CN105476821B

CN105476821B - Wire driven robot six-freedom parallel convalescence device

Info

Publication number: CN105476821B
Application number: CN201511017988.3A
Authority: CN
Inventors: 巩明德; 孔祥飞; 胡孔明
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2015-12-30
Filing date: 2015-12-30
Publication date: 2017-09-12
Anticipated expiration: 2035-12-30
Also published as: CN105476821A

Abstract

The invention discloses a kind of Wire driven robot six-freedom parallel convalescence device, it is intended to overcomes the problem of motion platform number of degrees of freedom of presence is few, it is small to move horizontally displacement, motion inconvenient, rope lengths are difficult to control to, sensor detects and controlled missing；It includes the 1st mechanism of mobile driving to the 4th mechanism of mobile driving, the mechanism of fixed drive the 1st and the mechanism of fixed drive the 2nd, rope rehabilitation institution and support.The 1st mechanism of mobile driving to the 4th mechanism of mobile driving is sequentially arranged in cantilever tip, the mechanism of fixed drive the 1st and the mechanism of fixed drive the 2nd are sequentially fixed on 2 pieces of fixed bottom plates at support bottom rectangular frame diagonal two ends, and rope rehabilitation institution is arranged at carriage center；One end of the six roots of sensation steel wire rope of rope rehabilitation institution is connected with the 1st mechanism of mobile driving to the 4th mechanism of mobile driving, the mechanism of fixed drive the 1st with the mechanism of fixed drive the 2nd successively, and the moving base in rope rehabilitation institution is placed on the level ground in the square frame of support bottom.

Description

Wire driven robot six-freedom parallel convalescence device

Technical field

The present invention relates to a kind of health and fitness facilities, it more particularly relates to a kind of Wire driven robot six-freedom parallel Convalescence device.

Background technology

Cable-driven parallel manipulator is a kind of using flexible cable as driving tools, flexible cable one end connection motion platform, the other end Connect motor, the novel robot for making motion platform be moved in desired working space.Wire driven robot parallel machine The features such as device people has the lightweight of Wire driven robot, driving fixation, inertia is small, the kind of drive is flexible, there is parallel robot again Precision is high, load/deadweight than greatly, mechanism is error free accumulation, good rigidity the features such as.Cable-driven parallel manipulator is mainly used in Simulate spacefarer's weightlessness training, the positioning of colosseum camera, bridge construction, port handling, submarine fishing, waste cleaning Deng field.

On Cable-driven parallel manipulator in the research in rehabilitation exercise field, substantial amounts of achievement is achieved：Wang Weidong exists Document《The healing robot in parallel research driven based on rope》In devise the healing robot in parallel based on ergonomics, Mainly include frame, gravity balance unit, rope around unit, rehabilitation exercise implementation unit and control unit is put, simply introduce The mechanical structure of each part；Chinese patent bulletin (cloth) number is CN102068363A, and bulletin (cloth) day is 2011 5 The control unit of the robot provided in the moon 25, entitled " rope driving waist rehabilitation robot ", the case passes through control Each rope controls corresponding pull rope long change of rope around putting unit, drives rehabilitation waist to be transported according to pelvis during normal person's walking Dynamic rail mark is moved；Chinese patent bulletin (cloth) number is CN101862255A, and bulletin (cloth) day is on October 20th, 2010, invention name Referred to as " wire saws lower limb gait rehabilitation robot ", the robot provided in the case includes framework, treadmill, push and pull system, rope Rope trailer system and angular transducer, do gait rehabilitation training for lower limb body injured patient or sport for the aged take exercise；China Patent announcement (cloth) number is CN102525712A, and bulletin (cloth) day is on July 4th, 2012, entitled " on a kind of wire saws The healing robot provided in limb healing robot and its control method ", the case includes central control unit, control mode and selected Switch, servomotor, pull rope, supporting plate and support, passive control and active control can mutually switch；Chinese patent is announced (cloth) number is CN101987060A, and bulletin (cloth) day is on March 23rd, 2011, and entitled " wire saws rehabilitation of anklebone is instructed The rehabilitation trainer provided in white silk machine ", the case includes base and moving platform two parts, is instructed for sprain of ankle joint and orthopedic rehabilitation Practice.

In above-mentioned achievement, the research on the Cable-driven parallel manipulator in patient's waist rehabilitation exercise field is seldom. In only " wire saws lower limb gait rehabilitation robot ", the number of degrees of freedom of Wire driven robot motion platform is relatively fewer；Driving Mechanism is fixed in frame, and rope can not be moved horizontally, and causes the horizontal displacement of rehabilitation smaller, motion inconvenience；Machinery knot Using flexible pieces such as springs in structure design process, it is impossible to control the length of rope exactly；It is fitted without the detection member such as sensor Part, control system imperfection, causes control accuracy relatively low.With reference to above present situation and current demand, urgently need design a kind of Meet the Cable-driven parallel manipulator of waist injury Rehabilitation.

The content of the invention

The technical problems to be solved by the invention be overcome prior art presence motion platform number of degrees of freedom is few, health The flexible piece that multiple patient levels' moving displacement is small, motion is inconvenient, overall structure is used is that rope lengths are difficult to control to, sensor is examined The problem of surveying and control missing；There is provided a kind of Wire driven robot six-freedom parallel convalescence device.

In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：Described Wire driven robot six is certainly The 1st mechanism of mobile driving, the 2nd mechanism of movement driving, the 3rd mechanism of mobile driving, mobile drive are included by degree convalescence device in parallel Dynamic 4th mechanism, the mechanism of fixed drive the 1st, the mechanism of fixed drive the 2nd, rope rehabilitation institution and support.

The described mechanism of mobile driving the 1st, the 2nd mechanism of mobile driving, the 3rd mechanism of mobile driving and the 4th machine of mobile driving The structure of structure is identical；The mechanism of fixed drive the 1st is identical with the structure of the mechanism of fixed drive the 2nd.

The 1st mechanism of mobile driving, movement drive the 2nd mechanism, the 3rd mechanism of mobile driving to drive the 4th mechanism successively with movement The middle of four crossbeams of cantilever tip is arranged in, the mechanism of fixed drive the 1st and the mechanism of fixed drive the 2nd are sequentially fixed at support The 2 block structure identicals at bottom rectangular frame diagonal two ends are fixed on bottom plate, and rope rehabilitation institution is arranged in the center of support Place；Driven successively with the 1st mechanism of mobile driving, the 2nd mechanism of mobile driving, movement one end of the six roots of sensation steel wire rope of rope rehabilitation institution Dynamic 3rd mechanism, the 4th mechanism of mobile driving, the mechanism of fixed drive the 1st are connected with the mechanism of fixed drive the 2nd.

Support described in technical scheme includes No. 1 crossbeam, No. 2 crossbeams, No. 3 crossbeams, No. 4 crossbeams, No. 5 crossbeams, No. 6 horizontal strokes Beam, No. 7 crossbeams, No. 8 crossbeams, 12 root architecture identical reinforcements, 4 root architecture identical columns) and 2 structure identicals fix Bottom plate.

The upper end of 4 root architecture identical columns (69) using bolt successively with No. 5 crossbeams (67), No. 6 crossbeams (68), No. 7 Crossbeam (73) connects with No. 8 joining end to end for crossbeam (74), and the lower ends of 4 root architecture identical columns (69) is using bolt successively with 1 Number crossbeam (64), No. 2 crossbeams (71), No. 3 crossbeams (72) connect with No. 4 joining end to end for crossbeam (70), constitute a cuboid Frame bracket；Support (VIII) both sides rectangular frame and rear side rectangular frame corner at be respectively welded structure phase Same reinforcement (66), two pieces of fixed bottom plates (65) are separately fixed at by No. 1 crossbeam (64), No. 2 crossbeams (71), No. 3 crossbeams (72) on the right angle at the square frame diagonal two ends constituted with No. 4 crossbeams (70).

No. 1 crossbeam, No. 2 crossbeams, No. 3 crossbeams, No. 4 crossbeams, No. 5 crossbeams, No. 6 crossbeams, No. 7 horizontal strokes described in technical scheme Beam, No. 8 crossbeams and 12 root architecture identical reinforcements are that cross section is I-shaped straight-bar class formation part, No. 1 crossbeam, No. 2 Crossbeam, No. 3 crossbeams, No. 4 crossbeams, No. 5 crossbeams, No. 6 crossbeams, the two ends of No. 7 crossbeams and No. 8 crossbeams are all threaded hole, No. 5 Crossbeam, No. 6 crossbeams, the middle part of No. 7 crossbeams and No. 8 crossbeams, which are machined with boss, 4 boss, distinguishes vertically uniform Screwed hole is distributed with, column is that cross section is distinguished on square column structure part, the adjacent two sides of column upper and lower ends It is provided with through hole.

