CN107361996A - A kind of stepless adjustment device suitable for healing robot four limbs length - Google Patents
A kind of stepless adjustment device suitable for healing robot four limbs length Download PDFInfo
- Publication number
- CN107361996A CN107361996A CN201710685609.0A CN201710685609A CN107361996A CN 107361996 A CN107361996 A CN 107361996A CN 201710685609 A CN201710685609 A CN 201710685609A CN 107361996 A CN107361996 A CN 107361996A
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- bevel gear
- lead screw
- shaft
- screw shaft
- bar
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- 230000035876 healing Effects 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 7
- 210000003414 extremity Anatomy 0.000 description 30
- 230000006872 improvement Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000010147 laser engraving Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The invention discloses a kind of stepless adjustment device suitable for healing robot four limbs length, it includes fix bar, sliding bar, electrodeless governor motion.Electrodeless governor motion includes bevel gear shafting and lead screw pair drive shaft system.Bevel gear shafting includes bevel gear shaft, two bevel gears of engagement.Bevel gear shaft one end is arranged in groove, and the other end extends outside fix bar and forms rotation process portion.One of bevel gear is coaxial fixed with bevel gear shaft and drives rotation by bevel gear shaft.Lead screw pair drive shaft system includes lead screw shaft, lead screw shaft deep groove ball bearing, nut.Another bevel gear is coaxially fixed in lead screw shaft one end, and the other end screws togather nut and stretched into via nut in sliding bar.Lead screw shaft deep groove ball bearing and lead screw shaft are supporting, and are arranged between madial wall and the lead screw shaft of groove.The revolving force of the operating portion of bevel gear shaft, by the engagement of two bevel gears, drive in lead screw shaft, final drive nut drives sliding bar to be relatively fixed bar movement.
Description
Technical field
The present invention relates to a kind of rehabilitation equipment in medical field, is specifically that one kind is applied to healing robot four limbs length
Stepless adjustment device.
Background technology
The number of China's physical disabilities in recent years receives demand and the supply of rehabilitation training in the continuous increasing trend of presentation, patient
Huge breach be present.With the increase of aging trend, the rehabilitation demands that the high morbidity of the elderly is brought cause rehabilitation medical industry
Demand space continue to increase, traditional artificial or simple Medical Devices can not meet the rehabilitation demands of patient, and health
Multiple robot can reduce personnel and accompany and attend to, and it is more effective help sufferer to realize rehabilitation, this also causes people for four limbs
Rehabilitation equipment as above lower limb rehabilitation robot demand increase.
Healing robot body has many similar parts with exoskeleton robot on the body construction, most by by people's limb
Body is mutually fixed by certain structure with mechanical limb, realizes passive or active training.Also occur all multiclass on the market at present
Like product, investigation is found, following 2 technical schemes be present：In some patent documents or product, 1 is that mechanical limb length is consolidated
Surely can not adjust；2 be that some constant worm pich or unthreaded hole are opened in side on sliding bar, passes through rotary handle or resilient pin shape
Formula is adjusted after being aligned.
Solid mechanical limbs are that the mechanical limb for substantially having divided different length according to different people has shortcoming：Fixed machine
Tool limbs length can not meet the requirement of a small range difference height people and add the annex of product.
The regulation of equidistant hole length is that some constant worm pich or unthreaded hole are opened in side on sliding bar, by rotary handle or
Person's resilient pin form is adjusted after being aligned；Shortcoming be present：Need diplopore to be aligned, the action process such as locking, reduce operation
Efficiency.Some equidistant holes solve the requirement of different size limbs, but alignment be present, the action process such as locking, reduce operation
Efficiency.It is few to be related to electrodeless length adjustment.
The content of the invention
The present invention solves technical problem：The present invention relates to a kind of electrodeless regulation dress suitable for healing robot four limbs length
Put, it is only necessary to select regulation handle, rapidly and efficiently adjust robot four limbs length, ensure each limbs joint axle center of robot with using
Person's limbs axle center is concentric, greatly meets the comfort level of user.
