CN106551777B - A kind of brachium regulating device of upper limb exoskeleton rehabilitation robot - Google Patents
A kind of brachium regulating device of upper limb exoskeleton rehabilitation robot Download PDFInfo
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- CN106551777B CN106551777B CN201610954978.0A CN201610954978A CN106551777B CN 106551777 B CN106551777 B CN 106551777B CN 201610954978 A CN201610954978 A CN 201610954978A CN 106551777 B CN106551777 B CN 106551777B
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- 230000001105 regulatory effect Effects 0.000 title claims abstract description 33
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 27
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 28
- 230000007246 mechanism Effects 0.000 claims description 19
- 229910052742 iron Inorganic materials 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 9
- 230000009711 regulatory function Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000002310 elbow joint Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000000323 shoulder joint Anatomy 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
- A61H2201/0196—Specific means for adjusting dimensions automatically adjusted according to anthropometric data of the user
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to medical rehabilitation training equipment related fieldss, specifically disclose a kind of brachium regulating device of upper limb exoskeleton rehabilitation robot, it includes top left support, top right support, lower bracket and the worm and gear component being arranged between upper and lower bracket, worm and gear component includes worm gear, worm screw and screw rod, worm screw is axially fixed in a top left side, between right support, screw rod is mounted between top left support and lower bracket, worm gear is coaxially mounted to above screw rod, the right end of top right support is additionally provided with rocker assembly, polished rod is additionally provided between top right support and lower bracket, screw rod and polished rod both pass through the horizontal connecting plate being arranged between upper and lower bracket and lower movable stand, the side of horizontal connecting plate and lower movable stand, which is also fixedly installed with, moves up and down component.Brachium regulating device of the invention can be realized the brachium regulatory function of the shoulder elbow section of upper limb exoskeleton rehabilitation robot, adapt to the upper limb size of different patients, and regulating step is simple and easy.
Description
Technical field
The invention belongs to medical rehabilitation training equipment related fieldss, more particularly, to a kind of upper limb exoskeleton rehabilitation machine
The brachium regulating device of device people, can be adjusted, and regulating step is simple and easy according to brachium.
Background technique
Upper limb exoskeleton rehabilitation robot is used to auxiliary for hemiparalysis patient and carries out corresponding upper limb activity, to promote upper extremity exercise,
Help carries out rehabilitation training.Physiatrician's onerous toil can be liberated by robot, to significantly improve rehabilitation training
Efficiency and effect.
Each hemiplegic patient by upper length for carrying out rehabilitation training has otherness, if healing robot have it is reliable and
Convenient upper limb length adjustment device, then to patient using when comfort and rehabilitation efficacy can all increase significantly.
Therefore, the upper limb rehabilitation robot that upper limb length is unadjustable and adjusting is inconvenient is obviously unsatisfactory for high efficiency and obtains good instruction
Practice the requirement of effect.
Presently, there are upper limb exoskeleton rehabilitation robot otherwise there is no brachium regulating device, can not differentiation adapt to patient
Upper limb length；Brachium regulating step is cumbersome, time-consuming and laborious, and is difficult to adjust brachium to the position of the most comfortable.Base
In the above technological deficiency, this field needs to make existing upper limb exoskeleton rehabilitation robot further improvement and design,
So that it is had brachium regulatory function, and regulating step is simple and easy, with meet hemiplegic patient in comfort and rehabilitation efficacy
The requirement of aspect.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of brachiums of upper limb rehabilitation robot
Regulating device, regulating device of the invention use worm and gear and the concatenated mode of screw rod, will be converted into the straight line of mechanism
Movement, it is not only compact-sized, the latching characteristics of worm and gear is also utilized, so that brachium adjusting is reliable and stable, mechanism brachium will not
Change during patient's training, the hemiplegic patient for being suitable for different upper limb length carries out rehabilitation training, is carried out according to brachium
It adjusts, and can be self-locking after having adjusted, to reliably guarantee that length is no longer changed.The present invention is also equipped with structural volume
It is small, adjust it is high-efficient, safe and reliable, applied widely the advantages that, have very big development space and application prospect.
