CN106691781A - Rehabilitation robot - Google Patents
Rehabilitation robot Download PDFInfo
- Publication number
- CN106691781A CN106691781A CN201710117327.0A CN201710117327A CN106691781A CN 106691781 A CN106691781 A CN 106691781A CN 201710117327 A CN201710117327 A CN 201710117327A CN 106691781 A CN106691781 A CN 106691781A
- Authority
- CN
- China
- Prior art keywords
- joint
- limbs
- robot
- bevel gear
- upper limbs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 210000003414 extremity Anatomy 0.000 claims abstract description 29
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 24
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 20
- 239000003638 chemical reducing agent Substances 0.000 claims abstract 3
- 230000035876 healing Effects 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention relates to robots, and discloses a rehabilitation robot which comprises a robot body. The robot body is provided with limbs, the multi-section limbs respectively include upper limbs and lower limbs, the upper limbs and the lower limbs are connected with one another by first joints, power devices are further connected with the first joints, and the first joints can be operated and can drive the upper limbs and the lower limbs to be stretched or bent so as to complete an action. The rehabilitation robot is characterized in that speed reducers are mounted in the side surfaces of the first joints, a servo motor is mounted on a side surface of one of each upper limb and the corresponding lower limb, each servo motor is connected with the corresponding speed reducer by a bevel gear, and the servo motors are connected with control devices. The rehabilitation robot has the advantages that the robot body is provided with the multiple limbs, the various servo motors are arranged at the joints of the various limbs, and accordingly the rehabilitation robot is simple in structure and small in occupied space and can be operated flexibly.
Description
Technical field
The present invention relates to robot, more particularly to healing robot.
Technical background
Healing robot includes robot body, and robot body has limb portion, and described limb portion is more piece, more piece
Limb portion is respectively upper limbs portion and lower limb portion, is connected with joint between upper limbs portion and lower limb portion, and also power set are connected to joint,
Run in joint（Rotate）, the extension or bending between upper limbs portion and lower limb portion can be driven, complete an action；Prior art
In, it is diversified with diarthrodial power, but it has complex structure, operation dumb or it has occupancy larger
Space shortcoming.
The content of the invention
The purpose of the present invention is aiming at disadvantages mentioned above, there is provided a kind of simple structure, flexible operation, the health for occupying little space
Multiple robot.
The technical proposal of the invention is realized in this way：A kind of healing robot, including robot body, robot body
With limb portion, described limb portion is more piece, and the limb portion of more piece is respectively upper limbs portion and lower limb portion, between upper limbs portion and lower limb portion
Connected with the first joint, also power set are connected to the first joint, the operation of the first joint（Rotate）, can drive upper limbs portion and
Extension or bending between lower limb portion, complete an action；It is characterized in that：First joint side is installed by reductor, upper limbs
Servomotor is installed in portion and the lower limb portion side of one of them, is connected with bevel gear between servomotor and reductor, described
Servomotor connection control device.
Further speaking, described robot body has multiple limb portions, and the joint part in each limb portion has various
Servomotor.
Further speaking, described robot body has trunk, there is second joint between limb portion and metastomium, described
Reductor is installed in second joint side, and the side in upper limbs portion is installed servomotor, umbrella shape tooth is used between servomotor and reductor
Wheel connection, described servomotor connection control device.
Further speaking, described bevel gear is curved tooth bevel gear.
The beneficial effects of the invention are as follows：Such healing robot has simple structure, flexible operation, occupies little space
Advantage；
Described robot body has multiple limb portions, and the joint part in each limb portion has various servomotors, also has
The more flexible advantage of operation；
Described robot body has trunk, there is second joint, the second joint side peace between limb portion and metastomium
Servomotor is installed in dress reductor, the side in upper limbs portion, is connected with bevel gear between servomotor and reductor, and described watches
Motor connection control device is taken, also has the advantages that operation is more flexible；
Described bevel gear is curved tooth bevel gear, also has the advantages that operation is accurate, noise is low.
Brief description of the drawings
Fig. 1 is the structural representation of side of the present invention.
Fig. 2 be Fig. 1 in A-A parts main view when inside structural representation.
