CN220162459U - Eight-degree-of-freedom exoskeleton robot combined with underactuated elbow joint - Google Patents
Eight-degree-of-freedom exoskeleton robot combined with underactuated elbow joint Download PDFInfo
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- CN220162459U CN220162459U CN202323022234.XU CN202323022234U CN220162459U CN 220162459 U CN220162459 U CN 220162459U CN 202323022234 U CN202323022234 U CN 202323022234U CN 220162459 U CN220162459 U CN 220162459U
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 108
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 63
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 43
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 25
- 208000006358 Hand Deformities Diseases 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims description 41
- 210000000245 forearm Anatomy 0.000 claims description 20
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 6
- 208000020084 Bone disease Diseases 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 230000003340 mental effect Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 208000037816 tissue injury Diseases 0.000 description 2
- 230000037237 body shape Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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Abstract
The utility model discloses an eight-degree-of-freedom upper limb exoskeleton robot combined with elbow joint underactuation, which relates to the technical field of rehabilitation robots and comprises the following components: a shoulder joint structure, an elbow joint structure and a wrist joint structure, wherein the shoulder joint structure comprises a shoulder joint forward bending/backward extending structure and a shoulder joint inward folding/outward extending structure respectively, the elbow joint structure comprises an elbow joint buckling/extending structure and an elbow joint inward rotating/outward rotating structure, and the elbow joint buckling/extending structure is an underactuated structure; the elbow joint rotating inner/outer structure is a telecentric mechanism, and the wrist joint structure comprises a wrist joint metacarpal flexion/dorsiflexion structure and a wrist joint ulnar deviation/radial deviation structure. The eight-degree-of-freedom upper limb exoskeleton robot combined with the underactuated elbow joint provided by the utility model realizes the elbow joint rotation center self-alignment function of the upper limb exoskeleton through the underactuated structure, and solves the problem that the exoskeleton elbow joint rotation center and the human elbow joint rotation center cannot be aligned due to the relative movement of the exoskeleton and the human upper limb in the movement process.
Description
Technical Field
The utility model relates to the technical field of rehabilitation robots, in particular to an eight-degree-of-freedom exoskeleton robot combining elbow joint underactuation.
Background
The existing elbow joint structure of the upper limb exoskeleton does not accord with ergonomics, the rotation center of the exoskeleton needs to be coincident with the rotation center axis of the bending and stretching motion of the human elbow joint, and in many cases, the human joint and the exoskeleton joint cannot be aligned well due to the mutual motion between the human body and the exoskeleton, so that not only is the human-machine motion uncoordinated, but also the pressure of the joint is caused, and the joint is possibly damaged.
Thus, there is a need for an eight degree of freedom upper limb exoskeleton robot that incorporates an underactuation of the elbow joint.
Disclosure of Invention
The utility model aims to provide an eight-degree-of-freedom upper limb exoskeleton robot combined with an underactuated elbow joint, so as to solve the problems in the prior art and realize the function of self-aligning the rotation center of the elbow joint of the upper limb exoskeleton.
The utility model provides an eight-degree-of-freedom upper limb exoskeleton robot combined with underactuation of elbow joints, which comprises the following components: a shoulder joint structure, an elbow joint structure, and a wrist joint structure, wherein the shoulder joint structure includes a shoulder joint anteversion/postversion structure and a shoulder joint adduction/abduction structure having 1 degree of freedom, respectively, the elbow joint structure includes an elbow joint flexion/extension structure and an elbow joint adduction/adduction structure, wherein the elbow joint flexion/extension structure has 3 degrees of freedom, is an under-actuated structure; the elbow joint rotating inner/outer structure has 1 degree of freedom and is a telecentric mechanism, and the wrist joint structure comprises a wrist joint metacarpal flexion/dorsiflexion structure and a wrist joint ulnar deviation/radial deviation structure which respectively have 1 degree of freedom.
