CN114917108A

CN114917108A - Series-parallel three-degree-of-freedom wearable wrist exoskeleton based on spherical six-axis link mechanism

Info

Publication number: CN114917108A
Application number: CN202210175440.5A
Authority: CN
Inventors: 陶一洲; 王浩平; 田杨
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-08-19

Abstract

The invention discloses a series-parallel three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis link mechanism, which consists of 9 assemblies including a forearm reducing support ring, a support ring mounting plate, a forearm base, a rotary driving mechanism, a left linear driving mechanism, a right linear driving mechanism, a spherical six-axis link mechanism, a hand guard plate and a grab handle. The joint is driven by a motor, wherein the degree of freedom of the inward rotation/outward rotation of the wrist is driven by a rotating motor matched with a gear, and the degree of freedom of the palm flexion/back extension and the degree of freedom of the ulnar deviation/radial deviation are driven by two push rod motors connected in parallel matched with a stroke amplifying mechanism and a spherical six-axis connecting rod mechanism. The wrist exoskeleton robot system is light, portable and fine in design, the key geometric dimension of the wrist exoskeleton robot system is designed by stepless adjustment, the left-hand and right-hand interchange training and fixed training are supported, the modularized application is supported, a solution of wrist exoskeleton can be provided for other upper limb rehabilitation exoskeleton robot systems, the practicability and the expansibility are strong, and the use requirements of individual users and medical institutions are met.

Description

Series-parallel three-degree-of-freedom wearable wrist exoskeleton based on spherical six-axis link mechanism

Technical Field

The invention belongs to the field of medical rehabilitation instruments, and particularly relates to a series-parallel three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis link mechanism.

Background

The wrist joint is one of the joints in the human body that is most easily stretched and damaged because it is used in large quantities in daily life and is subjected to great support, pressure and weight loads. Meanwhile, the wrist joint is one of the more complex joints of the human body and has 3 degrees of freedom for inward/outward rotation, ulnar deviation/radial deviation and palmar flexion/dorsal extension. With the aging of the world, the number of elderly hemiplegic patients is drastically increased, and two-thirds of them suffer from hand or wrist dysfunction. The rehabilitation robot has the obvious advantages of promoting the recovery of the wrist function, providing a numerical evaluation means for the rehabilitation condition of a patient and comprehensively improving the rehabilitation medical level. However, most of current clinical researches are designed according to the overall rehabilitation training of the upper limbs of the human body, and the requirement of fine rehabilitation training for the wrist is ignored.

With the development of research, many existing exoskeleton robots with wrist rehabilitation training functions are designed, but most of the exoskeleton robots are heavy, fixed on a fixed base and inconvenient to move, so that the exoskeleton robots are only suitable for users of medical institutions and are difficult to meet the requirements of patients of individual users for home rehabilitation training. Patent application No. 202010011771.6 discloses a flexible ectoskeleton upper limbs rehabilitation training robot of wrist, wrist ectoskeleton are fixed on cantilever support, and it is inconvenient that whole mechanism moves, and through the rope drive, its control accuracy is difficult as the maintenance of motor direct drive and elasticity, and the two degrees of freedom that have in addition can't satisfy the rehabilitation training needs of 3 degrees of freedom of wrist completely. The parallel mechanism has the advantages of simple structure, strong bearing capacity, high precision and the like, meets the requirement of fine rehabilitation training of the wrist, and has the defect of small moving range. Patent application No. 201110466407.3 discloses a wearable series-parallel exoskeleton robot, the wrist uses a 3PRR parallel mechanism, the wrist range of motion of the exoskeleton cannot cover the limit motion trajectory of the wrist of the patient, and the equivalent centroid of the wrist of the exoskeleton can deviate from the centroid of the wrist of the human body during the working period, the physical dimension of the exoskeleton cannot be adjusted, and the human-computer compatibility is poor.

Disclosure of Invention

The invention aims to provide a series-parallel three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis link mechanism, so as to provide a more light, portable, fine and fit living wrist rehabilitation training scheme for patients of individual users.

