CN209827471U - Four-foot power-assisted walking rehabilitation robot with balancing device - Google Patents
Four-foot power-assisted walking rehabilitation robot with balancing device Download PDFInfo
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- CN209827471U CN209827471U CN201920297248.7U CN201920297248U CN209827471U CN 209827471 U CN209827471 U CN 209827471U CN 201920297248 U CN201920297248 U CN 201920297248U CN 209827471 U CN209827471 U CN 209827471U
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Abstract
The utility model discloses a four-foot power-assisted walking rehabilitation robot with a balancing device, which comprises four limbs of the robot, the balancing device and a frame, wherein the balancing device is fixedly connected with the frame, and the four limbs of the robot are respectively connected with the frame through an upper-most four-limb connecting piece; the four limbs of the robot are a left front limb, a right front limb, a left rear limb and a right rear limb which are distributed in four directions of a left front direction, a right front direction, a left rear direction and a right rear direction of the four-foot power-assisted walking rehabilitation robot with the balancing device; the utility model discloses four mechanical legs's simple structure, the structure of whole organism is also comparatively simple, cost of control under the circumstances of guaranteeing its function. The practicality is high, even the road surface unevenness, through balancing unit's adjustment, also can carry out "lifting the leg" and guarantee user's steady when "falling the leg" action at the mechanical leg, and workspace is big, and motion inertia is little, advantages such as bearing capacity is strong.
Description
Technical Field
The utility model relates to a four-footed robot field, more specifically the theory that says so especially relates to a four-footed helping hand walking rehabilitation robot of area balancing unit.
Background
The power-assisted walking rehabilitation robot plays a vital role in walking and rehabilitation training of patients with lower limb injuries, and can provide walking aid, support and protection effects for the patients.
The existing power-assisted walking rehabilitation robot can meet the aims of walking assistance and rehabilitation training to a certain extent, but has various defects. For example, chinese utility model patent application No. CN107049715A discloses a power-assisted walking robot suitable for medical rehabilitation, correction or training, which is connected to the lower limbs of a patient in an exoskeleton manner, and supports the waist of the patient with a waist support rod having a radian, and the leg length is adjustable; the utility model discloses a chinese utility model patent with application number CN207693859U discloses a polypody helping hand rehabilitation robot, has adopted waistband structure and bionical mechanical leg, provides a equilibrium better, energy availability factor is higher, effectively be applicable to the recovered polypody helping hand rehabilitation robot of helping hand of old person and low limbs disabled person. However, the aforesaid utility model patent and utility model patent need be dressed on one's body when some uses, and the process is comparatively loaded down with trivial details, turns to inconveniently, and can exert an influence to helping the line when meetting the condition of road surface unevenness, and some do not have damping device, can lead to the vibrations of machine when walking to too big influence the user, and lead to the fact the damage to machine itself. The existing exoskeleton technology is still in a development stage, the structure is complex, and the manufacturing cost is too high.
In order to overcome the defects, a power-assisted walking rehabilitation robot needs to be designed and developed, and the defects can be overcome.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve current low limbs disabled patient and old person's walking difficulty, the problem of the comparatively limited problem of rehabilitation training and current rehabilitation robot is expensive, use the problem of various defects such as inconvenient, the recovered robot of four-footed helping hand walking of a tape balancing unit is proposed, can solve current helping hand recovered robot structure complicacy, and the cost is expensive, awkward shortcoming to help low limbs disabled patient's recovery and alleviate the problem of old person's walking difficulty.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a four-foot power-assisted walking rehabilitation robot with a balancing device comprises four limbs of the robot, the balancing device and a rack, wherein the balancing device is fixedly connected with the rack, and the four limbs of the robot are respectively connected with the rack through four limb connecting pieces at the uppermost ends; the four limbs of the robot are a left front limb, a right front limb, a left rear limb and a right rear limb which are distributed in four directions of a left front direction, a right front direction, a left rear direction and a right rear direction of the four-foot power-assisted walking rehabilitation robot with the balancing device;
