CN208989571U - A kind of knee joint driving device of healing robot - Google Patents
A kind of knee joint driving device of healing robot Download PDFInfo
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- CN208989571U CN208989571U CN201821469736.3U CN201821469736U CN208989571U CN 208989571 U CN208989571 U CN 208989571U CN 201821469736 U CN201821469736 U CN 201821469736U CN 208989571 U CN208989571 U CN 208989571U
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Abstract
The utility model discloses a kind of knee joint driving devices of healing robot, are related to healing robot field, including robot thigh, robot shank, drive screw, driving device；The robot thigh is equipped with the first connecting pin of thigh, and the top of the robot shank is equipped with the first connecting pin of shank and shank second connection end, and the bottom end of first connecting pin of shank and the robot thigh passes through rotary shaft rotation connection；One end of the drive screw and first connecting pin of thigh are rotatablely connected by rotary shaft, and the other end of the drive screw and the shank second connection end 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.Utility model has the advantages that driving drive screw by driving motor, motion of knee joint can be quickly and easily driven.
Description
Technical field
The utility model relates to healing robot field more particularly to a kind of knee 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.
Utility model content
The technical problem to be solved by the utility model is to existing healing robot, which lacks, quickly and easily to be driven
The driving device of motion of knee joint.
The utility model is to solve a kind of above-mentioned technical problem: knee joint of healing robot by the following technical programs
Driving device, including robot thigh (1), robot shank (2), drive screw (3), driving device (4)；
The robot thigh (1) is equipped with the first connecting pin of thigh (11), and the top of the robot shank (2) is equipped with
The first connecting pin of shank (21) and shank second connection end (22), first connecting pin of shank (21) and the robot thigh
(1) bottom end is rotatablely connected by rotary shaft；
The drive screw (3) includes screw jacket (31) and screw rod (32)；One end of the screw jacket (31) and institute
It states the first connecting pin of thigh (11) to be 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 the shank second connection end (22) 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, first connecting pin of thigh (11) is located at the front side of the robot thigh (1)
Middle part, first connecting pin of shank (21) are located at right above the top of the robot shank (2), and the shank second connects
End (22) is located at the top front side top of the robot shank (2).Convenient for driving the motion of knee joint of healing robot.
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) include the first support (201), the first support plate (202), the first vertical bar (203),
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 support plate (202) is fixed on the side of first support (201), and the power device (100) is solid
It is scheduled on first support plate (202), the part that first screw rod (204) is located above first support (201) connects
Connect 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)；
First connecting pin of thigh (11) is fixedly connected on the outer wall upper end of the thigh housing (300), the shank
First connecting pin (21) and the bottom end of the thigh housing (300) are rotatablely connected by rotary shaft.
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 robot shank (2) includes power device (100), shank telescopic rod
(400), shank housing (500)；
The shank telescopic rod (400) include the second support (401), the second support plate (402), the second vertical bar (403),
Second screw rod (404)；
Second support (401) is equipped with upper and lower perforative third through-hole (4011)；Second vertical bar (403) is solid
It is scheduled on the second support (401) bottom end, the second strip through slot that front and back penetrates through is offered on second vertical bar (403)
(4031), the second vertical bar (403) bottom end is equipped with upper and lower perforative fourth hole (4032), the fourth hole (4032)
It is penetrated through with the second strip through slot (4031)；Second screw rod (404) sequentially passes through third through-hole from top to bottom
(4011), the second strip through slot (4031) and fourth hole (4032)；
Second support plate (402) is fixed on the side of second support (401), and the power device (100) is solid
It is scheduled on second support plate (402), the part that second screw rod (404) is located above second support (401) connects
Connect the power device (100)；
The shank housing (500) includes shank outer casing inner wall (501), the second connector (502), the second screw shell
(503)；
The shank outer casing inner wall (501) cover second vertical bar (403) outside, the shank outer casing inner wall (501)
Fixed second connector (502) in upper end, second screw shell (503) pass through second connector (502) and institute
Shank outer casing inner wall (501) connection is stated, the second screw shell (503) setting is in the second strip through slot (4031)
And it is threadedly coupled with second screw rod (404)；
First connecting pin of shank (21) and shank second connection end (22) are respectively fixedly connected with flexible in the shank
The top of bar (400).
As the technical solution of optimization, the second vertical bar (403) side is provided along its length the second graduated scale
(4033).Facilitate the adjustment length of observer robot shank.
As the technical solution of optimization, the power device (100) includes motor (101), driving pulley (102), synchronizes
Band (103), passive belt wheel (104)；The motor (101) connects control system；The output shaft of the motor (101) and the master
Movable belt pulley (102) connection, the driving pulley (102) connect the passive belt wheel (104) by the synchronous belt (103).It is real
Existing automation control, it is easy to operate.
Utility model has the advantages that driving drive screw by driving motor, quickly and easily knee can be driven to close
Section movement；By motor drives screw mandrel, it can rapidly and accurately adjust thigh leg length or shank leg is long；High degree of automation, behaviour
Make simply, it is easily controllable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the knee joint driving device of the utility model embodiment healing robot.
Fig. 2 is the structural schematic diagram of the utility model embodiment drive screw and driving device.
Fig. 3 is the structural schematic diagram of the utility model embodiment thigh telescopic rod.
Fig. 4 is the partial cutaway view of the outer set upper side of the utility model embodiment thigh.
Fig. 5 is the structural schematic diagram of the utility model embodiment shank telescopic rod.
Fig. 6 is the partial cutaway view of the outer set upper side of the utility model embodiment shank.
Fig. 7 is the sectional view of the utility model embodiment power device.
Specific embodiment
As shown in figs. 1-7, the knee joint driving device of a kind of healing robot, including robot thigh 1, robot shank
2, drive screw 3, driving device 4.
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.
Robot shank 2 includes power device 100, shank telescopic rod 400, shank housing 500.
Shank telescopic rod 400 includes the second support 401, the second support plate 402, the second vertical bar 403, the second screw rod 404.
Second support 401 is equipped with upper and lower perforative third through-hole 4011；Second vertical bar 403 is fixed on the second support
401 bottom ends offer the second strip through slot 4031 that front and back penetrates through in the second vertical bar 403, and 403 bottom end of the second vertical bar is set
There is perforative fourth hole 4032 up and down, fourth hole 4032 and the second strip through slot 4031 penetrate through；Second screw rod 404 is from upper
Third through-hole 4011, the second strip through slot 4031 and fourth hole 4032 are sequentially passed through under.
Third through-hole 4011 and 4032 middle line of fourth hole are same axis, and radius is identical, prevents the second screw rod 404
Deviation is shaken in rotation.
Second vertical bar, 403 side is provided along its length the second graduated scale 4033.
Second support plate 402 is fixed on the side of the second support 401, and power device 100 is fixed on by fixing bolt
In two support plates 402, loosening when preventing from operating, the second screw rod 404 is located at the part connecting power device of 401 top of the second support
100。
Shank housing 500 includes shank outer casing inner wall 501, the second connector 502, the second screw shell 503.
501 sets of shank outer casing inner wall outside the second vertical bar 403, the second connector is fixed in 501 upper end of shank outer casing inner wall
502, the second connector 502 is mutually perpendicular to 403 axis of the second vertical bar, and the second screw shell 503 passes through the second connector 502
Connect with shank outer casing inner wall 501, the second screw shell 503 be arranged in the second strip through slot 4031 and with the second screw rod
404 are threadedly coupled.
The connection side of second screw shell 503 and the second connector 502, the second connector 502 and shank outer casing inner wall 501
Formula is welding, so that shank outer casing inner wall 501 is not easy to be broken with the second screw shell 503 when shank housing 500 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.
Robot thigh 1 is equipped with the first connecting pin of thigh 11, and the first connecting pin of thigh 11 is fixedly connected on thigh housing
300 outer wall upper end, the first connecting pin of thigh 11 are located at the front side of thigh housing 300.
The top of robot shank 2 is equipped with the first connecting pin of shank 21 and shank second connection end 22, and shank first connects
End 21 and shank second connection end 22 are respectively fixedly connected with the top in shank telescopic rod 400 and are one with shank telescopic rod 400
Body structure, the first connecting pin of shank 21 are located at right above the top of shank telescopic rod 400, and shank second connection end 22 is located at shank
The top front side top of telescopic rod 400.
The first connecting pin of shank 21 and the bottom end of thigh housing 300 are rotatablely connected by rotary shaft.
Drive screw 3 includes screw jacket 31 and screw rod 32；One end and the first connecting pin of thigh 11 of screw jacket 31 are logical
Rotary shaft rotation connection is crossed, is fixed with nut in screw jacket 31；One end of screw rod 32 is penetrated from the other end of screw jacket 31
It is connect in screw jacket 31 and with nut thread, the other end and shank second connection end 22 of screw rod 32 are rotated by rotary shaft to be 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 shank 2 moves backward；Same control system control driving motor 41 is anti-
Turn, drive screw 3 can be made to shorten, band mobile robot shank 2 travels forward；Pass through matching for the forward and reverse of driving motor 41
Crossed belt moves the motion of knee joint 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 or the rotation of the second screw rod 404, are made by the rotation of the first screw rod 204 or the second screw rod 404
The first screw shell 303 up moved relative to first screw rod 204 or the second screw shell 503 up with respect to the second screw rod 404
It is mobile, so that thigh housing 300 or shank housing 500 be made up to move；Same control system control motor 101 inverts, and can make
Thigh housing 300 or shank housing 500 move down；By the initial input of control system to thigh leg length and shank leg progress
It goes and controls, realize automation and rapidly and accurately adjusting thigh leg length or shank leg are long.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the utility model within novel spirit and principle
Within the scope of shield.
Claims (10)
1. a kind of knee joint driving device of healing robot, it is characterised in that: including robot thigh (1), robot shank
(2), drive screw (3), driving device (4)；
The robot thigh (1) is equipped with the first connecting pin of thigh (11), and the top of the robot shank (2) is equipped with shank
First connecting pin (21) and shank second connection end (22), first connecting pin of shank (21) and the robot thigh (1)
Bottom end pass through rotary shaft be rotatablely connected；
The drive screw (3) includes screw jacket (31) and screw rod (32)；One end of the screw jacket (31) and described big
The first connecting pin of leg (11) is rotatablely connected by rotary shaft, is fixed with nut in the screw jacket (31)；The screw rod (32)
One end penetrate in the screw jacket (31) and connect with the nut thread, institute from the other end of the screw jacket (31)
The other end and the shank second connection end (22) for stating screw rod (32) 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 knee joint driving device of healing robot as described in claim 1, it is characterised in that: the thigh first connects
End (11) is located in the middle part of the front side of the robot thigh (1), and it is small that first connecting pin of shank (21) is located at the robot
Right above the top of leg (2), the shank second connection end (22) is located at the top front side top of the robot shank (2).
3. the knee 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 knee 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 knee 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 knee 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 support plate (202), the first vertical bar (203), 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 support plate (202) is fixed on the side of first support (201), and the power device (100) is fixed on
On first support plate (202), first screw rod (204) is located at the connection institute of the part above first support (201)
State 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；
First connecting pin of thigh (11) is fixedly connected on the outer wall upper end of the thigh housing (300), the shank first
Connecting pin (21) and the bottom end of the thigh housing (300) are rotatablely connected by rotary shaft.
7. the knee 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 knee joint driving device of healing robot as described in claim 1, it is characterised in that: the robot shank
It (2) include power device (100), shank telescopic rod (400), shank housing (500)；
The shank telescopic rod (400) includes the second support (401), the second support plate (402), the second vertical bar (403), second
Screw rod (404)；
Second support (401) is equipped with upper and lower perforative third through-hole (4011)；Second vertical bar (403) is fixed on
Second support (401) bottom end offers the second strip through slot that front and back penetrates through on second vertical bar (403)
(4031), the second vertical bar (403) bottom end is equipped with upper and lower perforative fourth hole (4032), the fourth hole (4032)
It is penetrated through with the second strip through slot (4031)；Second screw rod (404) sequentially passes through third through-hole from top to bottom
(4011), the second strip through slot (4031) and fourth hole (4032)；
Second support plate (402) is fixed on the side of second support (401), and the power device (100) is fixed on
On second support plate (402), second screw rod (404) is located at the connection institute of the part above second support (401)
State power device (100)；
The shank housing (500) includes shank outer casing inner wall (501), the second connector (502), the second screw shell (503)；
The shank outer casing inner wall (501) cover second vertical bar (403) outside, shank outer casing inner wall (501) upper end
Fixed second connector (502), second screw shell (503) by second connector (502) with it is described small
Leg outer casing inner wall (501) connection, second screw shell (503) setting in the second strip through slot (4031) and with
Second screw rod (404) is threadedly coupled；
First connecting pin of shank (21) and shank second connection end (22) are respectively fixedly connected in the shank telescopic rod
(400) top.
9. the knee joint driving device of healing robot as claimed in claim 8, it is characterised in that: second vertical bar
(403) side is provided along its length the second graduated scale (4033).
10. the knee joint driving device of healing robot as claim in any one of claims 6-9, it is characterised in that: described dynamic
Power device (100) includes motor (101), driving pulley (102), synchronous belt (103), passive belt wheel (104)；The motor
(101) control system is connected；The output shaft of the motor (101) is connect with the driving pulley (102), the driving pulley
(102) the passive belt wheel (104) is connected by the synchronous belt (103).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821469736.3U CN208989571U (en) | 2018-09-10 | 2018-09-10 | A kind of knee joint driving device of healing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821469736.3U CN208989571U (en) | 2018-09-10 | 2018-09-10 | A kind of knee joint driving device of healing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009881A (en) * | 2018-09-10 | 2018-12-18 | 安庆中船柴油机有限公司 | A kind of knee joint driving device of healing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009881A (en) * | 2018-09-10 | 2018-12-18 | 安庆中船柴油机有限公司 | A kind of knee joint driving device of healing robot |
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