CN103908394A - Portable 2-DOF wrist joint rehabilitation robot - Google Patents
Portable 2-DOF wrist joint rehabilitation robot Download PDFInfo
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- CN103908394A CN103908394A CN201410132956.7A CN201410132956A CN103908394A CN 103908394 A CN103908394 A CN 103908394A CN 201410132956 A CN201410132956 A CN 201410132956A CN 103908394 A CN103908394 A CN 103908394A
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Abstract
The invention discloses a portable 2-DOF wrist joint rehabilitation robot comprising an arm rack to wear outside a human forearm, a hand back rack, to wear on the human back, and a 2-DOF drive mechanism connected between the arm rack and the hand back rack. The 2-DOF drive mechanism comprises a sliding mechanism, a pneumatic muscular mechanism, a rotary joint, a driving link, and a driven link; the rotary joint is driven by driving force of pneumatic muscles so that the driving link and the driven link drive the hand back rack for extension rehabilitation training of the wrist joint. The 2-DOF drive mechanism further comprises a central column, an arc rack, a cylindrical gear, and a guide rail fixed to the outside of the hand back rack. A motor drives a round gear to rotate so that the hand back rack drives the wrist to swing. The portable 2-DOF wrist joint rehabilitation robot has the advantages that the robot is portable and domesticized and gain amplification is achieved for controlling the angle of the rotary joint.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of portable two degrees of freedom carpal joint recovery exercising robot, is specially adapted to the early stage carpal joint rehabilitation training of stroke patient.
Background technology
Along with the aggravation of China's aged tendency of population, follow the health problem in aging process, physiological function decline causes the motility of extremity constantly to decline, and in older population, apoplexy is as the healthy disease of serious threat middle-aged and elderly people, and sickness rate has the trend rising year by year.This disease can cause the forfeiture of limbs of patient motor function, i.e. hemiplegia.And upper limb hemiplegia has affected patient's activity of daily living especially greatly.At present, clinically hemiplegic patient's treatment is mainly depended on therapist's man-to-man free-hand training, when wasting time and energy, also lack and quantize and objective appraisal.For the problem of during rehabilitation training, robot-aided training technology safe, that quantitatively can carry out repetition training is arisen at the historic moment.Research shows, reconstruction and the rehabilitation of the motor function of the supplemental training of healing robot to patient are useful.
At present, for the research of upper limb rehabilitation robot, external recovering aid Therapy robot equipment is existing a lot; And domestic research is started late, but some scientific research institutions and colleges and universities have also launched research, and obtain gratifying progress, as disclosed a kind of two degrees of freedom upper limb rehabilitation robot in CN103417361A, the early stage upper limb rehabilitation robot of disclosed Three Degree Of Freedom apoplexy in CN103340734A, disclosed a kind of Three-freedom-degree hybrid upper limb rehabilitation robot in CN103083156A, but existing research exists following problem: (1) complex structure, quality are large, use inconvenience; (2) cost is high, expensive; (3) main body drives rigidity large, flexible poor, and this is to cause upper limb rehabilitation robot to be difficult to the basic reason universal towards patient family.
Summary of the invention
For the above defect of prior art, the object of the invention is to propose a kind of portable two degrees of freedom carpal joint healing robot little, cost is low, compliance is large of conducting oneself with dignity, and can with compact conformation, be convenient to manipulation mode realize the pitching of stroke patient carpal joint and wave rehabilitation training.
For achieving the above object, according to the present invention, portable two degrees of freedom carpal joint healing robot is provided, comprise be intended to be worn in human body forearm outside arm frame [1], be intended to be worn in the back of the hand frame [2] at human body the back of the hand place and for connecting the two degrees of freedom driving mechanism of described arm frame [1] and the back of the hand frame [2], wherein:
Described two degrees of freedom driving mechanism comprises slide mechanism, pneumatic muscles mechanism, rotary joint [22], drive connecting rod [23] and follower link [24];
Described pneumatic muscles mechanism slides and is arranged at the top of described slide mechanism, and described rotary joint [22] slides and is arranged at a side of described slide mechanism;
Described drive connecting rod [23] one end is connected with described rotary joint [22] output rotating shaft, and the other end is connected with the back of the hand frame [2], and described follower link [24] one end is connected with the opposite side of described slide mechanism, and the other end is connected with the back of the hand frame [2];
Described pneumatic muscles mechanism is by brake cable [29,30] be connected with described rotary joint [22] and form drive mechanism, and drive rotary joint [22] to move back and forth on slide mechanism, thereby drive the back of the hand frame [2] to realize around carpal elevating movement by described drive connecting rod [23], follower link [24];
Described two degrees of freedom driving mechanism also comprises center stand column [6], arc-shaped rack [5], roller gear [28], guide rail [4];
Described center stand column [6], arc-shaped rack [5], roller gear [28], guide rail [4] are fixed on the upside of described the back of the hand frame [2] successively;
The anterior top that is anchored on described center stand column [6] by bearing pin [7] of described slide mechanism, back support is on guide rail [4];
On described slide mechanism, be provided with motor [27], described roller gear [28] is by being connected with described motor [27] output shaft, and engage with described arc-shaped rack [5] form drive mechanism, thereby drive slide mechanism and pneumatic muscles mechanism, taking bearing pin [7], as axle along arc-shaped rack, [5] move back and forth, thereby drive the back of the hand frame [2] to realize carpal oscillating motion by drive connecting rod [23], follower link [24].
Described slide mechanism comprises sliding platform [3], 4 line slide rails [8,9,10,11], 4 slide blocks [12,13,14,15], and slide block [12,13,14,15] is supporting with described line slide rail [8,9,10,11] respectively, for the fixing parts of supporting slip; In described line slide rail 2 [10,11] be individually fixed in sliding platform [3] two sides, for supporting the slip of rotary joint [22] and follower link [24], another 2 [8,9] keep at a certain distance away and parallel be fixed on sliding platform end face, for supporting the slip of pneumatic muscles mechanism;
Described pneumatic muscles mechanism comprises 2 pneumatic muscles [25,26], 2 L shaped pneumatic muscles connecting plates [20,21], front end connecting plate [16], rear end connecting plate [17];
Described 2 L shaped pneumatic muscles connecting plates [20,21] are connected with 2 slide blocks [12,13] of sliding platform [3] end face respectively;
Described front and back ends connecting plate [16,17] is individually fixed in sliding platform [3] rear and front end face;
Described 2 pneumatic muscles [25,26] opening is connected with described rear end connecting plate [17], and pneumatic muscles [25,26] blind end is connected with described 2 L shaped pneumatic muscles connecting plates [20,21] respectively.
The slide block [14,15] of described sliding platform two sides is connected with 2 little connecting plates [18,19] respectively, and 2 little connecting plates [18,19] connect rotary joint [22] and follower link [24].
Described rotary joint is made up of wheel [31] and rotary joint top cover [33] in rotary joint drain pan [32], rotary joint, and described brake cable [29,30] is connected and forms drive mechanism with wheel [31] in described rotary joint.
Described brake cable [29,30] operation principle is bicycle brake brake cable, and brake cable crust is equivalent to a track, and inner core is a line that intensity is high, and when pneumatic muscles [25,26] driving force draws inner core, inner core and crust generation relative displacement, arrive rotary joint by strength transmission;
Further, described center stand column [6] is zigzag;
Further, described guide rail [4] is T-shaped for what stand upside down, utilizes T-shaped vertical portion to support in the time carrying out oscillating motion along with arc track slide mechanism, utilizes T-shaped bar anyhow that guide rail [4] is fixed on arm frame [1];
By the portable two degrees of freedom carpal joint healing robot of conceiving above according to the present invention, the beneficial effect of acquisition is: adopt the driving mechanism of the higher pneumatic muscles of power/deadweight as elevating movement, the deadweight that has alleviated device, has reduced cost of manufacture; The soft drive of pneumatic muscles is tried hard to keep and is demonstrate,proved patient's training of safety; The driving mechanism waving as carpal joint with micromachine, has saved Machine Design space; As driving being connected between joint, avoid the space constraints of strainer with brake cable replacement steel wire rope; Integrated model weight is lighter, and it is convenient to dress, and is beneficial to portability and domestic; Realize carpal joint flexor by circular motion and straight-line composite motion, the control of rotation joint angle has been played to the effect that gain is amplified.
Brief description of the drawings
Fig. 1 is according to the overall structure schematic diagram of portable two degrees of freedom carpal joint recovery exercising robot of the present invention;
Fig. 2 is the assembling schematic diagram according to the sliding platform of the preferred embodiment of the present invention;
Fig. 3 is according to the schematic diagram of the rotary joint installation diagram in the present invention;
Wherein:
1-arm frame 2-the back of the hand frame 3-sliding platform 4-T shape guide rail 5-arc-shaped rack 6-Z font center stand column 7-bearing pin 8, 9, 10, 11-line slide rail 12, 13, 14, 15-slide block 16-front end connecting plate 17-rear end connecting plate 18, the little connecting plate 20 of 19-, 21-L shape pneumatic muscles connecting plate 22-rotary joint 23-drive connecting rod 24-follower link 25, 26-pneumatic muscles 27-micromachine 28-roller gear 29, wheel 32-rotary joint drain pan 33-rotary joint top cover in 30-brake cable 31-rotary joint
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1,2, Fig. 1 is that Fig. 2 is the assembling schematic diagram according to the sliding platform of a preferred embodiment of the present invention according to portable two degrees of freedom recovery exercising robot overall structure figure of the present invention.As shown in Fig. 1,2, a kind of portable two degrees of freedom carpal joint healing robot, comprises arm frame [1], two degrees of freedom driving mechanism, the back of the hand frame [2];
Arm frame [1] is worn on human body forearm outside by magic band; The back of the hand frame [2] is worn on human body the back of the hand place by magic band;
Two degrees of freedom driving mechanism comprises slide mechanism, pneumatic muscles mechanism, rotary joint [22], drive connecting rod [23] and follower link [24];
Pneumatic muscles mechanism slides and is arranged at the top of described slide mechanism, and rotary joint [22] slides and is arranged at a side of described slide mechanism;
Drive connecting rod [23] one end is connected with rotary joint [22] output rotating shaft, and the other end is connected with the back of the hand frame [2], and follower link [24] one end is connected with the opposite side of slide mechanism, and the other end is connected with the back of the hand frame [2];
Pneumatic muscles mechanism is by brake cable [29,30] be connected with rotary joint [22] and form drive mechanism, and drive rotary joint [22] to move back and forth on slide mechanism, thereby drive the back of the hand frame [2] to realize around carpal elevating movement by described drive connecting rod [23], follower link [24];
Slide mechanism comprises sliding platform [3], 4 line slide rails [8,9,10,11], 4 slide blocks [12,13,14,15], and slide block [12,13,14,15] is supporting with line slide rail [8,9,10,11] respectively, for the fixing parts of supporting slip; In line slide rail 2 [10,11] be individually fixed in sliding platform [3] two sides, for supporting the slip of rotary joint [22] and follower link [24], another 2 [8,9] walk abreast and be fixed on sliding platform end face by keeping at a certain distance away, for supporting the slip of pneumatic muscles mechanism;
Pneumatic muscles mechanism is by brake cable [29,30] be connected with rotary joint [22] and form drive mechanism, and drive rotary joint [22] to move back and forth on slide mechanism, thereby drive the back of the hand frame [2] to realize around carpal elevating movement by described drive connecting rod [23], follower link [24];
Two degrees of freedom driving mechanism also comprises Z-shaped center stand column [6], arc-shaped rack [5], roller gear [28], T shape guide rail [4];
Z-shaped center stand column [6], arc-shaped rack [5], roller gear [28], T shape guide rail [4] are fixed on the upside of described the back of the hand frame [2] successively;
The anterior top that is anchored on described center stand column [6] by bearing pin [7] of slide mechanism, back support is on guide rail [4].
On slide mechanism, be provided with motor [27], roller gear [28] is by being connected with described motor [27] output shaft, and engage with described arc-shaped rack [5] form drive mechanism, thereby drive slide mechanism and pneumatic muscles mechanism, taking bearing pin [7], as axle along arc-shaped rack, [5] move back and forth, thereby drive the back of the hand frame [2] to realize carpal oscillating motion by drive connecting rod [23], follower link [24].
Sliding platform [3] connects with described zigzag center stand column [6] through embedded bearing by bearing pin [7]; Bearing pin [7] end is fastening by jackscrew and described zigzag center stand column [6]; In line slide rail, 2 [10,11] are connected with sliding platform two sides respectively by holding screw, and another 2 [8,9] are fixed on sliding platform [3] end face by the walk abreast segment distance of being separated by of holding screw; 4 slide blocks [12,13,14,15] are supporting to limit the shrinkage direction of pneumatic muscles and the moving direction of connecting rod end with described line slide rail [8,9,10,11] respectively; Front and back ends connecting plate [16,17] is individually fixed in sliding platform rear and front end face by holding screw; 2 little connecting plates [18,19] are connected in order to 2 connecting rods [23,24] and the slide block [14,15] of transferring with the slide block [14,15] of sliding platform two sides respectively by holding screw; 2 L shaped pneumatic muscles connecting plates [20,21] are connected with 2 slide blocks [12,13] of sliding platform end face respectively by holding screw; Rotary joint [22] is connected with the little connecting plate [18] of sliding platform one side by holding screw; Drive connecting rod [23] one end is connected with rotary joint [22] output shaft by key, and the other end is connected with the back of the hand frame [2] by axle sleeve screw; Follower link [24] one end is connected with the described little connecting plate [19] of non-rotating joint side by axle sleeve screw, and the other end is connected with the back of the hand frame [2] by axle sleeve screw.
2 pneumatic muscles [25,26] opening is connected with described rear end connecting plate [17] by holding screw, and pneumatic muscles [25,26] blind end is connected with described 2 L shaped pneumatic muscles connecting plates [20,21] respectively by holding screw; L shaped pneumatic muscles connecting plate [20,21] is connected and forms drive mechanism with wheel [31] in described rotary joint by brake cable [29,30].
Motor [27] is connected with sliding platform [3] by jackscrew; Roller gear [28] is connected with micromachine [27] output shaft by jackscrew, and engage with arc-shaped rack [5] form drive mechanism, the engagement that makes electric machine rotation pass through wheel and rack drives slide mechanism and pneumatic muscles mechanism entirety to move back and forth along arc-shaped rack [5], forms carpal rocking action.
Rotary joint [22] as shown in Figure 3, is made up of wheel [31] and rotary joint top cover [33] in rotary joint drain pan [32], rotary joint; Wherein in rotary joint wheel [31] be disc structure and in the center of its end face with cylindrical boss, inside take turns the side of disk and dug crossed beam trunking and cable-through hole, in order to guide the core of bicycle brake brake cable, and fixing line end; Its cylindrical boss interval an angle of 90 degrees, discrete 3 key teeth, in order to drive connecting rod [23] on keyway inlay connection for transmission; Inside taking turns end face has 2 sections of circular arcs to connect interior groove of taking turns end face and bottom surface around cylindrical boss, in order to pass through fixed/limited screw; Rotary joint drain pan [32] is an end face central authorities borehole, and drills through the cylindrical shell of 2 apertures in limit, hole symmetry, on cylindrical shell lateral surface along 2 of the tangential direction projections of wheel [31] crossed beam trunking centrage in rotary joint the cylindrical boss with through hole; The effect of rotary joint drain pan [32] be will be in rotary joint wheel [31] parcel, make the cannula end of brake cable be limited in the boss end face in its outside, and core is penetrated by the through hole at boss center; Macropore digs in order to by the cylinder boss of interior wheel [31] central authorities in cylindrical shell end face central authorities, and 2 little spacing holes are corresponding with interior centrage of taking turns upper 2 sections of arc-shaped slot pass apart from the position at end face center, in order to by calmly/limited screw; Rotary joint top cover [33] is a thin column, and the spacing hole position of end face corresponding rotation joint drain pan [32] is drilled with 2 same spacing holes in order to pass through fixed/limited screw; When assembling, 3 ingredients of rotary joint are coupled together and form rotary joint [22], and it is fixed on little connecting plate [18] through the groove of wheel [31] in the spacing hole of rotary joint top cover [33], rotary joint, the spacing hole of rotary joint bottom [32] successively with 2 long screws;
The concrete use procedure of this example is as follows:
The motion of carpal flexion/extension, adopts " pneumatic muscles to " [25,26] to drive rotary joint in the mode of agonist [25]-Antagonistic muscle [26].In the time inflating to agonist [25], agonist [25] is expanded and is made its compresses in length, simultaneously, Antagonistic muscle [26] venting is made to Antagonistic muscle [26] thereby shrinks to make its length extending, by above-mentioned " pneumatic muscles to " to drawing effect, the rectilinear motion of pneumatic muscles is changed into the circular motion of rotary joint [22].
