CN107669442B - A kind of flexible strand drive upper limb exoskeleton robot - Google Patents
A kind of flexible strand drive upper limb exoskeleton robot Download PDFInfo
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- CN107669442B CN107669442B CN201711066608.4A CN201711066608A CN107669442B CN 107669442 B CN107669442 B CN 107669442B CN 201711066608 A CN201711066608 A CN 201711066608A CN 107669442 B CN107669442 B CN 107669442B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 27
- 210000000245 forearm Anatomy 0.000 claims abstract description 97
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 92
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 52
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 48
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 16
- 238000012549 training Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible strands to drive upper limb exoskeleton robot, including knapsack, back width adjusting device, shoulder joint mechanism, upper arm lengths regulating device, elbow joint mechanism, forearm regulating device, wrist joint mechanism.Driving control system is placed among knapsack, back width adjusting device and knapsack cage connection, shoulder joint mechanism is connect with back width adjusting device, and shoulder joint mechanism is connected by upper arm lengths regulating device with elbow joint mechanism, and elbow joint is connected by forearm regulating device with wrist joint.The present invention by flexible actuator with rope drive transmission combined so that robot motion it is submissive, it is simple for structure it is compact, joint is light；It altogether include 4 active freedom degrees, 2 passive freedom degrees can be very good fitting human upper limb physiological structure；It is equipped with structure of adjusting length in back, upper arm, fore-arm, so that robot is adapted to the size of different users, more wearable property.The present invention can rehabilitation training and in terms of application.
Description
Technical field
The invention belongs to human body auxiliary robot fields, are related to a kind of upper limb exoskeleton robot, specifically a kind of flexibility
Rope drives upper limb exoskeleton robot.
Background technique
As aging of population accelerates, for the demand rapid growth of humanoid robot of helping the disabled of helping the elderly, and human upper limb is in day
It is often particularly significant in life, need power-assisted or training.Exoskeleton robot, which relies on, can effectively solve human motion dysfunction,
It drives user to carry out daily exercise or provide the advantages such as a part of power-assisted for human body, is widely noticed in recent years.
Compared to external mature upper limb exoskeleton robot technology, domestic research starting evening, level fall behind relatively, few
There is successful commercially produced product, is primarily present flexible deficiency, the problems such as shoulder joint section structure simplifies, and wearable property is poor.
It finds by prior art documents, Chinese invention patent application number 201510103109.2, the technology is public
A kind of exoskeleton wearable upper limb rehabilitation robot has been opened, has mainly included shoulder joint, elbow joint, wrist joint and hand ectoskeleton
Four part of structure, wherein shoulder joint does not consider the outer freedom degree of medial rotation/rotation, is the joint of a two-freedom, limits outside upper limb
The working space of bone robot.Driving method is directly placed on joint using disc type electric machine and harmonic speed reducer, so that respectively
Joint quality increases, and weakens its carrying load ability.
Chinese Patent Application No. 201320559244.4, the technology disclose a kind of upper limb ectoskeleton of pneumatic muscles driving
Servomechanism, including three back bracket, shoulder joint, elbow joint parts, wherein shoulder joint section structure is although have similar with human body
Three degree of freedom, but in fact only have flexion/extension freedom degree active drive may be implemented.The design has used pneumatic muscles+rope
Drive is driven, so that ectoskeleton movement has flexibility, and reduces the weight of each joint, but air pressure driving is vulnerable to environment
It influences, position control is inaccurate and energy efficiency is low.
Summary of the invention
The present invention is directed in view of the above shortcomings of the prior art, develop a kind of flexible strand drive upper limb exoskeleton robot.Core
The heart is to develop one kind to have motion flexibility and the stronger upper limb robot architecture of bio-imitability.
Known according to human upper limb locomotion mechanism, human upper limb is made of shoulder, upper arm, forearm and four part of palm, by shoulder
Joint, elbow joint, wrist joint, articulations digitorum manus connect each section.Wherein shoulder joint mainly have abduction/adduction, medial rotation/rotation it is outer, it is in the wrong/
Three kinds of movements are stretched, are a 3DOF flexural pivot joints；Elbow joint is mainly flexion/extension movement, is that a single-degree-of-freedom hinge closes
Section；Wrist joint mainly has medial rotation/rotation outer, abduction/adduction, three kinds of flexion/extension movements, be a single-degree-of-freedom pivot joint and it is double from
By the combination of degree condyloid joint.To match with human upper limb locomotion, 3 active freedom degrees are arranged in shoulder joint in robot, and elbow closes
2 passive freedom degrees are arranged in section 1 active freedom degree of setting, wrist joint.