To achieve the above object, according to one aspect of the present invention, a kind of upper limb exoskeleton rehabilitation robot is provided
Brachium regulating device, it is characterised in that: it include top left support, top right support, lower bracket and setting upper and lower bracket it
Between worm and gear component,
The top left support and top right support are mounted on vertical connecting plate two sides, and the worm and gear component includes
Worm gear, worm screw and screw rod, the worm screw both ends are separately fixed on the top left support and top right support, which can be around
Axis rotation, the screw rod are mounted between the boss and lower bracket on the right side of the top left support, which can be around axis
Rotation, the worm gear is coaxially mounted to above screw rod and the screw rod rotates synchronously, and the right end of the top right support is additionally provided with
Rocker assembly,
Polished rod is additionally provided between boss and lower bracket on the right side of the top right support, the screw rod and polished rod both pass through
Horizontal connecting plate between upper and lower bracket and lower movable stand are set, and the horizontal connecting plate and lower movable stand can turn with screw rod
Dynamic to move up and down, the side of the horizontal connecting plate and lower movable stand, which is also fixedly installed with, moves up and down component.
It is further preferred that the rocker assembly includes rotating wheel, permanent magnetic iron, handle and housing, the worm screw right end
It is fixedly connected across the top right support with the rotating wheel center, the handle is connect with the rotating wheel, which drives
Above-mentioned rotating wheel rotation, the handle outer are provided with housing, and the both ends of the housing are internally provided with bearing, the bearing
Inner hole and the handle cooperate.
It is further preferred that being provided with the slot that width is slightly larger than housing on the rotating wheel, permanent magnetism is fixedly installed in slot
Magnet, the housing can be folded into slot with handle, and fixation is sucked by the permanent magnetic iron.Handle is foldable to enter rotation
Wheel, so that regulating device compact dimensions, take up space small.By the attraction fixed handle of permanent magnetic iron, there is folding and unfolding conveniently, fast
Benefit.
It is further preferred that being socketed with compressed spring on the outside of the polished rod, the compressed spring upper end is fixed on described
Portion right support bottom, the compressed spring lower end are fixed on the horizontal connecting plate to apply elastic force to it.Guarantee horizontal connect
Fishplate bar not will be shifted up the worm screw for touching rotation, limits the minimum value of brachium adjusting, keeps regulating device safe and reliable.
It is further preferred that the boss top of the top right support is equipped with polished rod collet, the polished rod collet is clamped
Polished rod top, the polished rod lower part are clamped by the lower bracket.
It is further preferred that having through-hole on the horizontal connecting plate, the diameter of the through-hole is greater than the diameter of screw rod, the silk
Bar passes through horizontal connecting plate, and will not interfere with horizontal connecting plate when screw rod rotation.
It is further preferred that the component that moves up and down is the company being mounted between the horizontal connecting plate and lower movable stand
Bar slide block mechanism, the side of the horizontal connecting plate are fixed with connector sleeve, and left connecting rod and right connecting rod one end are installed in rotation on
On the connector sleeve, the other end of above-mentioned left linkages is provided with fixture block, is provided with bar slot on the left connecting rod and right connecting rod,
Lower mobile left supported plate is fixed on lower movable stand, and is bolted between lower mobile left supported plate and lower mobile right supported plate, institute
It states and is fixed with left slide and right slide on lower mobile right supported plate, the second primary and secondary is respectively fixed in the left slide and right slide
Nail, second master and slave dowel slide in the bar slot.Be arranged left linkages slide block mechanism so that brachium adjust can smoothly into
Row is unlikely to stuck.
It is further preferred that being equipped with second straight line bearing on the horizontal connecting plate, it is equipped on the lower movable stand
First straight line bearing, the first straight line bearing and second straight line bearing are socketed on the polished rod, can move up and down with polished rod.
By setting left linkages slide block mechanism, polished rod and the first second straight line bearing, guarantee upper during brachium is adjusted connect
Do not occur to prevent deformation along the twist motion of screw rod axis between component and lower connection component.
It is further preferred that have bearing hole on the top left support and top right support, install respectively first bearing and
Second bearing, the worm screw both ends are fixed by first bearing and second bearing.
It is further preferred that the boss of top left support has inner hole, inner hole is equipped with 5th bearing, inner hole on the left of lower bracket
6th bearing is installed, has threaded hole respectively at the top and bottom of the screw rod, the screw rod top and 5th bearing inner hole, and
It is fixedly mounted by the 6th bolt, the screw rod lower part and 6th bearing inner hole, and be fixedly mounted by the 7th bolt.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have the following advantages that and
The utility model has the advantages that
(1) the brachium regulatory function of the shoulder elbow section of upper limb exoskeleton rehabilitation robot may be implemented in the present invention, adapts to
The upper limb size of different patients guarantees that suffering limb will not pull while effectively training.
(2) regulating device of the invention uses worm and gear and the concatenated mode of screw rod, will be converted into the straight of mechanism
Line movement, it is not only compact-sized, the latching characteristics of worm and gear is also utilized, so that brachium adjusting is reliable and stable, mechanism brachium is not
It can change during patient's training.Adjusting efficiency of the invention depend on screw rod outer diameter and lead, the outer diameter of screw rod and
Lead is bigger, and the speed of adjusting is faster, and efficiency is higher.The outer diameter of suitable screw rod can be selected according to brachium, adjusted with meeting
It is required that while by the control of regulating device overall dimension in suitable magnitude range.
(3) present invention is handle using the part contacted with people, and handle is foldable to enter rotating wheel, so that regulating device ruler
It is very little compact, it takes up space small.And the attraction fixed handle of permanent magnetic iron is leaned on, there is folding and unfolding conveniently, efficiently benefit.
(4) present invention is provided with compressed spring between adaptive component and top right support, guarantees that horizontal connecting plate will not
Move up the worm screw for touching rotation.Because lower movable stand etc. will not move to the position higher than horizontal connecting plate, limit
The minimum value that brachium is adjusted, keeps regulating device safe and reliable.
(5) present invention is guaranteed by setting left linkages slide block mechanism, polished rod and the first second straight line bearing in brachium tune
All parts do not occur to prevent deformation along the twist motion of screw rod axis during section.And due to being provided with left connecting rod
Slide block mechanism and right connecting rod slide block mechanism, so that brachium adjusting can go on smoothly and be unlikely to stuck.
(6) present invention, which compensates in upper limb exoskeleton rehabilitation robot, does not have brachium regulating device or brachium adjusting not
Safety, it has not been convenient to, insecure defect, the present invention has compact-sized, small in size feature in addition, and can be used as special
Brachium adjustment module be suitable for all mechanical arm length adjustments, greatly solve upper limb exoskeleton rehabilitation robot organization volume
Disadvantage huge and that production is difficult.Structure of the invention is small in size, and adjusting is high-efficient, securely and reliably, applied widely, has very big
Development space and application prospect.
