A flexible rope-driven elbow-joint exoskeleton robot with compensation device
A technology of exoskeleton robot and compensation device, which is applied in gymnastics equipment, passive exercise equipment, physical therapy, etc., can solve the problems of single-function auxiliary rehabilitation equipment and uncomfortable rehabilitation training, and achieve convenient wearing and carrying, increased transmission flexibility, The effect of increasing comfort
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specific Embodiment approach 1
[0022] DETAILED first embodiment: binding Figure 1 - Figure 12 The present embodiment described embodiment, the embodiment of the present embodiment having an outer flexible drive cable compensation means robot elbow joint bone, comprising a back sheet 2, drive means Ⅰ, Ⅱ shoulder means, with the boom length adjustment means Ⅲ, IV misalignment compensating means, means ⅴ elbow flexion, elbow ⅵ spin apparatus, with the arm length adjusting means and two Bowden cable ⅶ, ⅰ drive means is mounted on one side of the back plate 2, the shoulder means ⅱ mounted on one side of the back plate 2, ⅱ shoulder means, the boom means with ⅲ length adjustment, misalignment compensating means IV, elbow flexion and extension means ⅴ small, and elbow with a spin device adjustable in length ⅵ arm means provided ⅶ sequentially connected, one end of the two Bowden cables are connected to drive means ⅰ, wherein a set of the other end of the Bowden cable elbow flexion ⅴ means, and the other end of the Bow...
specific Embodiment approach 2
[0023] DETAILED DESCRIPTION 2: Combination Figure 1 - Figure 4 Outer flexible cord of the present embodiment described embodiment, the present embodiment of the compensation device having a driving robot elbow bone, the drive means comprises a motor driver Ⅰ 1, backplane connector member 4, the first motor output gear 5, a second motor output wheel 13, two fixed Bowden cable connector block 3 and two drive motors four tensioning assembly; backplane connector member 4 fixedly mounted on the side of the back plate 2, two drive motor 3 is fixedly mounted backplane connector 4 and the rear plate 2, a motor drive output set 3 has a first motor output gear 5, the other output terminal of the drive motor 3 of the set has a second motor output gear 13, a connecting member Bowden cable fixing block and two tensioning assembly adjacent to the first electric motor output gear 5 is fixedly mounted in the backplane connector member 4, the two Bowden cable assembly is connected to the tension m...
specific Embodiment approach 3
[0024] Specific Embodiment 3: Combination figure 1 with Figure 4 The present embodiment described embodiment, the embodiment of the present embodiment having an outer flexible drive cable compensation means robot elbow bone, each tensioning assembly includes a biasing wheel mount 6, 7 micrometer screw pretension slider 8, a first 9 a wheel bearing preload, biasing the pulley 10, the second bearing 11 and preload biasing wheel round the bearing sleeve 12, one end of the slider 8 by the biasing micrometer screw pretensioning wheel 7 is fixedly mounted on the holder 6, the pre- tight wheel holder 6 is fixedly mounted on a backplane connector member 4, a first 9 and a second biasing wheel bearing preload wheel set bearing 11 on the other end of the preload of the slider 8, a pulley 10 fitted over the first biasing 9 and a wheel bearing preload Martin second biasing wheel bearing 11, the bearing preload sleeve 12 adjacent to the second wheel biasing the wheel bearing 11 is mounted on a...
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