CN111658444A - Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions - Google Patents

Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions Download PDF

Info

Publication number
CN111658444A
CN111658444A CN202010688971.5A CN202010688971A CN111658444A CN 111658444 A CN111658444 A CN 111658444A CN 202010688971 A CN202010688971 A CN 202010688971A CN 111658444 A CN111658444 A CN 111658444A
Authority
CN
China
Prior art keywords
arm
shoulder
hand
rope
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010688971.5A
Other languages
Chinese (zh)
Inventor
柳锴
何杰
宋雨桐
熊蔡华
孙容磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hubei Yingtebo Intelligent Machine Co ltd
Original Assignee
Hubei Yingtebo Intelligent Machine Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hubei Yingtebo Intelligent Machine Co ltd filed Critical Hubei Yingtebo Intelligent Machine Co ltd
Priority to CN202010688971.5A priority Critical patent/CN111658444A/en
Publication of CN111658444A publication Critical patent/CN111658444A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a rope-driven exoskeleton rehabilitation mechanical arm with left-hand and right-hand interchange functions, which comprises an upper cantilever and a shoulder top spiral arm in rotary connection with the upper cantilever, wherein a first driving assembly for driving the shoulder top spiral arm to rotate is arranged at the front end of the upper cantilever, a fixing device for detachably connecting with a left-hand type shoulder elbow mechanical arm or a right-hand type shoulder elbow mechanical arm is arranged at the tail end of the shoulder top spiral arm, and the shoulder top spiral arm is connected with one of the left-hand type shoulder elbow mechanical arm and the right-hand type shoulder elbow mechanical arm through the fixing device. The utility model provides a recovered arm through with the arm split into fixed part and replaceable part, the switching of recovered robot left and right hands mode can be realized to simple replacement operation, not only makes the process of left and right hands replacement become simple and can effectual suppression cost.

