CN104887375B - A kind of pulling force overload protection arrangement of concurrent cable traction rehabilitation system - Google Patents

Abstract

The pulling force overload protection arrangement that the present invention is to provide a kind of cable traction rehabilitation system includes bondage main body, concurrent connecting shaft and rope pull overload device, rope pull overload device includes sleeve, slide block, sliding block spring, pellet, marble spring, catch and adjusting nut, recess is had on slide block, normal operating conditions sliding block is in sleeve, pellet heads into slide block recess under the effect of marble spring, owing to there is frictional force between slide block and pellet, only when pulling force is more than a certain value, slide block just can eject, thus the power on rope is buffered, people and rehabilitation system are played a protective role；After rope maximum pull eliminates, slide block comes back to operating position under the effect of sliding block spring.The present invention can regulate the decrement of marble spring by regulating sleeve two end nut, thus the maximum pull that the frictional force between adjusting slider and pellet, the i.e. present invention can bear.

Description

A kind of pulling force overload protection arrangement of concurrent cable traction rehabilitation system

Technical field

The present invention relates to a kind of pulling force overload protection arrangement, particularly relate to the pulling force of a kind of concurrent cable traction rehabilitation system Overload protection arrangement.

Background technology

The human body limb injury caused because of factors such as natural disaster, disease, vehicle accidents in recent years is increasing, the wounded's limb Body sequela in various degree, produces certain impact to the daily life of patient.Meanwhile, China's aged tendency of population quantity is year by year Increase, and limb movement disturbance affects the key factor of life of elderly person just.Healing robot is used to help patient to carry out health Refreshment is practiced, and can recover joint, muscle function, improves body constitution.Use rope as the drive mechanism of recovery exercising robot, Having that movement velocity is fast, take up an area that space is little, compliance good and the advantage such as easy to assemble, can meet rehabilitation training well will Ask.Owing to each rope is driven by motor, motor process will be inevitably generated the phenomenon that pulling force is excessive, meeting time serious Patient is damaged.Therefore, a kind of pulling force overload protection arrangement of invention, when pulling force is more than set-point when, device occurs slow Punching, this makes the safety of cable traction healing robot by largely improving.

Summary of the invention

The invention aims to provide a kind of scalable maximum pull is applied to concurrent cable traction rehabilitation system The pulling force overload protection arrangement of concurrent cable traction rehabilitation system.

The object of the present invention is achieved like this: includes that the concurrent that bondage main body is connected with bondage body outer surface is connected The rope pull overload device of axle, the successively empty set at least two in concurrent connecting shaft and be arranged on the end of concurrent connecting shaft end Lid, between rope pull overload device and the shaft shoulder set in concurrent connecting shaft, adjacent two rope pulls overload devices it Between, rope pull overload device and end cap between be provided with retainer, be evenly arranged with ball, described rope in the middle of each retainer Suo Lali overload device includes the cross sleeve with mounting ring, and the inner bottom surface of the vertical direction of cross sleeve is provided with cunning Block spring, the other end of sliding block spring is fixedly connected with a slide block, and the upper end of slide block is provided with rope connecting hole, the left and right two of slide block End is symmetrically arranged with the bevelled recess of tool, has in bevelled recess and is respectively arranged with the pellet that matching form closes, pellet End face has been respectively fixedly connected with marble spring, and marble spring is arranged in the horizontal direction of cross sleeve, and each marble spring The other end has been respectively fixedly connected with catch, and the end of the horizontal direction of cross sleeve is separately installed with adjusting nut, and adjusting nut is stretched The termination entered to cross sleeve inner contacts with described catch.

Present invention additionally comprises so some architectural features:

1. on adjusting nut described in, it is provided with indicating graduation.

2. described in, rope pull overload device has three.

Compared with prior art, the invention has the beneficial effects as follows: the rope of the present invention is connected on slide block, slide block and pellet By contact of incline plane, between effect sliding block and the pellet of marble spring, there is frictional force, only when the pulling force of rope is more than certain After during numerical value, slide block just can eject, and rope pull eliminates, slide block and pellet come back to origin-location；The present invention is at cross The both sides of the horizontal direction of jacket cylinder are provided with adjusting nut, and adjusting nut can regulate the decrement of marble spring, adjusts with this Frictional force between joint slide block and pellet, namely the adjustment to the rope pull that spring ejects, therefore the present invention can be according to reality Border needs to regulate its maximum pull that can bear, simple and ingenious structure, low cost, dress when pulling force is more than set-point when Putting and buffer, this makes the safety of cable traction healing robot by largely improving, and is possible to prevent rope pull mistake Greatly human body or equipment are caused along sea；The rope pull overload device that the present invention can also be arranged in concurrent connecting shaft by regulation Quantity realize different demands, according to concurrent cable traction rehabilitation system, the demand of rope can be changed rope pull The quantity of overload device and the length of the concurrent connecting shaft of correspondence, applied range.

Accompanying drawing explanation

Fig. 1 is the perspective view of the present invention；

Fig. 2 is the front elevational schematic of the present invention；

Fig. 3 is the left view schematic diagram (wherein having two rope pull overload devices to be in same direction) of the present invention

Fig. 4 is the structural representation of the rope pull overload device of the present invention；

Fig. 5 is the force analysis schematic diagram of the present invention.

Detailed description of the invention

With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.

In conjunction with Fig. 1 to Fig. 4, the present invention include concurrent connecting shaft 3 that bondage main body 1 and bondage main body 1 outer surface be connected, The rope pull of empty set at least two in concurrent connecting shaft 3 transships device 2 and the end being arranged on concurrent connecting shaft 3 end successively Lid 6, end cap 6 plays the effect of axial restraint, between the set shaft shoulder of rope pull overload device 2 and concurrent connecting shaft 3, phase Between two adjacent rope pull overload devices 2, between rope pull overload device 2 and end cap 6, it is provided with retainer 4, each Is evenly arranged with ball 5 in the middle of retainer 4, ball 5 is set and can avoid sliding friction, and retainer 4 and ball 5 so that There is independent motion between each rope pull overload device, do not affect；Described rope pull overload device 2 includes with installation The cross sleeve 7 of ring 15, and described mounting ring 15 be arranged on cross sleeve 7 end, the two for integral type structure, rope Suo Lali overload device 2 is enclosed within concurrent connecting shaft 3 by mounting ring 15, the inner bottom of the vertical direction of cross sleeve 7 Face is provided with sliding block spring 9, and the other end of sliding block spring 9 is fixing with slide block 8 to be connected, and the upper end of slide block 8 is provided with rope and connects Hole 14, rope is connected with rope connecting hole 14, and the two ends, left and right of slide block 8 are symmetrically arranged with the bevelled recess of tool, have inclined-plane Recess in be respectively arranged with matching form close pellet 10, the end face of pellet 10 has been respectively fixedly connected with marble spring 11, pellet bullet Spring 11 is arranged in the horizontal direction of cross sleeve 7, and the other end of each marble spring 11 has been respectively fixedly connected with catch 13, and ten The end of the horizontal direction of font sleeve 7 is separately installed with adjusting nut 12, and it is internal that adjusting nut 12 stretches to cross sleeve 7 Termination contact with described catch 13.It is provided with indicating graduation on described adjusting nut 12, and is provided with indicating graduation and can make Must regulate simpler accurately.

Preferably, described rope pull overload device 2 has three, and be given in accompanying drawing 1 to accompanying drawing 3 is all to have three ropes to draw The schematic diagram of situation of power overload device 2, the rope pull overload device 2 of the present invention can carry out as required quantitative increase or Reducing, the length of corresponding concurrent connecting shaft 3 changes, the most therewith so that the range of application of the present invention is wider.

The pulling force overload protection arrangement of a kind of concurrent cable traction rehabilitation system of the present invention, including bondage main body 1, concurrent Connecting shaft 3 and rope pull overload device 2, described concurrent connecting shaft 3 is connected with bondage main body 1, and rope pull overload device 2 directly overlaps In concurrent connecting shaft 3, it is possible to rotate around concurrent connecting shaft 3.

Described rope pull overload device includes cross sleeve 7, slide block 8, sliding block spring 9, pellet 10, marble spring 11, catch 13 and adjusting nut 12, described slide block 8 has recess, and during normal operating conditions, slide block 8 is at cross sleeve 7 In, pellet 10 heads in the recess arranged on slide block 8 under the effect of marble spring 11；Bottom slide block 8 by sliding block spring 9 even In the inside of cross sleeve 7 vertical direction, the vertical direction of described cross sleeve 7 is and the outer surface of concurrent connecting shaft 3 Vertical direction, horizontal direction are the directions parallel with the outer surface of concurrent connecting shaft 3, and described pellet 10 is at marble spring 11 Effect under head in the recess of slide block 8, pellet 10 is connected in catch by contact of incline plane, pellet 10 by marble spring 9 with slide block 8 On 13, adjusting nut 12 and cross sleeve 7, by threaded, adjusting nut 12 have indicating graduation, and adjusting nut 12 is internal In cross sleeve 7 is stretched in prominent termination and contact with catch 13.

During work, rope is connected on slide block 8, and slide block 8 and pellet 10 are by contact of incline plane, under the effect of marble spring 11 Having frictional force between slide block 8 and pellet 10, only when the pulling force of rope is more than certain numerical value, slide block 8 just can eject thus right Power on rope buffers, and plays a protective role people and rehabilitation system.After rope pull eliminates, slide block 8 and pellet 10 weight Newly returning to origin-location, slide block 8 comes back to operating position under the effect of sliding block spring 9.The regulation of cross sleeve 7 both sides Nut 12 can regulate the decrement of marble spring 11, thus the frictional force between adjusting slider 8 and pellet 10, i.e. regulation can make The rope pull that marble spring 11 ejects, namely the maximum pull that the present invention can bear.

As Figure 1-3, concurrent connecting shaft 3 involved in the present invention is connected with bondage main body 1, rope pull overload device 2 are directly sleeved in concurrent connecting shaft, the corresponding rope of each of which rope pull overload device, can be according to need during actual application The length of axle to be changed is to reach to add, reduce the purpose of rope.The connected mode of the present invention is as it is shown on figure 3, rope pull mistake Carry device both sides to contact by ball 5, end cap 6 with concurrent connecting shaft 3 by threadeding, it is therefore an objective to make shaft parts in concurrent connecting shaft 3 To fixing.

As shown in Figure 4, slide block 8 is placed in cross sleeve 7, is connected on cross sleeve by sliding block spring 9.Bullet Son 10 heads in the recess of slide block 8 under the effect of marble spring 11, and the matching form of the recess of pellet 10 and slide block 8 closes. Rope is connected directly between on slide block 8, if the pulling force on every rope is T, the power being assigned on each pellet 10 isThis power can It is decomposed into and is perpendicular to the holding power N on inclined-plane and along frictional force f (as shown in Figure 5) on inclined-plane.If sliding block spring 9 initial tension is T₀, At inclined-plane, angle size is θ, then have:

$N=(\frac{T}{2}-T_0)\sin \mathrm{\θ}$

If the decrement of marble spring 11 is x, coefficient of elasticity is k, and it is F=kx that marble spring 11 applies size to pellet 10 Power, then the frictional force of pellet 10 is represented by by slide block 8:

F=μ (N+Fcos θ)

μ is the friction factor between slide block 8 and pellet 10.

Therefore can be expressed as with joint efforts in horizontal direction:

$\begin{array}{c}{F}_x=N\cos \mathrm{\θ}-F-f\sin \mathrm{\θ}\\ =\left(\frac{T}{2}{-T}_0\right)\sin \mathrm{\θ}\cos \mathrm{\θ}-\mathrm{kx}-\mathrm{\μ}[\left(\frac{T}{2}{-T}_0\right)\sin \mathrm{\θ}+F\cos \mathrm{\θ}]\sin \mathrm{\θ}\\ =(\frac{T}{2}-T_0)(\sin \mathrm{\θ}\cos \mathrm{\θ}-{\mathrm{\μ}\sin }^2\mathrm{\θ})-\mathrm{kx}(1+\mathrm{\μ}\sin \mathrm{\θ}\cos \mathrm{\θ})\≥0\end{array}$

Can be by the lowest pull that pellet promotes:

$T_m=2[\frac{\mathrm{kx}(1+\mathrm{\μ}\sin \mathrm{\θ}\cos \mathrm{\θ})}{\sin \mathrm{\θ}\cos \mathrm{\θ}-{\mathrm{\μ}\sin }^2\mathrm{\θ}}+T_0]$

Owing to during sliding on slide block 8, sliding block spring 9 is still extending, if sliding block spring 9 when slide block 8 and pellet 10 depart from Pulling force is T '₀, when the coefficient of elasticity of sliding block spring 9 is smaller, T can be approximately considered₀=T '₀If slide block 8 is in normal work Sliding block spring 9 exactly former length during position, can be approximately considered T₀=T '₀=0, it may be assumed that

$T_m=\frac{2\mathrm{kx}(1+\mathrm{\μ}\sin \mathrm{\θ}\cos \mathrm{\θ})}{\sin \mathrm{\θ}\cos \mathrm{\θ}-{\mathrm{\μ}\sin }^2\mathrm{\θ}}$

The effective essential condition of the present invention is:

cosθ>μsinθ

The maximum pull T that the present invention can bear_mSize be directly proportional to x, if maximum pull need to be increased, can be simultaneously by two The adjusting nut 12 of side compresses marble spring 11 to inward turning, the termination of adjusting nut 12 by catch 13, i.e. x increases, pellet bullet Pressure on spring 11 increases, T_mIncreasing, vice versa.Scale is had, to should the maximum pull T of position on adjusting nut 12_m。

Therefore rope pull is more than T_mTime, slide block ejects, and when the maximum pull on rope disappears, sliding block spring 9 is in elongation State, will be pulled at its effect sliding block 8, owing to now bullet 10 is less with slide block 8 contact portion angle, and sliding block spring 9 Need not the biggest power and just slide block 8 can be retracted operating position.

Claims (3)

1. the pulling force overload protection arrangement of a concurrent cable traction rehabilitation system, it is characterised in that: include bondage main body and tie up Tie up the rope pull overload device of the connected concurrent connecting shaft of body outer surface, successively empty set at least two in concurrent connecting shaft Be arranged on the end cap of concurrent connecting shaft end, between the shaft shoulder that rope pull overload device is set with in concurrent connecting shaft, phase Between two adjacent rope pull overload devices, between rope pull overload device and end cap, it is provided with retainer, each holding Being evenly arranged with ball in the middle of frame, described rope pull overload device includes the cross sleeve with mounting ring, cross sleeve The inner bottom surface of vertical direction be provided with sliding block spring, the other end of sliding block spring is fixedly connected with a slide block, the upper end of slide block Being provided with rope connecting hole, the two ends, left and right of slide block are symmetrically arranged with the bevelled recess of tool, have difference in bevelled recess Being provided with the pellet that matching form closes, the end face of pellet has been respectively fixedly connected with marble spring, and marble spring is arranged on cross sleeve Horizontal direction on, and the other end of each marble spring has been respectively fixedly connected with catch, the end of the horizontal direction of cross sleeve Being separately installed with adjusting nut, adjusting nut stretches to the termination of cross sleeve inner and contacts with described catch.

The pulling force overload protection arrangement of a kind of concurrent cable traction rehabilitation system the most according to claim 1, its feature exists In: it is provided with indicating graduation on described adjusting nut.

The pulling force overload protection arrangement of a kind of concurrent cable traction rehabilitation system the most according to claim 1 and 2, its feature It is: described rope pull overload device has three.