CN211272057U - Upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission - Google Patents
Upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission Download PDFInfo
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- CN211272057U CN211272057U CN201921123530.XU CN201921123530U CN211272057U CN 211272057 U CN211272057 U CN 211272057U CN 201921123530 U CN201921123530 U CN 201921123530U CN 211272057 U CN211272057 U CN 211272057U
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- joint
- shoulder
- forearm
- gear
- connecting rod
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 title claims abstract description 24
- 210000000245 forearm Anatomy 0.000 claims abstract description 45
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 27
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 11
- 210000000707 wrist Anatomy 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 4
- 230000009916 joint effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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Abstract
The utility model relates to a recovered ectoskeleton field of upper limbs is a recovered ectoskeleton device of upper limbs based on gear and connecting rod transmission, including back fixed, shoulder joint, big arm, elbow joint, forearm, wrist joint, the back is fixed to connect gradually shoulder joint, big arm, elbow joint, forearm and wrist joint, bend including shoulder joint and stretch out the degree of freedom, elbow joint bend and stretch out the degree of freedom, forearm rotation degree of freedom, wrist joint bend and stretch out five degrees of freedom altogether. The upper limb exoskeleton of the utility model adopts the transmission of the gear and the connecting rod, and the movement is reliable; the utility model discloses the ectoskeleton has set up joint stop device, further guarantees the joint activity degree at human joint activity degree within range, guarantees patient's safety. The rehabilitation training of single joint can be accomplished, the rehabilitation training of daily action can be accomplished again, the training is laminated actual life more, solves the problem that the upper limbs damage patient's training difficulty and daily activity are inconvenient.
Description
Technical Field
The invention relates to the field of upper limb rehabilitation exoskeletons, in particular to an upper limb rehabilitation exoskeletons device based on gear and connecting rod transmission.
Background
The number of people suffering from stroke and aging is increasing rapidly, which brings great difficulties to society, family and personal life, and the problem of upper limb recovery training and movement becomes a big problem to be solved by society. The upper limb rehabilitation exoskeleton can be used for carrying out accurate training on the upper limb of a patient for a long time and repeatedly, overcomes the defects of the traditional rehabilitation therapy while finishing the training purpose, and can also assist the patient to finish the daily upper limb action and help the patient to carry out normal life.
Disclosure of Invention
In order to help patients with upper arm incapacity of exercising to complete rehabilitation training and perform daily actions, an upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission is provided.
The utility model provides a recovered ectoskeleton device of upper limbs based on gear and connecting rod transmission, it is fixed including the back, the shoulder joint, big arm, the elbow joint, the forearm, the wrist joint, its characterized in that back is fixed to connect gradually the shoulder joint, big arm, the elbow joint, forearm and wrist joint, the back is fixed including external fixation, the hinge, connect the regulating plate, big arm and forearm all are equipped with arm length adjusting device, the shoulder joint includes gear drive's the degree of freedom of flexion and extension degree of freedom of connecting rod transmission, the elbow joint includes connecting rod drive's the degree of freedom of extension, the forearm includes gear drive's inside and outside degree of freedom of rotation, the wrist joint includes connecting rod drive's the degree of freedom of extension.
Further, the shoulder joint comprises a back plate, a gasket, a shaft mounting plate, a push rod motor mounting frame, a shoulder push rod motor, a shoulder motor connecting rod, a shoulder connecting rod 1, a shoulder connecting rod 2, a shoulder joint rotating support shaft group, a shoulder large gear, a shoulder small gear, a small gear shaft, a coupling and a speed reduction motor. The bending and stretching freedom degree comprises a shaft mounting plate, a shoulder large gear, a large gear shaft and a shoulder small gear, a speed reduction motor is used for transmission through a coupler and a gear mechanism, a shoulder joint rotation supporting shaft group is composed of a supporting shaft, a group of bearings and a clamping ring, the shoulder large gear is in a semi-annular shape, and arc-shaped grooves are formed in two sides of the shoulder large gear. The unfolding and folding freedom degree comprises a push rod motor mounting frame, a shoulder push rod motor, a shoulder connecting rod 1, a shoulder connecting rod 2 and a large arm, and the shoulder push rod motor is driven by a connecting rod mechanism.
Furthermore, the elbow joint comprises a lower large arm, a push rod motor support, an elbow push rod motor, an elbow motor connecting rod, an elbow connecting rod 1, an elbow connecting rod 2 and a forearm, an elbow joint connecting rod mechanism is formed jointly, and linear motion is converted into rotary motion of the elbow joint through the driving of the elbow push rod motor.
Furthermore, the front arm comprises a front arm upper motor, a front arm motor support, a front arm pinion, a front arm rotary supporting shaft group and a front arm big gear, the degree of freedom of the front arm rotary supporting shaft group is similar to that of the shoulder joint in flexion and extension, the front arm rotary supporting shaft group comprises a supporting shaft, a group of bearings and a clamping ring, the front arm big gear is in a semi-ring shape, and the two sides of the front arm big gear are arc-shaped grooves.
Furthermore, the wrist joint comprises a small arm, a wrist motor connecting rod, a connecting rod and a palm, which jointly form a wrist joint connecting rod mechanism, and the wrist joint connecting rod mechanism is driven by the wrist motor to convert the rotary motion into the rotary motion of the elbow joint.
The utility model has the advantages that: the upper limb exoskeleton of the utility model has comprehensive degrees of freedom, including the degrees of freedom of flexion and extension of shoulder joints, the degrees of freedom of flexion and extension of elbow joints, the degrees of freedom of rotation of forearms and the degrees of freedom of flexion and extension of wrist joints, and the degree of motion of a single joint conforms to the degree of motion of joints of a human body, the whole motion conforms to the motion rule of the human body, and the recovery training effect is excellent; the upper limb exoskeleton of the utility model adopts the transmission of the gear and the connecting rod, and the movement is reliable; the utility model discloses the ectoskeleton has set up joint stop device, further guarantees the joint activity degree at human joint activity degree within range, guarantees patient's safety.
Drawings
Fig. 1 is an overall structure diagram of an upper limb rehabilitation exoskeleton device.
Fig. 2 is a structure diagram of shoulder joints of the upper limb rehabilitation exoskeleton device.
Fig. 3 is a structure diagram of elbow joint of exoskeleton device for upper limb rehabilitation.
Fig. 4 is a structure diagram of the forearm of the exoskeleton device for upper limb rehabilitation.
Fig. 5 is a structure diagram of the wrist joint of the upper limb rehabilitation exoskeleton device.
Detailed Description
As shown in fig. 1, 2, 3, 4 and 5, the upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission comprises a back fixing part (1), a shoulder joint (2), a big arm (3), an elbow joint (4), a forearm (5) and a wrist joint (6), wherein the back fixing part is sequentially connected with the shoulder joint, the big arm, the elbow joint, the forearm and the wrist joint. The shoulder joint can be fixed relatively the back and carry out shoulder width and adjust, and big arm and forearm also are equipped with arm length adjusting device to adapt to different patients. The shoulder joint comprises a flexion and extension freedom degree of gear transmission and an expansion and contraction freedom degree of connecting rod transmission, the elbow joint comprises an expansion and contraction freedom degree of connecting rod transmission, the forearm comprises an internal and external rotation freedom degree of gear transmission, and the wrist joint comprises an expansion and contraction freedom degree of connecting rod transmission. The back is fixed including external fixation (7), hinge (8), connection regulating plate (9), uses hinge and spring coupling between external fixation and the connection regulating plate, lets external fixation and connection regulating plate have certain motion space, increases the passive degree of freedom at back, adapts to different patients' back and prevents vibrations etc..
The shoulder joint comprises a back plate (10), a gasket (11), a shaft mounting plate (12), a push rod motor mounting frame (13), a shoulder push rod motor (14), a shoulder motor connecting rod (15), a shoulder connecting rod 1 (16), a shoulder connecting rod 2 (17), a large arm upper part (18), a shoulder joint rotation supporting shaft group (19), a shoulder large gear (20), a shoulder small gear (21), a small gear shaft (22), a coupler (23) and a speed reduction motor (24). The bending and stretching freedom degree comprises a shaft mounting plate, a shoulder large gear, a large gear shaft and a shoulder small gear, the reducing motor is connected with the shoulder small gear through a coupling, the shoulder small gear is matched with the shoulder large gear for transmission, a shoulder joint rotary supporting shaft group is composed of a supporting shaft, a group of bearings and a clamping ring, axial positioning and radial positioning are carried out between the supporting shaft and the shoulder large gear through the bearings, and matching precision and motion precision are guaranteed. The shoulder big gear wheel is in a semi-annular shape, arc grooves are formed in two sides of the shoulder big gear wheel, and the bearing is installed in the arc grooves to move along the arc grooves. The exhibition receipts degree of freedom includes push rod motor mounting bracket, shoulder push rod motor, shoulder connecting rod 1, shoulder connecting rod 2, on the big arm, shoulder push rod motor mounting bracket installs on the shoulder gear wheel, push rod motor mounting bracket, shoulder connecting rod 1, shoulder push rod motor constitution first group four-bar linkage, it is rotatory to drive shoulder connecting rod 1 through shoulder push rod motor linear motion, push rod motor mounting bracket, on the big arm, shoulder connecting rod 1, shoulder connecting rod 2 constitutes the four-bar linkage of second group, finally realize the rotary motion of big arm through shoulder connecting rod 1 is rotatory.
Elbow joint includes under the big arm (25), push rod motor support (26), elbow push rod motor (27), elbow motor connecting rod (28), elbow connecting rod 1 (29), elbow connecting rod 2 (30), on the forearm (31), under the big arm, elbow connecting rod 1, first group's four connecting rods are constituteed to elbow push rod motor, it is rotatory to drive elbow connecting rod 1 through elbow push rod motor linear motion, under the big arm, on the forearm, elbow connecting rod 1, elbow connecting rod 2 constitute second group's four-bar linkage, through the rotatory rotary motion who finally realizes elbow joint of elbow connecting rod 1.
The forearm comprises a forearm upper part (31), a forearm motor (32), a forearm motor support (33), a forearm pinion (34), a forearm rotary supporting shaft group (35) and a forearm gear wheel (36), the forearm rotary supporting shaft group is similar to the flexion and extension freedom degree of the shoulder joint and is directly connected with the forearm pinion through the forearm motor, the forearm pinion is matched with the forearm gear wheel to carry out transmission, the forearm rotary supporting shaft group consists of a supporting shaft, a group of bearings and a clamping ring, the supporting shaft and the forearm gear wheel are axially and radially positioned through the bearings, and the matching precision and the movement precision are ensured. The big front arm gear wheel is in a semi-annular shape, arc grooves are formed in two sides of the big front arm gear wheel, and the bearing is installed in the arc grooves to move along the arc grooves. The wrist joint comprises a small arm (37), a wrist motor (38), a wrist motor connecting rod (39), a connecting rod (40) and a palm (41), which jointly form a wrist joint four-bar mechanism, and the rotation motion of the wrist motor is converted into the rotation motion of the elbow joint through the driving of the wrist motor.
The upper limb rehabilitation exoskeleton device is made of aluminum alloy, and is high in material strength and small in weight. The upper limb rehabilitation exoskeleton device can complete rehabilitation training of a single joint and daily actions, training is more fit for actual life, and the problems of difficulty in training patients with upper limb injuries and inconvenience in daily activities are solved.
