CN117919058B - Flexible upper limb exoskeleton rehabilitation training system - Google Patents
Flexible upper limb exoskeleton rehabilitation training system Download PDFInfo
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- CN117919058B CN117919058B CN202410343297.5A CN202410343297A CN117919058B CN 117919058 B CN117919058 B CN 117919058B CN 202410343297 A CN202410343297 A CN 202410343297A CN 117919058 B CN117919058 B CN 117919058B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 37
- 238000012549 training Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 210000000245 forearm Anatomy 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims abstract description 14
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 2
- 206010023230 Joint stiffness Diseases 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 230000003993 interaction Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention relates to the technical field of rehabilitation medical equipment, in particular to a flexible upper limb exoskeleton rehabilitation training system which comprises a support assembly, a revolute joint, a shoulder flexible joint, a shoulder structure, a big arm support plate, an elbow joint assembly and a forearm structure; the elbow joint assembly is used for detachably connecting the big arm supporting plate and the small arm structure and simulating elbow movement of a user; the shoulder flexible joint detachably connects the large arm support plate and the shoulder structure and is used for simulating shoulder movement of a user; the rotating joint is used for detachably connecting the supporting component with the shoulder structure and simulating the upper limb of a user to horizontally rotate; all joints in the revolute joint, shoulder flexible joint and elbow joint assembly adopt variable stiffness joints. According to the invention, the variable stiffness joints with the same structure are arranged on the exoskeleton supporting mechanisms at different positions, so that the man-machine interaction process is safer and more natural, the disassembly and the maintenance are convenient, and the cost is saved.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical equipment, in particular to a flexible upper limb exoskeleton rehabilitation training system.
Background
Along with the technical development, the exoskeleton of the upper limb rehabilitation training is rapidly developed, and the exoskeleton robot based on the bionic and ergonomic design has a treatment effect and user experience which are incomparable with those of the tail end traction type rehabilitation robot. The upper limb exoskeleton auxiliary robot can simulate the movement law of the upper limb when the human body normally moves, can bear the weight of a part of the human body, and can effectively exercise the patient with the upper limb movement dysfunction.
However, most of the existing exoskeleton for upper limb rehabilitation training is of an integral structure and cannot be separated, if a certain part of the upper limb fails, the whole structure needs to be replaced together, unnecessary waste is caused, and the use cost is greatly increased.
In addition, with the continuous development of the variable stiffness joint, the variable stiffness exoskeleton has the advantages of wide stiffness adjustment range, large passive elastic energy storage capacity, strong task adaptability, good control bandwidth flexibility, high safety and the like, and is more suitable for the upper limb rehabilitation training exoskeleton which requires both safety and control precision.
Disclosure of Invention
The invention aims to solve the problems, and provides a flexible upper limb exoskeleton rehabilitation training system which is characterized in that an upper limb structure is further thinned into a shoulder, a big arm, a small arm and joints, so that generalization and detachability are realized, and a man-machine interaction process can be safer and more natural only by installing the rigidity-variable joints with the same structure on exoskeleton supporting mechanisms at different positions.
The invention provides a flexible upper limb exoskeleton rehabilitation training system which comprises a support assembly, a revolute joint, a shoulder flexible joint, a shoulder structure, a large arm support plate, an elbow joint assembly and a forearm structure; the elbow joint assembly is used for detachably connecting the big arm supporting plate and the small arm structure and simulating elbow movement of a user; the shoulder flexible joint detachably connects the large arm support plate and the shoulder structure and is used for simulating shoulder movement of a user; the rotating joint is used for detachably connecting the supporting component with the shoulder structure and simulating the upper limb of a user to horizontally rotate; the revolute joint and the shoulder flexible joint are all rigidity-variable joints.
Further, the support assembly comprises a support base and a bearing lifting frame; the support base is of an L-shaped structure, and one end of the bearing lifting frame is arranged on the support base through bolts according to the height of the upper limb of a user; the other end of the bearing lifting frame is provided with a rotating joint installation groove for placing the rotating joint, so that the rotating joint is placed in the rotating joint installation groove and is connected with the shoulder structure.
Further, the shoulder structure comprises a transverse shoulder support plate and a longitudinal shoulder support plate; wherein, one end of the transverse shoulder supporting plate is detachably connected with the rotary joint; one end of the longitudinal shoulder supporting plate is provided with a connecting hole, the other end of the transverse shoulder supporting plate is arranged in the connecting hole through a bearing, and the other end of the longitudinal shoulder supporting plate is provided with a shoulder joint supporting frame for placing shoulder flexible joints.
Further, the elbow joint assembly comprises an elbow rotary joint, an elbow rotary connecting piece, an elbow rotary gear set, an elbow rotary frame, an elbow flexion-extension joint and an elbow connecting frame; the elbow rotary joint and the elbow flexion-extension joint are all rigidity-variable joints consistent with the shoulder flexible joint structure;
The elbow rotating connecting piece is coaxially sleeved on the elbow rotating joint, a limiting block is arranged on the side wall of the elbow rotating connecting piece, one end of the large arm supporting plate is detachably connected with the shoulder flexible joint, and the other end of the large arm supporting plate penetrates through the limiting block to enable the shoulder flexible joint to be connected with the elbow rotating connecting piece and limit the length of the large arm supporting plate;
The elbow rotating gear set comprises a pinion and a large gear which are meshed, the pinion is detachably connected with the elbow rotating joint, and the large gear is sleeved on the outer ring of a rotating chute arranged on the elbow rotating frame, so that the elbow rotating joint drives the elbow rotating frame to axially rotate through the elbow rotating gear set; an elbow joint support frame for placing elbow flexion and extension joints and an auxiliary support frame opposite to the elbow joint support frame are arranged on one side of the elbow rotating frame;
The elbow connecting frame is of a U-shaped structure, one side of the elbow connecting frame is detachably connected with the elbow bending and stretching joint and the elbow joint supporting frame, and the other side of the elbow connecting frame is connected with the auxiliary supporting frame through the rotating shaft, so that the elbow connecting frame rotates by taking the elbow bending and stretching joint as the center under the cooperation of the elbow bending and stretching joint and the rotating shaft.
