CN207693859U - A kind of polypody power-assisted healing robot - Google Patents
A kind of polypody power-assisted healing robot Download PDFInfo
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- CN207693859U CN207693859U CN201720296384.5U CN201720296384U CN207693859U CN 207693859 U CN207693859 U CN 207693859U CN 201720296384 U CN201720296384 U CN 201720296384U CN 207693859 U CN207693859 U CN 207693859U
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- 230000035876 healing Effects 0.000 title claims abstract description 28
- 241000592274 Polypodium vulgare Species 0.000 title claims abstract description 27
- 210000001694 thigh bone Anatomy 0.000 claims abstract description 89
- 210000002414 leg Anatomy 0.000 claims abstract description 36
- 238000005452 bending Methods 0.000 claims abstract description 27
- 235000001968 nicotinic acid Nutrition 0.000 claims abstract description 20
- 210000000988 bone and bone Anatomy 0.000 claims description 5
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Abstract
A kind of polypody power-assisted healing robot, the robot includes Waistband structure and Form of Bionics Mechanical Legs, the Waistband structure connects form ring-like belt two-by-two, the Waistband structure is connect with Form of Bionics Mechanical Legs, the Form of Bionics Mechanical Legs includes nearly thigh bone, middle thigh bone and remote thigh bone, the Waistband structure is connect with the upper end of nearly thigh bone by side-sway joint, it is connected by the first bending joint between the nearly thigh bone and the rear end at the middle thigh bone end, the middle thigh bone is connect with the upper end of the remote thigh bone by the second bending joint.The utility model provide a kind of balance preferably, energy use efficiency is higher, is effectively applicable to the elderly and the polypody power-assisted healing robot of the power-assisted rehabilitation of lower limb disability person.
Description
Technical field
The utility model is related to robot field, especially a kind of power-assisted healing robot.
Background technology
With the rapid development of modern science and technology, the application of robot is not merely confined to industrial circle, but gradually answers
For fields such as agricultural, medical treatment and services.The application of robot gradually becomes more diversified and complicates.This practicality
Novel is a wearable bionic 6-leg pedipulator, its major function is extension human body lower limbs motor function, application
It is the elderly and lower limb disability person, final goal is to realize that application restores normal walking ability.This requires six sufficient machines
People is flexibly and safe as people's leg.And there are balance difficulty height, gait planning are difficult for two traditional sufficient exoskeleton robots
Agree with the movement of people's leg so that being easy to happen the inherent defect interfered and caused in damage etc. structure with perfection, these disadvantages make
The exoskeleton robot of two foots temporarily cannot preferably meet today's society demand.
Currently, scientific research institution has now been developed a variety of power-assisting robots both at home and abroad, wherein with two sufficient ectoskeleton power-assisted machines
It is artificial main, and in terms of polypody power-assisted healing robot it is a blank.
The research of ectoskeleton power-assisting robot starts from the U.S. of the 1960s, and earliest achievement in research is AM General
The Hardiman exoskeleton systems of company's research and development, mainly use drive and control of electric machine, can lifting heavy easily.About lower limb
Exoskeleton robot, 2004, the lower limb exoskeleton robot (Berkeley that Univ California-Berkeley develops
Lower extremity exoskeleton, BLEEX), it is Advanced Research Projects office of U.S. Department of Defense (DARPA) EHPA projects
The First of development can bear a heavy burden and the exoskeleton robot with mobile power.BLEEX exoskeleton robots are by power-equipment, the back of the body
Packet mode holder, 2 bionic mechanical powered leg compositions, using hydraulic-driven, hydraulic pump energy sources are in its Backpack type holder
Hydraulic Power Transmission System and box miniature air speed sense instrument.But this exoskeleton robot is short there are cruise duration, power generator
Walking step state is influenced, the problems such as balance is weak.
Ectoskeleton technology is still in phase of basic research, China's state natural sciences fund and science and technology supporting project in China
Also gradually concern, the research of development exoskeleton robot.On October 15th, 2016 is handed over by He Fu artificial intelligence group joint Shanghai
The six foots walking robot in parallel that logical university researches and develops jointly formally exposes in Pudong, Shanghai, and has carried out manned walk around stake and drilled
Show.The exceedingly difficult movements such as carrying, avoidance, upper and lower cat ladder can be achieved with walking in six football association of robot, but it uses hydraulic-driven,
Pressure fluid is easy leakage, and work noise is larger, and energy use efficiency is low, and transmission speed is low, be not suitable for for the elderly and
The power-assisted rehabilitation of lower limb disability person.
Invention content
In order to overcome, the balance of existing exoskeleton robot is poor, energy use efficiency is relatively low, can not be suitable for old age
The deficiency of the power-assisted rehabilitation of people and lower limb disability person, a kind of balance of the utility model offer is preferable, energy use efficiency is higher,
It is effectively applicable to the polypody power-assisted healing robot of the power-assisted rehabilitation of the elderly and lower limb disability person.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of polypody power-assisted healing robot, the robot include Waistband structure and Form of Bionics Mechanical Legs, the belt knot
Structure connects form ring-like belt two-by-two, and the Waistband structure is connect with Form of Bionics Mechanical Legs, the Form of Bionics Mechanical Legs include nearly thigh bone,
Middle thigh bone and remote thigh bone, the Waistband structure are connect with the upper end of nearly thigh bone by side-sway joint, the nearly thigh bone with it is described in
It is connected by the first bending joint between the rear end at thigh bone end, the upper end of the middle thigh bone and the remote thigh bone passes through the second bending
Joint connects.
Further, first bending joint includes the first electric pushrod driver, connection the first electric pushrod drive
Dynamic device connect the first electric pushrod driver with the revolute pair of nearly thigh bone, one and connect nearly leg with the revolute pair of middle thigh bone and one
Revolute pair between the lower end of bone and middle thigh bone.
The first electric pushrod driver includes the first sliding block, the first guide rail, the first stepper motor, the first leading screw, the
One leading screw sleeve and the first spherical plain bearing rod end, first stepper motor are installed in first motor fixing clip, and described first
The first circular hole is provided in motor fixing clip, the first axis pin passes through first circular hole to constitute first axle and is connected to nearly thigh bone
On, the output shaft of first stepper motor is connect with one end of the first leading screw, and first leading screw and the first leading screw sleeve connect
It connects, one end of first spherical plain bearing rod end passes through port nut and the first leading screw sleeve clearance fit, first rod end
The other end of oscillating bearing is equipped with the second circular hole, and second circular hole and the second axis pin constitute second hinge and be connected to middle thigh bone
Rear end；The circular hole of the first leading screw sleeve and the first sliding block is interference fitted, and first sliding block is slideably sleeved on first
On guide rail, first guide rail is fixedly connected with the first motor fixing clip.
Second bending joint includes the second electric pushrod driver, a second electric pushrod driver of connection in
Leg during the revolute pair of thigh bone, the revolute pair of connection the second electric pushrod driver and a middle thigh bone or remote thigh bone and one connect
Revolute pair between the front end of bone and remote thigh bone.
The second electric pushrod driver includes the second sliding block, the second guide rail, the second stepper motor, the second leading screw, the
Two leading screw sleeves and the second spherical plain bearing rod end, second stepper motor are installed in the second motor fixing clip, and described second
Third circular hole is provided in motor fixing clip, third axis pin passes through the third circular hole to constitute third hinge and is connected to middle thigh bone
On, the output shaft of second stepper motor is connect with one end of the second leading screw, and second leading screw and the second leading screw sleeve connect
It connects, one end of second spherical plain bearing rod end passes through port nut and the second leading screw sleeve clearance fit, second rod end
The other end of oscillating bearing is equipped with the 4th circular hole, and the 4th circular hole and the 4th axis pin constitute the 4th and be hingedly connected at remote middle thigh bone
Upper end；The circular hole of the second leading screw sleeve and the second sliding block is interference fitted, and second sliding block is slideably sleeved on the
On two guide rails, second guide rail is fixedly connected with the second motor fixing clip.
The side-sway joint includes third electric pushrod driver, a connection Waistband structure and the driving of third electric pushrod
The revolute pair of device, the revolute pair and a connection Waistband structure of the nearly thigh bone of a connection and third electric pushrod driver and nearly leg
The revolute pair of bone.
The third electric pushrod driver includes third sliding block, third guide rail, third stepper motor, third leading screw,
Three leading screw sleeves and third spherical plain bearing rod end, the third stepper motor are installed in third motor fixing clip, the third
The 5th circular hole is provided in motor fixing clip, the 5th axis pin passes through the 5th circular hole to constitute the 5th and is hingedly connected at Waistband structure
On, the output shaft of the third stepper motor is connect with one end of third leading screw, and the third leading screw connects with third leading screw sleeve
It connects, one end of the third spherical plain bearing rod end passes through port nut and third leading screw sleeve clearance fit, the third rod end
The other end of oscillating bearing is equipped with the 6th circular hole, and the 6th circular hole and the 6th axis pin constitute the 4th and be hingedly connected at nearly thigh bone
The circular hole on top, the third leading screw sleeve and third sliding block is interference fitted, and the third sliding block is slideably sleeved on third
On guide rail, the third guide rail is fixedly connected with the third motor fixing clip.
The Waistband structure and Form of Bionics Mechanical Legs are six, and each Waistband structure is in 120 ° of angles, the ring-like belt
In regular hexagon, the angle of the Waistband structure is connect with Form of Bionics Mechanical Legs.It is of course also possible to be other structures form.
The technical concept of the utility model is：Polypody power-assisted healing robot with galleyworm (such as spider) be prototype,
From structurally and functionally being imitated, there is 6 Form of Bionics Mechanical Legs and multiple degree of freedom, help human body continuous by driver
Carry out the similar actions such as walk, climb, going upstairs.With the utility model device, elderly and infirm and lower limb can be helped residual
Disease person rapidly takes action as the young man of health.As a wearable novel light weight robot.It is not only assisted in
Disabled person restores locomotor activity, is expected to that patient is avoided to give birth to pressure sore because being sitting in for a long time on wheelchair, while can also improve the heart
Dirty health status, the intensity that exercises one's muscles, alleviation depression etc..It puts on its people to may be implemented easily to walk, keep away completely
Exempt from vacillating and staggering, the case where stopping when walking.Meanwhile its realization will mitigate family and society caused by aging and part disability
It can pressure.
The utility model is the wearable design of belt type, and six independent Form of Bionics Mechanical Legs are around connection because using six sufficient structures
Design, can preferably solve the unavoidable balance sex chromosome mosaicism of two biped robots, have good protect in stability and safety
Barrier.One biggest advantage of Hexapod Robot is that the requirement to road surface of walking is very low, it can be with across obstacle, sand of passing by
The Special Roads such as ground, marsh, the design for being accordingly used in rehabilitation power-assisting robot are very suitable, can preferably be realized upstairs
The obstacle crossing functions such as ladder.And a large amount of degree of freedom possessed by the foot of robot can make the movement of robot more flexible, to recessed
The adaptability of the landform of convex injustice is stronger.The foothold of six sufficient formula mobile robots is discrete, with the contact area on ground
It is smaller, optimal supporting point can be selected on accessible ground, even if extremely irregular on surface, by stringent
The supporting point for selecting foot, can also walk freely.Meanwhile this equipment is driven using stepper motor, compared to hydraulic-driven, is had
Small, technology maturation is simple in structure, pollution-free, and low energy consumption, and signal transmits the advantages that rapid and easy to automate.
The beneficial effects of the utility model are mainly manifested in：1, the polypody power-assisted healing robot involved by the utility model
With six mechanical bionic legs and 18 degree of freedom, every leg all includes two buckling joints and a side-sway joint,
So as to realize curvature movement and side-sway movement, therefore the station that human body lower limbs mainly undertake may be implemented in the utility model
The functions such as vertical, holding balance, walking；2, it is driven using electric pushrod driver, enough high thrusts can be generated, cradle head is real
It now moves, and low energy consumption, signal transmission is rapid and easy to automate for stepper motor；3, the utility model is set using modularization
Meter, six mechanical bionic legs are independent mutually, coordinate to control by master chip, simple and compact for structure, easy to process, assemble and repair
It is relatively low to manage easy maintenance, cost.
Description of the drawings
Fig. 1 is the utility model polypody power-assisted healing robot overall structure 3 d effect graph.
