CN211095747U - Lower limb joint structure of rehabilitation robot - Google Patents
Lower limb joint structure of rehabilitation robot Download PDFInfo
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- CN211095747U CN211095747U CN201920115470.0U CN201920115470U CN211095747U CN 211095747 U CN211095747 U CN 211095747U CN 201920115470 U CN201920115470 U CN 201920115470U CN 211095747 U CN211095747 U CN 211095747U
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Abstract
The utility model discloses a recovered robot low limbs joint structure in recovered medical field, it includes drive division, torque sensor part, safety limit portion and output section at least. Wherein the drive part is mounted on a reducer flange of the drive part. The moment sensor part comprises a moment sensor, an inner pressing flange, a crossed roller bearing, an outer pressing flange and a moment sensor input flange, the crossed roller bearing is respectively connected with the moment sensor input flange and an outer ring of the moment sensor, the outer pressing flange is arranged on the outer ring of the moment sensor, and the inner pressing flange is arranged on the moment sensor input flange; the inner ring of the torque sensor is arranged on the input flange of the torque sensor. The safety limiting part is arranged on the flange of the speed reducer. The output portion includes a knuckle output flange. The utility model discloses a joint structural design has set up safe spacing simultaneously to this forms multiple protection mechanism, improves the security of patient when the rehabilitation training.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, a recovered robot low limbs joint structure is related to, in particular to install joint torque sensor, can feed back joint torque's recovered robot low limbs joint structure in real time.
Background
In recent years, patients with lower limb motor functions caused by stroke and spinal cord injury are increasing year by year. The multi-pose lower limb rehabilitation robot is a medical robot which can meet the requirement of performing multi-pose rehabilitation training on patients with lower limb movement dysfunction. The lower limb rehabilitation robot is used for assisting rehabilitation training, so that the rehabilitation efficiency can be improved, the cost is reduced, and the medical resources are saved. When a patient carries out passive or active training on lower limbs through a gait training rehabilitation robot, the patient mainly relies on the driving of lower limb joints to realize motion rehabilitation, the lower limb joint structure of the rehabilitation robot not only needs to realize the rotation effect, but also has important safety of joint transmission. A plurality of safety protection structures can be rarely achieved in the existing rehabilitation robot joint structure, and potential safety hazards can be brought to patients during rehabilitation training due to the fact that sensors for detecting moment values at joints or necessary safety limit are lacked in the structural design of the joints.
Disclosure of Invention
An object of the utility model is to provide a recovered robot low limbs joint structure to not enough among the prior art, have a joint torque sensor among this low limbs joint structure to this realizes real-time feedback joint torque information, stopper about the joint department has installed simultaneously, forms multiple safety protection mechanism with this, thereby has improved the security of patient when the rehabilitation training.
In order to achieve the above object, the main technical solution of the present invention is as follows:
a lower limb joint structure of a rehabilitation robot at least comprises a driving part, a moment sensor part, a safety limit part and an output part.
The driving part at least comprises a motor (1), a speed reducer (2), a key (3), a speed reducer output shaft (4) and a speed reducer flange (5). The motor (1) is connected with the speed reducer (2); the speed reducer (2) is arranged on a speed reducer flange (5); the output shaft (4) of the speed reducer is connected with the speed reducer (2) through a key (3).
The torque sensor part at least comprises a torque sensor (8), an inner pressing flange (9), a crossed roller bearing (10), an outer pressing flange (11) and a torque sensor input flange (12). The torque sensor (8) at least comprises an inner ring (8-1) and an outer ring (8-2).
The safety limiting part at least comprises an upper limiting block (6-1) and a lower limiting block (6-2); the upper limiting block (6-1) and the lower limiting block (6-2) are respectively arranged on the inner side of the reducer flange (5).
The output portion comprises at least a joint output flange (7); the joint output flange (7) is arranged on an outer ring (8-2) of the torque sensor (8).
And a reducer output shaft (4) in the driving part is connected with a torque sensor input flange (12).
An inner ring (8-1) of a torque sensor (8) in the torque sensor part is connected to a torque sensor input flange (12) through a bolt to realize torque input, and an outer ring (8-2) of the torque sensor (8) is fixed to an outer pressing flange (11) through a bolt. The internal compression flange (9) is fixed on the torque sensor input flange (12) through bolts.
The crossed roller bearing (10) in the torque sensor part at least comprises a bearing inner ring (10-1) and a bearing outer ring (10-2); a bearing inner ring (10-1) of a crossed roller bearing (10) of the torque sensor part is arranged on an input flange (12) of the torque sensor and is pressed by an inner pressing flange (9); a bearing outer ring (10-2) of the crossed roller bearing (10) is arranged on a torque sensor outer ring (8-2) and is pressed by an outer pressing flange (11).
