CN114917109A - Exoskeleton robot for wrist rehabilitation - Google Patents
Exoskeleton robot for wrist rehabilitation Download PDFInfo
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- CN114917109A CN114917109A CN202210543696.7A CN202210543696A CN114917109A CN 114917109 A CN114917109 A CN 114917109A CN 202210543696 A CN202210543696 A CN 202210543696A CN 114917109 A CN114917109 A CN 114917109A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000013461 design Methods 0.000 claims abstract description 10
- 239000002184 metal Substances 0.000 claims description 41
- 238000009434 installation Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000012549 training Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 206010060820 Joint injury Diseases 0.000 description 2
- 208000027669 Wrist injury Diseases 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 238000009098 adjuvant therapy Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of medical equipment, in particular to a structural design of a wrist rehabilitation exoskeleton robot, which comprises the following components: function execution device, support device and power supply device. The method is characterized in that: the power supply device is fixed on the support device through a bolt; the function execution device is connected to the supporting device through bolts, all parts of the function execution device are also connected with each other through the bolts in a clearance mode, and all parts of the supporting device are also fixedly connected through the bolts. Making it an integral whole. The wrist part is marked as X, Y, Z in three directions, and the wrist rehabilitation exoskeleton robot can realize rotation movement in the three directions, so that the wrist rehabilitation exoskeleton robot is more suitable for the movement condition of a patient with a damaged wrist, and the recovery process of the patient is easier and more comfortable.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an exoskeleton mechanical structure for assisting recovery after wrist injury.
Background
The wrist is the most used part of the upper limb for various activities in life of people, and is the most easily damaged part, so that the damage of the wrist brings great inconvenience to the life of people, and even a patient cannot perform simple daily activities. How to rapidly recover the damaged wrist, designing and manufacturing a wrist joint rehabilitation training robot which is more convenient and complete is the central focus of the current work. Over the past decades, several rehabilitation teams have begun to incorporate exoskeleton rehabilitation robotic adjuvant therapy into their rehabilitation programs. Such treatments represent a novel and promising approach in wrist rehabilitation exoskeleton robots. The exoskeleton robot device can provide accurate and repeated movement for a patient in rehabilitation and can be used as a reliable means for wrist injury rehabilitation training. The use of exoskeleton robotic devices to assist in rehabilitation therapy is not only accepted by the medical community, but is even considered a better approach to wrist rehabilitation training.
When the existing wrist rehabilitation training device is used for medical purposes, some problems are still faced: in a first aspect: the existing wrist rehabilitation training instrument has the defects that the freedom degree can not complete certain specific compound motions; in a second aspect: the connecting pieces have large friction, unsmooth operation and large instrument mass, and secondary damage is caused to patients.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides the wrist rehabilitation exoskeleton robot and effectively solves the problems of low degree of freedom, unsmooth operation and large mass of the existing wrist rehabilitation training instrument.
The invention adopts the following technical scheme for realizing the purpose of the invention:
a structural design of a wrist rehabilitation exoskeleton robot comprises: a function executing device (I), a supporting device (II) and a power supply device (III).
Furthermore, two ends of a Y-axis rocker of the function execution device I are respectively connected with a Y-axis auxiliary rocker and a Y-axis oscillating bar through hinge rods; one end of the Y-axis auxiliary rocker is connected with the handle frame through a hinged rod; one end of the Y-axis rocker is fixed on the crank fixing frame through a hinge rod; one end of the Z-axis rocker is connected with the handle frame through a hinge rod; the grab handle is arranged in the grab handle frame through the sliding chute; the other end of the Z-axis rocker is connected with the Z-axis swing rod through a hinge rod, and the other hole at the end of the Z-axis rocker is connected with the crank fixing frame through the hinge rod; the Z-axis oscillating bar is arranged on the Z-axis driving block through a hinge rod; the Y-axis swing rod is installed on the Y-axis driving block through a hinge rod.
Furthermore, an installation bottom plate of the supporting device II is fixedly connected with the crank fixing frame through bolts; the ball screw mounting metal plate is fixedly connected to the corresponding position of the mounting base plate through a bolt; the motor fixing plate is fixedly connected on the mounting base plate through bolts; the upper fixing plate is fixedly connected on the mounting bottom plate through bolts; the lower fixing plate is fixedly connected on the motor fixing plate through bolts; the round fixing frame is fixedly connected on the mounting bottom plate through bolts.
Furthermore, a Y-axis motor of the power supply device III is fixed on a motor fixing plate through a bolt; the X-axis motor is fixed on the upper fixing plate and the lower fixing plate through bolts; the Z-axis motor is fixed on the motor fixing plate through a bolt; the X-axis driving gear is arranged at the output end of the bearing of the X-axis motor; the Y-axis rotating speed regulator is connected to the Y-axis basic block through a bolt; the Y-axis driving belt pulley is arranged at the bearing output end of the Y-axis motor; the Y-axis driven belt pulley is arranged at the input end of the Y-axis lead screw; the Z-axis driven belt pulley is arranged at the input end of the Z-axis lead screw; the Z-axis driving belt pulley is arranged at the output end of the Z-axis motor; the X-axis driven gear is arranged on an inner ring of a bearing of the X-axis driven gear; the bearing inner ring of the X-axis driven gear is arranged on the circular fixing frame; the Y-axis driving block is arranged on the Y-axis lead screw; the Z-axis driving block is arranged on the Z-axis lead screw; the Y-axis basic block is arranged at the rear end of the Y-axis lead screw; the Z-axis basic block is arranged at the rear end of the Z-axis lead screw; the Y-axis speed limiting spring is sleeved on the Y-axis screw rod and is positioned between the Y-axis basic block and the Y-axis driving block; the Z-axis speed limiting spring is sleeved on the Z-axis lead screw and is positioned between the Z-axis basic block and the Z-axis driving block; the X-axis driving gear safety cover is arranged on the motor fixing plate; the Y-axis lead screw is arranged on the Y-axis ball screw upper bearing device and the Y-axis ball screw lower bearing device; and the Z-axis lead screw is arranged on the Z-axis ball screw lower bearing device and the Z-axis ball screw upper bearing device.
Furthermore, the Z-axis ball screw of the ball screw mounting metal plate is mounted with the lower metal plate, the Z-axis ball screw is mounted with the upper metal plate, the Y-axis ball screw is mounted with the lower metal plate, and the Y-axis ball screw is mounted with the upper metal plate, which are fixed on the mounting bottom plate through bolts.
Furthermore, a Z-axis ball screw lower bearing device of the ball screw bearing device is fixed on the Z-axis ball screw mounting lower metal plate through a bolt; the lower bearing device of the Y-axis ball screw is fixed on the lower metal plate for mounting the Y-axis ball screw through bolts; the Z-axis ball screw upper bearing device is fixed on the Z-axis ball screw mounting upper metal plate through a bolt; and the Y-axis ball screw upper bearing device is fixed on the Y-axis ball screw upper mounting metal plate through bolts.
Has the advantages that:
compared with the prior art, the invention has the beneficial effects that:
the effect of the technical solution is described textually. The invention adopts three same two-phase hybrid stepping motors which are fixed together to provide X, Y, Z three-direction rotary motion of the wrist joint. The Y-axis motor and the Z-axis motor are driven by a belt, the motion of the slider crank mechanism is transmitted by a parallel spherical mechanism, the rotation output of the Y axis and the Z axis of the wrist is provided, the rotation motion of the Y axis and the Z axis is completed, and in the rotation motion of the X axis, the rotation motion of the X axis is completed by the X-axis motor through gear transmission. The design of the wrist rehabilitation exoskeleton robot can meet various motions of a wrist part, and the wrist rehabilitation exoskeleton robot has the design of three degrees of freedom, is compact in design structure and smooth in motion, and effectively solves the problems of motion smoothness and single motion mode of the device.
Drawings
FIG. 1 is a general block diagram of the present invention;
FIG. 2 is a schematic diagram of a function performing apparatus;
FIG. 3 is a schematic view of the support structure;
FIG. 4 is a schematic view of a power supply arrangement;
in the figure, a 1-Y shaft rocker, a 2-Y shaft pair rocker, a 3-grab handle, a 4-grab handle frame, a 5-Z shaft rocker, a 6-Z shaft rocker, a 7-Y shaft rocker, an 8-mounting bottom plate, a 9-crank fixing frame, a 10-1-Z shaft ball screw lower bearing device, a 10-2-Y shaft ball screw lower bearing device, a 10-3-Z shaft ball screw upper bearing device, a 10-4-Y shaft ball screw upper bearing device, a 11-1-Z shaft ball screw mounting lower metal plate, a 11-2-Z shaft ball screw mounting upper metal plate, a 11-3-Y shaft ball screw mounting lower metal plate, a 11-4-Y shaft ball screw mounting upper metal plate, a 12-motor fixing plate, a 13-lower fixing plate, a, 14-upper fixing plate, 15-Y shaft motor, 16-X shaft motor, 17-Z shaft motor, 18-X shaft driving gear, 19-Y shaft rotating speed regulator, 20-Y shaft driving pulley, 21-Y shaft driven pulley, 22-Z shaft driven pulley, 23-Z shaft driving pulley, 24-X shaft driven gear, 25-X shaft driven gear bearing inner ring, 26-Y shaft driving block, 27-Z shaft driving block, 28-Y shaft basic block, 29-Z shaft basic block, 30-Y shaft speed limiting spring, 31-Z shaft speed limiting spring, 32-X shaft driving gear safety cover, 33-Y shaft lead screw, 34-Z shaft lead screw and 35-circular fixing frame.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
As shown in fig. 1 to 4, the structural design of the wrist rehabilitation exoskeleton robot disclosed by the invention comprises a function execution device i, a supporting device ii and a power supply device iii.
Specifically, two ends of a Y-axis rocker 1 of the function execution device I are respectively connected with a Y-axis auxiliary rocker 2 and a Y-axis oscillating bar 7 through hinged rods; one end of the Y-axis pair rocker 2 is connected with the handle frame 4 through a hinged rod; one end of the Y-axis rocker 1 is fixed on the crank fixing frame 9 through a hinge rod; one end of the Z-axis rocker 5 is connected with the handle frame 4 through a hinged rod; the grab handle 3 is arranged in the grab handle frame 4 through a sliding chute; the other end of the Z-axis rocker 5 is connected with a Z-axis swing rod 6 through a hinge rod, and the other hole at the end of the Z-axis rocker 5 is connected with a crank fixing frame 9 through the hinge rod; the Z-axis swing rod 6 is arranged on the Z-axis driving block 27 through a hinged rod; the Y-axis swing rod 7 is installed on the Y-axis driving block 27 through a hinged rod.
Specifically, a mounting bottom plate 8 of the supporting device II is fixedly connected with a crank fixing frame 9 through a bolt; the ball screw mounting metal plate 11 is fixedly connected to the corresponding position of the mounting bottom plate 8 through bolts; the motor fixing plate 12 is fixedly connected on the mounting bottom plate 8 through bolts; the upper fixing plate 14 is fixedly connected on the mounting bottom plate 8 through bolts; the lower fixing plate 13 is fixedly connected to the motor fixing plate 12 through bolts; the circular fixing frame 35 is fixedly connected to the mounting bottom plate 8 through bolts.
Specifically, a Y-axis motor 15 of the power supply device III is fixed on the motor fixing plate 12 through a bolt; the X-axis motor 16 is fixed on the lower fixing plate 13 and the upper fixing plate 14 through bolts; the Z-axis motor 17 is fixed on the motor fixing plate 12 through a bolt; the X-axis driving gear 18 is arranged at the bearing output end of the X-axis motor 16; the Y-axis rotation speed adjuster 19 is connected to the Y-axis base block 28 by a bolt; the Y-axis driving belt pulley 20 is arranged at the bearing output end of the Y-axis motor 15; the Y-axis driven pulley 21 is arranged at the input end of the Y-axis screw rod 33; the Z-axis driven pulley 22 is arranged at the input end of the Z-axis lead screw 34; the Z-axis driving belt pulley 23 is arranged at the output end of the Z-axis motor 17; the X-axis driven gear 24 is arranged on an X-axis driven gear bearing inner ring 25; the bearing inner ring 25 of the X-axis driven gear is arranged on the circular fixing frame 35; the Y-axis driving block 26 is arranged on the Y-axis lead screw 33; the Z-axis driving block 27 is arranged on a Z-axis lead screw 34; the Y-axis basic block 28 is arranged at the rear end of the Y-axis lead screw 33; the Z-axis basic block 29 is arranged at the rear end of the Z-axis lead screw 34; the Y-axis speed-limiting spring 30 is sleeved on a Y-axis screw 33 and is positioned between the Y-axis basic block 28 and the Y-axis driving block 26; the Z-axis speed limiting spring 31 is sleeved on the Z-axis lead screw 34 and is positioned between the Z-axis basic block 29 and the Z-axis driving block 27; the X-axis driving gear safety cover 32 is arranged on the motor fixing plate 12; the Y-axis screw 33 is arranged on the Y-axis ball screw upper bearing device 10-4 and the Y-axis ball screw lower bearing device 10-2; the Z-axis lead screw 34 is installed on the Z-axis ball screw lower bearing device 10-1 and the Z-axis ball screw upper bearing device 10-3.
Specifically, the Z-axis ball screw mounting lower metal plate 11-1, the Z-axis ball screw mounting upper metal plate 11-2, the Y-axis ball screw mounting lower metal plate 11-3 and the Y-axis ball screw mounting upper metal plate 11-4 of the ball screw mounting metal plate 11 are fixed on the mounting base plate 8 through bolts.
Specifically, a Z-axis ball screw lower bearing device 10-1 of the ball screw bearing device 10 is fixed on a Z-axis ball screw mounting lower metal plate 11-1 through bolts; the Y-axis ball screw lower bearing device 10-2 is fixed on the Y-axis ball screw mounting lower metal plate 11-3 through bolts; the Z-axis ball screw upper bearing device 10-3 is fixed on the Z-axis ball screw upper mounting metal plate 11-2 through bolts; the Y-axis ball screw upper bearing device 10-4 is fixed on the Y-axis ball screw upper metal plate 11-4 through bolts.
The working process of the invention is as follows:
when the exoskeleton robot works, an arm penetrates through the inner ring 25 of the X-axis driven gear bearing, the hand holds the handle 3, the arm is clamped in the inner ring 25 of the X-axis driven gear bearing, the X-axis motor 14 drives the X-axis driving gear 18 to rotate, the X-axis driving gear 18 drives the X-axis driven gear 24 to rotate, the inner ring 25 of the X-axis driven gear bearing is fixed with the arm, the X-axis driven gear 24 is fixedly connected with the inner ring 25 of the X-axis driven gear bearing, the whole exoskeleton robot rotates under the reverse driving of the X-axis driven gear 24 under the driving of the X-axis driving gear 18 except that the X-axis driven gear 24 and the inner ring 25 of the driven gear bearing are fixed, and when the X-axis driving gear 18 rotates reversely, the whole exoskeleton robot rotates reversely, so that the forward and reverse movement of the X axis of the wrist part is completed.
When a Y-axis motor 15 drives a Y-axis driving belt pulley 20 to drive a Y-axis driven belt pulley 21 to rotate through a belt, the Y-axis driven belt pulley 21 drives a Y-axis screw 33 to rotate, a Y-axis driving block 26 realizes up-and-down movement under the rotation of the Y-axis screw 33, a Y-axis swinging rod 7 is connected with the Y-axis driving block 26 through a hinged rod, the Y-axis swinging rod 7 is pulled (pushed) in the up-and-down movement of the Y-axis driving block 26, because the Y-axis swinging rod 1 is connected on a crank fixing frame 9 through the hinged rod, the Y-axis swinging rod 7 is connected with the Y-axis swinging rod 1 through the hinged rod, when the Y-axis driving block 26 pulls (pushes) the Y-axis swinging rod 7, the Y-axis swinging rod 7 can pull (push) the Y-axis swinging rod 1 to enable the Y-axis swinging rod 1 to rotate by taking the hinged rod of the Y-axis swinging rod 1 connected with the crank fixing frame 9 as a shaft, and the Y-axis swinging rod 1 can drive a Y-axis auxiliary swinging rod 2 to move while rotating, the Y-axis pair rocker 2 can drive the handle frame 4 to move, and the grab handle 3 can move along with the handle frame 4, so that the rotary motion of the wrist part in the Y-axis direction is realized.
When the Z-axis motor 17 drives the Z-axis driving belt pulley 23 to drive the Z-axis driven belt pulley 22 to rotate through a belt, the Z-axis driven belt pulley 22 drives the Z-axis lead screw 34 to rotate, the Z-axis driving block 27 realizes up-and-down movement under the rotation of the Z-axis lead screw 34, the Z-axis swing rod 6 is connected with the Z-axis driving block 27 through a hinge rod, the Z-axis swing rod 6 is pulled (pushed) during the up-and-down movement of the Z-axis driving block 27, because the Z-axis swing rod 5 is connected on the crank fixing frame 9 through the hinge rod, the Z-axis swing rod 6 is connected with the Z-axis swing rod 5 through the hinge rod, when the Z-axis driving block 27 pulls (pushes) the Z-axis swing rod 6, the Z-axis swing rod 6 can pull (push) the Z-axis swing rod 5, so that the Z-axis swing rod 5 rotates around the hinge rod connected with the crank fixing frame 9, and the Z-axis swing rod 5 can drive the handle frame 4 to rotate when rotating, the handle frame 4 drives the grab handle 3 to complete the Z-axis rotation movement of the wrist part.
When the Y-axis lead screw 33 and the Z-axis lead screw 34 rotate, the Y-axis driving block 26 and the Z-axis driving block 27 move up and down, the Y-axis basic block 28 and the Z-axis basic block 29 are fixed on the Y-axis lead screw 33 and the Z-axis lead screw 34, and the Y-axis speed limiting spring 30 and the Z-axis speed limiting spring 31 are compressed while the Y-axis lead screw 33 and the Z-axis lead screw 34 rotate downwards, so that the Y-axis driving block 26 and the Z-axis driving block 27 can move up and down more smoothly, and the vibration and instability of the machine are reduced.
The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (6)
1. A structural design of a wrist rehabilitation exoskeleton robot, comprising: a function executing device (I), a supporting device (II) and a power supply device (III), it is characterized in that the function executing device (I) is arranged on the supporting device (II) through a crank fixing frame (9), a Y-axis driving block (26) and a Z-axis driving block (27), the power supply device (III) is arranged on the supporting device (II) through an installation bottom plate (8), a ball screw installation metal plate (11), a motor fixing plate (12), a lower fixing plate (13) and an upper fixing plate (14) to jointly form the wrist rehabilitation exoskeleton robot, the wrist rehabilitation exoskeleton robot drives a crank slider mechanism through a ball screw, the motion of the crank slider mechanism is transmitted by utilizing a parallel spherical mechanism, the mechanism provides Y, Z reciprocating rotary motion in two directions, and the reciprocating rotary motion of an X axis is completed by driving a gear bearing mechanism through an X axis motor (16).
2. A structural design of a wrist rehabilitation exoskeleton robot as claimed in claim 1, wherein the function executing device (i) comprises: the Y-axis rocking bar (1), the Y-axis auxiliary rocking bar (2), the grab handle (3), the grab handle frame (4), the Z-axis rocking bar (5), the Z-axis rocking bar (6) and the Y-axis rocking bar (7). Two ends of the Y-axis rocker (1) are respectively connected with the Y-axis auxiliary rocker (2) and the Y-axis swing rod (7) through hinged rods; one end of the Y-axis pair rocker (2) is connected with the handle frame (4) through a hinged rod; the Y-axis rocker (1) is fixed on the crank fixing frame (9) through one end of the hinge rod; one end of the Z-axis rocker (5) is connected with the handle frame (4) through a hinged rod; the grab handle (3) is arranged in the grab handle frame (4) through a chute; the other end of the Z-axis rocker (5) is connected with a Z-axis swing rod (6) through a hinge rod, and the other hole at the end of the Z-axis rocker (5) is connected with a crank fixing frame (9) through the hinge rod; the Z-axis swing rod (6) is arranged on the Z-axis driving block (27) through a hinged rod; the Y-axis swing rod (7) is installed on the Y-axis driving block (27) through a hinged rod.
3. A structural design of a wrist rehabilitation exoskeleton robot as claimed in claim 1, wherein the supporting device (ii) comprises: the crank fixing frame structure comprises a mounting base plate (8), a crank fixing frame (9), a ball screw mounting metal plate (11), a motor fixing plate (12), a lower fixing plate (13), an upper fixing plate (14) and a circular fixing frame (35). The mounting bottom plate (8) is fixedly connected with the crank fixing frame (9) through bolts; the ball screw mounting metal plate (11) is fixedly connected to the corresponding position of the mounting bottom plate (8) through a bolt; the motor fixing plate (12) is fixedly connected on the mounting bottom plate (8) through bolts; the upper fixing plate (14) is fixedly connected on the mounting bottom plate (8) through bolts; the lower fixing plate (13) is fixedly connected on the motor fixing plate (12) through bolts; the round fixing frame (35) is fixedly connected on the mounting bottom plate (8) through bolts.
4. A structural design of a wrist rehabilitation exoskeleton robot as claimed in claim 1, wherein the power supply device (iii) comprises: the device comprises a ball screw bearing device (10), a Y-axis motor (15), an X-axis motor (16), a Z-axis motor (17), an X-axis driving gear (18), a Y-axis rotating speed regulator (19), a Y-axis driving pulley (20), a Y-axis driven pulley (21), a Z-axis driven pulley (22), a Z-axis driving pulley (23), an X-axis driven gear (24), an X-axis driven gear bearing inner ring (25), a Y-axis driving block (26), a Z-axis driving block (27), a Y-axis basic block (28), a Z-axis basic block (29), a Y-axis speed limiting spring (30), a Z-axis speed limiting spring (31), an X-axis driving gear safety cover (32), a Y-axis screw (33) and a Z-axis screw (34). The Y-axis motor (15) is fixed on the motor fixing plate (12) through a bolt; the X-axis motor (16) is fixed on the upper fixing plate (14) and the lower fixing plate (13) through bolts; the Z-axis motor (17) is fixed on the motor fixing plate (12) through a bolt; an X-axis driving gear (18) is arranged at the bearing output end of the X-axis motor (16); the Y-axis rotating speed regulator (19) is connected to the Y-axis basic block (28) through a bolt; the Y-axis driving belt pulley (20) is arranged at the bearing output end of the Y-axis motor (15); the Y-axis driven pulley (21) is arranged at the input end of the Y-axis lead screw (33); the Z-axis driven belt pulley (22) is arranged at the input end of the Z-axis lead screw (34); the Z-axis driving belt pulley (23) is arranged at the output end of the Z-axis motor (17); the X-axis driven gear (24) is arranged on an X-axis driven gear bearing inner ring (25); an X-axis driven gear bearing inner ring (25) is arranged on a circular fixed frame (35); the Y-axis driving block (26) is arranged on the Y-axis lead screw (33); the Z-axis driving block (27) is arranged on a Z-axis lead screw (34); the Y-axis basic block (28) is arranged at the rear end of the Y-axis lead screw (33); the Z-axis basic block (29) is arranged at the rear end of the Z-axis lead screw (34); the Y-axis speed limiting spring (30) is sleeved on the Y-axis screw rod (33) and is positioned between the Y-axis basic block (28) and the Y-axis driving block (26); the Z-axis speed limiting spring (31) is sleeved on the Z-axis screw rod (34) and is positioned between the Z-axis basic block (29) and the Z-axis driving block (27); the X-axis driving gear safety cover (32) is arranged on the motor fixing plate (12); the Y-axis screw (33) is arranged on the Y-axis ball screw upper bearing device (10-4) and the Y-axis ball screw lower bearing device (10-2); the Z-axis lead screw (34) is arranged on the lower bearing device (10-1) of the Z-axis ball screw and the upper bearing device (10-3) of the Z-axis ball screw.
5. The ball screw mounting sheet metal (11) according to claim 3, wherein the ball screw mounting sheet metal (11) comprises: a lower Z-axis ball screw mounting metal plate (11-1), an upper Z-axis ball screw mounting metal plate (11-2), a lower Y-axis ball screw mounting metal plate (11-3) and an upper Y-axis ball screw mounting metal plate (11-4). The Z-axis ball screw installation lower metal plate (11-1), the Z-axis ball screw installation upper metal plate (11-2), the Y-axis ball screw installation lower metal plate (11-3) and the Y-axis ball screw installation upper metal plate (11-4) are fixed on the installation bottom plate (8) through bolts.
6. Ball screw bearing device (10) according to claim 4, characterized in that the ball screw bearing device (10) comprises: the device comprises a Z-axis ball screw lower bearing device (10-1), a Y-axis ball screw lower bearing device (10-2), a Z-axis ball screw upper bearing device (10-3) and a Y-axis ball screw upper bearing device (10-4). The Z-axis ball screw lower bearing device (10-1) is fixed on the Z-axis ball screw mounting lower metal plate (11-1) through bolts; the Y-axis ball screw lower bearing device (10-2) is fixed on the Y-axis ball screw mounting lower metal plate (11-3) through bolts; the Z-axis ball screw upper bearing device (10-3) is fixed on the Z-axis ball screw upper mounting metal plate (11-2) through bolts; the Y-axis ball screw upper bearing device (10-4) is fixed on the Y-axis ball screw upper mounting metal plate (11-4) through bolts.
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| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
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| CN209630102U (en) * | 2018-08-16 | 2019-11-15 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
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