The technical solution for realizing the purpose of the invention is as follows:

a series-parallel three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis link mechanism comprises:

the rotation driving mechanism is used for driving the rotation of the rotation driving mechanism relative to a common axis of the rotation driving mechanism and the forearm base so as to drive the wrist joint to move in/out in a rotating mode;

a spherical six-axis connecting rod mechanism connected with the rotary driving mechanism,

the left side and the right side of the spherical six-axis connecting rod mechanism are respectively connected with a linear driving mechanism in parallel and used for driving the spherical six-axis connecting rod mechanism to rotate, the output torque drives the wrist joint to do palmar flexion/dorsal extension movement in the same direction, the output torque drives the wrist joint to do ulnar deviation/radial deviation movement in the same direction and the like, and the rest output torque drives the wrist joint to do the compound movement of palmar flexion/dorsal extension and ulnar deviation/radial deviation;

the hand guard plate is fixedly connected to the tail end of the connecting rod of the spherical six-axis connecting rod mechanism;

the grab handle with two ends connected with the hand guard plate through the linear sliding groove is used for being held by hands.

Compared with the prior art, the invention has the remarkable advantages that:

(1) the invention exerts the advantages of simple structure, strong bearing capacity and high precision of the parallel mechanism, simultaneously uses the serial mechanism and the stroke amplification mechanism to alleviate the defect of small moving range of the parallel mechanism, and realizes the design of a scheme of the wrist exoskeleton which is light, portable and fine.

(2) The invention applies stepless adjustment design on the geometrical dimensions of circumference of the forearm, the length of the forearm, the center distance of palm and wrist mass and the like, can more fittingly meet the wearing requirements of patients with different body types, and improves the man-machine compatibility.

(3) The invention has the function of left-hand and right-hand interchange training without modification, and can help consumers to reduce the cost of medical appliances.

(4) The invention provides a grounding use scheme, which can reduce the muscle strength burden of a patient in need.

(5) The wrist exoskeleton robot system is high in expansibility and can be used in a modularized mode, and a wrist exoskeleton solution is provided for other upper limb rehabilitation exoskeleton robot systems.

Drawings

FIG. 1 is a three-dimensional view of the present invention; the figure shows (a) a front view, (b) a left view, (c) a top view, and (d) a perspective view.

FIG. 2 is an overall exploded view of the present invention; in the figure, 1, a forearm reducing support ring, 2, a support ring mounting plate, 3, a forearm base, 4, a rotary driving mechanism, 5, a left linear driving mechanism, 6, a right linear driving mechanism, 7, a spherical six-axis connecting rod mechanism, 8, a hand guard plate and 9, a grab handle are arranged.

Fig. 3 is a partial exploded view of the forearm reducing support ring 1; in the figure, 1-1. a first axial screw, 1-2. a spring pressure plate, 1-3. a rear annular shell, 1-4. a T-shaped sliding block shell, 1-5. a spring, 1-6. a T-shaped sliding block cover, 1-7. a front annular shell, 1-8. a limiting ring, 1-9. a guide ring and 1-10. a rotating ring cover are arranged in the front annular shell.

FIG. 4 is a cross-sectional view of a T-shaped slider.

Fig. 5 is a schematic diagram of the forearm reducing support ring 1.

Fig. 6 is a partial exploded view of forearm base 3; in the figure, 3-1. O-shaped tooth crown, 3-2. main frame body and 3-3. V-shaped circumferential slide rail.

Fig. 7 is a partially exploded view of the rotary drive mechanism 4. In the figure, 4-1 parts of a rear end face cover plate, 4-2 parts of a driving gear, 4-3 parts of a driven gear, 4-4 parts of a gear mounting plate, 4-5 parts of an eccentric rivet, 4-6 parts of a lower shield, 4-7 parts of a speed change gear box, 4-8 parts of a rotating motor, 4-9 parts of an encoder, 4-10 parts of an upper shield, 4-11 parts of a linear type slide rail, 4-12 parts of a slide rail mounting plate, 4-13 parts of a linear type slide block, 4-14 parts of a V-shaped groove fixed pulley, 4-15 parts of a V-shaped groove eccentric pulley, 4-16 parts of a front end face cover plate, 4-17 parts of a telescopic rod outer pipe, 4-18 parts of a C-shaped clamp and 4-19 parts of a telescopic rod inner rod are arranged.

Fig. 8 is a schematic view showing the combination of the forearm base 3 and the rotation drive mechanism 4.

