CN109925160A - A kind of bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex - Google Patents

A kind of bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex Download PDF

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Publication number
CN109925160A
CN109925160A CN201711364232.5A CN201711364232A CN109925160A CN 109925160 A CN109925160 A CN 109925160A CN 201711364232 A CN201711364232 A CN 201711364232A CN 109925160 A CN109925160 A CN 109925160A
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China
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arm
broad
upper arm
holding liquid
mouthed receptacle
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CN109925160B (en
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刘连庆
杨铁
赵亮
李宁
于鹏
常俊玲
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The present invention relates to a kind of bionical power-assisted flexible exoskeletons of light-type multiple degrees of freedom shoulder complex, upper arm fixation kit is connect with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint is connect with shoulder girdle extension/retraction joint, and joint is mentioned/fallen on shoulder girdle and is connected with base assembly；Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint, shoulder girdle extension/retraction joint and shoulder girdle above mention/joint that falls pass through a lasso trick driving unit control respectively, and each lasso trick driving unit is separately mounted on base assembly；The bionical power-assisted flexible exoskeleton of shoulder complex, which has the extension of Glenohumeral joint by the drive control of each lasso trick driving unit ,/retraction, abduction/adduction, internal/external rotations and shoulder girdle above mention/falls and five freedom degrees of extension/retraction.The present invention can effectively avoid the Singularity and motion artifacts of man-machine head movement, promote head movement range, reappear shoulders of human body complex motor function.

Description

A kind of bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex
Technical field
The present invention relates to the exoskeleton robots in body biomechanics and field of medical rehabilitation, specifically a kind of light The bionical power-assisted flexible exoskeleton of amount type multiple degrees of freedom shoulder complex.
Background technique
China's Apoplexy Morbidity the first in the world, as rhythm of life and aging of population quickening, life stress increase, heart and brain Hemiplegic Patients caused by blood vessel and the nervous system disease increase year by year, wherein about 3/4 patient has different degrees of nerve damage Wound and functional movement obstacle, seriously affect quality of life.Studies have shown that central nervous system has highly plastic, to hemiplegia Timely and effectively rehabilitation training is unfolded in suffering limb, helps to restore domination and control of the nervous centralis to limb motion, enhances muscle Strength remolds limb motro function, and effectively prevents muscular atrophy, the complication such as osteoporosis.Traditional clinical method mainly with Based on the unarmed rehabilitation training of doctor, there are many limitations, such as rehabilitation low efficiency, large labor intensity；Therapeutic effect is by doctors experience It is affected with level, is unable to accurately control training parameter；Rehabilitation training can not be objectively evaluated.
Rehabilitation exoskeleton system is that robot technology is introduced clinical rehabilitation medicine field and a kind of auxiliary that generates or is replaced Dai doctor completes the robot system of Rehabilitation training.Upper limb healing wearable exoskeleton carries out standard to it on the outside of suffering limb Really, persistently, effectively rehabilitation training of upper limbs is treated, while can be to human-computer interaction force information, human cinology by sensory perceptual system It is recorded in real time with physiological data, improves patient's wearing comfort, real-time quantitative assesses rehabilitation training effect, to improve and optimizing Rehabilitation scheme provides objective basis.
Rehabilitation ectoskeleton is typical human-machine system, and people-organ's section axis of movement mismatch will cause arthritis Bitterly, space is limited etc. influences rehabilitation training effect, or even causes suffering limb secondary injury, therefore, when rehabilitation ectoskeleton designs It is required that realizing that people-organ's section axis of movement matches as far as possible.However, current upper limb healing ectoskeleton is in shoulder complex There are still larger defects in terms of rehabilitation training.
The shoulder complex that shoulders of human body is made of Glenohumeral joint and shoulder girdle, poor with flexibility, high stability Feature.Glenohumeral joint is cup-and-ball joint, the movement that shoulder girdle is made of acromioclavicular joint, articulatio sternoclavicularis and the scapulothoracu Chain, any single joint can not self-movements.When lifting on humerus, clavicle is rotated relative to breastbone around articulatio sternoclavicularis, omoplate bone photo Clavicle is rotated around acromioclavicular joint, while can also be breakked away on breastbone surface, so that Glenohumeral joint nest be driven to tilt upwards, this is multiple Miscellaneous coordinated movement of various economic factors process makes Glenohumeral joint center of rotation drift about, and realizes that humerus moves in a wide range of.Therefore, shoulder is compound In body movement, shoulder girdle can provide the extension of coronal-plane for Glenohumeral joint center of rotation/retraction and horizontal plane above mention/falls two A movement.And existing rehabilitation ectoskeleton generallys use the equivalent shoulders of human body movement of rotary joint that three axis intersect vertically, it should Scheme only considers that Glenohumeral joint moves, and ignores shoulder girdle movement, causes to will cause people-machine shoulder in humerus grand movement Kinematics singularity position shape and interference；Meanwhile paralytic can not independently be generated shoulder girdle movement, only be relied on due to nerve damage Mobile trunk moves to compensate shoulder girdle, substantially reduces rehabilitation training effect, and easily generate other complication.On the other hand, Traditional Rehabilitation ectoskeleton driving motor is integrated in joint, and ectoskeleton executing agency is made to have larger quality and inertia, increases and drives Dynamic performance requirement, reduces control precision and stability, there are the security risks that suffering limb when the system failure is fallen.
Summary of the invention
In view of the above problems, it is imitative that the purpose of the present invention is to provide a kind of light-type multiple degrees of freedom shoulder complexs Raw power-assisted flexible exoskeleton, is suitable for dyskinesias patient's shoulder complex everyday actions power-assisted and the health such as apoplexy, hemiplegia Refreshment is practiced.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes the base assembly as installation foundation, and the structure on two sides on the base assembly top is identical, and every side is equal Including upper arm fixation kit, Glenohumeral joint moving parts and shoulder girdle moving parts, wherein Glenohumeral joint moving parts include according to Secondary concatenated broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint, the shoulder girdle movement Component includes that fall joint for the shoulder girdle extension/retraction joint and shoulder girdle above mention/that is one another in series, the upper arm fixation kit with Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint connection, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint is connect with the shoulder girdle extension/retraction joint, described Joint is mentioned/fallen on shoulder girdle to be connected with base assembly；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint, broad-mouthed receptacle for holding liquid Upper arm abduction/adduction joint, shoulder girdle extension/retraction joint and shoulder girdle above mention/joint that falls pass through the driving of lasso trick respectively Unit control, each lasso trick driving unit are separately mounted on base assembly；The bionical power-assisted of shoulder complex is flexible outer Bone by the drive control of each lasso trick driving unit have the extension/retraction, abduction/adduction, internal/external rotations of Glenohumeral joint with And shoulder girdle above mention/fall and five freedom degrees of extension/retraction；
Wherein: the upper arm fixation kit includes upper arm retainer, software restraining, upper arm support rod and multi-dimensional force sensing Device, the both ends of the upper arm support rod are connected separately with upper arm retainer, and the side of the upper arm retainer at both ends is installed in In the guide groove that is opened up on the upper arm support rod, can be moved in the guide groove, and after spacing is adjusted with it is described Upper arm support rod positioning and locking is attached with software restraining inside the other side of the upper arm retainer at both ends；On described Multi-dimension force sensor for connecting upper arm support rod and Glenohumeral joint moving parts is installed on arm support rod；
