CN108785016A - Two translation of one kind, one rotation knee joint recovery robot - Google Patents
Two translation of one kind, one rotation knee joint recovery robot Download PDFInfo
- Publication number
- CN108785016A CN108785016A CN201810602368.3A CN201810602368A CN108785016A CN 108785016 A CN108785016 A CN 108785016A CN 201810602368 A CN201810602368 A CN 201810602368A CN 108785016 A CN108785016 A CN 108785016A
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- branch
- round bar
- connecting rod
- lower link
- upper connecting
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 29
- 238000011084 recovery Methods 0.000 title claims abstract description 21
- 238000013519 translation Methods 0.000 title claims abstract description 19
- 210000000689 upper leg Anatomy 0.000 claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 58
- 230000001105 regulatory effect Effects 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims description 13
- 239000002390 adhesive tape Substances 0.000 claims description 12
- 238000004873 anchoring Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 210000001699 lower leg Anatomy 0.000 abstract description 21
- 230000001186 cumulative effect Effects 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 abstract description 2
- 230000014616 translation Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000035876 healing Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 241000282376 Panthera tigris Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000002303 tibia Anatomy 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
Two translation of one kind, one rotation knee joint recovery robot, the thigh fixing support rack of thigh fixture are connected by revolute pair A with the first branch upper connecting rod regulating device, and the first branch lower link regulating device is connected with shank fixture by revolute pair C.The thigh fixing support rack of thigh fixture is connected by cylindrical pair with the second branch upper connecting rod regulating device, and the second branch lower link regulating device is connected with shank fixture by Hooke's hinge.The thigh fixing support rack of thigh fixture is connected with the free end of the electric pushrod of third branch by revolute pair D, and the fixing end of electric pushrod is connected by revolute pair E with shank fixture.Rigidity of the present invention is big, bearing capacity is strong, cumulative errors are small, kinematic accuracy is high, more it is bonded the characteristics of motion of human body knee joint, bio-imitability is good, it will not be interfered with leg in rehabilitation course, increase the working space of shank swaying direction, changeable human body motion track, can meet the needs of different knee joint size patients, versatility is good.
Description
Technical field
The present invention relates to a kind of healing robot, more particularly to a kind of parallel formula knee joint recovery robot.
Background technology
In recent years, Chinese economic growth is rapid, and transportation is also grown rapidly, the limb injury caused by traffic accident
Number also rise therewith.China's also Aging of Population simultaneously.Cardiovascular and cerebrovascular disease takes place frequently in the elderly, most of patients companion
There is hemiplegia symptom.According to relevant clinic study and proof, such disease is adopted other than using operative treatment in early stage
With correct, science rehabilitation training, recovery and raising to extremity motor function have extraordinary facilitation.Current doctor
Treatment means depend on therapist and manually carry out rehabilitation, and this rehabilitation training mode, not only treatment time is long, efficiency
It is low, and the cost of expert along training is also very high.Medical science of recovery therapy and robot technology are combined the healing robot of generation, can make up
The shortcomings that Traditional Rehabilitation treatment means.
During the motion, the relative motion between femur and shin bone is the compound motion for rolling and sliding to knee joint.Cause
This, kneed main movement form is the curvature movement in human body sagittal plane.Current knee joint exoskeleton robot is most
Knee joint is simplified to the revolute pair of a single-degree-of-freedom, the fixed ectoskeleton centrode of this center of rotation and human body are true
Knee joint centrode difference is larger, bionical poor performance.Another important form of the knee joint of lower limb rehabilitation robot uses
Multi-connecting-rod mechanism, multi-connecting-rod mechanism have the kinematics characteristic of variable instantaneous center of rotation, similar with true kneed movement,
Bio-imitability is good.But link mechanism has determining structural parameters, movement locus is certain, is inconvenient to adjust to different individuals, lead to
It is poor with property.
Invention content
It can overcome that the fixed single-degree-of-freedom revolute pair bio-imitability of axis is poor, multi link the purpose of the present invention is to propose to one kind
The shortcomings that mechanism poor universality, can realize two translations, the one rotation knee joint recovery robot of the rotational motion at change center.
