技术领域Technical field
本发明属于医疗康复机械技术领域，尤其涉及一种七自由度外骨骼上肢康复机器人。The invention belongs to the technical field of medical rehabilitation machinery, and in particular relates to a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot.
背景技术Background technique
脑卒中会导致患者失去对肌肉的控制，认知能力也会出现障碍，从而导致患者丧失肢体的运动功能，其中，上肢瘫痪是脑卒中后的常见症状。此外，由于意外事故造成的上肢功能障碍患者的人数也非常庞大，若没有及时对患者进行康复治疗，会导致其永久失去上肢的运动能力。Stroke can cause patients to lose muscle control and cognitive abilities, leading to loss of motor function of the limbs. Paralysis of the upper limbs is a common symptom after stroke. In addition, the number of patients with upper limb dysfunction caused by accidents is also very large. If patients are not provided with timely rehabilitation treatment, they will permanently lose the ability to move their upper limbs.
根据神经可塑性原理，患者进行科学的上肢康复训练可以重塑神经对上肢的控制。传统的康复治疗方法是由康复医师根据患者的恢复情况一对一的进行专项康复训练，但国内康复医师不仅数量短缺，也无法保障康复过程的精度与强度。为了解决这一问题，现有技术中将机器人与医学相结合，研制出一种上肢康复机器人，不仅减轻了对康复医师的依赖，而且帮助患者更好的恢复了上肢的运动机能。According to the principle of neuroplasticity, patients' scientific upper limb rehabilitation training can reshape the nerve's control of the upper limb. The traditional rehabilitation treatment method is for rehabilitation physicians to conduct one-on-one special rehabilitation training based on the patient's recovery status. However, domestic rehabilitation physicians are not only in short supply, but also cannot guarantee the accuracy and intensity of the rehabilitation process. In order to solve this problem, the existing technology combines robots with medicine to develop an upper limb rehabilitation robot, which not only reduces the dependence on rehabilitation doctors, but also helps patients better restore the motor functions of their upper limbs.
但是现有的上肢康复机器人面临着主动自由度少、运动不灵活、适用人体上肢尺寸范围小、人机耦合性差等问题，导致其适用人群范围和训练效果受到了限制。However, existing upper limb rehabilitation robots face problems such as low active freedom, inflexible movement, small applicable human upper limb size range, and poor human-machine coupling, which limits its applicable range of people and training effects.
发明内容Contents of the invention
本发明实施例的目的在于提供一种七自由度外骨骼上肢康复机器人，旨在解决上述背景技术中存在的问题。The purpose of the embodiments of the present invention is to provide a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot, aiming to solve the problems existing in the above background technology.
本发明实施例是这样实现的，一种七自由度外骨骼上肢康复机器人，包括：The embodiment of the present invention is implemented as follows: a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot, including:
上臂尺寸调节机构，用于调节长短固定上臂；The upper arm size adjustment mechanism is used to adjust the length of the fixed upper arm;
前臂尺寸调节机构，用于调节长短固定前臂；Forearm size adjustment mechanism, used to adjust the length of the fixed forearm;
手部尺寸调节机构，用于调节长短便于手掌抓握；Hand size adjustment mechanism, used to adjust the length to facilitate palm grip;
肩关节运动机构，与所述上臂尺寸调节机构相连，用于带动肩关节进行内收或外展、内旋或外旋、后伸或前屈运动；The shoulder joint movement mechanism is connected to the upper arm size adjustment mechanism and is used to drive the shoulder joint to perform adduction or abduction, internal rotation or external rotation, back extension or forward flexion;
肘关节运动机构，连接在上臂尺寸调节机构和前臂尺寸调节机构之间，用于带动肘关节进行屈或伸运动；The elbow joint movement mechanism is connected between the upper arm size adjustment mechanism and the forearm size adjustment mechanism, and is used to drive the elbow joint to perform flexion or extension movements;
腕关节运动机构，连接在所述前臂尺寸调节机构和手部尺寸调节机构之间，用于带动腕关节进行内收或外展、内旋或外旋、屈曲或伸展运动。The wrist joint movement mechanism is connected between the forearm size adjustment mechanism and the hand size adjustment mechanism, and is used to drive the wrist joint to perform adduction or abduction, internal rotation or external rotation, flexion or extension.
本发明实施例提供的一种七自由度外骨骼上肢康复机器人，针对现有技术中康复机器人主动自由度少、运动不灵活、适用人体上肢尺寸范围小、人机耦合性差的问题，设置有肩关节运动机构、肘关节运动机构、腕关节运动机构，可以实现七个自由度，主动自由度多，运动灵活，同时还设置有上臂尺寸调节机构、前臂尺寸调节机构、手部尺寸调节机构，适用人体上肢尺寸范围广、人机耦合性较好，避免出现由于患者个体尺寸差异而导致无法匹配上肢康复机器人的尺寸的问题。An embodiment of the present invention provides a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot. In order to solve the problems of rehabilitation robots in the existing technology such as few active degrees of freedom, inflexible movement, small applicable human upper limb size range, and poor human-machine coupling, it is provided with a shoulder The joint motion mechanism, elbow joint motion mechanism, and wrist joint motion mechanism can realize seven degrees of freedom, with many active degrees of freedom and flexible movement. It is also equipped with an upper arm size adjustment mechanism, a forearm size adjustment mechanism, and a hand size adjustment mechanism, which are suitable for The human body has a wide range of upper limb sizes and good human-machine coupling, which avoids the problem of being unable to match the size of the upper limb rehabilitation robot due to individual patient size differences.
附图说明Description of drawings
图1为本发明实施例提供的一种七自由度外骨骼上肢康复机器人的立体结构图；Figure 1 is a three-dimensional structural diagram of a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention;
图2为本发明实施例提供的一种七自由度外骨骼上肢康复机器人中上臂尺寸调节机构的结构示意图；Figure 2 is a schematic structural diagram of an upper arm size adjustment mechanism in a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention;
图3为本发明实施例提供的一种七自由度外骨骼上肢康复机器人中上臂上支架内部的正视图；Figure 3 is a front view of the interior of the upper arm bracket of a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention;
图4为本发明实施例提供的一种七自由度外骨骼上肢康复机器人中前臂尺寸调节机构的结构示意图；Figure 4 is a schematic structural diagram of the forearm size adjustment mechanism in a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention;
图5为本发明实施例提供的一种七自由度外骨骼上肢康复机器人中腕关节运动机构和手部尺寸调节机构的结构示意图；Figure 5 is a schematic structural diagram of a wrist joint movement mechanism and a hand size adjustment mechanism in a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention;
图6为本发明实施例提供的一种七自由度外骨骼上肢康复机器人中升降旋转移动平台机构的结构示意图。Figure 6 is a schematic structural diagram of a lifting, rotating and moving platform mechanism in a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention.
附图中：1-万向轮，2-底板，3-定向轮，4-升降下部基座，5-升降下部前板，6-升降下部侧板，7-升降直线滑轨，8-升降上部底座，9-升降直线滑块，10-升降固定件，11-升降下部上盖，12-升降上部侧板，13-升降上部前板，14-第一连杆旋转底座，15-第一连杆旋转盖，16-第一连杆，17-肩一伺服电机减速器模块，18-第二连杆，19-肩二伺服电机减速器模块，20-第三连杆，21-肩三伺服电机减速器模块，22-肩三输出轴连杆，23-上臂上支架，24-上臂固定架，25-上臂固定带，26-上臂固定件，27-手柄，28-滚轮，29-上臂上底座，30-上臂下支架，31-肘部关节固定连杆，32-大圆柱直齿轮，33-大轴承盖，34-大圆柱直齿轮传动轴，35-大轴承，36-小圆柱直齿轮传动轴，37-小轴承，38-小圆柱直齿轮，39-小轴承盖，40-直齿齿条，41-肘部伺服电机减速器模块，42-前臂上支架，43-前臂滑块后限制垫，44-前臂直线滑轨，45-前臂下支架，46-前臂滑块前限制块，47-前臂滑块前限制垫，48-前臂直线滑块，49-前臂固定带，50-前臂固定件，51-前臂固定架，52-手部一直流电机模块，53-手部一连杆，54-手部二直流电机模块，55-手部二连杆，56-手部三直流电机模块，57-手腕调节滑块，58-手腕调节滑块固定片，59-手部三连杆，60-弹性件，61-手部握把。In the attached picture: 1-universal wheel, 2-base plate, 3-directional wheel, 4-lifting lower base, 5-lifting lower front plate, 6-lifting lower side plate, 7-lifting linear slide rail, 8-lifting Upper base, 9-lifting linear slider, 10-lifting fixing piece, 11-lifting lower upper cover, 12-lifting upper side plate, 13-lifting upper front plate, 14-first link rotating base, 15-first Connecting rod rotating cover, 16-first connecting rod, 17-shoulder one servo motor reducer module, 18-second connecting rod, 19-shoulder two servo motor reducer module, 20-third connecting rod, 21-shoulder three Servo motor reducer module, 22-shoulder three output shaft connecting rod, 23-upper arm upper bracket, 24-upper arm fixed frame, 25-upper arm fixed belt, 26-upper arm fixed piece, 27-handle, 28-roller, 29-upper arm Upper base, 30-upper arm lower bracket, 31-elbow joint fixed connecting rod, 32-large cylindrical spur gear, 33-large bearing cover, 34-large cylindrical spur gear transmission shaft, 35-large bearing, 36-small cylindrical straight gear Gear transmission shaft, 37-small bearing, 38-small cylindrical spur gear, 39-small bearing cover, 40-spur gear rack, 41-elbow servo motor reducer module, 42-forearm upper bracket, 43-forearm slider Rear limit pad, 44-forearm linear slide rail, 45-forearm lower bracket, 46-forearm slider front limiter block, 47-forearm slider front limiter pad, 48-forearm linear slider, 49-forearm fixed belt, 50- Forearm fixture, 51-forearm holder, 52-hand DC motor module, 53-hand one linkage, 54-hand two DC motor modules, 55-hand two linkage, 56-hand three DC motors Motor module, 57-wrist adjustment slider, 58-wrist adjustment slider fixed piece, 59-hand three-link, 60-elastic member, 61-hand grip.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.
以下结合具体实施例对本发明的具体实现进行详细描述。The specific implementation of the present invention will be described in detail below with reference to specific embodiments.
如图1所示，为本发明的一个实施例提供的一种七自由度外骨骼上肢康复机器人的结构图，包括：As shown in Figure 1, a structural diagram of a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot provided by one embodiment of the present invention includes:
上臂尺寸调节机构，用于调节长短固定上臂；The upper arm size adjustment mechanism is used to adjust the length of the fixed upper arm;
前臂尺寸调节机构，用于调节长短固定前臂；Forearm size adjustment mechanism, used to adjust the length of the fixed forearm;
手部尺寸调节机构，用于调节长短便于手掌抓握；Hand size adjustment mechanism, used to adjust the length to facilitate palm grip;
肩关节运动机构，与所述上臂尺寸调节机构相连，用于带动肩关节进行内收或外展、内旋或外旋、后伸或前屈运动；The shoulder joint movement mechanism is connected to the upper arm size adjustment mechanism and is used to drive the shoulder joint to perform adduction or abduction, internal rotation or external rotation, back extension or forward flexion;
肘关节运动机构，连接在上臂尺寸调节机构和前臂尺寸调节机构之间，用于带动肘关节进行屈或伸运动；The elbow joint movement mechanism is connected between the upper arm size adjustment mechanism and the forearm size adjustment mechanism, and is used to drive the elbow joint to perform flexion or extension movements;
腕关节运动机构，连接在所述前臂尺寸调节机构和手部尺寸调节机构之间，用于带动腕关节进行内收或外展、内旋或外旋、屈曲或伸展运动。The wrist joint movement mechanism is connected between the forearm size adjustment mechanism and the hand size adjustment mechanism, and is used to drive the wrist joint to perform adduction or abduction, internal rotation or external rotation, flexion or extension.
