CN113069320A

CN113069320A - Traction type end effector

Info

Publication number: CN113069320A
Application number: CN202110334638.9A
Authority: CN
Inventors: 郭帅; 尹培坤; 曾令栋; 李一帆; 荚启波
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2021-07-06
Anticipated expiration: 2041-03-29
Also published as: CN113069320B

Abstract

The invention discloses a traction type end effector which comprises a fixed seat, an arm support, a tray, a rotating shaft and a handle, one end of the arm support is connected with the tray, the tray is fixedly connected with the rotating shaft, the top of the rotating shaft is fixedly connected with the bottom of the handle, the bottom of the rotating shaft is fixedly connected with a plectrum plate, a spring stop block is fixedly arranged on the plectrum plate, an annular spring placing groove is arranged on the fixed seat, the spring stop block is positioned in the spring placing groove, and when the rotating shaft rotates, the spring stop block can be driven to slide in the spring placing groove, one end of the first spring is connected with one end of the spring placing groove, the other end of the first spring is connected with the spring stop block, one end of the second spring is connected with the other end of the spring placing groove, the other end of the second spring is connected with the spring stop block, and the spring stop block is positioned between the first spring and the second spring. The traction type end effector has the advantages of simple structure, convenience in use and low cost.

Description

Traction type end effector

Technical Field

The invention relates to the technical field of rehabilitation training instruments, in particular to a traction type end effector.

Background

Breaking through the curative effect bottleneck of limb function recovery after peripheral nerve injury is a worldwide problem. Peripheral nerve injury can cause complete paralysis of one upper limb, and although treatment methods are greatly developed, many patients still remain with serious disability. Therefore, rehabilitation therapy is the key for recovering the functions of the upper limbs after the peripheral nerve injury is repaired, and personalized and targeted rehabilitation therapy can effectively promote the control of the patient on the limbs.

Existing end effectors are generally classified into two types: end-pull and exoskeleton. The tail end traction type wrist degree of freedom is mostly limited, the wrist traction type rehabilitation training is more suitable for exercise rehabilitation training mainly involving large joints. The exoskeleton type robot is more suitable for the exoskeleton type robot, is generally inconvenient to mount and dismount and has higher cost. In addition, the existing end effector has the defects of complex structure and inconvenient use.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a traction type end effector which is simple in structure, convenient to use and low in cost.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a traction type end effector which comprises a fixed seat, an arm support, a tray, a rotating shaft and a handle, one end of the arm support is connected with the tray, the tray is fixedly connected with the rotating shaft, the top of the rotating shaft is fixedly connected with the bottom of the handle, the bottom of the rotating shaft is fixedly connected with a plectrum plate, a spring stop block is fixedly arranged on the plectrum plate, an annular spring placing groove is arranged on the fixed seat, the spring stop block is positioned in the spring placing groove, and when the rotating shaft rotates, the spring stop block can be driven to slide in the spring placing groove, one end of the first spring is connected with one end of the spring placing groove, the other end of the first spring is connected with the spring stop block, one end of the second spring is connected with the other end of the spring placing groove, the other end of the second spring is connected with the spring stop block, and the spring stop block is positioned between the first spring and the second spring.

Preferably, the fixing seat can be connected with the tail end of the mechanical arm through a connecting mechanism, and the connecting mechanism comprises a tail end connecting rod fixedly connected with the fixing seat through a connecting block and a plurality of tail end connecting blocks fixedly arranged on the tail end connecting rod.

Preferably, the connecting block is covered with an upper cover shell and a lower cover shell, and the upper cover shell is clamped with the lower cover shell.

Preferably, an annular cylindrical pin groove is formed in the tray, a cylindrical pin is fixedly arranged on the fixing seat and penetrates through the cylindrical pin groove, and the cylindrical pin groove, the spring placing groove and the rotating shaft are coaxial.