Claims (5)
1. The utility model provides a recovered ectoskeleton device of upper limbs based on gear and connecting rod transmission, including back fixed (1), shoulder joint (2), big arm (3), elbow joint (4), forearm (5), wrist joint (6), its characterized in that back is fixed to connect gradually the shoulder joint, big arm, elbow joint, forearm and wrist joint, the back is fixed including external fixation (7), hinge (8), connect regulating plate (9), big arm and forearm all are equipped with arm length adjusting device, the shoulder joint includes gear drive's the degree of freedom that bends and connecting rod drive's exhibition receipts degree of freedom, the elbow joint includes connecting rod drive's exhibition receipts degree of freedom, the forearm includes gear drive's inside and outside degree of freedom that revolves, the wrist joint includes connecting rod drive's exhibition receipts degree of freedom.
2. The upper limb rehabilitation exoskeleton device based on gear and link transmission as claimed in claim 1, wherein the shoulder joint comprises a back plate (10), a gasket (11), a shaft mounting plate (12), a push rod motor mounting rack (13), a shoulder push rod motor (14), a shoulder motor connecting rod (15), a shoulder connecting rod 1 (16), a shoulder connecting rod 2 (17), a big arm upper part (18), a shoulder joint rotation supporting shaft group (19), a shoulder big gear wheel (20), a shoulder small gear wheel (21), a small gear shaft (22), a coupling (23) and a speed reducing motor (24), the flexion and extension freedom degree comprises a shaft mounting plate, a shoulder big gear wheel, a big gear shaft and a shoulder small gear wheel, the speed reducing motor is used for transmission through the coupling and a gear mechanism, the shoulder joint rotation supporting shaft group is composed of a supporting shaft, a group of bearings and a retainer ring, the shoulder big gear wheel is, the two sides are arc grooves, the unfolding and folding freedom degree comprises a push rod motor mounting frame, a shoulder push rod motor, a shoulder connecting rod 1, a shoulder connecting rod 2 and a large arm, and the shoulder push rod motor is driven by a connecting rod mechanism.
3. The upper limb rehabilitation exoskeleton device based on gear and link transmission as claimed in claim 1, wherein the elbow joint comprises a lower upper arm (25), a push rod motor bracket (26), an elbow push rod motor (27), an elbow motor link (28), an elbow link 1 (29), an elbow link 2 (30) and an upper forearm (31) which together form an elbow joint link mechanism, and the elbow push rod motor drives the elbow joint to convert linear motion into rotary motion of the elbow joint.
4. The upper limb rehabilitation exoskeleton device based on gear and link transmission as claimed in claim 1, wherein the forearm comprises a forearm upper (31), a forearm motor (32), a forearm motor support (33), a forearm pinion (34), a forearm rotation support shaft group (35) and a forearm large gear (36), the degree of freedom of flexion and extension of the shoulder joint is similar, the forearm rotation support shaft group is composed of a support shaft, a group of bearings and a clamping ring, the forearm large gear is in a semi-ring shape, and two sides of the forearm large gear are in arc grooves.
5. The upper limb rehabilitation exoskeleton device based on gear and link transmission as claimed in claim 1, wherein the wrist joint comprises a small arm (37), a wrist motor (38), a wrist motor link (39), a link (40) and a palm (41), which together form a wrist joint link mechanism, and the wrist motor drives the wrist joint link mechanism to convert the rotation motion into the rotation motion of the elbow joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921123530.XU CN211272057U (en) | 2019-07-17 | 2019-07-17 | Upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921123530.XU CN211272057U (en) | 2019-07-17 | 2019-07-17 | Upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission |
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| Publication Number | Publication Date |
|---|---|
| CN211272057U true CN211272057U (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921123530.XU Expired - Fee Related CN211272057U (en) | 2019-07-17 | 2019-07-17 | Upper limb rehabilitation exoskeleton device based on gear and connecting rod transmission |
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| CN (1) | CN211272057U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113599193A (en) * | 2021-09-03 | 2021-11-05 | 河海大学 | Wearable upper limb rehabilitation exoskeleton |
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2019
- 2019-07-17 CN CN201921123530.XU patent/CN211272057U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113599193A (en) * | 2021-09-03 | 2021-11-05 | 河海大学 | Wearable upper limb rehabilitation exoskeleton |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200818 |