在本发明的一个实施例中，该七自由度外骨骼上肢康复机器人针对现有技术中康复机器人主动自由度少、运动不灵活、适用人体上肢尺寸范围小、人机耦合性差的问题，设置有肩关节运动机构、肘关节运动机构、腕关节运动机构，可以实现七个自由度，主动自由度多，运动灵活，同时还设置有上臂尺寸调节机构、前臂尺寸调节机构、手部尺寸调节机构，适用人体上肢尺寸范围广、人机耦合性较好，避免出现由于患者个体尺寸差异而导致无法匹配上肢康复机器人的尺寸的问题。In one embodiment of the present invention, the seven-degree-of-freedom exoskeleton upper limb rehabilitation robot is provided with The shoulder joint movement mechanism, elbow joint movement mechanism, and wrist joint movement mechanism can achieve seven degrees of freedom, with many active degrees of freedom and flexible movement. It is also equipped with an upper arm size adjustment mechanism, a forearm size adjustment mechanism, and a hand size adjustment mechanism. It is suitable for a wide range of human upper limb sizes and has good human-machine coupling, which avoids the problem of being unable to match the size of the upper limb rehabilitation robot due to individual patient size differences.
如图2至图3所示，作为本发明的一种优选实施例，所述上臂尺寸调节机构包括：As shown in Figures 2 to 3, as a preferred embodiment of the present invention, the upper arm size adjustment mechanism includes:
上臂上支架23，与上臂上底座29固定连接，所述上臂上支架23上安装有上臂固定架24；The upper arm upper bracket 23 is fixedly connected to the upper arm upper base 29, and an upper arm fixing bracket 24 is installed on the upper arm upper bracket 23;
上臂下支架30，所述上臂下支架30内部开设有滚轮槽，滚轮28滚动安装在滚轮槽中，所述滚轮28与上臂上支架23相连接，用于带动上臂下支架30与上臂上支架23活动连接；The upper arm lower bracket 30 has a roller groove inside. The roller 28 is installed in the roller groove. The roller 28 is connected with the upper arm upper bracket 23 and is used to drive the upper arm lower bracket 30 and the upper arm upper bracket 23. active connection;
上臂固定件26，安装在所述上臂固定架24上，所述上臂固定件26上安装有上臂固定带25，用于固定上臂；An upper arm fixing piece 26 is installed on the upper arm fixing frame 24, and an upper arm fixing belt 25 is installed on the upper arm fixing piece 26 for fixing the upper arm;
大圆柱直齿轮传动轴34，安装在所述上臂上支架23上，所述大圆柱直齿轮传动轴34的一端安装有手柄27；The large cylindrical spur gear transmission shaft 34 is installed on the upper arm bracket 23, and a handle 27 is installed on one end of the large cylindrical spur gear transmission shaft 34;
大圆柱直齿轮32，与所述大圆柱直齿轮传动轴34固定连接；The large cylindrical spur gear 32 is fixedly connected to the large cylindrical spur gear transmission shaft 34;
小圆柱直齿轮传动轴36，安装在所述上臂上支架23上，所述小圆柱直齿轮传动轴36上固定有小圆柱直齿轮38，所述小圆柱直齿轮38与大圆柱直齿轮32连续啮合；A small cylindrical spur gear transmission shaft 36 is installed on the upper arm bracket 23. A small cylindrical spur gear 38 is fixed on the small cylindrical spur gear transmission shaft 36. The small cylindrical spur gear 38 is continuous with the large cylindrical spur gear 32. mesh;
直齿齿条40，固定安装在所述上臂下支架30上，所述直齿齿条40与小圆柱直齿轮38连续啮合，转动手柄27带动大圆柱直齿轮32转动，大圆柱直齿轮32带动小圆柱直齿轮38转动，小圆柱直齿轮38带动直齿齿条40进行直线移动，用于驱动上臂下支架30相对上臂上支架23进行移动，调节尺寸。The spur gear rack 40 is fixedly installed on the lower bracket 30 of the upper arm. The spur gear rack 40 is continuously meshed with the small cylindrical spur gear 38. The rotating handle 27 drives the large cylindrical spur gear 32 to rotate, and the large cylindrical spur gear 32 drives the The small cylindrical spur gear 38 rotates, and the small cylindrical spur gear 38 drives the spur gear rack 40 to move linearly to drive the upper arm lower bracket 30 to move relative to the upper arm upper bracket 23 to adjust the size.
