CN106393073A - Portable type flexible-elbow-joint exoskeleton robot - Google Patents
Portable type flexible-elbow-joint exoskeleton robot Download PDFInfo
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- CN106393073A CN106393073A CN201611015755.4A CN201611015755A CN106393073A CN 106393073 A CN106393073 A CN 106393073A CN 201611015755 A CN201611015755 A CN 201611015755A CN 106393073 A CN106393073 A CN 106393073A
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- upper arm
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- drive
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 75
- 239000010959 steel Substances 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 210000000245 forearm Anatomy 0.000 claims description 91
- 239000011148 porous material Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 210000004247 hand Anatomy 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 5
- 230000007704 transition Effects 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 10
- 210000001364 upper extremity Anatomy 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 238000011160 research Methods 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000003797 carpal joint Anatomy 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1281—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles primarily by articulating the elbow joint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- A61H2201/14—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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—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
- A61H2201/165—Wearable interfaces
-
- 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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a portable type flexible-elbow-joint exoskeleton robot which mainly comprises an elbow joint exoskeleton mechanism, a drive mechanism and a control device. According to the portable type flexible-elbow-joint exoskeleton robot disclosed by the invention, exoskeletons and the drive mechanism are separately arranged, so that transmission is realized through structural transition of a steel wire rope and a wheel disc. With the aspect of a drive mode, a rope drive structure is in series connected with an elastic driver in a matched mode, so that the portable type flexible-elbow-joint exoskeleton robot has the advantages of high control precision, low output impedance, strong impact resistance, good wearing portability and the like. Two passive degrees of freedom are designed into exoskeletons, and movement characteristics of human elbow joints is simulated, so that self-adaptive regulation on the exoskeletons and the human elbow joints is realized, and therefore, the human elbow joints are protected from being harmed during movement. The portable type flexible-elbow-joint exoskeleton robot is simple and compact in structure and realizes scientific rehabilitation training on elbow joints of a patient. Meanwhile, the portable type flexible-elbow-joint exoskeleton robot further has a power assisting function, and is suitable for being applied and popularized in transportation, climbing and the like.
Description
Technical field
The present invention relates to a kind of Portable flexible elbow joint exoskeleton robot, specifically a kind of elastic based on series connection
Driver（series elastic actuator, SEA）Rope drive elbow joint exoskeleton robot.
Background technology
With the aggravation of China human mortality aging, upper extremity motor function disorder is sent out as the common disease of middle-aged and elderly people, disease
Rate rises year by year.In order to solve the inconvenience that upper extremity motor function disorder brings to patient, current rehabilitation mainly has clinical health
Treat again and treated using rehabilitation equipment.Clinical rehabilitation treatment depends on rehabilitation therapist and the man-to-man treatment of patient,
But so expending too many manpower and materials, therefore people more to pay attention to the research to rehabilitation equipment.Upper limb exoskeleton robot
Complementary and extensively concerned because enabling the intelligence of people and machine strength compared to other rehabilitation equipments.By upper limb exoskeleton robot
Technology application to medical rehabilitation field, can for patient provide more be directed to, effective rehabilitation training.
Currently for the research of upper limb exoskeleton robot, external starting is relatively early, some good achievements existing.And state
Some interior research institutions also begin to launch research, achieve no small progress.Contrast existing domestic and international great majority research, send out
Existing its there is a problem of as follows：Complex structure, wearing trouble；Robotically-driven rigidity is big, do not possess flexibility, in the rehabilitation of patient
Secondary injury is easily caused in training process.
Find by prior art documents, Chinese invention patent application number 201210244874.2, this technology is public
Open a kind of controlled variation rigidity flexibility elbow joint healing robot, its Wearable exoskeleton mechanism has one degree of freedom, its structure
Main inclusion large arm, forearm, driving wheel and bracing frame.Type of drive includes motor lead screw and connecting rod bullet using non-thread drive mechanism
Spring nonlinearizer.This drive system possesses certain compliance it is ensured that patient has higher safety in use
Property.But this structure is excessively numerous and diverse, wearing is very inconvenient, lacks portability, and controls complicated.
Chinese Patent Application No. 201410377134.5, this technology discloses a kind of upper limb ectoskeleton in parallel drive joint
Structure, including shoulder joint, elbow joint and carpal design.This design solves existing upper limb exoskeleton robot motion essence
Degree is poor, and volume is big, the little problem of range of movement.But it adopts meshed transmission gear it is desirable to manufacture, price higher with installation accuracy
Costliness, excessively loaded down with trivial details using three groups of gear transmission structures, and poverty of movement is flexible.
