CN112545835A - Wrist joint assembly for upper limb exoskeleton - Google Patents
Wrist joint assembly for upper limb exoskeleton Download PDFInfo
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- CN112545835A CN112545835A CN202011438624.3A CN202011438624A CN112545835A CN 112545835 A CN112545835 A CN 112545835A CN 202011438624 A CN202011438624 A CN 202011438624A CN 112545835 A CN112545835 A CN 112545835A
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 44
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000000903 blocking effect Effects 0.000 claims description 34
- 238000005452 bending Methods 0.000 claims description 17
- 230000007423 decrease Effects 0.000 claims description 4
- 210000000707 wrist Anatomy 0.000 abstract description 6
- 230000006378 damage Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 208000012659 Joint disease Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- 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
- A61H1/0285—Hand
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/018—By limiting the applied torque or force
-
- 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
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- 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 discloses a wrist joint assembly for an upper limb exoskeleton, which comprises a first rotating mechanism and a second rotating mechanism, wherein the first rotating mechanism is connected with the first rotating mechanism; the first rotating mechanism comprises a first motor, a first rotating plate in driving connection with an output shaft of the first motor and a first connecting plate fixedly connected with the other end of the first rotating plate; the second rotating mechanism comprises a second motor fixedly connected to the first connecting plate, a second rotating plate in driving connection with an output shaft of the second motor, and a handle arranged on the second rotating plate. The wrist joint training device can complete the movement of wrist joint ulnar flexion/radial flexion and dorsiflexion/palmar flexion, realizes the training of the wrist joint on the two degrees of freedom, and simultaneously ensures the safety of the assembly in the using process; the limiting device is also provided with a buffer mechanism, so that the collision impact force can be buffered, the damage or discomfort caused by the impact on the wrist can be reduced, and the use comfort can be improved; the invention has simple structure, can be used by patients with arms of different thicknesses, and has strong adaptability.
Description
Technical Field
The invention relates to the field of rehabilitation medical equipment, in particular to a wrist joint assembly for an upper limb exoskeleton.
Background
For patients with stroke, stroke and paraplegic limb disabilities, the quality of life depends on the degree of recovery of the function of the disabled limb. The limb movement function of a patient is improved by applying an advanced rehabilitation treatment technology, so that the patient can achieve the most satisfactory rehabilitation treatment effect in the shortest time and finally get rid of the affliction of the patient and the disabled, and the limb movement function rehabilitation therapy method is always the target of a rehabilitation worker.
The exoskeleton rehabilitation robot is used as a high-end medical instrument for nerve rehabilitation, and can help patients to perform rehabilitation training with high strength, repeatability, pertinence and interactivity. The upper limb exoskeleton rehabilitation robot can be used for carrying out rehabilitation training on shoulder joints, elbow joints and wrist joints of patients. The wrist joint has the degrees of freedom of dorsiflexion/palmar flexion and ulnar flexion/radial flexion, and the wrist joint rehabilitation training component needs to be capable of realizing the training of the two degrees of freedom. In the prior art, an arc-shaped guide rail type wrist joint is adopted, such as Chinese patent 201110086977.6: an upper limb exoskeleton type rehabilitation mechanical arm, wherein a wrist joint component has the defects of complex structure and weak adaptability. In addition, in order to ensure the safety of wrist joint rehabilitation training, safety limiting is required, but the existing mechanism is lack of a related limiting mechanism or adopts a rigid limiting mechanism, so that certain collision impact force exists, and the use comfort is reduced.
Disclosure of Invention
The present invention aims to solve the above-mentioned problems in the prior art, and provides a wrist joint assembly for an upper limb exoskeleton.
In order to solve the technical problems, the invention adopts the technical scheme that: the wrist joint assembly for the upper limb exoskeleton comprises a first rotating mechanism and a second rotating mechanism;
the first rotating mechanism comprises a first motor, a first rotating plate in driving connection with an output shaft of the first motor and a first connecting plate fixedly connected with the other end of the first rotating plate;
the second rotating mechanism comprises a second motor fixedly connected to the first connecting plate, a second rotating plate in driving connection with an output shaft of the second motor, and a handle arranged on the second rotating plate;
the first motor is used for driving the first connecting plate to rotate around an X axis, the second motor is used for driving the second connecting plate to rotate around a Z axis, so that when a user holds the handle by a palm, passive training of ulnar bending/radial bending movement of the wrist joint can be achieved through the first rotating mechanism, and passive training of dorsiflexion/palmar bending movement of the wrist joint can be achieved through the second rotating mechanism.
Preferably, the first rotating plate includes a rectangular portion in the middle and two semicircular portions at both ends of the rectangular portion;
a first limit stop block and a second limit stop block are fixedly connected to the first motor at intervals;
the first limit stop block blocks the first side of the rectangular part, so that the limit position of the first rotating plate rotating around the X axis towards the first direction can be limited;
the second limit stopper can limit a limit position at which the first rotating plate rotates around the X axis in a second direction opposite to the first direction by blocking the second side of the rectangular portion.
Preferably, the second rotating plate is circular, and a blocking part is formed on the outer periphery of the second rotating plate in an outward protruding mode;
a third limit stop and a fourth limit stop are fixedly connected to the second motor at intervals, and the third limit stop and the fourth limit stop are positioned on two sides of the blocking part;
the third limit stop block can limit the limit position of the second rotating plate rotating around the Z axis towards the third direction by blocking the first side of the blocking part;
the fourth limit stop can limit the limit position of the second rotating plate rotating around the Z axis towards a fourth direction opposite to the third direction by blocking the second side of the blocking part.
Preferably, the first limit stop, the second limit stop, the third limit stop and the fourth limit stop have the same structure and respectively comprise a stop body, an arc-shaped contact groove formed in the inner side surface of the stop body and a fixing hole formed in the first end of the stop body; a fixing piece used for fixedly connecting the stop block body on the outer wall of the first motor or the second motor is arranged in the fixing hole;
the arc-shaped contact groove is used for being in contact with the cylindrical outer wall of the first motor or the second motor, and the second end of the check block body is used for blocking the rectangular part or the blocking part.
Preferably, the fixing hole is a unthreaded hole, the outer walls of the first motor and the second motor are provided with threaded holes corresponding to the positions of the fixing holes, and the fixing piece is a screw capable of passing through the unthreaded hole and being connected in the threaded holes in a threaded manner.
Preferably, a first deformation groove is formed in the middle of the second end of the stopper body, and the width of the first deformation groove gradually decreases from the second end of the stopper body to the first end of the stopper body;
the first deformation groove does not penetrate through the stop block body along the length direction, and penetrates through the stop block body along the thickness direction;
the length direction of the stop block body is towards the first end of the stop block body along the second end of the stop block body, and the opening direction of the fixing hole is the thickness direction of the stop block body.
Preferably, a buffer spring is connected between the two inner walls of the first deformation groove, and a limit column is fixedly connected to one of the inner walls of the first deformation groove.
Preferably, the two side faces of the second end of the block body, which are used for contacting the rectangular part or the blocking part, are respectively provided with an arc-shaped blocking groove.
Preferably, the middle part of the arc-shaped contact groove is provided with a second deformation groove facing the inside of the stopper body.
Preferably, a second connecting plate is fixedly connected to the second rotating plate, the handle is rotatably connected to the second connecting plate, and a central axis of the handle is parallel to the Z axis.
The invention has the beneficial effects that: the wrist joint assembly for the upper limb exoskeleton can complete the movement of ulnar bending/radial bending and dorsiflexion/palmar bending of the wrist joint, the training of the wrist joint on the two degrees of freedom is realized, and meanwhile, the safety of the assembly in the using process is ensured by the limiting device; the limiting device is also provided with a buffer mechanism, so that the collision impact force can be buffered, the damage or discomfort caused by the impact on the wrist can be reduced, and the use comfort can be improved; the invention has simple structure, can be used by patients with arms of different thicknesses, and has strong adaptability.
Drawings
Fig. 1 is a schematic structural view of a wrist joint assembly for an upper extremity exoskeleton of the present invention;
fig. 2 is a schematic structural view of the wrist joint assembly for upper extremity exoskeleton of the present invention from another perspective;
fig. 3 is a schematic structural view of the first rotating plate of the present invention in an upright state;
FIG. 4 is a schematic view of the first rotating plate of the present invention in an extreme rotational position;
fig. 5 is a schematic view of the first rotating plate of the present invention in another extreme rotational position;
FIG. 6 is a schematic view of a chock body according to an embodiment of the invention;
FIG. 7 is a schematic view of a chock body according to another embodiment of the invention;
FIG. 8 is a cross-sectional structural view of a chock body according to another embodiment of the invention.
Description of reference numerals:
1 — a first rotation mechanism; 10-a first motor; 11-a first rotating plate; 12 — a first connection plate; 13-a rectangular portion; 14-a semi-circular portion; 15-a first side of the rectangular portion; 16-the second side of the rectangular portion; 17-a first limit stop; 18-second limit stop; 19-mounting a plate;
2-a second rotating mechanism; 20-a second motor; 21-a second rotating plate; 22-a second connecting plate; 23-a handle; 24-a blocking portion; 25-a first side of the blocking portion; 26-a second side of the blocking portion; 27-a third limit stop; 28-fourth limit stop;
30-a stopper body; 31-arc contact groove; 32-fixing holes; 33-a first deformation groove; 34-a buffer spring; 35-a limiting column; 36-arc barrier groove; 37-second deformation groove; 38-mounting groove; 300 — a first end of a chock body; 301-the second end of the body.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 5, the wrist joint assembly for upper limb exoskeleton of the present embodiment includes a first rotation mechanism 1 and a second rotation mechanism 2;
the first rotating mechanism 1 comprises a first motor 10, a first rotating plate 11 in driving connection with an output shaft of the first motor 10, and a first connecting plate 12 fixedly connected with the other end of the first rotating plate 11;
the second rotating mechanism 2 comprises a second motor 20 fixedly connected to the first connecting plate 12, a second rotating plate 21 in driving connection with an output shaft of the second motor 20, and a handle 23 arranged on the second rotating plate 21;
the first motor 10 is used for driving the first connecting plate 12 to rotate around the X axis, and the second motor 20 is used for driving the second connecting plate 22 to rotate around the Z axis, so that when a user holds the handle 23 by a palm, passive training of ulnar bending/radial bending movement of the wrist joint can be realized through the first rotating mechanism 1, and passive training of dorsiflexion/palmar bending movement of the wrist joint can be realized through the second rotating mechanism 2.
The second rotating plate 21 is fixedly connected with a second connecting plate 22, the handle 23 is rotatably connected to the second connecting plate 22, and the central axis of the handle 23 is parallel to the Z axis.
The wrist joint assembly for the upper limb exoskeleton can be used as an independent module, can also be applied to the upper limb exoskeleton and is used for assisting patients with upper limb wrist joint disorder or limited functions to perform passive rehabilitation training with two degrees of freedom of wrist joint ulnar flexion/radial flexion, dorsiflexion/palmar flexion.
In this embodiment, a mounting plate 19 is further fixed to a side of the first motor 10, and the mounting plate 19 is fixed to an external fixed end. When the wrist bending device is used, the palm of a patient holds the handle 23, the first motor 10 works to drive the first rotating plate 11 and the second rotating mechanism 2 on the first rotating plate 11 to integrally rotate around the X axis, and therefore the wrist of the patient is driven to do ulnar bending/radial bending passive motion; the second motor 20 is operated to drive the second rotating plate 21 to rotate around the Z-axis, so as to drive the wrist of the patient to perform passive motion of dorsiflexion/palmar flexion. Thereby realizing the passive rehabilitation training of the wrist joint of the patient in two degrees of freedom of ulnar flexion/radial flexion, dorsiflexion/palmar flexion.
Wherein, the first rotating plate 11 comprises a rectangular part 13 in the middle and two semicircular parts 14 at two ends of the rectangular part 13; a first limit stop 17 and a second limit stop 18 are fixedly connected to the first motor 10 at intervals; the first limit stopper 17 can limit the limit position of the first rotating plate 11 rotating in the first direction around the X axis by blocking the first side 15 of the rectangular portion 13;
the second limit stopper 18 can limit the limit position at which the first rotating plate 11 rotates about the X axis in the second direction opposite to the first direction by blocking the second side 16 of the rectangular portion 13.
The first limit stop 17 provides a safety limit for the ulnar/radial flexion movement of the wrist joint, and the second limit stop 18 provides a safety limit for the dorsiflexion/palmar flexion movement of the wrist joint, so as to prevent the wrist joint from being damaged due to excessive rotation angle.
Wherein, the second rotating plate 21 is circular, and the outer periphery thereof is protruded outwards to form a blocking part 24; a third limit stop 27 and a fourth limit stop 28 are fixedly connected to the second motor 20 at intervals, and the third limit stop 27 and the fourth limit stop 28 are positioned at two sides of the blocking portion 24; the third limit stopper 27 can limit the limit position of the second rotating plate 21 rotating in the third direction around the Z axis by stopping the first side 25 of the stopper 24; the fourth limit stopper 28 can limit the limit position at which the second rotating plate 21 rotates about the Z axis in the fourth direction opposite to the third direction by stopping the second side 26 of the stopper 24.
In one embodiment, referring to fig. 6, the first limit stopper 17, the second limit stopper 18, the third limit stopper 27 and the fourth limit stopper 28, which are used as limiting means, have the same structure and each include a stopper body 30, an arc-shaped contact groove 31 formed on the inner side surface of the stopper body 30, and a fixing hole 32 formed at the first end 300 of the stopper body 30; a fixing piece for fixedly connecting the stopper body 30 to the outer wall of the first motor 10 or the second motor 20 is arranged in the fixing hole 32;
the arc-shaped contact groove 31 is used for contacting with the cylindrical outer wall of the first motor 10 or the second motor 20, and the second end 301 of the stopper body 30 is used for stopping the rectangular part 13 or the stopping part 24. The fixing holes 32 are unthreaded holes, threaded holes corresponding to the positions of the fixing holes 32 are formed in the outer walls of the first motor 10 and the second motor 20, and the fixing pieces are screws capable of penetrating through the unthreaded holes and being connected in the threaded holes in a threaded mode.
Namely, the first end 300 of the chock body 30 is fixedly connected to the cylindrical outer wall of the first motor 10 or the second motor 20, and the chock body 30 can be attached to the cylindrical outer wall of the motors for connection by arranging the arc-shaped contact groove 31; the screw is threaded into the threaded hole after passing through the fixing hole 32, so that the stopper body 30 is fixedly connected to the motor. The second end 301 of the stopper body 30 is used to limit the 2 limit rotation positions of the first rotating plate 11 and the second rotating plate 21, and the detailed description will be given by taking the limit of the first rotating plate 11 as an example. Referring to fig. 3-5, in fig. 3, the first rotating plate 11 is in a vertical state, when the first rotating plate rotates counterclockwise, a gap is formed between the arc-shaped contact groove 31 of the stopper body 30 and the semicircular portion 14 of the first rotating plate 11, the stopper body 30 has no blocking effect on the semicircular portion 14, and the semicircular portion 14 can rotate relative to the stopper body 30, and referring to fig. 4, when the connection position between the right end of the semicircular portion 14 and the rectangular portion 13 rotates to the stopper body 30 of the first limit stopper 17, the rectangular portion 13 is blocked by the stopper body 30 of the first limit stopper 17 and cannot rotate, so that the maximum counterclockwise rotation angle of the first rotating plate 11 is limited to α; similarly, when the first rotating plate 11 rotates clockwise, referring to fig. 5, when the connection position between the left end of the semicircular portion 14 and the rectangular portion 13 rotates to the stopper body 30 of the second limit stopper 18, the rectangular portion 13 is stopped by the stopper body 30 of the second limit stopper 18 and cannot rotate, so that the maximum angle of clockwise rotation of the first rotating plate 11 is limited to β.
In the case of the second rotating plate 21, when the second rotating plate 21 rotates in the forward and reverse directions to make the blocking portion 24 contact with the third limit stop 27 and the fourth limit stop 28, respectively, the two limit rotation positions of the second rotating plate 21 are defined, that is, the blocking portion 24 can only rotate between the third limit stop 27 and the fourth limit stop 28.
In another embodiment, referring to FIGS. 7-8, the chock body 30 includes a cushioning mechanism that cushions the impact of a crash with the rectangular portion 13 or the stop portion 24 during operation, i.e., reduces the risk of injury or discomfort from a rigid crash impacting the wrist when the mechanism is rotated to a certain limit, and also reduces damage to the structure caused by the rigid crash. Specifically, in this embodiment, the middle of the second end 301 of the chock body 30 is provided with a first deformation groove 33, and the width of the first deformation groove 33 gradually decreases from the second end 301 of the chock body 30 to the first end 300 of the chock body 30;
the first deformation groove 33 does not penetrate the stopper body 30 in the longitudinal direction, and the first deformation groove 33 penetrates the stopper body 30 in the thickness direction;
the direction from the second end 301 of the stopper body 30 to the first end 300 of the stopper body 30 is the longitudinal direction of the stopper body 30, and the opening direction of the fixing hole 32 is the thickness direction of the stopper body 30.
Further, a buffer spring 34 is connected between two inner walls of the first deformation groove 33, and a limit column 35 is fixedly connected to one of the inner walls of the first deformation groove 33. The first deforming groove 33 is further provided at both inner walls thereof with mounting grooves 38, and the buffer spring 34 is coupled in the mounting grooves 38.
Arc-shaped stopping grooves 36 are formed in the two side faces, which are used for being in contact with the rectangular portion 13 or the stopping portion 24, of the second end 301 of the stopper body 30. The arc-shaped stopping groove 36 may be provided with a rubber layer on the surface thereof to provide buffer protection and reduce the collision between the stopper body 30 and the stopping mechanism.
The arc-shaped blocking groove 36 of the stopper body 30 is folded toward the middle first deformation groove 33 when being acted by external force, the buffer spring 34 is compressed, and when the buffer spring is contracted to the limit position, the limiting column 35 on one inner wall of the first deformation groove 33 is contacted with the other inner wall of the first deformation groove 33.
The operation principle of the damper mechanism in the stopper body 30 in the present embodiment will be described below by taking the contact between the stopper body 30 and the stopper portion 24 as an example. For example, when the second rotating plate 21 rotates to a limit position, the arc-shaped stopping groove 36 on the right side of the second end 301 of the chock body 30 contacts with the stopping portion 24, and since the first deformation groove 33 is formed in the middle of the second end 301 of the chock body 30, and the width of the first deformation groove 33 gradually decreases toward the inside of the chock body 30, the chock bodies 30 on both sides of the first deformation groove 33 have certain elasticity, and will bend toward the middle when being stressed; at this time, the stopper body 30 on the right side of the first deformation groove 33 is bent and folded towards the middle by the blocking force of the blocking portion 24 until the right side of the limiting column 35 abuts against the inner wall on the right side of the first deformation groove 33, so that the impact force between the two is buffered through elastic deformation; further, the damping spring 34 is now compressed, providing further damping. After the stopping force of the stopping portion 24 disappears, the stopper body 30 on the right side of the first deformation groove 33 is reset to the right, at this time, the buffer spring 34 also has a right elastic force effect on the stopper body 30 on the right side of the first deformation groove 33, so that the reset of the stopper body 30 can be assisted, the stopper body 30 is restored to elastic deformation, and the stopper body 30 can maintain a good impact buffering effect for a long time. In this embodiment, the limiting columns 35 are provided to control the bending deformation of the stopper body 30 at both sides of the first deformation groove 33 within a certain allowable range, and to ensure that the rotating plate does not exceed the safety limiting range within the allowable bending deformation range.
In a further embodiment, the middle of the arc contact groove 31 opens with a second deformation groove 37 toward the inside of the stopper body 30. The second deformation groove 37 is provided, so that the stopper body 30 at both ends of the second deformation groove 37 can be deformed and bent to a certain extent toward the middle or away from the middle second deformation groove 37, thereby enabling the arc contact groove 31 to adapt to cylindrical surfaces with different curvatures within a certain range. For example, when the curvature of the cylindrical outer wall surface of the installed motor is slightly increased, since the stopper bodies 30 at both ends of the second deformation groove 37 can be bent away from the middle second deformation groove 37, so that the curvature of the arc contact groove 31 is increased, and can still be attached to the cylindrical outer wall of the motor in a fitting manner.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. A wrist joint assembly for an upper limb exoskeleton comprises a first rotating mechanism and a second rotating mechanism;
the first rotating mechanism comprises a first motor, a first rotating plate in driving connection with an output shaft of the first motor and a first connecting plate fixedly connected with the other end of the first rotating plate;
the second rotating mechanism comprises a second motor fixedly connected to the first connecting plate, a second rotating plate in driving connection with an output shaft of the second motor, and a handle arranged on the second rotating plate;
the first motor is used for driving the first connecting plate to rotate around an X axis, the second motor is used for driving the second connecting plate to rotate around a Z axis, so that when a user holds the handle by a palm, passive training of ulnar bending/radial bending movement of the wrist joint can be achieved through the first rotating mechanism, and passive training of dorsiflexion/palmar bending movement of the wrist joint can be achieved through the second rotating mechanism.
2. The upper extremity exoskeleton wrist joint assembly of claim 1 wherein said first swivel plate includes a rectangular portion in the middle and two semi-circular portions at each end of said rectangular portion;
a first limit stop block and a second limit stop block are fixedly connected to the first motor at intervals;
the first limit stop block blocks the first side of the rectangular part, so that the limit position of the first rotating plate rotating around the X axis towards the first direction can be limited;
the second limit stopper can limit a limit position at which the first rotating plate rotates around the X axis in a second direction opposite to the first direction by blocking the second side of the rectangular portion.
3. The wrist joint assembly for upper extremity exoskeleton of claim 2 wherein said second rotating plate is circular and has an outer periphery formed with a stop protruding outwardly;
a third limit stop and a fourth limit stop are fixedly connected to the second motor at intervals, and the third limit stop and the fourth limit stop are positioned on two sides of the blocking part;
the third limit stop block can limit the limit position of the second rotating plate rotating around the Z axis towards the third direction by blocking the first side of the blocking part;
the fourth limit stop can limit the limit position of the second rotating plate rotating around the Z axis towards a fourth direction opposite to the third direction by blocking the second side of the blocking part.
4. The wrist joint assembly for upper extremity exoskeleton of claim 3, wherein the first limit stop, the second limit stop, the third limit stop and the fourth limit stop are identical in structure and each comprise a stop body, an arc-shaped contact groove formed on the inner side surface of the stop body and a fixing hole formed at the first end of the stop body; a fixing piece used for fixedly connecting the stop block body on the outer wall of the first motor or the second motor is arranged in the fixing hole;
the arc-shaped contact groove is used for being in contact with the cylindrical outer wall of the first motor or the second motor, and the second end of the check block body is used for blocking the rectangular part or the blocking part.
5. The wrist joint assembly for upper limbs exoskeletons of claim 4, wherein the fixing holes are light holes, the outer walls of the first motor and the second motor are respectively provided with a threaded hole corresponding to the position of the fixing hole, and the fixing piece is a screw which can pass through the light hole to be screwed in the threaded hole.
6. The wrist joint assembly for upper extremity exoskeleton of claim 4, wherein the second end of said block body is formed with a first deformation groove at a middle portion, and a width of said first deformation groove gradually decreases from the second end of said block body to the first end of said block body;
the first deformation groove does not penetrate through the stop block body along the length direction, and penetrates through the stop block body along the thickness direction;
the length direction of the stop block body is towards the first end of the stop block body along the second end of the stop block body, and the opening direction of the fixing hole is the thickness direction of the stop block body.
7. The wrist joint assembly for upper limbs exoskeletons of claim 6, wherein a buffer spring is connected between two inner walls of the first deformation groove, and a limit column is fixed on one of the inner walls of the first deformation groove.
8. The wrist joint assembly for upper extremity exoskeletons of claim 7, wherein the second end of the block body is provided with arc-shaped blocking grooves on both sides for contacting the rectangular portion or the blocking portion.
9. The wrist joint assembly for upper extremity exoskeleton of claim 4 wherein said arcuate contact groove is centrally notched with a second deformation towards the inside of said block body.
10. The wrist joint assembly for upper limbs exoskeletons of claim 1, wherein a second connecting plate is fixedly connected to the second rotating plate, the handle is rotatably connected to the second connecting plate, and a central axis of the handle is parallel to a Z-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011438624.3A CN112545835A (en) | 2020-12-10 | 2020-12-10 | Wrist joint assembly for upper limb exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011438624.3A CN112545835A (en) | 2020-12-10 | 2020-12-10 | Wrist joint assembly for upper limb exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112545835A true CN112545835A (en) | 2021-03-26 |
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| CN202011438624.3A Pending CN112545835A (en) | 2020-12-10 | 2020-12-10 | Wrist joint assembly for upper limb exoskeleton |
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