first axle and second
Axis is vertically arranged.
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 7 further includes driving part, and driving part includes drive motor 76, live-roller, reversing roller and drive line, is driven
Dynamic motor 76 is set in fixing seat 71, and live-roller is set to the output end of drive motor 76, and reversing roller is rotatably arranged in solid
In reservation 71.One end of drive line is connected to live-roller, and the other end is connected in rotary shaft 73, and the part of drive line is wrapped in
On reversing roller.Rotary shaft 73 is connect with connecting fork 74, when drive motor 76 pulls drive line by live-roller, the end of drive line
End then drives rotary shaft 73 to rotate, and rotary shaft 73 drives connecting fork 74 to rotate, and the end of connecting fork 74, which is connected with, helps clamp hand 78,
So that helping clamp hand 78 that rotary shaft 73 is followed to rotate, to realize the dorsiflex and palmar flexion movement of wrist joint bio-mechanism.Certainly
It can also rotating in the forward direction and reversely rotating and realize that connecting fork 74 is positive rotating around first axle by control drive motor 76
It rotates and rotates backward, so that the movement of human body wrist dorsiflex palmar flexion is simulated, to assist the training in patient's progress wrist joint.
In the present embodiment, wrist joint 7 is arranged on the rotating part 635 of forearm, and rotating part 635 being capable of the opposite portion of bending and stretching turn
It is dynamic, to then wrist joint 7 can be driven to rotate together, to realize that wrist joint 7 is done inwardly or outwardly when rotating part 635 rotates
Revolution movement, simulation human body wrist part structure revolution movement, with assist patient do wrist revolution movement rehabilitation training.
In addition, the palm song and back song in order to realize wrist joint 7 act, and it further include an other drive line in wrist joint 7, it should
One end of drive line is connected to live-roller, and the other end is connected on spacer pin 77.Since spacer pin 77 is connect with locating part 75, make
When proper drive line pulls spacer pin 77 to rotate, then spacer pin 77 drives locating part 75 to rotate, and then drives and be set to connecting fork
The support clamp hand 78 of 74 ends moves together, realizes the movement that the carpal palm is bent and back is bent.
Therefore to sum up, wrist joint 7 realized on three degree of freedom respectively in receive and outreach, the palm be bent and back is bent and inwardly and to
The movements such as outer revolution to simulate the corresponding actions of human body wrist structure, and assist patient to carry out corresponding rehabilitation training.
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 carpal interior receipts, outreach, slap the movements such as bent and back 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,
The support clamp hand 78 of one arm structure 6 is helped into shoulder joint or large arm or elbow joint or forearm or wrist joint in patient's Ipsilateral
On equal positions, the support clamp hand 78 of another arm structure 6 is helped on the corresponding position of patient.Then start robot, make
The support clamp hand 78 for obtaining two arm structures 6 simulates human arm motion under the control of the controller, realizes that human arm is accurate
Simulation.
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 bionical healing robot characterized by comprising
Mobile platform (1)；
Waist joint structure (3) is set on the mobile platform (1)；
Upper body structure (4), is set on the waist joint structure (3), and the upper body structure (4) can be flat relative to the movement
Platform (1) rotation；
Shoulder joint (5), rotation are set on the upper body structure (4)；And
Arm structure (6) is articulated on the shoulder joint (5), and the arm structure (6) being capable of the relatively described upper body structure
(4) it rotates.
2. bionical healing robot according to claim 1, which is characterized in that the waist joint structure (3) includes successively
Support base (31), tilting component (33) and the side-sway component (34) of connection, the tilting component (33) are able to drive the side-sway
The relatively described support base (31) of component (34) does pitching motion, the side-sway component (34) can the relatively described support base (31) do
Swing movement.
3. bionical healing robot according to claim 2, which is characterized in that the tilting component (33) includes bracket
(332), connecting shaft (333) and dynamical element (331), the bracket (332) are set on the support base (31), the bracket
(332) include two support arms, form accommodation space between two support arms, the connecting shaft (333) rotationally wears
In the support arm, and it is located between two support arms, the output end of the dynamical element (331) is connected to the connection
Axis (333).
4. bionical healing robot according to claim 3, which is characterized in that the side-sway component (34) includes rotating seat
(342), adjustable shelf (341), transmission shaft (344) and side-sway element (343), the rotating seat (342) offer through slot (3421),
The transmission shaft (344) is arranged in the through slot (3421), and the transmission shaft (344) can be in the rotating seat (342)
Rotation, the adjustable shelf (341) include two cantilevers, are connected with the transmission shaft (344), the side between two cantilevers
Pendulum element (343) is set on the rotating seat (342), and the output end of the side-sway element (343) is connected to the transmission shaft
(344), the side-sway element (343) is able to drive the transmission shaft (344) rotation, and the transmission shaft (344) is able to drive institute
Adjustable shelf (341) is stated to rotate relative to the rotating seat (342).
5. bionical healing robot according to claim 3, which is characterized in that the support base (31) includes mounting plate
(312) and erecting bed (311) it, is rotationally provided with transmission gear (32) on the erecting bed (311), the transmission gear (32)
It is connected to the bracket (332), is provided with driving assembly (36) on the mounting plate (312), the driving component (36) connection
In the transmission gear (32), so that the relatively described support base (31) of the bracket (332) rotates horizontally.
6. bionical healing robot according to claim 4, which is characterized in that the upper body structure (4) is set to described
The top of adjustable shelf (341), so that the upper body structure (4) can be rotated relative to the mobile platform (1).
7. bionical healing robot according to claim 1, which is characterized in that the arm structure (6) includes:
Mounting base (61) is rotationally provided with the shoulder joint (5) thereon；
Large arm (62), interconnecting piece (621) and rotating part (622) including rotation connection, the interconnecting piece (621) are articulated with described
Shoulder joint (5)；
Forearm (63) bends and stretches portion and rotating part (635) including rotation connection, and the portion of bending and stretching is articulated with the rotating part
(622)；And
Wrist joint (7) is set on the rotating part (635), and the wrist joint (7) can be towards the forearm (63) direction
It bends and stretches.
8. bionical healing robot according to claim 7, which is characterized in that the wrist joint (7) includes:
Fixing seat (71) is set on the rotating part (635), be provided on the fixing seat (71) the first connection component and
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 by spacer pin (77), is opened up on the locating part (75)
Have waist type groove (751), the other end of the connecting fork (74) is slidingly arranged in the waist type groove (751), the locating part
(75) it is set on the spacer pin (77), the locating part (75) and the spacer pin (77) rotate synchronously and drive the company
Fork (74) is connect to rotate around second axis；
The first axle and the second axis are arranged in angle；And
Driving part, the driving part can drive the connecting fork (74) to move.
9. bionical healing robot according to claim 1, which is characterized in that the quantity of the arm structure (6) is two
A, two arm structures (6) are symmetrically disposed on the two sides of the upper body structure (4).
10. bionical healing robot according to claim 1, which is characterized in that the mobile platform (1) include cabinet body and
The wheel (11) being rotatably dispose in below the cabinet body is provided with wheel drive motor, the wheel drive motor energy in the cabinet body
The wheel (11) are enough driven to rotate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270649.8A CN109893398A (en) | 2019-04-04 | 2019-04-04 | A kind of bionical healing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270649.8A CN109893398A (en) | 2019-04-04 | 2019-04-04 | A kind of bionical healing robot |
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| CN109893398A true CN109893398A (en) | 2019-06-18 |
Family
ID=66954447
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910270649.8A Pending CN109893398A (en) | 2019-04-04 | 2019-04-04 | A kind of bionical healing robot |
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