Chinese Patent Application No. 201410855081.3, this technology discloses a kind of seven freedom dermaskeleton type upper limb rehabilitation
Robot, including the forearm being sequentially connected and carpal joint mechanism, elbow joint mechanism, shoulder joint mechanism, chair mechanism.It passes through electricity
Machine drive control, auxiliary for hemiparalysis patient carries out active and passive exercise to upper limb suffering limb.This drive control is excessively complicated, its driving
Joint is joined directly together with rigid motor, and poverty of movement flexibility is it is impossible to ensure safety, in addition, this robot requires patient necessary
It is sitting on seat and carries out rehabilitation, structure does not account for portability.
Content of the invention
It is contemplated that being directed to above-mentioned the deficiencies in the prior art, develop a kind of Portable flexible elbow joint ectoskeleton machine
People.The present invention uses for reference series elastic driver（series elastic actuator, SEA）Driving principle, exploitation is a kind of
Elbow joint soft drive mode.Compared with traditional driver, SEA is to drive in rigidity to connect into bullet between power source and load
Spring, its drive pattern, closer to the mechanical characteristic of human muscle, is more suitable for applying in the ectoskeleton machine with human body close contact
In device people's system.Flexible actuator can not only be realized accurate power and control, and has low output impedance, and high impact-resistant carries
Lotus, the advantages of stability force exports.
Meanwhile, the present invention, will be arranged apart with elbow joint ectoskeleton for driver by the way of rope drives, driver output section
Divide and be connected with rope drive wheel disc, be connected with elbow joint ectoskeleton joint by steel wire rope transition, equally adopt in outer skeletal joint
Rope drives the form of wheel disc, realizes driving.Knapsack after driver and control device being put into when dressing robot, compared to
Driver is directly arranged at the structure of ectoskeleton joint by other, this design structure concision and compact, and wearing is portable, improves fortune
Dynamic flexibility, reduces ectoskeletal weight, and correspondingly increases its load capacity.
Furthermore, it is contemplated that the motion of human elbow is a kind of loose hinge movement, the present invention is in elbow joint ectoskeleton
Design in except elbow joint stretch bend freely be outside one's consideration, separately add two passive freedom degrees.By inner arm set and outer arm set
Relative motion is realizing this two passive freedom degrees.Passive freedom degree one can achieve upper arm inner sleeve relative to upper arm overcoat around upper arm
Central axis, thus realize ectoskeletal drive shaft rotate in the horizontal plane.Passive freedom degree two can achieve forearm inner sleeve phase
Forearm overcoat is slided along forearm central shaft, thus realizing the translation in sagittal plane of ectoskeleton drive shaft.The present invention passes through
Add passive freedom degree in exoskeleton mechanism, so that ectoskeleton drive shaft is reached in arm motion with wearer's elbow joint rotary shaft
Certain self-adaptative adjustment, makes ectoskeleton dress more comfortable, safer.
The present invention is achieved by the following technical solutions：
A kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Including elbow joint exoskeleton mechanism, drive mechanism
And control device.
Described elbow joint exoskeleton mechanism includes upper arm supporting mechanism, main drive gear and forearm supporting mechanism, described
Upper arm supporting mechanism includes two upper arm gripper shoes, upper arm overcoat and the upper arm inner sleeve for fixing arm upper arm, upper arm overcoat
The upper arm gripper shoe of both sides is composed of a fixed connection and can place the space of arm upper arm, upper arm inner sleeve rotatable located at upper arm
Inside overcoat, upper arm inner sleeve can be around the central axis of upper arm overcoat；Described forearm supporting mechanism include two forearm gripper shoes,
Forearm overcoat and the forearm inner sleeve for fixing arm forearm, the forearm gripper shoe of both sides is fixedly connected group by described forearm overcoat
One-tenth can place the brachiocubital space of handss, is sheathed on inside forearm overcoat in forearm, and forearm inner sleeve is capable of relative slide anteroposterior
It is connected with forearm overcoat, described two upper arm gripper shoes are connected by main drive gear with two forearm gripper shoes；
Described main drive gear includes two upper arm rotating disks, two forearm rotating disks and hollow shaft encoder, described two upper arm
Rotating disk is connected by two support shafts with two forearm rotating disks respectively, and upper arm rotating disk and forearm rotating disk can revolve around corresponding support shaft
Turn, described hollow shaft encoder is connected with the one of of two support shafts, two upper arm rotating disks are supported with two upper arm respectively
Plate is fixedly linked, and two forearm rotating disks are fixedly linked with two forearm gripper shoes respectively；Fix respectively inside two upper arm rotating disks
Be provided with an arcuate groove guide rail, described upper arm inner sleeve bottom be respectively arranged at two ends with arcuate groove guide rail cooperation arc shaped slider, two
One of individual forearm rotating disk outside is provided with and is fixedly linked and coaxial ectoskeleton drives wheel disc, described ectoskeleton drive wheel disc with
The outfan of drive mechanism is connected；The signal access control apparatus of described hollow shaft encoder detection, described control device controls
Drive mechanism driving ectoskeleton driving wheel disc spins, thus driving two forearm gripper shoes to revolve with respect to two upper arm gripper shoes
Turn, and then drive elbow joint exoskeleton mechanism arm motion.
