CN102885682A - Thigh length adjusting device for rehabilitation robot - Google Patents
Thigh length adjusting device for rehabilitation robot Download PDFInfo
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- CN102885682A CN102885682A CN2012104387334A CN201210438733A CN102885682A CN 102885682 A CN102885682 A CN 102885682A CN 2012104387334 A CN2012104387334 A CN 2012104387334A CN 201210438733 A CN201210438733 A CN 201210438733A CN 102885682 A CN102885682 A CN 102885682A
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- 210000000689 upper leg Anatomy 0.000 title claims abstract description 109
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 230000035876 healing Effects 0.000 claims description 16
- 210000004394 hip joint Anatomy 0.000 claims description 15
- 210000002414 leg Anatomy 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 239000003351 stiffener Substances 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 230000002787 reinforcement Effects 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 239000002360 explosive Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
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Abstract
The invention discloses a thigh length adjusting device for a rehabilitation robot, belonging to the field of medical facilities. According to the device, a feed screw is driven to rotate by an electric motor, a feed screw nut is driven to rotate, and finally a dovetail groove sliding block fixed with a connecting rack is moved, so that the extension of a thigh can be realized when in rehabilitation training. According to the thigh length adjusting device, a potential device is driven to rotate by a thread rope pulling rope pulley so that the telescopic length of the thigh is recorded; the screw thread clearance of the feed screw is eliminated through the matching of the feed screw and the nut, the matching between the dovetail groove sliding block and a dovetail groove guiding rail is adjusted through the dovetail groove adjusting block capable of adjusting the distance, the dovetail groove adjusting block can adjust the clearance between the motion planes of the dovetail groove sliding block in normal direction and also can adjust the clearance between the side faces of the dovetail groove sliding block in motion direction, and the motion direction of a dovetail groove is always parallel to the transmission direction of the feed screw. The device is high in positioning accuracy, high in motion intuition, large in integral rigidity of system, relatively easy to realize in structure, simple in a driver and a control structure.
Description
Technical field
The invention belongs to the armarium technical field, especially a kind of healing robot thigh length adjuster.
Background technology
According to statistics, the old people of China more than 60 years old is existing 1.7 hundred million, accounts for 13% of national population, and what follow in the aging process obvious physiological decline is exactly that the motility of old people's extremity obviously descends, and then daily life has been produced all adverse effects.In addition, because the patient of the limb movement disturbance that causes of various diseases and since the Patients of Spinal that contingency causes also in remarkable increase.Help patient to carry out training and the auxiliary doctor of simple apparatus carries out the requirement that training far can not have been satisfied the patient to patient by the doctor.In recent years, along with the high speed development of electromechanical integration technology, healing robot begins to substitute gradually the mankind with its automatization, precision and intelligentized characteristics and finishes some simple tasks.At present, only have the developed country such as American-European to develop higher rehabilitation medical robot, can help the patient to carry out diversified main passive exercise, not only the physiatrician is freed from heavy physical work, make them can go simultaneously to instruct a plurality of patients to carry out rehabilitation training, also increased simultaneously patient's motion enthusiasm and exercise intensity etc.Yet, present rehabilitation equipment function singleness, its range of application only limits to the rehabilitation in local joint, does not have to realize the integrated products of each joint recovering of shank, and the intelligent degree of existing product is not high.Therefore the great majority that domestic armarium automaticity is higher are import equipment, and cost is higher, only have seldom a part of patient can access sufficient treatment, most of patient recuperation of can only oneself being in.Therefore, the research of rehabilitation medical robot not only helps different state of an illness patients' early recovery, also help the society with harmonious stable development.
Summary of the invention
The purpose of healing robot thigh length adjuster of the present invention aims to provide and a kind ofly is moved in the dovetail groove guide rail by leading screw rotating drive dovetail groove slide block, makes healing robot can realize that the thigh position is flexible to adapt to different build patients' device.
