CN202637381U - Robot for human body upper limb rehabilitation - Google Patents
Robot for human body upper limb rehabilitation Download PDFInfo
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- CN202637381U CN202637381U CN 201220264091 CN201220264091U CN202637381U CN 202637381 U CN202637381 U CN 202637381U CN 201220264091 CN201220264091 CN 201220264091 CN 201220264091 U CN201220264091 U CN 201220264091U CN 202637381 U CN202637381 U CN 202637381U
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Abstract
The utility model relates to a robot for human body upper limb rehabilitation. The robot for human body upper limb rehabilitation comprises a first joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly, a fifth joint assembly, a sixth joint assembly and a seventh joint assembly, three axes of the first joint assembly, the second joint assembly and the third joint assembly intersect at one point and are perpendicular to each other, the point is placed at a rotation centering point of a shoulder joint of a user, three axes of the fifth joint assembly, the sixth joint assembly and the seventh assembly intersect at one point and are perpendicular to each other, and the point is placed at a rotation centering point of a wrist joint of the user. The designed structure of a mechanical arm of the robot for human body upper limb rehabilitation is formed by the fact that the seven rotating joint assemblies are connected in series, each joint assembly is provided with a driving mechanism of a motor reducer, an arm of the user can be driven to achieve active movement, and accordingly rehabilitation training can be achieved effectively.
Description
Technical field
This utility model relates to the field of medical rehabilitation exercising device, especially a kind of human upper limb healing robot.
Background technology
Fact proved, it is huge that the healing robot technology that is just emerging helps the potentiality of Rehabilitation by upper and lower limbs rehabilitation training, and they can replace and alleviate the heavy muscle power of Physical Therapist, high-intensity work load.Robot is suitable for repetitive work, and this is so that robot rehabilitation training program is better implemented, and the design of this class method mainly recovers its motion function for the patient who helps nerve damage.What affect patient's function most in the functional disability that is caused by nervous system injury is the functional disorder of upper limb system, the disability that upper limb systemic-function sexual disorders causes, very significant on the independence of patient life and the impact of quality, rehabilitation to the patient moving function, especially the recovery of upper extremity function is considered to one of most important target in the neural rehabilitation training of cerebral trauma and Patients of Spinal.
The utility model content
The technical problems to be solved in the utility model is: in order to overcome the problem of above-mentioned middle existence, provide a kind of human upper limb healing robot, it can be by straightforward manipulation, interactive monitoring and the long-range mode such as border control of facing in the steadily operation of hospital's safety.
The technical scheme that its technical problem that solves this utility model adopts is: a kind of human upper limb healing robot, comprise the exoskeleton-type mechanical arm that is in series by 7 joint assemblies that rotatablely move successively, described exoskeleton-type mechanical arm comprises for the first joint assembly of realizing user shoulder joint motion, the second joint assembly that is used for realizing user shoulder joint motion that is connected with the first joint assembly, the realization user shoulder joint motion that is used for that is connected with the second joint assembly also can be according to the 3rd joint assembly of the large arm lengths adjustment of user length, the shell that is connected with the 3rd joint assembly is regulated the 4th joint assembly of length according to the large arm lengths of user, be installed on the 4th joint assembly the 5th joint assembly that be used for to realize the user wrist joints moving with the 5th joint assembly rotate is connected be used for realizing the 6th joint assembly of user wrist joints moving and the 7th joint assembly for realization user wrist joints moving that rotates and is connected with the 6th joint assembly, be connected by connector between described the first joint assembly and the second joint assembly, described the first joint assembly, three axis of second joint assembly and the 3rd joint assembly meet at a bit and are mutually vertical, this point is positioned at the center of rotation of user shoulder joint, the 5th joint assembly, three axis of the 6th joint assembly and the 7th joint assembly meet at a bit and are mutually vertical, this point is positioned at the carpal center of rotation of user, and the axis of the 4th joint assembly is by patient's elbow joint.
Described the first joint assembly comprises be used to the first rotation shell that is fixed on the first set casing on the mounting base and is rotationally connected with the first set casing, the first set casing and first rotates shell and rotates around the axis of rotation of the first joint assembly, described second joint assembly comprises the second set casing that is connected with connector and the second rotation shell that is rotationally connected with the second set casing, the second set casing and second rotates shell and rotates around the gyroaxis of second joint assembly, the first encoder all is installed in described the first set casing and the second set casing successively, the first motor that is connected with the first encoder, the first decelerator that is connected with the first motor output shaft, the first sliding cross coupling, the first hypoid worm screw, the first hypoid worm gear and be used for to measure the first chip and first magnet steel of joint rotation angle, the skew-axes gears that the first hypoid worm screw and the first accurate two-sided worm gear are a kind of advanced persons, each branch that more and more is widely used in engineering field has increased the gear area of contact and better mating surface is provided owing to it, so it has larger load-carrying ability (especially performance is more outstanding when overload), larger load is from anharmonic ratio, more level and smooth Meshing Process of Spur Gear and the less advantages such as noise, and it also can reliability service in steel to steel material contact, the first chip can be selected Hall chip, the first decelerator is connected with the first hypoid worm screw by the first sliding cross coupling, the first hypoid worm screw and the engagement of the first hypoid worm gear, described the first rotation shell and second rotates and is provided with series connection elasticity executor and the first joint shaft in the shell, the first accurate two-sided globoid worm gear and the first joint shaft connect firmly, the first chip is installed on the first set casing, the first magnet steel and the first director surface worm gear connect firmly, the first joint shaft is by the first gland and the elasticity executor phase frictional connection of connecting, the first gland connects firmly by bolt and the first joint shaft, is frictional force between scalable the first gland and the pulley by adjusting bolt torque.