Further, the forearm structure comprises a forearm support plate and a handle; wherein, the handle is detachably arranged at one end of the forearm supporting plate; the other end of the forearm support plate passes through the elbow connecting frame and is provided with a limiting block for limiting the moving position of the forearm support plate.
Further, the rotating joint and the shoulder flexible joint are structurally consistent rigidity-variable joints; the rigidity-variable joint comprises a joint shell, a rigidity-adjusting mechanism, a rigidity-adjusting motor, a rotating mechanism and a rotating motor; the rigid adjusting mechanism and the rotating mechanism are coaxially arranged in the joint shell, the output shafts of the rigid adjusting motor and the rotating motor extend into the joint shell, the rotating speeds of the rigid adjusting mechanism and the rotating mechanism are controlled through the coupler and the worm respectively, and the rigid adjusting mechanism and the rotating mechanism keep relatively static rotation when the rigid adjusting mechanism and the rotating mechanism keep a specific rotating speed ratio through adjusting the rotating speed ratio between the rigid adjusting mechanism and the rotating mechanism; when the rotation speed ratio of the rigidity adjusting mechanism and the rotating mechanism deviates from a specific rotation speed ratio, the rigidity adjusting mechanism is matched with the rotating mechanism to adjust the rotation rigidity.
Further, the rigidity adjusting mechanism comprises a central shaft, a rigidity adjusting turbine, a sun gear, a planet gear, a retainer and a roller slide block group; the rigidity adjusting turbine is coaxially fixed at one end of the central shaft, and an output shaft of the rigidity adjusting motor drives the rigidity adjusting turbine to rotate through the coupler and the worm so as to drive the central shaft to rotate; the retainer is coaxially sleeved on the central shaft through a bearing, and at least 2 planetary gears are uniformly arranged along the circumferential direction of the retainer, so that the planetary gears are meshed with a sun gear fixed on the central shaft; the roller slide block group is contacted with the rotating mechanism and the joint shell; the number of the roller slide block groups is consistent with that of the planetary gears and meshed with the planetary gear teeth.
Further, the roller slide block group comprises rollers, a pressing block, a rack slide block, a meshing slide block and a slide rail; the rack sliding block is arranged on the sliding rail, and one side of the rack sliding block is provided with side teeth meshed with the planet gears; the meshing sliding block is positioned above the rack sliding block, the bottom surface of the meshing sliding block and the top surface of the rack sliding block are uniformly provided with matched inclined sliding grooves, and the two sides of the meshing sliding block are provided with retaining sliding grooves, so that the movement of the meshing sliding block along the inclined sliding grooves is decomposed into the translation of the rack sliding block along the sliding rail and the translation of the meshing sliding block facing the planet wheel under the cooperation of the clamping position and the retaining sliding groove arranged in the joint shell; the roller is arranged on the meshing sliding block through the pressing block, so that the roller is contacted with the rotating mechanism.
Further, the rotating mechanism comprises a rotating worm wheel, a rotating gear shaft, a transmission gear, a rotating frame, a rotating hinge and an output end; the sliding rail is fixed on the rotating frame, the transmission gear is fixedly connected with the rotating frame coaxially, the rotating frame is sleeved on the central shaft through a bearing, the transmission gear is meshed with a rotating gear shaft sleeved with a rotating worm wheel, an output shaft of the rotating motor drives the rotating worm wheel to rotate through a coupler and a worm, and the transmission gear and the rotating frame are driven to rotate through the rotating gear shaft; the rotating hinge is coaxially sleeved on the central shaft through a bearing and is contacted with the roller; the output end is sleeved on the central shaft through a bearing and is connected with the rotating hinge for outputting rotation to the outside.
Further, an assembly hole is formed in one side of the output end and is matched with a protruding block arranged on the surface of one side of the rotary hinge, so that the protruding block is inserted into the assembly hole to complete connection between the rotary hinge and the output end; the circumference at the rotation hinge is provided with flexible part, and the group number of flexible part is the same with the quantity of planet wheel, and every flexible part of group includes two flexible pieces, and the gyro wheel stretches into between two flexible pieces and with two flexible piece contacts, through the rotation rigidity of two flexible piece support position adjustment output of gyro wheel outwards.
Further, the joint shell comprises an output connecting disc, a front end cover, a motor front shell and a motor rear shell; wherein, the inner wall of the motor front shell is provided with a clamping position corresponding to the retaining chute, the rigidity adjusting mechanism and the rotating mechanism are placed in an inner space formed by connecting the motor front shell and the motor rear shell, and the output shaft of the rigidity adjusting motor and the output shaft of the rotating motor respectively drive the rigidity adjusting turbine and the rotating worm wheel after extending into the motor rear shell; the front end cover is arranged on the front shell of the motor, and the output connecting disc is coaxially and fixedly connected to the output end; the surface of the output connecting disc is provided with at least 3 connecting grooves, so that the transverse shoulder supporting plate, the large arm supporting plate and the elbow connecting frame are respectively and detachably arranged on the output connecting disc, and the output connecting disc drives the transverse shoulder supporting plate, the large arm supporting plate and the elbow connecting frame to rotate; the pinion is arranged on the output connecting disc, so that the output connecting disc drives the pinion to axially rotate, and then the elbow rotating frame is driven to axially rotate through the bull gear.
Compared with the prior art, the invention has the following beneficial effects:
1) The driving joints at all parts have the same structure, are flexible to disassemble and convenient to maintain, and save cost;
2) The driving joint is a variable stiffness joint, and in the human-computer interaction rehabilitation training, the motion stiffness of the exoskeleton of the rehabilitation training can be actively regulated according to the physical condition and the motion capability of a patient, so that the human-computer interaction process is safer and more natural;
3) According to the rigidity-variable joint, the positions and the structures of the sun wheel, the planet wheel and the roller slide block group are designed, the rigidity-variable motor and the rotating motor are used for changing the relative motion state of the sun wheel and the roller slide block group around the central axis, so that the motion state of the planet wheel is changed, the follow-up rigidity-variable operation is completed under the cooperation of the planet wheel and the roller slide block group, the rigidity-variable motor and the rotating motor continuously keep the working state in the process, the proposed rigidity-variable joint also always keeps the working state of outputting rotation, the technical effect of regulating rigidity while working is truly realized, and the joint and external equipment connected with the joint are enabled to run more stably;
4) The rigidity-variable joint provided by the invention changes the motion state of the planet wheel through the rotation speed ratio of the rigidity-variable motor and the rotation motor, and further completes the subsequent rigidity-variable work by utilizing the matching of the planet wheel and the roller slider group, so that compared with the traditional manual rigidity-variable adjustment mode and the mode of stopping rotation and then adjusting rigidity, the rigidity-variable joint provided by the invention can realize rigidity adjustment by only adjusting the rotation speed ratio of the rigidity-variable motor and the rotation motor without excessive manual participation in adjustment, and the accuracy and convenience of rigidity adjustment are effectively improved.
Drawings
FIG. 1 is an overall block diagram of a flexible upper extremity exoskeleton rehabilitation training system provided in accordance with an embodiment of the present invention;
FIG. 2 is an exploded view of a combined structure of a support assembly, a revolute joint, a shoulder flexible joint, a shoulder structure and a forearm support plate provided in accordance with an embodiment of the invention;
FIG. 3 is a block diagram of an elbow joint assembly provided in accordance with an embodiment of the present invention;
FIG. 4 is a partial block diagram of a flexible upper extremity exoskeleton rehabilitation training system provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of the overall structure of a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic illustration of the external configuration of a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a portion of the internal structure of a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of a combined structure of a stiffening mechanism and a rotation mechanism provided in accordance with an embodiment of the present invention;
FIG. 9 is a schematic structural view of a rigidity adjusting mechanism according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a roller slider set according to an embodiment of the present invention.
Reference numerals: support assembly 1, support base 101, load bearing lift 102, swivel joint 2, shoulder structure 3, lateral shoulder support 301, longitudinal shoulder support 302, shoulder flexible joint 4, forearm support 5, elbow joint assembly 6, elbow swivel joint 601, elbow swivel connection 602, elbow swivel gear set 603, pinion 603_1, gearwheel 603_2, elbow flexion and extension joint 604, elbow swivel stand 605, rotating chute 605_1, elbow joint support stand 605_2, auxiliary support stand 605_3, elbow connection 606, forearm structure 7, forearm support plate 701, grip 702, output quick change interface 8, male output quick change interface 801, female output quick change interface 802, variable stiffness joint 9, joint housing 901, output connection disk 901_1, front end cover 901_2, motor front cover 901_3, motor rear cover 901_4, clamping position 901_5, limiting groove 901_6, adjusting mechanism 902, central shaft 902_1, adjusting turbine 902_2, sun gear 902_3, planet gear 902_4, retaining rack 605_2, sliding track 903_5, sliding track 903, sliding track 903_6, sliding track 903, tilting joint 903_1, rotating chute 903_2, rotating chute 903_11, rotating mechanism 903_2, rotating chute 903_2, rotating mechanism 903, rotating shaft 903_2, rotating support frame 903, rotating joint 903, and rotating joint housing 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
According to the flexible upper limb exoskeleton rehabilitation training system provided by the invention, the structure of the upper limb of a human body is further thinned, and the variable stiffness joints with the same structure are arranged on the exoskeleton supporting mechanisms at different positions, so that the man-machine interaction process is safer and more natural, the disassembly and maintenance are convenient, and the cost is saved.
Fig. 1 shows the overall structure of a flexible upper limb exoskeleton rehabilitation training system provided according to an embodiment of the present invention.
As shown in fig. 1, the flexible upper limb exoskeleton rehabilitation training system provided by the embodiment of the invention comprises a support assembly 1, a revolute joint 2, a shoulder structure 3, a shoulder flexible joint 4, a large arm support plate 5, an elbow joint assembly 6 and a forearm structure 7.