Wherein：1st, robot body 2, upper limbs portion 3, lower limb portion 4, the first joint 5, reductor 6, servo electricity
Machine 7, bevel gear 8, second joint.
Specific embodiment：
The present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, a kind of healing robot, including robot body 1, robot body has limb portion, described
Limb portion is more piece, and the limb portion of more piece is respectively upper limbs portion 2 and lower limb portion 3, is connected with the first joint 4 between upper limbs portion and lower limb portion
Connect, also power set are connected to the first joint 4, the operation of the first joint（Rotate）, can drive between upper limbs portion and lower limb portion
Extension or bending, complete one action；It is characterized in that：First joint side is installed by reductor 5, upper limbs portion and lower limb portion
Servomotor 6 is installed in the side of one of them, is connected with bevel gear 7 between servomotor and reductor, described servo electricity
Machine connects control device.
So, servomotor is arranged on the side in limb portion, can individually complete an action, reduces power transfering part
Part, with the flexible advantage of control.
Further speaking, described robot body has multiple limb portions, and the joint part in each limb portion has various
Servomotor, so controls more flexible.
Further speaking, described robot body has trunk, there is second joint 8, institute between limb portion and metastomium
State the side of second joint 8 and reductor is installed, the side in upper limbs portion is installed servomotor, umbrella shape is used between servomotor and reductor
Gear is connected, described servomotor connection control device, and principle is as above.
Further speaking, described bevel gear is curved tooth bevel gear.
Specific embodiment of the invention is the foregoing is only, but architectural feature of the invention is not limited to this, any ability
The technical staff in domain in the field of the invention, all cover in the scope of the claims of the invention by the change or modification made.
Claims (5)
1. a kind of healing robot, including robot body, robot body has limb portion, and described limb portion is more piece, many
The limb portion of section is respectively upper limbs portion and lower limb portion, is connected with the first joint between upper limbs portion and lower limb portion, and also power set connect
Then the first joint, the operation of the first joint, can drive the extension or bending between upper limbs portion and lower limb portion, complete one and move
Make；It is characterized in that：Reductor is installed in first joint side, and servo electricity is installed in upper limbs portion and the lower limb portion side of one of them
Machine, is connected between servomotor and reductor with bevel gear, described servomotor connection control device.
2. robot according to claim 1, it is characterized in that：Described robot body has multiple limb portions, each limb
Joint part in portion has various servomotors.
3. robot according to claim 1 and 2, it is characterized in that：Described robot body has trunk, limb portion and body
There is second joint between cadre position, reductor is installed in the second joint side, and servomotor, servo are installed in the side in upper limbs portion
Connected with bevel gear between motor and speed reducer, described servomotor connection control device.
4. robot according to claim 1 and 2, it is characterized in that：Described bevel gear is curved tooth bevel gear.
5. robot according to claim 3, it is characterized in that：Described bevel gear is curved tooth bevel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710117327.0A CN106691781A (en) | 2017-03-01 | 2017-03-01 | Rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710117327.0A CN106691781A (en) | 2017-03-01 | 2017-03-01 | Rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106691781A true CN106691781A (en) | 2017-05-24 |
Family
ID=58917851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710117327.0A Withdrawn CN106691781A (en) | 2017-03-01 | 2017-03-01 | Rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106691781A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101589983A (en) * | 2009-06-26 | 2009-12-02 | 北京工业大学 | Wearable lower limb exoskeleton device |
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN201856250U (en) * | 2010-04-28 | 2011-06-08 | 青岛思威机器人科技有限公司 | Robot joint driving device |
| CN207168699U (en) * | 2017-03-01 | 2018-04-03 | 河南省中瑞机器人科技有限公司 | A kind of healing robot |
-
2017
- 2017-03-01 CN CN201710117327.0A patent/CN106691781A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101589983A (en) * | 2009-06-26 | 2009-12-02 | 北京工业大学 | Wearable lower limb exoskeleton device |
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN201856250U (en) * | 2010-04-28 | 2011-06-08 | 青岛思威机器人科技有限公司 | Robot joint driving device |
| CN207168699U (en) * | 2017-03-01 | 2018-04-03 | 河南省中瑞机器人科技有限公司 | A kind of healing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170524 |