CN114145964A - Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot - Google Patents
Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot Download PDFInfo
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- CN114145964A CN114145964A CN202111457212.9A CN202111457212A CN114145964A CN 114145964 A CN114145964 A CN 114145964A CN 202111457212 A CN202111457212 A CN 202111457212A CN 114145964 A CN114145964 A CN 114145964A
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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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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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
- A61H1/0218—Drawing-out devices
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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
- A61H1/0285—Hand
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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
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention belongs to the technical field of medical instruments, and particularly relates to a human-computer compatible two-stage parallel type wrist exoskeleton rehabilitation robot. The invention comprises a forearm supporting component, a sphere center adjusting component, a wrist training component and a holding rod; the center of sphere aligning member includes: the two first aligning branch chains, the second aligning branch chain and the primary movable platform; the first aligning branch comprises: the device comprises a first driving module, a sliding block, a first connecting rod and a second connecting rod; the second aligning branch comprises: the second driving module, the third connecting rod, the U-shaped block and the fourth connecting rod; the wrist training assembly comprises: the secondary moving platform and three driving branched chains which are arranged between the primary moving platform and the secondary moving platform in a circumferential array. The ball center adjusting component adopts a motion decoupling design, can realize the position adjustment of the ball center in the space so as to adapt to the change process of the instantaneous rotation center of the wrist in the rehabilitation process, has good man-machine compatibility, and effectively improves the motion precision.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a human-computer compatible two-stage parallel type wrist exoskeleton rehabilitation robot.
Background
The wrist joint is used as a link for connecting the hand and the forearm, one of the most frequently used joints is used in the daily activities of the human body, and the movement dysfunction of the wrist joint directly influences the daily life of a patient. In China, cardiovascular and cerebrovascular diseases are always a great threat to national health, and the number of patients with limb dyskinesia caused by cardiovascular and cerebrovascular diseases is high every year, so that various dyskinesia problems cause great obstacles to the normal lives of the patients. Patients suffering from parkinson's disease and stroke often experience wrist motor dysfunction and involuntary hand movements, particularly with significant disturbance to the patient's grasping action. In recent years, as the research of robots is converted from theoretical research to product development, the robot technology gradually falls on the ground, and a plurality of combined products capable of improving the livelihood and improving the production practice efficiency are generated. Under the background of combining robot technology and rehabilitation medicine, the rehabilitation robot takes place at the same time, and plays an important role in improving the motor ability of the old and patients with motor dysfunction and improving the living ability and the living quality of the old and the patients with motor dysfunction.
The existing wrist rehabilitation robots can be mainly divided into a serial type wrist rehabilitation robot and a parallel type wrist rehabilitation robot, the serial type wrist rehabilitation robot has the advantage of large working space, however, the motion precision is reduced due to the accumulated error at the tail end of the serial type robot; most of the existing parallel wrist joint rehabilitation robots adopt a spherical parallel mechanism form, the rotary motion of a movable platform is realized by driving each branched chain, and the coordinated and consistent motion of the center of the spherical parallel mechanism and the motion center of the wrist of a human body is difficult to realize; in addition, the traditional parallel wrist joint rehabilitation robot has the problems of strong coupling among the degrees of freedom of motion, low motion precision and large control difficulty, is easy to cause poor compatibility of the rehabilitation robot, and is easy to cause secondary damage to the wrist. Therefore, the wrist exoskeleton rehabilitation robot which has the advantages of coordinated and consistent movement of the spherical parallel mechanism center and the human wrist movement center, easy control and high safety needs to be developed.
Disclosure of Invention
The invention aims to overcome the defects of low motion precision, incapability of ensuring the cooperative and consistent motion of the center of a spherical parallel mechanism and the motion center of a human wrist, high control difficulty and poor man-machine compatibility in the prior art, and provides a man-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot which has high motion precision, cooperative and consistent motion of the center of the spherical parallel mechanism and the motion center of the human wrist, zero man-machine compatibility and high safety.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a human-computer compatible two-stage parallel type wrist exoskeleton rehabilitation robot is characterized in that: the wrist training device comprises a small arm supporting component, a sphere center adjusting component fixed on the small arm supporting component, a wrist training component rotationally connected with the sphere center adjusting component and a holding rod fixed on the wrist training component; the center of sphere aligning member includes: the first-stage movable platform is arranged on the lower arm support assembly, and a second alignment branched chain and two first alignment branched chains are arranged between the lower arm support assembly and the first-stage movable platform; the first aligning branch comprises: the first driving module, the sliding block, the first connecting rod and the second connecting rod; the first driving module is fixed on the small arm supporting assembly, one end of the sliding block is coaxially connected with an output shaft of the first driving module, the other end of the sliding block is rotatably connected with one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is coaxially and rotatably connected with the first-stage movable platform; the motion direction of the output shaft of the first driving module is parallel to the upper surface of the small arm supporting assembly; the second aligning branch comprises: the second driving module, the third connecting rod, the U-shaped block and the fourth connecting rod; the second driving module is fixed on the small arm supporting assembly, one end of the third connecting rod is coaxially connected with an output shaft of the second driving module, the other end of the third connecting rod is fixedly connected with the bottom end of the U-shaped block, the open end of the U-shaped block is coaxially and slidably connected with one end of the fourth connecting rod, and the other end of the fourth connecting rod is coaxially and slidably connected with the primary movable platform; the motion direction of the output shaft of the second driving module is vertical to the upper surface of the small arm supporting assembly.
Further, the wrist training assembly comprises: the two-stage movable platform and three driving branched chains which are arranged between the one-stage movable platform and the two-stage movable platform in a circumferential array; the active branched chain comprises: the driving motor, the first arc rod and the second arc rod; one end of the first arc rod is coaxially connected with an output shaft of the driving motor, the other end of the first arc rod is rotatably connected with one end of the second arc rod, and the other end of the second arc rod is rotatably connected with the second-stage movable platform.
Furthermore, the forearm support assembly comprises a support box and an arc-shaped support frame, the center of the support box is provided with an inner cylinder, the arc-shaped support frame is fixed on the inner side surface of the support box, and the arc-shaped support frame is located in the inner cylinder.
Furthermore, the upper surface of the supporting box is provided with a limiting hole for limiting the sliding block, and the sliding block extends out of the limiting hole.
Further, the below that the platform was moved to the one-level is fixed with first engaging lug, second engaging lug and third engaging lug, first engaging lug with contained angle between the second engaging lug is 90, the second engaging lug with contained angle between the third engaging lug is 135, first engaging lug with contained angle between the third engaging lug is 135.
Furthermore, the two second connecting rods are respectively and correspondingly connected with the first connecting lug and the second connecting lug in a coaxial rotating mode, and the fourth connecting rod is connected with the third connecting lug in a coaxial sliding mode.
Furthermore, the opening end of the U-shaped block and the end part of the third connecting lug are both provided with D-shaped holes, one end of the fourth connecting rod is coaxially and slidably connected with the D-shaped holes of the U-shaped block through a first D-shaped sliding rod, and the other end of the fourth connecting rod is coaxially and slidably connected with the D-shaped holes of the third connecting lug through a second D-shaped sliding rod.
Further, the first D-shaped sliding rod, the second D-shaped sliding rod and the fourth connecting rod are perpendicular to each other in pairs.
Further, the first arc rod and the second arc rod have the same structure.
Furthermore, a rubber sleeve is sleeved on the holding rod.
The two-stage parallel type wrist exoskeleton rehabilitation robot compatible with human and machine has the beneficial effects that:
1. the sphere center adjusting component adopts a motion decoupling design, the two first adjusting branched chains and the second adjusting branched chains respectively control the translational motion of the primary movable platform in the X axial direction, the Y axial direction and the Z axial direction, and the sphere center adjusting component can realize the position adjustment of the sphere center in the space so as to adapt to the change process of the instantaneous rotation center of the wrist in the rehabilitation process, has good man-machine compatibility and effectively improves the motion precision.
2. The wrist training assembly between the first-stage movable platform and the second-stage movable platform is driven to rotate by the three driving motors, so that the three-dimensional movement of the wrist joint of the patient is driven, the flexion/extension movement, the adduction/abduction movement and the internal rotation/external rotation training of the wrist joint can be realized, the movement precision is high, and the safety is good.
3. The two-stage parallel type wrist rehabilitation mechanism formed by the spherical center adjusting component and the wrist training component absorbs the advantages of the serial type and parallel type rehabilitation robots, and has the advantages of large working space and high movement precision.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a block diagram of a sphere center adjustment assembly according to an embodiment of the present invention;
FIG. 3 is a diagram of a first aligning branch structure according to an embodiment of the present invention;
FIG. 4 is a diagram of a second aligning branch structure according to an embodiment of the present invention;
FIG. 5 is a block diagram of a wrist training assembly according to an embodiment of the present invention;
FIG. 6 is a block diagram of an embodiment of the forearm support assembly of the invention;
FIG. 7 is a diagram of a primary motion platform configuration according to an embodiment of the present invention;
FIG. 8 is a block diagram of a secondary motion platform of an embodiment of the present invention.
In the figure, the device comprises a holding rod 1, a holding rod 2, a forearm supporting component 21, an inner cylinder 22, a supporting box 23, an arc-shaped supporting frame 24, a magic tape 3, a sphere center adjusting component 30, a first adjusting branched chain 301, a first driving module 302, a sliding block 303, a first connecting rod 304, a second connecting rod 305, a limiting hole 31, a second adjusting branched chain 311, a second driving module 312, a third connecting rod 313, a U-shaped block 314, a fourth connecting rod 315, a first D-shaped sliding rod 316, a second D-shaped sliding rod 32, a primary movable platform 33, a first connecting lug 34, a second connecting lug 35, a third connecting lug 4, a wrist training component 41, a driving motor 42, a first arc rod 43, a second arc rod 44, a secondary movable platform 45, a fourth connecting lug 46, a fifth connecting lug 5 and a rubber sleeve.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
It should be noted that, in the embodiment of the present invention, the up and down directions are the upward direction of the output shaft of the second driving module 311, and the opposite direction to the up direction is the down direction.
Fig. 1-8 show a specific embodiment of a human-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot according to the present invention, which comprises a forearm support assembly 2, a sphere alignment assembly 3 fixed on the forearm support assembly 2, a wrist training assembly 4 rotatably connected to the sphere alignment assembly 3, and a grip 1 fixed on the wrist training assembly 4; the center adjusting unit 3 includes: a first-stage movable platform 32, and a second alignment branched chain 31 and two first alignment branched chains 30 which are arranged between the small arm support assembly 2 and the first-stage movable platform 32; the movable platform 32 is rotationally connected with the first aligning branched chain 30, and the first-stage movable platform 32 is slidably connected with the second aligning branched chain 31; the first aligning branch 30 includes: a first driving module 301, a slider 302, a first link 303, and a second link 304; the first driving module 301 is fixed on the forearm support component 2, one end of the sliding block 302 is coaxially connected with the output shaft of the first driving module 301, the other end of the sliding block 302 is rotatably connected with one end of the first connecting rod 303, the other end of the first connecting rod 303 is rotatably connected with one end of the second connecting rod 304, and the other end of the second connecting rod 304 is coaxially and rotatably connected with the first-stage movable platform 32 through a rotating shaft; the rotating shaft is fixedly connected with the second connecting rod 304 through a set screw; the motion direction of the output shaft of the first driving module 301 is parallel to the upper surface of the forearm support assembly 2, the sliding block 302 is connected with the first connecting rod 303 through a revolute pair, the first connecting rod 303 is connected with the second connecting rod 304 through a revolute pair, the sliding block 302 is in a shape like a Chinese character 'hui', and the two first aligning branched chains 30 respectively control the translational motion of the first-stage movable platform 32 in the X axial direction and the Y axial direction, so that the motion control is simplified, and the motion precision is effectively improved.
Referring to fig. 4, the second aligning branch 31 includes: a second driving module 311, a third link 312, a U-shaped block 313, and a fourth link 314; the second driving module 311 is vertically fixed on the forearm support assembly 2, one end of the third connecting rod 312 is coaxially connected with an output shaft of the second driving module 311, the other end of the third connecting rod 312 is connected with the bottom end of the U-shaped block 313 through a bolt, the opening end of the U-shaped block 313 is coaxially and slidably connected with one end of the fourth connecting rod 314, and the other end of the fourth connecting rod 314 is coaxially and slidably connected with the primary movable platform 32; the open end of U-shaped piece 313 and the tip of third engaging lug 35 all are provided with D shape hole, the coaxial sliding connection in D shape hole of one end through first D shape slide bar 315 and U-shaped piece 313 of fourth connecting rod 314, the coaxial sliding connection in D shape hole through second D shape slide bar 316 and third engaging lug 35 of the other end of fourth connecting rod 314, first D shape slide bar 315 is through holding screw and the one end fixed connection of fourth connecting rod 314, second D shape slide bar 316 is through holding screw and the other end fixed connection of fourth connecting rod 314. The moving direction of the output shaft of the second driving module 311 is perpendicular to the upper surface of the forearm support assembly 2, and the first driving module 301 and the second driving module 311 can be hydraulic cylinders or electric push rods, but are not limited to the two; the first D-shaped sliding rod 315, the second D-shaped sliding rod 316 and the fourth connecting rod 314 are perpendicular to each other in pairs, the first D-shaped sliding rod 315 and a D-shaped hole of the U-shaped block 313 form sliding pair connection, and the second alignment branched chain 31 controls the translation motion of the primary movable platform 32 in the Z-axis direction. The ball center adjusting component 3 is a 2PRRR + PPP three-translation decoupling parallel mechanism, the position of the ball center in the space can be adjusted by the ball center adjusting component 3 to adapt to the change process of the instantaneous rotation center of the wrist in the rehabilitation process, and the man-machine compatibility of the wrist in the processes of flexion/extension, radial deviation/ulnar deviation and rotational in/out motion is effectively improved. The sphere center alignment component 3 adopts a motion decoupling design, and the two first alignment branched chains 30 and the second alignment branched chains 31 respectively control the translation motion of the primary movable platform 32 in the X axial direction, the Y axial direction and the Z axial direction, so that the motion control is simplified, and the motion precision is effectively improved.
Referring to fig. 5, wrist training assembly 4 comprises: a secondary moving platform 44 and three active branched chains arranged between the primary moving platform 32 and the secondary moving platform 44 in a circumferential array; the active branched chain comprises: a driving motor 41, a first arc lever 42, and a second arc lever 43; one end of the first arc rod 42 is coaxially connected with the output shaft of the driving motor 41, the other end of the first arc rod 42 is rotatably connected with one end of the second arc rod 43, and the other end of the second arc rod 43 is rotatably connected with the second-stage movable platform 44; the first arc rod 42 is rotatably connected to the primary movable platform 32. The included angles between the rotating shafts of the three driving motors 41 are all 120 degrees, the wrist training component 4 is a 3RRR three-rotation spherical surface parallel mechanism, two ends of the first arc rod 42 are both provided with round holes, and the axes of the two round holes are intersected at the same point and are positioned in the same plane; the wrist training component 4 can drive the wrist joint to realize three-rotation movement around the sphere center. The three driving motors 41 drive the secondary movable platform 44 together to drive the wrist to move comprehensively, so that the wrist training device is more suitable for the real movement track of the upper arm of a human body, the rehabilitation training effect is good, the three driving motors 41 respectively drive the patient to perform wrist bending/stretching, abduction/adduction and internal rotation/external rotation training, the wrist training device on the market at present drives the wrist joint to realize the training with three degrees of freedom, and the three rotating shafts are mutually perpendicular motors to realize the rotation around the three rotating shafts respectively. The first arc rod 42 and the second arc rod 43 have the same structure, and the first arc rod 42 and the second arc rod 43 are connected end to end, so that the center points of the first arc rod 42 and the second arc rod 43 can be coincided, the working space of the secondary movable platform 44 can be greatly increased, and the interference between the components is reduced to the minimum.
The 3-RRR three-rotation spherical parallel mechanism of the present embodiment is similar to a spherical crown in shape, and drives the rotation of the wrist training assembly 4 between the first-stage movable platform 32 and the second-stage movable platform 44 through the three driving motors 41, so as to drive the three-dimensional movement of the wrist joint, and realize the flexion/extension movement, the adduction/abduction movement, and the internal rotation/external rotation movement of the wrist joint.