Rope rehabilitation institution described in technical scheme also includes healing waistband, moving base, sports pad, handrail, rope Rope hook, No. 1 pulling force sensor, No. 2 pulling force sensors, No. 3 pulling force sensors, No. 4 pulling force sensors, No. 5 pulling force sensors, No. 6 pulling force sensors and handrail post.Described six roots of sensation steel wire rope refer to No. 1 steel wire rope, No. 2 steel wire ropes, No. 3 steel wire ropes, No. 4 Steel wire rope, No. 5 steel wire ropes and No. 6 steel wire ropes；Described hanger with rope includes No. 1 hanger with rope, No. 2 hanger with rope, No. 3 ropes Hook, No. 4 hanger with rope, No. 5 hanger with rope and No. 6 hanger with rope；Moving base is placed in the square frame of support bottom Level ground on, sports pad is fixed on the centre of moving base using adhesive, three root architecture identical handrail posts Bottom uses mode connects for screw with moving base, and the top of three root architecture identical handrail posts is fixedly connected with handrail, rehabilitation waist Band is placed among handrail；No. 1 steel wire rope, No. 2 steel wire ropes, No. 3 steel wire ropes, on No. 4 steel wire ropes, No. 5 steel wire ropes and No. 6 steel wire ropes It is sequentially installed with No. 1 pulling force sensor, No. 2 pulling force sensors, No. 3 pulling force sensors, No. 4 pulling force sensors, No. 5 pull sensing Device and No. 6 pulling force sensors；No. 1 steel wire rope, No. 2 steel wire ropes, No. 3 steel wire ropes, No. 4 steel wire ropes, No. 5 steel wire ropes and No. 6 steel wires One end of rope successively with No. 1 hanger with rope, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 hanger with rope and 6 Number hanger with rope is fixedly connected, and No. 1 hanger with rope, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 ropes are hung Hook is connected with healing waistband successively with No. 6 hanger with rope.

Healing waistband described in technical scheme includes waistband, switch base, brake switch, 3 structure identical waistbands Pin, sensor holder, displacement transducer, No. 1 rope link, No. 2 rope links, No. 3 rope links, No. 4 rope links, No. 5 ropes Rope link and No. 6 rope links；No. 1 rope link, No. 2 rope links, No. 3 rope links and No. 4 rope links are bonded in waist Around band, the angle between 2 adjacent rope links of any of which is 90 degree；No. 5 rope links are bonded in No. 3 ropes Centre position between link and No. 4 rope links, No. 6 rope links are bonded between No. 1 rope link and No. 2 rope links Centre position, switch base is bonded on the waistband on the left of No. 4 rope links (61), and brake switch is arranged on switch base；Pass Sensor seat is bonded on the waistband between No. 2 rope links and No. 3 rope links, and displacement transducer is arranged on sensor holder.

Waistband described in technical scheme is open circular shape structural member, and the material that waistband is used is rubber, and waistband is opened Mouthful left side be provided with 3 structure identical waistband lock pins, the center line lines of 3 structure identical waistband lock pins and waistband Axis of rotation is parallel, and distance is equal between adjacent 2 waistband lock pins, the head of waistband lock pin make it is convex spherical, waistband lock pin with Waistband is made of one, or makes split；The right side of waistband opening is axially disposed what 3 array structure identicals were parallel to each other With waistband lock pin is equipped with wears hole, adjacent 2 of each column wear distance between the distance between hole and adjacent 2 waistband lock pins It is equal.

The mechanism of mobile driving the 1st described in technical scheme includes moving drive mechanism and coiling drive mechanism two Point；Described moving drive mechanism includes 2 root architecture identical line slideways, guiderail base, 2 structure identical guide rail connections Block, nut contiguous block, No. 1 motor flange, servomotor, No. 1 shaft coupling, leading screw support base, ball-screw and leading screw fixed seat. It is arranged on the top end face of guiderail base, 2 structure identical guide rail connections 2 root architecture identical line slideway Parallel Symmetrics Block is fixedly connected with the sliding block bolt on 2 root architecture identical line slideways, in nut contiguous block top and coiling drive mechanism Mobile support saddle be fixedly connected using bolt, feed screw nut, No. 1 motor method are installed in the horizontal through hole in the middle part of nut contiguous block Orchid is fixedly mounted in the groove floor of guiderail base right-hand member using bolt, and servomotor is fixedly mounted on No. 1 electricity using bolt On the right side of machine flange, the output shaft of servomotor is horizontal positioned, and coplanar with the longitudinally asymmetric face of guiderail base；No. 1 The right-hand member of shaft coupling and servomotor are coaxially connected, and the left end of No. 1 shaft coupling and the right-hand member of ball-screw are coaxially connected, and leading screw is solid In the groove floor for the guiderail base that reservation is arranged on the left of No. 1 shaft coupling using bolt, ball-screw is arranged on by bearing To rotate connection in leading screw fixed seat, the left end of ball-screw is arranged on leading screw support base by bearing, and leading screw support base is adopted In the groove floor that guiderail base left end is arranged on bolt, ball-screw is equipped with the feed screw nut on nut contiguous block, and two To rotate connection between person, coiling drive mechanism is arranged on 2 structure identical guide rail contiguous blocks by mobile support saddle therein Top.

Coiling drive mechanism described in technical scheme also includes motor cabinet, No. 2 motor flanges, No. 1 bearing block, snails Wheel, No. 2 bearing blocks, wrapping post, axle, No. 1 guide wheel, No. 2 guide wheels, rack seat, gear shaft, rack, No. 2 shaft couplings, decelerator, volumes Code device, direct current generator, worm screw, bearing block, axle sleeve, No. 1 steel wire rope and supporting plate.Motor cabinet uses and is bolted to mobile support saddle Right-hand member, No. 2 motor flanges are using being bolted on motor cabinet left side, and the direct current generator with decelerator is arranged on motor Fixed on seat and using bolt by decelerator on the right side of No. 2 motor flanges, encoder is arranged on the right side of direct current generator End, the output shaft of direct current generator (28) is coaxially connected by No. 2 shaft couplings (22) with the right-hand member of wrapping post (13), and the two of wrapping post End is arranged in the bearing hole on No. 1 bearing block and No. 2 bearing blocks by bearing respectively, the one ends wound of No. 1 steel wire rope around On terminal, No. 1 bearing block and No. 2 bearing blocks are fixedly mounted on mobile support saddle using bolt, on wrapping post from right to left successively Worm screw and axle sleeve be installed, worm gear set is mounted in one end of gear shaft, the two ends of gear shaft respectively by bearing be arranged on bearing block with In the hole of rack seat, the countershaft line of gear shaft and wrapping post intersects for spatial vertical, the axis of rotation of wrapping post and rack Longitudinally asymmetric face is parallel, the wheel and rack engagement on gear shaft, worm and wheel engagement connection, the base of rack and rack seat Between to be slidably connected, be connected by screw bolts between the base and mobile support saddle of rack seat, the left side of rack and supporting plate Lower end in contact connection, is connected by screw bolts, two root architecture identical axles are installed on the supporting plate using interference fit between the two In two holes of half part, No. 1 guide wheel and No. 2 guide wheels are installed on two root architecture identical axles by bearing.

Compared with prior art the beneficial effects of the invention are as follows：

1. Wire driven robot six-freedom parallel convalescence device of the present invention can realize the six-freedom degree of healing waistband Motion, the motion of each free degree can meet the requirement of exercise-based rehabilitation program on patients；

2. Wire driven robot six-freedom parallel convalescence device of the present invention is used as driving element, transmission side using rope Flexibly, space is big for formula, meets the rehabilitation training of different patients, and integral mechanical structure is used simply, it is easy to operate；

3. Wire driven robot six-freedom parallel convalescence device of the present invention can realize patient's all directions larger displacement Horizontal movement, it is to avoid the long-term passivity in same position rehabilitation of patient；

4. Wire driven robot six-freedom parallel convalescence device of the present invention uses identical moving drive mechanism And fixed drive mechanism, respectively control six roots of sensation flexible cable realize the different forms of motion of healing waistband, be easy to overall structure control and Movement output；

5. the sensor of Wire driven robot six-freedom parallel convalescence device of the present invention can be detected in motion process The stressing conditions of each rope and the misalignment of healing waistband, accurate control rehabilitation training parameters in real time.

To sum up, Wire driven robot six-freedom parallel convalescence device of the present invention has higher practical value and wide Application prospect, provide a kind of new mechanical structure for Rehabilitation field, be that the application field of flexible coding system is carried A kind of new reference form is supplied.

