Manufacturing equipment and method for human engineering joint rehabilitation robot

Abstract

The invention relates to the technical field of robot manufacturing, in particular to human engineering joint rehabilitation robot manufacturing equipment and method.The human engineering joint rehabilitation robot manufacturing equipment comprises a machining table which comprises a table body, and the top of the table body is provided with a machining part used for welding or drilling parts and a clamping unit; the first extrusion assembly and the second extrusion assembly are arranged at the top of the table body, the driving assembly is used for driving the first extrusion assembly and the second extrusion assembly to extrude and fix parts, the first extrusion assembly comprises a plurality of extrusion strips, and the driving assembly drives the first extrusion assembly and the second extrusion assembly to move. According to the fixing device, flexible fixing and rigid fixing of the parts needing to be machined can be achieved, the parts are not limited to fixed shapes when fixed, rigid fixing can be conducted on the parts in any shape, the practicability of the device is greatly improved, and cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robot manufacturing, and in particular to a manufacturing device and method for a human engineering joint rehabilitation robot. Background Art

[0002] The human engineering joint rehabilitation robot provides an intelligent training plan for postoperative rehabilitation, nerve injury and degenerative disease patients by precisely adapting to the human body structure and movement characteristics, and uses the machine to accurately and safely help people restore joint mobility and muscle strength, especially those who cannot move or move well by themselves (such as stroke hemiplegia, after joint surgery, spinal cord injury, and elderly people with inflexible legs and feet).

[0003] During the manufacturing process of the components of the human engineering joint rehabilitation robot, whether it is welding or drilling, the components need to be fixed. The shapes of these components are diverse, and most of them are irregular. Due to the large number of component types, and some components, such as joint ball sockets and other components need flexible fixation to avoid rigid fixation, resulting in indentations on their surfaces, and some components, such as planetary gear carriers and other components need rigid fixation. Although fixtures can be used to fix the components in the prior art, most of the existing fixtures can only be applied to specific part shapes for specific clamping, only applicable to rigid fixation fixtures for various profiles, or only applicable to flexible fixation fixtures for various profiles, and the two are independent of each other, resulting in either purchasing two sets of equipment, increasing costs, or replacing the fixtures according to the components to be processed, which is rather troublesome.

[0004] Therefore, a manufacturing device and method for a human engineering joint rehabilitation robot are proposed. Summary of the Invention

[0005] Some simplifications or omissions may be made in this part, as well as in the abstract and title of the specification of the present application, to avoid obscuring the purpose of this part, the abstract and the title of the specification, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0006] To solve the deficiencies of the prior art, an object of the present invention is to provide a manufacturing device for a human engineering joint rehabilitation robot.

[0007] To achieve the above object, the present invention adopts the following technical solutions: A manufacturing device for a human engineering joint rehabilitation robot, comprising: A processing table, which includes a table body, and a processing part for welding or drilling components is arranged on the top of the table body; A clamping unit, which includes a first extrusion assembly and a second extrusion assembly arranged on the top of the table body, and a driving assembly for driving the first extrusion assembly and the second extrusion assembly to squeeze and fix the components; The first extrusion assembly includes a plurality of extrusion bars; The driving component can drive the first extrusion component and the second extrusion component to operate, so that the first extrusion component and the second extrusion component can flexibly or rigidly fix the parts.

[0008] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the first extrusion component further includes a slider arranged on the top of the table body, and a plurality of the extrusion strips are all connected to the slider.

[0009] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the driving component includes a servo cylinder arranged on the top of the table body.

[0010] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the driving component further includes an adapter block connected to the extension end of the servo cylinder, and two support plates are rotatably connected to the adapter block, and one ends of the two support plates away from the adapter block are respectively connected to the first extrusion component and the second extrusion component.

[0011] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the driving component further includes a telescopic rod arranged on the top of the table body, one end of the telescopic rod is connected to the slider, and the other end of the telescopic rod is installed on the top of the table body through a first fixing plate.

[0012] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the first extrusion component further includes a second fixing plate arranged on the top of the extrusion strip, a third fixing plate is arranged on the top of the slider, and the second fixing plate and the third fixing plate are connected by a spring.

