CN206067952U - A kind of lower limb robot - Google Patents
A kind of lower limb robot Download PDFInfo
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- CN206067952U CN206067952U CN201621066031.8U CN201621066031U CN206067952U CN 206067952 U CN206067952 U CN 206067952U CN 201621066031 U CN201621066031 U CN 201621066031U CN 206067952 U CN206067952 U CN 206067952U
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- connecting rod
- tibia
- frame
- power transmission
- transmission shaft
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Abstract
This utility model is related to a kind of lower limb robot, including frame, motor, power transmission shaft, Left Drive bar, right drive link, fl, right femur, left tibia, right tibia, left connecting rod and right connecting rod, motor is fixed in frame, power transmission shaft is arranged in frame by bearing, by gear reduced drive between the output shaft and power transmission shaft of motor, Left Drive bar and right drive link are fixedly mounted respectively at the left and right two ends of power transmission shaft.The simulation realized to mankind's lower extremity movement by a crank rocker mechanism and quadric chain are cascaded, joint between connecting rod and tibia is connected using oscillating bearing, connected using knee joint equipment between femur and tibia, guarantee kneed multiple degrees of freedom in simulation process, this utility model simple structure, operation are convenient to.
Description
Technical field
This utility model is related to a kind of bio-robot field, more particularly to a kind of lower limb robot of simulation people walking.
Background technology
Lower limb robot is an important research field in imitative human domain, and lower limb robot is in the daily of the mankind
Using in also widely, can lose as the exercise ability of lower limbs that cerebral palsy, cerebral infarction and other diseases or wound cause,
Need to carry out the aid of lower limb rehabilitation training, it is also possible to replace the gait of true man to carry out the experiment related to mankind's walking,
Performance test is carried out to treadmill for example, gait optimization etc. is carried out to running athlete, its purposes widely, therefore will be ground
Study carefully a kind of simple structure, the lower limb robot tool of convenient operation has very important significance.
Utility model content
In order to solve existing problem, this utility model provides a kind of simple structure, the lower limb robot of convenient operation.
This utility model is by the following technical programs solving above-mentioned technical problem：A kind of lower limb robot, including
Frame, motor, power transmission shaft, Left Drive bar, right drive link, fl, right femur, left tibia, right tibia, left connecting rod and
Right connecting rod, the motor are fixed in frame, and the power transmission shaft is arranged in frame by bearing, the motor
Output shaft and the power transmission shaft between by gear reduced drive, fixedly mount a left side respectively at the left and right two ends of the power transmission shaft
Drive link and right drive link.
For left lower extremity, on the Left Drive bar, the opposite end affixed with the power transmission shaft is upper with the left connecting rod
End is articulated, and lower end and the lower end of the left tibia of the left connecting rod are articulated, the upper end of the left tibia
Linked together by left knee joint equipment with the lower end of the fl, the upper end of the fl is articulated in the frame
Together, the elongated slot for extending along its length is provided with the middle part of the left connecting rod, be provided with and be fixed on frame in the elongated slot
On, and can the elongated slot slides relatively left pin.
For right lower extremity, on the right drive link, the opposite end affixed with the power transmission shaft is upper with the right connecting rod
End is articulated, and the lower end of the right connecting rod is articulated with the lower end of the right tibia, the upper end of the right tibia
Linked together by right knee joint equipment with the lower end of the right femur, upper end and the frame of the right femur are articulated in
Together, the elongated slot for extending along its length is provided with the middle part of the right connecting rod, be provided with and be fixed on frame in the elongated slot
On, and can the elongated slot slides relatively right pin.
In a particular embodiment, the left connecting rod includes upper left connecting rod and lower-left connecting rod, the upper left connecting rod
Upper end and the Left Drive bar pivot joint, the upper end of the lower end of the upper left connecting rod and the lower-left connecting rod is by detachable
Mode connects for screw, lower end and the left tibia lower end pivot joint of the lower-left connecting rod.
