CN108836755A - A kind of hip joint driving device of healing robot - Google Patents
A kind of hip joint driving device of healing robot Download PDFInfo
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- CN108836755A CN108836755A CN201811048205.1A CN201811048205A CN108836755A CN 108836755 A CN108836755 A CN 108836755A CN 201811048205 A CN201811048205 A CN 201811048205A CN 108836755 A CN108836755 A CN 108836755A
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- thigh
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- driving device
- robot
- hip joint
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- 230000035876 healing Effects 0.000 title claims abstract description 23
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 21
- 210000000689 upper leg Anatomy 0.000 claims abstract description 87
- 210000001624 hip Anatomy 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 210000002414 leg Anatomy 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of hip joint driving devices of healing robot, are related to healing robot field, including robot thigh, drive screw, driving device, hip cross bar；The top of the robot thigh is equipped with thigh second connection end and thigh third connecting pin, and the hip cross bar is horizontally disposed, and the front end of the thigh second connection end and the hip cross bar is rotatablely connected by rotary shaft；One end of the drive screw and the rear end of the hip cross bar are rotatablely connected by rotary shaft, and the other end of the drive screw and thigh third connecting pin are rotatablely connected by rotary shaft；The driving device includes driving motor and transmission mechanism, and the output shaft of the driving motor connects the screw rod by the transmission mechanism.The advantage of the invention is that：Drive screw is driven by driving motor, quickly and easily hip joint can be driven to move.
Description
Technical field
The present invention relates to healing robot field more particularly to a kind of hip joint driving devices of healing robot.
Background technique
China patient that the lower extremity motor function as caused by the factors such as cerebral apoplexy, brain trauma, aging of population is damaged every year
It is increasing, traditional artificial rehabilitation efficiency is lower, and therapist's large labor intensity is unable to satisfy the requirement of rehabilitation.
Healing robot be based on neural plasticity principle, by largely repeat and targeted gait training, gradually restore patient by
The function of damaging position, promotes the rehabilitation process of patient, can be used for the patient of the limitation of movement as caused by disease or unexpected injury
Carry out rehabilitation.The existing most functions of the equipments of healing robot are single, and application range is only limitted to the rehabilitation in local joint,
It not can be realized the integrated products of each joint recovering in leg, and intelligent and the degree of automation of existing product is not high,
The higher cost of rehabilitation training, only seldom patient can adequately be treated.
Summary of the invention
The technical problem to be solved by the present invention is to：Existing healing robot, which lacks, quickly and easily hip to be driven to close
Save the driving device of movement.
The present invention is to solve above-mentioned technical problem by the following technical programs：A kind of hip joint driving of healing robot
Device, including robot thigh (1), drive screw (3), driving device (4), hip cross bar (7)；
The top of the robot thigh (1) is equipped with thigh second connection end (12) and thigh third connecting pin (13), institute
It states hip cross bar (7) to be horizontally disposed with, the front end of the thigh second connection end (12) and the hip cross bar (7) passes through rotary shaft
Rotation connection；
The drive screw (3) includes screw jacket (31) and screw rod (32)；One end of the screw jacket (31) and institute
The rear end for stating hip cross bar (7) is rotatablely connected by rotary shaft, is fixed with nut in the screw jacket (31)；The screw rod
(32) one end penetrates in the screw jacket (31) from the other end of the screw jacket (31) and connects with the nut thread
It connects, the other end of the screw rod (32) and thigh third connecting pin (13) are rotatablely connected by rotary shaft；
The driving device (4) includes driving motor (41) and transmission mechanism (42), the output of the driving motor (41)
Axis connects the screw rod (32) by the transmission mechanism (42).
As the technical solution of optimization, the thigh second connection end (12) is located at the top of the robot thigh (1)
Surface, thigh third connecting pin (13) are located at the top rear of the robot thigh (1).Convenient for driving rehabilitation machine
The hip joint of people moves.
As the technical solution of optimization, the driving motor (41) connects control system.Realize automation control, operation letter
It is single.
As the technical solution of optimization, the transmission mechanism (42) include first gear (421), gear synchronous band (422),
The output shaft of second gear (423), the driving motor (41) is connect with the first gear (421), the first gear
(421) second gear (423) is connected by the gear synchronous band (422), the second gear (423) connects the spiral shell
Bar (32).
As the technical solution of optimization, the driving device (4) further includes electric machine support (43), the electric machine support (43)
It is fixedly connected with the screw jacket (31), the driving motor (41) is fixedly connected with the electric machine support (43).
As the technical solution of optimization, the robot thigh (1) includes power device (100), thigh telescopic rod
(200), thigh housing (300)；
The thigh telescopic rod (200) includes the first support (201), the first vertical bar (203), the first screw rod (204)；
First support (201) is equipped with upper and lower perforative first through hole (2011)；First vertical bar (203) is solid
It is scheduled on the first support (201) bottom end, the first strip through slot that front and back penetrates through is offered on first vertical bar (203)
(2031), the first vertical bar (203) bottom end is equipped with upper and lower perforative second through-hole (2032), second through-hole (2032)
It is penetrated through with the first strip through slot (2031)；First screw rod (204) sequentially passes through first through hole from top to bottom
(2011), the first strip through slot (2031) and the second through-hole (2032)；
First screw rod (204) is located at the part above first support (201) and connects the power device
(100)；
The thigh housing (300) includes thigh outer casing inner wall (301), the first connector (302), the first screw shell
(303)；
The thigh outer casing inner wall (301) cover first vertical bar (203) outside, the thigh outer casing inner wall (301)
Fixed first connector (302) in upper end, first screw shell (303) pass through first connector (302) and institute
Thigh outer casing inner wall (301) connection is stated, the first screw shell (303) setting is in the first strip through slot (2031)
And it is threadedly coupled with first screw rod (204)；
The thigh second connection end (12) and thigh third connecting pin (13) are respectively fixedly connected with flexible in the thigh
The top of bar (200).
As the technical solution of optimization, the first vertical bar (203) side is provided along its length the first graduated scale
(2033).Facilitate the adjustment length of observer robot thigh.
As the technical solution of optimization, the thigh telescopic rod (200) further includes the first support plate (202), and described first
Support plate (202) is fixedly connected on the side of first support (201), and the power device (100) is fixedly connected on described
In first support plate (202).
As the technical solution of optimization, the power device (100) includes motor (101), driving pulley (102), synchronizes
Band (103), passive belt wheel (104)；The output shaft of the motor (101) is connect with the driving pulley (102), the main belt
It takes turns (102) and connects the passive belt wheel (104) by the synchronous belt (103).
As the technical solution of optimization, the motor (101) connects control system.Realize automation control, it is easy to operate.
The advantage of the invention is that：Drive screw is driven by driving motor, quickly and easily hip joint can be driven to transport
It is dynamic；By motor drives screw mandrel, it is long can rapidly and accurately to adjust thigh leg；High degree of automation, it is easy to operate, it is easy to control
System.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the hip joint driving device of healing robot of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of drive screw of the embodiment of the present invention and driving device.
Fig. 3 is the structural schematic diagram of thigh telescopic rod of the embodiment of the present invention.
Fig. 4 is the partial cutaway view of the outer set upper side of thigh of the embodiment of the present invention.
Fig. 5 is the sectional view of power device of the embodiment of the present invention.
Specific embodiment
As shown in Figs. 1-5, the hip joint driving device of a kind of healing robot, including robot thigh 1, drive screw 3,
Driving device 4, hip cross bar 7.
Robot thigh 1 includes power device 100, thigh telescopic rod 200, thigh housing 300.
Thigh telescopic rod 200 includes the first support 201, the first support plate 202, the first vertical bar 203, the first screw rod 204.
