CN210277636U - Robot arm structure and robot - Google Patents

Abstract

The utility model discloses a robot arm structure, it belongs to the robotechnology field. The robot arm structure comprises a mounting seat, a large arm, a small arm and a wrist joint. The large arm is rotatably arranged on the mounting seat, a shoulder joint is arranged between the mounting seat and the large arm, the shoulder joint is rotatably arranged on the mounting seat, and the large arm is hinged to the shoulder joint. Specifically, big arm includes connecting portion and rotating part, and connecting portion articulate in the shoulder joint, and the rotating part is connected in connecting portion with rotating, and the forearm bends the extension portion and the gyration portion including bending, bends the extension portion and articulates in the rotating part, and the gyration portion is connected in the extension portion with rotating, and wrist joint sets up on the gyration portion, and wrist joint can bend towards the forearm direction and stretch. The structure of the human arm is simulated by simulating the actions of rotation, flexion and extension and the like of each joint part of the human arm, and the motion actions of the human arm are simulated and reproduced. The utility model provides a robot adopts foretell robot arm structure, and the motion of simulation therapist carries out supplementary rehabilitation training to the patient.

Description

Robot arm structure and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot arm structure and robot.

Background

With the rapid development of artificial intelligence and electronic technology, robots are gradually integrated into the lives of people, and can replace human beings to complete a series of works in some fields.

In the medical field, postoperative rehabilitation training is often required for patients after surgery. The traditional training mode is that a therapist assists a patient to carry out postoperative rehabilitation training. However, the conventional method has certain limitations, such as the requirement of one-to-one service between therapists and patients, and the burden of a treatment room is increased due to the fact that the number of the therapists is seriously insufficient, and the number of patients for each therapist is large.

The existing rehabilitation robot mainly takes single-function training as a main part and is greatly different from the training of therapists. In addition, the existing rehabilitation robot lacks corresponding degree of freedom compared with therapists, and can not complete the action simulation of the therapists, so that great difference is generated between the training of patients and the training of the therapists, and the patients can not be well recovered.

Therefore, the utility model provides a robot arm structure simulates human physiology structure and function, realizes the accurate simulation of human arm action, can be used for assisting the patient to carry out the rehabilitation training, and special analog therapist accomplishes and carries out abundant accurate rehabilitation training to the patient, makes the patient obtain comprehensive rehabilitation training. The robot arm structure can also be used in other robot fields needing to accurately simulate the actions of human arms.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot arm structure can simulate human arm motion, realizes that the motion of high flexibility reappears, can be used to fields that need accurate simulation human action such as recovered robot.

Another object of the utility model is to provide a robot, this robot adopt foretell robot arm structure, can effectual human meticulous action of simulation, realize the accurate simulation of human arm.

As the conception, the utility model adopts the technical proposal that:

a robotic arm structure, comprising:

a mounting seat;

the large arm is rotationally arranged on the mounting seat and comprises a connecting part and a rotating part which are rotationally connected, and the connecting part is hinged to the mounting seat;

the small arm comprises a bending part and a rotating part which are connected in a rotating mode, and the bending part is hinged to the rotating part; and

and the wrist joint is arranged on the rotating part and can bend and extend towards the direction of the forearm.

Furthermore, a shoulder joint is arranged between the mounting seat and the large arm, the shoulder joint is rotatably arranged on the mounting seat, and the connecting part is hinged to the shoulder joint.

Furthermore, a first driving element is arranged in the mounting seat, and the output end of the first driving element is connected to the shoulder joint.

Further, a second driving element is arranged on the shoulder joint, and the output end of the second driving element is connected to the connecting part.

Furthermore, one end of the connecting portion is hinged to the shoulder joint, the other end of the connecting portion is rotatably connected with a first gear ring, a third driving element is arranged in the connecting portion, an output end of the third driving element is connected with a first gear, the first gear ring is meshed with the first gear, and the third driving element can drive the first gear ring to rotate relative to the connecting portion.

Further, the first ring gear is connected to the rotating portion so that the rotating portion can rotate relative to the connecting portion.

Furthermore, a fourth driving element is arranged inside one end of the rotating portion, which is connected with the small arm, and the fourth driving element is connected with the flexing portion, so that the flexing portion can rotate relative to the rotating portion.