Fig. 9 is a schematic plan view of a section a-a.

FIG. 10 is a schematic plan view of section B-B.

Fig. 11 is a schematic plan view of the left linear drive mechanism 5; in the figure, 5-1 is a push rod motor mounting block, 5-2 is a push rod motor, 5-3 is a left first plane straight connecting rod, 5-4 is a left second plane straight connecting rod, 5-5 is a left third plane straight connecting rod, and 5-6 is a left fourth plane straight connecting rod.

Fig. 12 is a schematic plan geometry view of the left linear drive mechanism 5.

Fig. 13 is a schematic diagram of the end point trajectory of the left linear drive mechanism 5.

Fig. 14 is a partial exploded view of the spherical six-axis linkage 7; in the figure, 7-1, a mounting rack, 7-2, a left shaft rotating cap, 7-3, a left first spherical connecting rod, 7-4, a left second spherical connecting rod, 7-5, an open wrist ring, 7-6, a right second spherical connecting rod, 7-7, a right first spherical connecting rod, 7-8, a right shaft rotating cap, 7-9, a third spherical connecting rod and 7-10, a second axial screw are arranged.

Fig. 15(a-b) are schematic views of the operation of the present invention to perform a palm flexion/extension movement, respectively.

Fig. 16(a-b) are schematic views of the operation of the present invention to perform ulnar deviation/radial deviation movements, respectively.

FIG. 17 is a schematic view of the present invention mounted on the right forearm of a human body.

Fig. 18 is a spare base of the present invention.

Fig. 19 is a schematic diagram of a grounding scheme of the present invention.

Fig. 20 is a schematic view of the present invention in use in tandem with an exemplary shoulder axis exoskeleton and finger exoskeleton.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

With reference to fig. 1(a-d), fig. 2, fig. 15(a-b), and fig. 16(a-b), the present invention provides a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, which includes: the device comprises a forearm reducing support ring 1, a support ring mounting plate 2, a forearm base 3, a rotary driving mechanism 4, a left linear driving mechanism 5, a right linear driving mechanism 6, a spherical six-axis link mechanism 7, a hand guard plate 8 and a grab handle 9.

The forearm reducing support ring 1, the support ring mounting plate 2 and the forearm base 3 are sequentially and fixedly connected, and the rotary driving mechanism 4 is used for driving the rotation of the rotary driving mechanism relative to a common axis of the rotary driving mechanism and the forearm base 3 so as to drive the wrist joint to move in/out in a rotary mode; the spherical six-axis link mechanism 7 is connected with the upper end and the lower end of the rotary driving mechanism 4, and the left linear driving mechanism 5 and the right linear driving mechanism 6 are connected in parallel on the left side and the right side; the linear driving mechanism 5 and the right linear driving mechanism 6 are used for driving the spherical six-axis connecting rod mechanism 7 to rotate, the output torque drives the wrist joint to do palmar flexion/dorsal extension movement in the same direction, the output torque drives the wrist joint to do ulnar deviation/radial deviation movement in the large reverse direction, and the rest output torque drives the wrist joint to do the compound movement of palmar flexion/dorsal extension and ulnar deviation/radial deviation; the hand guard plate 8 is fixedly connected to the tail end of a connecting rod of the spherical six-axis connecting rod mechanism 7; the grab handle 9 is connected with the hand protection plate 8 through the linear sliding groove and is used for being held by hands.

Furthermore, the grab handle 9 can freely move along the linear sliding groove of the hand guard plate 8, and can steplessly adjust the center distance of the palm and wrist mass and compensate the dislocation of the wrist joint.

