CN107661192A - A kind of assistant robot - Google Patents
A kind of assistant robot Download PDFInfo
- Publication number
- CN107661192A CN107661192A CN201710736378.1A CN201710736378A CN107661192A CN 107661192 A CN107661192 A CN 107661192A CN 201710736378 A CN201710736378 A CN 201710736378A CN 107661192 A CN107661192 A CN 107661192A
- Authority
- CN
- China
- Prior art keywords
- lower case
- upper body
- assistant robot
- power set
- torsion spring
- 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.)
- Pending
Links
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
Abstract
The invention discloses a kind of assistant robot, including：Upper body, power set and lower case, upper body are fixedly connected with power set, and power set driving lower case is swung, and upper body is rotatably connected with lower case.By setting upper body and lower case to be connected with human leg joint parcel, power set driving human leg moves auxiliary human body walking, is driven compared in the market multi-joint, the assistant robot of single joint parcel, the present invention can single leg using simple in construction, it is cost-effective.
Description
Technical field
The present invention relates to robot assisted walking field, more particularly to a kind of wearable assistant robot.
Background technology
The application of robot is more and more extensive in terms of medical auxiliary treatment at present, for for aiding in hemiplegia to suffer from
The assistant robot of person, polio victim and the spinal cord injury patient between L1-L5 levels also have begun to apply, but
For existing assistant robot because its common configuration is complicated, cost is high so that and in general family is difficult to consume to rise, and is more,
The existing most specific aim of robot for aiding in walking of in the market is not strong, and movement effects are poor.
The content of the invention
The technical problem to be solved in the present invention is：A kind of assistant robot simple in construction, cost-effective is provided.
The present invention is to solve a kind of technical scheme that its technical problem provides to be：
A kind of assistant robot, it is characterised in that including：Upper body, power set and lower case, the upper case
Body is fixedly connected with the power set, and the power set drive the lower case to swing, the upper body with it is described
Lower case is rotatably connected.
As the improvement of such scheme, the upper body and/or lower case are semi-open structure, the upper body
On be provided with top parcel, bottom parcel is provided with the lower case.
As the further improvement of such scheme, the power set include intermeshing bevel gear, gear shaft and electricity
Machine, the gear shaft engage with the bevel gear, and one end and the motor of the bevel gear are connected, the umbrella tooth wheel drive institute
Stating gear shaft drives the lower case to swing.
As the improvement of such scheme, the upper body, lower case and power set are connected as by the gear shaft
One.
As the improvement of such scheme, one end of the gear shaft is connected with potentiometer, and the potentiometer is used for detecting tooth
The angle that wheel shaft turns over.
As the further improvement of such scheme, torsion device is connected between the upper body and the lower case,
The torsion device can be used for buffering.
As the improvement of such scheme, one end of the torsion device and the first connecting plate being arranged on power set connect
Connect, the other end is connected with the second connecting plate being arranged on power set.
As the improvement of such scheme, the torsion device is torsion spring.
As the further improvement of such scheme, the torsion device includes torsion spring regulating block and torsion spring, positioned at lower house
On torsion spring fixed seat on be provided with trough type regulation screens, the torsion spring regulating block is caught in different screens so that torsion spring compresses
Or unfold.
As the improvement of such scheme, the lower case is consolidated with connecting plate, and the end of the connecting plate is connected with pin
Portion's supporting plate, the foot supporting board are moved with the lower case.
The beneficial effects of the invention are as follows：By setting upper body and lower case to be connected with human leg joint parcel,
Power set driving human leg moves auxiliary human body walking, is driven compared in the market multi-joint, single joint parcel helps
Row robot, the present invention can single leg using simple in construction, it is cost-effective.
Brief description of the drawings
For the technical scheme in the clearer explanation embodiment of the present invention, make required in being described below to embodiment
Accompanying drawing briefly describes.