Described the 3rd joint assembly comprises the 3rd set casing that is connected with the second rotation shell, the first wobble-plate that rotates and be connected with the 3rd set casing, the mount pad that is connected to upper arm restraining board and the first cylindrical guide that is connected with upper arm restraining board on the first wobble-plate lower surface and is slidingly connected at the first cylindrical guide, in described the 3rd set casing the second encoder is installed, the second motor that is connected with the second encoder and the second decelerator that is connected with the second motor output shaft and the first capstan winch that is connected with the second decelerator, the 3rd set casing bottom is equipped with arc shaped slider, described the first wobble-plate comprise arc set a table and be fixed on arc set a table on two ends the second steel wire rope and be arranged on the arc-shaped slide rail of arc on setting a table, the second wirerope-winding is on the first capstan winch, described the first capstan winch drives arc by the second steel wire rope and sets a table along the arc shaped slider swing, is provided with a pair of the first Quick-clamped handle on the described mount pad dual-side.
Described the 4th joint assembly comprises the 4th set casing that is installed on the mount pad, the 3rd rotate shell and be arranged on the 3rd and rotate the second cylindrical guide on the shell and the connecting plate that is slidingly connected with the second cylindrical guide with the 4th set casing is rotationally connected, be provided with the second clamping lever between described the second cylindrical guide and the connecting plate, in described the 3rd rotation shell the 3rd encoder is installed, the 3rd motor that is connected with the 3rd encoder, the 3rd decelerator that is connected with the 3rd motor output shaft, the second sliding cross coupling, the second hypoid worm screw, the second hypoid worm gear and be used for to measure the second chip and second magnet steel of joint rotation angle, the 3rd decelerator is connected with the second hypoid worm screw by the second sliding cross coupling, the second hypoid worm screw and the engagement of the second hypoid worm gear, be provided with series connection elasticity executor and second joint axle in described the 4th set casing, the second hypoid worm gear and second joint axle connect firmly, the second chip is installed in the 3rd and rotates on the shell, the second magnet steel and the second hypoid worm gear connect firmly, the second joint axle is by the second gland and the elasticity executor phase frictional connection of connecting, the second gland connects firmly by bolt and second joint axle, is frictional force between scalable the second gland and the pulley by adjusting bolt torque.
In order to guarantee the flexibility of robot; safety; motility and the enough strength that is used for the sensitive operation of rehabilitation training of upper limbs system; described series connection elasticity executor comprises pulley; steel wire rope and the first spring and the second spring; offer the spheroidal pit on the described pulley; be fixed with the steel ball corresponding with the spheroidal pit on the steel wire rope; one end of steel wire rope is connected with the first threaded rod; be connected with the second threaded rod on the other end; be equipped with the first spring on the first threaded rod and screw by the first nut; be equipped with the second spring on the second threaded rod and screw by the second nut; be connected with the potentiometer slide bar on the second nut; potentiometer slide bar end is connected with linear potentiometer; the potentiometer seat is installed on the linear potentiometer; the potentiometer seat connects firmly with the corresponding shell that rotates; the close pulley end of the first spring and the second spring is pressed on the corresponding rotation shell; distortion by measuring spring; indirect monitoring person joint's moment of torsion and it is directly controlled; the power control problem that traditional moment measures can be converted to positional control problem; thereby make capable measurement become fine solution and reach the purpose of the degree of accuracy that improvement power measures; compare with strain transducer etc. with the typical load cell on placing machine; the larger deformability that spring has has been improved the noise acoustic ratio; the high speed reducing ratio of motor has also further increased executor's specific power and power density; the executor is according to the instruction application of force for series connection elasticity; and it is similar to people's muscle in conjunction with intrinsic elasticity it to be worked together; compare with traditional moment or hydrostatic sensor; series connection elasticity executor shows stability and the robustness of controlling when better reply macroseism is hit firmly with accident; the operation behavior that series connection elasticity executor contacts with the people has intrinsic safety; when contacting suddenly with the people; traditional executor shows the effective moments of inertia with higher risk; square being directly proportional of this effective moment of inertia and gear reduction ratio; this coefficient can reach 10,000 times even higher usually when intensity is higher; and the flexible member among the series connection elasticity executor can make gear-box and mechanical arm be in the decoupling zero state when machine contacts with hard thing, thereby makes the moment of inertia only limit to the moment of inertia of machinery itself.