With reference to fig. 3-5, the forearm diameter-variable support ring 1 is composed of a first axial screw 1-1, a spring pressure plate 1-2, a rear annular shell 1-3, a T-shaped slider shell 1-4, a spring 1-5, a T-shaped slider cover 1-6, a front annular shell 1-7, a limit ring 1-8, a guide ring 1-9 and a rotary ring cover 1-10. Wherein, the T-shaped sliding block shell 1-4, the corresponding spring 1-5 and the T-shaped sliding block cover 1-6 form 6T-shaped sliding blocks in total; the main annular shell is composed of a first axial screw 1-1, a spring pressure plate 1-2, a rear annular shell 1-3, a front annular shell 1-7 and a limiting ring 1-8. Each T-shaped sliding block shell 1-4 is placed in a T-shaped sliding groove which is attached to the surface of the rear annular shell 1-3 and can slide in the sliding groove along the radial direction; the spring pressing plate 1-2 and the rear annular shell 1-3 are aligned with 3 screw rod through holes respectively, are provided with 6 bent first spring guide holes 1-2-1, penetrate through 6 corresponding slots of the rear annular shell 1-3 and extend into the cavities 1-4-1 of 6T-shaped sliding block shells 1-4 respectively; the inner side of the bending surface of the T-shaped sliding block cover 1-6 is provided with a second spring guide hole 1-6-1; the spring 1-5 is arranged between the first guide hole 1-2-1 and the second guide hole 1-6-1, and the axis of the spring is parallel to the radial direction of the forearm reducing support ring 1; the T-shaped sliding block cover 1-6 is fixedly connected with the T-shaped sliding block shell 1-4 through a screw; the rear annular shell 1-3 and the front annular shell 1-7 are aligned with respective 3 screw rod through holes and are attached along the contact surface, so that the T-shaped sliding block is semi-wrapped; the limiting ring 1-8 is provided with 3 threaded holes, 3 first axial screws 1-1 penetrate through corresponding screw rod through holes of the spring pressing plate 1-2, the rear annular shell 1-3 and the front annular shell 1-7 to be fixedly connected with the limiting ring 1-8, and the spring pressing plate 1-2 and the limiting ring 1-8 are used as a front pressing plate and a rear pressing plate to fix the rear annular shell 1-3 and the front annular shell 1-7; the front surface of each T-shaped sliding block cover 1-6 is provided with a cylindrical pile 1-6-2 playing a role in guiding and respectively penetrates through a front annular shell 1-7 and a limiting chute of a limiting ring 1-8 along the radial direction; the guide ring 1-9 is provided with 6 curved guide chutes 1-9-1 which are matched with the cylindrical piles 1-6-2 and are arranged at equal intervals, and the guide ring is placed above the limiting ring 1-8 so that each cylindrical pile 1-6-2 enters the corresponding curved guide chute 1-9-1; the rotary ring cover 1-10 is fixedly connected with the guide ring 1-9 through a screw, and the edge of the front annular shell 1-7 presses the rotary ring cover 1-10 to prevent the rotary ring cover from falling off relative to the main annular shell. 3 mounting hole positions are reserved on the spring pressing plate 1-2 and used for being fixedly matched with the support ring mounting plate 2.

Further, with reference to fig. 5, the cylindrical piles 1-6-2 of all the T-shaped sliding blocks can synchronously perform centripetal or reverse sliding along the radial limiting sliding grooves under the action of the curved guiding sliding grooves 1-9-1 by rotating the ring covers 1-10 to drive the guide rings 1-9 to rotate, so as to drive all the T-shaped sliding blocks to synchronously slide along the radial direction in the T-shaped sliding grooves. Rotating clockwise along the figure to increase the effective inner diameter of the front arm reducing support ring 1 and compress the spring; the effective inner diameter of the forearm reducing support ring 1 can be reduced by rotating along the anticlockwise direction shown in the figure. Because the forearm diameter-changing support ring 1 has high central symmetry, and the displacement amplitudes of all the T-shaped sliders relative to the central axis are consistent, the forearm diameter-changing support ring 1 can be used for steplessly adjusting the circumference of the forearm under the condition of ensuring that the axis of the forearm of a wearer does not deviate. And (4) loosening the rotary ring cover 1-10, and tightly attaching the T-shaped sliding block to the arm of the human body under the action of the spring.

Referring to fig. 6, the forearm base 3 is composed of an O-shaped crown 3-1, a main frame 3-2 and a V-shaped circumferential slide rail 3-3. The O-shaped tooth crown 3-1, the main frame body 3-2 and the V-shaped circumferential slide rail 3-3 are kept coaxial and are fixedly connected through screws in sequence. 3 mounting hole positions are reserved on the O-shaped crown 3-1 and are used for being fixedly matched with the support ring mounting plate 2.