A kind of healing robot thigh length adjuster proposed by the invention is characterized in that this device comprises: large leg support, and the flexible actuating unit of thigh and thigh expansion link, wherein:
Described large leg support is used for supporting the flexible actuating unit of described thigh and described thigh expansion link, it comprises: dovetail groove slide block 1, dovetail groove guide rail 2, upper end cover 4, dovetail groove front apron 5, right end cap 6, bottom end cover 7 and dovetail groove backboard 27, wherein, described dovetail groove slide block 1 slides in described dovetail groove guide rail 2; Upper end cover 4 and bottom end cover 7 two end faces separately are connected by screw with dovetail groove guide rail 2 and right end cap 6 respectively; Described dovetail groove front apron 5 and dovetail groove backboard 27 are fixed in the rear and front end of described dovetail groove guide rail 2 by screw, are used for the range of movement of restriction dovetail groove slide block 1;
The flexible actuating unit of described thigh is used for regulating thigh length, the stroke of record thigh, and it comprises: hinge seat 16, motor 17, motor cover 18, fixing head pin 19, thigh rope sheave 20, potentiometer fixing head 21, potentiometer 22, leading screw 23, potentiometer clamp nut 35, end hold-down screw 37, shaft coupling 40, front sleeve 39, intermediate sleeve 41, bearing 42, outer sleeve 44 and latch 32, wherein, motor 17 places in the motor cover 18; Motor 17, motor cover 18 is connected with front sleeve and is connected by hold-down screw; One end face of described front sleeve 39 is provided with end hold-down screw 37; Shaft coupling 40 1 ends connect leading screw 23 by key, and the other end is connected with the output shaft of motor 17; Bearing 42 is nested in the cylindrical hole of outer sleeve 44; Front sleeve 39, shaft coupling 40, intermediate sleeve 41, bearing 42 are connected with outer sleeve and are connected by attachment screw successively; Fixing head pin 19 is fixed on the intermediate sleeve 41 by attachment screw; Potentiometer 22 is fixed on the potentiometer fixing head 21 by potentiometer clamp nut 35; Thigh rope sheave 20 is fixedly connected with the turning cylinder of potentiometer 22; Latch 32 is fixed an outer face that is installed on motor cover 18 with hinge seat 16; The thigh rope is around in respectively on the end hold-down screw 37, on fixing head pin 19 and the thigh rope sheave 20;
Described thigh expansion link is used for supporting the flexible actuating unit of thigh and elongation thigh length, and it comprises: upper buckle 10, lower pinch plate 11, angle steel side plate 12 is strengthened angle steel 13, stiffener 14, angle steel lower shoe 15, wherein, angle steel side plate 12 is connected by screw with dovetail groove slide block 1; Upper buckle 10, lower pinch plate 11, strengthen angle steel 13, stiffener 14, angle steel lower shoe 15 and 12 welding of angle steel side plate and form a thigh expansion link, described thigh expansion link is connected with hinge seat by latch 32 and is overlapped 18 with described motor and be connected.
In the present invention, the retractor device at thigh position mainly comprises leading screw, leading screw square nut, potentiometer, potentiometer fixing head, dovetail groove slide block, dovetail groove guide rail and dovetail groove adjustment block etc.Feed screw nut is fixed on the thigh frames by the leading screw fixed handle, thigh expansion link and motor and leading screw are connected into an integral body simultaneously, electric machine rotation, the drive leading screw rotates, the leading screw square nut is motionless, and motor and leading screw and thigh expansion link carry out axial feed along dovetail groove, and the dovetail groove guide rail cooperates with the dovetail groove slide block, and by the gap between the adjustment of dovetail groove adjustment block, guarantee the parallel accuracy of dovetail groove slide block movement.The in addition potentiometer thigh rope sheave that links to each other with the thigh expansion link, when thigh was flexible, thigh rope band electrokinetic potential device rotated, and then the flexible length of record thigh.Because the error when processing and installation, dovetail groove movement locus and leading screw may be not parallel, and this device guarantees the reliability of whole device by eliminating error with the dovetail groove adjustment block.There are two kinds of stopping means in this mechanism, and mechanical position limitation and electrical equipment are spacing.Guaranteed the safety of mechanism kinematic.
