CN219152875U

CN219152875U - Flexible upper limb exoskeleton experiment platform

Info

Publication number: CN219152875U
Application number: CN202222996970.4U
Authority: CN
Inventors: 施滢; 李盛辉; 任丹梅; 朱丹
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-06-09
Anticipated expiration: 2032-11-10

Abstract

The utility model discloses a flexible upper limb exoskeleton experiment platform, and belongs to the field of robots. The flexible upper limb exoskeleton experiment platform comprises a bracket module, an angle measurement module, a flexible spring module, a rotary driving module, a large arm module and a large arm module. The big arm module is installed on the support module, and the rotation of big arm module's front end at big arm module's end, big arm module and forearm module is realized by rotary driving module, and angle measurement module installs at big arm module's front end and end, feeds back big arm module and forearm module's rotation angle often by the encoder, and flexible spring is respectively installed at flexible spring module's support both ends, realizes big arm module and forearm module rotation buffering. The exoskeleton robot with the compliant joint has high precision, can realize accurate force control, and is easy to treat damage at the joint of the exoskeleton robot caused by external impact.

Description

Flexible upper limb exoskeleton experiment platform

Technical Field

The utility model relates to the field of robots, in particular to a flexible upper limb exoskeleton experiment platform.

Background

The flexible upper limb exoskeleton is widely applied to medical rehabilitation occasions as an upper limb rehabilitation training tool. With the acceleration of population aging, the demand for an aging-assisting and disabled-assisting robot is rapidly increased, and the upper limbs of a human body are very important in daily life, so that assistance or training is required. Exoskeleton robots have been attracting attention in recent years by virtue of their ability to effectively solve dyskinesia of the human body, to drive users to perform daily exercises, or to provide a part of assistance to the human body. The traditional rigid exoskeleton robot cannot effectively treat external impact, cannot adapt to unpredictable environments and is unfavorable for good human-computer interaction. The exoskeleton robot with the compliant joints has high precision, can realize accurate force control, and is easy to treat damage at the joints of the exoskeleton robot caused by external impact. The prior art does not have a related technology or a corresponding platform for simulating the exoskeleton robot with the compliant joint, and the data acquisition of the exoskeleton robot with the compliant joint is difficult, so that the industrialization is influenced.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems that a platform for simulating an exoskeleton robot does not exist in the prior art, and the manufacturing difficulty is high, the utility model provides a flexible upper limb exoskeleton experimental platform. The platform for simulating the exoskeleton robot is provided, and the movement of the exoskeleton robot with the compliant joint is simulated by adopting the compliant joint, so that corresponding experimental data is provided for later industrialization, and the industrialization is convenient.

2. Technical proposal

The aim of the utility model is achieved by the following technical scheme.

The utility model provides a flexible upper limbs ectoskeleton experiment platform, includes bottom plate and bottom plate support, the bottom plate support is installed on the bottom plate, and the bottom plate support is used for fixed big arm module and rotary drive module, and big arm module is connected to big arm module opposite side through one side of connecting big arm module in bottom plate support one side, and rotary drive module drive big arm module is rotatory on the bottom plate support, and rotary drive module drive forearm module is rotatory on big arm module, and rotary drive module is after connecting corresponding big arm module and forearm module, and rotary drive module upper portion is connected with flexible spring module through the rotary disk, when rotating big arm module and forearm module, starts moment and stop moment and all play recoil effect to big arm module and forearm module.

Still further, the flexible spring module include the spring runing rest, the spring runing rest passes through a plurality of flexible spring connection spring holders, the flexible spring hangs between spring holder and spring runing rest, the spring holder is installed on big arm module rotary disk and forearm module rotary disk, big arm module rotary disk and forearm module rotary disk offset with flexible pulley.

Still further, the bottom plate support comprises a supporting structure formed by a plurality of supporting components, a lower fixed plate is fixed on the lower portion of the supporting structure, a bottom plate support positioning hole is formed in the lower fixed plate, a large arm positioning hole is connected through shaft sleeve positioning, an upper fixed plate is arranged on the upper portion of the supporting structure, at least 2 mounting holes are formed in the upper fixed plate, at least one mounting hole is used for connecting a motor module, the motor module is sequentially provided with a direct current motor output shaft, a gear reducer, a direct current motor and a motor driver from top to bottom, the direct current motor output shaft protrudes out of the upper fixed plate, and a large arm module rotating disc and a rotating disc are connected subsequently.

Further, the upper part of a mounting hole of the upper fixing plate is used for mounting the flexible pulley, the lower part is used for mounting the rotary encoder, and the rotary encoder measures the rotation angle of the large arm module at the moment and feeds the rotation angle back to the main control.

Still further, rotary drive module include drive bracket, direct current motor output shaft, the axle sleeve, motor driver, gear reducer, drive bracket is コ shape structures, vertical direction is the fixed plate, both ends are fixed with upper and lower mounting panel that the level set up respectively about the fixed plate, the upper mounting panel is provided with 2 at least mounting holes, at least one mounting hole is used for connecting motor module, motor module from the top down is direct current motor output shaft in proper order, gear reducer, direct current motor and motor driver, wherein direct current motor output shaft protrusion is in the upper mounting panel, connect forearm module rotary disk or big arm module rotary disk, one of them mounting hole upper portion is used for installing flexible pulley, the lower mounting panel corresponds and is provided with the locating hole, be connected with the axle sleeve, connect forearm module or big arm module's locating hole through the axle sleeve location, realize that the rotation axis of forearm module or big arm module is fixed.

Furthermore, a rotary encoder is mounted on the lower side of the mounting plate on the rotary driving module, which is provided with a corresponding mounting hole of the flexible roller, and the rotary encoder measures the rotation angle of the large arm module and the small arm module at the moment and the rotation angle.

Still further, the forearm module include the backup pad of vertical setting, the upper portion of backup pad one side is connected with the forearm module rotary disk of level setting, backup pad lower part is connected with the locating plate of level setting, locating plate and forearm module rotary disk set up in the same one side of backup pad, be provided with the forearm locating hole on the locating plate, the backup pad opposite side is provided with the forearm connecting rod of level setting, the forearm connecting rod is one or more parallel combination setting each other.

Still further still include a plurality of forearm copper posts that set up through perpendicular forearm connecting rod, big arm copper post connects the forearm connecting rod that parallel arrangement between each other.

Still further, big arm module include the backup pad of vertical setting, the upper portion of backup pad one side is connected with the big arm module rotary disk of level setting, backup pad lower part is connected with the locating plate of level setting, locating plate and forearm module rotary disk set up in the same one side of backup pad, be provided with big arm locating hole on the locating plate, correspond with the locating hole on the fixed plate, carry out the location and connect, the backup pad opposite side is provided with the big arm connecting rod of level setting, big arm connecting rod is one or more parallel combination setting each other.

Still further still include a plurality of big arm copper posts that set up through perpendicular big arm connecting rod, big arm copper post connects the big arm connecting rod of parallel arrangement each other.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages that:

according to the scheme, the corresponding flexible pulleys and the flexible springs are designed, so that the mechanical arm has a tensile force when rotating, buffering is guaranteed, the flexible driver and the spring are selected for driving and combining, the upper limb exoskeleton robot has the advantages of flexible motion, compact structure and light weight, the upper limb exoskeleton robot is provided with 2 active degrees of freedom at the shoulder joint, the elbow joint is provided with 1 active degree of freedom, the wrist joint is provided with 1 passive degree of freedom, the motion range of each degree of freedom is reasonably distributed and limited, and the upper limb physiological structure of a human body can be well fitted. When a patient performs rehabilitation training, the big arm and the small arm of the patient are tied on the big arm and the small arm of the upper limb exoskeleton platform, the direct current motor rotates to drive the big arm and the small arm to move, and swing in the movement process is buffered by the flexible spring, so that the effect of flexible rehabilitation is achieved.

Drawings

FIG. 1 is an overall schematic of the present utility model;

FIG. 2 is a schematic diagram of a rotary drive module according to the present utility model;

FIG. 3 is a schematic view of a forearm module according to the utility model;

fig. 4 is a schematic view of a dobby module according to the present utility model.

In the figure: 1. a bottom plate; 2. a bottom plate bracket; 3. an upper fixing plate; 4. a spring rotating bracket; 5. a flexible spring; 6. a flexible pulley; 7. a large arm module; 8. a forearm module; 9. a gear reducer; 10. a DC motor; 11. a motor driver; 12. a rotary encoder; 13. a shaft sleeve; 14. an output shaft of the DC motor; 15. a spring bracket; 16. a small arm module rotating disc; 17. a large arm module rotating disc; 19. a lower fixing plate; 22. a rotating disc; 71. large arm copper column; 73. a large arm positioning hole; 75. a large arm connecting rod; 81. a small arm copper column; 82. a forearm link; 83. a forearm positioning hole; 100. and a rotary driving module.