The eight-degree-of-freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint as described above, wherein preferably, the shoulder joint adduction/abduction structure is connected with a first motor, the shoulder joint anteversion/postextension structure is connected with a second motor, and a rotation line of the first motor coincides with an axis of the shoulder joint adduction/abduction structure, and a rotation line of the second motor coincides with an axis of the shoulder joint adduction/postextension structure.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint as described above, preferably, a shoulder joint adapter is disposed between the shoulder joint adduction/abduction structure and the shoulder joint anteversion/postextension structure, and the shoulder joint adapter is fixedly connected with the shoulder joint adduction/abduction structure and the shoulder joint anteversion/postextension structure through bolts, respectively.
The eight-degree-of-freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint as described above, wherein preferably, the elbow joint buckling/stretching structure is connected with a first forearm connector, the elbow joint internal/external rotation structure is connected with a second forearm connector, and the first forearm connector and the second forearm connector are fixedly connected through bolts and nuts.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint as described above, wherein preferably, the elbow joint buckling/stretching structure comprises a first driving wheel, a first driven wheel and a second driven wheel, wherein the first driving wheel is installed on a driving wheel supporting frame, the first driving wheel is connected with the driving wheel supporting frame through a rolling bearing, and is fixedly connected with a third motor through a coupling, and the third motor is used for driving the first driving wheel to rotate around the driving wheel supporting frame; the first driving wheel is connected with the first driven wheel through a first connecting rod, the first driving wheel is connected with the first driven wheel and the first connecting rod through rolling bearings respectively, and the first driving wheel and the first driven wheel can rotate on the first connecting rod.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint, as described above, preferably, the first driven wheel and the second driven wheel are connected through a second connecting rod, the second connecting rod and the first driven wheel are connected through a rolling bearing, and the first driven wheel and the second driven wheel can both rotate on the second connecting rod; the second driven wheel is fixedly connected to the driven wheel supporting frame, and the driven wheel supporting frame is connected with the first small arm connecting piece, so that the torque of the second driven wheel is transmitted to the first small arm connecting piece, and the first small arm connecting piece can rotate along with the second driven wheel at the same time; the first driving wheel, the first driven wheel and the second driven wheel are sequentially driven through ropes.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint as described above, wherein preferably, the elbow joint rotating-in/rotating-out structure comprises a fourth motor, the fourth motor is mounted on a first motor mounting frame, the tail end of the fourth motor is connected with a second driving wheel, the second driving wheel can rotate along with a motor shaft of the fourth motor, the first motor mounting frame is connected with a transfer fixing piece through a bearing, and the first motor mounting frame can rotate around the center of the transfer fixing piece; the transfer fixing piece is connected with the second small arm connecting piece, and the second small arm connecting piece is connected with the elbow joint buckling/stretching structure through the first small arm connecting piece; a fourth driven wheel is fixedly connected to the tail end of the transfer fixing piece and meshed with the second driving wheel; the two ends of the first motor mounting frame are respectively connected with a third connecting rod through two connecting rod rotating shafts, so that the third connecting rod can rotate around the connecting rod rotating shafts, a third driven wheel is connected to one connecting rod rotating shaft, and the third driven wheel is meshed with the second driving wheel; two ends of the two third connecting rods are connected with a fourth connecting rod through rod piece rotating shafts, and wrist connecting pieces are fixedly connected to the fourth connecting rod.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint as described above, wherein preferably, the wrist joint ulnar deviation/radial deviation structure is connected with a fifth motor, the wrist joint metacarpal flexion/dorsi flexion structure is connected with a sixth motor, and the motor rotation axis of the fifth motor coincides with the axis of the wrist joint ulnar deviation/radial deviation structure, and the motor rotation axis of the sixth motor coincides with the axis of the wrist joint metacarpal flexion/dorsi flexion structure; the tail end of the wrist joint palmar flexion/dorsiflexion structure is provided with a handle, and the handle is arranged on a handle mounting plate; the fifth motor and the sixth motor are arranged on a second motor mounting frame, motor rotating shaft connecting pieces are fixedly connected to the tail ends of motor shafts of the fifth motor and the sixth motor respectively, and a first wrist connecting piece is fixedly connected to the motor rotating shaft connecting pieces corresponding to the fifth motor through bolts, so that the first wrist connecting piece and the motor rotating shaft connecting pieces can simultaneously rotate along with motor rotating shafts of the fifth motor and have the same angular velocity; the first wrist adapting piece is connected with a second wrist adapting piece through a bolt, and a first U-shaped slotted hole is formed in the second wrist adapting piece; the wrist adapting piece is fixedly connected to the second motor mounting frame corresponding to the sixth motor through bolts; the handle mounting plate is fixedly connected with the motor rotating shaft connecting piece through bolts.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint as described above, preferably, a large arm fixing structure is arranged between the shoulder joint structure and the elbow joint structure, and the large arm fixing structure is connected with the shoulder joint structure and the elbow joint structure through bolts and nuts respectively.
The eight-degree-of-freedom exoskeleton robot combined with the underactuation of the elbow joint as described above, preferably, the forearm fixing structure includes a shoulder elbow connecting plate and a magic tape, the shoulder elbow connecting plate is provided with a second U-shaped slot for adjusting the distance between the shoulder joint structure and the elbow joint structure, and the magic tape is used for connecting the forearm with the exoskeleton robot.
The eight-degree-of-freedom upper limb exoskeleton robot combined with the underactuated elbow joint comprises three joint structures of an upper limb shoulder, an elbow and a wrist, wherein the total number of the three joint structures is 8, the shoulder joint has 2 degrees of freedom, the elbow joint has 4 degrees of freedom, the wrist joint has 2 degrees of freedom, the self-alignment function of the elbow joint rotation center of the upper limb exoskeleton can be realized through the underactuated structure, and the problem that the rotation center of the elbow joint of the exoskeleton cannot be aligned with the rotation center of the elbow joint of a human body due to the relative movement of the exoskeleton and the upper limb of the human body in the movement process is solved; the upper limb rehabilitation training device is suitable for patients with upper limb dysfunction or limited functions caused by upper limb joint, muscle tissue injury or bone diseases, can assist the patients to perform normal upper limb exercise, can perform upper limb rehabilitation training at home, realizes the self-care of the life of the patients, slows down the physiological pain of the patients, and reduces the economic burden and mental burden of family members of the patients; can also help the patient to realize life self-care and relieve the physiological pain of the patient.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the overall structure of an embodiment of an eight degree of freedom upper extremity exoskeleton robot incorporating an underactuation of the elbow joint provided by the present utility model;
FIG. 2 is a schematic structural view of a shoulder joint structure;
FIG. 3 is a schematic view of the structure of an elbow joint;
FIG. 4 is a schematic view of the elbow flexion/extension configuration;
fig. 5 and 6 are schematic perspective and bottom views, respectively, of an elbow joint supination/supination structure;
FIG. 7 is a schematic view of the wrist structure;
fig. 8 is a schematic structural view of the large arm fixing structure.
Reference numerals illustrate: 1-shoulder joint structure, 11-shoulder adduction/abduction structure, 12-shoulder joint anteversion/postversion structure, 13-first motor, 14-shoulder joint adapter, 15-second motor, 2-thigh fixation structure, 21-shoulder elbow connection plate, 22-magic tape, 3-elbow joint structure, 31-elbow joint flexion/extension structure, 311-thigh connection piece, 312-drive wheel support frame, 313-third motor, 314-second connection rod, 315-first drive wheel, 316-first connection rod, 317-first driven wheel, 318-rope, 319-second driven wheel, 3110-driven wheel support frame, 32-elbow joint rotation internal/external structure, 321-fourth motor, 322-first motor mounting bracket, 323-connecting rod rotating shaft, 324-third connecting rod, 325-switching fixing piece, 326-fourth connecting rod, 327-wrist connecting piece, 328-fourth driven wheel, 329-second driving wheel, 3210-third driven wheel, 33-first forearm connecting piece, 34-second forearm connecting piece, 4-wrist joint structure, 41-wrist joint ulnar deviation/radial deviation structure, 42-wrist joint metacarpal flexion/dorsiflexion structure, 43-fifth motor, 44-second motor mounting bracket, 45-motor rotating shaft connecting piece, 46-first wrist switching piece, 47-second wrist switching piece, 48-handle, 49-handle mounting plate, 410-sixth motor.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.
"first", "second", as used in this disclosure: and similar words are not to be interpreted in any order, quantity, or importance, but rather are used to distinguish between different sections. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
In this disclosure, when a particular element is described as being located between a first element and a second element, there may or may not be intervening elements between the particular element and the first element or the second element. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without intervening components, or may be directly connected to the other components without intervening components.
All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
As shown in fig. 1 to 8, the eight-degree-of-freedom upper limb exoskeleton robot combined with underactuation of an elbow joint provided in this embodiment includes: a shoulder joint structure 1, an elbow joint structure 3 and a wrist joint structure 4, wherein the shoulder joint structure 1 comprises a shoulder joint anteversion/postversion structure 12 and a shoulder joint adduction/abduction structure 11 having 1 degree of freedom respectively, the elbow joint structure 3 comprises an elbow joint flexion/extension structure 31 and an elbow joint adduction/adduction structure 32, wherein the elbow joint flexion/extension structure 31 has 3 degrees of freedom and is an underactuated structure; the elbow joint supination/supination structure 32 has 1 degree of freedom and is a telecentric mechanism (RCM), and the wrist joint structure 4 includes a wrist ulnar deviation/radial deviation structure 41 and a wrist metacarpal flexion/dorsiflexion structure 42 having 1 degree of freedom, respectively.
The underactuated structure principle is that the number of degrees of freedom of the structure is larger than the driving number, and redundant degrees of freedom can be automatically adapted to the movement of the rotation center of the joint, so that an automatic alignment function is realized. By utilizing the characteristic of the underactuated structure, the self-alignment function of the rotation center of the elbow joint of the upper limb exoskeleton can be realized, and the problem that the rotation center of the elbow joint of the exoskeleton and the rotation center of the elbow joint of the human body cannot be aligned due to the relative movement of the exoskeleton and the upper limb of the human body in the movement process is solved.
In operation, the adjustment of 1 degree of freedom of the shoulder joint forward/backward extending structure 12 and 1 degree of freedom of the shoulder joint adduction/abduction structure 11 is realized through the shoulder joint structure 1, the adjustment of three degrees of freedom of the elbow joint buckling/stretching structure 31 and the adjustment of one degree of freedom of the elbow joint rotary in/out structure 32 are realized through the elbow joint structure 3, the adjustment of 1 degree of freedom of the wrist joint ulnar deviation/radial deviation structure 41 and the adjustment of 1 degree of freedom of the wrist joint palmar flexion/dorsiflexion structure 42 are realized through the wrist joint structure 4, the self-alignment function of the elbow joint rotation center of the upper limb exoskeleton is realized through the underactuated structure, and the problem that the rotation center of the exoskeleton elbow joint and the elbow joint rotation center of a human body cannot be aligned due to the relative movement of the exoskeleton and the upper limb of the human body in the movement process is solved.
As shown in fig. 2, the shoulder joint adduction/abduction structure 11 is connected with a first motor 13, the shoulder joint anteversion/postextension structure 12 is connected with a second motor 15, and a rotation line of the first motor 13 coincides with an axis of the shoulder joint adduction/abduction structure 11, and a rotation line of the second motor 15 coincides with an axis of the shoulder joint anteversion/postextension structure 12.
Further, a shoulder joint adapter 14 is disposed between the shoulder joint adduction/abduction structure 11 and the shoulder joint anteversion/postextension structure 12, and the shoulder joint adapter 14 is fixedly connected with the shoulder joint adduction/abduction structure 11 and the shoulder joint anteversion/postextension structure 12 through bolts respectively.
As shown in fig. 3, the elbow joint flexion/extension structure 31 is connected with a first forearm connector 33, the elbow joint internal/external rotation structure 32 is connected with a second forearm connector 34, and the first forearm connector 33 and the second forearm connector 34 are fixedly connected by bolts and nuts.
Specifically, as shown in fig. 1-8, the elbow joint buckling/extending structure 31 includes a first driving wheel 315, a first driven wheel 317 and a second driven wheel 319, wherein the first driving wheel 315 is mounted on a driving wheel support frame 312, the first driving wheel 315 is connected with the driving wheel support frame 312 through a rolling bearing, and the first driving wheel 315 is fixedly connected with a third motor 313 through a coupling, and the third motor 313 is used for driving the first driving wheel 315 to rotate around the driving wheel support frame 312; the first driving wheel 315 is connected with the first driven wheel 317 through a first connecting rod 316, the first driving wheel 315 is connected with the first driven wheel 317 and the first connecting rod 316 through rolling bearings, and the first driving wheel 315 and the first driven wheel 317 can both rotate on the first connecting rod 316.
Further, the first driven wheel 317 and the second driven wheel 319 are connected through a second connecting rod 314, the second connecting rod 314 is connected with the first driven wheel 317 through a rolling bearing, and the first driven wheel 317 and the second driven wheel 319 can both rotate on the second connecting rod 314; the second driven wheel 319 is fixedly connected to the driven wheel support 3110, and the driven wheel support 3110 is connected to the first small arm connector 33, so that torque of the second driven wheel 319 is transmitted to the first small arm connector 33, and the first small arm connector 33 can rotate along with the second driven wheel 319; the first driving wheel 315, the first driven wheel 317 and the second driven wheel 319 are sequentially driven by a rope 318. In operation, as shown in fig. 4, the third motor 313 rotates to drive the first driving wheel 315, and then the first driving wheel 315 transmits torque to the first driven wheel 317 via the rope 318 to drive the first driven wheel 317 to rotate and simultaneously drive the second link 314 to rotate, and then the rope 318 transmits torque from the first driven wheel 317 to the second driven wheel 319 to rotate and simultaneously drive the driven wheel support 3110 to rotate, thereby driving the elbow joint flexion/extension structure 31 to move. This structure is called an under-actuated structure because it has three degrees of freedom and is driven by only one motor.
Still further, as shown in fig. 1 to 8, the elbow joint in/out structure 32 includes a fourth motor 321, the fourth motor 321 is mounted on a first motor mounting frame 322, a second driving wheel 329 is connected to an end of the fourth motor 321, the second driving wheel 329 is rotatable with a motor shaft of the fourth motor 321, the first motor mounting frame 322 is connected to a transfer fixing member 325 through a bearing, and the first motor mounting frame 322 is rotatable around a center of the transfer fixing member 325; the adaptor fixture 325 is connected to the second forearm connector 34, and the second forearm connector 34 is connected to the elbow flexion/extension 31 via the first forearm connector 33; a fourth driven wheel 328 is fixedly connected to the tail end of the adapting fixing piece 325, and the fourth driven wheel 328 is meshed with the second driving wheel 329; the two ends of the first motor mounting frame 322 are respectively connected with a third connecting rod 324 through two connecting rod rotating shafts 323, so that the third connecting rod 324 can rotate around the connecting rod rotating shafts 323, a third driven wheel 3210 is connected to one of the connecting rod rotating shafts 323, the third driven wheel 3210 is meshed with the second driving wheel 329, and the fourth driven wheel 328 is fixed on the transfer fixing piece 325, so that the fourth driven wheel 328 cannot rotate around the transfer fixing piece; the two ends of the third connecting rods 324 are connected with a fourth connecting rod 326 through rod rotating shafts, and wrist connectors 327 are fixedly connected on the fourth connecting rod 326. In operation, telecentric motion is realized by combining a parallelogram structure through the planet gears, the fourth motor 321 rotates to drive the second driving wheel 329 to rotate, the second driving wheel 329 rotates around the fourth driven wheel 328, the second driving wheel 329 moves to drive the first motor mounting frame 322 to rotate around the rotating connecting fixing piece 325, meanwhile, the second driving wheel 329 drives the third driven wheel 3210 to move, the simultaneous motion of the third driven wheel 3210 and the second driving wheel 329 drives the parallelogram structure formed by the first motor mounting frame 322, the two third connecting rods 324 and the fourth connecting rods 326 to rotate, and the position of a central point O on the fourth connecting rod 326 is kept unchanged, so that the structure always rotates around the axis OO ', the axis OO' coincides with the rotating center axis of rotation of the human elbow joint in/out, and the elbow joint in/out motion of the exoskeleton is realized.