Brief description of the drawings

The present invention is further illustrated below in conjunction with the accompanying drawings：

Fig. 1 is the axonometric projection graph of Wire driven robot six-freedom parallel convalescence device structure composition of the present invention；

Fig. 2 is the top view of Wire driven robot six-freedom parallel convalescence device structure composition of the present invention；

Fig. 3 is the front view of Wire driven robot six-freedom parallel convalescence device structure composition of the present invention；

Fig. 4 is the machine of mobile driving the 1st employed in Wire driven robot six-freedom parallel convalescence device of the present invention The axonometric projection graph of structure structure composition；

Fig. 5 is the machine of mobile driving the 1st employed in Wire driven robot six-freedom parallel convalescence device of the present invention The top view of structure structure composition；

Fig. 6 is the machine of fixed drive the 1st employed in Wire driven robot six-freedom parallel convalescence device of the present invention The axonometric projection graph of structure structure composition；

Fig. 7 is the rope rehabilitation institution knot employed in Wire driven robot six-freedom parallel convalescence device of the present invention The axonometric projection graph of structure composition；

Fig. 8 is the rope rehabilitation institution knot employed in Wire driven robot six-freedom parallel convalescence device of the present invention The top view of structure composition；

Fig. 9 is the supporting structure composition employed in Wire driven robot six-freedom parallel convalescence device of the present invention Axonometric projection graph；

Figure 10 is the healing waistband structure employed in Wire driven robot six-freedom parallel convalescence device of the present invention The axonometric projection graph of composition；

Figure 11 is the healing waistband structure employed in Wire driven robot six-freedom parallel convalescence device of the present invention The top view of composition；

In figure：The 1st mechanism of I, movement drivings, the 2nd mechanism of II, movement drivings, the 3rd mechanism of III, movement drivings, IV, movements Drive the 4th mechanism, the mechanism of V, fixed drives the 1st, the mechanism of VI, fixed drives the 2nd, VII, ropes rehabilitation institution, VIII, supports, 1. Line slideway, 2. guiderail bases, 3. mobile support saddles, 4. motor cabinets, 5. guide rail contiguous blocks, 6. No. 2 motor flanges, 7. No. 1 axles Bearing, 8. nut contiguous blocks, 9. No. 1 thrust bearings, 10. worm gears, 11. No. 2 bearing blocks, 12. back-up ring bearings, 13. wrapping posts, 14. axle, 15. doors, 16. bearings, 17. No. 1 guide wheels, 18. No. 2 guide wheels, 19. racks seat, 20. gear shafts, 21. racks, 22. No. 2 shaft couplings, 23. decelerators, 24. encoders, 25. No. 1 motor flanges, 26. servomotors, 27. No. 1 shaft couplings, 28. is straight Flow motor, 29. worm screws, 30. bearing blocks, 31. axle sleeves, 32. No. 1 steel wire ropes, 33. leading screw support bases, 34. supporting plates, 35. 2 Number thrust bearing, 36. ball-screws, 37. leading screw fixed seats, 38. hold-down supports, 39. brackets, 40. No. 3 guide wheels, 41. No. 4 Guide wheel, 42. moving bases, 43. sports pads, 44. No. 6 steel wire ropes, 45. No. 6 pulling force sensors, 46. handrails, 47. ropes are hung Hook, 48. No. 1 pulling force sensors, 49. No. 2 steel wire ropes, 50. No. 2 pulling force sensors, 51. No. 3 steel wire ropes, 52. No. 3 drawings Force snesor, 53. No. 4 steel wire ropes, 54. No. 4 pulling force sensors, 55. switch bases, 56. brake switches, 57. No. 5 steel wire ropes, 58. No. 5 pulling force sensors, 59. handrail posts, 60. waistband lock pins, 61. waistbands, 62. sensor holders, 63. displacement transducers, 64. No. 1 crossbeam, 65. fix bottom plate, 66. reinforcements, 67. No. 5 crossbeams, 68. No. 6 crossbeams, 69. columns, 70. No. 4 horizontal strokes Beam, 71. No. 2 crossbeams, 72. No. 3 crossbeams, 73. No. 7 crossbeams, 74. No. 8 crossbeams, 75. No. 1 rope links, 76. No. 2 ropes Rope link, 77. No. 3 rope links, 78. No. 4 rope links, 79. No. 5 rope links, 80. No. 6 rope links.

Embodiment

The present invention is explained in detail below in conjunction with the accompanying drawings：

Refering to Fig. 1, Wire driven robot six-freedom parallel convalescence device of the present invention includes the 1st mechanism of mobile driving Ith, the 2nd mechanism II of mobile driving, the 3rd mechanism III of mobile driving, the 4th mechanism IV of mobile driving, the mechanism V of fixed drive the 1st, solid Surely the 2nd mechanism VI, rope rehabilitation institution VII and support VIII are driven.

The 1st mechanism I of mobile driving, the 2nd mechanism II of mobile driving, the mechanism III of mobile driving the 3rd and the 4th mechanism of mobile driving IV structure is identical, and they are identical with the connected mode of support VIII.The mechanism V of fixed drive the 1st and fixed drive the The structure of 2 mechanisms VI is identical, and they are identical with the connected mode of support VIII.

The 1st mechanism I of mobile driving, the 2nd mechanism II of mobile driving, the mechanism III of mobile driving the 3rd and the 4th mechanism of mobile driving IV is sequentially arranged on the boss of four crossbeams in top of support VIII, and positive direction is arranged into clockwise about the z axis；The machine of fixed drive the 1st Structure V is symmetrically arranged on the fixation bottom plate 65 on the crossbeam of support VIII bottom four with the mechanism VI of fixed drive the 2nd, two agllutinations Structure identical fixes bottom plate 65 and is fixed on the cornerwise two ends of bottom rectangle frame of support VIII.Rope rehabilitation institution VII passes through six roots of sensation steel Cord is arranged in the centre of support VIII；The 1st mechanism I of one end of six roots of sensation steel wire rope and mobile driving, the 2nd mechanism of mobile driving IIth, the 3rd mechanism III of mobile driving, the 4th mechanism IV of mobile driving, the mechanism V of fixed drive the 1st connect with the mechanism VI of fixed drive the 2nd Connect, the other end of six roots of sensation steel wire rope successively with 6 structure identical rope links on the waistband 61 in rope rehabilitation institution VII Connection.

Illustrate a kind of Wire driven robot six-freedom parallel convalescence device of the present invention respectively below as different institutions Mechanical structure.

Refering to Fig. 4 and Fig. 5, the described mechanism I of mobile driving the 1st includes moving drive mechanism and coiling drive mechanism two Part.

Described moving drive mechanism includes 2 root architecture identical line slideways 1, guiderail base 2, guide rail contiguous block 5, spiral shell Female contiguous block 8, No. 1 motor flange 25, servomotor 26, No. 1 shaft coupling 27, leading screw support base 33, ball-screw 36 and leading screw Fixed seat 37.

Described guiderail base 2 is the rectangular slot class formation part of U-shaped iso-cross-section, and the bottom of groove is used for servo electricity The installation of machine 26 and ball-screw 36, eight uniform bolt holes of bottom portion of groove are used for the 2 of guiderail base 2 and the top of support VIII The location and installation of number crossbeam 67, the top end face of groove both sides cell wall is used for the installation of 2 root architecture identical line slideways 1.2 root knots Structure identical line slideway 1 is selected with a sliding block on the line slideway of THK companies of Japan, every line slideway 1, and screw can To be installed from the bottom of sliding block to top.Ball-screw 36 selects the product of THK companies of Japan, and pitch coordinates worm screw 29 and worm gear 10 gearratio, helical pitch combination Rehabilitation moving displacement determines that length is consistent with guiderail base 2.The silk of ball-screw 36 Thick stick nut coordinates with leading screw to be installed, and the side of feed screw nut is machined with into six tapped through holes of circumference.Guide rail contiguous block 5 It is rectangular block class formation part for the section of machining, upper and lower surface respectively processes four screwed holes, and guide rail contiguous block 5 leads to The sliding block bolt crossed on the screwed hole and 2 root architecture identical line slideways 1 of lower surface is fixedly mounted, the screwed hole on sliding block top Aligned with the bolt hole on the mobile support saddle 3 in coiling drive mechanism and use bolt to be fixedly mounted.Nut contiguous block 8 is machine The block class formation part of tool processing, upper surface processes four screwed holes, six screwed holes of circumference, middle part is processed into sideways Horizontal through hole be used for the installation of ball-screw 36, six screwed holes in side coordinate with six bolt holes on feed screw nut pacifies Dress.Servomotor 26 is from appropriate power and the servomotor of moment of torsion, and the pulling force that coordinating Rehabilitation needs is selected with displacement Select.

The guiderail base 2 of the 1st mechanism I of mobile driving is arranged on No. 5 crossbeams 67, and eight spiral shells are machined with No. 5 crossbeams 67 Pit, guiderail base 2 is connected by eight hexagon socket head cap screws with No. 5 crossbeams 67.No. 1 motor flange 25 passes through two interior hexagonal spiral shells Bolt is fixed in the right-hand member groove floor of guiderail base 2, and servomotor 26 is by four mode connects for screw on the right side of No. 1 motor flange 25 On end face, the output shaft of servomotor 26 is horizontal positioned, and coplanar with the longitudinally asymmetric face of guiderail base 2.No. 1 shaft coupling 27 will Ball-screw 36 and servomotor 26 are coaxially connected, it is ensured that motor shaft and ball-screw 36 are rotated coaxially.Ball-screw 36 is leaned on Being partially installed in leading screw fixed seat 37 for nearly servomotor side is provided with suit to rotate inside connection, leading screw fixed seat 37 Rolling bearing on ball-screw 36, leading screw fixed seat 37 is connected on guiderail base 2 by two hexagon socket head cap screws.Ball Another (left side) end of leading screw 36 is arranged on leading screw support base 33, is provided with inside leading screw support base 33 and is sleeved on ball-screw 36 The rolling bearing of left end, leading screw support base 33 is connected on guiderail base 2 by two hexagon socket head cap screws.2 root architecture identicals Line slideway 1 by 14 screws be arranged on guiderail base 2 groove both sides boss top end face on, guiderail base 2 it is recessed Groove one side plays the positioning action of line slideway 1.Sliding block on line slideway 1 is connected by screw guide rail contiguous block 5, guide rail The upper and lower surface difference thread mill drilling of contiguous block 5, bottom surface is connected with the sliding block of line slideway 1, and mobile support saddle 3 passes through interior hexagonal On the top surface for being bolted to guide rail contiguous block 5, the slide block movement of line slideway 1 is driven on mobile support saddle 3 and mobile support saddle 3 Parts are moved integrally.Feed screw nut on ball-screw 36 is connected by screw with nut contiguous block 8, on nut contiguous block 8 Surface Machining has screwed hole, is connected by two soket head cap screws with mobile support saddle 3.The rotation of ball-screw 36 drives leading screw spiral shell Female is moved left and right, and mobile support saddle 3 is moved left and right with moving for feed screw nut.

Described coiling drive mechanism include mobile support saddle 3, motor cabinet 4, No. 2 motor flanges 6, No. 1 bearing block 7, No. 1 only Thrust bearing 9, worm gear 10, No. 2 bearing blocks 11, back-up ring bearing 12, wrapping post 13, axle 14, door 15, bearing 16, No. 1 guide wheels 17,2 Number guide wheel 18, rack seat 19, gear shaft 20, rack 21, No. 2 shaft couplings 22, decelerator 23, encoder 24, direct current generator 28, snails Bar 29, bearing block 30, axle sleeve 31, No. 1 steel wire rope 32, leading screw support base 33, supporting plate 34 and No. 2 thrust bearings 35.

Described direct current generator 28 coordinates patient to implement the pulling force and change in displacement rule that winding process needs during rehabilitation exercise Rule, from suitable moment of torsion and the direct current generator of power.Encoder 24 is from suitable accuracy and can control rotating speed, with direct current generator The device that 28 controllers match.No. 2 guide wheels 18 select nylon plastic material, are machined into aperture and the screwed hole of requirement. No. 1 steel wire rope 32 is machined with along the circumference of No. 2 guide wheels 18 and wraps deep trouth wherein, it is ensured that steel wire rope is during wrapping Remain on No. 2 guide wheels 18.No. 1 guide wheel 17 and the material of No. 2 guide wheels 18 are identical with structure composition.No. 1 steel wire rope 32 one end passes sequentially through the bottom of No. 2 guide wheels 18 and the top of No. 1 guide wheel 17 after the extraction of wrapping post 13, it is ensured that No. 1 steel wire Rope 32 is wrapped on No. 1 guide wheel 17 and No. 2 guide wheels 18 all the time during wrapping.Rack seat 19 is the tabular class that section is L-shaped Structure, is made up of wallboard with base, is provided with base on T-slot, the base of rack seat 19 and is provided with screwed hole, is used for and move The positioning and installation of dynamic bearing 3.The bottom of rack 21 is arranged to cross section for T-rail structure, T-rail and rack seat 19 T-slot on base, which coordinates, to be installed, and facilitates slip and support of the rack 21 on rack seat 19, the tooth module and gear of rack 21 The wheel tooth module of gear on axle 20 is identical, mobile entire length design in number of teeth combination winding process.The He of mobile support saddle 3 Supporting plate 34 is T-shaped slab construction part.Respectively there is a tapped through hole both sides of motor cabinet 4, and the groove of middle is with subtracting The lower surface of fast device 23, which coordinates, to be installed.The section of No. 1 bearing block 7 and No. 2 bearing blocks 11 is L-shaped, and projection has two screw threads Through hole.Two tapped through holes are arranged at 19 bottoms of rack seat.The section of bearing block 30 is L-shaped, and projection has two tapped through holes.It is mobile The both sides that bearing 3 protrudes process four tapped through holes respectively, are connected respectively with the guide rail contiguous block 5 of the left and right sides, center section Four tapped through holes are processed, are connected with nut contiguous block 8.The part that there is annexation the upper surface of mobile support saddle 3 with it has motor Seat 4, No. 1 bearing block 7, No. 2 bearing blocks 11, rack seat 19 and bearing block 30.Screwed hole on mobile support saddle 3 with being connected thereon The correspondence position of relation part, which coordinates, to be installed, it is ensured that the fit precision of each part.The lower end of supporting plate 34 is provided with two spiral shells Bolt unthreaded hole, the end processing screw thread of rack 21, correspondence is arranged on rack 21, supporting plate 34 is transported with the motion of rack 21 It is dynamic.Corresponding two through holes in top of supporting plate 34 are convenient to install 2 root architecture identical axles 14, reaches the effect that interference is installed. Worm gear 10, worm screw 29 and gear shaft 20 are using high-precision form processing, the number of teeth of worm gear 10,29 numbers of worm screw, the gear of gear shaft 20 The partial number of teeth is respectively through determination after calculating proportioning, it is ensured that steel wire rope is during coiling, where the groove of No. 1 guide wheel 17 Plane, the plane where the groove of No. 2 guide wheels 18 overlaps one all the time with the plane where the steel wire rope being wrapped on guide wheel Rise.Ensure the accuracy and stationarity of motion transmission.Axial workpiece, support class part and end cover part use common machine Tool processing mode.

Motor cabinet 4 is fixed on the right-hand member of mobile support saddle 3 by two hexagon socket head cap screws, and No. 2 motor flanges 6 pass through in three Hex bolts is connected on the left side of motor cabinet 4, and the direct current generator 28 with decelerator 23 is arranged on motor cabinet 4 and with 2 Number motor flange 6 is connected by hexagon socket head cap screw.The afterbody that encoder 24 is arranged on direct current generator 28 is right-hand member, can detect control The rotating speed of direct current generator 28 processed.The output shaft of direct current generator 28 is coaxially connected by No. 2 shaft couplings 22 with wrapping post 13, it is ensured that straight Flow the output shaft of motor 28 and rotating coaxially for wrapping post 13.The rolling curve part processing of the left end of wrapping post 13 is fluted, facilitates steel The winding and positioning of cord.The two ends of wrapping post 13 are separately installed with back-up ring bearing 12, and back-up ring bearing 12 is arranged on No. 1 bearing block In the bearing hole of 7 and No. 2 bearing blocks 11, back-up ring bearing 12 can be by the axial force transmission of wrapping post in winding process 13 to No. 1 On bearing block 7 and No. 2 bearing blocks 11.No. 1 bearing block 7 and No. 2 bearing blocks 11 pass through two hexagon socket head cap screws and mobile branch respectively Seat 3 is fixedly mounted.Worm screw 29 and axle sleeve 31 are installed successively, axle sleeve 31 plays a part of the axially position of worm screw 29 on wrapping post 13. Worm screw 29 is with wrapping post 13 by pin connection, and worm screw 29 engages installation with worm gear 10, and worm gear 10 passes through pin connection with gear shaft 20 Positioning.One end of gear shaft 20 is arranged in No. 1 thrust bearing 9, and No. 1 thrust bearing 9 is arranged in the hole of bearing block 30.Gear The other end of axle 20 is arranged in No. 2 thrust bearings 35, and No. 2 thrust bearings 35 are arranged in the hole of rack seat 19.Gear shaft 20 Intersect with the axis of rotation of wrapping post 13 for spatial vertical, the axis of rotation of wrapping post 13 is put down with the longitudinally asymmetric face of rack 21 OK, the longitudinally asymmetric face of rack 21 intersects vertically with gear shaft 20, the ball in the axis of rotation and drive mechanism of wrapping post 13 The axis of rotation of leading screw 36 is parallel；The gear parts of gear shaft 20 are engaged with rack 21, and rack 21 coordinates with rack seat 19 to be installed, The bottom of rack seat 19 is connected by screw thread with mobile support saddle 3, and rack seat 19 plays a part of supporting rack 21.Rack 21 End be connected by screw with supporting plate 34, the top half of supporting plate 34 processes two holes, with two root architecture identical axles 14 interference fits.The middle part of axle 14 is provided with bearing 16, and the outer ring of bearing 16 coordinates with No. 2 guide wheels 18 installs, and door 15 plays 2 The effect of number axially position of guide wheel 18, the external process of No. 2 guide wheels 18 has four screwed holes, and door 15 passes through four cross recess spiral shells Nail is connected on No. 2 guide wheels 18.The mounting means of No. 1 guide wheel 17 and No. 2 guide wheels 18 is identical with positioning method.

Refering to Fig. 6, the structure of the described mechanism V of fixed drive the 1st drives the coiling drive mechanism of the 1st mechanism I with movement It is similar, below the main different piece introduced in two structures.Different piece is mainly led including hold-down support 38, bracket 39, No. 3 Take turns 40 and No. 4 guide wheels 41.Hold-down support 38 is rectangle class plate-type structural piece, is machined with two tapped through holes and fixed bottom plate 65 Screwed hole corresponding matching install.Bracket 39 is the plate-type structural piece that section is concave shape, and two screwed holes of side pass through two Individual screw is connected with supporting plate 34.No. 3 guide wheels 40 and the material of No. 4 guide wheels 41 are identical with form processing and No. 1 guide wheel 17.

