CN210589276U

CN210589276U - Upper limb exoskeleton robot

Info

Publication number: CN210589276U
Application number: CN201921655541.2U
Authority: CN
Inventors: 李智军; 吴小雨; 徐崔超
Original assignee: University of Science and Technology of China USTC
Current assignee: University of Science and Technology of China USTC
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-05-22
Anticipated expiration: 2029-09-29

Abstract

The utility model provides an upper limbs ectoskeleton robot, including big armed lever (2), forearm pole (1), with big armed lever (2) sliding connection's initiative piece (51) to and with forearm pole (1) articulated connecting rod (8). One end of the connecting rod (8) far away from the small arm rod (1) is connected with the adjusting block (6), the adjusting block (6) is provided with a first through hole extending in a spiral mode, the driving block (51) is provided with a spiral spring (52), and the spiral spring (52) penetrates through the first through hole to form spiral pair connection with the adjusting block (6). The utility model provides a flexible joint that upper limbs ectoskeleton robot adopted is rigidity adjustable, therefore can pertinence ground produces the motion that is fit for current environment supplementary.

Description

Upper limb exoskeleton robot

Technical Field

The utility model relates to an ectoskeleton robot technical field especially relates to an upper limbs ectoskeleton robot.

Background

With the aggravation of the aging of the population in China, the incidence of diseases such as cerebral apoplexy, hemiplegia and the like which seriously threaten the health of middle-aged and elderly people also shows a trend of rising year by year, and the diseases can cause partial loss of limb motor functions. In addition, trauma, athletic injury, occupational injury, etc., can cause a decline in the motor function of the limb.

The partial loss and decline of the limb motor function, especially the partial loss and decline of the upper limb motor function, greatly affects the daily living ability of the patients. Therefore, the upper limb exoskeleton robot is usually adopted to safely, effectively and conveniently assist the patient to realize the basic life self-care capability of the upper limb.

With the development of the technology, the upper limb exoskeleton robot gradually starts to adopt flexible joints, which helps to simulate the movement of the upper limb more truly, thereby improving the use experience of a wearer. At present, a flexible joint is realized by simply adding an elastic element as a connecting piece at a joint position, but because the rigidity of the elastic element is unchanged, and the upper limb movement has different requirements on the rigidity of the joint under different environments, for example, patients need different movement speeds and amplitudes in different rehabilitation training stages, the existing upper limb exoskeleton robot is difficult to generate motion assistance suitable for the current environment in a targeted manner, and therefore, how to improve the upper limb exoskeleton robot so as to generate motion assistance suitable for the current environment in a targeted manner becomes a technical problem to be solved by technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an upper limbs ectoskeleton robot, this upper limbs ectoskeleton robot's flexible joint is rigidity adjustable, therefore can pertinence produce the motion assistance that is fit for the current environment.

In order to achieve the above object, the utility model provides a following technical scheme:

an upper limbs ectoskeleton robot, includes big arm pole and forearm pole articulated each other, still includes:

the driving block is connected with the large arm rod in a sliding mode and is provided with a spiral spring;

the connecting rod is hinged to the small arm rod, one end, far away from the small arm rod, of the connecting rod is connected with an adjusting block, a first through hole extending in a spiral mode is formed in the adjusting block, and the spiral spring penetrates through the first through hole to be connected with the adjusting block in a spiral pair mode.

Optionally, in the upper extremity exoskeleton robot, a reinforcing rod is disposed on the active block, a second through hole extending in a straight line is formed in the adjusting block, the reinforcing rod passes through the second through hole to be slidably connected with the adjusting block, and the spiral spring is sleeved on the reinforcing rod.

Optionally, in the upper limb exoskeleton robot, two ends of the coil spring are fixedly connected with the reinforcing rod, and two ends of the reinforcing rod are pivotally connected with the active block.

Optionally, in the upper limb exoskeleton robot, a first motor is further included, the first motor is fixedly connected to the driving block, and an output shaft of the first motor is connected to one end of the reinforcing rod, so as to drive the reinforcing rod to rotate relative to the driving block.

Optionally, in the upper limb exoskeleton robot, a second motor fixedly connected to the upper arm rod is further included, and the second motor is configured to drive the active block to slide relative to the upper arm rod.

Optionally, in the upper limb exoskeleton robot, the second motor is a linear motor.

Optionally, in the upper limb exoskeleton robot, the number of the upper arm levers and the number of the lower arm levers are both two, the upper limb exoskeleton robot further comprises a back plate for supporting the back of the human body, and one end of the upper arm lever, which is far away from the lower arm lever, is hinged to the back plate.

Optionally, in the upper limb exoskeleton robot, the back plate includes a body and adjusting plates located at two sides of the body, the upper arm levers are hinged to the adjusting plates, and the adjusting plates are adjustable in position of the body to adjust the distance between the two upper arm levers.

Optionally, in the upper limb exoskeleton robot, the end of the forearm rod is provided with a handle for being held by a human hand.

Optionally, in the upper limb exoskeleton robot, a force sensor is arranged on the handle.

According to the technical scheme, the utility model provides an among the upper limbs ectoskeleton robot, initiative piece and big armed lever sliding connection, the connecting rod is articulated with the forearm pole, and the one end of keeping away from the forearm pole of connecting rod is connected with the regulating block, and the first through-hole that the spiral extends is seted up to the regulating block, and coil spring passes from first through-hole, forms the screw pair with the regulating block and is connected. When the elbow joint is used, the driving block drives the connecting rod to move, the connecting rod drives the small arm rod to move, so that the small arm rod and the large arm rod rotate relatively, the driving part between the driving block and the connecting rod is provided with the spiral spring, the elbow joint adopts a flexible joint, and meanwhile, the spiral spring and the adjusting block are in a spiral pair connection relationship, and the position of the adjusting block on the spiral spring is adjustable. During the use, through changing the position of regulating block on coil spring, can change coil spring's the rigidity that is located the part of regulating block both sides, and then change the holistic rigidity of flexible joint, it is from this visible, the utility model provides a flexible joint that upper limbs ectoskeleton robot adopted is rigidity adjustable, therefore can produce the motion that is fit for current environment to pertinence and assist.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a front perspective view of an upper limb exoskeleton robot provided in an embodiment of the present invention;

fig. 2 is a rear perspective view of the upper extremity exoskeleton robot of fig. 1;

fig. 3 is a front view of the upper extremity exoskeleton robot of fig. 1;

fig. 4 is a schematic structural diagram of a flexible joint adopted by the upper limb exoskeleton robot shown in fig. 1;

fig. 5 is a schematic diagram of the flexible joints employed in the upper extremity exoskeleton robot of fig. 1.

Labeled as:

1. a small arm lever; 11. a handle; 2. a large arm lever; 3. a drive assembly; 41. a body; 42. an adjusting plate; 51. an active block; 52. a coil spring; 53. a reinforcing bar; 6. an adjusting block; 7. a first motor; 8. a connecting rod; 91. a second motor; 92. and a transmission rod.

Detailed Description

For the sake of understanding, the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1 to 3, fig. 1 is a front perspective view of an upper limb exoskeleton robot according to an embodiment of the present invention, fig. 2 is a back perspective view of the upper limb exoskeleton robot shown in fig. 1, and fig. 3 is a front view of the upper limb exoskeleton robot shown in fig. 1.

The embodiment of the utility model provides an upper limbs ectoskeleton robot includes forearm pole 1, big armed lever 2, initiative piece 51 and connecting rod 8, wherein, forearm pole 1 and big armed lever 2 are articulated each other,

initiative piece

51 and 2 sliding connection of big armed lever, connecting rod 8 is articulated with forearm pole 1, moreover, the one end of keeping away from forearm pole 1 of connecting rod 8 is connected with regulating block 6, be provided with coil spring 52 on the initiative piece 51, the first through-hole of spiral extension is seted up to regulating block 6, coil spring 52 passes in order to form the screw pair with regulating block 6 from first through-hole and is connected.

The first through hole is spirally extended and can accommodate a certain section of the spiral spring 52, and the spiral spring 52 and the adjusting block 6 are connected in a spiral pair mode, so that the position of the adjusting block 6 on the spiral spring 52 can be changed through relative rotation of the spiral spring 52 and the adjusting block, and the position of the nut on the lead screw can be changed through relative rotation of the nut in a lead screw nut and the lead screw similarly.

Assuming that both ends of the coil spring 52 are fixed, since the first through hole is spirally extended, if the adjusting block 6 is directly moved along the axis of the coil spring 52, portions of the coil spring 52 on both sides of the adjusting block 6 are respectively stretched and compressed.

As shown in FIG. 1, the relative movement of the small arm lever 1 and the large arm lever 2 is realized by driving the link 8 by the driving block 51, and then driving the small arm lever 1. Specifically, after the active block 51 slides relative to the large arm lever 2, the coil spring 52 moves along with the active block 51 and drives the adjusting block 6 to move, and since one end of the connecting rod 8, which is far away from the small arm lever 1, is connected to the adjusting block 6, the adjusting block 6 drives the connecting rod 8 to move, and the connecting rod 8 applies torque to the small arm lever 1, so that the small arm lever 1 rotates relative to the large arm lever 2.

Since the coil spring 52 is disposed between the active block 51 and the connecting rod 8, the elbow joint of the upper limb exoskeleton robot is a flexible joint, in this embodiment, the structure and principle of the flexible joint are as shown in fig. 4 and 5, since the position of the adjusting block 6 on the coil spring 52 is adjustable (by relative rotation of the two), and the magnitude of the spring stiffness is related to the length of the spring itself, by changing the position of the adjusting block 6 on the coil spring 52, the stiffness of the portion of the coil spring 52 located on both sides of the adjusting block 6 can be changed, and by analyzing, if the two portions of the coil spring 52 divided by the adjusting block 6 are regarded as two springs, the whole formed by the coil spring 52 and the adjusting block 6 is equivalent to that formed by connecting the two springs in series, and when the stiffness of the two springs is changed, the stiffness of the whole is also changed, it can be seen that the flexible joint in the present embodiment is adjustable in stiffness, and thus can purposefully generate motion assistance suitable for the current environment.

In order to enable the adjusting block 6 to move along the axis of the coil spring 52 along with the coil spring 52 well, in this embodiment, a reinforcing rod 53 is disposed on the driving block 51, the adjusting block 6 is provided with a second through hole extending in a straight line, the reinforcing rod 53 penetrates through the second through hole to be slidably connected with the adjusting block 6, and the coil spring 52 is sleeved on the reinforcing rod 53. Specifically, the second through hole extending straight may be opened at an axial position of the first through hole extending spirally. As shown in fig. 4, the regulating block 6 is not moved in a direction other than the axial direction of the coil spring 52 due to the restricting action of the reinforcing rod 53.

In a specific practical application, any one of the coil spring 52 and the adjusting block 6 may be used as an operating element for changing the stiffness of the flexible joint, in this embodiment, the coil spring 52 is selected as the operating element, specifically, two ends of the coil spring 52 are fixedly connected with the reinforcing rod 53, two ends of the reinforcing rod 53 are pivotally connected with the driving block 51, and when the stiffness of the flexible joint needs to be changed, the coil spring 52 can be rotated by rotating the reinforcing rod 53, so as to change the position of the adjusting block 6 on the coil spring 52.

In order to realize automatic adjustment, in the present embodiment, a first motor 7 fixedly connected to the driving block 51 is further provided, and as shown in fig. 4 and 5, an output shaft of the first motor 7 is connected to one end of a reinforcing rod 53 to drive the reinforcing rod 53 to rotate relative to the driving block 51.

In other embodiments, the adjusting block 6 may be selected as an operating member, for example, two ends of the coil spring 52 are fixedly connected to the driving block 51, and the adjusting block 6 is designed as two parts capable of rotating with each other, wherein one part is connected to the connecting rod 8, the other part is connected to the coil spring 52, and when the stiffness of the flexible joint needs to be changed, the part of the adjusting block 6 connected to the coil spring 52 is rotated.

In order to slide the active block 51 relative to the boom lever 2, in the present embodiment, a second motor 91 is further provided and is fixedly connected to the boom lever 2, and as shown in fig. 4 and 5, the second motor 91 is connected to the active block 51 through a transmission rod 92.

In a specific practical application, the second motor 91 may drive the driving block 51 in various manners, for example, the second motor 91 may be a linear motor, and the transmission rod 92 is fixedly connected to the driving block 51, or the second motor 91 may be a rotary motor, and the transmission rod 92 is connected to the driving block 51 in a screw nut manner, that is, the transmission rod 92 is designed as a screw rod, and the driving block 51 is in threaded connection with the transmission rod 92.

As shown in fig. 1, in this embodiment, the number of the upper arm rods 2 and the number of the lower arm rods 1 are two, the upper limb exoskeleton robot further includes a back plate for supporting the back of the human body, and one end of the upper arm rod 2, which is far away from the lower arm rod 1, is hinged to the back plate. It is understood that the upper limb exoskeleton robot in the embodiment corresponds to two arms of a user, and of course, in other embodiments, the upper limb exoskeleton robot can be designed only corresponding to a left arm or a right arm, and in this case, the number of the large arm rods 2 and the small arm rods 1 is one, and the back plate can be omitted.

In order to adapt to the sizes of different users, in the embodiment, the backboard comprises a body 41 and adjusting plates 42 positioned on two sides of the body 41, the large-arm rods 2 are hinged with the adjusting plates 42, and the positions of the adjusting plates 42 on the body 41 are adjustable to adjust the distance between the two large-arm rods 2. As shown in fig. 1, a driving assembly 3 is disposed at the joint of the boom 2 and the adjusting plate 42 for driving the boom 2 to rotate relative to the adjusting plate 42.

In practical application, the end of the small arm 1 is generally provided with a handle 11 for being held by a human hand. For interaction with the user, a force sensor may be provided on the handle 11.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An upper limbs ectoskeleton robot, includes big arm pole (2) and forearm pole (1) articulated each other, its characterized in that still includes:

the driving block (51) is connected with the large arm rod (2) in a sliding mode, and a spiral spring (52) is arranged on the driving block (51);

with forearm pole (1) articulated connecting rod (8), keeping away from of connecting rod (8) the one end of forearm pole (1) is connected with regulating block (6), the first through-hole that the spiral extends is seted up in regulating block (6), coil spring (52) are followed pass in the first through-hole in order with regulating block (6) form the screw pair and are connected.

2. The upper limb exoskeleton robot as claimed in claim 1, wherein a reinforcing rod (53) is disposed on the active block (51), the adjusting block (6) is provided with a second through hole extending in a straight line, the reinforcing rod (53) passes through the second through hole to be slidably connected with the adjusting block (6), and the spiral spring (52) is sleeved on the reinforcing rod (53).

3. The upper extremity exoskeleton robot as claimed in claim 2, wherein both ends of said coil spring (52) are fixedly connected to said reinforcing rod (53), and both ends of said reinforcing rod (53) are pivotally connected to said active mass (51).

4. The upper extremity exoskeleton robot as claimed in claim 3, further comprising a first motor (7) fixedly connected to said active mass (51), wherein an output shaft of said first motor (7) is connected to one end of said reinforcement rod (53) to drive said reinforcement rod (53) to rotate relative to said active mass (51).

5. The upper extremity exoskeleton robot according to claim 4, further comprising a second motor (91) fixedly connected to said upper arm lever (2), said second motor (91) being configured to drive said active mass (51) to slide relative to said upper arm lever (2).

6. The upper extremity exoskeleton robot as claimed in claim 5, wherein said second motor (91) is a linear motor.

7. The upper limb exoskeleton robot as claimed in any one of claims 1 to 6, wherein the number of the large arm levers (2) and the small arm levers (1) is two, the upper limb exoskeleton robot further comprises a back plate for supporting the back of the human body, and one end of the large arm lever (2) far away from the small arm levers (1) is hinged with the back plate.

8. The upper extremity exoskeleton robot according to claim 7, wherein said back plate comprises a body (41) and an adjusting plate (42) located on both sides of said body (41), said upper arm bar (2) being hinged to said adjusting plate (42), said adjusting plate (42) being adjustable in position of said body (41) to adjust the distance between the two upper arm bars (2).

9. The upper extremity exoskeleton robot according to claim 8, wherein the small arm lever (1) is provided at its distal end with a handle (11) for the human hand to hold.

10. The upper extremity exoskeleton robot as claimed in claim 9, wherein a force sensor is provided on said handle (11).