Drive rotary joints [22] to drive described drive connecting rod [23] to move in a circle around axle by " pneumatic muscles to " [25,26], thereby drive the back of the hand frame [2] to move in a circle around carpal joint.The back of the hand frame is in the time that carpal joint moves in a circle, the component that radially produced along circumference acts on human body the back of the hand, its counteracting force is by active, follower link [23,24] transmit, thereby promote rotary joint [22] motion backward on slideway [10], to compensate the change of distance between rotary joint [22] and the back of the hand frame [2].Therefore, the compound motion producing along the rectilinear motion of slideway [10] by rotary joint [22] rotation and rotary joint [22], drives the back of the hand frame [2] to be rotated around carpal joint, thereby realizes the training of wrist joint being carried out to pitching action.
Carpal oscillating motion, the mode that adopts micromachine [27] to drive roller gear [28] to carry out circular motion along arc-shaped rack [5] realizes.Micromachine [27] is embedded in sliding platform [3], its rotation drives whole sliding platform [3] to move in a circle along arc-shaped rack [5] by gear [28] and engaging of arc-shaped rack [5], thereby drive the back of the hand frame [2] to do oscillating motion around carpal joint, to realize, patient is carpal waves training.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. a portable two degrees of freedom carpal joint healing robot, comprise be intended to be worn in human body forearm outside arm frame [1], be intended to be worn in the back of the hand frame [2] at human body the back of the hand place and for connecting the two degrees of freedom driving mechanism of described arm frame [1] and the back of the hand frame [2], wherein:
Described two degrees of freedom driving mechanism comprises slide mechanism, pneumatic muscles mechanism, rotary joint [22], drive connecting rod [23] and follower link [24];
Described pneumatic muscles mechanism slides and is arranged at the top of described slide mechanism, and described rotary joint [22] slides and is arranged at a side of described slide mechanism;
Described drive connecting rod [23] one end is connected with described rotary joint [22] output rotating shaft, and the other end is connected with the back of the hand frame [2], and described follower link [24] one end is connected with the opposite side of described slide mechanism, and the other end is connected with the back of the hand frame [2].
Described pneumatic muscles mechanism is by brake cable [29,30] be connected with described rotary joint [22] and form drive mechanism, and drive rotary joint [22] to move back and forth on slide mechanism, thereby drive the back of the hand frame [2] to realize around carpal elevating movement by described drive connecting rod [23], follower link [24];
Described two degrees of freedom driving mechanism also comprises center stand column [6], arc-shaped rack [5], roller gear [28], guide rail [4];
Described center stand column [6], arc-shaped rack [5], roller gear [28], guide rail [4] are fixed on the upside of described the back of the hand frame [2] successively;
The anterior top that is anchored on described center stand column [6] by bearing pin [7] of described slide mechanism, back support is on guide rail [4];
On described slide mechanism, be provided with motor [27], described roller gear [28] is by being connected with described motor [27] output shaft, and engage with described arc-shaped rack [5] form drive mechanism, thereby drive slide mechanism and pneumatic muscles mechanism, taking bearing pin [7], as axle along arc-shaped rack, [5] move back and forth, thereby drive the back of the hand frame [2] to realize carpal oscillating motion by drive connecting rod [23], follower link [24].
2. portable two degrees of freedom carpal joint healing robot as claimed in claim 1, is characterized in that,
Described slide mechanism comprises sliding platform [3], 4 line slide rails [8,9,10,11], 4 slide blocks [12,13,14,15], and slide block [12,13,14,15] is supporting with described line slide rail [8,9,10,11] respectively, for the fixing parts of supporting slip; In described line slide rail 2 [10,11] be individually fixed in sliding platform [3] two sides, for supporting the slip of rotary joint [22] and follower link [24], another 2 [8,9] walk abreast and be fixed on sliding platform end face by keeping at a certain distance away, for supporting the slip of pneumatic muscles mechanism;
3. portable two degrees of freedom carpal joint healing robot as claimed in claim 2, is characterized in that,
Described pneumatic muscles mechanism comprises 2 pneumatic muscles [25,26], 2 L shaped pneumatic muscles connecting plates [20,21], front end connecting plate [16], rear end connecting plate [17];
Described 2 L shaped pneumatic muscles connecting plates [20,21] are connected with 2 slide blocks [12,13] of sliding platform [3] end face respectively;
Described front and back ends connecting plate [16,17] is individually fixed in sliding platform [3] rear and front end face;
Described 2 pneumatic muscles [25,26] opening is connected with described rear end connecting plate [17], and pneumatic muscles [25,26] blind end is connected with described 2 L shaped pneumatic muscles connecting plates [20,21] respectively.
4. portable two degrees of freedom carpal joint healing robot as claimed in claim 2 or claim 3, is characterized in that,
The slide block [14,15] of described sliding platform two sides is connected with 2 little connecting plates [18,19] respectively, and 2 little connecting plates [18,19] connect rotary joint [22] and follower link [24].
5. the portable two degrees of freedom carpal joint healing robot as described in claim 1-4 any one, it is characterized in that, described rotary joint is made up of wheel [31] and rotary joint top cover [33] in rotary joint drain pan [32], rotary joint, described brake cable [29,30] is connected and forms drive mechanism with wheel [31] in described rotary joint.
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| CN201410132956.7A CN103908394B (en) | 2014-04-02 | 2014-04-02 | A kind of portable two degrees of freedom wrist joint healing robot |
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| CN201410132956.7A CN103908394B (en) | 2014-04-02 | 2014-04-02 | A kind of portable two degrees of freedom wrist joint healing robot |
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| CN103908394B CN103908394B (en) | 2016-06-01 |
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| CN105456003A (en) * | 2016-01-12 | 2016-04-06 | 林建民 | Upper limb rehabilitation training machine |
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN106473892A (en) * | 2015-08-26 | 2017-03-08 | 黄石钊 | Carpal joint bends and stretches device |
| CN106584441A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Heavy load mechanical hand mechanism |
| CN108743238A (en) * | 2018-07-09 | 2018-11-06 | 宋明刚 | A kind of Bones and joints activity rehabilitation auxiliary device and method |
| CN109646249A (en) * | 2019-02-14 | 2019-04-19 | 河海大学常州校区 | A kind of ankle healing robot |
| CN113230087A (en) * | 2021-04-29 | 2021-08-10 | 南京工业大学 | Flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles |
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| CN105456003B (en) * | 2016-01-12 | 2017-05-03 | 孟凡美 | Upper limb rehabilitation training machine |
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN108743238A (en) * | 2018-07-09 | 2018-11-06 | 宋明刚 | A kind of Bones and joints activity rehabilitation auxiliary device and method |
| CN109646249A (en) * | 2019-02-14 | 2019-04-19 | 河海大学常州校区 | A kind of ankle healing robot |
| CN113230087A (en) * | 2021-04-29 | 2021-08-10 | 南京工业大学 | Flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles |
| CN113230087B (en) * | 2021-04-29 | 2022-06-24 | 南京工业大学 | Flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles |
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| CN103908394B (en) | 2016-06-01 |
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