CN205459699U - Ectoskeleton formula upper limbs rehabilitation training robot - Google Patents

Ectoskeleton formula upper limbs rehabilitation training robot Download PDF

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Publication number
CN205459699U
CN205459699U CN201620213438.2U CN201620213438U CN205459699U CN 205459699 U CN205459699 U CN 205459699U CN 201620213438 U CN201620213438 U CN 201620213438U CN 205459699 U CN205459699 U CN 205459699U
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joint
pedestal
bowden cable
assembly
motor
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李继才
王道雨
简卓
李彬彬
卢美铭
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Shanghai Zhuodao Medical Technology Co ltd
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Shanghai Zhuodao Medical Technology Co ltd
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Abstract

The utility model discloses an ectoskeleton formula upper limbs rehabilitation training robot, including base, two robotic arm assembly and six motor drive subassemblies, the base is including moving base, electric box, electric lift post, base platform, motor clamping angle frame, base rotating electrical machines, shaft coupling, base main bearing seat, base ball nut component, base nut seat, base sharing countershaft bearing, right branch frame, base linear guide subassembly and left socle, robotic arm assembly includes mechanical shoulder blade set of bands spare, mechanical shoulder joint subassembly, mechanical elbow joint subassembly, the preceding arm component of machinery, wrist joint subassembly and mechanical hand subassembly, the motor drive subassembly includes motor and speed reducing component, torque sensor subassembly and drive assembly, and motor and speed reducing component, torque sensor subassembly and drive assembly all install on same motor drive bed frame. The utility model discloses it is wearable in human upper limbs, can be used to supplementary human upper limbs and at the three dimensions internal motion, carry out the rehabilitation training.

Description

A kind of dermaskeleton type upper limb rehabilitation image training robot
Technical field
This utility model relates to robotics, body biomechanics, rehabilitation medicine and rehabilitation engineering field, particularly relates to a kind of dermaskeleton type upper limb rehabilitation image training robot.
Background technology
Exoskeleton-type robot is that one can be worn on human body, assists or extend the electromechanical device of Human Stamina.The range of application of exoskeleton-type robot is the most widely, and including remote control, function of human body strengthens, function of human body compensates and limb rehabilitation training.The most in the world, several money robot for patients with cerebral apoplexy limb rehabilitation training is had been developed that.Use robot to carry out the limb rehabilitation training of apoplexy, be expected to shorten the time of patient's recovery, the effect of lifting recovery and reduce total treatment spend.
In the design of exoskeleton-type machine recovery training appliance for recovery people, mechanical joint kinematic axis is very important with the matching of human body joint motion axle.During mismatch, exoskeleton-type recovery exercising robot will produce unexpected active force in patient articular junction.This not only results in arthralgia, and patient is caused damage, also can limit the space of limbs of patient, reduces the effect of rehabilitation training.So in order to avoid above-mentioned unfavorable result, exoskeleton rehabilitation image training robot be designed such that mechanical joint kinematic axis matches as far as possible with human body joint motion axle.But, current dermaskeleton type upper limb rehabilitation robot the most still has bigger defect.
As a example by the motion of shoulder, exoskeleton-type recovery exercising robot in early days uses ball-and-socket joint to provide the three degree of freedom of shoulder to move, but this is because at that time people be only only considered that shoulder is only made up of Glenohumeral joint.But, the complex that shoulder is made up of shoulder joint (Glenohumeral joint) and pectoral girdle.Pectoral girdle comprises sternoclavicular joint, acromioclavicular joint and the scapulothoracu (non-through the normally off joint).The center of rotation of Glenohumeral joint can have sliding, so the kinematic structure of exoskeleton-type recovery exercising robot must take into the motion of pectoral girdle along with the motion of pectoral girdle along the direction of humerus.The motion in these three joint causes the reason of Glenohumeral joint center (CGH) sliding just.These three joint has collectively constituted kinematic chain, so any single joint all cannot self-movement.In the motion of shoulder joint complex, Glenohumeral joint is a ball-and-socket joint with Three Degree Of Freedom, and pectoral girdle then provides the motion of two degree of freedom, but mainly carries on coronalplane/decline, in extension/retraction two motion of horizontal plane.
Patients with cerebral apoplexy is due to nerve injury, it is impossible to the autonomous motion producing pectoral girdle.So it is the most crucial that robot assisted patient realizes the motion of pectoral girdle.In rehabilitation training, patient is the most difficult due to pectoral girdle motion, compensates so trunk can be moved, and this will reduce the effect of rehabilitation training.So in clinic, it is often necessary to limiting patient and compensate the motion of pectoral girdle with trunk, and induce patient to improve the frequency of pectoral girdle motion, this is the most crucial to the rehabilitation of head movement function.
But existing dermaskeleton type upper limb rehabilitation image training robot realizes not considering the motion of pectoral girdle in the motion of shoulder joint, this makes man-machine joint shaft mismatch, if being now trained after fixing for trunk, easily user is caused damage again.
Utility model content
The purpose of this utility model: a kind of dermaskeleton type upper limb rehabilitation image training robot is provided, wearable in human upper limb, can be used for assisting human upper limb to move in three dimensions, carry out rehabilitation training.
To achieve these goals, the technical solution of the utility model is:
A kind of dermaskeleton type upper limb rehabilitation image training robot, including pedestal, two robot assemblies and six motor drive components；Described pedestal includes that mobile base, electric box, electric lifting pole, base platform, motor installation corner bracket, pedestal electric rotating machine, shaft coupling, pedestal main bearing seat, pedestal ball-screw nut assembly, base nut seat, pedestal share countershaft bearing, right support, pedestal line slideway assembly and left socle；Described electric box is fixedly installed in described mobile base；Described electric lifting pole is fixedly installed in described electric box；Described base platform is fixedly installed in described electric lifting pole；Two described pedestal line slideway assemblies are fixedly installed in described base platform, and each described pedestal line slideway assembly is respectively equipped with two slide blocks；Described right support is fixedly installed in two slide blocks on the right side of two described pedestal line slideway assemblies, and described left socle is fixedly installed in two slide blocks on the left of two described pedestal line slideway assemblies；Described left socle and right support are along two described pedestal line slideway component slippage；Two described base nut seats are fixedly installed in the lower plane of described left socle and right support respectively；The nut of two described pedestal ball-screw nut assemblies is fixedly installed in two described base nut seats respectively；Two described pedestal main bearing seats are fixedly installed in two side positions of plane in described base platform respectively, and described pedestal shares countershaft bearing and is fixedly installed in the middle position of plane in described base platform；The described leading screw in two pedestal ball-screw nut assemblies is respectively arranged in two described pedestal main bearing seats and pedestal shares countershaft bearing and rotates；Two described pedestal electric rotating machines are installed corner bracket by two described motors respectively and are fixedly installed in described base platform；The leading screw of pedestal ball-screw nut assembly described to two described pedestal electric rotating machines and two is connected by two described shaft couplings respectively；Each described robot assemblies includes machinery pectoral girdle assembly, machinery shoulder joint assembly, mechanical elbow joint assembly, machinery forearm component, wrist joint assembly and robot arm assembly；Described motor drive component includes motor and reduction assemblies, torque sensor assembly and transmission component, described motor and reduction assemblies, torque sensor assembly and transmission component are installed in same motor and drive on pedestal, and described motor drives pedestal to include motor mounting plate, pedestal side panel, pedestal main shaft board, pedestal auxiliary-bearing plate, pedestal top board and two pieces of pedestal reinforcing plates；Described motor mounting plate, two pieces of pedestal reinforcing plates and pedestal top board are around connecting into loop configuration, described pedestal side panel is arranged on the top of described loop configuration by described motor mounting plate and pedestal main shaft board, the two ends of described pedestal auxiliary-bearing plate are connected with two pieces of described pedestal reinforcing plates respectively, between described motor mounting plate and described pedestal main shaft board.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mobile base comprises four can brake castor, described electric lifting pole adjusts the height of healing robot.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical pectoral girdle assembly includes the first joint assembly and second joint assembly；The first described joint assembly includes the first joint base plate, first joint nut seat, first joint header board, first joint slide plate, first joint line slideway assembly, first joint ball-screw assembly, first joint top board, first joint main bearing seat, first joint main bearing seat gland, first joint band grinding wheel press cap, first joint synchronous belt wheel, first joint synchronous band, first joint motor installing plate, first joint reduction box, first joint back plate, first joint electric rotating machine and the first joint countershaft bearing；Described second joint assembly includes second joint fork pedestal, second joint Timing Belt, second joint band grinding wheel press cap, second joint synchronous pulley, second joint motor mounting plate, second joint reduction box, second joint electric rotating machine, second joint drive shaft, second joint base bearing gland, second joint rotary shaft, second joint swing seat bearing gland, second joint swing seat, second joint swing arm, second joint swing arm handwheel and second joint swinging axle gland；Described the first joint base plate, the first joint header board, the first joint top board and the first joint back plate connect one quadra of formation；Two the first described joint line slideway assemblies are respectively fixedly connected with and are respectively equipped with a slide block in the first described joint header board and the first joint back plate, each the first described joint line slideway assembly；The first described joint slide plate is fixedly connected on two slide blocks of two the first described joint line slideway assemblies, and moves along the guide rail of two the first described joint line slideway assemblies；The first described joint nut seat is fixedly installed in the first described joint slide plate；The described nut in the first joint ball-screw assembly is fixedly installed in the first joint, upper end nut seat, and the described leading screw in the first joint ball-screw assembly is installed on the first described joint main bearing seat and the first joint countershaft bearing；The first described joint motor installing plate is fixedly installed in the first described joint top board by waist-shaped hole；The first described joint reduction box is fixedly installed in the first described joint motor installing plate；The first described joint electric rotating machine is fixedly installed in the first described joint reduction box；Two the first described joint synchronous belt wheels are respectively fixedly connected with in the first described joint ball-screw assembly and the first joint reduction box, and are connected transmission by the first described joint synchronous band；Two described second joint fork pedestals are fixedly installed in the first described joint slide plate；Described second joint assembly comprises a second joint drive shaft and three second joint rotary shafts；Two the most threaded described second joint drive shafts of described second joint swing arm and three second joint rotary shafts；Described second joint drive shaft and a second joint rotary shaft are installed on two described second joint fork pedestals and rotate；Two described second joint rotary shafts are connected with described second joint swing seat by bearing respectively；The termination of two described second joint swing arms is all installed with second joint swing arm handwheel；Described second joint motor mounting plate is fixedly installed in the first described joint slide plate；Described second joint reduction box is fixedly installed in described second joint motor mounting plate, and described second joint electric rotating machine is fixedly installed in described second joint reduction box；Two described second joint synchronous pulleys are respectively fixedly connected with in the first described joint main bearing seat and second joint reduction box, and are connected transmission by described second joint Timing Belt；Two described second joint fork pedestals, two second joint swing arms and second joint swing seat constitute one group of flat quadrangular mechanism, and a described second joint drive shaft and three second joint rotary shafts are four rotating shafts of described parallel-crank mechanism.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical shoulder joint assembly includes the 3rd joint assembly, the 4th joint assembly and the 5th joint assembly；The 3rd described joint assembly includes the 3rd joint substrate, the 3rd joint Bowden cable guide holder, the 3rd joint drive dish, the 3rd joint rotating shaft, the 3rd joint steel wire rope fixture, the 3rd joint swing component, the 3rd joint the first Bowden cable and the 3rd joint the second Bowden cable；The 4th described joint assembly includes the 4th joint Bowden cable guide holder, the 4th joint drive dish, the 4th joint steel wire rope fixing part, the 4th joint rotating shaft, the 4th joint the first Bowden cable and the 4th joint the second Bowden cable；The 5th described joint assembly includes arm blaster, the 5th joint bandage, the 5th joint synchronous belt wheel and the 5th joint synchronous band on the 5th joint pedestal, the 5th joint drive motor, the 5th joint middle Y template, the 5th front end, joint Y template, the 5th joint swing arm, the 5th joint bandage support, the 5th joint output, the 5th joint.