Thigh of the present invention position adjusting device adopts motor-driven, and the higher potentiometer of precision is housed, and can record the stroke that thigh is adjusted, even power down also can keep memory, and calculating function after adjusting, automatically to revise thigh bar long, and it is long not need to reset bar.Feed screw nut is with two turning cylinders, this turning cylinder forms circular hole with a pair of nut support frame and cooperates, feed screw nut can rotate around it the axle rotation when leading screw is flexible, angle with the adjusting screw direction of motion and the thigh direction of motion, in addition, the nut support frame divides up and down two parts, connects with bolt, is convenient to install.Thigh length adjuster of the present invention has very high positioning accuracy, and the motion intuitive is strong, and entire system rigidity is large, and structure implements and is easier to, and driver and control structure are simple.
Description of drawings
Fig. 1 is healing robot thigh length adjuster structural representation of the present invention;
Fig. 2 is thigh support frame structure sketch map;
Fig. 3 is the flexible actuating unit structural representation of thigh;
Fig. 4 is thigh expansion link structural representation;
Fig. 5 is thigh expansion bracket part explosive view;
Fig. 6 is the flexible actuating unit part explosive view 1 of thigh;
Fig. 7 is the flexible actuating unit part explosive view 2 of thigh.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The main element symbol description:
1-dovetail groove slide block, 2-dovetail groove guide rail, 3-dovetail groove adjustment block, 4-upper end cover, 5-dovetail groove front apron, the 6-right end cap, the 7-bottom end cover, 8-connects double-screw bolt, 9-holds connecting plate, the upper buckle of 10-, 11-lower pinch plate, 12-angle steel side plate, 13-strengthens angle steel, 14-stiffener, 15-angle steel lower shoe, 16-hinge seat, the 17-motor, 18-motor cover, 19-fixing head pin, 20-thigh rope sheave, 21-potentiometer fixing head, 22-potentiometer, the 23-leading screw, 24-leading screw square nut, 25-nut lower support frame, 26-nut upper support frame, 27-dovetail groove backboard, 28-side plate, 29-hip joint turning cylinder, 30-hip joint turning cylinder support, 31-bearing, the 32-latch, 33-outer end cap enclosing cover, 34-attachment screw, 35-potentiometer clamp nut, 36-hold-down screw, 37-end hold-down screw, the 38-hold-down screw, 39-front sleeve, 40-shaft coupling, the 41-intermediate sleeve, 42-bearing, 43-axle sleeve, the 44-outer sleeve, 45-attachment screw, 46-attachment screw.
Fig. 1 is healing robot thigh length adjuster structural representation of the present invention, and as shown in Figure 1, healing robot thigh length adjuster of the present invention comprises large leg support, the flexible actuating unit of thigh and three parts of thigh expansion link, wherein:
Fig. 2 is the structural representation of large leg support, and large leg support is mainly used in supporting the flexible actuating unit of thigh and thigh expansion link.As shown in Figure 2, described large leg support comprises: dovetail groove slide block 1, dovetail groove guide rail 2, dovetail groove adjustment block 3, upper end cover 4, dovetail groove front apron 5 (as shown in Figure 1), right end cap 6, bottom end cover 7, dovetail groove backboard 27, hip joint turning cylinder 29, hip joint turning cylinder support 30, bearing 31, outer end cap enclosing cover 33 (as shown in Figure 5).Wherein, as shown in Figure 5, dovetail groove slide block 1 slides in dovetail groove guide rail 2, is respectively equipped with three screwed holes on upper end cover 4 and bottom end cover 7 two end faces separately, dovetail groove guide rail 2 be respectively equipped with the through hole that uses with it screw to connect on right end cap is connected; Be respectively equipped with screwed hole on dovetail groove front apron 5 and the dovetail groove backboard 27, dovetail groove guide rail 2 is provided with dovetail groove front apron 5 is connected the through hole that uses screw to be connected with the dovetail groove backboard, described dovetail groove front apron 5 and dovetail groove backboard 27 are fixed in the rear and front end of described dovetail groove guide rail 2, are used for the range of movement of restriction dovetail groove slide block 1.Dovetail groove adjustment block 3 is connected by the upper end of screw with dovetail groove guide rail 2, is used for adjusting the gap of dovetail groove slide block 1 plane of movement normal direction, and the gap of dovetail groove slide block 1 direction of motion side; Outer end cap enclosing cover 33 is connected with right end cap 6 by screw; Hip joint turning cylinder support 30 is fixedly connected with large leg support by screw with the healing robot frame, described healing robot frame is used for supporting the thigh length adjuster; Hip joint turning cylinder support 30 also is connected with hip joint turning cylinder 29 by bearing 31, and when hip joint turning cylinder 29 rotated, large leg support rotated around hip joint turning cylinder 29;
