CN107953318A - A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot - Google Patents
A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot Download PDFInfo
- Publication number
- CN107953318A CN107953318A CN201810049572.7A CN201810049572A CN107953318A CN 107953318 A CN107953318 A CN 107953318A CN 201810049572 A CN201810049572 A CN 201810049572A CN 107953318 A CN107953318 A CN 107953318A
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- gear
- lower limb
- splined shaft
- rehabilitation robot
- adjustment length
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 43
- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 210000001699 lower leg Anatomy 0.000 claims abstract description 8
- 210000000689 upper leg Anatomy 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 244000048879 Funtumia elastica Species 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 210000002414 leg Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot, including base, guide rail, transmission mechanism and governing drive mechanism, the upper plane of the base is connected to the downside of transmission mechanism, the guide rail is connected with governing drive mechanism, and the lower plane of base slides on guide rail.The lower limb rehabilitation robot includes foot pedal apparatus, middle joint and top contiguous block, and the foot pedal apparatus places the foot position of lower limb shank, and the top contiguous block is connected to the thigh upper end position of lower limb.An electrodeless adjustment length mechanism is all connected between the foot pedal apparatus, middle joint between middle joint, top contiguous block.The governing drive mechanism is equipped with handle, handle clockwise or counterclockwise, governing drive mechanism promotes transmission mechanism to move forward or backward respectively, then adjust foot pedal apparatus, between middle joint or the distance between middle joint, top contiguous block, be allowed to lower-leg length and thigh length respectively with lower limb and be adapted.
Description
Technical field
The invention belongs to medical instrument, is related to a kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot.
Background technology
At present, for the patient that lower limb have different degrees of dyskinesia, especially for the lower limb of paralytic
Disease, this dyskinesia caused by neurotrosis can be moved by lower limb rehabilitation and treated.It is but corresponding
Supply falls short of demand and expensive by rehabilitation medical teacher, and patient can not obtain training for a long time, and then people want to introduce a kind of doctor
Apparatus is treated to replace the work of medical teacher, lower limb rehabilitation robot comes into being.
With the development of lower limb rehabilitation robot, structure increasingly optimizes and can meet some treatment need of patient substantially
Ask, but patient, when using lower limb rehabilitation robot, some robots cannot be grown according to patient's leg adjusts mechanical leg joint length
Degree, although or some lower limb rehabilitation robots with adjustment length therapist can be needed to live machine leg, Ran Houxun with hand rest
Ask that patients' feeling adjusts leg length again, aggravated the burden of rehabilitation medical teacher and there is certain danger or injury, nothing to patient
Method enables a patient to enough according to own situation, oneself easy adjustment length.
Existing lower limb rehabilitation robot pedipulator adjustment length mode, which is divided into, pole adjusting and electrodeless adjustment, there is pole adjusting
It is most of to use pin mode, due at regular intervals between pin hole, so this regulative mode does not reach preferably comfortable length
Degree.Electrodeless adjustment is largely using frictional force by screw threads for fastening, but the dynamic loading of pedipulator during the motion can make
Obtain thread fitting to loosen, there is very big security risk.
The content of the invention
It is an object of the invention to solve the problems, such as that existing lower limb rehabilitation robot pedipulator length adjustment is inconvenient, and carry
For a kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot.Concrete technical scheme is as follows：
A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot, the lower limb rehabilitation robot include foot-operated dress
6, middle joint 7 and top contiguous block 8 are put, the foot pedal apparatus 6 places the foot position of lower limb shank, the top contiguous block 8
The thigh upper end position of lower limb is connected to, lower extremity movement is driven by the reciprocally swinging of middle joint 7.
Be all connected between the foot pedal apparatus 6, middle joint 7 between middle joint 7, top contiguous block 8 one it is electrodeless
Adjustment length mechanism, the electrodeless adjustment length mechanism include base 1, guide rail 2, transmission mechanism 3 and governing drive mechanism 4, institute
The upper plane for stating base 1 is connected to the downside of transmission mechanism 3, and the guide rail 2 and governing drive mechanism 4 connect, and the lower of base 1 is put down
Face is slided on guide rail 2, and governing drive mechanism 4 is equipped with handle 421, clockwise or counterclockwise handle 421, speed governing driving machine
Structure 4 promotes transmission mechanism 3 to move forward or backward respectively, then adjusts foot pedal apparatus 6, between middle joint 7 or middle joint
7th, the distance between top contiguous block 8, is allowed to lower-leg length and thigh length respectively with lower limb and is adapted.
