技术领域technical field
本实用新型属于康复医疗器械领域，特别涉及一种外骨骼式康复机器人肩关节三自由度联动机构。The utility model belongs to the field of rehabilitation medical equipment, in particular to an exoskeleton type rehabilitation robot shoulder joint three-degree-of-freedom linkage mechanism.
背景技术Background technique
人的肩关节可以实现前屈后展、外展内收和内旋外旋三自由度的联动。而目前面市的外骨骼式康复机械臂，肩关节均以其中的两自由度联动，再辅助上臂绕自身轴的内外旋运动来实现人类上臂的空间运动，这种运动组合难以满足人的自然生理运动需求，对康复疗效会带来了不利的影响。针对该问题，本实用新型实现了外骨骼机械臂肩关节三自由度可联动的紧凑机构。The human shoulder joint can realize the three-degree-of-freedom linkage of forward flexion and rear extension, abduction and adduction, internal rotation and external rotation. However, in the exoskeleton-type rehabilitation robotic arms currently on the market, the shoulder joints are linked with two degrees of freedom, and then the upper arm is assisted by internal and external rotation around its own axis to realize the spatial movement of the human upper arm. This combination of movements is difficult to satisfy the natural physiology of human beings. The demand for exercise will have a negative impact on the efficacy of rehabilitation. Aiming at this problem, the utility model realizes a compact mechanism in which the three degrees of freedom of the shoulder joint of the exoskeleton manipulator can be linked.
发明内容Contents of the invention
针对上述问题，本实用新型的目的是提供一种外骨骼式康复机器人肩关节三自由度联动机构。In view of the above problems, the purpose of this utility model is to provide an exoskeleton-type rehabilitation robot shoulder joint three-degree-of-freedom linkage mechanism.
本实用新型的技术解决方案：The technical solution of the utility model:
一种外骨骼式康复机器人肩关节三自由度联动机构，包括肩部的内外旋机构、肩部的外展内收机构、肩部的前屈后展机构，外伸梁与肩部的内外旋机构通过支撑轴承、集成式伺服执行装置连接，肩部的内外旋机构与肩部的外展内收机构通过四分之一圆弧导轨、带V型槽的导轮、连接端块、集成式伺服执行装置、外啮合齿轮、销钉以及螺钉进行定位连接，肩部的外展内收机构与肩部的前屈后展机构通过集成式伺服执行装置及螺钉进行连接。An exoskeleton-type rehabilitation robot shoulder joint three-degree-of-freedom linkage mechanism, including a shoulder internal and external rotation mechanism, a shoulder abduction and adduction mechanism, a shoulder flexion and rear extension mechanism, and an external extension beam and shoulder internal and external rotation The mechanism is connected by supporting bearings and integrated servo actuators. The internal and external rotation mechanism of the shoulder and the abduction and adduction mechanism of the shoulder pass through a quarter-arc guide rail, a guide wheel with a V-shaped groove, a connecting end block, and an integrated The servo actuator, the external gear, the pin and the screw are positioned and connected, and the abduction and adduction mechanism of the shoulder is connected with the forward bending and rearward extension mechanism of the shoulder through the integrated servo actuator and the screw.
进一步的，所述肩部的前屈后展机构与上臂的长度调节机构通过连接块、圆柱导杆、长度调节丝杠及螺钉连接。Further, the forward bending and rearward stretching mechanism of the shoulder is connected with the length adjusting mechanism of the upper arm through a connecting block, a cylindrical guide rod, a length adjusting screw and screws.
有益效果：与现有技术相比，本实用新型解决了一个重要问题，即外骨骼肩部的三个旋转自由度的旋转中心，在运动过程中始终与人的肩关节旋转中心保持重合，使得其在带动人的上肢体做康复运动时，运动方式能充分满足人的自然生理要求。Beneficial effects: Compared with the prior art, the utility model solves an important problem, that is, the rotation center of the three rotation degrees of freedom of the exoskeleton shoulder always coincides with the rotation center of the human shoulder joint during the movement, so that When it drives people's upper limbs to do rehabilitation exercises, the exercise mode can fully meet people's natural physiological requirements.
附图说明：Description of drawings:
图1为本实用新型机械臂总体的结构图；Fig. 1 is the overall structural diagram of the mechanical arm of the present utility model;
图中，01-外伸梁、02-肩部的内外旋机构、03-肩部的外展内收机构、04-肩部的前屈后展机构、05-手臂部分；In the figure, 01-extending beam, 02-the internal and external rotation mechanism of the shoulder, 03-the abduction and adduction mechanism of the shoulder, 04-the forward bending and rearward extension mechanism of the shoulder, 05-the arm part;
图2为本实用新型机械臂肩部的结构图。Fig. 2 is a structural diagram of the shoulder of the mechanical arm of the utility model.
具体实施方式detailed description
为了使本实用新型实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体图示，进一步阐述本实用新型。In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific illustrations.
如图1、图2所示，本实用新型的外骨骼式康复机器人肩关节三自由度联动机构，包括肩部的内外旋机构02、肩部的外展内收机构03、肩部的前屈后展机构04。As shown in Figure 1 and Figure 2, the three-degree-of-freedom linkage mechanism of the shoulder joint of the exoskeleton type rehabilitation robot of the present invention includes the internal and external rotation mechanism 02 of the shoulder, the abduction and adduction mechanism 03 of the shoulder, and the forward bending mechanism of the shoulder. Post-exhibition mechanism 04.
其中，所述外伸梁01与肩部的内外旋机构02通过支撑轴承、集成式伺服执行装置连接，肩部的内外旋机构02与肩部的外展内收机构03通过四分之一圆弧导轨、带V型槽的导轮、连接端块0301、集成式伺服执行装置、外啮合齿轮、销钉以及螺钉进行定位连接，肩部的外展内收机构03与肩部的前屈后展机构04通过集成式伺服执行装置及螺钉进行连接。所述肩部的前屈后展机构04与手臂部分05通过连接块、圆柱导杆、长度调节丝杠及螺钉连接。Wherein, the outreaching beam 01 is connected with the internal and external rotation mechanism 02 of the shoulder through a supporting bearing and an integrated servo actuator, and the internal and external rotation mechanism 02 of the shoulder and the outward and adducting mechanism 03 of the shoulder pass through a quarter circle Arc guide rails, guide wheels with V-shaped grooves, connecting end blocks 0301, integrated servo actuators, external gears, pins and screws for positioning connection, shoulder abduction and adduction mechanism 03 and shoulder flexion and rear extension Mechanism 04 is connected by integrated servo actuators and screws. The flexion and rear extension mechanism 04 of the shoulder is connected with the arm part 05 through a connecting block, a cylindrical guide rod, a length adjusting screw and a screw.
本实用新型中悬挂于悬臂梁自由端的固定连接块0301连接于通过轴承的轴端，轴0205的另一端连接到一个集成式伺服执行装置0201上，该装置通过轴驱动固定块做往复旋转运动，实现了外骨骼肩部的内外旋自由度。In the utility model, the fixed connection block 0301 suspended on the free end of the cantilever beam is connected to the shaft end passing through the bearing, and the other end of the shaft 0205 is connected to an integrated servo actuator 0201, which drives the fixed block to perform reciprocating rotation through the shaft. The degree of freedom of internal and external rotation of the exoskeleton shoulder is realized.
电机安装块0308通过固定于其上的，并装有齿轮的一个集成式伺服执行装置0309，通过其上的齿轮0307与圆弧导轨0310上的齿外啮合，驱动活动连接块在V型槽轮0304的约束下沿圆弧导轨运动，实现了外骨骼肩部的外展内收自由度。The motor mounting block 0308 passes through an integrated servo actuator 0309 fixed on it and equipped with gears, and the gear 0307 on it is externally meshed with the teeth on the arc guide rail 0310 to drive the movable connection block on the V-shaped groove wheel Under the constraints of 0304, it moves along the circular arc guide rail, realizing the degree of freedom of abduction and adduction of the shoulder of the exoskeleton.
活动连接块0401通过轴承与外骨骼手臂部分05的近端连接，并通过一个集成式伺服执行装置0403来驱动外骨骼上臂的旋转，实现了外骨骼肩部的前屈后展自由度。The movable connection block 0401 is connected to the proximal end of the exoskeleton arm part 05 through bearings, and an integrated servo actuator 0403 is used to drive the rotation of the upper arm of the exoskeleton, realizing the freedom of flexion and extension of the exoskeleton shoulder.
以上显示和描述了本实用新型的基本原理和主要特征及本实用新型的优点，本行业的技术人员应该了解，本实用新型不受上述实施例的限制，上述实施例和说明书中描述的只是说明本实用新型的原理，在不脱离本实用新型精神和范围的前提下，本实用新型还会有各种变化和改进，这些变化和改进都落入要求保护的本实用新型范围内，本实用新型要求保护范围由所附的权利要求书及其等效物界定。The above shows and describes the basic principles and main features of the present utility model and the advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and description are only illustrations The principle of the utility model, under the premise of not departing from the spirit and scope of the utility model, the utility model also has various changes and improvements, and these changes and improvements all fall within the scope of the utility model claimed for protection. The desired protection is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520585001.7UCN205019355U (en) | 2015-08-06 | 2015-08-06 | Recovered robot of ectoskeleton formula three degree of freedom link gears of shoulder joint |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520585001.7UCN205019355U (en) | 2015-08-06 | 2015-08-06 | Recovered robot of ectoskeleton formula three degree of freedom link gears of shoulder joint |
| Publication Number | Publication Date |
|---|---|
| CN205019355Utrue CN205019355U (en) | 2016-02-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520585001.7UExpired - Fee RelatedCN205019355U (en) | 2015-08-06 | 2015-08-06 | Recovered robot of ectoskeleton formula three degree of freedom link gears of shoulder joint |
| Country | Link |
|---|---|
| CN (1) | CN205019355U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853141A (en)* | 2016-03-28 | 2016-08-17 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation mechanism |
| WO2017197886A1 (en)* | 2016-05-20 | 2017-11-23 | 深圳市君航智远科技有限公司 | Method and device for solving problem of strange configuration of exoskeleton robot shoulder joint |
| CN110123582A (en)* | 2019-05-31 | 2019-08-16 | 北京工业大学 | A kind of robot for shoulder blade rehabilitation |
| EP3797933A1 (en)* | 2019-09-27 | 2021-03-31 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Arrangement for a controlled movement of an arm of human |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853141A (en)* | 2016-03-28 | 2016-08-17 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation mechanism |
| CN105853141B (en)* | 2016-03-28 | 2018-06-15 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation |
| WO2017197886A1 (en)* | 2016-05-20 | 2017-11-23 | 深圳市君航智远科技有限公司 | Method and device for solving problem of strange configuration of exoskeleton robot shoulder joint |
| CN110123582A (en)* | 2019-05-31 | 2019-08-16 | 北京工业大学 | A kind of robot for shoulder blade rehabilitation |
| CN110123582B (en)* | 2019-05-31 | 2021-08-06 | 北京工业大学 | A robot for scapula rehabilitation |
| EP3797933A1 (en)* | 2019-09-27 | 2021-03-31 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Arrangement for a controlled movement of an arm of human |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160210 |