Lower limb joint structure of rehabilitation robot

Abstract

The invention discloses a lower limb joint structure of a rehabilitation robot, and belongs to the field of rehabilitation therapy. The lower limb joint structure at least comprises a driving part, atorque sensor part, a safety limit part and an output part. The driving part is installed on a speed reducer flange of the driving part, the torque sensor part comprises a torque sensor, an inner pressing flange, a crisscross roller bearing, an external pressing flange and an input flange of the torque sensor, and the crisscross roller bearing is separately connected with the input flange of the torque sensor and an outer ring of the torque sensor; the external pressing flange is installed on the outer ring of the torque sensor, and the inner pressing flange is installed on the input flange ofthe torque sensor; an inner ring of the torque sensor is installed on the input flange of the torque sensor, the safety limit part is installed on the speed reducer flange, and the output part comprises a joint output flange. The torque sensor is designed for the joint structure, safety limit is arranged to form multiple protection mechanisms, and the safety of patients in the rehabilitation training process is further improved.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and relates to a lower limb joint structure of a rehabilitation robot, in particular to a lower limb joint structure of a rehabilitation robot equipped with a joint torque sensor and capable of real-time feedback of joint torque. Background technique [0002] In recent years, the number of patients with lower limb motor function caused by stroke and spinal cord injury has increased year by year. The multi-position lower limb rehabilitation robot is a medical robot that can satisfy patients with lower limb motor dysfunction to perform rehabilitation training in multiple postures. The use of lower limb rehabilitation robots to assist rehabilitation training can improve rehabilitation efficiency, reduce costs, and save medical resources. When the patient performs passive or active training of the lower limbs through the gait training rehabilitation robot, the patient mainly relies on the dr...

AI Technical Summary

Problems solved by technology

Existing joint structures of rehabilitation robots are rarely able to achieve multiple safety protection structures. Due to the lack of sensors to detect torque values ​​at the joints or the lack of necessary safety limits in the structural design of the joints, it will bring harm to patients during rehabilitation training. safety hazard

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