Referring to fig. 7, the rotary driving mechanism 4 is composed of a rear end face cover plate 4-1, a driving gear 4-2, a driven gear 4-3, a gear mounting plate 4-4, an eccentric rivet 4-5, a lower shield 4-6, a speed change gear box 4-7, a rotary motor 4-8, an encoder 4-9, an upper shield 4-10, a linear type slide rail 4-11, a slide rail mounting plate 4-12, a linear type slide block 4-13, a V-shaped groove fixed pulley 4-14, a V-shaped groove eccentric pulley 4-15, a front end face cover plate 4-16, a telescopic rod outer tube 4-17, a C-shaped clamp 4-18 and a telescopic rod inner rod 4-19. Wherein, the speed change gear box 4-7, the rotating motor 4-8 and the encoder 4-9 form a rotating driver; the telescopic rod comprises 4-17 parts of an outer telescopic rod tube, 4-18 parts of a C-shaped clamp and 4-19 parts of an inner telescopic rod. The lower protective cover 4-6 is fixedly connected with the gear mounting disc 4-4 through a screw, and a mounting position of the rotary driver is arranged below the lower protective cover; the rotary driver passes through the mounting position of the lower shield 4-6 and is fixedly connected with the gear mounting disc 4-4 through a screw; a rotating rod of the speed change gear box 4-7 penetrates through the disc surface of the gear mounting disc 4-4 and is fixedly connected with the driving gear 4-2 through a fastener; two eccentric rivets 4-5 pass through the disc surface of the gear mounting disc 4-4 and are respectively connected with a driven gear 4-3 to form a revolute pair; the rear end face shield plate 4-1 is fixedly connected with the gear mounting plate 4-4 through screws; riveting the eccentric rivet 4-5 with the rear end cover plate 4-1; the upper shield 4-10 is respectively fixedly connected with the gear mounting disc 4-4 and the lower shield 4-6 through screws; the slide rail mounting plate 4-12 is fixedly connected with the upper shield 4-10 backwards through a screw, and is fixedly connected with the linear slide rail 4-11 upwards through a screw; the linear slide block 4-13 is connected with the linear slide rail 4-11 to form a moving pair; the front end face cover plate 4-16 is firstly provided with two V-shaped groove fixed pulleys 4-14 and two V-shaped groove eccentric pulleys 4-15 below and above the back face respectively through fasteners, and then is fixedly connected with the lower shield 4-6 and the upper shield 4-10 through screws; the front end of the outer tube 4-17 of the telescopic rod is fixedly provided with a C-shaped clamp 4-18, the rear end of the outer tube is fixedly connected with the front end face cover plate 4-16 through a screw, and the inner side of the outer tube is connected with the inner rod 4-19 of the telescopic rod to form a moving pair.

Further, the manner of assembling the forearm base 3 and the rotation drive mechanism 4 in the present embodiment will be described with reference to fig. 8 to 10. The forearm base 3 and the rotary driving mechanism 4 are respectively connected on the A-A section and the B-B section; in the section A-A, an O-shaped crown 3-1 is respectively contacted with a driving gear 4-2 and two driven gears 4-3, wherein the driving gear 4-2 is meshed with the O-shaped crown 3-1 to provide power for inward/outward rotation, and the driven gears 4-3 and the O-shaped crown 3-1 are in clearance fit to play a role in ensuring the coaxiality of the forearm base 3 and the rotary driving mechanism 4; the driven gear 4-3 and the two driven gears 4-3 are arranged on the periphery of the O-shaped crown 3-1 at equal intervals; on the section B-B, the V-shaped circumferential slide rail 3-3 is respectively contacted with two V-shaped groove fixed pulleys 4-14 and two V-shaped groove eccentric pulleys 4-15, and plays a role in positioning the rotary driving mechanism 4 in the axial direction. When the rotary driving mechanism 4 is connected with the forearm base 3, the eccentric distance of the eccentric rivet 4-5 and the V-shaped groove eccentric pulley 4-15 is respectively adjusted to match with the O-shaped tooth crown 3-1 and the V-shaped circumferential slide rail 3-3. Two V-shaped groove fixed pulleys 4-14 and two V-shaped groove eccentric pulleys 4-15 are arranged on the periphery of the V-shaped circumferential slide rail 3-3 at equal intervals.