Fig. 3 is the structural representation of the flexible actuating unit of thigh, and the flexible actuating unit of thigh is mainly used in regulating thigh length, the stroke of record thigh.As shown in Figure 3, the flexible actuating unit of described thigh mainly comprises: connect double-screw bolt 8, hinge seat 16, motor 17, motor cover 18, fixing head pin 19, thigh rope sheave 20, potentiometer fixing head 21, potentiometer 22, leading screw 23, leading screw square nut 24, nut lower support frame 25, nut upper support frame 26, attachment screw 34, potentiometer clamp nut 35, end hold-down screw 37, hold-down screw 38, shaft coupling 40, front sleeve 39, intermediate sleeve 41, bearing 42, axle sleeve 43, outer sleeve 44, attachment screw 45, attachment screw 46 and latch 32, wherein, the lower end of nut lower support frame 25 is provided with screwed hole, and it is fixedly connected with (as shown in Figure 2) by connecting stud 8 with bottom end cover 7; As shown in Figure 6, motor 17 places in the motor cover 18, and motor 17, motor cover 18 are fixedly connected with by hold-down screw 38 with front sleeve 39, and an end face of described front sleeve 39 is provided with end hold-down screw 37; Fixing head pin 19 is fixed on the intermediate sleeve 41 by attachment screw 46; Shaft coupling 40 1 ends connect leading screw 23 by key, and the other end is connected with the output shaft of motor 17; Be provided with axle sleeve 43 between the bearing 42, they are nested in the cylindrical hole of outer sleeve 44, and axle sleeve 43 is used for two bearings of isolation, and it is more steady that leading screw is rotated; Front sleeve 39, shaft coupling 40, intermediate sleeve 41, bearing 42 are connected with outer sleeve successively by attachment screw 45 connections.As shown in Figure 7, potentiometer 22 is fixed on the potentiometer fixing head 21 by potentiometer clamp nut 35; Thigh rope sheave 20 is fixedly connected with the turning cylinder of potentiometer 22, and when thigh rope sheave 20 rotated, the turning cylinder of potentiometer 22 rotated, record data; Leading screw 23 forms transmission with leading screw square nut 24 and cooperates; Leading screw square nut 24 two ends have outstanding cylinder, and it cooperates with nut upper support frame 26 and nut lower support frame 25, so that leading screw square nut 24 is fixed; Potentiometer fixing head 21, nut upper support frame 26 and nut lower support frame 25 are fixedly connected with by attachment screw 34.Latch 32 is fixed an outer face (shown in Fig. 1,3) that is installed on motor cover 18 with hinge seat 16.The thigh rope is around in respectively on the end hold-down screw 37, on fixing head pin 19 and the thigh rope sheave 20, forms being rotatably assorted between thigh rope sheave 20 and the rope.
Fig. 4 is thigh expansion link structural representation, and the thigh expansion link is mainly used in supporting the flexible actuating unit of thigh and elongation thigh length.As shown in Figure 4, described thigh expansion link comprises: end connecting plate 9, upper buckle 10, lower pinch plate 11, angle steel side plate 12 is strengthened angle steel 13, stiffener 14, angle steel lower shoe 15, wherein, the unthreaded hole of angle steel side plate 12 is fixedly connected with by screw with screwed hole on the dovetail groove slide block 1 (dovetail groove slide block 1 shows in Fig. 2); Upper buckle 10 is connected by screw with hinge seat 16; End connecting plate 9 is connected with healing robot thigh hip joint rotational power plant; Upper buckle 10, lower pinch plate 11, reinforcement angle steel 13, stiffener 14, angle steel lower shoe 15 and 12 welding of angle steel side plate form a thigh expansion link; The thigh expansion link is connected with hinge seat by latch 32 and is overlapped 18 with the motor of the flexible actuating unit of thigh and be connected (as shown in Figure 1).
