CN108757843B - Driving mechanism and rehabilitation wheelchair with same - Google Patents

Driving mechanism and rehabilitation wheelchair with same Download PDF

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Publication number
CN108757843B
CN108757843B CN201810292734.XA CN201810292734A CN108757843B CN 108757843 B CN108757843 B CN 108757843B CN 201810292734 A CN201810292734 A CN 201810292734A CN 108757843 B CN108757843 B CN 108757843B
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CN
China
Prior art keywords
gear
shaft
output shaft
swing rod
intermediate shaft
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Expired - Fee Related
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CN201810292734.XA
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Chinese (zh)
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CN108757843A (en
Inventor
孙呈祥
赵萍
卓威
王孝雨
陈凤阳
吴亮
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Hefei University of Technology
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Hefei University of Technology
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Priority to CN201810292734.XA priority Critical patent/CN108757843B/en
Publication of CN108757843A publication Critical patent/CN108757843A/en
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Publication of CN108757843B publication Critical patent/CN108757843B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/021—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular propulsion mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/024—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular operating means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A driving mechanism is characterized in that first end parts of a first swing rod and a second swing rod are connected with an input shaft and form a working form that the swinging directions of the first swing rod and the second swing rod are always opposite, wherein the swinging of the first swing rod drives an intermediate shaft to rotate in an external meshing transmission mode, the swinging of the second swing rod drives the intermediate shaft to rotate in an internal meshing mode, and the periodic swinging of the first swing rod and the second swing rod forms a working form that the intermediate shaft periodically rotates forwards and backwards; the intermediate shaft drives the output shaft to rotate according to a mode that the internal engagement transmission and the external engagement transmission periodically and alternately fail, wherein the working form that the output shaft keeps a fixed rotating direction is formed based on the periodic forward and reverse rotation of the intermediate shaft. A rehabilitation wheelchair is provided with the driving mechanism. The driving mechanism of the invention has simple structure and can realize the storage of energy, and the rehabilitation wheelchair drives the wheelchair to move in an intermittent continuous exercise mode, thereby avoiding the over-fatigue of sitting personnel.

Description

Driving mechanism and rehabilitation wheelchair with same
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a driving mechanism and a rehabilitation wheelchair with the same.
Background
The wheelchair is a tool for assisting the movement of some patients, and is very necessary for cerebral palsy patients, stroke patients, disabled people and the like. In the prior art, wheelchairs are usually pushed by others to walk, or the user manually rotates the rear big wheel to advance or retreat. The manual pushing mode is not used generally, and the defects of large pushing force, difficulty in operation, poor moving stability of the wheelchair and the like exist on the other hand. For most wheelchair users, the problems of muscle weakness, no sensation or insensitivity of nerves and the like are common. In addition, the wheelchair according to the related art generally has no mechanism for training the extension and movement of the arms and legs, and cannot perform rehabilitation training of the arms and legs during the travel.
Patent publication No. CN105078668A discloses a wheelchair for arm rehabilitation. The rehabilitation wheelchair comprises a wheelchair main body and an advancing device, wherein the advancing device is provided with a driving chain wheel, a toothed belt, a reset spring, a pull rope, a first pulley, a lower bracket, a second pulley, an upper bracket, a third pulley and a handle. The patient sits on the wheelchair, through pulling the handle downwards, under the effect of first, second and third pulley, the stay cord moves right, drives the cingulum and moves right, has just reached the purpose of advancing, when the arm moved extreme position, under reset spring's effect, the handle got back to the normal position, and so repetition has just reached and has carried out rehabilitation training's function to the arm strength. It has the following disadvantages: the wheelchair can only move forward, and the wheelchair can only move backward with the assistance of a caregiver. The time points of the advancing of the wheelchair and the pulling of the pull handle are matched, namely, a sitting person needs to continuously pull the pull handle to drive the wheelchair to move forwards, and when the sitting person has a rest due to fatigue, the wheelchair cannot continuously move.