The 3rd described joint substrate is fixedly connected on described second joint fork pedestal；The 3rd described joint Bowden cable guide holder is fixedly installed in upper end the 3rd joint substrate；The 3rd described joint rotating shaft is fixing with the 3rd described joint drive dish and the 3rd joint swing component respectively to be connected, and around the 3rd described joint substrate rotating；Two the 3rd described joint steel wire rope fixtures are fixedly installed in the 3rd described joint drive dish；The 3rd described joint the first Bowden cable and the Bowden spool of the 3rd joint the second Bowden cable are fixed in the shoulder hole of the 3rd described joint Bowden cable guide holder, and the steel wire rope of the 3rd described joint the first Bowden cable and the 3rd joint the second Bowden cable is rotating around on the 3rd described joint drive dish, and it is individually fixed in described two the 3rd joint steel wire rope fixture.
The 4th described joint Bowden cable guide holder is fixedly installed in the 3rd described joint swing component；The 4th described joint drive dish is fixedly connected on the 5th described joint pedestal, and is connected with the 3rd described joint swing component by the 4th described joint rotating shaft, and around the 4th described joint axis of rotation；Two the 4th described joint steel wire rope fixing parts are fixedly installed in the 4th described joint drive dish；The 4th described joint the first Bowden cable and the Bowden spool of the 4th joint the second Bowden cable are fixed in the shoulder hole of the 4th described joint Bowden cable guide holder, and the steel wire rope of the 4th described joint the first Bowden cable and the 4th joint the second Bowden cable is rotating around on the 4th described joint drive dish, and it is individually fixed in described two the 4th joint steel wire rope fixing part.
The 5th described joint assembly is provided with two the 5th joint swing arms and three the 5th joint synchronous belt wheels；Two described the 5th joint swing arms are fixedly connected to form two swing arm groups respectively with two described the 5th joint synchronous belt wheels, and respectively with the 5th described joint pedestal chain connection；Y template and described two the 5th joint swing arm chain connections in the middle of the 5th described joint；The 5th described front end, joint Y template and described two the 5th joint swing arm chain connections；The 5th described joint output Y template chain connection middle with the 5th described joint；The 5th described joint output and the 5th described front end, joint Y template chain connection；The 5th described joint drive motor is fixedly connected on the 5th described joint pedestal, and motor output shaft is fixedly connected with the 5th described joint synchronous belt wheel；The 5th joint synchronous belt wheel that three described is connected transmission by the 5th described joint synchronous band；The 5th described joint bandage support is fixedly connected on the 5th described joint output；On the 5th described joint, arm blaster is fixedly connected on the 5th described joint bandage support；Equipped with the 5th joint bandage for immobilized patients upper arm on arm blaster on the 5th described joint.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical elbow joint assembly includes the 6th joint Bowden cable guide holder, the 6th joint drive dish, the 6th joint steel wire rope fixing part, the 6th joint rotating shaft, the 6th joint the first Bowden cable and the 6th joint the second Bowden cable；The 6th described joint Bowden cable guide holder is fixedly connected on the 5th described joint output；The 6th described joint drive dish is fixedly connected on described forearm substrate, the 6th described joint Bowden cable guide holder and the 6th joint drive dish and is rotated around the 5th described joint output by the 6th described joint rotating shaft；Two the 6th described joint steel wire rope fixing parts are fixedly connected on the 6th described joint drive dish；The 6th described joint the first Bowden cable and the Bowden spool of the 6th joint the second Bowden cable are fixed in the shoulder hole of the 6th described joint Bowden cable guide holder, and the 6th the steel wire rope of joint the first Bowden cable and the 6th joint the second Bowden cable rotating around on the 6th described joint drive dish, and be individually fixed in described two the 6th joint steel wire rope fixing part.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described mechanical forearm component includes machinery forearm substrate, machinery forearm coulisse, machinery forearm adjustable plate, machinery forearm pressing plate, 6th joint substrate, 7th joint drive motor, 7th joint motor ring for fixing, 7th joint motor substrate, 7th joint the first swing arm, 7th joint output pulley, Y template in the middle of 7th joint, 7th joint the second swing arm, 7th front end, joint set square, 7th joint output, machinery forearm bandage support, machinery forearm bandage, 7th joint synchronous band, 7th joint output pulley and machinery arm-supporting splint.
Described mechanical forearm coulisse is fixedly connected on described mechanical forearm substrate；Described mechanical forearm adjustable plate slide along described mechanical forearm coulisse and machinery forearm substrate；Described mechanical forearm pressing plate is fixedly connected on described mechanical forearm coulisse, and is limited in by described mechanical forearm adjustable plate in the chute in described mechanical forearm coulisse and machinery forearm substrate；Screwed hole is had on described mechanical forearm pressing plate.