Preferably, described drive mechanism includes restrict driving transmission mechanism, driver and rope drive fixed seat, and described rope drives and passes
Motivation structure includes two steel wire ropes, rope drives V-type support block, two steel wire rope pipes, restrict drive support base and driver rope drive wheel discs, and two
The two ends of bar steel wire rope are separately fixed at ectoskeleton and drive wheel disc and driver rope to drive diverse location on wheel disc, and two steel wire ropes are handed over
Fork setting, two steel wire rope pipes are respectively fitted on two steel wire ropes, and one end of two steel wire rope pipes is passed through rope and driven V-type support block pressure
Fasten on upper arm rotating disk, the other end of two steel wire rope pipes is fixed on rope by spool set and drives on support base；Described driving
Device is series elastic driver, and described driver rope is driven wheel disc and is connected with the outfan of series elastic driver, described series connection bullet
Property driver in encoder detection signal also access control apparatus, described control device provides power supply, controls series connection elasticity to drive
The rotation of the outfan of dynamic device and rotational steps；Described rope drives support base and series elastic driver is each attached to rope and drives fixed seat
On.
Preferably, described arc shaped slider is I shape slide block, is provided with arc shaped slider locating part inside described arcuate groove guide rail,
Described arc shaped slider locating part upper edge is stuck in the central slot of I shape slide block, arc shaped slider locating part two ends and arcuate groove
Between guide rail another side, distance is less than I shape slider bottom width.
Preferably, it is respectively equipped with the direction line slideway parallel with forearm overcoat inside described two forearm overcoats, described
Be equipped with two line slideways can slide anteroposterior line slideway auxiliary, described two line slideway auxiliaries respectively with forearm inner sleeve two
Side is connected.
Preferably, described upper arm rotating disk is all fixedly connected with support shaft, and support shaft and forearm rotating disk are all by rib bearing
It is connected, support shaft is provided with jump-ring slot near forearm rotating disk one end, is provided with anti-stop edge bearing with respect to support in described jump-ring slot
The jump ring of axle axial movement.
Preferably, the described upper arm rotating disk inner side relative with corresponding forearm rotating disk is respectively equipped with arc-shaped limit block, described
On upper arm rotating disk and forearm rotating disk, arc-shaped limit block is crisscross arranged, and limits upper arm rotating disk and forearm rotating disk phase by arc-shaped limit block
To the anglec of rotation.
Preferably, one end of described two steel wire ropes is respectively equipped with socket cap, and the socket cap of two steel wire ropes passes through respectively
Pore screw and ectoskeleton drive the wheel disc upper-lower position that is connected to be fixedly linked, and the other end of two steel wire ropes is respectively equipped with steel wire card
Head, the steel wire dop of two steel cord ends drives wheel disc upper-lower position by pore screw and driver rope respectively and is fixedly linked.
The present invention has advantages below compared to existing technology：
The exoskeleton robot system that series connection flexible actuator is more suitable for human body close contact, the design will connect flexible pellet
Property driver applications in elbow joint exoskeleton robot, by simulating the contraction mode of human muscle, realize at the volley
Active power-assisted and passive cushioning effect.The design will be arranged apart with elbow joint ectoskeleton to driver and control device, will drive
Device and control device put into rear knapsack, realize being driven by drive mode of restricting, such design not only has flexible actuator
Control accuracy is high, and output impedance is low, the advantages of resistance to shock loads is strong, drives the simple for structure of transmission with rope, wearing is just simultaneously
Take, motion submissive the advantages of.The present invention, in ectoskeletal design, simulates human elbow kinetic characteristic, and design two is passive
Degree of freedom, realizes the self-adaptative adjustment that elbow joint ectoskeleton is relative to human elbow in motor process, improves safety.
Brief description
Fig. 1 is the overall schematic of the present invention；
Fig. 2 is elbow joint ectoskeleton structural representation；
Fig. 3 is arcuate groove guide rail and arc shaped slider locating part structural representation；
Fig. 4 is exploded perspective view on the left of main drive gear；
Fig. 5 is the arc-shaped limit block schematic diagram inside upper arm left-hand rotation Moving plate and forearm left-hand rotation Moving plate；
Fig. 6 is that rope drives structural representation；
Fig. 7 is drive mechanism schematic diagram；
Fig. 8 is main drive gear right side structure schematic diagram.
In figure, 1- upper arm left support plate, 2- upper arm overcoat, 3- upper arm right support plate, 4- upper arm inner sleeve, 6- arc shaped slider limits
Position part one, 5- arc shaped slider one, 7- left arcuate groove guide rail, 8- arc shaped slider two, 9- arc shaped slider locating part two, the right arc of 10-
Groove guide rail, 11- upper arm left-hand rotation Moving plate, 12- upper arm right-hand rotation Moving plate, 13- forearm left-hand rotation Moving plate, 14- forearm right-hand rotation Moving plate, 15- is left
Support shaft, 16- right support axle, 17- jump ring, 18- rib bearing, 19- hollow shaft encoder, 20- forearm gripper shoe one, before 21-
Arm gripper shoe two, 22- line slideway auxiliary one, 23- line slideway auxiliary two, 24- guideway connector one, 25- guideway connector
Two, 26- line slideway one, 27- line slideway two, 28- forearm inner sleeve, 29- forearm overcoat, 30- ectoskeleton drives wheel disc, 31-
Steel wire rope one, 32- steel wire rope two, 33- rope drive V-type support block, 34- steel wire rope pipe one, 35- steel wire rope pipe two, 36- spool set,
37- rope drives support base, 38- steel wire dop, 39- pore screw, and 40- driver rope drives wheel disc, 41- soft drive module, and 42- revolves
Turn encoder, 43- encoder fixture, 44- driver support member, 45- driver support base, 46- driver firm banking,
Corner fittings fixed by 47- square steel, and 48- rope drives fixed seat.
Specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements
Example.
As shown in figure 1, the robot of the present invention includes：Elbow joint exoskeleton mechanism I, drive mechanism II and control device
Ⅲ.
As shown in Fig. 2 the elbow joint exoskeleton mechanism I of the present invention includes：Upper arm supporting mechanism, main drive gear and front
Arm supporting mechanism.
Upper arm supporting mechanism includes upper arm left support plate 1, upper arm overcoat 2, upper arm right support plate 3, upper arm inner sleeve 4, arc
Slide block 1, arc shaped slider 28, left arcuate groove guide rail 7, right arcuate groove guide rail 10, arc shaped slider locating part 1, arc shaped slider limits
Position part 29.As shown in figure 3, described arc shaped slider 1 is I shape slide block, it is provided with arc inside described left arcuate groove guide rail 7 and slides
Block locating part 1, described arc shaped slider locating part 1 upper edge is stuck in the central slot of arc shaped slider 1, and arc shaped slider limits
Between position part 1 two ends and left arcuate groove guide rail 7 another side, distance is less than I shape slider bottom width.Right arcuate groove guide rail 10
On structure as the structure on left arcuate groove guide rail 7.
Wherein upper arm overcoat 2 and upper arm left support plate 1, upper arm right support plate 3 is fastenedly connected, and reaches supporting ＆ stablizing upper arm knot
The effect of structure, upper arm inner sleeve 4 and arc shaped slider 1, arc shaped slider 28 is fixedly connected, arc shaped slider locating part 1 and left arc
Groove guide rail 7 is fixedly connected, and arc shaped slider locating part 29 is fixedly connected with right arcuate groove guide rail 10, described arc shaped slider 1 and arc
Shape slide block 28 can slide respectively in left arcuate groove guide rail 7 accordingly and right arcuate groove guide rail 10, left arcuate groove guide rail 7, right arc
The circular arc center of circle of shape groove guide rail 10, upper arm inner sleeve 4 and upper arm overcoat 2 four overlaps, by arc shaped slider in arcuate groove guide rail
Slide, upper arm inner sleeve 4 can be driven to rotate with respect to upper arm overcoat 2, realize elbow joint ectoskeleton rotary shaft in the horizontal plane around
Upper arm central axis.
The main drive gear of the present invention includes upper arm left-hand rotation Moving plate 11, upper arm right-hand rotation Moving plate 12, and forearm left-hand rotation Moving plate 13 is front
Arm right-hand rotation Moving plate 14, left support axle 15, right support axle 16, rib bearing 17, jump ring 18, hollow shaft encoder 19.
Wherein left part, upper arm left-hand rotation Moving plate 11 is provided with the groove being fastenedly connected with upper arm left support plate 1, such upper arm
Left-hand rotation Moving plate 11 and upper arm left support plate 1 are in a plane on the whole, are conducive to protecting arm, inside upper arm left-hand rotation Moving plate 11
Face is provided with the left arcuate groove guide rail 7 being fixedly linked by screw, left support axle 15 right axle end also with upper arm left-hand rotation Moving plate 11 inside
It is fastenedly connected, the inner ring of rib bearing 18 is fixedly connected with left support axle 15, the outer ring of rib bearing 18 and forearm left-hand rotation Moving plate
13 are fixedly connected, and realize forearm left-hand rotation Moving plate 13 and rotate around left support axle 15 relative to upper arm left-hand rotation Moving plate 11.In left support axle
Jump-ring slot is devised on 15 other ends, in jump-ring slot, is provided with jump ring 17, realize rib bearing 18 relative with forearm left-hand rotation Moving plate 13
The axially position of left support axle 15, fixing, concrete structure such as Fig. 4 institute in left support axle 15 other end insertion hollow shaft encoder 19
Show.In addition, in order to protect human elbow, being respectively equipped with upper arm left-hand rotation Moving plate 11 inner side relative with forearm left-hand rotation Moving plate 13
Arc-shaped limit block, on described upper arm left-hand rotation Moving plate 11 and forearm left-hand rotation Moving plate 13, arc-shaped limit block is crisscross arranged, as shown in figure 5,
Upper arm left-hand rotation Moving plate 11 and forearm left-hand rotation Moving plate 13 relative rotation angle are limited so that it relatively rotates angle by arc-shaped limit block
Degree is within 0 ° to 150 °.On the right side of main drive gear, mechanism is similar to left side mechanism in addition to not having hollow shaft encoder 19,
Here do not repeat.
The forearm supporting mechanism of the present invention includes forearm gripper shoe 1, forearm gripper shoe 2 21, line slideway 1, directly
Line guide rail 2 27, line slideway auxiliary 1, line slideway auxiliary 2 23, guideway connector 1, guideway connector 2 25, front
Arm overcoat 29, forearm inner sleeve 28.
Wherein forearm gripper shoe 1 and forearm left-hand rotation Moving plate 13 are fastenedly connected, and forearm gripper shoe 2 21 and forearm are turned right dynamic
Disk 14 is fastenedly connected, and is fixed with line slideway 1 and straight line respectively inside forearm gripper shoe 1 and forearm gripper shoe 2 21
Line slideway auxiliary 1 and line slideway auxiliary 2 23 are respectively equipped with guide rail 2 27, line slideway 1 and line slideway 2 27,
While being fixedly connected with line slideway auxiliary 1 by guideway connector 1, forearm inner sleeve 28 another side leads to forearm inner sleeve 28
Cross guideway connector 2 25 to be fixedly connected with line slideway auxiliary 2 23；Slided on line slideway by line slideway auxiliary permissible
Drive forearm inner sleeve 28 with respect to forearm overcoat 29 slide anteroposterior, thus realizing elbow joint ectoskeleton rotary shaft in sagittal plane
Translation.
The drive mechanism II of the present invention includes：Rope driving transmission mechanism, driver and rope drive fixed seat 48.
As shown in fig. 6, the rope driving transmission mechanism of the present invention includes：Ectoskeleton drives wheel disc 30, steel wire rope 1, steel wire rope
2 32, rope drives V-type support block 33, steel wire rope pipe 1, steel wire rope pipe 2 35, spool set 36, and rope drives support base 37, steel wire dop
38, pore screw 39, driver rope drives wheel disc 40.
Wherein steel wire rope 1, steel wire rope 2 32 drive two pore screws 39 on wheel disc 30 by being fixed on ectoskeleton
Endoporus is wound on ectoskeleton and drives on wheel disc 30, and the steel wire rope 1 used by the present embodiment and steel wire rope 2 32 are that normal bicycle is stopped
Fare, its one end is socket cap, because the steel wire rope 1 being wound on ectoskeleton driving wheel disc 30 and steel wire rope 2 32 one end are
Socket cap, so not needing steel wire dop 38 fixation ends, steel wire rope pipe 1, steel wire rope pipe 2 35 is enclosed within steel wire rope one
31st, on steel wire rope 2 32, the length of steel wire rope pipe 1 and steel wire rope pipe 2 35 is less than steel wire rope 1 and steel wire rope 2 32
Length, cover spool set 36, steel wire rope pipe 1 and steel wire rope respectively in steel wire rope pipe 1 and steel wire rope pipe 2 35 two ends
Pipe 2 35 one end is fixed by screws in rope and drives in V-type support block 33, and rope is driven V-type support block 33 and fastened with upper arm left-hand rotation Moving plate 11
Connect, steel wire rope pipe 1 and steel wire rope pipe 2 35 other end are fixed on rope and drive on support base 37, and rope drives support base 37 and passes through spiral shell
Nail is fixed on rope and drives in fixed seat 48, and steel wire rope 1, steel wire rope 2 32 drive on wheel disc 40 two by being fixed on driver rope
Individual pore screw 39 endoporus is wound on driver rope and drives on wheel disc 40, and its end is passed through steel wire dop 38 and driven wheel disc 40 with driver rope
It is fastenedly connected.Steel wire rope 1 and steel wire rope 2 32 top-bottom cross arrangement.
As shown in fig. 7, the driver of the present invention is series elastic driver, described series elastic driver includes：Flexible
Drive module 41, rotary encoder 42, encoder fixture 43, driver support member 44, driver support base 45, driver is solid
Determine base 46, corner fittings 47 fixed by square steel.
Wherein soft drive module 41 includes servomotor, inner sleeve, outer sleeve, Hookean spring and four trouble springs connections
Part, wherein servomotor end carry motor encoder, and servomotor is fastenedly connected with inner sleeve, and servo motor output shaft passes through
Shaft coupling is fastenedly connected with rotary encoder 42, and the servomotor other end and driver rope drive wheel disc 40 and be fastenedly connected, servo electricity
Machine can the outer sleeve of relative flexibility drive module 41 rotate, and rotary encoder 42 passes through encoder fixture 43 and soft drive mould
The outer sleeve of block 41 is fastenedly connected, and soft drive module 41 level is put, and soft drive module 41 passes through driver support member 44
It is fastenedly connected with driver support base 45, driver firm banking 46 is fastenedly connected with driver support base 45 by screw, drive
Dynamic device support base 45 and rope are driven fixed seat 48 and are fastenedly connected by the fixing corner fittings 47 of square steel.
Described control device III receives the motor of hollow shaft encoder 19, rotary encoder 42 and soft drive module 41
The signal of encoder, and control the servomotor of soft drive module 41 to operate and rotation amplitude.
When the portable rope of the present embodiment drives the work of elbow joint exoskeleton robot：First by elbow joint ectoskeleton I device
It is worn on the arm of people, fixed by upper arm inner sleeve 4, forearm inner sleeve 28 and elastic bandage.When soft drive module 41 work
When making, driver rope can be driven to drive wheel disc 40 and to rotate, ectoskeleton be realized by steel wire rope 1 and steel wire rope 2 32 transition and drives
Wheel disc 30 rotates, and then drives ectoskeleton and patient's arm to carry out flexion and extension, realizes healing and training elbow joint function and all kinds of
Assist function.
Specific the work is driven to be：When servomotor rotates forward in soft drive module 41, driver rope is driven to drive wheel disc
40 rotate clockwise, because steel wire rope 1 and steel wire rope 2 32 two ends are separately fixed at driver rope and drive wheel disc 40 and ectoskeleton
Drive on wheel disc 30, steel wire rope 1 produces pulling force, thus driving ectoskeleton to drive wheel disc 30 to rotate counterclockwise, realizing elbow and closing
The flexion of section ectoskeleton I.The encoder measurement motor axle being carried by servomotor in soft drive module 41 is watched relatively
Take the amount of spin of motor and rotary encoder 42 measures the decrement realization of soft drive module 41 contained spring to flexible drive
The power of dynamic model block 41 controls, and the hollow shaft encoder 19 being arranged on ectoskeleton joint passes through to measure ectoskeleton driving wheel disc 30 phase
Impedance control to elbow joint exoskeleton mechanism I is realized to the amount of spin of upper arm left-hand rotation Moving plate 11.
The anteflexion of elbow joint exoskeleton mechanism I or after stretch motion when, upper arm inner sleeve 4 relatively can have one by upper arm overcoat 2
The rotation of tentering degree, causes damage to arm when therefore can prevent upper arm and forearm from bending and stretching in single plane, simultaneously by
During arm bending, arm front end has the slip of certain amplitude with respect to elbow joint exoskeleton mechanism I, therefore outside forearm
In set 29 setting can slide anteroposterior forearm inner sleeve 28, forearm inner sleeve 28 and arm fix, so can greatly reduce arm because with
Elbow joint exoskeleton mechanism I slides the damage bringing relatively.
When motor reversal in soft drive module 41, pulling force, achievable elbow joint are produced on steel wire rope 2 32 in the same manner
Motion is stretched after exoskeleton mechanism I.
A kind of Portable flexible elbow joint exoskeleton robot of the present invention, its soft drive form can be not only used for this
The structure design of elbow joint, is equally applicable to remaining each simple joint of upper limb and each monarthric driving of lower limb is designed.This machine
People is not only applicable to rehabilitation medical training, is also equipped with assist function, is suitable in the aspect application such as all kinds of carryings, climbing.
Claims (7)
1. a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Including elbow joint exoskeleton mechanism, driving machine
Structure and control device；
Described elbow joint exoskeleton mechanism includes upper arm supporting mechanism, main drive gear and forearm supporting mechanism, described upper arm
Supporting mechanism includes two upper arm gripper shoes, upper arm overcoat and the upper arm inner sleeve for fixing arm upper arm, and upper arm overcoat is by two
The upper arm gripper shoe of side is composed of a fixed connection and can place the space of arm upper arm, upper arm inner sleeve rotatable located at upper arm overcoat
Inner side, upper arm inner sleeve can be around the central axis of upper arm overcoat；Described forearm supporting mechanism includes two forearm gripper shoes, forearms
Overcoat and the forearm inner sleeve for fixing arm forearm, the forearm gripper shoe of both sides is composed of a fixed connection by described forearm overcoat can
To place the brachiocubital space of handss, be sheathed on inside forearm overcoat in forearm, forearm inner sleeve be capable of relative slide anteroposterior with front
Arm overcoat is connected, and described two upper arm gripper shoes are connected by main drive gear with two forearm gripper shoes；
Described main drive gear includes two upper arm rotating disks, two forearm rotating disks and hollow shaft encoder, described two upper arm
Rotating disk is connected by two support shafts with two forearm rotating disks respectively, and upper arm rotating disk and forearm rotating disk can revolve around corresponding support shaft
Turn, described hollow shaft encoder is connected with the one of of two support shafts, two upper arm rotating disks are supported with two upper arm respectively
Plate is fixedly linked, and two forearm rotating disks are fixedly linked with two forearm gripper shoes respectively；Fix respectively inside two upper arm rotating disks
Be provided with an arcuate groove guide rail, described upper arm inner sleeve bottom be respectively arranged at two ends with arcuate groove guide rail cooperation arc shaped slider, two
One of individual forearm rotating disk outside is provided with and is fixedly linked and coaxial ectoskeleton drives wheel disc, described ectoskeleton drive wheel disc with
The outfan of drive mechanism is connected；The signal access control apparatus of described hollow shaft encoder detection, described control device controls
Drive mechanism driving ectoskeleton driving wheel disc spins, thus driving two forearm gripper shoes to revolve with respect to two upper arm gripper shoes
Turn, and then drive elbow joint exoskeleton mechanism arm motion.
2. according to claim 1 a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Described driving machine
Structure includes restrict driving transmission mechanism, driver and rope drive fixed seat, and described rope driving transmission mechanism includes two steel wire ropes, rope drives V
Type support block, two steel wire rope pipes, ropes drive support base and driver rope drive wheel discs, and the two ends of two steel wire ropes are separately fixed at outward
Skeleton drives wheel disc and driver rope to drive diverse location on wheel disc, and two steel wire ropes are arranged in a crossed manner, and two steel wire rope pipes cover respectively
On two steel wire ropes, one end of two steel wire rope pipes is driven V-type support block by rope and is pressed abd fixed on upper arm rotating disk, two steel
The other end of cord pipe is fixed on rope by spool set and drives on support base；Described driver is series elastic driver, described drive
Dynamic device rope is driven wheel disc and is connected with the outfan of series elastic driver, the encoder detection signal in described series elastic driver
Also access control apparatus, described control device provides power supply, controls outfan rotation and the rotational steps of series elastic driver；
Described rope drives support base and series elastic driver is each attached to rope and drives in fixed seat.
3. according to claim 2 a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Described arc is slided
Block is I shape slide block, is provided with arc shaped slider locating part, described arc shaped slider locating part upper edge inside described arcuate groove guide rail
It is stuck in the central slot of I shape slide block, between arc shaped slider locating part two ends and arcuate groove guide rail another side, distance is less than work
Font slider bottom width.
4. according to claim 3 a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Before described two
Be respectively equipped with the direction line slideway parallel with forearm overcoat inside arm overcoat, described two line slideways are equipped with can before and after
The line slideway auxiliary sliding, described two line slideway auxiliaries are connected with forearm inner sleeve both sides respectively.
5. according to claim 4 a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Described upper arm turns
Disk is all fixedly connected with support shaft, and support shaft is all connected by rib bearing with forearm rotating disk, and support shaft is near forearm rotating disk one
End is provided with jump-ring slot, is provided with the jump ring that anti-stop edge bearing moves axially with respect to support shaft in described jump-ring slot.
6. according to claim 5 a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Described upper arm turns
The disk inner side relative with corresponding forearm rotating disk is respectively equipped with arc-shaped limit block, arc limit on described upper arm rotating disk and forearm rotating disk
Position block is crisscross arranged, and limits upper arm rotating disk and forearm rotating disk relative rotation angle by arc-shaped limit block.
7. according to claim 5 a kind of Portable flexible elbow joint exoskeleton robot it is characterised in that：Described two bar steels
One end of cord is respectively equipped with socket cap, and the socket cap of two steel wire ropes passes through pore screw respectively and drives wheel disc phase with ectoskeleton
Even upper-lower position is fixedly linked, and the other end of two steel wire ropes is respectively equipped with steel wire dop, the steel wire card of two steel cord ends
Head drives wheel disc upper-lower position by pore screw and driver rope respectively and is fixedly linked.
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| CN201611015755.4A CN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
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| CN201611015755.4A CN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
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| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107397647A (en) * | 2017-06-23 | 2017-11-28 | 上海理工大学 | Elbow joint power-assisted trainer |
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN107510574A (en) * | 2017-09-20 | 2017-12-26 | 清华大学 | A kind of liquid metal ectoskeleton joint |
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| CN107397647A (en) * | 2017-06-23 | 2017-11-28 | 上海理工大学 | Elbow joint power-assisted trainer |
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
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| CN109289166A (en) * | 2018-11-29 | 2019-02-01 | 上海市第十人民医院 | A kind of medical healing and training elbow joint device |
| CN109364434A (en) * | 2018-12-11 | 2019-02-22 | 江苏苏云医疗器材有限公司 | A kind of musculi colli rehabilitation training equipment |
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| CN110101546B (en) * | 2019-06-06 | 2024-04-09 | 长春工业大学 | Wearable portable flexible rope drives upper limbs rehabilitation training robot |
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| CN111590551A (en) * | 2020-07-07 | 2020-08-28 | 黄河科技学院 | Self-locking and self-unlocking mechanical device |
| CN111803329A (en) * | 2020-07-17 | 2020-10-23 | 哈尔滨工业大学 | Elbow exoskeleton for rehabilitation robot |
| CN111904791A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation instrument |
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| CN111991190B (en) * | 2020-09-08 | 2022-06-28 | 太原量标医疗科技有限责任公司 | Combined inertial power assisted joint flexion and extension moving device |
| CN112426703A (en) * | 2020-11-10 | 2021-03-02 | 刘官妮 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN113183119A (en) * | 2021-02-26 | 2021-07-30 | 北京大学 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
| CN113183119B (en) * | 2021-02-26 | 2022-05-31 | 北京大学 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
| CN114102556A (en) * | 2021-10-27 | 2022-03-01 | 北京机械设备研究所 | Wearing device |
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