CN114917109B - Wrist rehabilitation exoskeleton robot - Google Patents
Wrist rehabilitation exoskeleton robot Download PDFInfo
- Publication number
- CN114917109B CN114917109B CN202210543696.7A CN202210543696A CN114917109B CN 114917109 B CN114917109 B CN 114917109B CN 202210543696 A CN202210543696 A CN 202210543696A CN 114917109 B CN114917109 B CN 114917109B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 239000002184 metal Substances 0.000 claims description 39
- 238000009434 installation Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010060820 Joint injury Diseases 0.000 description 2
- 208000027669 Wrist injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 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
- A61H1/0285—Hand
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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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 relates to the technical field of medical equipment, in particular to a structural design of a wrist rehabilitation exoskeleton robot, which comprises the following components: function execution device, strutting arrangement and power supply device. The method is characterized in that: the power supply device is fixed on the supporting device through bolts; the function executing device is connected to the supporting device through bolts, all parts of the function executing device are also connected with each other through bolts in a clearance mode, and all parts of the supporting device are fixedly connected through bolts. Making it a whole. The wrist part is marked as X, Y, Z in three directions, and the wrist rehabilitation exoskeleton robot can realize rotary motion in three directions, so that the wrist rehabilitation exoskeleton robot can be more attached to the motion condition of a patient with the damaged wrist, and the rehabilitation process of the patient is easier and more comfortable.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an exoskeleton mechanical structure for assisting rehabilitation after wrist injury.
Background
The wrist is the most used part of various movable upper limbs in the life of people, and the most easily damaged part is, and the damage of the wrist brings great inconvenience to the life of people, so that a patient cannot perform simple daily activities even. How to quickly recover the damaged wrist, and how to design and manufacture a wrist joint rehabilitation training robot which is more convenient and perfect are important in the current work. Over the last decades, several rehabilitation teams have begun to incorporate exoskeleton rehabilitation robot-assisted therapies into their rehabilitation programs. Such treatment represents a novel and promising approach in wrist rehabilitation exoskeleton robots. The exoskeleton robot device used in rehabilitation can provide accurate and repeated movements for patients, and can be used as a reliable means for wrist injury rehabilitation training. The use of exoskeleton robotic devices to assist in rehabilitation therapy is not only accepted by the medical community, but is even considered a better approach to wrist rehabilitation training.
When existing wrist rehabilitation training devices are used for medical purposes, problems still face: first aspect: the existing wrist rehabilitation training device has the degree of freedom that certain specific compound motions can not be completed; second aspect: the connecting pieces have large friction, unsmooth operation, large instrument mass, secondary injury to patients and the like.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides the wrist rehabilitation exoskeleton robot, and effectively solves the problems of low degree of freedom, unsmooth operation and high quality of the prior wrist rehabilitation training device.
The invention realizes the aim by adopting the following technical scheme:
a wrist rehabilitation exoskeleton robot structural design comprising: function execution device (I), strutting arrangement (II) and power supply unit (III).
Further, two ends of the Y-axis rocker of the function executing device I are respectively connected with the Y-axis auxiliary rocker and the Y-axis rocker through hinging rods; one end of the Y-axis auxiliary rocker is connected with the grab handle frame through a hinging rod; one end of the Y-axis rocker is fixed on the crank fixing frame through a hinging rod; one end of the Z-axis rocker is connected with the grab handle frame through a hinging rod; the grab handle is arranged in the grab handle frame through the chute; the other end of the Z-axis rocker is connected with the Z-axis rocker through a hinging rod, and the other hole at the end of the Z-axis rocker is connected with a crank fixing frame through a hinging rod; the Z-axis swing rod is arranged on the Z-axis driving block through a hinging rod; the Y-axis swing rod is arranged on the Y-axis driving block through a hinging rod.
Further, the mounting bottom plate of the supporting device II is fixedly connected with the crank fixing frame through bolts; the ball screw mounting sheet metal is fixedly connected to the corresponding position of the mounting bottom plate through bolts; the motor fixing plate is fixedly connected to the mounting bottom plate through bolts; the upper fixing plate is fixedly connected to the mounting bottom plate through bolts; the lower fixing plate is fixedly connected to the motor fixing plate through bolts; the round fixing frame is fixedly connected to the mounting bottom plate through bolts.
Further, the Y-axis motor of the power supply device III is fixed on the motor fixing plate through bolts; the X-axis motor is fixed on the upper fixing plate and the lower fixing plate through bolts; the Z-axis motor is fixed on the motor fixing plate through bolts; the X-axis driving gear is arranged at the output end of the bearing of the X-axis motor; the Y-axis rotating speed regulator is connected to the Y-axis basic block through a bolt; the Y-axis driving belt pulley is arranged at the output end of the Y-axis motor bearing; the Y-axis driven belt pulley is arranged at the input end of the Y-axis lead screw; the Z-axis driven belt pulley is arranged at the input end of the Z-axis lead screw; the Z-axis driving belt pulley is arranged at the output end of the Z-axis motor; the X-axis driven gear is arranged on the inner ring of the X-axis driven gear bearing; the inner ring of the X-axis driven gear bearing is arranged on the circular fixing frame; the Y-axis driving block is arranged on the Y-axis lead screw; the Z-axis driving block is arranged on the Z-axis lead screw; the Y-axis basic block is arranged at the rear end of the Y-axis lead screw; the Z-axis basic block is arranged at the rear end of the Z-axis lead screw; the Y-axis speed limiting spring is sleeved on the Y-axis screw rod and is positioned between the Y-axis basic block and the Y-axis driving block; the Z-axis speed limiting spring is sleeved on the Z-axis screw rod and is positioned between the Z-axis basic block and the Z-axis driving block; the X-axis driving gear safety cover is arranged on the motor fixing plate; the Y-axis screw is arranged on the Y-axis ball screw upper bearing device and the Y-axis ball screw lower bearing device; the Z-axis screw is arranged on the lower bearing device of the Z-axis ball screw and the upper bearing device of the Z-axis ball screw.
Further, the Z-axis ball screw of the ball screw installation metal plate is installed on the lower metal plate, the Z-axis ball screw is installed on the upper metal plate, the Y-axis ball screw is installed on the lower metal plate, and the Y-axis ball screw is installed on the upper metal plate and is fixed on the installation bottom plate through bolts.
Further, the lower Z-axis ball screw bearing device of the ball screw bearing device is fixed on the lower Z-axis ball screw mounting sheet metal through a bolt; the lower bearing device of the Y-axis ball screw is fixed on the lower metal plate of the Y-axis ball screw through a bolt; the Z-axis ball screw upper bearing device is fixed on the Z-axis ball screw mounting upper sheet metal through a bolt; the bearing device on the Y-axis ball screw is fixed on the metal plate on the Y-axis ball screw through a bolt.
The beneficial effects are that:
compared with the prior art, the invention has the beneficial effects that:
the effect of the technical scheme is described in a literal way. The invention adopts three identical two-phase hybrid stepping motors fixed together to provide the rotation motion of the wrist joint X, Y, Z in three directions. The Y-axis motor and the Z-axis motor are driven by a belt, a parallel spherical mechanism is utilized to transmit the motion of the slider crank mechanism, the Y-axis and Z-axis rotation output of the wrist is provided, the Y-axis and Z-axis rotation motion is completed, and in the X-axis rotation motion, the X-axis motor completes the X-axis rotation motion through gear transmission. The wrist rehabilitation exoskeleton robot has the advantages that the design of the wrist rehabilitation exoskeleton robot can meet various movements of wrist parts, and has three degrees of freedom, and the wrist rehabilitation exoskeleton robot is compact in design structure and smooth in movement, so that the problem of single movement fluency and movement mode of the device is effectively solved.
Drawings
FIG. 1 is a general block diagram of the present invention;
FIG. 2 is a schematic diagram of a function execution device;
FIG. 3 is a schematic view of a support structure;
FIG. 4 is a schematic diagram of a power supply arrangement;
in the figure, a 1-Y shaft rocker, a 2-Y shaft auxiliary rocker, a 3-grab handle, a 4-grab handle frame, a 5-Z shaft rocker, a 6-Z shaft rocker, a 7-Y shaft rocker, an 8-installation bottom plate, a 9-crank fixing frame, a 10-1-Z shaft ball screw lower bearing device, a 10-2-Y shaft ball screw lower bearing device, a 10-3-Z shaft ball screw upper bearing device, a 10-4-Y shaft ball screw upper bearing device, a 11-1-Z shaft ball screw installation lower metal plate, a 11-2-Z shaft ball screw installation upper metal plate, a 11-3-Y shaft ball screw installation lower metal plate, a 11-4-Y shaft ball screw installation upper metal plate, a 12-motor fixing plate the device comprises a 13-lower fixed plate, a 14-upper fixed plate, a 15-Y shaft motor, a 16-X shaft motor, a 17-Z shaft motor, an 18-X shaft driving gear, a 19-Y shaft rotating speed regulator, a 20-Y shaft driving belt pulley, a 21-Y shaft driven belt pulley, a 22-Z shaft driven belt pulley, a 23-Z shaft driving belt pulley, a 24-X shaft driven gear, a 25-X shaft driven gear bearing inner ring, a 26-Y shaft driving block, a 27-Z shaft driving block, a 28-Y shaft basic block, a 29-Z shaft basic block, a 30-Y shaft speed limiting spring, a 31-Z shaft speed limiting spring, a 32-X shaft driving gear An Quangai, a 33-Y shaft lead screw, a 34-Z shaft lead screw and a 35-round fixing frame.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
As shown in fig. 1 to 4, the structural design of the wrist rehabilitation exoskeleton robot illustrated in the present invention includes a function executing device i, a supporting device ii and a power supply device iii.
Specifically, two ends of a Y-axis rocker 1 of the function execution device I are respectively connected with a Y-axis auxiliary rocker 2 and a Y-axis rocker 7 through hinging rods; one end of the Y-axis auxiliary rocker 2 is connected with the grab handle frame 4 through a hinging rod; one end of the Y-axis rocker 1 is fixed on a crank fixing frame 9 through a hinging rod; one end of the Z-axis rocker 5 is connected with the grab handle frame 4 through a hinging rod; the grab handle 3 is arranged in the grab handle frame 4 through a chute; the other end of the Z-axis rocker 5 is connected with the Z-axis rocker 6 through a hinging rod, and the other hole at the end of the Z-axis rocker 5 is connected with a crank fixing frame 9 through a hinging rod; the Z-axis swing rod 6 is arranged on the Z-axis driving block 27 through a hinging rod; the Y-axis swing rod 7 is arranged on the Y-axis driving block 27 through a hinging rod.
Specifically, the mounting bottom plate 8 of the supporting device II is fixedly connected with the crank fixing frame 9 through bolts; the ball screw mounting metal plate 11 is fixedly connected to the corresponding position of the mounting bottom plate 8 through bolts; the motor fixing plate 12 is fixedly connected to the mounting bottom plate 8 through bolts; the upper fixing plate 14 is fixedly connected to the mounting bottom plate 8 through bolts; the lower fixing plate 13 is fixedly connected to the motor fixing plate 12 through bolts; the circular fixing frame 35 is fixedly connected to the mounting base plate 8 through bolts.
Specifically, the Y-axis motor 15 of the power supply device iii is fixed on the motor fixing plate 12 by bolts; the X-axis motor 16 is fixed on the lower fixed plate 13 and the upper fixed plate 14 through bolts; the Z-axis motor 17 is fixed on the motor fixing plate 12 through bolts; the X-axis driving gear 18 is arranged at the output end of the bearing of the X-axis motor 16; the Y-axis rotating speed regulator 19 is connected to the Y-axis basic block 28 through bolts; the Y-axis driving belt pulley 20 is arranged at the output end of the bearing of the Y-axis motor 15; the Y-axis driven pulley 21 is arranged at the input end of the Y-axis lead screw 33; the Z-axis driven pulley 22 is arranged at the input end of the Z-axis lead screw 34; the Z-axis driving belt pulley 23 is arranged at the output end of the Z-axis motor 17; the X-axis driven gear 24 is arranged on an inner ring 25 of the X-axis driven gear bearing; the X-axis driven gear bearing inner ring 25 is arranged on the circular fixing frame 35; the Y-axis driving block 26 is mounted on a Y-axis lead screw 33; the Z-axis driving block 27 is mounted on a Z-axis lead screw 34; the Y-axis basic block 28 is arranged at the rear end of the Y-axis lead screw 33; the Z-axis basic block 29 is arranged at the rear end of the Z-axis lead screw 34; the Y-axis speed limiting spring 30 is sleeved on the Y-axis lead screw 33 and is positioned between the Y-axis basic block 28 and the Y-axis driving block 26; the Z-axis speed limiting spring 31 is sleeved on the Z-axis lead screw 34 and is positioned between the Z-axis basic block 29 and the Z-axis driving block 27; the X-axis drive gear safety cover 32 is mounted on the motor fixing plate 12; the Y-axis screw 33 is mounted on the Y-axis ball screw upper bearing device 10-4 and the Y-axis ball screw lower bearing device 10-2; the Z-axis screw 34 is mounted on the Z-axis ball screw lower bearing device 10-1 and the Z-axis ball screw upper bearing device 10-3.
Specifically, the Z-axis ball screw mounting lower metal plate 11-1 of the ball screw mounting metal plate 11, the Z-axis ball screw mounting upper metal plate 11-2, the Y-axis ball screw mounting lower metal plate 11-3 and the Y-axis ball screw mounting upper metal plate 11-4 are all fixed on the mounting bottom plate 8 through bolts.
Specifically, the lower bearing device 10-1 of the Z-axis ball screw of the ball screw bearing device 10 is fixed on the lower sheet metal 11-1 of the Z-axis ball screw installation through bolts; the lower bearing device 10-2 of the Y-axis ball screw is fixed on the lower sheet metal 11-3 of the Y-axis ball screw through bolts; the Z-axis ball screw upper bearing device 10-3 is fixed on the Z-axis ball screw upper metal plate 11-2 through bolts; the Y-axis ball screw upper bearing device 10-4 is fixed on the Y-axis ball screw mounting upper sheet metal 11-4 through bolts.
The working process of the invention comprises the following steps:
during operation, an arm penetrates through the X-axis driven gear bearing inner ring 25, the palm holds the grab handle 3, the arm is clamped in the X-axis driven gear bearing inner ring 25, the X-axis motor 14 drives the X-axis driving gear 18 to rotate, the X-axis driving gear 18 drives the X-axis driven gear 24 to rotate, the X-axis driven gear bearing inner ring 25 is fixed with the arm, the X-axis driven gear 24 is fixedly connected with the X-axis driven gear bearing inner ring 25, under the driving of the X-axis driving gear 18, except that the X-axis driven gear 24 and the driven gear bearing inner ring 25 are fixed, all the rest of the exoskeleton robots rotate under the reverse driving of the X-axis driven gear 24, and when the X-axis driving gear 18 reversely rotates, the whole exoskeleton robots reversely rotate, so that the forward and backward movement of the X-axis of the wrist part is completed.
When the Y-axis motor 15 drives the Y-axis driven pulley 20 to drive the Y-axis driven pulley 21 to rotate through a belt, the Y-axis driven pulley 21 drives the Y-axis lead screw 33 to rotate, the Y-axis driving block 26 is driven to move up and down by the rotation of the Y-axis lead screw 33, the Y-axis swinging rod 7 is connected with the Y-axis driving block 26 through the hinging rod, the Y-axis swinging rod 7 is pulled (pushed) to move the Y-axis swinging rod 7 in the up and down movement of the Y-axis driving block 26, the Y-axis swinging rod 7 is connected with the Y-axis swinging rod 1 through the hinging rod, when the Y-axis driving block 26 pulls (pushes) the Y-axis swinging rod 7, the Y-axis swinging rod 1 is driven to rotate by taking the hinging rod connected with the Y-axis swinging rod 1 and the crank fixing frame 9 as an axis, the Y-axis swinging rod 1 is driven to move while the Y-axis swinging rod 2 is driven to move, the Y-axis swinging rod 2 is driven to move the grab handle frame 4, and the grab handle 3 is driven to move along the grab frame 4, so that the rotation of the wrist in the Y-axis direction is realized.
When the Z-axis motor 17 drives the Z-axis driving belt pulley 23 to drive the Z-axis driven belt pulley 22 to rotate through a belt, the Z-axis driven belt pulley 22 drives the Z-axis lead screw 34 to rotate, the Z-axis driving block 27 moves up and down under the rotation of the Z-axis lead screw 34, the Z-axis swinging rod 6 is connected with the Z-axis driving block 27 through a hinging rod, and the Z-axis swinging rod 6 is pulled (pushed) in the vertical movement of the Z-axis driving block 27, because the Z-axis swinging rod 5 is connected with the crank fixing frame 9 through the hinging rod, the Z-axis swinging rod 6 is connected with the Z-axis swinging rod 5 through the hinging rod, when the Z-axis driving block 27 pulls (pushes) the Z-axis swinging rod 6, the Z-axis swinging rod 5 is driven to rotate by taking the hinging rod connected with the crank fixing frame 9 as an axis, and meanwhile, the Z-axis swinging rod 5 can drive the grab handle frame 4 to rotate, and the grab handle 3 is driven to complete the Z-axis rotation of the grab handle position.
When the Y-axis screw 33 and the Z-axis screw 34 rotate, the Y-axis driving block 26 and the Z-axis driving block 27 move up and down, the Y-axis basic block 28 and the Z-axis basic block 29 are fixed on the Y-axis screw 33 and the Z-axis screw 34, and the Y-axis speed limiting spring 30 and the Z-axis speed limiting spring 31 are compressed when the Y-axis screw 33 and the Z-axis screw 34 rotate downwards, so that the Y-axis driving block 26 and the Z-axis driving block 27 move up and down more smoothly, and vibration and instability of the machine are reduced.
The above embodiments are only illustrative of the present patent and do not limit the protection scope thereof, and those skilled in the art can also change the parts thereof, which are within the protection scope of the present patent without exceeding the spirit of the present patent.
Claims (4)
1. A wrist rehabilitation exoskeleton robot, comprising: the wrist rehabilitation exoskeleton robot is characterized in that the function execution device (I) is arranged on the support device (II) through a crank fixing frame (9), a Y-axis driving block (26) and a Z-axis driving block (27), the power supply device (III) is arranged on the support device (II) through a mounting base plate (8), a ball screw mounting sheet metal (11), a motor fixing plate (12), a lower fixing plate (13), an upper fixing plate (14) and the support device (II), and the wrist rehabilitation exoskeleton robot is jointly formed by driving a crank sliding block mechanism through a ball screw, transmitting the movement of the crank sliding block mechanism through a parallel spherical mechanism, providing reciprocating rotary motion in Y, Z directions by the mechanism, and completing the reciprocating rotary motion of an X axis through an X-axis motor (16) driving gear bearing mechanism; wherein the function execution device (I) comprises: the device comprises a Y-axis rocker (1), a Y-axis auxiliary rocker (2), a grab handle (3), a grab handle frame (4), a Z-axis rocker (5), a Z-axis rocker (6) and a Y-axis rocker (7); two ends of the Y-axis rocker (1) are respectively connected with the Y-axis auxiliary rocker (2) and the Y-axis swing rod (7) through hinging rods; one end of the Y-axis auxiliary rocker (2) is connected with the grab handle frame (4) through a hinging rod; the Y-axis rocker (1) is fixed on the crank fixing frame (9) through one end of the hinging rod; one end of the Z-axis rocker (5) is connected with the grab handle frame (4) through a hinging rod; the grab handle (3) is arranged in the grab handle frame (4) through a chute; the other end of the Z-axis rocker (5) is connected with the Z-axis rocker (6) through a hinging rod, and the other hole at the end of the Z-axis rocker (5) is connected with a crank fixing frame (9) through the hinging rod; the Z-axis swing rod (6) is arranged on the Z-axis driving block (27) through a hinging rod; the Y-axis swing rod (7) is arranged on the Y-axis driving block (27) through a hinging rod; the support device (II) comprises: the device comprises a mounting bottom plate (8), a crank fixing frame (9), a ball screw mounting metal plate (11), a motor fixing plate (12), a lower fixing plate (13), an upper fixing plate (14) and a circular fixing frame (35); the mounting bottom plate (8) is fixedly connected with the crank fixing frame (9) through bolts; the ball screw installation metal plate (11) is fixedly connected to the corresponding position of the installation bottom plate (8) through bolts; the motor fixing plate (12) is fixedly connected to the mounting bottom plate (8) through bolts; the upper fixing plate (14) is fixedly connected to the mounting bottom plate (8) through bolts; the lower fixing plate (13) is fixedly connected to the motor fixing plate (12) through bolts; the round fixing frame (35) is fixedly connected to the mounting bottom plate (8) through bolts.
2. The wrist rehabilitation exoskeleton robot of claim 1, wherein said power supply (iii) comprises: the device comprises a ball screw bearing device (10), a Y-axis motor (15), an X-axis motor (16), a Z-axis motor (17), an X-axis driving gear (18), a Y-axis rotating speed regulator (19), a Y-axis driving belt pulley (20), a Y-axis driven belt pulley (21), a Z-axis driven belt pulley (22), a Z-axis driving belt pulley (23), an X-axis driven gear (24), an X-axis driven gear bearing inner ring (25), a Y-axis driving block (26), a Z-axis driving block (27), a Y-axis basic block (28), a Z-axis basic block (29), a Y-axis speed limiting spring (30), a Z-axis speed limiting spring (31), an X-axis driving gear safety cover (32), a Y-axis screw (33) and a Z-axis screw (34); the Y-axis motor (15) is fixed on the motor fixing plate (12) through bolts; the X-axis motor (16) is fixed on the upper fixed plate (14) and the lower fixed plate (13) through bolts; the Z-axis motor (17) is fixed on the motor fixing plate (12) through bolts; the X-axis driving gear (18) is arranged at the output end of a bearing of the X-axis motor (16); the Y-axis rotating speed regulator (19) is connected to the Y-axis basic block (28) through bolts; the Y-axis driving belt pulley (20) is arranged at the output end of a bearing of the Y-axis motor (15); the Y-axis driven belt pulley (21) is arranged at the input end of the Y-axis lead screw (33); the Z-axis driven belt pulley (22) is arranged at the input end of the Z-axis lead screw (34); the Z-axis driving belt pulley (23) is arranged at the output end of the Z-axis motor (17); the X-axis driven gear (24) is arranged on an inner bearing ring (25) of the X-axis driven gear; the inner ring (25) of the X-axis driven gear bearing is arranged on a circular fixing frame (35); the Y-axis driving block (26) is arranged on the Y-axis lead screw (33); the Z-axis driving block (27) is arranged on the Z-axis lead screw (34); the Y-axis basic block (28) is arranged at the rear end of the Y-axis lead screw (33); the Z-axis basic block (29) is arranged at the rear end of the Z-axis lead screw (34); the Y-axis speed limiting spring (30) is sleeved on the Y-axis lead screw (33) and is positioned between the Y-axis basic block (28) and the Y-axis driving block (26); the Z-axis speed limiting spring (31) is sleeved on the Z-axis lead screw (34) and is positioned between the Z-axis basic block (29) and the Z-axis driving block (27); the X-axis driving gear safety cover (32) is arranged on the motor fixing plate (12); the Y-axis screw (33) is arranged on the Y-axis ball screw upper bearing device (10-4) and the Y-axis ball screw lower bearing device (10-2); the Z-axis screw (34) is arranged on the lower bearing device (10-1) of the Z-axis ball screw and the upper bearing device (10-3) of the Z-axis ball screw.
3. The wrist rehabilitation exoskeleton robot as claimed in claim 1, wherein the ball screw mounting plate (11) comprises: the Z-axis ball screw is provided with a lower metal plate (11-1), the Z-axis ball screw is provided with an upper metal plate (11-2), the Y-axis ball screw is provided with a lower metal plate (11-3), and the Y-axis ball screw is provided with an upper metal plate (11-4); the Z-axis ball screw is arranged on the lower metal plate (11-1), the Z-axis ball screw is arranged on the upper metal plate (11-2), the Y-axis ball screw is arranged on the lower metal plate (11-3), and the Y-axis ball screw is arranged on the upper metal plate (11-4) and is fixed on the mounting bottom plate (8) through bolts.
4. The wrist rehabilitation exoskeleton robot as claimed in claim 2, wherein said ball screw bearing device (10) comprises: a Z-axis ball screw lower bearing device (10-1), a Y-axis ball screw lower bearing device (10-2), a Z-axis ball screw upper bearing device (10-3) and a Y-axis ball screw upper bearing device (10-4); the Z-axis ball screw lower bearing device (10-1) is fixed on a Z-axis ball screw lower metal plate (11-1) through bolts; the lower bearing device (10-2) of the Y-axis ball screw is fixed on the lower sheet metal (11-3) of the Y-axis ball screw through bolts; the Z-axis ball screw upper bearing device (10-3) is fixed on a Z-axis ball screw mounting upper sheet metal (11-2) through bolts; the upper bearing device (10-4) of the Y-axis ball screw is fixed on the upper sheet metal (11-4) of the Y-axis ball screw through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210543696.7A CN114917109B (en) | 2022-05-19 | 2022-05-19 | Wrist rehabilitation exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210543696.7A CN114917109B (en) | 2022-05-19 | 2022-05-19 | Wrist rehabilitation exoskeleton robot |
Publications (2)
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| CN209630102U (en) * | 2018-08-16 | 2019-11-15 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
| RU2718595C1 (en) * | 2019-11-25 | 2020-04-08 | Ассистирующие Хирургические Технологии (Аст), Лтд | Operator control unit for robotic surgical complex |
| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
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| KR101295004B1 (en) * | 2011-10-05 | 2013-08-08 | 한국과학기술연구원 | Exoskeleton mechanism for limb power assistance |
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| CN109730896A (en) * | 2019-03-06 | 2019-05-10 | 北可精密机械（上海）有限公司 | A kind of ectoskeleton hand healing robot based on finger function different degree |
| RU2718595C1 (en) * | 2019-11-25 | 2020-04-08 | Ассистирующие Хирургические Технологии (Аст), Лтд | Operator control unit for robotic surgical complex |
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