CN216570736U - A lower limb exoskeleton rehabilitation robot based on variable load automatic reversing drive - Google Patents

Abstract

The utility model relates to a lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving, which comprises a transmission connecting box, wherein the transmission connecting box is in a cuboid structure, two mounting boxes are respectively arranged at two sides of the transmission connecting box, one end of each mounting box is fixedly provided with a connecting piece, an output shaft and a sun gear coaxial with the output shaft are rotatably arranged in the connecting piece, the sun gear is connected with a transmission shaft arranged in the mounting boxes, a second round gear is arranged on the transmission shaft, and the second round gear is meshed with a first round gear rotatably arranged in the mounting boxes; the first round gear is arranged on a transmission shaft arranged in the installation box, and the transmission shaft penetrates through the installation box and extends to the outside of the installation box; the variable-speed rotating assembly is arranged between the connecting piece and the mounting box and is connected with the transmission shaft and the transmission shaft; the walking assembly, the walking assembly is provided with two sets ofly altogether to the symmetry sets up in the both sides of transmission connecting box, and is connected with the transmission shaft through the input shaft, and the modern design, simple structure, the practicality is strong.

Description

A lower limb exoskeleton rehabilitation robot based on variable load automatic reversing drive

technical field

The utility model relates to the field of rehabilitation robots, in particular to a lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive.

Background technique

With the deepening of medical reform and the era of transformative development of rehabilitation medical equipment, there is a large demand gap for rehabilitation medical equipment for orthopaedic surgery in the market. However, the existing rehabilitation exercise equipment has a relatively simple structure, and the degree of humanization and intelligence is relatively high. Low, and the motor-driven structural load is single, which is quite different from the load required by human bones, resulting in patients not achieving a good exercise effect when using it.

To this end, we propose a lower limb exoskeleton rehabilitation robot based on variable-load automatic commutation drive to solve the above problems.

Utility model content

The purpose of the present invention is to provide a lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing drive, so as to solve the problems raised in the above background technology.

To achieve the above object, the utility model provides the following technical solutions:

A lower limb exoskeleton rehabilitation robot based on variable load automatic reversing drive, comprising:

A transmission connection box, the transmission connection box has a cuboid structure and is provided with an installation box on each side of the transmission connection box, one end of the installation box is fixedly installed with a connecting piece, and an output shaft and an output shaft are rotatably arranged in the connecting piece. The output shaft is coaxial with a sun gear, the sun gear is connected with the transmission shaft installed in the installation box, and the transmission shaft is mounted with a No. 2 circular gear, and the No. 2 circular gear is arranged in the The No. 1 round gear in the installation box meshes;

The No. 1 circular gear is mounted on a transmission shaft arranged in the installation box, and the transmission shaft penetrates the installation box and extends to the outside thereof;

a speed change rotation assembly, the speed change rotation assembly is arranged between the connecting piece and the installation box, and is connected with the transmission shaft and the transmission shaft;

There are two groups of walking assemblies, which are arranged symmetrically on both sides of the transmission connection box, and are connected with the transmission shaft through the input shaft.

As a further solution of the present invention: the speed change rotation assembly includes a speed change structure arranged in the installation box and connected with the transmission shaft, and a planetary gear structure connected with the speed change structure and arranged in the connecting piece ;

The planetary gear structure is connected with the output shaft.

As a further solution of the present invention, the speed change structure includes a No. 1 non-circular gear fixedly mounted on the transmission shaft, a No. 2 non-circular gear rotatably arranged in the installation box and meshing with the No. 1 non-circular gear non-circular gear;

The No. 2 non-circular gear is connected to the planetary gear structure.

As a further solution of the present invention, the planetary gear structure includes a planetary carrier that is fixedly connected with the No. 2 non-circular gear and is rotatably installed in the connecting piece, and is rotatably mounted on the planetary carrier in a circumferentially equidistant manner. a plurality of planetary gears, an internal gear slewing support that meshes with the planetary gears and is rotatably installed in the connecting piece;

The planet gears are also meshed with the sun gear, and the inner gear slewing support is connected with the output shaft.

As a further solution of the present invention: the walking assembly is composed of two sets of hinged telescopic structures, wherein one set of the telescopic structures is connected to the transmission shaft through the input shaft, and the other set of the telescopic structures is far away from the One end of the transmission connection box is hinged with a foot limit plate.

As a further solution of the present invention, the telescopic structure includes a rotating member, a groove disposed at one end of the rotating member away from its rotating shaft, an elongated through hole opened in the groove, and a groove installed at the end of the rotating member. a fastener in the groove and adapted to the elongated through hole, and a telescopic piece connected with the fastener and arranged in the groove;

One set of the rotating members on the telescopic structure is connected with the transmission shaft through the input shaft, and one end of the rotating member away from the rotation center thereof is hinged with the rotating members on the other set of the telescopic structures.

Compared with the prior art, the beneficial effect of the present utility model is: a purely mechanically driven exoskeleton rehabilitation robot based on non-circular gear differential transmission to realize automatic commutation and self-adaptive joint load spectrum can only be provided with a one-way motor input. It has the advantages of automatic commutation, deep fit to the human bone load curve, easy disassembly and replacement of internal mechanisms, lower manufacturing and maintenance costs than previous robots, and more lightweight and energy-saving advantages.

Description of drawings

FIG. 1 is a schematic structural diagram of an embodiment of a lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive.

FIG. 2 is a schematic structural diagram of a transmission connection box in an embodiment of a lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive.

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2 .

FIG. 4 is a schematic diagram of the structure in the installation box and the connector in an embodiment of the lower limb exoskeleton rehabilitation robot based on the variable load type automatic reversing drive.

FIG. 5 is a schematic structural diagram of another angle in the installation box and the connecting piece in an embodiment of the lower limb exoskeleton rehabilitation robot based on the variable-load automatic reversing drive.

FIG. 6 is a schematic structural diagram of a telescopic structure in an embodiment of a lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive.

In the picture: 1- Transmission connection box, 2- Rotating parts, 3- Fasteners, 4- Telescopic parts, 5- Output shaft, 6- Internal gear slewing support, 7- Planet carrier, 8- Planet gear, 9 -Sun gear, 10-No.1 non-circular gear, 11-No.2 non-circular gear, 12-No.1 circular gear, 13-No.2 circular gear, 14-Input shaft, 15-bearing seat, 16-Transmission shaft, 17 -Installation box, 18-connector, 19-drive shaft, 20-foot limit plate.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In addition, when an element in the present invention is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or an intervening element may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

Referring to FIGS. 1 to 6 , in an embodiment of the present invention, a lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive includes:

A transmission connection box 1, the transmission connection box 1 has a rectangular parallelepiped structure and is provided with an installation box 17 on each side of the transmission connection box 17. One end of the installation box 17 is fixedly installed with a connecting piece 18, and the connecting piece 18 is rotatably provided with a The output shaft 5 and the sun gear 9 coaxial with the output shaft 5, the sun gear 9 is connected with the transmission shaft 16 installed in the installation box 17, and the transmission shaft 16 is installed with a No. 2 circular gear 13. The No. 2 circular gear 13 meshes with the No. 1 circular gear 12 rotatably arranged in the installation box 17;

The No. 1 circular gear 12 is mounted on a transmission shaft 19 provided in the installation box 17 , and the transmission shaft 19 penetrates the installation box 17 and extends to the outside thereof.

In use, when the transmission shaft 19 rotates, it drives the No. 1 circular gear 12 to rotate, and the No. 1 circular gear 12 meshes with the No. 2 circular gear 13 to drive the sun gear 9 to rotate, thereby realizing the constant speed rotation of the sun gear 9 .

The above-mentioned transmission ratio between the No. 2 circular gear 13 and the No. 1 circular gear 13 is less than 1, so that the output torque is small.

Wherein, the above-mentioned transmission shaft 16 and transmission shaft 19 are connected with the inner wall of the installation box 17 through the bearing seat 15 .

A variable speed rotating assembly, the variable speed rotating assembly is arranged between the connecting member 18 and the installation box 17, and is connected with the transmission shaft 16 and the transmission shaft 19;

The speed change rotation assembly includes a speed change structure arranged in the installation box 17 and connected with the transmission shaft 19, and a planetary gear structure connected with the speed change structure and arranged in the connecting member 18;

The planetary gear structure is connected with the output shaft 5;

The speed change structure includes a No. 1 non-circular gear 10 fixedly mounted on the transmission shaft 19, a No. 2 non-circular gear 11 rotatably arranged in the installation box 17 and meshing with the No. 1 non-circular gear 10;

The No. 2 non-circular gear 11 is connected to the planetary gear structure;

The planetary gear structure includes a planetary carrier 7 that is fixedly connected with the second non-circular gear 11 and is rotatably mounted in the connecting piece 18 , and a plurality of planetary gears that are rotatably mounted on the planetary carrier 7 at an equal circumferential distance. 8. The inner gear slewing support 6 meshing with the planetary gear 8 and rotatably installed in the connecting piece 18;

The planetary gear 8 is also meshed with the sun gear 9 , and the inner gear slewing support 6 is connected with the output shaft 5 .

During the rotation of the transmission shaft 19, the No. 1 non-circular gear 10 is driven to rotate, and the No. 1 non-circular gear 10 meshes with the No. 2 non-circular gear 11 to drive the planetary carrier 7 to perform circular motion, and is installed on the planetary carrier 7 through rotation. The plurality of planetary gears 8 drive the inner-tooth slewing support 6 to rotate, and the inner-tooth slewing support 6 is connected to the output shaft 5 to rotate at a periodic speed.

Specifically, the input shaft 14 is connected to the output end of the servo motor (not shown in the figure), and is driven by the servo motor for forward and reverse input; the input shaft 14 drives the No. 1 circular gear 12 and the No. 1 non-circular gear 10 Synchronous rotation, on the one hand, the No. 1 circular gear 12 meshes with the No. 2 circular gear 13 to drive the transmission shaft 16 to rotate, thereby driving the sun gear 9 to rotate. The input at this end uses the No. 1 circular gear 12 and the No. 2 circular gear 13. meshing, the transmission ratio is fixed, so the input speed of the sun gear 9 is a fixed value;

On the other hand, the No. 1 non-circular gear 10 meshes with the No. 2 non-circular gear 11 to drive the planet carrier 7 to rotate. Due to the use of non-circular gear transmission, the transmission ratio has the characteristics of periodic change, so the The input speed is the variable speed value;

Through the differential superposition of the fixed transmission ratio input of the sun gear 9 and the variable transmission ratio input of the planet carrier 7 at the planetary teeth 8, the planetary teeth 8 present a phenomenon of variable speed output, thereby driving the variable speed output of the inner-tooth slewing support 6 ;

Since the speed change input of the planet carrier 7 presents a periodic variation law similar to the sine (cosine) function, it is assumed that when it is converted to the rotational speed on the planetary gear 8 is positive, the average output rotational speed is A, and the input of the sun gear 9 is a fixed value , when the rotational speed converted to the planetary gear 8 is negative and the output rotational speed is -A, then the rotational speed of the planetary gear 8 will show a positive and negative periodic change rule at this time. , the input shaft 14 will present forward/reverse input, and the output shaft 5 will present the characteristic of alternating forward and reverse periodic output.

Among them, it should be noted that the above-mentioned No. 1 non-circular gear 10 and No. 2 non-circular gear 11 are both eccentrically arranged, and the two always maintain a meshing state.

It should also be noted that the rotation center of the above-mentioned No. 2 non-circular gear 11 is hollow and sleeved on the transmission shaft 16 .

There are two groups of walking assemblies, which are arranged symmetrically on both sides of the transmission connection box 1, and are connected to the transmission shaft 19 through the input shaft 14;

The walking assembly is composed of two sets of hinged telescopic structures, wherein one set of the telescopic structures is connected with the transmission shaft 19 through the input shaft 14 , and the other set of the telescopic structures is away from the end of the transmission connection box 1 . A foot limit plate 20 is hinged;

The telescopic structure includes a rotating member 2, a groove arranged at one end of the rotating member 2 away from its rotation axis, a long strip through hole opened in the groove, a groove installed in the groove and connected with the The fastener 3 adapted to the elongated through hole, the telescopic element 4 connected with the fastener 3 and arranged in the groove;

One group of the rotating members 2 on the telescopic structure is connected to the transmission shaft 19 through the input shaft 14 , and the end of the rotating member 2 away from the rotation center of the rotating member 2 is connected to the other set of the rotating members 2 on the telescopic structure. Hinged.

By setting the telescopic structure, the robot can be applied to a wider range, that is, it can meet the needs of people of different heights.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention may be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments are to be considered in all respects as exemplary and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that the All changes within the meaning and range of the required equivalents are embraced within the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (6)

1. a lower limb exoskeleton rehabilitation robot based on variable load type automatic reversal drive, is characterized in that, comprises: A transmission connection box (1), the transmission connection box (1) has a rectangular parallelepiped structure and is provided with a mounting box (17) on each of its two sides, and one end of the mounting box (17) is fixedly mounted with a connecting piece (18) , an output shaft (5) and a sun gear (9) coaxial with the output shaft (5) are rotatably arranged in the connecting piece (18). 17) is connected with the transmission shaft (16), and the transmission shaft (16) is provided with a No. 2 circular gear (13), and the No. 2 circular gear (13) is rotatably arranged in the installation box (17) The inner No. 1 circular gear (12) meshes; The No. 1 circular gear (12) is mounted on a transmission shaft (19) arranged in the installation box (17), and the transmission shaft (19) penetrates the installation box (17) and extends to the outside thereof; a speed change rotation assembly, the speed change rotation assembly is arranged between the connecting member (18) and the installation box (17), and is connected with the transmission shaft (16) and the transmission shaft (19); There are two groups of walking assemblies, which are arranged symmetrically on both sides of the transmission connection box (1), and are connected with the transmission shaft (19) through an input shaft (14). 2. A lower limb exoskeleton rehabilitation robot based on variable load automatic reversing drive according to claim 1, characterized in that, the variable speed rotation assembly comprises a set in the installation box (17) and is connected with the a speed change structure connected with the transmission shaft (19), a planetary gear structure connected with the speed change structure and arranged in the connecting piece (18); The planetary gear structure is connected with the output shaft (5). 3. A lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing drive according to claim 2, wherein the speed change structure comprises a No. 1 a circular gear (10), a No. 2 non-circular gear (11) that is rotatably arranged in the installation box (17) and meshes with the No. 1 non-circular gear (10); The No. 2 non-circular gear (11) is connected to the planetary gear structure. 4. A lower limb exoskeleton rehabilitation robot based on variable load automatic reversing drive according to claim 3, wherein the planetary tooth structure comprises a fixed connection with the second non-circular gear (11) and A planet carrier (7) rotatably installed in the connecting piece (18), a plurality of planetary teeth (8) rotatably mounted on the planetary carrier (7) at an equal circumferential distance, and the planetary teeth (8) an internal toothed slewing support (6) that is engaged and rotatably installed in the connecting piece (18); The planetary gear (8) is also meshed with the sun gear (9), and the inner gear slewing support (6) is connected with the output shaft (5). 5 . The lower limb exoskeleton rehabilitation robot based on variable load automatic reversing drive according to claim 1 , wherein the walking assembly is composed of two sets of hinged telescopic structures, wherein one group of the telescopic structures The input shaft (14) is connected with the transmission shaft (19), and a foot limiting plate (20) is hinged at one end of the telescopic structure of the other group away from the transmission connection box (1). 6 . The lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive according to claim 5 , wherein the telescopic structure comprises a rotating member (2), which is arranged on the rotating member (2). 7 . a groove at one end away from its rotating shaft, an elongated through hole opened in the groove, a fastener (3) installed in the groove and adapted to the elongated through hole, a telescopic piece (4) connected with the fastener (3) and arranged in the groove; One of the rotating members (2) on the telescopic structure is connected with the transmission shaft (19) through the input shaft (14), and the end of the rotating member (2) away from the rotation center of the rotating member (2) is connected to the other set of rotating members (2). The rotating member (2) on the telescopic structure is hinged.

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