CN215584744U - Multi-degree-of-freedom parallel type rehabilitation robot joint - Google Patents
Multi-degree-of-freedom parallel type rehabilitation robot joint Download PDFInfo
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- CN215584744U CN215584744U CN202022874422.5U CN202022874422U CN215584744U CN 215584744 U CN215584744 U CN 215584744U CN 202022874422 U CN202022874422 U CN 202022874422U CN 215584744 U CN215584744 U CN 215584744U
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Abstract
The utility model discloses a multi-degree-of-freedom parallel type rehabilitation robot joint, which comprises: the device comprises a shoulder part, an elbow part, a ball screw fixedly mounted on the shoulder part, a transmission part of a driving motor and a connecting piece comprising a first universal joint, a spring and a second universal joint, wherein the ball screw is provided with a sliding block which axially reciprocates; one end of the spring is rotatably connected to the sliding block through a first universal joint, and the other end of the spring is rotatably connected to the elbow component through a second universal joint; the number of the transmission parts and the number of the connecting parts are the same; the connecting pieces are evenly distributed along the circumferential direction of the connecting part of the shoulder part and the elbow part; driving motor and ball linkage impel the slider along ball axial reciprocating motion, provide the tensile and compressive power along length direction to the spring, under the normal running fit of two universal joints, drive the elbow part and produce the joint drive that moment of rotation realized along a plurality of degrees of freedom, have that response speed is fast, prevent rigidity extrusion wear, effectively increase single joint activity degree, improve the advantage of security.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-degree-of-freedom parallel type rehabilitation robot joint.
Background
The exoskeleton type upper limb rehabilitation robot joint mainly comprises a series connection of rotary joints with single degree of freedom, the movement of the single joint is limited, and the series connection integration level is insufficient. At present, the design of a parallel robot joint adopting a three-cylinder driving joint connection mode exists at home and abroad, for example, a paper 'design and analysis of a novel wearable upper limb rehabilitation mechanism' reported by Guosheng, Make and Wangyang in the university of Beijing traffic university, wherein the relative motion of a mechanical arm joint is generated by the relative motion of an elbow and a shoulder cylinder, and the elbow joint bending and stretching motion is also realized by the driving and stretching of the cylinder. However, the cylinder driving method has short stroke, small change range of the angle of the realized joint, small movable range of the joint, low motion precision and long response time, can not realize the real-time high-precision angle adjustment, and can move according to the preset track design. The cylinder driving also belongs to rigid connection, the adaptability to different patients is poor, the response time of cylinder control is long, the safety of joints is low, and special conditions cannot be processed in time.
In the prior art, a universal joint type cylinder connection mode is adopted, so that joint vibration is easy to occur during posture adjustment, and certain instability is generated.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the technology, the utility model provides a multi-degree-of-freedom parallel type rehabilitation robot joint which is used for solving the technical problems of insufficient serial type integration of the existing rehabilitation robot joint, low control precision of a parallel type air cylinder and long response time, has high response speed, prevents rigid extrusion abrasion, effectively increases the mobility of a single joint and improves the safety.
To achieve these objects and other advantages in accordance with the present invention, the present invention is implemented by the following solutions:
the embodiment of the utility model provides a multi-degree-of-freedom parallel type rehabilitation robot joint, which comprises:
a shoulder member for securing and receiving the shoulder;
an elbow member for receiving the arm portion;
the transmission part comprises a ball screw fixedly mounted on the shoulder part and a driving motor, and the ball screw is provided with a sliding block which axially reciprocates; and the number of the first and second groups,
a link including a first gimbal, a spring, and a second gimbal, one end of the spring being rotatably connected to the slider through the first gimbal, and the other end of the spring being rotatably connected to the elbow member through the second gimbal;
the transmission part and the connecting part respectively comprise a plurality of transmission parts and connecting parts, wherein the number of the transmission parts is matched with that of the connecting parts; a plurality of connecting pieces are uniformly distributed along the outer circumference of the joint of the shoulder part and the elbow part and form a cavity for accommodating the elbow;
the driving motor is linked with the ball screw, the rotation of the driving motor drives the ball screw to rotate, the sliding block is enabled to move axially and reciprocally along the ball screw, so that tension and compression forces along the length direction are provided for the spring, and under the rotation fit of the first universal joint and the second universal joint, the elbow part is driven to generate rotation torque to realize joint driving along the directions of multiple degrees of freedom.