Fig. 2 is the utility model polypody power-assisted healing robot Waistband structure-Form of Bionics Mechanical Legs module 3 d effect graph.
Fig. 3 is the utility model polypody power-assisted healing robot Waistband structure-lateral structural representation of Form of Bionics Mechanical Legs module
Figure.
Fig. 4 is the bending joint 3 d effect graph in the utility model polypody power-assisted healing robot stand leg portion.
The bending joint principle schematic diagram of the legs Fig. 5.
Fig. 6 is the vertical view of Fig. 5.
Fig. 7 is the structural schematic diagram of the electric pushrod driver in the utility model polypody power-assisted healing robot.
Fig. 8 is the side-sway joint structure three-dimensional design sketch in the utility model polypody power-assisted healing robot.
Fig. 9 is the side-sway joint structural schematic diagram in the utility model polypody power-assisted healing robot.
Figure 10 is the measurements of the chest, waist and hips design sketch that Waistband structure connects in the utility model polypody power-assisted healing robot.
Figure 11 is the structural schematic diagram that Waistband structure connects in the utility model polypody power-assisted healing robot.
Specific implementation mode
The utility model is further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Figure 11, a kind of polypody power-assisted healing robot, the robot include Waistband structure 5 and bionical machine
Tool leg, the Waistband structure 5 connect form ring-like belt two-by-two, and the Waistband structure 5 is connect with Form of Bionics Mechanical Legs, described bionical
Pedipulator includes nearly thigh bone 3, middle thigh bone 1 and remote thigh bone 10, and the Waistband structure 5 and the upper end of nearly thigh bone 3 pass through side-sway joint
Connection is connected between the nearly thigh bone 3 and the rear end of 1 epiphysis of middle leg by the first bending joint, the middle thigh bone 1 and institute
The upper end for stating remote thigh bone 10 is connected by the second bending joint.
Further, first bending joint includes that 4, first electric pushrods of connection of the first electric pushrod driver drive
Dynamic device connect the first electric pushrod driver with the revolute pair of nearly thigh bone, one and connect nearly leg with the revolute pair of middle thigh bone and one
Revolute pair between the lower end of bone and middle thigh bone.
The first electric pushrod driver 4 includes the first sliding block, the first guide rail, the first stepper motor, the first leading screw, the
One leading screw sleeve and the first spherical plain bearing rod end, first stepper motor are installed in first motor fixing clip, and described first
The first circular hole is provided in motor fixing clip, the first axis pin passes through first circular hole to constitute first axle and is connected to nearly thigh bone
On, the output shaft of first stepper motor is connect with one end of the first leading screw, and first leading screw and the first leading screw sleeve connect
It connects, one end of first spherical plain bearing rod end passes through port nut and the first leading screw sleeve clearance fit, first rod end
The other end of oscillating bearing is equipped with the second circular hole, and second circular hole and the second axis pin constitute second hinge and be connected to middle thigh bone
Rear end；The circular hole of the first leading screw sleeve and the first sliding block is interference fitted, and first sliding block is slideably sleeved on first
On guide rail, first guide rail is fixedly connected with the first motor fixing clip.
Second bending joint include the second electric pushrod drivers of connection of the second electric pushrod driver 8, one with
During the revolute pair of middle thigh bone, the revolute pair of connection the second electric pushrod driver and a middle thigh bone or remote thigh bone and one connect
Revolute pair between the front end of thigh bone and remote thigh bone.
The second electric pushrod driver 8 includes the second sliding block, the second guide rail, the second stepper motor, the second leading screw, the
Two leading screw sleeves and the second spherical plain bearing rod end, second stepper motor are installed in the second motor fixing clip, and described second
Third circular hole is provided in motor fixing clip, third axis pin passes through the third circular hole to constitute third hinge and is connected to middle thigh bone
On, the output shaft of second stepper motor is connect with one end of the second leading screw, and second leading screw and the second leading screw sleeve connect
It connects, one end of second spherical plain bearing rod end passes through port nut and the second leading screw sleeve clearance fit, second rod end
The other end of oscillating bearing is equipped with the 4th circular hole, and the 4th circular hole and the 4th axis pin constitute the 4th and be hingedly connected at remote middle thigh bone
Upper end；The circular hole of the second leading screw sleeve and the second sliding block is interference fitted, and second sliding block is slideably sleeved on the
On two guide rails, second guide rail is fixedly connected with the second motor fixing clip.
The side-sway joint includes that 7, connection Waistband structures of third electric pushrod driver and third electric pushrod drive
The revolute pair of dynamic device, the revolute pair and a connection Waistband structure of the nearly thigh bone of a connection and third electric pushrod driver and close
The revolute pair of thigh bone.
The third electric pushrod driver 7 includes third sliding block, third guide rail, third stepper motor, third leading screw, the
Three leading screw sleeves and third spherical plain bearing rod end, the third stepper motor are installed in third motor fixing clip, the third
The 5th circular hole is provided in motor fixing clip, the 5th axis pin passes through the 5th circular hole to constitute the 5th and is hingedly connected at Waistband structure
On, the output shaft of the third stepper motor is connect with one end of third leading screw, and the third leading screw connects with third leading screw sleeve
It connects, one end of the third spherical plain bearing rod end passes through port nut and third leading screw sleeve clearance fit, the third rod end
The other end of oscillating bearing is equipped with the 6th circular hole, and the 6th circular hole and the 6th axis pin constitute the 4th and be hingedly connected at nearly thigh bone
The circular hole on top, the third leading screw sleeve and third sliding block is interference fitted, and the third sliding block is slideably sleeved on third
On guide rail, the third guide rail is fixedly connected with the third motor fixing clip.
The Waistband structure and Form of Bionics Mechanical Legs are six, and each Waistband structure is in 120 ° of angles, the ring-like belt
In regular hexagon, the angle of the Waistband structure is connect with Form of Bionics Mechanical Legs.It is of course also possible to be other structures form.Institute
It states Waistband structure and is connected two-by-two by bolt assembly 32 and form ring-like belt.
The layout of each structure of robot of the present embodiment is using galleyworm as reference, such as Fig. 1, on the whole at regular hexagon,
It is formed by connecting by six separate modulars, each module includes a Waistband structure 5 and a Form of Bionics Mechanical Legs, with reference to Fig. 2.It is most upper
End Waistband structure is one 120 degree of angle, two length of side 125mm of angle.Far the long 850mm of thigh bone, the middle long 560mm of thigh bone, nearly thigh bone are long
440mm.Every first bending joint of pedipulator and the second bending joint and side-sway joint rotational angle range are all at 0~60 degree.
The utility model is related to polypody power-assisted healing robot six waistbands-leg module in used 18 bases in total
In the cradle head (12 bending joints, 6 side-sway joints) of electric pushrod driver.Pedipulator may be implemented in bending joint
Its curvature movement planar, be the important composition component of the utility model, therefore detailed Jie carried out to bending joint
It continues, the first bending joint is identical as the structure of the second bending joint.It is described by taking the second bending joint as an example with reference to Fig. 4~6
Second bending joint includes the revolute pair 11 of a second electric pushrod driver of connection 8 and middle thigh bone 1, second electricity of connection
The revolute pair 12 of dynamic push rod driver 8 and remote thigh bone 10, the revolute pair 13 of thigh bone 1 and remote thigh bone 10 in a connection.With reference to figure
7, the second electric pushrod driver includes 15, two the second sliding block 14, the second guide rail 18 and of the second motor fixing clip
20, the second stepper motor 19, second shaft coupling 22, the second leading screw 23, the second leading screw sleeve 24 and the second spherical plain bearing rod end
26.The second motor of two of which fixing clip 18,20 is fixedly connected by 4 soket head cap screws 21 with the second stepper motor 19,
Hinge-connection is constituted further through third circular hole 17 and axis pin, is connected on middle thigh bone 1.Second leading screw 23 passes through second shaft coupling
22 connect with the second motor shaft 16, and the second leading screw sleeve 24 is threadedly coupled with its second internal leading screw 23, the second motor
Axis 16 drives the second leading screw 23 to rotate when rotating so that the second leading screw sleeve 24 moves axially.Second spherical plain bearing rod end
27, one end is made up of second port nut 26 and the second leading screw sleeve clearance fit, the 4th circular hole 28 of the other end axis pin
Hinge revolute pair is connect with remote thigh bone 10.Described second sliding block, 14 one end coordinates with the second guide rail 15, should match and be combined into clearance fit,
The other end is interference fitted by circular hole and the second leading screw sleeve 24, and the second guide rail 15 is fixedly connected on the second motor fixing clip
18, it on 20, plays and is provided a supporting role to the second leading screw 23.When work, the second electric pushrod driver elongation, middle thigh bone 1 with
Remote 10 inner angle of thigh bone becomes smaller, and the second electric pushrod driver shortens, and middle thigh bone 1 becomes larger with 10 inner angle of remote thigh bone.Base
It it is 0 °~60 ° in the angle range of the second bending joint of the second electric pushrod driver, simple in structure, rigidity is good, action
Flexibly, there is larger implementary value.