Description

Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions
Technical Field
The invention relates to the field of rehabilitation medical equipment, in particular to a rope-driven exoskeleton rehabilitation mechanical arm with a left hand and a right hand interchange function.
Background
The rehabilitation robot is used as a medical rehabilitation training device, can help patients with limb movement function damage caused by diseases and accidents to carry out rehabilitation training, replaces the work of rehabilitation doctors in the traditional rehabilitation training, relieves the rehabilitation doctors from complicated repeated labor, can obviously improve the working efficiency of rehabilitation outpatient services, or enters the home of common patients, realizes that professional rehabilitation training treatment can be carried out at home, and can record relevant data in the training process so as to accurately evaluate the rehabilitation state of the patients, thereby improving the effect of the rehabilitation training.
The existing mature and commercial upper limb rehabilitation robot basically adopts a unilateral training mode, namely, each training is only directed at one limb, and most patients have impaired unilateral movement functions, so that the patients can be guaranteed to have enough movement space in the training and the rehabilitation effect is guaranteed. In order to deal with patients with different side motion function damages, some upper limb rehabilitation robots realize the function of switching between the left side and the right side by changing the rotation angle and the working space of the joints of the robots, but the upper limb rehabilitation robots have many joints, so the operation of switching between the left side and the right side is more complicated for a rehabilitation doctor, the switching method can only be used for the robot configuration with one motor corresponding to each joint degree of freedom, and other types of upper limb rehabilitation robots can only be used for different types of equipment with left hand type and right hand type, so the cost is high.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a rope-driven exoskeleton rehabilitation mechanical arm with a left-hand and right-hand interchange function, and solves the technical problems that the left-hand and right-hand modes of the conventional rehabilitation robot are complex to switch and operate, and the cost is high due to the arrangement of a left-hand and right-hand type device.
The invention is realized by the following technical scheme:
the utility model provides a rope that possesses left hand and right hand interchange function drives ectoskeleton recovery arm, including go up the cantilever and with go up the cantilever and rotate the shoulder spiral arm of connecting, the front end of going up the cantilever is equipped with and is used for driving the rotatory first drive assembly of shoulder spiral arm, the end of shoulder spiral arm is equipped with and is used for can dismantling the fixing device who is connected with left-hand type shoulder elbow arm or right hand type shoulder elbow arm, shoulder spiral arm passes through fixing device and is connected with one of them in left-hand type shoulder elbow arm, the right hand type shoulder elbow arm.
Furthermore, the right-hand type shoulder-elbow mechanical arm comprises a horizontal connecting rod detachably connected with the tail end of the shoulder top spiral arm, the other end of the horizontal connecting rod is connected to the wrist structure through an upper arm structure and a forearm structure in sequence, and a second driving assembly used for driving the upper arm structure and the forearm structure to rotate is arranged at the upper end of the upper arm structure;
the left-hand type shoulder elbow mechanical arm and the right-hand type shoulder elbow mechanical arm are in mirror symmetry.
Furthermore, an upper arm contact cavity and a forearm contact cavity are respectively arranged on one side of the upper arm structure and one side of the forearm structure close to the patient; a grab handle convenient for a patient to grab is arranged on the wrist structure.
Furthermore, the fixing device comprises a hollow shaft and a circumferential positioning pin positioned on the side edge of the hollow shaft, wherein the circumferential positioning pin is relatively fixed with the hollow shaft and is rotatably connected with the shoulder top spiral arm;
the horizontal connecting rod is provided with an axial positioning hole and a circumferential positioning hole at one end connected with the shoulder top spiral arm, the axial positioning hole is connected with the hollow shaft in a matched manner, and the mounting knob penetrates through the axial positioning hole in the horizontal rod to be connected and fixed with the hollow shaft; the circumferential positioning hole is connected with the circumferential positioning pin in a matched mode.
Furthermore, an angle sensor is fixedly mounted on the upper cantilever.
Furthermore, the angle sensor and the first driving assembly are connected to an upper computer.
Furthermore, an upper cantilever heat radiation fan and an upper arm heat radiation fan are respectively arranged on the upper cantilever and the horizontal connecting rod.
Furthermore, the mechanical arm is further provided with a housing assembly, and air outlets are formed in the housing assembly corresponding to the first driving assembly, the second driving assembly, the upper cantilever cooling fan and the upper cantilever cooling fan.
Compared with the prior art, the invention has the beneficial effects that:
according to the rope-driven exoskeleton rehabilitation mechanical arm with the function of interchanging the left hand and the right hand, the mechanical arm is divided into a fixed part and a replaceable part, the fixed part comprises an upper cantilever, a first driving assembly, a shoulder top spiral arm and the like, and the replaceable part is a shoulder elbow mechanical arm with a left hand shape and a right hand shape; the type of the shoulder elbow mechanical arm is replaced through simple disassembly, and the movement of the first driving assembly is controlled, so that the type number of the left hand and the type number of the right hand of the mechanical arm can be switched. Not only the process of replacing the left hand and the right hand becomes simple, but also the cost can be effectively restrained.
Drawings
Fig. 1 is a schematic structural diagram of a rope-driven exoskeleton rehabilitation robot with left-hand and right-hand interchange functions according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a range of motion of the arm according to the embodiment of the present invention;
FIG. 3 is a schematic structural view of a heat dissipation fan with upper suspension arms according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an upper arm cooling fan according to an embodiment of the present invention.
In the figure:
1. an upper cantilever; 101. a first drive assembly; 2. an angle sensor; 3. a shoulder top swing arm; 301. a hollow shaft; 302. a first circumferential locating pin; 303. a second circumferential locating pin; 4. installing a knob; 5. a right-hand shoulder-elbow robotic arm; 501. a horizontal connecting rod; 502. a second drive assembly; 503. an upper arm structure; 504. a forearm structure; 505. a wrist structure; 506. an upper arm contacting the cavity; 507. a forearm contact cavity; 508. a handle; 6. a left-handed shoulder-elbow robotic arm; 7. an upper cantilever heat radiation fan; 8. an upper arm heat dissipation fan; a1, right-hand equipment working area; a2, left hand type equipment work area.
Detailed Description
The following examples are presented to illustrate certain embodiments of the invention in particular and should not be construed as limiting the scope of the invention. The present disclosure may be modified from materials, methods, and reaction conditions at the same time, and all such modifications are intended to be within the spirit and scope of the present invention.
As shown in fig. 1, 3 and 4, a rope-driven exoskeleton rehabilitation arm with left-hand and right-hand interchange functions comprises an upper cantilever 1 and a shoulder swing arm 3 rotatably connected to the upper cantilever 1, wherein a first driving assembly 101 for driving the shoulder swing arm 3 to rotate is arranged at the front end of the upper cantilever 1, a fixing device for connecting a left-hand type shoulder elbow mechanical arm 6 or a right-hand type shoulder elbow mechanical arm 5 is arranged at the tail end of the shoulder swing arm 3, and the shoulder swing arm 3 is connected with one of the left-hand type shoulder elbow mechanical arm 6 and the right-hand type shoulder elbow mechanical arm 5 through the fixing device.
When switching from the right-hand type to the left-hand type, the first drive unit 101 drives the shoulder swing arm 3 to rotate clockwise to move it to the initial position as shown in fig. 2 (the shoulder swing arm 3 is placed at the junction of the right-hand type equipment working area a1 and the left-hand type equipment working area a2 with the central axis viewed from above), the right-hand type shoulder-elbow robot 5 is detached, and the left-hand type shoulder-elbow robot 6 is attached, thereby switching the robot model between the right-hand type and the left-hand type. The same applies when switching from left-handed to right-handed.
In this embodiment, the right-hand type shoulder-elbow robot 5 includes a horizontal link 501 detachably connected to the end of the arm 3, the other end of the horizontal link 501 is connected to the wrist structure 505 through an upper arm structure 503 and a forearm structure 504 in turn, and the upper end of the upper arm structure 503 is provided with a second driving assembly 502 for driving the upper arm structure 503 and the forearm structure 504 to rotate; the left-hand shoulder elbow mechanical arm 6 and the right-hand shoulder elbow mechanical arm 5 are in mirror symmetry.
In this embodiment, the upper arm structure 503 and the forearm structure 504 are respectively provided with an upper arm contact cavity 506 and a forearm contact cavity 507 at the side close to the patient; a grip 508 is provided on the wrist structure 505 to facilitate grasping by the patient. When rehabilitation training is carried out, the upper arm of the patient is in contact with the upper arm structure 503 through the upper arm contact cavity 506, the forearm of the patient is in contact with the forearm structure through the forearm contact cavity 507, and meanwhile, the upper arm and the forearm of the patient are fixed through the binding bands; the length of the shoulder-elbow mechanical arm 5 is adjusted, so that the axes of all joints of the patient are basically aligned with the axes of the shoulder-elbow mechanical arm 5, the hand can well grip the grab handle 508, and the comfort and effectiveness of rehabilitation training are guaranteed.
In this embodiment, the fixing device includes a hollow shaft 301, and a first circumferential locating pin 302 and a second circumferential locating pin 303 located on the left and right sides of the hollow shaft 301, the first circumferential locating pin 302 and the second circumferential locating pin 303 are symmetrical with respect to the axis of the hollow shaft 301, the first circumferential locating pin 302, the second circumferential locating pin 303 and the hollow shaft 301 are relatively fixed and rotatably connected with respect to the shoulder top swing arm 3, and the axes of the first circumferential locating pin 302, the second circumferential locating pin 303 and the hollow shaft 301 are located on the same horizontal plane; one end of the horizontal connecting rod 501, which is connected with the shoulder top spiral arm 3, is provided with an axial positioning hole and a circumferential positioning hole; when the equipment is switched to a right-hand mode, an axial positioning hole in the horizontal connecting rod of the right-hand shoulder-elbow mechanical arm 5 is in fit connection with the hollow shaft 301, and the mounting knob 4 penetrates through the axial positioning hole in the horizontal connecting rod of the right-hand shoulder-elbow mechanical arm 5 to be connected and fixed with the hollow shaft 301; a circumferential positioning hole in a horizontal connecting rod of the right-hand shoulder elbow mechanical arm 5 is matched and connected with the first circumferential positioning pin 302, so that the right-hand shoulder shaft mechanical arm 5 and the shoulder top spiral arm 3 are installed; when the equipment is switched to a left-hand mode, the axial positioning hole in the horizontal connecting rod of the left-hand shoulder elbow mechanical arm 6 is in fit connection with the hollow shaft 301, the mounting knob 4 penetrates through the axial positioning hole in the horizontal connecting rod of the left-hand shoulder elbow mechanical arm 6 to be connected and fixed with the hollow shaft 301, the circumferential positioning hole in the horizontal connecting rod of the left-hand shoulder elbow mechanical arm 6 is in fit connection with the second circumferential positioning pin 303, and therefore the mounting between the left-hand shoulder shaft mechanical arm 6 and the shoulder top swing arm 3 is achieved.
In this embodiment, go up fixed mounting and have angle inductor 2 on cantilever 1, because shoulder spiral arm 3 goes up cantilever 1 relatively and rotates the connection, shoulder spiral arm 3 is at the rotatory in-process of first drive assembly 101 drive, and angle inductor 2 is relative shoulder spiral arm 3 also is pivoted, measures the relative position of cantilever 1 and shoulder spiral arm 3 through angle inductor 2 accuracy, conveniently controls the motion of recovered arm.
In this embodiment, the upper suspension arm 1 and the horizontal link 501 are respectively provided with an upper suspension arm heat dissipation fan 7 and an upper arm heat dissipation fan 8, the upper suspension arm heat dissipation fan 7 is used for cooling the first driving assembly 101, and the upper arm heat dissipation fan 8 is used for cooling the second driving assembly 502.
In this embodiment, the mechanical arm is further provided with a housing assembly, and an air outlet is arranged at the housing assembly corresponding to the first driving assembly 101, the second driving assembly 502, the upper cantilever cooling fan 7 and the upper cantilever cooling fan 8, so as to perform better heat dissipation on the driving assembly on the mechanical arm.
In this embodiment, the angle sensor 2 and the first driving assembly 101 are both connected to an upper computer; the upper computer identifies the left-hand and right-hand models of the current equipment, acquires angle signals transmitted by the angle sensor 2, and controls the first driving assembly 101 to work in a corresponding working interval, as shown in fig. 2, a1 is a working area of the right-hand equipment; a2 is the left hand type equipment work area. When equipment needs to be converted from a right-hand type to a left-hand type, the equipment is set to an initial position in an upper computer, the shoulder spiral arm 3 is rotated clockwise to the initial position by the first driving assembly 101, namely, the shoulder spiral arm 3 is arranged at the junction of a right-hand type equipment working area A1 and a left-hand type working area A2 (see fig. 2) from a top view central axis, then the installation knob 4 is dismounted, the right-hand type shoulder elbow mechanical arm 5 is taken down, when the left-hand type shoulder elbow mechanical arm 6 is installed, the axial positioning hole and the hollow shaft 301 on the horizontal connecting rod 601, the circumferential positioning hole and the second circumferential positioning pin 303 need to be respectively aligned and then inserted and fastened by the installation knob 4, and finally, the motion mode is set to a left-hand type motion mode in the upper computer, and the left-hand type number.
The utility model provides a recovered arm carries out simple replacement operation through the shoulder elbow arm to controlling two kinds of models and can realize the switching of recovered robot left and right hands mode, easy operation, and recovered equipment is with low costs.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (8)

1. The utility model provides a rope that possesses left hand and right hand interchange function drives ectoskeleton rehabilitation arm, its characterized in that, including last cantilever (1) and with go up cantilever (1) and rotate shoulder top spiral arm (3) of connecting, the front end of going up cantilever (1) is equipped with and is used for driving the rotatory first drive assembly (101) of shoulder top spiral arm (3), the end of shoulder top spiral arm (3) is equipped with and is used for dismantling the fixing device who is connected with left hand type shoulder elbow arm (6) or right hand type shoulder elbow arm (5), shoulder top spiral arm (3) are connected through fixing device and one of them of left hand type shoulder elbow arm (6), right hand type shoulder elbow arm (5).
2. The rope-driven exoskeleton rehabilitation robot with the function of exchanging left and right hands as claimed in claim 1, wherein the right-hand type shoulder-elbow robot (5) comprises a horizontal link (501) detachably connected with the end of the crown arm (3), the other end of the horizontal link (501) is connected to a wrist structure (505) through an upper arm structure (503) and a forearm structure (504) in sequence, and the upper end of the upper arm structure (503) is provided with a second driving assembly (502) for driving the upper arm structure (503) and the forearm structure (504) to rotate;
the left-hand type shoulder elbow mechanical arm (6) and the right-hand type shoulder elbow mechanical arm (5) are in mirror symmetry.
3. The rope-driven exoskeleton rehabilitation robot with the function of exchanging left and right hands as claimed in claim 2, wherein the upper arm structure (503) and the forearm structure (504) are respectively provided with an upper arm contact cavity (506) and a forearm contact cavity (507) at one side close to the patient; a grab handle (508) convenient for a patient to hold is arranged on the wrist structure (505).
4. The rope-driven exoskeleton rehabilitation robot with left-right hand interchange function as claimed in claim 2, wherein the fixing device comprises a hollow shaft (301) and a circumferential positioning pin arranged on the side of the hollow shaft (301), the circumferential positioning pin is fixed relative to the hollow shaft (301) and is rotatably connected with the shoulder top swing arm (3);
one end of the horizontal connecting rod (501), which is connected with the shoulder top spiral arm (3), is provided with an axial positioning hole and a circumferential positioning hole, the axial positioning hole is matched and connected with the hollow shaft (301), and the mounting knob (4) penetrates through the axial positioning hole in the horizontal rod to be connected and fixed with the hollow shaft (301); the circumferential positioning hole is connected with the circumferential positioning pin in a matched mode.
5. The rope-driven exoskeleton rehabilitation robot with left-right hand interchange function as claimed in claim 1, wherein an angle sensor (2) is fixedly mounted on the upper cantilever (1).
6. The rope-driven exoskeleton rehabilitation robot arm with the function of exchanging left and right hands as claimed in claim 5, wherein the angle sensor (2) and the first driving assembly (101) are connected to an upper computer.
7. The rope-driven exoskeleton rehabilitation mechanical arm with the function of exchanging left and right hands as claimed in claim 2, wherein the upper cantilever (1) and the horizontal connecting rod (501) are respectively provided with an upper cantilever heat dissipation fan (7) and an upper arm heat dissipation fan (8).
8. The rope-driven exoskeleton rehabilitation robot arm with the function of exchanging left and right hands as claimed in claim 7, wherein the robot arm is further provided with a housing assembly, and an air outlet is formed at the housing assembly corresponding to the first driving assembly (101), the second driving assembly (502), the upper cantilever cooling fan (7) and the upper arm cooling fan (8).
CN202010688971.5A 2020-07-17 2020-07-17 Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions Pending CN111658444A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010688971.5A CN111658444A (en) 2020-07-17 2020-07-17 Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010688971.5A CN111658444A (en) 2020-07-17 2020-07-17 Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions

Publications (1)

Publication Number Publication Date
CN111658444A true CN111658444A (en) 2020-09-15

Family

ID=72392761

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010688971.5A Pending CN111658444A (en) 2020-07-17 2020-07-17 Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions

Country Status (1)

Country Link
CN (1) CN111658444A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112716750A (en) * 2020-12-24 2021-04-30 湖北英特搏智能机器有限公司 Human-power interactive control method for rehabilitation machine based on three-dimensional force sensor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112716750A (en) * 2020-12-24 2021-04-30 湖北英特搏智能机器有限公司 Human-power interactive control method for rehabilitation machine based on three-dimensional force sensor

Similar Documents

Publication Publication Date Title
CN102499757B (en) Nine-degree-of-freedom minimally invasive surgical robot main manipulator with force feedback
WO2021017175A1 (en) Apparatus and control system for real-time positioning of robotic arm of industrial robot
CN112716751B (en) Exoskeleton finger rehabilitation robot
CN111658444A (en) Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions
CN110934644A (en) 7-degree-of-freedom series minimally invasive surgery robot main manipulator
CN110547945A (en) Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism
CN106584499A (en) Flexible manipulator, massage robot and mechanical massage system
CN113262050A (en) Two-degree-of-freedom tail end execution device
CN212592984U (en) Rope-driven exoskeleton rehabilitation mechanical arm with left hand and right hand interchange functions
CN206416184U (en) flexible manipulator, massage robot and mechanical massage system
CN111700773A (en) Finger rehabilitation training device
CN102462533B (en) Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery
CN209611305U (en) A kind of operating robot based on gimbal suspension
CN110722573A (en) Auxiliary movement arm and nursing bed
KR20110001125A (en) Wire driving type figner device of a hand robot
CN108126322B (en) Wrist joint of rehabilitation robot
CN111643175B (en) Power joint device adaptive to different power tools
CN114052834A (en) Hand-held electric appliance
CN213723334U (en) Under-actuated shoulder-elbow joint rehabilitation mechanical arm driven by rope
CN211163964U (en) Auxiliary movement arm and nursing bed
CN111685477A (en) Portable industrial brush
CN212193155U (en) Novel wall-mounted manipulator
CN210910093U (en) Industrial robot trails orbit device
CN218337406U (en) Hot pepper pollinator based on touch structure
CN211512046U (en) 7-degree-of-freedom series minimally invasive surgery robot main manipulator

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination