技术领域technical field
本发明属于医疗康复训练机器人技术领域，具体是一种可穿戴式上肢康复机器人。The invention belongs to the technical field of medical rehabilitation training robots, in particular to a wearable upper limb rehabilitation robot.
背景技术Background technique
康复训练机器人是近年出现的一种新型机器人，它是一种人-机合作机器人。它在适合人的运动特点，满足人的运动要求的同时，综合了人体运动的灵活性和机器人的高强度工作能力，帮助患者完成各种运动功能的恢复性训练。这种康复机器人能够承受的工作强度高，且性能稳定。通过千万次的标准化重复动作及客观地对运动参数与训练效果的测定和评定，促进神经功能的重塑，康复训练机器人可以有效帮助恢复患者患肢的运动及运动控制能力。Rehabilitation training robot is a new type of robot that has appeared in recent years, and it is a kind of human-machine cooperative robot. While it is suitable for human motion characteristics and meets human motion requirements, it combines the flexibility of human motion and the high-intensity working ability of robots to help patients complete recovery training for various motor functions. The rehabilitation robot can withstand high work intensity and stable performance. Through tens of millions of standardized repetitions and objective measurement and evaluation of exercise parameters and training effects, it can promote the remodeling of nerve function. Rehabilitation training robots can effectively help restore the movement and movement control ability of patients with affected limbs.
目前的康复训练机器人大多需要固定在固定基座之上占地空间加大，普遍采用采用齿轮传动，交错斜齿轮或锥齿轮可减少机构之间的相互干涉，但如果传动比过大，则两齿轮会因尺寸相差太大而不便安装，结构较为复杂，且成本高昂，不适合于患者在家中独立使用，因而较难以普及。Most of the current rehabilitation training robots need to be fixed on a fixed base to increase the floor space. Gear transmission is generally used. Interleaved helical gears or bevel gears can reduce the mutual interference between mechanisms. However, if the transmission ratio is too large, the two The gears are inconvenient to install due to the large difference in size, the structure is relatively complicated, and the cost is high. It is not suitable for patients to use independently at home, so it is difficult to popularize.
发明内容Contents of the invention
本发明的目的在于提供一种可穿戴式上肢康复机器人，以实现直接穿戴于患者身上，实现上肢康复机器人的便携性。The purpose of the present invention is to provide a wearable upper limb rehabilitation robot, which can be directly worn on the patient and realize the portability of the upper limb rehabilitation robot.
实现本发明目的的技术解决方案为：The technical solution that realizes the object of the present invention is:
一种可穿戴式上肢康复机器人，包括U型固定架、基座、第一步进电机、平衡架、第二步进电机、固定架、滑轮、滑轮固定架、钢丝绳、第一连接杆、第三步进电机、第二连接杆、第一弧形固定架、第三连接架、第二弧形固定架、第四步进电机、主动带轮、电机支架、皮带、从动带轮、带轮固定架、固定杆；A wearable upper limb rehabilitation robot, comprising a U-shaped fixing frame, a base, a first stepping motor, a balance frame, a second stepping motor, a fixing frame, a pulley, a pulley fixing frame, a steel wire rope, a first connecting rod, a second Three stepping motors, the second connecting rod, the first arc-shaped fixing frame, the third connecting frame, the second arc-shaped fixing frame, the fourth stepping motor, the driving pulley, the motor bracket, the belt, the driven pulley, the belt Wheel fixing frame, fixing rod;
所述U型固定架固定在基座下端；所述第一步进电机固定在基座上；所述第一步进电机输出轴与平衡架一端相连，所述平衡架另一端与固定架相连；所述第二步进电机固定在固定架上端，且输出轴穿过固定架与滚轮相连；所述滚轮通过滑轮固定架与平衡架相连；所述滚轮上绕有钢丝绳，钢丝绳与固定杆前端相连；所述固定杆后端与固定架下端转动连接；所述第四步进电机通过电机支架固定在固定杆前端；所述第四步进电机输出轴与主动带轮相连；所述带轮固定架固定在固定杆前端；所述从动带轮套在带轮固定架上，可相对带轮固定架转动；所述皮带连接主动带轮和从动带轮上；所述带轮固定架前端上下均固定有第一连接杆；所述第三步进电机固定在上端第一连杆前端，输出轴与上端的第二连接杆后端相连；所述下端的第一连接杆与下端的第二连接杆转动连接；两个第二连接杆的前端分别与第一弧形固定架上下端固定；所述第一弧形固定架中部与第三连接架后端相连，所述第三连接架前端与第二弧形固定架中部相连；所述第一弧形固定架、第二弧形固定架均朝向人体肩部弯曲。The U-shaped fixed frame is fixed on the lower end of the base; the first stepping motor is fixed on the base; the output shaft of the first stepping motor is connected to one end of the balance frame, and the other end of the balance frame is connected to the fixed frame The second stepper motor is fixed on the upper end of the fixed frame, and the output shaft passes through the fixed frame and is connected to the roller; the roller is connected to the balance frame through the pulley fixed frame; a steel wire rope is wound on the roller, and the steel wire rope is connected to the front end of the fixed rod connected; the rear end of the fixed rod is rotationally connected with the lower end of the fixed frame; the fourth stepper motor is fixed on the front end of the fixed rod by a motor bracket; the output shaft of the fourth stepper motor is connected with the driving pulley; the pulley The fixed frame is fixed on the front end of the fixed rod; the driven pulley is set on the pulley fixed frame and can rotate relative to the pulley fixed frame; the belt is connected to the driving pulley and the driven pulley; the pulley fixed frame The front end is fixed with a first connecting rod up and down; the third stepping motor is fixed at the front end of the first connecting rod at the upper end, and the output shaft is connected with the rear end of the second connecting rod at the upper end; the first connecting rod at the lower end is connected with the lower end of the connecting rod The second connecting rod is rotationally connected; the front ends of the two second connecting rods are respectively fixed to the upper and lower ends of the first arc-shaped fixing frame; the middle part of the first arc-shaped fixing frame is connected to the rear end of the third connecting frame, and the third connection The front end of the frame is connected with the middle part of the second arc-shaped fixing frame; the first arc-shaped fixing frame and the second arc-shaped fixing frame are both bent toward the shoulder of the human body.
本发明与现有技术相比，其显著优点是：Compared with the prior art, the present invention has the remarkable advantages of:
(1)本发明可穿戴式上肢康复机器人，在保证基本功能及舒适度后，力求结构轻便，可直接穿戴在患者身上，实现了上肢康复机器人的便携性，在满足驱动要求的前提下尽量选择驱动力矩小的步进电机，以降低步进电机的质量；此外，将单片机、步进电机驱动器与上肢康复机器人分开，进一步减轻康复机器人的质量。(1) The wearable upper limb rehabilitation robot of the present invention, after ensuring the basic functions and comfort, strives for light structure, can be directly worn on the patient, realizes the portability of the upper limb rehabilitation robot, and chooses as much as possible under the premise of meeting the driving requirements A stepper motor with a small driving torque is used to reduce the quality of the stepper motor; in addition, the single-chip microcomputer and stepper motor driver are separated from the upper limb rehabilitation robot to further reduce the quality of the rehabilitation robot.
(2)本发明整个机器人是依据人体结构来选择合适的支点的，因此，可以保证患者不会因机器人的支撑点施加的力过大而造成损伤；(2) The entire robot of the present invention selects a suitable fulcrum according to the structure of the human body, so it can be ensured that the patient will not be damaged due to excessive force exerted by the support point of the robot;
(3)本发明对于患者进行康复训练的场地没有要求，不必拘泥于固定场所、可实现落臂和抬臂运动、上臂的内旋和外旋运动和肘关节的屈伸运动。(3) The present invention has no requirements for the place where the patient performs rehabilitation training, and does not need to stick to a fixed place, and can realize arm drop and arm raising, internal rotation and external rotation of the upper arm, and flexion and extension of the elbow joint.
附图说明Description of drawings
图1是本发明可穿戴式上肢康复机器人前视示意图。Fig. 1 is a schematic front view of the wearable upper limb rehabilitation robot of the present invention.
图2是本发明可穿戴式上肢康复机器人后视示意图。Fig. 2 is a schematic rear view of the wearable upper limb rehabilitation robot of the present invention.
具体实施方式Detailed ways
下面结合附图及具体实施例对本发明做进一步的介绍。The present invention will be further introduced below in conjunction with the accompanying drawings and specific embodiments.
结合图1、图2，本发明的一种可穿戴式上肢康复机器人，包括U型固定架1、基座2、第一步进电机3、平衡架5、第二步进电机6、固定架7、滑轮8、滑轮固定架9、钢丝绳10、第一连接杆11、第三步进电机12、第二连接杆13、第一弧形固定架14、第三连接架15、第二弧形固定架16、第四步进电机17、主动带轮18、电机支架19、皮带20、从动带轮21、带轮固定架22、固定杆24；With reference to Fig. 1 and Fig. 2, a wearable upper limb rehabilitation robot of the present invention includes a U-shaped fixed frame 1, a base 2, a first stepping motor 3, a balance frame 5, a second stepping motor 6, and a fixed frame 7. Pulley 8, pulley fixing frame 9, steel wire rope 10, first connecting rod 11, third stepping motor 12, second connecting rod 13, first arc fixing frame 14, third connecting frame 15, second arc Fixed mount 16, the fourth stepper motor 17, driving pulley 18, motor support 19, belt 20, driven pulley 21, pulley fixed mount 22, fixed rod 24;
所述U型固定架1固定在基座2下端，用于与人体肩部相连；所述第一步进电机3固定在基座2上；所述第一步进电机3输出轴与平衡架5一端相连，所述平衡架5另一端与固定架7中间相连；所述第二步进电机6固定在固定架7上端，且输出轴穿过固定架7与滚轮8相连；所述滚轮8通过滑轮固定架9与平衡架5相连；所述滚轮8上绕有钢丝绳10，钢丝绳10与固定杆24前端相连；所述固定杆24后端与固定架7下端转动连接；所述第四步进电机17通过电机支架19固定在固定杆24前端；所述第四步进电机17输出轴与主动带轮18相连；所述带轮固定架22呈环形，固定在在固定杆24前端；所述从动带轮21套在带轮固定架22上，可相对带轮固定架22转动；所述皮带20连接主动带轮18和从动带轮21上；所述带轮固定架22前端上下均固定有第一连接杆11；所述第三步进电机12固定在上端第一连杆11前端，输出轴与上端的第二连接杆13后端相连；所述下端的第一连接杆11与下端的第二连接杆13转动连接；两个第二连接杆13的前端分别与第一弧形固定架14上下端固定；所述第一弧形固定架14中部与第三连接架15后端相连，所述第三连接架15前端与第二弧形固定架16中部相连；所述第一弧形固定架14、第二弧形固定架16均朝向人体肩部弯曲。The U-shaped fixed frame 1 is fixed on the lower end of the base 2 for connecting with the shoulder of the human body; the first stepping motor 3 is fixed on the base 2; the output shaft of the first stepping motor 3 is connected to the balance frame 5 are connected at one end, and the other end of the balance frame 5 is connected with the middle of the fixed frame 7; the second stepper motor 6 is fixed on the upper end of the fixed frame 7, and the output shaft passes through the fixed frame 7 and is connected with the roller 8; the roller 8 The pulley fixed frame 9 is connected with the balance frame 5; the roller 8 is wound with a steel wire rope 10, and the steel wire rope 10 is connected with the front end of the fixed rod 24; the rear end of the fixed rod 24 is rotationally connected with the lower end of the fixed frame 7; the fourth step The motor 17 is fixed on the front end of the fixed rod 24 by the motor bracket 19; the output shaft of the fourth stepper motor 17 is connected to the driving pulley 18; The driven pulley 21 is set on the pulley fixing frame 22, and can rotate relative to the pulley fixing frame 22; the belt 20 is connected to the driving pulley 18 and the driven pulley 21; the front end of the pulley fixing frame 22 is up and down Both are fixed with the first connecting rod 11; the third stepper motor 12 is fixed on the front end of the first connecting rod 11 at the upper end, and the output shaft is connected with the rear end of the second connecting rod 13 at the upper end; the first connecting rod 11 at the lower end Rotately connected with the second connecting rod 13 at the lower end; the front ends of the two second connecting rods 13 are respectively fixed with the upper and lower ends of the first arc-shaped fixing frame 14; the middle part of the first arc-shaped fixing frame 14 is connected with the third connecting frame 15 The ends are connected, and the front end of the third connecting frame 15 is connected with the middle part of the second arc-shaped fixing frame 16; the first arc-shaped fixing frame 14 and the second arc-shaped fixing frame 16 are both bent toward the shoulders of the human body.
进一步的，所述固定架7沿盖度方向上设有多个调节孔71，所述平衡架5通过紧固件与固定架7相连，通过调节孔71可调节U型固定架1的高度，便于调整机器人与人体肩部的安装位置。Further, the fixed frame 7 is provided with a plurality of adjustment holes 71 along the cover direction, the balance frame 5 is connected with the fixed frame 7 through fasteners, and the height of the U-shaped fixed frame 1 can be adjusted through the adjustment holes 71, It is convenient to adjust the installation position of the robot and the shoulder of the human body.
作为一种实施方式，所述平衡架5通过圆轴辊子轴承与圆柱滚子轴承4相连，第一步进电机3输出轴与圆柱滚子轴承4过盈配合。As an embodiment, the balance frame 5 is connected with the cylindrical roller bearing 4 through the round shaft roller bearing, and the output shaft of the first stepping motor 3 is interference-fitted with the cylindrical roller bearing 4 .
