CN113768740B - Five-degree-of-freedom fault-tolerant mechanism and elbow joint rehabilitation robot - Google Patents
Five-degree-of-freedom fault-tolerant mechanism and elbow joint rehabilitation robot Download PDFInfo
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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
- A61H1/0277—Elbow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- 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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- 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
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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
- 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
- A61H2201/165—Wearable interfaces
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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Abstract
The invention discloses an elbow joint rehabilitation robot, which comprises an upper arm fixing component, a five-degree-of-freedom fault-tolerant mechanism, a forearm fixing component and a rope driving component, wherein the upper arm fixing component is connected with the forearm fixing component through a rope; the rope-driven rehabilitation robot is different from a common rope-driven rehabilitation robot which directly and fixedly connects the driving sleeve ring with the upper limb of the human body, and the human body is connected with the exoskeleton connecting rod by using the bandage which is easy to wear, so that the comfort of the patient in the rehabilitation training process is improved. The exoskeleton connecting rod is connected with the base, acting force driven by the rope along the arm direction is transmitted to the base, and secondary injury caused by the fact that the force directly acts on a human body is effectively avoided. Meanwhile, a five-degree-of-freedom fault-tolerant mechanism is designed, the problem of the deviation of an external skeleton rotating shaft and an elbow joint spiral motion shaft in the rehabilitation training process is solved through the relative motion of five degrees of freedom of a connecting rod rotating shaft and a cross shaft, and the man-machine coordination efficiency is improved.
Description
Technical Field
The invention relates to the field of medical rehabilitation instruments, in particular to a five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot.
Background
The human elbow joint is a composite joint consisting of a brachial ulnar joint, a brachial radial joint and a proximal radial joint, simplifies the motion of the upper limb of the human body into a lever arm system, can be used as a motion fulcrum of a forearm lever, plays an important role in positioning the position of the hand and determines the motion function of the upper limb of the human body to a great extent.
The mobility and stability of the elbow joint are necessary for people to live daily, entertain and even professional sports, but some manual workers and professional athletes inevitably encounter the problem of elbow joint injury. Aiming at the problem of elbow joint injury rehabilitation, scholars at home and abroad design a rehabilitation robot taking mechanical arms in rigid series connection as a framework by referring to the motion of human limbs, and carry out rehabilitation training by implementing auxiliary torque for joints through motor driving.
Because of the parasitic offset motion of the human elbow joint, simple rotating hinges are difficult to imitate, and the kinematic difference between man-machine kinematic chains is inevitable. To address this problem, some researchers have designed motor-driven active joint alignment mechanisms, but such designs increase the weight and size of the kinematic chain, reduce the overall dynamic performance of the system, and present a safety hazard.
Nowadays, elbow joint rehabilitation robots are developing towards the trend of light weight and flexibility, some researchers use upper limbs as exoskeleton connecting rods, construct parallel driving exoskeleton systems in a rope-driven remote driving mode, drive affected limbs by ropes to directly perform rehabilitation training, avoid the kinematic difference of man-machine kinematic chains, and have the defect that rope tension directly acts on the affected limbs.
According to the rope-driven exoskeleton type upper limb rehabilitation training robot disclosed by application number CN 109260669A, the active and passive rehabilitation training of the upper limbs of a human body is realized by adopting a direct current motor in a rope-driven mode, the motion inertia of the robot body can be reduced by rope driving and application of resin materials, the comfort level of the rehabilitation training is increased, and the rehabilitation training efficiency is improved.
However, such a rope-driven rehabilitation training robot has the following problems: the direct current motor generates torque at a joint in a rope driving training mode and simultaneously generates a larger force along the direction of limbs, when the cuff ring is directly and fixedly connected with a human body, the force directly acts on the human body, the service object of the rehabilitation training robot is a limb movement disorder patient caused by central nervous system diseases such as cerebral apoplexy, spinal cord injury and the like or movement injury, and the mode of directly and fixedly connecting the driving cuff ring with the human body can cause secondary injury to the patient; in order to prevent the force from directly acting on the human body, an exoskeleton connecting rod can be added between the driving sleeve ring and the human body, so that the force is prevented from directly acting on the human body; however, the addition of exoskeleton linkages presents new problems: the rotating shaft of the connecting rod and the joint movement shaft of the limb may deviate, and the misalignment of the rotating shaft of the connecting rod and the joint movement shaft can cause the reduction of man-machine coordination performance, and even cause secondary damage to a patient.