Wherein, the rotary joint 2 is detachably connected with the support component 1 and the shoulder structure 3 and is used for simulating the upper limb of a user to horizontally rotate. The shoulder flexible joint 4 is used for detachably connecting the big arm supporting plate 5 and the shoulder structure 3 and simulating the shoulder joint of a user to drive the big arm and the forearm to lift and fall. The elbow joint assembly 6 detachably connects the forearm support plate 5 and the forearm structure 7 for simulating longitudinal flexion and extension and axial rotation of the user's elbow.
For rotational output of the revolute joint 2, the shoulder flexible joint 4 and the elbow joint assembly 6, the output quick change interface 8 is preferably used in embodiments of the present invention to provide for removable mounting and motion transfer.
The support assembly 1 comprises a support base 101 and a load bearing elevation frame 102. Wherein, the supporting base 101 is L-shaped structure, and one end of the bearing lifting frame 102 is installed on the supporting base 101 through bolts according to the height of the upper limb of the user, and the other end of the bearing lifting frame 102 is provided with a rotating joint installation groove for placing the rotating joint 2, so that the rotating joint 2 is placed in the rotating joint installation groove and is connected with the shoulder structure 3.
Fig. 2 illustrates a combined structure of a support assembly, a revolute joint, a shoulder flexible joint, a shoulder structure and a forearm support plate provided according to an embodiment of the invention.
As shown in fig. 2, the shoulder structure 3 includes a lateral shoulder support plate 301 and a longitudinal shoulder support plate 302. Wherein, the one end of horizontal shoulder backup pad 301 is through output quick change interface 8 and rotation joint 2 can dismantle connection and motion transmission, and the concrete process is, the public output quick change interface 801 of output quick change interface 8 is installed in one side of horizontal shoulder backup pad 301, and the female output quick change interface 802 of output quick change interface 8 is installed on the output of rotation joint 2, and female output quick change interface 802 loops through rotation joint mounting groove and horizontal shoulder backup pad 301, locks with public output quick change interface 801, and then accomplishes the one end of horizontal shoulder backup pad 301 and the detachable connection and the motion transmission of rotation joint 2.
One end of the longitudinal shoulder supporting plate 302 is provided with a connecting hole, the other end of the transverse shoulder supporting plate 301 is installed in the connecting hole through a bearing, and the other end of the longitudinal shoulder supporting plate 302 is provided with a shoulder joint supporting frame for placing the shoulder flexible joint 4.
Fig. 3 illustrates a structure of an elbow joint assembly provided according to an embodiment of the present invention. Fig. 4 shows a partial structure of a flexible upper limb exoskeleton rehabilitation training system provided according to an embodiment of the present invention.
As shown in fig. 3 and 4, the elbow joint assembly 6 includes an elbow rotary joint 601, an elbow rotary joint 602, an elbow rotary gear set 603, an elbow flexion-extension joint 604, an elbow rotary frame 605, and an elbow connecting frame 606.
The elbow rotary connecting piece 602 is coaxially sleeved on the elbow rotary joint 601, and a limiting block is arranged on the side wall of the elbow rotary connecting piece 602. One end of the big arm support plate 5 is detachably connected with the shoulder flexible joint 4 through an output quick-change interface 8, and the specific process is that a male output quick-change interface 801 is arranged on one side of the big arm support plate 5, a female output quick-change interface 802 is arranged on the output of the shoulder flexible joint 4, the female output quick-change interface 802 sequentially passes through the longitudinal shoulder support plate 302 and the big arm support plate 5 and is locked with the male output quick-change interface 801, and then the detachable connection and the motion transmission of one side of the big arm support plate 5 and the shoulder flexible joint 4 are completed.
The other end of the large arm support plate 5 passes through the limiting block, so that the shoulder flexible joint 4 is connected with the elbow rotary connecting piece 602, and the length of the large arm support plate 5 is limited. After the big arm support plate 5 is subjected to big arm length adjustment under the constraint of the limiting block, the big arm support plate 5 is fixed by using a locking bolt.
The elbow rotating gear set 603 comprises a pinion 603_1 and a large gear 603_2 which are meshed, the pinion 603_1 is detachably connected with the elbow rotating frame 605, the large gear 603_2 is sleeved on the outer ring of the rotating chute 605_1 of the elbow rotating frame 605, and the elbow rotating frame 605 is driven by the elbow rotating frame 601 to axially rotate through the elbow rotating gear set 603. An elbow joint support frame 605_2 for placing the elbow flexion and extension joint 604 and an auxiliary support frame 605_3 for the elbow joint support frame 605_2 are provided on one side of the elbow rotation frame 605.
The elbow connecting frame 606 is of a U-shaped structure, a forearm mounting hole connected with the forearm structure 7 is formed in the bottom end of the elbow connecting frame 606, one side of the elbow connecting frame 606 is detachably connected with the elbow bending and stretching joint 604 through an output quick-change interface 8 and motion transmission, the male output quick-change interface 801 is arranged on one side of the elbow connecting frame 606, the female output quick-change interface 802 is arranged on the output of the elbow bending and stretching joint 604, the female output quick-change interface 802 sequentially passes through the elbow joint supporting frame 605_2 and the elbow connecting frame 606 and is locked with the male output quick-change interface 801, and further, the detachable connection and motion transmission of one side of the elbow connecting frame 606 and the elbow bending and stretching joint 604 are completed. The other side of the elbow connecting frame 606 is connected with the auxiliary supporting frame 605_3 through a rotating shaft, so that the elbow connecting frame 606 rotates around the elbow flexion and extension joint 604 after the elbow flexion and extension joint 604 is matched with the rotating shaft, and further elbow flexion and extension movements of a user are simulated.