Furthermore, a second gear ring is arranged at the free end of the bending part, the second gear ring is rotationally connected with the rotating part, a fifth driving element is arranged in the rotating part, the output end of the fifth driving element is connected with a second gear, and the second gear is meshed with the second gear ring, so that the rotating part rotates relative to the bending part.

Further, the wrist joint includes:

the fixed seat is arranged on the rotary part, and a first connecting assembly and a second connecting assembly are arranged on the fixed seat;

the connecting fork is hinged to the first connecting component at one end and can rotate around a first axis;

the limiting piece is hinged to the second connecting component through a limiting pin, a waist-shaped groove is formed in the limiting piece, the other end of the connecting fork is arranged in the waist-shaped groove in a sliding mode, the limiting piece is arranged on the limiting pin, and the limiting piece and the limiting pin synchronously rotate and drive the connecting fork to rotate around a second axis;

the first axis and the second axis form an included angle; and

a drive member capable of driving the clevis to move.

A robot comprising a robot arm structure as described above.

The utility model has the advantages that:

the utility model provides a robot arm structure, including mount pad, big arm, forearm and wrist joint. The large arm is rotatably arranged on the mounting seat, a shoulder joint is arranged between the mounting seat and the large arm, the shoulder joint is rotatably arranged on the mounting seat, and the large arm is hinged to the shoulder joint. Specifically, big arm includes connecting portion and rotating part, and connecting portion articulate in the shoulder joint, and the rotating part is connected in connecting portion with rotating, and the forearm bends the extension portion and the gyration portion including bending, bends the extension portion and articulates in the rotating part, and the gyration portion is connected in the extension portion with rotating, and wrist joint sets up on the gyration portion, and wrist joint can bend towards the forearm direction and stretch. The rehabilitation training of the robot arm structure is assisted by simulating the actions of rotation, flexion and extension and the like of each joint part of the arm of a human body.

The utility model also provides a robot, this robot adopt foretell robot arm structure, carry out supplementary rehabilitation training to patient's arm, help the patient carry out arm nervous system's comprehensive recovery.

Drawings

Fig. 1 is a front view of a robot provided by the present invention;

fig. 2 is a schematic structural view of a waist joint structure provided by the present invention;

fig. 3 is a side view of the waist joint structure provided by the present invention;

fig. 4 is an exploded view of the waist joint part structure provided by the present invention;

fig. 5 is a schematic structural view of the connecting shaft and the rotating base provided by the present invention;

fig. 6 is an exploded view of the power element provided by the present invention;

fig. 7 is a schematic structural diagram of a shoulder joint and a robot arm structure provided by the present invention;

fig. 8 is an exploded view of the shoulder joint and robot arm structure provided by the present invention;

fig. 9 is a schematic structural view of a shoulder joint provided by the present invention;

fig. 10 is a schematic structural view of a connecting portion provided by the present invention;

fig. 11 is a schematic structural view of a rotary part provided in the present invention;

fig. 12 is a schematic structural view of the small arm provided by the present invention;

fig. 13 is an exploded view of the forearm provided by the present invention;

fig. 14 is a schematic structural view of a wrist joint provided by the present invention;

fig. 15 is an exploded view of the wrist joint provided by the present invention.

In the figure:

1. a mobile platform; 2. a support pillar; 3. a waist joint structure; 4. an upper body structure; 5. a shoulder joint; 6. a robot arm structure; 7. a wrist joint;

11. a wheel; 31. a supporting seat; 32. a transmission gear; 33. a pitch assembly; 34. a sidesway assembly; 35. a resilient member; 36. a drive assembly; 51. a connecting frame; 52. a second drive element; 53. a drive shaft; 61. a mounting seat; 62. a large arm; 63. a small arm; 71. a fixed seat; 72. a lug; 73. a rotating shaft; 74. a connecting fork; 75. a limiting member; 76. a drive motor; 77. a spacing pin; 78. supporting the clamping hands;

311. an installation table; 312. mounting a plate; 331. a power element; 332. a support; 333. a connecting shaft; 341. a movable frame; 342. a rotating base; 343. a side-swinging element; 344. a drive shaft; 361. a drive gear; 362. a transmission element; 611. a first drive element; 621. a connecting portion; 622. a rotating part; 631. connecting lugs; 632. a second ring gear; 633. a fifth drive element; 634. a second gear; 635. a turning part; 636. a bearing retainer; 637. a connecting ring; 721. a through hole; 741. a fork body; 742. a connecting rod; 751. a waist-shaped groove; 752. mounting holes;