As shown in fig. 6, the forearm support assembly 2 includes a support box 22 with an inner cylinder 21 at the center, an arc support frame 23 fixed on the inner side of the support box 22, and a magic tape 24 disposed on the inner side of the arc support frame 23 for fixing the forearm, wherein the arc support frame 23 is disposed in the inner cylinder 21. Utilize magic subsides 24 to make arc support frame 23 hug closely patient's forearm, make the training process more laminate human natural law. The desktop can be arranged in to supporting box 22, and in order to realize spacing to two sliding blocks 302, be provided with on supporting box 22's the upper surface to the spacing hole 305 of sliding block 302, sliding block 302 stretches out from spacing hole 305, and the assurance patient's that can be better safety can prevent effectively that the wrist from spraining when the training, has improved the security.
Referring to fig. 7 and 8, a first connecting lug 33, a second connecting lug 34 and a third connecting lug 35 are fixed below the primary moving platform 32, an included angle between the first connecting lug 33 and the second connecting lug 34 is 90 °, an included angle between the second connecting lug 34 and the third connecting lug 35 is 135 °, and an included angle between the first connecting lug 33 and the third connecting lug 35 is 135 °. The two second connecting rods 304 are respectively and correspondingly connected with the first connecting lug 33 and the second connecting lug 34 in a coaxial and rotating manner, and the fourth connecting rod 314 is connected with the third connecting lug 35 in a coaxial and sliding manner. Platform 32's top is moved to the one-level and is that circular array distributes has three fourth engaging lug 45, and the contained angle between two adjacent fourth engaging lugs 45 is 120, and revolute pair round hole has all been seted up to three fourth engaging lug 45's end, and the axis of the revolute pair round hole of three fourth engaging lug 45 intersects in a bit with the axis that platform 32 was moved to the one-level, and the one end of three first arc pole 42 is corresponding respectively and is connected through the revolute pair with three fourth engaging lug 45. Three fifth engaging lugs 46 are circumferentially distributed below the secondary movable platform 44 in an array manner, a revolute pair circular hole is formed in the tail end of each fifth engaging lug 46, the axis of the revolute pair circular hole of each fifth engaging lug 46 is intersected with the axis of the secondary movable platform 44 at one point, one end of each second circular-arc rod 43 is correspondingly connected with the first circular-arc rod 42 in a rotating manner, and the other end of each second circular-arc rod 43 is correspondingly connected with the fifth engaging lug 46 through a revolute pair.
As shown in figure 1, the holding rod 1 is fixed on a secondary movable platform 44, and in order to increase the comfort of a patient during training, a rubber sleeve 5 is sleeved on a middle straight rod of the holding rod 1.
During training, the hand of the patient penetrates out of the inner cylinder 21, the forearm of the patient is fixed on the arc-shaped support frame 23 through the magic tape 24, the holding rod 1 is held by the hand of the patient, the wrist joint of the patient is driven to bend/stretch, adduction/abduction and internal/external rotation rehabilitation training through the wrist training component 4, the sphere center adjusting component 3 can adapt to the change process of the wrist at the instantaneous rotation center in the rehabilitation process, the spherical center adjusting component has good man-machine compatibility, the movement precision is improved, the safety of the patient can be guaranteed, and secondary injury is effectively avoided.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. A human-computer compatible two-stage parallel type wrist exoskeleton rehabilitation robot is characterized in that: comprises a small arm supporting component (2), a sphere center adjusting component (3) fixed on the small arm supporting component (2), a wrist training component (4) arranged on the sphere center adjusting component (3) and a holding rod (1) with two ends fixed on the wrist training component (4); the center of sphere aligning assembly (3) comprises: a primary movable platform (32), and a second alignment branched chain (31) and two first alignment branched chains (30) which are arranged between the small arm supporting assembly (2) and the primary movable platform (32); the first aligning branch (30) comprises: a first drive module (301), a slide block (302), a first link (303), and a second link (304); the first driving module (301) is fixed on the small arm supporting assembly (2), one end of the sliding block (302) is coaxially connected with an output shaft of the first driving module (301), the other end of the sliding block (302) is rotatably connected with one end of the first connecting rod (303), the other end of the first connecting rod (303) is rotatably connected with one end of the second connecting rod (304), and the other end of the second connecting rod (304) is coaxially and rotatably connected with the primary movable platform (32); the motion direction of the output shaft of the first driving module (301) is parallel to the upper surface of the small arm supporting assembly (2); the second aligning branch (31) comprises: a second drive module (311), a third link (312), a U-shaped block (313), and a fourth link (314); the second driving module (311) is fixed on the small arm supporting assembly (2), one end of the third connecting rod (312) is coaxially connected with an output shaft of the second driving module (311), the other end of the third connecting rod (312) is fixedly connected with the bottom end of the U-shaped block (313), the opening end of the U-shaped block (313) is coaxially and slidably connected with one end of the fourth connecting rod (314), and the other end of the fourth connecting rod (314) is coaxially and slidably connected with the primary movable platform (32); the motion direction of the output shaft of the second driving module (311) is vertical to the upper surface of the small arm supporting component (2).
2. The human-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot of claim 1, wherein: the wrist training assembly (4) comprises: the two-stage movable platform (44) and three driving branched chains which are arranged between the first-stage movable platform (32) and the two-stage movable platform (44) in a circumferential array; the active branched chain comprises: a drive motor (41), a first arc rod (42) and a second arc rod (43); one end of the first arc rod (42) is coaxially connected with an output shaft of the driving motor (41), the other end of the first arc rod (42) is rotatably connected with one end of the second arc rod (43), and the other end of the second arc rod (43) is rotatably connected with the second-stage movable platform (44).
3. The human-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot of claim 1, wherein: the forearm support component (2) comprises a support box (22) with an inner cylinder (21) arranged at the center and an arc-shaped support frame (23) fixed on the inner side surface of the support box (22), wherein the arc-shaped support frame (23) is positioned in the inner cylinder (21).
4. The ergonomic dual stage parallel wrist exoskeleton rehabilitation robot of claim 3, wherein: the upper surface of the supporting box (22) is provided with a limiting hole (305) for limiting the sliding block (302), and the sliding block (302) extends out of the limiting hole (305).
5. The human-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot of claim 1, wherein: the below that platform (32) was moved to one-level is fixed with first engaging lug (33), second engaging lug (34) and third engaging lug (35), first engaging lug (33) with contained angle between second engaging lug (34) is 90, second engaging lug (34) with contained angle between third engaging lug (35) is 135, first engaging lug (33) with contained angle between third engaging lug (35) is 135.
6. The ergonomic dual stage parallel wrist exoskeleton rehabilitation robot of claim 5, wherein: the two second connecting rods (304) are respectively and correspondingly connected with the first connecting lug (33) and the second connecting lug (34) in a coaxial rotating mode, and the fourth connecting rod (314) is connected with the third connecting lug (35) in a coaxial sliding mode.
7. The ergonomic dual stage parallel wrist exoskeleton rehabilitation robot of claim 6, wherein: the opening end of the U-shaped block (313) and the tail end of the third connecting lug (35) are respectively provided with a D-shaped hole, one end of the fourth connecting rod (314) is coaxially and slidably connected with the D-shaped hole of the U-shaped block (313) through a first D-shaped sliding rod (315), and the other end of the fourth connecting rod (314) is coaxially and slidably connected with the D-shaped hole of the third connecting lug (35) through a second D-shaped sliding rod (316).
8. The ergonomic dual stage parallel wrist exoskeleton rehabilitation robot of claim 7, wherein: the first D-shaped sliding rod (315), the second D-shaped sliding rod (316) and the fourth connecting rod (314) are vertical in pairs.
9. The human-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot of claim 2, wherein: the first arc rod (42) and the second arc rod (43) have the same structure.
10. The human-machine compatible two-stage parallel wrist exoskeleton rehabilitation robot of claim 2, wherein: the holding rod (1) is fixed on the secondary movable platform (44), and a rubber sleeve (5) is sleeved on the holding rod (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111457212.9A CN114145964B (en) | 2021-12-01 | 2021-12-01 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111457212.9A CN114145964B (en) | 2021-12-01 | 2021-12-01 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114145964A true CN114145964A (en) | 2022-03-08 |
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