Hold-down support 38 is connected by two hexagon socket head cap screws with fixed bottom plate 65, and No. 5 steel wire ropes 57 lead to successively when drawing Cross the top of No. 4 guide wheels 41 and the bottom of No. 3 guide wheels 40.The diametric fit of the groove part of bracket 39 and No. 5 steel wire ropes 57, Play a part of during No. 5 57 relaxed states of steel wire rope support No. 5 steel wire ropes 57, facilitate No. 5 steel wire ropes 57 from relaxed state to During tight state, No. 5 steel wire ropes 57 are wound into the accurate installation of No. 3 guide wheels 40.

Refering to Fig. 7 and Fig. 8, described rope rehabilitation institution VII includes No. 1 steel wire rope 32, moving base 42, sports pad 43rd, No. 6 steel wire ropes 44, No. 6 pulling force sensors 45, handrail 46, hanger with rope 47, No. 1 pulling force sensor 48, No. 2 steel wire ropes 49, No. 2 pulling force sensors 50, No. 3 steel wire ropes 51, No. 3 pulling force sensors 52, No. 4 steel wire ropes 53, No. 4 pulling force sensors 54, No. 5 steel Cord 57, No. 5 pulling force sensors 58, three root architecture identical handrail posts 59 and healing waistband (switch base 55, brake switch 56th, waistband lock pin 60, waistband 61, sensor holder 62 and displacement transducer 63, No. 1 rope link 75, No. 2 rope links 76, No. 3 Rope link 77, No. 4 rope links 78, No. 5 rope links 79 and No. 6 rope links 80).

Described No. 1 pulling force sensor 48, No. 2 pulling force sensors 50, No. 3 pulling force sensors 52, No. 4 pulling force sensors 54th, No. 5 pulling force sensors 58 and No. 6 pulling force sensors 44 are identical Omega pulling force sensors, the essence of pulling force sensor Degree and the actual demand of range combination patient's waist rehabilitation.Displacement transducer 63 is the serial displacement transducers of LXW, meets patient and exists The requirement of low-speed motion in daily rehabilitation.No. 1 steel wire rope 32, No. 2 steel wire ropes 49, No. 3 steel wire ropes 51, No. 4 steel wire ropes 53, No. 5 Steel wire rope 57 and No. 6 steel wire ropes 44 are the identical six roots of sensation steel wire rope of length, a diameter of 2mm of steel wire rope.Moving base 42 For flat-type structural member.Sports pad 43 is round rubber part, and strip connected in star is machined with from inside to outside.Handrail 46 is round plastic Opening member structural member.Hanger with rope 47 is linked up with for ordinary steel rope.Switch base 55 is machined with the tabular class of circular groove for centre Structural member.Brake switch 56 is plastic piece structure part, internal to be controlled with moving drive mechanism and fixed drive mechanism line.Handrail Pillar 59 is column structure, and one end is connected with handrail 46, and the other end is connected with moving base 42.Waistband lock pin 60 is that end has convex The cylinder class formation risen.Sensor holder 62 is machined with the tabular class formation part of circular groove for centre.No. 1 rope link 75 is just The structural member that square platy structure is connected with annulus.

62 1 surface bondings of switch base 55 and sensor holder on waistband 61, another surface respectively with brake switch 56 and Displacement transducer 63, which coordinates, to be installed.No. 1 32 points of steel wire rope is two parts, the lower end of No. 1 epimere of steel wire rope 32 and No. 1 pull sensing One end connection of device 48, the upper end of No. 1 hypomere of steel wire rope 32 is connected with the other end of No. 1 pulling force sensor 48, No. 1 steel wire rope 32 The lower end of hypomere is connected with one end of No. 1 hanger with rope, and the other end of No. 1 hanger with rope is connected with No. 1 rope link 75.Together Reason, No. 2 steel wire ropes 49, No. 2 pulling force sensors 50, No. 2 hanger with rope are connected with No. 2 rope links 76, No. 3 steel wire ropes 51, No. 3 Pulling force sensor 52, No. 3 hanger with rope are connected with No. 3 rope links 77, No. 4 steel wire ropes 53, No. 4 pulling force sensors 54, No. 4 ropes Rope hook is connected with No. 4 rope links 78, and No. 5 steel wire ropes 57, No. 5 pulling force sensors 58, No. 5 hanger with rope and No. 5 ropes are hung Ring 79 is connected, and No. 6 steel wire ropes 44, No. 6 pulling force sensors 45, No. 6 hanger with rope are connected with No. 6 rope links 80, and with No. 1 steel Cord 32, No. 1 pulling force sensor 48, No. 1 hanger with rope are identical with the connected mode of No. 1 rope link 75.

Refering to Fig. 5 and Fig. 7, the one of No. 1 steel wire rope 32 being wrapped in the groove of wrapping post 13 in the 1st mechanism of mobile driving End is fixed on the wrapping post 13 in the 1st mechanism of mobile driving, and the other end of No. 1 steel wire rope 32 passes sequentially through No. 2 guide wheels 18 Behind bottom and the top of No. 1 guide wheel 17 with 48, one end of No. 1 hanger with rope is fixedly connected；48th, the other end of No. 1 hanger with rope Connected again with corresponding No. 1 rope link 75.Described hanger with rope 47 includes No. 1 hanger with rope, No. 2 hanger with rope, No. 3 ropes Rope hook, No. 4 hanger with rope, No. 5 hanger with rope and No. 6 hanger with rope.

No. 1 steel wire rope 32, No. 2 steel wire ropes 49, No. 3 steel wire ropes 51, No. 4 steel wire ropes 53, No. 5 steel wire ropes 57 and No. 6 steel wires No. 1 pulling force sensor 48, No. 2 pulling force sensors 50, No. 3 pulling force sensors 52, No. 4 pulling force sensors are sequentially installed with rope 44 54th, No. 5 pulling force sensors 58 and No. 6 pulling force sensors 45, the pulling force on each steel wire rope can be detected in real time；No. 1 steel wire rope 32, No. 2 steel wire ropes 49, No. 3 steel wire ropes 51, No. 4 steel wire ropes 53, No. 5 steel wire ropes 57 and No. 6 steel wire ropes 44 one end successively with No. 1 rope Rope hook, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 hanger with rope are fixedly connected with No. 6 hanger with rope, and 1 Number hanger with rope, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 hanger with rope and No. 6 hanger with rope successively and Waistband 61 is connected.Hung with No. 1 rope link 75 in waistband 61, No. 2 rope links 76, No. 3 rope links 77, No. 4 ropes Ring 78, No. 5 rope links 79 are connected with No. 6 rope links 80.

Waistband lock pin 60 can be by adjusting the patient that waistband 61 wear the different waistlines of position adaptation in hole, waistband lock pin 60 Three groups are set to altogether, are installed with three round corresponding matchings of waistband 61, it is ensured that fastness of the waistband 61 in motion process.No. 5 The other end of steel wire rope 57 is wrapped in the groove of wrapping post 13, sequentially passes through the top of No. 4 guide wheels 41 and the bottom of No. 3 guide wheels 40 Portion.Moving base 42 is placed on being made up of No. 1 crossbeam 64, No. 2 crossbeams 71, No. 3 crossbeams 72 with No. 4 crossbeams 70 for the bottom of support VIII Square frame in application places level ground on, sports pad 43 is quality of rubber materials, and motion base is fixed on by adhesive The centre of seat 42, the bottom of three handrail posts 59 is connected with moving base 42 by screw, and the other end is consolidated with handrail 46 Even, waistband 61 is placed among handrail 46.

Refering to Fig. 9, described support VIII includes No. 1 crossbeam 64, No. 2 crossbeams 71, No. 3 crossbeams 72, No. 4 crossbeams 70, No. 5 horizontal strokes Beam 67, No. 6 crossbeams 68, No. 7 crossbeams 73, No. 8 crossbeams 74,12 root architecture identical reinforcements 66,4 root architecture identical columns 69 Bottom plate 65 is fixed with 2 structure identicals.

Wherein：No. 1 crossbeam 64, No. 2 crossbeams 71, No. 3 crossbeams 72 are identical with No. 4 structures of crossbeam 70；No. 5 crossbeams 67, No. 6 horizontal strokes Beam 68, No. 7 crossbeams 73, No. 8 structures of crossbeam 74 are identical.