[0013] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the first extrusion component further includes a cavity and a plurality of chutes opened inside the slider, and one ends of the plurality of extrusion strips close to the telescopic rod respectively slide through the plurality of chutes and extend into the cavity; The chute matches the extrusion strip.

[0014] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the first extrusion component further includes steel balls arranged inside the cavity, there are a plurality of the steel balls, and the plurality of steel balls are movably arranged inside the cavity; Both ends of the extrusion strip are arc-shaped.

[0015] As a preferred solution of the manufacturing equipment of the human engineering joint rehabilitation robot described in the present invention, wherein: the material of the steel ball is high-carbon chromium bearing steel.

[0016] The beneficial effects of a human - engineering joint rehabilitation robot manufacturing device of the present invention: By driving the first extrusion component and the second extrusion component to move through the driving component, not only can the flexible fixation of the parts to be processed be realized, but also the rigid fixation of the parts to be processed can be realized. When fixing the parts, it is not limited to a fixed shape, and parts of any shape can be rigidly fixed, greatly increasing the practicability of the device and reducing costs.

[0017] To solve the deficiencies of the prior art, another object of the present invention is to provide a manufacturing method of a human - engineering joint rehabilitation robot.

[0018] To achieve the above - mentioned goal, the present invention adopts the following technical solutions: A manufacturing method of a human - engineering joint rehabilitation robot, using the human - engineering joint rehabilitation robot manufacturing device described above, includes the following steps: Place the parts to be processed on the top of the table body and between the first extrusion component and the second extrusion component; By turning on the driving component, the driving component drives the first extrusion component and the second extrusion component to operate to fix the parts to be processed; According to the characteristics of the parts, select to perform flexible fixation or rigid fixation on the parts; Process the parts through the processing section.

[0019] The beneficial effects of a human - engineering joint rehabilitation robot manufacturing of the present invention: The same as the beneficial effects of a human - engineering joint rehabilitation robot manufacturing device, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a three - dimensional structure schematic diagram of the whole shown in the present invention.

[0022] Figure 2 It is a schematic diagram of the overall structure of the clamping unit of the present invention.

[0023] Figure 3 It is a schematic diagram of a partial structure of the clamping unit of the present invention.

[0024] Figure 4 It is a schematic diagram of the slider cross - section cutting of the present invention.

[0025] Figure 5This is a schematic structural diagram of a part of the first extrusion assembly of the present invention.

[0026] In the figure: 100, processing table; 101, table body; 102, processing part; 200, clamping unit; 201, first extrusion assembly; 201a, extrusion bar; 201b, slider; 201c, second fixing plate; 201d, third fixing plate; 201e, spring; 201f, cavity; 201g, chute; 201h, steel ball; 202, second extrusion assembly; 203, driving assembly; 203a, servo cylinder; 203b, adapter block; 203c, support plate; 203d, telescopic rod; 203e, first fixing plate. Detailed implementation manners

[0027] In order to make the objects, features and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings of the specification.

[0028] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0029] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that may be included in at least one implementation manner of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0030] Refer to Figure 1 - Figure 2, this embodiment provides a manufacturing device for a human - engineered joint rehabilitation robot, including: a processing table 100, which includes a table body 101. On the top of the table body 101, there is a processing part 102 for welding or drilling parts, or it can be a processing part 102 with other functions. The processing part 102 is a very mature existing technology and will not be elaborated here. On the top of the table body 101, there is a clamping unit 200. The clamping unit 200 includes a first extrusion assembly 201 and a second extrusion assembly 202 arranged on the top of the table body 101, and a driving assembly 203 for driving the first extrusion assembly 201 and the second extrusion assembly 202 to squeeze and fix the parts. The first extrusion assembly 201 includes a plurality of extrusion bars 201a. By driving the first extrusion assembly 201 and the second extrusion assembly 202 to move through the driving assembly 203, not only can the flexible fixation of the parts to be processed be realized, but also the rigid fixation of the parts to be processed can be realized. When fixing the parts, it is not limited to the fixed shape, and the rigid fixation of parts with any shape can be carried out, greatly increasing the practicability of the device and reducing the cost.