The technical solution further limited is as follows：
The transmission mechanism 3 includes stop collar 30, leading screw 31, feed screw nut 32, rubber pad 33, driven bevel pinion 34 and leads
To set 35.The guide sleeve 35 includes guide flange 351 and is oriented to body 352, is oriented to one end connection guide flange of body 352
351, other end connection feed screw nut 32, leading screw 31 screws in feed screw nut 32, and leading screw 31 connects positioned at one end of guide flange 351
Stop collar 30 is connect, the other end of leading screw 31 connects driven bevel pinion 34, rubber pad 33 is connected on the end face of flange of feed screw nut 32,
Rubber pad 33 plays cushioning effect between transmission mechanism 3 and governing drive mechanism 4.
The governing drive mechanism 4 includes first gear 40, speed control rod 41, splined shaft 42, the 3rd gear 43, gear shaft
44th, four rolling bearings 45 and governing drive mechanism babinet 46.The governing drive mechanism babinet 46 include mounting flange 461,
Square box 462 and cover board 463, one end connection mounting flange 461 of the square box 462, other end connecting cover plate 463.
The interior parallel arrangement splined shaft 42 and gear shaft 44 of the square box 462, and splined shaft 42 and gear shaft 44
Both ends be respectively mounted a rolling bearing 45, and be installed on by rolling bearing 45 on square box 462.
On the splined shaft 42 be set with speed control rod 41, splined shaft 42 one end installation first gear 40, splined shaft 42 it is another
One end is installed by the 3rd gear 43.The gear shaft 44 is equipped with the 4th gear 441, driving bevel gear 442 and second gear 443,
4th gear 441 is engaged with the 3rd gear 43, and the second gear 443 is engaged with first gear 40, the active umbrella tooth
Wheel 442 is engaged with driven bevel pinion 34.The speed control rod 41 includes shift fork 411 and connector sleeve 412, one end of the shift fork 411
Equipped with connector sleeve mounting hole, connector sleeve 412 can rotate freely in connector sleeve mounting hole, and 412 endoporus of connector sleeve is splined hole,
The splined hole is set on splined shaft 42, and is slided on splined shaft 42.It is located at the 3rd gear 43 1 on the splined shaft 42
The end position at end is equipped with locking device 5, and the locking device 5 includes square pawl 51, ratchet box 52 and rectangular teeth ratchet 53.
The ratchet box 52 are installed on square box 462, and the endoporus of rectangular teeth ratchet 53 is installed on splined shaft 42, rectangular teeth ratchet
53 are placed in the endoporus of ratchet box 52, a cylindroid helical-coil compression spring are installed on square pawl 51, during pull-up square pawl 51
Rectangular teeth ratchet 53 can rotate freely, and when putting down square pawl 51, square pawl 51 is inserted into the square of 53 outer ring of rectangular teeth ratchet
In shape tooth, rectangular teeth ratchet 53 is locked.Handle 421 is connected to the end position that splined shaft 42 is located at 43 one end of the 3rd gear.
The first gear 40 is equal with 443 number of teeth of second gear, gearratio 1:1.The number of teeth of 3rd gear 43
It is the 1/2 of the number of teeth of the 4th gear 441, gearratio 2:1.
The driving bevel gear 442 is equal with 34 number of teeth of driven bevel pinion, and is 90 ° of bevel gears.
