CN109124984B - Joint module for upper limb rehabilitation training robot - Google Patents
Joint module for upper limb rehabilitation training robot Download PDFInfo
- Publication number
- CN109124984B CN109124984B CN201810947020.8A CN201810947020A CN109124984B CN 109124984 B CN109124984 B CN 109124984B CN 201810947020 A CN201810947020 A CN 201810947020A CN 109124984 B CN109124984 B CN 109124984B
- Authority
- CN
- China
- Prior art keywords
- movement mechanism
- joint module
- swing
- rehabilitation training
- flexion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012549 training Methods 0.000 title claims abstract description 34
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 210000003414 extremity Anatomy 0.000 claims abstract description 16
- 210000000245 forearm Anatomy 0.000 claims abstract description 15
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 14
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 14
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 238000005452 bending Methods 0.000 claims abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 230000007704 transition Effects 0.000 claims description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 abstract description 3
- 210000000707 wrist Anatomy 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008521 reorganization Effects 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a joint module for an upper limb rehabilitation training robot, which comprises a wrist joint module, an elbow joint module and a shoulder joint module; the wrist joint module comprises a dorsiflexion/palmar flexion movement mechanism and an ulnar flexion/radial flexion movement mechanism; the elbow joint module comprises a buckling/hyper-extension movement mechanism and a forearm pronation/supination movement mechanism; the shoulder joint module comprises an outward swing/inward retraction movement mechanism, a forward bending/backward extending movement mechanism and an outward rotation/inward rotation movement mechanism. The utility model has the advantages that the inside of each joint module is provided with the independent driving unit, the detection feedback unit, the control unit and other units, which can be used independently, or can be used in combination, and the reconfigurability is strong. The joint module can reconstruct different rehabilitation training robots according to different patients and different rehabilitation training joints, is suitable for the joint module of the wearable limb rehabilitation training robot, and overcomes the defect that the existing modularized joints cannot perform limb rehabilitation training.
Description
Technical Field
The utility model relates to the field of training type rehabilitation apparatuses, in particular to a joint module for an upper limb rehabilitation training robot.
Background
The modularized joint robot is a robot which is recombined into different types according to specific task requirements, the robot is composed of a plurality of simple structure modules, and the recombined different robots have different functions and can adapt to different environments and complete different tasks. Some robots in the prior art are also composed of a large number of modules, and have good universality and reconfigurability, but due to structural limitations, the existing modules are not suitable for wearable limb rehabilitation training robots.
In the utility model patent with the patent number of CN106272387A, a modularized reorganizable robot is disclosed, and consists of a bracket module, a joint module, a control module, a wheel foot module and an auxiliary module, wherein the robot mainly comprises robots with foot type humanoid, wheel type vehicle type, bionic hexapod type and the like and other structures, and the modularization and reorganization of the robot structure are realized. Although the robot can be recombined, the robot is not suitable for a wearable limb rehabilitation training robot.
In the utility model with the patent number of CN205835325U, a modularized mechanical arm is disclosed, which comprises a mechanical arm joint module and a control system, wherein the plurality of mechanical arm joint modules are connected together to realize free combination so as to adapt to different requirements, and meanwhile, an FPGA control board is utilized for control, so that the reliability of the system is improved. The inside of the joint module of the modularized mechanical arm is only provided with a photoelectric encoder for detecting the rotation angle of the joint, but the modularized mechanical arm is not provided with a torque sensor.
In the utility model with the patent number of CN205238071U, a modularized robot joint with high integration is disclosed, and a motor, a harmonic reducer, a structural member and the like are integrally designed by adopting a fusion design method. The utility model has the advantages of structural member answering, reasonable design and the like in structure, but has difficult processing, low feasibility and is not suitable for a wearable limb rehabilitation training robot.
Therefore, in order to overcome the above-mentioned drawbacks, it is necessary to provide a joint module suitable for a wearable limb rehabilitation training robot.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a joint module for an upper limb rehabilitation training robot aiming at the defects in the prior art.
In order to solve the technical problems, the utility model adopts the following technical scheme: a joint module for an upper limb rehabilitation training robot, comprising a wrist joint module, an elbow joint module and a shoulder joint module;
the wrist joint module comprises a dorsiflexion/palmar flexion movement mechanism and an ulnar flexion/radial flexion movement mechanism;
the elbow joint module comprises a buckling/hyper-extension movement mechanism and a forearm pronation/supination movement mechanism;
the shoulder joint module comprises an outward swing/inward retraction movement mechanism, a forward bending/backward extending movement mechanism and an outward rotation/inward rotation movement mechanism.
Preferably, the dorsiflexionThe rotation axes of the palmar flexion mechanism and the ulnar flexion/radial flexion mechanism intersect at a point O w The axes of rotation of the flexion/extension movement mechanism and the forearm pronation/supination movement mechanism intersect at point O e The rotation axes of the outward swing/inward swing mechanism, the forward/backward swing mechanism and the outward rotation/inward rotation mechanism intersect at a point O s 。
Preferably, the outward swing/inward swing movement mechanism comprises an outward swing/inward swing support plate, a first motor arranged on the outward swing/inward swing support plate, an outward swing/inward swing rotation shaft connected with a power output shaft of the first motor, a first speed reducer connected with the other end of the outward swing/inward swing rotation shaft, an outward swing/inward swing output flange connected with the output end of the first speed reducer, an outward swing/inward swing power output plate connected with the outward swing/inward swing output flange, a first encoder fixedly connected to the outward swing/inward swing power output plate, and a controller arranged on the first motor.
Preferably, the outer swing/inner folding support plate is also provided with an outer swing/inner folding fixed support plate and a first motor connecting plate, and the first motor is fixedly connected to the first motor connecting plate; a moment sensor is arranged between the first speed reducer and the outward swing/inward retraction power output plate; the reading head of the first encoder is connected to the outer swinging/inner folding supporting plate through a connecting corner joint;
the controller is used for controlling the movement of the outward swinging/inward folding movement mechanism, the built-in encoder of the first motor and the first encoder form a closed loop, and the controller is used for detecting the rotation angle of the outward swinging/inward folding movement mechanism.
Preferably, the external rotation/internal rotation movement mechanism comprises an arc track, a sliding block arranged on the arc track through a bearing, a second connecting disc arranged on the sliding block, a second speed reducer arranged on the second connecting disc, a second motor arranged at the other end of the second speed reducer and a driving pinion in driving connection with the output end of the second speed reducer.
Preferably, flanges are arranged on the inner side and the outer side of the arc-shaped track, the upper end of the bearing is fixedly connected with the bottom surface of the sliding block, an annular clamping groove matched with the flanges is formed in the outer wall of the bearing, and teeth meshed with the driving pinion are further arranged on the outer side of the arc-shaped track.
Preferably, a grating ruler is arranged on the arc-shaped track, and a detection head matched with the grating ruler is arranged on the sliding block; the sliding block is also provided with a six-dimensional force sensor;
and the built-in encoder of the second motor and the grating ruler form a closed loop, and are used for detecting the rotation angle of the external rotation/internal rotation movement mechanism.
Preferably, the rotation axes of the forearm pronation/supination movement mechanism and the supination/pronation movement mechanism are not coincident with the axis of the limb of the patient, and the rotation axes of the dorsiflexion/palmar flexion movement mechanism, the ulnar flexion/radial flexion movement mechanism, the flexion/hyperextension movement mechanism, the outward swing/inward retraction movement mechanism and the anteflexion/backward extension movement mechanism are coincident with the axis of the limb of the patient.
Preferably, the wrist joint module is fixed on the lifting upright post through a connecting transition plate so as to independently perform rehabilitation training of the wrist joint of the patient.
Preferably, the elbow joint module is connected with the wrist joint module through a forearm adjusting module, and the shoulder joint module is connected with the elbow joint module through an upper arm adjusting module, so that the rehabilitation training of the whole upper arm of the patient can be performed after the combination.
The beneficial effects of the utility model are as follows:
(1) The inside of each joint module is provided with other units such as an independent driving unit, a detection feedback unit, a control unit and the like, so that the independent use can be performed, the combined use of each joint module can also be performed, and the reconfigurability is strong.
(2) The movement mechanisms inside the joint modules are mainly divided into two types: the first type of the motion mechanism has a rotation axis which is not coincident with the axis of the limb of the patient, the second type of the motion mechanism has a rotation axis which is coincident with the axis of the limb of the patient, and the motion mechanism is suitable for a joint module of a wearable limb rehabilitation training robot, so that the defect that the existing modularized joint cannot perform limb rehabilitation training is overcome.
(3) The joint module can reconstruct different rehabilitation training robots according to different patients and different rehabilitation training joints, and is mainly applicable to the rehabilitation medical field of upper limb dysfunction or limited functions caused by central nervous, peripheral nervous, spinal cord, muscle or skeletal diseases.
Drawings
FIG. 1 is a schematic diagram of a plurality of joint modules in an embodiment of the present utility model.
Fig. 2 is a schematic structural view of the swing-out/swing-in mechanism of the present utility model.
Fig. 3 is a schematic view of the structure of the external/internal rotation mechanism of the present utility model.
FIG. 4 is a schematic diagram of the wrist module alone in one embodiment of the utility model.
Reference numerals illustrate:
wrist module (11), elbow module (12), shoulder module (13), dorsiflexion/palmar flexion movement mechanism (11A), ulnar flexion/radial flexion movement mechanism (11B), flexion/hyperextension movement mechanism (12A), forearm supination/supination movement mechanism (12B), supination/adduction movement mechanism (13A), anteflexion/supination movement mechanism (13B), supination/pronation movement mechanism (13C), first motor (1301), controller (1302), first motor connection pad (1303), supination/adduction support plate (1304), supination/adduction fixed support plate (1305), supination stopper (1306), bearing end cap (1307), first speed reducer (1308), supination/adduction output flange (1309), first encoder (1310), supination/adduction power output plate (1311), moment sensor (1312), supination/adduction rotation shaft (3), connection angle (1314), encoder reading head (1315), adduction stopper (6), second motor (1317), second motor (1328), second speed reducer (1328), second gear (1329), six-dimensional sensor (1325), and drive bearing (1327) Arc track (1326), connection transition board (1101), lift stand (2).
Detailed Description
The present utility model is described in further detail below with reference to examples to enable those skilled in the art to practice the same by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 4, a joint module for an upper limb rehabilitation training robot of the present embodiment includes a wrist joint module 11, an elbow joint module 12, and a shoulder joint module 13; the wrist module 11 includes a dorsiflexion/palmar flexion movement mechanism 11A and an ulnar flexion/radial flexion movement mechanism 11B; the elbow joint module 12 includes a flexion/extension motion mechanism 12A and a forearm pronation/supination motion mechanism 12B; the shoulder joint module 13 includes a swing-out/adduction movement mechanism 13A, a flexion/extension movement mechanism 13B, and a swing-out/adduction movement mechanism 13C.
Wherein the rotation axes of dorsiflexion/palmar flexion mechanism 11A and ulnar flexion/radial flexion mechanism 11B intersect at point O w The axes of rotation of flexion/extension motion mechanism 12A and forearm pronation/supination motion mechanism 12B intersect at point O e The rotation axes of the outward swing/inward swing movement mechanism 13A, the forward flexion/backward extension movement mechanism 13B, and the outward rotation/inward rotation movement mechanism 13C intersect at a point O s 。
The outward-swinging/inward-folding movement mechanism 13A includes an outward-swinging/inward-folding support plate 1304, a first motor 1301 provided on the outward-swinging/inward-folding support plate 1304, an outward-swinging/inward-folding rotary shaft 1313 connected to a power output shaft of the first motor 1301, a first decelerator 1308 connected to the other end of the outward-swinging/inward-folding rotary shaft 1313, an outward-swinging/inward-folding output flange 1309 connected to an output end of the first decelerator 1308, an outward-swinging/inward-folding power output plate 1311 connected to the outward-swinging/inward-folding output flange 1309, a first encoder 1310 fixedly connected to the outward-swinging/inward-folding power output plate 1311, and a controller 1302 provided on the first motor 1301.
Wherein, the outer swing/inner folding support plate 1304 is also provided with an outer swing/inner folding fixed support plate 1305 and a first motor connecting plate 1303, and the first motor 1301 is fixedly connected on the first motor connecting plate 1303; a torque sensor 1312 is also provided between the first decelerator 1308 and the outer swing/inner power take off plate 1311; the reading head 1315 of the first encoder 1310 is connected to the swing-out/retraction support plate 1304 by a connection corner joint 1314;
the controller 1302 is configured to control the movement of the outer swing/inner swing mechanism 13A, and the built-in encoder of the first motor 1301 and the first encoder 1310 form a closed loop for detecting the rotation angle of the outer swing/inner swing mechanism 13A.
The external rotation/internal rotation mechanism 13C includes an arc track 1326, a slider 1320 disposed on the arc track 1326 through a bearing 1324, a second connection pad disposed on the slider 1320, a second reducer 1318 disposed on the second connection pad, a second motor 1317 disposed at the other end of the second reducer 1318, and a driving pinion 1321 drivingly connected to the output end of the second reducer 1318. The first decelerator 1308 and the second decelerator 1318 may each be a harmonic decelerator.
Wherein, the inner side and the outer side of the arc-shaped track 1326 are both provided with flanges, the upper end of the bearing 1324 is fixedly connected with the bottom surface of the sliding block 1320, the outer wall of the bearing 1324 is provided with an annular clamping groove matched with the flanges, and the outer side of the arc-shaped track 1326 is also provided with a tooth part (not shown in the figure) meshed with the driving pinion 1321.
In one embodiment, the flange has an inverted V-shaped cross section, the annular slot has a V-shaped cross section, and the flange is engaged with and locked in the annular slot to realize sliding of the slider 1320 on the arc-shaped slide rail.
In one embodiment, a swing-out stopper 1306 and a retraction stopper 1316 are mounted on a swing-out/retraction fixed support plate 1305 for limiting the range of motion of the swing-out/retraction movement mechanism 13A
Wherein, the arc track 1326 is provided with a grating gauge 1323, and the sliding block 1320 is provided with a detection head 1322 matched with the grating gauge 1323; the sliding block 1320 is also provided with a six-dimensional force sensor 1325; the built-in encoder of the second motor 1317 and the grating gauge 1323 form a closed loop for detecting the rotation angle of the external/internal rotation mechanism 13C.
The rotation axes of the dorsiflexion/palmar flexion movement mechanism 11A, the ulnar flexion/radial flexion movement mechanism 11B, the flexion/hyperextension movement mechanism 12A, the outward swing/inward retraction movement mechanism 13A and the forward flexion/backward extension movement mechanism 13B are all coincident with the limb axis of the patient. The structure of each mechanism is similar, and the external dimensions of the parts are different. In the following, the example of embodiment 1 will be described with reference to the swing-out/retraction movement mechanism 13A.