上臂上支架23中间固定安装有上臂固定架24，上臂固定架24内圈固定安装有上臂固定件26，上臂固定件26可以为橡胶材质，上臂固定件26两端固定安装有上臂固定带25；An upper arm fixing bracket 24 is fixedly installed in the middle of the upper arm upper bracket 23, and an upper arm fixing piece 26 is fixedly installed on the inner ring of the upper arm fixing frame 24. The upper arm fixing piece 26 can be made of rubber material, and upper arm fixing straps 25 are fixedly installed at both ends of the upper arm fixing piece 26;
上臂上支架23左端内部下侧固定安装有大圆柱直齿轮传动轴34，大圆柱直齿轮传动轴34上固定安装有手柄27，大圆柱直齿轮传动轴34的两端分别固定安装有大轴承35和大轴承盖33，大圆柱直齿轮传动轴34的中间固定安装有大圆柱直齿轮32，大圆柱直齿轮32与小圆柱直齿轮38啮合，小圆柱直齿轮38固定安装在小圆柱直齿轮传动轴36上，小圆柱直齿轮传动轴36两端固定安装有小轴承37和小轴承盖39，小圆柱直齿轮38还与直齿齿条40啮合，直齿齿条40固定安装在上臂下支架30上，上臂下支架30内部下端加工出的滚轮槽，滚轮28安装在滚轮槽中，滚轮28固定安装在上臂上底座29和上臂上支架23上；A large cylindrical spur gear transmission shaft 34 is fixedly installed on the inner lower side of the left end of the upper arm upper bracket 23. A handle 27 is fixedly installed on the large cylindrical spur gear transmission shaft 34. Large bearings 35 are fixedly installed on both ends of the large cylindrical spur gear transmission shaft 34. And the large bearing cap 33, the large cylindrical spur gear 32 is fixedly installed in the middle of the large cylindrical spur gear transmission shaft 34, the large cylindrical spur gear 32 meshes with the small cylindrical spur gear 38, the small cylindrical spur gear 38 is fixedly installed in the small cylindrical spur gear transmission On the shaft 36, small bearings 37 and small bearing caps 39 are fixedly installed at both ends of the small cylindrical spur gear transmission shaft 36. The small cylindrical spur gear 38 also meshes with the spur gear rack 40, which is fixedly installed on the lower bracket of the upper arm. 30, the roller groove is machined at the inner lower end of the upper arm lower bracket 30, the roller 28 is installed in the roller groove, and the roller 28 is fixedly installed on the upper arm upper base 29 and the upper arm upper bracket 23;
通过旋转手柄27转动固定在大圆柱直齿轮传动轴34上面的大圆柱直齿轮32，大圆柱直齿轮32通过啮合带动小圆柱直齿轮38在小圆柱直齿轮传动轴36上转动，小圆柱直齿轮38通过啮合带动固定在上臂下支架30上面的直齿齿条40做直线运动，从而带动上臂下支架30相对上臂上支架23移动，实现调节机械臂的上臂尺寸，其中小圆柱直齿轮38与直齿齿条40啮合移动的范围可以是250-350mm。The large cylindrical spur gear 32 fixed on the large cylindrical spur gear transmission shaft 34 is rotated by the rotating handle 27. The large cylindrical spur gear 32 drives the small cylindrical spur gear 38 to rotate on the small cylindrical spur gear transmission shaft 36 through meshing. 38 drives the spur gear rack 40 fixed on the upper arm lower bracket 30 to move linearly through meshing, thereby driving the upper arm lower bracket 30 to move relative to the upper arm upper bracket 23 to adjust the upper arm size of the robotic arm, in which the small cylindrical spur gear 38 and the straight gear 38 The meshing movement range of the rack and pinion 40 may be 250-350mm.
如图4所示，作为本发明的另一种优选实施例，所述前臂尺寸调节机构包括：As shown in Figure 4, as another preferred embodiment of the present invention, the forearm size adjustment mechanism includes:
前臂上支架42，与前臂滑块前限制块46固定连接，所述前臂滑块前限制块46上安装有前臂滑块前限制垫47；The forearm upper bracket 42 is fixedly connected to the forearm slider front limiter block 46, and a forearm slider front limiter pad 47 is installed on the forearm slider front limiter block 46;
前臂下支架45，与所述前臂上支架42活动连接；The lower forearm bracket 45 is movably connected to the upper forearm bracket 42;
前臂固定架51，安装在所述前臂上支架42上，所述前臂固定架51上安装有前臂固定件50，所述前臂固定件50上设有前臂固定带49，用于固定前臂；The forearm fixing bracket 51 is installed on the forearm upper bracket 42. A forearm fixing part 50 is installed on the forearm fixing bracket 51. The forearm fixing part 50 is provided with a forearm fixing belt 49 for fixing the forearm;
前臂滑块后限制垫43，安装在所述前臂上支架42上；The forearm slider rear limiting pad 43 is installed on the forearm upper bracket 42;
前臂直线滑轨44，位于所述前臂滑块后限制垫43和前臂滑块前限制垫47之间，所述前臂直线滑轨44上安装有前臂直线滑块48，所述前臂直线滑块48与前臂下支架45固定连接，用于驱动前臂下支架45相对前臂上支架42进行移动，调节尺寸。The forearm linear slide rail 44 is located between the forearm slider rear limit pad 43 and the forearm slider front limit pad 47. A forearm linear slider 48 is installed on the forearm linear slider 44. The forearm linear slider 48 It is fixedly connected to the forearm lower bracket 45 and is used to drive the forearm lower bracket 45 to move relative to the forearm upper bracket 42 to adjust the size.
前臂上支架42右端固定安装有前臂滑块前限制块46和前臂滑块前限制垫47，前臂滑块前限制垫47可以为橡胶材质，中间固定安装有前臂固定架51，前臂固定架51内圈固定安装有前臂固定件50，前臂固定件50可以为橡胶材质，前臂固定件50两端固定安装有前臂固定带49，前臂上支架42的左端固定安装有前臂滑块后限制垫43和前臂直线滑轨44，前臂滑块后限制垫43可以为橡胶材质，前臂直线滑轨44上面安装有前臂直线滑块48，前臂直线滑块48固定安装在前臂下支架45上；The right end of the forearm upper bracket 42 is fixedly installed with a forearm slider front limit block 46 and a forearm slider front limiter pad 47. The forearm slider front limiter pad 47 can be made of rubber, and a forearm fixing bracket 51 is fixedly installed in the middle. Inside the forearm fixing bracket 51 The forearm fixing piece 50 is fixedly installed on the ring. The forearm fixing piece 50 can be made of rubber. Forearm fixing straps 49 are fixedly installed at both ends of the forearm fixing piece 50. The left end of the forearm upper bracket 42 is fixedly installed with a forearm slider rear limit pad 43 and a forearm. The linear slide rail 44 and the forearm slider rear limit pad 43 can be made of rubber. The forearm linear slider 48 is installed on the forearm linear slide rail 44. The forearm linear slider 48 is fixedly installed on the forearm lower bracket 45;
通过前臂直线滑块48在前臂直线滑轨44上滑动，从而带动前臂下支架45与前臂上支架42相对滑动，从而实现调节机械臂的前臂尺寸，其中前臂直线滑块48在前臂直线滑轨44上面的滑动距离范围可以是185-270mm。By sliding the forearm linear slider 48 on the forearm linear slide rail 44, the forearm lower bracket 45 and the forearm upper bracket 42 are driven to slide relative to each other, thereby adjusting the forearm size of the robotic arm. The forearm linear slider 48 is on the forearm linear slide rail 44. The sliding distance range above can be 185-270mm.
如图5所示，作为本发明的一种优选实施例，所述手部尺寸调节机构包括：As shown in Figure 5, as a preferred embodiment of the present invention, the hand size adjustment mechanism includes:
手部三连杆59，所述手部三连杆59的两侧设有手腕调节滑块固定片58，所述手腕调节滑块固定片58中安装有手腕调节滑块57；The three-link hand link 59 is provided with a wrist adjustment slider fixed piece 58 on both sides of the hand three-link 59, and a wrist adjustment slider 57 is installed in the wrist adjustment slider fixed piece 58;
手部握把61，所述手部握把61的两侧与手腕调节滑块57固定连接，所述手部握把61和手部三连杆59之间连接有弹性件60。Hand grip 61, both sides of the hand grip 61 are fixedly connected to the wrist adjustment slider 57, and an elastic member 60 is connected between the hand grip 61 and the hand three-link 59.
患者的手指可以握住手部握把61，根据手掌尺寸的大小，弹性件60被带动伸缩变形，弹性件60可以为弹簧，手腕调节滑块57相对手腕调节滑块固定片58滑动。The patient's fingers can hold the hand grip 61. According to the size of the palm, the elastic member 60 is driven to stretch and deform. The elastic member 60 can be a spring, and the wrist adjustment slider 57 slides relative to the wrist adjustment slider fixed piece 58.
如图1所示，作为本发明的一种优选实施例，所述肩关节运动机构包括：As shown in Figure 1, as a preferred embodiment of the present invention, the shoulder joint motion mechanism includes:
第一连杆16，所述第一连杆16上安装有肩一伺服电机减速器模块17，所述肩一伺服电机减速器模块17的输出端与第二连杆18固定连接，用于带动肩关节进行内收或外展运动；The first connecting rod 16 has a servo motor reducer module 17 installed on the first connecting rod 16. The output end of the servo motor reducer module 17 is fixedly connected to the second connecting rod 18 for driving The shoulder joint moves in adduction or abduction;
肩二伺服电机减速器模块19，安装在所述第二连杆18上，所述肩二伺服电机减速器模块19的输出端与第三连杆20固定连接，用于带动肩关节进行内旋或外旋运动；The second shoulder servo motor reducer module 19 is installed on the second connecting rod 18. The output end of the second shoulder servo motor reducer module 19 is fixedly connected to the third connecting rod 20 for driving the shoulder joint to perform internal rotation. or external rotation;
肩三伺服电机减速器模块21，安装在所述第三连杆20上，所述肩三伺服电机减速器模块21的输出端与肩三输出轴连杆22固定连接，所述肩三输出轴连杆22与上臂尺寸调节机构相连，用于带动肩关节进行后伸或前屈运动。The shoulder three servo motor reducer module 21 is installed on the third connecting rod 20. The output end of the shoulder three servo motor reducer module 21 is fixedly connected to the shoulder three output shaft connecting rod 22. The shoulder three output shaft The connecting rod 22 is connected to the upper arm size adjustment mechanism and is used to drive the shoulder joint to perform backward extension or forward flexion movements.
第一连杆16的左侧固定安装肩一伺服电机减速器模块17，肩一伺服电机减速器模块17输出端固定安装在第二连杆18的一端，通过带动第二连杆18转动，从而实现肩关节的内收/外展运动；第二连杆18另一端固定安装有肩二伺服电机减速器模块19，肩二伺服电机减速器模块19输出端固定安装在第三连杆20的一端，通过带动第三连杆20转动，从而实现肩关节的内旋/外旋运动；第三连杆20的另一端固定安装有肩三伺服电机减速器模块21，肩三伺服电机减速器模块21输出端固定安装在肩三输出轴连杆22的一端，肩三输出轴连杆22另一端固定安装在上臂上支架23上，通过带动上臂上支架23转动，从而实现肩关节的后伸/前屈运动。A servo motor reducer module 17 is fixedly mounted on the left side of the first link 16 . The output end of the servo motor reducer module 17 is fixedly mounted on one end of the second link 18 to drive the second link 18 to rotate. To realize the adduction/abduction movement of the shoulder joint; the other end of the second link 18 is fixedly installed with the second servo motor reducer module 19, and the output end of the second servo motor reducer module 19 is fixedly installed at one end of the third link 20 , by driving the third connecting rod 20 to rotate, thereby realizing the internal rotation/external rotation movement of the shoulder joint; the other end of the third connecting rod 20 is fixedly installed with a shoulder three servo motor reducer module 21, and the shoulder three servo motor reducer module 21 The output end is fixedly installed on one end of the shoulder three output shaft connecting rod 22, and the other end of the shoulder three output shaft connecting rod 22 is fixedly installed on the upper arm upper bracket 23. By driving the upper arm upper bracket 23 to rotate, the shoulder joint can be extended backward/forward. Flexion movement.
如图1所示，作为本发明的一种优选实施例，所述肘关节运动机构包括：As shown in Figure 1, as a preferred embodiment of the present invention, the elbow joint motion mechanism includes:
肘部关节固定连杆31，所述肘部关节固定连杆31与上臂尺寸调节机构相连；Elbow joint fixed link 31, which is connected to the upper arm size adjustment mechanism;
肘部伺服电机减速器模块41，安装在所述肘部关节固定连杆31上，所述肘部伺服电机减速器模块41的输出端与前臂尺寸调节机构相连接，用于带动肘关节进行屈或伸运动。The elbow servo motor reducer module 41 is installed on the elbow joint fixed link 31. The output end of the elbow servo motor reducer module 41 is connected to the forearm size adjustment mechanism to drive the elbow joint to flex. or stretching exercises.
上臂下支架30的左端固定安装在肘部关节固定连杆31一端，肘部关节固定连杆31另一端固定安装有肘部伺服电机减速器模块41，肘部伺服电机减速器模块41输出端固定安装有前臂上支架42，通过带动前臂上支架42转动，从而实现肘关节的屈/伸运动。The left end of the upper arm lower bracket 30 is fixedly installed on one end of the elbow joint fixed link 31. The other end of the elbow joint fixed link 31 is fixedly installed with an elbow servo motor reducer module 41. The output end of the elbow servo motor reducer module 41 is fixed. The forearm upper bracket 42 is installed, and the forearm upper bracket 42 is driven to rotate, thereby realizing the flexion/extension movement of the elbow joint.
如图1和图5所示，作为本发明的一种优选实施例，所述腕关节运动机构包括：As shown in Figures 1 and 5, as a preferred embodiment of the present invention, the wrist joint movement mechanism includes:
手部一直流电机模块52，安装在所述前臂尺寸调节机构上，所述手部一直流电机模块52的输出端与手部一连杆53固定连接，用于带动腕关节进行内收或外展运动；The hand DC motor module 52 is installed on the forearm size adjustment mechanism. The output end of the hand DC motor module 52 is fixedly connected to a hand connecting rod 53 for driving the wrist joint to adduct or extend. Exhibition movement;
手部二直流电机模块54，安装在所述手部一连杆53上，所述手部二直流电机模块54的输出端与手部二连杆55固定连接，用于带动腕关节进行内旋或外旋运动；The second hand DC motor module 54 is installed on the first hand connecting rod 53. The output end of the second hand DC motor module 54 is fixedly connected to the second hand connecting rod 55 and is used to drive the wrist joint for internal rotation. or external rotation;
手部三直流电机模块56，安装在所述手部二连杆55上，所述手部三直流电机模块56的输出端与手部尺寸调节机构相连接，用于带动腕关节进行屈曲或伸展运动。The three-hand DC motor module 56 is installed on the two-hand connecting rod 55. The output end of the three-hand DC motor module 56 is connected to the hand size adjustment mechanism and is used to drive the wrist joint to flex or extend. sports.
前臂下支架45右端固定安装有手部一直流电机模块52，手部一直流电机模块52输出端固定安装在手部一连杆53一端，通过带动手部一连杆53转动，从而实现腕关节内收/外摆运动；手部一连杆53另一端固定安装有手部二直流电机模块54，手部二直流电机模块54输出端固定安装在手部二连杆55一端，通过带动手部二连杆55转动，从而实现腕关节内旋/外旋运动；手部二连杆55另一端固定安装有手部三直流电机模块56，手部三直流电机模块56输出端固定安装在手部三连杆59一端，通过带动手部三连杆59转动，从而实现腕关节屈曲/伸展运动。The hand DC motor module 52 is fixedly installed on the right end of the forearm lower bracket 45. The output end of the hand DC motor module 52 is fixedly installed on one end of the hand connecting rod 53. By driving the hand connecting rod 53 to rotate, the wrist joint is realized. Adduction/swinging movement; the other end of the first hand link 53 is fixedly installed with the second hand DC motor module 54, and the output end of the second hand DC motor module 54 is fixedly installed at one end of the second hand link 55, by driving the hand The second connecting rod 55 rotates to realize internal/external rotation of the wrist joint; the other end of the second connecting rod 55 of the hand is fixedly installed with the three-hand DC motor module 56, and the output end of the three-hand DC motor module 56 is fixedly installed on the hand. One end of the three-link 59 drives the hand three-link 59 to rotate, thereby realizing wrist joint flexion/extension movement.
如图1所示，作为本发明的一种优选实施例，所述机器人还包括升降旋转移动平台机构，与所述上臂尺寸调节机构相连，用于带动机器人进行升降、旋转和移动。As shown in Figure 1, as a preferred embodiment of the present invention, the robot further includes a lifting, rotating and moving platform mechanism, which is connected to the upper arm size adjustment mechanism and is used to drive the robot to lift, rotate and move.
如图6所示，作为本发明的一种优选实施例，所述升降旋转移动平台机构包括：As shown in Figure 6, as a preferred embodiment of the present invention, the lifting, rotating and moving platform mechanism includes:
底板2，所述底板2上安装有定向轮3和万向轮1；Base plate 2, on which a directional wheel 3 and a universal wheel 1 are installed;
升降下部基座4，安装在所述底板2上；The lifting lower base 4 is installed on the bottom plate 2;
升降下部前板5和升降下部侧板6，安装在所述升降下部基座4上，所述升降下部前板5上开设有滑槽和固定点，所述升降下部侧板6上安装有升降直线滑轨7，所述升降直线滑轨7上安装有升降直线滑块9；The lifting lower front plate 5 and the lifting lower side plates 6 are installed on the lifting lower base 4. The lifting lower front plate 5 is provided with chute and fixed points, and the lifting lower side plate 6 is equipped with a lifting device. Linear slide rail 7, a lifting linear slide block 9 is installed on the lifting linear slide rail 7;
升降下部上盖11，安装在所述升降下部前板5和升降下部侧板6上；The lifting lower upper cover 11 is installed on the lifting lower front plate 5 and the lifting lower side plate 6;
升降上部侧板12和升降上部前板13，与所述升降下部上盖11活动连接，所述升降上部侧板12穿过升降下部上盖11与所述升降直线滑块9固定连接；The lifting upper side plate 12 and the lifting upper front plate 13 are movably connected to the lifting lower upper cover 11. The lifting upper side plate 12 passes through the lifting lower upper cover 11 and is fixedly connected to the lifting linear slider 9;
升降上部底座8，所述升降上部底座8与升降上部侧板12和升降上部前板13固定连接，所述升降上部底座8上开设有滑槽，升降固定件10穿过升降上部底座8上的滑槽与升降下部前板5上的滑槽，滑动至升降下部前板5上的固定点中，用于调整升降上部侧板12和升降上部前板13在升降下部前板5和升降下部侧板6中的高度并进行固定；The lifting upper base 8 is fixedly connected to the lifting upper side plate 12 and the lifting upper front plate 13. The lifting upper base 8 is provided with a chute, and the lifting fixing member 10 passes through the lifting upper base 8. The chute on the chute and the lifting lower front plate 5 slides to the fixed point on the lifting lower front plate 5 and is used to adjust the lifting upper side plate 12 and the lifting upper front plate 13 between the lifting lower front plate 5 and the lifting lower side. height in plate 6 and fixed;
第一连杆旋转底座14，安装在所述升降上部侧板12和升降上部前板13上，所述第一连杆旋转底座14上安装有上臂尺寸调节机构，并固定有第一连杆旋转盖15。The first link rotating base 14 is installed on the lifting upper side plate 12 and the lifting upper front plate 13. An upper arm size adjustment mechanism is installed on the first link rotating base 14, and the first link rotating base 14 is fixed. Cover 15.
具体设置有两个定向轮3和两个万向轮1，为对称布置，四个轮子通过螺栓固定安装在底板2上，通过推动定向轮3和两个万向轮1的运动，可以实现整个升降旋转移动平台前进、后退、转弯功能；底板2上面通过螺栓固定安装有升降下部基座4，升降下部基座4内部前后固定安装有升降下部前板5、左右固定安装有升降下部侧板6，升降下部前板5上面开出滑槽和不同高度的固定点，升降下部侧板6内侧固定安装有升降直线滑轨7，升降直线滑轨7上面安装升降直线滑块9，升降直线滑块9固定安装在升降上部侧板12外侧，升降上部侧板12下端固定安装在升降上部底座8上，升降上部底座8中间开出两个滑槽，滑槽上面安装升降固定件10，升降固定件10可以为固定螺栓，通过升降直线滑块9在升降直线滑轨7上面移动，带动升降上部侧板12移动，再利用升降固定件10在滑槽上移动连接升降下部前板5和升降上部底座8，由此对升降上部侧板12的位置进行固定，从而实现平台的升降功能；升降上部前板13上部固定安装第一连杆旋转底座14，第一连杆旋转底座14上面安装的第一连杆16可以旋转一定的角度，从而实现平台的旋转功能；升降直线滑块9在升降直线滑轨7上面滑动的距离范围是870-1130mm。Specifically, there are two directional wheels 3 and two universal wheels 1. They are arranged symmetrically. The four wheels are fixed on the base plate 2 through bolts. By pushing the movement of the directional wheels 3 and the two universal wheels 1, the entire wheel can be realized. The lifting and rotating mobile platform has forward, backward and turning functions; a lifting lower base 4 is fixedly installed on the base plate 2 through bolts, a lifting lower front plate 5 is fixedly installed in the front and rear of the lifting lower base 4, and a lifting lower side plate 6 is fixedly installed in the left and right sides , a chute and fixed points of different heights are opened on the lower lifting front plate 5, a lifting linear slide rail 7 is fixedly installed on the inside of the lifting lower side plate 6, a lifting linear slider 9 is installed on the lifting linear slide rail 7, and a lifting linear slider is installed on it 9 is fixedly installed on the outside of the lifting upper side plate 12. The lower end of the lifting upper side plate 12 is fixedly installed on the lifting upper base 8. Two chutes are opened in the middle of the lifting upper base 8. A lifting fixing piece 10 is installed on the chute. 10 can be a fixing bolt, and the lifting linear slider 9 moves on the lifting linear slide rail 7 to drive the lifting upper side plate 12 to move, and then the lifting fixing piece 10 is used to move on the chute to connect the lifting lower front plate 5 and the lifting upper base. 8. Thus, the position of the lifting upper side plate 12 is fixed, thereby realizing the lifting function of the platform; the first link rotating base 14 is fixedly installed on the upper part of the lifting upper front plate 13, and the first connecting rod rotating base 14 is installed on it. The connecting rod 16 can rotate at a certain angle to realize the rotation function of the platform; the distance range of the lifting linear slider 9 sliding on the lifting linear slide rail 7 is 870-1130mm.
工作原理：该七自由度外骨骼上肢康复机器人，首先根据患者的上臂、前臂以及坐姿下的肩与地面的高度来调节机械臂与升降旋转移动平台的长度与高度，然后将患者的手臂通过上臂固定带25和前臂固定带49固定在上臂固定架24和前臂固定架51上面，然后利用肩一伺服电机减速器模块17、肩二伺服电机减速器模块19、肩三伺服电机减速器模块21、肘部伺服电机减速器模块41、手部一直流电机模块52、手部二直流电机模块54、手部三直流电机模块56通过连杆连接在电机控制器的作用下带动患者手臂按照设定好的路径进行康复训练；Working principle: This seven-degree-of-freedom exoskeleton upper limb rehabilitation robot first adjusts the length and height of the mechanical arm and the lifting and rotating mobile platform according to the height of the patient's upper arm, forearm, and shoulder in a sitting position, and then moves the patient's arm through the upper arm. The fixed belt 25 and the forearm fixed belt 49 are fixed on the upper arm fixed frame 24 and the forearm fixed frame 51, and then use the shoulder one servo motor reducer module 17, the shoulder two servo motor reducer module 19, the shoulder three servo motor reducer module 21, The elbow servo motor reducer module 41, the hand DC motor module 52, the hand second DC motor module 54, and the hand three DC motor module 56 are connected through connecting rods and under the action of the motor controller, the patient's arm is driven according to the settings. path for rehabilitation training;
其中肩一伺服电机减速器模块17、肩二伺服电机减速器模块19、肩三伺服电机减速器模块21、肘部伺服电机减速器模块41的模块结构相同，只是尺寸略有不同，内部均集成有伺服电机、电机法兰盘、减速器保护罩、谐波减速器、减速器输出盘、多维力矩传感器、减速器输出轴，减速器输出轴轴承、轴承挡圈、轴承外壳等结构，其中多维力矩传感器可以测量关节输出的力矩信息并反馈给电脑（伺服电机旋转，通过谐波减速器输出，谐波减速器输出端安装有多维力矩传感器，测量关节输出的力矩等信息，反馈给电脑，伺服电机后端的编码盘实时将电机旋转的信息，例如关节的速度、位置等信息反馈给电机控制器，控制器将信息传输到电脑上，实现反馈，伺服电机由电脑将控制信息传输到控制器上面，控制器再将信息传输到编码盘上，从而控制电机旋转），第二连杆18、第三连杆20、肩三输出轴连杆22、前臂上支架42上安装有角度传感器，测量前四个关节旋转角度，上臂尺寸调节机构和前臂尺寸调节机构上面安装有直线位移传感器，用于验证两个机构尺寸调节的精确度，实时将信息反馈给电脑进行控制与调节；Among them, the shoulder one servo motor reducer module 17, the shoulder two servo motor reducer module 19, the shoulder three servo motor reducer module 21, and the elbow servo motor reducer module 41 have the same module structure, but the sizes are slightly different, and they are all integrated internally. There are servo motors, motor flanges, reducer protective covers, harmonic reducers, reducer output disks, multi-dimensional torque sensors, reducer output shafts, reducer output shaft bearings, bearing retaining rings, bearing shells and other structures, among which multi-dimensional The torque sensor can measure the torque information output by the joint and feed it back to the computer (the servo motor rotates and outputs it through the harmonic reducer. A multi-dimensional torque sensor is installed at the output end of the harmonic reducer to measure the torque output by the joint and other information, and feedback it to the computer, servo The encoding disk at the back end of the motor feeds back the motor rotation information, such as joint speed, position and other information, to the motor controller in real time. The controller transmits the information to the computer to realize feedback. The servo motor transmits the control information from the computer to the controller. , the controller then transmits the information to the encoding disk to control the motor rotation), the second link 18, the third link 20, the third shoulder output shaft link 22, and the forearm upper bracket 42 are equipped with angle sensors. Before measurement The four joint rotation angles, the upper arm size adjustment mechanism and the forearm size adjustment mechanism are equipped with linear displacement sensors to verify the accuracy of the size adjustment of the two mechanisms, and feedback the information to the computer for control and adjustment in real time;
手部一直流电机模块52、手部二直流电机模块54、手部三直流电机模块56的模块结构相同，只是尺寸略有不同，内部均集成有无刷直流电机和齿轮减速器等结构；The hand DC motor module 52, the hand second DC motor module 54, and the hand three DC motor module 56 have the same module structure, but are slightly different in size. They all integrate brushless DC motors and gear reducers internally;
利用角度传感器、多维力矩传感器和直线位移传感器可以实时测量运动过程中机械臂的角度、力和位移等信息，并实时反馈给控制系统，控制系统根据反馈的信息实时调整并修正控制策略，以达到匹配人体上肢生理运动的目的。The angle sensor, multi-dimensional torque sensor and linear displacement sensor can be used to measure the angle, force and displacement information of the mechanical arm in real time during the movement, and feed it back to the control system in real time. The control system adjusts and corrects the control strategy in real time based on the feedback information to achieve The purpose of matching the physiological movements of the human upper limbs.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.
| Application Number | Priority Date | Filing Date | Title |
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| CN202310667929.9ACN116763595A (en) | 2023-06-07 | 2023-06-07 | Seven-degree-of-freedom exoskeleton upper limb rehabilitation robot |
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| CN202310667929.9ACN116763595A (en) | 2023-06-07 | 2023-06-07 | Seven-degree-of-freedom exoskeleton upper limb rehabilitation robot |
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| CN116763595Atrue CN116763595A (en) | 2023-09-19 |
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| CN202310667929.9AWithdrawnCN116763595A (en) | 2023-06-07 | 2023-06-07 | Seven-degree-of-freedom exoskeleton upper limb rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117381755A (en)* | 2023-11-24 | 2024-01-12 | 国网青海省电力公司黄化供电公司 | Multifunctional power-assisted exoskeleton |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117381755A (en)* | 2023-11-24 | 2024-01-12 | 国网青海省电力公司黄化供电公司 | Multifunctional power-assisted exoskeleton |
| CN117381755B (en)* | 2023-11-24 | 2025-09-02 | 国网青海省电力公司黄化供电公司 | A multifunctional power-assisted exoskeleton |
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