3311. a box body; 3312. a first motor; 3313. a first gear; 3314. a second gear; 3315. a first worm; 3316. a third gear; 3421. a through groove; 6211. a connecting arm; 6212. a body; 6213. a first ring gear; 6214. a third drive element; 6215. a first gear; 6221. a fixed part; 6222. a fourth drive element; 6223. a fourth gear; 6224. a fifth gear; 6225. a second worm; 6226. a sixth gear; 6227. a transmission end; 7411. and connecting the holes.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

Traditional rehabilitation robot, usually in structure and function, only carry out the training aiding to patient's local joint position for the patient can not obtain comprehensive auxiliary treatment, the robot that this embodiment provided carries out comprehensive rehabilitation training to patient's upper limbs, like waist joint, shoulder joint, arm, wrist joint etc. through imitating human body structure, makes the patient receive comprehensive training, has alleviateed therapist's burden simultaneously.

Fig. 1 is a schematic structural diagram of the robot provided in this embodiment, and includes a moving platform 1, a waist joint structure 3, an upper body structure 4, a shoulder joint 5, and a robot arm structure 6. Wherein, be provided with support column 2 on the moving platform 1, waist joint structure 3 sets up on support column 2, and upper part of the body structure 4 sets up on waist joint structure 3 for upper part of the body structure 4 can be relative moving platform 1 rotation and every single move, and shoulder joint 5 pivoted sets up on upper part of the body structure 4, and robot arm structure 6 articulates on shoulder joint 5, and robot arm structure 6 can be relative upper part of the body structure 4 and rotate. This robot utilizes bionics principle, imitates waist, shoulder, arm etc. in the human structure, can imitate therapist's gimmick, realizes supplementary rehabilitation training to each position of patient's upper limbs, simultaneously, compares with the local training that traditional therapist compares, and this robot can also carry out the overall training to patient's upper limbs, and is more comprehensive to patient's rehabilitation training.

Wherein, moving platform 1 includes the cabinet body and rotates the wheel 11 that sets up in the cabinet body below, and the internal wheel driving motor that is provided with of cabinet, wheel driving motor can drive wheel 11 and rotate to realize moving platform 1's horizontal migration. In addition, the mobile platform 1 is provided with an electric control device therein to provide power supply and control commands for driving elements inside the rehabilitation robot.

Fig. 2, fig. 3, fig. 4 and fig. 5 are schematic structural diagrams of the waist joint structure 3 provided in this embodiment, in which the waist joint structure 3 includes a supporting seat 31, a pitching assembly 33 and a yawing assembly 34, the pitching assembly 33 is disposed on the supporting seat 31, the yawing assembly 34 is disposed on the pitching assembly 33, the pitching assembly 33 can drive the yawing assembly 34 to perform a pitching motion relative to the supporting seat 31, and the yawing assembly 34 can perform a left-right swinging motion relative to the supporting seat 31.

Specifically, the pitching assembly 33 includes a bracket 332, a connecting shaft 333 and a power element 331, the bracket 332 is disposed on the support seat 31, the bracket 332 is of a U-shaped structure and includes two support arms, an accommodating space is formed between the two support arms, the connecting shaft 333 is rotatably disposed between the two support arms, and an output end of the power element 331 is connected to the connecting shaft 333. That is, the power element 331 disposed on the bracket 332 can drive the connecting shaft 333 to rotate, so as to drive the side-sway component 34 disposed on the pitching component 33 to perform pitching motion, thereby simulating the bending and rising motions of the human body.