Described the 5th joint assembly comprise the second wobble-plate of being installed on the connecting plate with the outer arcuate edge of the second wobble-plate power box that cooperates of slippage mutually, described the second wobble-plate comprises that forearm sets a table, be separately positioned on forearm set a table upper surface and lower surface upper outside arc-shaped slide rail and lower outside arc-shaped slide rail and be connected to the set a table cable wire of two ends of forearm, the 4th encoder is installed in the described power box, the 4th motor that is connected with the 4th encoder and the 4th decelerator that is connected with the 4th motor output shaft and the second capstan winch that is connected with the 4th decelerator, be connected with arc shaped slider on the described power box, described the second capstan winch drives forearm by cable wire and sets a table along upper outside arc-shaped slide rail and the swing of lower outside arc-shaped slide rail.
Described the 6th joint assembly comprises the 5th set casing that is connected on the power box and the first swing arm that is rotationally connected with the 5th set casing, the 5th motor that the 5th encoder is installed in the 5th set casing, is connected with the 5th encoder and the 5th decelerator that is connected with the 5th motor output shaft and the first fixing head that is connected with the 5th decelerator, the first fixing head is connected with the first swing arm one end.
In order to make the wrist left-right rotation, described the 7th joint assembly comprises the 6th set casing that is installed in the first swing arm and the second swing arm that is rotationally connected with the 6th set casing and the handle that is connected to the second swing arm end, the 6th motor that the 6th encoder is installed in the 6th set casing, is connected with the 6th encoder and the 6th decelerator that is connected with the 6th motor output shaft, the second fixing head that is connected with the 6th decelerator, the second fixing head is connected with the second swing arm.。
The beneficial effects of the utility model are; a kind of human upper limb healing robot of the present utility model; combination series connection elasticity executor in joint assembly; can make capable measurement become easier; guarantee flexibility, safety, the motility of robot and improve the strength of the sensitive operation of rehabilitation training of upper limbs; adopt seven rotary joint assembly series connection to consist of the project organization of mechanical arm; each joint assembly is with the driving mechanism of motor reducer; can drive the arm active exercise, thereby effectively realize rehabilitation training.
Description of drawings
Below in conjunction with drawings and Examples this utility model is further specified.
Fig. 1 is axonometric chart of the present utility model;
Fig. 2 is the axonometric chart of the first joint assembly or second joint assembly among Fig. 1;
Fig. 3 is the front view of Fig. 2;
Fig. 4 is B-B cutaway view among Fig. 3;
Fig. 5 is C-C cutaway view among Fig. 3;
Fig. 6 is the axonometric chart of the 3rd joint assembly among Fig. 1;
Fig. 7 is the front view of Fig. 6;
Fig. 8 is A-A cutaway view among Fig. 7;
Fig. 9 is B-B cutaway view among Fig. 8;
Figure 10 is the axonometric chart of the 4th joint assembly among Fig. 1;
Figure 11 is the front view of Figure 10;
Figure 12 is A-A cutaway view among Figure 11;
Figure 13 is B-B cutaway view among Figure 12;
Figure 14 is C-C cutaway view among Figure 13;
Figure 15 is the axonometric chart of the 5th joint assembly among Fig. 1;
Figure 16 is the axonometric chart of the 6th joint assembly among Fig. 1;
Figure 17 is the front view of Figure 16;
Figure 18 is A-A cutaway view among Figure 17;
Figure 19 is the side view of Figure 16;
Figure 20 is the axonometric chart of the 7th joint assembly among Fig. 1;
Figure 21 is the front view of Figure 20;
Figure 22 is the side view of Figure 21;
Figure 23 is the cutaway view of A-A among Figure 22;
Figure 24 is the structural representation of series connection elasticity executor among the present invention.
1. first joint assemblies among the figure, 11. the first set casing, 12. first rotates shell, 13. the first encoder, 14. the first motor, 15. first decelerators, 16. first sliding cross couplings, 17. the first hypoid worm gear, 18. the first hypoid worm screw, 19. first chips, 110. first joint shafts, 111. the first magnet steel, 112. the first gland, 2. second joint assembly, 21. second set casings, 22. second rotates shell, 3. the 3rd joint assembly, 31. the 3rd set casings, 32. first wobble-plates, 32-1. arc is set a table, 32-2. the second steel wire rope, 32-3. arc-shaped slide rail, arm restraining board on 33., 34. the first cylindrical guide, 35. mount pad, 36. second encoders, 37. second motors, 38. the second decelerator, 39. the first capstan winch, 310. arc shaped sliders, 311. first Quick-clamped handles, 4. the 4th joint assembly, 41. the 4th set casing, 42. the 3rd rotate shell, 43. second cylindrical guides, 44. connecting plate, 46. the second clamping lever, 47. the 3rd encoders, 48. the 3rd motors, 49. the 3rd decelerator, 410. the second sliding cross coupling, 411. second hypoid worm screws, 412. second hypoid worm gears, 413. the second chip, 414. the second joint axle, 415. second magnet steel, 416. second glands, 5. the 5th joint assembly, 51. the second wobble-plate, 511. forearms are set a table, 512. upper outside arc-shaped slide rails, 513. lower outside arc-shaped slide rail, 514. cable wire, 52. power boxes, 53. the 4th encoders, 54. the 4th motor, 55. the 4th decelerator, 56. second capstan winches, 57. arc shaped sliders, 6. the 6th joint assembly, 61. the 5th set casing, 62. first swing arms, 63. the 5th encoders, 64. the 5th motor, 65. the 5th decelerator, 66. first fixing heads, 7. the 7th joint assembly, 71. the 6th set casing, 72. the second swing arm, 73. handles, 74. the 6th encoders, 75. the 6th motor, 76. the 6th decelerator, 77. second fixing head, 8. connectors, 9. the elasticity executor connects, 91. pulley, 92. steel wire ropes, 92-1. steel ball 93. first threaded rods, 94. the second threaded rod, 95. the first spring, 96. first nuts, 97. second springs, 98. the second nut, 99. the potentiometer slide bar, 910. linear potentiometers, 911. potentiometer seats.