The broad-mouthed receptacle for holding liquid upper arm extension in the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint/retraction joint rotating shaft center line, broad-mouthed receptacle for holding liquid upper arm internal/external rotations are closed Broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center's line of section and the Yu Gong abduction/adduction rotating shaft center in broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint Line is non-perpendicular to intersect at the Glenohumeral joint centre of motion；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint includes being rotatablely connected by rotating device Broad-mouthed receptacle for holding liquid upper arm extension/retraction execute arm and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, the broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm and the upper arm is solid Determine component to be connected, the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint includes executing arm by the broad-mouthed receptacle for holding liquid upper arm internal/external rotations that rotating device is rotatablely connected With broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint includes outside the broad-mouthed receptacle for holding liquid upper arm being rotatablely connected by rotating device Row arm and broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm are accepted in exhibition/interior, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm and the shoulder girdle extension/retraction Joint is connected；The broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm and broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute between arm and broad-mouthed receptacle for holding liquid upper arm internal/external rotations branch Brace and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute to be connected with each other between arm；Each rotating device connects with respective lasso trick driving unit It connects, the driving of the extension/retraction, internal/external rotations and abduction/adduction of Glenohumeral joint is provided by the respective lasso trick driving unit Torque；
The broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm and the broad-mouthed receptacle for holding liquid upper arm Abduction/adduction executes and is uniformly provided with multiple bolts hole respectively on arm, which executes arm and broad-mouthed receptacle for holding liquid upper arm outreach/interior It accepts and is all provided with fluted on row arm, the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm pass through the groove point Arm is not executed with broad-mouthed receptacle for holding liquid upper arm internal/external rotations and broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes arm grafting and adjustable broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm Between between broad-mouthed receptacle for holding liquid upper arm internal/external rotations execution arm and between broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execution arm Away from by fixed in bolt insertion bolt hole after adjusting；
The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation centerline is vertical with human body sagittal plane, the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint Angle between rotation centerline and broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation centerline towards human body outside, close by broad-mouthed receptacle for holding liquid upper arm internal/external rotations Save rear side of the angle between rotation centerline and human coronary face towards human body, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction rotation centerline Angle between broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation centerline is towards on the outside of human body；
Shoulder girdle extension/retraction the joint, which includes that shoulder girdle is flexible, executes arm, shoulder girdle retractable support arm, rotating device And shoulder girdle telescopic oscillating arm component, the flexible arm that executes of the shoulder girdle is oppositely arranged with shoulder girdle retractable support arm, and passes through two The group telescopic oscillating arm component is connected, and forms telescopic parallelogram mechanism；Every group of telescopic oscillating arm component include Scalable connected shoulder girdle telescopic oscillating arm A and shoulder girdle telescopic oscillating arm B each other, the shoulder girdle telescopic oscillating arm in two groups One end of any of A and shoulder girdle telescopic oscillating arm B executes arm or omoplate by the way that the rotating device and shoulder girdle are flexible Band retractable support arm is rotatablely connected, and one end of remaining telescopic oscillating arm and shoulder girdle stretch and execute arm or shoulder girdle retractable support Arm rotation connection；The shoulder girdle above mentions/joint that falls includes that shoulder girdle above mentions/, and fall support arm and rotating device, the omoplate It takes and mentions/fall support arm and be connected with shoulder girdle retractable support arm by the rotating device；The rotating device with it is respective The connection of lasso trick driving unit, which provides the extension of shoulder girdle by the respective lasso trick driving unit ,/retraction and above mention/falls Driving moment；
The shoulder girdle flexible execute is equipped with guide rail on arm, and sliding block is slidably connected on the guide rail, is pacified on the sliding block Equipped with the connecting plate to reciprocatingly slide along guide rail；
The other end of the shoulder girdle telescopic oscillating arm A and shoulder girdle telescopic oscillating arm B are uniformly provided with multiple spiral shells respectively The other end of keyhole, shoulder girdle telescopic oscillating arm A or shoulder girdle telescopic oscillating arm B are equipped with groove, and the shoulder girdle is flexible The other end of swing arm A and shoulder girdle telescopic oscillating arm B pass through the groove grafting and the flexible execution arm of adjustable shoulder girdle and shoulder Shoulder blade is inserted into bolt hole by bolt after adjusting and is fixed with the spacing between retractable support arm；
The rotating device includes lasso trick driving wheel, hollow shaft, bracing wire and lasso trick installation locating piece A, hollow shaft installation In broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm, broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm, the flexible execution of shoulder girdle Arm, shoulder girdle retractable support arm or shoulder girdle are above mentioned/are fallen on support arm, and the lasso trick driving wheel rotational installation is in hollow shaft Above and with the broad-mouthed receptacle for holding liquid upper arm extension/retraction execute arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm, broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes arm, shoulder girdle Telescopic oscillating arm A, shoulder girdle telescopic oscillating arm B or shoulder girdle above mention/fall execute arm be connected；In the broad-mouthed receptacle for holding liquid upper arm extension/retraction Support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm, broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm, shoulder girdle are flexible to execute the flexible branch of arm, shoulder girdle Brace or shoulder girdle above mention/fall support arm towards broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm, outside the broad-mouthed receptacle for holding liquid upper arm Exhibition/interior row arm, shoulder girdle telescopic oscillating arm A, shoulder girdle telescopic oscillating arm B or the shoulder girdle accepted above mentions/falls and executes the one of arm Face, positioned at the two sides of lasso trick driving wheel, be separately installed with lasso trick installation locating piece A, in each lasso trick installation locating piece A Bracing wire is penetrated, by bypassing on the lasso trick driving wheel, one end is installed locating piece A positioning support by the lasso trick and locked for the bracing wire Tightly, the other end is connected with the lasso trick driving unit；It is connected with angular encoder on the inside of the hollow shaft, is held inside the hollow shaft Be equipped with encoder extending sleeve, the both ends of the encoder extending sleeve respectively with the shaft of angular encoder and lasso trick driving wheel phase Even；The broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm, broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm, shoulder girdle are flexible Execute arm, shoulder girdle retractable support arm or shoulder girdle above mention/fall support arm and execute arm, in the broad-mouthed receptacle for holding liquid upper arm towards broad-mouthed receptacle for holding liquid upper arm extension/retraction Rotation/outward turning executes arm, broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes arm, shoulder girdle telescopic oscillating arm A, shoulder girdle telescopic oscillating arm B or shoulder girdle Above mention/fall execute arm offer limit arc groove on one side, offer limit threaded hole on the lasso trick driving wheel, pass through limit Position device is inserted into the limit arc groove and limit threaded hole and is limited；
The lasso trick driving unit includes power source, driving mounting rack, lasso trick driving wheel, torque sensor, brake beans, rises Tight adjustment frame, guide plate, adjusts bolt and lasso trick installation locating piece B at support plate, which, which is mounted on, drives on mounting rack, Output end is connected with lasso trick driving wheel, and there are two the beans that brake for installation on the lasso trick driving wheel；One end of the tensioner adjustment frame It is provided with tensioner pilot hole, the other end is equipped with support plate, which, which is equipped with, adjusts bolt, extends on the driving mounting rack There is guide plate, which is passed through by the tensioner pilot hole, and the adjusting bolt is abutted with guide plate；The tensioner adjustment frame There are two lasso tricks to install locating piece B for upper installation, is wound with two bracing wires on the lasso trick driving wheel, one end of every bracing wire is solid It is scheduled on the brake beans, the other end is passed through by a lasso trick installation locating piece B and connect afterwards with the rotating device； The output end of the power source is equipped with torque sensor；The tensioner adjustment frame is L-shaped, and the tensioner pilot hole is provided with One side of the L shape, and the limiting slot that locating piece B is installed for fixing lasso trick is offered on the side；The support plate is fixed In the end of the L shape another side, it is provided with slot on the side, adjusts guide plate and tensioner by screwing the adjusting bolt The distance between frame relative movement, and then adjust the tensioner adjustment frame and lasso trick driving wheel；The guide plate after adjusting By being locked in bolt insert grooves hole.
Advantages of the present invention and good effect are as follows:
1. novelty of the invention designs shoulder girdle component using swing mechanism and parallelogram mechanism combination, will Extension/retraction of ectoskeleton shoulder girdle, above mention/falling motion be transmitted to extension/retraction centered on articulatio sternoclavicularis, above mention/ Falling motion reappears human body shoulder girdle motor function, solves the problems, such as hemiplegic patient's shoulder girdle rehabilitation training, while effectively avoiding people Machine head movement Singularity, improves man-machine motion compatibility.
2. the present invention is innovatively using the rotary joint component of the non-perpendicular intersection of three axis of tandem come the equivalent human body broad-mouthed receptacle for holding liquid upper arm Joint solves the problems, such as that existing ectoskeleton cannot achieve humerus grand movement, effectively avoids people-machine head movement interference, improves Shoulders of human body rehabilitation exercise range.
3. the present invention can instruct rehabilitation by sensory perceptual systems such as angular encoder, torque sensor and multi-dimension force sensors Human-computer interaction force information, human cinology and physiological data are recorded in real time during white silk, and conditions of patients, system is quantitatively evaluated Fixed a variety of rehabilitation training modes, effectively promote rehabilitation training effect, reduce complication and generate.
4. the present invention uses lasso trick driving unit to provide torque drive for ectoskeleton movable joint, driving and the machine of execution are realized The separation of structure effectively reduces the quality and inertia of executing agency, realizes ectoskeleton light-weight design, improves system motion and stablizes Property, safety and wearing comfort.
5. everyday actions power-assisted and rehabilitation training that the present invention is widely used in patients' shoulder complex such as apoplexy, hemiplegia.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of upper arm fixation kit of the present invention；
Fig. 3 is the schematic perspective view of Glenohumeral joint moving parts of the present invention；
Fig. 4 is the structure sectional view of rotating device in Fig. 3；
Fig. 5 is a kind of schematic perspective view of structure of shoulder girdle moving parts of the present invention；
Fig. 6 is shoulder girdle extension/retraction joint schematic perspective view in Fig. 5；
Fig. 7 is shoulder girdle extension/retraction modularization rotating device structure sectional view in Fig. 5；
Fig. 8 is the structure sectional view that shoulder girdle above mentioned/fell joint in Fig. 5；
Fig. 9 is one of the structural schematic diagram of lasso trick driving unit of the present invention；
Figure 10 is the second structural representation of lasso trick driving unit of the present invention；
Figure 11 is the structural schematic diagram of tensioner adjustment frame in Fig. 9, Figure 10；
Figure 12 is the schematic perspective view of shoulder girdle moving parts another kind structure of the present invention；
Figure 13 is the schematic perspective view of base assembly of the present invention；
Wherein: 100 be upper arm fixation kit, 200 be Glenohumeral joint moving parts, 300 be shoulder girdle moving parts, 400 It is base assembly for lasso trick driving unit, 500,600 be seat；
101 be upper arm retainer, and 102 be software restraining, and 103 be upper arm support rod, and 104 be multi-dimension force sensor；
210 be broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, and 220 be broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint, and 230 be broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint, 240 be rotating device, and 211 execute arm for broad-mouthed receptacle for holding liquid upper arm extension/retraction, and 212 be broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, and 221 is in the broad-mouthed receptacle for holding liquid upper arms Rotation/outward turning executes arm, and 222 be broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm, and 231 execute arm for broad-mouthed receptacle for holding liquid upper arm abduction/adduction, and 232 is outside the broad-mouthed receptacle for holding liquid upper arms Exhibition/interior revenue and expenditure brace；
2401 lasso trick driving wheels, 2402 is lubricate bearing, and 2403 be encoder extending sleeve, and 2404 be hollow shaft, and 2405 are Threaded hole is limited, 2406 be bracing wire, and 2407 install locating piece A for lasso trick, and 2408 be limit arc groove, and 2409 be angular coding Device；
310 be shoulder girdle extension/retraction joint, and 320 above mention/fall joint for shoulder girdle, and 311 execute for shoulder girdle is flexible Arm, 312 be shoulder girdle telescopic oscillating arm A, and 313 be the flexible lubrication bearing of shoulder girdle, and 314 be shoulder girdle shaft, and 315 be shoulder girdle Telescopic oscillating arm B, 316 be shoulder girdle retractable support arm, and 317 be shoulder girdle extension/retraction modularization rotating device, and 318 be company Fishplate bar, 319 be groove, and 321 above mention/fall for shoulder girdle and execute arm, and 322 above mention/fall support arm for shoulder girdle, and 323 be spiral shell Keyhole；
411 be driving motor, and 412 be speed reducer, and 413 be guide rail, and 414 be driving mounting rack, and 415 be lasso trick driving wheel, 416 be torque sensor, and 417 be brake beans, and 418 be tensioner adjustment frame, and 419 be support plate, and 420 be guide plate, and 421 be adjusting Bolt, 422 be slot, and 423 install locating piece B for lasso trick, and 424 be tensioner pilot hole, and 425 be limiting slot, and 426 be sliding block；
510 be wheel type mobile seat, and 511 be idler wheel, and 521 be support rod, and 522 be handle, and 523 be hoistable platform；
O is the Glenohumeral joint centre of motion, and J1 is upper arm retainer axis, and J2 is broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation center Line, J3 are broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotation centerline, and J4 is Yu Gong abduction/adduction rotating shaft center line, and J5 is before shoulder girdle / retraction modularization rotating device rotating shaft center line is stretched, J6 is that shoulder girdle above mentions/fall joint rotating shaft center line, and K1 is shoulder Shoulder blade band is flexible to execute arm equivalent line.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, the present invention includes the base assembly 500 as installation foundation, the two sides on 500 top of base assembly Structure is identical, and every side includes upper arm fixation kit 100, Glenohumeral joint moving parts 200 and shoulder girdle moving parts 300.
As shown in Fig. 2, upper arm fixation kit 100 includes upper arm retainer 101, software restraining 102, upper arm support rod 103 and multi-dimension force sensor 104, the both ends of the upper arm support rod 101 be connected separately with upper arm retainer 101, upper arm retainer 101 semicirculars in shape, inside are attached with software restraining 102, and software restraining 102 is directly contacted with human body upper arm, can promote trouble Limb wearing comfort.Upper arm retainer 101 has required rigidity, and upper arm retainer axis J1 radial position is adjustable, guarantees Its upper arm retainer axis J1 is overlapped in scope of activities with human body broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint motions axis, and keeps opposite Stablize position.The side of the upper arm retainer 101 at both ends is installed in the guide groove that opens up on upper arm support rod 103, can Moved in the guide groove, and after spacing is adjusted with 103 positioning and locking of upper arm support rod, to adapt to the arm of different patients It is long.Multi-dimensional force for connecting upper arm support rod 103 and Glenohumeral joint moving parts 200 is installed on upper arm support rod 103 Sensor 104 can remember in real time people in rehabilitation training-machine interaction force information, human cinology and physiological data The scheme optimization with multi-mode rehabilitation training is quantitatively evaluated for conditions of patients in record.
As shown in figure 3, Glenohumeral joint moving parts 200 include the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 210, the broad-mouthed receptacle for holding liquid upper arm being sequentially connected in series Internal/external rotations joint 220 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 230, broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 210 broad-mouthed receptacle for holding liquid upper arm extension/retraction are closed Save the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center line J3 and the broad-mouthed receptacle for holding liquid upper arm of rotating shaft center's line J2, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 220 The Yu Gong abduction/adduction rotating shaft center line J4 in abduction/adduction joint 230 is non-perpendicular to intersect at Glenohumeral joint centre of motion O, point O is human body shoulder joint set-point.In the Glenohumeral joint movement that broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line J2 passes through human body Heart O, and it is vertical with human body sagittal plane.Before broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 220 executes arm 221 and the broad-mouthed receptacle for holding liquid upper arm by broad-mouthed receptacle for holding liquid upper arm internal/external rotations / the connection of retraction joint 210 is stretched, and relative distance can be adjusted and lock；Broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center line J3 By can at 60 °~80 ° between the Glenohumeral joint centre of motion O of human body, with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line J2 Adjust angle, the angle towards on the outside of human body, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center line J3 and human coronary face at 10 °~ 30 ° of adjustable angles, the angle are towards on rear side of human body.Broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 230 executes arm 231 by broad-mouthed receptacle for holding liquid upper arm abduction/adduction It is connect with broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 220, and relative distance can be adjusted and lock；Broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint rotary shaft Center line J4 by the Glenohumeral joint centre of motion O of human body, with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line J2 at 60 °~ 80 ° of adjustable angles, the angle are towards on the outside of human body.Meng's upper arm abduction/adduction support arm 232 and shoulder girdle moving parts 300 are fixed Connection, broad-mouthed receptacle for holding liquid upper arm extension/retraction execute arm 211 and connect with the multi-dimension force sensor 104 in upper arm fixation kit 100；Broad-mouthed receptacle for holding liquid upper arm extension/ Retraction executes and offers multiple mounting holes on arm 211, can be adjusted with the relative distance of multi-dimension force sensor 104, and adjusting It is whole it is good after locked.Angle described above can be customized adjustment according to different patient body sizes.
Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 210 includes that the broad-mouthed receptacle for holding liquid upper arm extension/retraction being rotatablely connected by rotating device 240 executes arm 211 and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 220 includes being rotatablely connected by rotating device 240 Broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm 221 and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222, and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 230 includes passing through rotation The broad-mouthed receptacle for holding liquid upper arm abduction/adduction execution arm 231 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232 that rotary device 240 is rotatablely connected, the broad-mouthed receptacle for holding liquid upper arm outreach/ Interior revenue and expenditure brace 232 is connected with shoulder girdle extension/retraction joint 310.Broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212 and broad-mouthed receptacle for holding liquid upper arm inward turning/outer Rotation executes between arm 221 and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 is executed with broad-mouthed receptacle for holding liquid upper arm abduction/adduction and mutually interconnected between arm 231 It connects, each rotating device 240 is connect with respective lasso trick driving unit 400, provides the broad-mouthed receptacle for holding liquid upper arm by respective lasso trick driving unit 400 The driving moment of the extension/retraction in joint, internal/external rotations and abduction/adduction.
Broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm 221, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 And broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes and is uniformly provided with multiple bolts hole respectively on arm 231, which executes arm 221 On one end and broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes and is all provided with fluted on one end of arm 231, and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212 is another It holds, the other end of broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 passes through one end that the groove executes arm 221 with broad-mouthed receptacle for holding liquid upper arm internal/external rotations respectively And broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute arm 231 one end grafting and adjustable broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212 and broad-mouthed receptacle for holding liquid upper arm inward turning/ Between between outward turning execution arm 221 and between broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execution arm 231 Away from by fixed in bolt insertion bolt hole after adjusting, to adapt to the requirement of different human body Glenohumeral joint size.
As shown in figure 4,240 structure of each rotating device in Glenohumeral joint moving parts 200 is identical, it include that lasso trick drives Wheel 2401, lubrication bearing 2402, encoder extending sleeve 2403, hollow shaft 2404, bracing wire 2406, lasso trick install locating piece A2407 And angular encoder 2409, the hollow shaft 2404 are mounted on broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 or broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232 on, lasso trick driving wheel 2401 by lubrication bearing 2402 rotational installation in hollow shaft On 2404, broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm 211, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm 221 or broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes arm 231 It is fixedly connected with lasso trick driving wheel 2401.In broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 or broad-mouthed receptacle for holding liquid Upper arm abduction/adduction support arm 232 is towards broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm 211, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute outside arm 221 or the broad-mouthed receptacle for holding liquid upper arm Exhibition/interior one side for accepting row arm 231, the left and right sides above lasso trick driving wheel 2401 is fixedly installed with lasso trick peace respectively Locating piece A2407 is filled, has penetrated bracing wire 2406 in each lasso trick installation locating piece A2407, which is driven by lasso trick It is bypassed on wheel 2401, one end is installed locating piece A2407 positioning support by lasso trick and locked, the other end and lasso trick driving unit 400 It is connected.Angular encoder 2409 is connected on the inside of hollow shaft 2404, which has encoder extending sleeve 2403, the both ends of encoder extending sleeve 2403 are connected with the shaft of angular encoder 2409 and lasso trick driving wheel 2401 respectively, make Angular encoder 2409 can real-time detection broad-mouthed receptacle for holding liquid upper arm extension/retraction execute arm 211 relative to broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, broad-mouthed receptacle for holding liquid Upper arm internal/external rotations execute arm 221 and execute 231 phase of arm relative to broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction For the rotation angle of broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232, guarantee that suffering limb is in correct pose in real time.Broad-mouthed receptacle for holding liquid upper arm extension/retraction branch Brace 212, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 or broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232 execute arm towards broad-mouthed receptacle for holding liquid upper arm extension/retraction 211, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm 221 or broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes offering on one side for arm 231 and limits arc groove 2408, Limit threaded hole 2405 is offered on lasso trick driving wheel 2401, and the limit arc groove 2408 and limit spiral shell are inserted by limiting device It is limited in pit 2405.
As shown in figure 5, shoulder girdle moving parts 300 include the shoulder girdle extension/retraction joint 310 being one another in series and omoplate It takes and mentions/fall joint 320, shoulder girdle extension/retraction joint 310, which includes that shoulder girdle is flexible, executes the flexible branch of arm 311, shoulder girdle Brace 316, rotating device 240 and shoulder girdle telescopic oscillating arm component, the shoulder girdle is flexible to execute arm 311 and the flexible branch of shoulder girdle Brace 316 is oppositely arranged, and is connected by telescopic oscillating arm component described in two groups, and telescopic parallelogram mechanism is formed； Every group of telescopic oscillating arm component includes scalable connected shoulder girdle telescopic oscillating arm A312 and shoulder girdle telescopic oscillating each other One end of arm B315, shoulder girdle telescopic oscillating arm A312 and any of shoulder girdle telescopic oscillating arm B315 in two groups pass through Rotating device 240 and the flexible execution arm 311 of shoulder girdle or shoulder girdle retractable support arm 316 are rotatablely connected, remaining telescopic oscillating One end of arm and the flexible execution arm 311 of shoulder girdle or shoulder girdle retractable support arm 316 are rotatablely connected.Pass is mentioned/fallen on shoulder girdle Section 320 includes that shoulder girdle above mentions/fall support arm 322 and rotating device 240, which above mentions/fall support arm 322 and pass through Rotating device 240 is connected with shoulder girdle retractable support arm 316.In shoulder girdle moving parts 300, shoulder girdle telescopic oscillating arm A312 With one end of any of shoulder girdle telescopic oscillating arm B315 by rotating device 240 and shoulder girdle it is flexible execute arm 311 or Shoulder girdle retractable support arm 316 is rotatablely connected, which is shoulder girdle extension/retraction modularization rotating device 317； Support arm 322 is mentioned/fallen on shoulder girdle to be connected by rotating device 240 with shoulder girdle retractable support arm 316, the rotating device 240 above mention/fall modularization rotating device for shoulder girdle.In shoulder girdle extension/retraction joint module rotating device rotary shaft Heart line J5 intersects vertically with above mentioning/falling joint rotating shaft center line J6.