Two the 7th joint output pulleys in described mechanical forearm component are respectively fixedly connected with in the 7th described joint the first swing arm and the 7th joint the second swing arm, constitute two swing arm groups；Two described swing arm groups respectively with the 7th described joint substrate chain connection；Y template and the 7th described joint the first swing arm and the 7th joint the second swing arm chain connection in the middle of the 7th described joint；The 7th described front end, joint set square and the 7th described joint the first swing arm and the 7th joint the second swing arm chain connection；The 7th described joint output and the 7th described front end, joint set square chain connection；The 7th described joint output Y template chain connection middle with the 7th described joint；The 7th described joint drive motor is pressed on the 7th joint motor substrate by the 7th described joint motor ring for fixing, makes the 7th described joint motor substrate be fixed on the 7th described joint drive motor；The 7th described joint motor substrate is fixedly installed in the 7th described joint substrate；The 7th described joint output pulley is fixedly installed on the output shaft of the 7th described joint drive motor；The 7th described joint output pulley and two the 7th joint output pulleys are connected transmission by the 7th described joint synchronous band.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described wrist joint assembly includes the 8th joint pedestal, the 8th joint swing arm；Described robot arm assembly includes handle；The 8th described joint pedestal is fixedly connected on the 7th described joint output；Two the 8th described joint swing arms and the 8th described joint pedestal chain connection, hinge axis is the 8th joint rotating shaft；It is fixed with handle in two described the 8th joint swing arms；Soft handle sleeve it is coated with on the described handle in robot arm assembly.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described motor and reduction assemblies include driving motor, harmonic speed reducer, winch reductor power shaft, many winch reductor ropes, capstan winch rotating shaft, winch reductor bearing gland, back-moving spring, cord end fixture and capstan winch；Described drive motor and harmonic speed reducer are all fixedly installed in described motor mounting plate, and the described motor that drives is connected transmission with described harmonic speed reducer；One end of described winch reductor power shaft is fixedly connected on the delivery outlet of described harmonic speed reducer, and the other end of described winch reductor power shaft is connected with the bearing on described pedestal main shaft board；Described capstan winch is positioned in the middle of described pedestal main shaft board and described pedestal auxiliary-bearing plate, described capstan winch rotating shaft be sequentially inserted into described pedestal base bearing board shaft hold, capstan winch and pedestal auxiliary-bearing plate, described capstan winch is fixing with described capstan winch rotating shaft is connected also synchronous axial system；The middle part of many described winch reductor ropes is wound in the thread groove of described winch reductor power shaft, described capstan winch is fixed on by described cord end fixture in one end of many described winch reductor ropes, the other end of many described winch reductor ropes is by one end of described back-moving spring, and the other end of described back-moving spring is fixedly connected on described capstan winch.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described torque sensor assembly includes sensor outer ring, the first spring, rotor sensor, the second spring, spring terminal, the 3rd spring, rotor bearing, the 4th spring, the 5th spring, the 6th spring and spring retainer block；Described sensor outer ring is fixedly connected on described capstan winch rotating shaft；Three described spring retainer blocks are uniform is fixed on described sensor outer ring；Described rotor sensor is by the capstan winch rotating shaft described in described rotor bearing insertion；Described the first spring, the second spring, the 3rd spring, the 4th spring, the 5th spring and the 6th spring are distributed in six neutral gears between described rotor sensor and three spring retainer blocks, and described rotor sensor and spring retainer block are fixed on by two described spring terminals respectively in the two ends of described the first spring, the second spring, the 3rd spring, the 4th spring, the 5th spring and the 6th spring.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described transmission component includes transmission output panel, directive wheel, the first cushion block, the second cushion block, directive wheel base plate, thru-bolt, transmission the first Bowden cable, transmission the second Bowden cable, transmission input steel wire rope fixture, joint rotating disk pedestal, joint disk shaft, joint rotating disk steel wire rope fixture, joint rotating disk, transmission Bowden cable guide holder fixed plate, transmission Bowden cable guide holder and joint arm.
Described transmission output panel is fixedly connected on described rotor sensor；Two described transmission input steel wire rope fixtures are fixedly connected on described transmission output panel；Described directive wheel base plate is fixedly connected on described pedestal side panel；Described the first cushion block, the second cushion block are respectively fixedly connected with in described directive wheel base plate；Two described directive wheels are connected to described the first cushion block, the second cushion block and freely rotatable by shaft shoulder screw respectively；Described disk shaft insertion is fixed in the bearing of described joint rotating disk pedestal and freely rotatable；Described joint arm is fixedly connected on described joint rotating disk, described joint arm and joint rotating disk and is connected synchronous axial system by standard key with described joint disk shaft；Described transmission the first Bowden cable and one end spool of transmission the second Bowden cable are separately fixed in the shoulder hole of two thru-bolts, the steel wire cable of transmission the first Bowden cable and transmission the second Bowden cable stretch out after shoulder hole through by two described directive wheels rotating around in two wire casings of described transmission output panel, and be fixedly connected on described transmission output panel by two described transmissions input steel wire rope fixtures；Described transmission the first Bowden cable and the other end spool of transmission the second Bowden cable are individually fixed in the shoulder hole of described transmission Bowden cable guide holder, after described transmission the first Bowden cable and the steel wire cable of transmission the second Bowden cable stretch out shoulder hole, rotating around in two wire casings of described joint rotating disk, and it is fixedly connected on described joint rotating disk by two described joint rotating disk steel wire rope fixtures.
This utility model carries on pectoral girdle by increasing recovery exercising robot/declines, the degree of freedom of extension/retraction, the problem that can effectively solve man-machine joint shaft mismatch, thus allow the trunk of regular user during carrying out rehabilitation training of upper limbs, limit the compensatory activity of its trunk, improve the effect of rehabilitation training, the upper limb joint of user will not be caused damage simultaneously；Provide the design of shoulder joint three degree of freedom, and keep the centre of motion of shoulder joint assembly to overlap with the centre of motion of human body Glenohumeral joint, reduce further the degree of man-machine joint shaft mismatch, simultaneously, rotary motion offsetting mechanism achieves the inside/outside rotation of shoulder joint, reduces traditional problem that volume is big, the degree of modularity is low brought with arc-shaped rail implementation；According to different user hand situations, by changing different robot arm, for realizing different training programs；Utilize rope and capstan winch to complete power transmission, conventional gears reductor back clearance can be avoided compared with problem big, that gear is easy to wear, reduce difficulty and the cost of manufacture simultaneously；Many ropes are used to connect power shaft and the output capstan winch of winch reductor assembly, load is shared to each rope, effectively strengthen the performance of winch reductor assembly, extend its service life, devising back-moving spring can make rope keep tensioning simultaneously, thus reduces the back clearance of winch reductor assembly further.Utilize Bowden cable to complete the remote transmission of motor power so that the motor drive component that weight is bigger can not reside at joint, reduce optimization and the optimization of system power that the inertia of healing robot mechanical arm, beneficially system control；Utilize the two lines groove on transmission output panel and joint rotating disk to be staggered by the steel wire rope that both direction rotates simultaneously, and steel wire rope is wound on rotating disk more fully by directive wheel further, increase effectively range of movement when will be used for joint of robot transmission.It is designed with the take-up device of Bowden cable, two Bowden cable tensioning degrees can be regulated, thus regulate transmission output panel and the performance of joint rotating disk synchronous axial system.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 2 is the component distribution figure of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 3 is the structural representation of the pedestal of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 4 is the structural representation of the robot assemblies of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 5 is the structural representation of the mechanical pectoral girdle assembly of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 6 is the structural representation of the mechanical shoulder joint assembly of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 7 is the structural representation of the mechanical shoulder joint assembly inside/outside rotation of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 8 is the structural representation of the mechanical elbow joint assembly of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Fig. 9 is mechanical forearm component and the structural representation of front end assemblies of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Figure 10 is the structural representation of the motor drive component of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Figure 11 is the structural representation of the motor driving pedestal of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Figure 12 is motor and the structural representation of reduction assemblies of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Figure 13 is the structural representation of the torque sensor assembly of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Figure 14 is the structural representation of the transmission component of this utility model dermaskeleton type upper limb rehabilitation image training robot.
Detailed description of the invention
Embodiment of the present utility model is further illustrated below in conjunction with accompanying drawing.
Referring to shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 10 and accompanying drawing 11, a kind of dermaskeleton type upper limb rehabilitation image training robot, including 100, two robot assemblies 200 of pedestal and six motor drive components 800；Described pedestal 100 includes that mobile base 1001, electric box 1002, electric lifting pole 1003, base platform 1004, motor installation corner bracket 1005, pedestal electric rotating machine 1006, shaft coupling 1007, pedestal main bearing seat 1008, pedestal ball-screw nut assembly 1009, base nut seat 1010, pedestal share countershaft bearing 1011, right support 1012, pedestal line slideway assembly 1013 and left socle 1014；Described electric box 1002 is fixedly installed in described mobile base 1001；Described electric lifting pole 1003 is fixedly installed in described electric box 1002；Described base platform 1004 is fixedly installed in described electric lifting pole 1003；Two described pedestal line slideway assemblies 1013 are fixedly installed in described base platform 1004, and each described pedestal line slideway assembly 1013 is respectively equipped with two slide blocks；Described right support 1012 is fixedly installed in two slide blocks on the right side of two described pedestal line slideway assemblies 1013, and described left socle 1014 is fixedly installed in two slide blocks on the left of two described pedestal line slideway assemblies 1013；Described left socle 1014 and right support 1012 can along two described pedestal line slideway assemblies 1013 slidably；Two described base nut seats 1010 are fixedly installed in described left socle 1014 and the lower plane of right support 1012 respectively；The nut of two described pedestal ball-screw nut assemblies 1009 is fixedly installed in two described base nut seats 1010 respectively；Two described pedestal main bearing seats 1008 are fixedly installed in two side positions of plane in described base platform 1004 respectively, and described pedestal shares countershaft bearing 1011 and is fixedly installed in the middle position of plane in described base platform 1004；The described leading screw in two pedestal ball-screw nut assemblies 1009 is respectively arranged in two described pedestal main bearing seats 1008 and pedestal shares countershaft bearing 1011 and can rotate；Two described pedestal electric rotating machines 1006 are installed corner bracket 1005 by two described motors respectively and are fixedly installed in described base platform 1004；The leading screw of two described pedestal electric rotating machines 1006 and two described pedestal ball-screw nut assemblies 1009 is connected by two described shaft couplings 1007 respectively；Each described robot assemblies 200 includes machinery pectoral girdle assembly 2000, machinery shoulder joint assembly 3000, mechanical elbow joint assembly 4000, machinery forearm component 5000, wrist joint assembly 6000 and robot arm assembly 7000；Described motor drive component 800 includes motor and reducer assemblies 8100, winch reductor assembly 8200, torque sensor assembly 8300 and transmission component 8400, described motor and reducer assemblies 8100, winch reductor assembly 8200, torque sensor assembly 8300 and transmission component 8400 are installed in same motor and drive on pedestal 8000, and described motor drives pedestal 8000 to include motor mounting plate 8001, pedestal side panel 8002, pedestal main shaft board 8003, pedestal auxiliary-bearing plate 8004, pedestal top board 8006 and two pieces of pedestal reinforcing plates 8005；8001, two pieces of pedestal reinforcing plates 8005 of described motor mounting plate and pedestal top board 8006 are around connecting into loop configuration, described pedestal side panel 8002 is arranged on the top of described loop configuration by described motor mounting plate 8001 and pedestal main shaft board 8003, the two ends of described pedestal auxiliary-bearing plate 8004 are connected with two pieces of described pedestal reinforcing plates 8005 respectively, between described motor mounting plate 8001 and described pedestal main shaft board 8003.
