CN216570736U - Lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive - Google Patents
Lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive Download PDFInfo
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- CN216570736U CN216570736U CN202122704194.1U CN202122704194U CN216570736U CN 216570736 U CN216570736 U CN 216570736U CN 202122704194 U CN202122704194 U CN 202122704194U CN 216570736 U CN216570736 U CN 216570736U
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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
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 type automatic reversing driving.
Background
At the medical treatment transformation deepening, the recovered medical instrument is under the great era of revolutionary development, and it is big to orthopedic surgery's the recovered medical machine demand breach of repairing of assisting in the market, and current recovered exercise device structure is all comparatively simple, and humanized and intelligent degree is lower, and motor drive's structural load is single, has great difference with the required load of human skeleton, leads to the patient not to reach better exercise effect when using.
Therefore, the lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving is provided to solve the problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving, which aims to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme:
a lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving comprises:
the transmission connecting box is of a cuboid structure, two mounting boxes are arranged on two sides of the transmission connecting box respectively, a connecting piece is fixedly mounted at one end of each mounting box, an output shaft and a sun gear coaxial with the output shaft are arranged in the connecting piece in a rotating mode, the sun gear is connected with a transmission shaft mounted in the mounting boxes, a second round gear is mounted 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 assemblies are arranged in two groups and symmetrically arranged on two sides of the transmission connecting box and are connected with the transmission shaft through the input shaft.
As a further scheme of the utility model: the variable-speed rotating assembly comprises a variable-speed structure arranged in the mounting box and connected with the transmission shaft, and a planetary gear structure connected with the variable-speed structure and arranged in the connecting piece;
the planetary gear structure is connected with the output shaft.
As a still further scheme of the utility model: the speed change structure comprises a first non-circular gear fixedly mounted on the transmission shaft and a second non-circular gear which is rotatably arranged in the mounting box and meshed with the first non-circular gear;
the second non-circular gear is connected with the planetary gear structure.
As a still further scheme of the utility model: the planet gear structure comprises a planet carrier which is fixedly connected with the second non-circular gear and is rotatably arranged in the connecting piece, a plurality of planet gears which are circumferentially and equidistantly rotatably arranged on the planet carrier, and an internal tooth type rotary supporting piece which is meshed with the planet gears and is rotatably arranged in the connecting piece;
the planet gears are also meshed with the sun gear, and the inner tooth type rotary supporting piece is connected with the output shaft.
As a still further scheme of the utility model: the walking assembly comprises two sets of articulated extending structure, and one of them is organized extending structure passes through the input shaft with the transmission shaft is connected, and another group extending structure keeps away from the one end of transmission connecting box articulates there is the limiting plate of foot.
As a still further scheme of the utility model: the telescopic structure comprises a rotating part, a groove arranged at one end of the rotating part far away from the rotating shaft of the rotating part, a long-strip-shaped through hole arranged in the groove, a fastening piece arranged in the groove and matched with the long-strip-shaped through hole, and a telescopic part connected with the fastening piece and arranged in the groove;
and one end of the rotating piece, which is far away from the rotating center of the rotating piece, is hinged with the rotating piece on the other group of telescopic structures.
Compared with the prior art, the utility model has the beneficial effects that: the pure mechanical driving type exoskeleton rehabilitation robot based on non-circular gear differential transmission and capable of achieving automatic reversing and self-adapting joint load spectrum has the advantages that automatic reversing can be achieved through unidirectional motor input, a human skeleton load curve is deeply fitted, an internal mechanism is easy to detach and replace, manufacturing and maintenance costs are lower than those of a traditional robot, and the robot is lighter, more convenient and more energy-saving.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving.
Fig. 2 is a schematic structural diagram of the transmission connecting box in an embodiment of the lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving.
Fig. 3 is an enlarged schematic view of the structure at a in fig. 2.
Fig. 4 is a schematic structural diagram of an installation box and a connecting piece in an embodiment of the lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving.
Fig. 5 is a structural schematic diagram of a mounting box and a further angle in a connecting piece in one embodiment of the lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving.
Fig. 6 is a schematic structural diagram of a telescopic structure in an embodiment of the lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving.
In the figure: 1-transmission connecting box, 2-rotating part, 3-fastening part, 4-telescopic part, 5-output shaft, 6-internal tooth type rotary supporting part, 7-planet carrier, 8-planet gear, 9-sun gear, 10-first non-circular gear, 11-second non-circular gear, 12-first circular gear, 13-second circular gear, 14-input shaft, 15-bearing seat, 16-transmission shaft, 17-mounting box, 18-connecting part, 19-transmission shaft and 20-foot limiting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements 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 the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1 to 6, in an embodiment of the present invention, a lower extremity exoskeleton rehabilitation robot based on variable load type automatic reversing driving includes:
the transmission connecting box comprises a transmission connecting box 1, wherein the transmission connecting box 1 is of a cuboid structure, two mounting boxes 17 are arranged on two sides of the transmission connecting box 1 respectively, a connecting piece 18 is fixedly mounted at one end of each mounting box 17, an output shaft 5 and a sun gear 9 coaxial with the output shaft 5 are rotatably arranged in each connecting piece 18, the sun gear 9 is connected with a transmission shaft 16 mounted in each mounting box 17, a second circular gear 13 is mounted on each transmission shaft 16, and each second circular gear 13 is meshed with a first circular gear 12 rotatably arranged in each mounting box 17;
the first round gear 12 is mounted on a transmission shaft 19 arranged in the mounting box 17, and the transmission shaft 19 penetrates through the mounting box 17 and extends to the outside of the mounting box.
When the transmission shaft 19 rotates, the first round gear 12 is driven to rotate, the first round gear 12 is meshed with the second round gear 13, so that the sun gear 9 is driven to rotate, and the constant-speed rotation of the sun gear 9 is realized.
The transmission ratio of the second circular gear 13 to the first circular gear 13 is less than 1, so that the output torque is small.
The transmission shaft 16 and the transmission shaft 19 are connected to the inner wall of the mounting case 17 through a bearing housing 15.
A variable speed rotating assembly provided between the connecting member 18 and the mounting case 17 and connected to the transmission shaft 16 and the transmission shaft 19;
the variable speed rotating assembly comprises a variable speed structure arranged in the mounting box 17 and connected with the transmission shaft 19, and a planetary gear structure connected with the variable speed structure and arranged in the connecting piece 18;
the planetary gear structure is connected with the output shaft 5;
the speed change structure comprises a first non-circular gear 10 fixedly mounted on the transmission shaft 19 and a second non-circular gear 11 rotatably arranged in the mounting box 17 and meshed with the first non-circular gear 10;
the second non-circular gear 11 is connected with the planetary gear structure;
the planetary gear structure comprises a planet carrier 7 fixedly connected with the second non-circular gear 11 and rotatably installed in a connecting piece 18, a plurality of planet gears 8 which are circumferentially and equidistantly rotatably installed on the planet carrier 7, and an internal tooth type rotary supporting piece 6 which is meshed with the planet gears 8 and rotatably installed in the connecting piece 18;
the planet gears 8 are also in mesh with the sun gear 9 and the internal toothed rotary support 6 is connected with the output shaft 5.
In the process of rotating the transmission shaft 19, the first non-circular gear 10 is driven to rotate, the first non-circular gear 10 is meshed with the second non-circular gear 11 to drive the planet carrier 7 to do circular motion, the plurality of planet gears 8 which are rotatably arranged on the planet carrier 7 drive the inner tooth type rotary supporting member 6 to rotate, and the inner tooth type rotary supporting member 6 is connected with the output shaft 5 so as to enable the output shaft to rotate in a periodic speed change mode.
Specifically, the input shaft 14 is connected to an output end of a servo motor (not shown in the figure), and is driven by the servo motor to perform forward and reverse input; the input shaft 14 drives the first round gear 12 and the first non-round gear 10 to synchronously rotate, on one hand, the first round gear 12 is meshed with the second round gear 13 to drive the transmission shaft 16 to rotate so as to drive the sun gear 9 to rotate, and the input at the end adopts the meshing of the first round gear 12 and the second round gear 13, so that the transmission ratio is fixed, and the input rotating speed of the sun gear 9 is a fixed value;
on the other hand, the first non-circular gear 10 is meshed with the second non-circular gear 11 to drive the planet carrier 7 to rotate, and the transmission ratio has the characteristic of periodic change due to the non-circular gear transmission, so that the input rotating speed of the planet carrier 7 is a variable speed value;
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 planet gear 8 causes the planet gear 8 to present a variable speed output phenomenon, thereby driving the variable speed output of the internal tooth type rotary support member 6;
since the variable speed input of the planet carrier 7 presents a periodic variation law similar to a sine (cosine) function, assuming that when the rotating speed converted to the planet gear 8 is positive, the average output rotating speed is A, and the input of the sun gear 9 is a fixed value, and when the rotating speed converted to the planet gear 8 is negative, the output rotating speed is-A, the rotating speed of the planet gear 8 will present a positive and negative periodic variation law, and when the internal tooth type rotary support member 6 is driven to output, the input shaft 14 presents a positive/reverse input, and the output shaft 5 presents a characteristic of a positive and reverse alternating periodic output.
It should be noted that the first non-circular gear 10 and the second non-circular gear 11 are both eccentrically disposed, and they are always engaged with each other.
It should be further noted that the rotation center of the second non-circular gear 11 is hollow and is sleeved on the transmission shaft 16.
The two groups of walking assemblies are symmetrically arranged on two sides of the transmission connecting box 1 and are connected with the transmission shaft 19 through the input shaft 14;
the walking assembly consists of two groups of hinged telescopic structures, wherein one group of telescopic structures is connected with the transmission shaft 19 through the input shaft 14, and one end of the other group of telescopic structures, which is far away from the transmission connecting box 1, is hinged with a foot limiting plate 20;
the telescopic structure comprises a rotating part 2, a groove arranged at one end of the rotating part 2 far away from the rotating shaft of the rotating part, a long strip-shaped through hole arranged in the groove, a fastening part 3 arranged in the groove and matched with the long strip-shaped through hole, and a telescopic part 4 connected with the fastening part 3 and arranged in the groove;
the rotating member 2 of one set of the telescopic structures is connected with the transmission shaft 19 through the input shaft 14, and one end of the rotating member 2 far away from the rotation center thereof is hinged with the rotating member 2 of the other set of the telescopic structures.
Through setting up extending structure for the position that this robot was suitable for is wider, can satisfy different height crowds' needs.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. A lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving is characterized by comprising:
the transmission connecting box (1) is of a cuboid structure, two mounting boxes (17) are arranged on two sides of the transmission connecting box (1), a connecting piece (18) is fixedly mounted at one end of each mounting box (17), an output shaft (5) and a sun wheel (9) coaxial with the output shaft (5) are arranged in the connecting piece (18) in a rotating mode, the sun wheel (9) is connected with a transmission shaft (16) mounted in the mounting boxes (17), a second round gear (13) is mounted on the transmission shaft (16), and the second round gear (13) is meshed with a first round gear (12) rotatably arranged in the mounting boxes (17);
the first round gear (12) is arranged on a transmission shaft (19) arranged in the installation box (17), and the transmission shaft (19) penetrates through the installation box (17) and extends to the outside of the installation box;
a variable speed rotation assembly provided between the connecting member (18) and the mounting case (17) and connected with the transmission shaft (16) and the transmission shaft (19);
the walking assemblies are arranged in two groups and symmetrically arranged on two sides of the transmission connecting box (1) and are connected with the transmission shaft (19) through an input shaft (14).
2. The lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving as claimed in claim 1, wherein the variable speed rotating assembly comprises a variable speed structure arranged in the mounting box (17) and connected with the transmission shaft (19), a planetary gear structure connected with the variable speed structure and arranged in the connecting piece (18);
the planetary gear structure is connected with the output shaft (5).
3. The lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving is characterized in that the speed change structure comprises a first non-circular gear (10) fixedly mounted on the transmission shaft (19), and a second non-circular gear (11) rotatably arranged in the mounting box (17) and meshed with the first non-circular gear (10);
the second non-circular gear (11) is connected with the planetary gear structure.
4. The lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving is characterized in that the planetary gear structure comprises a planet carrier (7) fixedly connected with the second non-circular gear (11) and rotatably installed in a connecting piece (18), a plurality of planet gears (8) which are circumferentially and equidistantly rotatably installed on the planet carrier (7), and an internal tooth type rotary support (6) which is meshed with the planet gears (8) and rotatably installed in the connecting piece (18);
the planet gears (8) are also in mesh with the sun gear (9), and the internal toothing rotary support (6) is connected to the output shaft (5).
5. The lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving as claimed in claim 1, wherein the walking assembly is composed of two sets of articulated telescopic structures, one set of the telescopic structures is connected with the transmission shaft (19) through the input shaft (14), and one end of the other set of the telescopic structures, which is far away from the transmission connecting box (1), is articulated with a foot limiting plate (20).
6. The lower limb exoskeleton rehabilitation robot based on variable load type automatic reversing driving is characterized in that the telescopic structure comprises a rotating part (2), a groove arranged at one end of the rotating part (2) far away from the rotating shaft of the rotating part, an elongated through hole arranged in the groove, a fastening part (3) arranged in the groove and matched with the elongated through hole, and a telescopic part (4) connected with the fastening part (3) and arranged in the groove;
the rotating piece (2) on one group of telescopic structures is connected with the transmission shaft (19) through the input shaft (14), and one end of the rotating piece (2) far away from the rotating center is hinged with the rotating piece (2) on the other group of telescopic structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122704194.1U CN216570736U (en) | 2021-11-05 | 2021-11-05 | Lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122704194.1U CN216570736U (en) | 2021-11-05 | 2021-11-05 | Lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216570736U true CN216570736U (en) | 2022-05-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122704194.1U Active CN216570736U (en) | 2021-11-05 | 2021-11-05 | Lower limb exoskeleton rehabilitation robot based on variable-load automatic reversing drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216570736U (en) |
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2021
- 2021-11-05 CN CN202122704194.1U patent/CN216570736U/en active Active
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