The specific embodiment
By reference to the accompanying drawings this utility model is described in further detail now.These accompanying drawings are the schematic diagram of simplification, basic structure of the present utility model only is described in a schematic way, so it only show the formation relevant with this utility model.
A kind of human upper limb healing robot as shown in Figure 1, comprise the exoskeleton-type mechanical arm that is consisted of by 7 joint assembly series connection that rotatablely move successively, the exoskeleton-type mechanical arm comprises for the first joint assembly 1 of realizing user shoulder joint motion, the second joint assembly 2 that is used for realizing user shoulder joint motion that is connected with the first joint assembly 1, what be connected with second joint assembly 2 is used for realization user shoulder joint motion and can regulates the 3rd joint assembly 3 of length according to the large arm lengths of user, what be connected with the 3rd joint assembly 3 can be according to the 4th joint assembly 4 of user forearm length adjustment length, be installed on the 4th joint assembly 4 the 5th joint assembly 5 that be used for to realize the user wrist joints moving with the 5th joint assembly 5 rotate is connected be used for realizing the 6th joint assembly 6 of user wrist joints moving and the 7th joint assembly 7 for realization user wrist joints moving that rotates and is connected with the 6th joint assembly 6, be connected by connector 8 between the first joint assembly 1 and the second joint assembly 2, the first joint assembly 1, three axis of second joint assembly 2 and the 3rd joint assembly 3 meet at a bit and are mutually vertical, behind the wearing, this point is positioned at the rotary middle point of user shoulder joint, the first joint assembly 1, second joint assembly 2 and the 3rd joint assembly 3 can be simulated three rotary freedoms of shoulder joint, the 5th joint assembly 5, three axis of the 6th joint assembly 6 and the 7th joint assembly 7 meet at a bit and are mutually vertical, this point is positioned at the carpal joint rotary middle point of user, the 5th joint assembly 5, the 6th joint assembly 6 and the 7th joint assembly 7 can be simulated carpal three rotary freedoms.
Such as Fig. 2, Fig. 3, Fig. 4 and a kind of human upper limb healing robot shown in Figure 5, the first joint assembly 1 comprises be used to the first rotation shell 12 that is fixed on the first set casing 11 on the mounting base and is rotationally connected with the first set casing 11, the first set casing 11 and first rotates shell 12 and rotates around the axis of rotation of the first joint assembly, second joint assembly 2 comprises the second set casing 21 that is connected with connector 8 and the second rotation shell 22 that is rotationally connected with the second set casing 21, the second set casing 21 and second rotates shell 22 and rotates around the axis of rotation of second joint assembly 2, the first set casing 11 and the second set casing 21 interior first encoders 13 that all are equipped with successively, the first motor 14 that is connected with the first encoder 13, the first decelerator 15 that is connected with the first motor 14 output shafts, the first sliding cross coupling 16, the first hypoid worm screw 17, the first hypoid worm gear 18 and be used for to measure the first chip 19 and first magnet steel 111 of joint rotation angle, the first decelerator 15 is connected with the first hypoid worm screw 17 by the first sliding cross coupling 16, the first hypoid worm screw 17 and 18 engagements of the first hypoid worm gear, in the first rotation shell 12 and the second rotation shell 22, be provided with series connection elasticity executor 9 and the first joint shaft 110, the first hypoid worm gear 18 and the first joint shaft 110 connect firmly, the first chip 19 is installed on the first set casing 11, the first magnet steel 111 and the first hypoid worm gear 18 connect firmly, the first magnet steel 111 and the first chip 19 consist of Hall element, both relatively rotate, the first chip 19 output corner signals, the first joint shaft 110 is by the pulley 91 phase frictional connections on the first gland 112 and the elasticity executor 9 that connects, the first gland 112 connects firmly by bolt and the first joint shaft 110, be frictional force between capable of regulating the first gland 112 and the pulley 91 by adjusting bolt torque, utilize series connection elasticity executor 9, can spring deflection be can calculate by the measuring resistance variable quantity, and then pulling force and the joint moment of torsion of steel wire rope obtained.
