CN106943281A - The side-sway joint of polypody power-assisted healing robot - Google Patents
The side-sway joint of polypody power-assisted healing robot Download PDFInfo
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- CN106943281A CN106943281A CN201710182593.1A CN201710182593A CN106943281A CN 106943281 A CN106943281 A CN 106943281A CN 201710182593 A CN201710182593 A CN 201710182593A CN 106943281 A CN106943281 A CN 106943281A
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- leading screw
- circular hole
- electric pushrod
- thigh bone
- robot
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- 230000035876 healing Effects 0.000 title claims abstract description 24
- 241000592274 Polypodium vulgare Species 0.000 title claims abstract description 23
- 210000001694 thigh bone Anatomy 0.000 claims abstract description 48
- 210000003141 lower extremity Anatomy 0.000 abstract description 11
- 210000002414 leg Anatomy 0.000 description 20
- 238000005452 bending Methods 0.000 description 18
- 235000001968 nicotinic acid Nutrition 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 238000011160 research Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000011664 nicotinic acid Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 208000012639 Balance disease Diseases 0.000 description 1
- 241000408659 Darpa Species 0.000 description 1
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 206010068052 Mosaicism Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000002745 epiphysis Anatomy 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000001930 leg bone Anatomy 0.000 description 1
- 230000006742 locomotor activity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000032696 parturition Effects 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 210000003765 sex chromosome Anatomy 0.000 description 1
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
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- 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)
- Rehabilitation Tools (AREA)
Abstract
A kind of side-sway joint of polypody power-assisted healing robot, including electric pushrod driver, the Waistband structure of robot and the rotation pair of electric pushrod driver are connected, secondary and connection Waistband structure and nearly thigh bone the rotation pair of rotation of the nearly thigh bone and electric pushrod driver of robot is connected；Stepper motor is installed on motor tingle, fixed circular hole is provided with motor tingle, fixed pin shaft passes through fixed circular hole to be connected on Waistband structure, one end connection of stepper motor output shaft and leading screw, leading screw and leading screw sleeve connection, spherical plain bearing rod end one end is coordinated by port nut and leading screw sleeve gap, the spherical plain bearing rod end other end is provided with end circular hole, end circular hole is connected to the top of nearly thigh bone with end bearing pin, the circular hole interference fit of leading screw sleeve and sliding block, sliding block is slideably sleeved on guide rail, and guide rail is fixed with motor tingle.Balance of the present invention is preferably, energy use efficiency is higher, be effectively applicable to the elderly and the power-assisted rehabilitation of lower limb disability person.
Description
Technical field
The present invention relates to robot field, especially a kind of side-sway joint of power-assisted healing robot.
Background technology
With developing rapidly for modern science and technology, the application of robot is not merely confined to industrial circle, but progressively should
For fields such as agricultural, medical treatment and services.The application of robot gradually becomes more diversified and complicated.The present invention
It is a wearable bionic 6-leg pedipulator, its major function is extension human body lower limbs motor function, and application is old
Year people and lower limb disability person, final goal are to realize that application recovers normal walking ability.This requires that Hexapod Robot will
It is flexibly and safe as people's leg.And there is balance difficulty height, gait planning and be difficult in two traditional sufficient exoskeleton robots
U.S.A agrees with the motion of people's leg so that easily interfering the inherent defect caused in damage etc. structure, and these shortcomings cause two foots
Exoskeleton robot temporarily can not preferably meet today's society demand.
At present, domestic and international scientific research institution has now been developed a variety of power-assisting robots, wherein with two sufficient ectoskeleton power-assisted machines
Based on people, and in terms of polypody power-assisted healing robot it is a blank.