The side-sway assembly 34 includes a swivel 342, a movable frame 341, a side-sway member 343, and a drive shaft 344. The rotary base 342 has a through groove 3421, the transmission shaft 344 is inserted into the through groove 3421, the transmission shaft 344 and the through groove 3421 are in clearance fit, and a bearing is further installed between the transmission shaft 344 and the through groove 3421, so that the transmission shaft 344 can rotate in the through groove 3421 of the rotary base 342. The movable frame 341 includes two cantilevers, one of the two cantilevers is connected to one end of the transmission shaft 344, the other end of the transmission shaft 344 is connected to the side swing element 343, the side swing element 343 is disposed on the rotating base 342, and the output end of the side swing element 343 is connected to one end of the other cantilever and can drive the movable frame 341 to rotate relative to the rotating base 342. Specifically, when the waist joint structure 3 needs to implement the pitching motion, the power element 331 is turned on to drive the rotating seat 342 of the side-swinging component 34 to rotate, so as to implement the pitching motion of the whole side-swinging component 34; when the side swing action needs to be realized, the side swing element 343 is turned on and drives the movable frame 341 to swing left and right, so as to drive other parts arranged on the movable frame 341 to swing.

In the present embodiment, as shown in fig. 5, the connecting shaft 333 and the rotating base 342 are integrally formed, and the connecting shaft 333 is protruded at one side of the rotating base 342.

In order to enable the movable frame 341 to be rapidly reset, the side-swinging assembly 34 further includes a resilient member 35, one end of the resilient member 35 is fixed on the rotating seat 342, and the other end of the resilient member 35 is fixed on the movable frame 341, after the movable frame 341 is swung under the action of the side-swinging member 343, the resilient member 35 is in a stretching state, and the movable frame 341 is reset under the action of the resilient member 35. Note that, in the initial state, the length direction of the resilient member 35 is arranged parallel to the cantilever of the movable frame 341. In the present embodiment, the resilient member 35 is preferably a spring, and may be another member having tension resilience.

As shown in fig. 2, the supporting seat 31 includes a mounting plate 312 and a mounting table 311, a transmission gear 32 is rotatably disposed on the mounting table 311, the transmission gear 32 is connected to a bracket 332, the bracket 332 is disposed above the transmission gear 32, a driving assembly 36 is disposed on the mounting plate 312, and the driving assembly 36 is connected to the transmission gear 32, so that the bracket 332 horizontally rotates relative to the supporting seat 31. Specifically, the driving assembly 36 includes a driving gear 361 and a transmission element 362, the driving gear 361 is rotatably disposed on the transmission element 362, the transmission element 362 can drive the driving gear 361 to rotate, and a synchronous belt (not shown) is disposed between the driving gear 361 and the transmission gear 32, and the synchronous belt is respectively engaged with the driving gear 361 and the transmission gear 32 to transmit power. Under the action of the driving assembly 36, the horizontal rotation of the pitching assembly 33 and the rolling assembly 34 can be realized to simulate the action of turning the waist of a human body.

The upper body structure 4 is provided on the top of the movable frame 341 so that the upper body structure 4 can perform operations such as pitching, rotating, and yawing with respect to the movable platform 1.

In the present embodiment, the power element 331, the side-swinging element 343, and the transmission element 362 are all formed by the same structure. The power element 331 is taken as an example, and is specifically described. As shown in fig. 6, the power component 331 includes a housing 3311, and a first motor 3312, a first gear 3313, a second gear 3314, a first worm 3315, and a third gear 3316 disposed within the housing 3311. Specifically, the output end of the first motor 3312 is connected to a first gear 3313, and can drive the first gear 3313 to rotate, the second gear 3314 is connected to the first gear 3313 in a meshed manner, the second gear 3314 is connected to one end of the first worm 3315, and the third gear 3316 is connected to the first worm 3315 in a meshed manner. Next, the operation of the lower power component 331 is described specifically, and the first gear 3313 drives the second gear 3314 to rotate, the second gear 3314 drives the first worm 3315 to rotate, and the first worm 3315 drives the third gear to rotate under the driving of the first motor 3312. Gear three 3316 is used as the power output end and can be used to connect the parts to be driven.