It is combined in addition, the present invention drives transmission using flexible actuator+rope, develops a kind of flexible drive mode, wherein flexible
Driver selects series elastic driver, be rigidly connect between driving power source and load it is certain soft to obtain into spring
Property, rope, which drives, selects Bowden wire type, and the wirerope of Bowden cable also has certain flexibility, and the two combines, and robot motion can be made soft
Suitable, resistance to shock loads guarantees the safety of user；Rope drives transmission and can separate driver and the shoulder joint of robot, elbow joint,
By wirerope transition, power is transmitted, driver and control system are put into knapsack, and it is compact-sized light, it is easy to wear.
The present invention is achieved by the following technical solutions:
A kind of flexible strand drive upper limb exoskeleton robot, it is characterised in that: closed including knapsack, shoulder joint mechanism, upper arm, elbow
Save mechanism and forearm, the knapsack includes knapsack shell, be equipped in knapsack shell multiple drivers and with driver power transmission
Connected wire spool, the shoulder joint mechanism are a six bar mechanism comprising back link block, the first pedestal, the first master
Bar, the first secondary bar, the second mobile jib, the second secondary bar and the second pedestal, the back link block are mounted on knapsack by attachment device
On shell, back link block is equipped with the first connected therewith shoulder joint nodal axisn, and first pedestal one end is mounted on first by bearing
The first shoulder joint wire spool with the coaxial arrangement of the first shoulder joint nodal axisn, the first base are also fixed on shoulder joint nodal axisn, on the first pedestal
The seat other end is equipped with the second fixed shoulder joint nodal axisn, and first mobile jib one end is mounted on the second shoulder joint nodal axisn by bearing, and first
The second shoulder joint wire spool with the coaxial arrangement of the second shoulder joint nodal axisn is also fixed on mobile jib, the first mobile jib other end passes through pin shaft
It is connected with second mobile jib one end, the second mobile jib other end is hinged and connected with second pedestal one end, and the second pedestal other end is equipped with solid
Fixed third shoulder joint nodal axisn, the first secondary bar both ends are hinged and connected with the first pedestal and the second mobile jib respectively, the second secondary bar both ends point
It is not hinged and connected with the first mobile jib and the second pedestal, the first secondary bar and the second secondary bar are staggered, main with corresponding first respectively
Bar and the second mobile jib form parallelogram；Upper arm one end is mounted on third shoulder joint nodal axisn by bearing, also fixed on upper arm
Equipped with the third shoulder joint wire spool being coaxially disposed with third shoulder joint nodal axisn, the upper arm other end passes through elbow joint mechanism and forearm phase
Even, the forearm front end is equipped with wrist joint mechanism；It is corresponding in knapsack shell that three shoulder joint wire spools pass through rope drive respectively
Wire spool is connected.
As an improvement, three shoulder joint wire spools are respectively equipped with the coding fixed thereto being connected and be displaced for measuring angle
Device.
As an improvement, the attachment device is back width adjusting device comprising back pedestal, back shell, back are sliding
Block, adjusting rod, spring and handwheel, back shell one end are fixed on knapsack shell by back pedestal, are set on the pedestal of back
There is tapped through hole, adjusting rod is set in the shell of back, and the adjusting rod left end is to be with the matched threaded rod of tapped through hole, middle part
Polished rod, on the freely slidable polished rod covered in the middle part of adjusting rod of back sliding block, handwheel is fixedly mounted on adjusting rod right end, back
There are two identical springs for set respectively on the adjusting rod at sliding block both ends, by two springs back sliding block are tended on adjusting rod
Middle position, the slot that the back link block of shoulder joint mechanism is opened by back shell-side face are fixedly linked with back sliding block.
As an improvement, the screw pulley that back sliding block two sides are provided symmetrically, back shell two sides are respectively equipped with confession
The guide groove of screw pulley sliding.
As an improvement, the upper arm includes that the upper arm lengths that are connected with by the two of the first upper arm plate, the second upper arm plate are adjusted
Device, the upper arm lengths regulating device include upper arm shell and upper arm link in upper arm shell, upper arm locking sliding block and
Upper arm locking wrench, upper arm shell are fixedly mounted on the first upper arm plate lower part, and the upper arm link is fixedly mounted on the first upper arm plate
End, upper arm locking sliding block and upper arm link form sliding block guide track structure, and the second upper arm plate upper end and upper arm locking sliding block are solid
Fixed to be connected, upper arm locking sliding block side is provided with the gap of elastic compression, and upper arm locking sliding block, which is equipped with, passes perpendicularly through elastic compression seam
The screw hole of gap, upper arm locking wrench are made of the screw rod and handle being arranged in a mutually vertical manner, and screw rod passes through spiral shell on upper arm locking sliding block
Hole cooperation, is screwed out by the screw-in of screw rod and screw hole and is cooperated so that upper arm locking sliding block and upper arm link relative position lock or
Unlock, upper arm shell are equipped with the sliding slot slided up and down for upper arm locking wrench with upper arm locking sliding block.
