Double-motor dynamic suspension system of rehabilitation robot

A rehabilitation robot and dual-motor technology, which can be used in devices that help people walk, medical science, hospital beds, etc., can solve problems such as complex control, system vibration, system instability, etc., and achieve stable movement, precise height and force control , easy to wear effect

Pending Publication Date: 2018-06-29
中航创世机器人(西安)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

If the motor is directly used for weight reduction, the motor control system needs to combine position feedback an...

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  • Double-motor dynamic suspension system of rehabilitation robot
  • Double-motor dynamic suspension system of rehabilitation robot
  • Double-motor dynamic suspension system of rehabilitation robot

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0017] The rehabilitation robot dual-motor dynamic suspension system of the present invention consists of a lower support plate 1, a guide bearing bracket 2, an optical axis 3, a column 4, a linear bearing 5, a lower slider 6, a limit support 7, a vibration damping block 8, Upper slider 9, upper support plate 10, hanging plate 11, winch 12, force sensor 13, fixed pulley A14, proximity sensor 15, fixed pulley B16, rope 17, movable pulley 18, fixed nut 19, perforated bolt 20, tension spring 21. Earring A22, push rod 23, and earring B24.

[0018] The lower support plate 1 is fixedly connected to the lower end of the column 4, and the upper support plate 10 is fixedly connected to the upper end of the column 4. The height of the column 4 is 2 meters to 3 meters. Both ends of th...

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Abstract

The invention provides a double-motor dynamic suspension system of a rehabilitation robot. The upper end of an upright post is fixedly connected with an upper support plate and a suspension plate. Anupper sliding block and a lower sliding block are connected to two vertical plain shafts in a sleeving mode and are connected with each other through two springs. The lower sliding block is driven bya power source to move axially along the plain shafts. The upper surface of the upper sliding block is provided with a movable pulley. One end of a rope is wound around a winch, and the other end passes through the movable pulley and then is connected to a patient after changing direction through a fixed pulley installed on the suspension plate. A damping block limits the up-and-down movement of the upper sliding block. A proximity sensor is installed on the lower surface of the suspension plate to monitor the distance between the patient and the suspension plate. A tension sensor is installedbetween the fixed pulley and the suspension plate. By the adoption of the system, accurate adjustment of the two parameters, height and force, can be achieved at the same time. The system is stable and does not shake.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical robots, in particular to a suspension system of a rehabilitation robot. Background technique [0002] With the aging population in my country and the large number of disabled people, the number of patients who need rehabilitation is increasing year by year. The use of exoskeleton robots for limb rehabilitation training can provide effective rehabilitation training for physically disabled patients. An exoskeleton robot is a typical power-assisted device, which has a suspension device that lifts people off the ground and provides weight reduction. The suspension device is connected to the patient through a rope, and the spatial position of the patient can be adjusted through the expansion and contraction of the rope. [0003] At present, the weight reduction system mainly has three methods: counterweight weight reduction, spring weight reduction, and motor force feedback weight redu...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61G7/10
CPCA61H3/008A61G7/1001A61G7/1017A61G2200/20A61H2003/007A61H2201/165A61H2201/1659
Inventor 杨晔贺琛王增武张瀚桥单丁马瑞周颐
Owner 中航创世机器人(西安)有限公司
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