Soft driving structure of lower limb rehabilitation robot

A rehabilitation robot and driving structure technology, which can be used in passive exercise equipment, equipment to help people walk, physical therapy, etc., can solve the problem that the driver's resistance to pressure needs to be further improved.

Active Publication Date: 2021-04-09
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0006] However, the pressure resistance of the driver in the above patent needs to be further improved

Method used

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  • Soft driving structure of lower limb rehabilitation robot
  • Soft driving structure of lower limb rehabilitation robot
  • Soft driving structure of lower limb rehabilitation robot

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Embodiment Construction

[0032] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0033] figure 1 It is a schematic diagram of the software driving structure of the lower limb rehabilitation robot according to a preferred embodiment of the present invention. refer to figure 1 As shown, the software driving structure of the lower limb rehabilitation robot in this embodiment is mainly composed of a double-layer airbag and a fixed connector, wherein the fixed connector includes: a fixed nut 1, an end cover 2, and a vent cover 3; the double-layer airbag includes The soft a...

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Abstract

The invention provides a soft driving structure of a lower limb rehabilitation robot. The soft driving structure of the lower limb rehabilitation robot comprises a double-layer air bag and a fixed connecting piece, wherein the double-layer air bag comprises a soft air bag body made of silicon rubber, the end of the soft air bag body is connected with the fixed connecting piece, and a conical surface is arranged at the joint of the inner side of the soft air bag body and the fixed connecting piece; the fixed connecting piece comprises an end cover, an air hole cover and a fixing nut, the air hole cover is in sealed connection with the double-layer air bag, the end cover covers the air hole cover, a vent pipe is arranged on the air hole cover, a through hole is formed in the end cover, one end of the vent pipe penetrates through the through hole and is exposed out of the end cover, and the exposed part is assembled and fixed through the fixing nut; and the air hole cover is provided with a conical surface used for being attached to the conical surface of the soft air bag, and a conical surface attached to the air hole cover is arranged on the inner side of the end cover. With adoption of design of conical surface assembly, the pressure resistance and tolerance of the soft driving structure are improved, the joint rotating torque can be effectively improved, and the part loss is reduced.

Description

technical field [0001] The invention relates to a wearable rehabilitation robot in the technical field of soft robots, in particular to a soft drive structure of an exoskeleton joint. Background technique [0002] In recent years, soft robots have gradually become a hot research object in the field of robotics. They have good flexibility, can adapt to various unstructured environments, and are suitable for human-computer interaction and operation control. Compared with rigid robots, it can avoid collisions and reduce damage to the environment and the robot itself. Because of the above characteristics, soft robots are suitable for the field of medical rehabilitation and provide a good solution for wearable auxiliary robots. [0003] The driving problem of the robot is the key to the movement of the robot. The function of driving is to convert the energy of other energy sources into the energy for the movement of the robot. The main driving methods of existing robots are: el...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00A61H1/02
CPCA61H3/00A61H1/0237A61H2003/007A61H2003/005A61H2201/1238
Inventor 费燕琼王宇轩王江北
Owner SHANGHAI JIAO TONG UNIV
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