The invention mainly comprises thigh fixture, the first movement branched chain, the second movement branched chain, third movement branched chain, shank clips
Tool.
The thigh fixing support rack of thigh fixture is connected by revolute pair A with the first branch upper connecting rod regulating device, the
One branch lower link regulating device is connected with shank fixture by revolute pair C.The thigh fixing support rack of thigh fixture passes through
Cylindrical pair is connected with the second branch upper connecting rod regulating device, and the second branch lower link regulating device passes through Hooke with shank fixture
Hinge is connected.The thigh fixing support rack of thigh fixture is connected with the free end of the electric pushrod of third branch by revolute pair D
It connects, the fixing end of electric pushrod is connected by revolute pair E with shank fixture.
Thigh fixture include connecting pin, Anchoring chain, liner, thigh fixing support rack, screw, axis pin, adhesive tape, buckle,
Thigh movable support frame and motor I.Thigh fixing support rack is connected with thigh movable support frame side by axis pin, and thigh is fixed
The opening and closing of thigh movable support frame are realized by connecting pin in the other side of supporting rack and thigh movable support frame.Thigh is solid
To determine supporting rack and is equipped with snap ring, snap ring is connected with one end of Anchoring chain, and the other end of Anchoring chain is connected with connecting pin,
It can prevent connecting pin from losing.Liner is fixed by screws in the inside of thigh support frame, and two liners are about human body frontal plane
It is arranged symmetrically.The side of adhesive tape and liner close adhesion, the other side of adhesive tape adjust the internal diameter of adhesive tape by buckle.
The structure of shank fixture is identical with the structure of thigh fixture.
First movement branched chain include motor I, the first branch upper connecting rod regulating device, the first branch lower link regulating device,
Screw.First branch upper connecting rod regulating device includes the first branch upper connecting rod round bar and the first branch upper connecting rod round bar sleeve, the
One branch lower link regulating device includes the first branch lower link round bar and the first branch lower link round bar sleeve.On first branch
Corresponding adjusting through-hole, the first branch lower link round bar and are equipped on connecting rod round bar and the first branch upper connecting rod round bar sleeve
It is equipped with corresponding adjusting through-hole, the first branch upper connecting rod round bar and the first branch upper connecting rod on one branch lower link round bar sleeve
Between round bar sleeve, is adjusted and grown by screw between the first branch lower link round bar and the first branch lower link round bar sleeve
Degree.The output shaft of motor I passes through the rotation axis connection of shaft coupling and revolute pair A, driving the first branch upper connecting rod regulating device turn
It is dynamic.First branch upper connecting rod regulating device is connect with the first branch lower link regulating device by revolute pair B.Revolute pair A, rotation
Secondary B, revolute pair C axis be mutually parallel.
Second movement branched chain include motor II, the second branch upper connecting rod regulating device, the second branch lower link regulating device,
Screw.Second branch upper connecting rod regulating device includes the second branch upper connecting rod round bar and the second branch upper connecting rod round bar sleeve, the
Two branch lower link regulating devices include the second branch lower link round bar and the second branch lower link round bar sleeve.On second branch
Corresponding adjusting through-hole, the second branch lower link round bar and are equipped on connecting rod round bar and the second branch upper connecting rod round bar sleeve
Pass through between two branch upper connecting rod round bar sleeves, between the second branch lower link round bar and the second branch lower link round bar sleeve
Screw adjustment length.The output shaft of motor II drives the second branch upper connecting rod by the rotation axis connection of shaft coupling and cylindrical pair
Regulating device rotates.Second branch upper connecting rod regulating device is connect with the second branch lower link regulating device by revolute pair F.Tiger
Gram hinge a revolute pair axis be parallel to cylindrical pair axis and revolute pair F axis.
Third movement branched chain is mainly electric pushrod, and the axis of revolute pair D and revolute pair E are mutually parallel.
The revolute pair C of first movement branched chain is parallel with the axis of third movement branched chain revolute pair E, with the second movement branched chain tiger
Gram hinge a revolute pair axis it is parallel.The center of second movement branched chain Hooke's hinge is in the first movement branched chain revolute pair C and third
On the perpendicular bisector of the movement branched chain revolute pair E lines of centres.