Preferably, spring constants and lengths of the springs of the connecting members are different from each other.
Preferably, the shoulder part comprises first and second parallel fixing plates and a first connecting plate fixedly connected between the first and second fixing plates; the elbow piece comprises a third fixing plate and a fourth fixing plate which are parallel and a second connecting plate fixedly connected between the third fixing plate and the fourth fixing plate;
the ball screw is fixedly mounted between the first fixing plate and the second fixing plate, and the driving motor is fixedly mounted on the first fixing plate;
the other end of the spring is rotatably connected to the third fixing plate through the second universal joint;
the first fixing plate, the second fixing plate, the third fixing plate and the fourth fixing plate are respectively provided with a first through hole for coaxially and alternately placing the shoulder and the elbow of the rehabilitation arm.
Preferably, the first fixing plate and the second fixing plate are circumferentially provided with a pair of first slots respectively, and each first slot is provided with a first threaded hole;
and two ends of the first connecting plate are respectively matched and installed on the first threaded holes through nuts, so that the first connecting plate is fixedly installed between the first fixing plate and the second fixing plate.
Preferably, the first connecting plate comprises a plurality of connecting plates which are uniformly distributed along the circumferential direction between the first fixing plate and the second fixing plate; the number of the first grooves is matched with that of the first connecting plates.
Preferably, a plurality of second slots which are circumferentially and uniformly distributed are further arranged on the second fixing plate, and the plurality of second slots and the plurality of first slots are alternately distributed one by one.
Preferably, the third fixing plate and the fourth fixing plate are circumferentially provided with paired third slots respectively, and each third slot is provided with a second threaded hole;
and two ends of the second connecting plate are respectively matched and installed on the second threaded holes through nuts, so that the second connecting plate is fixedly installed between the third fixing plate and the fourth fixing plate.
Preferably, the second connecting plate comprises a plurality of second connecting plates which are uniformly distributed along the circumferential direction between the third fixing plate and the fourth fixing plate; the number of the third grooves is matched with that of the second connecting plates.
Preferably, the third fixing plate and the fourth fixing plate are respectively provided with a plurality of second through holes which are uniformly distributed in the circumferential direction; the second through hole is coaxial with the third fixing plate; the second connecting plate is provided with third through holes distributed along the radial direction of the third fixing plate.
Preferably, the transmission member further comprises a synchronous belt, a first pulley, a second pulley, a first flat key and a second flat key; the output shaft of the servo motor penetrates through the first fixing plate and is fixedly connected to the first belt wheel through the first flat key; the ball screw output shaft penetrates through the first fixing plate and is fixedly connected to the second belt wheel through the second flat key; the synchronous belts are sleeved outside the first belt wheel and the second belt wheel in an intermeshing manner; the rotation of the driving motor drives the first belt wheel, the synchronous belt, the second belt wheel and the ball screw to rotate in sequence.
The utility model at least comprises the following beneficial effects:
(1) according to the multi-degree-of-freedom parallel type rehabilitation robot joint, the ball screw and the driving motor are linked to be used as power sources, are separated from the connecting pieces and are arranged in a one-to-one correspondence mode, so that the motion of each connecting piece is independently controlled, the mutual influence is avoided, and the accurate regulation and control of the rotating position and the rotating speed of the joint are facilitated, so that the requirement for adjusting the movement of the joint is quickly met, meanwhile, the change speed of the angle of the joint is adjustable, and the training in different speed modes can be realized;
(2) the driving motor is linked with the ball screw, tension and compression forces along the length direction are provided for the spring, and under the rotating fit of the first universal joint and the second universal joint and the combination of the rotating modes of the driving motors, the elbow part can be driven to generate rotating torque to realize joint driving along multiple degrees of freedom;
(3) the plurality of connecting pieces form a parallel connection type, so that the inertia load of the tail end actuating mechanism can be effectively reduced, and the driving efficiency is improved;
(4) the universal joint is in rotating fit with the flexible extension and retraction of the spring, so that compared with the simple cylinder driving in the prior art, the driving is more flexible and flexible, and the comfort of joint driving is improved;
(5) the spring coefficients and the lengths of the springs of the connecting pieces are different, so that the joint driving device can meet different requirements of different rehabilitation patients on joint driving, and has wide adaptability.
Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a joint of a multiple-degree-of-freedom parallel type rehabilitation robot according to the utility model;
FIG. 2 is a schematic structural view of a connector according to the present invention;
fig. 3 is a schematic structural view of a first fixing plate according to the present invention;
fig. 4 is a schematic structural view of a third fixing plate or a fourth fixing plate according to the present invention;
FIG. 5 is a schematic view of the transmission member according to the present invention;
description of reference numerals:
11-a first fixing plate; 12-a second fixing plate; 13-a first connection plate; 141-first grooving; 142-a second slot;
21-ball screw; 211-a slider; 22-a drive motor; 23-a synchronous belt; 241-a first pulley; 242-a second pulley;
31-first universal joint; 32-a spring; 33-a second gimbal;
41-a third fixing plate; 42-a fourth fixing plate; 43-a second connecting plate; 44-third grooving; 45-second via; 46-a third via;
5-a first via; 6-nut.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be constructed in specific orientations, and be operated, and thus are not to be construed as limiting the present invention, and furthermore, the terms "first", "second", and "third" are only used for descriptive purposes and are not to indicate or imply relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct, indirect or communication between two elements, wireless or wired. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, terms such as "having," "including," and "comprising" used in various embodiments of the present invention described below do not preclude the presence or addition of one or more other elements or groups thereof; the technical features involved can be combined with each other as long as they do not conflict with each other.
< example 1>
The embodiment of the utility model provides a multi-degree-of-freedom parallel type rehabilitation robot joint which comprises a shoulder part for fixing and accommodating a shoulder, an elbow part for accommodating an arm, a transmission part and a connecting piece.
As shown in fig. 1, the transmission member includes a ball screw 21 fixedly mounted to the shoulder member and a driving motor 22, and the ball screw 21 is provided with a slider 211 axially reciprocating. The link member includes a first gimbal 31, a spring 32, and a second gimbal 33, and one end of the spring 32 is rotatably connected to the slider 211 through the first gimbal 31, and the other end of the spring 32 is rotatably connected to the elbow part through the second gimbal 33. The transmission part and the connecting part respectively comprise a plurality of transmission parts and connecting parts, wherein the number of the transmission parts is matched with that of the connecting parts; the connecting pieces are evenly distributed along the outer circumference of the joint of the shoulder part and the elbow part and form a cavity for accommodating the elbow. Thus, the rehabilitation patient holds the shoulder by means of the shoulder part and places the upper arm, the elbow in the cavity formed by the several connectors and the lower arm in the elbow part.
In the above embodiment, the driving motors 22 are linked with the ball screws 21, that is, the rotation of one driving motor 22 drives one ball screw 21 to rotate, so as to cause one sliding block 211 to reciprocate along the axial direction of the ball screw 21, thereby providing a stretching and compressing force in the length direction to one spring 32, and under the rotation cooperation of the first universal joint 31 and the second universal joint 33, and in addition to the rotation mode combination of a plurality of driving motors 22, the elbow component can be driven to generate a rotation torque to realize joint driving along a plurality of degrees of freedom. Compared with the prior art that the serial connection type integration of the joints of the cylinder rehabilitation robot is insufficient, the serial connection structure inevitably arranges a motor on a motion structure, and the parallel connection type cylinders have low control precision and long response time, the ball screw 21 and the driving motor 22 are linked as power sources and are separated from the connecting pieces and arranged in a one-to-one correspondence manner, so that the motion of each connecting piece is independently controlled, the mutual influence is avoided, and the accurate regulation and control of the rotation position and the rotation speed of the joints are facilitated, so that the requirement of the joint on the activity regulation is quickly met, the change speed of the joint angle is adjustable, and the training in different speed modes can be realized; the spring 32 of any at least one connecting piece is deformed in a stretching or compressing way, so that the elbow component can be driven to move along the direction of at least one degree of freedom; a plurality of connecting piece is along shoulder part and elbow spare junction outside circumference evenly distributed, adjusts a plurality of servo motor's rotatory mode combination, for example several in a plurality of driving motor 22 rotate, can ensure that elbow spare realizes the joint drive of a plurality of degrees of freedom directions, and rotational stability is good to improve the degree of freedom of joint activity. A plurality of connecting pieces form a parallel connection type, so that the inertia load of the tail end actuating mechanism can be effectively reduced, and the driving efficiency is improved. In addition, the driving motor 22 is linked with the ball screw 21 to provide power, the rotation of the universal joint is matched with the flexible expansion of the spring 32, and compared with the simple cylinder driving in the prior art, the driving is more flexible and flexible, and the comfort of joint driving is improved.
It should be added that the multi-degree-of-freedom motion can be driven by some of the plurality of driving motors 22 rotating at the same speed, or by some of the plurality of driving motors 22 rotating at different speeds, however, because all the driving motors 22 generate relative speed differences, the acting forces on the plurality of springs 32 are different, the driving forces on the elbow component are different, and the rotation torque on the elbow component is different.
It should be noted that the number of transmission members and connecting members may be sufficient to ensure joint driving with multiple degrees of freedom. Preferably, the transmission piece and the connecting piece are respectively provided with 4, the 4 connecting pieces are circumferentially and uniformly distributed on the outer side of the joint of the shoulder part and the elbow part, and at least 2 opposite connecting pieces can enable the joint to obtain relatively stable driving once being subjected to power action.
It should be noted that the spring constants and lengths of the springs 32 of the connectors may be the same or different. As the optimization of the utility model, the spring coefficients and the lengths of the springs 32 of the connecting pieces are respectively different, and the rotating moments generated on the elbow piece when the driving force acts are different, so that the utility model can adapt to different requirements of different rehabilitation patients on joint driving and has wide adaptability.
< example 2>
On the basis of the embodiment 1, the embodiment of the utility model provides a concrete implementation mode of the shoulder part and the elbow part.
As shown in fig. 1 to 4, the shoulder part includes first and second parallel fixing plates 11 and 12 and a first connection plate 13 fixedly connected between the first and second fixing plates 11 and 12. The elbow member includes third and fourth parallel fixing plates 41 and 42 and a second connecting plate 43 fixedly connected between the third and fourth fixing plates 41 and 42.
Specifically, the ball screw 21 is fixedly mounted between the first fixing plate 11 and the second fixing plate 12, and the driving motor 22 is fixedly mounted to the first fixing plate 11. One end of the spring 32 is rotatably connected to the third fixing plate 41 through the second universal joint 33. The first fixing plate 11, the second fixing plate 12, the third fixing plate 41 and the fourth fixing plate 42 are respectively provided with a first through hole 5 for coaxially inserting the shoulder and elbow of the rehabilitation arm.
In this embodiment, the first through hole 5 is provided, after the arm of the rehabilitation patient passes through the first fixing plate 11 through the first through hole 5, the shoulder position is fixed by the first fixing plate 11, the upper arm is accommodated between the first through hole 5 of the first fixing plate 11 and the second fixing plate 12, the lower arm is accommodated between the first through hole 5 of the third fixing plate 41 and the fourth fixing plate 42, and the elbow is accommodated between the first through hole 5 of the second fixing plate 12 and the third fixing plate 41. Shoulder parts formed by first connecting plates 13 between the first fixing plates 11 and the second fixing plates 12 and fixedly connected to the first fixing plates 11 and the second fixing plates 12 in parallel, elbow parts formed by second connecting plates 43 between the third fixing plates 41 and the fourth fixing plates 42 and fixedly connected to the third fixing plates 41 and the fourth fixing plates 42 in parallel belong to a frame structure, the four fixing plates are provided with first through holes 5 for coaxially and alternately placing shoulder elbows and shoulder elbows of a rehabilitation arm, consumable cost is reduced as much as possible, joint weight is reduced, and use comfort is improved.