Described mobile base 1001 comprises four can brake castor, user can be by unlocking castor for moving, adjust the position of healing robot, and locking castor is used for fixing healing robot；Described electric lifting pole 1003 is for adjusting the height patient with adaptive different heights of healing robot；User can drive connected two pedestal ball-screw nut assemblies 1009 by controlling two pedestal electric rotating machines 1006, thus drives left socle 1014 and right support 1012 to move on two pedestal line slideway assemblies 1013.
Referring to shown in accompanying drawing 5, described mechanical pectoral girdle assembly 2000 includes the first joint assembly and second joint assembly；The first described joint assembly includes the first joint base plate 2101, first joint nut seat 2102, first joint header board 2103, first joint slide plate 2104, first joint line slideway assembly 2105, first joint ball-screw assembly 2106, first joint top board 2107, first joint main bearing seat 2108, first joint main bearing seat gland 2109, first joint band grinding wheel press cap 2110, first joint synchronous belt wheel 2111, first joint synchronous band 2112, first joint motor installing plate 2113, first joint reduction box 2114, first joint back plate 2115, first joint electric rotating machine 2116 and the first joint countershaft bearing 2117；Described second joint assembly includes second joint fork pedestal 2201, second joint Timing Belt 2202, second joint band grinding wheel press cap 2203, second joint synchronous pulley 2204, second joint motor mounting plate 2205, second joint reduction box 2206, second joint electric rotating machine 2207, second joint drive shaft 2208, second joint base bearing gland 2209, second joint rotary shaft 2210, second joint swing seat bearing gland 2211, second joint swing seat 2212, second joint swing arm 2213, second joint swing arm handwheel 2214 and second joint swinging axle gland 2215.
First described joint base plate the 2101, first joint header board the 2103, first joint top board 2107 is connected one quadra of formation with the first joint back plate 2115；Two the first described joint line slideway assemblies 2105 are respectively fixedly connected with and are respectively equipped with a slide block in the first described joint header board 2103 and the first joint back plate 2115, each the first described joint line slideway assembly 2105；The first described joint slide plate 2104 is fixedly connected on two slide blocks of two the first described joint line slideway assemblies 2105, and can move freely along the guide rail of two the first described joint line slideway assemblies；The first described joint nut seat 2102 is fixedly installed in the first described joint slide plate 2104；The described nut in the first joint ball-screw assembly 2106 is fixedly installed in the first joint, upper end nut seat 2102, and the described leading screw in the first joint ball-screw assembly 2106 is installed on the first described joint main bearing seat 2108 and the first joint countershaft bearing 2117；The first described joint motor installing plate 2113 is fixedly installed in the first described joint top board 2107 by waist-shaped hole thereon；The first described joint reduction box 2114 is fixedly installed in the first described joint motor installing plate 2113；The first described joint electric rotating machine 2116 is fixedly installed in the first described joint reduction box 2114；Two the first described joint synchronous belt wheels 2111 are respectively fixedly connected with in the first described joint ball-screw assembly 2106 and the first joint reduction box 2114, and are connected transmission by the first described joint synchronous band 2112；Two described second joint fork pedestals 2201 are fixedly installed in the first described joint slide plate 2104；Described second joint assembly comprises a second joint drive shaft 2208 and three second joint rotary shafts 2210；Two the most threaded described second joint drive shafts 2208 of described second joint swing arm 2213 and three second joint rotary shafts 2210；Described second joint drive shaft 2208 and a second joint rotary shaft 2210 are installed on two described second joint fork pedestals 2201, it is possible to freely rotatable；Two described second joint rotary shafts 2210 are connected with described second joint swing seat 2212 by bearing respectively；The termination of two described second joint swing arms 2213 is all installed with second joint swing arm handwheel 2214；Described second joint motor mounting plate 2205 is fixedly installed in the first described joint slide plate 2104；Described second joint reduction box 2206 is fixedly installed in described second joint motor mounting plate 2205, and described second joint electric rotating machine 2207 is fixedly installed in described second joint reduction box 2206；Two described second joint synchronous pulleys 2204 are respectively fixedly connected with in the first described joint main bearing seat 2108 and second joint reduction box 2206, and are connected transmission by described second joint Timing Belt 2202；Described 2201, two second joint swing arms 2213 of two second joint fork pedestals and second joint swing seat 2212 constitute one group of flat quadrangular mechanism, and a described second joint drive shaft 2208 and three second joint rotary shafts 2210 are four rotating shafts of described parallel-crank mechanism.
It is possible to further control the first joint electric rotating machine 2116 to drive the first joint ball-screw assembly 2106, thus the first joint slide plate 2104 is driven to move on the first joint line slideway assembly 2105；Second joint assembly can be moved with the first joint slide plate 2104 by two second joint fork pedestals 2201；Second joint electric rotating machine 2207 can be controlled and drive second joint drive shaft 2208 by second joint Timing Belt 2202 and two second joint synchronous pulleys 2204, thus drive second joint component movement.
Referring to shown in accompanying drawing 6 and accompanying drawing 7, described mechanical shoulder joint assembly 3000 includes the 3rd joint assembly, the 4th joint assembly and the 5th joint assembly；The 3rd described joint assembly includes the 3rd joint substrate the 3101, the 3rd joint Bowden cable guide holder the 3102, the 3rd joint drive dish the 3103, the 3rd joint rotating shaft the 3104, the 3rd joint steel wire rope fixture the 3105, the 3rd joint swing component the 3106, the 3rd joint the first Bowden cable 3107 and the 3rd joint the second Bowden cable 3108；The 4th described joint assembly includes the 4th joint Bowden cable guide holder the 3201, the 4th joint drive dish the 3202, the 4th joint steel wire rope fixing part the 3203, the 4th joint rotating shaft the 3204, the 4th joint the first Bowden cable 3205 and the 4th joint the second Bowden cable 3206；The 5th described joint assembly includes arm blaster the 3308, the 5th joint bandage the 3309, the 5th joint synchronous belt wheel 3310 and the 5th joint synchronous band 3311 on middle Y template the 3303, the 5th front end, joint Y template the 3304, the 5th joint swing arm the 3305, the 5th joint bandage support the 3306, the 5th joint output the 3307, the 5th joint, the 5th joint pedestal the 3301, the 5th joint drive motor the 3302, the 5th joint.
The 3rd described joint substrate 3101 is fixedly connected on described second joint fork pedestal 2201；The 3rd described joint Bowden cable guide holder 3102 is fixedly installed in upper end the 3rd joint substrate 3101；The 3rd described joint rotating shaft 3104 is fixed be connected with the 3rd described joint drive dish 3103 and the 3rd joint swing component 3106 respectively, and can be freely rotatable around the 3rd described joint substrate 3101；Two the 3rd described joint steel wire rope fixtures 3105 are fixedly installed in the 3rd described joint drive dish 3103；The 3rd described joint the first Bowden cable 3107 and the Bowden spool of the 3rd joint the second Bowden cable 3108 are fixed in the shoulder hole of the 3rd described joint Bowden cable guide holder 3102, and the steel wire rope of the 3rd described joint the first Bowden cable 3107 and the 3rd joint the second Bowden cable 3108 is rotating around on the 3rd described joint drive dish 3103, and it is individually fixed in described two the 3rd joint steel wire rope fixture 3105.
The 4th described joint Bowden cable guide holder 3201 is fixedly installed in the 3rd described joint swing component 3106；The 4th described joint drive dish 3202 is fixedly connected on the 5th described joint pedestal 3301, and is connected with the 3rd described joint swing component 3106 by the 4th described joint rotating shaft 3204, and freely rotatable around the 4th described joint rotating shaft 3204；Two the 4th described joint steel wire rope fixing parts 3203 are fixedly installed in the 4th described joint drive dish 3202；The 4th described joint the first Bowden cable 3205 and the Bowden spool of the 4th joint the second Bowden cable 3206 are fixed in the shoulder hole of the 4th described joint Bowden cable guide holder 3201, and the steel wire rope of the 4th described joint the first Bowden cable 3205 and the 4th joint the second Bowden cable 3206 is rotating around on the 4th described joint drive dish 3202, and it is individually fixed in described two the 4th joint steel wire rope fixing part 3203.