Such as Fig. 6, Fig. 7, Fig. 8 and a kind of human upper limb healing robot shown in Figure 9, the 3rd joint assembly 3 comprises the 3rd set casing 31 that is connected with the second rotation shell 22, the first wobble-plate 32 that rotates and be connected with the 3rd set casing 31, the mount pad 35 that is connected to upper arm restraining board 33 and the first cylindrical guide 34 that is connected with upper arm restraining board 33 on the first wobble-plate 32 lower surfaces and is slidingly connected at the first cylindrical guide 34, the second encoder 36 is installed in the 3rd set casing 31, the second motor 37 that is connected with the second encoder 36 and the second decelerator 38 that is connected with the second motor 37 output shafts and the first capstan winch 39 that is connected with the second decelerator 38, the 3rd set casing 31 bottoms are equipped with arc shaped slider 310, the first wobble-plate 32 comprise arc set a table 32-1 and be fixed on arc set a table on 32-1 two ends the second steel wire rope 32-2 and be arranged on set a table arc-shaped slide rail 32-3 on the 32-1 of arc, the second steel wire rope 32-2 is wrapped on the first capstan winch 39, the first wobble-plate 32 links to each other with arc-shaped slide rail 32-3 by arc shaped slider 310 with the 3rd set casing 31, when electric machine rotation, the first capstan winch 39 drives arc by the second steel wire rope 32-2 and sets a table 32-1 along arc shaped slider 310 swings, is provided with a pair of the first Quick-clamped handle 311 on mount pad 35 dual-sides.
Such as Figure 10, Figure 11, Figure 12, Figure 13 and a kind of human upper limb healing robot shown in Figure 14, the 4th joint assembly 4 comprises the 4th set casing 41 that is installed on the mount pad 35, the 3rd rotate shell 42 and be arranged on the 3rd and rotate the slide-and-guide axle 43 on the shell 42 and the connecting plate 44 that is slidingly connected with the second cylindrical guide 43 with the 4th set casing 41 is rotationally connected, be provided with quick-speed jigs 45 between the second cylindrical guide 43 and the connecting plate 44, be connected with the second clamping lever 46 on the quick-speed jigs 45, can be to the adaptation of forearm different length, pull first the second clamping lever 46 during adjusting to erecting, put down quick-speed jigs spanner 46 after connecting plate 44 slid into correct position, locking gets final product, in the 3rd rotation shell 42 the 3rd encoder 47 is installed, the 3rd motor 48 that is connected with the 3rd encoder 47, the 3rd decelerator 49 that is connected with the 3rd motor 48 output shafts, the second sliding cross coupling 410, the second hypoid worm screw 411, the second hypoid worm gear 412 and be used for to measure the second chip 413 and second magnet steel 415 of joint rotation angle, the 3rd decelerator 49 is connected with the second hypoid worm screw 411 by the second sliding cross coupling 410, the second hypoid worm screw 411 and 412 engagements of the second hypoid worm gear, be placed with series connection elasticity executor 9 and second joint axle 414 in the 4th set casing 41, the second hypoid worm gear 412 connects firmly with second joint axle 414, the second chip 413 is installed in the 3rd and rotates on the shell 42, the second magnet steel 415 and the second hypoid worm gear 412 connect firmly, the second chip 413 and the second magnet steel 415 consist of Hall element, both relatively rotate, the second chip 413 output corner signals, second joint axle 414 is by the second gland 416 and the elasticity executor 9 phase frictional connections of connecting, to reach the purpose of flexible braking, the second gland 416 connects firmly by bolt and second joint axle 414, is frictional force between scalable the second gland 416 and the pulley 91 by adjusting bolt torque.
A kind of human upper limb healing robot as shown in figure 15, the 5th joint assembly 5 comprise the second wobble-plate 51 of being installed on the connecting plate 44 with the outer arcuate edge of the second wobble-plate 51 power box 52 that cooperates of slippage mutually, the second wobble-plate 51 comprises that forearm sets a table 511, be separately positioned on forearm set a table 511 upper surfaces and lower surface upper outside arc-shaped slide rail 512 and lower outside arc-shaped slide rail 513 and be connected to the set a table cable wire 514 of 511 liang of ends of forearm, the 4th encoder 53 is installed in the power box 52, the 4th motor 54 that is connected with the 4th encoder 53 and the 4th decelerator 55 that is connected with the 4th motor 54 output shafts and the second capstan winch 56 that is connected with the 4th decelerator 55, twine some circle cable wires 514 at the second capstan winch 56, be connected with arc shaped slider 57 on the power box 52, when electric machine rotation, the second capstan winch 56 drives forearm by cable wire 514 and sets a table 511 along upper outside arc-shaped slide rail 512 and 513 swings of lower outside arc-shaped slide rail, set a table when upper when forearm is placed on forearm, the 5th joint assembly 5 will make the forearm left-right rotation.
Such as Figure 16, Figure 17, Figure 18 and a kind of human upper limb healing robot shown in Figure 19, the 6th joint assembly 6 comprises the 5th set casing 61 that is connected on the power box 52 and the first swing arm 62 that is rotationally connected with the 5th set casing 61, the 5th encoder 63 is installed in the 5th set casing 61, the 5th motor 64 that is connected with the 5th encoder 63 and the 5th decelerator 65 that is connected with the 5th motor 64 output shafts and the first fixing head 66 that is connected with the 5th decelerator 65, the first fixing head 66 is connected with the first swing arm 62 1 ends, when little arm is placed on the 5th joint assembly 5, drive system on the 6th joint assembly 6 in the 5th set casing 61 drives the first swing arm 62 and rotates, the first swing arm is connected with the 7th joint assembly 7, thereby the wrist of making and little arm move up and down.
Such as Figure 20, Figure 21, Figure 22 and a kind of human upper limb healing robot shown in Figure 23, the 7th joint assembly 7 comprises the 6th set casing 71 that is installed in the first swing arm 62 and the second swing arm 72 that is rotationally connected with the 6th set casing 71 and the handle 73 that is connected to the second swing arm 72 ends, the 6th encoder 74 is installed in the 6th set casing 71, the 6th motor 75 that is connected with the 6th encoder 74 and the 6th decelerator 76 that is connected with the 6th motor 75 output shafts, the second fixing head 77 that is connected with the 6th decelerator 76, the second fixing head 77 is connected with the second swing arm 72, when arm is fixed on the 6th joint assembly 6, when hands is caught handle, drive system on the 7th joint assembly 7 in the 6th set casing 71 is rotated and is driven the swing arm swing, so just promotes the wrist left-right rotation.
A kind of human upper limb healing robot shown in Figure 24; series connection elasticity executor 9 comprises pulley 91; steel wire rope 92; steel ball 92-1; the first spring 95; the second spring 97; the first nut 96; the second nut 98 and the first threaded rod 93 and the second threaded rod 94; offer the spheroidal pit on the pulley 91; be fixed with the steel ball 92-1 corresponding with the spheroidal pit on the steel wire rope 92; one end of steel wire rope 92 is connected with the first threaded rod 93; be connected with the second threaded rod 94 on the other end; cover has the first spring 95 also to screw with the first nut 96 endways on the first threaded rod 93; cover has the second spring 97 also to screw with the second nut 98 endways on the second threaded rod 94; be connected with potentiometer slide bar 99 on the second nut 98; potentiometer slide bar 99 ends are connected with linear potentiometer 910; potentiometer seat 911 is installed on the linear potentiometer 910; when the motor-driven pulley rotates; pulley 91 is by being fixed on the steel ball 92-1 pulling steel wire rope 92 on the steel wire rope 92; the nut of steel wire rope 92 ends moves Compress Spring with steel wire rope 92; spring promotes to rotate shell again and makes its rotation; the deflection of spring can be measured by linear potentiometer 910; and then can calculate spring pressure and joint moment of torsion; its this series connection elasticity executor 9 has passive flexibility and reaches faster response speed, can protect user not to be subjected to the excessive injury of motor output torque.
Series connection elasticity executor's pulley 91 and coupled joint shaft link together by gland and 6 hold-down bolts; pass through the frictional force transferring power between gland and the pulley 91; when extraneous load is excessive; pulley 91 skids; with protection motor and gear; by regulating the moment of torsion of hold-down bolt, can adjust the loading moment when skidding.
A kind of human upper limb healing robot of the present utility model, rehabilitation training of upper limbs has three steps: 1. crawl training: reach gratifying movement velocity, the stretch duration of uniformity and the terminal accuracy of execution are mainly used in training to stretch out one's hand touching object; 2. touch: the accuracy of the rotation of arm, touch and movement locus; 3. flow process: constraint satisfaction can either improve function of joint, improves its synchronicity, can also promote its speed ability, and when crawl with touch when becoming simultaneously main action, its process is more complicated.
Take above-mentioned foundation desirable embodiment of the present utility model as enlightenment, by above-mentioned description, the relevant staff can in the scope that does not depart from this utility model technological thought, carry out various change and modification fully.The technical scope of this utility model is not limited to the content on the description, must determine its technical scope according to the claim scope.
Claims (8)
1. human upper limb healing robot, it is characterized in that: the exoskeleton-type mechanical arm that is in series by 7 joint assemblies that rotatablely move, described exoskeleton-type mechanical arm comprises for the first joint assembly (1) of realizing user shoulder joint motion, the second joint assembly (2) that is used for realizing user shoulder joint motion that is connected with the first joint assembly (1), what be connected with second joint assembly (2) is used for realization user shoulder joint motion and can regulates the 3rd joint assembly (3) of length according to the large arm lengths of user, what be connected with the 3rd joint assembly (3) can be according to the 4th joint assembly (4) of user forearm length adjustment length, the 7th joint assembly (7) that is used for realizing the user wrist joints moving that is installed in the 5th joint assembly (5) that be used for to realize the user wrist joints moving and the 6th joint assembly (6) that is used for wrist joints moving that is connected with the 5th joint assembly (5) on the 4th joint assembly (4) and is connected with the 6th joint assembly (6), be connected by connector (8) between described the first joint assembly (1) and the second joint assembly (2), described the first joint assembly (1), three axis of second joint assembly (2) and the 3rd joint assembly (3) meet at a bit and are mutually vertical, this point is positioned at the rotary middle point of user shoulder joint, described the 5th joint assembly (5), three axis of the 6th joint assembly (6) and the 7th joint assembly (7) meet at a bit and are mutually vertical, and this point is positioned at the carpal rotary middle point of user.
2. a kind of human upper limb healing robot according to claim 1, it is characterized in that: described the first joint assembly (1) comprises be used to the first set casing (11) and the first rotation shell (12) that is connected with the first set casing (11) that are fixed on the mounting base, the first set casing (11) and first rotates shell (12) and rotates around the axis of rotation of the first joint assembly (1), described second joint assembly (2) comprises the second set casing (21) that is connected with connector (8) and the second rotation shell (22) that is connected with the second set casing (21), the second set casing (21) and second rotates shell (22) and rotates around the axis of rotation of second joint assembly (2), in described the first set casing (11) and the second set casing (21) the first encoder (13) is installed successively all, the first motor (14) that is connected with the first encoder (13), the first decelerator (15) that is connected with the first motor (14) output shaft, the first sliding cross coupling (16), the first hypoid worm screw (17), the first hypoid worm gear (18) and be used for to measure the first chip (19) and first magnet steel (111) of joint rotation angle, the first decelerator (15) is connected with the first hypoid worm screw (17) by the first sliding cross coupling (16), the first hypoid worm screw (17) and the engagement of the first hypoid worm gear (18), described the first rotation shell (12) and second rotates and is provided with series connection elasticity executor (9) and the first joint shaft (110) in the shell (22), the first hypoid worm gear (18) connects firmly with the first joint shaft (110), the first chip (19) is installed on the first set casing (11), the first magnet steel (111) connects firmly with the first hypoid worm gear (18), the first joint shaft (110) is by the first gland (112) and elasticity executor (9) the phase frictional connection of connecting, and the first gland (112) connects firmly by bolt and the first joint shaft (110).
3. a kind of human upper limb healing robot according to claim 2, it is characterized in that: described the 3rd joint assembly (3) comprises the 3rd set casing (31) that is connected with the second rotation shell (22), the first wobble-plate (32) that is connected with the 3rd set casing (31), the mount pad (35) that is connected to upper arm restraining board (33) and the first cylindrical guide (34) that is connected with upper arm restraining board (33) on the first wobble-plate (32) lower surface and is slidingly connected at the first cylindrical guide (34), the second encoder (36) is installed in described the 3rd set casing (31), the second motor (37) that is connected with the second encoder (36) and the second decelerator (38) that is connected with the second motor (37) output shaft and the first capstan winch (39) that is connected with the second decelerator (38), the 3rd set casing (31) bottom is equipped with arc shaped slider (310), described the first wobble-plate (32) comprise arc set a table (32-1) and be fixed on arc set a table on (32-1) two ends the second steel wire rope (32-2) and be arranged on set a table arc-shaped slide rail (32-3) on (32-1) of arc, the second steel wire rope (32-2) is wrapped on the first capstan winch (39), described the first capstan winch (39) drives arc by the second steel wire rope (32-2) and sets a table (32-1) along arc shaped slider (310) swing, is provided with a pair of the first Quick-clamped handle (311) on described mount pad (35) dual-side.
4. a kind of human upper limb healing robot according to claim 3, it is characterized in that: described the 4th joint assembly (4) comprises the 4th set casing (41) that is installed on the mount pad (35), what be connected with the 4th set casing (41) the 3rd rotates shell (42) and is arranged on the second cylindrical guide (43) on the 3rd rotation shell (42) and the connecting plate (44) that is slidingly connected with the second cylindrical guide (43), be provided with the second clamping lever (46) between described the second cylindrical guide (43) and the connecting plate (44), in described the 3rd rotation shell (42) the 3rd encoder (47) is installed, the 3rd motor (48) that is connected with the 3rd encoder (47), the 3rd decelerator (49) that is connected with the 3rd motor (48) output shaft, the second sliding cross coupling (410), the second hypoid worm screw (411), the second hypoid worm gear (412) and be used for to measure the second chip (413) and second magnet steel (415) of joint rotation angle, the 3rd decelerator (49) is connected with the second hypoid worm screw (411) by the second sliding cross coupling (410), the second accurate hyperbolic curved surface worm screw (411) and the engagement of the second hypoid worm gear (412), be provided with series connection elasticity executor (9) and second joint axle (414) in described the 4th set casing (41), the second hypoid worm gear (412) connects firmly with second joint axle (414), the second chip (413) is installed in the 3rd and rotates on the shell (42), the second magnet steel (415) connects firmly with the second hypoid worm gear (412), second joint axle (414) is by the second gland (416) and elasticity executor (9) the phase frictional connection of connecting, and the second gland (416) connects firmly by bolt and second joint axle (414).
5. according to claim 2 or 4 described a kind of human upper limb healing robots, it is characterized in that: described series connection elasticity executor (9) comprises pulley (91), steel wire rope (92) and the first spring (95) and the second spring (97), described pulley offers the spheroidal pit on (91), be fixed with the steel ball corresponding with the spheroidal pit (92-1) on the steel wire rope (92), one end of steel wire rope (92) is connected with the first threaded rod (93), be connected with the second threaded rod (94) on the other end, being equipped with the first spring (95) on the first threaded rod (93) also screws by the first nut (96), being equipped with the second spring (97) on the second threaded rod (94) also screws by the second nut (98), be connected with potentiometer slide bar (99) on the second nut (98), potentiometer slide bar (99) end is connected with linear potentiometer (910), potentiometer seat (911) is installed on the linear potentiometer (910), potentiometer seat (911) connects firmly with the corresponding shell that rotates, and the first spring (95) is pressed on the corresponding rotation shell with close pulley (91) end of the second spring (97).
6. a kind of human upper limb healing robot according to claim 4, it is characterized in that: described the 5th joint assembly (5) comprise the second wobble-plate (51) of being installed on the connecting plate (44) with the outer arcuate edge of the second wobble-plate (51) power box (52) that cooperates of slippage mutually, described the second wobble-plate (51) comprises forearm set a table (511), be separately positioned on forearm set a table (511) upper surface and lower surface upper outside arc-shaped slide rail (512) and lower outside arc-shaped slide rail (513) and be connected to the set a table cable wire (514) of (511) two ends of forearm, the 4th encoder (53) is installed in the described power box (52), the 4th motor (54) that is connected with the 4th encoder (53) and the 4th decelerator (55) that is connected with the 4th motor (54) output shaft and the second capstan winch (56) that is connected with the 4th decelerator (55), be connected with arc shaped slider (57) on the described power box (52), described the second capstan winch (56) drives forearm by cable wire (514) and sets a table (511) along upper outside arc-shaped slide rail (512) and lower outside arc-shaped slide rail (513) swing.
7. a kind of human upper limb healing robot according to claim 6, it is characterized in that: described the 6th joint assembly (6) comprises the 5th set casing (61) that is connected on the power box (52) and the first swing arm (62) that is connected with the 5th set casing (61), the 5th encoder (63) is installed in the 5th set casing (61), the 5th motor (64) that is connected with the 5th encoder (63) and the 5th decelerator (65) that is connected with the 5th motor (64) output shaft and the first fixing head (66) that is connected with the 5th decelerator (65), the first fixing head (66) is connected with the first swing arm (62) one ends.
8. a kind of human upper limb healing robot according to claim 7, it is characterized in that: described the 7th joint assembly (7) comprises the 6th set casing (71) that is installed in the first swing arm (62) and the second swing arm (72) that is connected with the 6th set casing (71) and the handle (73) that is connected to the second swing arm (72) end, the 6th encoder (74) is installed in the 6th set casing (71), the 6th motor (75) that is connected with the 6th encoder (74) and the 6th decelerator (76) that is connected with the 6th motor (75) output shaft, the second fixing head (77) that is connected with the 6th decelerator (76), the second fixing head (77) is connected with the second swing arm (72).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220264091 CN202637381U (en) | 2012-06-06 | 2012-06-06 | Robot for human body upper limb rehabilitation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220264091 CN202637381U (en) | 2012-06-06 | 2012-06-06 | Robot for human body upper limb rehabilitation |
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| CN202637381U true CN202637381U (en) | 2013-01-02 |
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| CN 201220264091 Expired - Fee Related CN202637381U (en) | 2012-06-06 | 2012-06-06 | Robot for human body upper limb rehabilitation |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102727360A (en) * | 2012-06-06 | 2012-10-17 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| CN103720571A (en) * | 2013-12-25 | 2014-04-16 | 华中科技大学 | Gantry type upper limb rehabilitation training device |
| CN104306130A (en) * | 2014-10-22 | 2015-01-28 | 华中科技大学 | Coupling drive based shoulder-elbow joint rehabilitation trainer |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| CN104784889A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Upper limb rehabilitation training device |
| CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
| CN106943713A (en) * | 2016-01-05 | 2017-07-14 | 蓝兆杰 | Shoulder joint rehabilitation assistive device |
| CN107397590A (en) * | 2017-07-21 | 2017-11-28 | 中国人民解放军第二军医大学第二附属医院 | A kind of mechanical arm for spinal operation |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN109129443A (en) * | 2018-11-15 | 2019-01-04 | 苏州大学 | A kind of power-assisted upper limb exoskeleton robot |
| CN113787512A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Arc motion steel wire rope driving mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102727360B (en) * | 2012-06-06 | 2014-06-18 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| CN102727360A (en) * | 2012-06-06 | 2012-10-17 | 常州汉迪机器人科技有限公司 | Human upper limb rehabilitation robot |
| CN103720571B (en) * | 2013-12-25 | 2016-01-20 | 华中科技大学 | A kind of planer-type exercising apparatus for recovery of upper limb |
| CN103720571A (en) * | 2013-12-25 | 2014-04-16 | 华中科技大学 | Gantry type upper limb rehabilitation training device |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| CN104306130A (en) * | 2014-10-22 | 2015-01-28 | 华中科技大学 | Coupling drive based shoulder-elbow joint rehabilitation trainer |
| CN104784889A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Upper limb rehabilitation training device |
| CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
| CN106943713A (en) * | 2016-01-05 | 2017-07-14 | 蓝兆杰 | Shoulder joint rehabilitation assistive device |
| CN106943713B (en) * | 2016-01-05 | 2019-01-15 | 蓝兆杰 | Shoulder joint rehabilitation assistive device |
| CN107397590A (en) * | 2017-07-21 | 2017-11-28 | 中国人民解放军第二军医大学第二附属医院 | A kind of mechanical arm for spinal operation |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN109129443A (en) * | 2018-11-15 | 2019-01-04 | 苏州大学 | A kind of power-assisted upper limb exoskeleton robot |
| CN109129443B (en) * | 2018-11-15 | 2024-04-05 | 苏州大学 | Power-assisted upper limb exoskeleton robot |
| CN113787512A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Arc motion steel wire rope driving mechanism |
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