the frame comprises a frame upper plate, a frame lower plate, a push rod connecting seat, an upper plate connecting piece, a lower plate connecting piece, a steel pipe and a steel pipe connecting piece; the frame upper plate and the frame lower plate are arranged in parallel and have the same structure, the frame upper plate and the frame lower plate are fixedly connected through upper and lower plate connecting pieces, two steel pipes are provided and are all U-shaped, four steel pipe connecting pieces are arranged and fixed on the frame upper plate and the frame lower plate through screws, the four steel pipe connecting pieces are distributed in a square shape, the U-shaped end parts of the two steel pipes are respectively fixed on the four steel pipe connecting pieces, and the balancing device is fixed on the two steel pipes; the push rod connecting seat is fixed at the bottom of the lower plate of the frame;
the balance device comprises a base, a first stepping motor, a second stepping motor, a first speed reducer, a second speed reducer, an elliptical ring and a seat connecting piece, wherein one end of a long shaft of the elliptical ring is connected with a rotating seat fixed on the base through a rotating shaft, the other end of the long shaft of the elliptical ring is connected with the first stepping motor through the first speed reducer, and the first stepping motor and the first speed reducer are fixed on the base through a first motor seat; one end of the seat connecting piece is connected to one end of the elliptical ring short shaft through a rotating shaft, the other end of the seat connecting piece is connected with a second speed reducer and a second stepping motor through the rotating shaft penetrating through the other end of the elliptical ring short shaft, and the second speed reducer and the second stepping motor are fixed on the elliptical ring through a second motor base;
the left front limb, the right front limb, the left rear limb and the right rear limb are completely the same in structure, and the structure of any four limbs comprises a first plate frame, a push rod connecting piece, a third stepping motor, a third speed reducer, a driving conical gear, a driven conical gear, a joint driving rod connecting shaft, a joint driving rod, a joint driven rod, a second plate frame, a joint shaft, a mechanical leg push rod, a rack push rod and a foot part; the four-limb connecting pieces are hinged to an upper frame plate and a lower frame plate of the frame, the first plate frames are arranged in parallel, one ends of the two first plate frames are fixedly connected to two sides of the four-limb connecting pieces through bolts, and the other ends of the two first plate frames are hinged to the upper ends of the two second plate frames through joint shafts; the push rod connecting piece is fixed on the outer side of the first plate frame through a screw, one end of the rack push rod is hinged to the push rod connecting piece, the other end of the rack push rod is hinged to the push rod connecting seat of the rack, and the rack push rod drives corresponding four limbs of the robot to rotate around the four limb connecting pieces and the hinged shaft of the rack when in work; the third stepping motor is fixed at the bottom of the four-limb connecting piece, an output shaft of the third stepping motor is connected with a driving bevel gear through a third speed reducer, the driven bevel gear is fixed on the joint driving rod connecting shaft through a key, and the driving bevel gear is meshed with the driven bevel gear; one end of the joint driving rod is fixedly connected with the joint driving rod connecting shaft key, and the other end of the joint driving rod is hinged with one end of the joint driven rod; the other end of the joint driven rod is hinged with the second plate frame through a rotating shaft; the upper end of the mechanical leg push rod is hinged with the middle lower end of the second plate frame; the lower end of the mechanical leg push rod is hinged with the upper end of the foot part; the upper end of the foot part is hinged with the lower end of the second plate frame; when the third step motor works, the driving bevel gear is driven to rotate through the third speed reducer, so that the driven bevel gear and the joint driving rod connecting shaft are driven to rotate, the joint driving rod is driven to rotate around the joint driving rod connecting shaft, and the second plate frame is driven to rotate around the joint shaft through the joint driven rod; when the mechanical leg push rod works, the foot part is driven to rotate around the hinging shaft of the foot part and the second plate frame;
the foot comprises a foot connecting frame, a large damping spring, a small damping spring, an inner column, a sole block and a rubber pad; the upper end of the foot connecting frame is provided with an upper end connecting point, the side surface of the foot connecting frame is provided with a lower end connecting point, the upper end connecting point of the foot connecting frame is hinged with the lower end of the mechanical leg push rod, and the lower end connecting point of the foot connecting frame is hinged with the lower end of the second plate frame; one end of the large damping spring is connected with the foot connecting frame, and the other end of the large damping spring is connected with the foot bottom block; the upper end of the inner column is arranged in the foot connecting frame, and the large damping spring is sleeved on the inner column; the small damping spring is arranged in a cavity formed by the foot connecting frame and the upper end of the inner column, the upper end of the small damping spring is connected with the foot connecting frame, and the lower end of the small damping spring is connected with the inner column; the upper end surface of the foot sole block is fixedly connected with the lower end of the inner column; the rubber pad is fixedly connected to the bottom of the sole block through a bolt.
Furthermore, the second grillage is provided with two of parallel arrangement, and the upper end of two second grillages all articulates on same root joint axle with the one end of two first grillages.
Furthermore, the two ends of the joint driving rod connecting shaft and the joint shaft are connected to the first plate frame through bearings.
Further, a bearing end cover is installed on the outer side of the first plate frame through which the joint driving rod connecting shaft penetrates.
Furthermore, a plurality of studs for supporting are arranged between the upper frame plate and the lower frame plate, and a plurality of studs for supporting are arranged between the two second plate frames.
Furthermore, the third stepping motor and the third speed reducer are both fixed on the first plate frame through a third motor support.
Furthermore, in the balancing device, the whole body formed by the first stepping motor, the first speed reducer control elliptical ring, the seat connecting seat, the second stepping motor, the second coupler and the second motor seat rotates around the X axis, and the second stepping motor and the second speed reducer control the seat connecting seat to rotate around the Y axis.
Furthermore, the lower end of the inner column of the foot is connected with the sole block through a ball hinge.
The direction perpendicular to the ground is set to be the Z-axis direction, the upward direction is set to be the Z-axis positive direction, the plane perpendicular to the Z-axis direction is set to be the X-Y plane, the joint of the mechanical leg and the rack is set to be the first joint, the joint shaft is the second joint, and the lower connecting point of the foot connecting frame is the third joint. Then the utility model discloses a working process as follows:
when the four-foot assisting walking rehabilitation robot moves forwards under control, the third stepping motor on the first plate frame on the mechanical leg drives the driving conical gear to rotate, the driving conical gear is meshed with the driven conical gear, so that the driven conical gear, the joint driving rod connecting shaft and the joint driving rod are driven to rotate, the joint driven rod drives the lower portion of the leg to rotate anticlockwise around the joint shaft, and leg lifting is completed. And then a frame push rod on the frame drives a push rod connecting piece on the first plate frame to move so as to enable the first joint to rotate to a certain position around the Z axis, a third motor on the first plate frame rotates reversely, a driving bevel gear drives a driven bevel gear, a joint driving rod connecting shaft and a joint driving rod to rotate, and then a joint driven rod drives the lower part of the leg to rotate clockwise around a joint axis so as to complete leg falling, so that the step is further carried forward. When one mechanical leg performs stepping action, the rest three mechanical legs keep stepping on the ground so as to keep the stability of the whole machine body. Because the utility model discloses a for helping hand walking rehabilitation robot, consequently the user probably the health will rock when using the machine, and in order to further increase the stability of organism, make the machine can not rock along with the user, is equipped with a balancing unit in the frame, establishes the third joint in the below of mechanical leg and also has the effect that keeps the fuselage stable. The specific implementation method comprises the steps that when the body tilts and shakes, a first stepping motor and a second stepping motor of the balancing device work, and a user can be ensured to sit stably by adjusting the rotation angles of the seat connecting seat around X and Y; and the mechanical leg part and the mechanical leg push rod of the second plate frame work, and the upper connecting point of the foot part rotates around the lower connecting point by a certain angle, so that the machine body is adjusted to swing laterally to a certain degree, and the stability of the machine body is improved.
The beneficial effects of the utility model reside in that: the utility model discloses four mechanical legs's simple structure, the structure of whole organism is also comparatively simple, cost of control under the circumstances of guaranteeing its function. The practicality is high, even the road surface unevenness, through balancing unit's adjustment, also can carry out "lifting the leg" and guarantee user's steady when "falling the leg" action at the mechanical leg, and workspace is big, and motion inertia is little, advantages such as bearing capacity is strong. The whole machine body has certain stability due to the adoption of the four-foot structure, and has the advantages of simple and compact structure, reasonable design, good processing and assembling processes and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the four-footed walking rehabilitation robot with a balancing device.
Fig. 2 is a schematic structural diagram of any one of the four limbs of the robot of the present invention.
Fig. 3 is a schematic view of the structure of the foot of the present invention.
Fig. 4 is a schematic structural diagram of the balancing device of the present invention.
Fig. 5 is a schematic structural diagram of the rack of the present invention.
In the figure, 1-machine frame, 2-left hind limb, 3-balancing device, 4-machine frame push rod, 5-four limbs connecting piece, 6-third step motor, 7-driving conical gear, 8-driven conical gear, 9-push rod connecting piece, 10-joint driving rod, 11-joint driven rod, 12-first plate frame, 13-second plate frame, 14-mechanical leg push rod, 15-foot, 16-foot connecting frame, 17-big damping spring, 18-small damping spring, 19-inner column, 20-sole block, 21-rubber pad, 22-base, 23-first step motor, 24-first speed reducer, 25-second step motor, 26-second speed reducer, 27-elliptical ring, 28-seat connecting piece, 29-steel pipe connecting piece, 30-steel pipe, 31-upper frame plate, 32-lower frame plate, 33-push rod connecting seat and 34-upper and lower plate connecting piece.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 5, a four-foot power-assisted walking rehabilitation robot with a balancing device comprises four limbs of the robot, a balancing device 3 and a rack 1, wherein the balancing device 3 is fixedly connected with the rack 1, and the four limbs of the robot are respectively connected with the rack 1 through an uppermost limb connecting piece 5; the four limbs of the robot are a left front limb, a right front limb, a left back limb 2 and a right back limb which are distributed in four directions of a left front direction, a right front direction, a left back direction and a right back direction of the four-foot power-assisted walking rehabilitation robot with the balancing device.
The frame 1 comprises a frame upper plate 31, a frame lower plate 32, a push rod connecting seat 33, an upper plate connecting piece and a lower plate connecting piece 34, a steel pipe 30 and a steel pipe connecting piece 29; the frame upper plate 31 and the frame lower plate 32 are arranged in parallel and have the same structure, the frame upper plate 31 and the frame lower plate 32 are fixedly connected through upper and lower plate connecting pieces 34, two steel pipes 30 are provided and are U-shaped, four steel pipe connecting pieces 29 are arranged and fixed on the frame upper plate 31 and the frame lower plate 32 through screws, the four steel pipe connecting pieces 29 are distributed in a square shape, the U-shaped end parts of the two steel pipes 30 are respectively fixed on the four steel pipe connecting pieces 29, and the balancing device 3 is fixed on the two steel pipes 30; the push rod connecting seat 33 is fixed at the bottom of the frame lower plate 32.
The balancing device 3 comprises a base 22, a first stepping motor 23, a second stepping motor 25, a first speed reducer 24, a second speed reducer 26, an elliptical ring 27 and a seat connecting piece 28, wherein one end of the long axis of the elliptical ring 27 is connected with a rotating seat fixed on the base 22 through a rotating shaft, the other end of the long axis of the elliptical ring 27 is connected with the first stepping motor 23 through the first speed reducer 24, and the first stepping motor 23 and the first speed reducer 24 are fixed on the base 22 through a first motor seat; one end of the seat connecting piece 28 is connected to one end of the short shaft of the elliptical ring 27 through a rotating shaft, the other end of the seat connecting piece 28 is connected to the second speed reducer 26 and the second stepping motor 25 through a rotating shaft penetrating the other end of the short shaft of the elliptical ring 27, and the second speed reducer 26 and the second stepping motor 25 are fixed on the elliptical ring 27 through a second motor base.
The left front limb, the right front limb, the left rear limb 2 and the right rear limb are completely the same in structure, and the structure of any four limbs comprises a first plate frame 12, a push rod connecting piece 9, a third stepping motor 6, a third speed reducer, a driving conical gear 7, a driven conical gear 8, a joint driving rod connecting shaft, a joint driving rod 10, a joint driven rod 11, a second plate frame 13, a joint shaft, a mechanical leg push rod 14, a rack push rod 4 and a foot part 15; the four-limb connecting piece 5 is hinged to a rack upper plate 31 and a rack lower plate 32 of the rack 1, the first plate racks 12 are arranged in parallel, one ends of the two first plate racks 12 are fixedly connected to two sides of the four-limb connecting piece 5 through bolts, and the other ends of the two first plate racks 12 are hinged to the upper ends of the two second plate racks 13 through joint shafts; the push rod connecting piece 9 is fixed on the outer side of the first plate frame 12 through a screw, one end of the frame push rod 4 is hinged to the push rod connecting piece 9, the other end of the frame push rod 4 is hinged to the push rod connecting seat 33 of the frame 1, and the frame push rod 4 drives corresponding four limbs of the robot to rotate around the four limb connecting pieces 5 and the hinged shaft of the frame 1 when in work; the third stepping motor 6 is fixed at the bottom of the four-limb connecting piece 5, an output shaft of the third stepping motor 6 is connected with a driving bevel gear 7 through a third speed reducer, the driven bevel gear 8 is fixed on the joint driving rod connecting shaft through a key, and the driving bevel gear 7 and the driven bevel gear 8 are meshed with each other; one end of the joint driving rod 10 is fixedly connected with the joint driving rod connecting shaft key, and the other end of the joint driving rod is hinged with one end of the joint driven rod 11; the other end of the joint driven rod 11 is hinged with the second plate frame 13 through a rotating shaft; the upper end of the mechanical leg push rod 14 is hinged with the middle lower end of the second plate frame 13; the lower end of the mechanical leg push rod 14 is hinged with the upper end of the foot part 15; the upper end of the foot part 15 is hinged with the lower end of the second grillage 13; when the third step motor 6 works, the third speed reducer drives the driving bevel gear 7 to rotate, so that the driven bevel gear 8 and the joint driving rod connecting shaft are driven to rotate, the joint driving rod 10 is driven to rotate around the joint driving rod connecting shaft, and the joint driven rod 11 drives the second plate frame 13 to rotate around the joint shaft; the mechanical leg pushing rod 14 drives the foot part 15 to rotate around the hinging shaft of the foot part 15 and the second plate frame 13 when in work.
The foot part 15 comprises a foot connecting frame 16, a large damping spring 17, a small damping spring 18, an inner column 19, a sole block 20 and a rubber pad 21; the upper end of the foot connecting frame 16 is provided with an upper end connecting point, the side surface of the foot connecting frame 16 is provided with a lower end connecting point, the upper end connecting point of the foot connecting frame 16 is hinged with the lower end of the mechanical leg push rod 14, and the lower end connecting point of the foot connecting frame 16 is hinged with the lower end of the second plate frame 13; one end of the large damping spring 17 is connected with the foot connecting frame 16, and the other end of the large damping spring 17 is connected with the sole block 20; the upper end of the inner column 19 is arranged in the foot connecting frame 16, and the large damping spring 17 is sleeved on the inner column 19; the small damping spring 18 is arranged in a cavity formed by the foot connecting frame 16 and the upper end of the inner column 19, the upper end of the small damping spring 18 is connected with the foot connecting frame 16, and the lower end of the small damping spring 18 is connected with the inner column 19; the upper end surface of the sole block 20 is fixedly connected with the lower end of the inner column 19; the rubber pad 21 is fixedly connected to the bottom of the sole block 20 through bolts
The second grillage 13 is provided with two of parallel arrangement, and the upper end of two second grillages 13 all articulates on same root joint axle with the one end of two first grillages 12.
The two ends of the joint driving rod connecting shaft and the joint shaft are connected to the first plate frame 12 through bearings.
And a bearing end cover is arranged on the outer side of the first plate frame 12 through which the joint driving rod connecting shaft passes.
A plurality of support studs are arranged between the upper frame plate 31 and the lower frame plate 32, and a plurality of support studs are arranged between the two second plate frames 13.
And the third stepping motor 6 and the third speed reducer are both fixed on the first plate frame 12 through a third motor support.
In the balancing device 3, the first stepping motor 23 and the first speed reducer 24 control the elliptical ring 27, the seat connecting seat, the second stepping motor 25, the second coupler and the second motor seat to form a whole to rotate around the X axis, and the second stepping motor 25 and the second speed reducer 26 control the seat connecting seat to rotate around the Y axis.
The lower end of the inner column 19 of the foot part 15 is connected with a sole block 20 through a ball hinge.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (8)
1. The utility model provides a take balancing unit's four-footed helping hand walking rehabilitation robot which characterized in that: the robot comprises four limbs of a robot, a balancing device (3) and a rack (1), wherein the balancing device (3) is fixedly connected with the rack (1), and the four limbs of the robot are connected with the rack (1) through four limb connecting pieces (5) at the uppermost ends respectively; the four limbs of the robot are a left front limb, a right front limb, a left rear limb (2) and a right rear limb which are distributed in four directions of a left front direction, a right front direction, a left rear direction and a right rear direction of the four-foot power-assisted walking rehabilitation robot with the balancing device;
the rack (1) comprises a rack upper plate (31), a rack lower plate (32), a push rod connecting seat (33), an upper plate connecting piece and a lower plate connecting piece (34), a steel pipe (30) and a steel pipe connecting piece (29); the frame upper plate (31) and the frame lower plate (32) are arranged in parallel and have the same structure, the frame upper plate (31) and the frame lower plate (32) are fixedly connected through upper and lower plate connecting pieces (34), the two steel pipes (30) are both U-shaped, four steel pipe connecting pieces (29) are arranged and fixed on the frame upper plate (31) and the frame lower plate (32) through screws, the four steel pipe connecting pieces (29) are distributed in a square shape, the U-shaped end parts of the two steel pipes (30) are respectively fixed on the four steel pipe connecting pieces (29), and the balancing device (3) is fixed on the two steel pipes (30); the push rod connecting seat (33) is fixed at the bottom of the lower plate (32) of the frame;
the balance device (3) comprises a base (22), a first stepping motor (23), a second stepping motor (25), a first speed reducer (24), a second speed reducer (26), an elliptical ring (27) and a seat connecting piece (28), one end of a long shaft of the elliptical ring (27) is connected with a rotating base fixed on the base (22) through a rotating shaft, the other end of the long shaft of the elliptical ring (27) is connected with the first stepping motor (23) through the first speed reducer (24), and the first stepping motor (23) and the first speed reducer (24) are fixed on the base (22) through a first motor base; one end of the seat connecting piece (28) is connected to one end of a short shaft of the elliptical ring (27) through a rotating shaft, the other end of the seat connecting piece (28) is connected with the second speed reducer (26) and the second stepping motor (25) through the rotating shaft penetrating through the other end of the short shaft of the elliptical ring (27), and the second speed reducer (26) and the second stepping motor (25) are fixed on the elliptical ring (27) through a second motor base;
the left front limb, the right front limb, the left rear limb (2) and the right rear limb are completely the same in structure, and the structure of any four limbs comprises a first plate frame (12), a push rod connecting piece (9), a third stepping motor (6), a third speed reducer, a driving conical gear (7), a driven conical gear (8), a joint driving rod connecting shaft, a joint driving rod (10), a joint driven rod (11), a second plate frame (13), a joint shaft, a mechanical leg push rod (14), a frame push rod (4) and a foot part (15); the four-limb connecting piece (5) is hinged to an upper rack plate (31) and a lower rack plate (32) of the rack (1), the two first plate racks (12) are arranged in parallel, one ends of the two first plate racks (12) are fixedly connected to the two sides of the four-limb connecting piece (5) through bolts, and the other ends of the two first plate racks (12) are hinged to the upper ends of the two second plate racks (13) through joint shafts; the push rod connecting piece (9) is fixed on the outer side of the first plate frame (12) through a screw, one end of the frame push rod (4) is hinged to the push rod connecting piece (9), the other end of the frame push rod (4) is hinged to a push rod connecting seat (33) of the frame (1), and the frame push rod (4) drives corresponding four limbs of the robot to rotate around the four limb connecting pieces (5) and a hinged shaft of the frame (1) when in work; the third step motor (6) is fixed at the bottom of the four-limb connecting piece (5), an output shaft of the third step motor (6) is connected with a driving conical gear (7) through a third speed reducer, the driven conical gear (8) is fixed on the joint driving rod connecting shaft through a key, and the driving conical gear (7) and the driven conical gear (8) are meshed with each other; one end of the joint driving rod (10) is fixedly connected with the joint driving rod connecting shaft key, and the other end of the joint driving rod is hinged with one end of the joint driven rod (11); the other end of the joint driven rod (11) is hinged with the second plate frame (13) through a rotating shaft; the upper end of the mechanical leg push rod (14) is hinged with the middle lower end of the second plate frame (13); the lower end of the mechanical leg push rod (14) is hinged with the upper end of the foot part (15); the upper end of the foot part (15) is hinged with the lower end of the second grillage (13); when the third step motor (6) works, the third speed reducer drives the driving conical gear (7) to rotate, so that the driven conical gear (8) and the joint driving rod connecting shaft are driven to rotate, the joint driving rod (10) is driven to rotate around the joint driving rod connecting shaft, and the joint driven rod (11) drives the second plate frame (13) to rotate around the joint shaft; when the mechanical leg push rod (14) works, the foot part (15) is driven to rotate around a hinge shaft of the foot part (15) and the second plate frame (13);
the foot (15) comprises a foot connecting frame (16), a large damping spring (17), a small damping spring (18), an inner column (19), a sole block (20) and a rubber pad (21); the upper end of the foot connecting frame (16) is provided with an upper end connecting point, the side surface of the foot connecting frame (16) is provided with a lower end connecting point, the upper end connecting point of the foot connecting frame (16) is hinged with the lower end of the mechanical leg push rod (14), and the lower end connecting point of the foot connecting frame (16) is hinged with the lower end of the second plate frame (13); one end of the large damping spring (17) is connected with the foot connecting frame (16), and the other end of the large damping spring (17) is connected with the sole block (20); the upper end of the inner column (19) is arranged in the foot connecting frame (16), and the large damping spring (17) is sleeved on the inner column (19); the small damping spring (18) is arranged in a cavity formed by the foot connecting frame (16) and the upper end of the inner column (19), the upper end of the small damping spring (18) is connected with the foot connecting frame (16), and the lower end of the small damping spring (18) is connected with the inner column (19); the upper end surface of the sole block (20) is fixedly connected with the lower end of the inner column (19); the rubber pad (21) is fixedly connected to the bottom of the sole block (20) through a bolt.
2. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: the second grillage (13) is provided with two parallel arrangement, and the upper ends of the two second grillages (13) are hinged on the same joint shaft with one ends of the two first grillages (12).
3. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: the two ends of the joint driving rod connecting shaft and the joint shaft are connected to the first plate frame (12) through bearings.
4. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: and a bearing end cover is arranged on the outer side of the first plate frame (12) through which the joint driving rod connecting shaft passes.
5. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: a plurality of studs for supporting are arranged between the upper frame plate (31) and the lower frame plate (32), and a plurality of studs for supporting are arranged between the two second plate frames (13).
6. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: and the third stepping motor (6) and the third speed reducer are both fixed on the first plate frame (12) through a third motor support.
7. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: in the balancing device (3), a first stepping motor (23) and a first speed reducer (24) control the oval ring (27), the seat connecting seat, a second stepping motor (25), a second coupler and a second motor seat to form a whole to rotate around an X axis, and the second stepping motor (25) and the second speed reducer (26) control the seat connecting seat to rotate around a Y axis.
8. The four-foot power-assisted walking rehabilitation robot with the balancing device according to claim 1, characterized in that: the lower end of an inner column (19) of the foot part (15) is connected with a sole block (20) through a ball hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920297248.7U CN209827471U (en) | 2019-03-10 | 2019-03-10 | Four-foot power-assisted walking rehabilitation robot with balancing device |
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| CN201920297248.7U CN209827471U (en) | 2019-03-10 | 2019-03-10 | Four-foot power-assisted walking rehabilitation robot with balancing device |
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| CN209827471U true CN209827471U (en) | 2019-12-24 |
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| CN201920297248.7U Active CN209827471U (en) | 2019-03-10 | 2019-03-10 | Four-foot power-assisted walking rehabilitation robot with balancing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
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2019
- 2019-03-10 CN CN201920297248.7U patent/CN209827471U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
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