Furthermore, the length of the forearm can be adjusted in a stepless way by moving the linear slide block 4-13 and the telescopic rod inner rod 4-19 along the axial direction of the forearm, and the length of the forearm can be fixed by fixing the telescopic rod inner rod 4-19 through the C-shaped clamp 4-18.

Referring to fig. 11, the left linear driving mechanism 5 is composed of a push rod motor mounting block 5-1, a push rod motor 5-2, a left first plane straight connecting rod 5-3, a left second plane straight connecting rod 5-4, a left third plane straight connecting rod 5-5, and a left fourth plane straight connecting rod 5-6. Wherein, the left first plane straight connecting rod 5-3, the left second plane straight connecting rod 5-4, the left third plane straight connecting rod 5-5 and the left fourth plane straight connecting rod 5-6 form a stroke amplifying mechanism. The push rod motor mounting block 5-1 is connected with the power input end of the push rod motor 5-2 to form a revolute pair; the power output end of the push rod motor 5-2 is connected with the upper rotating shaft of the left first plane straight connecting rod 5-3 to form a rotating pair; the left first plane straight connecting rod 5-3, the left second plane straight connecting rod 5-4, the left third plane straight connecting rod 5-5 and the left fourth plane straight connecting rod 5-6 are connected with each other in a rotating pair mode. The right linear driving mechanism 6 is in mirror symmetry with the left linear driving mechanism 5.

Referring to fig. 14, the spherical six-axis link mechanism 7 is composed of a mounting frame 7-1, a left axis screw cap 7-2, a left first spherical link 7-3, a left second spherical link 7-4, an open wrist ring 7-5, a right second spherical link 7-6, a right first spherical link 7-7, a right axis screw cap 7-8, a third spherical link 7-9, and a second axis screw 7-10. The open wrist ring 7-5 and the rear end of the third spherical connecting rod 7-9 are connected through a second axial screw 7-10 to form a revolute pair; a left rotating shaft of the open wrist ring 7-5 sequentially penetrates through a left lower shaft hole of the mounting frame 7-1 and a middle through hole of the left first spherical connecting rod 7-3 and is fixedly connected with the left shaft rotating cap 7-2; the middle through hole of the left first spherical connecting rod 7-3 is connected with the rear end rotating shaft of the left second spherical connecting rod 7-4 to form a rotating pair; the front end rotating shaft of the left second spherical connecting rod 7-4 is connected with the left through hole of the third spherical connecting rod 7-9 to form a rotating pair. The lower rotating shaft of the left first spherical connecting rod 7-3 is connected with the front through hole of the left fourth plane straight connecting rod 5-6 to form a rotating pair. The assembly of the right second spherical connecting rod 7-6, the right first spherical connecting rod 7-7 and the right rotating cap 7-8 has bilateral symmetry with the left rotating cap 7-2, the left first spherical connecting rod 7-3 and the left second spherical connecting rod 7-4. The tail end turnover face of the mounting rack 7-1 is provided with a left mounting hole position and a right mounting hole position for being fixedly connected with a push rod motor mounting block 5-1, the rear end plane is provided with two mounting hole positions for being fixedly matched with a linear type sliding block 4-13, the lower end arm ring is provided with 1 mounting hole position for being fixedly matched with a telescopic rod inner rod 4-19, and the left extending rod and the right extending rod above the front end are respectively provided with a mounting hole position for being connected with a left linear driving mechanism 5 and a right linear driving mechanism 6 to form a revolute pair.

The working principle of the stroke amplification mechanism is as follows:

with reference to fig. 12 and 13, the stroke enlarging mechanism is essentially a planar parallelogram link mechanism, each point in the drawing is a link rotation center, and since the left second planar straight link 5-4 and the left third planar straight link 5-5 form a revolute pair with the left extending rod above the front end of the mounting frame 7-1, the point O is a fixed point, and the other points are moving points; line ABC represents the left first planar straight link 5-3, line OB represents the left second planar straight link 5-4, line OD represents the left third planar straight link 5-5, and line CDE represents the left fourth planar straight link 5-6. Since all links are rigid links, the line segments AB, BC, CD, DE, OB, OD in the figure are fixed-length. If AE is connected, it is easily obtained

The constant K is the amplification factor of the stroke amplification mechanism. Because the lower rotating shaft of the left first spherical connecting rod 7-3 is connected with the front through hole of the left fourth plane straight connecting rod 5-6 to form a revolute pair, the movement of the point E is restricted and equivalently slides along a section of fixed arc on the plane by taking the middle through hole of the left first spherical connecting rod 7-3 as the center of a circle. The composition was measured by AE: AO is K: the 1-easy-to-obtain point A slides on a section of fixed circular arc at the equal angular speed with the point E, and the radius of the circular arc is 1/K of the circular arc along which the point E is positioned. In this embodiment, 1 is K — 3.

With reference to fig. 1, the hybrid three-degree-of-freedom wearable wrist exoskeleton based on the spherical six-axis link mechanism provided by the invention has high bilateral symmetry, and can be used for left-hand and right-hand interchange training without modification. With reference to fig. 17, taking right-handed use as an example, the wearing manner of the present invention is: the right hand extends into the wrist exoskeleton to sequentially pass through the forearm reducing support ring 1, the support ring mounting plate 2, the forearm base 3, the rotary driving mechanism 4 and the spherical six-axis link mechanism 7, the geometric dimension of the wrist exoskeleton is adjusted to enable the degrees of freedom of the exoskeleton to be aligned with the wrist of a human body, and the right hand holds the grab handle 9; the forearm reducing support ring 1 makes the forearm base 3 and the forearm of the human body keep relatively static during rehabilitation training.

With reference to fig. 18 and 19, the hybrid three-degree-of-freedom wearable wrist exoskeleton based on the spherical six-axis link mechanism provided by the invention can be grounded for use. A mounting hole position is reserved by dismantling the forearm reducing support ring 1 and the support ring mounting plate 2, and the spare base 10 is fixedly connected with the O-shaped tooth crown 3-1 through screws to form a fixed wrist exoskeleton system, so that the gravity of the system can be compensated, and a fixed rehabilitation training scheme with lighter load is provided for a patient.

With reference to fig. 20, the present invention can provide a modular wrist exoskeleton solution for the patient to rehabilitate and train the upper limb as a whole. According to the invention, the forearm reducing support ring 1, the support ring mounting plate 2, the hand guard plate 8 and the handle 9 are removed to reserve mounting holes, so that an integrated complete upper limb rehabilitation exoskeleton robot system can be formed with the shoulder and elbow exoskeleton 11 and the finger exoskeleton 12; the shoulder and elbow exoskeleton 11 and the O-shaped dental crown 3-1 are fixedly connected through screws, and the finger exoskeleton 12 and the third spherical connecting rod 7-9 are fixedly connected through screws.

Claims

1. The utility model provides a series-parallel three degree of freedom wearing formula wrist ectoskeleton based on six axis link mechanism in sphere which characterized in that includes:

a spherical six-axis link mechanism connected with the rotary driving mechanism,

the left side and the right side of the spherical six-axis connecting rod mechanism are respectively connected with a linear driving mechanism in parallel and used for driving the spherical six-axis connecting rod mechanism to rotate, the output torque drives the wrist joint to do palmar flexion/dorsal extension movement in the same direction, the output torque drives the wrist joint to do ulnar deviation/radial deviation movement in the same direction and the like, and the rest output torque drives the wrist joint to do compound movement of palmar flexion/dorsal extension and ulnar deviation/radial deviation;

2. The spherical six-axis linkage based hybrid three-degree-of-freedom wearable wrist exoskeleton of claim 1, further comprising:

the forearm reducing support ring is used for adjusting the circumference of the forearm;

the forearm base is connected with the forearm reducing support ring through the support ring mounting plate.

3. The wearable wrist exoskeleton of three degrees of freedom in series-parallel connection based on a spherical six-axis linkage mechanism as claimed in claim 1,

the rear end of the front arm base is provided with an O-shaped tooth crown, and the front end of the front arm base is provided with a V-shaped circumferential sliding rail;

the rotary driving mechanism comprises a protective cover fixed outside the forearm base, a rotary driver fixed with the protective cover, a plurality of driven gears, a plurality of V-shaped groove fixed pulleys, a plurality of V-shaped groove eccentric pulleys and a driving gear connected with the rotary driver;

the driving gear is meshed with the O-shaped crown, and the driven gear is in clearance fit with the O-shaped crown;

and the V-shaped groove fixed pulley and the V-shaped groove eccentric pulley are matched with the V-shaped circumferential sliding rail.