Disclosure of Invention
The invention aims to provide a five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot aiming at the defects, and solves the problems that a common rope-driven rehabilitation robot directly and fixedly connects a driving sleeve ring with the upper limb of a human body, and the driving force directly acts on the arm and is easy to cause secondary injury to a patient; meanwhile, the problem that the rotating shaft of the outer skeleton connecting rod and the spiral motion shaft of the elbow joint are easy to deviate in the prior art is solved.
The scheme is realized as follows:
a five-degree-of-freedom fault-tolerant mechanism comprises a first connecting part, a cross shaft and a second connecting part; the first connecting part and the second connecting part are respectively provided with a cross groove matched with the cross shaft; the cross shaft passes through the cross groove arrangement of first connecting portion and second connecting portion to with first connecting portion and the cooperation operation of second connecting portion, the cross groove is including being used for with tangent arc wall and the rectangular channel of cross shaft.
Based on the structure of the five-degree-of-freedom fault-tolerant mechanism, the first connecting part comprises a connecting plate and a connecting body, and the cross groove is formed in the connecting body; the cross groove is arranged on the side surface, far away from the connecting plate, of the connecting body, and extends for a certain distance to the other end surface along one end surface of the connecting body; the length of the extension section is not more than one half of the length of the cross shaft.
Based on the structure of the five-degree-of-freedom fault-tolerant mechanism, the cross groove on the first connecting part comprises a first connecting groove and a second connecting groove, the first connecting groove and the second connecting groove are arranged in a staggered mode, the first connecting groove comprises a rotating shaft arc and a first bottom edge, the rotating shaft arc is oppositely arranged and connected with the first bottom edge to form an arc-shaped groove, and the second connecting groove is a rectangular groove; the 2 kinds of groove bodies are sequentially and alternately arranged on the connecting body along the circumferential direction;
based on the structure of the five-degree-of-freedom fault-tolerant mechanism, the width of the second connecting groove is larger than the edge size of the cross shaft; the two side edges of the first connecting groove are designed by circular arcs, and the circular arc of the rotating shaft and the side line of the cross shaft are in a tangent state all the time in the movement process, so that the first connecting groove and the cross shaft can rotate relatively.
Based on the structure of the five-degree-of-freedom fault-tolerant mechanism, one end of the cross shaft is arranged in the first connecting groove of the first connecting portion or the second connecting portion, the other end of the cross shaft is arranged in the second connecting groove of the first connecting portion or the second connecting portion, and finally, each edge of the cross shaft is located in the first connecting groove and the second connecting groove respectively.
The invention also discloses an elbow joint rehabilitation robot, which comprises an upper arm fixing component, a five-degree-of-freedom fault-tolerant mechanism, a forearm fixing component and a rope driving component; the five-degree-of-freedom fault-tolerant mechanism is arranged between the upper arm fixing component and the forearm fixing component; rope drive assembly is connected with the fixed subassembly of upper arm and the fixed subassembly of forearm respectively, and rope drive assembly provides power for the motion of the fixed subassembly of upper arm and the fixed subassembly of forearm.
Based on above-mentioned elbow joint rehabilitation robot's structure, upper arm fixed subassembly includes upper arm connecting rod, upper arm bandage and upper arm bandage mounting, upper arm bandage mounting sets up to 2 on the length direction of upper arm connecting rod at least, upper arm bandage mounting and upper arm connecting rod fixed connection, upper arm bandage and upper arm bandage mounting fixed connection.
Based on the structure of the elbow joint rehabilitation robot, the forearm fixing component comprises a forearm connecting rod component, a forearm fixing connecting rod, a bandage fixing component and a bandage; one end of the forearm fixing connecting rod is connected with the forearm connecting rod component, the bandage fixing piece is at least provided with 2 straps along the length direction of the forearm fixing connecting rod, and the bandage fixing component are matched.
Based on the structure of the elbow joint rehabilitation robot, the forearm connecting rod component comprises a forearm inner side shell, an inner gear, a sun gear, a planetary gear set, a planet carrier and a forearm outer side shell; the forearm outer shell and the forearm inner shell are connected with each other; the inner gear is respectively fixedly connected with the inner shell of the front arm and the outer shell of the front arm, the sun gear is arranged in the inner shell of the front arm and the outer shell of the front arm, the planetary gear set is respectively meshed with the inner gear and the sun gear, and the planetary gear set is connected with the planet carrier;
based on the structure of the elbow joint rehabilitation robot, the rope driving assembly comprises a base, a rope fastener, a rope, an upper arm driving ring, a forearm driving ring and a driving mechanism; the upper arm driving ring is connected with the base, the forearm driving ring and the upper arm driving ring are connected through a rope, the rope fastening pieces are respectively arranged on the upper arm driving ring and the forearm driving ring, and the driving mechanism is connected with the rope.