As an improvement, the elbow joint mechanism includes elbow joint axis, elbow joint wire spool and encoder, the elbow joint axis
It is fixedly mounted on the second upper arm plate lower part, forearm and elbow joint wire spool to install on elbow joint axis by bearing, and forearm and elbow
Joint wire spool is fixedly linked, and encoder is fixed on elbow joint wire spool, and elbow joint wire spool is driven and knapsack shell by rope
Interior corresponding wire spool is connected.
As an improvement, second upper arm plate lower part and forearm opposite face are respectively equipped with both limitations relative rotation angle
Limited block.
As an improvement, the forearm includes that the forearm that is connected with by the two of the first forearm plate, the second forearm plate is adjusted
Device, the forearm regulating device include forearm shell and forearm link in forearm shell, forearm locking sliding block and
Forearm locking wrench, forearm shell are fixedly mounted on the first forearm plate lower part, and the forearm link is fixedly mounted on the first forearm plate
End, forearm locking sliding block and forearm link form sliding block guide track structure, and the second forearm plate upper end and forearm locking sliding block are solid
Fixed to be connected, forearm locking sliding block and forearm locking wrench mounting means and structure are pacified with upper arm locking sliding block and upper arm locking wrench
Dress mode and structure are just the same.
As an improvement, the wrist joint mechanism includes wrist joint outer ring, wrist joint sliding block, wrist joint inner ring and holding rod, wrist
Joint outer ring is fixedly mounted on the second forearm front edge of board, and the wrist joint outer ring inside is equipped with the sliding groove as its arc,
Wrist joint sliding block is set in sliding groove, is connected by connector with wrist joint sliding block on the outside of wrist joint inner ring, the holding rod passes through
Wrist joint connecting rod is mounted on wrist joint inner ring inner opposite end.
Preferably, the back link block and the first pedestal, the second pedestal and the first upper arm plate, the first forearm plate and second
There is limited block on upper arm plate opposite face, confined planes are all had on the outside of the first pedestal and the first mobile jib, realizes each freedom of shoulder joint
Spend angle limit.
Preferably, the exoskeleton robot passes through back bandage, two, upper arm staggered connector sleeves semi-flexible, wrist half
Flexible connecting sleeve, wrist holding rod are connect with user, and connecting portion has porous liner, ensure that the ectoskeleton machine
The wearable property of people, and make its wearing more comfortable.
Preferably, it is driven using duplex bearing at each axis, so that each cradle head smooth running, rubs small.
The present invention has the advantage that compared with prior art
1) it selects flexible actuator+rope to drive transmission to combine, so that upper limb exoskeleton robot is with moving, submissive, structure is simple
Clean compact, light weight.
2) 3 active freedom degrees are arranged in shoulder joint in upper limb exoskeleton robot, and 1 active freedom degree is arranged in elbow joint,
2 passive freedom degrees are arranged in wrist joint, and the motion range of each freedom degree has carried out reasonable distribution and limitation, can be fine
Fitting human upper limb physiological structure.
3) it selects six bar mechanism that freedom degree outside shoulder joint medial rotation/rotation is corresponded to shaft virtualization, concedes above shoulders of human body
Space, avoid robot from colliding with human body neck, guarantee user's safety, and robot is made to have larger work empty
Between.
4) structure of adjusting length is equipped with, it can be achieved that step-less adjustment in back, upper arm, fore-arm, so that robot can be with
Adapt to the size of different users, more wearable property.
Detailed description of the invention
Fig. 1 is overall schematic of the invention；
Fig. 2 is front side overall schematic of the invention；
Fig. 3 is inside backpacks structural schematic diagram；
Fig. 4 is back width adjusting device schematic diagram；
Fig. 5 is shoulder joint structural scheme of mechanism；
Fig. 6 is shoulder joint mechanism top view；
Fig. 7 is upper arm and forearm assembling schematic diagram；
Fig. 8 is upper arm decomposition diagram；
Fig. 9 is elbow joint mechanism perspective view of the explosion；
Figure 10 is forearm decomposition diagram；
Figure 11 is wrist joint mechanism perspective view of the explosion；
Figure 12 is six bar mechanism structure principle chart.
I-knapsack, II-back width adjusting device, III-shoulder joint mechanism, IV-upper arm lengths regulating device, V-elbow close
Save mechanism, VI-forearm regulating device, VII-wrist joint mechanism, 1- knapsack shell, 2- battery, 3- control panel, 4- driver
Fixed plate, 5- Bowden cable, 6- rope drive fixing seat, 7- wire spool, 8- DC servo motor, 9- series elastic driver, 10- coding
Device fixed frame, 11- driver encoder, the back 12- pedestal, 13- back stop, the first back 14- shell, the first screw rod of 15- are sliding
Wheel, the back 16- sliding block, 17- spring, 18- double offset ring spanner, 19- adjusting rod, the second screw pulley of 20-, the back 21- link block,
The second back 22- shell, 23- the first shoulder joint nodal axisn, the first pedestal of 24-, 25- the first shoulder joint wire spool, 26- encoder, 27-
One mobile jib, 28- the second shoulder joint wire spool, 29- the second shoulder joint nodal axisn, the first main shaft of 30-, the second mobile jib of 31-, 32- second are secondary
Bar, the first countershaft of 33-, the second main shaft of 34-, the second pedestal of 35-, the first upper arm plate of 36-, 37- third shoulder joint nodal axisn, 38- third
Shoulder joint wire spool, the second countershaft of 39-, the first secondary bar of 40-, 41- the first upper arm shell, the second upper arm plate of 42-, 43- upper arm link,
44- upper arm locking sliding block, 45- the second upper arm shell, 46- upper arm locking wrench, 47- elbow joint axis, 48- elbow joint rib bearing,
49- the first forearm plate, 50- elbow joint circlip, 51- elbow joint wire spool, 52- the first forearm shell, 53- the second forearm plate, before 54-
Arm link, 55- forearm locking sliding block, 56- the second forearm shell, 57- forearm locking wrench, 58- wrist joint outer ring, 59- wrist joint
Outer ring block, 60- wrist joint sliding block, 61- wrist joint link block, 62- wrist joint inner ring, 63- wrist joint connecting rod, 64- wrist joint
Circlip, 65- end cap, 66- holding rod bearing, 67- wrist joint axis, 68- holding rod.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
As depicted in figs. 1 and 2, robot of the invention includes knapsack I, back width adjusting device II, shoulder joint mechanism
III, upper arm lengths regulating device IV, elbow joint mechanism V, forearm regulating device VI, wrist joint mechanism VII.
As shown in figure 3, knapsack I of the invention includes knapsack shell 1, battery 2, control panel 3, driver fixed plate 4, Bowden
Line 5, rope drive fixing seat 6, wire spool), DC servo motor 8, series elastic driver 9, encoder fixed frame 10, driver compile
Code device 11.
It is 3 layers that entire knapsack I, which divides, and basecoat is battery 2, and the second layer is control panel 3 and driver fixed plate 4, most upper
One layer is driven the part that the compositions ropes such as fixing seat 10 drive transmission for series elastic driver 9 and wire spool 7, Bowden cable 5, rope.Direct current
Servo motor 8 is the power source of robot, and series elastic driver 9 generates output angle position by the relative rotation of inside and outside sleeve
It moves, wire spool 7 and the tail portion of 9 inner sleeve of series elastic driver are fixed by screw, therefore DC servo motor 8 drives series connection bullet
Property the rotation of 9 inner sleeve of driver, rotated to drive with the fixed wire spool 7 of inner sleeve, different wire spools 7 passes through Bowden cable
5 transition drive corresponding shoulder joint wire spool and elbow joint wire spool to rotate to drive articulation, realize driving.
As shown in figure 4, the back width adjusting device II of the invention is sliding including back pedestal 12, back shell, back
Block 16, adjusting rod 19, spring 17 and handwheel, the back shell are connected with the second back shell 22 by bolt by the first back shell 14
Composition, back shell one end are fixed on knapsack shell 1 by back pedestal 12, and back pedestal 12 is equipped with tapped through hole, are adjusted
Bar 19 is set in the shell of back, 19 left end of adjusting rod be with the matched threaded rod of tapped through hole, middle part is polished rod, and back is sliding
Freely slidable the covering of block 16 is being adjusted, and on the polished rod at 19 middle parts, handwheel is double offset ring spanner 18, the fixed peace of handwheel in the present embodiment
Mounted in 19 right end of adjusting rod, there are two identical springs 17 for set respectively on the adjusting rod 19 at 16 both ends of back sliding block, pass through two
Spring 17 makes back sliding block 16 tend to middle position on adjusting rod 19, and the back link block 21 of shoulder joint mechanism III passes through back
The slot that shell-side face is opened is fixedly linked with back sliding block 16；
Adjustment double offset ring spanner 18 can make adjusting rod 19 screw in back-out in the tapped through hole of back pedestal 12, so as to adjust
The relative distance of back sliding block 16 and back pedestal 12, and then adjust shoulder joint mechanism III and namely carried on the back relative to the distance of knapsack
Portion's width adjusting, after adjusting rod 19 and fixed pedestal 12 relative distance in back, i.e., after back width determines, back sliding block 16 exists
The sliding of 19 middle part left and right small range of adjusting rod, can make shoulder abduction/interior receipts freedom degree corresponds to shaft micro- with human motion or so
Width is adjusted.
As shown in Figure 5 and Figure 6, the shoulder joint mechanism III of the invention is a six bar mechanism comprising back connects
Meet block 21, the first pedestal 24, the first mobile jib 27, the first secondary bar 40, the second mobile jib 31, the second secondary bar 32 and the second pedestal 35, institute
It states back link block 21 to be mounted on the back sliding block 16 of back width adjusting device II by connector, on back link block 21
Equipped with the first connected therewith shoulder joint nodal axisn 23,24 one end of the first pedestal is mounted on the first shoulder joint nodal axisn 23 by bearing, the
The first shoulder joint wire spool 25 with the coaxial arrangement of the first shoulder joint nodal axisn 23, the first shoulder joint coiling are also fixed on one pedestal 24
Disk 25 is equipped with the encoder 26 being fixedly linked therewith by screw, for can be achieved to shoulder abduction/interior receipts freedom degree
Driving and angle displacement measurement；First pedestal, 24 other end is equipped with the second fixed shoulder joint nodal axisn 29, and 27 one end of the first mobile jib passes through
Bearing is mounted on the second shoulder joint nodal axisn 29, and second with the coaxial arrangement of the second shoulder joint nodal axisn 29 is also fixed on the first mobile jib 27
Shoulder joint wire spool 28, the second shoulder joint wire spool 28 be equipped with the encoder 26 being fixedly linked therewith by screw, it can be achieved that
Driving and angle displacement measurement to freedom degree outside shoulder joint medial rotation/rotation；First mobile jib, 27 other end passes through the first main shaft 30 and the
Two mobile jibs, 31 one end is hinged and connected, and 31 other end of the second mobile jib is hinged and connected by the second main shaft 34 and 35 one end of the second pedestal,
Second pedestal, 35 other end is equipped with fixed third shoulder joint nodal axisn 37, and 40 both ends of the first secondary bar pass through the first countershaft 33 and the respectively
One pedestal 24 and the second mobile jib 31 are hinged and connected, and 32 both ends of the second secondary bar pass through the second countershaft 39 and the first mobile jib 27 and respectively
Two pedestals 35 are hinged and connected, and the first secondary bar 40 and the second secondary bar 32 are staggered, respectively with corresponding first mobile jib 27 and second
Mobile jib 31 forms parallelogram；First upper arm plate, 36 upper end is mounted on third shoulder joint nodal axisn 37 by bearing, the first upper arm
The third shoulder joint wire spool 38 being coaxially disposed with third shoulder joint nodal axisn 37, third shoulder are also fixedly connected with by screw on plate 36
Joint wire spool 38 is equipped with the encoder 26 being fixedly linked therewith by screw, it can be achieved that shoulder joint flexion/extension freedom degree
Driving and angle displacement measurement；First shoulder joint wire spool 25, the second shoulder joint wire spool 28 and third shoulder joint wire spool 38 divide
Not Tong Guo Bowden cable 5 and corresponding wire spool in knapsack shell be connected, three shoulder joint wire spools are respectively equipped with phase fixed thereto
The encoder 26 even and for measuring angle being displaced.
Have on 24 opposite face of back link block 21 and the first pedestal, on 36 opposite face of the second pedestal 35 and the first upper arm plate
Confined planes are all had on the outside of limited block, the first pedestal 24 and the first mobile jib 27, it can be achieved that each freedom degree angle limit of shoulder joint.
Due to the characteristic that shoulder joint mechanism III is a six bar mechanism, the first shoulder joint nodal axisn 23 and third shoulder can be made
37 crossing point of axes O of joint shaft is in a stable position, in six bar mechanism motion process, the first shoulder joint nodal axisn 23 and third
Shoulder joint nodal axisn 37 is rotated around intersection point O always, and the following are the six bar mechanism principle used to the present invention explanations:
The outer freedom degree of medial rotation/rotation is the emphasis of shoulder joint design, and the design selects six bar mechanism to realize that it corresponds to shaft
Virtualization.Axis A1, axis A2 are respectively flexion/extension, the corresponding shaft of two freedom degrees of abduction/adduction as shown in figure 12.By weighing in parallel
The geometrical constraints such as conjunction can be such that the intersection point of axis A11, axis A2 fixes, corresponding first mobile jib 27 of Tu12Zhong, BD, corresponding second mobile jib of DF
31, AE corresponding first secondary bars 40, corresponding second secondary bar 32 of CG, the corresponding first shoulder joint nodal axisn 23 of axis A1, axis A2 correspond to third shoulder joint
Nodal axisn 37.
Using connecting rod AB as rack, freedom calculation is carried out to this six bar mechanism, shares 5 movable parts, 7 rotations
Pair brings plane mechanism freedom calculation formula into
F=3n- (2p1+ph)
In formula: F is plane mechanism freedom degree number, and n is movable part number, p1For low secondary number, phFor higher pair number.
The freedom degree for obtaining this six-bar linkage is 1, therefore it has fixed movement.Therefore, when connecting rod BD is rotated around B point, axis
A2 will be rotated relative to axis A1 around the shaft for crossing O point perpendicular to paper, and the shaft virtualization of the outer freedom degree of medial rotation/rotation can be realized.
To keep mechanism more beautiful, connecting rod is replaced with arcuation bar.
As shown in figure 8, upper arm of the present invention include the first upper arm plate 36, the second upper arm plate 42 be connected with by the two it is upper
Arm lengths regulating device IV, the upper arm lengths regulating device IV include upper arm shell and the upper arm link in upper arm shell
43, upper arm locking sliding block 44 and upper arm locking wrench 46, the upper arm shell are passed through by the first upper arm shell 41 and the second upper arm shell 45
Screw is connected to form, and upper arm shell is fixedly mounted on 36 lower part of the first upper arm plate by screw, and the upper arm link 43 passes through screw thread
Screw hole is fixedly mounted on the end of the first upper arm plate 36, and upper arm locking sliding block 44 and upper arm link 43 form sliding block guide track structure,
Second upper arm plate, 42 upper end is fixedly linked with upper arm locking sliding block 44, and 44 side of upper arm locking sliding block is provided with the seam of elastic compression
Gap, upper arm locking sliding block 44 are equipped with the screw hole for passing perpendicularly through elastic compression gap, and upper arm locking wrench 46 is by being arranged in a mutually vertical manner
Screw rod and handle composition, screw rod matched by screw hole cooperation on upper arm locking sliding block 44 by the back-out of the screw-in of screw rod and screw hole
It closes, so that upper arm locking sliding block 44 is locked or unlocked with 43 relative position of upper arm link, upper arm shell is equipped with to be pulled for upper arm locking
The sliding slot that hand 46 is slided up and down with upper arm locking sliding block 44.Upper arm locking sliding block 44 is by unscrewing or screwing upper arm locking wrench
46 can slide or lock in upper arm link 43, therefore upper arm lengths can be adjusted with human dimension.
As shown in figure 9, elbow joint mechanism V of the invention includes elbow joint axis 47, the second upper arm plate 42, elbow joint rib
Bearing 48, the first forearm plate 49, elbow joint circlip 50, elbow joint wire spool 51, encoder 26.
Wherein, the first forearm plate 49 and the second upper arm plate 42 are connect by elbow joint axis 47 with elbow joint rib bearing 48,
One end of elbow joint axis 47 and the second upper arm plate 42 are connected by screw to fixation, and the first forearm plate 49 can be opposite around elbow joint axis 47
Rotation.First forearm plate 49 and elbow joint wire spool 51, elbow joint wire spool 51 and encoder 26 be connected by screw to, it can be achieved that
Driving and angle displacement measurement to elbow joint flexion/extension freedom degree have on 42 opposite face of the first forearm plate 49 and the second upper arm plate
For limited block, it can be achieved that Angle of Elbow Joint limits, elbow joint wire spool 51 passes through Bowden cable 5 and corresponding coiling in knapsack shell 1
Disk is connected, and drives elbow joint wire spool 51 to rotate by the driver being connected in knapsack shell 1 with wire spool, to realize to elbow
The movement of joint flexion/extension.
As shown in Figure 10, forearm of the present invention includes the forearm that the first forearm plate 49, the second forearm plate 53 are connected with by the two
Length adjustment device VI, the forearm regulating device VI are pulled including forearm link 54, forearm locking sliding block 55, forearm locking
Hand 57 and forearm shell, the forearm shell are connected to form by the first forearm shell 52 and the second forearm shell 56 by screw.
Wherein forearm link 54 is connect by screw thread with 49 lower end of the first forearm plate, before forearm locking sliding block 55 and second
Arm plate 53 is fixedly linked by screw, and forearm shell is fixedly linked with the first forearm plate 49 by screw, forearm locking sliding block 55 with
The structure and mounting means of upper arm locking sliding block 44 are just the same, by unscrewing or screwing forearm locking wrench 57, forearm locking
Sliding block 55 can be slided or be locked in forearm link 54, therefore forearm can be adjusted with human dimension.
As shown in figure 11, VII wrist joint outer ring 58 of wrist joint mechanism of the invention, wrist joint outer ring block 59, wrist joint are sliding
Block 60, wrist joint link block 61, wrist joint inner ring 62, wrist joint connecting rod 63, wrist joint circlip 64, end cap 65, holding rod bearing 66,
Wrist joint axis 67 and holding rod 68.
Wherein, the outer middle side part of wrist joint outer ring 58 is fixedly mounted on 53 front end of the second forearm plate by screw, outside wrist joint
The sliding groove being equipped with as its arc on the inside of ring 58, wrist joint sliding block 60 can slide in the sliding groove of wrist joint outer ring 58,
Wrist joint sliding block 60 is connected by wrist joint link block 61 with the outer middle side part of wrist joint inner ring 62, and wrist joint inner ring 62 can be with respect to wrist
Joint outer ring 58 rotates, and can be realized and moves outside the passive medial rotation/rotation of wrist joint；62 one end of wrist joint connecting rod 63 and wrist joint inner ring
It is connected by screw to, wrist joint connecting rod 63 and holding rod 68 are connected by wrist joint axis 67 and holding rod bearing 66, wrist joint axis 67
One end is fixed by screw and wrist joint connecting rod 63, and holding rod 68 can be rotated relative to wrist joint connecting rod 63, and wrist joint quilt can be realized
Dynamic flexion/extension movement.
Claims (7)
1. a kind of flexible strand drives upper limb exoskeleton robot, it is characterised in that: including knapsack, shoulder joint mechanism, upper arm, elbow joint
Mechanism and forearm, the knapsack include knapsack shell, be equipped in knapsack shell multiple drivers and with driver power transmission phase
Even wire spool, the shoulder joint mechanism be a six bar mechanism, shoulder joint mechanism include back link block, the first pedestal,
First mobile jib, the first secondary bar, the second mobile jib, the second secondary bar and the second pedestal, the back link block are installed by attachment device
On knapsack shell, back link block is equipped with the first connected therewith shoulder joint nodal axisn, and first pedestal one end is installed by bearing
The first shoulder joint wire spool with the coaxial arrangement of the first shoulder joint nodal axisn is also fixed on the first shoulder joint nodal axisn, on the first pedestal,
The first pedestal other end is equipped with the second fixed shoulder joint nodal axisn, and first mobile jib one end is mounted on the second shoulder joint nodal axisn by bearing
On, the second shoulder joint wire spool with the coaxial arrangement of the second shoulder joint nodal axisn, the first mobile jib other end are also fixed on the first mobile jib
It is connected by pin shaft with second mobile jib one end, the second mobile jib other end is hinged and connected with second pedestal one end, and the second pedestal is another
End is equipped with fixed third shoulder joint nodal axisn, and the first secondary bar both ends are hinged and connected with the first pedestal and the second mobile jib respectively, and second is secondary
Bar both ends are hinged and connected with the first mobile jib and the second pedestal respectively, and the first secondary bar and the second secondary bar are staggered, respectively and accordingly
The first mobile jib and the second mobile jib formed parallelogram；Upper arm one end is mounted on third shoulder joint nodal axisn by bearing, upper arm
On be also fixed with third shoulder joint nodal axisn coaxial arrangement third shoulder joint wire spool, the upper arm other end pass through elbow joint mechanism
It is connected with forearm, the forearm front end is equipped with wrist joint mechanism；Three shoulder joint wire spools pass through rope respectively and drive and knapsack shell
Interior corresponding wire spool is connected；
Three shoulder joint wire spools are respectively equipped with the encoder fixed thereto being connected and be displaced for measuring angle；
The attachment device is back width adjusting device, and back width adjusting device includes back pedestal, back shell, back cunning
Block, adjusting rod, spring and handwheel, back shell one end are fixed on knapsack shell by back pedestal, are set on the pedestal of back
Have a tapped through hole, adjusting rod is set in the shell of back, the adjusting rod left end be with the matched threaded rod of tapped through hole, in adjusting rod
Portion is polished rod, and on the freely slidable polished rod covered in the middle part of adjusting rod of back sliding block, handwheel is fixedly mounted on adjusting rod right end,
There are two identical springs for set respectively on the adjusting rod at back sliding block both ends, make back sliding block tend to adjust by two springs
Middle position on bar, the slot that the back link block of shoulder joint mechanism is opened by back shell-side face are fixedly linked with back sliding block；
The upper arm includes the upper arm lengths regulating device that the first upper arm plate, the second upper arm plate are connected with by the two, the upper arm
Length adjustment device includes upper arm shell and upper arm link, upper arm locking sliding block and upper arm locking wrench in upper arm shell,
Upper arm shell is fixedly mounted on the first upper arm plate lower part, and the upper arm link is fixedly mounted on the end of the first upper arm plate, upper arm lock
Tight sliding block and upper arm link form sliding block guide track structure, and the second upper arm plate upper end is fixedly linked with upper arm locking sliding block, upper arm lock
Tight sliding block side is provided with the gap of elastic compression, and upper arm locking sliding block is equipped with the screw hole for passing perpendicularly through elastic compression gap, upper arm
Locking wrench is made of the screw rod and handle being arranged in a mutually vertical manner, and screw rod passes through spiral shell by screw hole cooperation on upper arm locking sliding block
The screw-in of bar and screw hole screws out cooperation, so that upper arm locking sliding block is locked or unlocked with upper arm link relative position, on upper arm shell
Equipped with the sliding slot slided up and down for upper arm locking wrench with upper arm locking sliding block.
2. a kind of flexible strand as described in claim 1 drives upper limb exoskeleton robot, it is characterised in that: the back sliding block two
The screw pulley that side is provided symmetrically, back shell two sides are respectively equipped with the guide groove for screw pulley sliding.
3. a kind of flexible strand as claimed in claim 2 drives upper limb exoskeleton robot, it is characterised in that: the elbow joint mechanism
Including elbow joint axis, elbow joint wire spool and encoder, the elbow joint axis is fixedly mounted on the second upper arm plate lower part, forearm and
Elbow joint wire spool is installed on elbow joint axis by bearing, and forearm and elbow joint wire spool are fixedly linked, and encoder is fixed on
On elbow joint wire spool, elbow joint wire spool is driven by rope to be connected with corresponding wire spool in knapsack shell.
4. a kind of flexible strand as claimed in claim 3 drives upper limb exoskeleton robot, it is characterised in that: second upper arm plate
Lower part and forearm opposite face are respectively equipped with the limited block of both limitations relative rotation angle.
5. a kind of flexible strand as claimed in claim 4 drives upper limb exoskeleton robot, it is characterised in that: the forearm includes the
The forearm regulating device that one forearm plate, the second forearm plate are connected with by the two, before the forearm regulating device includes
Arm shell and forearm link, forearm locking sliding block and forearm locking wrench in forearm shell, forearm shell are fixedly mounted on
One forearm plate lower part, the forearm link are fixedly mounted on the end of the first forearm plate, forearm locking sliding block and forearm link group
At sliding block guide track structure, the second forearm plate upper end is fixedly linked with forearm locking sliding block, and forearm locking sliding block and forearm locking are pulled
Hand mounting means and structure and upper arm locking sliding block and upper arm locking wrench mounting means and structure are just the same.
6. a kind of flexible strand as claimed in claim 5 drives upper limb exoskeleton robot, it is characterised in that: the wrist joint mechanism
Including wrist joint outer ring, wrist joint sliding block, wrist joint inner ring and holding rod, before wrist joint outer ring is fixedly mounted on the second forearm plate
End, the wrist joint outer ring inside are equipped with the sliding groove as its arc, and wrist joint sliding block is set in sliding groove, in wrist joint
It is connected by connector with wrist joint sliding block on the outside of ring, the holding rod is mounted on one on the inside of wrist joint inner ring by wrist joint connecting rod
End.
7. a kind of flexible strand as claimed in claim 6 drives upper limb exoskeleton robot, it is characterised in that: the back link block
And first between pedestal, between the second pedestal and the first upper arm plate and between the first forearm plate and the second upper arm plate on opposite face
There is limited block, confined planes are all had on the outside of the first pedestal and the first mobile jib, realizes each freedom degree angle limit of shoulder joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711066608.4A CN107669442B (en) | 2017-11-02 | 2017-11-02 | A kind of flexible strand drive upper limb exoskeleton robot |
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| CN201711066608.4A CN107669442B (en) | 2017-11-02 | 2017-11-02 | A kind of flexible strand drive upper limb exoskeleton robot |
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| CN107669442A CN107669442A (en) | 2018-02-09 |
| CN107669442B true CN107669442B (en) | 2019-10-11 |
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| CN108839002B (en) * | 2018-09-04 | 2024-02-02 | 赤源动力（大连）科技有限责任公司 | Wearable exoskeleton shoulder assistance device |
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| CN111888186B (en) * | 2020-07-21 | 2022-04-19 | 埃斯顿(南京)医疗科技有限公司 | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof |
| CN111956453B (en) * | 2020-08-31 | 2022-05-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible assistance exoskeleton |
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