Technical problems to be solved needed for the present invention, it can be achieved through the following technical solutions：One kind is applied to rehabilitation
The stepless adjustment device of robot four limbs length, it includes：Fix bar；One end is embedded in the groove of fix bar and can be along fixation
The sliding bar of the length direction movement of bar；Driving sliding bar is relatively fixed the electrodeless governor motion of bar movement；The electrodeless regulation
Mechanism includes bevel gear shafting and lead screw pair drive shaft system；Bevel gear shafting includes：Bevel gear shaft, its one end are arranged on groove
Interior, the other end extends outside fix bar and forms rotation process portion；And two bevel gears in groove, one of them
Bevel gear is coaxial fixed with bevel gear shaft and drives rotation, two bevel gears engagements by bevel gear shaft；Lead screw pair drive shaft system
Including：Lead screw shaft, its one end coaxially fix another bevel gear；The lead screw shaft deep groove ball bearing supporting with lead screw shaft, it is installed
Between the madial wall of groove and lead screw shaft；And nut, it is fixed on sliding bar and screwed togather with the other end of lead screw shaft, silk
The other end of thick stick axle is stretched into sliding bar via nut；Wherein, the revolving force of the operating portion of bevel gear shaft, by two bevel gears
Engagement, drive in lead screw shaft, final drive nut drives sliding bar to be relatively fixed bar movement.
As the further improvement of such scheme, the segment diameters coordinated in lead screw shaft with lead screw shaft deep groove ball bearing are more than
The segment diameters coordinated with nut, also greater than the segment diameters coordinated with corresponding bevel gear.
As the further improvement of such scheme, the lead screw pair drive shaft system also includes limited cap, and limited cap is fixed on
Lead screw shaft is stretched on one end in sliding bar via nut.
As the further improvement of such scheme, the bevel gear shafting also includes the bevel gear shaft supporting with bevel gear shaft
Deep groove ball bearing, bevel gear shaft deep groove ball bearing are coaxially mounted on bevel gear shaft and in the lateral wall of fix bar.
Further, the bevel gear shafting also includes cover plate, and cover plate is arranged on the end face of bevel gear shaft deep groove ball bearing
On.
Further, the bevel gear shafting also includes gear cap, and gear cap, which is arranged on the lateral wall of fix bar, to be used to block
Bevel gear shaft deep groove ball bearing.
As the further improvement of such scheme, the lead screw pair drive shaft system also includes being used to install lead screw shaft deep-groove ball
The bearing block of bearing, bearing block are fixed on the madial wall of groove.
Further, the lead screw pair drive shaft system also includes end cap, and end cap is fixed on lead screw shaft bearings towards bevel gear
End face on.
As the further improvement of such scheme, the movement of at least one guiding sliding bar is fixed on the lateral wall of sliding bar
Guide rail.
Further, the T-shaped chute in cross section is offered on guide rail, the T-shaped guide rail coordinated with chute is fixed in groove
Panel.
The stepless adjustment device suitable for healing robot four limbs length of the present invention, can rapidly and efficiently adjust robot four
Limb length, ensure that each limbs joint axle center of robot and user's limbs axle center are concentric, greatly meet the comfort level of user.
Brief description of the drawings
Fig. 1 is the perspective view for the stepless adjustment device that the present invention is applied to healing robot four limbs length.
Fig. 2 is the front view for the stepless adjustment device that the present invention is applied to healing robot four limbs length.
Fig. 3 is Fig. 2 left view profile.
Fig. 4 is along hatching line A-A sectional view in Fig. 2.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, the stepless adjustment device suitable for healing robot four limbs length of the present invention mainly includes fixing
Bar 2, sliding bar 1, electrodeless governor motion this three parts.One end of sliding bar 1 is embedded in the groove of fix bar 2 and can be along admittedly
The length direction movement of fixed pole 2, electrodeless governor motion driving sliding bar 1 are relatively fixed length direction of the bar 2 along fix bar 2 and moved
It is dynamic.