Compared with the prior art, the invention has the beneficial effects that:
1. the five-degree-of-freedom fault-tolerant mechanism designed based on the elbow joint spiral motion shaft parasitic deflection principle adopts a passive design, has a compact structure, small inertial load and more redundant degrees of freedom, effectively solves the problem that an exoskeleton connecting rod rotating shaft is easy to deflect from an elbow joint spiral motion shaft, can be analogically applied to knee joint rehabilitation, and has a good application prospect;
2. the connecting rod assembly designed based on the planetary gear train provides auxiliary torque for the affected limb under the condition that the function of the fault-tolerant mechanism is not influenced. Meanwhile, the exoskeleton connecting rod is fixedly connected with the base, acting force driven by the rope along the arm direction is transmitted to the base, and secondary injury to a patient caused by the fact that the acting force is directly applied to the arm is avoided on the premise that torque is kept to achieve a rehabilitation effect.
3. The scheme adopts a rope driving mode and has the characteristics of safety, light weight and compactness. The joint movement space is large, the man-machine coordination performance is good, and the development trend of the rehabilitation robot is met.
Drawings
FIG. 1 is a schematic view of the overall assembly structure of the elbow joint rehabilitation robot of the present invention;
FIG. 2 is a schematic view of the robot-coupled motion of the rope-driven elbow joint rehabilitation training robot;
FIG. 3 is a schematic structural view of an upper arm fixing assembly of the present invention;
FIG. 4 is a schematic illustration of the exoskeleton axis and the elbow joint axis offset;
FIG. 5 is a schematic view of the elbow joint helical range of motion axes;
FIG. 6 is a schematic structural diagram of a five-degree-of-freedom fault-tolerant mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the present invention in which error compensation is performed in the X-axis direction;
FIG. 8 is a schematic view of the structure of the present invention in which error compensation is performed in the Y-axis direction;
FIG. 9 is a schematic view of the structure of the present invention in which error compensation is performed in the Z-axis direction;
FIG. 10 is a schematic view of the present invention with error compensation in the direction of rotation about the X-axis;
FIG. 11 is a schematic view of the structure of the present invention for error compensation in the direction of rotation about the Y axis;
FIG. 12 is an exploded view of the five degree-of-freedom fault-tolerant mechanism of the present invention;
FIG. 13 is a schematic structural view of a forearm link assembly in accordance with the invention;
FIG. 14 is a schematic structural view of a forearm fixation assembly of the invention;
fig. 15 is a schematic structural view of the rope drive assembly of the present invention;
fig. 16 is an enlarged schematic view of a detail of the rope drive assembly of the present invention;
in the figure: 1. the device comprises an upper arm fixing component, a five-degree-of-freedom fault-tolerant mechanism, a front arm fixing component, a rope driving component, a lower arm fixing component, a rope driving component and a rope driving component, wherein the upper arm fixing component is 2; 11. an upper arm link; 12. an upper arm strap; 13. an upper arm strap fixing member; 21. a first connection portion; 22. a cross shaft; 23. a second connecting portion; 24. a cross groove; 241. a first connecting groove; 242. a second connecting groove; 243. the rotating shaft is arc-shaped; 31. a forearm linkage assembly; 32. a forearm fixing connecting rod; 33. a forearm strap; 34. a forearm strap fixing member; 35. a wrist strap fixing member; 36. a wrist strap; 311. a forearm medial shell; 312. an internal gear; 313. a sun gear; 314. a planetary gear set; 315. a planet carrier; 316. a forearm outer shell; 317. a first through hole; 318. a second through hole; 51. a base; 52. an upper arm drive ring; 53. a forearm drive ring; 54. a first rope fastener; 55. a second rope fastener; 56. a third rope fastener; 57. a fourth rope fastener; 58. a first rope; 59. a second rope; 510. a through hole; 511. and (4) adjusting the groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1
The invention provides a technical scheme that:
referring to fig. 6, a five-degree-of-freedom fault-tolerant mechanism includes a first connection portion 21, a cross 22, and a second connection portion 23; the first connecting part 21 and the second connecting part 23 are respectively provided with a cross groove 24 matched with the cross shaft 22; the cross shaft 22 passes through the cross grooves 24 of the first connecting part 21 and the second connecting part 23 and is matched with the first connecting part 21 and the second connecting part 23 to complete error compensation of five degrees of freedom;
referring to fig. 6, an X, Y, Z coordinate system is established on the first connecting portion 21, and the five degrees of freedom in the present embodiment are error compensation of five degrees of freedom of movement along X, Y, Z axis and rotation around x and y axes.
