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Arm length adjusting device and tensioning mechanism of upper limb exoskeleton rehabilitation robot

A rehabilitation robot and tensioning mechanism technology, applied in the direction of manipulators, passive exercise equipment, program-controlled manipulators, etc., can solve problems such as no good solutions, achieve compact structure, improve reliability, and reduce structural complexity Effect

Active Publication Date: 2019-10-15
湖北英特搏智能机器有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There is no good solution for this problem in the prior art

Method used

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  • Arm length adjusting device and tensioning mechanism of upper limb exoskeleton rehabilitation robot
  • Arm length adjusting device and tensioning mechanism of upper limb exoskeleton rehabilitation robot
  • Arm length adjusting device and tensioning mechanism of upper limb exoskeleton rehabilitation robot

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Embodiment 1

[0036] Such as figure 1 and Figure 4 As shown, the present invention discloses an arm length tensioning mechanism of an upper extremity exoskeleton rehabilitation robot, which includes an automatic tensioning part used for automatic tensioning of the power rope, and the automatic tensioning part includes a skateboard assembly, a second sliding unit, an original It is an elastic component in a compressed state and a tensioning component, wherein the tensioning component includes a first strut 211 and a second strut 214 that are opened and set respectively on the left and right, and one end of the first strut 211 and the second strut 214 are rotatable Fixedly connected, the power rope is tensioned and set on the other end of the first strut 211 and the second strut 214, the first strut 211 and the second strut 214 are respectively provided with a second groove, and the second sliding unit is along the The length direction of the mechanical arm is fixedly arranged, the slide pl...

Embodiment 2

[0047] On the basis of the first embodiment above, the arm length tensioning mechanism shown in the present invention also includes an arm length adjustment part, such as figure 1 or Figure 4 As shown, the arm length adjustment part includes a mounting plate 201 and a first sliding unit. The upper end of the mounting plate 201 is fixedly connected with the shoulder joint mechanism 1. The first sliding unit is fixed on the inner end surface of the mounting plate 201 and along the length direction of the mechanical arm. Arrangement; the automatic tensioning part is fixedly connected to the elbow joint mechanism 3 and integrally fixed on the first sliding unit, so that the entire elbow joint assembly 3 can slide flexibly along the length direction of the mechanical arm, so that the length of the entire mechanical arm can be adjusted freely.

[0048] As a preferred solution, in this embodiment, the first sliding unit includes a first guide rail 223 and a first slider 224 arranged...

Embodiment 3

[0053] On the basis of the second embodiment above, the arm length tensioning mechanism shown in the present invention also includes a pressing part, wherein, as figure 2 , image 3 and Figure 5 As shown, the compression part includes a compression handle 219, a compression screw 217, a primary compression nut 218, a secondary compression nut 216 and a compression assembly; the compression assembly is arranged on the arm length adjustment part and the automatic tensioning part Between, including the first connecting plate 220 arranged along the length direction of the mechanical arm, the vertical connecting ear plate 221 vertically fixedly connected with the first connecting plate 220, and a supporting plate 222 arranged parallel to the first connecting plate 220, the supporting plate 222 One end surface is fixedly connected with the slider of the first sliding unit, the slider of the second sliding unit is arranged on the other end surface of the supporting plate 222, and th...

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Abstract

The invention discloses an arm length adjusting device and tensioning mechanism of an upper limb exoskeleton rehabilitation robot. The mechanism comprises an automatic tensioning part for automatically tensioning a power rope; the automatic tensioning part comprises a sliding plate assembly, a second sliding unit, an elastic assembly of which the original state is a compressed state, and a tensioning assembly; the sliding plate assembly is fixed to the second sliding unit, is connected to the elastic assembly in a compressed state at the same time, and can move in the length direction of the robot arm along with the second sliding unit under external acting force and acting force of the elastic assembly; meanwhile, a first supporting rod in the tensioning assembly and a second strip groovein a second supporting rod match with connecting columns; the linear motion of the sliding plate assembly in the vertical direction is converted into the change of the rotating angle between the first supporting rod and the second supporting rod; and when the rotating angle between the first supporting rod and the second supporting rod is changed, the length of the power rope wound on a leading sheave is correspondingly changed, so that automatic tensioning adjustment of the power rope is achieved.

Description

technical field [0001] The invention belongs to the related field of rehabilitation medical equipment, and more specifically relates to an arm length tensioning mechanism and an arm length adjustment device of an upper extremity exoskeleton rehabilitation robot with automatic rope tensioning capability. Background technique [0002] As an advanced rehabilitation device, the upper limb exoskeleton rehabilitation robot can assist those patients with upper limb motor function impairment caused by diseases and accidents to perform rehabilitation training, free rehabilitation physicians from repetitive and heavy work, and can significantly improve Rehabilitation treatment efficiency and effectiveness. [0003] In order to adapt to the limb size of different patients and effectively assist patients in rehabilitation training, the arm length of the exoskeleton rehabilitation robot should be easy to adjust. However, for the mechanical arm driven and transmitted by the rope, the ten...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/00B25J19/00
CPCA61H1/0274B25J9/0006B25J19/00A61H2201/0192
Inventor 何杰柳锴宋雨桐李书洲
Owner 湖北英特搏智能机器有限公司
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