Further, as shown in fig. 7, the wrist ulnar deviation/radial deviation structure 41 is connected with a fifth motor 43, the wrist metacarpal flexion/dorsiflexion structure 42 is connected with a sixth motor 410, and the motor rotation axis of the fifth motor 43 coincides with the axis of the wrist ulnar deviation/radial deviation structure 41, and the motor rotation axis of the sixth motor 410 coincides with the axis of the wrist metacarpal flexion/dorsiflexion structure 42; a handle 48 is mounted at the end of the wrist metacarpal flexion/dorsiflexion structure 42, the handle 48 is mounted on a handle mounting plate 49, and a user connects the palm with the exoskeleton by grasping the handle 48; the fifth motor 43 and the sixth motor 410 are mounted on a second motor mounting frame 44, motor shaft connectors 45 are fixedly connected to the motor shaft ends of the fifth motor 43 and the sixth motor 410 respectively, and first wrist connectors 46 are fixedly connected to the motor shaft connectors 45 corresponding to the fifth motor 43 through bolts, so that the first wrist connectors 46 and the motor shaft connectors 45 can simultaneously rotate along with the motor shaft of the fifth motor 43 and have the same angular velocity; the first wrist adapting piece 46 is connected with a second wrist adapting piece 47 through a bolt, and a first U-shaped slot hole is formed in the second wrist adapting piece 47 for adjusting the relative position between the first wrist adapting piece 46 and the second wrist adapting piece 47, so as to adjust the relative position between the rotation axes of the wrist ulnar deviation/radial deviation structure 41 and the wrist metacarpal flexion/dorsiflexion structure 42, so as to adapt to different wearers' body shapes. The second wrist adaptor 47 is fixedly connected to the second motor mounting frame 44 corresponding to the sixth motor 410 through bolts; the handle mounting plate 49 is fixedly connected with the motor rotating shaft connecting piece 45 through bolts. In operation, the fifth motor 43 rotates to drive the handle 48 to rotate around the rotation axis of the fifth motor 43 to realize ulnar deviation/radial deviation movement, and the sixth motor 410 rotates to drive the handle 48 to rotate around the rotation axis of the sixth motor 410 to realize palmar flexion/dorsiflexion movement.
Further, as shown in fig. 1, a large arm fixing structure 2 is disposed between the shoulder joint structure 1 and the elbow joint structure 3, and the large arm fixing structure 2 is connected with the shoulder joint structure 1 and the elbow joint structure 3 through bolts and nuts, respectively. Specifically, as shown in fig. 1-8, the big arm fixing structure 2 includes a shoulder elbow connecting plate 21 and a hook and loop fastener 22, where the shoulder elbow connecting plate 21 is provided with a second U-shaped slot for adjusting the distance between the shoulder joint structure 1 and the elbow joint structure 3, so that the rotation axis between the shoulder joint and the elbow joint is adapted to wearers of different sizes, and the distance between the shoulder joint and the elbow joint can be adjusted at will, so as to adapt to users of different sizes; the velcro 22 is used to connect the large arm to the exoskeleton robot.
The eight-degree-of-freedom upper limb exoskeleton robot combined with the underactuated elbow joint provided by the embodiment of the utility model has the advantages that the limb exoskeleton comprises three joint structures of an upper limb shoulder, an elbow and a wrist, 8 degrees of freedom are provided, wherein the shoulder joint has 2 degrees of freedom, the elbow joint has 4 degrees of freedom, the wrist joint has 2 degrees of freedom, the self-alignment function of the elbow joint rotation center of the upper limb exoskeleton can be realized through the underactuated structure, and the problem that the rotation center of the elbow joint of the exoskeleton and the rotation center of the elbow joint of a human body cannot be aligned due to the relative movement of the exoskeleton and the upper limb of the human body in the movement process is solved; the upper limb rehabilitation training device is suitable for patients with upper limb dysfunction or limited functions caused by upper limb joint, muscle tissue injury or bone diseases, can assist the patients to perform normal upper limb exercise, can perform upper limb rehabilitation training at home, realizes the self-care of the life of the patients, slows down the physiological pain of the patients, and reduces the economic burden and mental burden of family members of the patients; can also help the patient to realize life self-care and relieve the physiological pain of the patient.
Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. An eight degrees of freedom upper extremity exoskeleton robot in combination with an underactuation of an elbow joint, comprising: a shoulder joint structure, an elbow joint structure, and a wrist joint structure, wherein the shoulder joint structure includes a shoulder joint anteversion/postversion structure and a shoulder joint adduction/abduction structure having 1 degree of freedom, respectively, the elbow joint structure includes an elbow joint flexion/extension structure and an elbow joint adduction/adduction structure, wherein the elbow joint flexion/extension structure has 3 degrees of freedom, is an under-actuated structure; the elbow joint rotating inner/outer structure has 1 degree of freedom and is a telecentric mechanism, and the wrist joint structure comprises a wrist joint metacarpal flexion/dorsiflexion structure and a wrist joint ulnar deviation/radial deviation structure which respectively have 1 degree of freedom.
2. The eight degrees of freedom upper limb exoskeleton robot in combination with the underactuation of the elbow joint as claimed in claim 1, wherein the shoulder joint adduction/abduction structure is connected with a first motor, the shoulder joint anteversion/postextension structure is connected with a second motor, and a rotation line of the first motor coincides with an axis of the shoulder joint adduction/abduction structure, and a rotation line of the second motor coincides with an axis of the shoulder joint adduction/postextension structure.
3. The eight degrees of freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint according to claim 2, wherein a shoulder joint adapter is arranged between the shoulder joint adduction/abduction structure and the shoulder joint anteversion/postversion structure, and the shoulder joint adapter is fixedly connected with the shoulder joint adduction/abduction structure and the shoulder joint anteversion/postversion structure through bolts respectively.
4. The eight degree of freedom upper limb exoskeleton robot in combination with the underactuation of the elbow joint as claimed in claim 1 wherein the elbow joint flexion/extension structure is connected with a first forearm connector, the elbow joint supination/supination structure is connected with a second forearm connector, and the first and second forearm connectors are secured by a bolt and nut.
5. The eight degrees of freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint according to claim 4, wherein the elbow joint flexion/extension structure comprises a first driving wheel, a first driven wheel and a second driven wheel, wherein the first driving wheel is mounted on a driving wheel support frame, the first driving wheel is connected with the driving wheel support frame through a rolling bearing, and a third motor is fixedly connected with the first driving wheel through a coupling and is used for driving the first driving wheel to rotate around the driving wheel support frame; the first driving wheel is connected with the first driven wheel through a first connecting rod, the first driving wheel is connected with the first driven wheel and the first connecting rod through rolling bearings respectively, and the first driving wheel and the first driven wheel can rotate on the first connecting rod.
6. The eight degrees of freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint according to claim 5, wherein the first driven wheel and the second driven wheel are connected through a second connecting rod, the second connecting rod and the first driven wheel are connected through a rolling bearing, and the first driven wheel and the second driven wheel can both rotate on the second connecting rod; the second driven wheel is fixedly connected to the driven wheel supporting frame, and the driven wheel supporting frame is connected with the first small arm connecting piece, so that the torque of the second driven wheel is transmitted to the first small arm connecting piece, and the first small arm connecting piece can rotate along with the second driven wheel at the same time; the first driving wheel, the first driven wheel and the second driven wheel are sequentially driven through ropes.
7. The eight degrees of freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint according to claim 4, wherein the elbow joint rotating in/out structure comprises a fourth motor, the fourth motor is mounted on a first motor mounting frame, the tail end of the fourth motor is connected with a second driving wheel, the second driving wheel can rotate along with a motor shaft of the fourth motor, the first motor mounting frame is connected with a transfer fixing piece through a bearing, and the first motor mounting frame can rotate around the center of the transfer fixing piece; the transfer fixing piece is connected with the second small arm connecting piece, and the second small arm connecting piece is connected with the elbow joint buckling/stretching structure through the first small arm connecting piece; a fourth driven wheel is fixedly connected to the tail end of the transfer fixing piece and meshed with the second driving wheel; the two ends of the first motor mounting frame are respectively connected with a third connecting rod through two connecting rod rotating shafts, so that the third connecting rod can rotate around the connecting rod rotating shafts, a third driven wheel is connected to one connecting rod rotating shaft, and the third driven wheel is meshed with the second driving wheel; two ends of the two third connecting rods are connected with a fourth connecting rod through rod piece rotating shafts, and wrist connecting pieces are fixedly connected to the fourth connecting rod.
8. The eight degrees of freedom upper limb exoskeleton robot in combination with the underactuation of the elbow joint as claimed in claim 1, wherein a fifth motor is connected to the wrist ulnar deviation/radial deviation structure, a sixth motor is connected to the wrist metacarpal flexion/dorsi flexion structure, and a motor rotation axis of the fifth motor coincides with an axis of the wrist ulnar deviation/radial deviation structure, and a motor rotation axis of the sixth motor coincides with an axis of the wrist metacarpal flexion/dorsi flexion structure; the tail end of the wrist joint palmar flexion/dorsiflexion structure is provided with a handle, and the handle is arranged on a handle mounting plate; the fifth motor and the sixth motor are arranged on a second motor mounting frame, motor rotating shaft connecting pieces are fixedly connected to the tail ends of motor shafts of the fifth motor and the sixth motor respectively, and a first wrist connecting piece is fixedly connected to the motor rotating shaft connecting pieces corresponding to the fifth motor through bolts, so that the first wrist connecting piece and the motor rotating shaft connecting pieces can simultaneously rotate along with motor rotating shafts of the fifth motor and have the same angular velocity; the first wrist adapting piece is connected with a second wrist adapting piece through a bolt, and a first U-shaped slotted hole is formed in the second wrist adapting piece; the wrist adapting piece is fixedly connected to the second motor mounting frame corresponding to the sixth motor through bolts; the handle mounting plate is fixedly connected with the motor rotating shaft connecting piece through bolts.
9. The eight degrees of freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint according to claim 1, wherein a large arm fixing structure is arranged between the shoulder joint structure and the elbow joint structure, and the large arm fixing structure is connected with the shoulder joint structure and the elbow joint structure through bolts and nuts respectively.
10. The eight degrees of freedom upper limb exoskeleton robot combined with the underactuation of the elbow joint according to claim 9, wherein the forearm fixing structure comprises a shoulder elbow connecting plate and a magic tape, the shoulder elbow connecting plate is provided with a second U-shaped slot hole for adjusting the distance between the shoulder joint structure and the elbow joint structure, and the magic tape is used for connecting the forearm with the exoskeleton robot.
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| CN202323022234.XU CN220162459U (en) | 2023-11-09 | 2023-11-09 | Eight-degree-of-freedom exoskeleton robot combined with underactuated elbow joint |
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| CN202323022234.XU CN220162459U (en) | 2023-11-09 | 2023-11-09 | Eight-degree-of-freedom exoskeleton robot combined with underactuated elbow joint |
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