CN208626133U - Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot - Google Patents

Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot Download PDF

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CN208626133U
CN208626133U CN201721817999.4U CN201721817999U CN208626133U CN 208626133 U CN208626133 U CN 208626133U CN 201721817999 U CN201721817999 U CN 201721817999U CN 208626133 U CN208626133 U CN 208626133U
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arm
upper arm
broad
lasso trick
holding liquid
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刘连庆
杨铁
于鹏
赵亮
李宁
常俊玲
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The utility model relates to a kind of light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robots, wrist palmar flexion/dorsiflex moving parts, forearm internal/external rotations moving parts, the connection of ancon flexion and extension component are sequentially connected, ancon flexion and extension component and upper arm fixation kit are connect with Glenohumeral joint moving parts, Glenohumeral joint moving parts are connect with shoulder girdle moving parts, shoulder girdle moving parts are connect with lifting assembly, lasso trick driving unit is connect with above-mentioned each moving parts respectively, and wheelchair base component is used to support entire upper limb power-assisting robot.The utility model can effectively avoid man-machine head movement Singularity and interference, promote head movement range, reappear shoulders of human body complex motor function, reduce shoulder complication；The utility model is mainly used for the everyday actions power-assisted and rehabilitation training of upper extremity motor function disorders patient's upper limb such as apoplexy, hemiplegia, improves Patients ' Cognitive ability property of participation in training process, is conducive to brain function and remolds.

Description

Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot
Technical field
The utility model belongs to exoskeleton robot technology body biomechanics and field of medical rehabilitation, specifically one Kind light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot.
Background technique
China's Apoplexy Morbidity the first in the world, as rhythm of life and aging of population quickening, life stress increase, heart and brain Hemiplegic Patients caused by blood vessel and the nervous system disease increase year by year, wherein about 3/4 patient has different degrees of nerve damage Wound and functional movement obstacle, seriously affect quality of life.Studies have shown that human central nervous system has highly plastic, it is right In the upper extremity motor function disorders patient such as hemiplegia, in addition to Operation in early stage and necessary drug therapy, Invasive Technology Department as early as possible Learn effective rehabilitation training, peomote nervous system function integrity, it is compensatory and regeneration, restore nervous centralis to limbs transport Dynamic domination and control enhances muscle strength, improves patient's upper extremity exercise ability, and effectively prevent muscular atrophy, the contracture of joint Etc. complication.However, human upper limb movement is fine, upper extremity function occupies large area in the brain, and functional rehabilitation is slower.Tradition Rehabilitation training of upper limbs more Dependence Treatment teachers patient coordinated by manpower complete passive rehabilitation training, there are many limitations, such as suffer from Person's cognitive ability property of participation is poor, and training method is single uninteresting, is unfavorable for brain function remodeling；Rehabilitation low efficiency, large labor intensity；It controls Therapeutic effect is affected by doctors experience and level, is unable to accurately control training parameter；Objective comment can not be carried out to rehabilitation training Valence etc. influences the recovery of allomeric function.
Therefore, exoskeleton robot and the relevant technologies are introduced into clinical rehabilitation medicine field auxiliary or substitution doctor completes to suffer from Person's rehabilitation training is particularly important.Dermaskeleton type upper limb rehabilitation robot is wearable on the outside of suffering limb, carries out to suffering limb multi-joint Accurately, persistently, effective Rehabilitation Training in Treating, upper limb is trained and cognitive training combines, enhancing Patients ' Cognitive ability participates in Property, functional movement consciousness is improved, being conducive to brain function remolds, while can delay muscle of upper extremity atrophy and the contracture of joint, improves patient Locomitivity improves patients ' life quality；It on the other hand, can be to human-computer interaction force information, human cinology by sensory perceptual system Recorded in real time with physiological data, real-time quantitative assess rehabilitation training effect, for improve and optimize rehabilitation scheme provide it is objective according to According to.
Exoskeletal rehabilitation robot is typical human-machine system, and people-organ's section axis of movement mismatch can be made Rehabilitation training effect is influenced at arthralgia, space are limited etc., or even causes suffering limb secondary injury, therefore, rehabilitation dermoskeleton Bone sets clocking requirement and realizes that people-organ's section axis of movement matches as far as possible.However, current upper limb healing ectoskeleton is at this There are still larger defects for aspect.
By taking shoulders of human body moves as an example, the shoulder complex that shoulders of human body is made of Glenohumeral joint and shoulder girdle has Flexibility, high stability difference feature.Glenohumeral joint is cup-and-ball joint, and shoulder girdle is by acromioclavicular joint, articulatio sternoclavicularis and omoplate The kinematic chain of wall of the chest joint composition, any single joint can not self-movement.When lifting on humerus, clavicle is locked with respect to breastbone around chest Articulation, shoulder blade is rotated relative to clavicle around acromioclavicular joint, while can also be breakked away on breastbone surface, to drive Glenohumeral joint Nest tilts upwards, this complicated coordinated movement of various economic factors process makes Glenohumeral joint center of rotation drift about, and realizes that humerus is interior on a large scale Movement.Therefore, in the movement of shoulder complex, shoulder girdle can be provided for Glenohumeral joint center of rotation extension/retraction of coronal-plane with Horizontal plane above mentions/falls two and moves.However, existing upper limb healing ectoskeleton generallys use the rotation that three axis intersect vertically Turn the equivalent shoulders of human body movement in joint, the program only considers that Glenohumeral joint moves, ignores shoulder girdle movement, cause in the big model of humerus It will cause people-machine head movement Singularity and interference when enclosing movement, meanwhile, paralytic, can not be autonomous due to nerve damage Shoulder girdle movement is generated, shoulder girdle movement is only compensated by mobile trunk, substantially reduces rehabilitation training effect, and easily produce Other raw complication；Individual upper limb healing ectoskeletons consider shoulder girdle movement, and drive the broad-mouthed receptacle for holding liquid upper arm by articulatio sternoclavicularis elevating movement Joint elevating movement, the program cause ectoskeleton and human body shoulder girdle axis of movement to mismatch, influence rehabilitation training effect, exist Security risk.
Meanwhile existing upper limb healing ectoskeleton common demands patient holds handle and carries out rehabilitation training of upper limbs, needs patient Hand has certain grippage, therefore can not carry out power-assisted and rehabilitation training to the lower patient of hand muscular strength and paralytic patient； Meanwhile palm the back of the hand portion seriously affects wrist joint recovering effect without fixed device.
On the other hand, Traditional Rehabilitation ectoskeleton driving motor is integrated in joint, has ectoskeleton executing agency larger Quality and inertia increase driveability requirement, reduce control precision and stability, there are the safety that suffering limb when the system failure is fallen Hidden danger.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of light-type multiple degrees of freedom Bionic flexible ectoskeletons Formula upper limb power-assisting robot.The upper limb power-assisting robot be suitable for the upper extremity motor function disorders patient such as apoplexy, hemiplegia, paraplegia into Row upper limb everyday actions power-assisted and rehabilitation training.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes the wheelchair base for being used to support upper limb power-assisting robot, the structure on two sides phase of the wheelchair base Together, every side includes that sequentially connected wrist palmar flexion/dorsiflex moving parts, forearm internal/external rotations moving parts, ancon bend and stretch fortune Dynamic component, Glenohumeral joint moving parts and shoulder girdle moving parts, wherein wrist palmar flexion/dorsiflex moving parts, forearm inward turning/outer Rotation moving parts and ancon flexion and extension component are respectively provided with the lasso trick driving wheel for driving respective moving parts rotation, the broad-mouthed receptacle for holding liquid upper arm Joint motions component includes broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint and the broad-mouthed receptacle for holding liquid upper arm abduction/adduction being sequentially connected in series Joint, the shoulder girdle moving parts include that the shoulder girdle extension/retraction joint and shoulder girdle above mention/being one another in series falls pass Section, the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint is connected with ancon flexion and extension component, before the upper arm fixation kit is connected to the broad-mouthed receptacle for holding liquid upper arm / retraction joint is stretched, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint is connect with the shoulder girdle extension/retraction joint, on the shoulder girdle Joint is mentioned/falls to be connected with the wheelchair base；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint, outside the broad-mouthed receptacle for holding liquid upper arm Exhibition/interior receipts joint, shoulder girdle extension/mentioning on retraction joint, shoulder girdle/are fallen joint and wrist palmar flexion/dorsiflex moving parts, preceding Arm internal/external rotations moving parts and the respective lasso trick driving wheel of ancon flexion and extension component pass through a lasso trick driving unit respectively Control, each lasso trick driving unit are separately mounted on wheelchair base；The dermaskeleton type upper limb power-assisting robot passes through each The drive control of lasso trick driving unit is bent and stretched with palmar flexion/dorsiflex of wrist, the internal/external rotations of forearm, ancon and the broad-mouthed receptacle for holding liquid upper arm closes The extension/retraction, abduction/adduction, internal/external rotations and shoulder girdle above mention/of section falls, eight freedom degrees of extension/retraction；
Wherein: the wrist palmar flexion/dorsiflex moving parts include software restraining A, software restraining B, software restraining C, end assist handle, software pattern the back of the hand backup plate, wrist oscillating deck, wrist swinging supporter, multi-dimension force sensor, the wrist palm Bend/dorsiflex mounting base, angular encoder A, angular encoder support plate A, lasso trick installation locating piece A, lasso trick installation positioning plate, wrist Portion's palmar flexion/dorsiflex limit plate, synchronous belt A, bracing wire, lasso trick driving wheel A and driving wheel shaft A, the back of the hand backup plate and palm contacts Side software pattern is installed, the both ends of the software restraining B and software restraining C are individually fixed in the software pattern The other side of lower edges, the back of the hand backup plate is connected by multi-dimension force sensor with wrist oscillating deck, the multi-dimension force sensor It realizes that position is adjustable by offering groove type hole on the back of the hand backup plate, and then realizes phase between the back of the hand backup plate and wrist oscillating deck The adjustment adjusted the distance, and the back of the hand backup plate is lock onto after adjusting；End auxiliary is separately installed on the back of the hand backup plate Handle and software restraining A, the end assist handle are mounted on the end of the back of the hand backup plate, and the two of the software restraining A End is both secured to the back side of the back of the hand backup plate, and wraps to five the software restraining B, end assist handle and patient fingers Network；One end of the wrist swinging supporter and one end of wrist oscillating deck are rotatablely connected, the other end of the wrist oscillating deck with The lasso trick driving wheel A is interlocked and, the other end of the wrist swinging supporter and the drive affixed with the driving wheel shaft A Driving wheel shaft A rotation connection；Lasso trick installation positioning plate is installed, angular encoder A passes through angle on the wrist swinging supporter Degree encoder support plate A is mounted on lasso trick installation positioning plate, and angular encoder support plate A passes through the groove type hole opened up thereon Realize that the installation site on lasso trick installation positioning plate is adjustable, so realize the angular encoder A and driving wheel shaft A it Between center away from adjustment, and lock onto after adjusting the lasso trick installation positioning plate；The angular encoder A passes through synchronous belt A is connected with driving wheel shaft A, and the lasso trick driving wheel A is connected by bracing wire with the lasso trick driving unit, bracing wire difference It is passed through by the lasso trick installation locating piece A that lasso trick installs positioning plate and is mounted on lasso trick installation positioning plate；The wrist swings branch Wrist palmar flexion/dorsiflex limit plate is installed, which is fixed on wrist swinging support on support On frame, the other end is located at the lower section of the lasso trick driving wheel A；Wrist palmar flexion/dorsiflex is offered respectively on the lasso trick driving wheel A Threaded hole and the bracing wire mounting hole for fixing bracing wire are limited, is equipped on the wrist palmar flexion/dorsiflex limit threaded hole with lasso trick The bolt of driving wheel A rotation, the bolt pass through wrist palmar flexion/dorsiflex limit plate other end during rotation and are limited Position；The lasso trick driving wheel A by lasso trick driving unit drive rotate, and then by the wrist oscillating deck drive the back of the hand backup plate into Row palmar flexion/dorsiflex；The wrist swinging supporter is equipped with wrist palmar flexion/dorsiflex mounting base, the wrist palmar flexion/dorsiflex campaign Component is connect by the wrist palmar flexion/dorsiflex mounting base with forearm internal/external rotations moving parts；
The forearm internal/external rotations moving parts include synchronous pulley adapter, synchronous pulley A, synchronous belt B, synchronous belt B, synchronous pulley adjustment bar, synchronous belt wheel shaft, connecting rod A, connecting rod B, connecting rod C, connecting rod D, internal/external rotations retainer, lasso trick is taken turns to drive Driving wheel B, driving wheel shaft B, forearm internal/external rotations limit plate, angular encoder B and angular encoder support plate B, the inward turning/ One end position of outward turning retainer is adjustably connect with the ancon flexion and extension component, and the other end has been respectively and fixedly connected with connecting rod D, preceding Arm internal/external rotations limit plate and angular encoder support plate B, the connecting rod A are "T"-shaped, one end of the "T"-shaped a line and company One end rotation connection of bar B rotation connection, the other end of connecting rod B and the connecting rod D, the synchronous pulley B and connecting rod C's One end is fixedly connected, and is rotatablely connected with the other end of the "T"-shaped a line, the other end and lasso trick driving wheel B of connecting rod C It is respectively and fixedly connected on driving wheel shaft B, the other end of the driving wheel shaft B and the connecting rod D are rotatablely connected；The synchronous pulley Adapter is connect with wrist palmar flexion/dorsiflex moving parts, and the synchronous pulley adapter and synchronous pulley A are respectively and fixedly installed to together It walks on pulley shaft, and is rotatablely connected with one end of synchronous pulley adjustment bar, the other end of synchronous pulley adjustment bar passes through The groove type hole realization opened up is adjustably connected with the another a line position of "T"-shaped connecting rod A, so adjust the synchronous pulley A and Centre distance between synchronous pulley B；Guide groove, the synchronous pulley adjustment are opened up in the another a line of the "T"-shaped connecting rod A The other end of bar moves in the guide groove, and locks afterwards in place in movement, and the synchronous belt two is mounted on synchronous pulley A and same It walks on belt wheel B；The connecting rod A, connecting rod B, connecting rod C, connecting rod D-shaped at parallelogram mechanism, the synchronous pulley A, synchronization With the synchronous belt drive mechanism that B, synchronous pulley B are formed, the lasso trick driving wheel B passes through bracing wire and the lasso trick driving unit phase Even, which is driven by lasso trick driving unit and is rotated, and then passes through the parallelogram mechanism and toothed belt transmission Mechanism drives synchronous pulley adapter to rotate synchronously around forearm internal/external rotations shaft centerline, the forearm internal/external rotations shaft Center line is overlapped in motion range with human body forearm internal/external rotations shaft centerline, and in the forearm internal/external rotations shaft Heart line and wrist palmar flexion/dorsiflex axis rotation are vertically intersected on point O；One end of the forearm internal/external rotations limit plate is fixed on On internal/external rotations retainer, the other end is located at the lower section of the lasso trick driving wheel B；It is opened up respectively on the lasso trick driving wheel B There are forearm internal/external rotations limit threaded hole and the bracing wire mounting hole for fixing bracing wire, which limits threaded hole On the bolt rotated with lasso trick driving wheel B is installed, the bolt passes through forearm internal/external rotations limit plate during rotation The other end is limited；The angular encoder B is mounted on angular encoder support plate B, and is connected with the driving wheel shaft B It connects；
The ancon flexion and extension component include the ancon being connect with forearm internal/external rotations moving parts bend and stretch execute arm and The ancon connecting with Glenohumeral joint moving parts bends and stretches support arm, which bends and stretches execution arm and bent and stretched by rotating device and ancon Support arm rotation connection；The rotating device includes lasso trick driving wheel C, hollow shaft, bracing wire and lasso trick installation locating piece C, the sky Mandrel is mounted on ancon and bends and stretches on support arm, and the lasso trick driving wheel C rotational installation is bent and stretched in hollow shaft and with the ancon Arm is executed to be connected；Support arm, which is bent and stretched, in the ancon bends and stretches the one side of execution arm, positioned at the two of lasso trick driving wheel C towards ancon Side is separately installed with lasso trick installation locating piece C, has penetrated bracing wire in each lasso trick installation locating piece C, the bracing wire is by institute It states and is bypassed on lasso trick driving wheel C, one end is installed locating piece C positioning support by the lasso trick and locked, the other end and the lasso trick Driving unit is connected；It is connected with angular encoder C on the inside of the hollow shaft, which has encoder extending sleeve, The both ends of the encoder extending sleeve are connected with the shaft of angular encoder C and lasso trick driving wheel C respectively；The ancon bends and stretches branch Brace is bent and stretched towards ancon to be executed arm and offers limit arc groove on one side, offers limit screw thread on the lasso trick driving wheel C Hole is inserted into the limit arc groove and limit threaded hole by limiting device and is limited；
The Glenohumeral joint moving parts include the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint being sequentially connected in series, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint And broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint, in the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line, the broad-mouthed receptacle for holding liquid upper arm The broad-mouthed receptacle for holding liquid upper arm abduction/adduction in rotation/outward turning joint broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center's line and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint Rotating shaft center's line is non-perpendicular to intersect at the Glenohumeral joint centre of motion；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint includes passing through rotating dress Set the broad-mouthed receptacle for holding liquid upper arm extension of rotation connection/retraction and execute arm and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, the broad-mouthed receptacle for holding liquid upper arm extension/retraction execute arm with The upper arm fixation kit be connected, the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint include by rotating device be rotatablely connected broad-mouthed receptacle for holding liquid upper arm inward turning/ Outward turning executes arm and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm, and the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint includes being rotatablely connected by rotating device Broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute arm and broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm and the shoulder girdle Moving parts are connected；Broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm and broad-mouthed receptacle for holding liquid Upper arm abduction/adduction executes and is uniformly provided with multiple bolts hole respectively on arm, the broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm and broad-mouthed receptacle for holding liquid upper arm outreach/ Inside accept be all provided on row arm it is fluted, the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm, broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm pass through the groove Arm is executed with broad-mouthed receptacle for holding liquid upper arm internal/external rotations respectively and broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes arm grafting and adjustable broad-mouthed receptacle for holding liquid upper arm extension/retraction supports Between arm and broad-mouthed receptacle for holding liquid upper arm internal/external rotations execution arm and between broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execution arm Spacing is inserted into bolt hole by bolt after adjusting and is fixed；Each rotating device with respective lasso trick driving unit Connection is provided the drive of the extension/retraction, internal/external rotations and abduction/adduction of Glenohumeral joint by the respective lasso trick driving unit Kinetic moment；
The upper arm fixation kit includes upper arm retainer, software restraining, upper arm support rod and multi-dimension force sensor B, The both ends of the upper arm support rod are connected separately with upper arm retainer, and the side of the upper arm retainer at both ends is installed in described In the guide groove that is opened up on upper arm support rod, can be moved in the guide groove, and after spacing is adjusted with the upper arm Support rod positioning and locking is attached with software restraining inside the other side of the upper arm retainer at both ends；In the upper arm branch Multi-dimension force sensor B for connecting upper arm support rod and Glenohumeral joint moving parts is installed on strut；
The shoulder girdle moving parts include that the shoulder girdle extension/retraction joint and shoulder girdle above mention/being one another in series falls Joint, which, which includes that shoulder girdle is flexible, executes arm, shoulder girdle retractable support arm, rotating device and shoulder Shoulder blade band telescopic oscillating arm component, the flexible arm that executes of the shoulder girdle is oppositely arranged with shoulder girdle retractable support arm, and passes through two groups of institutes It states telescopic oscillating arm component to be connected, forms telescopic parallelogram mechanism；Every group of telescopic oscillating arm component includes each other Scalable connected shoulder girdle telescopic oscillating arm A and shoulder girdle telescopic oscillating arm B, shoulder girdle telescopic oscillating arm A in two groups and It is stretched by the rotating device and the flexible execution arm of shoulder girdle or shoulder girdle one end of any of shoulder girdle telescopic oscillating arm B The rotation connection of contracting support arm, one end of remaining telescopic oscillating arm and the flexible execution arm of shoulder girdle or shoulder girdle retractable support arm turn The other end spacing of dynamic connection, the shoulder girdle telescopic oscillating arm A and shoulder girdle telescopic oscillating arm B are adjustably connected with each other；Institute Stating shoulder girdle above to mention/joint that falls includes that shoulder girdle above mentions/, fall support arm and rotating device, which above proposes/fall branch Brace is connected by the rotating device with shoulder girdle retractable support arm；The rotating device and respective lasso trick driving unit connect Connect, provide the extension of shoulder girdle by the respective lasso trick driving unit/retraction and above mention/driving moment to fall；
The shoulder girdle flexible execute is equipped with guide rail on arm, and sliding block is slidably connected on the guide rail, is pacified on the sliding block Equipped with the connecting plate to reciprocatingly slide along guide rail；
The lasso trick driving unit includes power source, driving mounting rack, lasso trick driving wheel, torque sensor, brake beans, rises Tight adjustment frame, guide plate, adjusts bolt and lasso trick installation locating piece B at support plate, which, which is mounted on, drives on mounting rack, Output end is connected with lasso trick driving wheel, and there are two the beans that brake for installation on the lasso trick driving wheel；One end of the tensioner adjustment frame It is provided with tensioner pilot hole, the other end is equipped with support plate, which, which is equipped with, adjusts bolt, extends on the driving mounting rack There is guide plate, which is passed through by the tensioner pilot hole, and the adjusting bolt is abutted with guide plate；The tensioner adjustment frame There are two lasso tricks to install locating piece B for upper installation, is wound with two bracing wires on the lasso trick driving wheel, one end of every bracing wire is solid It is scheduled on the brake beans, the other end is passed through by a lasso trick installation locating piece B and connect afterwards with the rotating device； The output end of the power source is equipped with torque sensor；The tensioner adjustment frame is L-shaped, and the tensioner pilot hole is provided with One side of the L shape, and the limiting slot that locating piece B is installed for fixing lasso trick is offered on the side；The support plate is fixed In the end of the L shape another side, it is provided with slot on the side, adjusts guide plate and tensioner by screwing the adjusting bolt The distance between frame relative movement, and then adjust the tensioner adjustment frame and lasso trick driving wheel；The guide plate after adjusting By being locked in bolt insert grooves hole；
The under-seat of the wheelchair base is provided with the mounting plane of each lasso trick driving unit, in the wheelchair base Back be provided with lifting assembly mounting hole, the lifting assembly is installed on the wheelchair base；The lifting assembly includes Hoistable platform, set lever, guiding support bar, horizontal location block and bottom support locating piece, and the hoistable platform is whole for installing A dermaskeleton type upper limb power-assisting robot carries out height adjustment, the hoistable platform using hand-operated lifting or electric up-down mode On be provided with to dermaskeleton type upper limb power-assisting robot carry out between left and right away from the slot for adjusting, adapting to different patient's articulatio sternoclavicularis width Hole and guide key groove；The set lever is connected on hoistable platform, is locked after being adjusted to the hoistable platform；It is described to lead Hoistable platform and lift adjustment guiding are used to support to support rod；The guiding support bar is supported by horizontal location block and bottom Locating piece is fixedly mounted on the back of the wheelchair base, the horizontal location block guiding support bar can be carried out horizontal location and Fixed, the bottom support locating piece can carry out bottom support to guiding support bar.