Buckling (bending) movement not only may be implemented in every pedipulator of the utility model polypody power-assisted healing robot,
And side-sway movement may be implemented.Based on electric pushrod driver utility model side-sway joint.It is described with reference to Fig. 8 and Fig. 9
Side-sway joint includes the revolute pair 30 of connection a Waistband structure 5 and third electric pushrod driver 7, and one connects nearly thigh bone 3
With the revolute pair 29 of third electric pushrod driver 7, the revolute pair 31 of connection a Waistband structure 5 and nearly thigh bone 3.Described
Three electric pushrod drivers, 7 structure and operation principle are identical as the second electric pushrod driver, its rear end by the 5th circular hole and
Axis pin constitutes hinge revolute pair 30, and front end constitutes hinge revolute pair 29 by the 6th circular hole and axis pin.When work, third is electronic to be pushed away
Bar driver elongates or shortens, and drives revolute pair 31 to rotate, realizes the side-sway function of machine.Based on third electric pushrod driver
Side-sway joint angle range be 0 °~60 °, it is simple in structure, rigidity good, flexible movements, have larger implementary value.
The utility model is related to polypody power-assisted healing robot Waistband structure between connection referring to Fig.1 0.Six waists
Band structure is sequentially connected with by bolt group can form regular hexagon fuselage.Its is simple in structure, and rigidity is good, is readily disassembled repair.
The drive system of the utility model and control measuring system include power supply, stepper motor, control card, industrial personal computer, surpass
Sonic sensor and computer software.
Claims (5)
1. a kind of polypody power-assisted healing robot, it is characterised in that：The robot includes Waistband structure and Form of Bionics Mechanical Legs, institute
It states Waistband structure and connects two-by-two and form ring-like belt, the Waistband structure is connect with Form of Bionics Mechanical Legs, the Form of Bionics Mechanical Legs packet
Nearly thigh bone, middle thigh bone and remote thigh bone are included, the Waistband structure is connect with the upper end of nearly thigh bone by side-sway joint, the nearly thigh bone
It is connect by the first bending joint between the rear end at the middle thigh bone end, the upper end of the middle thigh bone and the remote thigh bone passes through
Second bending joint connects, and first bending joint includes the first electric pushrod driver, first electric pushrod of connection
Driver connect the first electric pushrod driver with the revolute pair of nearly thigh bone, one and is connect with the revolute pair of middle thigh bone and one closely
Revolute pair between the lower end of thigh bone and middle thigh bone；Second bending joint includes the second electric pushrod driver, a company
It connects the second electric pushrod driver and connect the second electric pushrod driver and middle thigh bone or remote leg with the revolute pair of middle thigh bone, one
Revolute pair in the revolute pair of bone and a connection between the front end and remote thigh bone of thigh bone；The side-sway joint includes that third is electronic
Push rod driver, a revolute pair for connecting Waistband structure and third electric pushrod driver, the nearly thigh bone of a connection and third
The revolute pair of the revolute pair of electric pushrod driver and connection a Waistband structure and nearly thigh bone.
2. polypody power-assisted healing robot as described in claim 1, it is characterised in that：The first electric pushrod driver packet
The first sliding block, the first guide rail, the first stepper motor, the first leading screw, the first leading screw sleeve and the first spherical plain bearing rod end are included, it is described
First stepper motor is installed in first motor fixing clip, and the first circular hole, the first pin are provided in the first motor fixing clip
Axis passes through first circular hole to constitute first axle and is connected on nearly thigh bone, the output shaft of first stepper motor and first
One end of thick stick connects, and first leading screw and the first leading screw sleeve connection, one end of first spherical plain bearing rod end pass through end
Mouthful nut and the first leading screw sleeve clearance fit, the other end of first spherical plain bearing rod end is equipped with the second circular hole, and described the
Two circular holes and the second axis pin constitute the rear end that second hinge is connected to middle thigh bone；The circle of the first leading screw sleeve and the first sliding block
Hole is interference fitted, and first sliding block is slideably sleeved on the first guide rail, and first guide rail is solid with the first motor
Clamp piece is fixedly connected.
3. polypody power-assisted healing robot as claimed in claim 1 or 2, it is characterised in that：The second electric pushrod driving
Device includes the second sliding block, the second guide rail, the second stepper motor, the second leading screw, the second leading screw sleeve and the second spherical plain bearing rod end,
Second stepper motor is installed in the second motor fixing clip, and third circular hole is provided in the second motor fixing clip, the
Three axis pins pass through the third circular hole to constitute third hinge and are connected on middle thigh bone, the output shaft of second stepper motor and the
One end of two leading screws connects, second leading screw and the second leading screw sleeve connection, and one end of second spherical plain bearing rod end is logical
Port nut and the second leading screw sleeve clearance fit are crossed, the other end of second spherical plain bearing rod end is equipped with the 4th circular hole, institute
It states the 4th circular hole and the 4th axis pin constitutes the 4th upper end for being hingedly connected at remote middle thigh bone；The second leading screw sleeve and second is slided
The circular hole of block is interference fitted, and second sliding block is slideably sleeved on the second guide rail, second guide rail and described second
Motor fixing clip is fixedly connected.
4. polypody power-assisted healing robot as claimed in claim 1 or 2, it is characterised in that：The third electric pushrod driving
Device includes third sliding block, third guide rail, third stepper motor, third leading screw, third leading screw sleeve and third spherical plain bearing rod end,
In the third stepper motor installation third motor fixing clip, the 5th circular hole is provided in the third motor fixing clip, the
Five axis pins pass through the 5th circular hole to constitute and the 5th are hingedly connected on Waistband structure, the output shaft of the third stepper motor with
One end of third leading screw connects, the third leading screw and third leading screw sleeve connection, one end of the third spherical plain bearing rod end
By port nut and third leading screw sleeve clearance fit, the other end of the third spherical plain bearing rod end is equipped with the 6th circular hole,
6th circular hole and the 6th axis pin constitute the 4th top for being hingedly connected at nearly thigh bone, and the third leading screw sleeve is slided with third
The circular hole of block is interference fitted, and the third sliding block is slideably sleeved on third guide rail, the third guide rail and the third
Motor fixing clip is fixedly connected.
5. polypody power-assisted healing robot as claimed in claim 1 or 2, it is characterised in that：The Waistband structure and bionical machine
Tool leg is six, and each Waistband structure is in 120 ° of angles, and the ring-like belt is in regular hexagon, the angle of the Waistband structure
Place is connect with Form of Bionics Mechanical Legs.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720296384.5U CN207693859U (en) | 2017-03-24 | 2017-03-24 | A kind of polypody power-assisted healing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720296384.5U CN207693859U (en) | 2017-03-24 | 2017-03-24 | A kind of polypody power-assisted healing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110292510A (en) * | 2019-07-08 | 2019-10-01 | 华中科技大学 | A kind of outer limbs robot of human motion auxiliary dual-purpose type |
| CN113911229A (en) * | 2021-11-04 | 2022-01-11 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
-
2017
- 2017-03-24 CN CN201720296384.5U patent/CN207693859U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110292510A (en) * | 2019-07-08 | 2019-10-01 | 华中科技大学 | A kind of outer limbs robot of human motion auxiliary dual-purpose type |
| CN113911229A (en) * | 2021-11-04 | 2022-01-11 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
| CN113911229B (en) * | 2021-11-04 | 2023-02-28 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
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