Fig. 7 to 8 are schematic structural views of a robot arm structure 6 according to this embodiment, and fig. 9 is a schematic structural view of a shoulder joint according to this embodiment. Wherein the robot arm structure 6 comprises a mounting base 61, a large arm 62, a small arm 63 and a wrist joint 7. Wherein, the big arm 62 is rotatably arranged on the mounting seat 61, the shoulder joint 5 is arranged between the mounting seat 61 and the big arm 62, the shoulder joint 5 comprises a connecting frame 51, a second driving element 52 and a driving shaft 53, wherein the connecting frame 51 is rotatably arranged on the mounting seat 61, the second driving element 52 is arranged on the connecting frame 51, the driving shaft 53 is rotatably arranged on the connecting frame 51, and the driving shaft 53 can rotate on the connecting frame 51 under the driving of the second driving element 52. The large arm 62 is hinged to the shoulder joint 5. Specifically, the large arm 62 includes a connecting portion 621 and a rotating portion 622, the connecting portion 621 is hinged to the shoulder joint 5, the rotating portion 622 is rotatably connected to the connecting portion 621, the small arm 63 includes a flexing portion and a rotating portion 635, the flexing portion is hinged to the rotating portion 622, the rotating portion 635 is rotatably connected to the flexing portion, the wrist joint 7 is disposed on the rotating portion 635, and the wrist joint 7 can flex and extend toward the small arm 63.

Specifically, the number of the robot arm structures 6 is two, and the two robot arm structures 6 are symmetrically disposed on both sides of the upper body structure 4. In order to install the robot arm structure 6 on the upper body structure 4, the installation seat 61 is arranged on the upper body structure 4, the shoulder joint 5 can rotate relative to the installation seat 61, the large arm 62 is hinged with the shoulder joint 5 to realize the lateral swing arm action of the large arm 62 relative to the upper body structure 4, the connecting part 621 of the large arm 62 and the rotating part 622 can rotate relative to each other, the muscle and nerve tissues of the large arm 62 of a patient can be trained, the small arm 63 is hinged with the large arm 62 to realize the bending of the small arm 63 relative to the upper body structure 4, so that the small arm 63 can be lifted up and put down, the good effect is achieved for training the elbow joint, and the bending part of the small arm 63 and the rotating part 622 can also rotate relative to each other. Aiming at the shoulder joint 5, the large arm 62 and the small arm 63 in the robot arm structure 6, the embodiment simulates the actions of each part of the human arm by utilizing bionics, and adopts the rotation with five degrees of freedom to realize the training of the small arm muscle and the nerve tissue of the patient so as to assist the patient to carry out comprehensive rehabilitation training on the arm of the patient.

With continued reference to fig. 8, a first driving element 611 is disposed within the mounting seat 61, and an output end of the first driving element 611 is connected to the connecting frame 51. The connecting frame 51 is provided with a second driving element 52, and an output end of the second driving element 52 is connected to the connecting portion 621. In operation, when the first driving element 611 is activated, the shoulder joint 5 is driven to rotate around the mounting seat 61, and when the second driving element 52 is activated, the second driving element 52 drives the connecting portion 621 connected thereto to rotate around the shoulder joint 5.

As shown in fig. 10, the connecting portion 621 includes a connecting arm 6211 and a body 6212, and the body 6212 is a hollow structure having a receiving cavity therein. The number of the link arms 6211 is two, and two link arms 6211 are provided on the body 6212. One of the two connecting arms 6211 is hinged to the shoulder joint 5, and the other is connected to the output end of the second driving element 52, so that when the second driving element 52 is operated, the connecting portion 621 is driven to rotate. The body 6212 is rotatably provided with a first gear ring 6213, and the first gear ring 6213 and the body 6212 can be connected in a snap-fit manner. A third driving element 6214 is arranged in the accommodating cavity of the body 6212, a first gear 6215 is arranged at the output end of the third driving element 6214, and the first gear ring 6213 is meshed with the first gear 6215 so as to drive the first gear ring 6213 to rotate relative to the body 6212. The third driving element 6214 is fixedly disposed inside the body 6212, and when the first gear 6215 rotates, the first gear ring 6213 rotates around the first gear 6215.

As shown in fig. 11, the rotary part 622 comprises a stationary part 6221, a fourth drive element 6222, a gear wheel four 6223, a gear wheel five 6224, a worm wheel two 6225, a gear wheel six 6226 and a drive end 6227. The fourth driving element 6222 is arranged inside the fixing portion 6221, the output end of the fourth driving element is connected with a gear four 6223, the gear five 6224 and the gear four 6223 are in transmission through a synchronous belt, the gear five 6224 is connected with a worm two 6225, the gear six 6226 is in meshing connection with the worm 6225, and the gear six 6226 is fixedly connected with a transmission end 6227. The specific working process is as follows: the fourth driving element 6222 drives the gear fourth 6223 to rotate, the gear fourth 6223 drives the gear fifth 6224 to rotate through the synchronous belt, the gear fifth 6224 drives the worm second 6225 to rotate, the worm second 6225 drives the gear sixth 6226 engaged with the worm second 6225 to rotate, the gear sixth 6226 drives the transmission end 6227 to rotate together, and the transmission end 6227 can be connected with the small arm 63 to drive the small arm 63 to rotate correspondingly.