Patent publication No. CN105147467A discloses a hand-operated rehabilitation wheelchair. Is provided with a chair frame, a power generation mechanism, a transmission clutch and a transmission mechanism. The transmission mechanism is fixed on the chair frame or the rear large wheel, and the power generation mechanism is fixedly connected with the transmission clutch or assembled with the transmission mechanism. The transmission clutch is assembled on the transmission mechanism, and the transmission mechanism drives the rear large wheel of the wheelchair to rotate. The power generation mechanism is pushed by the hand to move, the direction is controlled by transmitting the clutch, the power of the power generation mechanism is transmitted to the rear big wheel by the transmission mechanism, and the rotation of the rear big wheel is realized so that the whole wheelchair moves. The hand-operated rehabilitation wheelchair has a complex structure and poor working stability. Meanwhile, the wheelchair cannot be moved after power generated by hand cranking is stored.
Disclosure of Invention
In view of the deficiencies of the prior art, the present invention provides a drive mechanism including a countershaft connected in meshing engagement with an input shaft and an output shaft. The first ends of the first swing rod and the second swing rod are connected with the input shaft, and the working state that the swinging directions of the first swing rod and the second swing rod are always opposite is formed. The swing of the first swing rod drives the intermediate shaft to rotate in an external meshing transmission mode. The swing of the second swing rod drives the intermediate shaft to rotate in an internal meshing mode. And the working mode that the middle shaft rotates forwards and backwards periodically is formed on the basis of the periodic swinging of the first swing rod and the second swing rod. The intermediate shaft drives the output shaft to rotate according to a mode of periodically alternating failure of internal engagement transmission and external engagement transmission. The working mode that the output shaft keeps a fixed rotating direction is formed based on the periodic positive and negative rotation of the intermediate shaft.
According to a preferred embodiment, the drive mechanism further comprises a third planetary gear arranged on the intermediate shaft, a second sun gear arranged on the output shaft and connected with the third planetary gear in an external gearing, a second ring gear connected with the third planetary gear in an internal gearing, and an annular clutch disc fixed to the intermediate shaft. Wherein the annular clutch plate nests the second ring gear and is connected by a first one-way electromagnetic clutch therebetween. The annular clutch disc and the second gear ring are adsorbed together based on magnetic force generated by the first one-way electromagnetic clutch, and a working form that the annular clutch disc and the intermediate shaft are driven to rotate based on rotation of the second gear ring is formed. The second sun gear nests the output shaft and is connected through a second one-way electromagnetic clutch between the output shaft and the second sun gear. The second sun gear and the output shaft are adsorbed together based on the magnetic force generated by the second one-way electromagnetic clutch and form a working state that the rotation of the second sun gear drives the output shaft to rotate.
According to a preferred embodiment, in a mode in which the first one-way electromagnetic clutch generates a magnetic force based on the rotation of the second ring gear in the first direction and the second one-way electromagnetic clutch generates a magnetic force based on the rotation of the second sun gear in the second direction, the output shaft always keeps rotating in the first direction based on the periodic forward and reverse rotations of the intermediate shaft. In a mode in which the first one-way electromagnetic clutch is operated based on the rotation of the second ring gear in the second direction and the second one-way electromagnetic clutch is operated based on the rotation of the second sun gear in the first direction, the output shaft always keeps rotating in the second direction based on the periodic forward and reverse rotations of the intermediate shaft. Wherein the first direction and the second direction are opposite directions.
According to a preferred embodiment, the drive mechanism further comprises a first sun gear arranged on the input shaft and directly driven by the first rocker, a first ring gear indirectly fixed on the input shaft via an outer ring gear and directly driven by the second rocker, a first planet gear arranged on the intermediate shaft and in external gearing with the first sun gear, and a second planet gear arranged on the intermediate shaft and in internal gearing with the first ring gear. The outer gear ring frame is used for fixing the first gear ring and forms a working form of rotating by taking the input shaft as a rotation shaft after being connected with the input shaft.
