Flexible rope-driven elbow joint exoskeleton robot with compensation device

An exoskeleton robot and compensation device technology, applied in gymnastics equipment, passive exercise equipment, sports accessories, etc., can solve the problems of single-function auxiliary rehabilitation equipment, uncomfortable rehabilitation training, etc., achieve convenient wearing and carrying, increase transmission flexibility, The effect of increasing comfort

Active Publication Date: 2020-05-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing auxiliary rehabilitation equipment has single function and is not suitable for rehabilitation training, the present invention further needs to provide a flexible rope-driven elbow-joint exoskeleton robot with a compensating device

Method used

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  • Flexible rope-driven elbow joint exoskeleton robot with compensation device
  • Flexible rope-driven elbow joint exoskeleton robot with compensation device
  • Flexible rope-driven elbow joint exoskeleton robot with compensation device

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specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1-Figure 12 Describe this embodiment, a flexible rope-driven elbow-joint exoskeleton robot with a compensation device described in this embodiment, which includes a backboard 2, a drive device I, a shoulder joint device II, and a large arm device III with length adjustment, Dislocation compensation device IV, elbow flexion and extension device V, elbow rotation device VI, forearm device VII with length adjustment and two sets of Bowden wires, drive device I is installed on one side of the back plate 2, shoulder joint device II is installed on one side of the backboard 2, shoulder joint device II, arm device III with length adjustment, misalignment compensation device IV, elbow flexion and extension device V, elbow rotation device VI and small arm device with length adjustment The arm device VII is connected sequentially, one end of two groups of Bowden wires is connected with the driving device I, the other end of one gr...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination Figure 1-Figure 4 Describe this embodiment, a flexible rope-driven elbow-joint exoskeleton robot with a compensation device described in this embodiment, the drive device I includes a motor driver 1, a backplane connector 4, a first motor output wheel 5, and a second motor output wheel. Wheel 13, Bowden wire fixing blocks of two connectors, two drive motors 3 and four tensioning assemblies; the backplane connector 4 is fixedly installed on one side of the backplane 2, and the two drive motors 3 are fixedly installed on On the backplane connector 4 and the backplane 2, the output end of one drive motor 3 is set with a first motor output wheel 5, and the output end of the other drive motor 3 is set with a second motor output wheel 13. The Bowden line fixing block and two tensioning assemblies are fixedly installed on the backplane connector 4 close to the first motor output wheel 5, and the two tensioning assemblies are locat...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination figure 1 with Figure 4 Describe this embodiment, a flexible rope-driven elbow joint exoskeleton robot with a compensating device in this embodiment, each tensioning assembly includes a pretensioning wheel fixing seat 6, a fine-tuning screw 7, a pretensioning slider 8, a first Pretension wheel bearing 9, pretension pulley 10, second pretension wheel bearing 11 and pretension wheel bearing sleeve 12, one end of pretension slider 8 is fixedly installed on pretension wheel holder 6 through fine-tuning screw 7, pretension wheel The tensioner fixing seat 6 is fixedly installed on the backplane connector 4, the first pretensioner bearing 9 and the second pretensioner bearing 11 are set on the other end of the pretensioner slider 8, and the pretensioner pulley 10 is set on the first On the preload wheel bearing 9 and the second preload wheel bearing 11, the preload wheel bearing sleeve 12 is installed on the preload slider 8 nea...

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Abstract

The invention discloses a flexible rope-driven elbow joint exoskeleton robot with a compensation device. The invention relates to the exoskeleton robot and aims at solving the problems that existing auxiliary rehabilitation equipment is single in function and not suitable for rehabilitation training. The robot comprises a back plate, a driving device, a shoulder joint device, a big arm device witha length adjusting function, a dislocation compensation device, an elbow joint flexion and extension device, an elbow joint self-rotation device, a forearm device with a length adjusting function andtwo sets of Bowden cables. The driving device is mounted on one side surface of the back plate; the shoulder joint device is mounted on one side of the back plate; the shoulder joint device, the bigarm device with the length adjusting function, the dislocation compensation device, the elbow joint flexion and extension device, the elbow joint self-rotation device and the forearm device with the length adjusting function are connected in sequence; one ends of the two sets of Bowden cables are connected to the driving device; the other end of one set of the Bowden cables is connected to the elbow joint flexion and extension device; and the other end of the other set of the Bowden cables is connected to the elbow joint self-rotation device. The robot is used for the field of rehabilitation training.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to a flexible rope-driven elbow joint exoskeleton robot with a compensating device. Background technique [0002] Ordinary people usually live in a sitting or lying state, and the movement of the upper limbs, especially the elbow joint, plays a greater role in daily life. It is very important to carry out rehabilitation training and assist when the limbs of the elbow joint cannot move autonomously. With the acceleration of my country's population aging process, the prevalence of risk factors for cardiovascular and cerebrovascular diseases has become more apparent. Among them, the vast majority of stroke survivors have limb motor dysfunction, such as upper and lower limb hemiplegia and so on. Therefore, how to better help stroke patients to carry out rehabilitation training and life assistance is very important and urgent. When the hospital performs rehabilitation treatment for patients, do...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/12
CPCA61H1/0277A61H2201/1207A61H2201/14A63B23/1281
Inventor 高永生张腾赵杰
Owner HARBIN INST OF TECH
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