Detailed description of the invention
Fig. 1 is the overall structure diagram of brachium regulating device of the invention；
Fig. 2 is the scheme of installation of compressed spring in the present invention；
Fig. 3 is the schematic diagram that the present invention carries out adaptive moving assembly when size adjusting.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1 top left support, 2 first bearings, 3 worm gears, 4 worm screws, 5 connector sleeves, 6 the 8th bolts, 7 horizontal connecting plates, 8
Bar, 9 left connecting rods, 10 right connecting rods, 11 right sliding seats, 12 left sliding seats, 13 second Screws, 14 fixture blocks, 15 lower movable stands are right
Supporting plate, 16 lower movable stand left supported plates, 17 connecting plates, 18 top right supports, 19 polished rod collets, 20 the 6th bolts, 21 the 5th axis
It holds, 22 compressed springs, 23 permanent magnetic irons, 24 rotating wheels, 25 fourth bearings, 26 the 5th bolts, 27 housings, 28 third bolts, 29
Handle, 30 first master and slave dowels, 31 second straight line bearings, 32 polished rods, 33 first straight line bearings, 34 lower movable stands, 35 the 7th bolts,
36 lower brackets.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is the overall structure diagram of brachium regulating device of the invention.As shown in Figure 1 comprising top left support
1, top right support 18, lower bracket 36 and the worm and gear component being arranged between upper and lower bracket,
Top left support 1 and top right support 18 are mounted on vertical 17 two sides of connecting plate, and worm and gear component includes snail
Wheel 3, worm screw 4 and screw rod 8,4 both ends of worm screw are separately fixed on top left support 1 and top right support 18, which can
It rotates about the axis, screw rod 8 is mounted between the boss and lower bracket 36 on 1 right side of top left support, which can revolve around axis
Turn, worm gear 3 is coaxially mounted to 8 top of screw rod and the screw rod 8 rotates synchronously, and the right end of top right support 18 is additionally provided with rocking bar
Component, and be connected with 4 right end of worm screw,
It is additionally provided with polished rod 32 between the boss and lower bracket 36 on 18 right side of top right support, screw rod 8 and polished rod 32 are worn
The horizontal connecting plate 7 being arranged between upper and lower bracket and lower movable stand 34 are crossed, horizontal connecting plate 7 and lower movable stand 34 can be with screw rods
Rotation move up and down, the side of horizontal connecting plate 7 and lower movable stand 34, which is also fixedly installed with, moves up and down component.
In one particular embodiment of the present invention, rocker assembly includes rotating wheel 24, permanent magnetic iron 23, handle 29 and outer
Set 27,4 right end of worm screw pass through top right support 18 and are fixedly connected with 24 center of rotating wheel, and handle 29 is connect with the rotating wheel 24,
The handle 29 drives above-mentioned rotating wheel 24 to rotate, and is provided with housing 27 outside handle 29, the both ends of housing 27 are internally provided with axis
It holds, the inner hole of bearing and the handle 29 cooperate.
In one particular embodiment of the present invention, the slot that width is slightly larger than housing 27 is provided on rotating wheel 24, in slot
It is fixedly installed with permanent magnetic iron 23, housing 27 can be folded into slot with handle 29, and fixation is sucked by permanent magnetic iron 23.
In another specific embodiment of the invention, it is socketed with compressed spring 22 on the outside of polished rod 32, in compressed spring 22
End is fixed on 18 bottom of top right support, and 22 lower end of compressed spring is fixed on horizontal connecting plate 7 to apply elastic force to it.
In another specific embodiment of the invention, as shown in Fig. 2, the boss top of top right support 18 is equipped with light
Bar cramp head 19, polished rod collet 19 clamp 32 top of polished rod, and 32 lower part of polished rod is clamped by lower bracket 36.
In another specific embodiment of the invention, there is through-hole on horizontal connecting plate 7, the diameter of the through-hole is greater than screw rod
8 diameter, screw rod 8 passes through horizontal connecting plate 7, and will not interfere with horizontal connecting plate 7 when the rotation of screw rod 8.
In another specific embodiment of the invention, as shown in figure 3, moving up and down component is to be mounted on the level even
Linkage rod slide block mechanism between fishplate bar 7 and lower movable stand 34, the side of horizontal connecting plate 7 are fixed with connector sleeve 5,9 He of left connecting rod
10 one end of right connecting rod is installed in rotation on the connector sleeve 5, and the other end of above-mentioned left linkages is provided with fixture block 14, left connecting rod
9 and right connecting rod 10 on be provided with bar slot, lower mobile left supported plate 16 is fixed on lower movable stand 34, and lower mobile left supported plate 16
It is bolted between lower mobile right supported plate 15, left slide 12 and right slide 11 is fixed on lower mobile right supported plate 15, it is left
The second master and slave dowel 13 is respectively fixed on slide 12 and right slide 11, the second master and slave dowel 13 slides in bar slot.
