Side-sway joint of multi-foot-boosting rehabilitation robot

Abstract

The invention provides a side-sway joint of a multi-foot-boosting rehabilitation robot. The side-sway joint comprises electric push rod drivers, rotation pairs for connecting waistband structures of the robot and the electric push rod drivers, rotation pairs for connecting the proximal shank of the shank and the electric push rod drivers, and rotation pairs for connecting the waistband structures and the proximal shank, wherein stepping motors are mounted on motor fixing clamp plates, fixing round holes are formed in the motor fixing clamp plates, fixing hinge pins pass through the fixing round holes and are connected to the waistband structures, output shafts of the stepping motors are connected with one ends of lead screws, the lead screws are connected with lead screw sleeves, one ends of rod-end joint bearings are in clearance fit with the lead screw sleeves through end opening nuts, end round holes are formed in the other ends of the rod-end joint bearings, the end round holes and end hinge pins are connected to the upper part of the shank, the lead screw sleeves are in interference fit with round holes of sliders, the sliders sleeve guide rails in a sliding manner, and the guide rails are fixed to the motor fixing clamp plates. The side-sway joint is good in balance, the energy utilizing efficiency is high, and the side-sway joint is effectively applied to assisted rehabilitation of old people and the lower-limb disabled.

Description

Technical field [0001] The invention relates to the field of robots, in particular to a side swing joint of a rehabilitation robot. Background technique [0002] With the rapid development of modern technology, the application of robots is not only limited to the industrial field, but gradually applied to the fields of agriculture, medical treatment, and service. The application objects of robots gradually become more diverse and complicated. The invention is a wearable hexapod bionic mechanical leg. Its main function is to expand the movement function of the lower limbs of the human body. The application object is the elderly and the disabled of the lower limbs, and the ultimate goal is to realize the application object's normal walking ability. This requires hexapod robots to be as flexible and safe as human legs. Traditional two-legged exoskeleton robots have inherent structural shortcomings, such as high difficulty in balance, difficulty in gait planning to perfectly fit th...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of existing exoskeleton robots, such as poor balance, low energy use efficiency, and inapplicability to assist rehabilitation for the elderly and disabled persons with lower limbs, the present invention provides an exoskeleton robot with better balance, higher energy use efficiency, Side swing joint of a multi-legged power-assisted rehabilitation robot that is effectively suitable for the power-assisted rehabilitation of the elderly and the lower limb disabled

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