In the use of the present invention, in 3-freedom parallel mechanism, shank fixture is adjusted with the first branch lower link respectively
Device, the second branch lower link regulating device, third branch electric pushrod one end are connected by revolute pair E, Hooke's hinge, revolute pair C
It connects, shank is contacted with shank fixture at P.Under the driving of the motor and electric pushrod of three movement branched chains, knee may be implemented
Joint recovering robot drives shank to realize curvature movement, to realize healing robot motion of knee joint.
The present invention has the following advantages that compared with prior art：
1. the present invention uses parallel institution, rigidity is big compared with traditional serial mechanism, bearing capacity is strong, cumulative errors
It is small, kinematic accuracy is high.
2. the shortcomings that overcoming axis fixed single-degree-of-freedom revolute pair, using the parallel machine that can realize two translations one rotation
Structure may be implemented kneed compound movement, more be bonded the characteristics of motion of human body knee joint, and bio-imitability is good.
3. structure of the invention is compact, connecting rod will not be interfered with leg in rehabilitation course.
4. the mechanism is non-symmetric parallel mechanism, the asymmetric requirement of human body lower limbs movement is adapted to, compared with symmetrical mechanism
The working space of shank swaying direction can be increased.
5. the parallel institution is that partly decoupled mechanism rigidity compared with full decoupled parallel institution is big, bearing capacity is high.With
Close coupling parallel institution is compared analysis convenience of calculation, is easy to control.
6. human body motion track can be changed, can meet the needs of different knee joint size patients to a certain degree, it is general
Property is good.
Description of the drawings
Attached drawing 1 is a kind of overall structure diagram of one rotation knee joint recovery robot of novel two translation of the present invention；
Attached drawing 2 (1) is a kind of structure of the one rotation knee joint recovery robot thigh fixture of novel two translation of the present invention
Exploded perspective view；
Attached drawing 2 (2) is a kind of entirety of the one rotation knee joint recovery robot thigh fixture of novel two translation of the present invention
Structural schematic diagram；
Attached drawing 3 is that novel two translations, one rotation knee joint recovery robot the first movement branched chain structure of one kind of the present invention is shown
It is intended to；
Attached drawing 4 is that novel two translations, one rotation knee joint recovery robot the second movement branched chain structure of one kind of the present invention is shown
It is intended to；
Attached drawing 5 is that novel two translations, the one rotation knee joint recovery robot third movement branched chain structure of one kind of the present invention is shown
It is intended to；
Attached drawing 6 is three that a kind of one rotation knee joint recovery robot of novel two translation of the present invention is connected with shank fixture
Position relationship schematic diagram between a branch's kinematic pair；
Attached drawing 7 is that novel two translations, the one rotation knee joint recovery robot of one kind of the present invention being worn on kneed signal
Figure.
In figure, (one) thigh fixture, (two) first movement branched chains, (three) second movement branched chains, (four) third movement branched chain,
(5) shank fixture, 1- connecting pins, 2- Anchoring chains, 3- liners, 4- thighs fixing support rack, 5- screws, 6- axis pins, 7- are viscous
Band, 8- buckles, 9- thighs movable support frame, 10-1- motors I, 10-2- motors II, 11- the first branch upper connecting rods regulating device,
1101- the first branch upper connecting rods round bar, 1102- the first branch upper connecting rod round bars sleeve, 12- the first branch lower links adjust dress
It sets, 1201- the first branch lower links round bar, 1202- the first branch lower link round bars sleeve, 13- screws, 14- revolute pairs A, 15-
Revolute pair B, 16- revolute pair C, 17- the second branch upper connecting rod regulating device, 1701- the second branch upper connecting rods round bar, 1702-
Two branch upper connecting rod round bar sleeves, 18- the second branch lower links regulating device, 1801- the second branch lower links round bar, 1802-
Second branch lower link round bar sleeve, 19- cylindrical pairs, 20- revolute pairs F, 21- Hooke's hinge, 22- revolute pairs D, 23- electric pushrod,
24- revolute pair E, 25- snap rings.
