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3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot

A rehabilitation robot and metamorphic mechanism technology, applied in the field of rehabilitation robots, can solve the problems of increasing the difficulty of joint control, limiting the rehabilitation training of human joints, and difficult to achieve three-degree-of-freedom motion of the legs, so as to be beneficial to the rehabilitation process and improve the The effect of efficiency

Active Publication Date: 2015-06-24
BEIHANG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

This kind of mechanism is difficult to realize the three-degree-of-freedom movement of the leg around the center of the hip joint. Therefore, during rehabilitation training, it increases the controllability of the joints and limits the rehabilitation training of human joints.

Method used

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  • 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot
  • 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot
  • 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] The invention provides a 3UPS parallel metamorphic mechanism for a lower limb rehabilitation robot, such as figure 1 As shown, the parallel metamorphic mechanism includes two unilateral parallel metamorphic mechanisms, which are respectively the left parallel metamorphic mechanism and the right parallel metamorphic mechanism symmetrical to the base 1, and the human body wears the parallel metamorphic mechanism , the waist 13 of the human body is in the hollow in the middle of the base 1, and the left and right thighs of the human body are respectively equipped with a left side parallel metamorphosis mechanism and a right side parallel metamorphosis mechanism.

[0025] The two configurations of the unilateral parallel metamorphic mechanism are as follows: figure 2 and image 3 As shown, the unilateral parallel metamorphic mechanism includes a m...

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Abstract

The invention discloses a 3UPS parallelly connected metamorphic mechanism for a lower limb rehabilitation robot and is applied to the field of rehabilitation robots. The parallelly connected metamorphic mechanism comprises a base and single-side parallely connected metamorphic mechanisms which are connected to the base and symmetrically arranged relative to the base in a left-right mode, each parallelly connected metamorphic mechanism comprises a motion platform, motors, kinematic pair locking mechanisms and three kinematic chains connecting the base and the motion platform. The 3UPS parallelly connected metamorphic mechanism for the lower limb rehabilitation robot achieves the unidirection wide-range bend and stretch motion and three freedom degree small-range rotation of the hip joint respectively through two states formed by opening and locking one of the revolute pair of a hook joint on one side or in the middle, different rehabilitation requirements of people are met, and the efficiency is improved; the hip joint of the human body is considered as part of the mechanism, the unidirection rotation and the three freedom degree rotation all move around the center of the hip joint, interference to human body self movement can not occur, and the rehabilitation processes are facilitated.

Description

technical field [0001] The invention relates to a parallel mechanism and a metamorphic mechanism, which can be used in the field of rehabilitation robots. Specifically, it is a parallel metamorphic mechanism based on the principle of metamorphosis that can respectively realize outputs of different degrees of freedom. Background technique [0002] Rehabilitation robot is a kind of automatic medical rehabilitation equipment. It is based on medical theory and helps patients to carry out scientific and effective rehabilitation training, so that the patient's motor function can be recovered faster and better. At present, most of the hip joint rehabilitation mechanisms applied to the human body use a single-degree-of-freedom series mechanism as the motion joint, which is fixed on the legs and waist of the human body through straps, belts, etc., to drive the legs of the human body to move. This kind of mechanism is difficult to realize the three-degree-of-freedom movement of the le...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61H1/00
Inventor 张武翔张少丹丁希仑
Owner BEIHANG UNIV
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