The forearm structure 7 includes a forearm support plate 701 and a grip 702. The handle 702 is mounted at one end of the forearm support plate 701 by a bolt, and the other end of the forearm support plate 701 passes through the elbow connecting frame 606 and is provided with a limiting block for limiting the length of the forearm support plate 701. After the forearm support plate 701 is subjected to forearm length adjustment under the constraint of the limiting block, the position of the forearm support plate 701 is fixed by using a locking bolt.
In the embodiment of the invention, the revolute joint 2, the shoulder flexible joint 4, the elbow rotary joint 601 and the elbow flexion-extension joint 604 are structurally identical variable stiffness joints 9.
Fig. 5 and 6 show the overall structure and the external structure of a variable stiffness joint provided according to an embodiment of the present invention, respectively. Fig. 7 shows a part of the internal structure of a variable stiffness joint according to an embodiment of the present invention.
As shown in fig. 5 to 7, the variable stiffness joint 9 includes a joint housing 901, a rigidity adjusting mechanism 902, a rotation mechanism 903, a rigidity adjusting motor 904, and a rotation motor 905. The rigidity adjusting mechanism 902 and the rotating mechanism 903 are mounted inside the joint housing 901, and output shafts of the rigidity adjusting motor 904 and the rotating motor 905 extend into the joint housing 901.
The joint housing 901 includes an output connection pad 901_1, a front end cover 901_2, a motor front case 901_3, and a motor rear case 901_4. The front cover 901_2 is mounted on the motor front case 901_3, and screw holes for connection are opened on the surface of the front cover 901_2. The output connection pad 901_1 is coaxially and fixedly connected to an output terminal 903_6 in the rotation mechanism 903, and a limit groove 901_6 for installing the female output quick-change interface 802 is formed on the surface of the output connection pad 901_1. The rigidity adjusting mechanism 902 and the rotating mechanism 903 are placed in an internal space formed by connecting the motor front case 901_3 and the motor rear case 901_4. The connection mode of the motor front shell 901_3 and the motor rear shell 901_4 includes, but is not limited to, connection through bolts, connecting plates and other connecting pieces, and meshed threads are arranged at the connection ports of the motor front shell 901_3 and the motor rear shell 901_4. In the embodiment of the invention, the motor front shell 901_3 and the motor rear shell 901_4 are connected in a way of arranging threaded engagement at a connecting port. A lock 901_5 corresponding to the engagement slider 902_8 of the rigid adjusting mechanism 902 is provided on the inner wall of the motor front case 901_3. The output shaft of the rigidity-adjusting motor 904 and the output shaft of the rotating motor 905 extend into the motor rear case 901_4, and then drive the rigidity-adjusting mechanism 902 and the rotating mechanism 903, respectively. Preferably, a stabilizing frame for assisting in placing the rigidity adjusting mechanism 902 and the rotating mechanism 903 is arranged in the motor rear shell 901_4, and is used for providing stable working positions with a certain movable space for the rigidity adjusting mechanism 902 and the rotating mechanism 903, so that the situation that devices are damaged due to excessive dislocation of the rigidity adjusting mechanism 902 and the rotating mechanism 903 in the rotating process is avoided.
Fig. 8 shows a combined structure of a rigidity adjusting mechanism and a rotating mechanism provided according to an embodiment of the present invention, and fig. 9 shows a structure of a rigidity adjusting mechanism provided according to an embodiment of the present invention.
As shown in fig. 8 and 9, the stiffening mechanism 902 includes a central shaft 902_1, a stiffening turbine 902_2, a sun gear 902_3, a planet gear 902_4, a cage 902_5, and a roller slider set.
Wherein, the rigid turbine 902_2 is in interference fit with the central shaft 902_1, so that the rigid turbine 902_2 is coaxially fixed at one end of the central shaft 902_1. The output shaft of the rigidity adjusting motor 904 is connected with the rigidity adjusting turbine 902_2 through a coupler and a worm, so that the rigidity adjusting motor 904 drives the rigidity adjusting turbine 902_2 to rotate, and further drives the central shaft 902_1 to rotate. The cage 902_5 is coaxially arranged on the central shaft 902_1 through a bearing, and not less than 2 planetary gears 902_4 are uniformly arranged along the circumferential direction of the cage 902_5. Preferably, 3 planet gears 902_4 are used in the embodiment of the present invention, and the cage 902_5 is configured as an equilateral triangle with curvature in cooperation with the 3 planet gears 902_4. Sun gear 902_3 is coaxially fixed to central shaft 902_1 and in meshing engagement with planet gears 902_4.
Fig. 10 illustrates a combination of roller slider sets provided according to an embodiment of the present invention.
As shown in fig. 8 to 10, the number of roller slider sets is identical to that of the planetary gears 902_4, so that 3 roller slider sets are also used in the embodiment of the present invention. The roller slide block group comprises a slide rail 902_6, a rack slide block 902_7, a meshing slide block 902_8, an inclined slide groove 902_9, a holding slide groove 902_10, a roller 902_11 and a pressing block 902_12.
The slide rail 902_6 is mounted on a rotating frame 903_4 in the rotating mechanism 903, and the rack slider 902_7 is mounted on the slide rail 902_6. On one side of the rack slider 902_7, a toothing is provided which meshes with the planet wheel 902_4. The engagement slide block 902_8 is positioned above the rack slide block 902_7, the bottom surface of the engagement slide block 902_8 and the top surface of the rack slide block 902_7 are uniformly provided with matched inclined slide grooves 902_9, two sides of the engagement slide block 902_8 are provided with retaining slide grooves 902_10, so that the movement of the engagement slide block 902_8 along the inclined slide groove 902_9 is decomposed into the translation of the rack slide block 902_7 along the slide rail 902_6 and the translation of the engagement slide block 902_8 facing the planet wheel 902_4 under the cooperation of the clamping position 901_5 and the retaining slide groove 902_10. The roller 902_11 is mounted on the engagement slider 902_8 by a press block 902_12.
Therefore, when the output shaft of the rigidity-adjusting motor 904 drives the rigidity-adjusting turbine 902_2 to rotate through the coupling and the worm, the rigidity-adjusting turbine 902_2 drives the central shaft 902_1 to rotate, and further drives the sun gear 902_3 fixed on the central shaft 902_1 to rotate. Since the holder 902_5 is connected to the central shaft 902_1 through bearings, the central shaft 902_1 does not rotate the holder 902_5.
As shown in fig. 8, the rotation mechanism 903 includes a rotation worm wheel 903_1, a rotation gear shaft 903_2, a transmission gear 903_3, a rotation rack 903_4, a rotation hinge 903_5, and an output end 903_6. Wherein, the rotation worm wheel 903_1 is coaxially sleeved on the rotation gear shaft 903_2, and the transmission gear 903_3 is meshed with a gear at the top end of the rotation gear shaft 903_2. The transmission gear 903_3 is fixedly connected with the rotating frame 903_4 coaxially, the rotating frame 903_4 is sleeved on the central shaft 902_1 through a bearing, the output shaft of the rotating motor 905 drives the rotating worm wheel 903_1 to rotate through a coupler and a worm, and the transmission gear 903_3 and the rotating frame 903_4 are driven to rotate through the rotating gear shaft 903_2. In the embodiment of the present invention, to cooperate with 3 sets of roller slider sets, the rotating frame 903_4 is configured as an equilateral triangle with an arc, and 3 sliding rails 902_6 are fixed along 3 straight sides of the rotating frame 903_4. In order to reduce the influence of the gravity of the rotating frame 903_4 on the rotation of the roller slider group, 3 lightening holes are formed in the rotating frame 903_4 according to the mechanical principle, so that the overall gravity of the rotating frame 903_4 and the roller slider group is reduced, and the rotation and adjustment effects are improved.
The swivel hinge 903_5 is coaxially journaled on the central shaft 902_1 by a bearing. At least 2 protruding blocks are provided on one side surface of the rotary hinge 903_5, and flexible portions are provided in the circumferential direction of the rotary hinge 903_5, the number of groups of flexible portions being the same as the number of the planetary gears 902_4, so that the number of groups of flexible portions is also 3 groups in this specific embodiment. Each set of flexible portions includes two flexible sheets, and the engagement slider 902_8 drives the roller 902_11 to extend between and contact the two flexible sheets.
The output terminal 903_6 is sleeved on the central shaft 902_1 through a bearing, and is connected to the rotation hinge 903_5 for outputting rotation to the outside. An assembly hole is formed in one side of the output end 903_6, and the assembly hole is matched with a protruding block of the rotary hinge 903_5, so that the protruding block is inserted into the assembly hole to finish the fixedly connection between the rotary hinge 903_5 and the output end 903_6. In order to make the connection between the rotary hinge 903_5 and the output end 903_6 stronger, in the embodiment of the present invention, 3 pairs of protruding blocks on the rotary hinge 903_5 and fitting holes on the output end 903_6 are correspondingly arranged along the circumferential direction.
Therefore, when the rotating motor 905 drives the rotating worm wheel 903_1 to rotate through the coupling and the worm, the rotating worm wheel 903_1 drives the coaxial rotating gear shaft 903_2 to rotate, and the rotating gear shaft 903_2 drives the driving gear 903_3 and the rotating frame 903_4 fixedly connected with the driving gear 903_3 to rotate together through the meshing engagement, so that the roller slider set on the rotating frame 903_4 also rotates. While the swivel hinge 903_5 rotates with the roller 902_11, and the swivel hinge 903_5, the output 903_6 connected to the swivel hinge 903_5, and the rotation of the roller 902_11 about the central axis 902_1 are simultaneously affected by the turret 903_4 and the planet 902_4. Since the rotating frame 903_4, the rotating hinge 903_5, and the output terminal 903_6 are connected to the central shaft 902_1 through bearings, the central shaft 902_1 does not interfere with the rotation of the rotating frame 903_4, the rotating hinge 903_5, and the output terminal 903_6.
Referring to fig. 5 to 10, when the output shafts of the rigidity adjusting motor 904 and the rotating motor 905 output at a specific rotation speed ratio, the rotating frame 903_4 and the sun gear 902_3 rotate at the same angular speed, the planet gear 902_4 between the sun gear 902_3 and the rack slider 902_7 cannot rotate, at this time, the sun gear 902_3 and the rack slider 902_7 remain relatively stationary, and the contact position between the roller 902_11 on the meshing slider 902_8 and the rotating hinge 903_5 remains unchanged, so that the output end 903_6 fixedly connected with the rotating hinge 903_5 drives the output connecting disc 901_1 to perform a rotational motion at a constant rigidity.
When the rotation speed ratio of the rigid adjusting motor 904 and the rotation motor 905 changes, an angular speed difference occurs between the rotating frame 903_4 and the sun gear 902_3, so that the planet gear 902_4 between the sun gear 902_3 and the rack slider 902_7 rotates, further, the rack slider 902_7 moves along the sliding rail 902_6 on the rotating frame 903_4, the meshing tooth block 902_8 moves relatively to the rack slider 902_7 under the cooperation of the clamping position 901_5 and the retaining sliding groove 902_10, the roller 902_11 on the meshing slider 902_8 moves back and forth between the flexible parts of the rotating hinge 903_5, the supporting position of the roller 902_11 on the rotating hinge 903_5 is changed, and further, the supporting rigidity provided by the rotating hinge 903_5 to the output end 903_6 is changed, and the output end 903_6 drives the output connecting disc 901_1 to complete variable rigidity adjustment.
As shown in fig. 1 to 4, the female output quick-change interfaces 802 of all the output quick-change interfaces 8 are fixed on the output connection disc 901_1, so that the stiffness-variable joint 9 responsible for the rotating joint 2 drives the shoulder structure 3 to rotate, thereby simulating the turning movement of a user; the rigidity-variable joint 9 responsible for the shoulder flexible joint 4 drives the big arm supporting plate 5 to rotate, so that the shoulder joint of a user is simulated to drive the big arm and the forearm to lift and fall; the stiffness-variable joint 9 responsible for the elbow rotary joint 601 drives the elbow rotary gear set 603 to drive the elbow rotary frame 605 to axially rotate, so that the forearm rotary movement of a user is simulated; the stiffness-variable joint 9 responsible for the elbow flexion and extension joint 604 drives the elbow connecting frame 606 and the forearm structure 7 to rotate around the elbow flexion and extension joint 604, thereby simulating the elbow flexion and extension actions of a user.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. The flexible upper limb exoskeleton rehabilitation training system is characterized by comprising a supporting component, a rotating joint, a shoulder flexible joint, a shoulder structure, a large arm supporting plate, an elbow joint component and a forearm structure; the elbow joint assembly is used for detachably connecting the big arm supporting plate and the small arm structure and simulating elbow movement of a user; the shoulder flexible joint detachably connects the big arm support plate and the shoulder structure and is used for simulating the shoulder movement of the user; the rotary joint is used for detachably connecting the support assembly with the shoulder structure and simulating the horizontal rotation of the upper limb of the user; the rotating joint and the shoulder flexible joint are all rigidity-variable joints;
The rotating joint and the shoulder flexible joint are structurally consistent rigidity-variable joints, and the rigidity-variable joints comprise joint shells, a rigidity-adjusting mechanism, a rigidity-adjusting motor, a rotating mechanism and a rotating motor; the rigidity adjusting mechanism and the rotating mechanism are coaxially arranged in the joint shell, output shafts of the rigidity adjusting motor and the rotating motor extend into the joint shell, the rotating speeds of the rigidity adjusting mechanism and the rotating mechanism are controlled through a coupler and a worm respectively, and when the rigidity adjusting mechanism and the rotating mechanism keep a specific rotating speed ratio, the rigidity adjusting mechanism and the rotating mechanism keep relatively static rotation through adjusting the rotating speed ratio between the rigidity adjusting mechanism and the rotating mechanism; when the rotation speed ratio of the rigidity adjusting mechanism and the rotating mechanism deviates from the specific rotation speed ratio, the rigidity adjusting mechanism is matched with the rotating mechanism to adjust the rotation rigidity;
The rigidity adjusting mechanism comprises a central shaft, a rigidity adjusting turbine, a sun gear, a planet gear, a retainer and a roller and slide block group; the rigidity adjusting turbine is coaxially fixed at one end of the central shaft, and an output shaft of the rigidity adjusting motor drives the rigidity adjusting turbine to rotate through the coupler and the worm so as to drive the central shaft to rotate; the retainer is coaxially sleeved on the central shaft through a bearing, and at least 2 planetary gears are uniformly arranged along the circumferential direction of the retainer, so that the planetary gears are meshed with a sun gear fixed on the central shaft; the roller slide block group is contacted with the rotating mechanism and the joint shell; the number of the roller slide block groups is consistent with that of the planetary gears and meshed with the planetary gear teeth.
2. The flexible upper extremity exoskeleton rehabilitation training system of claim 1, wherein said support assembly includes a support base and a load bearing elevation frame; the support base is of an L-shaped structure, and one end of the bearing lifting frame is mounted on the support base through bolts according to the height of the upper limb of the user; the other end of the bearing lifting frame is provided with a rotating joint installation groove for placing the rotating joint, so that the rotating joint is placed in the rotating joint installation groove and connected with the shoulder structure.
3. The flexible upper extremity exoskeleton rehabilitation training system of claim 2, wherein said shoulder structure includes a lateral shoulder support plate and a longitudinal shoulder support plate; wherein one end of the transverse shoulder support plate is detachably connected with the rotary joint; the connecting hole is formed in one end of the longitudinal shoulder supporting plate, the other end of the transverse shoulder supporting plate is arranged in the connecting hole through a bearing, and a shoulder joint supporting frame used for placing the shoulder flexible joint is arranged at the other end of the longitudinal shoulder supporting plate.
4. The flexible upper extremity exoskeleton rehabilitation training system of claim 3, wherein said elbow joint assembly includes an elbow rotary joint, an elbow rotary link, an elbow rotary gear set, an elbow rotary frame, an elbow flexion-extension joint, and an elbow connecting frame; wherein, the elbow rotary joint and the elbow flexion-extension joint are all rigidity-variable joints consistent with the shoulder flexible joint structure;
the elbow rotating connecting piece is coaxially sleeved on the elbow rotating joint, a limiting block is arranged on the side wall of the elbow rotating connecting piece, one end of the big arm supporting plate is detachably connected with the shoulder flexible joint, and the other end of the big arm supporting plate penetrates through the limiting block to enable the shoulder flexible joint to be connected with the elbow rotating connecting piece and limit the length of the big arm supporting plate;
the elbow rotating gear set comprises a pinion and a large gear which are meshed, the pinion is detachably connected with the elbow rotating joint, and the large gear is sleeved on an outer ring of a rotating chute arranged on the elbow rotating frame, so that the elbow rotating joint drives the elbow rotating frame to axially rotate through the elbow rotating gear set; an elbow joint support frame for placing the elbow flexion and extension joints and an auxiliary support frame opposite to the elbow joint support frame are arranged on one side of the elbow rotating frame;
The elbow connecting frame is of a U-shaped structure, one side of the elbow connecting frame is detachably connected with the elbow bending and stretching joint and the elbow joint supporting frame, and the other side of the elbow connecting frame is connected with the auxiliary supporting frame through a rotating shaft, so that the elbow connecting frame rotates by taking the elbow bending and stretching joint as a center under the cooperation of the elbow bending and stretching joint and the rotating shaft.
5. The flexible upper extremity exoskeleton rehabilitation training system of claim 4, wherein said forearm structure includes a forearm support plate and a grip; wherein the handle is detachably arranged at one end of the forearm supporting plate; the other end of the forearm support plate passes through the elbow connecting frame and is provided with a limiting block for limiting the movement of the forearm support plate.
6. The flexible upper extremity exoskeleton rehabilitation training system of claim 5, wherein said roller slider set includes rollers, compacts, rack sliders, engagement sliders, and slide rails; the rack sliding block is arranged on the sliding rail, and one side of the rack sliding block is provided with side teeth meshed with the planet gears; the meshing sliding block is positioned above the rack sliding block, the bottom surface of the meshing sliding block and the top surface of the rack sliding block are uniformly provided with matched inclined sliding grooves, and two sides of the meshing sliding block are provided with retaining sliding grooves, so that the movement of the meshing sliding block along the inclined sliding grooves is decomposed into the translation of the rack sliding block along a sliding rail and the translation of the meshing sliding block facing the planet wheel under the cooperation of the clamping position arranged in the joint shell and the retaining sliding grooves; the roller is arranged on the meshing sliding block through the pressing block, so that the roller is in contact with the rotating mechanism.
7. The flexible upper extremity exoskeleton rehabilitation training system of claim 6, wherein said rotation mechanism includes a rotation worm gear, a rotation gear shaft, a transmission gear, a turret, a rotation hinge, and an output; the sliding rail is fixed on the rotating frame, the transmission gear is fixedly connected with the rotating frame in a coaxial way, the rotating frame is sleeved on the central shaft through a bearing, the transmission gear is meshed with a rotating gear shaft sleeved with the rotating worm wheel, an output shaft of the rotating motor drives the rotating worm wheel to rotate through a coupler and a worm, and the transmission gear and the rotating frame are driven to rotate through the rotating gear shaft; the rotating hinge is coaxially sleeved on the central shaft through a bearing and is in contact with the roller; the output end is sleeved on the central shaft through a bearing and is connected with the rotating hinge for outputting rotation to the outside.
8. The flexible upper limb exoskeleton rehabilitation training system of claim 7, wherein an assembly hole is formed in one side of the output end and is matched with a protruding block arranged on one side surface of the rotating hinge, so that the protruding block is inserted into the assembly hole to complete connection of the rotating hinge and the output end; the circumference of the rotating hinge is provided with flexible parts, the number of groups of flexible parts is the same as that of the planetary gears, each group of flexible parts comprises two flexible sheets, the roller extends into between the two flexible sheets and contacts with the two flexible sheets, and the rotating rigidity of the output end, which is output outwards, is adjusted by changing the supporting positions of the two flexible sheets on the roller.
9. The flexible upper extremity exoskeleton rehabilitation training system of claim 8, wherein said joint housing includes an output connection pad, a front end cover, a motor front housing, and a motor rear housing; the inner wall of the motor front shell is provided with a clamping position corresponding to the retaining chute, the rigidity adjusting mechanism and the rotating mechanism are placed in an inner space formed by connecting the motor front shell and the motor rear shell, and an output shaft of the rigidity adjusting motor and an output shaft of the rotating motor extend into the motor rear shell and respectively drive the rigidity adjusting turbine and the rotating worm wheel; the front end cover is arranged on the front motor shell, and the output connecting disc is coaxially and fixedly connected to the output end; the surface of the output connecting disc is provided with at least 3 connecting grooves, so that the transverse shoulder supporting plate, the big arm supporting plate and the elbow connecting frame are respectively and detachably arranged on the output connecting disc, and the output connecting disc drives the transverse shoulder supporting plate, the big arm supporting plate and the elbow connecting frame to rotate; the pinion is arranged on the output connecting disc, so that the output connecting disc drives the pinion to axially rotate, and the elbow rotating frame is driven to axially rotate through the large gear.
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