Incorporated by reference to Fig. 2, Fig. 3 and Fig. 4, the electrodeless governor motion mainly includes bevel gear shafting and lead screw pair drive shaft system
Two large divisions.
Bevel gear shafting includes bevel gear shaft 5, two bevel gears 8, gear cap 6, cover plate 4, bevel gear shaft deep groove ball bearings 7.
The one end of bevel gear shaft 5 is arranged in groove, and the other end extends outside fix bar 2 and forms rotation process portion.Two bevel gears 8 are pacified
In groove, one of bevel gear 8 is coaxial fixed with bevel gear shaft 5 and drives rotation, two cone teeth by bevel gear shaft 5
The engagement of wheel 8.Bevel gear shaft deep groove ball bearing 7 and bevel gear shaft 5 are supporting, for reducing coefficient of friction when bevel gear shaft 5 rotates,
Bevel gear shaft deep groove ball bearing 7 is coaxially mounted on bevel gear shaft 5 and in the lateral wall of fix bar 2.Cover plate 4 is arranged on cone
On the end face of gear shaft deep groove ball bearing 7.Gear cap 6, which is arranged on the lateral wall of fix bar 2, to be used to block bevel gear shaft deep-groove ball
Bearing 7.Cover plate 4 and gear cap 6 can select a setting, can also set simultaneously, can also all be not provided with, not bevel gear shafting
Necessary parts.
Lead screw pair drive shaft system includes lead screw shaft 12, nut 13, lead screw shaft deep groove ball bearing 11, limited cap 14, bearing block
10th, end cap 9.Another bevel gear 8 is coaxially fixed in one end of lead screw shaft 12, and lead screw shaft deep groove ball bearing 11 is matched somebody with somebody with lead screw shaft 12
Set, and be arranged between madial wall and the lead screw shaft 12 of groove.Nut 13 is fixed on another on sliding bar 1 and with lead screw shaft 12
End is screwed togather, and the other end of lead screw shaft 12 is stretched into sliding bar 1 via nut 13.Limited cap 14 is fixed on lead screw shaft 12 via nut
13 stretch on one end in sliding bar 1.Bearing block 10 is used to install lead screw shaft deep groove ball bearing 11, and bearing block 10 is fixed on groove
Madial wall on, end cap 9 is fixed on lead screw shaft bearings 10 towards on the end face of bevel gear 8.
The revolving force of the operating portion of bevel gear shaft 5, by the engagement of two bevel gears 8, drive in lead screw shaft 12, finally
Drive nut 13 drives sliding bar 1 to be relatively fixed bar 2 and moved.In order to improve the transmission stability of lead screw shaft 12, in lead screw shaft 12
It is more than the segment diameters coordinated with nut 13 with the segment diameters that lead screw shaft deep groove ball bearing 11 coordinates, tooth is bored also greater than with corresponding
The segment diameters that wheel 8 coordinates.
In order to improve the exercise performance of sliding bar 1, leading at least one guiding sliding bar 1 movement is fixed in the side wall of groove
Rail 16, offers the T-shaped chute in cross section on guide rail 16, the fixed T-shaped guide rail coordinated with chute on the lateral wall of sliding bar 1
Panel 15.
The present invention is support with fix bar 2, and sliding bar 1 is embedded in fix bar 2, and can be along the length direction of fix bar 2
It is mobile.Two bar center lines set two copline drive shaft systems, include bevel gear shafting and the leading screw auxiliary driving perpendicular with it
Shafting, bevel gear shaft 5 of the rotation with knurling handle, makes two engagement rotations of bevel gear 8, so as to which 90 ° of commutations make trapezoidal screw
Axle 12 rotates, and drives lead screw shaft nut 13 to drive sliding bar 1 to move, realizes the regulation of perforate gap length in joint between two bars.And
Two bar bottoms set the guide rail 16 and T-shaped slide gib 15 of T-shaped combination, ensure relative slip stationarity and parallel guiding.
The bevel gear shafting：Based on bevel gear shaft 5, bevel gear 8 is fixedly installed thereon, both sides set cone tooth respectively
Wheel shaft side bearing cover 4, bevel gear shaft deep groove ball bearing 7, is connected with fix bar 2, ensures to rotate axiality.
The lead screw pair drive shaft system：Mainly it is made up of trapezoidal screw axle 12 and lead screw shaft nut 13, lead screw shaft nut 13
Fixed with sliding bar 1, trapezoidal screw axle 12 is used as core part, and it is by the trapezoidal screw bearing block 10 that is arranged in fix bar 2
As support, and set a pair of lead screw shaft deep groove ball bearings 11 and the progress radial support of end cap 9 and end face spacing, ensure to rotate
Journey is radially steadily and axially without play；And screw rod limiting cap 14 is set in the opposite side of trapezoidal screw axle 12, to screw axis nut 13
Move spacing, ensure that lead screw shaft nut 13 moves axially in the stroke of security settings.
The combination of guide rail 16 and T-shaped slide gib 15, as shown in Fig. 3 left view section, two T-shaped slide gibs 15 are arranged on
The bottom symmetrical both sides of fix bar 2, T-shaped guide rail 16 are arranged on the bottom centre position of sliding bar 1.Certain guide rail 16 and T-shaped guide rail edge
Bar 15 can also be installed reversely, as groove side wall on fix the guide rail 16 of at least one guiding sliding bar 1 movement, on guide rail 16
The T-shaped chute in cross section is offered, the T-shaped slide gib 15 coordinated with chute is fixed on the lateral wall of sliding bar 1.
Joint pan can be set in the side of fix bar 2, and the connection in each joint of limbs for robot, upside installation is admittedly
Fixed pole cover plate 3, mainly dust-proof, to sliding bar side position-limiting action, cross sectional shape is U-shaped, bottom milling stair-step, for T
The installation of row guideway.
The side of sliding bar 1 may also set up joint pan, the connection in each joint of the limbs for robot, and bilateral is set
Laser engraving scale, two bar joint hole centre distances can be shown, facilitate operator to adjust.
The present invention operating process be：Operator is counterclockwise or the knurling handle for the side of bevel gear shaft 5 that turns clockwise,
Drive sliding bar 2 to be relatively fixed bar 1 by the transmission of bevel gear engaged transmission and lead screw pair to advance or retreats a segment distance, observe
Indicating graduation on sliding bar 1, until correct position, end of operation are arrived in regulation.
Relatively existing robot limb length adjustment technology, the present invention have any position of the four limbs length in size range
Electrodeless regulation is put, is guided by scale and realizes that accurate fast positioning and adjustment, structure implantation and expansion are strong, suitable for rehabilitation machine
The mechanical limbs such as people, exoskeleton robot, humanoid robot field adjust field.
In summary, key technology of the invention or elongation technology are as follows：
1. electrodeless length adjustment, it is interrupted adjustment structure instead of original jack type, the random length in adjustable range can be achieved
Positioning；
2. the scope of application extends：Under right characteristic is included between this structure healing robot, exoskeleton robot hip and knee
The electrodeless regulation of the length of upper limbs forearm between upper limbs large arm, elbow wrist joint between lower limb shank, shoulder elbow joint between the naked joint of limb, knee；
3. using, 90 ° of bevel gear pair turns to and ladder type lead screw pair is main shaft system form, rationally utilizes rod member inner space,
And rotation knurling handle is exported in outside, convenient operation；If there are automatically controlled needs, motor can be connected on the outside of bevel gear shaft, with
Realize automatically controlled automatically adjust；Protection domain is simultaneously including replacing the ladder type leading screw in this patent with other such as ball screw assembly,s
It is secondary；
4. using easy-to-dismount double slide gibs and guide rail, form T-shaped rectangular guideway and be oriented to, easy disassembly, compare
V-type, dovetail guide in complexity, reduce structure difficulty of processing；
5. fix bar and sliding bar both sides set joint pan respectively, the expansion in each joint of the limbs for robot connects
Connect；Can be with structures such as protector support, connecting rod link of the perforate for installing other fixed limbs on side；
6. laser blaze, operator can show that appropriate length position is arrived in regulation manually according to scale；Subsequently can be according to light
Grid or magnetic railings ruler equal length measurement sensor, scalable is length real-time digital output display.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of stepless adjustment device suitable for healing robot four limbs length, it includes：
Fix bar (2)；
One end is embedded in the sliding bar (1) that can be moved in the groove of fix bar (2) and along the length direction of fix bar (2)；And
Driving sliding bar (1) is relatively fixed the mobile electrodeless governor motion of bar (2)；
It is characterized in that：The electrodeless governor motion includes：
Bevel gear shafting, it includes：
Bevel gear shaft (5), its one end are arranged in groove, and the other end extends fix bar (2) outside and forms rotation process portion；With
And
Two bevel gears (8) in groove, one of bevel gear (8) is coaxial fixed with bevel gear shaft (5) and passes through
Bevel gear shaft (5) driving rotation, two bevel gear (8) engagements；And
Lead screw pair drive shaft system, it includes：
Lead screw shaft (12), its one end coaxially fix another bevel gear (8)；
The lead screw shaft deep groove ball bearing (11) supporting with lead screw shaft (12), its be arranged on madial wall and the lead screw shaft (12) of groove it
Between；And
Nut (13), it is fixed on sliding bar (1) and screwed togather with the other end of lead screw shaft (12), the other end of lead screw shaft (12)
Stretched into via nut (13) in sliding bar (1)；
Wherein, the revolving force of the operating portion of bevel gear shaft (5), by the engagement of two bevel gears (8), lead screw shaft (12) is driven to
On, it is mobile that final drive nut (13) drives sliding bar (1) to be relatively fixed bar (2).
2. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 1, it is characterised in that：Leading screw
The segment diameters coordinated on axle (12) with lead screw shaft deep groove ball bearing (11) are more than the segment diameters coordinated with nut (13), also greatly
In the segment diameters coordinated with corresponding bevel gear (8).
3. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 1, it is characterised in that：It is described
Lead screw pair drive shaft system also includes limited cap (14), and limited cap (14) is fixed on lead screw shaft (12) and stretches into slip via nut (13)
On one end in bar (1).
4. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 1, it is characterised in that：It is described
Bevel gear shafting also includes the bevel gear shaft deep groove ball bearing (7) supporting with bevel gear shaft (5), bevel gear shaft deep groove ball bearing
(7) it is coaxially mounted on bevel gear shaft (5) and in the lateral wall of fix bar (2).
5. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 4, it is characterised in that：It is described
Bevel gear shafting also includes cover plate (4), and cover plate (4) is arranged on the end face of bevel gear shaft deep groove ball bearing (7).
6. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 4, it is characterised in that：It is described
Bevel gear shafting also includes gear cap (6), and gear cap (6), which is arranged on the lateral wall of fix bar (2), to be used to block bevel gear shaft zanjon
Ball bearing (7).
7. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 1, it is characterised in that：It is described
Lead screw pair drive shaft system also includes being used for the bearing block (10) for installing lead screw shaft deep groove ball bearing (11), and bearing block (10) is fixed on
On the madial wall of groove.
8. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 7, it is characterised in that：It is described
Lead screw pair drive shaft system also includes end cap (9), and end cap (9) is fixed on lead screw shaft bearings (10) towards on the end face of bevel gear (8).
9. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 1, it is characterised in that：Slide
The mobile guide rail (16) of at least one guiding sliding bar (1) is fixed on the lateral wall of bar (1).
10. it is applied to the stepless adjustment device of healing robot four limbs length as claimed in claim 9, it is characterised in that：Lead
The T-shaped chute in cross section is offered on rail (16), the T-shaped slide gib (15) coordinated with chute is fixed in groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685609.0A CN107361996A (en) | 2017-08-11 | 2017-08-11 | A kind of stepless adjustment device suitable for healing robot four limbs length |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685609.0A CN107361996A (en) | 2017-08-11 | 2017-08-11 | A kind of stepless adjustment device suitable for healing robot four limbs length |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107361996A true CN107361996A (en) | 2017-11-21 |
Family
ID=60309921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710685609.0A Pending CN107361996A (en) | 2017-08-11 | 2017-08-11 | A kind of stepless adjustment device suitable for healing robot four limbs length |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107361996A (en) |
Cited By (11)
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| CN107953318A (en) * | 2018-01-18 | 2018-04-24 | 合肥工业大学 | A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot |
| CN108050273A (en) * | 2018-01-24 | 2018-05-18 | 哈工大机器人（合肥）国际创新研究院 | A kind of bilateral liquid separatnig valve |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN109045623A (en) * | 2018-06-07 | 2018-12-21 | 唐黎明 | A kind of table tennis bat with hand exercise function |
| CN110013424A (en) * | 2019-04-23 | 2019-07-16 | 广西科技大学 | A kind of regulating mechanism of healing robot ectoskeleton |
| CN110509259A (en) * | 2019-08-15 | 2019-11-29 | 朱逸安 | It is a kind of for mitigating the exoskeleton mechanism of joint pressure |
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111775176A (en) * | 2020-06-10 | 2020-10-16 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN112294600A (en) * | 2020-10-29 | 2021-02-02 | 北京邮电大学 | Upper limb rehabilitation equipment |
| CN112891821A (en) * | 2021-02-23 | 2021-06-04 | 上海寅生科技有限公司 | Electrodeless counter weight structure and have its fitness equipment |
| CN113018761A (en) * | 2021-02-23 | 2021-06-25 | 上海寅生科技有限公司 | Weight-balancing-free body builder with stepless adjustable tension |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107953318A (en) * | 2018-01-18 | 2018-04-24 | 合肥工业大学 | A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot |
| CN108050273A (en) * | 2018-01-24 | 2018-05-18 | 哈工大机器人（合肥）国际创新研究院 | A kind of bilateral liquid separatnig valve |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN109045623A (en) * | 2018-06-07 | 2018-12-21 | 唐黎明 | A kind of table tennis bat with hand exercise function |
| CN110013424A (en) * | 2019-04-23 | 2019-07-16 | 广西科技大学 | A kind of regulating mechanism of healing robot ectoskeleton |
| CN110509259A (en) * | 2019-08-15 | 2019-11-29 | 朱逸安 | It is a kind of for mitigating the exoskeleton mechanism of joint pressure |
| CN111673781B (en) * | 2020-06-10 | 2022-06-03 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111775176A (en) * | 2020-06-10 | 2020-10-16 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN112294600A (en) * | 2020-10-29 | 2021-02-02 | 北京邮电大学 | Upper limb rehabilitation equipment |
| CN112294600B (en) * | 2020-10-29 | 2021-10-12 | 北京邮电大学 | Upper limb rehabilitation equipment |
| CN112891821A (en) * | 2021-02-23 | 2021-06-04 | 上海寅生科技有限公司 | Electrodeless counter weight structure and have its fitness equipment |
| CN113018761A (en) * | 2021-02-23 | 2021-06-25 | 上海寅生科技有限公司 | Weight-balancing-free body builder with stepless adjustable tension |
| WO2022179055A1 (en) * | 2021-02-23 | 2022-09-01 | 上海寅生科技有限公司 | Counterweight-free body-building device with stepless adjustable tension |
| WO2022179056A1 (en) * | 2021-02-23 | 2022-09-01 | 上海寅生科技有限公司 | Stepless counterweight structure and body-building device having same |
| CN112891821B (en) * | 2021-02-23 | 2022-12-09 | 上海寅生科技有限公司 | Electrodeless counter weight structure and have its fitness equipment |
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