An upper limit block (6-1) in the safety limit part carries out upper limit on a joint output flange (7); and the lower limiting block (6-2) is used for limiting the joint output flange (7) downwards.
The utility model has the advantages that:
1. the utility model provides a joint torque sensor is installed to the torque sensor part, can feed back joint moment in real time, and can adopt the moment of real-time feedback to establish safe moment mechanism, ensures joint moment in safety range, improves rehabilitation robot's security.
2. The utility model provides a moment sensor part has built-in cross roller bearing's decoupling zero structure, has reduced overturning moment, radial pressure, axial pressure etc. and the force coupling effect of joint moment of torsion, has improved the measuring accuracy.
3. The utility model discloses well joint structure's safety stop device has ensured articular motion range, has avoided the motion angle too big to cause the injury to patient, has improved rehabilitation robot's security.
Drawings
FIG. 1 is a partial cross-sectional view of a lower limb joint structure of a rehabilitation robot;
FIG. 2 is a cross-sectional view of a lower limb joint structure of a rehabilitation robot;
FIG. 3 is a schematic view of a lower limb joint structure of a rehabilitation robot;
FIG. 4 is an exploded view of a lower limb joint structure of a rehabilitation robot;
in the drawings: 1-motor, 2-speed reducer, 3-key, 4-speed reducer output shaft, 5-speed reducer flange, 6-1-upper limit block, 6-2-lower limit block, 7-joint output flange, 8-torque sensor, 8-1-torque sensor inner ring, 8-2-torque sensor outer ring, 9-internal compression flange, 10-cross roller bearing, 11-external compression flange, 12-torque sensor input flange and 13-motor flange.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a gait training rehabilitation robot low limbs joint structure's structural schematic please refer to fig. 1-fig. 2, a rehabilitation robot low limbs joint structure includes drive part, torque sensor part, safety limit part and output part at least.
The reducer 2 of the driving part is arranged on a reducer flange 5 in a bolt connection mode to realize the fixation of the reducer, and the reducer flange 5 can be connected with other joints, the upper and lower legs, the bed body framework and the like to realize the fixation of the joints; the motor 1 is connected with the speed reducer 2 through a motor flange 13, one end of the motor flange 13 is connected with the motor 1, and the other end of the motor flange 13 is connected with the shell of the speed reducer 2, so that the motor 1 drives the speed reducer 2; the speed reducer 2 is connected with a speed reducer output shaft 4 through two keys 3; the reducer output shaft 4 is connected with a torque sensor input flange 12. The drive part realizes the transmission of the motor 1 to the torque sensor input flange 12. The driving part motor 1 of the design is perpendicular to the output shaft 4 of the speed reducer, the axial length of the joint is shortened, the structure of the lower limb joint is more compact, and the motor 1 and the output shaft 4 of the speed reducer can also be designed in parallel or coaxially.
The torque sensor part at least comprises a torque sensor 8, an inner compression flange 9, a crossed roller bearing 10, an outer compression flange 11 and a torque sensor input flange 12, wherein the torque sensor (8) at least comprises an inner ring (8-1) and an outer ring (8-2); the bearing inner ring 10-1 of the crossed roller bearing 10 is arranged on the torque sensor input flange 12 and is tightly pressed by the inner pressing flange 9, so that the bearing inner ring 10-1 of the crossed roller bearing 10 is arranged; the bearing outer ring 10-2 is arranged on the torque sensor outer ring 8-2 and is pressed by an outer pressing flange 11, so that the bearing outer ring 10-2 of the crossed roller bearing 10 is arranged; the outer pressing flange 11 is fixed on the outer ring 8-2 of the torque sensor through bolts, and the inner pressing flange 9 is fixed on the input flange 12 of the torque sensor through bolts. The torque sensor inner ring 8-1 is connected to the torque sensor input flange 12 through bolts. In the torque sensor part, the output shaft 4 of the speed reducer transmits torque to a torque sensor input flange 12 and further transmits the torque to a torque sensor inner ring 8-1 connected with the torque sensor input flange 12 to realize the input of the torque sensor 8 and output the torque to a joint output flange (7) through a torque sensor outer ring 8-2 to realize the output of the whole joint. The torque sensor part not only plays a role in joint transmission, but also has a function of feeding back torque in real time, and a safe torque mechanism can be established by adopting the torque fed back in real time, so that the joint torque is ensured to be within a safe range, and the safety of the rehabilitation robot is improved. In addition, the design has a decoupling structure with the built-in crossed roller bearing 10, the force coupling effect of overturning moment, radial pressure, axial pressure and joint torque is reduced, and the measurement accuracy is improved.
The safety limiting part at least comprises an upper limiting block 6-1 and a lower limiting block 6-2. The joint output flange (7) is arranged on an outer ring (8-2) of the torque sensor (8). The upper limiting block 6-1 limits the joint output flange 7 upwards, and the lower limiting block 6-2 limits the joint output flange 7 downwards. The motion range of the joint is ensured by the limiting block through mechanical limiting, the injury to the patient caused by overlarge motion angle is avoided, and the safety of the rehabilitation robot is improved. And the upper limit block 6-1 and the lower limit block 6-2 can slide, so that the adjustment of the limit angle is realized, the joint rotation range can be controlled according to the condition of a patient, and the adaptability of the rehabilitation robot is improved.
The output part at least comprises a joint output flange 7, and the joint output flange 7 can be connected with other joints of the lower limbs, the large leg, the small leg, the leg tractor and the like to realize a multi-joint and multi-pose transmission mode.
Finally, the lower limb joint structure of the rehabilitation robot of the present invention is not limited to the above embodiments, and various modifications and variations can be made. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense. All modifications, decorations or equivalent changes according to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention should be covered in the scope of the claims of the present invention.
Claims (5)
1. The utility model provides a recovered robot low limbs joint structure which characterized in that: it includes drive part, moment sensor part, safety limit part and output part at least:
the driving part at least comprises a motor (1), a speed reducer (2), a key (3), a speed reducer output shaft (4) and a speed reducer flange (5); the motor (1) is connected with the speed reducer (2); the speed reducer (2) is arranged on a speed reducer flange (5); the output shaft (4) of the speed reducer is connected with the speed reducer (2) through a key (3);
the torque sensor part at least comprises a torque sensor (8), an inner compression flange (9), a crossed roller bearing (10), an outer compression flange (11) and a torque sensor input flange (12); the torque sensor (8) at least comprises an inner ring (8-1) and an outer ring (8-2);
the safety limiting part at least comprises an upper limiting block (6-1) and a lower limiting block (6-2); the upper limiting block (6-1) and the lower limiting block (6-2) are respectively arranged on the inner side of the reducer flange (5);
the output portion comprises at least a joint output flange (7); the joint output flange (7) is arranged on an outer ring (8-2) of the torque sensor (8).
2. The lower limb joint structure of a rehabilitation robot according to claim 1, wherein: and a reducer output shaft (4) in the driving part is connected with a torque sensor input flange (12).
3. The lower limb joint structure of a rehabilitation robot according to claim 1, wherein: an inner ring (8-1) of a torque sensor (8) in the torque sensor part is connected to a torque sensor input flange (12) through a bolt to realize torque input, and an outer ring (8-2) of the torque sensor (8) is fixed on an outer pressing flange (11) through a bolt; the internal compression flange (9) is fixed on the torque sensor input flange (12) through bolts.
4. The lower limb joint structure of a rehabilitation robot according to claim 1 or 3, wherein: the crossed roller bearing (10) in the torque sensor part at least comprises a bearing inner ring (10-1) and a bearing outer ring (10-2); a bearing inner ring (10-1) of the crossed roller bearing (10) is arranged on an input flange (12) of the torque sensor and is compressed by an internal compression flange (9); a bearing outer ring (10-2) of the crossed roller bearing (10) is arranged on a torque sensor outer ring (8-2) and is pressed by an outer pressing flange (11).
5. The lower limb joint structure of a rehabilitation robot according to claim 1, wherein: an upper limit block (6-1) in the safety limit part carries out upper limit on a joint output flange (7); and the lower limiting block (6-2) is used for limiting the joint output flange (7) downwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920115470.0U CN211095747U (en) | 2019-01-23 | 2019-01-23 | Lower limb joint structure of rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920115470.0U CN211095747U (en) | 2019-01-23 | 2019-01-23 | Lower limb joint structure of rehabilitation robot |
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| CN211095747U true CN211095747U (en) | 2020-07-28 |
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| CN201920115470.0U Active CN211095747U (en) | 2019-01-23 | 2019-01-23 | Lower limb joint structure of rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771212A (en) * | 2019-01-23 | 2019-05-21 | 广西安博特智能科技有限公司 | A kind of healing robot joint of lower extremity structure |
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2019
- 2019-01-23 CN CN201920115470.0U patent/CN211095747U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771212A (en) * | 2019-01-23 | 2019-05-21 | 广西安博特智能科技有限公司 | A kind of healing robot joint of lower extremity structure |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A lower limb joint structure of rehabilitation robot Effective date of registration: 20220623 Granted publication date: 20200728 Pledgee: Guangxi Guihui Financing Guarantee Co.,Ltd. Pledgor: GUANGXI ANBOTE INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2022450000092 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |