A five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot

A rehabilitation robot and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, passive exercise equipment, etc., can solve problems such as the offset of the rotation axis of the exoskeleton connecting rod and the helical motion axis of the elbow joint, and the secondary injury of patients. The effect of good human-machine coordination performance, large joint motion space, and many redundant degrees of freedom

Active Publication Date: 2022-03-08
ANHUI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The object of the present invention is to provide a five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot in view of the above shortcomings, which solves the problem that the ordinary rope-driven rehabilitation robot directly connects the driving sleeve to the upper limb of the human body, and the driving force directly acts on the arm. It is easy to cause secondary injury to the patient, and an exoskeleton link is added between the human body and the driving cuff; at the same time, it solves the problem that the rotation axis of the exoskeleton link and the helical movement axis of the elbow joint are prone to offset in the prior art

Method used

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  • A five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot
  • A five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot
  • A five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot

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Embodiment 1

[0044] The invention provides a technical solution:

[0045] Please refer to Image 6 As shown, a five-degree-of-freedom fault-tolerant mechanism includes a first connecting portion 21, a cross shaft 22 and a second connecting portion 23; the first connecting portion 21 and the second connecting portion 23 are respectively provided with Adapted cross groove 24; the cross shaft 22 is set through the cross groove 24 of the first connecting part 21 and the second connecting part 23, and cooperates with the first connecting part 21 and the second connecting part 23 to complete five degrees of freedom error compensation;

[0046] Please refer to Image 6 , establish the X, Y, Z coordinate system on the first connecting part 21 as shown in the figure, and the five degrees of freedom described in this scheme are moving along the X, Y, Z axes and rotating five around the x, y axes Degree of freedom error compensation.

[0047] The first connecting part 21 includes a connecting pla...

Embodiment 2

[0062] Based on the above embodiment 1, the invention provides a technical solution:

[0063] Please refer to figure 1 , 3 , 12, 13, 14, 15, and 16, a kind of elbow joint rehabilitation robot includes an upper arm fixing component 1, a five-degree-of-freedom fault-tolerant mechanism 2, a forearm fixing component 3 and a rope drive component 4; the five-degree-of-freedom fault-tolerant mechanism 2 is arranged between the upper arm fixing assembly 1 and the forearm fixing assembly 3, and is used for adjusting the elbow joint rehabilitation training; the rope driving assembly 4 is respectively connected with the upper arm fixing assembly 1 and the forearm fixing assembly 3, and the rope driving assembly 4 is The movement of the upper arm fixing assembly 1 and the forearm fixing assembly 3 provides power.

[0064] In the existing technology, such as Figure 4 As shown, if an exoskeleton link is added between the arm and the drive ring, there will be a problem that the rotation ...

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Abstract

The invention discloses an elbow joint rehabilitation robot, which comprises an upper arm fixing component, a five-degree-of-freedom fault-tolerant mechanism, a forearm fixing component and a rope driving component; it is different from an ordinary rope-driven rehabilitation robot by directly connecting the driving sleeve ring with the upper limb of a human body, and using Easy-to-wear straps connect the human body to the exoskeleton linkages, improving patient comfort during rehabilitation. The connecting rod of the exoskeleton is connected to the base, and the force driven by the rope along the direction of the arm is transmitted to the base, which effectively avoids the force directly acting on the human body and causing secondary damage. At the same time, a five-degree-of-freedom fault-tolerant mechanism is designed. Through the relative movement of the five degrees of freedom between the connecting rod shaft and the cross shaft, the problem of offset between the exoskeleton shaft and the elbow joint spiral motion axis during rehabilitation training is solved, and the human-machine coordination is improved. efficiency.

Description

technical field [0001] The invention relates to the field of medical rehabilitation equipment, in particular to a five-degree-of-freedom fault-tolerant mechanism and an elbow joint rehabilitation robot. Background technique [0002] The human elbow joint is a composite joint composed of the humeroulnar joint, the humeroradial joint and the proximal radioulnar joint. It simplifies the movement of the human upper limbs into a lever arm system. The elbow joint can be regarded as the fulcrum of the forearm lever, which plays a role in positioning the hand The important role of position determines the motor function of the upper limbs of the human body to a large extent. [0003] The range of motion and stability of the elbow joint is necessary for people's daily life, entertainment and even professional sports, but some manual workers and professional athletes will inevitably encounter elbow joint injuries. Aiming at the problem of elbow joint injury rehabilitation, domestic an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00A61H1/02B25J9/10
CPCA61H1/0277B25J9/0006B25J9/102B25J9/104A61H2201/1207A61H2201/1638A61H2201/165A61H2205/06
Inventor 陈文杰秦静辰孙先涛陈伟海陶骏胡存刚
Owner ANHUI UNIVERSITY
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