When healing robot thigh length adjuster of the present invention work, at first starter motor 17, drive leading screw 23 and rotate, and when leading screw rotated, leading screw square nut 24 was motionless, and dovetail groove slide block 1 moves axially along leading screw, drives the thigh expansion link and moves.Potentiometer 22 is installed on the potentiometer fixing head 21 simultaneously, at dovetail groove slide block 1 in the leading screw axially-movable, by rope pulling rope sheave 20, the stroke of potentiometer 22 record thighs.Error during simultaneously owing to processing and installation, dovetail groove slide block 1 movement locus and dovetail groove 2 may be not parallel, for this reason by eliminating error with dovetail groove adjustment block 3, guarantee the reliability of whole device, dovetail groove adjustment block 3 is the gap of capable of regulating dovetail groove slide block 1 plane of movement normal direction, also the gap of capable of regulating dovetail groove slide block 1 direction of motion side.Simultaneously on dovetail groove backboard 27 and side plate 28 travel switch is installed all, when the thigh expansion link moved forward, when the travel switch that is installed in side plate 28 contacted with right end cap 6, motor 17 stopped operating, and the thigh expansion link stops movement.When the thigh expansion link moved backward, the travel switch that is installed on the dovetail groove backboard 27 contacted with the thigh expansion link, and motor 17 stops operating, and the thigh expansion link stops mobile.The retractor device at thigh position is designed with thigh rope sheave 20 and cooperates with potentiometer 22, the potentiometer that precision is higher can record the stroke that thigh is adjusted, even power down also can keep memory, and calculating function after adjusting, automatically to revise thigh bar long, and it is long not need to reset bar.Leading screw square nut 24 is with two turning cylinders, and this turning cylinder cooperates with the circular hole that nut upper support frame 26 and nut lower support frame 25 form.One section optical axis is arranged at connecting stud 8 tops, this optical axis cooperates with the unthreaded hole of nut lower support frame 25 bottoms, when leading screw 23 rotates, leading screw square nut 24 can rotate around it axle and rotate, leading screw square nut 24 also can rotate around connecting stud 8, the motion of leading screw square nut 24 forms universal movement, with the angle of the adjusting screw direction of motion and the thigh direction of motion, and can eliminate because the stuck phenomenon of moving between the leading screw 23 that mismachining tolerance may cause and the leading screw square nut 24.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. healing robot thigh length adjuster is characterized in that this device comprises: large leg support, and the flexible actuating unit of thigh and thigh expansion link, wherein:
Described large leg support is used for supporting the flexible actuating unit of described thigh and described thigh expansion link, it comprises: dovetail groove slide block (1), dovetail groove guide rail (2), upper end cover (4), dovetail groove front apron (5), right end cap (6), bottom end cover (7) and dovetail groove backboard (27), wherein, described dovetail groove slide block (1) slides in described dovetail groove guide rail (2); Upper end cover (4) and bottom end cover (7) two end faces separately are connected by screw with dovetail groove guide rail (2) and right end cap (6) respectively; Described dovetail groove front apron (5) and dovetail groove backboard (27) are fixed in the rear and front end of described dovetail groove guide rail (2) by screw, are used for the range of movement of restriction dovetail groove slide block (1);
The flexible actuating unit of described thigh is used for regulating thigh length, the stroke of record thigh, it comprises: hinge seat (16), motor (17), motor cover (18), fixing head pin (19), thigh rope sheave (20), potentiometer fixing head (21), potentiometer (22), leading screw (23), potentiometer clamp nut (35), end hold-down screw (37), shaft coupling (40), front sleeve (39), intermediate sleeve (41), bearing (42), outer sleeve (44) and latch (32), wherein, motor (17) places in the motor cover (18); Motor (17), motor cover (18) are connected 39 with front sleeve) connect by hold-down screw; One end face of described front sleeve (39) is provided with end hold-down screw (37); Shaft coupling (40) one ends connect leading screw (23) by key, and the other end is connected with the output shaft of motor (17); Bearing (42) is nested in the cylindrical hole of outer sleeve (44); Front sleeve (39), shaft coupling (40), intermediate sleeve (41), bearing (42) are connected 44 with outer sleeve) connect by attachment screw successively; Fixing head pin (19) is fixed on the intermediate sleeve (41) by attachment screw; Potentiometer (22) is fixed on the potentiometer fixing head (21) by potentiometer clamp nut (35); Thigh rope sheave (20) is fixedly connected with the turning cylinder of potentiometer (22); Latch (32) is fixed an outer face that is installed on motor cover (18) with hinge seat (16); The thigh rope is around in respectively that end hold-down screw (37) is upper, on fixing head pin (19) and the thigh rope sheave (20);
Described thigh expansion link is used for supporting the flexible actuating unit of thigh and elongation thigh length, it comprises: upper buckle (10), lower pinch plate (11), angle steel side plate (12), strengthen angle steel (13), stiffener (14), angle steel lower shoe (15), wherein, angle steel side plate (12) is connected by screw with dovetail groove slide block (1); Upper buckle (10), lower pinch plate (11), reinforcement angle steel (13), stiffener (14), angle steel lower shoe (15) and angle steel side plate (12) welding form a thigh expansion link, and described thigh expansion link is connected 16 by latch (32) with hinge seat) be connected with described motor cover (18).
2. device according to claim 1 is characterized in that, described large leg support also comprises outer end cap enclosing cover (33), and described outer end cap enclosing cover (33) is connected with described right end cap (6) by screw.
3. device according to claim 1, it is characterized in that, described large leg support also comprises hip joint turning cylinder (29), hip joint turning cylinder support (30) and bearing (31), described hip joint turning cylinder support (30) is fixedly connected with large leg support by screw with the healing robot frame, be connected with hip joint turning cylinder (29) by bearing (31), when hip joint turning cylinder (29) rotated, large leg support rotated around hip joint turning cylinder (29).
4. device according to claim 1, it is characterized in that, described large leg support also comprises dovetail groove adjustment block (3), described dovetail groove adjustment block (3) is connected by the upper end of screw with dovetail groove guide rail (2), is used for adjusting the gap of dovetail groove slide block (1) plane of movement normal direction and the gap of dovetail groove slide block (1) direction of motion side.
5. device according to claim 1, it is characterized in that, the flexible actuating unit of described thigh also comprises connection double-screw bolt (8) and nut lower support frame (25), and the lower end of described nut lower support frame (25) is fixedly connected with bottom end cover (7) by connecting stud (8).
6. device according to claim 1, it is characterized in that, the flexible actuating unit of described thigh also comprises the axle sleeve (43) that is arranged between the bearing (42), and described axle sleeve (43) is used for two bearings of isolation, and it is more steady that leading screw is rotated.
7. device according to claim 5, it is characterized in that, the flexible actuating unit of described thigh also comprises leading screw square nut (24) and nut upper support frame (26), the two ends of described leading screw square nut (24) have outstanding cylinder, it cooperates with described nut upper support frame (26) and nut lower support frame (25), so that leading screw square nut (24) is fixed.
8. device according to claim 7 is characterized in that, described potentiometer fixing head (21), nut upper support frame (26) and nut lower support frame (25) are fixedly connected with by attachment screw.
9. device according to claim 1 is characterized in that, described upper buckle (10) is connected by screw with hinge seat (16).
10. device according to claim 1 is characterized in that, described thigh expansion link also comprises end connecting plate (9), and described end connecting plate (9) is connected with healing robot thigh hip joint rotational power plant.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210438733.4A CN102885682B (en) | 2012-11-06 | 2012-11-06 | Thigh length adjusting device for rehabilitation robot |
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| CN201210438733.4A CN102885682B (en) | 2012-11-06 | 2012-11-06 | Thigh length adjusting device for rehabilitation robot |
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| CN109771224A (en) * | 2017-11-13 | 2019-05-21 | 福宝科技股份有限公司 | Outer skeleton robot |
| CN108688887A (en) * | 2018-02-17 | 2018-10-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | The intelligent folder bag manipulator of flexible circulation conveying track |
| CN108688887B (en) * | 2018-02-17 | 2023-12-05 | 中科(洛阳)机器人与智能装备研究院 | Intelligent bag clamping manipulator for flexible circulating conveying rail |
| CN110464606A (en) * | 2019-09-10 | 2019-11-19 | 河北工业大学 | A kind of wearable lower limb walk-aiding exoskeleton of apery body motion of knee joint curve |
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