Example 1
The first motor 1301 of the outer swing/inner swing movement mechanism 13A is fixed on an outer swing/inner swing fixed support disc 1305 through a first motor connecting disc 1303 and an outer swing/inner swing support plate 1304, one end of an outer swing/inner swing rotation shaft 1313 is connected with a power output shaft of the first motor 1301, and the other end is connected with a first reducer 1308 fixed on the outer swing/inner swing fixed support disc 1305; the power of the first speed reducer 1308 is transmitted to an outer swing/inner receiving power output plate 1311 through an outer swing/inner receiving output flange 1309 and a torque sensor 1312, and the outer swing/inner receiving power output plate 1311 is rotatably supported on the outer swing/inner receiving output flange 1309 through a bearing and a bearing end cover 1307; the first encoder 1310 is fixed to the swing-out/retraction power take-off plate 1311, and the encoder's reading head 1315 is positioned and supported on the swing-out/retraction support plate 1304 by a connection corner 1314; the controller 1302 is fixedly supported on the housing of the first motor 1301 and independently drives the swinging/adduction movement mechanism 13A; the motor encoder and the first encoder 1310 inside the first motor 1301 form a closed loop, and detect the rotation angle of the outer swing/inner swing movement mechanism 13A;
the rotation axes of the forearm pronation/supination movement mechanism and the supination/pronation movement mechanism are not coincident with the axis of the limb of the patient, and the forearm pronation/supination movement mechanism and the supination/pronation movement mechanism are similar in structure, but the external dimensions of the parts are different. In the following, the embodiment 2 will be described by taking only the external rotation/internal rotation mechanism as an example.
Example 2
The second motor 1317 and the second reducer 1318 of the external rotation/internal rotation movement mechanism 13C are fixedly mounted on the slider 1320 through a second motor connection disc 1319, the slider 1320 is supported on the arc-shaped track 1326 through a bearing 1324, and the power of the second motor 1317 after passing through the reducer 1318 is transmitted to the arc-shaped track 1326 through a driving pinion 1321; grating scale 1323 is fixedly mounted on arcuate track 1326, and detection head 1322 is mounted on slider 1320; the six-dimensional force sensor 1325 is fixedly mounted on the slider 1320 for detecting the movement intention and the joint moment of the patient; the built-in encoder of the second motor 1317 and the grating gauge 1323 form a closed loop for detecting the rotation angle of the external/internal rotation mechanism 13C.
And the inside of each joint module is provided with an independent driving unit, a detection feedback unit, a control unit and other units, so that the joint module can be independently used, and the joint modules can be combined for use.
In one embodiment, as shown in fig. 4, the wrist module 11 is fixed to the lifting column 2 through a connection transition plate to perform rehabilitation training of the wrist of the patient separately.
In another embodiment, as shown in fig. 1, the elbow joint module 12 is connected with the wrist joint module 11 through the forearm adjusting module, and the shoulder joint module 13 is connected with the elbow joint module 12 through the upper arm adjusting module, so as to perform rehabilitation training on the whole upper arm of the patient after combination.
Although embodiments of the present utility model have been disclosed above, it is not limited to the use of the description and embodiments, it is well suited to various fields of use for the utility model, and further modifications may be readily apparent to those skilled in the art, and accordingly, the utility model is not limited to the particular details without departing from the general concepts defined in the claims and the equivalents thereof.
Claims (8)
1. The joint module for the upper limb rehabilitation training robot is characterized by comprising a wrist joint module, an elbow joint module and a shoulder joint module;
the wrist joint module comprises a dorsiflexion/palmar flexion movement mechanism and an ulnar flexion/radial flexion movement mechanism;
the elbow joint module comprises a buckling/hyper-extension movement mechanism and a forearm pronation/supination movement mechanism;
the shoulder joint module comprises an outward swing/inward retraction movement mechanism, a forward bending/backward extending movement mechanism and an outward rotation/inward rotation movement mechanism;
the outer swing/inner retraction movement mechanism comprises an outer swing/inner retraction supporting plate, a first motor arranged on the outer swing/inner retraction supporting plate, an outer swing/inner retraction rotating shaft connected with a power output shaft of the first motor, a first speed reducer connected with the other end of the outer swing/inner retraction rotating shaft, an outer swing/inner retraction output flange connected with the output end of the first speed reducer, an outer swing/inner retraction power output plate connected with the outer swing/inner retraction output flange, a first encoder fixedly connected to the outer swing/inner retraction power output plate and a controller arranged on the first motor;
the rotation axes of the forearm pronation/supination movement mechanism and the supination/pronation movement mechanism are not coincident with the axis of the limb of the patient, and the rotation axes of the dorsiflexion/palmar flexion movement mechanism, the ulnar flexion/radial flexion movement mechanism, the flexion/hyperextension movement mechanism, the outward swing/adduction movement mechanism and the anteflexion/postextension movement mechanism are coincident with the axis of the limb of the patient.
2. The joint module for an upper limb rehabilitation training robot according to claim 1, wherein the rotation axes of the dorsiflexion/palmar flexion mechanism and the ulnar flexion/radial flexion mechanism intersect at a point O w The axes of rotation of the flexion/extension movement mechanism and the forearm pronation/supination movement mechanism intersect at point O e The rotation axes of the outward swing/inward swing mechanism, the forward/backward swing mechanism and the outward rotation/inward rotation mechanism intersect at a point O s 。
3. The joint module for an upper limb rehabilitation training robot according to claim 2, wherein the outer swing/inner retraction support plate is further provided with an outer swing/inner retraction fixed support plate and a first motor connection plate, and the first motor is fixedly connected to the first motor connection plate; a moment sensor is arranged between the first speed reducer and the outward swing/inward retraction power output plate; the reading head of the first encoder is connected to the outer swinging/inner folding supporting plate through a connecting corner joint;
the controller is used for controlling the movement of the outward swinging/inward folding movement mechanism, the built-in encoder of the first motor and the first encoder form a closed loop, and the controller is used for detecting the rotation angle of the outward swinging/inward folding movement mechanism.
4. The joint module for an upper limb rehabilitation training robot according to any one of claims 1 to 3, wherein the supination/pronation movement mechanism comprises an arc-shaped track, a sliding block arranged on the arc-shaped track through a bearing, a second connecting disc arranged on the sliding block, a second speed reducer arranged on the second connecting disc, a second motor arranged at the other end of the second speed reducer, and a driving pinion in driving connection with the output end of the second speed reducer.
5. The joint module for an upper limb rehabilitation training robot according to claim 4, wherein flanges are arranged on the inner side and the outer side of the arc-shaped track, the upper end of the bearing is fixedly connected with the bottom surface of the sliding block, an annular clamping groove matched with the flanges is formed in the outer wall of the bearing, and a tooth part meshed with the driving pinion is further arranged on the outer side of the arc-shaped track.
6. The joint module for an upper limb rehabilitation training robot according to claim 5, wherein a grating ruler is arranged on the arc-shaped track, and a detection head matched with the grating ruler is arranged on the sliding block; the sliding block is also provided with a six-dimensional force sensor;
and the built-in encoder of the second motor and the grating ruler form a closed loop, and are used for detecting the rotation angle of the external rotation/internal rotation movement mechanism.
7. The joint module for an upper limb rehabilitation training robot according to claim 6, wherein the wrist joint module is fixed on the lifting column through a connection transition plate to perform rehabilitation training of the wrist joint of the patient independently.
8. The joint module for an upper limb rehabilitation training robot according to claim 6, wherein the elbow joint module is connected with the wrist joint module through a forearm adjusting module, and the shoulder joint module is connected with the elbow joint module through an upper arm adjusting module, and the combination is used for rehabilitation training of the whole upper arm of a patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947020.8A CN109124984B (en) | 2018-08-20 | 2018-08-20 | Joint module for upper limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947020.8A CN109124984B (en) | 2018-08-20 | 2018-08-20 | Joint module for upper limb rehabilitation training robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109124984A CN109124984A (en) | 2019-01-04 |
| CN109124984B true CN109124984B (en) | 2023-09-05 |
Family
ID=64790392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810947020.8A Active CN109124984B (en) | 2018-08-20 | 2018-08-20 | Joint module for upper limb rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109124984B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020038012A1 (en) * | 2018-08-20 | 2020-02-27 | 中国科学院苏州生物医学工程技术研究所 | Personalized robot for upper limb rehabilitation training |
| CN112545834B (en) * | 2020-12-10 | 2023-01-24 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
| CN112691000B (en) * | 2021-01-13 | 2023-04-11 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113332098B (en) * | 2021-06-09 | 2023-04-14 | 常州大学 | Seven-degree-of-freedom upper limb rehabilitation robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN105662783A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN106420257A (en) * | 2016-09-05 | 2017-02-22 | 南京航空航天大学 | Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN107374907A (en) * | 2017-07-27 | 2017-11-24 | 上海交通大学 | Wearable upper limbs exoskeleton rehabilitation device |
| CN107648013A (en) * | 2017-11-10 | 2018-02-02 | 电子科技大学 | A kind of upper limbs exoskeleton robot 4DOF forearm |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030115954A1 (en) * | 2001-12-07 | 2003-06-26 | Vladimir Zemlyakov | Upper extremity exoskeleton structure and method |
| US20080009771A1 (en) * | 2006-03-29 | 2008-01-10 | Joel Perry | Exoskeleton |
| FR2917323B1 (en) * | 2007-06-12 | 2009-10-02 | Commissariat Energie Atomique | FRONT ROTATION MECHANISM AND ORTHESIS COMPRISING SUCH A MECHANISM |
-
2018
- 2018-08-20 CN CN201810947020.8A patent/CN109124984B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN105662783A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN106420257A (en) * | 2016-09-05 | 2017-02-22 | 南京航空航天大学 | Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN107374907A (en) * | 2017-07-27 | 2017-11-24 | 上海交通大学 | Wearable upper limbs exoskeleton rehabilitation device |
| CN107648013A (en) * | 2017-11-10 | 2018-02-02 | 电子科技大学 | A kind of upper limbs exoskeleton robot 4DOF forearm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109124984A (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109124984B (en) | Joint module for upper limb rehabilitation training robot | |
| CN201743884U (en) | Robot for rehabilitating and training upper limb | |
| CN108743243B (en) | Wrist rehabilitation device | |
| CN109009875B (en) | Individualized upper limb rehabilitation training robot | |
| US7618381B2 (en) | Wrist and upper extremity motion | |
| CN202143653U (en) | Minimally invasive vascular intervention operation robot | |
| CN107648013B (en) | 4-degree-of-freedom forearm of upper limb exoskeleton robot | |
| CN101817181B (en) | Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles | |
| CN201422989Y (en) | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises | |
| CN102274077A (en) | Robot for minimally invasive vascular intervention surgery | |
| CN102499857A (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| CN109172282A (en) | A kind of upper limb rehabilitation robot of seven freedom | |
| CN111166471B (en) | Three-axis intersection type active and passive hybrid surgical endoscope holding arm | |
| CN101850796B (en) | Four-limb unit formed by combined joints of robot | |
| CN101596139A (en) | Assistant movement exoskeleton of three-degree of freedom ankle joint | |
| CN102991601B (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN107690375B (en) | Portable power joint device, lower limb assistance exoskeleton equipment and control method thereof | |
| CN112641598A (en) | Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions | |
| CN110547945A (en) | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism | |
| CN105877972B (en) | A kind of exoskeleton rehabilitation robotic arm rotary joint | |
| CN103068447A (en) | Crus adjustment system for rehabilitation robot | |
| CN111904801A (en) | Series-parallel flexible ankle joint rehabilitation device | |
| CN110664583A (en) | Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand | |
| CN211439962U (en) | Gait bionic walking power assisting device | |
| CN101254147B (en) | Dermaskeleton with two freedom degree hip-joint accessory movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |