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Side-sway joint of multi-foot-boosting rehabilitation robot

A rehabilitation robot and robot technology, applied in the field of robotics, can solve problems such as poor balance, inability to apply to the elderly and disabled people to assist rehabilitation, low energy use efficiency, etc., to achieve strong adaptability, improve heart health, stability and The effect of good security

Pending Publication Date: 2017-07-14
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of existing exoskeleton robots, such as poor balance, low energy use efficiency, and inapplicability to assist rehabilitation for the elderly and disabled persons with lower limbs, the present invention provides an exoskeleton robot with better balance, higher energy use efficiency, Side swing joint of a multi-legged power-assisted rehabilitation robot that is effectively suitable for the power-assisted rehabilitation of the elderly and the lower limb disabled

Method used

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  • Side-sway joint of multi-foot-boosting rehabilitation robot
  • Side-sway joint of multi-foot-boosting rehabilitation robot
  • Side-sway joint of multi-foot-boosting rehabilitation robot

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the drawings.

[0024] Reference Figure 1~Figure 11 , A side swing joint of a multi-leg power-assisted rehabilitation robot, the side swing joint includes an electric push rod driver, a waist belt structure connecting the robot and a rotation pair of the electric push rod driver, and a leg bone and the electric push rod connected to the robot The rotating pair of the driver and a rotating pair connecting the waist belt structure and the proximal leg bone; the electric push rod driver includes a slider, a guide rail, a stepping motor, a lead screw, a lead screw sleeve and a rod end joint bearing. The motor is mounted on the motor fixing clip, the motor fixing clip is provided with a fixing round hole, the fixing pin passes through the fixing round hole to form a hinge and is connected to the waist belt structure, the output shaft of the stepping motor and one end of the screw Connected, the screw is ...

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Abstract

The invention provides a side-sway joint of a multi-foot-boosting rehabilitation robot. The side-sway joint comprises electric push rod drivers, rotation pairs for connecting waistband structures of the robot and the electric push rod drivers, rotation pairs for connecting the proximal shank of the shank and the electric push rod drivers, and rotation pairs for connecting the waistband structures and the proximal shank, wherein stepping motors are mounted on motor fixing clamp plates, fixing round holes are formed in the motor fixing clamp plates, fixing hinge pins pass through the fixing round holes and are connected to the waistband structures, output shafts of the stepping motors are connected with one ends of lead screws, the lead screws are connected with lead screw sleeves, one ends of rod-end joint bearings are in clearance fit with the lead screw sleeves through end opening nuts, end round holes are formed in the other ends of the rod-end joint bearings, the end round holes and end hinge pins are connected to the upper part of the shank, the lead screw sleeves are in interference fit with round holes of sliders, the sliders sleeve guide rails in a sliding manner, and the guide rails are fixed to the motor fixing clamp plates. The side-sway joint is good in balance, the energy utilizing efficiency is high, and the side-sway joint is effectively applied to assisted rehabilitation of old people and the lower-limb disabled.

Description

Technical field [0001] The invention relates to the field of robots, in particular to a side swing joint of a rehabilitation robot. Background technique [0002] With the rapid development of modern technology, the application of robots is not only limited to the industrial field, but gradually applied to the fields of agriculture, medical treatment, and service. The application objects of robots gradually become more diverse and complicated. The invention is a wearable hexapod bionic mechanical leg. Its main function is to expand the movement function of the lower limbs of the human body. The application object is the elderly and the disabled of the lower limbs, and the ultimate goal is to realize the application object's normal walking ability. This requires hexapod robots to be as flexible and safe as human legs. Traditional two-legged exoskeleton robots have inherent structural shortcomings, such as high difficulty in balance, difficulty in gait planning to perfectly fit th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2201/1207
Inventor 叶途臻梁永鑫高卓航闵佳峰曹鸿淼王志恒
Owner ZHEJIANG UNIV OF TECH
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