The advantages of the utility model and good effect are as follows:
1. hair designs shoulder girdle component using swing mechanism and parallelogram mechanism combination, by ectoskeleton omoplate Extension/retraction of band, above mention/falling motion is transmitted to extension/retraction centered on articulatio sternoclavicularis, above mentions/falling motion, multiple Existing human body shoulder girdle motor function, solves the problems, such as hemiplegic patient's shoulder girdle rehabilitation training, while effectively avoiding man-machine head movement Singularity improves man-machine motion compatibility.
2. the utility model is closed using the rotary joint component of the non-perpendicular intersection of three axis of tandem come the equivalent human body broad-mouthed receptacle for holding liquid upper arm Section, solves the problems, such as that existing ectoskeleton cannot achieve humerus grand movement, effectively avoids people-machine head movement interference, improves people Body shoulder rehabilitation exercise range.
3. the utility model using parallelogram mechanism and the concatenated mode of synchronous belt drive mechanism realize forearm inward turning/ Outward turning campaign significantly simplifies joint structure compared to traditional in a manner of arc guide rail or more parallelogram modes, reduces and closes Volume and weight are saved, is conducive to realize lightweight, modularized design, avoids man-machine motion artifacts.
4. the utility model designs wrist palmar flexion/dorsiflex moving parts, using software restraining and software pattern to patient Hand is fixed, and solving existing upper limb healing ectoskeleton can not improve for the wrist recovery training of hand inability patient Different muscular strength grade patients dress applicability, comfort and stability.
5. the utility model can realize the multi-joint compound motion of the complete upper limb such as shoulder, ancon, wrist, and according to patient Practical muscular strength grade gives corresponding training mode, such as passive, power-assisted, active, resistance, improves Patients ' Cognitive in training process Ability property of participation is conducive to brain function and remolds.
6. the utility model, can be to health by sensory perceptual systems such as angular encoder, torque sensor and multi-dimension force sensors Human-computer interaction force information, human cinology and physiological data are recorded in real time during refreshment is practiced, and disease is quantitatively evaluated Feelings and formulation rehabilitation training scheme, effectively promote rehabilitation training effect, reduce complication and generate.
7. the utility model uses lasso trick driving unit to provide torque drive for ectoskeleton movable joint, realizes driving and hold The separation of row mechanism effectively reduces the quality and inertia of executing agency, realizes ectoskeleton light-weight design, and it is steady to improve system motion Qualitative, safety and wearing comfort.
It is helped 8. the upper limb that the utility model is widely used in the upper extremity motor function disorders patient such as apoplexy, hemiplegia completely acts Power and rehabilitation training, while also everyday actions power-assisted and rehabilitation training can be carried out for single joint and combination joint.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the utility model wrist palmar flexion/dorsiflex moving parts schematic perspective view；
Fig. 3 is one of the partial enlarged view of wrist swinging supporter lower part in Fig. 2；
Fig. 4 is two of the partial enlarged view of wrist swinging supporter lower part in Fig. 2；
Fig. 5 is one of the schematic perspective view of the utility model forearm internal/external rotations moving parts；
Fig. 6 is the two of the schematic perspective view of the utility model forearm internal/external rotations moving parts；
Fig. 7 is the three of the schematic perspective view of the utility model forearm internal/external rotations moving parts；
Fig. 8 is the partial enlarged view in Fig. 5 at lasso trick driving wheel A；
Fig. 9 is the schematic perspective view of the utility model ancon flexion and extension component；
Figure 10 is the structure sectional view of the utility model rotating device；
Figure 11 is one of the schematic perspective view of the utility model Glenohumeral joint moving parts；
Figure 12 is the two of the schematic perspective view of the utility model Glenohumeral joint moving parts；
Figure 13 is the schematic perspective view of the utility model upper arm fixation kit；
Figure 14 is a kind of schematic perspective view of structure of the utility model shoulder girdle moving parts；
Figure 15 is shoulder girdle extension/retraction joint schematic perspective view in Fig. 5；
Figure 16 is the schematic perspective view of the utility model shoulder girdle moving parts another kind structure；
Figure 17 is the schematic perspective view of the utility model lifting assembly；
Figure 18 is one of the schematic perspective view of the utility model lasso trick driving unit；
Figure 19 is the two of the schematic perspective view of the utility model lasso trick driving unit；
Figure 20 is the structural schematic diagram of tensioner adjustment frame in Figure 18, Figure 19；
Figure 21 is the schematic perspective view of the utility model wheelchair base；
Wherein: 1000 be wrist palmar flexion/dorsiflex moving parts, and 2000 be forearm internal/external rotations moving parts, and 3000 be elbow Portion's flexion and extension component, 4000 be upper arm fixation kit, and 5000 be Glenohumeral joint moving parts, and 6000 be shoulder girdle exercise group Part, 7000 be lifting assembly, and 8000 be lasso trick driving unit, and 9000 be wheelchair base；
1001 be software restraining A, and 1002 be software restraining B, and 1003 be software restraining C, and 1004 assist for end Handle, 1005 be software pattern, and 1006 be the back of the hand backup plate, and 1007 be wrist oscillating deck, and 1008 be lubrication bearing, and 1009 be wrist Portion's swinging supporter, 1010 be multi-dimension force sensor A, and 1011 be wrist palmar flexion/dorsiflex mounting base, and 1012 be angular encoder A, 1013 be angular encoder support plate A, and 1014 install locating piece A for lasso trick, and 1015 install positioning plate for lasso trick, and 1016 are Wrist palmar flexion/dorsiflex limit plate, 1017 be synchronous belt A, and 1018 be bracing wire, and 1019 be lasso trick driving wheel A, and 1020 be driving wheel Shaft A, 1021 be bracing wire mounting hole, and 1022 limit threaded hole for wrist palmar flexion/dorsiflex；
2001 be synchronous pulley adapter, and 2002 be synchronous pulley A, and 2003 be synchronous belt B, and 2004 be synchronous pulley B, 2005 adjust bar for synchronous pulley, and 2006 be synchronous belt wheel shaft, and 2007 be connecting rod A, and 2008 be connecting rod B, and 2009 be connecting rod C, 2010 be connecting rod D, 2011 be internal/external rotations retainer, 2012 be lasso trick driving wheel B, 2013 be driving wheel shaft B, 2014 It is angular encoder B for forearm internal/external rotations limit plate, 2015,2016 be angular encoder support plate B；
3001 ancons bend and stretch execution arm, and 3002 be lasso trick driving wheel C, and 3003 be encoder extending sleeve, and 3004 be hollow shaft, 3005 bend and stretch support arm for ancon, and 3006 be angular encoder C, and 3007 install locating piece for limit threaded hole, 3008 for lasso trick C, 3009 be limit arc groove；
4001 be upper arm retainer, 4002 software restrainings, 4003 upper arm support rods, 4004 multi-dimension force sensor B, J7 Upper arm retainer axis；
5100 be broad-mouthed receptacle for holding liquid upper arm extension/retraction joint, and 5101 execute arm for broad-mouthed receptacle for holding liquid upper arm extension/retraction, 5102 for broad-mouthed receptacle for holding liquid upper arm extension/after Contracting support arm, 5200 be broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint, and 5201 execute arm for broad-mouthed receptacle for holding liquid upper arm internal/external rotations, and 5202 be broad-mouthed receptacle for holding liquid upper arm inward turning/outer Circumflex branch brace, 5300 be broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint, and 5301 execute arm for broad-mouthed receptacle for holding liquid upper arm abduction/adduction, and 5302 be broad-mouthed receptacle for holding liquid upper arm outreach/interior Revenue and expenditure brace；
6100 shoulder girdle extensions/retraction joint, the flexible execution arm of 6101 shoulder girdles, 6102 shoulder girdle telescopic oscillating arm A, The flexible lubrication bearing of 6103 shoulder girdles, 6104 shoulder girdle shafts, 6105 shoulder girdle telescopic oscillating arm B, the flexible branch of 6106 shoulder girdles Brace, 6107 shoulder girdle extensions/retraction modularization rotating device, 6108 be connecting plate, and 6109 be groove, and 6110 be bolt hole, 6111 be sliding block, and 6112 be guide rail, and 6200 shoulder girdles above mention/fall joint, and 6201 shoulder girdles, which are above mentioned/fallen, executes arm, 6202 Support arm, J are mentioned/fallen on shoulder girdle8Shoulder girdle extension/retraction modularization rotating device rotating shaft center line, J9On shoulder girdle Mention/fall joint rotating shaft center line, K1Shoulder girdle is flexible to execute arm equivalent line；
7001 hoistable platforms, 7002 set levers, 7003 guiding support bars, 7004 horizontal location blocks, the support of 7005 bottoms Locating piece；
8001 be driving motor, and 8002 be speed reducer, and 8004 is drive mounting rack, and 8005 be lasso trick driving wheel, and 8006 are Torque sensor, 8007 be brake beans, and 8008 be tensioner adjustment frame, and 8009 be support plate, and 8010 be guide plate, and 8011 be adjusting Bolt, 8012 be slot, and 8013 install locating piece B for lasso trick, and 8014 be tensioner pilot hole, and 8015 be limiting slot.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the utility model includes the wheelchair base 9000 for being used to support upper limb power-assisting robot, the wheelchair base Seat 9000 structure on two sides it is identical, every side include sequentially connected wrist palmar flexion/dorsiflex moving parts 1000, forearm inward turning/ Outward turning moving parts 2000, ancon flexion and extension component 3000, Glenohumeral joint moving parts 5000 and shoulder girdle moving parts 6000, wherein wrist palmar flexion/dorsiflex moving parts 1000, forearm internal/external rotations moving parts 2000 and ancon flexion and extension group Part 3000 is respectively provided with the lasso trick driving wheel for driving respective moving parts rotation, and Glenohumeral joint moving parts 5000 include successively going here and there Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 5100, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200 and the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300 of connection, omoplate It include that fall joint 6200 for the shoulder girdle extension/retraction joint 6100 and shoulder girdle above mention/that is one another in series with moving parts 6000, Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 5100 is connected with ancon flexion and extension component 3000, and upper arm fixation kit 4000 is connected to the broad-mouthed receptacle for holding liquid upper arm Extension/retraction joint 5100, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300 is connect with shoulder girdle extension/retraction joint 6100, on shoulder girdle Joint 6200 is mentioned/falls to be connected with wheelchair base 9000；Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 5100, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300, shoulder girdle extension/being mentioned on retraction joint 6100, shoulder girdle/fall joint 6200 and Wrist palmar flexion/dorsiflex moving parts 1000, forearm internal/external rotations moving parts 2000 and ancon flexion and extension component 3000 are respective Lasso trick driving wheel pass through lasso trick driving unit 8000 respectively and control, each lasso trick driving unit 8000 is separately mounted to wheelchair On pedestal 9000.Dermaskeleton type upper limb power-assisting robot has the palm of wrist by the drive control of each lasso trick driving unit 8000 In the wrong/dorsiflex, the internal/external rotations of forearm, ancon is bent and stretched and extension/retraction, abduction/adduction, the internal/external rotations of Glenohumeral joint With eight above the mentioning/fall of shoulder girdle, extension/retraction freedom degrees.
As shown in figs. 2 to 4, wrist palmar flexion/dorsiflex moving parts 1000 include software restraining A1001, software restraining B1002, software restraining C1003, end assist handle 1004, software pattern 1005, the back of the hand backup plate 1006, wrist oscillating deck 1007, bearing 1008, wrist swinging supporter 1009, multi-dimension force sensor 1010, wrist palmar flexion/dorsiflex mounting base are lubricated 1011, angular encoder A1012, angular encoder support plate A1013, lasso trick installation locating piece A1014, lasso trick install positioning plate 1015, wrist palmar flexion/dorsiflex limit plate 1016, synchronous belt A1017, bracing wire 1018, lasso trick driving wheel A1019 and driving wheel shaft A1020, software pattern 1005 are fixedly connected with the back of the hand backup plate 1006, improve wearing comfort；Software restraining B1002 and soft Body restraining C1003 is fixed on the lower edges of software pattern 1005, software restraining B1002 and software restraining when wearing C1003 separation thumb front and rear sides, make patient's the back of the hand portion be close to software pattern 1005.End assist handle 1004 is mounted on hand The end of backrest plate 1006, for assisting patient's finger grip, software restraining A1001 is to end assist handle 1004, software Five fingers of restraining B1002 and patient carry out envelope, and are fixed on 1006 back side of the back of the hand backup plate, and enhancing suffering limb hand is firm Property；The back of the hand backup plate 1006 is connected to wrist oscillating deck 1007 by multi-dimension force sensor A1010, and the back of the hand backup plate 1006 and wrist are put 1007 relative distance of movable plate can be adjusted and lock, to adapt to different patient hand's sizes；It is opened up on the back of the hand backup plate 1006 Groove type hole is locked after distance is adjusted between multi-dimension force sensor A1010 and the back of the hand backup plate 1006 by bolt, and then is realized The back of the hand backup plate 1006 can be adjusted with 1007 relative distance of wrist oscillating deck.Multi-dimension force sensor A1010 can be to human-computer interaction Force information and human cinology and physiological data are detected and are recorded.Wrist oscillating deck 1007 passes through lubrication bearing 1008 It is connected to wrist swinging supporter 1009, and can be along wrist palmar flexion/dorsiflex shaft centerline J1Rotation, wrist palmar flexion/dorsiflex turn Shaft centre line J1It is overlapped in motion range with human body wrist palmar flexion/dorsiflex axis.Wrist swinging supporter 1009 and wrist are slapped In the wrong/dorsiflex mounting base 1011, lasso trick installation positioning plate 1015, wrist palmar flexion/dorsiflex limit plate 1016 are fixedly connected, and angle is compiled Code device A1012 is fixed on lasso trick by angular encoder support plate A1013 and installs on positioning plate 1015, angular encoder A1012 It is connected to driving wheel shaft A1020 by synchronous belt A1017, and center is carried out away from that can pass through angular encoder support plate A1013 Fine tuning, for detecting suffering limb wrist pose；Groove type hole, angular encoder A1012 are offered on angular encoder support plate A1013 After center distance regulation between driving wheel shaft A1020 is good, angular encoder support plate A1013 is locked at lasso trick with bolt It installs on positioning plate 1015.Lasso trick driving wheel A1019 and wrist oscillating deck 1007 are connected and fixed by flat key and are mounted on driving wheel On shaft A1020, and wrist swinging supporter 1009 is connected to by lubricating bearing 1008.Pacify on wrist swinging supporter 1009 Equipped with wrist palmar flexion/dorsiflex limit plate 1016, which is fixed on wrist swinging support On frame 1009, the other end is located at the lower section of lasso trick driving wheel A1019, and the two sides of the other end are arc；Lasso trick driving wheel Wrist palmar flexion/dorsiflex limit threaded hole 1022 and the bracing wire mounting hole for fixing bracing wire 1018 are offered on A1019 respectively 1021, the wrist palmar flexion/dorsiflex limits the bolt for being equipped on threaded hole 1022 and rotating with lasso trick driving wheel A1019, and bolt exists It is limited in rotation process by wrist palmar flexion/dorsiflex limit plate 1016 other end.Wrist palmar flexion/dorsiflex mounting base 1011 For connecting forearm internal/external rotations moving parts 2000.Bracing wire 1018 is two, and one end of every bracing wire 1018 is wrapped in set On rope driving wheel A1019, the other end is installed positioning plate 1015 by lasso trick respectively and is mounted on lasso trick installation positioning plate 1015 Lasso trick installation locating piece A1014 is passed through, and is connected to one of lasso trick driving unit 8000.
As shown in figures 5-8, forearm internal/external rotations moving parts 2000 include synchronous pulley adapter 2001, synchronous pulley A2002, synchronous belt B2003, synchronous pulley B2004, synchronous pulley adjustment bar 2005, synchronous belt wheel shaft 2006, connecting rod A2007, Connecting rod B2008, connecting rod C2009, connecting rod D2010, internal/external rotations retainer 2011, lasso trick driving wheel B2012, driving wheel shaft B2013, wrist internal/external rotations limit plate 2014, angular encoder B2015 and angular encoder support plate B2016, connecting rod A2007, connecting rod B2008, connecting rod C2009, connecting rod D2010 constitute parallelogram mechanism, for realizing synchronous pulley adapter 2001 around forearm internal/external rotations shaft centerline J2Rotation, but synchronous pulley adapter 2001 itself can not rotate, synchronous belt It takes turns A2002, synchronous belt B2003, synchronous pulley B2004 and constitutes synchronous belt drive mechanism, for realizing synchronous pulley adapter 2001 own rotation, two sets of mechanisms in series realize synchronous pulley adapter 2001 around forearm internal/external rotations shaft centerline J2 It rotates synchronously, forearm internal/external rotations shaft centerline J2It is heavy in motion range with human body forearm internal/external rotations shaft centerline It closes, and forearm internal/external rotations shaft centerline J2With wrist palmar flexion/dorsiflex axis J1Rotation is vertically intersected on point O, meets human body Bionics structure.Synchronous pulley adapter 2001 is fixedly connected with wrist palmar flexion/dorsiflex mounting base 1011, and relative distance can It is adjusted, to adapt to different patient's brachiums.Connecting rod A2007 be it is "T"-shaped, one end of "T"-shaped a line passes through lubrication bearing 1008 are rotatablely connected with connecting rod B2008, and the other end of connecting rod B2008 is turned by one end of lubrication bearing 1008 and connecting rod D2010 Dynamic connection, synchronous pulley B2004 are fixedly connected with one end of connecting rod C2009 by flat key, and by lubrication bearing 1008 with The other end of "T"-shaped a line is rotatablely connected, and the other end and lasso trick driving wheel B2012 of connecting rod C2009 passes through flat key respectively It is fixedly installed on driving wheel shaft B2013, the other end of the driving wheel shaft B2013 and connecting rod D2010 pass through lubrication bearing 1008 rotation connections；Synchronous pulley adapter 2001 is connect with wrist palmar flexion/dorsiflex moving parts 1000, synchronous pulley switching Part 2001 and synchronous pulley A2002 are respectively and fixedly installed on synchronous belt wheel shaft 2006 by flat key, and pass through lubrication bearing 1008 one end for adjusting bar 2005 with synchronous pulley are rotatablely connected, the other end of synchronous pulley adjustment bar 2005 and "T"-shaped company The another a line of bar A2007 is connected, and synchronous belt B2003 is mounted on synchronous pulley A2002 and synchronous pulley B2004.Synchronous belt The other end of wheel adjustment bar 2005 is adjustable with the another a line position of "T"-shaped connecting rod A2007 by the groove type hole realization opened up, And then adjust the centre distance between synchronous pulley A2002 and synchronous pulley B2004；In the another a line of "T"-shaped connecting rod A207 Guide groove is opened up, the other end of synchronous pulley adjustment bar 2005 moves in the guide groove, and locks afterwards in place in movement.It is interior Forearm internal/external rotations limit plate 2014 is installed on rotation/outward turning retainer 2011, the forearm internal/external rotations limit plate 2014 One end is fixed on internal/external rotations retainer 2011, and the other end is located at the lower section of lasso trick driving wheel B2012, the two sides of the other end It is arc；Forearm internal/external rotations limit threaded hole is offered on lasso trick driving wheel B2012 respectively and for fixing bracing wire 1018 Bracing wire mounting hole, the forearm internal/external rotations limit threaded hole on be equipped with lasso trick driving wheel B2012 rotate bolt, spiral shell The other end that bolt passes through forearm internal/external rotations limit plate 2014 during rotation is limited.Internal/external rotations retainer 2011 It is fixedly connected with connecting rod D2010, forearm internal/external rotations limit plate 2014, angular encoder support plate B2016, angular encoder B2015 is connect by angular encoder support plate B2016 with driving wheel shaft B2013, for detecting suffering limb forearm pose.It is interior Rotation/outward turning retainer 2011 is for connecting ancon flexion and extension component 3000.
As shown in Figure 9, Figure 10, ancon flexion and extension component 3000 include in forearm internal/external rotations moving parts 2000 The ancon that internal/external rotations retainer 2011 connects bends and stretches the elbow for executing arm 3001 and connecting with Glenohumeral joint moving parts 5000 Support arm 3005 is bent and stretched in portion, which, which bends and stretches to execute arm 3001 and bend and stretch support arm 3005 by rotating device and ancon and rotate, connects It connects, ancon bends and stretches execution arm 3001 and ancon bends and stretches support arm 3005 and bends and stretches shaft centerline J around ancon3Rotation.Ancon is bent and stretched It executes arm 3001 and is provided with guide groove and multiple groups mounting hole, accurate adjustment forearm internal/external rotations moving parts 2000 and ancon are bent 3000 relative position of moving parts is stretched, guarantees that ancon bends and stretches shaft centerline J3Shaft centerline is bent and stretched with human body ancon moving It is overlapped in range.Rotating device includes lasso trick driving wheel C3002, lubrication bearing 1008, encoder extending sleeve 3003, hollow shaft 3004, bracing wire 1018, lasso trick install locating piece C3008 and angular encoder C3006, which is mounted on ancon and bends and stretches On support arm 3005, by the rotational installation of lubrication bearing 1008 in hollow shaft 3004, guarantee lasso trick drives lasso trick driving wheel C3002 Driving wheel C3002 can be freely rotated relative to hollow shaft 3004, and lasso trick driving wheel C3002 and ancon bend and stretch and execute arm 3001 It is fixedly connected.Support arm 3005, which is bent and stretched, in ancon bends and stretches the one side of execution arm 3001, positioned at lasso trick driving wheel C3002 towards ancon The left and right sides of top, is fixedly installed with lasso trick installation locating piece C3008 respectively, and each lasso trick is installed in locating piece C3008 Bracing wire 1018 is penetrated, by bypassing on lasso trick driving wheel C3002, locating piece C3008 is installed by lasso trick in one end for the bracing wire 1018 Positioning support locking, the other end are connected with lasso trick driving unit 8000.Angular encoder is connected on the inside of hollow shaft 3004 C3006,3004 accommodated inside of hollow shaft have an encoder extending sleeve 3003, the both ends of encoder extending sleeve 3003 respectively with angle The shaft of encoder C3006 is connected with lasso trick driving wheel C3002, make angular encoder C3006 can real-time detection ancon bend and stretch and hold Row arm 3001 bends and stretches the rotation angle of support arm 3005 relative to ancon, guarantees that suffering limb is in correct pose in real time.Ancon is bent and stretched Support arm 3005 bends and stretches offering on one side for execution arm 3001 towards ancon and limits arc groove 3009, on lasso trick driving wheel C3002 Limit threaded hole 3007 is offered, which is inserted by limiting device (such as bolt, screw, threaded pin) And it is limited in limit threaded hole 3007.Ancon flexion and extension component 3000 is modularization rotary joint, and technical solution is applicable in In other rotary joints of robot.
As shown in Figure 11, Figure 12, Glenohumeral joint moving parts 5000 include the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint being sequentially connected in series 5100, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300, broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 5100 broad-mouthed receptacle for holding liquid upper arm Extension/retraction joint rotating shaft center line J4, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200 broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotary shaft in Heart line J5And the Yu Gong abduction/adduction rotating shaft center line J in broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 53006It is non-perpendicular to intersect at Glenohumeral joint Centre of motion O, point O are human body shoulder joint set-point.Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line J4Pass through the broad-mouthed receptacle for holding liquid of human body Upper arm joint motions center O, and it is vertical with human body sagittal plane.Broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200 is executed by broad-mouthed receptacle for holding liquid upper arm internal/external rotations Arm 5201 is connect with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 5100, and relative distance can be adjusted and lock；Broad-mouthed receptacle for holding liquid upper arm internal/external rotations are closed Save rotating shaft center's line J5By the Glenohumeral joint centre of motion O of human body, with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint rotating shaft center line J4 Between at 60 °~80 ° adjustable angles, the angle towards on the outside of human body, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center line J5With Human coronary face is at 10 °~30 ° adjustable angles, the angle towards on rear side of human body.Broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300 passes through the broad-mouthed receptacle for holding liquid upper arm Abduction/adduction executes arm 5301 and connect with broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200, and relative distance can be adjusted and lock；Broad-mouthed receptacle for holding liquid Upper arm abduction/adduction joint rotating shaft center line J6By the Glenohumeral joint centre of motion O of human body, with broad-mouthed receptacle for holding liquid upper arm extension/retraction joint Rotating shaft center line J4At 60 °~80 ° adjustable angles, the angle towards on the outside of human body.Meng's upper arm abduction/adduction support arm 5302 with Shoulder girdle moving parts 6000 are fixedly connected, and broad-mouthed receptacle for holding liquid upper arm extension/retraction executes the multidimensional in arm 5101 and upper arm fixation kit 4000 Force snesor B4004 connection；Broad-mouthed receptacle for holding liquid upper arm extension/retraction executes and offers multiple mounting holes on arm 5101, can be with multi-dimension force sensor The relative distance of B4004 is adjusted, and is locked after adjusting.Angle described above can be according to different patient's bodies Body size is customized adjustment.
Broad-mouthed receptacle for holding liquid upper arm extension/retraction joint 5100 includes executing arm by broad-mouthed receptacle for holding liquid upper arm extension/retraction that rotating device is rotatablely connected 5101 and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 5102, the broad-mouthed receptacle for holding liquid upper arm extension/retraction executes arm 5101 and 4000 phase of upper arm fixation kit Even, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200 includes executing 5201 He of arm by the broad-mouthed receptacle for holding liquid upper arm internal/external rotations that rotating device is rotatablely connected Broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 5202, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300 include outside the broad-mouthed receptacle for holding liquid upper arm being rotatablely connected by rotating device Exhibition/it is interior accept row arm 5301 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 5302, the broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 5302 and shoulder girdle Moving parts 6000 are connected.Broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 5102, broad-mouthed receptacle for holding liquid upper arm internal/external rotations execution arm 5201, broad-mouthed receptacle for holding liquid upper arm inward turning/outer Circumflex branch brace 5202 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute and are uniformly provided with multiple bolts hole respectively on arm 5301, the broad-mouthed receptacle for holding liquid upper arm inward turning/outer Rotation executes arm 5201 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes and is all provided with fluted, broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 5102, broad-mouthed receptacle for holding liquid on arm 5301 Upper arm internal/external rotations support arm 5202 executes arm 5201 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction with broad-mouthed receptacle for holding liquid upper arm internal/external rotations respectively by the groove Execute 5301 grafting of arm and adjustable broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 5102 and broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute between arm 5201 with And broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm 5202 and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute the spacing between arm 5301, pass through spiral shell after adjusting Bolt is inserted into bolt hole and fixes, to adapt to the requirement of different human body Glenohumeral joint size.Each rotating device with respective set Rope driving unit 8000 connects, and provides extension/retraction, the internal/external rotations of Glenohumeral joint by respective lasso trick driving unit 8000 And the driving moment of abduction/adduction.The rotating device in each joint and ancon flexion and extension group in Glenohumeral joint moving parts 5000 Rotary device structure in part 3000 is identical, and details are not described herein.
As shown in figure 13, upper arm fixation kit 4000 includes upper arm retainer 4001, software restraining 4002, upper arm support Bar 4003 and multi-dimension force sensor B4004, the both ends of the upper arm support rod 4003 are connected separately with upper arm retainer 4001, upper arm 4001 semicircular in shape of retainer, inside are attached with software restraining 4002, and software restraining 4002 is directly contacted with human body upper arm, Suffering limb wearing comfort can be promoted.Upper arm retainer 4001 has required rigidity, and upper arm retainer axis J7Radial position It is adjustable, guarantee its upper arm retainer axis J7It is overlapped in scope of activities with human body upper arm axis, and relative position is kept to stablize. The side of the upper arm retainer 4001 at both ends is installed in the guide groove that opens up on upper arm support rod 4003, can be in the guiding Moved in groove, and after spacing is adjusted with 4003 positioning and locking of upper arm support rod, to adapt to the brachium of different patients.Upper It is equipped on arm support rod 4003 and executes the multi-dimensional force biography of arm 5101 for connecting upper arm support rod 4003 and broad-mouthed receptacle for holding liquid upper arm extension/retraction Sensor B4004 can carry out people in rehabilitation training-machine interaction force information, human cinology and physiological data real-time The scheme optimization with multi-mode rehabilitation training is quantitatively evaluated for conditions of patients in record.
As shown in Figure 14, Figure 15, shoulder girdle moving parts 6000 include the shoulder girdle extension/retraction joint being one another in series 6100 and shoulder girdle above mention/fall joint 6200, the axis in two joints intersects vertically；Shoulder girdle extension/retraction joint 6100 Including the flexible execution arm 6101 of shoulder girdle, shoulder girdle retractable support arm 6106, rotating device and shoulder girdle telescopic oscillating arm group Part, the flexible arm 6101 that executes of the shoulder girdle is oppositely arranged with shoulder girdle retractable support arm 6106, and passes through two groups of telescopic oscillating arms Component is connected, and forms telescopic parallelogram mechanism；Every group of telescopic oscillating arm component includes scalable connected each other Shoulder girdle telescopic oscillating arm A6102 and shoulder girdle telescopic oscillating arm B6105, shoulder girdle telescopic oscillating arm A6102 in two groups and One end of any of shoulder girdle telescopic oscillating arm B6105 executes arm 6101 or omoplate by the way that rotating device and shoulder girdle are flexible Band retractable support arm 6106 is rotatablely connected, and one end of remaining telescopic oscillating arm and shoulder girdle stretch and execute arm 6101 or shoulder girdle Retractable support arm 6106 is rotatablely connected.Mentioned on shoulder girdle/fall joint 6200 include shoulder girdle above mention/fall support arm 6202 and Rotating device, the shoulder girdle above mention/fall support arm 6202 and be connected by rotating device with shoulder girdle retractable support arm 6106.Shoulder In shoulder blade band moving parts 6000, the one of any of shoulder girdle telescopic oscillating arm A6102 and shoulder girdle telescopic oscillating arm B6105 End is rotatablely connected by rotating device and the flexible execution arm 6101 of shoulder girdle or shoulder girdle retractable support arm 6106, the rotating device For shoulder girdle extension/retraction modularization rotating device 6107；Support arm 6202 is mentioned/fallen on shoulder girdle passes through rotating device and shoulder Shoulder blade band retractable support arm 6106 is connected, which is that shoulder girdle above mentions/fall modularization rotating device.Shoulder girdle extension/ Retraction joint module rotating device rotating shaft center line J8With above mention/fall joint rotating shaft center line J9It intersects vertically.
Shoulder girdle extension/retraction modularization rotating device 6107 and shoulder girdle in shoulder girdle moving parts 6000 above mention/ Whereabouts modularization rotating device is connect with respective lasso trick driving unit 8000 respectively, by respective lasso trick driving unit 8000 Extension/retraction and above mention/driving moment to fall of shoulder girdle is provided.Before shoulder girdle in shoulder girdle moving parts 6000 Stretch/the retraction modularization rotating device 6107 and shoulder girdle above mention/modularization that falls rotating device and ancon flexion and extension component Rotary device structure in 3000 is identical, and details are not described herein.