In another specific embodiment of the invention, second straight line bearing 31, lower movement are installed on horizontal connecting plate 7
First straight line bearing 33 is installed on frame 34, first straight line bearing 33 and second straight line bearing 31 are socketed on the polished rod 32,
It can be moved up and down with polished rod 32.
In another specific embodiment of the invention, there is bearing hole on top left support 1 and top right support 18, respectively
Installation first bearing 2 and second bearing, 4 both ends of worm screw are fixed by first bearing 2 and second bearing.
In another specific embodiment of the invention, the boss of top left support 1 has inner hole, and inner hole is equipped with the 5th axis
Hold 21,36 left side inner hole of lower bracket is equipped with 6th bearing, and there are threaded hole in 8 top and bottom of screw rod respectively, 8 top of screw rod with
21 inner hole of 5th bearing, and being fixedly mounted by the 6th bolt, 8 lower part of screw rod and 6th bearing inner hole, and by the
Seven bolts are fixedly mounted.
For the further specific explanations present invention, following present one embodiment.
Embodiment
Shown in FIG. 1 is overall structure diagram of the invention.Upper connection component includes top left support 1, the right branch in top
Frame 18 and connecting plate 17, top left support 1 and top right support 18 are separately mounted to the left and right sides of connecting plate 17, upper connection group
The shoulder joint of part composition upper limb exoskeleton rehabilitation robot.Polished rod collet 19, polished rod collet are installed on the top right support 18
19 inner hole is deformable reduces to clamp the upper end of polished rod 32 under the action of screw.It includes worm and gear group that brachium, which adjusts component,
Part and rocker assembly.Above-mentioned worm and gear component includes worm gear 3, worm screw 4 and screw rod 8.The worm screw 4 is rotatably installed in a top left side
Between bracket 1 and top right support 18, by first bearing 2 and second bearing axially position.The screw rod 8 is rotatably installed in top
On left support 1 and lower bracket 36, by 5th bearing 21,6th bearing, the 6th bolt 20 and 35 axially position of the 7th bolt.It is described
Worm gear 3 is mounted on screw rod 8, fixed by sleeve 37 (as shown in Figure 2) and screw rod 8, is rotated synchronously with screw rod 8.The rocking bar group
Part is fixed together by third bolt 28 with worm screw 4.Therefore when rocker assembly rotation, worm screw 4 can and then be rotated, in turn
The worm gear 3 engaged with worm screw rotates, and then the screw rod 8 being fixedly connected with worm gear 3 rotates, and then is threadedly coupled down with screw rod 8
Movable stand 34 moves up adjusting brachium along the axis of screw rod 8.Above-mentioned lower connection component includes lower bracket 36, polished rod
32, adaptive moving assembly and lower moving assembly.The bottom of screw rod 8 and polished rod 32 is fixed by lower bracket 36, and lower bracket 36 is by
Seven bolts 35 and 6th bearing are fixed on 8 bottom of screw rod.Above-mentioned lower moving assembly includes lower movable stand 34, lower movable stand left supported plate
16, lower movable stand right supported plate 15 and first straight line bearing 33.Lower 34 boss inner hole of movable stand be threaded hole, just with 8 structure of screw rod
At threaded connection, the rotation of screw rod 8 then descends movable stand 34 to move up and down.First straight line bearing 33 is fixedly mounted on lower movable stand 34
On, polished rod 32 passes through 33 inner hole of first straight line bearing, guarantees that lower movable stand 34 will not be swung in this way.Lower movable stand right supported plate 15 is solid
On lower movable stand, lower movable stand left supported plate 16 is fixedly mounted on lower movable stand right supported plate 15 for Dingan County.The lower left branch of movable stand
Plate 16 and lower movable stand right supported plate 15 constitute the elbow joint of upper limb exoskeleton robot, thus lower movable stand 34 when moving up and down just
The distance between shoulder joint and the elbow joint of upper limb exoskeleton rehabilitation robot can be adjusted.