[0031] Refer to Figure 2 - Figure 5 , as an alternative embodiment, the first extrusion assembly 201 includes a slider 201b arranged on the top of the table body 101. A plurality of extrusion bars 201a are all connected to the slider 201b. The driving assembly 203 includes a servo cylinder 203a arranged on the top of the table body 101; In this embodiment, a plurality of extrusion bars 201a are all fixedly connected to the slider 201b, and the servo cylinder 203a is fixedly connected to the slider 201b. At the same time, the second extrusion assembly 202 can be the same as the first extrusion assembly 201 or can be a vertical plate; When the second extrusion assembly 202 is the same as the first extrusion assembly 201, a servo cylinder 203a is also connected to the slider 201b of the second extrusion assembly 202. By turning on the two servo cylinders 203a, the two servo cylinders 203a drive the two sliders 201b to approach each other. The two sliders 201b fix the parts through the plurality of extrusion bars 201a thereon. In this state, the shape of the clamped parts is determined by the position of the extrusion bars 201a, and only specific parts can be clamped, and one part or two parts (the plurality of extrusion bars 201a on the two sliders 201b respectively correspond to two parts) can be processed; When the second extrusion assembly 202 is a vertical plate, the vertical plate is fixedly installed on the top of the table body 101. At this time, the parts are fixed through the plurality of extrusion bars 201a on the first extrusion assembly 201. Different from the second extrusion assembly 202 and the first extrusion assembly 201, in this case, the number of components is reduced and the cost is lower, and a specific type of parts can also be fixed. However, if two different - shaped parts need to be fixed, the clamping effect is poor.

[0032] Referring to Figure 2 - Figure 5 , as an alternative embodiment, the driving assembly 203 further includes an adapter block 203b connected to the extended end of the servo cylinder 203a. Two support plates 203c are rotatably connected to the adapter block 203b. One ends of the two support plates 203c away from the adapter block 203b are respectively connected to the first extrusion assembly 201 and the second extrusion assembly 202. The driving assembly 203 further includes a telescopic rod 203d disposed on the top of the table body 101. One end of the telescopic rod 203d is connected to the slider 201b, and the other end of the telescopic rod 203d is installed on the top of the table body 101 through a first fixing plate 203e; In this embodiment, the second extrusion assembly 202 is the same as the first extrusion assembly 201; When in use, by turning on the servo cylinder 203a, the servo cylinder 203a drives the adapter block 203b to move, the adapter block 203b drives the two support plates 203c to move, and the two support plates 203c drive the two sliders 201b to approach each other, so that the two sliders 201b fix the parts through a plurality of extrusion strips 201a. The setting of the telescopic rod 203d ensures that the two sliders 201b can only move linearly, thereby ensuring the stability of the fixation of the parts to be processed by the two sliders 201b through the plurality of extrusion strips 201a. Different from the above embodiment, in this embodiment, one servo cylinder 203a is reduced, thereby reducing the failure rate of the equipment.

[0033] Referring to Figure 2 - Figure 5 , as an alternative embodiment, the first extrusion assembly 201 further includes a second fixing plate 201c disposed on the top of the extrusion strip 201a. A third fixing plate 201d is arranged on the top of the slider 201b. The second fixing plate 201c and the third fixing plate 201d are connected by a spring 201e. The first extrusion assembly 201 further includes a cavity 201f and a plurality of sliding grooves 201g formed inside the slider 201b. One ends of the plurality of extrusion strips 201a close to the telescopic rod 203d respectively slide through the plurality of sliding grooves 201g and extend into the cavity 201f; Among them, by matching the sliding groove 201g with the extrusion strip 201a, the extrusion strip 201a can only move linearly, thereby ensuring that the spring 201e can only be compressed linearly, thus ensuring the stability of the spring 201e; In this embodiment, when the servo cylinder 203a drives the two sliders 201b to approach each other through the adapter block 203b and the two support plates 203c, the two sliders 201b drive the multiple extrusion bars 201a to approach each other. When the multiple extrusion bars 201a contact the surface of the component, as the two sliders 201b continue to move, the multiple extrusion bars 201a all move towards the inside of the cavity 201f. The multiple extrusion blocks respectively squeeze the springs 201e connected to them through the second fixing plates 201c on them, causing the springs 201e to contract. As the multiple sliders 201b continue to move, the multiple extrusion bars 201a continue to squeeze the springs 201e through the second fixing plates 201c, causing the springs 201e to continue to contract. Furthermore, the springs 201e gradually increase the extrusion force on the component through the second fixing plates 201c and the extrusion bars 201a. Select a suitable extrusion force according to the shape of the component to be processed, realizing the flexible fixation of the component, ensuring the stability of workpiece processing, and avoiding excessive extrusion force on the component, thereby causing indentations and other conditions on the surface of the component, which will affect the production of the robot. Among them, the flexible fixation of this embodiment is mainly aimed at special-shaped parts such as spherical joints and arc-shaped connecting rods. Customized profiling jigs with silicone / copper alloy pads are required to disperse the clamping pressure and avoid surface indentations caused by rigid contact (especially for titanium alloy parts with low hardness). Among them, in this embodiment, the elastic force of the spring 201e needs to be relatively large to meet the fixation of the component. At the same time, the initial positions of the multiple extrusion bars 201a and the lengths of the springs 201e can be selectively set to ensure better fixation of special-shaped components.