Fig. 1 is the stereogram of one embodiment of the present invention；
Fig. 2 is the front view view of one embodiment of the present invention；
Fig. 3 is Fig. 2 middle and upper parts housing, power set, the structural representation of lower case；
Fig. 4 is the side view of one embodiment of the present invention；
Fig. 5 is the partial view of torsion device in Fig. 4.
Embodiment
With reference to embodiments with accompanying drawing to the present invention design, concrete structure and caused technique effect carry out it is clear,
It is fully described by, to fully understand the purpose of the present invention, scheme and effect.It should be noted that in the case where not conflicting originally
The feature in embodiment and embodiment in application can be mutually combined.In addition upper and lower, left and right used in the present invention etc.
Describe in only relative figure for the relation of each part mutual alignment of the invention.
Fig. 1 is the stereogram of one embodiment of the present invention, and Fig. 2 is the front view of one embodiment of the present invention, is referred to
Fig. 1, Fig. 2, a kind of assistant robot, including upper body 1, lower case 2 and power set 3, the upper body 1, under
Portion's housing 2 and power set 3 are connected with each other, and the upper body 1 is generally in half parcel shape of symmetrical structure, the top
Installing plate 12 is provided with housing 1, the first connecting plate 34 and the second connecting plate 35, the peace are provided with the power set 3
Loading board 12 is connected with the first connecting plate 34, and second connecting plate 35 is bolted to connection with lower case 2, upper body
Parcel is additionally provided with 1, the end set of the parcel has upper neck 13, and upper neck 13 can be used for connecting bandage, can incite somebody to action
Upper body 1 is fixedly connected with limbs, and upper shed 14 is additionally provided with upper body 1, on the one hand the upper shed 14 may be used
To mitigate the weight of upper body 1, upper body 1 on the other hand can be caused to unfold space with certain to adapt to more
Leg type；Lower case 2 is connected with the upper body 1, and lower case 2 is overall to wrap up shape in half, is provided with down in lower case 2
Limb parcel, lower bayonet slot 21 is provided with the lower limb parcel, bandage can be connected in the lower bayonet slot 21 and is used to fix bottom
Housing 2 and limbs, under shed 22 are additionally provided with the lower case 2, the under shed 22 alleviates the weight of lower case 2
Amount, also provides in motion process for limbs and unfolds space so that the accommodation of lower case 2 is more wide in range, upper neck
13, lower bayonet slot 21 and upper shed 14 and the setting of under shed 22 make it that the accommodation of assistant robot is more wide in range.Under
Connecting plate 24 is also associated with portion's housing 2, the end of the connecting plate 24 is connected with foot supporting board 25, the lower case 2
Connecting plate 24 and foot supporting board 25 can be driven to move.
Power set 3 include intermeshing bevel gear 32, gear shaft 33, the gear shaft 33 and umbrella as shown in Figure 2
Gear 32 is fixedly connected, and the bevel gear 32 of vertical direction is fixedly connected with the output shaft of reductor 37, the bevel gear of horizontal direction
32 are fixedly connected with gear shaft 33, and the reductor 37 is fixedly connected by Z-type mounting bracket 36 with the first connecting plate 34 so that dynamic
3 compact simple in construction of power apparatus, the top of reductor 37 are provided with motor 38, and the end of motor 38 is connected with encoder
39, encoder 39 can the operating of effective guarantee motor accuracy and reliability, the outside one end of gear shaft 33 and Z-type reductor are pacified
36 connections are shelved, the inside one end of the gear shaft is connected with the first connecting plate 34 and the second connecting plate 35, the lower case 2
It is fixedly connected with the gear shaft 33, the gear shaft 33 is rotatably connected with first connecting plate 34, the gear shaft 33
Outside one end is also associated with potentiometer 31, and the potentiometer 31 is connected by screw with the Z-type link 36, the current potential
Meter 31 can detect the angle that gear shaft 33 turns over, and motor 38 drives bevel gear 32 to rotate on the power set 3, and bevel gear 32 drives
Movable gear shaft 33 rotates, and gear shaft 33 drives lower case 2 to move, and upper body 1 and the thigh position of human body are connected
Fixation, lower case 2 are connected with the calf below human knee, and power set 3 drive lower case 2 to move so that small
Leg carries out rotoflector motion by rotary shaft of knee, and then realizes and assist human body walking.
Fig. 3 is Fig. 2 middle and upper parts housing, power set, the structural representation of lower case, upper body 1 and lower case 2
Between be also associated with torsion device 39, the torsion device 39 is torsion spring, and the torsion device 39 can also use cylindrical spring
Replace, one end of the torsion spring and the clamping of the first connecting plate 34, the other end of the torsion spring and the clamping of the second connecting plate 35, torsion spring
Physical slot in the centre position that knee joint rotates, after knee joint bending reaches maximum, the power that torsion spring provides causes knee to close
Section has the trend stretched, and torsion spring provides the power for promoting knee bends after knee joint stretches, and the setting of torsion spring ensure that knee joint
Torsion spring in straightening procedure is changed into from bending and plays cushioning effect, avoids leg from coming to harm；More due to different patient legs
Clear-cutting forestland power is different, and torsion spring fixed seat is provided with the first connecting plate 34, and trough type tune is provided with the torsion spring fixed seat
Screens is saved, different screens is adjusted to by the regulating block being arranged on torsion spring to adjust the torque magnitude of torsion spring, so as to adapt to
The demand of different patients.
Fig. 4 is the side view of one embodiment of the present invention, and Fig. 5 is the partial view of torsion device in Fig. 4, with reference to figure 4
And Fig. 5, torsion device 39 include regulating block 391 and torsion spring 392, the torsion spring regulating block 391 is caught in different screens and then made
Obtain torsion spring compression or unfold.
Present pre-ferred embodiments are illustrated above, but the present invention is not limited to the embodiment, is familiar with
Those skilled in the art can also make a variety of equivalent variations or replacement on the premise of without prejudice to spirit of the invention, these etc.
Same deformation or replacement is all contained in the application claims limited range.
Claims (10)
- A kind of 1. assistant robot, it is characterised in that including：Upper body, power set and lower case, the upper body Be fixedly connected with the power set, the power set drive the lower case to swing, the upper body with it is described under Portion's housing is rotatably connected.
- 2. assistant robot according to claim 1, it is characterised in that：The upper body and/or lower case are half Open architecture, top parcel is provided with the upper body, bottom parcel is provided with the lower case.
- 3. assistant robot according to claim 1, it is characterised in that：The power set include intermeshing umbrella tooth Wheel, gear shaft and motor, the gear shaft engage with the bevel gear, and one end and the motor of the bevel gear are connected, institute Stating gear shaft described in umbrella tooth wheel drive drives the lower case to swing.
- 4. assistant robot according to claim 3, it is characterised in that：The gear shaft is by the upper body, bottom Housing and power set connect as one.
- 5. assistant robot according to claim 3, it is characterised in that：One end of the gear shaft is connected with potentiometer, The potentiometer is used for detecting the angle that gear shaft turns over.
- 6. according to the assistant robot described in claim 1 to 5 any one, it is characterised in that：The upper body with it is described Torsion device is connected between lower case, the torsion device can be used for buffering.
- 7. assistant robot according to claim 6, it is characterised in that：One end of the torsion device is with being arranged on power The first connecting plate connection on device, the other end are connected with the second connecting plate being arranged on power set.
- 8. assistant robot according to claim 6, it is characterised in that：The torsion device is torsion spring.
- 9. assistant robot according to claim 6, it is characterised in that：The torsion device includes torsion spring regulating block torsion spring With torsion spring fixed seat, trough type regulation screens, the torsion spring regulation are provided with the torsion spring fixed seat on the first connecting plate Block is caught in different screens to adjust the torque magnitude of torsion spring.
- 10. assistant robot according to claim 1, it is characterised in that：The lower case is consolidated with connecting plate, described The end of connecting plate is connected with foot supporting board, and the foot supporting board is moved with the lower case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710736378.1A CN107661192A (en) | 2017-08-24 | 2017-08-24 | A kind of assistant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710736378.1A CN107661192A (en) | 2017-08-24 | 2017-08-24 | A kind of assistant robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107661192A true CN107661192A (en) | 2018-02-06 |
Family
ID=61096992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710736378.1A Pending CN107661192A (en) | 2017-08-24 | 2017-08-24 | A kind of assistant robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107661192A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112656649A (en) * | 2020-12-05 | 2021-04-16 | 深圳市领为创新科技有限公司 | Control system and control method for medical intelligent auxiliary wearable device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201806803U (en) * | 2010-10-13 | 2011-04-27 | 江苏省伤残人康复中心 | Symmetrical torque type extension assisting mechanism of knee joints |
| CN102278279A (en) * | 2010-06-13 | 2011-12-14 | 孙首泉 | Duct type wind power generator |
| CN103260576A (en) * | 2010-12-16 | 2013-08-21 | 丰田自动车株式会社 | Walking assist apparatus |
| CN203710191U (en) * | 2014-02-27 | 2014-07-16 | 南开大学 | Assisted exoskeleton rehabilitation device |
| CN204932179U (en) * | 2015-09-16 | 2016-01-06 | 大连交通大学 | A kind of old people's ectoskeleton assistant robot |
| CN205145029U (en) * | 2015-10-30 | 2016-04-13 | 佳木斯大学 | Passive limbs of energy storage owner medical treatment rehabilitation training device |
| CN205172258U (en) * | 2015-12-10 | 2016-04-20 | 湖州职业技术学院 | Hydraulic pressure hinge close a torsional spring pretightning force adjustment mechanism |
| CN205400551U (en) * | 2016-02-24 | 2016-07-27 | 天津开发区陆成工贸有限公司 | Spool screen window pretightning force adjusting device |
| CN106109175A (en) * | 2016-07-15 | 2016-11-16 | 江苏大学 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
| CN206324513U (en) * | 2016-10-09 | 2017-07-14 | 杭州中泰实业集团有限公司 | Revolving chair tray torsion spring angle adjusting mechanism |
-
2017
- 2017-08-24 CN CN201710736378.1A patent/CN107661192A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278279A (en) * | 2010-06-13 | 2011-12-14 | 孙首泉 | Duct type wind power generator |
| CN201806803U (en) * | 2010-10-13 | 2011-04-27 | 江苏省伤残人康复中心 | Symmetrical torque type extension assisting mechanism of knee joints |
| CN103260576A (en) * | 2010-12-16 | 2013-08-21 | 丰田自动车株式会社 | Walking assist apparatus |
| CN203710191U (en) * | 2014-02-27 | 2014-07-16 | 南开大学 | Assisted exoskeleton rehabilitation device |
| CN204932179U (en) * | 2015-09-16 | 2016-01-06 | 大连交通大学 | A kind of old people's ectoskeleton assistant robot |
| CN205145029U (en) * | 2015-10-30 | 2016-04-13 | 佳木斯大学 | Passive limbs of energy storage owner medical treatment rehabilitation training device |
| CN205172258U (en) * | 2015-12-10 | 2016-04-20 | 湖州职业技术学院 | Hydraulic pressure hinge close a torsional spring pretightning force adjustment mechanism |
| CN205400551U (en) * | 2016-02-24 | 2016-07-27 | 天津开发区陆成工贸有限公司 | Spool screen window pretightning force adjusting device |
| CN106109175A (en) * | 2016-07-15 | 2016-11-16 | 江苏大学 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
| CN206324513U (en) * | 2016-10-09 | 2017-07-14 | 杭州中泰实业集团有限公司 | Revolving chair tray torsion spring angle adjusting mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112656649A (en) * | 2020-12-05 | 2021-04-16 | 深圳市领为创新科技有限公司 | Control system and control method for medical intelligent auxiliary wearable device |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180206 |