As shown in Figure 1, above-mentioned rocker assembly includes rotating wheel 24, permanent magnetic iron 23, handle 29 and housing 27.Above-mentioned rotation
Taking turns 24 centers has counter sink, is fixed together by third bolt 28 and worm screw 4.There is groove on rotating wheel 24, works as handle
29 when rotating 90 ° along 30 axis of the first master and slave dowel, and the housing 27 installed on handle 29 can enter the groove, to reduce rocking bar group
The volume that part is taken up space.Above-mentioned permanent magnetic iron 23 is fixedly connected on rotating wheel by the 4th bolt.Above-mentioned 29 left side of handle
There is through-hole, the first master and slave dowel 30 passes through the through-hole and links together with rotating wheel 24, therefore handle 29 can be with the first master and slave dowel 30
For axis rotation.The material of handle 29 is magnetic material, can be by forever when can be attracted by permanent magnetic iron 23, therefore be rotated up 90 °
Magnetic magnet 23 is sucked.Above-mentioned housing 27 is rotatably installed on handle 29 by 3rd bearing, fourth bearing 25 and the 5th bolt 26.
When therefore, it is necessary to adjust brachium, permanent magnetic iron 23 is overcome to make housing 27 and handle 29 along first the attraction of handle 29 first
30 axis of master and slave dowel turns to level, then holds housing 27 along 24 circular-rotation rotating wheel 24 of rotating wheel, so that worm and gear
Component movement, so that lower moving assembly moves up and down, to adjust brachium.After brachium is adjusted, by handle 29 along the
One master and slave dowel, 30 axis rotates 90 °, so that permanent magnetic iron 23 has attracted handle 29.
As shown in Fig. 2, compressed spring 22 is socketed in the outside of polished rod 32,22 upper end of compressed spring is fixed on top
18 bottom of right support, lower end are fixed on horizontal connecting plate 7 to apply elastic force to horizontal connecting plate 7.It is installed on horizontal connecting plate 7
There is second straight line bearing 31, polished rod 32 passes through 31 inner hole of second straight line bearing.Therefore horizontal connecting plate 7 can only be along on polished rod 32
Lower movement.The effect of compressed spring 22 is for ensuring that in brachium adjustment process, horizontal connecting plate 7 will not be moved upwards up to
The position that worm gear 3 is interfered.
As shown in figure 3, adaptive moving assembly includes second straight line bearing 31, horizontal connecting plate 7 and automatic adjusument group
Part.Second straight line bearing 31 is fixedly mounted on horizontal connecting plate 7, and polished rod 32 passes through inside second straight line bearing 31.Level is even
7 upper end of fishplate bar and compressed spring 22 are fixed.Automatic adjusument component includes that connector sleeve 5, left connecting rod slide block mechanism and right connecting rod are sliding
Block mechanism.Left connecting rod slide block mechanism includes left connecting rod 9 and left sliding seat 12.Right connecting rod slide block mechanism includes right connecting rod 10 and right cunning
Dynamic seat 11.Above-mentioned connector sleeve 5 is fixed on horizontal connecting plate 7.There is hole among connector sleeve 5, the 8th bolt 6 passes through 9 He of left connecting rod
The end of right connecting rod 10, so that left connecting rod 9 and right connecting rod 10 are rotatably installed on connector sleeve 5.Left sliding seat 12 and right sliding seat
11 are mounted on lower movable stand right supported plate 15.Below by taking left connecting rod slide block mechanism as an example explanation (right connecting rod slide block mechanism movement with
It is symmetrical), left connecting rod 9 has bar slot, and the second master and slave dowel 13 passes through bar slot and is fixed on left sliding seat 12, and movable stand is right instantly
When supporting plate 15 moves up and down, the second master and slave dowel 13 slides in the bar slot, and left connecting rod 9 is rotated around 6 axis of the 8th bolt.
9 end of left connecting rod is fixed with fixture block 14, and fixture block 14 can limit brachium adjustable range.Instantly movable stand right supported plate 15 is moved downwardly to
When second master and slave dowel 13 is contacted with fixture block 14, brachium adjusts the position that reaches capacity at this time, and lower movable stand right supported plate 15 can not
It moves still further below.Left connecting rod 9, left sliding seat 12, connector sleeve 5 and the 8th bolt 6 play limit levels connecting plate 7 around polished rod simultaneously
The effect of 32 rotations.When brachium is adjusted to most in short-term, lower movable stand 34 is moved upward to first straight line bearing 33 and second straight line
Bearing 31 contacts, and compressed spring 22 will generate elastic force to horizontal connecting plate 7 and play prevention with the increase of elastic force and move down at this time
The effect that moving frame 34 moves up.In the process, due to the elastic force of compressed spring 22, horizontal connecting plate 7 will not be with worm gear 3
Interference guarantees that adjustment process is safe and reliable.
The shoulder joint of upper limb exoskeleton rehabilitation robot and elbow joint are only reduced to upper connection component under by the present invention
Connection component.Therefore upper connection component is fixed at shoulder joint, lower connection component, which is fixed on elbow joint, can also constitute arm
Long regulating mechanism.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of brachium regulating device of upper limb exoskeleton rehabilitation robot, it is characterised in that: it include top left support (1),
Top right support (18), lower bracket (36) and the worm and gear component being arranged between upper and lower bracket,
The top left support (1) and top right support (18) are mounted on vertical connecting plate (17) two sides, the worm and gear
Component includes worm gear (3), worm screw (4) and screw rod (8), and worm screw (4) both ends are separately fixed at the top left support (1)
On top right support (18), which can be rotated about the axis, and the screw rod (8) is mounted on the top left support (1)
Between the boss and lower bracket (36) on right side, which can be rotated about the axis, and the worm gear (3) is coaxially mounted to screw rod
(8) top and the screw rod (8) rotate synchronously, and the right end of the top right support (18) is additionally provided with rocker assembly,
It is additionally provided with polished rod (32) between boss and lower bracket (36) on the right side of the top right support (18), the screw rod (8)
And polished rod (32) both passes through the horizontal connecting plate (7) and lower movable stand (34) being arranged between upper and lower bracket, the horizontal connection
Plate (7) and lower movable stand (34) can be moved up and down with the rotation of screw rod (8), the horizontal connecting plate (7) and lower movable stand (34)
Side be also fixedly installed with and move up and down component.
2. brachium regulating device as described in claim 1, which is characterized in that the rocker assembly includes rotating wheel (24), forever
Magnetic magnet (23), handle (29) and housing (27), worm screw (4) right end pass through the top right support (18) and the rotation
Wheel (24) center is fixedly connected, and the handle (29) connect with the rotating wheel (24), which drives above-mentioned rotating wheel
(24) it rotates, is provided with housing (27) outside the handle (29), the both ends of the housing (27) are internally provided with bearing, described
The inner hole of bearing and the handle (29) cooperate.
3. brachium regulating device as claimed in claim 2, which is characterized in that it is bigger to be provided with width on the rotating wheel (24)
Slot in housing (27) is fixedly installed with permanent magnetic iron (23) in slot, and the housing (27) can be folded into slot with handle (29)
It is interior, and fixation is sucked by the permanent magnetic iron (23).
4. brachium regulating device as claimed in claim 3, which is characterized in that be socketed with compressed spring on the outside of the polished rod (32)
(22), compressed spring (22) upper end is fixed on top right support (18) bottom, and compressed spring (22) lower end is solid
It is scheduled on the horizontal connecting plate (7) to apply elastic force to it.
5. brachium regulating device as claimed in claim 4, which is characterized in that pacify on the boss top of the top right support (18)
Equipped with polished rod collet (19), the polished rod collet (19) clamps polished rod (32) top, and polished rod (32) lower part is by the lower branch
Frame (36) clamps.
6. brachium regulating device as claimed in claim 5, which is characterized in that have through-hole on the horizontal connecting plate (7), this is logical
The diameter in hole is greater than the diameter of screw rod (8), and the screw rod (8) passes through horizontal connecting plate (7), and will not when screw rod (8) rotation
Interfere with horizontal connecting plate (7).
7. brachium regulating device as claimed in claim 6, which is characterized in that it is described move up and down component include be mounted on it is described
The side of linkage rod slide block mechanism between horizontal connecting plate (7) and lower movable stand (34), the horizontal connecting plate (7) is fixed with company
One end of female connector (5), left connecting rod (9) and right connecting rod (10) is installed in rotation on the connector sleeve (5), above-mentioned left linkages
The other end of (9,10) is provided with fixture block (14), and is provided with bar slot on the left connecting rod (9) and right connecting rod (10), under
Mobile left supported plate (16) are fixed on lower movable stand (34), and are led between lower mobile left supported plate (16) and lower mobile right supported plate (15)
It crosses bolt to fix, left slide (12) and right slide (11), the left slide (12) is fixed on the lower mobile right supported plate (15)
With the second master and slave dowel (13) are respectively fixed on right slide (11), second master and slave dowel (13) is slided in the bar slot.
8. brachium regulating device as claimed in claim 7, which is characterized in that be equipped with second on the horizontal connecting plate (7)
Linear bearing (31) is equipped with first straight line bearing (33) on the lower movable stand (34), the first straight line bearing (33) and
Second straight line bearing (31) is socketed on the polished rod (32), is moved up and down with the polished rod (32).
9. brachium regulating device as claimed in claim 8, which is characterized in that the top left support (1) and top right support
(18) there is bearing hole on, respectively correspond installation first bearing (2) and second bearing, worm screw (4) both ends are respectively by above-mentioned the
One bearing (2) and second bearing are fixed.
10. brachium regulating device as claimed in claim 9, which is characterized in that the boss of the top left support (1) is equipped with
Inner hole, the inner hole are equipped with 5th bearing (21), and inner hole is equipped with 6th bearing, the screw rod on the left of the lower bracket (36)
(8) there are threaded hole in top and bottom respectively, screw rod (8) top and the 5th bearing (21) inner hole, and by the 6th spiral shell
Bolt is fixedly mounted, screw rod (8) lower part and the 6th bearing inner hole, and is fixedly mounted by the 7th bolt.
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| CN201610954978.0A CN106551777B (en) | 2016-10-27 | 2016-10-27 | A kind of brachium regulating device of upper limb exoskeleton rehabilitation robot |
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| CN107015564B (en) * | 2017-05-17 | 2020-05-19 | 华中科技大学 | Walking-aid robot and combined intelligent control method |
| CN107471248B (en) * | 2017-09-29 | 2023-06-09 | 河北工业大学 | Width-adjustable self-retracting nursing robot is with embracing flexible arm mechanism |
| CN110327181B (en) * | 2019-07-08 | 2022-05-13 | 湖北英特搏智能机器有限公司 | Arm length adjusting device and tensioning mechanism of upper limb exoskeleton rehabilitation robot |
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| CN104622668A (en) * | 2015-03-04 | 2015-05-20 | 国家康复辅具研究中心 | Bionic shoulder joint movement rehabilitation training apparatus |
| CN104784889A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Upper limb rehabilitation training device |
| CN105520819A (en) * | 2014-10-24 | 2016-04-27 | 青岛世纪杰创医疗科技有限公司 | Exoskeleton-type shoulder girdle and upper limb synergistic rehabilitation robot |
| CN206660075U (en) * | 2016-10-27 | 2017-11-24 | 华中科技大学 | A kind of brachium adjusting means of upper limbs exoskeleton rehabilitation robot |
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| US8257283B2 (en) * | 2008-12-17 | 2012-09-04 | Lantz Medical Inc. | Method and apparatus for providing a dynamically loaded force and/or a static progressive force to a joint of a patient |
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| CN105520819A (en) * | 2014-10-24 | 2016-04-27 | 青岛世纪杰创医疗科技有限公司 | Exoskeleton-type shoulder girdle and upper limb synergistic rehabilitation robot |
| CN104622668A (en) * | 2015-03-04 | 2015-05-20 | 国家康复辅具研究中心 | Bionic shoulder joint movement rehabilitation training apparatus |
| CN104784889A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Upper limb rehabilitation training device |
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