CN110547945A - Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism - Google Patents
Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism Download PDFInfo
- Publication number
- CN110547945A CN110547945A CN201910835153.0A CN201910835153A CN110547945A CN 110547945 A CN110547945 A CN 110547945A CN 201910835153 A CN201910835153 A CN 201910835153A CN 110547945 A CN110547945 A CN 110547945A
- Authority
- CN
- China
- Prior art keywords
- elbow joint
- connecting plate
- sleeve
- small arm
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 35
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 102
- 210000000245 forearm Anatomy 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000003466 welding Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 210000003414 extremity Anatomy 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
Landscapes
- 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 discloses a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism which comprises a large arm sleeve, a first elbow joint connecting plate, a second elbow joint connecting plate, a small arm inner sleeve, a small arm outer sleeve, a brushless direct current motor, a servo motor, a connecting rod, a holding rod, a bearing, a first elbow joint passive connecting plate and a second elbow joint passive connecting plate. The big arm sleeve and the elbow joint connecting plate are fixed, and the brushless direct current motor is installed between the two elbow joint connecting plates and drives the small arm to rotate around the elbow joint in a horizontal plane. The servo motor is arranged on the inner sleeve of the small arm, the inner sleeve and the outer sleeve of the small arm are in clearance fit, the holding rod is connected with the outer sleeve of the small arm through the clamping groove, and the motor drives the outer sleeve of the small arm to rotate through gear transmission, so that the small arm is driven to rotate around the axis of the small arm. The invention can realize the rotation of the forearm around the axis of the forearm and the rotation of the forearm in the horizontal plane, and the arm sleeve structure has better supporting force for the arm, so that the arm can be in a completely relaxed state for rehabilitation and has good rehabilitation effect.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to an upper limb exoskeleton rehabilitation mechanism aiming at two degrees of freedom of a forearm.
Background
The upper limb rehabilitation robot is mainly used for assisting patients who have affected limb movement functions or have injured central nerves and can not freely control limb movement due to cerebral apoplexy. In terms of the manner of rehabilitation training, the upper limb rehabilitation robot can be classified into an exoskeleton type and a distal traction type. Compared with the latter, the exoskeleton type upper limb rehabilitation robot is more mature and intelligent in development, is designed according to the human engineering principle and by combining the bionic technology, is high in fitness with a human body, is comfortable and convenient to wear, and can provide more effective rehabilitation training for patients because each moving joint is provided with an independent driving unit.
although exoskeleton-type upper limb rehabilitation robots develop relatively mature, most exoskeleton-type upper limb rehabilitation robots still have some problems, such as: the device has the advantages of large volume, complex structure, inconvenient use, high cost, low integration level and the like, and is mostly single-joint rehabilitation equipment. Therefore, the development of the upper limb exoskeleton rehabilitation mechanism with simple structure, low cost and multi-joint rehabilitation equipment is significant.
disclosure of Invention
In order to overcome the defects, the invention discloses a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism which can realize rotation of a forearm around the axis of the forearm and rotation of the forearm in a horizontal plane, mainly aims at rehabilitation training of the forearm, has a simple structure, has better supporting force on the arm by an arm sleeve structure, can enable the arm to be in a completely relaxed state for rehabilitation, and has a good rehabilitation effect.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
A two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism is characterized in that: the device comprises a large arm sleeve, a first elbow joint connecting plate, a second elbow joint connecting plate, a small arm inner sleeve, a small arm outer sleeve, a driving motor, a servo motor, a connecting rod, a holding rod, a first elbow joint passive connecting plate and a second elbow joint passive connecting plate;
The upper arm sleeve and the first elbow joint connecting plate are fixed;
The large arm sleeve, the second elbow joint driven connecting plate, the first elbow joint driven connecting plate, the small arm inner sleeve and the servo motor are sequentially connected, and the servo motor, the small arm outer sleeve, the connecting rod and the holding rod are sequentially connected;
The driving motor drives the second elbow joint connecting plate to rotate, and further drives the small arm connected with the second elbow joint connecting plate to rotate around the elbow joint in the horizontal plane; the servo motor is arranged on the small arm inner sleeve and is meshed with the small arm inner sleeve, and the small arm inner sleeve and the small arm outer sleeve are in clearance fit; the connecting rod is connected with the small arm outer sleeve in a sliding mode through the clamping groove; the servo motor drives the small arm outer sleeve and the connecting rod to rotate, so that the small arm rotates around the axis of the small arm.
Furthermore, relative motion does not exist between the forearm inner sleeve and the servo motor and between the second elbow joint connecting plate, and relative rotation exists between the first elbow joint connecting plate and the second elbow joint connecting plate.
Further, the connecting rod and the forearm outer sleeve are connected with the finger through the clamping groove in a sliding manner: the third boss on the forearm outer sleeve is matched with the notch of the connecting rod, the length of the notch of the connecting rod is larger than that of the third boss on the forearm outer sleeve, and the third boss can slide in the notch of the connecting rod in a reciprocating mode.
Furthermore, one end of the large arm sleeve is provided with a first supporting structure, and one end of the small arm sleeve is provided with a second supporting structure.
furthermore, two first bosses which are symmetrical to each other are arranged on the outer side of the large arm sleeve, and first threaded holes are formed in the first bosses; one end of each of the first elbow joint connecting plate and the second elbow joint connecting plate is provided with a second threaded hole which completely penetrates through the first elbow joint connecting plate, and the other end of each of the first elbow joint connecting plate and the second elbow joint connecting plate is provided with a groove and a first threaded hole group; the upper surface and the lower surface of the driving motor are provided with second thread hole groups; one end of the small arm inner sleeve is provided with two second bosses and an extension plate which are symmetrical with each other, the second bosses are provided with third threaded holes, and the other end of the small arm inner sleeve is provided with an annular groove; a third thread hole group is arranged on the epitaxial plate; one end of the small arm outer sleeve is provided with a gear, and the other end of the small arm outer sleeve is provided with a third boss; the bottom surface of the servo motor is provided with a fourth thread hole group; the connecting rod is provided with a square notch at one end; one end of the first elbow joint passive connecting plate is provided with a circular groove; one end of the second elbow joint passive connecting plate is provided with a circular boss.
Furthermore, the servo motor drives the small arm outer sleeve and the holding rod to rotate through gear transmission, so that the small arm rotates around the axis of the small arm.
Furthermore, the first elbow joint connecting plate and the second elbow joint connecting plate are driving parts, and the two elbow joint connecting plates are respectively fixed on the upper surface and the lower surface of the brushless direct current motor through screws; the first elbow joint passive connecting plate and the second elbow joint passive connecting plate are passive parts, the two elbow joint passive connecting plates are fixed on the large arm sleeve and the small arm inner sleeve through screws respectively, and the circular groove in the first elbow joint passive connecting plate is in clearance fit with the circular boss in the second elbow joint passive connecting plate.
furthermore, the distance between the holding rod and the end surface of the inner sleeve of the small arm is adjusted according to the length of the arm of the person.
Furthermore, the first support structure and the second support structure on the large arm sleeve and the small arm inner sleeve are respectively connected with the large arm sleeve and the small arm inner sleeve in a welding mode, and the extension plate on the small arm inner sleeve is connected with the small arm sleeve in a welding mode.
Furthermore, a gear of the servo motor is connected with a gear of the small arm outer sleeve in a matched mode through a key.
Compared with the prior art, the invention has the beneficial effects that:
The forearm sleeve is the rigid rather than the first elbow joint connecting plate of being connected, and brushless DC motor (being driving motor) is as the drive original paper, drives second elbow joint connecting plate and rotates at the horizontal plane with the forearm part that second elbow joint connecting plate is connected, realizes forearm pivoted rehabilitation training of forearm in the horizontal plane.
the forearm inner sleeve and the servo motor connected with the forearm inner sleeve are static relative to the second elbow joint connecting plate, the forearm outer sleeve is in interference fit with the forearm inner sleeve, the boss on the forearm outer sleeve is matched with the square notch of the connecting rod, a person holds the holding rod, and the servo motor drives the forearm outer sleeve and the holding rod to rotate through gear transmission, so that the rotation of the forearm around the axis of the forearm is realized.
The supporting structure of one end on the big arm sleeve increases structural rigidity. The support structures on the large arm sleeve and the small arm inner sleeve are respectively connected with the large arm sleeve and the small arm inner sleeve in a welding mode, and the extension plate on the small arm inner sleeve is connected with the small arm sleeve in a welding mode. The arms of the user can be completely supported by the sleeve and can be in a relaxed state, and the two-degree-of-freedom rehabilitation training of the forearm can be carried out only by holding the holding rod with the palm.
The two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism can realize rotation of the forearm around the axis of the forearm and rotation of the forearm in the horizontal plane, mainly aims at rehabilitation training of the forearm, is simple in structure, has better supporting force on the arm due to the arm sleeve structure, can enable the arm to be in a completely relaxed state for rehabilitation, and is good in rehabilitation effect.
Drawings
FIG. 1 is a schematic overall view of a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism according to the present invention;
FIG. 2 is a large arm sleeve of a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of the present invention;
Fig. 3 is a first elbow joint connecting plate of the two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of the invention;
figure 4 is a second elbow joint connecting plate of a two degree of freedom upper limb exoskeleton rehabilitation mechanism of the present invention;
FIG. 5 is a brushless DC motor of a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism according to the present invention;
FIG. 6 is a forearm inner sleeve of a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of the present invention;
FIG. 7 is an outer sleeve of the forearm of the two degree of freedom upper limb exoskeleton rehabilitation mechanism of the present invention;
FIG. 8 is a servo motor of a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of the present invention;
FIG. 9 is a link of a two degree of freedom upper extremity exoskeleton rehabilitation mechanism of the present invention;
figure 10 is a first elbow joint passive connection plate of a two degree of freedom upper extremity exoskeleton rehabilitation mechanism of the present invention;
figure 11 is a second elbow joint passive connecting plate of a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of the invention.
Detailed Description
The present invention will be described in detail with reference to embodiments shown in the drawings.
as shown in fig. 1, the embodiment provides a two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism, which includes an upper arm sleeve 1, a first elbow joint connecting plate 2, a second elbow joint connecting plate 3, a brushless dc motor 4, a lower arm inner sleeve 5, a lower arm outer sleeve 6, a servo motor 7, a connecting rod 8, a holding rod 9, a first elbow joint passive connecting plate 10, and a second elbow joint passive connecting plate 11.
Big arm sleeve 1, first elbow joint connecting plate 2, brushless DC motor 4, second elbow joint connecting plate 3, forearm inner skleeve 5 connect gradually, and servo motor 7, forearm outer skleeve 6, connecting rod 8, holding rod 9 connect gradually, and big arm sleeve 1, the passive connecting plate 11 of second elbow joint, the passive connecting plate 10 of first elbow joint, forearm inner skleeve 5, servo motor 7 connect gradually, and servo motor 7 installs on the epitaxial plate of forearm inner skleeve 5. The number of the connecting rods 8 is 2, the two third bosses 6.2 on the small arm outer sleeve 6 are respectively matched with the square notches 8.1 of the two connecting rods, and the holding rod 9 is connected to the end parts of the two connecting rods.
Big arm sleeve 1 be immobile, the outside has two first bosss 1.3 of mutual symmetry, be provided with first screw hole 1.1 on the first boss, big arm sleeve one end has first bearing structure 1.2, first boss is close to first bearing structure, first bearing structure connects in sleeve tip and outwards stretches out, first boss is located the upper and lower section of thick bamboo face of big arm sleeve tip.
One end of the first elbow joint connecting plate 2 is provided with a second threaded hole 2.1 which is completely penetrated through, and the other end of the first elbow joint connecting plate is provided with a circular groove 2.2 and a first threaded hole group 2.3, wherein the first threaded hole group 2.3 is positioned in the circular groove 2.2 and penetrates through the circular groove; the second elbow joint connecting plate 3 is similar to the first elbow joint connecting plate 2 in structure.
The upper surface and the lower surface of the brushless direct current motor 4 are both provided with a second thread hole group 4.1.
One end of the small arm inner sleeve 5 is provided with a second supporting structure 5.4, two second bosses 5.5 which are symmetrical to each other and an extension plate 5.6, third threaded holes 5.1 are formed in the bosses, third threaded hole groups 5.3 are formed in the extension plate, an annular groove 5.2 is formed in the other end of the extension plate, the second bosses are close to the second supporting structure, the second supporting structure is connected to the upper surface of one end of the small arm inner sleeve 5 and extends outwards, and the extension plate 5.6 is located on the outer side of the supporting structure and is perpendicular to a cylindrical shaft of the small arm inner sleeve 5; the annular groove 5.2 is located at the other end of the inner forearm sleeve 5, close to and not at the edge of the other end of the inner forearm sleeve 5.
One end of the small arm outer sleeve 6 is provided with a gear structure 6.1, and the other end is provided with a third boss 6.2. The bottom surface of the servo motor 7 is provided with a fourth thread hole group 7.1; one end of the connecting rod is provided with a square notch 8.1.
one end of the first elbow joint passive connecting plate 10 is provided with a fourth threaded hole 10.2, and the other end of the first elbow joint passive connecting plate is provided with a circular groove 10.1; one end of the elbow joint second passive connecting plate 11 is provided with a fifth threaded hole 11.2, and the other end of the elbow joint second passive connecting plate is provided with a circular boss 11.1. The circular groove 10.1 on the first elbow joint passive connecting plate 10 is in clearance fit with the circular boss 11.1 on the second elbow joint passive connecting plate 11.
The first threaded holes 1.1 on the two symmetrical first bosses 1.3 of the large-arm sleeve are respectively matched, connected and fixed with the second threaded holes 2.1 of the first elbow joint connecting plate 2 and the fifth threaded holes 11.2 of the second elbow joint driven connecting plate 11 through screws; a first threaded hole group 2.3 on the first elbow joint connecting plate 2 is matched and connected with a second threaded hole group 4.1 on the lower surface of the brushless direct current motor 4 through screws; a second threaded hole group 4.1 on the upper surface of the brushless direct current motor 4 is matched and connected with a threaded hole group on the second elbow joint connecting plate 3 through a screw; the second elbow joint connecting plate 3 and the first elbow joint passive connecting plate 10 are respectively connected with third threaded holes 5.1 on symmetrical bosses on the forearm inner sleeve 5 in a screw fit manner; the bottom thread hole group 7.1 of the servo motor 7 is connected with the third thread hole group 5.2 on the extension plate of the inner sleeve of the forearm in a screw fit manner; the gear of the servo motor 7 is matched and connected with the gear 6.1 through a key; the gear of the servo motor 7 is meshed with the outer sleeve of the small arm; the inner sleeve and the outer sleeve of the small arm are in clearance fit; and a square notch 8.1 at one end of the connecting rod is matched and connected with a third boss 6.2 on the outer sleeve of the small arm.
the forearm sleeve is fixed rather than the first elbow joint connecting plate of being connected, and brushless DC motor is as the drive original paper, drives second elbow joint connecting plate 3, rotates at the horizontal plane with the forearm part that second elbow joint connecting plate 3 is connected, realizes forearm pivoted rehabilitation training in the horizontal plane of forearm.
The brushless direct current motor drives the second elbow joint connecting plate to rotate, and further drives the small arm connected with the second elbow joint connecting plate to rotate around the elbow joint in the horizontal plane; the servo motor is arranged on the small arm inner sleeve and is meshed with the small arm inner sleeve, and the small arm inner sleeve and the small arm outer sleeve are in clearance fit; the connecting rod is connected with the small arm outer sleeve in a sliding mode through the clamping groove; the servo motor drives the small arm outer sleeve and the connecting rod to rotate, so that the small arm rotates around the axis of the small arm.
The forearm inner sleeve and the servo motor connected with the forearm inner sleeve are static relative to the second elbow joint connecting plate 3, the forearm outer sleeve is in interference fit with the forearm inner sleeve, the third boss 6.2 on the forearm outer sleeve is matched with the square notch 8.1 of the connecting rod, a person holds the holding rod by hand, and the servo motor drives the forearm outer sleeve and the holding rod to rotate through gear transmission, so that the rotation of the forearm around the axis of the forearm is realized.
The length of the square notch 8.1 on the connecting rod is greater than the length of the third boss 6.2 on the forearm outer sleeve, the third boss can slide in the connecting rod notch in a reciprocating mode, the distance between the holding rod and the end face of the forearm inner sleeve can be adjusted according to the length of the arm of a person, and the novel telescopic handle is suitable for people with different arm lengths to use.
The invention mainly aims at the forearm rehabilitation training, can lead the arms of a person to be in a relaxed state and carry out two-degree-of-freedom rehabilitation training.
It should be noted that these embodiments are not intended to limit the present invention, and those skilled in the art should be able to make functional, methodical, or structural equivalents or substitutions according to these embodiments without departing from the scope of the present invention.
Claims (10)
1. A two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism is characterized in that: the device comprises a large arm sleeve, a first elbow joint connecting plate, a second elbow joint connecting plate, a small arm inner sleeve, a small arm outer sleeve, a driving motor, a servo motor, a connecting rod, a holding rod, a first elbow joint passive connecting plate and a second elbow joint passive connecting plate;
The upper arm sleeve and the first elbow joint connecting plate are fixed;
The large arm sleeve, the second elbow joint driven connecting plate, the first elbow joint driven connecting plate, the small arm inner sleeve and the servo motor are sequentially connected, and the servo motor, the small arm outer sleeve, the connecting rod and the holding rod are sequentially connected;
The driving motor drives the second elbow joint connecting plate to rotate, and further drives the small arm connected with the second elbow joint connecting plate to rotate around the elbow joint in the horizontal plane; the servo motor is arranged on the small arm inner sleeve and is meshed with the small arm inner sleeve, and the small arm inner sleeve and the small arm outer sleeve are in clearance fit; the connecting rod is connected with the small arm outer sleeve in a sliding mode through the clamping groove; the servo motor drives the small arm outer sleeve and the connecting rod to rotate, so that the small arm rotates around the axis of the small arm.
2. The two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein: there is no relative motion between the forearm inner sleeve and the servo motor and the second elbow joint connecting plate, and there is relative rotation between the first elbow joint connecting plate and the second elbow joint connecting plate.
3. The two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein: the connecting rod and the forearm outer sleeve are connected with the finger through the clamping groove in a sliding manner: the third boss on the forearm outer sleeve is matched with the notch of the connecting rod, the length of the notch of the connecting rod is larger than that of the third boss on the forearm outer sleeve, and the third boss can slide in the notch of the connecting rod in a reciprocating mode.
4. the two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein: one end of the large arm sleeve is provided with a first supporting structure, and one end of the small arm inner sleeve is provided with a second supporting structure.
5. the two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein: two first bosses which are symmetrical to each other are arranged on the outer side of the large arm sleeve, and first threaded holes are formed in the first bosses; one end of each of the first elbow joint connecting plate and the second elbow joint connecting plate is provided with a second threaded hole which completely penetrates through the first elbow joint connecting plate, and the other end of each of the first elbow joint connecting plate and the second elbow joint connecting plate is provided with a groove and a first threaded hole group; the upper surface and the lower surface of the driving motor are provided with second thread hole groups; one end of the small arm inner sleeve is provided with two second bosses and an extension plate which are symmetrical with each other, the second bosses are provided with third threaded holes, and the other end of the small arm inner sleeve is provided with an annular groove; a third thread hole group is arranged on the epitaxial plate; one end of the small arm outer sleeve is provided with a gear, and the other end of the small arm outer sleeve is provided with a third boss; the bottom surface of the servo motor is provided with a fourth thread hole group; the connecting rod is provided with a square notch at one end; one end of the first elbow joint passive connecting plate is provided with a circular groove; one end of the second elbow joint passive connecting plate is provided with a circular boss.
6. the two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein the servo motor drives the outer sleeve of the forearm and the holding rod to rotate through gear transmission, so that the forearm rotates around the axis of the forearm.
7. The two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism according to claim 1, wherein the first elbow joint connecting plate and the second elbow joint connecting plate are active parts, and the two elbow joint connecting plates are respectively fixed on the upper surface and the lower surface of the brushless direct current motor through screws; the first elbow joint passive connecting plate and the second elbow joint passive connecting plate are passive parts, the two elbow joint passive connecting plates are fixed on the large arm sleeve and the small arm inner sleeve through screws respectively, and the circular groove in the first elbow joint passive connecting plate is in clearance fit with the circular boss in the second elbow joint passive connecting plate.
8. the two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein the distance between the holding rod and the end surface of the inner sleeve of the forearm is adjusted according to the length of the human arm.
9. the two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism according to claim 1, wherein the first and second support structures on the upper arm sleeve and the lower arm inner sleeve are respectively connected with the upper arm sleeve and the lower arm inner sleeve in a welding manner, and the extension plate on the lower arm inner sleeve is connected with the lower arm sleeve in a welding manner.