Detailed Description

The utility model will now be described in detail with reference to the drawings and the accompanying specific examples.

Example 1

Aiming at the defects of the prior art, the traditional rigid exoskeleton robot cannot effectively process external impact, cannot adapt to unpredictable environments, is unfavorable for good human-computer interaction, and develops the flexible upper limb exoskeleton robot. The core is to develop an upper limb robot structure with motion flexibility and strong bionic property. And is manufactured into a corresponding experimental platform. The above-described robot structure is simulated to provide corresponding motion data.

Referring to fig. 1, the flexible upper limb exoskeleton testing platform of the present utility model includes a base plate 1 and a base plate support 2, the base plate support 2 is fixedly installed on the base plate 1, the support module is used for supporting the whole testing platform, the fixed large arm module 7 and the rotation driving unit are generally arranged at one side of the base plate 1, the base plate support 2 can be a support formed by 4 or other number of columns as shown in fig. 1, or can be a support assembly formed by other structures, so long as the support function can be achieved, the lower part of the base plate support 2 is fixed with a lower fixing plate 19, the lower fixing plate 19 is provided with a base plate support positioning hole, the positioning hole is connected with the large arm positioning hole 73 through a shaft sleeve 13 in a positioning way, namely, the positioning hole is connected with the end of the large arm through the shaft sleeve 13, so as to achieve the rotation shaft fixing of the large arm. An upper fixing plate 3 is arranged on the upper part of the bottom plate bracket 2,

the upper fixing plate 3 is provided with 2 mounting holes 20, the mounting holes in the outside are used for connecting the motor module, specific from the top down is direct current motor output shaft 14, gear reducer 9, direct current motor 10 and motor driver 11 in proper order, wherein direct current motor output shaft 14 protrusion is in the upper fixing plate 3, follow-up big arm module rotary disk 17 and rotary disk 22 of connecting, another mounting hole upper portion is used for installing flexible pulley, the lower part is used for installing rotary encoder 12, rotary encoder 12 measures big arm module's rotation angle constantly and feeds back rotation angle to the master control.

One side of the bottom plate support 2 is connected with one side of the large arm module 7, and the other side of the large arm module 7 is connected with the small arm module 8 through the rotary driving module 100. The corresponding electrode drives the large arm module 7 to rotate on the bottom plate bracket 2, and the rotary driving module 100 drives the small arm module 8 to rotate on the large arm module 7.

The rotary driving module 100 includes a driving support and a rotary driving unit, the rotary driving unit includes a dc motor output shaft 14, a shaft sleeve 13, a motor driver 11 and a gear reducer 9, the driving support is of a コ structure, of course, a specific opening direction can be adjusted according to requirements, this embodiment is described in fig. 2, taking a connection forearm module 8 as an example, a vertical direction is a fixing plate, upper and lower mounting plates which are horizontally arranged are respectively fixed at upper and lower ends of the fixing plate, the upper mounting plate is provided with 2 mounting holes 20, the mounting holes on the outer side are used for connecting the motor module, the dc motor output shaft 14, the gear reducer 9, the dc motor 10 and the motor driver 11 are sequentially arranged from top to bottom, the dc motor output shaft 14 protrudes from the upper mounting plate, the forearm module rotating disc 16 and the rotating disc 22 are subsequently connected, the other mounting hole upper portion is used for mounting a flexible pulley 6, the lower portion is used for mounting a rotary encoder 12, and the rotary encoder 12 measures the rotation angle of the forearm module and feeds back the rotation angle to the main control. The lower mounting plate is correspondingly provided with a positioning hole, is connected with a shaft sleeve 13, is positioned and connected with a small arm positioning hole 83 through the shaft sleeve 13, and the positioning hole is connected with the tail end of the small arm through the shaft sleeve 13, so that the rotation shaft of the small arm is fixed.