The first connecting part 21 comprises a connecting plate, a connecting body and a cross groove 24 arranged on the connecting body, the connecting plate is fixedly connected with the connecting body and is connected with an external mechanism through the connecting plate, and the cross groove 24 is arranged on the connecting body;
in the scheme, the cross groove 24 is arranged on the side surface of the connecting body far away from the connecting plate, the preferred position is the central position of the side surface, and the cross groove 24 extends for a certain distance to the other end surface along one end surface of the connecting body; the length of the extension is no greater than one-half of the length of cross 22; when the first connecting portion 21 and the second connecting portion 23 are engaged with the cross 22, an operation space is left.
The cross groove 24 on the first connecting portion 21 comprises a first connecting groove 241 and a second connecting groove 242, the first connecting groove 241 and the second connecting groove 242 are arranged in a staggered manner, the first connecting groove 241 comprises a rotating shaft arc 243 and a first bottom edge, the rotating shaft arc 243 is arranged oppositely and connected with the first bottom edge to form an arc-shaped groove, and the second connecting groove 242 is a rectangular groove; the 2 kinds of groove bodies are sequentially and alternately arranged on the connecting body along the circumferential direction;
the width of the second connecting groove 242 is larger than the edge size of the cross axle 22; the two side edges of the first connecting groove 241 are designed by circular arcs, and the circular arc 243 of the rotating shaft is tangent to the side line of the cross shaft 22 all the time in the movement process, so that the first connecting groove 241 and the cross shaft 22 can rotate relatively.
The connecting body can be a rectangular or cylindrical structure, and in the scheme, the connecting body is a cylindrical structure; the occurrence of the edge angle edge is reduced, and the harm to the human body is reduced.
The second connection portion 23 is similar to the first connection portion 21 in arrangement, the second connection portion 23 includes a first connection groove 241 and a second connection groove 242, the first connection groove 241 and the second connection groove 242 are arranged in a staggered manner, the first connection groove 241 includes a rotation shaft arc 243 and a first bottom edge, the rotation shaft arc 243 is arranged oppositely and connected with the first bottom edge to form an arc-shaped groove, and the second connection groove 242 is a rectangular groove; the 2 kinds of groove bodies are sequentially and alternately arranged on the connecting body along the circumferential direction;
one end of the cross 22 is disposed in the first connecting groove 241 of the first connecting portion 21 or the second connecting portion 23, and the other end of the cross 22 is disposed in the second connecting groove 242 of the first connecting portion 21 or the second connecting portion 23, so that each edge of the cross 22 is respectively disposed in the first connecting groove 241 and the second connecting groove 242, that is, in the arc-shaped groove and the rectangular groove, and the adjustment of the degree of freedom in the cross 22 is achieved.
The scheme explains error compensation of five degrees of freedom in detail:
and (3) carrying out error compensation on the X-axis in the axial direction: referring to fig. 7, the freedom adjustment of the movement of the fault-tolerant mechanism along the X axis is shown, because the rectangular groove on the first connecting portion 21 is larger than the edge size of the cross axle 22, a gap is designed between the first connecting portion 21 and the cross axle 22 in the X axis direction, and the second connecting portion 23 can drive the cross axle 22 to move along the X axis, i.e., the fault-tolerant mechanism is provided to perform error compensation in the X axis direction.
And (3) carrying out error compensation on the Y-axis axially: referring to fig. 8, which shows the freedom adjustment of the movement of the fault-tolerant mechanism along the Y-axis, since the rectangular groove on the second connection portion 23 is larger than the edge of the cross 22, a gap is designed between the second connection portion 23 and the cross 22 in the Y-axis direction, and the second connection portion 23 can move along the Y-axis relative to the cross 22.
