Exoskeleton assistance recovery device

A rehabilitation device and exoskeleton technology, applied in the field of exoskeleton, can solve the problems of large volume and weight motor, complex structure of exoskeleton power transmission part, etc., and achieve the effect of expanded selection range, simple and reliable structure, and large torque

Inactive Publication Date: 2015-04-29
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of complex structure of the power transmission part of the existing exoskeleton, large volume and weight, and special requirements for the motor when using the motor as the power source

Method used

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  • Exoskeleton assistance recovery device
  • Exoskeleton assistance recovery device
  • Exoskeleton assistance recovery device

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Embodiment Construction

[0011] combine figure 1 , figure 2 , image 3 , Figure 4 Illustrate the specific embodiment of the present invention, this exoskeleton power-assisted rehabilitation device is made up of thigh exoskeleton (11), exoskeleton joint (12), calf exoskeleton (13), foot exoskeleton (14), fixed connection device, power transmission Device, electromagnetic latch (215) form. Described power transmission device comprises DC motor (21), driving bevel gear (22), driven bevel gear (23), power transmission shaft (24), spur gear (25), inner rack (26); (22) meshes with the driven bevel gear (23), the driven bevel gear forms a coaxial rotating device through the transmission shaft (24) and the spur gear (25), and the spur gear (25) and the internal rack (26) mesh with each other . The inner rack (26) lower end and the outer joint lower end part (29) are fixed, and the other end passes through an arc hole (217) on the outer joint upper end part (214) and an end of the muscle (210) is fixed....

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Abstract

The invention discloses a design of a driving structure of an exoskeleton assistance recovery device. The driving structure comprises a direct-current motor, a pair of bevel gears, a straight gear, an inner rack, a transmission shaft and a fixing plate. The bevel gears are used for changing the power transmission direction; the straight gear and one bevel gear form a coaxial transmission device; the straight gear is meshed with the inner rack; and one end of the inner rack is fixed to an outer-side upper-end component of a joint. Compared with the pair art, the motor of the exoskeleton assistance recovery device is vertically arranged, and therefore the requirement for the size of the motor in the past is reduced. In addition, the exoskeleton assistance recovery device is simple in mechanical structure, high in control accuracy, large in transmission torque and high in safety.

Description

Technical field: [0001] The invention relates to the technical field of exoskeleton, in particular to the design of the mechanical structure of power transmission at the exoskeleton joint. Background technique: [0002] At present, there are three main driving modes for assisting rehabilitation exoskeleton devices: servo motor drive, hydraulic drive, and pneumatic drive. Pneumatic drive has relatively low control accuracy due to the relatively high compressibility of gas; hydraulic drive requires hydraulic oil as a medium, and its sealing is relatively difficult, and leakage of high-pressure hydraulic oil will pose a potential threat to the human body. The servo motor drive control precision is relatively high, and the structure is simple. [0003] Most of the existing exoskeleton-assisted rehabilitation devices driven by servo motors use the servo motors to be placed horizontally, so that there is a high requirement for the length of the servo motors. create hindrance. H...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/60A61F2/70A61H3/00
Inventor 段峰王春伟康培培司付庆
Owner NANKAI UNIV
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