进一步的，所述第二弧形固定架16上设有手持部161，便于穿戴后，手部抓持手持部161。Further, the second arc-shaped fixing frame 16 is provided with a handle portion 161 , which is convenient for holding the handle portion 161 after wearing.
进一步的，所述滑轮固定架9外圆上设有一圈滚珠，所述从动带轮21与带轮固定架22之间通过滚珠支撑，以提高从动带轮21的滑动性能。Further, a circle of balls is provided on the outer circle of the pulley fixing frame 9 , and the driven pulley 21 and the pulley fixing frame 22 are supported by balls to improve the sliding performance of the driven pulley 21 .
进一步的，所述机器人的各平衡架、固定架、固定杆、连接架、连接杆等固定或连接部件均采用尼龙、树脂、铝合金等密度较小的材料，在满足驱动要求的前提下，选择驱动力矩较小的步进电机，降低步进电机重量，使该可穿戴式上肢康复机器人力结构轻便，可直接穿戴于患者身上，实现上肢康复机器人的便携性。Further, the fixed or connected components such as the balance frame, fixed frame, fixed rod, connecting frame, and connecting rod of the robot are all made of materials with low density such as nylon, resin, and aluminum alloy. On the premise of meeting the driving requirements, A stepping motor with a small driving torque is selected to reduce the weight of the stepping motor, so that the wearable upper limb rehabilitation robot has a light force structure and can be directly worn on the patient to realize the portability of the upper limb rehabilitation robot.
进一步的，所述第一步进电机3、第二步进电机6、第三步进电机12、第四步进电机17分别通过减速器输出，以增大输出力矩。Further, the first stepping motor 3 , the second stepping motor 6 , the third stepping motor 12 , and the fourth stepping motor 17 are respectively output through the reducer to increase the output torque.
工作时，U型固定架1固定于患者肩部，患者胳膊穿过皮带轮固定架22，握住第二弧形固定架16的手持部161，根据患者受损情况设定上肢康复机器人的运动轨迹，然后启动控制器，由控制器驱动各个电机相互配合运动。第一步进电机3驱动平衡架5转动，协助患者进行肩关节的水平运动，第二步进电机6驱动滑轮8转动，滑轮8的转动通过钢丝绳10拉动固定杆24绕固定架7下端转动，实现患者的落臂和抬臂运动。第四步进电机17转动通过主动轮18、皮带20、从动轮21的组合驱动从动轮21转动，从动轮21带动第一弧形固定架14、第二弧形固定架16一起转动，实现患者上臂的内旋和外旋运动。第三步进电机12驱动上部第二连接杆13绕上部的第一连接杆11转动，下部的第二连接杆随动，带动第一弧形固定架14、第二弧形固定架16一起摆动，实现患者肘关节的屈伸运动。When working, the U-shaped fixed frame 1 is fixed on the shoulder of the patient, the patient's arm passes through the pulley fixed frame 22, and holds the hand-held part 161 of the second arc-shaped fixed frame 16, and sets the trajectory of the upper limb rehabilitation robot according to the patient's damage , and then start the controller, and the controller drives each motor to cooperate with each other. The first stepping motor 3 drives the balance frame 5 to rotate, assisting the patient to carry out the horizontal movement of the shoulder joint, the second stepping motor 6 drives the pulley 8 to rotate, and the rotation of the pulley 8 pulls the fixed rod 24 through the steel wire rope 10 to rotate around the lower end of the fixed frame 7, Realize the patient's arm drop and arm lift movement. The fourth stepping motor 17 rotates and drives the driven wheel 21 to rotate through the combination of the driving wheel 18, the belt 20 and the driven wheel 21, and the driven wheel 21 drives the first arc-shaped fixing frame 14 and the second arc-shaped fixing frame 16 to rotate together, realizing the patient's Internal and external rotation of the upper arm. The third stepping motor 12 drives the second connecting rod 13 on the upper part to rotate around the first connecting rod 11 on the top, and the second connecting rod on the lower part moves accordingly, driving the first arc-shaped fixed mount 14 and the second arc-shaped fixed mount 16 to swing together , to achieve the flexion and extension of the patient's elbow joint.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910758700.XACN110559158A (en) | 2019-08-16 | 2019-08-16 | wearable upper limb rehabilitation robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910758700.XACN110559158A (en) | 2019-08-16 | 2019-08-16 | wearable upper limb rehabilitation robot |
| Publication Number | Publication Date |
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| CN110559158Atrue CN110559158A (en) | 2019-12-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910758700.XAPendingCN110559158A (en) | 2019-08-16 | 2019-08-16 | wearable upper limb rehabilitation robot |
| Country | Link |
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| CN (1) | CN110559158A (en) |
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| 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 | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191213 | |
| RJ01 | Rejection of invention patent application after publication |