4. The spherical six-axis linkage based hybrid three-degree-of-freedom wearable wrist exoskeleton of claim 3,

the rotary driving mechanism further comprises a telescopic mechanism, the telescopic mechanism comprises a telescopic rod and a linear sliding pair, the spherical six-axis connecting rod mechanism is connected with the rotary driving mechanism through the telescopic mechanism, and the telescopic rod can lock the position after being stretched.

5. The spherical six-axis linkage based hybrid three-degree-of-freedom wearable wrist exoskeleton of claim 1,

the shield comprises a rear end face shield plate, a gear mounting disc, an upper shield, a lower shield and a front end face shield plate;

the upper shield is fixedly connected with the gear mounting disc and the lower shield respectively; the lower shield is fixedly connected with the gear mounting disc; the rear end face cover plate is fixedly connected with the gear mounting plate; the front end cover plate is fixedly connected with the lower shield and the upper shield.

6. The spherical six-axis linkage based hybrid three-degree-of-freedom wearable wrist exoskeleton of claim 1, wherein the linear drive mechanism comprises a push rod motor, a first planar straight link, a second planar straight link, a third planar straight link, a fourth planar straight link;

the output end of the push rod motor is connected with the upper rotating shaft of the first plane straight connecting rod to form a rotating pair; the front part of the fourth plane straight connecting rod is connected with the spherical six-axis connecting rod mechanism to form a revolute pair;

the first plane straight connecting rod, the left second plane straight connecting rod, the left third plane straight connecting rod and the left fourth plane straight connecting rod form a stroke amplifying mechanism.

7. The hybrid three-degree-of-freedom wearable wrist exoskeleton of claim 6 based on a spherical six-axis linkage mechanism, wherein the spherical six-axis linkage mechanism comprises a mounting frame, a left rotation cap, a left first spherical link, a left second spherical link, an open wrist ring, a right second spherical link, a right first spherical link, a right rotation cap, a third spherical link;

the open wrist ring is connected with the third spherical connecting rod to form a revolute pair; the left side of the open wrist ring sequentially penetrates through a left lower shaft hole of the mounting frame and the middle part of the left first spherical connecting rod and is fixedly connected with the left shaft rotating cap; the middle part of the left first spherical connecting rod is connected with the rear end of the left second spherical connecting rod to form a revolute pair; the front end of the left second spherical connecting rod is connected with the left side of the third spherical connecting rod to form a revolute pair; the lower part of the left first spherical connecting rod is connected with the front part of the left fourth plane straight connecting rod to form a revolute pair; the right second spherical connecting rod, the right first spherical connecting rod and the right shaft rotating cap are assembled and have bilateral symmetry with the left shaft rotating cap, the left first spherical connecting rod and the left second spherical connecting rod.

8. The spherical six-axis linkage mechanism-based series-parallel three-degree-of-freedom wearable wrist exoskeleton of claim 1, wherein the forearm reducing support ring comprises an annular shell and a plurality of T-shaped sliders arranged in the annular shell, a return spring is arranged between each T-shaped slider and the annular shell and used for returning the T-shaped sliders, and the T-shaped sliders can slide in the annular shell in the radial direction;

the T-shaped sliding block is provided with a cylindrical pile, the front end surface of the annular shell is provided with a plurality of limiting sliding grooves which are arranged along the radial direction,

the front end of the annular shell is provided with a guide ring, and the guide ring is provided with a plurality of curve guide sliding chutes at equal intervals; the cylinder stake passes spacing spout and slides with curve direction spout, and the guide ring rotates and to make T type slider slide along spacing spout through curve direction spout to compression reset spring realizes the regulation of circumference size.

9. The spherical six-axis linkage based hybrid three-degree-of-freedom wearable wrist exoskeleton of claim 1,

can be used for left-right hand interchange training:

the wrist exoskeleton system can be used in a grounding mode, the standby base is fixedly connected with the O-shaped tooth crown in the exoskeleton grounding mode, and a fixed wrist exoskeleton system is formed;

the robot system can be integrated with shoulder, elbow and finger exoskeletons to form an integrated complete upper limb rehabilitation exoskeletal robot system.