CN1876335A - Joint structure for rehabilitation training robot - Google Patents

Abstract

The invention relates to a robot joint means for recover training, comprising generator, framework, mechanical arm and reduction apparatus. Said generator is fixed on framework, the input end of reduction apparatus is connected with turning cylinder of generator, place between reduction apparatus and mechanical arm is provided with a clutch-damper, the drive shaft of clutch-damper is connected to output end of reduction apparatus, drive shaft is in connection with mechanical arm; the shell of clutch-damper is equipped with driving and driven disc fixed connected with driving shaft and driven shaft, the relative surface of driving and driven shaft is equipped with electrode plate with converse polarity respectively, intramural electrode plate with polarity corresponding to that of electrode plate on internal wall of shell beside driving and driven disc, and the internal cavity of shell is filled with current ;liquid. The invention is characterized by simple structure, accurate control, convenient shift and safe and stable operation.

Description

The articulation mechanism of recovery exercising robot

Technical field

The present invention relates to a kind of articulation mechanism that is applied to the hemiplegia of limb rehabilitation of patients image training robot that causes because of apoplexy, spinal cord injury and various accident.

Background technology

Rehabilitation engineering is an emerging research field that is born along with the development of modern rehabilitation medicine, and the rehabilitation medical robot technology then is an of paramount importance technology in the rehabilitation engineering.The rehabilitation medical robot technology is not only the forward position and the focus of current robot area research, also is the high-tech that medical science of recovery therapy and robotics combine.

One of most important achievement in research of modern neural medical science of recovery therapy is exactly to have found that central nervous system has the plasticity of height, and the medical science of recovery therapy clinical research shows that it is very important and crucial medical procedure that paralytic's affected limb is carried out rehabilitation training.Patient for the limb function disability that causes because of apoplexy, spinal cord injury and various accident, in time carry out rehabilitation training, especially carry out correct rehabilitation training in the first trimester after disease is decreased, the nervimuscular function of efficient recovery just can be arranged substantially, alleviate disabled degree greatly, improve its quality of life.Great majority among China physical disabilities person belong to acquired disability at present, and wherein quite a few people's deformity then causes because fail to obtain timely, correct rehabilitation training.Therefore, the research of limb rehabilitation training robot will bring glad tidings for these patients, have extremely important social effect.

Existing device for healing and training mainly is various types of CPM (Continuous Passive Motion, continuous passive motion) machines, and the CPM machine is mainly with Passive Mode work, i.e. mechanical arm drive people swivel of hand carries out reciprocal motion.A spot of CPM machine can be with aggressive mode work, and the people's hand-motion mechanical arm that promptly returns to a certain degree carries out reciprocal motion.Up-to-date studies show that: the extremity motor function disability rehabilitation of patients training that causes because of apoplexy, spinal cord injury and various accident is needed four kinds of training modes usually, i.e. passive exercise pattern, power-assisted training mode, active training mode, damping training mode.And present recovery exercising robot usually adopts is motor, decelerator and the articulation structure of mechanical arm combination, exports the different moment of big or small direction by motor on forward or backwards, realizes four kinds of rehabilitation training patterns.But, because motor is a kind of active device, utilize motor that damping force directly is provided, may there be certain potential safety hazard for rehabilitation training, therefore, need carry out complicated safety Design and control.

Summary of the invention

The present invention is directed to the needs of the hemiplegia of limb patient's who causes because of apoplexy, spinal cord injury and various accident limb rehabilitation training, designed the articulation mechanism of a kind of simple in structure, precise control and recovery exercising robot safe and reliable to operation.

The invention provides a kind of articulation mechanism of recovery exercising robot, comprise motor, frame, mechanical arm and deceleration device, motor is fixed on the frame, the input of deceleration device links to each other with the turning cylinder of motor, it is characterized in that, between deceleration device and mechanical arm, be provided with a clutch-damper, described clutch-damper comprises driving shaft, driven shaft, shell, the driving shaft of clutch-damper links to each other with the output of deceleration device, the driven shaft of clutch-damper links to each other with mechanical arm, in the shell of clutch-damper, be provided with respectively the driving disc spacing pressing and the clutch plate of fixedlying connected with driven shaft with driving shaft, the relative arrangement of driving disc spacing pressing and have the gap between the two with clutch plate, be respectively equipped with opposite polarity battery lead plate on the apparent surface of driving disc spacing pressing and clutch plate, battery lead plate in the consistent wall of battery lead plate polarity on the outer casing inner wall of driving disc spacing pressing sides adjacent, being provided with it, battery lead plate in the consistent wall of battery lead plate polarity on being provided with it on the outer casing inner wall of clutch plate sides adjacent, shell inner cavity has filled up ER fluid.In addition, deceleration device is made up of the worm and worm wheel engagement, and worm screw links to each other with the turning cylinder of motor, and worm gear links to each other with the driving shaft of clutch-damper.

The articulation mechanism of recovery exercising robot of the present invention has the following advantages:

(1) employing realizes the switching of damper and clutch function by Control of Voltage, thereby makes the present invention have advantage of simple structure based on the clutch-damper of ER fluid.

(2) adopt worm and gear speed-reduction apparatus, realized big speed reducing ratio and realized latching characteristics, thereby improved security.

(3) clutch-damper based on ER fluid is applied the voltage that is higher than given threshold value, realize the clutch function, the motor output torque is passed to mechanical arm reposefully, thereby realize passive exercise pattern and power-assisted training mode, be specially adapted to be in the patient of initial stages of restoration.

(4) allow motor quit work; clutch-damper based on ER fluid is applied the voltage that is lower than given threshold value; utilize the latching characteristics of worm and gear; realize the damper function, control applies voltage, realizes the accurate control of damping; thereby realize the damping training mode; under this training mode, patient's upper and lower extremities rehabilitation exercise is subjected to the protection of this articulation mechanism, and security is greatly improved.

(5) allow motor quit work, utilize the latching characteristics of worm and gear, the clutch-damper based on ER fluid is applied no-voltage, thereby realize initiatively training mode.

To sum up, the articulation mechanism of recovery exercising robot of the present invention has that simple in structure, precise control, multiple training mode are easy to realize and easy switching, advantage safe and reliable to operation.

Description of drawings

Fig. 1 is the schematic perspective view of the articulation mechanism of recovery exercising robot of the present invention.

Fig. 2 is the structural representation according to the clutch-damper based on ER fluid of the present invention.

Fig. 3 is the schematic perspective view according to the articulation mechanism of upper-limbs rehabilitation training robot of the present invention.

Fig. 4 is the schematic perspective view according to the articulation mechanism of lower limbs rehabilitation training robot of the present invention.

The specific embodiment

Hereinafter in conjunction with the accompanying drawings and specific embodiment the articulation mechanism of recovery exercising robot of the present invention is described in detail.

The deceleration device that the articulation mechanism of recovery exercising robot comprises motor 1, frame 2, constituted by worm screw 3 and worm gear 4, based on the clutch-damper 5 and the mechanical arm 6 of ER fluid.Wherein, motor 1 is fixed on the frame 2, and the turning cylinder of motor 1 links to each other with worm screw 3, and the driving shaft 51 of the turning cylinder of worm gear 4 and clutch-damper 5 connects, and the driven shaft 56 of clutch-damper 5 connects with mechanical arm 6.The rotation of motor 1 drives worm screw 3 and rotates, and along with the rotation of worm screw 3, the worm gear 4 on it can produce and the perpendicular rotation of worm screw 3 rotation directions, the moving circle of worm screw revolution, and worm gear rotates the angle of a tooth.

Be provided with respectively the driving disc spacing pressing 54 and the clutch plate 58 of fixedlying connected with driven shaft 56 with driving shaft 51 in the shell 521 of clutch-damper 5, driving disc spacing pressing 54 is with clutch plate 58 relative arrangements and have the gap between the two.On the apparent surface of driving disc spacing pressing 54 and clutch plate 58, be respectively equipped with positive plate 55 and minus plate 59.On the outer casing inner wall of driving disc spacing pressing 54 respective side, be provided with wall inner anode plate 53, on the outer casing inner wall of clutch plate 58 respective side, be provided with wall inner cathode plate 57.The internal cavities 522 of clutch-damper 5 has filled up ER fluid.The wall inner anode plate 53 of clutch-damper 5 and the positive plate 55 on the driving disc spacing pressing 54 are connected the anode of power supply jointly, and the wall inner cathode plate 57 of clutch-damper 5 and the minus plate 59 on the clutch plate are connected the negative terminal of power supply jointly.

The work and the control principle of the articulation mechanism of recovery exercising robot of the present invention are as follows: for for the clutch-damper 5 of ER fluid, because the positive plate 55 on wall inner anode plate 53 and the driving disc spacing pressing 54 is connected the anode of power supply jointly, minus plate 59 on wall inner cathode plate 57 and the clutch plate 58 is connected the negative terminal of power supply jointly, therefore when electrical source voltage is not 0, extra electric field E mainly is applied between driving disc spacing pressing 54 and the clutch plate 58, and electric-field intensity is almost 0 in the cavity of driving disc spacing pressing and clutch plate outside.Therefore have only the ER fluid between driving disc spacing pressing 54 and the clutch plate 58 just to be subjected to the influence of external voltage E, thereby electric current change effect takes place.Along with the increase gradually of external voltage E, the more and more thickness that becomes of the ER fluid between driving disc spacing pressing 54 and the clutch plate 58, the relative motion damping between driving disc spacing pressing 54 and the clutch plate 58 also increases gradually; When external voltage E greater than certain threshold value E _hThe time, the ER fluid between driving disc spacing pressing 54 and the clutch plate 58 solidifies fully, and driving disc spacing pressing 54 and clutch plate 58 become and connect firmly.Therefore, be in 0 voltage or E when external voltage _hWhen above, work in the clutch mode based on the clutch-damper 5 of ER fluid; When external voltage is in 0 voltage and E _hBetween the time, work in the damper mode based on the clutch-damper 5 of ER fluid.