Specific implementation mode
The invention mainly comprises thigh fixture (one), the first movement branched chain (two), the second movement branched chain (three), third movements
Branch (four) and shank fixture (five).
In the simplified schematic diagram of Fig. 1, Fig. 2 (1) and the present invention shown in fig. 6, the thigh fixing support rack 4 of thigh fixture is logical
It crosses revolute pair A14 with the first branch upper connecting rod regulating device 11 to be connected, the first branch lower link regulating device 12 and shank clip
Tool is connected by revolute pair C16.The thigh fixing support rack 4 of thigh fixture passes through cylindrical pair 19 and the second branch upper connecting rod tune
Regulating device 17 is connected, and the second branch lower link regulating device 18 is connected with shank fixture by Hooke's hinge 21.Thigh fixture
Thigh fixing support rack 4 be connected by revolute pair D22 with the free end of the electric pushrod 23 of third branch, electric pushrod 23
Fixing end be connected with shank fixture by revolute pair 24.
Such as Fig. 2 (1), (2), thigh fixture includes connecting pin 1, Anchoring chain 2, liner 3, thigh fixing support rack 4, screw
5, axis pin 6, adhesive tape 7, buckle 8, I 10-1 of thigh movable support frame 9 and motor.Thigh fixing support rack 4 and thigh movable supporting
9 side of frame is connected by axis pin 6, and the other side realizes the opening and closing of thigh movable support frame 9 by connecting pin 1.Thigh is solid
Determine supporting rack 4 and be equipped with snap ring 25, snap ring 25 is connected with one end of Anchoring chain 2, the other end and connecting pin of Anchoring chain 2
1 is connected, and can prevent connecting pin from losing.Liner 3 is fixed on the inside of thigh fixing support rack 4, two liners by screw 5
3 are arranged symmetrically about human body frontal plane.The other side of the side of adhesive tape 7 and 3 close adhesion of liner, adhesive tape 7 is adjusted by buckle 8
The internal diameter of adhesive tape 7.
The structure of shank fixture is identical as the structure of thigh fixture.
In the simplified schematic diagram of the present invention shown in Fig. 3, the first movement branched chain includes I 10-1 of motor, connects on the first branch
Post adjustment mechanism 11, the first branch lower link regulating device 12, screw 13.First branch upper connecting rod regulating device 11 includes first
Branch upper connecting rod round bar 1101 and the first branch upper connecting rod round bar sleeve 1102, the first branch lower link regulating device 12 include the
One branch lower link round bar 1201 and the first branch lower link round bar sleeve 1202.First branch upper connecting rod round bar 1101 and first
Corresponding adjusting through-hole, the first branch lower link round bar 1201 and the first branch are equipped on branch upper connecting rod round bar sleeve 1102
Corresponding adjusting through-hole is equipped on lower link round bar sleeve 1202, the first branch upper connecting rod round bar 1101 connects on the first branch
Lead between bar round bar sleeve 1102, between the first branch lower link round bar 1201 and the first branch lower link round bar sleeve 1202
Cross 13 adjustment length of screw.The output shaft of I 10-1 of motor passes through the rotation axis connection of shaft coupling and revolute pair A14, driving first
Branch upper connecting rod regulating device 11 rotates.First branch upper connecting rod regulating device is with the first branch lower link regulating device by turning
Dynamic secondary B15 connections.Revolute pair A14, revolute pair B15, revolute pair C16 axis be mutually parallel.
In the simplified schematic diagram of the present invention shown in Fig. 4, the second movement branched chain includes II 10-2 of motor, connects on the second branch
Post adjustment mechanism 17, the second branch lower link regulating device 18, screw 13.Second branch upper connecting rod regulating device 17 includes second
Branch upper connecting rod round bar 1701 and the second branch upper connecting rod round bar sleeve 1702, the second branch lower link regulating device 18 include the
Two branch lower link round bars 1801 and the second branch lower link round bar sleeve 1802.Second branch upper connecting rod round bar 1701 and second
Corresponding adjusting through-hole, the second branch lower link round bar 1701 and the second branch are equipped on branch upper connecting rod round bar sleeve 1702
Between upper connecting rod round bar sleeve 1702, between the second branch lower link round bar 1801 and the second branch lower link round bar sleeve 1802
Pass through 13 adjustment length of screw.The output shaft of II 10-2 of motor passes through the rotation axis connection of shaft coupling and cylindrical pair 19, driving
Second branch upper connecting rod regulating device 17 rotates.Second branch upper connecting rod regulating device is logical with the second branch lower link regulating device
Cross revolute pair F20 connections.One revolute pair axis of Hooke's hinge is parallel to the axis of the axis and revolute pair F20 of cylindrical pair.