The first gear 40 is being equipped with the first spline boss 401 on the end face of 41 side of speed control rod, works as speed control rod
41 when sliding to first gear 40, and the splined hole of connector sleeve 412 is sleeved on the first spline boss 401 and splined shaft 42 at the same time, at this time
Swinging handle 421, first gear 40 drive second gear 443 to rotate, and governing drive mechanism 4 enters quick mode.Described 3rd
Gear 43 is being equipped with the second spline boss 431 on the end face of 41 side of speed control rod, when speed control rod 41 slides to the 3rd gear 43
When, the splined hole of connector sleeve 412 is sleeved on the second spline boss 431 and splined shaft 42 at the same time, at this time swinging handle 421, and the 3rd
Gear 43 drives the 4th gear 441 to rotate, and governing drive mechanism 4 enters slow speed mode.On the upper side of the square box 462
Equipped with elongated slot 4621, and a rectangular notch is respectively equipped with the both ends of elongated slot 4621, the rectangular notch is used for speed control rod 41
Positioned at quick and two gears at a slow speed spacing.
The method have the benefit that：
(1) present invention realizes the electrodeless adjustment of lower limb rehabilitation robot leg joint by governing drive mechanism and transmission mechanism
Length, and quick regulation can be carried out and adjusted at a slow speed, add the comfort level and security of patient.
(2) present invention is easy for assemble or unload, is conveniently replaceable maintenance.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is transmission mechanism of the present invention and governing drive mechanism linkage schematic diagram.
Fig. 3 is screw nut driven schematic diagram of the present invention.
Fig. 4 is governing drive mechanism gear schematic layout pattern of the present invention.
Fig. 5 is first gear structure diagram of the present invention.
Fig. 6 is the 3rd gear structure schematic diagram of the invention.
Fig. 7 is speed control rod structure diagram of the present invention.
Fig. 8 is locking device structure schematic diagram of the present invention.
Fig. 9 is use state diagram of the present invention.
Sequence number in figure：Base 1, guide rail 2, transmission mechanism 3, stop collar 30, leading screw 31, feed screw nut 32, rubber pad 33, from
Dynamic bevel gear 34, guide sleeve 35, guide flange 351, guiding body 352；
Governing drive mechanism 4, first gear 40, the first spline boss 401, speed control rod 41, shift fork 411, connector sleeve 412,
Splined shaft 42, handle 421, the 3rd gear 43, the second spline boss 431, gear shaft 44, the 4th gear 441, driving bevel gear
442nd, second gear 443, rolling bearing 45, governing drive mechanism babinet 46, mounting flange 461, square box 462, elongated slot
4621st, cover board 463；Locking device 5, square pawl 51, ratchet box 52, rectangular teeth ratchet 53；
Foot pedal apparatus 6, middle joint 7, top contiguous block 8.
Specific implementation method
Below in conjunction with the accompanying drawings, by embodiment, the invention will be further described.
Embodiment one
Referring to Fig. 1~Fig. 6, a kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot, including base 1, guide rail
2nd, transmission mechanism 3 and governing drive mechanism 4, the upper plane of the base 1 are connected to the downside of transmission mechanism 3,2 He of guide rail
Governing drive mechanism 4 connects, and the lower plane of base 1 slides on guide rail 2.
The transmission mechanism 3 includes stop collar 30, leading screw 31, feed screw nut 32, rubber pad 33, driven bevel pinion 34 and leads
To set 35.The guide sleeve 35 includes guide flange 351 and is oriented to body 352, is oriented to one end connection guide flange of body 352
351, other end connection feed screw nut 32, leading screw 31 screws in feed screw nut 32, and leading screw 31 connects positioned at one end of guide flange 351
Stop collar 30 is connect, the other end of leading screw 31 connects driven bevel pinion 34, rubber pad 33 is connected on the end face of flange of feed screw nut 32,
Rubber pad 33 plays cushioning effect between transmission mechanism 3 and governing drive mechanism 4.
The governing drive mechanism 4 includes first gear 40, speed control rod 41, splined shaft 42, the 3rd gear 43, gear shaft
44th, four rolling bearings 45 and governing drive mechanism babinet 46.The governing drive mechanism babinet 46 include mounting flange 461,
Square box 462 and cover board 463, one end connection mounting flange 461 of the square box 462, other end connecting cover plate 463.
The interior parallel arrangement splined shaft 42 and gear shaft 44 of the square box 462, and splined shaft 42 and gear shaft 44
Both ends be respectively mounted a rolling bearing 45, and be installed on by rolling bearing 45 on square box 462.
On the splined shaft 42 be set with speed control rod 41, splined shaft 42 one end installation first gear 40, splined shaft 42 it is another
One end is installed by the 3rd gear 43.The gear shaft 44 is equipped with the 4th gear 441, driving bevel gear 442 and second gear 443,
4th gear 441 is engaged with the 3rd gear 43, and the second gear 443 is engaged with first gear 40, the active umbrella tooth
Wheel 442 is engaged with driven bevel pinion 34.The speed control rod 41 includes shift fork 411 and connector sleeve 412, one end of the shift fork 411
Equipped with connector sleeve mounting hole, connector sleeve 412 can rotate freely in connector sleeve mounting hole, and 412 endoporus of connector sleeve is splined hole,
The splined hole is set on splined shaft 42, and is slided on splined shaft 42.Handle 421 is connected to splined shaft 42 and is located at the 3rd tooth
Take turns the end position of 43 one end.
The first gear 40 is equal with 443 number of teeth of second gear, and the number of teeth is 16, gearratio 1:1.3rd tooth
The number of teeth of wheel 43 is the 1/2 of the number of teeth of the 4th gear 441, and the number of teeth of the 3rd gear is 12, and the number of teeth of the 4th gear is 24, transmission
Than for 2:1.
The driving bevel gear 442 is equal with 34 number of teeth of driven bevel pinion, and the number of teeth is 18, and is 90 ° of bevel gears.Institute
State first gear 40 and the first spline boss 401 is being equipped with the end face of 41 side of speed control rod, when speed control rod 41 slides to first
During gear 40, the splined hole of connector sleeve 412 is sleeved on the first spline boss 401 and splined shaft 42 at the same time, at this time swinging handle
421, first gear 40 drives second gear 443 to rotate, and governing drive mechanism 4 enters quick mode.3rd gear 43 exists
The second spline boss 431, when speed control rod 41 slides to three gears 43, connector sleeve are equipped with positioned at the end face of 41 side of speed control rod
412 splined hole is sleeved on the second spline boss 431 and splined shaft 42 at the same time, at this time swinging handle 421, and the 3rd gear 43 drives
4th gear 441 rotates, and governing drive mechanism 4 enters slow speed mode.The upper side of the square box 462 is equipped with elongated slot
4621, and a rectangular notch is respectively equipped with the both ends of elongated slot 4621, the rectangular notch is used for speed control rod 41 positioned at quick
Two gears is spacing at a slow speed.
Referring to Fig. 4 and Fig. 7, the speed control rod 41 includes shift fork 411 and connector sleeve 412, and one end of the shift fork 411 is equipped with
Connector sleeve mounting hole, connector sleeve 412 can rotate freely in connector sleeve mounting hole, and 412 endoporus of connector sleeve is splined hole, described
Splined hole is set on splined shaft 42, and is slided on splined shaft 42.
Referring to Fig. 1 and Fig. 8, the end position on the splined shaft 42 positioned at 43 one end of the 3rd gear is equipped with locking device 5,
The locking device 5 includes square pawl 51, ratchet box 52 and rectangular teeth ratchet 53.The ratchet box 52 are installed on square box
On 462, the endoporus of rectangular teeth ratchet 53 is installed on splined shaft 42, and rectangular teeth ratchet 53 is placed in the endoporus of ratchet box 52, side
One cylindroid helical-coil compression spring is installed on type pawl 51, rectangular teeth ratchet 53 can rotate freely during pull-up square pawl 51,
When putting down square pawl 51, square pawl 51 is inserted into the rectangular teeth of 53 outer ring of rectangular teeth ratchet, and rectangular teeth ratchet 53 is locked.
Referring to Fig. 9, the lower limb rehabilitation robot includes foot pedal apparatus 6, middle joint 7 and top contiguous block 8, the foot
The foot position that device 6 places lower limb shank is stepped on, the top contiguous block 8 is connected to the thigh upper end position of lower limb, passes through centre
The reciprocally swinging in joint 7 drives lower extremity movement.Connected between the foot pedal apparatus 6, middle joint 7 with middle joint 7, top
An electrodeless adjustment length mechanism is all connected between block 8.
