CN105997437A - Whole-body-coordinating multifunctional four-arm robot and operating method thereof - Google Patents

Whole-body-coordinating multifunctional four-arm robot and operating method thereof Download PDF

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Publication number
CN105997437A
CN105997437A CN201610564473.3A CN201610564473A CN105997437A CN 105997437 A CN105997437 A CN 105997437A CN 201610564473 A CN201610564473 A CN 201610564473A CN 105997437 A CN105997437 A CN 105997437A
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China
Prior art keywords
joint
motor
ectoskeleton
shoulder
limb
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Granted
Application number
CN201610564473.3A
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Chinese (zh)
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CN105997437B (en
Inventor
张力心
韦建军
李伟光
王玉龙
龙建军
孙同阳
韦成栋
陆志祥
侯安新
陈朋方
陈浩秋
申亚京
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Guangdong Mingkai Medical Robot Co ltd
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Guangxi Ying Rui Intelligent Machinery Co Ltd
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Application filed by Guangxi Ying Rui Intelligent Machinery Co Ltd filed Critical Guangxi Ying Rui Intelligent Machinery Co Ltd
Priority to CN201610564473.3A priority Critical patent/CN105997437B/en
Publication of CN105997437A publication Critical patent/CN105997437A/en
Priority to PCT/CN2017/075083 priority patent/WO2018014558A1/en
Priority to US16/074,199 priority patent/US11160715B2/en
Priority to JP2018539912A priority patent/JP6555790B2/en
Priority to EP17830206.3A priority patent/EP3398579B1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0211—Walking coordination of arms and legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/09—Adjustable dimensions
    • A63B2225/093—Height

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a whole-body-coordinating multifunctional four-arm robot. The whole-body-coordinating multifunctional four-arm robot comprises a crawler type walking machine, a base, a lifting lead screw mechanism, a holding arm part and a counterweight mechanism, wherein the holding arm part consists of an upper body holding manipulator and a lower body holding manipulator. According to the whole-body-coordinating multifunctional four-arm robot, the rehabilitation training on the three linear degree of freedom and two revolution degree of freedom of a human hip during gait training can be realized; the physiological movement of the hip during gait training can be highly simulated, and the rehabilitation effect can be efficiently enhanced.

Description

Whole body coordinates multi-functional four arm robots and operational approach thereof
Technical field
The invention belongs to technical field of medical instruments, be specifically related to a kind of whole body and coordinate multi-functional four arm robots and operational approach thereof.
Background technology
The most progressively step into aging society along with China, the health of old people increasingly causes the attention of people, and is good for old people In the disease that health causes a significant threat, apoplexy occupies the biggest ratio, and therefore the rehabilitation for stroke hemiplegia sequela is outstanding For key.And for hemiparalysis recovery later stage patient, disequilibrium and hemiplegic gait are maximum puzzlements, therefore for gait Training and rectification must be paid attention to.
For traditional gait rehabilitation training, being all to take as the leading factor with therapist, hand steered patient's shoulder or hip are carried out, cannot Carrying out under the training condition of quantitative time and intensity, rehabilitation degree is also because of the personal experience of therapist and patient's individual factor Different, it is not only the test to patient's body and mind, is also the test to therapist's body and mind.Existing gait training rehabilitation equipment is excessively noted Weight ambulation training, and have ignored the physiological structure of hip, it is impossible to the comprehensive kinematics analysis for hip designs, thus limits The effect of gait training.
Summary of the invention
In order to solve that traditional gait rehabilitation training amount that prior art exists is big, inefficiency and common rehabilitation equipment train not Comprehensively, the problem such as training mode is single, the present invention is by analyzing hip physiological structure, it is provided that a kind of for multiple rehabilitation training Four arms help robot and operational approach thereof, train one efficient training platform of offer for patient.
Its technical scheme is:
A kind of whole body coordinates multi-functional four arm robots, including crawler type pedipulator 1, base 2, elevating screw mechanism, support Arm segment and balance weight mechanism.
Elevating screw mechanism include leading screw guide rod 3, leading screw 5, upper body help hoistable platform 12, upper hoistable platform motor 10, The lower part of the body helps hoistable platform 7, lower hoistable platform motor 52 and leading screw top board 13；Arm segment is helped to be divided into upper body to help machinery Hands and the lower part of the body help mechanical hand, and upper body helps mechanical hand to include: upper limb arm connecting tube 15, upper limb shoulder joint motor 16, on Limb shoulder support plate 17, upper limb internal tooth wheels 18, upper limb shoulder joint harmonic speed reducer 19, upper limb revolute joint motor 20, on Limb shoulder spring mounting blocks 21, upper limb large arm gripper shoe 22, upper limb revolute joint harmonic speed reducer 23, upper limb elbow joint motor 24, Upper limb Elbow Joint fagging 25, upper limb bevel gear set 26, upper limb elbow joint harmonic speed reducer 27, upper limb elbow joint Timing Belt 8, Upper forearm gripper shoe 28, upper limb wrist universal joint 29 and upper limb elbow spring mounting blocks 51；The lower part of the body helps mechanical hand to include: under Limb arm connecting tube 30, lower limb shoulder joint motor 31, lower limb shoulder support plate 32, lower limb shoulder spring mounting blocks 33, lower limb return Turn joint motor 34, lower limb shoulder joint harmonic speed reducer 35, lower limb internal tooth wheels 36, lower limb revolute joint harmonic speed reducer 37, Lower limb elbow joint motor 38, lower limb Elbow Joint fagging 39, lower limb bevel gear set 40, lower limb forearm gripper shoe 41, lower limb wrist Portion's universal joint 42, lower limb elbow spring mounting blocks 43, ectoskeleton harmonic speed reducer 44, lower limb elbow joint harmonic speed reducer 45, outer Skeleton motor 46, ectoskeleton motor mounting plate 47, ectoskeleton Timing Belt 48, lower limb elbow joint Timing Belt 49 and ectoskeleton are same Step cover plate 50；Balance weight mechanism includes counterweight base plate 4, balancing weight 6 and guide post 9 and steel wire rope 11；
Further, crawler type pedipulator 1 is fixed on base 2；Elevating mechanism is also fixed by leading screw guide rod 3 and leading screw 5 On base 2；Upper body helps mechanical hand to help hoistable platform 12 to fix by upper limb arm connecting tube 15 and upper body, and the lower part of the body is held up Holding mechanical hand helps hoistable platform 7 to fix, respectively by upper hoistable platform motor 10 He by lower limb arm connecting tube 30 and the lower part of the body Lower hoistable platform motor 52 drives upper body to help hoistable platform 12 and the lower part of the body to help hoistable platform 7, along leading screw guide rod about 3 Motion realizes mechanical hand and helps patient's squatting up rehabilitation training；Balance weight mechanism is held up with upper body respectively by steel wire rope 11, assembly pulley 14 Hold hoistable platform 12, the lower part of the body helps hoistable platform 7 to be connected；
Further, mechanical hand is fixed in arm connecting tube, and shoulder joint motor is ensconced in arm connecting tube, internal tooth wheels, shoulder joint Joint harmonic speed reducer is connected with large arm gripper shoe, and shoulder spring mounting blocks supports as auxiliary and fixes with large arm gripper shoe, shoulder spring It is connected to take on spring mounting blocks and shoulder support plate, shoulder joint driven by motor large arm realizes moving around the anterior flexion and rear stretching of shoulder joint；
Revolute joint motor is fixed in large arm gripper shoe, drives Elbow Joint fagging by revolute joint harmonic speed reducer, it is achieved Elbow joint is around the inward turning outward turning campaign of large arm；
Elbow joint motor is fixed on Elbow Joint fagging, drives big belt shaft by bevel gear set with elbow joint Timing Belt, and elbow closes Joint harmonic speed reducer is fixed on axle and is connected with elbow spring mounting blocks, forearm gripper shoe, and ancon spring is connected to elbow spring and installs Block and Elbow Joint fagging, it is achieved forearm gripper shoe is around the stretching, extension curvature movement of elbow joint；
Lower limb wrist universal joint 42 is installed on the front end of lower limb forearm gripper shoe 41 and fixes with ectoskeleton harmonic speed reducer 44, Ectoskeleton harmonic speed reducer 44 by ectoskeleton Timing Belt 48 transmission and is arranged on the installation of ectoskeleton motor with ectoskeleton motor 46 On plate 47, ectoskeleton Timing Belt cover plate 50 is also mounted at ectoskeleton motor mounting plate as protectiveness parts and guided bone parts On 47, ectoskeleton Timing Belt cover plate 50 is driven to realize gait guided-moving by ectoskeleton motor 46；
Further, balance weight mechanism helps hoistable platform 12, the lower part of the body to help with upper body by steel wire rope 11 and assembly pulley 14 respectively Hoistable platform 7 is connected, and provides pulling force by balancing weight 6, acts on two each and every one platforms, has been effectively accomplished the effect of loss of weight；
Further, during this device may be implemented in gait training, shoulders of human body is returned with three linear degrees of freedom of hip and two Turn the rehabilitation training of degree of freedom, altitude simulation human body physiological movement in gait training, effectively strengthen rehabilitation training effect.