In the above embodiment, the fixed mounting manner between the first connecting plate 13 and the first fixing plate 11 and the second fixing plate 12 may be any one, and the present invention prefers a nut fixed connection, specifically, the first fixing plate 11 and the second fixing plate 12 are respectively provided with a pair of first slots 141 in the circumferential direction, and each first slot 141 is provided with a first threaded hole (not specifically shown in the figures); both ends of the first connection plate 13 are fittingly mounted to the first screw holes by nuts 6, respectively, to fixedly mount the first connection plate 13 between the first and second fixing plates 11 and 12. As for the number of the first screw holes, it is sufficient that the mounting can be stably performed, and 2 screw holes are preferable in the present invention. In order to improve the mounting stability, it is further preferable that the first connection plate 13 includes a plurality of plates uniformly distributed along the circumference between the first fixing plate 11 and the second fixing plate 12; the number of the first slots 141 matches the number of the first connection plates 13. In order to reduce the weight of the joint on the basis of ensuring the stability, the second fixing plate 12 is preferably provided with a plurality of second slots 142 which are uniformly distributed in the circumferential direction, and the plurality of second slots 142 and the plurality of first slots 141 are alternately distributed one by one. Due to the arrangement of the second slot 142, the material cost of the second fixing plate 12 is reduced, the weight of the second fixing plate 12 is reduced, joints are lightened, and the use comfort level is improved. As for the size relationship between the first slot 141 and the second slot 142 on the second fixing plate 12, it is further preferable that the second slot 142 is larger than the first slot 141, so as to ensure the stable installation of the first connecting plate 13, and save the material of the second fixing plate 12 to the maximum extent, and reduce the weight of the joint.
In the above embodiment, the fixing and mounting manner between the second connecting plate 43 and the third fixing plate 41 and the fourth fixing plate 42 can be any one, and the present invention still preferably adopts a nut fixing connection, specifically, the third fixing plate 41 and the fourth fixing plate 42 are respectively provided with a pair of third slots 44 in the circumferential direction, and each third slot 44 is provided with a second threaded hole (not shown in the figure); both ends of the second connecting plate 43 are fittingly mounted to the second screw holes by nuts 6, respectively, to thereby fixedly mount the second connecting plate 43 between the third fixing plate 41 and the fourth fixing plate 42. As for the number of the second screw holes, it is sufficient that the mounting can be stably performed, and 3 are preferable in the present invention. In order to improve the mounting stability, it is further preferable that the second connecting plate 43 includes a plurality of plates evenly distributed along the circumferential direction between the third fixing plate 41 and the fourth fixing plate 42; the number of the third slots 44 matches the number of the second connection plates 43. In order to ensure the stability and reduce the weight of the joint, the third fixing plate 41 and the fourth fixing plate 42 are preferably provided with a plurality of second through holes 45 which are uniformly distributed in the circumferential direction; the second through hole 45 is coaxial with the third fixing plate 41; the second connecting plate 43 is provided with third through holes 46 radially distributed along the third fixing plate 41. The second through hole 45 and the third through hole 46 are arranged, so that the stable installation of the second connecting plate 43 is not influenced, the material is saved to a great extent, and the weight of the joint is reduced.
< example 3>
On the basis of example 1 and example 2, the present example shows a specific embodiment of the transmission member.
Specifically, as shown in fig. 5, the transmission member further includes a timing belt 23, a first pulley 241, a second pulley 242, a first flat key (not shown in the figure), and a second flat key (not shown in the figure); the output shaft of the servo motor penetrates through the first fixing plate 11 and is fixedly connected to the first belt pulley 241 through a first flat key; the output shaft of the ball screw 21 penetrates through the first fixing plate 11 and is fixedly connected to the second belt pulley 242 through a second flat key; the timing belt 23 is fitted around the outer sides of the first pulley 241 and the second pulley 242 in a meshing manner.
In this embodiment, the rotation of the driving motor 22 sequentially drives the first pulley 241, the timing belt 23, the second pulley 242, and the ball screw 21 to rotate, thereby realizing the linkage of the driving motor 22 and the ball screw 21.
< example 4>
On the basis of the embodiments 1 to 3, the embodiment of the utility model provides a description of the use condition of the joint of the multiple-degree-of-freedom parallel type rehabilitation robot.
When the servo motor of the transmission member rotates forward, the output shaft of the servo motor transmits the rotational torque to the ball screw 21 through the first pulley 241, the timing belt 23, and the second pulley 242 in this order, and drives the ball screw 21 to be interlocked. The rotation of the ball screw 21 drives the slider 211 to move in the axial direction of the ball screw 21 toward the elbow member, so that the force applied to the spring 32 rotatably connected to the slider 211 via the first universal joint 31 is reduced, and the elbow member is pulled by the spring 32 rotatably connected to the second universal joint 33 to generate a rotational moment, thereby generating a positive rotation. When the servo motor of the transmission element rotates in reverse, the output shaft of the servo motor transmits the rotational torque to the ball screw 21 via the first pulley 241, the timing belt 23, and the second pulley 242 in this order, and drives the ball screw 21 to be interlocked. The rotation of the ball screw 21 drives the slider 211 to move in a direction away from the elbow member along the axial direction of the ball screw 21, so that the force applied to the spring 32 rotationally connected to the slider 211 via the first universal joint 31 is increased, and the elbow member is pulled by the spring 32 rotationally connected to the second universal joint 33 to generate a rotational moment, thereby generating a reverse rotation.
The same-direction and reverse-direction motions are all in the same-speed state, the realized effect is a single-degree-of-freedom decomposition motion, and when the plurality of driving motors 22 move simultaneously to bring different-direction motion combinations of a plurality of degrees of freedom, the motion effect of the plurality of degrees of freedom can be realized.
In addition, the driving motor 22 drives the ball screw 21 to rotate at different speeds, and finally the torsional movement of the joint in different directions is realized due to the difference of the tension of the spring 32 generated by the speed difference.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. 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. And obvious variations or modifications of the utility model may be made without departing from the spirit or scope of the utility model.
Claims (10)
1. A multi-degree-of-freedom parallel type rehabilitation robot joint is characterized by comprising:
a shoulder member for securing and receiving the shoulder;
an elbow member for receiving the arm portion;
the transmission part comprises a ball screw (21) fixedly mounted on the shoulder part and a driving motor (22), and a sliding block (211) which axially reciprocates is arranged on the ball screw (21); and the number of the first and second groups,
a link comprising a first gimbal (31), a spring (32), and a second gimbal (33), wherein one end of the spring (32) is rotatably connected to the slider (211) through the first gimbal (31), and the other end of the spring (32) is rotatably connected to the elbow part through the second gimbal (33);
the transmission part and the connecting part respectively comprise a plurality of transmission parts and connecting parts, wherein the number of the transmission parts is matched with that of the connecting parts; a plurality of connecting pieces are uniformly distributed along the outer circumference of the joint of the shoulder part and the elbow part and form a cavity for accommodating the elbow;
the driving motor (22) is linked with the ball screw (21), the rotation of the driving motor (22) drives the ball screw (21) to rotate, the sliding block (211) is enabled to axially reciprocate along the ball screw (21), so that tension and compression forces along the length direction are provided for the spring (32), and under the rotation fit of the first universal joint (31) and the second universal joint (33), the elbow part is driven to generate rotation torque to realize joint driving along the directions of multiple degrees of freedom.
2. The multiple degree of freedom parallel type rehabilitation robot joint of claim 1,
the springs (32) of the connectors have different spring rates and lengths.
3. The multiple degree of freedom parallel type rehabilitation robot joint of claim 1,
the shoulder part comprises a first fixing plate (11) and a second fixing plate (12) which are parallel and a first connecting plate (13) fixedly connected between the first fixing plate (11) and the second fixing plate (12); the elbow part comprises a third fixing plate (41) and a fourth fixing plate (42) which are parallel and a second connecting plate (43) fixedly connected between the third fixing plate (41) and the fourth fixing plate (42);
wherein the ball screw (21) is fixedly mounted between the first fixing plate (11) and the second fixing plate (12), and the driving motor (22) is fixedly mounted to the first fixing plate (11);
the other end of the spring (32) is rotatably connected to the third fixing plate (41) through the second universal joint (33);
the first fixing plate (11), the second fixing plate (12), the third fixing plate (41) and the fourth fixing plate (42) are respectively provided with a first through hole (5) which is used for coaxially and interpenetratively placing the shoulder and elbow of the recovered arm.
4. The multiple degree of freedom parallel type rehabilitation robot joint of claim 3,
the first fixing plate (11) and the second fixing plate (12) are circumferentially provided with a pair of first slots (141), and each first slot (141) is provided with a first threaded hole;
two ends of the first connecting plate (13) are respectively matched and installed on the first threaded holes through nuts (6), so that the first connecting plate (13) is fixedly installed between the first fixing plate (11) and the second fixing plate (12).
5. The multiple degree of freedom parallel type rehabilitation robot joint according to claim 4, characterized in that the first connection plate (13) comprises a plurality of pieces evenly distributed along the circumference between the first fixing plate (11) and the second fixing plate (12); the number of the first slots (141) is matched with that of the first connecting plates (13).
6. The multiple degrees of freedom parallel type rehabilitation robot joint according to claim 4, wherein the second fixing plate (12) is further provided with a plurality of second slots (142) which are uniformly distributed in the circumferential direction, and the plurality of second slots (142) and the plurality of first slots (141) are alternately distributed one by one.
7. The multiple degrees of freedom parallel type rehabilitation robot joint according to claim 3, wherein the third fixing plate (41) and the fourth fixing plate (42) are respectively provided with a pair of third slots (44) in the circumferential direction, and each third slot (44) is provided with a second threaded hole;
and two ends of the second connecting plate (43) are respectively matched and installed on the second threaded holes through nuts (6), so that the second connecting plate (43) is fixedly installed between the third fixing plate (41) and the fourth fixing plate (42).
8. The multiple degree of freedom parallel type rehabilitation robot joint according to claim 7, wherein the second connecting plate (43) comprises a plurality of plates evenly distributed along the circumferential direction between the third fixing plate (41) and the fourth fixing plate (42); the number of the third slots (44) is matched with that of the second connecting plates (43).
9. The multiple degrees of freedom parallel type rehabilitation robot joint according to claim 3, wherein the third fixing plate (41) and the fourth fixing plate (42) are respectively provided with a plurality of second through holes (45) which are uniformly distributed in the circumferential direction; the second through hole (45) is coaxial with the third fixing plate (41); the second connecting plate (43) is provided with third through holes (46) distributed along the radial direction of the third fixing plate (41).
10. The multiple degree of freedom parallel type rehabilitation robot joint of claim 3,
the transmission piece further comprises a synchronous belt (23), a first belt wheel (241), a second belt wheel (242), a first flat key and a second flat key; a servo motor output shaft penetrates through the first fixing plate (11) and is fixedly connected to the first belt wheel (241) through the first flat key; the output shaft of the ball screw (21) penetrates through the first fixing plate (11) and is fixedly connected to the second belt wheel (242) through the second flat key; the synchronous belt (23) is sleeved outside the first belt wheel (241) and the second belt wheel (242) in an intermeshing manner; the rotation of the driving motor (22) drives the first belt wheel (241), the synchronous belt (23), the second belt wheel (242) and the ball screw (21) to rotate in sequence.
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| CN202022874422.5U CN215584744U (en) | 2020-12-04 | 2020-12-04 | Multi-degree-of-freedom parallel type rehabilitation robot joint |
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| CN202022874422.5U CN215584744U (en) | 2020-12-04 | 2020-12-04 | Multi-degree-of-freedom parallel type rehabilitation robot joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446802A (en) * | 2022-08-03 | 2022-12-09 | 成都理工大学 | Novel wearable lower limb exoskeleton mechanism |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446802A (en) * | 2022-08-03 | 2022-12-09 | 成都理工大学 | Novel wearable lower limb exoskeleton mechanism |
| CN115446802B (en) * | 2022-08-03 | 2024-06-07 | 成都理工大学 | Novel wearable lower limb exoskeleton mechanism |
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