The 5th described joint assembly is provided with two the 5th joint swing arms 3305 and three the 5th joint synchronous belt wheels 3310；Two described the 5th joint swing arms 3305 are fixedly connected to form two swing arm groups respectively with two described the 5th joint synchronous belt wheels 3310, and respectively with the 5th described joint pedestal 3301 chain connection, two hinge axis are respectively 3300A and 3300B；Y template 3303 and described two the 5th joint swing arm 3305 chain connections in the middle of the 5th described joint, two hinge axis are respectively 3300C and 3300E；The 5th described front end, joint Y template 3304 and described two the 5th joint swing arm 3305 chain connections, two hinge axis are respectively 3300D and 3300F；The 5th described joint output 3307 Y template 3303 chain connection middle with the 5th described joint, hinge axis is 3300G；The 5th described joint output 3307 and the 5th described front end, joint Y template 3304 chain connection, hinge axis is 3300H；The 5th described joint drive motor 3302 is fixedly connected on the 5th described joint pedestal 3301, and motor output shaft is fixedly connected with the 5th described joint synchronous belt wheel 3310；The 5th joint synchronous belt wheel 3310 that three described is connected transmission by the 5th described joint synchronous band 3311；The 5th described joint bandage support 3306 is fixedly connected on the 5th described joint output 3307；On the 5th described joint, arm blaster 3308 is fixedly connected on the 5th described joint bandage support 3306；Equipped with the 5th joint bandage 3309 for immobilized patients upper arm on arm blaster 3308 on the 5th described joint.
Further, the 3rd joint the first Bowden cable 3107 can be controlled by described motor drive component and the 3rd joint the second Bowden cable 3108 drives the 3rd joint drive dish 3103 and the 3rd joint swing component 3106 to be rotated on the 3rd joint substrate 3101 by the 3rd joint rotating shaft 3104, realizing the motion of the 3rd joint assembly, the axial line of the 3rd joint rotating shaft 3104 is the 3rd joint rotary shaft；The 4th joint the first Bowden cable 3205 can be controlled by described motor drive component and the 4th joint the second Bowden cable 3206 drives the 4th joint drive dish 3202 and the 5th joint pedestal 3301 to be rotated on the 3rd joint swing component 3106 by the 4th joint rotating shaft 3204, realizing the motion of the 4th joint assembly, the axial line of the 4th joint rotating shaft 3204 is the 4th joint rotary shaft.Can control the 5th joint drive motor 3302 drives the 5th joint assembly motion that arm blaster 3308 on the 5th joint output 3307 and the 5th joint that is attached to is rotated relative to the 5th fixing rotating shaft 3000C of joint pedestal 3301 around one with the 5th joint bandage 3309 by the 5th joint synchronous band 3311 with three the 5th joint synchronous belt wheels 3310, and 3000C is the 5th joint rotary shaft.
Referring to shown in accompanying drawing 8, described mechanical elbow joint assembly 4000 includes the 6th joint Bowden cable guide holder the 4001, the 6th joint drive dish the 4002, the 6th joint steel wire rope fixing part the 4003, the 6th joint rotating shaft the 4004, the 6th joint the first Bowden cable 4005 and the 6th joint the second Bowden cable 4006；The 6th described joint Bowden cable guide holder 4001 is fixedly connected on the 5th described joint output 3307；The 6th described joint drive dish 4002 is fixedly connected on described forearm substrate 5001, and the 6th described joint Bowden cable guide holder 4001 and the 6th joint drive dish 4002 are rotated around the 5th described joint output 3307 by the 6th described joint rotating shaft 4004；Two the 6th described joint steel wire rope fixing parts 4003 are fixedly connected on the 6th described joint drive dish 4002；The 6th described joint the first Bowden cable 4005 and the Bowden spool of the 6th joint the second Bowden cable 4006 are fixed in the shoulder hole of the 6th described joint Bowden cable guide holder 4001, and the 6th the steel wire rope of joint the first Bowden cable 4005 and the 6th joint the second Bowden cable 4006 rotating around on the 6th described joint drive dish 4002, and be individually fixed in described two the 6th joint steel wire rope fixing part 4003.
Further, the 6th joint the first Bowden cable 4005 can be controlled by described motor drive component and the 6th joint the second Bowden cable 4006 drives the 6th joint drive dish 4002 and forearm substrate 5001 to be rotated on the 5th joint output 3307 by the 6th joint rotating shaft 4004, realizing the motion of the 6th joint assembly, the axial line of the 6th joint rotating shaft 4004 is the 6th joint rotary shaft.
nullRefer to shown in accompanying drawing 9，Described mechanical forearm component 5000 includes machinery forearm substrate 5001、Machinery forearm coulisse 5002、Machinery forearm adjustable plate 5003、Machinery forearm pressing plate 5004、6th joint substrate 5005、7th joint drive motor 5006、7th joint motor ring for fixing 5007、7th joint motor substrate 5008、7th joint the first swing arm 5009、7th joint output pulley 5010、Y template 5011 in the middle of 7th joint、7th joint the second swing arm 5012、7th front end, joint set square 5013、7th joint output 5014、Machinery forearm bandage support 5015、Machinery forearm bandage 5016、7th joint synchronous band 5017、7th joint output pulley 5018 and machinery arm-supporting splint 5019.
Described mechanical forearm coulisse 5002 is fixedly connected on described mechanical forearm substrate 5001；Described mechanical forearm adjustable plate 5003 can along described mechanical forearm coulisse 5002 and machinery forearm substrate 5001 along slide；Described mechanical forearm pressing plate 5004 is fixedly connected on described mechanical forearm coulisse 5002, and is limited in by described mechanical forearm adjustable plate 5003 in the chute in described mechanical forearm coulisse 5002 and machinery forearm substrate 5001；Having screwed hole on described mechanical forearm pressing plate 5004, screwing the holding screw in screwed hole can fix machinery forearm adjustable plate 5003 in place.
Two the 7th joint output pulleys 5018 in described mechanical forearm component 5000 are respectively fixedly connected with in the 7th described joint the first swing arm 5009 and the 7th joint the second swing arm 5012, constitute two swing arm groups；Two described swing arm groups respectively with the 7th described joint substrate 5005 chain connection, two hinge axis are respectively 5000A and 5000B；Y template 5011 and the 7th described joint the first swing arm 5009 and the 7th joint the second swing arm 5012 chain connection in the middle of the 7th described joint, two hinge axis are respectively 5000C and 5000D；The 7th described front end, joint set square 5013 and the 7th described joint the first swing arm 5009 and the 7th joint the second swing arm 5012 chain connection, two hinge axis are respectively 5000E and 5000F；The 7th described joint output 5014 and the 7th described front end, joint set square 5013 chain connection, hinge axis is 5000G；The 7th described joint output 5014 Y template 5011 chain connection middle with the 7th described joint, hinge axis is 5000H；The 7th described joint drive motor 5006 is pressed on the 7th joint motor substrate 5008 by the 7th described joint motor ring for fixing 5007, makes the 7th described joint motor substrate 5008 be fixed on the 7th described joint drive motor 5006；The 7th described joint motor substrate 5008 is fixedly installed in the 7th described joint substrate 5005；The 7th described joint output pulley 5010 is fixedly installed on the output shaft of the 7th described joint drive motor 5006；The 7th described joint output pulley 5010 and two the 7th joint output pulleys 5018 are connected transmission by the 7th described joint synchronous band 5017.
Further, user can control the 7th joint drive motor 5006 and drive Y template the 5011, the 7th front end, joint set square 5013 in the middle of the 7th joint the first swing arm the 5009, the 7th joint the second swing arm the 5012, the 7th joint that the 7th joint output 5014 is rotated around the fixing rotating shaft 5000I of a relative mechanical forearm substrate 5001 by the 7th joint synchronous band the 5017, the 7th joint output pulley 5010 and two the 7th joint output pulleys 5018, and rotating shaft 5000I is the 7th joint rotating shaft.
Described wrist joint assembly 6000 includes the 8th joint pedestal the 6001, the 8th joint swing arm 6002；Described robot arm assembly includes handle 7001；The 8th described joint pedestal 6001 is fixedly connected on the 7th described joint output 5014；Two the 8th described joint swing arms 6002 and the 8th described joint pedestal 6001 chain connection, hinge axis is 6000A, is the 8th joint rotating shaft；It is fixed with handle 7001 in two described the 8th joint swing arms 6002；Soft handle sleeve it is coated with on the described handle 7001 in robot arm assembly；Handle 7001 can also be dismantled, and replaces with other hand exercise devices.
Refer to shown in accompanying drawing 12, described motor and reducer assemblies 8100 include driving motor 8101, harmonic speed reducer 8102, and winch reductor assembly 8200 includes winch reductor power shaft 8201, many winch reductor ropes 8202, capstan winch rotating shaft 8203, winch reductor bearing gland 8204, back-moving spring 8205, cord end fixture 8206 and capstan winch 8207；Described drive motor 8101 and harmonic speed reducer 8102 are all fixedly installed in described motor mounting plate 8001, and the described motor 8101 that drives is connected transmission with described harmonic speed reducer 8102；One end of described winch reductor power shaft 8201 is fixedly connected on the delivery outlet of described harmonic speed reducer 8102, and the other end of described winch reductor power shaft 8201 is connected with the bearing on described pedestal main shaft board 8003；It is middle with described pedestal auxiliary-bearing plate 8004 that described capstan winch 8207 is positioned at described pedestal main shaft board 8003, described capstan winch rotating shaft 8203 is sequentially inserted into described pedestal main shaft board 8003 bearing, capstan winch 8207 and pedestal auxiliary-bearing plate 8004, and described capstan winch 8207 is fixing with described capstan winch rotating shaft 8203 to be connected and can synchronous axial system；The middle part of many described winch reductor ropes 8202 is wound in the thread groove of described winch reductor power shaft 8201, described capstan winch 8207 is fixed on by described cord end fixture 8206 in one end of many described winch reductor ropes 8202, the other end of many described winch reductor ropes 8202 is by one end of described back-moving spring 8205, and the other end of described back-moving spring 8205 is fixedly connected on described capstan winch 8207.
Referring to shown in accompanying drawing 13, described torque sensor assembly 8300 includes sensor outer ring the 8301, first spring 8302, rotor sensor the 8303, second spring 8304, spring terminal the 8305, the 3rd spring 8306, rotor bearing the 8307, the 4th spring the 8308, the 5th spring the 8309, the 6th spring 8310 and spring retainer block 8311；Described sensor outer ring 8301 is fixedly connected on described capstan winch rotating shaft 8203；Three described spring retainer blocks 8311 are uniform is fixed on described sensor outer ring 8301；Described rotor sensor 8303 inserts described capstan winch rotating shaft 8203 by described rotor bearing 8307；First described spring the 8302, second spring the 8304, the 3rd spring the 8306, the 4th spring the 8308, the 5th spring 8309 and the 6th spring 8310 are distributed in six neutral gears between described rotor sensor 8303 and three spring retainer blocks 8311, and described rotor sensor 8303 and spring retainer block 8311 are fixed on by two described spring terminals 8305 respectively in first described spring the 8302, second spring the 8304, the 3rd spring the 8306, the 4th spring the 8308, the 5th spring 8309 and the two ends of the 6th spring 8310.
Referring to shown in accompanying drawing 14, described transmission component 8400 includes transmission output panel 8401, directive wheel the 8402, first cushion block the 8403, second cushion block 8404, directive wheel base plate 8405, thru-bolt 8406, transmission the first Bowden cable 8407, transmission the second Bowden cable 8408, transmission input steel wire rope fixture 8409, joint rotating disk pedestal 8410, joint disk shaft 8411, joint rotating disk steel wire rope fixture 8412, joint rotating disk 8413, transmission Bowden cable guide holder fixed plate 8414, transmission Bowden cable guide holder 8415 and joint arm 8416.
Described transmission output panel 8401 is fixedly connected on described rotor sensor 8303；Two described transmission input steel wire rope fixtures 8409 are fixedly connected on described transmission output panel 8401；Described directive wheel base plate 8405 is fixedly connected on described pedestal side panel 8002；First described cushion block the 8403, second cushion block 8404 is respectively fixedly connected with in described directive wheel base plate 8405；Two described directive wheels 8402 are connected to first described cushion block the 8403, second cushion block 8404 and the most free to rotate by shaft shoulder screw respectively；Described disk shaft 8411 inserts in the bearing being fixed on described joint rotating disk pedestal 8410, it is possible to freely rotatable；Described joint arm 8416 is fixedly connected on described joint rotating disk 8413, described joint arm 8416 and joint rotating disk 8413 and is connected synchronous axial system by standard key with described joint disk shaft 8411；Described transmission the first Bowden cable 8407 and one end spool of transmission the second Bowden cable 8408 are separately fixed in the shoulder hole of two thru-bolts 8406, the steel wire cable of transmission the first Bowden cable 8407 and transmission the second Bowden cable 8408 stretch out after shoulder hole through by two described directive wheels 8402 rotating around in two wire casings of described transmission output panel 8401, and be fixedly connected on described transmission output panel 8401 by two described transmissions input steel wire rope fixtures 8409；Described transmission the first Bowden cable 8407 and the other end spool of transmission the second Bowden cable 8408 are individually fixed in the shoulder hole of described transmission Bowden cable guide holder 8415, after described transmission the first Bowden cable 8407 and the steel wire cable of transmission the second Bowden cable 8408 stretch out shoulder hole, rotating around in two wire casings of described joint rotating disk 8413, and it is fixedly connected on described joint rotating disk 8413 by two described joint rotating disk steel wire rope fixtures 8412.
In sum, this utility model carries on pectoral girdle by increasing recovery exercising robot/declines, the degree of freedom of extension/retraction, the problem that can effectively solve man-machine joint shaft mismatch, thus allow the trunk of regular user during carrying out rehabilitation training of upper limbs, limit the compensatory activity of its trunk, improve the effect of rehabilitation training, the upper limb joint of user will not be caused damage simultaneously；Provide the design of shoulder joint three degree of freedom, and keep the centre of motion of shoulder joint assembly to overlap with the centre of motion of human body Glenohumeral joint, reduce further the degree of man-machine joint shaft mismatch, simultaneously, rotary motion offsetting mechanism achieves the inside/outside rotation of shoulder joint, reduces traditional problem that volume is big, the degree of modularity is low brought with arc-shaped rail implementation；According to different user hand situations, by changing different robot arm, for realizing different training programs；Utilize rope and capstan winch to complete power transmission, conventional gears reductor back clearance can be avoided compared with problem big, that gear is easy to wear, reduce difficulty and the cost of manufacture simultaneously；Many ropes are used to connect power shaft and the output capstan winch of winch reductor assembly, load is shared to each rope, effectively strengthen the performance of winch reductor assembly, extend its service life, devising back-moving spring can make rope keep tensioning simultaneously, thus reduces the back clearance of winch reductor assembly further.Utilize Bowden cable to complete the remote transmission of motor power so that the motor drive component that weight is bigger can not reside at joint, reduce optimization and the optimization of system power that the inertia of healing robot mechanical arm, beneficially system control；Utilize the two lines groove on transmission output panel and joint rotating disk to be staggered by the steel wire rope that both direction rotates simultaneously, and steel wire rope is wound on rotating disk more fully by directive wheel further, increase effectively range of movement when will be used for joint of robot transmission.It is designed with the take-up device of Bowden cable, two Bowden cable tensioning degrees can be regulated, thus regulate transmission output panel and the performance of joint rotating disk synchronous axial system.
The foregoing is only preferred embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every equivalent structure transformation utilizing this utility model description to be made; or directly or indirectly use the technical field being attached to other Related products, the most in like manner it is included in scope of patent protection of the present utility model.

Claims (10)

1. a dermaskeleton type upper limb rehabilitation image training robot, it is characterised in that: include pedestal, two machineries Arm component and six motor drive components；Described pedestal includes mobile base, electric box, electronic liter Fall post, base platform, motor install corner bracket, pedestal electric rotating machine, shaft coupling, pedestal main bearing seat, Pedestal ball-screw nut assembly, base nut seat, pedestal share countershaft bearing, right support, pedestal Line slideway assembly and left socle；Described electric box is fixedly installed in described mobile base；Described Electric lifting pole be fixedly installed in described electric box；Described base platform is fixedly installed in described Electric lifting pole；Two described pedestal line slideway assemblies are fixedly installed in described pedestal and put down Platform, each described pedestal line slideway assembly is respectively equipped with two slide blocks；Described right support is solid Dingan County is loaded on two slide blocks on the right side of two described pedestal line slideway assemblies, and described left socle is solid Dingan County is loaded on two slide blocks on the left of two described pedestal line slideway assemblies；Described left socle and Right support is along two described pedestal line slideway component slippage；Two described base nut seats are respectively It is fixedly installed in the lower plane of described left socle and right support；Two described pedestal ball-screw spiral shells The nut of female component is fixedly installed in two described base nut seats respectively；Two described pedestal masters Bearing block is fixedly installed in two side positions of plane in described base platform respectively, and described pedestal is altogether It is fixedly installed in the middle position of plane in described base platform by countershaft bearing；Two described bases Leading screw in seat ball-screw nut assembly is respectively arranged in two described pedestal main bearing seats and base The shared countershaft bearing of seat also rotates；Two described pedestal electric rotating machines are respectively by two described electricity Machine is installed corner bracket and is fixedly installed in described base platform；Two described shaft couplings are described by two The leading screw of pedestal electric rotating machine and two described pedestal ball-screw nut assemblies connects respectively；Each Described robot assemblies includes machinery pectoral girdle assembly, machinery shoulder joint assembly, mechanical elbow joint group Part, machinery forearm component, wrist joint assembly and robot arm assembly；Described motor driving group Part includes motor and reduction assemblies, torque sensor assembly and transmission component, described motor and deceleration Assembly, torque sensor assembly and transmission component are installed in same motor and drive on pedestal, described Motor drive pedestal include motor mounting plate, pedestal side panel, pedestal main shaft board, pedestal countershaft Board, pedestal top board and two pieces of pedestal reinforcing plates；Described motor mounting plate, two pieces of pedestal reinforcing plates And pedestal top board is around connecting into loop configuration, described pedestal side panel is installed by described motor Plate and pedestal main shaft board are arranged on the top of described loop configuration, described pedestal auxiliary-bearing plate Two ends are connected with two pieces of described pedestal reinforcing plates respectively, are positioned at described motor mounting plate with described Between pedestal main shaft board.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 1, it is characterised in that: institute The mobile base stated comprises four can brake castor, described electric lifting pole adjusts healing robot Height.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 1, it is characterised in that: institute The mechanical pectoral girdle assembly stated includes the first joint assembly and second joint assembly；The first described joint Assembly include the first joint base plate, the first joint nut seat, the first joint header board, the first joint slide plate, First joint line slideway assembly, the first joint ball-screw assembly, the first joint top board, the first pass Joint main bearing seat, the first joint main bearing seat gland, the first joint band grinding wheel press cap, the first joint synchronous Belt wheel, the first joint synchronous band, the first joint motor installing plate, the first joint reduction box, the first pass Joint back plate, the first joint electric rotating machine and the first joint countershaft bearing；Described second joint assembly bag Include second joint fork pedestal, second joint Timing Belt, second joint band grinding wheel press cap, second joint together Step belt wheel, second joint motor mounting plate, second joint reduction box, second joint electric rotating machine, the Two joint drive axles, second joint base bearing gland, second joint rotary shaft, second joint swing Seat bearing gland, second joint swing seat, second joint swing arm, second joint swing arm handwheel and Second joint swinging axle gland；Described the first joint base plate, the first joint header board, the first top, joint Plate and the first joint back plate connect one quadra of formation；Two the first described joint line slideways Assembly is respectively fixedly connected with in the first described joint header board and the first joint back plate, and each described the It is respectively equipped with a slide block on one joint line slideway assembly；The first described joint slide plate is fixing to be connected On two slide blocks of two the first described joint line slideway assemblies, and along two described first The guide rail of joint line slideway assembly moves；The first described joint nut seat is fixedly installed in described First joint slide plate；The described nut in the first joint ball-screw assembly is fixedly installed in upper end First joint nut seat, the described leading screw in the first joint ball-screw assembly is installed on described First joint main bearing seat and the first joint countershaft bearing；The first described joint motor installing plate passes through Waist-shaped hole is fixedly installed in the first described joint top board；The first described joint reduction box fixed installation In the first described joint motor installing plate；The first described joint electric rotating machine is fixedly installed in described The first joint reduction box；Two the first described joint synchronous belt wheels are respectively fixedly connected with in described First joint ball-screw assembly and the first joint reduction box, and by the first described joint synchronous band even Connect transmission；Two described second joint fork pedestals are fixedly installed in the first described joint slide plate； Described second joint assembly comprises a second joint drive shaft and three second joint rotary shafts；Two The most threaded described second joint drive shaft and three of individual described second joint swing arm Individual second joint rotary shaft；Described second joint drive shaft and a second joint rotary shaft are installed on Two described second joint fork pedestals also rotate；Two described second joint rotary shafts are led to respectively Cross bearing to be connected with described second joint swing seat；The termination of two described second joint swing arms All it is installed with second joint swing arm handwheel；Described second joint motor mounting plate fixed installation In the first described joint slide plate；Described second joint reduction box is fixedly installed in the second described pass Joint motor mounting plate, described second joint electric rotating machine is fixedly installed in described second joint and slows down Case；Two described second joint synchronous pulleys are respectively fixedly connected with in the first described joint base bearing Seat and second joint reduction box, and connected transmission by described second joint Timing Belt；Described two Individual second joint fork pedestal, two second joint swing arms and second joint swing seat constitute one group and put down Quadrangular mechanism, a described second joint drive shaft and three second joint rotary shafts are described Four rotating shafts of parallel-crank mechanism.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 3, it is characterised in that: institute The mechanical shoulder joint assembly stated includes the 3rd joint assembly, the 4th joint assembly and the 5th joint assembly； The 3rd described joint assembly includes the 3rd joint substrate, the 3rd joint Bowden cable guide holder, SAN GUAN Joint driving dish, the 3rd joint rotating shaft, the 3rd joint steel wire rope fixture, the 3rd joint swing component, the Three joint the first Bowden cables and the 3rd joint the second Bowden cable；The 4th described joint assembly includes the 4th Joint Bowden cable guide holder, the 4th joint drive dish, the 4th joint steel wire rope fixing part, the 4th joint Rotating shaft, the 4th joint the first Bowden cable and the 4th joint the second Bowden cable；The 5th described joint assembly Including Y template, the 5th joint in the middle of the 5th joint pedestal, the 5th joint drive motor, the 5th joint Front end Y template, the 5th joint swing arm, the 5th joint bandage support, the 5th joint output, Arm blaster, the 5th joint bandage, the 5th joint synchronous belt wheel and the 5th joint synchronous band on five joints；
The 3rd described joint substrate is fixedly connected on described second joint fork pedestal；Described Three joint Bowden cable guide holders are fixedly installed in upper end the 3rd joint substrate；The 3rd described joint rotating shaft Fixing with the 3rd described joint drive dish and the 3rd joint swing component respectively it is connected, and around described the Three joint substrate rotating；Two the 3rd described joint steel wire rope fixtures are fixedly installed in described Three joint drive dishes；The 3rd described joint the first Bowden cable and the Bowden of the 3rd joint the second Bowden cable Spool is fixed in the shoulder hole of the 3rd described joint Bowden cable guide holder, and the 3rd described joint The steel wire rope of the first Bowden cable and the 3rd joint the second Bowden cable drives rotating around in the 3rd described joint On Moving plate, and it is individually fixed in described two the 3rd joint steel wire rope fixture；
The 4th described joint Bowden cable guide holder is fixedly installed in the 3rd described joint swing component；Institute The 4th joint drive dish stated is fixedly connected on the 5th described joint pedestal, and by the described the 4th Joint rotating shaft is connected with the 3rd described joint swing component, and around the 4th described joint axis of rotation； Two the 4th described joint steel wire rope fixing parts are fixedly installed in the 4th described joint drive dish；Institute The 4th joint the first Bowden cable stated and the Bowden spool of the 4th joint the second Bowden cable are fixed on described The 4th joint Bowden cable guide holder shoulder hole in, and the 4th described joint the first Bowden cable and The steel wire rope of four joint the second Bowden cables is rotating around on the 4th described joint drive dish and solid respectively Due to two described the 4th joint steel wire rope fixing parts；
The 5th described joint assembly is provided with two the 5th joint swing arms and three the 5th joints are same Step belt wheel；Two described the 5th joint swing arms respectively with two described the 5th joint synchronous belt wheels Be fixedly connected to form two swing arm groups, and respectively with the 5th described joint pedestal chain connection；Institute Y template and described two the 5th joint swing arm chain connections in the middle of the 5th joint stated；Described 5th front end, joint Y template and described two the 5th joint swing arm chain connections；Described the 5th Joint output Y template chain connection middle with the 5th described joint；The 5th described joint output Part and the 5th described front end, joint Y template chain connection；The 5th described joint drive motor is fixed It is connected to the 5th described joint pedestal, motor output shaft is fixedly connected with the 5th described joint same Step belt wheel；The 5th joint synchronous belt wheel that three described is connected biography by the 5th described joint synchronous band Dynamic；The 5th described joint bandage support is fixedly connected on the 5th described joint output；Described On 5th joint, arm blaster is fixedly connected on the 5th described joint bandage support；The 5th described joint Equipped with the 5th joint bandage for immobilized patients upper arm on upper arm blaster.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 4, it is characterised in that: institute The mechanical elbow joint assembly stated include the 6th joint Bowden cable guide holder, the 6th joint drive dish, the 6th Joint steel wire rope fixing part, the 6th joint rotating shaft, the 6th joint the first Bowden cable and the 6th joint second Bowden cable；The 6th described joint Bowden cable guide holder is fixedly connected on the 5th described joint output Part；The 6th described joint drive dish is fixedly connected on described forearm substrate, the 6th described joint Bowden cable guide holder and the 6th joint drive dish by the 6th described joint rotating shaft around the described the 5th Joint output rotates；Two the 6th described joint steel wire rope fixing parts are fixedly connected on described Six joint drive dishes；The 6th described joint the first Bowden cable and the Bowden of the 6th joint the second Bowden cable Spool is fixed in the shoulder hole of the 6th described joint Bowden cable guide holder, and the 6th joint the first Bao Step on the steel wire rope of line and the 6th joint the second Bowden cable rotating around on the 6th described joint drive dish, And it is individually fixed in described two the 6th joint steel wire rope fixing part.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 1, it is characterised in that: institute The mechanical forearm component stated includes that machinery forearm substrate, machinery forearm coulisse, machinery forearm are adjusted Joint plate, machinery forearm pressing plate, the 6th joint substrate, the 7th joint drive motor, the 7th joint motor Ring for fixing, the 7th joint motor substrate, the 7th joint the first swing arm, the 7th joint output pulley, 7th Y template in the middle of joint, the 7th joint the second swing arm, the 7th front end, joint set square, the 7th Joint output, machinery forearm bandage support, machinery forearm bandage, the 7th joint synchronous band, the 7th Joint output pulley and machinery arm-supporting splint；
Described mechanical forearm coulisse is fixedly connected on described mechanical forearm substrate；Described machinery Forearm adjustable plate slide along described mechanical forearm coulisse and machinery forearm substrate； Described mechanical forearm pressing plate is fixedly connected on described mechanical forearm coulisse, and by described machinery Forearm adjustable plate is limited in the chute in described mechanical forearm coulisse and machinery forearm substrate In；Screwed hole is had on described mechanical forearm pressing plate；