In order to enable relative rotation between the rotating portion 622 and the connecting portion 621, the first ring gear 6213 is connected to the fixing portion 6221, and the shape of the fixing portion 6221 is the same as that of the first ring gear 6213 to ensure tightness of connection. A transmission end 6227 is disposed inside one end of the rotating portion 622 connected to the small arm 63, and the transmission end 6227 is connected to the flexing portion, so that the flexing portion can rotate relative to the rotating portion 622.

As shown in fig. 12-13, the flexing portion includes two engaging lugs 631 and an engaging ring 637, wherein the two engaging lugs 631 are disposed on the engaging ring 637, and one of the two engaging lugs 631 is hinged to the rotating portion 622, and the other one of the two engaging lugs is connected to the output end of the fourth driving element 6222, so that the flexing portion is driven to rotate by the fourth driving element 6222. A second ring gear 632 is fixedly connected to a free end of the connection ring 637, and a bearing holder 636 is disposed between the second ring gear 632 and the turning part 635, wherein the connection ring 637, the second ring gear 632, and the bearing holder 636 are fixedly connected. The bearing holder 636 is clamped with the rotating part 635, a bearing is arranged between the bearing holder 636 and the rotating part 635, so that the rotating part 635 can rotate relative to the bearing holder 636, a fifth driving element 633 is fixedly arranged in the rotating part 635, an output end of the fifth driving element 633 is connected with a second gear 634, the second gear 634 is meshed with the second gear 632, under the action of the fifth driving element 633, the second gear 634 rotates, and because the second gear 632 is limited along the circumferential direction, the second gear 634 rotates around the second gear 632 and drives the rotating part 635 to rotate relative to the bending part.

As shown in fig. 14-15, which are schematic structural views of the wrist joint 7 according to the present embodiment, the wrist joint 7 includes a fixing base 71, a connecting fork 74, a limiting member 75 and a supporting clamping hand 78. Wherein, be provided with first coupling assembling and second coupling assembling on the fixing base 71, connect the one end of fork 74 and articulate on first coupling assembling, the other end of fork 74 is connected with supports tong 78 to just support patient's wrist. The connecting fork 74 can rotate around a first axis, the limiting member 75 is hinged to the second connecting assembly, the limiting member 75 is provided with a waist-shaped groove 751, the other end of the connecting fork 74 is slidably disposed in the waist-shaped groove 751, the limiting member 75 and the connecting fork 74 rotate around a second axis together, the first axis and the second axis form an included angle, and preferably, the first axis and the second axis are perpendicular to each other.

Specifically, the first connecting assembly further comprises a rotating shaft 73 and two lugs 72, wherein the two lugs 72 are oppositely arranged on the fixed seat 71, the rotating shaft 73 is rotatably arranged in the through holes 721 of the two lugs 72, the connecting fork 74 is hinged to the rotating shaft 73, the rotating shaft 73 rotates around the central line of the through holes 721, and the connecting fork 74 rotates towards the extending direction of the length of the rotating shaft 73; the second connecting assembly further includes a limiting pin 77 and two lugs 72, the two lugs 72 are oppositely disposed on the fixing base 71, two ends of the limiting member 75 are provided with mounting holes 752, the limiting pin 77 sequentially passes through the through hole 721 and the mounting holes 752, so that the limiting member 75 can rotate relative to the fixing base 71.

In the present embodiment, a line connecting the center lines of the through holes 721 of the two lugs 72 in the first connecting assembly is a first axis, and a line connecting the center lines of the through holes 721 of the two lugs 72 in the second connecting assembly is a second axis, so that the yoke 74 rotates around the first axis, and the limiting member 75 and the yoke 74 rotate together around the second axis. If the connection fork 74 is compared with the hand of a human, the hand can be retracted and extended, and the palm and the back can be bent, so that the motion of the artificial wrist structure is simulated, and the motion simulation of the wrist joint of the human body is realized.

As shown in fig. 15, the link fork 74 includes a fork body 741 and a link 742 connected to each other, the fork body 741 is hinged to the rotation shaft 73 so that the link fork 74 can rotate with respect to the rotation shaft 73, and the link 742 is slidably disposed in the waist groove 751. In the present embodiment, the number of the fork bodies 741 is two, the two fork bodies 741 form an accommodating space, and a portion of the rotation shaft 73 is accommodated in the accommodating space.

In order to hinge the link fork 74 to the rotation shaft 73, connection holes 7411 are formed at positions of the two fork bodies 741 facing each other, through holes are formed in the rotation shaft 73, and the connection holes 7411 are connected to the through holes by pins.

In this embodiment, the limiting member 75 is an arc-shaped structure, the two ends of the arc-shaped structure are provided with mounting holes 752, the arc-shaped structure can rotate relative to the fixing base 71, and the arc-shaped structure is provided with a waist-shaped groove 751, so that the link 742 can slide in the waist-shaped groove 751 all the time, and cannot be separated from the limitation of the waist-shaped groove 751.

Wrist joint 7 still includes drive assembly, and drive assembly includes driving motor 76, driving roller, switching-over roller and driving wire, and driving motor 76 sets up on fixing base 71, and the driving roller sets up in driving motor 76's output, and the switching-over roller sets up on fixing base 71 with rotating. One end of the driving wire is connected to the driving roller, the other end is connected to the rotating shaft 73, and part of the driving wire is wound on the reversing roller. The rotating shaft 73 is connected with the connecting fork 74, when the driving motor 76 pulls the driving wire through the driving roller, the terminal end of the driving wire drives the rotating shaft 73 to rotate, the rotating shaft 73 drives the connecting fork 74 to rotate, and the tail end of the connecting fork 74 is connected with the supporting clamping hand 78, so that the supporting clamping hand 78 rotates along with the rotating shaft 73 to realize dorsiflexion and palmflexion motions of the wrist joint bionic mechanism. Of course, the forward rotation and the reverse rotation of the connecting fork 74 around the first axis can be realized by controlling the forward rotation and the reverse rotation of the driving motor 76, so as to simulate the dorsiflexion and palmoplasia of the wrist of the human body, thereby assisting the patient to train the wrist joint.

In this embodiment, the wrist joint 7 is disposed on the rotation portion 635 of the forearm, and the rotation portion 635 can rotate relative to the flexion and extension portion, so that when the rotation portion 635 rotates, the wrist joint 7 can be driven to rotate together, so as to realize inward and outward rotation of the wrist joint 7, and simulate the rotation of the wrist structure of the human body, so as to assist the rehabilitation training of the wrist rotation of the patient.

In addition, in order to realize the palm bending and back bending actions of the wrist joint 7, the wrist joint 7 further comprises another transmission line, one end of the transmission line is connected to the transmission roller, and the other end of the transmission line is connected to the limit pin 77. Because the limit pin 77 is connected with the limit piece 75, when the transmission line pulls the limit pin 77 to rotate, the limit pin 77 drives the limit piece 75 to rotate, and further drives the supporting clamping hand 78 arranged at the tail end of the connecting fork 74 to move together, so that palm bending and back bending of the wrist joint are realized.

Therefore, in summary, the wrist joint 7 realizes the actions of adduction and abduction, palm bending and back bending, inward and outward rotation and the like on three degrees of freedom respectively to simulate the corresponding actions of the wrist structure of the human body and assist the patient to carry out the corresponding rehabilitation training.

In other embodiments, the driving component includes a driving motor 76 and a gear component, the driving motor 76 is disposed on the fixing base 71, the gear component is rotatably disposed on the fixing base 71, the connecting fork 74 is provided with a tooth-shaped structure, the tooth-shaped structure is engaged with the gear component, when the driving motor 76 drives the gear component to rotate, the connecting fork 74 rotates along with the rotating shaft 73 or rotates relative to the rotating shaft 73, so as to drive the supporting clamping hand 78 to rotate, so as to achieve the actions of the wrist joint such as adduction, abduction, palm flexion and dorsiflexion.

It should be noted that: the first driving element 611, the second driving element, the third driving element 6214, the fourth driving element 6222, the fifth driving element 633, the driving motor 76, the power element 331, and the like designed in this embodiment are all motors, and the like commonly used in the prior art, and can be selectively replaced according to needs.

The working process of the embodiment is as follows: firstly, the robot is moved to the affected side of a patient by using the mobile platform 1, and the proper position is adjusted. If the rehabilitation assistance training of the arm of the patient is needed, the robot simulates the technique of a therapist, and supports the tail end of one robot arm structure 6 on the shoulder joint, the upper arm, the elbow joint, the lower arm, the wrist joint and other parts of the affected side of the patient, and supports the supporting clamp 78 at the tail end of the other robot arm structure 6 on the corresponding part of the patient. And then starting the robots to enable the supporting clamping hands 78 of the two robot arm structures 6 to simulate the movement of the human body arms under the control of the controller, so as to realize the accurate simulation of the human body arms.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A robot arm structure, comprising:

a mounting seat (61);

a large arm (62) rotatably disposed on the mounting base (61), the large arm (62) including a connecting portion (621) and a rotating portion (622) rotatably connected, the connecting portion (621) being hinged to the mounting base (61);

a small arm (63) comprising a pivotally connected flexor portion and a swivel portion (635), the flexor portion being hinged to the swivel portion (622); and

a wrist joint (7) provided on the pivoting portion (635), the wrist joint (7) being capable of flexing and extending in the direction of the forearm (63).

2. A robot arm construction according to claim 1, characterized in that a shoulder joint (5) is arranged between the mounting seat (61) and the large arm (62), the shoulder joint (5) being rotatably arranged on the mounting seat (61), the connecting part (621) being hinged to the shoulder joint (5).

3. A robot arm construction according to claim 2, characterized in that a first drive element (611) is arranged in the mounting (61), the output of which first drive element (611) is connected to the shoulder joint (5).

4. A robot arm construction according to claim 2, characterized in that a second drive element is arranged on the shoulder joint (5), the output of which second drive element is connected to the connecting part (621).

5. A robot arm construction according to claim 2, characterised in that the connecting part (621) is at one end hinged to the shoulder joint (5) and at the other end rotatably connected to a first toothed rim (6213), that a third driving element (6214) is arranged in the connecting part (621), that a first toothed wheel (6215) is connected to the output of the third driving element (6214), that the first toothed rim (6213) meshes with the first toothed wheel (6215), and that the third driving element (6214) is capable of bringing the first toothed rim (6213) to rotate relative to the connecting part (621).

6. A robot arm structure according to claim 5, characterized in that the first toothed ring (6213) is connected to the rotating part (622) so that the rotating part (622) can rotate relative to the connecting part (621).

7. A robot arm structure according to claim 6, characterized in that a fourth driving element (6222) is arranged inside the end of the rotating part (622) where the small arm (63) is connected, said fourth driving element (6222) being connected to the flexor so that the flexor can rotate in relation to the rotating part (622).

8. A robot arm structure according to claim 1, characterized in that the free end of the flexor is provided with a second gear ring (632), the second gear ring (632) is rotationally connected with the turn portion (635), a fifth driving element (633) is arranged in the turn portion (635), the output end of the fifth driving element (633) is connected with a second gear (634), the second gear (634) is meshed with the second gear ring (632) to rotate the turn portion (635) relative to the flexor.

9. A robot arm structure according to any of claims 1-8, characterized in that the wrist joint (7) comprises:

a fixed seat (71) arranged on the rotating part (635), wherein a first connecting component and a second connecting component are arranged on the fixed seat (71);

a clevis (74) having one end hingedly connected to the first link assembly, the clevis (74) being rotatable about a first axis;

the limiting piece (75) is hinged to the second connecting component through a limiting pin (77), a waist-shaped groove (751) is formed in the limiting piece (75), the other end of the connecting fork (74) is slidably arranged in the waist-shaped groove (751), the limiting piece (75) is arranged on the limiting pin (77), and the limiting piece (75) and the limiting pin (77) synchronously rotate and drive the connecting fork (74) to rotate around a second axis;

the first axis and the second axis form an included angle; and

a drive member capable of driving the clevis (74) in motion.

10. A robot comprising a robot arm structure according to any one of claims 1 to 9.

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