The right connecting rod includes upper right connecting rod and bottom right connecting rod, the upper end of the upper right connecting rod and the right biography
Lever pivot joint, the lower end of the upper right connecting rod are connected by removable fasteners with the upper end of the bottom right connecting rod, the right side
The lower end of lower connecting rod and the right tibia lower end pivot joint.
In a particular embodiment, the rotation phase difference between the Left Drive bar and the right drive link is 108 °.
In a particular embodiment, the left knee joint equipment is identical with the structure of the right knee joint equipment, including upper pass
Under bearings, connecting bolt, spring, ShiShimonoseki bearings, the outer ring of the upper joint bearing and the fl or right femur
End connection, the outer ring of ShiShimonoseki bearings is connected with the upper end of the left tibia or right tibia, the upper joint bearing it is interior
The inner ring of circle and ShiShimonoseki bearings is connected by the connecting bolt, in inner ring and described ShiShimonoseki of the upper joint bearing
The spring is also equipped between the inner ring of bearings.
In a particular embodiment, the length range of the fl and right femur be 320mm～360mm, the left tibia
Length range with right tibia is 340mm～380mm.
In a particular embodiment, the gear reduced drive ratio between the output shaft of the motor and the power transmission shaft is
2:1。
In a particular embodiment, motor is that driving voltage is 12V, dc motor of the rotating speed for 100r/s.
In a particular embodiment, the motor is electrically connected with transformer switch device, the transformer switch device
In the frame.
In a particular embodiment, the transformator that 220V turns 12V is installed in the transformer switch device.
The beneficial effects of the utility model are：This utility model is by by a crank rocker mechanism and a double leval jib
Mechanisms in series realizes the simulation to mankind's lower extremity movement together, and the joint between connecting rod and tibia is connected using oscillating bearing
Connect, connected using knee joint equipment between femur and tibia, it is ensured that kneed multiple degrees of freedom, this utility model in simulation process
Simple structure, operation are convenient to.
Description of the drawings
Fig. 1 is front view of the present utility model.
Fig. 2 is right view of the present utility model.
Fig. 3 is knee joint structure schematic diagram of the present utility model.
Specific embodiment
This utility model preferred embodiment is given below in conjunction with the accompanying drawings, to describe the technical solution of the utility model in detail.
As depicted in figs. 1 and 2, a kind of lower limb robot, including frame 1, motor 2, power transmission shaft 3, Left Drive bar 41,
Right drive link 42, fl 51, right femur 52, left tibia 61, right tibia 62, left connecting rod 71 and right connecting rod 72, drive electricity
Machine 2 is fixed in frame 1, and power transmission shaft 3 is arranged in frame 1, between the output shaft and power transmission shaft 3 of motor 2 by bearing 8
By gear reduced drive, Left Drive bar 41 and right drive link 42 are fixedly mounted respectively at the left and right two ends of power transmission shaft 3,
For left lower extremity, the upper end pivot joint of the opposite end affixed with power transmission shaft 3 and left connecting rod 71 on Left Drive bar 41
Together, the lower end of left connecting rod 71 is articulated with the lower end of left tibia 61, upper end and the fl 51 of left tibia 61
Lower end is linked together by left knee joint equipment 101, and upper end and the frame 1 of fl 51 are articulated, left connecting rod 71
Middle part be provided with the elongated slot for extending along its length, be provided with elongated slot and be fixed in frame, and can with respect to elongated slot slide
Left pin 91.Elongated slot, left pin 91 and frame 1 in the middle part of Left Drive bar 41, left connecting rod 71, left connecting rod 71 constitutes one
Crank rocker mechanism；And left connecting rod 71, left tibia 61, fl 51 and frame 1 constitute a quadric chain.
For right lower extremity, the upper end pivot joint of the opposite end affixed with power transmission shaft 3 and right connecting rod 72 on right drive link 42
Together, the lower end of right connecting rod 72 is articulated with the lower end of right tibia 62, the upper end of right tibia 62 and right femur 52
Lower end is linked together by right knee joint equipment 102, and upper end and the frame 1 of right femur 52 are articulated, right connecting rod 72
Middle part be provided with the elongated slot for extending along its length, be provided with elongated slot and be fixed in frame 1, and can with respect to elongated slot slide
Right pin 92.Elongated slot, right pin 92 and machine the same with left lower extremity, in the middle part of right drive link 42, right connecting rod 72, right connecting rod 72
Frame 1 constitutes a crank rocker mechanism；And right connecting rod 72, right tibia 62, right femur 51 and frame 1 constitute four companies
Linkage.
Left connecting rod 71 includes upper left connecting rod 711 and lower-left connecting rod 712, the upper end of upper left connecting rod 711 and left biography
41 pivot joint of lever, the lower end of upper left connecting rod 711 are connected by removable fasteners with the upper end of lower-left connecting rod 712, and lower-left connects
The lower end of extension bar 712 and 61 lower end pivot joint of left tibia, by left connecting rod 71 is divided into upper left connecting rod 711 and lower-left connecting rod
712 two components, facilitate transport；
Right connecting rod 72 includes upper right connecting rod 721 and bottom right connecting rod 722, the upper end of upper right connecting rod 721 and right biography
42 pivot joint of lever, the lower end of upper right connecting rod 721 are connected by removable fasteners with the upper end of bottom right connecting rod 722, and bottom right connects
The lower end of extension bar 722 and the 62 lower end pivot joint of right tibia, by right connecting rod 72 is divided into upper right connecting rod 721 and bottom right connecting rod
722 two components, facilitate transport.
Rotation phase difference between Left Drive bar 41 and right drive link 42 is 108 °, and this phase angle makes lower limb robot
Gait is more conformed to the gait of true man.
Left knee joint equipment 101 is identical with the structure of right knee joint equipment 102, as shown in figure 3, including upper joint bearing
103rd, connecting bolt 105, spring 106, ShiShimonoseki bearings 104, the outer ring of upper joint bearing 103 and fl 51 (or right femur
52) lower end connection, the outer ring of ShiShimonoseki bearings 104 are connected with the upper end of left tibia 61 (or right tibia 62), upper joint bearing
103 inner ring and the inner ring of ShiShimonoseki bearings 104 are connected by connecting bolt 105, in inner ring and ShiShimonoseki of upper joint bearing 103
Spring 106 is also equipped between the inner ring of bearings 104.
By the connection femur and tibia of knee joint equipment, it is ensured that lower limb robot is during simulation is normal on foot
Kneed multiple degrees of freedom range of activity.
Length model of the length range of fl 51 and right femur 52 for 320mm～360mm, left tibia 61 and right tibia 62
Enclose for 340mm～380mm.
Gear reduced drive ratio between the output shaft of motor 2 and power transmission shaft 3 is 2:1.
It is 12V that motor 2 is driving voltage, and rotating speed is the dc motor of 100r/s.
Motor 2 is electrically connected with transformer switch device 11, and transformer switch device 11 is arranged in the frame 1,
The transformator that 220V turns 12V is installed in transformer switch device 11.Transformator is arranged in Variable-voltage switch device, and is fixed on
In frame (referring specifically to Fig. 1).
This utility model is by a crank rocker mechanism and a quadric chain to be cascaded and realize to people
The simulation of class lower extremity movement, the joint between connecting rod and tibia are connected using oscillating bearing, and knee joint is adopted between femur and tibia
Joint arrangement connects, it is ensured that kneed multiple degrees of freedom in simulation process.
Ultimate principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description
Simply illustrate principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed this utility model, this utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (9)
1. a kind of lower limb robot, including frame, motor, power transmission shaft, Left Drive bar, right drive link, fl, right stock
Bone, left tibia, right tibia, left connecting rod and right connecting rod, it is characterised in that the motor is fixed in frame, described
Power transmission shaft is arranged in frame by bearing, is passed by The gear deceleration between the output shaft of the motor and the power transmission shaft
It is dynamic, Left Drive bar and right drive link are fixedly mounted respectively at the left and right two ends of the power transmission shaft,
For left lower extremity, the upper end pivot of the opposite end affixed with the power transmission shaft and the left connecting rod on the Left Drive bar
It is connected together, lower end and the lower end of the left tibia of the left connecting rod are articulated, the upper end of the left tibia and institute
The lower end for stating fl is linked together by left knee joint equipment, and the upper end of the fl is articulated in one with the frame
Rise, the elongated slot for extending along its length is provided with the middle part of the left connecting rod, is provided with and is fixed in frame in the elongated slot,
And can the elongated slot slides relatively left pin；
For right lower extremity, the upper end pivot of the opposite end affixed with the power transmission shaft and the right connecting rod on the right drive link
It is connected together, the lower end of the right connecting rod is articulated with the lower end of the right tibia, the upper end of the right tibia and institute
The lower end for stating right femur is linked together by right knee joint equipment, and upper end and the frame of the right femur are articulated in one
Rise, the elongated slot for extending along its length is provided with the middle part of the right connecting rod, is provided with and is fixed in frame in the elongated slot,
And can the elongated slot slides relatively right pin.
2. lower limb robot according to claim 1, it is characterised in that the left connecting rod includes upper left connecting rod and a left side
Lower connecting rod, the upper end of the upper left connecting rod and the Left Drive bar pivot joint, lower end and the left side of the upper left connecting rod
The upper end of lower connecting rod is connected by removable fasteners, lower end and the left tibia lower end pivot joint of the lower-left connecting rod；
The right connecting rod includes upper right connecting rod and bottom right connecting rod, the upper end of the upper right connecting rod and the right drive link
Pivot joint, the lower end of the upper right connecting rod are connected by removable fasteners with the upper end of the bottom right connecting rod, and the bottom right connects
The lower end of extension bar and the right tibia lower end pivot joint.
3. lower limb robot according to claim 1 and 2, it is characterised in that the Left Drive bar and the right drive link
Between rotation phase difference be 108 °.
4. lower limb robot according to claim 1, it is characterised in that the left knee joint equipment and the right knee joint
The structure of device is identical, including upper joint bearing, connecting bolt, spring, ShiShimonoseki bearings, the outer ring of the upper joint bearing with
The lower end connection of the fl or right femur, the outer ring of ShiShimonoseki bearings is connected with the upper end of the left tibia or right tibia
Connect, the inner ring of the inner ring of the upper joint bearing and ShiShimonoseki bearings is connected by the connecting bolt, close on described
The spring is also equipped between the inner ring of the inner ring of bearings and ShiShimonoseki bearings.
5. lower limb robot according to claim 1, it is characterised in that the length range of the fl and right femur is
The length range of 320mm～360mm, the left tibia and right tibia is 340mm～380mm.
6. lower limb robot according to claim 1, it is characterised in that the output shaft of the motor and the transmission
Gear reduced drive ratio between axle is 2:1.
7. the lower limb robot according to claim 1 or 6, it is characterised in that it is 12V that motor is driving voltage, is turned
Dc motor of the speed for 100r/s.
8. lower limb robot according to claim 7, it is characterised in that the motor and transformer switch device electricity
Connection, the transformer switch device are arranged in the frame.
9. lower limb robot according to claim 8, it is characterised in that 220V is installed in the transformer switch device and is turned
The transformator of 12V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621066031.8U CN206067952U (en) | 2016-09-20 | 2016-09-20 | A kind of lower limb robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621066031.8U CN206067952U (en) | 2016-09-20 | 2016-09-20 | A kind of lower limb robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206067952U true CN206067952U (en) | 2017-04-05 |
Family
ID=58439738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621066031.8U Active CN206067952U (en) | 2016-09-20 | 2016-09-20 | A kind of lower limb robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206067952U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184464A (en) * | 2016-09-20 | 2016-12-07 | 上海逸动医学科技有限公司 | A kind of lower limb robot |
-
2016
- 2016-09-20 CN CN201621066031.8U patent/CN206067952U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184464A (en) * | 2016-09-20 | 2016-12-07 | 上海逸动医学科技有限公司 | A kind of lower limb robot |
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