First support 201 is equipped with upper and lower perforative first through hole 2011；First vertical bar 203 is fixed on the first support
201 bottom ends offer the first strip through slot 2031 that front and back penetrates through in the first vertical bar 203, and 203 bottom end of the first vertical bar is set
There is perforative second through-hole 2032 up and down, the second through-hole 2032 and the first strip through slot 2031 penetrate through；First screw rod 204 is from upper
First through hole 2011, the first strip through slot 2031 and the second through-hole 2032 are sequentially passed through under.
First through hole 2011 and 2032 middle line of the second through-hole are same axis, and radius is identical, prevent the first screw rod 204
Deviation is shaken in rotation.
First vertical bar, 203 side is provided along its length the first graduated scale 2033.
First support plate 202 is fixed on the side of the first support 201, and power device 100 is fixed on by fixing bolt
In one support plate 202, loosening when preventing from operating, the first screw rod 204 is located at the part connecting power device of 201 top of the first support
100。
Thigh housing 300 includes thigh outer casing inner wall 301, the first connector 302, the first screw shell 303.
301 sets of thigh outer casing inner wall outside the first vertical bar 203, the first connector is fixed in 301 upper end of thigh outer casing inner wall
302, the first connector 302 is mutually perpendicular to 203 axis of the first vertical bar, and the first screw shell 303 passes through the first connector 302
Connect with thigh outer casing inner wall 301, the first screw shell 303 be arranged in the first strip through slot 2031 and with the first screw rod
204 are threadedly coupled.
The connection side of first screw shell 303 and the first connector 302, the first connector 302 and thigh outer casing inner wall 301
Formula is welding, so that thigh outer casing inner wall 301 is not easy to be broken with the first screw shell 303 when thigh housing 300 moves up and down.
Power device 100 includes motor 101, driving pulley 102, synchronous belt 103, passive belt wheel 104, motor box 105；Electricity
Machine 101 connects control system；The output shaft of motor 101 is connect with driving pulley 102, and driving pulley 102 is connected by synchronous belt 103
Passive belt wheel 104 is connect, synchronous belt 103 is gear synchronous band；It is fixed on the passive of the power device 100 in the first support plate 202
Belt wheel 104 connects the first screw rod 204, is fixed on the connection of passive belt wheel 104 the of the power device 100 in the second support plate 402
Two screw rods 404；Motor box 105 is fixedly connected by fixing bolt with motor 101.
The top of robot thigh 1 is equipped with thigh second connection end 12 and thigh third connecting pin 13, and thigh second connects
End 12 and thigh third connecting pin 13 are respectively fixedly connected with the top in thigh telescopic rod 200 and are one with thigh telescopic rod 200
Body structure, thigh second connection end 12 are located at right above the top of robot thigh 1, and thigh third connecting pin 13 is located at robot
The top rear of thigh 1.
Hip cross bar 7 is horizontally disposed, and the length direction of hip cross bar 7 is along the direction that moves forward and backward of robot thigh 1, thigh
The front end of second connection end 12 and hip cross bar 7 is rotatablely connected by rotary shaft.
Drive screw 3 includes screw jacket 31 and screw rod 32；One end of screw jacket 31 and the rear end of hip cross bar 7 pass through
Rotary shaft is rotatablely connected, and is fixed with nut in screw jacket 31；One end of screw rod 32 penetrates spiral shell from the other end of screw jacket 31
It is connect in bar housing 31 and with nut thread, the other end of screw rod 32 and thigh third connecting pin 13 are rotated by rotary shaft and connected
It connects.
Driving device 4 includes driving motor 41, transmission mechanism 42, electric machine support 43, and the output shaft of driving motor 41 passes through
42 connecting screw 32 of transmission mechanism, electric machine support 43 are fixed on screw jacket 31 by fixing bolt, and driving motor 41 passes through
Fixing bolt is fixed on electric machine support 43, loosening when preventing from operating.
Driving motor 41 connects control system.
Transmission mechanism 42 includes first gear 421, gear synchronous band 422, second gear 423, the output of driving motor 41
Axis is connect with first gear 421, and first gear 421 connects second gear 423 by gear synchronous band 422, and second gear 423 connects
Connect screw rod 32.
Control system controls driving motor 41 and rotates forward the drive rotation of first gear 421, and is transmitted by gear synchronous band 422
To second gear 423, so that screw rod 32 rotates, by the rotation of screw rod 32 so that 32 opposing nut of screw rod is to outside screw jacket 31
Mobile, so that drive screw 3 be made to extend, band mobile robot thigh 1 travels forward；Same control system control driving motor 41 is anti-
Turn, drive screw 3 can be made to shorten, band mobile robot thigh 1 moves backward；Pass through matching for the forward and reverse of driving motor 41
Crossed belt moves the hip joint movement of healing robot.
Control system controls motor 101 and rotates forward the drive rotation of driving pulley 102, and is passed to passively by synchronous belt 103
Belt wheel 104, so that the first screw rod 204 rotates, by the rotation of the first screw rod 204 so that the first screw shell 303 opposite first
Screw rod 204 up moves, so that thigh housing 300 be made up to move；Same control system control motor 101 inverts, and can make big
Leg housing 300 moves down；It is controlled by the way that the initial input of control system is long to thigh leg, realizes automation and quickly standard
It is long really to adjust thigh leg.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of hip joint driving device of healing robot, it is characterised in that：Including robot thigh (1), drive screw
(3), driving device (4), hip cross bar (7)；
The top of the robot thigh (1) is equipped with thigh second connection end (12) and thigh third connecting pin (13), the hip
Portion's cross bar (7) is horizontally disposed, and the front end of the thigh second connection end (12) and the hip cross bar (7) is rotated by rotary shaft
Connection；
The drive screw (3) includes screw jacket (31) and screw rod (32)；One end of the screw jacket (31) and the hip
The rear end of portion's cross bar (7) is rotatablely connected by rotary shaft, is fixed with nut in the screw jacket (31)；The screw rod (32)
One end penetrates in the screw jacket (31) from the other end of the screw jacket (31) and connect with the nut thread, described
The other end of screw rod (32) and thigh third connecting pin (13) are rotatablely connected by rotary shaft；
The driving device (4) includes driving motor (41) and transmission mechanism (42), and the output shaft of the driving motor (41) is logical
It crosses the transmission mechanism (42) and connects the screw rod (32).
2. the hip joint driving device of healing robot as described in claim 1, it is characterised in that：The thigh second connects
End (12) is located at right above the top of the robot thigh (1), and thigh third connecting pin (13) is located at the robot
The top rear of thigh (1).
3. the hip joint driving device of healing robot as described in claim 1, it is characterised in that：The driving motor (41)
Connect control system.
4. the hip joint driving device of healing robot as described in claim 1, it is characterised in that：The transmission mechanism (42)
Including first gear (421), gear synchronous band (422), second gear (423), the output shaft of the driving motor (41) and institute
First gear (421) connection is stated, the first gear (421) connects the second gear by the gear synchronous band (422)
(423), the second gear (423) connects the screw rod (32).
5. the hip joint driving device of healing robot as described in claim 1, it is characterised in that：The driving device (4)
It further include electric machine support (43), the electric machine support (43) is fixedly connected with the screw jacket (31), the driving motor
(41) it is fixedly connected with the electric machine support (43).
6. the hip joint driving device of healing robot as described in claim 1, it is characterised in that：The robot thigh
It (1) include power device (100), thigh telescopic rod (200), thigh housing (300)；
The thigh telescopic rod (200) includes the first support (201), the first vertical bar (203), the first screw rod (204)；
First support (201) is equipped with upper and lower perforative first through hole (2011)；First vertical bar (203) is fixed on
First support (201) bottom end offers the first strip through slot that front and back penetrates through on first vertical bar (203)
(2031), the first vertical bar (203) bottom end is equipped with upper and lower perforative second through-hole (2032), second through-hole (2032)
It is penetrated through with the first strip through slot (2031)；First screw rod (204) sequentially passes through first through hole from top to bottom
(2011), the first strip through slot (2031) and the second through-hole (2032)；
First screw rod (204) is located at the part above first support (201) and connects the power device (100)；
The thigh housing (300) includes thigh outer casing inner wall (301), the first connector (302), the first screw shell (303)；
The thigh outer casing inner wall (301) cover first vertical bar (203) outside, thigh outer casing inner wall (301) upper end
Fixed first connector (302), first screw shell (303) pass through first connector (302) and described big
Leg outer casing inner wall (301) connection, first screw shell (303) setting in the first strip through slot (2031) and with
First screw rod (204) is threadedly coupled；
The thigh second connection end (12) and thigh third connecting pin (13) are respectively fixedly connected in the thigh telescopic rod
(200) top.
7. the hip joint driving device of healing robot as claimed in claim 6, it is characterised in that：First vertical bar
(203) side is provided along its length the first graduated scale (2033).
8. the hip joint driving device of healing robot as claimed in claim 6, it is characterised in that：The thigh telescopic rod
It (200) further include the first support plate (202), first support plate (202) is fixedly connected on the side of first support (201)
Face, the power device (100) are fixedly connected on first support plate (202).
9. the hip joint driving device of healing robot as claimed in claim 6, it is characterised in that：The power device
It (100) include motor (101), driving pulley (102), synchronous belt (103), passive belt wheel (104)；The motor (101) it is defeated
Shaft is connect with the driving pulley (102), and it is described passive that the driving pulley (102) is connected by the synchronous belt (103)
Belt wheel (104).
10. the hip joint driving device of healing robot as claimed in claim 9, it is characterised in that：The motor (101) is even
Connected control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048205.1A CN108836755A (en) | 2018-09-10 | 2018-09-10 | A kind of hip joint driving device of healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048205.1A CN108836755A (en) | 2018-09-10 | 2018-09-10 | A kind of hip joint driving device of healing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108836755A true CN108836755A (en) | 2018-11-20 |
Family
ID=64189473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811048205.1A Pending CN108836755A (en) | 2018-09-10 | 2018-09-10 | A kind of hip joint driving device of healing robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1973806A (en) * | 2006-12-07 | 2007-06-06 | 浙江大学 | Robot for multiple posture exoskeleton lower limb rehabilitation training |
| CN101204347A (en) * | 2007-12-06 | 2008-06-25 | 上海大学 | Automatic gait correcting device in lower limb rehabilitation |
| CN107157709A (en) * | 2017-05-22 | 2017-09-15 | 天津大学 | Family type lower limb exoskeleton recovery exercising robot |
| CN107320286A (en) * | 2017-08-09 | 2017-11-07 | 北京航空航天大学 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN209137246U (en) * | 2018-09-10 | 2019-07-23 | 安庆中船柴油机有限公司 | A kind of hip joint driving device of healing robot |
-
2018
- 2018-09-10 CN CN201811048205.1A patent/CN108836755A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1973806A (en) * | 2006-12-07 | 2007-06-06 | 浙江大学 | Robot for multiple posture exoskeleton lower limb rehabilitation training |
| CN101204347A (en) * | 2007-12-06 | 2008-06-25 | 上海大学 | Automatic gait correcting device in lower limb rehabilitation |
| CN107157709A (en) * | 2017-05-22 | 2017-09-15 | 天津大学 | Family type lower limb exoskeleton recovery exercising robot |
| CN107320286A (en) * | 2017-08-09 | 2017-11-07 | 北京航空航天大学 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN209137246U (en) * | 2018-09-10 | 2019-07-23 | 安庆中船柴油机有限公司 | A kind of hip joint driving device of healing robot |
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Application publication date: 20181120 |