In the simplified schematic diagram of the present invention shown in Fig. 5, third movement branched chain is mainly electric pushrod 23, revolute pair D22
It is mutually parallel with the axis of revolute pair E24.
The revolute pair C16 of first movement branched chain is parallel with the axis of third movement branched chain revolute pair E24, with the second movement branch
One revolute pair axis of chain Hooke's hinge is parallel.The center of second movement branched chain Hooke's hinge is in the first movement branched chain revolute pair C16
With on the perpendicular bisector of the third movement branched chain revolute pair E24 lines of centres.
Claims (6)
1. two translation of one kind, one rotation knee joint recovery robot includes mainly thigh fixture, the first movement branched chain, the second movement
Branch, shank fixture and third movement branched chain, it is characterised in that：The thigh fixing support rack of thigh fixture by revolute pair A with
First branch upper connecting rod regulating device is connected, and the first branch lower link regulating device is connected with shank fixture by revolute pair C
It connects, the thigh fixing support rack of thigh fixture is connected by cylindrical pair with the second branch upper connecting rod regulating device, the second branch
Lower link regulating device is connected with shank fixture by Hooke's hinge, thigh fixing support rack and the third branch of thigh fixture
The free end of electric pushrod is connected by revolute pair D, and the fixing end of electric pushrod is connected by revolute pair E with shank fixture
It connects.
2. one rotation knee joint recovery robot of a kind of two translation according to claim 1, it is characterised in that：Thigh fixture
Including connecting pin, Anchoring chain, liner, thigh fixing support rack, screw, axis pin, adhesive tape, buckle, thigh movable support frame and
Motor A, thigh fixing support rack and thigh movable support frame side are connected by axis pin, thigh fixing support rack and thigh activity
Realize that the opening and closing of thigh movable support frame, thigh fixing support rack are equipped with card by connecting pin in the other side of supporting rack
Ring, snap ring are connected with one end of Anchoring chain, and the other end of Anchoring chain is connected with connecting pin, can prevent connecting pin from losing
It losing, liner is fixed by screws in the inside of thigh support frame, and two liners are arranged symmetrically about human body frontal plane, and the one of adhesive tape
Side and liner close adhesion, the other side of adhesive tape adjust the internal diameter of adhesive tape, structure and the shank fixture of thigh fixture by buckle
Structure it is identical.
3. one rotation knee joint recovery robot of a kind of two translation according to claim 1, it is characterised in that：First movement
Branch includes motor I, the first branch upper connecting rod regulating device, the first branch lower link regulating device, screw, is connected on the first branch
Post adjustment mechanism includes the first branch upper connecting rod round bar and the first branch upper connecting rod round bar sleeve, and the first branch lower link adjusts dress
It sets including the first branch lower link round bar and the first branch lower link round bar sleeve, the first branch upper connecting rod round bar and the first branch
Corresponding adjusting through-hole, the first branch lower link round bar and the first branch lower link round bar set are equipped on upper connecting rod round bar sleeve
It is equipped with corresponding adjusting through-hole on cylinder, between the first branch upper connecting rod round bar and the first branch upper connecting rod round bar sleeve, first
By screw adjustment length between branch lower link round bar and the first branch lower link round bar sleeve, the output shaft of motor I is logical
Cross the rotation axis connection of shaft coupling and revolute pair A, driving the first branch upper connecting rod regulating device rotation, the first branch upper connecting rod tune
Regulating device is connect with the first branch lower link regulating device by revolute pair B, revolute pair A, revolute pair B, revolute pair C axis phase
It is mutually parallel.
4. one rotation knee joint recovery robot of a kind of two translation according to claim 1, it is characterised in that：Second movement
Branch includes motor II, the second branch upper connecting rod regulating device, the second branch lower link regulating device, screw, on the second branch
Link adjusting gear includes the second branch upper connecting rod round bar and the second branch upper connecting rod round bar sleeve, and the second branch lower link is adjusted
Device includes the second branch lower link round bar and the second branch lower link round bar sleeve, the second branch upper connecting rod round bar and second
Corresponding adjusting through-hole, the second branch lower link round bar and the second branch upper connecting rod round bar are equipped on chain upper connecting rod round bar sleeve
Between sleeve, pass through screw adjustment length, electricity between the second branch lower link round bar and the second branch lower link round bar sleeve
The output shaft of machine II drives the rotation of the second branch upper connecting rod regulating device by the rotation axis connection of shaft coupling and cylindrical pair, the
Two branch upper connecting rod regulating devices are connect with the second branch lower link regulating device by revolute pair F, a rotation of Hooke's hinge
Secondary axis is parallel to the axis of the axis and revolute pair F of cylindrical pair.
5. one rotation knee joint recovery robot of a kind of two translation according to claim 1, it is characterised in that：Third moves
Branch is mainly electric pushrod, and the axis of revolute pair D and revolute pair E are mutually parallel.
6. the one rotation knee joint recovery robot of the translation of one kind two according to claim 3 or 4 or 5, it is characterised in that：The
The revolute pair C of one movement branched chain is parallel with the axis of third movement branched chain revolute pair E, one with the second movement branched chain Hooke's hinge
Revolute pair axis is parallel, and the center of the second movement branched chain Hooke's hinge turns in the first movement branched chain revolute pair C and third movement branched chain
On the perpendicular bisector of the dynamic secondary E lines of centres.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810602368.3A CN108785016A (en) | 2018-06-12 | 2018-06-12 | Two translation of one kind, one rotation knee joint recovery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810602368.3A CN108785016A (en) | 2018-06-12 | 2018-06-12 | Two translation of one kind, one rotation knee joint recovery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108785016A true CN108785016A (en) | 2018-11-13 |
Family
ID=64085416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810602368.3A Pending CN108785016A (en) | 2018-06-12 | 2018-06-12 | Two translation of one kind, one rotation knee joint recovery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108785016A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109984920A (en) * | 2019-05-15 | 2019-07-09 | 燕山大学 | A kind of knee joint recovery robot of human-computer fusion |
| CN111317645A (en) * | 2020-03-05 | 2020-06-23 | 南开大学 | Flexible modular joint rehabilitation mechanism |
| CN111331582A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
| CN112932896A (en) * | 2021-01-26 | 2021-06-11 | 中北大学 | Control method of axis self-adaptive knee joint rehabilitation robot |
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| CN209122785U (en) * | 2018-06-12 | 2019-07-19 | 燕山大学 | Two translation of one kind, one rotation knee joint recovery robot |
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| CN101647736A (en) * | 2009-09-21 | 2010-02-17 | 上海交通大学 | Parallel-connection ectoskeleton knee joint |
| CN206576995U (en) * | 2016-12-02 | 2017-10-24 | 于野 | A kind of orthopaedic knee support |
| CN209122785U (en) * | 2018-06-12 | 2019-07-19 | 燕山大学 | Two translation of one kind, one rotation knee joint recovery robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109984920A (en) * | 2019-05-15 | 2019-07-09 | 燕山大学 | A kind of knee joint recovery robot of human-computer fusion |
| CN111317645A (en) * | 2020-03-05 | 2020-06-23 | 南开大学 | Flexible modular joint rehabilitation mechanism |
| CN111331582A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
| CN111331582B (en) * | 2020-03-17 | 2022-11-22 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
| CN112932896A (en) * | 2021-01-26 | 2021-06-11 | 中北大学 | Control method of axis self-adaptive knee joint rehabilitation robot |
| CN112932896B (en) * | 2021-01-26 | 2023-08-11 | 中北大学 | Control method of axis self-adaptive knee joint rehabilitation robot |
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