The research of ectoskeleton power-assisting robot starts from the U.S. of 1960s, and earliest achievement in research is AM General
The Hardiman exoskeleton systems of company's research and development, it mainly uses drive and control of electric machine, can lifting heavy easily.On lower limb
Exoskeleton robot, the lower limb exoskeleton robot (Berkeley that Univ California-Berkeley develops in 2004
Lower extremity exoskeleton, BLEEX), it is Advanced Research Projects office of U.S. Department of Defense (DARPA) EHPA projects
The First of development can bear a heavy burden and Tape movement power supply exoskeleton robot.BLEEX exoskeleton robots are by power-equipment, the back of the body
Packet mode support, 2 bionic mechanical powered leg compositions, using hydraulic-driven, its hydraulic pump energy sources is in its Backpack type support
Hydraulic Power Transmission System and box miniature air speed sensing instrument.But it is short to there is cruising time in this exoskeleton robot, TRT
Have influence on walking step state, the problems such as balance is weak.
Ectoskeleton technology is still in phase of basic research, China's state natural sciences fund and science and technology supporting project in China
Also gradually pay close attention to, carry out the research of exoskeleton robot.On October 15th, 2016 is handed over by He Fu artificial intelligence group joint Shanghai
The six foot walking robots in parallel that logical university researches and develops jointly formally expose in PVG, and manned drilled around stake walking
Show.Carrying, avoidance, the exceedingly difficult movements such as cat ladder, but it uses hydraulic-driven up and down can be achieved with walking in the football association of robot six,
Pressure fluid is easily revealed, and work noise is larger, and energy use efficiency is low, and transmission speed is low, be not suitable for for the elderly and
The power-assisted rehabilitation of lower limb disability person.
The content of the invention
In order to overcome, the balance of existing exoskeleton robot is poor, energy use efficiency is relatively low, can not be applied to old age
The deficiency of the power-assisted rehabilitation of people and lower limb disability person, a kind of balance of present invention offer is preferable, energy use efficiency is higher, effective
Suitable for the side-sway joint of the polypody power-assisted healing robot of the power-assisted rehabilitation of the elderly and lower limb disability person.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of side-sway joint of polypody power-assisted healing robot, the side-sway joint include electric pushrod driver, one
Connect the Waistband structure of robot and the rotation pair of electric pushrod driver, the nearly thigh bone and electric pushrod of a connection robot
Secondary and a connection Waistband structure and nearly thigh bone the rotation pair of the rotation of driver；The electric pushrod driver include sliding block,
Guide rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, the stepper motor are installed on motor tingle, described
Fixed circular hole is provided with motor tingle, fixed pin shaft is constituted through the fixed circular hole and is hingedly connected on Waistband structure,
The output shaft of the stepper motor and one end of leading screw are connected, the leading screw and leading screw sleeve connection, the spherical plain bearing rod end
One end coordinated by port nut and leading screw sleeve gap, the other end of the spherical plain bearing rod end is provided with end circular hole, institute
State end circular hole and the top for being hingedly connected at nearly thigh bone is constituted with end bearing pin, the circular hole interference of the leading screw sleeve and sliding block is matched somebody with somebody
Close, the sliding block is slideably sleeved on guide rail, and the guide rail is fixedly connected with the motor tingle.
The present invention technical concept be：Polypody power-assisted healing robot with galleyworm (such as spider) be prototype, from knot
Structure and functionally imitated, with 6 Form of Bionics Mechanical Legs and multiple frees degree, help human body to be carried out continuously by driver
The similar action such as walk, climb, going upstairs.With present device, elderly and infirm and lower limb disability person can be helped as strong
The young man of health is the same rapidly to take action.It is used as a wearable new light weight robot.It is extensive that it not only assists in disabled person
Multiple locomotor activity, is expected to avoid patient from giving birth to pressure sore because being sitting on wheelchair long-time, while can also improve health of heart shape
Condition, the intensity that exercises one's muscles, alleviation depression etc..Put on its people and can realize and easily walk, avoid swaggering rolling completely
Situation about shake, stopping when walking.Meanwhile, its realization will mitigate family and social pressures that aging and part disability are caused.
The present invention is the wearable design of belt type, and six independent Form of Bionics Mechanical Legs are around connection because being set using six sufficient structures
Meter, can preferably solve the unavoidable balance sex chromosome mosaicism of two biped robots, have good guarantee in stability and security.
One biggest advantage of Hexapod Robot is that the requirement to road surface of walking is very low, and it can be with across obstacle, sand ground of passing by, natural pond
The Special Roads such as pool, the design that thus be accordingly used in rehabilitation power-assisting robot is very suitable, can preferably realize and go upstairs
Obstacle crossing function.And a large amount of frees degree that the foot of robot has can make the motion of robot more flexible, to bumps not
The adaptability of flat landform is stronger.The foothold of six sufficient formula mobile robots is discrete, and the contact area with ground is smaller,
The optimal strong point can be selected on accessible ground, in the case of surface extreme is irregular, by strictly selecting
The strong point of foot, can also walk freely.Meanwhile, this equipment uses driving stepper motor, compared to hydraulic-driven, with volume
Small, technology maturation is simple in construction, pollution-free, and energy consumption is low, the advantages of signal transmission is rapid and easy to automate.
Beneficial effects of the present invention are mainly manifested in：1st, polypody power-assisted healing robot involved in the present invention has six
Mechanical bionic leg and 18 frees degree, every leg all include two flexing joints, so as to realize curvature movement, therefore
The present invention can realize the functions such as standing, holding balance, walking that human body lower limbs mainly undertake；2nd, using electric pushrod driver
Driving, can produce enough high thrusts, cradle head realizes motion, and stepper motor energy consumption is low, signal transmission rapid and is easy to
Realize automation；3rd, the present invention uses modularized design, and six mechanical bionic legs are independent mutually, coordinate to control by master chip,
Simple and compact for structure, easy to process, assembling and repairing easy maintenance, cost are relatively low.
Brief description of the drawings
Fig. 1 is polypody power-assisted healing robot overall structure 3 d effect graph of the present invention.
Fig. 2 is polypody power-assisted healing robot Waistband structure-Form of Bionics Mechanical Legs module 3 d effect graph of the present invention.
Fig. 3 is polypody power-assisted healing robot Waistband structure-lateral structural representation of Form of Bionics Mechanical Legs module of the present invention.
Fig. 4 is the bending joint 3 d effect graph in polypody power-assisted healing robot stand leg portion of the present invention.
The bending joint principle schematic diagram of Fig. 5 legs.
Fig. 6 is Fig. 5 top view.
Fig. 7 is the structural representation of the electric pushrod driver in polypody power-assisted healing robot of the present invention.
Fig. 8 is the side-sway joint structure three-dimensional design sketch in polypody power-assisted healing robot of the present invention.
Fig. 9 is the side-sway joint structural representation in polypody power-assisted healing robot of the present invention.
Figure 10 is the measurements of the chest, waist and hips design sketch of Waistband structure connection in polypody power-assisted healing robot of the present invention.
Figure 11 is the structural representation of Waistband structure connection in polypody power-assisted healing robot of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of 1~Figure 11 of reference picture, side-sway joint of polypody power-assisted healing robot, the side-sway joint includes electronic push away
The rotation pair of bar driver, the Waistband structure of connection robot and electric pushrod driver, connection robot it is near
Secondary and a connection Waistband structure and nearly thigh bone the rotation pair of the rotation of thigh bone and electric pushrod driver；The electric pushrod drives
Dynamic device includes sliding block, guide rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, and the stepper motor is installed motor and consolidated
On clamp piece, fixed circular hole is provided with the motor tingle, fixed pin shaft constitutes chain connection through the fixed circular hole
On Waistband structure, the output shaft of the stepper motor and one end of leading screw are connected, and the leading screw and leading screw sleeve connection are described
One end of spherical plain bearing rod end is coordinated by port nut and leading screw sleeve gap, and the other end of the spherical plain bearing rod end is provided with
End circular hole, the end circular hole constitutes the top for being hingedly connected at nearly thigh bone, the leading screw sleeve and sliding block with end bearing pin
Circular hole interference fit, the sliding block is slideably sleeved on guide rail, and the guide rail is fixed with the motor tingle to be connected
Connect.
The polypody power-assisted healing robot that the bending joint of the present embodiment is realized, the robot includes the He of Waistband structure 5
Form of Bionics Mechanical Legs, the Waistband structure 5 is connected form ring-like belt two-by-two, and the Waistband structure 5 is connected with Form of Bionics Mechanical Legs, institute
Stating Form of Bionics Mechanical Legs includes nearly thigh bone 3, middle thigh bone 1 and remote thigh bone 10, and the upper end of the Waistband structure 5 and nearly thigh bone 3 passes through side
Joint connection is put, is connected between the nearly thigh bone 3 and the rear end of the epiphysis of middle leg 1 by the first bending joint, the middle leg
Bone 1 is connected with the upper end of the remote thigh bone 10 by the second bending joint.
Further, first bending joint includes the first electric pushrod driver 4, first electric pushrod of connection and driven
Dynamic device is secondary with the rotation of nearly thigh bone, one be connected the first electric pushrod driver and be connected nearly leg with the rotation pair of middle thigh bone and one
Rotation pair between the lower end of bone and middle thigh bone.
The first electric pushrod driver 4 includes the first sliding block, the first guide rail, the first stepper motor, the first leading screw, the
One leading screw sleeve and the first spherical plain bearing rod end, first stepper motor are installed on the first motor tingle, and described first
The first circular hole is provided with motor tingle, the first bearing pin constitutes first axle through first circular hole and is connected to nearly thigh bone
On, the output shaft of first stepper motor is connected with one end of the first leading screw, and first leading screw and the first leading screw sleeve connect
Connect, one end of first spherical plain bearing rod end is coordinated by port nut and the first leading screw sleeve gap, first rod end
The other end of oscillating bearing is provided with the second circular hole, and second circular hole and the second bearing pin constitute second hinge and be connected to middle thigh bone
Rear end；The circular hole interference fit of the first leading screw sleeve and the first sliding block, first sliding block is slideably sleeved on first
On guide rail, first guide rail is fixedly connected with the first motor tingle.
Second bending joint include the second electric pushrod driver 8, a second electric pushrod driver of connection with
During the rotation of middle thigh bone is secondary, a second electric pushrod driver of connection is connected with the rotation pair of middle thigh bone or remote thigh bone and one
Rotation pair between the front end of thigh bone and remote thigh bone.
The second electric pushrod driver 8 includes the second sliding block, the second guide rail, the second stepper motor, the second leading screw, the
Two leading screw sleeves and the second spherical plain bearing rod end, second stepper motor are installed on the second motor tingle, and described second
The 3rd circular hole is provided with motor tingle, the 3rd bearing pin constitutes third hinge through the 3rd circular hole and is connected to middle thigh bone
On, the output shaft of second stepper motor is connected with one end of the second leading screw, and second leading screw and the second leading screw sleeve connect
Connect, one end of second spherical plain bearing rod end is coordinated by port nut and the second leading screw sleeve gap, second rod end
The other end of oscillating bearing is provided with the 4th circular hole, and the 4th circular hole and the 4th bearing pin constitute the 4th and be hingedly connected at remote middle thigh bone
Upper end；The circular hole interference fit of the second leading screw sleeve and the second sliding block, second sliding block is slideably sleeved on the
On two guide rails, second guide rail is fixedly connected with the second motor tingle.
The side-sway joint includes the 3rd electric pushrod driver 7, a connection Waistband structure and the 3rd electric pushrod and driven
The rotation pair of dynamic device, the rotation of a nearly thigh bone of connection and the 3rd electric pushrod driver is secondary to connect Waistband structure and near with one
The rotation pair of thigh bone.
The 3rd electric pushrod driver 7 includes the 3rd sliding block, the 3rd guide rail, the 3rd stepper motor, the 3rd leading screw, the
Three leading screw sleeves and the 3rd spherical plain bearing rod end, the 3rd stepper motor are installed on the 3rd motor tingle, and the described 3rd
The 5th circular hole is provided with motor tingle, the 5th bearing pin constitutes the 5th through the 5th circular hole and is hingedly connected at Waistband structure
On, the output shaft of the 3rd stepper motor is connected with one end of the 3rd leading screw, and the 3rd leading screw and the 3rd leading screw sleeve connect
Connect, one end of the 3rd spherical plain bearing rod end is coordinated by port nut and the 3rd leading screw sleeve gap, the 3rd rod end
The other end of oscillating bearing is provided with the 6th circular hole, and the 6th circular hole and the 6th bearing pin constitute the 4th and be hingedly connected at nearly thigh bone
Top, the circular hole interference fit of the 3rd leading screw sleeve and the 3rd sliding block, the 3rd sliding block is slideably sleeved on the 3rd
On guide rail, the 3rd guide rail is fixedly connected with the 3rd motor tingle.
The Waistband structure and Form of Bionics Mechanical Legs are six, and each Waistband structure is in 120 ° of angles, the annular belt
In regular hexagon, the angle of the Waistband structure is connected with Form of Bionics Mechanical Legs.It is of course also possible to be other structures form.Institute
State Waistband structure and connected two-by-two by bolt assembly 32 and form ring-like belt.
The layout of each structure of robot of the present embodiment is using galleyworm as reference, such as Fig. 1, on the whole into regular hexagon,
It is formed by connecting by six separate modulars, each module includes a Waistband structure 5 and a Form of Bionics Mechanical Legs, reference picture 2.It is most upper
End Waistband structure is one 120 degree of angle, the length of side 125mm of angle two.The long 850mm of remote thigh bone, the middle long 560mm of thigh bone, nearly thigh bone is long
440mm.Every bending joint of pedipulator first and the second bending joint and side-sway joint rotational angle range are all at 0~60 degree.
18 have been used in six waistbands-leg module of polypody power-assisted healing robot of the present invention altogether based on electricity
The cradle head (12 bending joints, 6 side-sway joints) of dynamic push rod driver.Bending joint can realize pedipulator in its institute
Curvature movement planar, is the important composition part of the present invention, therefore bending joint is described in detail, the first bending
Joint is identical with the structure of the second bending joint.Reference picture 4~6, by taking the second bending joint as an example, the second described bending joint
Rotation pair 11 including a second electric pushrod driver of connection 8 with middle thigh bone 1, a second electric pushrod driver of connection
8 with the rotation pair 12 of remote thigh bone 10, the rotation pair 13 of thigh bone 1 and remote thigh bone 10 in a connection.Reference picture 7, described second
Electric pushrod driver includes the second sliding block 14, the second guide rail 15, two the second motor tingles 18 and 20, the second stepping electricity
Machine 19, second shaft coupling 22, the second leading screw 23, the second leading screw sleeve 24 and the second spherical plain bearing rod end 26.Two of which second
Motor tingle 18,20 is fixedly connected by 4 soket head cap screws 21 with the second stepper motor 19, further through the 3rd circular hole 17
Hinge-connection is constituted with bearing pin, is connected on middle thigh bone 1.Second leading screw 23 passes through the motor shaft 16 of second shaft coupling 22 and second
Connection, the second leading screw sleeve 24 is threadedly coupled with its second internal leading screw 23, and the is driven during the rotation of the second motor shaft 16
Two leading screws 23 are rotated so that the second leading screw sleeve 24 is moved axially.Second spherical plain bearing rod end 27, one end passes through the second end
Mouth nut 26 and second leading screw sleeve gap coordinates, and the circular hole 28 of the other end the 4th constitutes hinge by bearing pin and rotates secondary and remote thigh bone
10 connections.Described one end of second sliding block 14 coordinates with the second guide rail 15, should be with gap cooperation is combined into, and the other end passes through circular hole and the
Two leading screw sleeves 24 are interference fitted, and the second guide rail 15 is fixedly connected on the second motor tingle 18,20, is played to second
Thick stick 23 is provided a supporting role.During work, the second electric pushrod driver elongation, middle thigh bone 1 diminishes with the remote inner angle of thigh bone 10,
Second electric pushrod driver shortens, and middle thigh bone 1 becomes big with the remote inner angle of thigh bone 10.Based on the second electric pushrod driver
The angle range of second bending joint is 0 °~60 °, and its is simple in construction, good, the flexible movements of rigidity, with larger implementation valency
Value.