According to a preferred embodiment, the first and second oscillating levers have the same amplitude of oscillation, and are configured to form an operating mode in which the angular velocities of the first and second planet gears are kept the same at the same time based on the setting of the tooth ratio of the first sun gear, the first ring gear, the first planet gear and the second planet gear to each other. In an operating mode that the first swing rod swings in the third direction and the second swing rod swings in the fourth direction, the first planet wheel and the second planet wheel drive the input shaft to rotate in the fifth direction together in a mode of having the same angular speed. In an operating mode that the first swing rod swings in the fourth direction and the second swing rod swings in the third direction, the first planet wheel and the second planet wheel drive the input shaft to rotate in the sixth direction together in a mode of having the same angular speed. Wherein the third direction is opposite to the fourth direction, and the fifth direction is opposite to the sixth direction.
According to a preferred embodiment, the driving mechanism further comprises at least two energy storage mechanisms arranged on the fixed shaft, and each energy storage mechanism at least comprises a spring plate with one end connected with the fixed shaft. Wherein the spring plate is tightened to store energy based on an external force. The second end parts of the first swing rod and the second swing rod are respectively connected to the second energy storage mechanism and the first energy storage mechanism through the second traction strip and the first traction strip so as to realize the swinging of the first swing rod and the second swing rod.
According to a preferred embodiment, the driving mechanism further comprises a return spring and a weight provided at the first and second swing links. And the return spring is positioned between the heavy object and the second end part to form an operating mode that the heavy object can change the gravity center position of the heavy object by compressing the return spring in the swinging process of the first swinging rod and the second swinging rod.
The invention also provides a rehabilitation wheelchair which comprises a control module arranged on the outer frame. The rehabilitation wheelchair equipped with a drive mechanism according to one of the preceding claims. The rehabilitation wheelchair further comprises a first brace and a second brace which are connected to the first energy storage machine and the second energy storage mechanism respectively. Based on pulling the first and second braces to enable energy storage of the first and second stored energy mechanisms.
According to a preferred embodiment, the rehabilitation wheelchair further comprises at least one pair of wheels arranged on the outer frame, and the control module comprises a communication module and a power supply which are electrically connected with the microprocessor. The microprocessor is electrically connected with the first one-way electromagnetic clutch and the second one-way electromagnetic clutch. The working modes of the first one-way electromagnetic clutch and the second one-way electromagnetic clutch are controlled by the intelligent mobile terminal after the control module is wirelessly connected with the intelligent mobile terminal through the communication module.
According to a preferred embodiment, a first wheel and a second wheel are respectively fixed at both ends of the output shaft to drive the rehabilitation wheelchair to move based on the rotation of the output shaft.
The invention has the beneficial technical effects that:
(1) the rehabilitation wheelchair stores the energy input by the sitting person in advance through the energy storage mechanism, so that the rehabilitation wheelchair can continuously move forward while the sitting person performs rehabilitation training under the condition of alternate exercise and rest, and the sitting person is prevented from being too tired due to long-time exercise.
(2) Intermittent continuous exercise generated by the alternation of exercise and rest can form better rehabilitation training effect.
Drawings
FIG. 1 is a schematic structural view of a preferred drive mechanism of the present invention;
FIG. 2 is a schematic view of a preferred drive mechanism of the present invention in partial connection;
FIG. 3 is a schematic view of another partial connection of the preferred drive mechanism of the present invention;
FIG. 4 is a schematic structural view of a preferred pendulum assembly of the present invention;
FIG. 5 is an isometric view of a preferred new energy rehabilitation chair configuration of the present invention;
FIG. 6 is a side view of a preferred new energy rehabilitation chair configuration of the present invention;
FIG. 7 is a schematic diagram of the connection of preferred electronic components of the present invention; and
fig. 8 is a cross-sectional view of a preferred energy storage mechanism of the present invention.
List of reference numerals
1: input shaft 2: intermediate shaft 3: output shaft
4: the fixed shaft 5: first fixing point 6: second fixing point
7: the first pendulum assembly 8: the second pendulum assembly 9: external gear ring rack
10: intelligent mobile terminal 11: first sun gear 12: third fixing point
13: fourth fixing point 14: fifth fixing point 15: first gear ring
16: first planetary gear 17: second planetary gear 18: third planet wheel
19: second sun gear 20: second ring gear 21: annular clutch disc
22: closed end surface 23: first one-way electromagnetic clutch
24: second one-way electromagnetic clutch 25: first energy storage mechanism 26: first traction strip
27: second energy storage mechanism 28: second traction bar 29: first swing link
30: the second swing link 31: spring plate 32: outer frame
33: first wheel 34: second wheel 35: cushion pad
36: return spring 37: weight 38: microprocessor
39: the communication module 40: power supply 41: first brace
42: second brace
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Counterclockwise and clockwise: the clockwise direction and the counterclockwise direction are set based on the respective drawings. For simplifying the description, the clockwise direction and the anticlockwise direction are dynamically adjusted according to actual conditions based on different viewing angle conditions.
Left and right: left and right are set based on the corresponding drawings. Under different visual angle conditions, dynamic adjustment can be carried out according to actual conditions.
First and second rotational directions: for the purpose of distinguishing between the directions of rotation, it is indicated that the two directions of rotation are different.
Example 1
A new energy driving mechanism is shown in figures 1 to 3 and comprises a first planetary gear train consisting of an input shaft 1, an intermediate shaft 2, a first sun gear 11, an outer gear ring 9, a first gear ring 15, a first planet gear 16 and a second planet gear 17, a second planetary gear train consisting of a third planet gear 18, an output shaft 3, a second sun gear 19 and an annular clutch disc 21, a first swing rod 29 and a second swing rod 30.
Preferably, one end of the first swing link 29 is fixed to the first sun gear 11 and then is disposed on the input shaft 1. The first swing link 29 and/or the first sun gear 11 may be fixed to the input shaft 1 by a first rolling bearing pair to form an operation mode that only the first sun gear 11 fixed to the first swing link 29 is driven to rotate without changing the operation state of the input shaft 1 when the first swing link 29 swings around the second fixed point 6 as a swing center. Preferably, one end of the second swing link 30 is fixed to the outer race 9 and then is disposed on the input shaft 1. The second swing link 30 and/or the external gear ring 9 may be fixed to the input shaft 1 by a second rolling bearing pair to form a working mode that the second swing link 30 only drives the external gear ring 9 fixed to the second swing link to rotate without changing the working state of the input shaft 1 when swinging around the first fixed point 5 as a swinging center. Preferably, the input shaft 1 is always kept in a fixed form. Wherein the first fixing point 5 is one end of the input shaft 1. The second fixing point 6 may be provided at a midpoint position of the input shaft 1 in the axial direction thereof or at any other position depending on the actual situation.
Preferably, the first planet wheel 16 and the second planet wheel 17 are solidly connected to the intermediate shaft 2 to form an operating configuration in which both simultaneously maintain the same direction of rotation as the intermediate shaft 2. Wherein, the projections of the planes of the first swing link 29 and the second swing link 30 in the direction perpendicular to the axial direction of the input shaft 1 are in mirror symmetry with each other. Thereby forming an operating mode that the first swing link 29 and the second swing link 30 swing towards each other.
Preferably, the third planet-gear 18 is solidly connected to the intermediate shaft 2 to form an operating configuration that constantly maintains the same direction of rotation as the intermediate shaft 2. In order to dynamically adjust the rotation direction of the output shaft 3, the second ring gear 20 is connected to the annular clutch disc 21 through a first one-way electromagnetic clutch 23, and the second sun gear 19 is connected to the output shaft 3 through a second one-way electromagnetic clutch 24. Wherein the magnetic force is provided based on the operation of the one-way electromagnetic clutch so that the two connected, for example, the second ring gear and the annular one-way split member are attracted to be fixed together. The two units are separated from each other to form independent units based on the non-operation of the one-way electromagnetic clutch and the elimination of magnetic force.
For ease of understanding, the operating principle of the new energy drive mechanism is discussed below.
First, the operation modes of the first and second one-way electromagnetic clutches 23, 24 are set based on the control apparatus. For example, when the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 is operated to connect the second ring gear 20 and the annular clutch plate 21 to each other by magnetic attraction, and the second one-way electromagnetic clutch 24 is not operated to disconnect the second sun gear 19 from the output shaft 3. When the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 does not operate and the second one-way electromagnetic clutch 24 operates. Preferably, the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 are always kept in the operation mode in which they are not operated simultaneously.
The following description will be given with an example of a mode setting in which the first electromagnetic unidirectional clutch 23 is operated and the second electromagnetic unidirectional clutch 24 is not operated under the condition that the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise.
As shown in FIG. 1, the first planetary gear train can be driven to work by manual shaking by directly and simultaneously holding the first swing link 29 and the second swing link 30 with two hands. Specifically, the first sun gear 11 is rotated clockwise based on the right-left swing of the first swing link 29 about the second fixed point 6, and at the same time, the first ring gear 15 is rotated counterclockwise based on the left-right swing of the second swing link 30 about the first fixed point 5. The clockwise rotation of the first sun gear 11 causes the first planetary gear 16 engaged therewith to rotate counterclockwise. The counterclockwise rotation of the first ring gear 15 drives the second planet gear 17 engaged with the first ring gear to rotate counterclockwise. The counter-clockwise rotation of the intermediate shaft 2 is brought about on the basis of the simultaneous counter-clockwise rotation of the first planet wheel 16 and the second planet wheel 17. Preferably, the first and second swing links 29 and 30 have the same swing amplitude and start and end swinging simultaneously so that the rotation speeds of the first ring gear 15 and the first sun gear 11 are the same. In order to avoid that the first planet wheel 16 and the second planet wheel 17 have different rotation speeds, so that the two interfere with each other based on the different rotation speeds, it is necessary to set the numbers of teeth of the second planet wheel 17 and the first planet wheel 16 corresponding to the numbers of teeth of the first ring gear 15 and the first sun gear 11 so that the second planet wheel 17 and the first planet wheel 16 have the same rotation speed. Preferably, the first planetary gear train has a transmission ratio of 1 by setting the number of teeth of the first ring gear 15, the first sun gear 11, the second planetary gear 17 and the first planetary gear 16. At this point, the counter-clockwise rotation of the intermediate shaft 2 is driven by the simultaneous swinging of the first swing link 29 and the second swing link 30.
Similarly, after the above steps are completed, the intermediate shaft 2 is driven to rotate clockwise based on the left-to-right swing of the first swing link 29 and the right-to-left swing of the second swing link 30. Thus, the intermediate shaft 2 is periodically rotated clockwise and counterclockwise based on the periodic reciprocal swing of the first and second swing links 29 and 30.