Preferably, the arm holds in the palm with the relative position of tray is adjustable, the guide rail has been linked firmly on the tray, the bottom of arm support set firmly with guide rail sliding fit's slider, threaded connection has a fastening screw on the slider, fastening screw keeps away from the one end of guide rail is provided with a knob, through screwing the knob can make fastening screw with guide rail in close contact with, thereby makes the rigidity of slider.

Preferably, one end of the guide rail, which is far away from the fixed seat, is fixedly provided with a limiting block for limiting the sliding block, and the limiting block can prevent the sliding block from sliding out of the guide rail.

Preferably, the handle is sleeved with a soft TPU rubber coating, a radial hole and a switch placing hole are formed in the outer side wall of the handle, a third spring is arranged in the radial hole, a micro-motion light-touch switch is arranged in the switch placing hole, one end of the third spring abuts against the hole bottom of the radial hole, the other end of the third spring abuts against one end, away from the main body of the micro-motion light-touch switch, of a switch piece of the micro-motion light-touch switch, and the switch piece bounces under the elastic force of the spring to turn off the micro-motion light-touch switch under the condition of no external force; the micro-motion tact switch is electrically connected with an indicator light, and the indicator light is positioned on the outer wall of the fixed seat.

Preferably, the indicator light is electrically connected with a power supply in the mechanical arm through the mechanical arm connecting block; the indicating lamp is electrically connected with the mechanical arm connecting block through a power supply line, a wiring groove and a wire blocking plate are arranged on the tray corresponding to the power supply line, the power supply line penetrates through the wiring groove, and the wire blocking plate is used for preventing the power supply line from falling down; the bottom of fixing base corresponds the power supply line is provided with the through-hole, the lower housing corresponds the power supply line is provided with the through wires hole, the power supply line passes the through-hole with the through wires hole.

Compared with the prior art, the invention has the following technical effects:

the traction type end effector has the advantages of simple structure, convenience in use and low cost. The traction type end effector can help a patient to carry out exercise rehabilitation training mainly on a large joint, and can help solve the important clinical problems of reactivation of a brain motor cortex and functional reconstruction of a motion sensory network of clinical nerve displacement postoperative rehabilitation; because the end effector is provided with the rotating mechanism and the fixing mechanism, the end effector can be normally used under the condition that the pose of the tail end of the mechanical arm is not changed, on one hand, the motion controllability of the mechanical arm is improved, and on the other hand, the comfort and the safety of the operation of a patient are improved. When the arm breaks down, when terminal position appearance changes suddenly, slewing mechanism can make the patient keep former gesture unchangeable, and the arm of patient can not follow the arm and remove, avoids the arm injured to improve the security.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a first schematic structural view of a pull-type end effector of the present invention;

FIG. 2 is a second schematic structural view of a pull-type end effector of the present invention;

FIG. 3 is a schematic structural view of a tray in the pull-type end effector of the present invention;

FIG. 4 is a cross-sectional view taken along A-A of FIG. 2;

FIG. 5 is a cross-sectional view taken along line B-B of FIG. 2;

FIG. 6 is a schematic view of a portion of a pull-type end effector of the present invention;

FIG. 7 is a second schematic view of a portion of a pull-type end effector of the present invention;

100, a traction type end effector; 11. an arm support; 12. a slider; 13. a knob; 14. a limiting block; 15. a guide rail; 16. a tray; 17. soft rubber coating of TPU; 18. a handle; 19. a third spring; 110. a micro-motion light touch switch; 111. a rotating shaft; 112. a top cover; 113. a bearing; 114. a first spring; 115. pulling the sheet cover; 116. a cylindrical pin; 117. a wire blocking plate; 118. threading holes; 119. a socket head cap screw; 120. a wiring groove; 121. a cylindrical pin slot; 122. a shaft hole; 123. a spring stop; 124. a second spring; 125. a switch sheet; 21. an indicator light; 22. a fixed seat; 23. an upper housing; 24. a lower housing shell; 25. a tail end connecting rod; 26. a first mechanical arm tail end connecting block; 27. a second mechanical arm tail end connecting block; 28. connecting blocks; 29. a bottom cover; 210. spring standing groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1 to 7: the embodiment provides a traction-type end effector 100, which comprises a fixed seat 22, an arm support 11, a tray 16, a rotating shaft 111 and a handle 18, wherein one end of the arm support 11 is connected with the tray 16, the tray 16 is fixedly connected with the rotating shaft 111 through a shaft hole 122, and the shaft hole 122 is in an irregular shape, so that the rotating shaft 111 and the tray 16 can synchronously rotate; the top of the rotating shaft 111 is fixedly connected with the bottom of the handle 18 through an inner hexagonal socket head cap screw, the bottom of the rotating shaft 111 is fixedly connected with a plectrum disc, a spring stop 123 is fixedly arranged on the plectrum disc, the fixed seat 22 is a hollow cylinder, the top end of the fixed seat 22 is provided with a top cover 112, the bottom end of the fixed seat 22 is provided with a bottom cover 29, and the rotating shaft 111 is in rotating fit with the top cover 112 of the fixed seat 22 through a bearing 113; an annular spring placing groove 210 is formed in the fixing seat 22, the spring stopper 123 is located in the spring placing groove 210, and the rotating shaft 111 can drive the spring stopper 123 to slide in the spring placing groove 210 when rotating, one end of the first spring 114 is connected with one end of the spring placing groove 210, the other end of the first spring is connected with the spring stopper 123, one end of the second spring 124 is connected with the other end of the spring placing groove 210, the other end of the second spring is connected with the spring stopper 123, and the spring stopper 123 is located between the first spring 114 and the second spring 124.

The rotating mechanism of the pull-type end effector 100 of the present embodiment includes a handle 18, a rotating shaft 111, a tray 16, a dial plate, a spring stop 123, a first spring 114, a second spring 124, and a fixing base 22, wherein an integrated structure of the handle 18, the rotating shaft 111, the tray 16, the dial plate, and the spring stop 123 in the rotating mechanism is capable of rotating relative to the fixing base 22, and when the integrated structure rotates relative to the fixing base 22, one of the first spring 114 and the second spring 124 is compressed and the other is extended, so that the first spring 114 and the second spring 124 can provide damping and restoring force for rotation to return to an initial angle. An annular cylindrical pin groove 121 is formed in the tray 16, a cylindrical pin 116 is fixedly arranged on the fixing seat 22, the cylindrical pin 116 penetrates through the cylindrical pin groove 121, the spring placing groove 210 and the rotating shaft 111 are coaxial, and the rotating angle of the whole rotating mechanism is limited through the cylindrical pin groove 121 and the cylindrical pin 116. In addition, when the mechanical arm breaks down, the pose of the tail end can be suddenly changed, and the rotating mechanism of the end effector can rotate by a certain angle, so that the rotating mechanism can counteract part of the pose change, the arm is prevented from being injured along with the movement of the mechanical arm, and the safety is improved. In another aspect, the rotational mechanism of the end effector supports the robotic arm to interact with the patient with the end pose unchanged.

The fixing seat 22 can be connected with the tail end of the mechanical arm through a connecting mechanism, the connecting mechanism comprises a tail end connecting rod 25 fixedly connected with the fixing seat 22 through a connecting block 28, and a first mechanical arm tail end connecting block 26 and a second mechanical arm tail end connecting block 27 which are fixedly arranged on the tail end connecting rod 25 respectively, an upper cover shell 23 and a lower cover shell 24 are arranged on the connecting block 28 in a covering mode, the upper cover shell 23 is connected with the lower cover shell 24 in a clamping mode, and the upper cover shell 23 and the lower cover shell 24 play roles in protection and attractiveness. The first mechanical arm end connecting block 26 and the second mechanical arm end connecting block 27 are integrated with the end connecting rod 25, the first mechanical arm end connecting block 26 or the second mechanical arm end connecting block 27 can be selected and used according to the end posture of the mechanical arm or the training posture of a patient, and in practical application, technicians can design the number, design positions and shapes of the mechanical arm end connecting blocks 28 in an adaptive manner according to specific needs.

The relative positions of the arm support 11 and the tray 16 are adjustable, and the relative positions of the arm support 11 and the tray 16 are adjustable, so that the training requirements of patients with different arm lengths can be met. Specifically, a guide rail 15 is fixedly connected to the tray 16, a sliding block 12 in sliding fit with the guide rail 15 is fixedly arranged at the bottom of the arm support 11, a fastening screw is connected to the sliding block 12 in a threaded manner, a knob 13 is arranged at one end, far away from the guide rail 15, of the fastening screw, and the knob 13 is rotated clockwise or anticlockwise to control the lifting of the fastening screw, so that the friction force between the sliding block 12 and the guide rail 15 is improved or reduced, and the position of the sliding block 12 is locked or adjusted. Tightening the knob 13 can bring the fastening screw into close contact with the guide rail 15, thereby fixing the position of the slider 12. One end of the guide rail 15 far away from the fixed seat 22 is fixedly provided with a limiting block 14 used for limiting the sliding block 12, the limiting block 14 can prevent the sliding block 12 from sliding out of the guide rail 15, and the sliding block 12 is prevented from sliding out of the guide rail 15 and causing damage to a patient through the arm support 11.

The soft rubber coating 17 of TPU is sleeved on the handle 18, and the soft rubber coating 17 of TPU can be conveniently gripped by a patient, so that the comfort is improved. A radial hole and a switch placing hole are formed in the outer side wall of the handle 18, a third spring 19 is arranged in the radial hole, a micro-motion light-touch switch 110 is arranged in the switch placing hole, one end of the third spring 19 is abutted to the bottom of the radial hole, the other end of the third spring 19 is abutted to one end, away from the main body of the micro-motion light-touch switch 110, of a switch piece 125 of the micro-motion light-touch switch 110, and the switch piece 125 bounces under the elastic force of the spring under the condition of no external force so as to disconnect the micro-motion light-touch switch 110; the micro-motion tact switch 110 is electrically connected to an indicator light 21, the indicator light 21 in this embodiment is a lampshade, and the lampshade is embedded on the outer wall of the fixing seat 22.

When the TPU soft rubber coating 17 is held by a hand, the micro-motion tact switch 119 and the third spring 19 are both operated under the pressure given by the hand. The third spring 19 is provided to raise the switch piece 125 of the micro tact switch 110 when the third spring 19 is at the original length, thereby turning off the micro tact switch 110. The switch plate 125 is part of the micro-tact switch 110, and the switch plate 125 of the micro-tact switch 110 is closed only under the pressure of the hand due to the presence of the third spring 19. The soft TPU rubber coating 17 is soft and concave when held by a hand, so that the micro-motion tact switch 110 is closed, and the third spring 19 is compressed.

The indicator light 21 is electrically connected with a power supply in the mechanical arm through a mechanical arm connecting block 28; the indicator lamp 21 is electrically connected with the mechanical arm connecting block 28 through a power supply line, a wiring groove 120 and a wire blocking plate 117 are arranged on the tray 16 corresponding to the power supply line, the power supply line penetrates through the wiring groove 120, and the wire blocking plate 117 is used for preventing the power supply line from falling; the bottom cover 29 of the fixing base 22 is provided with a through hole corresponding to the power supply line, the lower cover shell 24 is provided with a threading hole 118 corresponding to the power supply line, and the power supply line passes through the through hole and the threading hole 118.

When the robot is used, a patient holds the TPU soft rubber coating 17 of the rotating mechanism by a hand, and the whole end effector is connected with the tail end of the KUKALBR iiiwa 7R 800 robot through the first mechanical arm tail end connecting block 26 or the second mechanical arm tail end connecting block 27. The arm of the patient is placed on the arm support 11, the handle 18 drives the tray 16, the rotating shaft 111 and the plectrum cover 115 to rotate, and the first spring 114 and the second spring 124 are compressed or stretched along with the rotation of the plectrum cover 115. When the mechanical arm performs rehabilitation training on a patient through the traction-type end effector 100 of the embodiment, two modes can be selected: passive recovery training and active recovery training. When the mechanical arm drives the arm of the patient to act, the passive recovery training is performed; when the arm of the patient drives the mechanical arm to act by self, the training is actively recovered.

In the description of the present invention, it should be noted that the terms "top", "bottom", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. A pull-type end effector, comprising: including fixing base, arm support, tray, pivot and handle, arm support one end with the tray is connected, the tray with the pivot links firmly, the top of pivot with the bottom of handle links firmly, the bottom of pivot has linked firmly a plectrum dish, a spring dog has set firmly on the plectrum dish, an annular spring standing groove has been seted up on the fixing base, the spring dog is located in the spring standing groove, just can drive when the pivot rotates the spring dog is in slide in the spring standing groove, first spring one end with the one end of spring standing groove is connected, the other end with the spring dog is connected, second spring one end with the other end of spring standing groove is connected, the other end with the spring dog is connected, the spring dog is located first spring with between the second spring.

2. The pull-type end effector of claim 1, wherein: the fixing base can be connected with the tail end of the mechanical arm through a connecting mechanism, and the connecting mechanism comprises a tail end connecting rod fixedly connected with the fixing base through a connecting block and a plurality of tail end connecting blocks fixedly arranged on the tail end connecting rod.

3. The pull-type end effector of claim 2, wherein: the connecting block is covered with an upper cover shell and a lower cover shell, and the upper cover shell is connected with the lower cover shell in a clamping mode.

4. The pull-type end effector of claim 1, wherein: the tray is provided with an annular cylindrical pin groove, the fixing seat is fixedly provided with a cylindrical pin, the cylindrical pin penetrates through the cylindrical pin groove, and the cylindrical pin groove, the spring placing groove and the rotating shaft are coaxial.

5. The pull-type end effector of claim 1, wherein: the arm holds in the palm with the relative position of tray is adjustable, the guide rail has been linked firmly on the tray, the bottom that the arm held in the palm set firmly with guide rail sliding fit's slider, threaded connection has a fastening screw on the slider, fastening screw keeps away from the one end of guide rail is provided with a knob, through screwing the knob can make fastening screw with guide rail in close contact with, thereby makes the rigidity of slider.

6. The pull-type end effector of claim 5, wherein: the guide rail is kept away from the one end of fixing base sets firmly one and is used for right the slider carries out spacing stopper, the stopper can prevent the slider is followed the guide rail roll-off.

7. The pull-type end effector of claim 3, wherein: the handle is sleeved with a TPU soft rubber coating, a radial hole and a switch placing hole are formed in the outer side wall of the handle, a third spring is arranged in the radial hole, a micro-motion light-touch switch is arranged in the switch placing hole, one end of the third spring is abutted to the hole bottom of the radial hole, the other end of the third spring is abutted to one end, away from a main body of the micro-motion light-touch switch, of a switch piece of the micro-motion light-touch switch, and the switch piece bounces under the elastic force of the spring under the condition of no external force so as to disconnect the micro-motion switch; the micro-motion tact switch is electrically connected with an indicator light, and the indicator light is positioned on the outer wall of the fixed seat.

8. The pull-type end effector of claim 7, wherein: the indicator light is electrically connected with a power supply in the mechanical arm through the mechanical arm connecting block; the indicating lamp is electrically connected with the mechanical arm connecting block through a power supply line, a wiring groove and a wire blocking plate are arranged on the tray corresponding to the power supply line, the power supply line penetrates through the wiring groove, and the wire blocking plate is used for preventing the power supply line from falling down; the bottom of fixing base corresponds the power supply line is provided with the through-hole, the lower housing corresponds the power supply line is provided with the through wires hole, the power supply line passes the through-hole with the through wires hole.