Every pedipulator of polypody power-assisted healing robot of the present invention can not only realize that flexing (bending) is moved, Er Qieke
To realize that side-sway is moved.Side-sway joint has been invented based on electric pushrod driver.Reference picture 8 and Fig. 9, described side-sway joint bag
The rotation pair 30 of a connection electric pushrod driver 7 of Waistband structure 5 and the 3rd is included, a nearly thigh bone 3 and the 3rd of connection is electronic
The rotation pair 31 of the rotation pair 29 of push rod driver 7, a connection Waistband structure 5 and nearly thigh bone 3.The 3rd described electric pushrod
The structure of driver 7 and operation principle are identical with the second electric pushrod driver, and its rear end is made up of the 5th circular hole and bearing pin and cut with scissors
Chain rotates pair 30, and front end constitutes hinge by the 6th circular hole and bearing pin and rotates pair 29.During work, the 3rd electric pushrod driver is stretched
Long or shortening, drives rotation pair 31 to rotate, realizes the side-sway function of machine.Side-sway joint based on the 3rd electric pushrod driver
Angle range be 0 °~60 °, its is simple in construction, rigidity good, flexible movements, with larger implementary value.
Connection reference picture 10 between the Waistband structure of polypody power-assisted healing robot of the present invention.Six belt knots
Structure is sequentially connected with by bolt group can form regular hexagon fuselage.Its is simple in construction, and rigidity is good, it is easy to detachable maintaining.
The drive system of the present invention includes power supply, stepper motor, control card, industrial computer, ultrasonic wave with control measuring system
Sensor and computer software.
Claims (1)
1. a kind of side-sway joint of polypody power-assisted healing robot, it is characterised in that：The side-sway joint drives including electric pushrod
The rotation pair of dynamic device, the Waistband structure of connection robot and electric pushrod driver, the nearly thigh bone of a connection robot
Secondary and a connection Waistband structure and nearly thigh bone the rotation pair of rotation with electric pushrod driver；The electric pushrod driver
Including sliding block, guide rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, the stepper motor installs motor geometrical clamp
On piece, fixed circular hole is provided with the motor tingle, fixed pin shaft constitutes through the fixed circular hole and is hingedly connected at waist
On band structure, the output shaft of the stepper motor and one end of leading screw are connected, the leading screw and leading screw sleeve connection, the rod end
One end of oscillating bearing is coordinated by port nut and leading screw sleeve gap, and the other end of the spherical plain bearing rod end is provided with end
Circular hole, the end circular hole constitutes the top for being hingedly connected at nearly thigh bone, the circle of the leading screw sleeve and sliding block with end bearing pin
Hole is interference fitted, and the sliding block is slideably sleeved on guide rail, and the guide rail is fixedly connected with the motor tingle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182593.1A CN106943281A (en) | 2017-03-24 | 2017-03-24 | The side-sway joint of polypody power-assisted healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182593.1A CN106943281A (en) | 2017-03-24 | 2017-03-24 | The side-sway joint of polypody power-assisted healing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106943281A true CN106943281A (en) | 2017-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710182593.1A Pending CN106943281A (en) | 2017-03-24 | 2017-03-24 | The side-sway joint of polypody power-assisted healing robot |
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| CN (1) | CN106943281A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN207429346U (en) * | 2017-03-24 | 2018-06-01 | 浙江工业大学 | The side-sway joint of polypody power-assisted healing robot |
-
2017
- 2017-03-24 CN CN201710182593.1A patent/CN106943281A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN207429346U (en) * | 2017-03-24 | 2018-06-01 | 浙江工业大学 | The side-sway joint of polypody power-assisted healing robot |
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Application publication date: 20170714 |