And (3) carrying out error compensation on the Z-axis axially: referring to fig. 9, the freedom of movement of the fault-tolerant mechanism along the Z-axis is shown, and since the depth of the cross slots 24 on the first connecting portion 21 and the second connecting portion 23 is less than half of the length of the cross axle 22, the first connecting portion 21 can move in the Z-axis direction relative to the cross axle 22.
And (3) carrying out error compensation in the rotating direction around the X axis: referring to fig. 10, the adjustment of the degree of freedom of the rotation of the fault-tolerant mechanism around the X-axis is shown, because the first connection portion 21 is provided with an arc-shaped groove, and the arc-shaped groove in the first connection portion 21 is in tangential fit with the cross axle 22; so that the first connecting part 21 can rotate relative to the cross shaft 22 by thetaxIs the angle of rotation about the X axis.
And (3) carrying out error compensation in the rotating direction around the Y axis: referring to fig. 11, the freedom adjustment of the rotation of the fault-tolerant mechanism around the Y-axis is shown, because the second connection portion 23 is provided with the arc-shaped groove, and the arc-shaped groove in the second connection portion 23 is in tangential fit with the cross axle 22, the second connection portion 23 can rotate relative to the cross axle 22, and θyIs the angle of rotation about the Y axis.
Through above-mentioned structure, can make fault-tolerant mechanism can adjust on five degrees of freedom in this application, solved among the prior art to the elbow joint rehabilitation robot inconvenient problem of regulation when using.
Example 2
Based on the above embodiment 1, the invention provides a technical scheme:
referring to fig. 1, 3, 12, 13, 14, 15, and 16, an elbow joint rehabilitation robot includes an upper arm fixing assembly 1, a five-degree-of-freedom fault-tolerant mechanism 2, a forearm fixing assembly 3, and a rope driving assembly 4; the five-degree-of-freedom fault-tolerant mechanism 2 is arranged between the upper arm fixing component 1 and the forearm fixing component 3 and is used for adjusting the elbow joint during rehabilitation training; rope drive assembly 4 is connected with fixed subassembly 1 of upper arm and the fixed subassembly 3 of forearm respectively, and rope drive assembly 4 provides power for the motion of the fixed subassembly 1 of upper arm and the fixed subassembly 3 of forearm.
In the prior art, as shown in fig. 4, an exoskeleton connecting rod is added between an arm and a driving ring, and the problem that a rotating shaft of the exoskeleton connecting rod is not coincident with a spiral motion shaft of an elbow joint exists.
And biomechanical research on the elbow joint shows that the elbow joint rotation axis has parasitic motion deviation as shown in figure 5; the narrow elbow joint is mainly a pulley joint for realizing flexion and extension from the external physical performance of physiological functions. During flexion and extension, the joint may "relax", i.e., flexion and extension rotational central axes may be accompanied by parasitic offset motion.
According to the elbow joint anatomical physiological structure and the actual motion characteristics of the axis of the elbow joint anatomical physiological structure, the spiral motion axis is selected to represent the parasitic offset of the elbow joint instantaneous motion axis, so that the offset motion condition of the axis when the elbow joint moves is described in a quantification mode. During the flexion and extension movement of the elbow joint, the spiral movement axis changes in the space formed by the intersection of the two elliptic cones. The range of axis offset of the elbow joint is described by this bi-elliptic cone space: the two elliptic cones are intersected to form an elliptic surface, the size of the vertex angle of the cone body represents the out-of-plane rotation motion range of the axis on the elliptic surface, the angle is about 8 degrees in the horizontal plane, and the angle is about 4 degrees in the coronal plane; the major and minor axes of the intersecting elliptical surfaces represent the range of motion in the sagittal plane of the axis, which is about 2mm in length in the horizontal plane and about 3mm in length in the coronal plane. The simulation of the axis parasitic deflection of the flexion and extension movement by using a track equation is complex, and the implementation difficulty of compensating the flexion and extension deflection errors through active control is high. Therefore, the invention adopts a method of passively compensating motion deviation to design a five-freedom fault-tolerant mechanism 2 to compensate deviation caused by axis parasitic motion.
Still have another problem among the prior art, as shown in fig. 2, rope drive upper limbs rehabilitation training robot direct current motor passes through the mode of rope drive training and can be accompanied with a great power along the arm direction when elbow joint department produces the torque, and when the cuff ring directly linked firmly with human upper limbs, this power will direct action on human upper limbs, causes the secondary injury to the patient easily.
Based on the above problems, the inventor designs the elbow joint rehabilitation robot of the scheme.
The upper arm fixing assembly 1 comprises an upper arm connecting rod 11, upper arm straps 12 and upper arm strap fixing pieces 13, wherein at least 2 upper arm strap fixing pieces 13 are arranged along the length direction of the upper arm connecting rod 11, the upper arm strap fixing pieces 13 are fixedly connected with the upper arm connecting rod 11, and the upper arm straps 12 are fixedly connected with the upper arm strap fixing pieces 13;
based on above-mentioned structure, through human upper arm of upper arm bandage 12 fixed as an organic whole with upper arm connecting rod 11, 2 upper arm mountings and upper arm bandage 12 can make can be more firm when fixed, increase the stress area of binding simultaneously, comfort level when increasing human use.
The first connecting part 21 of the five-degree-of-freedom fault-tolerant mechanism 2 is connected with the upper arm connecting rod 11, and the second connecting part 23 is connected with the forearm fixing component 3, so that the five-degree-of-freedom fault-tolerant mechanism 2 can be applied to the elbow joint rehabilitation robot;
the present embodiment is explained in detail again with the application of error compensation of five degrees of freedom to the elbow joint rehabilitation robot:
and (3) carrying out error compensation on the X-axis in the axial direction: referring to fig. 7, the freedom adjustment of the movement of the fault-tolerant mechanism along the X axis is shown, because the rectangular groove on the first connecting portion 21 is larger than the edge size of the cross axle 22, a gap is designed between the first connecting portion 21 and the cross axle 22 in the X axis direction, and the second connecting portion 23 can drive the cross axle 22 to move along the X axis, i.e., the fault-tolerant mechanism is provided to perform error compensation in the X axis direction. The displacement Δ X on the X-axis corresponds to the length of movement of the aforementioned elbow joint axis in the coronal plane.
And (3) carrying out error compensation on the Y-axis axially: referring to fig. 8, which shows the freedom adjustment of the movement of the fault-tolerant mechanism along the Y-axis, since the rectangular groove on the second connection portion 23 is larger than the edge of the cross 22, a gap is designed between the second connection portion 23 and the cross 22 in the Y-axis direction, and the second connection portion 23 can move along the Y-axis relative to the cross 22. The displacement Δ Y on the Y-axis corresponds to the length of movement of the elbow joint axis in the horizontal plane.
And (3) carrying out error compensation on the Z-axis axially: referring to fig. 9, the freedom of movement of the fault-tolerant mechanism along the Z-axis is shown, and since the depth of the cross slots 24 on the first connecting portion 21 and the second connecting portion 23 is less than half of the length of the cross axle 22, the first connecting portion 21 can move in the Z-axis direction relative to the cross axle 22.
And (3) carrying out error compensation in the rotating direction around the X axis: referring to fig. 10, the adjustment of the degree of freedom of the rotation of the fault-tolerant mechanism around the X-axis is shown, because the first connection portion 21 is provided with an arc-shaped groove, and the arc-shaped groove in the first connection portion 21 is in tangential fit with the cross axle 22; so that the first connecting part 21 can rotate relative to the cross shaft 22 by thetaxIs the angle of rotation about the X-axis, which corresponds to the angle of rotation of the elbow joint axis in the horizontal plane.
And (3) carrying out error compensation in the rotating direction around the Y axis: referring to fig. 11, the freedom adjustment of the rotation of the fault-tolerant mechanism around the Y-axis is shown, because the second connection portion 23 is provided with the arc-shaped groove, and the arc-shaped groove in the second connection portion 23 is in tangential fit with the cross axle 22, the second connection portion 23 can rotate relative to the cross axle 22, and θyIs the angle of rotation about the Y axis; which corresponds to the angle of rotation of the elbow joint axis in the coronal plane.
The forearm fixing component 3 comprises a forearm connecting rod component 31, a forearm fixing connecting rod 32, a bandage fixing component and a bandage; one end of the forearm fixing connecting rod 32 is connected with the forearm connecting rod assembly 31, the bandage fixing piece is at least provided with 2 in the length direction of the forearm fixing connecting rod 32, the bandage is matched with the bandage fixing component, and the forearm fixing component 3 are connected through the bandage.
In other embodiments, the strap securement assembly and straps may include, in particular, a forearm strap 33, a forearm strap mount 34, a wrist strap 36 mount 35, and a wrist strap 36; the wrist bandage 36 is contacted and bound with the wrist of the human body, and the forearm bandage 33 is contacted and bound with the forearm of the human body; the forearm bandage fixing part 34 and the wrist bandage 36 fixing part 35 jointly fix the forearm of the human body in the forearm fixing component 3;
the forearm connecting rod assembly 31 comprises a forearm inner shell 311, an internal gear 312, a sun gear 313, a planetary gear set 314, a planet carrier 315 and a forearm outer shell 316; the forearm outer shell 316 and the forearm inner shell 311 are connected with each other, a cavity structure is formed between the forearm outer shell 316 and the forearm inner shell 311, and the internal gear 312, the sun gear 313, the planetary gear set 314 and the planet carrier 315 are all arranged in the cavity structure;
the internal gear 312 is fixedly connected with the forearm inner side shell 311 and the forearm outer side shell 316 respectively, the center of the internal gear 312 is provided with a first through hole 317, the center of the forearm inner side shell 311 is provided with a second through hole 318, and the second connecting part 23 is rotatably connected with the first through hole 317 and the second through hole 318 through a bearing, so that the second connecting part 23 can be kept still when the forearm connecting rod assembly 31 rotates;
the sun gear 313 is arranged in the cavity structure, the planetary gear set 314 is respectively meshed with the internal gear 312 and the sun gear 313, the planetary gear set 314 is connected with the planet carrier 315, the internal gear 312 rotates to drive the planetary gear and then drive the sun gear 313 to rotate, and the sun gear 313 rotates in the cavity structure;
based on the above structure, the planetary gear train composed of the internal gear 312, the sun gear 313, the planetary gear set 314 and the planet carrier 315 is a main transmission mechanism, the forearm link assembly 31 rotates to drive the internal gear 312 to rotate and transmit to the planetary gear set 314, and then drive the sun gear 313 to rotate around the Z axis, and on the premise of not affecting the fault-tolerant mechanism, the rotation motion of the forearm around the Z axis of the human body, namely the forearm flexion and extension rehabilitation training is completed.
The rope drive assembly 4 comprises a base 51, rope fasteners, ropes, an upper arm drive ring 52, a forearm drive ring 53 and a drive mechanism; the upper arm driving ring 52 is connected with the base 51, the forearm driving ring 53 and the upper arm driving ring 52 are connected through a rope, the rope fasteners are respectively arranged on the upper arm driving ring 52 and the forearm driving ring 53, and the driving mechanism is connected with the rope;
the rope fasteners include a first rope fastener 54, a second rope fastener 55, a third rope fastener 56 and a fourth rope fastener 57, the first and second rope fasteners 54 and 55 are respectively provided on the upper arm drive ring 52, the third and fourth rope fasteners 56 and 57 are provided on the front arm drive ring 53, the first rope fastener 54 is located corresponding to the third rope fastener 56, and the second rope fastener 55 is located corresponding to the fourth rope fastener 57;
the first, second, third and fourth rope fasteners 54, 55, 56 and 57 are provided with through-holes.
The ropes comprise a first rope 58 and a second rope 59, one end of the first rope 58 is fixedly connected with the third rope fastener 56, and the other end of the first rope 58 is connected with the driving mechanism after passing through the through hole 510 of the first rope fastener 54;
one end of the second rope 59 is fixedly connected with the fourth rope fastener 57, and the other end of the second rope 59 is connected with the driving mechanism after passing through the through hole 510 of the second rope fastener 55;
the upper arm fixing assembly 1 and the forearm fixing assembly 3 are repeatedly subjected to flexion and extension movements by respectively driving the tensioning degrees of the first rope 58 and the second rope 59 through a driving mechanism; that is, the driving mechanism controls the movement of the ropes, and when the first rope 58 is tightened, the second rope 59 is loosened to control the forearm driving ring 53 to drive the forearm connecting rod and the forearm of the person to rotate around the Z-axis.
The upper arm driving ring 52 and the forearm driving ring 53 are both provided with an adjusting groove 511 along the length direction of the rings, and the rope fastening piece can adjust the position on the adjusting groove 511, so that the bending and stretching movement can be smoothly carried out.
The upper arm drive rings 52 and 11, and the upper arm link are connected to the base to transmit part of the arm's support force to the base.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A five-degree-of-freedom fault-tolerant mechanism is characterized in that: the universal joint comprises a first connecting part, a cross shaft and a second connecting part; the first connecting part and the second connecting part are respectively provided with a cross groove matched with the cross shaft; the cross shaft penetrates through cross grooves of the first connecting part and the second connecting part and is matched with the first connecting part and the second connecting part for operation, the cross grooves comprise arc grooves and rectangular grooves used for being tangent to the cross shaft, the first connecting part comprises a connecting plate and a connecting body, and the cross grooves are formed in the connecting body; the cross groove is arranged on the side surface, far away from the connecting plate, of the connecting body, and extends for a certain distance to the other end surface along one end surface of the connecting body; the length of the extension section is not more than one half of the length of the cross shaft, the cross groove on the first connecting part comprises a first connecting groove and a second connecting groove, the first connecting groove and the second connecting groove are arranged in a staggered mode, the first connecting groove comprises a rotating shaft arc and a first bottom edge, the rotating shaft arc is oppositely arranged and connected with the first bottom edge to form an arc-shaped groove, and the second connecting groove is a rectangular groove; the 2 kinds of groove bodies are sequentially and alternately arranged on the connecting body along the circumferential direction; the width of the second connecting groove is larger than the edge size of the cross shaft; the two sides limit of first connecting groove adopts the circular arc design, and the tangent state all the time of pivot circular arc and cross axle sideline makes first connecting groove and cross axle can take place relative rotation in the motion process, the one end setting of each arris of cross axle is in the first connecting groove of first connecting portion or second connecting portion, and the other end setting is in the second connecting groove of second connecting portion or first connecting portion, and the both ends of each arris of final realization cross axle all are in first connecting groove and second connecting groove respectively.
2. An elbow joint rehabilitation robot, characterized in that: comprising an upper arm fixing assembly, the five degree-of-freedom fault-tolerant mechanism of claim 1, a forearm fixing assembly and a rope drive assembly; the five-degree-of-freedom fault-tolerant mechanism is arranged between the upper arm fixing component and the forearm fixing component; rope drive assembly is connected with the fixed subassembly of upper arm and the fixed subassembly of forearm respectively, and rope drive assembly provides power for the motion of the fixed subassembly of upper arm and the fixed subassembly of forearm.
3. The elbow joint rehabilitation robot according to claim 2, wherein: the upper arm fixing assembly comprises upper arm connecting rods, upper arm binding bands and upper arm binding band fixing pieces, wherein the upper arm binding band fixing pieces are at least arranged in 2 numbers along the length direction of the upper arm connecting rods, the upper arm binding band fixing pieces are fixedly connected with the upper arm connecting rods, and the upper arm binding bands are fixedly connected with the upper arm binding band fixing pieces.
4. The elbow joint rehabilitation robot according to claim 2 or 3, characterized in that: the forearm fixing component comprises a forearm connecting rod component, a forearm fixing connecting rod, a binding band fixing component and a forearm binding band; the one end and the forearm link assembly of forearm fixed connecting rod are connected, bandage fixed subassembly sets up 2 at least along the length direction of forearm fixed connecting rod, the forearm bandage sets up with bandage fixed subassembly phase-match.
5. The elbow joint rehabilitation robot according to claim 4, wherein: the front arm connecting rod assembly comprises a front arm inner side shell, an inner gear, a sun gear, a planetary gear set, a planet carrier and a front arm outer side shell; the forearm outer shell and the forearm inner shell are connected with each other; the internal gear respectively with the inboard shell of forearm, forearm outside shell fixed connection, sun gear sets up in the inboard shell of forearm and forearm outside shell, planetary gear set respectively with internal gear and sun gear meshing, planetary gear set is connected with the planet carrier.
6. The elbow joint rehabilitation robot according to claim 5, wherein: the rope driving assembly comprises a base, a rope fastener, a rope, an upper arm driving ring, a forearm driving ring and a driving mechanism; the upper arm driving ring is connected with the base, the forearm driving ring and the upper arm driving ring are connected through a rope, the rope fastening pieces are respectively arranged on the upper arm driving ring and the forearm driving ring, and the driving mechanism is connected with the rope.
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| CN201386723Y (en) * | 2009-04-14 | 2010-01-20 | 王鼎瑞 | Improved combination screw taking and placing structure |
| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| US20220015847A1 (en) * | 2018-11-15 | 2022-01-20 | Intuitive Surgical Operations, Inc. | Cable drive limited slip capstan and shaft |
| CN110701016A (en) * | 2019-11-14 | 2020-01-17 | 天津鸿河科技有限公司 | High-precision micro-control metering pump |
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