As shown in fig. 3, the forearm module 8 includes the backup pad of vertical setting, the upper portion of backup pad one side is connected with the forearm module rotary disk 16 of level setting, the backup pad lower part is connected with the locating plate of level setting, the locating plate sets up in the same one side of backup pad with forearm module rotary disk 16, be provided with forearm locating hole 83 on the locating plate, the backup pad opposite side is provided with the forearm connecting rod 82 of level setting, forearm connecting rod 82 is one or more combination, as shown in fig. 3 forearm connecting rod 82 is 2, preferably, connect fixedly through perpendicular forearm copper post 81, play the supporting role, the position that forearm connecting rod 82 set up is close to the middle part of backup pad as far as possible, so more balanced. The number of forearm links 82 may of course be adjusted as desired.

As shown in fig. 4, the big arm module 7 is similar to the small arm module 8 in structure, including the vertically supporting plate, the upper portion of one side of the supporting plate is connected with the big arm module rotary disk 17 that the level set up, the supporting plate lower part is connected with the locating plate that the level set up, the locating plate sets up in the same side of the supporting plate with the small arm module rotary disk 17, be provided with big arm locating hole 73 on the locating plate, correspond with the locating hole on the fixed plate 19, carry out the location and connect, the supporting plate opposite side is provided with the big arm connecting rod 75 that the level set up, big arm connecting rod 75 is one or more combination, as shown in fig. 4 big arm connecting rod 75 is 2, preferably, connect fixedly through perpendicular big arm copper post 71, also play the supporting role, the position that big arm connecting rod 75 set up is close to the middle part of backup pad as far as possible, more balanced like this. The number of the large arm links 75 can be adjusted as required.

After the rotary driving module is connected with the corresponding big arm and the small arm module, the corresponding upper portion is connected with the spring rotary support 4 through the rotary disc 22, the spring rotary support 4 is connected with the spring support 15 through the flexible spring 5, the flexible spring 5 is hung between the spring support 15 and the spring rotary support 4, the quantity of the flexible springs 5 can be set according to requirements, as shown in the figure, the two ends of the spring rotary support 4 and the spring support 15 are respectively connected in a pair, the flexible springs 5 are in a partially stretched state when in use, a certain elastic force is provided for guaranteeing the buffering effect, the spring support 15 is arranged on the big arm module rotary disc 17 and the small arm module rotary disc 16, and the big arm module rotary disc 17 and the small arm module rotary disc 16 are propped against the flexible pulley 6 for guaranteeing the rotary flexibility.

In the actual installation, from the right to left, the bottom plate support 2, the big arm module 7 and the small arm module 8 are respectively connected, and the big arm module 7 and the small arm module 8 are driven to move through the rotary driving module 100, the flexibility is rotated due to the action of the flexible pulley 6, and due to the action of the flexible spring 5, a stretching force is generated in the rotating process, the buffering is ensured, when the big arm module and the small arm module are rotated by the direct current motor, the recoil effect is realized on the big arm module and the small arm module at the starting moment and the stopping moment, the aim of softness is realized, when a patient performs rehabilitation training, the big arm and the small arm of the patient are tied on the big arm and the small arm of the upper limb exoskeleton platform, the big arm and the small arm are driven to move through the rotation of the direct current motor, and the swing in the moving process is buffered by the flexible spring, so that the effect of flexible rehabilitation is achieved.

The foregoing has been described schematically the utility model and embodiments thereof, which are not limiting, but are capable of other specific forms of implementing the utility model without departing from its spirit or essential characteristics. The drawings are also intended to depict only one embodiment of the utility model, and therefore the actual construction is not intended to limit the claims, any reference number in the claims not being intended to limit the claims. Therefore, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical scheme are not creatively designed without departing from the gist of the present utility model, and all the structural manners and the embodiment are considered to be within the protection scope of the present patent. In addition, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the inclusion of a plurality of such elements. The various elements recited in the product claims may also be embodied in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.

Claims

1. The utility model provides a flexible upper limbs ectoskeleton experiment platform, its characterized in that, includes bottom plate and bottom plate support, bottom plate support installs on the bottom plate, and the bottom plate support is used for fixed big arm module and rotary drive module, and big arm module is connected to big arm module opposite side through one side of connecting big arm module, and rotary drive module drive big arm module rotates on the bottom plate support, and rotary drive module drive forearm module rotates on big arm module, and rotary drive module is after connecting corresponding big arm module and forearm module, and rotary drive module upper portion is connected with flexible spring module through the rotary disk, when rotating big arm module and forearm module, starts moment and stop moment and all play recoil effect to big arm module and forearm module.

