CN102068363A - Rope-driven waist rehabilitation robot - Google Patents
Rope-driven waist rehabilitation robot Download PDFInfo
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- CN102068363A CN102068363A CN 201110027352 CN201110027352A CN102068363A CN 102068363 A CN102068363 A CN 102068363A CN 201110027352 CN201110027352 CN 201110027352 CN 201110027352 A CN201110027352 A CN 201110027352A CN 102068363 A CN102068363 A CN 102068363A
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- 230000035876 healing Effects 0.000 claims description 70
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- 230000007246 mechanism Effects 0.000 claims description 10
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract 1
- 210000001624 hip Anatomy 0.000 description 20
- 210000003141 lower extremity Anatomy 0.000 description 6
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- 210000004197 pelvis Anatomy 0.000 description 5
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- 238000012827 research and development Methods 0.000 description 2
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- 239000000806 elastomer Substances 0.000 description 1
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Abstract
The invention discloses a rope-driven waist rehabilitation robot. The robot comprises a frame, a gravity balance unit, rope winding and unwinding units, a rope-driven rehabilitation exercise unit and a control unit, wherein the rope-driven rehabilitation exercise unit comprises a rehabilitation waist belt, pulling ropes and a guide pulley; the rehabilitation waist belt is at least connected with six pulling ropes; each pulling rope corresponds to one rope winding and unwinding unit; and the control unit controls the length change of the corresponding pulling rope by controlling each rope winding and unwinding unit so as to drive the waist of a rehabilitation patient to move along a pelvic movement track of a normal person during walking. Therefore, aiming at the problem of a coordination control mode of controlling the pelvic movement track of the rehabilitation patient in the rehabilitation training process, the rehabilitation patient can move along the pelvic movement track of the normal person under standing and walking conditions through the coordinated action of a set of gravity balance unit and a plurality of pulling ropes so as to achieve an effective waist rehabilitation training effect; and the robot can perform configuration change and rehabilitation training amplitude and strength adjustment according to the disease condition and individual difference of the rehabilitation patient.
Description
Technical field
The present invention relates to a kind of healing robot, particularly a kind of modular rope drives the waist healing robot.
Background technology
Because patient's number of the limb movement disturbance that cerebral palsy or other contingency cause is more, therefore, enriches the rehabilitation training means, improves rehabilitation training efficient and have very big urgency and necessity.
Traditional rehabilitation depends on therapist's experience and free-hand operating technology, and training effectiveness is low, and workload is big, the human cost height, and, because in the training process, lack the objective data of estimating training parameter and rehabilitation efficacy relation, thereby, be difficult to training method is carried out reasonable optimizing.
The generation of recovery exercising robot has solved above problem effectively, drive the motion that limbs are done thousands of repeatability by machine, not only the therapist is freed from heavy physical work, the quantification of rehabilitation means has guaranteed the quality of rehabilitation effectively.
At present, research to recovery exercising robot both at home and abroad mainly contains: the LOKOMAT of walking rehabilitation training robot system of polytechnical university of Swiss Confederation and Switzerland Balgrist university joint research and development, this robot has two gaits and corrects the ectoskeleton pedipulator, each bar ectoskeleton lower limb has hip, two degree of freedom of knee joint, is realized by the independent driving mechanism of band ball-screw respectively; The lower limb exoskeleton gait orthosis with gravitational equilibrium system of U.S. School of Mechanical Engineering of Delaware university and medical college joint research and development is by alleviating or eliminating the influence of shank gravity to walking; The Zhang Lixun of Harbin Institute of Technology etc. has designed the healing robot of a kind of normal person's of simulation gait rule, and this robot can realize the training to rehabilitation patient's lower limb muscles and walking function; The royal people of Tsing-Hua University become etc. to have designed a kind of Unweighting walking rehabilitation training robot with reverse drive ability; A kind of robot for multiple posture exoskeleton lower limb rehabilitation training of Yang Can army of Zhejiang University etc. designs, this robot three kinds of physical training conditions that can satisfy rehabilitation patient's sitting posture, stand and lie low; University On The Mountain Of Swallows's Zhao Tieshi etc. has designed a kind of biological fusion type foot joint rehabilitation robot, based on the bionical research of people's foot, people's knee limb is fused in the train of mechanism as motion branch, realizes the rehabilitation training of various complexity.
Analyze above-mentioned healing robot, what be primarily aimed at is the rehabilitation training of lower limb.And in fact, many lower extremity paralysis patients, its pathogenesis is mainly the damage of waist and spinal column.For this reason, the present invention will propose a kind of robot that needs at the waist rehabilitation training.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of rope to drive the waist healing robot, it is at pelvic movement trajectory problem how to coordinate to control the rehabilitation patient in the rehabilitation training process, coordination by a cover gravity balance unit and Duo Gen pull rope, reproduce the normal person pelvic movement track of rehabilitation patient under the situation of standing, reached the efficient rehabilitation training of waist.After this robot each several part function has realized parametrization and module, can be according to rehabilitation patient's the state of an illness and individual variation, carry out that configuration changes, the adjustment of rehabilitation training amplitude and intensity.Simultaneously, consider that in the last few years the development actuation techniques of restricting rapidly has simple in structurely, inertia is little, light weight, safety is good, degree of modularity advantages of higher, for this reason, the present invention will be with rope as driving, and it is variable to propose a kind of configuration, the modularity waist healing robot that power is external.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of rope drives the waist healing robot, comprise frame, be used to accept the rehabilitation patient gravity balance unit, be used to drive the rope of pull rope around putting the unit, being used to realize that the rope of rehabilitation patient's waist rehabilitation training drives the rehabilitation exercise unit and controls rope automatically around the control unit of putting the unit action, wherein: described gravity balance unit, comprise load-bearing vest and handrail, described load-bearing vest places in the frame, and the load-bearing vest hangs the below, machine top that is connected frame, and described handrail is installed on the frame; Described rope is around putting the unit, comprise driver module, coiling module, winding displacement module and tensioning module, the output shaft of described driver module with the coiling module coaxial connection of roll, described winding displacement module is connected with the coiling module, and described driver module, coiling module, winding displacement module and tensioning module are installed on the frame respectively; Described rope drives the rehabilitation exercise unit, comprise healing waistband, pull rope and guide pulley around rehabilitation patient's waist, described pull rope one end is wound on the roll of coiling module, the other end is connected with healing waistband after passing winding displacement module, tensioning module and guide pulley in proper order, in addition, described healing waistband flatly places in the frame, and is connected with six pull ropes on the healing waistband at least, and each bar pull rope disposes a rope accordingly around putting the unit; Described control unit is controlled long variation of rope of corresponding pull rope by controlling each rope around putting unitary driver module, the pelvic movement rule when meeting normal person's walking.
Described frame by framework and be installed in framework up and down the connecting plate of both ends of the surface form, described rope is installed on the connecting plate around putting the unit; Described healing waistband is evenly equipped with four rope connection site, described pull rope is six, these six pull ropes are divided into two groups, wherein one group contains four pull ropes, these four pull ropes are positioned at same horizontal plane with healing waistband all respectively by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, simultaneously these four pull ropes respectively with the corresponding connections of four of healing waistband rope connection site, remaining one group contains two pull ropes, these two pull ropes place the healing waistband top all respectively obliquely by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, and these two pull ropes are connected with one group of rope connection site that is oppositely arranged of healing waistband respectively simultaneously.
Described frame by framework and be installed in framework up and down the connecting plate of both ends of the surface form, described rope is installed on the connecting plate around putting the unit; Described healing waistband is evenly equipped with four rope connection site, described pull rope is eight, these eight pull ropes are divided into two groups, each group contains four pull ropes all respectively, simultaneously four pull ropes of each group all respectively with the corresponding connections of four rope connection site of healing waistband, wherein each bar pull rope of one group is positioned at same horizontal plane with healing waistband all respectively by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, and each remaining one group bar pull rope is obliquely installed with healing waistband all respectively by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, in four pull ropes that are obliquely installed, two pull ropes that wherein are oppositely arranged place the healing waistband top obliquely, and two pull ropes in addition that are oppositely arranged then place the healing waistband below obliquely.
Described driver module comprises motor base and is fixedly mounted in drive motors on the motor base that described motor base is fixedly connected on the frame; Described coiling module comprises roll and coiling base, described winding displacement module comprises the axis of guide, leading screw, feed screw nut, chute, directive wheel and pulley yoke, the two ends of described roll, leading screw and the axis of guide are supported in the coiling base all respectively, and roll, leading screw and the axis of guide are parallel to each other, described feed screw nut is fixedly mounted on the pulley yoke, and the thick stick body and the feed screw nut of leading screw are connected, the axis body of the axis of guide then passes pulley yoke and places, described directive wheel and chute are fixedlyed connected with pulley yoke respectively, and offer the pull rope passage on the chute; The output shaft of described drive motors is connected with roll is coaxial, and the output shaft of drive motors is connected with screw mandrel by synchronous drive mechanism; Described tensioning module comprises the elastic tension base and is supported on regulating wheel on the elastic tension base by wheel shaft, described elastic tension base comprises base plate and is connected in the gripper shoe that two on the base plate is provided with relatively, described base plate is fixedly mounted on the frame, two gripper shoes are relatively offered one group of mounting hole, the two ends of described wheel shaft are passed aforementioned two mounting holes and are placed, and the two ends of wheel shaft are connected spring respectively with between the base plate.
Described synchronous drive mechanism is gear driving pair or Synchronous Belt Drives pair.
Described load-bearing vest hangs the top that is connected frame by elasticity passive protection rope; described elasticity passive protection rope one end is connected with the load-bearing vest; the other end is connected with handrail after then walking around leading block, and described elasticity passive protection rope comprises passive protection rope and the Flexible Connector that is connected with the passive protection rope.
Described elasticity passive protection rope is made up of two passive protection ropes and the Flexible Connector that is connected between the two passive protection ropes; passive rope tension portion is set on the described handrail; wherein a passive protection rope is connected with the load-bearing vest, and another passive protection rope then is connected with rope connecting hole on the handrail.
Described passive rope tension portion is the pair that is threaded.
Described load-bearing vest comprises locking belt and the suspender belt that is connected with locking belt, and the two ends of described locking belt connect by connector, and protection rope junction button and adjusting button are installed on the described suspender belt.
Described connector is button connector, long, rectangular bag connector or slide fastener.
According to above technical scheme, can realize following beneficial effect:
1, the present invention realizes modularity with the each several part function, and cost is low, is easy to apply; The present invention adopts control unit to control each rope automatically and controls long variation of rope of corresponding pull rope around putting unitary driver module, pelvic movement rule when meeting normal person's walking, can be because of the people, due to illness carry out the adjusting of training parameter and the change of configuration, reach the optimal rehabilitation training effect.
2, the present invention is with the output shaft of driver module and coaxial connection of roll of coiling module, described winding displacement module is connected with the coiling module, when feasible pull rope on roll passes through winding displacement module winding displacement, can be vertical with roll all the time, pelvic movement rule when meeting normal person's walking by the long variation of control pull rope rope effectively realizes rehabilitation patient's waist rehabilitation.
Description of drawings
Fig. 1: rope drives waist healing robot integral installation figure;
The number in the figure title: frame 1, gravity balance unit 2, rope are around putting unit 3, rope driving rehabilitation exercise unit 4, control unit 5, framework 1-1, connecting plate 1-2
Fig. 2: go up (descending) connecting plate and rope around putting unitary installation diagram;
Fig. 3: gravity balance unit structural representation;
Number in the figure title: passive protection rope 21, Flexible Connector 22, leading block 23, passive rope tension portion 24, load-bearing vest 25, handrail 26
Fig. 4: the structural representation of load-bearing vest;
Number in the figure title: regulate button 25-1, button hole 25-2, locking belt 25-3, suspender belt 25-4, protection rope junction button 25-5, adjusting button 25-6
Fig. 5: the structural representation of handrail;
Number in the figure title: passive rope tension portion 24, rope connecting hole 24-1, handrail 26, bolt hole 26-1
Fig. 6: rope is around putting unitary structural representation;
Number in the figure title: driver module 31, coiling module 32, winding displacement module 33, tensioning module 34
Fig. 7: rope is around putting unitary structural representation;
Number in the figure title: drive motors 31-1, motor base 31-2, shaft coupling 31-3, roll 32-1, coiling base 32-2, bearing 32-3, end cap 32-4, synchronous drive mechanism 32-5, axis of guide 33-1, chute 33-2, feed screw nut 33-3, directive wheel 33-4, pulley yoke 33-5, leading screw 33-6, directive wheel 23, pull rope 41, tensioning module 34
Fig. 8: the structural representation of tensioning module;
Number in the figure title: gripper shoe 34-1, regulating wheel 34-2, wheel shaft 34-3, spring 34-4
Fig. 9: rope drives the unitary structural representation of rehabilitation exercise;
Number in the figure title: pull rope 41, healing waistband 42, guide pulley 43
Figure 10: the structural representation of healing waistband;
Number in the figure title: rope connecting hole 42-1.
Figure 11: pelvis central motion track during normal person's walking movement.
The specific embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation, explains technical scheme of the present invention below with reference to accompanying drawing.
As shown in Figure 1, rope of the present invention drives the waist healing robot, comprise frame 1, be used to accept the rehabilitation patient gravity balance unit 2, be used to drive pull rope rope around putting unit 3, being used to realize that the rope of rehabilitation patient's waist rehabilitation training drives rehabilitation exercise unit 4 and controls rope automatically around the control unit 5 of putting unit 3 actions, wherein:
Described frame 1, as shown in Figure 1, the framework 1-1 that constitutes by some section bars and be connected to framework 1-1 top and two connecting plate 1-2 of framework 1-1 bottom assemble.As shown in Figure 2, described connecting plate 1-2 goes up the distribution installing hole, and to be used to rope being installed around putting unit 3, rope is connected on the connecting plate 1-2 as bolted around putting unit 3 by threaded fastener.In addition, described framework 1-1 section bar requires to have chute, and the position adjustment that is beneficial to each guide pulley reaches fixing.
Described gravity balance unit 2 as shown in Figure 3, comprises load-bearing vest 25 and handrail 26, and described load-bearing vest 25 places in the frame 1, and load-bearing vest 25 hangs the below, machine top that is connected frame 1, and described handrail 26 is installed on the frame 1; Described load-bearing vest 25 hangs the top that is connected frame 1 by elasticity passive protection rope; described elasticity passive protection rope one end is connected with load-bearing vest 25; the other end is then walked around leading block 23 backs and is connected with handrail 26; described elasticity passive protection rope comprises passive protection rope 21 and the Flexible Connector 22 that is connected with passive protection rope 21, and Flexible Connector 22 is made up of the elastomer that can realize axial stretching or elastomeric material.Described elasticity passive protection rope is made up of two passive protection ropes 21 and the Flexible Connector 22 that is connected between the two passive protection ropes 21; as shown in Figure 5; passive rope tension portion 24 and the rope connecting hole that can realize the adverse movement self-locking are set respectively on the described handrail 26; wherein passive protection rope 21 of described elasticity passive protection rope is connected with load-bearing vest 25, and 21 in another passive protection rope is connected with rope connecting hole on the handrail 26.Described passive rope tension portion 24 is the pair that is threaded; by rotating this pair that is threaded; realize the adjusting of handrail 26 length; thereby reach control passive protection rope 21 length and tensile purpose; in addition, handrail 26 is folded form or axial stretching shape, to adapt to not isomorphy rehabilitation patient's demand; handrail 26 is fixed on the vertical section bar of frame 1, and can be along the section bar vertical lift.As shown in Figure 4, described load-bearing vest 25 comprises locking belt and the suspender belt that is connected with locking belt, and the two ends of described locking belt connect by connector, and protection rope junction button and adjusting button are installed on the described suspender belt.By adjusting adjusting button, reach the purpose of adjusting suspender belt length; By passive protection rope 21 is connected with protection rope junction button, to realize suspension connection to load-bearing vest 25; Described connector can be button connector, long, rectangular bag connector or slide fastener.When being the button connector, promptly this button connector comprises button and the button hole that is used with button, button is installed in locking belt one end, the button hole is opened in the locking belt other end, and set a plurality of buttons hole for same button compartment of terrain, by button and different button hole snappings, the realization locking belt encloses and connects the back diameter adjustment, satisfies different rehabilitation patient's demands.In addition, locking belt adopts elastomeric material to make.
Described rope is around putting unit 3, as shown in Figure 6, comprise driver module 31, coiling module 32, winding displacement module 33 and tensioning module 34, the output shaft of described driver module 31 with the coiling module 32 coaxial connection of roll, described winding displacement module 33 and coiling module 32 are connected by synchronous drive mechanism, and described synchronous drive mechanism is gear driving pair or Synchronous Belt Drives pair.Described driver module 31, coiling module 32 are installed in respectively on the frame 1 with winding displacement module 33 and tensioning module 34; As shown in Figure 7, described driver module 31 comprises motor base 31-2 and is fixedly mounted in drive motors 31-1 on the motor base 31-2, described motor base 31-2 is fixedly connected on the frame 1, and drive motors 31-1 contains brake unit, the confusion of pull rope when preventing to cut off the power supply suddenly; Described coiling module 32 comprises roll and coiling base, described winding displacement module 33 comprises the axis of guide, leading screw, feed screw nut, chute, directive wheel and pulley yoke, described roll, the two ends of the leading screw and the axis of guide are supported in the coiling base all respectively, and roll, the leading screw and the axis of guide are parallel to each other, described feed screw nut is fixedly mounted on the pulley yoke, and the thick stick body and the feed screw nut of leading screw are connected, the axis body of the axis of guide then passes pulley yoke and places, described directive wheel and chute are fixedlyed connected with pulley yoke respectively, and offer the pull rope passage on the chute; The output shaft of described drive motors 31-1 is connected by shaft coupling and roll are coaxial, and the output shaft of drive motors 31-1 is connected with screw mandrel by synchronous drive mechanism; As shown in Figure 8, described tensioning module 34 comprises the elastic tension base and is supported on regulating wheel on the elastic tension base by wheel shaft, described elastic tension base comprises base plate and is connected in the gripper shoe that two on the base plate is provided with relatively, described base plate is fixedly mounted on the frame 1, two gripper shoes are relatively offered one group of mounting hole, the two ends of described wheel shaft are passed aforementioned two mounting holes and are placed, and the two ends of wheel shaft are connected spring respectively with between the base plate.When pull rope was in tensioning state, spring was owing to the pulling force of pull rope extends, and the wheel shaft of regulating wheel drives regulating wheel along moving on the mounting hole.Thereby reach equilibrium of forces; When the pull rope pulling force reduces and even be zero,, reach the purpose of tensioning because the restoring force of spring impels the wheel shaft drive regulating wheel of regulating wheel to move down along mounting hole.
Described rope drives rehabilitation exercise unit 4, comprise healing waistband, pull rope and guide pulley around rehabilitation patient's waist, described pull rope one end is wound on the roll of coiling module 32, the other end is connected with healing waistband after passing winding displacement module 33, tensioning module 34 and guide pulley in proper order, in addition, described healing waistband flatly places in the frame 1, because pelvic movement is 6 degree of freedom, consider that in control procedure gravity can be used as 1 virtual active rope, so the realization of the movement locus of pelvis needs 6 pull ropes at least.Consider that gravity has uncontrollability, Fig. 9 has provided the rehabilitation exercise implementation that adopts 8 pull ropes, and these eight pull ropes divide two groups to be distributed on the healing waistband.Each bar pull rope disposes a rope accordingly around putting unit 3; Described control unit 5 is controlled long variation of rope of corresponding pull rope by controlling each rope around the driver module 31 of putting unit 3, pelvis central point locus when meeting normal person's walking movement shown in Figure 11.Wherein, the annexation of 8 pull ropes and healing waistband 42 is as follows: pull rope 41-1 and 41-5 are connected on the some 42-1 of healing waistband by guide pulley, pull rope 41-2 and 41-6 are connected on the 42-2, pull rope 41-3 and 41-7 are connected on the 42-3, and pull rope 41-4 and 41-8 are connected on the 42-4.Wherein healing waistband 42 can be regulated size according to rehabilitation patient's waist sizes, and as described in Figure 10, junction point is uniform thereon; Wherein, rope 41-1,41-2,41-3,41-4 and healing waistband need remain in the horizontal plane; Wherein, pull rope 41-6, the 41-8 of the motion of control gravity direction can optionally omit.
Control system is made up of embedded computer, motion control card, motor driver, limit switch etc.Wherein, parameters such as waist rehabilitation exercise amplitude, speed can be regulated because of the people, and send embedded computer to carry out trajectory planning.According to program results, each initiatively rope coordination exercise of motor-driven produces required waist rehabilitation exercise.
During use, the rehabilitation patient stands in the middle of frame 1, puts on load-bearing vest 25 and belt, regulates the size of healing waistband and the size of load-bearing vest 25 according to rehabilitation patient's body type; The passive rope tension of rehabilitation patient's manual adjustments portion 2424 by regulating the rotation of screw thread pair, makes passive protection rope 21 be in tensioning state; Height according to rehabilitation patient's position manual adjustments guide pulley 43-1,43-2,43-3,44-4 makes it in same horizontal plane, thereby guarantees that itself and healing waistband 42 are on same horizontal plane; Control drive motors 31-1, make each root pull rope be in tensioning state, measure the angle of pull rope 41-5,41-6,41-7,41-8 and above-mentioned horizontal plane, calculate the initial length of each root rope, thereby determine original state, the present invention can adopt the angular displacement sensor that is built on the drive motors 31-1 will read the initial length that respectively drives rope and be control module initial input parameter; Then, the pelvic movement rule is carried out trajectory planning to it during according to normal person's walking, by long variation of control module control rope, patient is carried out the waist rehabilitation training.
As shown in figure 11, pelvis central motion track when it discloses normal person's walking movement, in a gait cycle, the motion of pelvis central point can regard as for: along X-axis (frontal axis), Y-axis (sagittal axis), rotate with sinusoidal rule around Z axle (vertical axis) when Z axle (vertical axis) moves with sinusoidal rule.The lopcus function at pelvis center is:
In the formula:
,
,
Be respectively along the displacement fluctuation amplitude of X-axis, Y-axis, Z axle;
For around Z shaft angle displacement sinusoidal fluctuation amplitude;
TBe gait cycle;
,
,
For along X-axis, Y-axis, Z axial displacement sinusoidal fluctuation initial phase;
Be initial phase around the rotation of Z axle sinusoidal fluctuation.
Claims (10)
1. a rope drives the waist healing robot, it is characterized in that, comprise frame, be used to alleviate rehabilitation patient's waist load gravity balance unit, be used to drive pull rope rope around putting the unit, being used to realize that the rope of rehabilitation patient's waist rehabilitation training drives the rehabilitation exercise unit and controls rope automatically around the control unit of putting the unit action, wherein:
Described gravity balance unit comprises load-bearing vest and handrail, and described load-bearing vest places in the frame, and the load-bearing vest hangs the below, machine top be connected frame, and described handrail is installed on the frame;
Described rope is around putting the unit, comprise driver module, coiling module, winding displacement module and tensioning module, the output shaft of described driver module with the coiling module coaxial connection of roll, described winding displacement module is connected with the coiling module, and described driver module, coiling module, winding displacement module and tensioning module are installed on the frame respectively;
Described rope drives the rehabilitation exercise unit, comprise healing waistband, pull rope and guide pulley around rehabilitation patient's waist, described pull rope one end is wound on the roll of coiling module, the other end is connected with healing waistband after passing winding displacement module, tensioning module and guide pulley in proper order, in addition, described healing waistband flatly places in the frame, and is connected with six pull ropes on the healing waistband at least, and each bar pull rope disposes a rope accordingly around putting the unit;
Described control unit is controlled long variation of rope of corresponding pull rope by controlling each rope around putting unitary driver module, the pelvic movement track when meeting normal person's walking.
2. drive the waist healing robot according to the described rope of claim 1, it is characterized in that, described frame by framework and be installed in framework up and down the connecting plate of both ends of the surface form, described rope is installed on the connecting plate around putting the unit; Described healing waistband is evenly equipped with four rope connection site, described pull rope is six, these six pull ropes are divided into two groups, wherein one group contains four pull ropes, these four pull ropes are positioned at same horizontal plane with healing waistband all respectively by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, simultaneously these four pull ropes respectively with the corresponding connections of four of healing waistband rope connection site, remaining one group contains two pull ropes, these two pull ropes place the healing waistband top all respectively obliquely by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, and these two pull ropes are connected with one group of rope connection site that is oppositely arranged of healing waistband respectively simultaneously.
3. drive the waist healing robot according to the described rope of claim 1, it is characterized in that, described frame by framework and be installed in framework up and down the connecting plate of both ends of the surface form, described rope is installed on the connecting plate around putting the unit; Described healing waistband is evenly equipped with four rope connection site, described pull rope is eight, these eight pull ropes are divided into two groups, each group contains four pull ropes all respectively, simultaneously four pull ropes of each group all respectively with the corresponding connections of four rope connection site of healing waistband, wherein each bar pull rope of one group is positioned at same horizontal plane with healing waistband all respectively by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, and each remaining one group bar pull rope is obliquely installed with healing waistband all respectively by guiding the linkage section that directly is connected with healing waistband behind the guide wheel, in four pull ropes that are obliquely installed, two pull ropes that wherein are oppositely arranged place the healing waistband top obliquely, and two pull ropes in addition that are oppositely arranged then place the healing waistband below obliquely.
4. drive the waist healing robots according to claim 2 or 3 described ropes, it is characterized in that, described driver module comprises motor base and is fixedly mounted in drive motors on the motor base that described motor base is fixedly connected on the frame; Described coiling module comprises roll and coiling base, described winding displacement module comprises the axis of guide, leading screw, feed screw nut, chute, directive wheel and pulley yoke, the two ends of described roll, leading screw and the axis of guide are supported in the coiling base all respectively, and roll, leading screw and the axis of guide are parallel to each other, described feed screw nut is fixedly mounted on the pulley yoke, and the thick stick body and the feed screw nut of leading screw are connected, the axis body of the axis of guide then passes pulley yoke and places, described directive wheel and chute are fixedlyed connected with pulley yoke respectively, and offer the pull rope passage on the chute; The output shaft of described drive motors is connected with roll is coaxial, and the output shaft of drive motors is connected with screw mandrel by synchronous drive mechanism; Described tensioning module comprises the elastic tension base and is supported on regulating wheel on the elastic tension base by wheel shaft, described elastic tension base comprises base plate and is connected in the gripper shoe that two on the base plate is provided with relatively, described base plate is fixedly mounted on the frame, two gripper shoes are relatively offered one group of mounting hole, the two ends of described wheel shaft are passed aforementioned two mounting holes and are placed, and the two ends of wheel shaft are connected spring respectively with between the base plate.
5. drive the waist healing robot according to claim 2 or 3 described ropes, it is characterized in that described synchronous drive mechanism is gear driving pair or Synchronous Belt Drives pair.
6. drive the waist healing robot according to claim 2 or 3 described ropes; it is characterized in that; described load-bearing vest hangs the top that is connected frame by elasticity passive protection rope; described elasticity passive protection rope one end is connected with the load-bearing vest; the other end is connected with handrail after then walking around leading block, and described elasticity passive protection rope comprises passive protection rope and the Flexible Connector that is connected with the passive protection rope.
7. drive the waist healing robot according to the described rope of claim 6; it is characterized in that; described elasticity passive protection rope is made up of two passive protection ropes and the Flexible Connector that is connected between the two passive protection ropes; passive rope tension portion is set on the described handrail; wherein a passive protection rope is connected with the load-bearing vest, and another passive protection rope then is connected with rope connecting hole on the handrail.
8. drive the waist healing robot according to the described rope of claim 7, it is characterized in that, described passive rope tension portion is the pair that is threaded.
9. drive the waist healing robot according to the described rope of claim 1; it is characterized in that; described load-bearing vest comprises locking belt and the suspender belt that is connected with locking belt, and the two ends of described locking belt connect by connector, and protection rope junction button and adjusting button are installed on the described suspender belt.
10. drive the waist healing robot according to the described rope of claim 9, it is characterized in that described connector is button connector, long, rectangular bag connector or slide fastener.
Priority Applications (1)
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