If the external diameter of driving disc spacing pressing 54 and clutch plate 58 all is r, the spacing between driving disc spacing pressing 54 and the clutch plate 58 is h, and then the shear stress of relative motion can calculate according to following formula between driving disc spacing pressing 54 and the clutch plate 58:

τ＝τ _c+η·v (1)

In the formula, τ _cBe yield stress, η is the plastic viscosity of ER fluid, and v is a shear rate.

If the speed discrepancy of driving disc spacing pressing 54 and clutch plate 58 is Δ n, then shear rate is:

$v=\frac{d\left(\mathrm{r\ωx}\right)}{\mathrm{dx}}=\frac{r}{h}\mathrm{\Δn}...(2)$

So, the moment T that produces owing to electric rheological effect is:

$T={\&Integral;}_0^{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">r</figure-callout>}}2\mathrm{\&pi;\&tau;}{\mathrm{<figure-callout\; id="2"\; label="x"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">x</figure-callout>}}^2\mathrm{dx}=\frac{2\mathrm{\&pi;}{\mathrm{\&tau;}}_{\mathrm{<figure-callout\; id="3"\; label="c\; r"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">c</figure-callout>}}{r}^{}{}^3}{3}+\frac{\mathrm{\&pi;\&eta;\&Delta;<figure-callout\; id="4"\; label="n\; r"\; filenames="A20061008831100082.png"\; state="\{\{state\}\}">n</figure-callout>}{r}^{}{}^4}{2h}...\left(3\right)$

According to the principle of electric rheological effect, yield stress τ _cCan be expressed as:

${\mathrm{\&tau;}}_c=K_c\frac{E^2}{{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">h</figure-callout>}}^2}...\left(4\right)$

K _cBe yield stress electric field coefficient.The output torque of clutch plate 58 then:

$T=\frac{2\mathrm{\&pi;}{K}_c{E}^2{\mathrm{<figure-callout\; id="3"\; label="r"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">r</figure-callout>}}^3}{3{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">h</figure-callout>}}^2}+\frac{\mathrm{\&pi;\&eta;\&Delta;<figure-callout\; id="4"\; label="n\; r"\; filenames="A20061008831100082.png"\; state="\{\{state\}\}">n</figure-callout>}{r}^{}{}^4}{2h}...\left(5\right)$

Because the movement velocity of recovery exercising robot is very low, thus second in the following formula can ignore, promptly

$T=\frac{2\mathrm{\&pi;}{K}_c{E}^2{\mathrm{<figure-callout\; id="3"\; label="r"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">r</figure-callout>}}^3}{3{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="A20061008831100091.png,A20061008831100092.png"\; state="\{\{state\}\}">h</figure-callout>}}^2}...\left(6\right)$

As can be known, output torque T is directly proportional with 2 powers of applied voltage E from (6) formula.Therefore we just can control the variation of damping quickly and accurately by the size of control applied voltage E.

In first embodiment of the present invention,, can realize by following control according to four kinds of mode of operations of the articulation mechanism of upper-limbs rehabilitation training robot of the present invention with reference to Fig. 3:

(1) passive exercise pattern

Clutch-damper 5 based on ER fluid applied be higher than given threshold value E _hVoltage E, then clutch-damper 5 is operated in clutch state, driving shaft 51 connects firmly mutually with driven shaft 56, at this moment, clutch passes to mechanical arm 6 reposefully with the motor output torque, mechanical arm 6 drives patient's upper limbs and carries out passive exercise.

(2) power-assisted training mode

In the passive exercise pattern, by detecting patient's movable information (as the nervimuscular electromyographic signal of four limbs), the size and Orientation of the output torque of control motor 1, clutch passes to mechanical arm 6 reposefully with the motor output torque, 6 of mechanical arms apply with the patient attempts the consistent power of the direction of motion, helps patient's upper limbs to carry out rehabilitation training.

(3) active training mode

Allow motor 1 quit work, and the clutch-damper 5 based on ER fluid is applied 0 voltage, then clutch-damper 5 is operated in clutch state, and driving shaft 51 and driven shaft 56 do not link, and driven shaft 56 is free to rotate.Because the latching characteristics of worm and gear, driving shaft 51 can't freely rotate.At this moment, patient's upper limbs can drive mechanical arm 6 and carries out the reciprocal motion of undamped freedom.

(4) damping training mode

Allow motor 1 quit work, the clutch-damper 5 based on ER fluid is applied 0-E _hBetween voltage, clutch-damper 5 is operated in the damper state.Because the latching characteristics of worm and gear, driving shaft 51 can't freely-movable, and driven shaft 56 has freely rotating of damping.At this moment, patient's upper limbs can drive the reciprocating motion that mechanical arm 6 has damping.According to (6) formula,, just can accurately control the damping of mechanical arm 6 by the size of control applied voltage.

In second embodiment of the present invention,, can realize by following control according to four kinds of mode of operations of the articulation mechanism of lower limbs rehabilitation training robot of the present invention with reference to Fig. 4:

(1) passive exercise pattern

Clutch-damper 5 based on ER fluid applied be higher than given threshold value E _hVoltage E, then clutch-damper 5 is operated in clutch state, driving shaft 51 connects firmly mutually with driven shaft 56, at this moment, clutch passes to mechanical arm 6 reposefully with the motor output torque, mechanical arm 6 drives patient's lower limb and carries out passive exercise.

(2) power-assisted training mode

In the passive exercise pattern, by detecting patient's movable information (as the nervimuscular electromyographic signal of four limbs), the size and Orientation of the output torque of control motor 1, clutch passes to mechanical arm 6 reposefully with the motor output torque, 6 of mechanical arms apply with the patient attempts the consistent power of the direction of motion, helps patient's lower limb to carry out rehabilitation training.

(3) active training mode

Allow motor 1 quit work, and the clutch-damper 5 based on ER fluid is applied 0 voltage, then clutch-damper 5 is operated in clutch state, and driving shaft 51 and driven shaft 56 do not link, and driven shaft 56 is free to rotate.Because the latching characteristics of worm and gear, driving shaft 51 can't freely rotate.At this moment, patient's lower limb can drive mechanical arm 6 and carry out the reciprocal motion of undamped freedom.

(4) damping training mode

Allow motor 1 quit work, the clutch-damper 5 based on ER fluid is applied 0-E _hBetween voltage, clutch-damper 5 is operated in the damper state.Because the latching characteristics of worm and gear, driving shaft 51 can't freely-movable, and driven shaft 56 has freely rotating of damping.At this moment, patient's lower limb can drive the reciprocating motion that mechanical arm 6 has damping.According to (6) formula,, just can accurately control the damping of mechanical arm 6 by the size of control applied voltage.

Read after the above content, be not difficult to find that the driving disc spacing pressing mentioned and the position of positive plate on the clutch plate and minus plate can exchange herein, simultaneously the wall inner anode plate on the corresponding outer casing inner wall and the position of wall inner cathode plate also will exchange, thereby play and above describe identical effect.

Claims (2)

1, a kind of articulation mechanism of recovery exercising robot, comprise motor (1), frame (2), mechanical arm (6) and deceleration device, motor (1) is located on the frame (2), the input of deceleration device links to each other with the turning cylinder of motor (1), it is characterized in that, between deceleration device and mechanical arm (6), be provided with a clutch-damper (5), described clutch-damper comprises driving shaft (51), driven shaft (56), shell (521), the driving shaft (51) of clutch-damper (5) links to each other with the output of deceleration device, the driven shaft (56) of clutch-damper (5) links to each other with mechanical arm (6), in the shell (521) of clutch-damper (5), be provided with respectively the driving disc spacing pressing (54) and the clutch plate (58) of fixedlying connected with driven shaft (56) with driving shaft (51), the relative arrangement of driving disc spacing pressing (54) and have the gap between the two with clutch plate (58), be respectively equipped with opposite polarity battery lead plate (55 on the apparent surface of driving disc spacing pressing (54) and clutch plate (58), 59), battery lead plate (53) in the consistent wall of battery lead plate polarity on the outer casing inner wall of driving disc spacing pressing (54) sides adjacent, being provided with it, battery lead plate (57) in the consistent wall of battery lead plate polarity on being provided with it on the outer casing inner wall of clutch plate (58) sides adjacent, shell inner cavity (522) has filled up ER fluid.

2, the articulation mechanism of recovery exercising robot according to claim 1, it is characterized in that, described deceleration device is made up of intermeshing worm screw (3) and worm gear (4), wherein worm screw (3) links to each other with the turning cylinder of motor (1), and worm gear (4) links to each other with the driving shaft (51) of clutch-damper (5).

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