One end of shoulder girdle telescopic oscillating arm A6102 and shoulder girdle telescopic oscillating arm B6105 are annular shape, and the other end is Cuboid.The other end of shoulder girdle telescopic oscillating arm A6102 and shoulder girdle telescopic oscillating arm B6105 are uniformly provided with multiple respectively The other end of bolt hole 6110, shoulder girdle telescopic oscillating arm A6102 or shoulder girdle telescopic oscillating arm B6105 are equipped with groove The other end of 6109, shoulder girdle telescopic oscillating arm A6102 and shoulder girdle telescopic oscillating arm B6105 by 6109 grafting of groove, And the adjustable flexible spacing executed between arm 6101 and shoulder girdle retractable support arm 6106 of shoulder girdle, pass through spiral shell after adjusting Bolt is inserted into bolt hole 6110 and fixes, to adapt to the requirement of different human body shoulder girdle size.In the present embodiment, shoulder girdle telescopic oscillating The other end of arm B6105 opens up fluted 6109 along its length, and it is recessed that the other end of shoulder girdle telescopic oscillating arm A6102 is inserted into this In slot 6109, between shoulder girdle telescopic oscillating arm A6102 and shoulder girdle telescopic oscillating arm B6105 can relative telescopic, and adjusting After good distance, it is locked in bolt insertion bolt hole 6110.The flexible arm 6101 that executes of shoulder girdle is used to transport with Glenohumeral joint Dynamic component 5000 is fixedly connected.
The flexible arm equivalent line K1 that executes of shoulder girdle passes through human body Glenohumeral joint centre of motion O, shoulder girdle extension/retraction module Change rotating device rotating shaft center line J8Positioned at human body articulatio sternoclavicularis dead astern, the equivalent translational motion of parallelogram mechanism is utilized Extension/rear shrink movement of ectoskeleton shoulder girdle is transmitted to extension/rear shrink movement centered on articulatio sternoclavicularis by characteristic, reproduction Human body Glenohumeral joint is around articulatio sternoclavicularis extension/retraction functional movement.Joint rotating shaft center line J is mentioned/fallen on shoulder girdle9It is logical The human body articulatio sternoclavicularis centre of motion is crossed, the shoulder girdle above mentions/fall joint rotating shaft center line J9With shoulder girdle extension/after Contracting modularization rotating device rotating shaft center line J8It intersects vertically, shoulder girdle component uses swing mechanism and parallelogram machine The design of structure combination, by extension/retraction of ectoskeleton shoulder girdle, above mention/falling motion is transmitted to centered on articulatio sternoclavicularis Extension/retraction, above mention/falling motion.
One end of two shoulder girdle telescopic oscillating arm A6102 passes through the flexible lubrication bearing 6103 of shoulder girdle and stretches with shoulder girdle Contracting executes two shoulder girdle shafts 6104 rotation connection being arranged on arm 6101, one of shoulder girdle telescopic oscillating arm B6105 One end pass through the shoulder girdle shaft 6104 that is arranged on the flexible lubrication bearing 6103 of shoulder girdle and shoulder girdle retractable support arm 6106 Rotation connection；One end of another shoulder girdle telescopic oscillating arm B6105 passes through shoulder girdle extension/retraction modularization rotating device 6107 are rotatablely connected with shoulder girdle retractable support arm 6106.Shoulder girdle retractable support arm 6106 is L-shaped, one side of the L shape For connecting with shoulder girdle telescopic oscillating arm B6105, another side, which above mentions/falls for shoulder girdle, executes arm 6201, on the shoulder girdle Mentioning/fall execute arm 6201 above mention by shoulder girdle/, the modularization that falls rotating device and shoulder girdle above mention/fall support arm 6202 Rotation connection.
As shown in figure 16, the utility model can also be fixedly mounted two on the flexible execution arm 6101 of shoulder girdle and mutually put down Capable guide rail 6112 slidably connects sliding block 6111 on the guide rail 6112, is equipped on sliding block 6111 back and forth sliding along guide rail 6112 Dynamic connecting plate 6108.Connecting plate 6108 can be solid with the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300 in Glenohumeral joint moving parts 5000 Fixed connection, increases a translation freedoms.
As shown in figure 17, lifting assembly 7000 include hoistable platform 7001, set lever 7002, guiding support bar 7003, Horizontal location block 7004 and bottom support locating piece 7005, and hoistable platform 7001 is for installing entire dermaskeleton type upper limb booster engine Device people, can be used hand-operated lifting or electric up-down mode carries out height adjustment, and preferably electronic self adaptation regulative mode is to entire outer Skeleton-type upper limb power-assisting robot carries out lift adjustment, to adapt to different Patient heights.Meanwhile hoistable platform 7001 is provided with slot Hole and guide key groove can carry out dermaskeleton type upper limb power-assisting robot to close between left and right away from adjustment to adapt to different patient's chest locks Byte wide.Set lever 7002 is locked after can adjusting to hoistable platform 7001.Guiding support bar 7003 is used to support lifting Platform and lift adjustment guiding.Guiding support bar 7003 supports the fixed peace of locating piece 7005 by horizontal location block 7004 and bottom Mounted in 9000 back of wheelchair base, horizontal location block 7004 can carry out horizontal location and fixation, bottom to guiding support bar 7003 Locating piece 7005 is supported to carry out bottom support to guiding support bar 7003.
Each lasso trick driving unit 8000 that each rotating device of the utility model is connected is mounted on wheelchair base 9000, The lasso trick driving unit 8000 of the utility model is five, respectively by bracing wire 1018 and Glenohumeral joint moving parts 200 Three rotating devices, shoulder girdle extension/mentioned on retraction modularization rotating device 6107, shoulder girdle/modularization that falls rotating device, The lasso trick driving wheel in rotating device, wrist palmar flexion/dorsiflex moving parts 1000 in ancon flexion and extension component 3000 A1019 is connected with the lasso trick driving wheel B2012 in forearm internal/external rotations moving parts 2000, and respectively broad-mouthed receptacle for holding liquid upper arm extension/retraction is closed Save 5100, broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint 5200, broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint 5300, shoulder girdle extension/retraction joint 6100, shoulder Shoulder blade band above mentions/falls joint 6200, wrist palmar flexion/dorsiflex moving parts 1000,2000 and of forearm internal/external rotations moving parts Ancon flexion and extension component 3000 provides remote driving torque.As shown in Figure 18~20, lasso trick driving unit 8000 includes dynamic Power source, driving mounting rack 8004, lasso trick driving wheel 8005, torque sensor 8006, brake beans 8007, tensioner adjustment frame 8008, Support plate 8009, guide plate 8010 adjust bolt 8011 and lasso trick installation locating piece B8013, which includes driving motor 8001 and speed reducer 8002, driving motor 8001 and speed reducer 8002, preferably light-type large torque servo motor, to mitigate system Energy density improves portability.Driving mounting rack 8004 can be fixed on wheelchair base 9000, driving motor 8001 and deceleration Machine 8002 is fixed on the side of driving mounting rack 8004 after connecting, lasso trick driving wheel 8005 is located at the another of driving mounting rack 8004 Side, and be connected with the output end of speed reducer 8002, by driving motor 8001 and the driving rotation of speed reducer 8002.Lasso trick driving wheel There are two the beans 8007 that brake for installation on 8005, for being fixedly connected for lasso trick driving wheel 8005 and bracing wire 1018.Tensioner adjustment frame 8008 is L-shaped, which is provided with tensioner pilot hole 8004 on one side, and the end of another side is fixedly installed with support plate 8009, The support plate 8009, which is equipped with, adjusts bolt 8011.It is extended with guide plate 8010 on driving mounting rack 8004, the guide plate 8010 It is passed through by tensioner pilot hole 8014, adjusts bolt 8011 and abutted with guide plate 8010.On one side of L shape tensioner adjustment frame 8008 On be also provided with two limiting slots 8015, lasso trick installation locating piece B8013 is respectively mounted in each limiting slot 8015；Lasso trick master Two bracing wires 1018 are wound on driving wheel 8005, one end of every bracing wire 1018 is each attached on a brake beans 8007, separately One end passed through by lasso trick installation locating piece B8013 after respectively with broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm 5102, broad-mouthed receptacle for holding liquid upper arm inward turning/outer Circumflex branch brace 5202, shoulder girdle retractable support arm 6016, proposes/falls support on shoulder girdle at broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm 5302 Arm 6202, ancon bend and stretch the installation locating piece of the lasso trick on support arm 3005, lasso trick driving wheel A1019 or lasso trick driving wheel B2012 A1014 connection.Grooved hole 8012 is opened up on the another side of L shape tensioner adjustment frame 8008, the slot 8012 is elongated；It leads Bolt hole is offered on plate 8010, is tightened in bolt hole after passing through slot 8012 by bolt.Screw adjusting bolt 8011, relatively move guide plate 8010 and tensioner adjustment frame 8008, and then adjust tensioner adjustment frame 8008 and lasso trick driving wheel The distance between 8005.During adjustment, the bolt on guide plate 8010 moves in slot 8012 always, plays guiding work With, it is ensured that tensioner adjustment frame 8008 is adjusted along straight line；After adjusting, bolt fixed guide plate 8010 is tightened.Speed reducer 8002 Output shaft on torque sensor 8006 is installed.
Two have respectively along the circumferential direction been opened up on lasso trick driving wheel A1019, lasso trick driving wheel B2012 and lasso trick driving wheel 8005 A groove, for accommodating two bracing wires 1018 of winding.
As shown in figure 20, the installation that the under-seat of wheelchair base component 9000 is provided with each lasso trick driving unit 8000 is put down Face, for installing whole lasso trick driving units 8000 and other electrical equipments needed for ectoskeleton power-assisting robot.Wheelchair base 9000 backs are provided with lifting assembly mounting hole, for fixing lifting assembly 7000.Wheelchair base 9000 is not limited only to wheelchair, Manned wheel moving platform including other similar configuration facilitates user's movement, carries.
The utility model is suitable for the upper extremity motor function disorders patients such as apoplexy, hemiplegia, paraplegia and carries out upper limb everyday actions Power-assisted and rehabilitation training.

Claims (10)

1. a kind of light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, it is characterised in that: including for branch Support upper limb power-assisting robot wheelchair base (9000), the structure on two sides of the wheelchair base (9000) is identical, every side include according to The wrist palmar flexion of secondary connection/dorsiflex moving parts (1000), forearm internal/external rotations moving parts (2000), ancon flexion and extension Component (3000), Glenohumeral joint moving parts (5000) and shoulder girdle moving parts (6000), wherein wrist palmar flexion/dorsiflex campaign It is each that component (1000), forearm internal/external rotations moving parts (2000) and ancon flexion and extension component (3000) are respectively provided with drive Autokinesis component rotation lasso trick driving wheel, the Glenohumeral joint moving parts (5000) include be sequentially connected in series the broad-mouthed receptacle for holding liquid upper arm extension/ Retraction joint (5100), broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint (5200) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (5300), the shoulder girdle fortune Dynamic component (6000) include that fall the shoulder girdle extension being one another in series/retraction joint (6100) and shoulder girdle above mention/joint (6200), the broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (5100) are connected with ancon flexion and extension component (3000), upper arm fixation kit (4000) broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (5100), the broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (5300) and the shoulder girdle are connected to Extension/retraction joint (6100) connection, the shoulder girdle above mention/fall joint (6200) and the wheelchair base (9000) phase Even；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (5100), broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint (5200), broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (5300), shoulder girdle extension/proposes/joint that falls (6200) and wrist palmar flexion/dorsiflex campaign on retraction joint (6100), shoulder girdle Component (1000), forearm internal/external rotations moving parts (2000) and the respective lasso trick driving of ancon flexion and extension component (3000) For wheel respectively by lasso trick driving unit (8000) control, each lasso trick driving unit (8000) is separately mounted to wheelchair base On seat (9000)；The dermaskeleton type upper limb power-assisting robot has wrist by the drive control of each lasso trick driving unit (8000) Palmar flexion/the dorsiflex in portion, the internal/external rotations of forearm, ancon is bent and stretched and extension/retraction of Glenohumeral joint, abduction/adduction, inward turning/ Eight above the mentioning/fall of outward turning and shoulder girdle, extension/retraction freedom degrees.
2. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: the wrist palmar flexion/dorsiflex moving parts (1000) include software restraining A (1001), it is software restraining B (1002), soft Body restraining C (1003), end assist handle (1004), software pattern (1005) the back of the hand backup plate (1006), wrist oscillating deck (1007), wrist swinging supporter (1009), multi-dimension force sensor (1010), wrist palmar flexion/dorsiflex mounting base (1011), angle Encoder A (1012), angular encoder support plate A (1013), lasso trick installation locating piece A (1014), lasso trick install positioning plate (1015), wrist palmar flexion/dorsiflex limit plate (1016), synchronous belt A (1017), bracing wire (1018), lasso trick driving wheel A (1019) and The side of driving wheel shaft A (1020), the back of the hand backup plate (1006) and palm contacts is equipped with software pattern (1005), described soft The both ends of body restraining B (1002) and software restraining C (1003) are individually fixed in the lower edges of the software pattern (1005), The other side of the back of the hand backup plate (1006) is connected by multi-dimension force sensor (1010) with wrist oscillating deck (1007), the multidimensional Force snesor (1010) realizes that position is adjustable by offering groove type hole on the back of the hand backup plate (1006), and then realizes that the back of the hand leans on The adjustment of relative distance between plate (1006) and wrist oscillating deck (1007), and the back of the hand backup plate is lock onto after adjusting (1006)；End assist handle (1004) and software restraining A (1001) are separately installed on the back of the hand backup plate (1006), it should End assist handle (1004) is mounted on the end of the back of the hand backup plate (1006), the both ends of the software restraining A (1001) It is both secured to the back side of the back of the hand backup plate (1006), and to the software restraining B (1002), end assist handle (1004) and is suffered from Five fingers of person carry out envelope；One end of the wrist swinging supporter (1009) and the one end of wrist oscillating deck (1007) rotate Connection, the other end of the wrist oscillating deck (1007) and the lasso trick driving wheel A (1019) interlock and with the driving wheel shaft A (1020) is affixed, and the other end and driving wheel shaft A (1020) of the wrist swinging supporter (1009) are rotatablely connected；Institute It states and lasso trick installation positioning plate (1015) is installed on wrist swinging supporter (1009), angular encoder A (1012) passes through angle Encoder support plate A (1013) is mounted in lasso trick installation positioning plate (1015), and angular encoder support plate A (1013) passes through The groove type hole opened up thereon realizes that the installation site in lasso trick installation positioning plate (1015) is adjustable, and then realizes that the angle is compiled Between code device A (1012) and driving wheel shaft A (1020) center away from adjustment, and lock onto after adjusting the lasso trick and install Positioning plate (1015)；The angular encoder A (1012) is connected by synchronous belt A (1017) with driving wheel shaft A (1020), institute It states lasso trick driving wheel A (1019) to be connected by bracing wire (1018) with the lasso trick driving unit (8000), the bracing wire (1018) point Not by lasso trick installation positioning plate (1015) and the lasso trick being mounted in lasso trick installation positioning plate (1015) installation locating piece A (1014) It passes through；Wrist palmar flexion/dorsiflex limit plate (1016) is installed, the wrist palmar flexion/back on the wrist swinging supporter (1009) The one end for bending limit plate (1016) is fixed on wrist swinging supporter (1009), and the other end is located at the lasso trick driving wheel A (1019) lower section；Offered respectively on the lasso trick driving wheel A (1019) wrist palmar flexion/dorsiflex limit threaded hole (1022) and For fixing the bracing wire mounting hole (1021) of bracing wire (1018), it is equipped in the wrist palmar flexion/dorsiflex limit threaded hole (1022) With the bolt that lasso trick driving wheel A (1019) is rotated, the bolt passes through wrist palmar flexion/dorsiflex limit plate during rotation (1016) the other end is limited；The lasso trick driving wheel A (1019) is driven by lasso trick driving unit (8000) to rotate, in turn The back of the hand backup plate (1006) are driven to carry out palmar flexion/dorsiflex by the wrist oscillating deck (1007)；The wrist swinging supporter (1009) wrist palmar flexion/dorsiflex mounting base (1011) is installed, the wrist palmar flexion/dorsiflex moving parts (1000) pass through the wrist Portion's palmar flexion/dorsiflex mounting base (1011) is connect with forearm internal/external rotations moving parts (2000).
3. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: forearm internal/external rotations moving parts (2000) include synchronous pulley adapter (2001), it is synchronous pulley A (2002), same Step band B (2003), synchronous pulley B (2004), synchronous pulley adjust bar (2005), synchronous belt wheel shaft (2006), connecting rod A (2007), connecting rod B (2008), connecting rod C (2009), connecting rod D (2010), internal/external rotations retainer (2011), lasso trick driving wheel B (2012), driving wheel shaft B (2013), forearm internal/external rotations limit plate (2014), angular encoder B (2015) and angle are compiled Code device support plate B (2016), an end position of the internal/external rotations retainer (2011) adjustably with the ancon flexion and extension group Part (3000) connection, the other end have been respectively and fixedly connected with connecting rod D (2010), forearm internal/external rotations limit plate (2014) and angular coding Device support plate B (2016), the connecting rod A (2007) are "T"-shaped, one end of the "T"-shaped a line and connecting rod B (2008) rotation company Connect, one end of the other end of connecting rod B (2008) and the connecting rod D (2010) is rotatablely connected, the synchronous pulley B (2004) and One end of connecting rod C (2009) is fixedly connected, and is rotatablely connected with the other end of the "T"-shaped a line, connecting rod C's (2009) The other end and lasso trick driving wheel B (2012) are respectively and fixedly connected on driving wheel shaft B (2013), driving wheel shaft B (2013) with The other end of the connecting rod D (2010) is rotatablely connected；The synchronous pulley adapter (2001) and wrist palmar flexion/dorsiflex exercise group Part (1000) connection, the synchronous pulley adapter (2001) and synchronous pulley A (2002) are respectively and fixedly installed to synchronous belt wheel shaft (2006) it on, and is rotatablely connected with one end of synchronous pulley adjustment bar (2005), which adjusts bar (2005) The other end passes through the groove type hole realization opened up and is adjustably connected with the another a line position of "T"-shaped connecting rod A (2007), and then adjusts Centre distance between the synchronous pulley A (2002) and synchronous pulley B (2004)；The "T"-shaped connecting rod A (2007) it is another Guide groove is opened up on side, the other end of synchronous pulley adjustment bar (2005) moves in the guide groove, and is being moved to It is locked behind position, the synchronous belt B (2003) is mounted on synchronous pulley A (2002) and synchronous pulley B (2004)；The connecting rod A (2007), the parallelogram mechanism that connecting rod B (2008), connecting rod C (2009), connecting rod D (2010) are formed, the synchronous pulley A (2002), the synchronous belt drive mechanism that synchronous belt B (2003), synchronous pulley B (2004) are formed, the lasso trick driving wheel B (2012) it is connected by bracing wire (1018) with the lasso trick driving unit (8000), lasso trick driving wheel B (2012) is driven by lasso trick Moving cell (8000) driving rotation, and then synchronous belt rotation is driven by the parallelogram mechanism and synchronous belt drive mechanism Fitting (2001) is around forearm internal/external rotations shaft centerline (J2) rotate synchronously, the forearm internal/external rotations shaft centerline (J2) be overlapped in motion range with human body forearm internal/external rotations shaft centerline, and the forearm internal/external rotations spindle central Line (J2) and wrist palmar flexion/dorsiflex axis (J1) rotation be vertically intersected on point O；The forearm internal/external rotations limit plate (2014) One end is fixed on internal/external rotations retainer (2011), and the other end is located at the lower section of the lasso trick driving wheel B (2012)；It is described Forearm internal/external rotations limit threaded hole and the drawing for fixing bracing wire (1018) are offered on lasso trick driving wheel B (2012) respectively Line mounting hole, which limits the bolt for being equipped on threaded hole and rotating with lasso trick driving wheel B (2012), described The other end that bolt passes through forearm internal/external rotations limit plate (2014) during rotation is limited；The angular encoder B (2015) it is mounted on angular encoder support plate B (2016), and is connect with the driving wheel shaft B (2013).
4. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: the ancon flexion and extension component (3000) includes that the ancon connecting with forearm internal/external rotations moving parts (2000) is bent and stretched The ancon for executing arm (3001) and connecting with Glenohumeral joint moving parts (5000) bends and stretches support arm (3005), which, which bends and stretches, holds Row arm (3001) bends and stretches support arm (3005) rotation connection by rotating device and ancon；The rotating device includes lasso trick driving C (3002), hollow shaft (3004), bracing wire (1018) and lasso trick installation locating piece C (3008), the hollow shaft (3004) is taken turns to be mounted on Ancon is bent and stretched on support arm (3005), the lasso trick driving wheel C (3002) rotational installation on hollow shaft (3004) and with it is described Ancon bends and stretches execution arm (3001) and is connected；Support arm (3005), which is bent and stretched, in the ancon bends and stretches execution arm (3001) towards ancon On one side, it is located at the two sides of lasso trick driving wheel C (3002), is separately installed with lasso trick installation locating piece C (3008), each lasso trick Installation locating piece C (3008) in has penetrated bracing wire (1018), the bracing wire (1018) by the lasso trick driving wheel C (3002) around It crosses, one end is installed locating piece C (3008) positioning support by the lasso trick and locked, the other end and the lasso trick driving unit (8000) it is connected；Angular encoder C (3006) are connected on the inside of the hollow shaft (3004), hollow shaft (3004) accommodated inside Have encoder extending sleeve (3003), the both ends of the encoder extending sleeve (3003) respectively with angular encoder C (3006) turn Axis is connected with lasso trick driving wheel C (3002)；The ancon bends and stretches support arm (3005) and bends and stretches execution arm (3001) towards ancon Limit arc groove (3009) is offered on one side, and limit threaded hole (3007) is offered on the lasso trick driving wheel C (3002), is passed through Limiting device is inserted into the limit arc groove (3009) and limit threaded hole (3007) and is limited.
5. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: Glenohumeral joint moving parts (5000) include broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (5100) being sequentially connected in series, broad-mouthed receptacle for holding liquid upper arm inward turning/ Outward turning joint (5200) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (5300), broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (5100) broad-mouthed receptacle for holding liquid upper arm extension/ Retraction joint rotating shaft center line (J4), the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint rotating shaft center in broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint (5200) Line (J5) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction joint (5300) Yu Gong abduction/adduction rotating shaft center line (J6) non-perpendicular intersect at the broad-mouthed receptacle for holding liquid upper arm Joint motions center (O)；The broad-mouthed receptacle for holding liquid upper arm extension/retraction joint (5100) include by rotating device be rotatablely connected the broad-mouthed receptacle for holding liquid upper arm before Stretch/retraction executes arm (5101) and broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (5102), the broad-mouthed receptacle for holding liquid upper arm extension/retraction execute arm (5101) and The upper arm fixation kit (4000) is connected, and the broad-mouthed receptacle for holding liquid upper arm internal/external rotations joint (5200) includes rotating to connect by rotating device The broad-mouthed receptacle for holding liquid upper arm internal/external rotations connect execute arm (5201) and broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (5202), and the broad-mouthed receptacle for holding liquid upper arm abduction/adduction is closed Section (5300) includes executing arm (5301) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction branch by the broad-mouthed receptacle for holding liquid upper arm abduction/adduction that rotating device is rotatablely connected Brace (5302), the broad-mouthed receptacle for holding liquid upper arm abduction/adduction support arm (5302) are connected with the shoulder girdle moving parts (6000)；Before the broad-mouthed receptacle for holding liquid upper arm Stretch/retraction support arm (5102), broad-mouthed receptacle for holding liquid upper arm internal/external rotations execution arm (5201), broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (5202) and the broad-mouthed receptacle for holding liquid upper arm Abduction/adduction execute arm (5301) on be uniformly provided with multiple bolts hole respectively, the broad-mouthed receptacle for holding liquid upper arm internal/external rotations execute arm (5201) and Broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute arm (5301) on be all provided with it is fluted, the broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (5102), broad-mouthed receptacle for holding liquid upper arm inward turning/ Arm (5201) are executed with broad-mouthed receptacle for holding liquid upper arm internal/external rotations respectively by the groove for outward turning support arm (5202) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction executes Between arm (5301) grafting and adjustable broad-mouthed receptacle for holding liquid upper arm extension/retraction support arm (5102) and broad-mouthed receptacle for holding liquid upper arm internal/external rotations execution arm (5201) And broad-mouthed receptacle for holding liquid upper arm internal/external rotations support arm (5202) and broad-mouthed receptacle for holding liquid upper arm abduction/adduction execute the spacing between arm (5301), after adjusting It is inserted by bolt fixed in bolt hole；Each rotating device is connect with respective lasso trick driving unit (8000), by each From the lasso trick driving unit (8000) provide Glenohumeral joint extension/retraction, internal/external rotations and abduction/adduction driving Torque.
6. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: the upper arm fixation kit (4000) includes upper arm retainer (4001), software restraining (4002), upper arm support rod (4003) and multi-dimension force sensor B (4004), the both ends of the upper arm support rod (4003) are connected separately with upper arm retainer (4001), the side of the upper arm retainer (4001) at both ends is installed in leading of opening up on the upper arm support rod (4003) Into groove, can be moved in the guide groove, and after spacing is adjusted with upper arm support rod (4003) positioning and locking, Software restraining (4002) are attached with inside the other side of the upper arm retainer (4001) at both ends；In the upper arm support rod (4003) the multi-dimension force sensor B for connecting upper arm support rod (4003) and Glenohumeral joint moving parts (5000) is installed on (4004)。
7. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: the shoulder girdle moving parts (6000) include on shoulder girdle extension/retraction joint (6100) being one another in series and shoulder girdle Joint (6200) are mentioned/fall, the shoulder girdle extension/retraction joint (6100), which include that shoulder girdle is flexible, executes arm (6101), omoplate Band retractable support arm (6106), rotating device and shoulder girdle telescopic oscillating arm component, the shoulder girdle is flexible execute arm (6101) with Shoulder girdle retractable support arm (6106) is oppositely arranged, and is connected by telescopic oscillating arm component described in two groups, is formed telescopic Parallelogram mechanism；Every group of telescopic oscillating arm component includes scalable connected shoulder girdle telescopic oscillating arm A each other (6102) and shoulder girdle telescopic oscillating arm B (6105), the shoulder girdle telescopic oscillating arm A (6102) and the flexible pendulum of shoulder girdle in two groups It is stretched by the rotating device and flexible execution arm (6101) of shoulder girdle or shoulder girdle one end of any of swing arm B (6105) Contracting support arm (6106) rotation connection, one end of remaining telescopic oscillating arm and flexible execution arm (6101) of shoulder girdle or shoulder girdle Retractable support arm (6106) rotation connection, the shoulder girdle telescopic oscillating arm A (6102) and shoulder girdle telescopic oscillating arm B (6105) Other end spacing be adjustably connected with each other；The shoulder girdle above mentions/joint that falls (6200) include that shoulder girdle above mentions/, and fall branch Brace (6202) and rotating device, the shoulder girdle above mention/fall support arm (6202) and stretched by the rotating device with shoulder girdle Contracting support arm (6106) is connected；The rotating device is connect with respective lasso trick driving unit (8000), by the respective set Extension/retraction and above mention/driving moment to fall of rope driving unit (8000) offer shoulder girdle.
8. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 7 In: the shoulder girdle flexible execute is equipped with guide rail (6112) on arm (6101), slidably connects sliding block on the guide rail (6112) (6111), the connecting plate (6108) to reciprocatingly slide along guide rail (6112) is installed on the sliding block (6111).
9. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: the lasso trick driving unit (8000) includes power source, driving mounting rack (8004), lasso trick driving wheel (8005), torque biography Sensor (8006), tensioner adjustment frame (8008), support plate (8009), guide plate (8010), adjusts bolt at brake beans (8007) (8011) and lasso trick installation locating piece B (8013), the power source are mounted in driving mounting rack (8004), and output end is connected with set Rope driving wheel (8005), there are two brake beans (8007) for installation on the lasso trick driving wheel (8005)；The tensioner adjustment frame (8008) one end is provided with tensioner pilot hole (8014), and the other end is equipped with support plate (8009), is set in the support plate (8009) Have adjusting bolt (8011), be extended with guide plate (8010) on the driving mounting rack (8004), the guide plate (8010) is by institute It states tensioner pilot hole (8014) to pass through, the adjusting bolt (8011) abuts with guide plate (8010)；The tensioner adjustment frame (8008) there are two lasso tricks to install locating piece B (8013) for installation on, is wound with two bracing wires on the lasso trick driving wheel (8005) (1018), one end of every bracing wire (1018) is each attached on the brake beans (8007), and the other end is by a set Rope installation locating piece B (8013) is passed through and is connect afterwards with rotating device；The output end of the power source is equipped with torque sensor (8006)；The tensioner adjustment frame (8008) is L-shaped, and the tensioner pilot hole (8014) is provided with one side of the L shape, and The limiting slot (8015) for fixing lasso trick installation locating piece B (8013) is offered on the side；The support plate (8009) is solid It is scheduled on the end of the L shape another side, slot (8012) are provided on the side, makes to lead by screwing the adjusting bolt (8011) It is relatively moved to plate (8010) and tensioner adjustment frame (8008), and then adjusts the tensioner adjustment frame (8008) and lasso trick driving wheel The distance between (8005)；The guide plate (8010) after adjusting in bolt insert grooves hole (8012) by being locked.
10. light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot, feature exist according to claim 1 In: the under-seat of the wheelchair base (9000) is provided with the mounting plane of each lasso trick driving unit (8000), at this The back of wheelchair base (9000) is provided with lifting assembly mounting hole, and the lifting assembly (7000) is installed on the wheelchair base (9000) on；The lifting assembly (7000) includes hoistable platform (7001), set lever (7002), guiding support bar (7003), horizontal location block (7004) and bottom support locating piece (7005), the hoistable platform (7001) are entire outer for installing Skeleton-type upper limb power-assisting robot carries out height adjustment, the hoistable platform using hand-operated lifting or electric up-down mode (7001) it is provided on wide away from adjusting, adapting to different patient's articulatio sternoclavicularis between left and right to the progress of dermaskeleton type upper limb power-assisting robot The slot and guide key groove of degree；The set lever (7002) is connected on hoistable platform (7001), to the hoistable platform (7001) it is locked after being adjusted；The guiding support bar (7003) is used to support hoistable platform (7001) and lift adjustment is led To；The guiding support bar (7003) is fixedly mounted on institute by horizontal location block (7004) and bottom support locating piece (7005) State the back of wheelchair base (9000), the horizontal location block (7004) guiding support bar (7003) can be carried out horizontal location and Fixed, bottom support locating piece (7005) can carry out bottom support to guiding support bar (7003).
CN201721817999.4U 2017-12-22 2017-12-22 Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot Active CN208626133U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109822555A (en) * 2019-04-04 2019-05-31 广东铭凯医疗机器人有限公司 A kind of wrist joint bio-mechanism and robot arm configuration
CN110123588A (en) * 2019-06-25 2019-08-16 北京石油化工学院 Upper limb healing system
CN110181485A (en) * 2019-06-25 2019-08-30 知因(台州)机器人科技有限公司 Upper half of human body ectoskeleton
CN110181486A (en) * 2019-06-25 2019-08-30 知因(台州)机器人科技有限公司 The arm movable support and upper half of human body ectoskeleton of upper half of human body ectoskeleton
CN111000699A (en) * 2019-12-26 2020-04-14 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 Rigid-flexible hybrid upper limb auxiliary motion device
CN111714295A (en) * 2019-06-06 2020-09-29 郑州大学 Wheelchair with wrist overturning training function
CN111956453A (en) * 2020-08-31 2020-11-20 重庆理工大学 Multi-degree-of-freedom upper limb flexible power assisting exoskeleton
CN112891148A (en) * 2021-03-25 2021-06-04 湖北英特搏智能机器有限公司 Exoskeleton auxiliary device suitable for shoulder rehabilitation

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109822555A (en) * 2019-04-04 2019-05-31 广东铭凯医疗机器人有限公司 A kind of wrist joint bio-mechanism and robot arm configuration
CN111714295A (en) * 2019-06-06 2020-09-29 郑州大学 Wheelchair with wrist overturning training function
CN110123588A (en) * 2019-06-25 2019-08-16 北京石油化工学院 Upper limb healing system
CN110181485A (en) * 2019-06-25 2019-08-30 知因(台州)机器人科技有限公司 Upper half of human body ectoskeleton
CN110181486A (en) * 2019-06-25 2019-08-30 知因(台州)机器人科技有限公司 The arm movable support and upper half of human body ectoskeleton of upper half of human body ectoskeleton
CN110123588B (en) * 2019-06-25 2021-05-25 北京石油化工学院 Upper limb rehabilitation system
CN111000699A (en) * 2019-12-26 2020-04-14 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 Rigid-flexible hybrid upper limb auxiliary motion device
CN111000699B (en) * 2019-12-26 2022-03-04 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 Rigid-flexible hybrid upper limb auxiliary motion device
CN111956453A (en) * 2020-08-31 2020-11-20 重庆理工大学 Multi-degree-of-freedom upper limb flexible power assisting exoskeleton
CN112891148A (en) * 2021-03-25 2021-06-04 湖北英特搏智能机器有限公司 Exoskeleton auxiliary device suitable for shoulder rehabilitation

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