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Joint structure for rehabilitation training robot

A rehabilitation training and robotics technology, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of complex safety design, hidden dangers of rehabilitation training, etc., to achieve self-locking characteristics, easy to achieve switching, and improve safety.

Inactive Publication Date: 2006-12-13
江苏亚星波纹管有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the motor is an active device, using the motor to directly provide damping force may have certain safety hazards for rehabilitation training. Therefore, complex safety design and control are required

Method used

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  • Joint structure for rehabilitation training robot
  • Joint structure for rehabilitation training robot
  • Joint structure for rehabilitation training robot

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Experimental program
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Embodiment Construction

[0018] The joint mechanism of the rehabilitation training robot of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The joint mechanism of the rehabilitation training robot includes a motor 1 , a frame 2 , a reduction gear composed of a worm 3 and a worm wheel 4 , a clutch-damper 5 based on electrorheological fluid, and a mechanical arm 6 . Wherein, the motor 1 is fixed on the frame 2, the rotating shaft of the motor 1 is connected with the worm 3, the rotating shaft of the worm wheel 4 is connected with the driving shaft 51 of the clutch-damper 5, and the driven shaft 56 of the clutch-damper 5 is connected with the mechanical Arm 6 is linked. The rotation of the motor 1 drives the worm screw 3 to rotate. With the rotation of the worm screw 3, the worm wheel 4 on it will rotate perpendicular to the direction of rotation of the worm screw 3. Every time the worm screw rotates one circle, the wo...

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Abstract

The invention relates to a robot joint means for recover training, comprising generator, framework, mechanical arm and reduction apparatus. Said generator is fixed on framework, the input end of reduction apparatus is connected with turning cylinder of generator, place between reduction apparatus and mechanical arm is provided with a clutch-damper, the drive shaft of clutch-damper is connected to output end of reduction apparatus, drive shaft is in connection with mechanical arm; the shell of clutch-damper is equipped with driving and driven disc fixed connected with driving shaft and driven shaft, the relative surface of driving and driven shaft is equipped with electrode plate with converse polarity respectively, intramural electrode plate with polarity corresponding to that of electrode plate on internal wall of shell beside driving and driven disc, and the internal cavity of shell is filled with current ;liquid. The invention is characterized by simple structure, accurate control, convenient shift and safe and stable operation.

Description

technical field [0001] The invention relates to a joint mechanism of a rehabilitation training robot applied to patients with limb hemiplegia caused by stroke, spinal cord injury and various accidents. Background technique [0002] Rehabilitation medical engineering is an emerging research field born with the development of modern rehabilitation medicine, and rehabilitation medical robot technology is the most important technology in rehabilitation medical engineering. Rehabilitation medical robotics is not only the frontier and hotspot of the current robotics research, but also a high-tech combination of rehabilitation medicine and robotics. [0003] One of the most important research achievements of modern neurorehabilitation medicine is the discovery that the central nervous system has a high degree of plasticity. Clinical research in rehabilitation medicine shows that rehabilitation training for the affected limbs of stroke patients is a very important and key medical me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
Inventor 宋爱国陈旭吴涓崔建伟王爱民李会军
Owner 江苏亚星波纹管有限公司
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