A kind of whole body coordinates the operational approach of multi-functional four arm robots, comprises the following steps:
First will be fixed on upper limb wrist universal joint 29 by instruction person's shoulder with bandage, hip is fixed on lower limb wrist universal joint 42 On；Again ectoskeleton Timing Belt cover plate 50 to fix with thigh vertical direction；
When implementing by instruction person's gait training, coordinating crawler type pedipulator 1, motor is operated under torque mode: shoulder joint motor leads to Cross internal tooth wheels and shoulder joint harmonic speed reducer drives large arm to realize the anterior flexion and rear stretching motion around shoulder joint；Revolute joint motor passes through Revolute joint harmonic speed reducer drives Elbow Joint fagging, it is achieved elbow joint is around the inward turning outward turning campaign of large arm；Elbow joint motor leads to Cross bevel gear set and drive forearm gripper shoe with elbow joint Timing Belt, it is achieved forearm is around the stretching, extension curvature movement of elbow joint；Ectoskeleton electricity Machine 46 drives ectoskeleton motor mounting plate 47 by ectoskeleton Timing Belt 48, ectoskeleton harmonic speed reducer 44, it is achieved with dermoskeleton Bone Timing Belt cover plate 50 is the gait guided-moving guided.
Compared with prior art, beneficial effects of the present invention:
One, linear degrees of freedom and revolution degrees of freedom combination motion, high fit human body physiological movement in gait training；Its Two, device degree of freedom is flexible, can be with altitude simulation therapist operation during gait training；Its three, at shoulder joint and elbow Joint is all respectively designed with spring mounting blocks, utilizes the pulling force of stretching spring to balance out part-structure own wt, design safety Property high；Its four, monoblock type weight reducing device, reduce the load of patient and motor；Its five, the lower part of the body help mechanical hand ectoskeleton have Take a step guiding function；Its six, mechanical hand simultaneously acts on the lower part of the body, be conducive to training time keep one's balance.
Accompanying drawing explanation
Fig. 1 is the structural representation that a kind of whole body of the present invention coordinates multi-functional four arm robots；Wherein, 1, crawler type pedipulator； 2, base；3, leading screw guide rod；4, counterweight base plate；5, leading screw；6, balancing weight；7, the lower part of the body helps hoistable platform；8、 Upper limb elbow joint Timing Belt；9, guide post；10, upper hoistable platform motor；11, steel wire rope；12, upper body helps lifting flat Platform；13, leading screw top board；14, assembly pulley；15, upper limb arm connecting tube；16, upper limb shoulder joint motor；17, upper limb shoulder Portion's gripper shoe；18, upper limb internal tooth wheels；19, upper limb shoulder joint harmonic speed reducer；20, upper limb revolute joint motor；21、 Upper limb shoulder spring mounting blocks；22, upper limb large arm gripper shoe；23, upper limb revolute joint harmonic speed reducer；24, upper limb elbow joint Motor；25, upper limb Elbow Joint fagging；26, upper limb bevel gear set；27, upper limb elbow joint harmonic speed reducer；28, upper limb Forearm gripper shoe；29, upper limb wrist universal joint；30, lower limb arm connecting tube；31, lower limb shoulder joint motor；32, lower limb Shoulder support plate；33, lower limb shoulder spring mounting blocks；34, lower limb revolute joint motor；35, lower limb shoulder joint harmonic speed reducer； 36, lower limb internal tooth wheels；37, lower limb revolute joint harmonic speed reducer；38, lower limb elbow joint motor；39, lower limb elbow joint Gripper shoe；40, lower limb bevel gear set；41, lower limb forearm gripper shoe；42, lower limb wrist universal joint；43, lower limb elbow spring Mounting blocks；44, ectoskeleton harmonic speed reducer；45, lower limb elbow joint harmonic speed reducer；46, ectoskeleton motor；47, dermoskeleton Bone motor mounting plate；48, ectoskeleton Timing Belt；49, lower limb elbow joint Timing Belt；50, ectoskeleton Timing Belt cover plate；51、 Upper limb elbow spring mounting blocks；52, lower hoistable platform motor.
Detailed description of the invention
With detailed description of the invention, the present invention is described in more detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, a kind of whole body of the embodiment of the present invention coordinates multi-functional four arm robots, including crawler type pedipulator 1, the end Seat 2, elevating screw mechanism, support arm segment and balance weight mechanism.
Elevating screw mechanism include screw mandrel guide rod 3, leading screw 5, upper body help hoistable platform 12, upper hoistable platform motor 10, The lower part of the body helps hoistable platform 7, lower hoistable platform motor 52 and leading screw top board 13；Arm segment is helped to be divided into upper body to help machinery Hands and the lower part of the body help mechanical hand, and upper body helps mechanical hand to include: upper limb arm connecting tube 15, upper limb shoulder joint motor 16, on Limb shoulder support plate 17, upper limb internal tooth wheels 18, upper limb shoulder joint harmonic speed reducer 19, upper limb revolute joint motor 20, on Limb shoulder spring mounting blocks 21, upper limb large arm gripper shoe 22, upper limb revolute joint harmonic speed reducer 23, upper limb elbow joint motor 24, Upper limb Elbow Joint fagging 25, upper limb bevel gear set 26, upper limb elbow joint harmonic speed reducer 27, upper limb elbow joint Timing Belt 8, Upper forearm gripper shoe 28, upper limb wrist universal joint 29 and upper limb elbow spring mounting blocks 51；The lower part of the body helps mechanical hand to include: under Limb arm connecting tube 30, lower limb shoulder joint motor 31, lower limb shoulder support plate 32, lower limb shoulder spring mounting blocks 33, lower limb return Turn joint motor 34, lower limb shoulder joint harmonic speed reducer 35, lower limb internal tooth wheels 36, lower limb revolute joint harmonic speed reducer 37, Lower limb elbow joint motor 38, lower limb Elbow Joint fagging 39, lower limb bevel gear set 40, lower limb forearm gripper shoe 41, lower limb wrist Portion's universal joint 42, lower limb elbow spring mounting blocks 43, ectoskeleton harmonic speed reducer 44, lower limb elbow joint harmonic speed reducer 45, outer Skeleton motor 46, ectoskeleton motor mounting plate 47, ectoskeleton Timing Belt 48, lower limb elbow joint Timing Belt 49 and ectoskeleton are same Step cover plate 50；Balance weight mechanism includes counterweight base plate 4, balancing weight 6 and guide post 9 and steel wire rope 11；
As improving further, crawler type pedipulator 1 is fixed on base 2；Elevating mechanism passes through leading screw guide rod 3 and leading screw 5 are also secured on base 2；Upper body helps mechanical hand to help hoistable platform 12 to fix by upper limb arm connecting tube 15 and upper body, The lower part of the body helps mechanical hand to help hoistable platform 7 to fix by lower limb arm connecting tube 30 and the lower part of the body, respectively by upper hoistable platform electricity Machine 10 and lower hoistable platform motor 52 drive upper body to help hoistable platform 12 and the lower part of the body to help hoistable platform 7, lead along leading screw Bar 3 moves up and down and realizes mechanical hand support patient's squatting up rehabilitation training；Balance weight mechanism is by steel wire rope 11, assembly pulley 14 respectively Help hoistable platform 12, the lower part of the body to help hoistable platform 7 to be connected with upper body；
As improving further, mechanical hand is fixed in arm connecting tube, and shoulder joint motor is ensconced in arm connecting tube, internal gear Group, shoulder joint harmonic speed reducer are connected with large arm gripper shoe, and shoulder spring mounting blocks supports as auxiliary and fixes with large arm gripper shoe, Shoulder spring is connected to take on spring mounting blocks and shoulder support plate, by shoulder joint driven by motor large arm realize around shoulder joint anteflexion after Stretch motion；
Revolute joint motor is fixed in large arm gripper shoe, drives Elbow Joint fagging by revolute joint harmonic speed reducer, it is achieved Elbow joint is around the inward turning outward turning campaign of large arm；
Elbow joint motor is fixed on Elbow Joint fagging, drives big belt shaft by bevel gear set with elbow joint Timing Belt, and elbow closes Joint harmonic speed reducer is fixed on axle and is connected with elbow spring mounting blocks, forearm gripper shoe, and ancon spring is connected to elbow spring and installs Block and Elbow Joint fagging, it is achieved forearm gripper shoe is around the stretching, extension curvature movement of elbow joint；
Lower limb wrist universal joint 42 is installed on the front end of lower limb forearm gripper shoe 41 and fixes with ectoskeleton harmonic speed reducer 44, Ectoskeleton harmonic speed reducer 44 by ectoskeleton Timing Belt 48 transmission and is arranged on the installation of ectoskeleton motor with ectoskeleton motor 46 On plate 47, ectoskeleton Timing Belt cover plate 50 is also mounted at ectoskeleton motor mounting plate as protectiveness parts and guided bone parts On 47, ectoskeleton Timing Belt cover plate 50 is driven to realize gait guided-moving by ectoskeleton motor 46；
As improving further, balance weight mechanism by steel wire rope 11 and assembly pulley 14 help with upper body respectively hoistable platform 12, The lower part of the body helps hoistable platform 7 to be connected, and provides pulling force by balancing weight 6, acts on two each and every one platforms, has been effectively accomplished and has subtracted The effect of weight；
As improving further, during this device may be implemented in gait training, to shoulders of human body and three linear degrees of freedom of hip With the rehabilitation training of two revolution degree of freedom, altitude simulation human body physiological movement in gait training, effectively strengthen rehabilitation training Effect.
Compared with prior art, beneficial effects of the present invention:
One, linear degrees of freedom and revolution degrees of freedom combination motion, high fit human body physiological movement in gait training；Its Two, device degree of freedom is flexible, can be with altitude simulation therapist operation during gait training；Its three, at shoulder joint and elbow Joint is all respectively designed with spring mounting blocks, utilizes the pulling force of stretching spring to balance out part-structure own wt, design safety Property high；Its four, monoblock type weight reducing device, reduce the load of patient and motor；Its five, the lower part of the body help mechanical hand ectoskeleton have Take a step guiding function；Its six, mechanical hand simultaneously acts on the lower part of the body, be conducive to training time keep one's balance.
When using the present invention, first will be fixed on upper limb wrist universal joint 29 by instruction person's shoulder, under hip is fixed on bandage On limb wrist universal joint 42；Again ectoskeleton Timing Belt cover plate 50 to fix with thigh vertical direction；
When implementing by instruction person's gait training, coordinating crawler type pedipulator 1, motor is operated under torque mode: shoulder joint motor leads to Cross internal tooth wheels and shoulder joint harmonic speed reducer drives large arm to realize the anterior flexion and rear stretching motion around shoulder joint；Revolute joint motor passes through Revolute joint harmonic speed reducer drives Elbow Joint fagging, it is achieved elbow joint is around the inward turning outward turning campaign of large arm；Elbow joint motor leads to Cross bevel gear set and drive forearm gripper shoe with elbow joint Timing Belt, it is achieved forearm is around the stretching, extension curvature movement of elbow joint；Ectoskeleton electricity Machine 46 drives ectoskeleton motor mounting plate 47 by ectoskeleton Timing Belt 48, ectoskeleton harmonic speed reducer 44, it is achieved with dermoskeleton Bone Timing Belt cover plate 50 is the gait guided-moving guided.
The above, the only present invention preferably detailed description of the invention, protection scope of the present invention is not limited to this, any is familiar with basis Those skilled in the art in the technical scope of present disclosure, the simple change of the technical scheme that can become apparent to Or equivalence replacement each falls within protection scope of the present invention.

Claims (5)

1. whole body coordinates multi-functional four arm robots, including crawler type pedipulator 1, base 2, elevating screw mechanism, holds up Hold arm segment and balance weight mechanism；
Elevating screw mechanism includes that leading screw guide rod (3), leading screw (5), upper body help hoistable platform (12), upper hoistable platform Motor (10), the lower part of the body help hoistable platform (7), lower hoistable platform motor (52) and leading screw top board (13)；Help arm part Being divided into upper body to help mechanical hand and the lower part of the body to help mechanical hand, upper body helps mechanical hand to include: upper limb arm connecting tube (15), Upper limb shoulder joint motor (16), upper limb shoulder gripper shoe (17), upper limb internal tooth wheels (18), upper limb shoulder joint harmonic reduction Device (19), upper limb revolute joint motor (20), upper limb shoulder spring mounting blocks (21), upper limb large arm gripper shoe (22), upper limb Revolute joint harmonic speed reducer (23), upper limb elbow joint motor (24), upper limb Elbow Joint fagging (25), upper limb bevel gear Group (26), upper limb elbow joint harmonic speed reducer (27), upper limb elbow joint Timing Belt (8), upper forearm gripper shoe (28), Upper limb wrist universal joint (29) and upper limb elbow spring mounting blocks (51)；The lower part of the body helps mechanical hand to include: lower limb arm connecting tube (30), lower limb shoulder joint motor (31), lower limb shoulder support plate (32), lower limb shoulder spring mounting blocks (33), lower limb revolution Joint motor (34), lower limb shoulder joint harmonic speed reducer (35), lower limb internal tooth wheels (36), lower limb revolute joint harmonic wave subtract Before speed device (37), lower limb elbow joint motor (38), lower limb Elbow Joint fagging (39), lower limb bevel gear set (40), lower limb Arm gripper shoe (41), lower limb wrist universal joint (42), lower limb elbow spring mounting blocks (43), ectoskeleton harmonic speed reducer (44), Lower limb elbow joint harmonic speed reducer (45), ectoskeleton motor (46), ectoskeleton motor mounting plate (47), ectoskeleton Timing Belt (48), lower limb elbow joint Timing Belt (49) and ectoskeleton Timing Belt cover plate (50)；Balance weight mechanism include counterweight base plate (4), Balancing weight (6) and guide post (9) and steel wire rope (11).
Whole body the most according to claim 1 coordinates multi-functional four arm robots, it is characterised in that: crawler type pedipulator (1) It is fixed on base (2)；Elevating mechanism is also secured on base (2) by leading screw guide rod (3) and leading screw (5)；On Body helps mechanical hand to help hoistable platform (12) to fix by upper limb arm connecting tube (15) and upper body, and the lower part of the body helps mechanical hand Hoistable platform (7) is helped to fix, respectively by upper hoistable platform motor (10) by lower limb arm connecting tube (30) and the lower part of the body Upper body is driven to help hoistable platform (12) and the lower part of the body to help hoistable platform (7), along leading screw with lower hoistable platform motor (52) Guide rod (3) moves up and down and realizes mechanical hand support patient's squatting up rehabilitation training；Balance weight mechanism passes through steel wire rope (11), assembly pulley (14) hoistable platform (12), the lower part of the body is helped to help hoistable platform (7) to be connected respectively with upper body.
Whole body the most according to claim 1 coordinates multi-functional four arm robots, it is characterised in that: mechanical hand is fixed on hands In arm connecting tube, shoulder joint motor is ensconced in arm connecting tube, internal tooth wheels, shoulder joint harmonic speed reducer and large arm gripper shoe phase Even, shoulder spring mounting blocks supports as auxiliary and fixes with large arm gripper shoe, and shoulder spring is connected to take on spring mounting blocks and shoulder props up Fagging, is realized moving around the anterior flexion and rear stretching of shoulder joint by shoulder joint driven by motor large arm；
Revolute joint motor is fixed in large arm gripper shoe, drives Elbow Joint fagging by revolute joint harmonic speed reducer, it is achieved Elbow joint is around the inward turning outward turning campaign of large arm；
Elbow joint motor is fixed on Elbow Joint fagging, drives big belt shaft by bevel gear set with elbow joint Timing Belt, and elbow closes Joint harmonic speed reducer is fixed on axle and is connected with elbow spring mounting blocks, forearm gripper shoe, and ancon spring is connected to elbow spring and installs Block and Elbow Joint fagging, it is achieved forearm gripper shoe is around the stretching, extension curvature movement of elbow joint；
Lower limb wrist universal joint (42) be installed on lower limb forearm gripper shoe (41) front end and with ectoskeleton harmonic speed reducer (44) Fixing, ectoskeleton harmonic speed reducer (44) and is arranged on by (48) transmission of ectoskeleton Timing Belt with ectoskeleton motor (46) On ectoskeleton motor mounting plate (47), ectoskeleton Timing Belt cover plate (50) is also installed as protectiveness parts and guided bone parts On ectoskeleton motor mounting plate (47), ectoskeleton Timing Belt cover plate (50) is driven to realize step by ectoskeleton motor (46) State guided-moving.
Whole body the most according to claim 1 coordinates multi-functional four arm robots, it is characterised in that: described balance weight mechanism leads to Cross steel wire rope (11) and assembly pulley (14) helps hoistable platform (12), the lower part of the body to help hoistable platform (7) phase with upper body respectively Even, and by balancing weight (6) pulling force is provided.
5. the operational approach of whole body multi-functional four arm robots of coordination, it is characterised in that comprise the following steps:
First will be fixed on upper limb wrist universal joint (29) by instruction person's shoulder with bandage, hip is fixed on lower limb wrist universal joint (42) on；Again ectoskeleton Timing Belt cover plate (50) to fix with thigh vertical direction；
When implementing by instruction person's gait training, coordinating crawler type pedipulator (1), motor is operated under torque mode: shoulder joint motor Drive large arm to realize around the anterior flexion and rear stretching of shoulder joint by internal tooth wheels and shoulder joint harmonic speed reducer to move；Revolute joint motor leads to Cross revolute joint harmonic speed reducer and drive Elbow Joint fagging, it is achieved elbow joint is around the inward turning outward turning campaign of large arm；Elbow joint motor Forearm gripper shoe is driven with elbow joint Timing Belt, it is achieved forearm is around the stretching, extension curvature movement of elbow joint by bevel gear set；Ectoskeleton Motor (46) drives ectoskeleton motor mounting plate (47) by ectoskeleton Timing Belt (48), ectoskeleton harmonic speed reducer (44), Realize with ectoskeleton Timing Belt cover plate (50) for the gait guided-moving guided.
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PCT/CN2017/075083 WO2018014558A1 (en) 2016-07-18 2017-02-28 Physical therapy support robot and operation method therefor
US16/074,199 US11160715B2 (en) 2016-07-18 2017-02-28 Support rehabilitation training robot and operation method thereof
JP2018539912A JP6555790B2 (en) 2016-07-18 2017-02-28 Assisted rehabilitation training robot
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CN107049706A (en) * 2017-05-18 2017-08-18 安阳工学院 A kind of limbs cooperative motion recovery training appliance for recovery with loss of weight mechanism
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CN108721051A (en) * 2018-04-27 2018-11-02 哈尔滨工程大学 A kind of upper and lower extremities integrated training robot
CN110816809A (en) * 2019-12-11 2020-02-21 歌尔股份有限公司 Arm subassembly and unmanned aerial vehicle
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