Shoulder girdle extension in shoulder girdle moving parts 300/retraction modularization rotating device 7 and shoulder girdle above mention/falls Modularization rotating device is connect with respective lasso trick driving unit 400 respectively, provides omoplate by respective lasso trick driving unit 400 Extension/retraction and above mention/driving moment to fall of band.
As shown in Figure 5, Figure 6, one end of shoulder girdle telescopic oscillating arm A312 and shoulder girdle telescopic oscillating arm B315 are circle Ring-type, the other end are cuboid.The other end of shoulder girdle telescopic oscillating arm A312 and shoulder girdle telescopic oscillating arm B315 difference are equal It is even to offer multiple bolts hole 323, on the other end of shoulder girdle telescopic oscillating arm A312 or shoulder girdle telescopic oscillating arm B315 Equipped with groove 319, the other end of shoulder girdle telescopic oscillating arm A312 and shoulder girdle telescopic oscillating arm B315 are inserted by the groove 319 The flexible spacing executed between arm 311 and shoulder girdle retractable support arm 316 of shoulder girdle is connect and be can adjust, is passed through after adjusting Bolt is inserted into bolt hole 323 and fixes, to adapt to the requirement of different human body shoulder girdle size.In the present embodiment, the flexible pendulum of shoulder girdle The other end of swing arm B315 opens up fluted 319 along its length, and it is recessed that the other end of shoulder girdle telescopic oscillating arm A312 is inserted into this In slot 319, between shoulder girdle telescopic oscillating arm A312 and shoulder girdle telescopic oscillating arm B315 can relative telescopic, and adjust away from From rear, it is locked in bolt insertion bolt hole 323.The flexible arm 311 that executes of shoulder girdle is used for and Glenohumeral joint moving parts 200 are fixedly connected.
The flexible arm equivalent line K1 that executes of shoulder girdle passes through human body Glenohumeral joint centre of motion O, shoulder girdle extension/retraction module Change rotating device rotating shaft center line J5 and be located at human body articulatio sternoclavicularis dead astern, utilizes the equivalent translational motion of parallelogram mechanism Extension/rear shrink movement of ectoskeleton shoulder girdle is transmitted to extension/rear shrink movement centered on articulatio sternoclavicularis by characteristic, reproduction Human body Glenohumeral joint is around articulatio sternoclavicularis extension/retraction functional movement.It is logical that joint rotating shaft center line J6 is mentioned/fallen on shoulder girdle Cross the human body articulatio sternoclavicularis centre of motion, the shoulder girdle above mention/fall joint rotating shaft center line J6 and shoulder girdle extension/after Contracting modularization rotating device rotating shaft center line J5 intersects vertically, and shoulder girdle component uses swing mechanism and parallelogram mechanism Combination design, by extension/retraction of ectoskeleton shoulder girdle, above mention/falling motion is transmitted to centered on articulatio sternoclavicularis Extension/retraction above mentions/falling motion.
As shown in Figure 6, Figure 7, one end of two shoulder girdle telescopic oscillating arm A31 passes through the flexible lubrication bearing of shoulder girdle 313 are rotatablely connected with the flexible two shoulder girdle shafts 314 being arranged on arm 311 that execute of shoulder girdle, and one of shoulder girdle is flexible One end of swing arm B315 lubricates the shoulder girdle being arranged on bearing 313 and shoulder girdle retractable support arm 316 by the way that shoulder girdle is flexible Shaft 314 is rotatablely connected；One end of another shoulder girdle telescopic oscillating arm B315 passes through shoulder girdle extension/retraction modularization rotation Device 317 and shoulder girdle retractable support arm 316 are rotatablely connected.Shoulder girdle extension/317 structure of retraction modularization rotating device and rotation Rotary device 240 is identical, including lasso trick driving wheel 2401, lubrication bearing 2402, encoder extending sleeve 2403, hollow shaft 2404, drawing Line 2406, lasso trick installation locating piece A2407 and angular encoder 2409, the hollow shaft 2404 are mounted on shoulder girdle retractable support arm 316 or shoulder girdle is flexible executes on arm 311 (the present embodiment is mounted on shoulder girdle retractable support arm 316), lasso trick driving wheel 2401 are rotatablely installed by lubrication bearing 2402 in hollow shaft 2404, and shoulder girdle telescopic oscillating arm B315 or shoulder girdle stretch and put Swing arm A312 (the present embodiment is shoulder girdle telescopic oscillating arm B315) is fixedly connected with lasso trick driving wheel 2401.It is flexible in shoulder girdle One side of the support arm 316 towards shoulder girdle telescopic oscillating arm B315, the left and right sides above lasso trick driving wheel 2401, respectively It is fixedly installed with lasso trick installation locating piece A2407, has penetrated bracing wire 2406 in each lasso trick installation locating piece A2407, the drawing Line 2406 by being bypassed on lasso trick driving wheel 2401, one end by lasso trick install locating piece A2407 positioning support lock, the other end with Lasso trick driving unit 400 is connected.Angular encoder 2409 is connected on the inside of hollow shaft 2404, which has Encoder extending sleeve 2403, the both ends of encoder extending sleeve 2403 respectively with the shaft of angular encoder 2409 and lasso trick driving wheel 2401 are connected.Shoulder girdle retractable support arm 316 offers limit arc groove towards shoulder girdle telescopic oscillating arm B315's on one side 2408, limit threaded hole 2405 is offered on lasso trick driving wheel 2401, by limiting device be inserted into the limit arc groove 2408 and It is limited in limit threaded hole 2405.
As shown in Figure 5, Figure 8, shoulder girdle retractable support arm 316 is L-shaped, which is used to stretch with shoulder girdle on one side The B315 connection of contracting swing arm, another side, which above mentions/falls for shoulder girdle, executes arm 321, which, which above mentions/fall, executes arm 321 / modularization that falls rotating device and shoulder girdle above mention/is above mentioned by shoulder girdle to fall the rotation connection of support arm 322.On shoulder girdle It is identical as 240 structure of rotating device to mention/fall modularization rotating device, including lasso trick driving wheel 2401, lubrication bearing 2402, volume Code device extending sleeve 2403, hollow shaft 2404, bracing wire 2406, lasso trick installation locating piece A2407 and angular encoder 2409, this is hollow Axis 2404 is mounted on shoulder girdle and above mentions/fall on support arm 322, and lasso trick driving wheel 2401 is rotatablely installed by lubrication bearing 2402 It executes arm 321 in mentioning/falling on shoulder girdle in hollow shaft 2404 and is fixedly connected with lasso trick driving wheel 2401.Above mention in shoulder girdle/ Whereabouts support arm 322 above proposes/falls the one side for executing arm 321, the left and right above lasso trick driving wheel 2401 towards shoulder girdle Two sides are fixedly installed with lasso trick installation locating piece A2407 respectively, have penetrated bracing wire in each lasso trick installation locating piece A2407 2406, by bypassing on lasso trick driving wheel 2401, one end is installed locating piece A2407 positioning support by lasso trick and is locked for the bracing wire 2406 Tightly, the other end is connected with lasso trick driving unit 400.Angular encoder 2409 is connected on the inside of hollow shaft 2404, the hollow shaft 2404 accommodated insides have an encoder extending sleeve 2403, and the both ends of encoder extending sleeve 2403 turn with angular encoder 2409 respectively Axis is connected with lasso trick driving wheel 2401./ support arm 322 that falls above is mentioned towards shoulder girdle/is mentioned on shoulder girdle to fall and execute arm 321 Limit arc groove 2408 is offered on one side, and limit threaded hole 2405 is offered on lasso trick driving wheel 2401, is inserted by limiting device Enter and is limited in the limit arc groove 2408 and limit threaded hole 2405.
As shown in figure 12, the present invention can also be fixedly mounted two and be parallel to each other in shoulder girdle flexible execute on arm 311 Guide rail 413 slidably connects sliding block 426 on the guide rail 413, the connecting plate to reciprocatingly slide along guide rail 413 is equipped on sliding block 426 318.Connecting plate 318 can be fixedly connected with the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 230 in Glenohumeral joint moving parts 200, increase one A translation freedoms.
Each lasso trick driving unit 400 that each rotating device 240 of the present invention is connected is respectively and fixedly installed to base assembly On 500, lasso trick driving unit of the invention is five, passes through three in bracing wire 2406 and Glenohumeral joint moving parts 200 respectively A rotating device 240 and shoulder girdle extension/the retraction modularization rotating device 7 and shoulder girdle above mention/modularization that falls rotating device Connection, respectively broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 210, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 220, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 230, shoulder Shoulder blade band extension/mentioning on the retraction joint 310, shoulder girdle/joint 320 that falls provides remote driving torque.As shown in Fig. 9~11, Lasso trick driving unit includes power source, driving mounting rack 414, lasso trick driving wheel 415, torque sensor 416, brake beans 417, rises Tight adjustment frame 418, support plate 419, guide plate 420, adjusting bolt 421 and lasso trick install locating piece B423, which includes Driving motor 411 and speed reducer 412, driving motor 411 and speed reducer 412, preferably light-type large torque servo motor, to mitigate System energy densities improve portability.Driving mounting rack 414 can be fixed on base assembly 500, driving motor 411 and deceleration Machine 412 is fixed on the side of driving mounting rack 414 after connecting, lasso trick driving wheel 415 is located at the other side of driving mounting rack 414, And be connected with the output end of speed reducer 412, by driving motor 411 and the driving rotation of speed reducer 412.Pacify on lasso trick driving wheel 415 There are two the beans 417 that brake for dress, for being fixedly connected for lasso trick driving wheel 415 and bracing wire 2406.Tensioner adjustment frame 418 is L-shaped, The L shape is provided with tensioner pilot hole 424 on one side, and the end of another side is fixedly installed with support plate 419, in the support plate 419 Equipped with adjusting bolt 421.It is extended with guide plate 420 on driving mounting rack 414, which is worn by tensioner pilot hole 424 It crosses, adjusts bolt 421 and abutted with guide plate 420.L shape tensioner adjustment frame 418 on one side on be also provided with two limiting slots 425, a lasso trick installation locating piece B423 is respectively mounted in each limiting slot 425；Two bracing wires are wound on lasso trick driving wheel 415 2406, one end of every bracing wire 2406 is each attached on a brake beans 417, and the other end installs locating piece B423 by a lasso trick After passing through respectively with broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222, broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232, shoulder girdle retractable support arm 316 or shoulder girdle above propose/fall the installation locating piece A2407 connection of the lasso trick on support arm 322. Grooved hole 422 is opened up on the another side of L shape tensioner adjustment frame 418, the slot 422 is elongated；It is opened up on guide plate 420 There is bolt hole, is tightened in bolt hole after passing through slot 422 by bolt.It screws and adjusts bolt 421, make guide plate 420 and rise Tight adjustment frame 418 relatively moves, and then adjusts the distance between tensioner adjustment frame 418 and lasso trick driving wheel 415.Adjustment process In, the bolt on guide plate 420 moves in slot 422 always, plays guiding role, it is ensured that tensioner adjustment frame 418 is along straight line Adjustment；After adjusting, bolt fixed guide plate 420 is tightened.Torque sensor 416 is installed on the output shaft of speed reducer 412.
Two grooves are along the circumferential direction respectively opened up on lasso trick driving wheel 2401 and on lasso trick driving wheel 415, for accommodating Two bracing wires 2406 of winding.
As shown in figure 13, base assembly 500 includes wheel type mobile seat 510 and lifting assembly, is pacified on the wheel type mobile seat 510 Equipped with each lasso trick driving unit 400, the quadrangle of bottom is separately installed with idler wheel 511, moves convenient for complete machine, and is moving in place After locked, facilitate that user is mobile, carries rehabilitation training ectoskeleton.Lifting assembly is fixedly connected with wheel type mobile seat 510, packet Support rod 521, handle 522 and hoistable platform 523 are included, one end of the support rod 521 is fixed on wheel type mobile seat 510, another End is equipped with hoistable platform 523 moving up and down, which lock by handle 522 solid after adjusting It is fixed, for installing the bionical power-assisted flexible exoskeleton of entire shoulder complex, hand-operated lifting mode or electric up-down mode can be used It is adjusted, preferably electronic self adaptation regulative mode carries out rising-falling tone to the bionical power-assisted flexible exoskeleton of entire shoulder complex It is whole, to adapt to different Patient heights.The shoulder girdle of every side above mentions/shoulder girdle in the joint 320 that falls above mentions/, and fall support arm 322 are installed in the side of hoistable platform 523, and every side of hoistable platform 523 opens up grooved hole and guide key groove, for installing The entire bionical power-assisted flexible exoskeleton of shoulder complex, and lift adjustment is carried out to it and between left and right away from adjustment, to adapt to difference Patient's articulatio sternoclavicularis width.Support rod 521 supports hoistable platform 523 and lift adjustment guiding.Base assembly 500 of the invention can Wheelchair is merged into seat 600, lasso trick driving unit 400 is integrated in wheelchair bottom, lifting assembly is integrated in wheelchair back.
The bionical power-assisted flexible exoskeleton of shoulder complex of the invention has by the drive control of each lasso trick driving unit 400 Having an extension of Glenohumeral joint ,/retraction, abduction/adduction, internal/external rotations and shoulder girdle above mention/falls and extension/retraction five Freedom degree can also increase by a translation freedoms on this basis.
The operation principle of the present invention is that:
Extension/retraction, internal/external rotations and the abduction/adduction three degree of freedom of Glenohumeral joint moving parts 200.
It controls in the lasso trick driving unit 400 in broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 210, driving motor 411 and speed reducer 412 It drives lasso trick driving wheel 415 forward or reverse, passes through two in two bracing wires 2406 and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212 Lasso trick installs locating piece A2407 connection, and two bracing wires 2406 drive lasso trick driving wheel 2401 to rotate relative to hollow shaft 2404, into And drive broad-mouthed receptacle for holding liquid upper arm extension/retraction to execute arm 211 and swung with respect to broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 212, realize broad-mouthed receptacle for holding liquid upper arm extension/retraction The extension in joint 210/retraction freedom degree.Bolt 421 is adjusted by screwing, moves tensioner adjustment frame 418 relative to guide plate 420 It is dynamic, and then the distance between tensioner adjustment frame 418 and lasso trick driving wheel 415 are adjusted, tensioner is carried out to two bracing wires 2406.
It controls in the lasso trick driving unit 400 in broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 220, driving motor 411 and speed reducer 412 It drives lasso trick driving wheel 415 forward or reverse, passes through two in two bracing wires 2406 and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222 Lasso trick installs locating piece A2407 connection, and two bracing wires 2406 drive lasso trick driving wheel 2401 to rotate relative to hollow shaft 2404, into And drive broad-mouthed receptacle for holding liquid upper arm internal/external rotations to execute arm 221 and swung with respect to broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 222, realize broad-mouthed receptacle for holding liquid upper arm internal/external rotations The internal/external rotations freedom degree in joint 220.Bolt 421 is adjusted by screwing, moves tensioner adjustment frame 418 relative to guide plate 420 It is dynamic, and then the distance between tensioner adjustment frame 418 and lasso trick driving wheel 415 are adjusted, tensioner is carried out to two bracing wires 2406.
It controls in the lasso trick driving unit 400 in broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 230, driving motor 411 and speed reducer 412 It drives lasso trick driving wheel 415 forward or reverse, passes through two in two bracing wires 2406 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232 Lasso trick installs locating piece A2407 connection, and two bracing wires 2406 drive lasso trick driving wheel 2401 to rotate relative to hollow shaft 2404, into And drive broad-mouthed receptacle for holding liquid upper arm abduction/adduction to execute arm 231 and swung with respect to broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 232, realize broad-mouthed receptacle for holding liquid upper arm abduction/adduction The abduction/adduction freedom degree in joint 230.Bolt 421 is adjusted by screwing, moves tensioner adjustment frame 418 relative to guide plate 420 It is dynamic, and then the distance between tensioner adjustment frame 418 and lasso trick driving wheel 415 are adjusted, tensioner is carried out to two bracing wires 2406.
Fall the extension/retraction and above mention/of shoulder girdle moving parts 300 two freedom degrees.
It controls in the lasso trick driving unit 400 of shoulder girdle extension/retraction joint 310, driving motor 411 and speed reducer 412 It drives lasso trick driving wheel 415 forward or reverse, passes through two lasso tricks in two bracing wires 2406 and shoulder girdle retractable support arm 316 Locating piece A2407 connection is installed, two bracing wires 2406 drive lasso trick driving wheel 2401 to rotate relative to hollow shaft 2404, and then band Dynamic shoulder girdle telescopic oscillating arm B315 is swung with respect to shoulder girdle retractable support arm 316, realizes shoulder girdle extension/retraction joint 310 Extension/retraction freedom degree.Bolt 421 is adjusted by screwing, keeps tensioner adjustment frame 418 mobile relative to guide plate 420, in turn The distance between tensioner adjustment frame 418 and lasso trick driving wheel 415 are adjusted, tensioner is carried out to two bracing wires 2406.
Control shoulder girdle is above mentioned/is fallen in the lasso trick driving unit 400 in joint 320, driving motor 411 and speed reducer 412 It drives lasso trick driving wheel 415 forward or reverse, above mentions/fall two on support arm 322 by two bracing wires 2406 and shoulder girdle A lasso trick installs locating piece A2407 connection, and two bracing wires 2406 drive lasso trick driving wheel 2401 to rotate relative to hollow shaft 2404, And then drive shoulder girdle above to mention/fall execute arm 321 above mention relative to shoulder girdle/and fall the swing of support arm 322, realize shoulder girdle Above mentioning/above mentioning for the joint 320 that falls/, fall freedom degree.Bolt 421 is adjusted by screwing, makes tensioner adjustment frame 418 relative to leading It is mobile to plate 420, and then the distance between tensioner adjustment frame 418 and lasso trick driving wheel 415 are adjusted, two bracing wires 2406 are carried out Tensioner.
The present invention can be used for the upper extremity motor function disorders patient such as upper limb hemiplegia and carry out shoulder complex power-assisted/rehabilitation instruction Practice.

Claims (10)

1. a kind of bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex, it is characterised in that: including as installation The base assembly (500) on basis, the structure on two sides on base assembly (500) top is identical, and every side includes upper arm fixation kit (100), Glenohumeral joint moving parts (200) and shoulder girdle moving parts (300), wherein Glenohumeral joint moving parts (200) wrap Include broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (210), broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint (220) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint being sequentially connected in series (230), the shoulder girdle moving parts (300) include on shoulder girdle extension/retraction joint (310) being one another in series and shoulder girdle It mentions/falls joint (320), the upper arm fixation kit (100) connect with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (210), outside the broad-mouthed receptacle for holding liquid upper arm Exhibition/interior receipts joint (230) connect with the shoulder girdle extension/retraction joint (310), and the shoulder girdle above mentions/fall joint (320) it is connected with base assembly (500)；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (210), broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint (220), broad-mouthed receptacle for holding liquid The joint that falls (320) lead to respectively for upper arm abduction/adduction joint (230), shoulder girdle extension/retraction joint (310) and shoulder girdle above mention/ Lasso trick driving unit (400) control is crossed, each lasso trick driving unit (400) is separately mounted on base assembly (500)； The bionical power-assisted flexible exoskeleton of shoulder complex has Glenohumeral joint by the drive control of each lasso trick driving unit (400) Extension/retraction, abduction/adduction, internal/external rotations and shoulder girdle above mention/fall and five freedom degrees of extension/retraction.
2. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 1, feature exist In: the upper arm fixation kit (100) include upper arm retainer (101), software restraining (102), upper arm support rod (103) and Multi-dimension force sensor (104), the both ends of the upper arm support rod (101) are connected separately with upper arm retainer (101), both ends it is described The side of upper arm retainer (101) is installed in the guide groove that opens up on the upper arm support rod (103), can be in the guiding Moved in groove, and after spacing is adjusted with upper arm support rod (103) positioning and locking, the upper arm retainer at both ends (101) software restraining (102) are attached with inside the other side；It is equipped on the upper arm support rod (103) for connecting The multi-dimension force sensor (104) of upper arm support rod (103) and Glenohumeral joint moving parts (200).
3. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 1, feature exist In: the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (210) broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line (J2), broad-mouthed receptacle for holding liquid upper arm inward turning/outer Revolve broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center's line (J3) of joint (220) and the broad-mouthed receptacle for holding liquid upper arm in broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (230) Abduction/adduction rotating shaft center line (J4) is non-perpendicular to intersect at the Glenohumeral joint centre of motion (O)；The broad-mouthed receptacle for holding liquid upper arm extension/retraction is closed Section (210) includes executing arm (211) and broad-mouthed receptacle for holding liquid upper arm extension/retraction by broad-mouthed receptacle for holding liquid upper arm extension/retraction that rotating device (240) are rotatablely connected Support arm (212), the broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm (211) and is connected with the upper arm fixation kit (100), in the broad-mouthed receptacle for holding liquid upper arm Rotation/outward turning joint (220) include executing arm (221) and the broad-mouthed receptacle for holding liquid upper arm by the broad-mouthed receptacle for holding liquid upper arm internal/external rotations that rotating device (240) are rotatablely connected Internal/external rotations support arm (222), the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (230) include being rotatablely connected by rotating device (240) Broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute arm (231) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm (232), the broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm (232) it is connected with the shoulder girdle extension/retraction joint (310)；In the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212) and the broad-mouthed receptacle for holding liquid upper arm Rotation/outward turning executes between arm (221) and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (222) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute arm (231) Between be connected with each other；Each rotating device (240) connect with respective lasso trick driving unit (400), by respective described Lasso trick driving unit (400) provides the driving moment of extension/retraction of Glenohumeral joint, internal/external rotations and abduction/adduction.
4. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 3, feature exist In: the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212), broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm (221), broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (222) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes and is uniformly provided with multiple bolts hole respectively on arm (231), which executes Arm (221) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute and are all provided with fluted, the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212), broad-mouthed receptacle for holding liquid on arm (231) Upper arm internal/external rotations support arm (222) executes arm (221) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction with broad-mouthed receptacle for holding liquid upper arm internal/external rotations respectively by the groove Execute arm (231) grafting and adjustable broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212) and broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm (221) it Between and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (222) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute the spacing between arm (231), after adjusting It is inserted by bolt fixed in bolt hole.
5. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 3, feature exist In: the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation centerline (J2) is vertical with human body sagittal plane, the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint Angle between rotation centerline (J3) and broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation centerline (J2) is towards on the outside of human body, in the broad-mouthed receptacle for holding liquid upper arm Rear side of the angle towards human body of rotation/between outward turning joint rotation centerline (J3) and human coronary face, the broad-mouthed receptacle for holding liquid upper arm outreach/interior Angle between rotation centerline (J4) and broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotation centerline (J2) is received towards human body outside.
6. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 1, feature exist In: the shoulder girdle extension/retraction joint (310), which include that shoulder girdle is flexible, executes arm (311), shoulder girdle retractable support arm (316), rotating device (240) and shoulder girdle telescopic oscillating arm component, flexible execute arm (311) of the shoulder girdle are stretched with shoulder girdle Support arm (316) is oppositely arranged, and is connected by telescopic oscillating arm component described in two groups, and telescopic parallelogram machine is formed Structure；Every group of telescopic oscillating arm component includes that scalable connected shoulder girdle telescopic oscillating arm A (312) and shoulder girdle are flexible each other Swing arm B (315), any of shoulder girdle telescopic oscillating arm A (312) and shoulder girdle telescopic oscillating arm B (315) in two groups One end execute arm (311) or shoulder girdle retractable support arm (316) rotates by the way that the rotating device (240) and shoulder girdle are flexible Connection, one end of remaining telescopic oscillating arm and flexible execution arm (311) of shoulder girdle or shoulder girdle retractable support arm (316) rotate Connection；The shoulder girdle above mentions/joint that falls (320) include that the shoulder girdle above mentions/support arm that falls (322) and rotating device (240), which above mentions/falls support arm (322) and pass through the rotating device (240) and shoulder girdle retractable support arm (316) it is connected；The rotating device (240) connect with respective lasso trick driving unit (400), is driven by the respective lasso trick Extension/retraction and above mention/driving moment to fall of unit (400) offer shoulder girdle.
7. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 6, feature exist In: the shoulder girdle flexible execute is equipped with guide rail (413) on arm (311), slidably connects sliding block on the guide rail (413) (426), the connecting plate (318) to reciprocatingly slide along guide rail (413) is installed on the sliding block (426).
8. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 6 or 7, feature Be: the other end of the shoulder girdle telescopic oscillating arm A (312) and shoulder girdle telescopic oscillating arm B (315) are uniformly provided with respectively It is set on the other end of multiple bolts hole (323), the shoulder girdle telescopic oscillating arm A (312) or shoulder girdle telescopic oscillating arm B (315) The other end of fluted (319), the shoulder girdle telescopic oscillating arm A (312) and shoulder girdle telescopic oscillating arm B (315) are by being somebody's turn to do Groove (319) grafting and the flexible spacing executed between arm (311) and shoulder girdle retractable support arm (316) of adjustable shoulder girdle, By fixed in bolt insertion bolt hole (323) after adjusting.
9. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex, feature according to claim 3 or 6 Be: the rotating device (240) includes lasso trick driving wheel (2401), hollow shaft (3404), bracing wire (2406) and lasso trick installation Locating piece A (2407), the hollow shaft (2404) are mounted on broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212), the support of broad-mouthed receptacle for holding liquid upper arm internal/external rotations Arm (222), broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm (232), shoulder girdle are flexible to execute arm (311), shoulder girdle retractable support arm (316) Or shoulder girdle is above mentioned/is fallen on support arm (322), the lasso trick driving wheel (2401) rotational installation on hollow shaft (2404), And arm (211), broad-mouthed receptacle for holding liquid upper arm internal/external rotations execution arm (221), broad-mouthed receptacle for holding liquid upper arm abduction/adduction execution arm are executed with the broad-mouthed receptacle for holding liquid upper arm extension/retraction (231), shoulder girdle telescopic oscillating arm A (312), shoulder girdle telescopic oscillating arm B (315) or shoulder girdle are above mentioned/are fallen and execute arm (321) it is connected；In the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212), broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (222), broad-mouthed receptacle for holding liquid upper arm outreach/interior Revenue and expenditure brace (232), flexible arm (311), shoulder girdle retractable support arm (316) or the shoulder girdle of executing of shoulder girdle above propose/fall branch Brace (322) is towards broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm (211), broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm (221), broad-mouthed receptacle for holding liquid upper arm abduction/adduction Arm (231), shoulder girdle telescopic oscillating arm A (312), shoulder girdle telescopic oscillating arm B (315) or shoulder girdle is executed above to mention/fall and hold The one side of row arm (321), the two sides for being located at lasso trick driving wheel (2401), are separately installed with lasso trick installation locating piece A (2407), often Bracing wire (2406) are penetrated in a lasso trick installation locating piece A (2407), the bracing wire (2406) is by the lasso trick driving wheel (2401) it is bypassed on, one end is installed locating piece A (2407) positioning support by the lasso trick and locked, and the other end and the lasso trick drive Moving cell (400) is connected；Angular encoder (2409) are connected on the inside of the hollow shaft (2404), the hollow shaft (2404) is internal Be equipped with encoder extending sleeve (2403), the both ends of the encoder extending sleeve (2403) respectively with angular encoder (2409) Shaft is connected with lasso trick driving wheel (2401)；The broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (212), broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (222), broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm (232), shoulder girdle it is flexible execute arm (311), shoulder girdle retractable support arm (316) or Support arm (322) is mentioned/fallen on shoulder girdle towards broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm (211), broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm (221), broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes arm (231), shoulder girdle telescopic oscillating arm A (312), shoulder girdle telescopic oscillating arm B (315) Or shoulder girdle above mention/fall execute arm (321) offer on one side limit arc groove (2408), the lasso trick driving wheel (2401) On offer limit threaded hole (2405), by limiting device be inserted into the limit arc groove (2408) and limit threaded hole (2405) Inside limited.
10. the bionical power-assisted flexible exoskeleton of light-type multiple degrees of freedom shoulder complex according to claim 1, feature exist In: the lasso trick driving unit (400) includes power source, driving mounting rack (414), lasso trick driving wheel (415), torque sensor (416), it brakes beans (417), tensioner adjustment frame (418), support plate (419), guide plate (420), adjust bolt (421) and lasso trick It installs locating piece B (423), which is mounted in driving mounting rack (414), and output end is connected with lasso trick driving wheel (415), There are two brake beans (417) for installation on the lasso trick driving wheel (415)；One end of the tensioner adjustment frame (420) is provided with tensioner Pilot hole (424), the other end are equipped with support plate (419), which, which is equipped with, adjusts bolt (421), the driving Guide plate (420) are extended on mounting rack (414), which is passed through by the tensioner pilot hole (424), the tune Section bolt (421) is abutted with guide plate (420)；There are two lasso tricks to install locating piece B for installation on the tensioner adjustment frame (418) (423), two bracing wires (2406) are wound on the lasso trick driving wheel (415), one end of every bracing wire (2406) is each attached to On one brake beans (417), the other end by lasso trick installation locating piece B (423) pass through afterwards with the rotating dress Set (240) connection；The output end of the power source is equipped with torque sensor (416)；The tensioner adjustment frame (418) is in " L " Shape, the tensioner pilot hole (424) are provided with one side of the L shape, and offer on the side and determine for fixing lasso trick installation The limiting slot (425) of position block B (423)；The support plate (419) is fixed on the end of the L shape another side, is provided on the side Slot (422) relatively moves guide plate (420) and tensioner adjustment frame (418) by screwing the adjusting bolt (421), into And adjust the distance between the tensioner adjustment frame (418) and lasso trick driving wheel (415)；The guide plate after adjusting (420) by being locked in bolt insert grooves hole (422).
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