2. The flexible upper limb exoskeleton experiment platform of claim 1, wherein the flexible spring module comprises a spring rotating bracket, the spring rotating bracket is connected with the spring bracket through a plurality of flexible springs, the flexible springs are suspended between the spring bracket and the spring rotating bracket, the spring bracket is arranged on a big arm module rotating disc and a small arm module rotating disc, and the big arm module rotating disc and the small arm module rotating disc are propped against the flexible pulleys.

3. The flexible upper limb exoskeleton experiment platform of claim 1, wherein the base plate support comprises a support structure formed by a plurality of support components, a lower fixing plate is fixed on the lower portion of the support structure, base plate support positioning holes are formed in the lower fixing plate, the large arm positioning holes are connected through shaft sleeve positioning, an upper fixing plate is arranged on the upper portion of the support structure, at least 2 mounting holes are formed in the upper fixing plate, at least one mounting hole is used for connecting a motor module, the motor module comprises a direct current motor output shaft, a gear reducer, a direct current motor and a motor driver from top to bottom in sequence, the direct current motor output shaft protrudes out of the upper fixing plate, and a large arm module rotating disc and a rotating disc are connected subsequently.

4. A flexible upper limb exoskeleton testing platform as claimed in claim 3, wherein a mounting hole of the upper fixing plate has an upper portion for mounting the flexible pulley and a lower portion for mounting the rotary encoder, and the rotary encoder measures the rotation angle of the forearm module at a moment and feeds back the rotation angle to the master control.

5. The flexible upper limb exoskeleton experiment platform of claim 1, wherein the rotation driving module comprises a driving support, a direct current motor output shaft, a shaft sleeve, a motor driver and a gear reducer, the driving support is of a コ -shaped structure, a fixing plate is arranged in the vertical direction, an upper mounting plate and a lower mounting plate which are horizontally arranged are respectively fixed at the upper end and the lower end of the fixing plate, at least 2 mounting holes are formed in the upper mounting plate, at least one mounting hole is used for connecting the motor module, the motor module sequentially comprises the direct current motor output shaft, the gear reducer, the direct current motor and the motor driver from top to bottom, the direct current motor output shaft protrudes out of the upper mounting plate and is connected with a rotating disc of the forearm module or a rotating disc of the forearm module, one of the mounting holes is used for mounting a flexible pulley, the lower mounting plate is correspondingly provided with a positioning hole, the shaft sleeve is connected with the positioning hole of the forearm module or the forearm module through the shaft sleeve in a positioning mode, and the rotation shaft of the forearm module or the forearm module is fixed.

6. The flexible upper limb exoskeleton experiment platform of claim 5, wherein the rotary encoder is mounted on the underside of the corresponding mounting hole of the mounting plate on the rotary driving module, where the flexible roller is mounted, and the rotary encoder measures the rotation angles of the large arm module and the small arm module at the moment and rotates the rotation angles.

7. The flexible upper limb exoskeleton experiment platform of claim 1, wherein the forearm module comprises a vertically arranged supporting plate, the upper part of one side of the supporting plate is connected with a horizontally arranged forearm module rotating disc, the lower part of the supporting plate is connected with a horizontally arranged positioning plate, the positioning plate and the forearm module rotating disc are arranged on the same side of the supporting plate, the positioning plate is provided with a forearm positioning hole, the other side of the supporting plate is provided with a horizontally arranged forearm connecting rod, and the forearm connecting rods are arranged in parallel combination.

8. The flexible upper extremity exoskeleton experiment platform of claim 7, further comprising a plurality of forearm copper posts disposed through vertical forearm links, the forearm copper posts connecting the forearm links disposed in parallel with each other.

9. The flexible upper limb exoskeleton experiment platform of claim 1, wherein the large arm module comprises a vertically arranged supporting plate, the upper part of one side of the supporting plate is connected with a horizontally arranged large arm module rotating disc, the lower part of the supporting plate is connected with a horizontally arranged positioning plate, the positioning plate and the small arm module rotating disc are arranged on the same side of the supporting plate, large arm positioning holes are formed in the positioning plate and correspond to the positioning holes in the fixing plate for positioning connection, the other side of the supporting plate is provided with a horizontally arranged large arm connecting rod, and the large arm connecting rod is arranged in a parallel combination mode.

10. The flexible upper extremity exoskeleton experiment platform of claim 9, further comprising a plurality of forearm copper posts disposed through vertical forearm links, the forearm copper posts connecting the forearm links disposed in parallel with each other.