Two the 7th joint output pulleys in described mechanical forearm component are respectively fixedly connected with in institute The 7th joint the first swing arm stated and the 7th joint the second swing arm, constitute two swing arm groups；Institute Two the swing arm groups stated respectively with the 7th described joint substrate chain connection；The 7th described joint Middle Y template connects with the 7th described joint the first swing arm and the 7th joint the second swing arm hinge Connect；The 7th described front end, joint set square and the 7th described joint the first swing arm and the 7th joint Second swing arm chain connection；The 7th described joint output and the 7th described front end, joint triangle Plate chain connection；The 7th described joint output Y template hinge middle with the 7th described joint is even Connect；The 7th described joint drive motor is pressed in the 7th joint by the 7th described joint motor ring for fixing On motor base board, the 7th described joint motor substrate is made to be fixed on the 7th described joint drive motor On；The 7th described joint motor substrate is fixedly installed in the 7th described joint substrate；Described Seven joint output pulleys are fixedly installed on the output shaft of the 7th described joint drive motor；Described The 7th described joint output pulley and two the 7th joint output pulleys are connected by the 7th joint synchronous band Connect transmission.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 6, it is characterised in that: institute The wrist joint assembly stated includes the 8th joint pedestal, the 8th joint swing arm；Described robot arm Assembly includes handle；The 8th described joint pedestal is fixedly connected on the 7th described joint output； Two the 8th described joint swing arms and the 8th described joint pedestal chain connection, hinge axis is the 8th Joint rotating shaft；It is fixed with handle in two described the 8th joint swing arms；Described robot arm assembly In handle on be coated with soft handle sleeve.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 1, it is characterised in that: institute The motor stated and reduction assemblies include drive motor, harmonic speed reducer, winch reductor power shaft, many Winch reductor rope, capstan winch rotating shaft, winch reductor bearing gland, back-moving spring, cord end are fixed Part and capstan winch；Described drive motor and harmonic speed reducer are all fixedly installed in described motor installation Plate, the described motor that drives is connected transmission with described harmonic speed reducer；Described winch reductor input One end of axle is fixedly connected on the delivery outlet of described harmonic speed reducer, described winch reductor power shaft The other end be connected with the bearing on described pedestal main shaft board；Described capstan winch is positioned at described base In the middle of frame main shaft board and described pedestal auxiliary-bearing plate, described capstan winch rotating shaft is sequentially inserted into described Pedestal base bearing board shaft is held, capstan winch and pedestal auxiliary-bearing plate, described capstan winch and described capstan winch rotating shaft Fixing connection synchronous axial system；The middle part of many described winch reductor ropes is wound on described capstan winch and subtracts In the thread groove of speed power shaft, one end of many described winch reductor ropes is by described cord end Fixture is fixed on described capstan winch, and the other end of many described winch reductor ropes is by described One end of back-moving spring, the other end of described back-moving spring is fixedly connected on described capstan winch.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 8, it is characterised in that: institute The torque sensor assembly stated include sensor outer ring, the first spring, rotor sensor, the second spring, Spring terminal, the 3rd spring, rotor bearing, the 4th spring, the 5th spring, the 6th spring and spring Limited block；Described sensor outer ring is fixedly connected on described capstan winch rotating shaft；Three described springs Limited block is uniform is fixed on described sensor outer ring；Described rotor sensor is by described rotor Capstan winch rotating shaft described in bearing insertion；Described the first spring, the second spring, the 3rd spring, the 4th Spring, the 5th spring and the 6th spring are distributed between described rotor sensor and three spring retainer blocks Six neutral gears in, described the first spring, the second spring, the 3rd spring, the 4th spring, the 5th Described sensor is fixed on by two described spring terminals respectively in the two ends of spring and the 6th spring Rotor and spring retainer block.
Dermaskeleton type upper limb rehabilitation image training robot the most according to claim 9, it is characterised in that: institute The transmission component stated includes at the bottom of transmission output panel, directive wheel, the first cushion block, the second cushion block, directive wheel Plate, thru-bolt, transmission the first Bowden cable, transmission the second Bowden cable, transmission input steel wire rope are fixed Part, joint rotating disk pedestal, joint disk shaft, joint rotating disk steel wire rope fixture, joint rotating disk, Transmission Bowden cable guide holder fixed plate, transmission Bowden cable guide holder and joint arm；
Described transmission output panel is fixedly connected on described rotor sensor；Two described transmissions are defeated Enter steel wire rope fixture and be fixedly connected on described transmission output panel；Described directive wheel base plate is fixing even It is connected to described pedestal side panel；Described the first cushion block, the second cushion block are respectively fixedly connected with in described Directive wheel base plate；Two described directive wheels are connected to the first described pad by shaft shoulder screw respectively Block, the second cushion block and freely rotatable；Described disk shaft inserts and is fixed on described joint rotating disk base In the bearing of frame and freely rotatable；Described joint arm is fixedly connected on described joint rotating disk, described Joint arm and joint rotating disk be connected synchronous axial system with described joint disk shaft by standard key；Institute Transmission the first Bowden cable stated and one end spool of transmission the second Bowden cable are separately fixed at two tensions In the shoulder hole of stud, the steel wire cable of transmission the first Bowden cable and transmission the second Bowden cable stretches out ladder Kong Houjing by two described directive wheels rotating around in two wire casings of described transmission output panel, and It is fixedly connected on described transmission output panel by two described transmission input steel wire rope fixtures；Described Transmission the first Bowden cable and the other end spool of transmission the second Bowden cable be individually fixed in described biography In the shoulder hole of dynamic Bowden cable guide holder, described transmission the first Bowden cable and transmission the second Bowden cable After steel wire cable stretches out shoulder hole, rotating around in two wire casings of described joint rotating disk, and by institute Two the joint rotating disk steel wire rope fixtures stated are fixedly connected on described joint rotating disk.
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CN105662782A (en) * 2016-03-21 2016-06-15 上海卓道医疗科技有限公司 Exoskeletal rehabilitation robot for upper limbs
CN106420261A (en) * 2016-10-20 2017-02-22 上海交通大学 Upper-limb rehabilitation device of half-exoskeleton
CN107496139A (en) * 2017-09-21 2017-12-22 哈尔滨工业大学 A kind of joint moment measuring system for wound finger gymnastic
WO2018047102A1 (en) * 2016-09-09 2018-03-15 Ecole Polytechnique Federale De Lausanne (Epfl) Jacket for embodied interaction with virtual or distal robotic device
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CN108500957A (en) * 2018-04-09 2018-09-07 哈尔滨工业大学 A kind of wearable flexible upper limb ectoskeleton force aid system
CN108836731A (en) * 2018-04-08 2018-11-20 上海理工大学 Domestic type wire-control type rehabilitation training of upper limbs mechanical arm
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CN110584949A (en) * 2019-09-23 2019-12-20 曾秀珍 Brachial plexus nerve injury rehabilitation treatment device
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CN105662782B (en) * 2016-03-21 2024-02-06 上海卓道医疗科技有限公司 Exoskeleton type upper limb rehabilitation training robot
CN105662782A (en) * 2016-03-21 2016-06-15 上海卓道医疗科技有限公司 Exoskeletal rehabilitation robot for upper limbs
WO2018047102A1 (en) * 2016-09-09 2018-03-15 Ecole Polytechnique Federale De Lausanne (Epfl) Jacket for embodied interaction with virtual or distal robotic device
US10860014B2 (en) 2016-09-09 2020-12-08 Ecole polytechnique fédérale de Lausanne (EPFL) Jacket for embodied interaction with virtual or distal robotic device
CN106420261B (en) * 2016-10-20 2020-07-14 上海交通大学 Semi-exoskeleton upper limb rehabilitation instrument
CN106420261A (en) * 2016-10-20 2017-02-22 上海交通大学 Upper-limb rehabilitation device of half-exoskeleton
CN107496139A (en) * 2017-09-21 2017-12-22 哈尔滨工业大学 A kind of joint moment measuring system for wound finger gymnastic
CN107496139B (en) * 2017-09-21 2019-07-16 哈尔滨工业大学 A kind of joint moment measuring system for wound finger gymnastic
CN109953868B (en) * 2017-12-22 2023-08-22 中国科学院沈阳自动化研究所 Wrist torsional pendulum power-assisted rehabilitation device
CN109953868A (en) * 2017-12-22 2019-07-02 中国科学院沈阳自动化研究所 A kind of wrist rocks power-assisted convalescence device
CN108836731A (en) * 2018-04-08 2018-11-20 上海理工大学 Domestic type wire-control type rehabilitation training of upper limbs mechanical arm
CN108836731B (en) * 2018-04-08 2020-05-05 苏州好博医疗器械有限公司 Household cable-controlled mechanical arm for upper limb rehabilitation training
CN108500957B (en) * 2018-04-09 2021-03-02 哈尔滨工业大学 Wearable flexible upper limb exoskeleton assistance system
CN108500958B (en) * 2018-04-09 2021-03-02 哈尔滨工业大学 Flexible upper limb exoskeleton robot driving system
CN108500957A (en) * 2018-04-09 2018-09-07 哈尔滨工业大学 A kind of wearable flexible upper limb ectoskeleton force aid system
CN108500958A (en) * 2018-04-09 2018-09-07 哈尔滨工业大学 A kind of flexibility upper limb exoskeleton robot drive system
CN110584949A (en) * 2019-09-23 2019-12-20 曾秀珍 Brachial plexus nerve injury rehabilitation treatment device
CN110960395A (en) * 2019-12-12 2020-04-07 中国科学院自动化研究所 Exoskeleton type upper limb rehabilitation robot
CN112494271A (en) * 2020-11-18 2021-03-16 燕山大学 Upper limb rehabilitation training device
CN112494271B (en) * 2020-11-18 2021-08-20 燕山大学 Upper limb rehabilitation training device

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