CN210145030U - Six-foot power-assisted rehabilitation robot - Google Patents
Six-foot power-assisted rehabilitation robot Download PDFInfo
- Publication number
- CN210145030U CN210145030U CN201920297268.4U CN201920297268U CN210145030U CN 210145030 U CN210145030 U CN 210145030U CN 201920297268 U CN201920297268 U CN 201920297268U CN 210145030 U CN210145030 U CN 210145030U
- Authority
- CN
- China
- Prior art keywords
- frame
- plate
- push rod
- joint
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a six-foot power-assisted rehabilitation robot, which comprises six mechanical legs and a frame, wherein the six mechanical legs are uniformly and symmetrically distributed on two sides of the frame, and three mechanical legs are arranged on each side of the frame; 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 connecting piece and a seat; any one mechanical leg comprises a mechanical leg connecting piece, a first plate frame, a push rod connecting piece, a rack push rod, a stepping motor, a 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 and a foot part; the utility model adopts a six-foot structure, and has better stability and better use effect compared with a four-foot structure; compared with a wheel type structure, the mechanical leg type structure is adopted, the adaptability to the terrain can be better, the mechanical leg structure can enable the machine to go up and down stairs, and the application range is wider.
Description
Technical Field
The utility model relates to a hexapod robot field, more specifically the theory that says so especially relates to a hexapod helping hand rehabilitation robot.
Background
The power-assisted rehabilitation robot is an important branch of a medical service robot, and a service object of the power-assisted rehabilitation robot aims at old people with inconvenient legs and feet and patients with lower limb disabilities and is used for helping the old people with inconvenient legs and feet to perform certain physical rehabilitation training and power-assisted walking.
Although the conventional power-assisted rehabilitation robot can meet the aims of walking aid and rehabilitation training to a certain extent, the conventional power-assisted rehabilitation robot still has various defects because the power-assisted rehabilitation robot is still in a development stage. For example, the chinese utility model patent with application number CN106943282A discloses a multi-foot power-assisted rehabilitation robot, which comprises a waistband structure and bionic mechanical legs, and provides a multi-foot power-assisted rehabilitation robot which has better balance, higher energy utilization efficiency, and is effectively suitable for power-assisted rehabilitation of the elderly and the disabled with lower limbs; the chinese utility model patent with application number CN107049715A discloses a power-assisted walking robot suitable for medical rehabilitation, correction or training, which adopts the exoskeleton mode to connect with the lower limbs of the patient, supports the waist of the patient with a waist support rod with radian, and has adjustable leg length; the Chinese utility model with application number CN108635181A discloses a multifunctional walking-aid rehabilitation training robot, which comprises a fixed frame, a base positioned at the lower end of the fixed frame and a synchronous lifting device arranged on the fixed frame, and has strong practicability, low production cost and convenient installation; 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 utility model discloses a foretell utility model still has the weak point, and some wearing ways are comparatively complicated, and the practicality is not high, and some equilibrium is not good when using to lower limbs atress is more, and comfort level when influencing the use, the wheeled structure of some adoption is relatively poor to the adaptability of topography, and the adaptability of sufficient robot to ground is obviously superior to wheeled robot.
In order to overcome the defects, a power-assisted 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 that the rehabilitation training is comparatively limited and current rehabilitation robot is expensive, use the problem of various defects such as inconvenient, a six sufficient helping hand rehabilitation robot has been proposed, can solve current sufficient rehabilitation robot and use inconveniently, the structure is complicated, the weak shortcoming of topography adaptability adopts the user mode of sitting posture, with help low limbs disabled patient rehabilitation training, help old person's action.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a six-foot power-assisted rehabilitation robot comprises six mechanical legs and a rack, wherein the six mechanical legs are uniformly and symmetrically distributed on two sides of the rack, and three mechanical legs are arranged on each side of the rack;
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 connecting piece and a seat; the upper frame plate and the lower frame plate are both U-shaped, and the end parts of the left side edge and the right side edge, the middle parts of the left side edge and the right side edge and the bottoms of the left side edge and the right side edge of the upper frame plate and the lower frame plate are respectively connected with a mechanical leg; the lower frame plate beside each mechanical leg is also provided with a push rod connecting seat, the upper frame plate and the lower frame plate are arranged in parallel, the upper frame plate and the lower frame plate are fixedly connected through upper and lower plate connecting pieces, the two steel pipes are both U-shaped, the four steel pipe connecting pieces are fixed on the upper frame plate and the lower frame 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 seat is fixed on the U-shaped bottom edges of the two steel pipes;
the structure of the six mechanical legs is completely the same, and any mechanical leg comprises a mechanical leg connecting piece, a first plate frame, a push rod connecting piece, a rack push rod, a stepping motor, a 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 and a foot part; the mechanical leg connecting piece is hinged to an upper rack plate and a lower rack plate of the rack through a vertical hinged shaft, the two first plate racks are arranged in parallel, one ends of the two first plate racks are fixedly connected to two sides of the mechanical leg connecting piece through bolts, and the other ends of the two first plate racks are hinged to the upper ends of the two second plate racks 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 a push rod connecting seat of the rack, and the rack push rod drives the corresponding mechanical leg to rotate around the mechanical leg connecting piece and a hinged shaft of the rack when in work; the stepping motor is fixed at the bottom of the mechanical leg connecting piece, an output shaft of the stepping motor is connected with a driving conical gear through a speed reducer, a driven conical gear is fixed on the joint driving rod connecting shaft through a key, and the driving conical gear is meshed with the driven conical 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 stepping motor works, the driving bevel gear is driven to rotate through the 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 seat comprises a bottom plate and a backrest, the bottom plate of the seat is fixedly connected with the two steel pipes through bolts, the bottom edge of the backrest of the seat is connected to one side edge of the bottom plate, and the upper end of the backrest of the seat is fixed to the U-shaped bottom edges of the upper plate and the lower plate of the frame through bolts.
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.
Further, step motor and reduction gear are all fixed on first grillage through the motor support.
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 hexapod power-assisted rehabilitation robot moves forward under control, the stepping motor on the first plate frame on the mechanical leg drives the driving bevel gear to rotate, the driving bevel gear is meshed with the driven bevel gear, so that the driven bevel gear, the joint driving rod connecting shaft and the joint driving rod are driven to rotate, the joint driven rod drives the lower part 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 the stepping action, the rest five 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 rehabilitation robot, consequently the user probably the health will rock when using the machine, for the four-footed structure, one of the reason of selecting six-footed structure is just that six-footed structure stability is better when walking to, at mechanical leg portion, the push rod work of second grillage, the last tie point of foot is around the rotation that the tie point carries out certain angle down, thereby the adjustment fuselage carries out the side pendulum of certain degree, also can increase fuselage stability.
The beneficial effects of the utility model reside in that: the utility model adopts a six-foot structure, and has better stability and better use effect compared with a four-foot structure; compared with a wheel type structure, the mechanical leg type structure can better adapt to the terrain, and the mechanical leg structure can enable the machine to go up and down stairs, so that the application range is wider; the practicability is high, even if the road surface is uneven, the stability of a user can be ensured when the mechanical legs perform leg lifting and leg falling actions through the adjustment of the balance device, the working space is large, the motion inertia is small, the bearing capacity is strong, and the like; for rehabilitation training, the user can use a sitting posture to carry out, and can also use a standing posture to carry out the dismantling of the seat and the steel pipe, thereby increasing the application range of the power-assisted rehabilitation robot to a certain degree. The utility model discloses simple structure is compact, reasonable in design, and processing and assembly process are good.
Drawings
Fig. 1 is a schematic view of the overall structure of the six-foot assisted rehabilitation robot of the present invention.
Fig. 2 is a schematic structural diagram of the mechanical leg 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 rack of the present invention.
In the figure, 1-frame, 2-frame push rod, 3-mechanical leg, 4-mechanical leg connecting piece, 5-stepping motor, 6-driving bevel gear, 7-driven bevel gear, 8-push rod connecting piece, 9-joint driving rod, 10-joint driven rod, 11-first plate frame, 12-second plate frame, 13-mechanical leg push rod, 14-foot, 15-foot connecting frame, 16-large damping spring, 17-small damping spring, 18-inner column, 19-foot bottom block, 20-rubber pad, 21-left and right side edge end part, 22-left and right side edge, 23-left and right side edge bottom, 24-upper and lower plate connecting piece, 25-steel pipe, 26-steel pipe connecting piece and 27-seat.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 4, the hexapod power-assisted rehabilitation robot comprises six mechanical legs 3 and a rack 1, wherein the six mechanical legs 3 are uniformly and symmetrically distributed on two sides of the rack 1, and three mechanical legs 3 are arranged on each side of the rack 1. The frame 1 is U-shaped as a whole, and three mechanical legs 3 are distributed at the front part, the middle part and the rear part of the left side and the right side of the U-shaped frame 1.
The frame 1 comprises a frame upper plate, a frame lower plate, a push rod connecting seat, an upper plate connecting piece and a lower plate connecting piece 24, a steel pipe 25, a steel pipe connecting piece 26 and a seat 27; the upper frame plate and the lower frame plate are both U-shaped, and the left side end part 21, the right side middle part 22 and the left side bottom part 23 of the upper frame plate and the lower frame plate are respectively connected with a mechanical leg; wherein the left and right side edge middle portions 22 project outwardly to extend the mechanical legs connected thereto outwardly a distance.
Still be provided with a push rod connecting seat on the frame hypoplastron by 3 of every machinery leg, frame upper plate and frame hypoplastron parallel arrangement, frame upper plate and frame hypoplastron through upper and lower plate connecting piece 24 fixed connection, steel pipe 25 has two and all is the U type, and steel pipe connecting piece 26 is provided with four and fixes on frame upper plate and frame hypoplastron through the screw, and four steel pipe connecting pieces 26 are square distribution, and the U type tip of two steel pipes 25 is fixed respectively on four steel pipe connecting pieces 26, and seat 27 is fixed on the U type bottom edge of two steel pipes 25.
The six mechanical legs 3 have the same structure, and any mechanical leg 3 comprises a mechanical leg connecting piece 4, a first plate frame 11, a push rod connecting piece 8, a rack push rod 2, a stepping motor 5, a speed reducer, a driving bevel gear 6, a driven bevel gear 7, a joint driving rod 9 connecting shaft, a joint driving rod 9, a joint driven rod 10, a second plate frame 12, a joint shaft, a mechanical leg push rod 13 and a foot part 14; the mechanical leg connecting piece 4 is hinged to an upper rack plate and a lower rack plate of the rack 1 through a vertical hinged shaft, the first plate racks 11 are arranged in parallel, one ends of the two first plate racks 11 are fixedly connected to two sides of the mechanical leg connecting piece 4 through bolts, and the other ends of the two first plate racks 11 are hinged to the upper ends of the two second plate racks 12 through joint shafts; the push rod connecting piece 8 is fixed on the outer side of the first plate frame 11 through a screw, one end of the frame push rod 2 is hinged to the push rod connecting piece 8, the other end of the frame push rod 2 is hinged to a push rod connecting seat of the frame 1, and the frame push rod 2 drives the corresponding mechanical leg 3 to rotate around the mechanical leg connecting piece 4 and a hinged shaft of the frame 1 when working; the stepping motor 5 is fixed at the bottom of the mechanical leg connecting piece 4, an output shaft of the stepping motor 5 is connected with a driving bevel gear 6 through a speed reducer, a driven bevel gear 7 is fixed on a connecting shaft of a joint driving rod 9 through a key, and the driving bevel gear 6 is meshed with the driven bevel gear 7; one end of the joint driving rod 9 is fixedly connected with a connecting shaft key of the joint driving rod 9, and the other end of the joint driving rod 9 is hinged with one end of the joint driven rod 10; the other end of the joint driven rod 10 is hinged with the second plate frame 12 through a rotating shaft; the upper end of the mechanical leg push rod 13 is hinged with the middle lower end of the second plate frame 12; the lower end of the mechanical leg push rod 13 is hinged with the upper end of the foot part 14; the upper end of the foot part 14 is hinged with the lower end of the second grillage 12; when the stepping motor 5 works, the driving bevel gear 6 is driven to rotate through the speed reducer, so that the driven bevel gear 7 and the joint driving rod 9 are driven to rotate through the connecting shaft, the joint driving rod 9 is driven to rotate around the connecting shaft of the joint driving rod 9, and the second plate frame 12 is driven to rotate around the joint shaft through the joint driven rod 10; the mechanical leg pushing rod 13 drives the foot part 14 to rotate around the hinging axis of the foot part 14 and the second plate frame 12 when in work.
The foot part 14 comprises a foot connecting frame 15, a large damping spring 16, a small damping spring 17, an inner column 18, a sole block 19 and a rubber pad 20; the upper end of the foot connecting frame 15 is provided with an upper end connecting point, the side surface of the foot connecting frame 15 is provided with a lower end connecting point, the upper end connecting point of the foot connecting frame 15 is hinged with the lower end of the mechanical leg push rod 13, and the lower end connecting point of the foot connecting frame 15 is hinged with the lower end of the second plate frame 12; one end of the large damping spring 16 is connected with the foot connecting frame 15, and the other end of the large damping spring 16 is connected with the sole block 19; the upper end of the inner column 18 is arranged in the foot connecting frame 15, and the large damping spring 16 is sleeved on the inner column 18; the small damping spring 17 is arranged in a cavity formed by the foot connecting frame 15 and the upper end of the inner column 18, the upper end of the small damping spring 17 is connected with the foot connecting frame 15, and the lower end of the small damping spring 17 is connected with the inner column 18; the upper end surface of the sole block 19 is fixedly connected with the lower end of the inner column 18; the rubber pad 20 is fixedly attached to the bottom of the sole block 19 by bolts.
The seat 27 comprises a bottom plate and a backrest, the bottom plate of the seat 27 is fixedly connected with the two steel pipes 25 through bolts, the bottom edge of the backrest of the seat 27 is connected to one side edge of the bottom plate, and the upper end of the backrest of the seat 27 is fixed to the U-shaped bottom edges of the upper plate and the lower plate of the frame through bolts.
The two ends of the joint driving rod 9 connecting shaft and the joint shaft are connected to the first plate frame 11 through bearings.
And a bearing end cover is arranged on the outer side of the first plate frame 11 through which the connecting shaft of the joint driving rod 9 passes.
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 12.
The lower end of the inner column 18 of the foot part 14 is connected with a foot sole block 19 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 recovered robot of six sufficient helping hand which characterized in that: the mechanical leg device comprises six mechanical legs (3) and a rack (1), wherein the six mechanical legs (3) are uniformly and symmetrically distributed on two sides of the rack (1), and three mechanical legs (3) are arranged on each side of the rack (1);
the frame (1) comprises a frame upper plate, a frame lower plate, a push rod connecting seat, an upper plate connecting piece and a lower plate connecting piece (24), a steel pipe (25), a steel pipe connecting piece (26) and a seat (27); the upper frame plate and the lower frame plate are both U-shaped, and the left side end part (21), the right side middle part (22) and the left side bottom (23) of the upper frame plate and the lower frame plate are respectively connected with a mechanical leg; a push rod connecting seat is further arranged on the lower frame plate beside each mechanical leg (3), the upper frame plate and the lower frame plate are arranged in parallel, the upper frame plate and the lower frame plate are fixedly connected through upper and lower plate connecting pieces (24), the two steel pipes (25) are both U-shaped, four steel pipe connecting pieces (26) are arranged and fixed on the upper frame plate and the lower frame plate through screws, the four steel pipe connecting pieces (26) are distributed in a square shape, the U-shaped end parts of the two steel pipes (25) are respectively fixed on the four steel pipe connecting pieces (26), and the seat (27) is fixed on the U-shaped bottom edges of the two steel pipes (25);
the structure of the six mechanical legs (3) is completely the same, and any mechanical leg (3) comprises a mechanical leg connecting piece (4), a first plate frame (11), a push rod connecting piece (8), a rack push rod (2), a stepping motor (5), a speed reducer, a driving conical gear (6), a driven conical gear (7), a joint driving rod (9) connecting shaft, a joint driving rod (9), a joint driven rod (10), a second plate frame (12), a joint shaft, a mechanical leg push rod (13) and a foot part (14); the mechanical leg connecting piece (4) is hinged to an upper rack plate and a lower rack plate of the rack (1) through a vertical hinged shaft, the first plate racks (11) are arranged in parallel, one ends of the two first plate racks (11) are fixedly connected to two sides of the mechanical leg connecting piece (4) through bolts, and the other ends of the two first plate racks (11) are hinged to the upper ends of the two second plate racks (12) through a joint shaft; the push rod connecting piece (8) is fixed on the outer side of the first plate frame (11) through a screw, one end of the frame push rod (2) is hinged to the push rod connecting piece (8), the other end of the frame push rod (2) is hinged to a push rod connecting seat of the frame (1), and the frame push rod (2) drives the corresponding mechanical leg (3) to rotate around the mechanical leg connecting piece (4) and a hinged shaft of the frame (1) when working; the stepping motor (5) is fixed at the bottom of the mechanical leg connecting piece (4), an output shaft of the stepping motor (5) is connected with a driving bevel gear (6) through a speed reducer, a driven bevel gear (7) is fixed on a connecting shaft of a joint driving rod (9) through a key, and the driving bevel gear (6) is meshed with the driven bevel gear (7); one end of the joint driving rod (9) is fixedly connected with a connecting shaft key of the joint driving rod (9), and the other end of the joint driving rod is hinged with one end of the joint driven rod (10); the other end of the joint driven rod (10) is hinged with the second plate frame (12) through a rotating shaft; the upper end of the mechanical leg push rod (13) is hinged with the middle lower end of the second plate frame (12); the lower end of the mechanical leg push rod (13) is hinged with the upper end of the foot part (14); the middle upper end of the foot part (14) is hinged with the lower end of the second grillage (12); when the stepping motor (5) works, the driving conical gear (6) is driven to rotate through the speed reducer, so that the driven conical gear (7) and the joint driving rod (9) are driven to rotate through the connecting shaft, the joint driving rod (9) is driven to rotate around the connecting shaft of the joint driving rod (9), and the second plate frame (12) is driven to rotate around the joint shaft through the joint driven rod (10); when the mechanical leg push rod (13) works, the foot part (14) is driven to rotate around a hinge shaft of the foot part (14) and the second plate frame (12);
the foot part (14) comprises a foot connecting frame (15), a large damping spring (16), a small damping spring (17), an inner column (18), a sole block (19) and a rubber pad (20); the upper end of the foot connecting frame (15) is provided with an upper end connecting point, the side surface of the foot connecting frame (15) is provided with a lower end connecting point, the upper end connecting point of the foot connecting frame (15) is hinged with the lower end of the mechanical leg push rod (13), and the lower end connecting point of the foot connecting frame (15) is hinged with the lower end of the second plate frame (12); one end of the large damping spring (16) is connected with the foot connecting frame (15), and the other end of the large damping spring (16) is connected with the sole block (19); the upper end of the inner column (18) is arranged in the foot connecting frame (15), and the large damping spring (16) is sleeved on the inner column (18); the small damping spring (17) is arranged in a cavity formed by the foot connecting frame (15) and the upper end of the inner column (18), the upper end of the small damping spring (17) is connected with the foot connecting frame (15), and the lower end of the small damping spring (17) is connected with the inner column (18); the upper end surface of the sole block (19) is fixedly connected with the lower end of the inner column (18); the rubber pad (20) is fixedly connected to the bottom of the sole block (19) through a bolt.
2. The hexapod assisted rehabilitation robot of claim 1, wherein: the seat (27) comprises a bottom plate and a backrest, the bottom plate of the seat (27) is fixedly connected with the two steel pipes (25) through bolts, the bottom edge of the backrest of the seat (27) is connected to one side edge of the bottom plate, and the upper end of the backrest of the seat (27) is fixed to the U-shaped bottom edges of the upper plate and the lower plate of the rack through bolts.
3. The hexapod assisted rehabilitation robot of claim 1, wherein: the second plate frame (12) is provided with two parallel plates, and the upper ends of the two second plate frames (12) are hinged on the same joint shaft with one ends of the two first plate frames (11).
4. The hexapod assisted rehabilitation robot of claim 1, wherein: the two ends of the joint driving rod (9) connecting shaft and the joint shaft are connected to the first plate frame (11) through bearings.
5. The hexapod assisted rehabilitation robot of claim 1, wherein: and a bearing end cover is arranged on the outer side of the first plate frame (11) through which the connecting shaft of the joint driving rod (9) passes.
6. The hexapod assisted rehabilitation robot of claim 1, wherein: 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 (12).
7. The hexapod assisted rehabilitation robot of claim 1, wherein: step motor (5) and reduction gear all fix on first grillage (11) through the motor support.
8. The hexapod assisted rehabilitation robot of claim 1, wherein: the lower end of an inner column (18) of the foot part (14) is connected with a sole block (19) through a ball hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920297268.4U CN210145030U (en) | 2019-03-10 | 2019-03-10 | Six-foot power-assisted rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920297268.4U CN210145030U (en) | 2019-03-10 | 2019-03-10 | Six-foot power-assisted rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210145030U true CN210145030U (en) | 2020-03-17 |
Family
ID=69755068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920297268.4U Active CN210145030U (en) | 2019-03-10 | 2019-03-10 | Six-foot power-assisted rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210145030U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
-
2019
- 2019-03-10 CN CN201920297268.4U patent/CN210145030U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104228993B (en) | A kind of biped robot of quick walking | |
| CN112168524B (en) | Auxiliary movement wheelchair exoskeleton device capable of realizing sitting, standing and running three-state conversion | |
| CN201510473U (en) | Multifunctional handrail stick | |
| CN210301640U (en) | Counter weight type lower limb rehabilitation robot | |
| CN211485513U (en) | Department of traditional chinese medicine is with lower limb rehabilitation training ware | |
| CN102085143B (en) | Riding type robot for lower limb rehabilitation | |
| CN209827471U (en) | Four-foot power-assisted walking rehabilitation robot with balancing device | |
| CN208388959U (en) | A kind of obstacle detouring type ectoskeleton supplemental training robot | |
| CN210145030U (en) | Six-foot power-assisted rehabilitation robot | |
| CN1057581A (en) | Electric walking machine for high leg paraplegia patients | |
| CN202184899U (en) | Power-assisted walking rehabilitation training vehicle | |
| CN214231783U (en) | Exercise rehabilitation wheelchair for leg rehabilitation | |
| CN207236924U (en) | A kind of elevating mechanism of wheelchair | |
| CN212592769U (en) | Novel multifunctional wheelchair | |
| CN206482742U (en) | A kind of hand assisted power Wheelchair for patient standing car | |
| CN211053678U (en) | Multifunctional power-assisted machine | |
| CN214858876U (en) | Rehabilitation frame for orthopedic nursing | |
| CN214285475U (en) | Multifunctional rehabilitation wheelchair | |
| CN213131782U (en) | Department of neurology trainer | |
| CN210301649U (en) | Combined type ectoskeleton robot | |
| CN210903961U (en) | Portable auxiliary leg supporting device for patient with mobility disability | |
| CN108095869A (en) | A kind of medical multifunctional artificial limb | |
| CN210121229U (en) | Walking aid for heart rehabilitation training | |
| CN209790217U (en) | Cerebral infarction patient lower limb rehabilitation training device | |
| CN207253429U (en) | A kind of ectoskeleton wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |