CN110664587B - A spherical parallel wrist rehabilitation robot - Google Patents
A spherical parallel wrist rehabilitation robot Download PDFInfo
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- CN110664587B CN110664587B CN201910944666.5A CN201910944666A CN110664587B CN 110664587 B CN110664587 B CN 110664587B CN 201910944666 A CN201910944666 A CN 201910944666A CN 110664587 B CN110664587 B CN 110664587B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 239000012636 effector Substances 0.000 claims abstract description 7
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 5
- 208000006011 Stroke Diseases 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 abstract 1
- 230000002980 postoperative effect Effects 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开一种球面并联手腕康复机器人，包括末端执行机构、组装架、电机与传动机构及控制系统。该机器人针对中风患者术后腕部需要康复训练的患者，使其在康复过程中手腕得到有效的多自由度训练，具有结构简单，能引导患者腕部以更真实、合理、舒适的运动模式进行手腕术后康复的优点。
The invention discloses a spherical parallel wrist rehabilitation robot, which comprises an end effector, an assembly frame, a motor, a transmission mechanism and a control system. The robot is aimed at patients who need rehabilitation training for their wrists after stroke patients, so that their wrists can get effective multi-degree-of-freedom training during the rehabilitation process. It has a simple structure and can guide patients' wrists to move in a more realistic, reasonable and comfortable motion mode. The advantages of rehabilitation after wrist surgery.
Description
Technical Field
The invention belongs to the field of medical rehabilitation equipment, and particularly relates to a spherical parallel wrist rehabilitation robot.
Background
At present, the number of patients with limb dyskinesia caused by stroke or accidental injury is increased year by year, and wrist movement dysfunction caused by stroke has great influence on the life of the patients, so that postoperative rehabilitation training is very necessary for the recovery of wrist function. Professional physiotherapists have problems of long period, large workload, high repeatability and the like in one-to-one or many-to-one treatment for patients, and are too expensive for patients.
The known rehabilitation robots in the market mostly aim at the main limbs of the human body, such as the whole arm and the like, and have the problems of large volume, heavy weight, complex structure, high cost, limited use condition and the like. At present, there are few robots specifically directed at wrist rehabilitation.
Disclosure of Invention
The invention discloses a spherical parallel wrist rehabilitation robot which comprises a tail end executing mechanism, an assembling frame, a motor, a transmission mechanism and a control system. Aiming at the patients with postoperative wrists needing rehabilitation training of stroke patients, the robot can effectively train the wrists with multiple degrees of freedom in the rehabilitation process. Has the advantages of simple structure and capability of guiding the wrist of the patient to perform wrist postoperative rehabilitation in a more real, reasonable and comfortable motion mode.
A spherical parallel wrist rehabilitation robot comprises a tail end execution mechanism 100, an assembly frame 200, a motor and transmission mechanism 300 and a control system 400; the tail end executing mechanism 100 comprises a training handle 101, a movable platform 102, 6 groups of revolute pairs 103, 3 platform connecting rods 107, 3 middle connecting rods 108, a three-level input connecting rod 109, 2 fixing bolts 110, a two-level input connecting rod 111, a one-level input connecting rod 112, a compression nut 113 and 3 connecting bolts 114; the upper end of the training handle is a cylinder, the lower end of the training handle is a necking round table, and the round table is provided with a cylinder with external threads; the movable platform is disc-shaped, the center of the movable platform is a threaded hole, rectangular grooves are formed in the lower surface of the movable platform at intervals of 120 degrees, and threaded holes are formed in the grooves respectively; the cylinder with the external thread of the training handle is arranged in the threaded hole in the center of the movable platform, so that the cylinder is connected through the thread; the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are of folded flat plate structures with included angles of 105-130 degrees, one ends of the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are provided with circular countersunk holes, the other ends of the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are provided with threaded holes, and the sizes of the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are sequentially reduced; the middle connecting rod is of a folded flat plate structure with 105-130 degrees, and two ends of the middle connecting rod are provided with round countersunk holes with opposite directions; the first-stage input connecting rod is of a folded flat plate structure with 105-130 degrees, a square through hole is formed in the position, close to the end face, of a longer flat plate, a square structure with the edge length larger than the width of the flat plate is formed in a shorter flat plate, and a circular counter sink is arranged in the center of the square structure; the revolute pair comprises 2 springs 115, a pin shaft 104, 2 bearings 105 and 2E-shaped split retainer rings 106, wherein the pin shaft is cylindrical, a boss is arranged in the middle of the pin shaft, and annular grooves are formed in two ends of the pin shaft; the three-level input connecting rod and the platform connecting rod are connected with the three-level input connecting rod through 2 revolute pairs, the two-level input connecting rod and the platform connecting rod are connected with the one-level input connecting rod through 2 revolute pairs, bearings are installed in circular counter bores of the three-level input connecting rod, the two-level input connecting rod, the one-level input connecting rod, the 3 platform connecting rods and the 3 middle connecting rods respectively, a pin shaft is installed on an inner ring of each bearing, springs are installed at two ends of the pin shaft, and E-shaped split washers are installed in annular grooves at two ends of the pin shaft; the 3 platform connecting rods are respectively connected with the movable platform through connecting bolts;
the motor and transmission mechanism comprises 3 synchronous belts 301, 3 input wheels 302, an upper output wheel 303, a middle output wheel 323, a lower output wheel 324, 3 motors 304, a lower bearing seat 305, an I motor bracket 306, an II motor bracket 328, an III motor bracket 329, a first shaft 307, a second shaft 308, a third shaft 309, an upper bearing seat 310, 2 second-stage bearings 311, a second-stage shaft sleeve 312, a third-stage shaft sleeve 313, 2 third-stage bearings 314, 2 first-stage bearings 315, a first-stage shaft sleeve 316, 8 inner hexagon screws 317, a BII elastic retainer 318, a BI elastic retainer 319, a TI elastic retainer 320, a TII elastic retainer 321 and a TIII elastic retainer 322; wherein, the input wheel is an 18-tooth belt wheel, and the center is a cylindrical through hole; the upper output wheel, the middle output wheel and the lower output wheel are all 36-tooth belt wheels, and the centers of the upper output wheel, the middle output wheel and the lower output wheel are all cylindrical through holes; the three shafts are hollow stepped shafts, the uppermost end of each shaft is a flange disc 325, the upper surface of each flange disc is provided with a rectangular groove along the radial edge, a threaded hole is formed in each groove, the inner surface of each shaft is provided with an inner annular groove 326 used for mounting the TIII elastic retainer ring 322, and the outer surface of each shaft is provided with an outer annular groove 327 used for mounting the TI elastic retainer ring 320; the two shafts comprise a hollow flange 3081 and a hollow main shaft 3082, the radial edge of the flange is provided with a rectangular groove, a threaded hole is arranged in the groove, the inner surface of the flange is provided with internal threads, the main shaft is a stepped shaft, the shaft diameter of the middle part is the largest, the shaft diameters of the middle part and the two ends are sequentially reduced, the uppermost part of the main shaft is provided with external threads, and the external threads on the uppermost part of the main shaft are connected with the internal threads of the flange; one shaft is a solid stepped shaft, the upper end of the solid stepped shaft is a square table, a cylinder is arranged above the square table, external threads are machined on the cylinder part, the shaft diameters of 4 sections of shafts at the lower part of the square table are sequentially increased, the shaft diameter of the 5 th section of shaft 3071 is reduced, and the outer surface of the lower part of the 5 th section of shaft is provided with an annular groove for mounting a BII elastic retainer ring 318; the first motor support, the second motor support and the third motor support are all S-shaped flat plate structures, the center of an A plane 330 at the upper part of the first motor support, the second motor support and the third motor support is a circular through hole, 4 screw holes are uniformly distributed around the circular through hole and used for fixing a motor, two kidney-shaped through holes are distributed on a B plane 331 at the lower parts of the first motor support, the second motor support and the third motor support in parallel and used for fixing the first motor support, the second motor support and the third motor support, and the heights of the first motor support, the second motor support and the third motor support are sequentially reduced;
the central through holes of the 3 input wheels are respectively connected with the output shafts of the 3 motors; the 3 input wheels are respectively connected with the upper output wheel, the middle output wheel and the lower output wheel through 3 synchronous belts; the lower output wheel, the middle output wheel and the upper output wheel are respectively arranged on the first shaft, the second shaft and the third shaft; the three-level shaft sleeve and the TI elastic check ring 320 are arranged on three shafts, the three shafts are nested in inner rings of 2 three-level bearings, the 2 three-level bearings are sequentially arranged on an upper bearing seat, and the TII elastic check ring 321 is arranged in the upper bearing seat; the secondary shaft sleeve is arranged on a secondary shaft, the secondary shaft is nested in inner rings of 2 secondary bearings, and the 2 secondary bearings and the TIII elastic retainer ring 322 are arranged in the three shafts; the primary shaft sleeve and the BII elastic retainer ring 318 are arranged on a primary shaft, the primary shaft is nested in a secondary shaft, the 5 th section of the primary shaft is nested in the inner ring of the primary bearing, and 2 primary bearings and BI elastic retainer rings 319 are arranged in a lower bearing seat; the 3 motors are respectively arranged on the first motor bracket, the second motor bracket and the third motor bracket;
the third-stage input connecting rod is fixed in a rectangular groove of a flange disc 325 at the upper part of the three shafts through a fixing bolt 110; the second-stage input connecting rod is fixed in a rectangular groove of a flange 3081 on the upper part of the two shafts through bolts; the first-stage input connecting rod is fixed on a square table at the upper part of a shaft 307 through a compression nut;
the assembly frame 200 is of a C-shaped structure, the upper horizontal plane 203 and the lower horizontal plane 204 are both square flat plates, round holes are machined in the centers of the square flat plates, the central round hole of the upper horizontal plane is larger than that of the central round hole of the lower horizontal plane, and four bearing seat mounting threaded holes 208 are uniformly distributed around the central round holes of the upper horizontal plane and the lower horizontal plane respectively; 4 assembly frame fixing threaded holes 202 are uniformly distributed on the outer side of the bearing seat mounting threaded hole of the upper horizontal plane close to the vertex angle; the outer sides of the mounting threaded holes of the lower horizontal plane bearing block are respectively provided with an I motor bracket mounting hole 205, an II motor bracket mounting hole 206 and an III motor bracket mounting hole 207 along three open edges, and the I motor bracket mounting hole, the II motor bracket mounting hole and the III motor bracket mounting hole respectively comprise two threaded holes 201 which are arranged side by side;
an upper bearing seat of the motor and the transmission mechanism is arranged in a round hole in the center of the upper horizontal plane of the assembly frame, 4 socket head screws are respectively arranged in 4 bearing seat mounting threaded holes in the upper horizontal plane of the assembly frame, and the upper bearing seat is fixed on the upper horizontal plane of the assembly frame through the socket head screws; the lower bearing block is arranged in a circular hole in the center of the lower plane of the assembly frame, 4 socket head cap screws are respectively arranged in 4 bearing block mounting threaded holes in the lower plane of the assembly frame, and the lower bearing block is fixed on the lower plane of the assembly frame through the socket head cap screws; the first motor bracket I, the second motor bracket II and the third motor bracket III which are provided with motors are fixed on the assembling frame through bolts at the first motor bracket mounting hole, the second motor bracket mounting hole and the third motor bracket mounting hole respectively;
the control section 400 includes an encoder 401, a controller 402, and a driver 403; the output end of the driver is connected with the motor, the input end of the driver is connected with the controller, and the driver is used for receiving the instruction of the controller; the input end of the encoder is connected with the motor, and the output end of the encoder is connected with the controller.
Compared with the prior art, the invention has the beneficial effects that:
1. the wrist rehabilitation training device is simple to operate, wrist rehabilitation training can be performed by holding the handle tightly with a hand and starting the wrist rehabilitation training device without additional guidance.
2. The structure of the invention is open, and the arm does not need to be additionally fixed or clamped.
3. The invention has simple and compact mechanical structure, light weight and wide popularization significance.
Drawings
FIG. 1 is a schematic view of the overall structure of a spherical parallel wrist rehabilitation robot according to the present invention;
FIG. 2 is a schematic view of an end effector mechanism of the present invention;
FIG. 3 is a schematic view of a rotary pair of the end effector mechanism of the present invention;
FIG. 4 is a cross-sectional view of a tertiary input link, a secondary input link, and a platform link of the present invention;
FIG. 5 is a schematic view of the structure of the intermediate link of the end effector of the present invention;
FIG. 6 is a schematic view of a one-level input link structure according to the present invention;
FIG. 7 is a schematic view of the connection of the end effector platform to the platform link according to the present invention;
FIG. 8 is a schematic view of an assembly frame according to the present invention;
FIG. 9 is a schematic view of the motor and transmission mechanism of the present invention;
FIG. 10 is a cross-sectional view of the motor and transmission of the present invention;
FIG. 11 is a schematic axial view of the present invention;
FIG. 12 is a schematic view of a biaxial flange structure according to the present invention;
FIG. 13 is a schematic view of a biaxial spindle configuration according to the present invention;
FIG. 14 is a schematic view of a three-axis configuration of the present invention;
FIG. 15 is a schematic view of the motor bracket structure of the present invention;
FIG. 16 is a schematic view of a control system according to the present invention;
FIG. 17 is a schematic view of an auxiliary support mechanism according to the present invention;
fig. 18 is a schematic view of the overall structure of the present invention with the addition of an auxiliary support mechanism.
In the figure: 100-end actuating mechanism, 101-training handle, 102-movable platform, 103-revolute pair, 104-pin shaft, 105-bearing, 106-E type split washer, 107-platform connecting rod, 108-middle connecting rod, 109-third-stage input connecting rod, 110-fixing bolt, 111-second-stage input connecting rod, 112-first-stage input connecting rod, 113-gland nut, 114-connecting bolt, 115-spring, 200-assembly frame, 201-threaded hole, 202-assembly frame fixing threaded hole, 203-upper horizontal plane, 204-lower horizontal plane, 205-first motor bracket mounting hole, 206-second motor bracket mounting hole, 207-third motor bracket mounting hole, 208-bearing seat mounting threaded hole, 300-motor and transmission mechanism, 301-synchronous belt, 302-input wheel, 303-upper output wheel, 323-middle output wheel, 324-lower output wheel, 304-motor, 305-lower bearing seat, 306-I motor bracket, 307-first shaft, 3071-5 th section shaft, 308-second shaft, 3081-second shaft flange plate, 3082-second shaft main shaft, 309-third shaft, 310-upper bearing seat, 311-second shaft bearing, 312-second shaft sleeve, 313-third shaft sleeve, 314-third shaft bearing, 315-first shaft bearing, 316-first shaft sleeve, 317-inner hexagon screw, 318-BII elastic retainer ring, 319-BI elastic retainer ring, 320-TI elastic retainer ring, 321-TII elastic retainer ring, 322-TIII elastic retainer ring, 325-flange disc, 326-inner annular groove, 327-outer annular groove, 328-motor bracket II, 329-motor bracket III, 330-plane A, 331-plane B, 400-control system, 401-driver, 402-controller, 403-encoder, 500-auxiliary support mechanism, 501-arm support tile, 502-height fixing rod, 503-adjusting nut, 504-workbench.
Detailed Description
The detailed technical scheme of the invention is described in the following with the accompanying drawings:
a spherical parallel wrist rehabilitation robot, as shown in fig. 1-7, a spherical parallel wrist rehabilitation robot, comprising an end actuator 100, an assembly frame 200, a motor and transmission mechanism 300 and a control system 400; the tail end executing mechanism 100 comprises a training handle 101, a movable platform 102, 6 groups of revolute pairs 103, 3 platform connecting rods 107, 3 middle connecting rods 108, a three-level input connecting rod 109, 2 fixing bolts 110, a two-level input connecting rod 111, a one-level input connecting rod 112, a compression nut 113 and 3 connecting bolts 114; the upper end of the training handle is a cylinder, the lower end of the training handle is a necking round table, and the round table is provided with a cylinder with external threads; the movable platform is disc-shaped, the center of the movable platform is a threaded hole, rectangular grooves are formed in the lower surface of the movable platform at intervals of 120 degrees, and threaded holes are formed in the grooves respectively; the cylinder with the external thread of the training handle is arranged in the threaded hole in the center of the movable platform, so that the cylinder is connected through the thread; the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are of folded flat plate structures with included angles of 105-130 degrees, one ends of the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are provided with circular countersunk holes, the other ends of the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are provided with threaded holes, and the sizes of the three-stage input connecting rod, the two-stage input connecting rod and the platform connecting rod are sequentially reduced; the middle connecting rod is of a folded flat plate structure with 105-130 degrees, and two ends of the middle connecting rod are provided with round countersunk holes with opposite directions; the first-stage input connecting rod is of a folded flat plate structure with 105-130 degrees, a square through hole is formed in the position, close to the end face, of a longer flat plate, a square structure with the edge length larger than the width of the flat plate is formed in a shorter flat plate, and a circular counter sink is arranged in the center of the square structure;
taking the connection of the intermediate connecting rod 108 and the secondary input connecting rod 111 as an example, as shown in fig. 3, the revolute pair includes 2 springs 115, a pin 104, 2 bearings 105, and 2E-shaped split washers 106, wherein the pin is cylindrical with a boss at the middle and annular grooves are formed at the two ends of the pin; the three-level input connecting rod and the platform connecting rod are connected with the three-level input connecting rod through 2 revolute pairs, the two-level input connecting rod and the platform connecting rod are connected with the one-level input connecting rod through 2 revolute pairs, bearings are installed in circular counter bores of the three-level input connecting rod, the two-level input connecting rod, the one-level input connecting rod, the 3 platform connecting rods and the 3 middle connecting rods respectively, a pin shaft is installed on an inner ring of each bearing, springs are installed at two ends of the pin shaft, and E-shaped split washers are installed in annular grooves at two ends of the pin shaft; as shown in fig. 7, 3 platform links are connected to the moving platform by connecting bolts 114, respectively.
As shown in fig. 9-15, the motor and transmission mechanism includes 3 synchronous belts 301, 3 input wheels 302, an upper output wheel 303, a middle output wheel 323, a lower output wheel 324, 3 motors 304, a lower bearing seat 305, a first motor bracket 306, a second motor bracket 328, a third motor bracket 329, a first shaft 307, a second shaft 308, a third shaft 309, an upper bearing seat 310, 2 second bearings 311, a second shaft sleeve 312, a third shaft sleeve 313, 2 third bearings 314, 2 first bearings 315, a first shaft sleeve 316, 8 socket head screws 317, a BII circlip 318, a BI circlip 319, a TI circlip 320, a TII circlip 321, and a TIII circlip 322; wherein, the input wheel is an 18-tooth belt wheel, and the center is a cylindrical through hole; the upper output wheel, the middle output wheel and the lower output wheel are all 36-tooth belt wheels, and the centers of the upper output wheel, the middle output wheel and the lower output wheel are all cylindrical through holes; the three shafts are hollow stepped shafts, the uppermost end of each shaft is a flange disc 325, the upper surface of each flange disc is provided with a rectangular groove along the radial edge, a threaded hole is formed in each groove, the inner surface of each shaft is provided with an inner annular groove 326 used for mounting the TIII elastic retainer ring 322, and the outer surface of each shaft is provided with an outer annular groove 327 used for mounting the TI elastic retainer ring 320; the two shafts comprise a hollow flange 3081 and a hollow main shaft 3082, the radial edge of the flange is provided with a rectangular groove, a threaded hole is arranged in the groove, the inner surface of the flange is provided with internal threads, the main shaft is a stepped shaft, the shaft diameter of the middle part is the largest, the shaft diameters of the middle part and the two ends are sequentially reduced, the uppermost part of the main shaft is provided with external threads, and the external threads on the uppermost part of the main shaft are connected with the internal threads of the flange; one shaft is a solid stepped shaft, the upper end of the solid stepped shaft is a square table, a cylinder is arranged above the square table, external threads are machined on the cylinder part, the shaft diameters of 4 sections of shafts at the lower part of the square table are sequentially increased, the shaft diameter of the 5 th section of shaft 3071 is reduced, and the outer surface of the lower part of the 5 th section of shaft is provided with an annular groove for mounting a BII elastic retainer ring 318; the first motor support, the second motor support and the third motor support are S-shaped flat plate structures, the center of an A plane 330 on the upper portion of the first motor support is a circular through hole, 4 screw holes are uniformly distributed around the circular through hole, and the first motor support is used for fixing a motor, the second plane 331 on the lower portion of the second motor support and the third motor support is provided with two waist-shaped through holes in parallel distribution, and the first motor support is used for fixing the second motor support, the second motor support and the third motor support.
As shown in fig. 9-10, the central through holes of the 3 input wheels are respectively connected with the output shafts of the 3 motors; the 3 input wheels are respectively connected with the upper output wheel, the middle output wheel and the lower output wheel through 3 synchronous belts; the lower output wheel, the middle output wheel and the upper output wheel are respectively arranged on the first shaft, the second shaft and the third shaft; the three-level shaft sleeve and the TI elastic check ring 320 are arranged on three shafts, the three shafts are nested in inner rings of 2 three-level bearings, the 2 three-level bearings are sequentially arranged on an upper bearing seat, and the TII elastic check ring 321 is arranged in the upper bearing seat; the secondary shaft sleeve is arranged on a secondary shaft, the secondary shaft is nested in inner rings of 2 secondary bearings, and the 2 secondary bearings and the TIII elastic retainer ring 322 are arranged in the three shafts; the primary shaft sleeve and the BII elastic retainer ring 318 are arranged on a primary shaft, the primary shaft is nested in a secondary shaft, the 5 th section of the primary shaft is nested in the inner ring of the primary bearing, and 2 primary bearings and BI elastic retainer rings 319 are arranged in a lower bearing seat; 3 motors are respectively arranged on the first motor bracket, the second motor bracket and the third motor bracket.
As shown in fig. 2, the three-stage input link is fixed in a rectangular groove of a three-axis upper flange disc 325 by a fixing bolt 110; the second-stage input connecting rod is fixed in a rectangular groove of a flange 3081 on the upper part of the two shafts through bolts; the primary input link is fixed to a square table on the upper portion of a shaft 307 by a compression nut.
As shown in fig. 8, the assembly frame 200 is a C-shaped structure, the upper horizontal plane 203 and the lower horizontal plane 204 are both square flat plates, a circular hole is processed in the center of each of the square flat plates, the central circular hole of the upper horizontal plane is larger than the central circular hole of the lower horizontal plane, and four bearing seat mounting threaded holes 208 are uniformly distributed around the central circular holes of the upper horizontal plane and the lower horizontal plane respectively; 4 assembly frame fixing threaded holes 202 are uniformly distributed on the outer side of the bearing seat mounting threaded hole of the upper horizontal plane close to the vertex angle; the outer side of the lower horizontal plane bearing seat mounting threaded hole is provided with an I motor bracket mounting hole 205, an II motor bracket mounting hole 206 and an III motor bracket mounting hole 207 along three open edges, and the I motor bracket mounting hole, the II motor bracket mounting hole and the III motor bracket mounting hole all comprise two threaded holes 201 side by side.
As shown in fig. 9-10 and 15, the upper bearing seat of the motor and transmission mechanism is disposed in a circular hole at the center of the upper horizontal plane of the assembly rack, 4 socket head screws are respectively disposed in 4 bearing seat mounting threaded holes at the upper horizontal plane of the assembly rack, and the upper bearing seat is fixed on the upper horizontal plane of the assembly rack by the socket head screws; the lower bearing block is arranged in a circular hole in the center of the lower plane of the assembly frame, 4 socket head cap screws are respectively arranged in 4 bearing block mounting threaded holes in the lower plane of the assembly frame, and the lower bearing block is fixed on the lower plane of the assembly frame through the socket head cap screws; and the first motor bracket, the second motor bracket and the third motor bracket which are provided with the motors are fixed on the assembling frame through bolts at the first motor bracket mounting hole, the second motor bracket mounting hole and the third motor bracket mounting hole respectively.
As shown in fig. 16, the control section 400 includes an encoder 401, a controller 402, and a driver 403; the output end of the driver is connected with the motor, the input end of the driver is connected with the controller, and the driver is used for receiving the instruction of the controller; the input end of the encoder is connected with the motor, and the output end of the encoder is connected with the controller.
When the wrist rehabilitation training is performed, the fixing and the assisting are completed by adopting the auxiliary supporting mechanism 500. As shown in fig. 17, the auxiliary supporting mechanism 500 includes a supporting shoe 501, a height fixing rod 502, an adjusting nut 503, and a table 504; as shown in fig. 18, the whole mechanism is fixed on the worktable 504 of the auxiliary supporting mechanism 500 through an assembling frame, the height of the height fixing rod can be adjusted by rotating the adjusting nut, so that the supporting tile is at a proper height, the arm is placed in the supporting tile 501 on the height fixing rod 502, the training handle in the end executing mechanism is held by hand, the control system sends an instruction to start the motor and the transmission mechanism, the torque and the speed are transmitted to the end executing mechanism, and then the wrist of the patient is forcibly driven to carry out wrist rehabilitation exercise training, and relevant parameters are adjusted through the control system to further meet requirements of different rehabilitation stages.
Claims (1)
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| CN201910944666.5A CN110664587B (en) | 2019-09-30 | 2019-09-30 | A spherical parallel wrist rehabilitation robot |
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| CN201910944666.5A CN110664587B (en) | 2019-09-30 | 2019-09-30 | A spherical parallel wrist rehabilitation robot |
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| CN110664587A CN110664587A (en) | 2020-01-10 |
| CN110664587B true CN110664587B (en) | 2021-11-05 |
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