When needing to adjust, pull-up square pawl 51, clockwise or counterclockwise between foot pedal apparatus 6, middle joint 7
Handle 421, governing drive mechanism 4 promote transmission mechanism 3 to move forward or backward, then adjust foot pedal apparatus 6, middle joint 7
The distance between, so that the lower-leg length with lower limb is adapted.Similarly, middle joint 7, top connect clockwise or counterclockwise
The handle 421 between block 8 is connect, governing drive mechanism 4 promotes transmission mechanism 3 to move forward or backward, then adjusts middle joint
7th, distance between top contiguous block 8, so that the thigh length with lower limb is adapted.
After adjusting, when putting down square pawl 51, square pawl 51 is inserted into the rectangular teeth of 53 outer ring of rectangular teeth ratchet,
Rectangular teeth ratchet 53 is locked, and splined shaft 42, leading screw 31 are locked therewith.
Above content is not the limitation made to structure, the shape of the present invention in any form.Every skill according to the present invention
Any simple modification, equivalent change and modification that art substantially makees above example, still falls within technical solution of the present invention
In the range of.
Claims (10)
1. a kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot, the lower limb rehabilitation robot includes foot pedal apparatus
(6), middle joint (7) and top contiguous block (8), the foot pedal apparatus (6) place the foot position of lower limb shank, and the top connects
The thigh upper end position that block (8) is connected to lower limb is connect, lower extremity movement is driven by the reciprocally swinging of middle joint (7)；It is special
Sign is：Between the foot pedal apparatus (6), middle joint (7) and middle joint (7), top contiguous block are all connected with one between (8)
A electrodeless adjustment length mechanism, the electrodeless adjustment length mechanism include base (1), guide rail (2), transmission mechanism (3) and speed governing
Driving mechanism (4), the upper plane of the base (1) are connected to the downside of transmission mechanism (3), the guide rail (2) and speed governing driving
Mechanism (4) connects, and the lower plane of base (1) slides on guide rail (2), and governing drive mechanism (4) is equipped with handle (421), up time
Pin rotates handle (421) counterclockwise, and governing drive mechanism (4) promotes transmission mechanism (3) to move forward or backward respectively, then
Adjust foot pedal apparatus (6), between middle joint (7) or the distance between middle joint (7), top contiguous block (8), be allowed to distinguish
It is adapted with the lower-leg length and thigh length of lower limb.
A kind of 2. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 1, it is characterised in that：
The transmission mechanism (3) includes stop collar (30), leading screw (31), feed screw nut (32), rubber pad (33), driven bevel pinion (34)
With guide sleeve (35)；The guide sleeve (35) includes guide flange (351) and is oriented to body (352), is oriented to the one of body (352)
End connection guide flange (351), other end connection feed screw nut (32), leading screw (31) screw in feed screw nut (32), leading screw (31)
Positioned at one end of guide flange (351) connection stop collar (30), the other end connection driven bevel pinion (34) of leading screw (31), silk
Rubber pad (33) is connected on the end face of flange of thick stick nut (32), rubber pad (33) is in transmission mechanism (3) and governing drive mechanism (4)
Between play cushioning effect.
A kind of 3. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 2, it is characterised in that：
The governing drive mechanism (4) includes first gear (40), speed control rod (41), splined shaft (42), the 3rd gear (43), gear shaft
(44), four rolling bearings (45) and governing drive mechanism babinet (46)；The governing drive mechanism babinet (46) includes installation
Flange (461), square box (462) and cover board (463), one end connection mounting flange (461) of the square box (462),
Other end connecting cover plate (463)；
The interior parallel arrangement splined shaft (42) and gear shaft (44) of the square box (462), and splined shaft (42) and gear
The both ends of axis (44) are respectively mounted a rolling bearing (45), and are installed on by rolling bearing (45) on square box (462)；
Speed control rod (41), one end installation first gear (40) of splined shaft (42), splined shaft are set with the splined shaft (42)
(42) the other end installs the 3rd gear (43)；The gear shaft (44) is equipped with the 4th gear (441), driving bevel gear
(442) engaged with second gear (443), the 4th gear (441) with the 3rd gear (43), the second gear (443) with
First gear (40) engages, and the driving bevel gear (442) is engaged with driven bevel pinion (34).
A kind of 4. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 3, it is characterised in that：
The speed control rod (41) includes shift fork (411) and connector sleeve (412), and one end of the shift fork (411) is equipped with connector sleeve mounting hole,
Connector sleeve (412) can rotate freely in connector sleeve mounting hole, and connector sleeve (412) endoporus is splined hole, the splined hole set
It is located on splined shaft (42), and is slided on splined shaft (42).
A kind of 5. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 3, it is characterised in that：
End position on the splined shaft (42) positioned at the 3rd gear (43) one end is equipped with locking device (5), the locking device (5)
Including square pawl (51), ratchet box (52) and rectangular teeth ratchet (53)；The ratchet box (52) are installed on square box (462)
On, the endoporus of rectangular teeth ratchet (53) is installed on splined shaft (42), and rectangular teeth ratchet (53) is placed in the endoporus of ratchet box (52)
In, a cylindroid helical-coil compression spring is installed, rectangular teeth ratchet (53) can during pull-up square pawl (51) on square pawl (51)
To rotate freely, when putting down square pawl (51), in the rectangular teeth of square pawl (51) insertion rectangular teeth ratchet (53) outer ring, square
Shape tooth papillae wheel (53) is locked；Handle (421) is connected to the end position that splined shaft (42) is located at the 3rd gear (43) one end.
A kind of 6. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 3, it is characterised in that：
The first gear (40) is equal with second gear (443) number of teeth, gearratio 1:1；The number of teeth of 3rd gear (43) is
The 1/2 of the number of teeth of 4th gear (441), gearratio 2:1.
A kind of 7. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 3, it is characterised in that：
The driving bevel gear (442) is equal with driven bevel pinion (34) number of teeth, and is 90 ° of bevel gears.
A kind of 8. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 4, it is characterised in that：
The first gear (40) is being equipped with the first spline boss (401) on the end face of speed control rod (41) side, works as speed control rod
(41) when sliding to first gear (40), the splined hole of connector sleeve (412) is sleeved on the first spline boss (401) and splined shaft at the same time
(42) on, swinging handle (421) at this time, first gear (40) drives second gear (443) rotation, governing drive mechanism (4) into
Enter quick mode.
A kind of 9. electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 4, it is characterised in that：
3rd gear (43) is being equipped with the second spline boss (431) on the end face of speed control rod (41) side, works as speed control rod
(41) when sliding to the 3rd gear (43), the splined hole of connector sleeve (412) is sleeved on the second spline boss (431) and splined shaft at the same time
(42) on, swinging handle (421) at this time, the 3rd gear (43) drives the rotation of the 4th gear (441), governing drive mechanism (4) into
Enter slow speed mode.
10. a kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot according to claim 3, its feature exist
In：The upper side of the square box (462) is equipped with elongated slot (4621), and is respectively equipped with one at the both ends of elongated slot (4621)
Rectangular notch, the rectangular notch are used for speed control rod (41) positioned at quick and two gears at a slow speed spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049572.7A CN107953318A (en) | 2018-01-18 | 2018-01-18 | A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810049572.7A CN107953318A (en) | 2018-01-18 | 2018-01-18 | A kind of electrodeless adjustment length mechanism for lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953318A true CN107953318A (en) | 2018-04-24 |
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| CN108394600A (en) * | 2018-05-09 | 2018-08-14 | 北京航天东方科技发展有限公司 | The driving mechanism of automatic vertical filling and packaging machine |
| CN112243697A (en) * | 2020-11-05 | 2021-01-22 | 郑晨翔 | Transmission shaft device for swing arm type agricultural machine |
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| CN112243697A (en) * | 2020-11-05 | 2021-01-22 | 郑晨翔 | Transmission shaft device for swing arm type agricultural machine |
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