Described No. 1 crossbeam 64, No. 2 crossbeams 71, No. 3 crossbeams 72, No. 4 crossbeams 70, No. 5 crossbeams 67, No. 6 crossbeams 68, No. 7 Crossbeam 73, No. 8 root architecture identical reinforcements 66 of crossbeam 76 and 12 are that cross section is I-shaped straight-bar class formation part, and two End correspondence is threaded counterbore.No. 5 crossbeams 67, No. 6 crossbeams 68, No. 7 crossbeams 73, the middle parts of No. 8 crossbeams 74 are processed Have and be vertically provided with eight screwed holes on boss, 4 boss respectively, 4 boss successively with the 1st mechanism I of mobile driving, The 2nd mechanism II of mobile driving, the mechanism III of mobile driving the 3rd and the bolt connection of guiderail base 2 in the 4th mechanism IV of mobile driving. Column 69 is to be respectively arranged with through hole on the column structure part that section is square, the adjacent both sides of the upper and lower ends of column 69, is used In with No. 1 crossbeam 64, No. 2 crossbeams 71, No. 3 crossbeams 72, No. 4 crossbeams 70, No. 5 crossbeams 67, No. 6 crossbeams 68, No. 7 crossbeams 73, No. 8 The connection of crossbeam 74.Fixed bottom plate 65 is rectangular plate-type structural piece, and two screwed holes on fixed bottom plate 65 are used for and No. 1 Crossbeam 64 and No. 2 crossbeams 71 or with No. 3 crossbeams 72 and No. 4 bolt connections of crossbeam 70, other two on fixed bottom plate 65 Screwed hole is used for and the mechanism V of fixed drive the 1st or connected with the hold-down support 38 in the mechanism VI of fixed drive the 2nd.

The upper end of 4 root architecture identical columns 69 using hexagon socket head cap screw successively with No. 5 crossbeams 67, No. 6 crossbeams 68, No. 7 Crossbeam 73 connects with No. 8 joining end to end for crossbeam 74, and the lower ends of 4 root architecture identical columns 69 is using hexagon socket head cap screw successively with 1 Number crossbeam 64, No. 2 crossbeams 71, No. 3 crossbeams 72 connect with No. 4 joining end to end for crossbeam 70, constitute the frame-type branch of a cuboid Frame.The both sides of support VIII rectangular frame and rear side rectangular frame corner at be respectively welded structure identical reinforcement 66, play a part of consolidating support VIII.Two pieces of fixed bottom plates 65 be respectively arranged be connected to by No. 1 crossbeam 64, No. 2 crossbeams 71, No. 3 The right angle at the diagonal two ends for the square frame that crossbeam 72 and No. 4 crossbeams 70 are constituted, i.e., using two mode connects for screw at No. 1 On the right angle that crossbeam 64 and No. 2 crossbeams 71 and No. 3 crossbeams 72 and No. 4 crossbeams 70 are constituted.Two pieces of fixed bottom plates 65 play connection The effect of the mechanism V of fixed drive the 1st and the mechanism VI of fixed drive the 2nd.The lower surface of moving base 42 and the lower surface of support VIII Concordantly, it is placed on level ground.Moving base 42 is arranged in the center of support VIII.

Refering to Figure 10, described healing waistband includes waistband 61, switch base 55, brake switch 56,3 structure identical waists Band lock pin 60, sensor holder 62 and displacement transducer 63, No. 1 rope link 75, No. 2 rope links 76, No. 3 rope links 77,4 Number rope link 78, No. 5 rope links 79 and No. 6 rope links 80.

Described waistband 61 is open circular shape structural member, and the material that waistband 61 is used is rubber, a left side for waistband opening Side is provided with time of 3 structure identical waistband lock pins, 60,3 center line lines of structure identical waistband lock pin 60 and waistband 61 Shaft axis are parallel, and distance is equal between adjacent 2 waistband lock pins 60, and the head of waistband lock pin 60 is made convex spherical, it is ensured that waistband 61 fastness in motion process；Waistband lock pin 60 is made of one with waistband 61, or makes split；The right side of waistband opening Side is axially disposed to be had and that 3 array structure identicals are parallel to each other and that waistband lock pin 60 is equipped with wears hole, 2 adjacent pendants of each column Wear distance between the distance between hole and adjacent 2 waistband lock pins 61 equal.

Arrange six rope links altogether refering to Figure 11, on waistband 61, i.e., No. 1 rope link 75, No. 2 rope links 76, No. 3 Rope link 77 and No. 4 rope links 78 are bonded in around waistband 61, the folder between 2 adjacent rope links of any of which Angle is 90 degree；No. 5 rope links 79 are bonded in the centre position between No. 3 rope links 77 and No. 4 rope links 78, No. 6 Rope link 80 is bonded in the centre position between No. 1 rope link 75 and No. 2 rope links 76, and switch base 55 uses adhesive It is bonded on the waistband 61 on the left of No. 4 rope links, brake switch 56 is arranged on switch base 55；Sensor holder 62 is using bonding Agent is bonded on the waistband 61 between No. 2 rope links 76 and No. 3 rope links 77, and displacement transducer 63 is arranged on sensor holder On 62.

The use scope of the present invention：

Refering to Fig. 1, with reference to the size and the scope of driving element movement travel of single unit system, the present apparatus is applied to height The waist rehabilitation training of 1.55m to 1.95m patients, it is adaptable to the long-time training of waist injury expectant treatment and postoperative rehabilitation instruction Practice and used, it is necessary to input program after specifically advising with reference to doctor.The scope of patient's movement is the coverage of sports pad, I.e. radius is 0.8m scope.

The operation principle of Wire driven robot six-freedom parallel convalescence device of the present invention：

Servomotor 26 receives control signal, servomotor 26 is reached certain rotating speed, servomotor 26 as requested Motor shaft drive ball-screw 36 reach same rotational speed, the rotation of ball-screw 36 is converted into mobile support saddle 3 by feed screw nut And its movement of top parts.Direct current generator 28 is after control signal is received, and the motor shaft output of direct current generator 28 will The rotating speed asked drives wrapping post 13 to reach identical rotating speed, and the worm screw 29 on wrapping post 13 also reaches identical rotating speed, Worm screw 29 is meshed with worm gear 10, and the rotating speed of wrapping post 13 realizes that worm and wormwheel reaches the rotating speed of gear shaft 20, gear after slowing down Axle 20 is changed into movement of the rack 21 on rack seat 19.The movement of rack 21 makes supporting plate 34, No. 1 guide wheel 18 and No. 2 Guide wheel 17 is moved integrally, so as to ensure that No. 1 steel wire rope 32 is protected with No. 2 guide wheels 17 and No. 1 guide wheel 18 all the time during winding Hold at grade.No. 1 steel wire rope 32 is by the rotation of No. 2 guide wheels 18 and No. 1 guide wheel 17, and most power is passed to motion at last Waistband 61, controls the motion of waistband 61.Each force snesor can detect the pulling force in steel wire rope in real time, on waistband 61 Displacement transducer 63 can detect in real time patient's waist motion displacement and position.

The rotating campaign of servomotor 26 can realize that front and rear (left and right) of driver for winding is mobile, direct current generator 28 Rotating campaign realize the elongation and shortening of steel wire rope.Four groups of moving drive mechanisms both can individually control respective motion, It can also cooperate.Two groups of fixed drive mechanisms realize the elongation and shortening of steel wire rope, both can individually control respective fortune It is dynamic, it can also cooperate.

Patient enters at handrail mouthful, and four groups of moving drive mechanisms and two groups of fixed drive mechanisms control waistband 61 to enter first The motion of row Z-direction, makes waistband 61 arrive the position for being adapted to patient's waist rehabilitation, and patient is worn after waistband 61, four groups of movements Drive mechanism and two groups of fixed drive mechanism applying powers make rope be in tensioning state.After the completion of tensioning state, if waistband 61 Equilbrium position is not reaching to, regulation is balanced using the elongation and shortening of two groups of fixed drive mechanism ropes.Balance adjustment is complete Rehabilitation training is carried out after Cheng Hou, input relevant parameter.If occurring fortuitous event during Rehabilitation, peace only need to be pressed Brake switch 56 on waistband 61, whole device will be stopped, it is ensured that the safety of patient.

Six-freedom degree realization principle：

Wire driven robot six-freedom parallel convalescence device of the present invention includes the 1st mechanism I of mobile driving, mobile drive Dynamic 2nd mechanism II, the 3rd mechanism III of mobile driving, the 4th mechanism IV of mobile driving, the mechanism V of fixed drive the 1st, fixed drive the 2nd Mechanism VI, rope rehabilitation institution VII, support VIII.

X-direction forward direction is mobile：

Refering to Fig. 1, the mobile mechanism II of driving the 2nd and the 4th mechanism IV of mobile driving keep the length of steel wire rope constant, straight line The driving of guide rail 1 mobile support saddle 3 is positive mobile in X direction；Rope stretch in the 3rd mechanism III of mobile driving, mobile support saddle 3 is protected Hold motionless；Steel wire rope in the 1st mechanism I of mobile driving shortens, and mobile support saddle 3 is remained stationary as；The steel of the mechanism V of fixed drive the 1st Cord extends；The steel wire rope of the mechanism VI of fixed drive the 2nd shortens.

X-direction is moved backward：

The mobile mechanism II of driving the 2nd and the mobile length for driving the 4th mechanism IV to keep steel wire rope are constant, and rail plate 1 drives Dynamic mobile support saddle 3 is moved backward in X direction；Rope stretch in the 1st mechanism I of mobile driving, mobile support saddle 3 is remained stationary as； Steel wire rope in the 3rd mechanism III of mobile driving shortens, and mobile support saddle 3 is remained stationary as；The steel wire rope of the mechanism VI of fixed drive the 2nd is stretched Long, the steel wire rope in the mechanism V of fixed drive the 1st shortens.

Y-direction forward direction is mobile：

The mobile mechanism I of driving the 1st and the mobile length for driving the 3rd mechanism III to keep steel wire rope are constant, and rail plate 1 drives Mobile support saddle is moved along Y-direction forward direction；Rope stretch in the 2nd mechanism II of mobile driving, mobile support saddle 3 is remained stationary as；Move Steel wire rope in the 4th mechanism IV of dynamic driving shortens, and mobile support saddle 3 is remained stationary as；The steel wire rope of the mechanism VI of fixed drive the 2nd is stretched Long, the steel wire rope in the mechanism V of fixed drive the 1st shortens.

Y-direction is moved backward：

The mobile mechanism I of driving the 1st and the mobile length for driving the 3rd mechanism III to keep steel wire rope are constant, and rail plate 1 drives Mobile support saddle 3 is moved backward along Y-direction；Rope stretch in the 4th mechanism IV of mobile driving, mobile support saddle 3 is remained stationary as；Move Steel wire rope in the 2nd mechanism II of dynamic driving shortens, and mobile support saddle 3 is remained stationary as；The steel wire rope of the mechanism V of fixed drive the 1st is stretched It is long；The steel wire rope of the mechanism VI of fixed drive the 2nd shortens.

Z-direction forward direction is mobile：

The mobile support saddle 3 of the 4th mechanism IV of the mobile mechanism II of driving the 2nd and mobile driving is remained stationary as, the length of steel wire rope Keep the shortening of identical speed；The mobile support saddle 3 of the 3rd mechanism III of the mobile mechanism I of driving the 1st and mobile driving is remained stationary as, steel The length of cord keeps the shortening of identical speed；The mechanism V of fixed drive the 1st and the mechanism VI of fixed drive the 2nd keep steel wire rope phase With the elongation of speed.

Z-direction is moved backward：

The mobile support saddle 3 of the 4th mechanism IV of the mobile mechanism II of driving the 2nd and mobile driving is remained stationary as, the length of steel wire rope Keep the elongation of identical speed；The mobile support saddle 3 of the 3rd mechanism III of the mobile mechanism I of driving the 1st and mobile driving is remained stationary as, steel The length of cord keeps the elongation of identical speed；The mechanism V of fixed drive the 1st and the mechanism VI of fixed drive the 2nd keep steel wire rope phase With the shortening of speed.

The rotation of axle centered on X：

The mobile mechanism I of driving the 1st and the 3rd mechanism III of mobile driving keep the length elongation of steel wire rope, its band of rail plate 1 Dynamic mobile support saddle 3 is positive (reverse) mobile along Y-direction；The mobile branch of the 4th mechanism IV of the mobile mechanism II of driving the 2nd and mobile driving Seat 3 is remained stationary as, and the length of steel wire rope keeps elongation；The steel wire rope of the 1st mechanism of fixed drive V keeps identical speed shortening (to stretch It is long) and the identical speed of the mechanism VI of fixed drive the 2nd holding steel wire rope elongation (shortening).

The rotation of axle centered on Y：

The mobile mechanism II of driving the 2nd and the 4th mechanism IV of mobile driving keep the length elongation of steel wire rope, the band of rail plate 1 Dynamic mobile support saddle 3 is positive (reverse) mobile in X direction；The mobile branch of the 3rd mechanism III of the mobile mechanism I of driving the 1st and mobile driving Seat 3 is remained stationary as, and the length of steel wire rope keeps elongation；The mechanism V of fixed drive the 1st keeps the identical speed elongation (contracting of steel wire rope It is short) shortening (elongation) of the identical speed of steel wire rope is kept with the mechanism VI of fixed drive the 2nd.

The rotation of axle centered on Z：

The length of the steel wire rope of the 4th mechanism IV of the mobile mechanism II of driving the 2nd and mobile driving keeps constant, mobile driving the The length of the steel wire rope of the 3rd mechanism III of 1 mechanism I and mobile driving keeps constant, the 1st mechanism I of driving, the 2nd mechanism of mobile driving IIth, the mobile support saddle holding in the 4th mechanism IV of the 3rd mechanism III of mobile driving and mobile driving clockwise move by (counterclockwise) identical Dynamic direction, the mechanism V of fixed drive the 1st and the mechanism VI of fixed drive the 2nd keep the elongation of the identical speed of steel wire rope.

The present invention can realize the self-movement of 6 frees degree of healing waistband, again can synthesize the motion of 6 frees degree Meet the forms of motion of Rehabilitation demand.With six roots of sensation Wire driven robot, the different pulling force measured according to six pulling force sensors, Position and displacement information with reference to the patient of displacement sensor, are easy to integration and the Comprehensive Control of power position information, final real The purpose of existing rehabilitation waist.

Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in Within protection scope of the present invention.

Claims

1. a kind of Wire driven robot six-freedom parallel convalescence device, it is characterised in that described Wire driven robot six-freedom parallel Convalescence device includes movement and drives the 1st mechanism (I), the 2nd mechanism (II) of mobile driving, movement to drive the 3rd mechanism (III), movement Drive the 4th mechanism (IV), the mechanism (V) of fixed drive the 1st, the mechanism (VI) of fixed drive the 2nd, rope rehabilitation institution (VII) and branch Frame (VIII)；

The described mechanism (I) of mobile driving the 1st, the 2nd mechanism (II) of movement driving, the 3rd mechanism (III) of mobile driving and movement is driven The structure of dynamic 4th mechanism (IV) is identical；The structure of the mechanism (V) of fixed drive the 1st and the mechanism (VI) of fixed drive the 2nd is complete It is exactly the same；

The 1st mechanism (I) of mobile driving, the 2nd mechanism (II) of mobile driving, the 3rd mechanism (III) of mobile driving and the 4th machine of mobile driving Structure (IV) is sequentially arranged in the middle of four crossbeams in support (VIII) top, the mechanism (V) of fixed drive the 1st and fixed drive the 2nd The 2 block structure identicals that mechanism (VI) is sequentially fixed at support (VIII) bottom rectangular frame diagonal two ends fix bottom plate (65) On, rope rehabilitation institution (VII) is arranged in the center of support (VIII)；One end of the six roots of sensation steel wire rope of rope rehabilitation institution (VII) Successively with the 1st mechanism (I) of mobile driving, the 2nd mechanism (II) of mobile driving, the 3rd mechanism (III) of mobile driving, mobile driving the 4th Mechanism (IV), the mechanism (V) of fixed drive the 1st are connected with the mechanism (VI) of fixed drive the 2nd.

2. according to the Wire driven robot six-freedom parallel convalescence device described in claim 1, it is characterised in that described support (VIII) No. 1 crossbeam (64), No. 2 crossbeams (71), No. 3 crossbeams (72), No. 4 crossbeams (70), No. 5 crossbeams (67), No. 6 crossbeams are included (68), No. 7 crossbeams (73), No. 8 crossbeams (74), 12 root architecture identical reinforcements (66), 4 root architecture identical columns (69) and 2 structure identicals fix bottom plate (65)；

The upper end of 4 root architecture identical columns (69) using bolt successively with No. 5 crossbeams (67), No. 6 crossbeams (68), No. 7 crossbeams (73) connect with No. 8 joining end to end for crossbeam (74), the lower ends of 4 root architecture identical columns (69) using bolt successively with No. 1 horizontal stroke Beam (64), No. 2 crossbeams (71), No. 3 crossbeams (72) connect with No. 4 joining end to end for crossbeam (70), constitute the frame of a cuboid Frame support；Support (VIII) both sides rectangular frame and rear side rectangular frame corner at be respectively welded structure identical Reinforcement (66), two pieces of fixed bottom plates (65) are separately fixed at by No. 1 crossbeam (64), No. 2 crossbeams (71), No. 3 crossbeams (72) and 4 On the right angle at the square frame diagonal two ends of number crossbeam (70) composition.

3. according to the Wire driven robot six-freedom parallel convalescence device described in claim 2, it is characterised in that No. 1 described horizontal stroke Beam (64), No. 2 crossbeams (71), No. 3 crossbeams (72), No. 4 crossbeams (70), No. 5 crossbeams (67), No. 6 crossbeams (68), No. 7 crossbeams (73), No. 8 crossbeams (74) are that cross section is I-shaped straight-bar class formation part, 1 with 12 root architecture identical reinforcements (66) Number crossbeam (64), No. 2 crossbeams (71), No. 3 crossbeams (72), No. 4 crossbeams (70), No. 5 crossbeams (67), No. 6 crossbeams (68), No. 7 horizontal strokes The two ends of beam (73) and No. 8 crossbeams (74) are all threaded hole, No. 5 crossbeams (67), No. 6 crossbeams (68), No. 7 crossbeams (73) with The middle part of No. 8 crossbeams (74) is machined with boss, 4 boss and is vertically evenly distributed with screwed hole, column respectively (69) be for cross section square column structure part, be respectively arranged with the adjacent two sides of column (69) upper and lower ends logical Hole.

4. according to the Wire driven robot six-freedom parallel convalescence device described in claim 1, it is characterised in that described rope health Structure (VII) of answering a pager's call also include healing waistband, moving base (42), sports pad (43), handrail (46), hanger with rope (47), No. 1 Pulling force sensor (48), No. 2 pulling force sensors (50), No. 3 pulling force sensors (52), No. 4 pulling force sensors (54), No. 5 pulling force Sensor (58), No. 6 pulling force sensors (45) and handrail post (59)；

Described six roots of sensation steel wire rope refers to No. 1 steel wire rope (32), No. 2 steel wire ropes (49), No. 3 steel wire ropes (51), No. 4 steel wire ropes (53), No. 5 steel wire ropes (57) and No. 6 steel wire ropes (44)；

Described hanger with rope (47) include No. 1 hanger with rope, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 Hanger with rope and No. 6 hanger with rope；

Moving base (42) is placed on the level ground in the square frame of support (VIII) bottom, and sports pad (43) is using bonding Agent is fixed on the centre of moving base (42), and bottom and the moving base (42) of three root architecture identical handrail posts (59) are adopted With mode connects for screw, the top of three root architecture identical handrail posts (59) is fixedly connected with handrail (46), and healing waistband, which is placed in, to be helped Among hand (46)；

No. 1 steel wire rope (32), No. 2 steel wire ropes (49), No. 3 steel wire ropes (51), No. 4 steel wire ropes (53), No. 5 steel wire ropes (57) and 6 No. 1 pulling force sensor (48), No. 2 pulling force sensors (50), No. 3 pulling force sensors are sequentially installed with number steel wire rope (44) (52), No. 4 pulling force sensors (54), No. 5 pulling force sensors (58) and No. 6 pulling force sensors (45)；No. 1 steel wire rope (32), No. 2 Steel wire rope (49), No. 3 steel wire ropes (51), No. 4 steel wire ropes (53), No. 5 steel wire ropes (57) and one end of No. 6 steel wire ropes (44) are successively Consolidate with No. 1 hanger with rope, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 hanger with rope and No. 6 hanger with rope Fixed connection, No. 1 hanger with rope, No. 2 hanger with rope, No. 3 hanger with rope, No. 4 hanger with rope, No. 5 hanger with rope and No. 6 ropes are hung Hook is connected with healing waistband successively.

5. according to the Wire driven robot six-freedom parallel convalescence device described in claim 4, it is characterised in that described rehabilitation waist Band includes waistband (61), switch base (55), brake switch (56), 3 structure identical waistband lock pins (60), sensor holders (62), displacement transducer (63), No. 1 rope link (75), No. 2 rope links (76), No. 3 rope links (77), No. 4 ropes are hung Ring (78), No. 5 rope links (79) and No. 6 rope links (80)；

No. 1 rope link (75), No. 2 rope links (76), No. 3 rope links (77) are bonded in waist with No. 4 rope links (78) Around band (61), the angle between 2 adjacent rope links of any of which is 90 degree；No. 5 rope link (79) bondings Centre position between No. 3 rope links (77) and No. 4 rope links (78), No. 6 rope links (80) are bonded in No. 1 rope Centre position between link (75) and No. 2 rope links (76), switch base (55) is bonded on the left of No. 4 rope links (78) On waistband (61), brake switch (56) is arranged on switch base (55)；Sensor holder (62) be bonded in No. 2 rope links (76) with On waistband (61) between No. 3 rope links (77), displacement transducer (63) is arranged on sensor holder (62).

6. according to the Wire driven robot six-freedom parallel convalescence device described in claim 5, it is characterised in that described waistband (61) it is open circular shape structural member, the material that waistband (61) is used is provided with 3 structures for rubber on the left of waistband opening Identical waistband lock pin (60), the center line line of 3 structure identical waistband lock pins (60) and the axis of rotation of waistband (61) Parallel, distance is equal between adjacent 2 waistband lock pins (60), and convex spherical, waistband lock pin is made on the head of waistband lock pin (60) (60) it is made of one with waistband (61), or makes split；The right side of waistband opening is axially disposed 3 array structure identicals What be parallel to each other and waistband lock pin (60) was equipped with wears hole, and adjacent 2 of each column wear the distance between hole and adjacent 2 waists Distance is equal between band lock pin (60).

7. according to the Wire driven robot six-freedom parallel convalescence device described in claim 1, it is characterised in that described mobile drive Dynamic 1st mechanism (I) includes moving drive mechanism and coiling drive mechanism two parts；

Described moving drive mechanism includes 2 root architecture identical line slideways (1), guiderail base (2), 2 structure identicals Guide rail contiguous block (5), nut contiguous block (8), No. 1 motor flange (25), servomotor (26), No. 1 shaft coupling (27), leading screw branch Support seat (33), ball-screw (36) and leading screw fixed seat (37)；

It is arranged on the top end face of guiderail base (2), 2 structures are identical 2 root architecture identical line slideway (1) Parallel Symmetrics Guide rail contiguous block (5) be fixedly connected with the sliding block bolt on 2 root architecture identical line slideways (1), nut contiguous block (8) top Hold and be fixedly connected with the mobile support saddle (3) in coiling drive mechanism using bolt, in the horizontal through hole in the middle part of nut contiguous block (8) Feed screw nut is installed, No. 1 motor flange (25) is fixedly mounted in the groove floor of guiderail base (2) right-hand member using bolt, Servomotor (26) is fixedly mounted on the right side of No. 1 motor flange (25) using bolt, the output shaft of servomotor (26) For horizontal positioned, and it is coplanar with the longitudinally asymmetric face of guiderail base (2)；The right-hand member of No. 1 shaft coupling (27) and servomotor (26) Coaxially connected, the right-hand member of the left end and ball-screw (36) of No. 1 shaft coupling (27) is coaxially connected, and leading screw fixed seat (37) uses spiral shell Bolt is arranged in the groove floor of the guiderail base (2) on the left of No. 1 shaft coupling (27), and ball-screw (36) is arranged on by bearing To rotate connection in leading screw fixed seat (37), the left end of ball-screw (36) is arranged on leading screw support base (33) by bearing, Leading screw support base (33) is arranged on using bolt in the groove floor of guiderail base (2) left end, and ball-screw (36) connects with nut The feed screw nut connect on block (8) is equipped with, and between the two to rotate connection, coiling drive mechanism passes through mobile support saddle therein (3) Installed in the top of 2 structure identical guide rail contiguous blocks (5).

8. according to the Wire driven robot six-freedom parallel convalescence device described in claim 7, it is characterised in that described coiling is driven Motivation structure also include motor cabinet (4), No. 2 motor flanges (6), No. 1 bearing block (7), worm gear (10), No. 2 bearing blocks (11), around Terminal (13), axle (14), No. 1 guide wheel (17), No. 2 guide wheels (18), rack seat (19), gear shaft (20), rack (21), No. 2 connection Axle device (22), decelerator (23), encoder (24), direct current generator (28), worm screw (29), bearing block (30), axle sleeve (31), No. 1 Steel wire rope (32) and supporting plate (34)；

Motor cabinet (4) is using the right-hand member for being bolted to mobile support saddle (3), and No. 2 motor flanges (6), which use, is bolted to motor On seat (4) left side, the direct current generator (28) with decelerator (23) is arranged on motor cabinet (4) and using bolt by slowing down Device (23) is fixed on the right side of No. 2 motor flanges (6), and encoder (24) is arranged on the right-hand member of direct current generator (28), direct current The right-hand member of the output shaft of motor (28) and wrapping post (13) coaxially connected, two ends of wrapping post (13) by No. 2 shaft couplings (22) It is arranged on respectively by bearing in the bearing hole on No. 1 bearing block (7) and No. 2 bearing blocks (11), one end of No. 1 steel wire rope (32) It is wrapped on wrapping post (13), No. 1 bearing block (7) is fixedly mounted on mobile support saddle (3) with No. 2 bearing blocks (11) using bolt On, worm screw (29) and axle sleeve (31) are installed successively from right to left, worm gear (10) is sleeved on gear shaft (20) on wrapping post (13) One end, the two ends of gear shaft (20) are arranged in the hole of bearing block (30) and rack seat (19) by bearing respectively, gear shaft (20) the countershaft line with wrapping post (13) intersects for spatial vertical, the axis of rotation of wrapping post (13) and the longitudinal direction of rack (21) The plane of symmetry is parallel, and wheel and rack (21) engagement on gear shaft (20), worm screw (29) is connected with worm gear (10) engagement, rack (21) to be slidably connected between the base of rack seat (19), spiral shell is used between the base and mobile support saddle (3) of rack seat (19) Tether and connect, the left side of rack (21) is connected with the lower end in contact of supporting plate (34), is connected by screw bolts between the two, two root knots Structure identical axle (14) using interference fit in two holes of supporting plate (34) top half, No. 1 guide wheel (17) with No. 2 Guide wheel (18) is installed on two root architecture identical axles (14) by bearing.