[0034] Referring to the figure-figure, as an alternative embodiment, the first extrusion assembly 201 further includes steel balls 201h disposed inside the cavity 201f. There are multiple steel balls 201h, and the multiple steel balls 201h are movably disposed inside the cavity 201f. Among them, the material of the steel balls 201h is high-carbon chromium bearing steel, especially GCr15. Since the steel balls 201h need to withstand extremely high contact pressure and rolling friction during use, the material itself must be very hard. High carbon in this material provides the basis for high hardness and wear resistance, and chromium elements can significantly improve hardenability, wear resistance and corrosion resistance. After appropriate heat treatment (spheroidizing annealing, quenching + low-temperature tempering), it can perfectly meet all the key performance requirements for the material of the steel balls 201h: high hardness, high wear resistance, high contact fatigue strength, good dimensional stability and certain toughness.

[0035] Among them, by making both ends of the extrusion bar 201a arc-shaped, it is convenient for the extrusion bar 201a to squeeze the steel balls 201h, drive the steel balls 201h to roll inside the cavity 201f, and at the same time facilitate the extrusion of the extrusion bar 201a on special-shaped components. Among them, the volume of the steel ball 201h is relatively small, and the smaller the better; Different from the above embodiments, in this embodiment, the elastic force of the spring 201e can be appropriately reduced, which can flexibly fix the parts to be processed to a certain extent, and the pressing strip 201a can be reset by driving the second fixing plate 201c. Moreover, the top and bottom of the pressing strip 201a are respectively attached to the top and bottom of the cavity 201f, so that the pressing strip 201a will not be subjected to the downward extrusion force from the steel ball 201h, which is convenient for the pressing strip 201a to reset; After the two sliders 201b flexibly extrude the special-shaped parts through a plurality of pressing strips 201a, as the two sliders 201b continue to move, the plurality of pressing strips 201a move towards the inside of the cavity 201f. The end of the pressing strip 201a squeezes a plurality of steel balls 201h, causing the steel balls 201h to move inside the cavity 201f. When the ends of the plurality of pressing strips 201a near one end of the part all come into contact with the surface of the special-shaped part, in this state, the extrusion forces received by each part of the special-shaped part are different. As the slider 201b continues to move, the plurality of pressing strips 201a continue to move towards the inside of the cavity 201f, thereby gradually reducing the space inside the cavity 201f. The plurality of steel balls 201h inside the cavity 201f gradually pile up together. When the plurality of steel balls 201h fill the entire cavity 201f, at this time, the slider 201b makes the plurality of pressing strips 201a unable to move away from the part through the plurality of steel balls 201h, that is, the slider 201b rigidly fixes the special-shaped part through the cavity 201f and the plurality of steel balls 201h, realizing the switching between flexible and rigid fixation; Among them, rigid fixation mainly fixes the spherical plain bearing seat, harmonic reducer mounting flange, planetary gear carrier, curve guide rail base, and hollow lightweight frame, etc.; After the processing part 102 finishes processing the parts, the servo cylinder 203a drives the adapter block 203b to reset. The adapter block 203b drives the two sliders 201b to reset through the two support plates 203c. The two sliders 201b drive the plurality of pressing strips 201a to reset. As the two sliders 201b move farther and farther away from the parts, under the elastic force of the plurality of springs 201e, the plurality of pressing strips 201a slowly reset, and the pressing strips 201a slowly extend out from the inside of the cavity 201f, causing the device to reset.

[0036] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An ergonomic joint rehabilitation robot manufacturing device, characterized in that: Comprising: A processing table (100), which includes a table body (101), and a processing part (102) for welding or drilling parts is arranged at the top of the table body (101); A clamping unit (200), which includes a first extrusion assembly (201) and a second extrusion assembly (202) arranged at the top of the table body (101), and a driving assembly (203) for driving the first extrusion assembly (201) and the second extrusion assembly (202) to extrude and fix parts; The first extrusion assembly (201) includes a plurality of extrusion bars (201a); The driving assembly (203) can drive the first extrusion assembly (201) and the second extrusion assembly (202) to operate, so that the first extrusion assembly (201) and the second extrusion assembly (202) simultaneously perform flexible fixing and rigid fixing on parts.

2. The ergonomic joint rehabilitation robot manufacturing equipment according to claim 1, characterized in that: The first extrusion assembly (201) further includes a slider (201b) arranged at the top of the table body (101), and a plurality of the extrusion bars (201a) are all connected to the slider (201b).

3. The ergonomic joint rehabilitation robot manufacturing equipment according to claim 1 or 2, characterized in that: The driving assembly (203) includes a servo cylinder (203a) arranged at the top of the table body (101).

4. The ergonomic joint rehabilitation robot manufacturing device according to claim 3, characterized in that: The driving assembly (203) further includes an adapter block (203b) connected to the extending end of the servo cylinder (203a), and two support plates (203c) are rotatably connected to the adapter block (203b). One ends of the two support plates (203c) far away from the adapter block (203b) are respectively connected to the first extrusion assembly (201) and the second extrusion assembly (202).

5. The ergonomic joint rehabilitation robot manufacturing equipment according to claim 4, characterized in that: The driving assembly (203) further includes a telescopic rod (203d) arranged at the top of the table body (101). One end of the telescopic rod (203d) is connected to the slider (201b), and the other end of the telescopic rod (203d) is installed at the top of the table body (101) through a first fixing plate (203e).

6. The ergonomic joint rehabilitation robot manufacturing device according to claim 5, characterized in that: The first extrusion assembly (201) further includes a second fixing plate (201c) arranged at the top of the extrusion bar (201a), a third fixing plate (201d) is arranged at the top of the slider (201b), and the second fixing plate (201c) and the third fixing plate (201d) are connected by a spring (201e).

7. The manufacturing device of the human engineering joint rehabilitation robot according to claim 6, characterized in that: The first extrusion assembly (201) further includes a cavity (201f) and a plurality of chutes (201g) opened inside the slider (201b). One ends of the plurality of extrusion bars (201a) close to the telescopic rod (203d) respectively slide through the plurality of chutes (201g) and extend into the cavity (201f) internally; The chute (201g) matches the extrusion bar (201a).

8. The ergonomic joint rehabilitation robot manufacturing device according to claim 7, wherein: The first extrusion assembly (201) further includes steel balls (201h) arranged inside the cavity (201f). There are a plurality of the steel balls (201h), and the plurality of steel balls (201h) are movably arranged inside the cavity (201f); Both ends of the extrusion bar (201a) are arc-shaped.

9. The ergonomic joint rehabilitation robot manufacturing device according to claim 8, characterized in that: The material of the steel ball (201h) is high-carbon chromium bearing steel.

10. A method for manufacturing a device using an ergonomic joint rehabilitation robot, characterized in that, Including the following steps: Place the parts to be processed on the top of the table body (101) and between the first extrusion assembly (201) and the second extrusion assembly (202). By turning on the drive assembly (203), the drive assembly (203) drives the first extrusion assembly (201) and the second extrusion assembly (202) to operate and fix the parts to be processed. According to the characteristics of the parts, select flexible fixation or rigid fixation for the parts. Process the parts through the processing section (102).

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