10. The two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism of claim 1, wherein the gear of the servo motor is in fit connection with the gear of the outer sleeve of the forearm through a key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910835153.0A CN110547945A (en) | 2019-09-05 | 2019-09-05 | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910835153.0A CN110547945A (en) | 2019-09-05 | 2019-09-05 | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110547945A true CN110547945A (en) | 2019-12-10 |
Family
ID=68739042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910835153.0A Pending CN110547945A (en) | 2019-09-05 | 2019-09-05 | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110547945A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513985A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军陆军军医大学第二附属医院 | Limb placing and fixing device suitable for hemiplegic patients |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | Arm auxiliary device |
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
| CN112603631A (en) * | 2021-01-27 | 2021-04-06 | 米朝清 | Auxiliary bone fixing device for medical treatment |
| CN112691000A (en) * | 2021-01-13 | 2021-04-23 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090030353A1 (en) * | 2007-07-25 | 2009-01-29 | Bonutti Peter M | Orthosis Apparatus and Method of Using an Orthosis Apparatus |
| CN104287942A (en) * | 2014-10-09 | 2015-01-21 | 上海理工大学 | Wearable elbow joint rehabilitation robot device |
| CN205795993U (en) * | 2016-04-18 | 2016-12-14 | 常熟理工学院 | Healing robot |
| CN108582155A (en) * | 2018-04-16 | 2018-09-28 | 西北工业大学 | It is a kind of that there is the mechanical arm for pressing down function of quivering |
| CN109481225A (en) * | 2018-09-30 | 2019-03-19 | 上海神添实业有限公司 | A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system |
-
2019
- 2019-09-05 CN CN201910835153.0A patent/CN110547945A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090030353A1 (en) * | 2007-07-25 | 2009-01-29 | Bonutti Peter M | Orthosis Apparatus and Method of Using an Orthosis Apparatus |
| CN104287942A (en) * | 2014-10-09 | 2015-01-21 | 上海理工大学 | Wearable elbow joint rehabilitation robot device |
| CN205795993U (en) * | 2016-04-18 | 2016-12-14 | 常熟理工学院 | Healing robot |
| CN108582155A (en) * | 2018-04-16 | 2018-09-28 | 西北工业大学 | It is a kind of that there is the mechanical arm for pressing down function of quivering |
| CN109481225A (en) * | 2018-09-30 | 2019-03-19 | 上海神添实业有限公司 | A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513985A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军陆军军医大学第二附属医院 | Limb placing and fixing device suitable for hemiplegic patients |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | Arm auxiliary device |
| CN112587370A (en) * | 2020-12-14 | 2021-04-02 | 南京励智心理大数据产业研究院有限公司 | Wearable upper limb flexible rehabilitation robot |
| CN112691000A (en) * | 2021-01-13 | 2021-04-23 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN112603631A (en) * | 2021-01-27 | 2021-04-06 | 米朝清 | Auxiliary bone fixing device for medical treatment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110859731B (en) | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot | |
| CN110547945A (en) | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism | |
| US20200093677A1 (en) | Multifunctional hand rehabilitation training device | |
| US10987271B2 (en) | Upper limb exoskeleton rehabilitation device with man-machine motion matching and side-to- side interchanging | |
| CN107854277B (en) | Wrist joint rehabilitation training device | |
| CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
| CN110339021B (en) | Wrist rehabilitation robot with three degrees of freedom | |
| CN104367405B (en) | A kind of apery myoelectricity artificial hand | |
| CN203790256U (en) | Upper limb rehabilitation training device | |
| CN107320910A (en) | A kind of submissive rehabilitation ectoskeleton of upper limbs | |
| CN104287944B (en) | A kind of upper limb rehabilitation robot | |
| CN102499857A (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| CN105252522A (en) | Flexible transmission upper-limb exoskeleton robot for wearing | |
| CN102805697B (en) | Cross universal rocker type upper limb rehabilitation machine | |
| CN105520820A (en) | Three-freedom-degree wrist function rehabilitation robot | |
| CN102274107A (en) | Fixed exoskeleton rehabilitation training manipulator | |
| CN110123584B (en) | Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
| CN109662867A (en) | Based on the improved ankle rehabilitation institution of Stewart platform | |
| CN105877972B (en) | A kind of exoskeleton rehabilitation robotic arm rotary joint | |
| WO2021068543A1 (en) | Wearable training robot for upper limb rehabilitation with precise force control function | |
| CN109498373A (en) | Wearable hand healing robot | |
| CN112022622A (en) | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient | |
| CN114145964A (en) | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot | |
| CN110123585B (en) | Wrist rehabilitation training mechanism for upper limb rehabilitation mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191210 |