As shown in fig. 2, the counterclockwise rotation of the intermediate shaft 2 rotates the third planetary gear 18 counterclockwise. Based on the counterclockwise rotation of the third planetary gear 18, the second ring gear 20 rotates counterclockwise, and at the same time, the second sun gear 19 rotates clockwise. At this time, the first unidirectional electromagnetic clutch 23 is operated and the second unidirectional electromagnetic clutch 24 is not operated, so that the annular clutch disc 21 rotates counterclockwise to drive the output shaft 3 fixed thereto to rotate counterclockwise, and meanwhile, the second sun gear 19 and the output shaft 3 are separated into two independent units without magnetic force adsorption, so that the clockwise rotation of the second sun gear 19 and the counterclockwise rotation of the output shaft 3 do not interfere with each other. Similarly, the clockwise rotation of the intermediate shaft 2 drives the third planetary gear 18 to rotate clockwise. Based on the clockwise rotation of the third planetary gear 18, the second ring gear 20 rotates clockwise, and at the same time, the second sun gear 19 rotates counterclockwise. At this time, the first one-way electromagnetic clutch 23 is not operated and the second one-way electromagnetic clutch 24 is operated. The second sun gear 19 and the output shaft 3 are attracted by magnetic force, so that the output shaft 3 rotates counterclockwise and drives the annular clutch disc 21 to rotate counterclockwise. Meanwhile, the lack of magnetic force between the second ring gear 20 and the annular clutch plate 21 disengages as two separate units so that the clockwise rotation of the second ring gear 20 and the counterclockwise rotation of the annular clutch plate 21 do not interfere with each other. Thereby, an operation form is realized in which the counterclockwise rotation of the output shaft 3 is formed based on both the clockwise rotation and the counterclockwise rotation of the intermediate shaft 2.
Preferably, the operation modes of the first and second one-way electromagnetic clutches 23, 24 are switched based on the control apparatus. For example, switching from the counterclockwise rotation to the clockwise rotation of the output shaft 3 can be achieved by switching the mode in which the first one-way electromagnetic clutch 23 is operated when the second ring gear 20 rotates counterclockwise to the mode in which the second one-way electromagnetic clutch 20 is not operated when the second ring gear 20 rotates counterclockwise, and switching the mode in which the second one-way electromagnetic clutch 24 is not operated when the second sun gear 19 rotates clockwise to the mode in which the second sun gear 19 rotates clockwise. Preferably, the first and second one-way electromagnetic clutches 23 and 24 may be dry one-piece electromagnetic clutches. The first and second one-way electromagnetic clutches 23, 24 are put in an operating state by energization thereof and in an inoperative state by deenergization thereof.
Example 2
This embodiment is a further improvement of embodiment 1, and repeated parts are not described again.
As shown in fig. 1, the new energy source drive mechanism further includes a fixed shaft 4 and a first energy stocking mechanism 25 and a second energy stocking mechanism 27 for stocking energy. Preferably, the first energy storage mechanism 25 and the second energy storage mechanism 27 can store energy through manual or mechanical transmission. The core components of the first energy storage mechanism 25 and the second energy storage mechanism 27 are spring coils which are arranged in the shell of the first energy storage mechanism and fixed on the fixed shaft 4, and the spring coils are driven to contract and store energy through the rotation of the fixed shaft 4.
As shown in fig. 8, the rotor-type housings of the first and second energy stocking mechanisms 25 and 27 are connected to the fixed shaft 4 via a spring plate 31, wherein both ends of the spring plate 31 are connected to the inner wall of the rotor-type housing and the fixed shaft 4, respectively. Wherein the fixed shaft 4 is fixedly connected with the outer frame 32 so that it always remains in a fixed form. Preferably, the initial operating states of the respective spring plates 31 of the first energy storage mechanism 25 and the second energy storage mechanism 27 are different. For example, the initial operating state of the spring plate 31 of the first energy accumulating mechanism 25 is the ready state. The initial operating state of the spring plate 31 of the second energy accumulating mechanism 27 is the accumulated force state.
Preferably, the first energy storage mechanism 25 and the second energy storage mechanism 27 are respectively connected with the first swing link 29 and the second swing link 30 through a first traction strip 26 and a second traction strip 28 to drive the first swing link 29 and the second swing link 30.
For ease of understanding, the principles of operation of first and second stored energy mechanisms 25, 27 will be discussed.
The initial state of the corresponding spring plate 31 of the first energy storage mechanism 25 is the state to be stored. At this time, the user may apply an external force to the first bar 41 to drive the first energy storing mechanism 25 to rotate counterclockwise, and the spring plate 31 starts to store energy. At the same time, first traction bar 26 is pulled to move from left to right based on the counterclockwise rotation of first stored energy mechanism 25. When the external force of the first pulling strip 41 is removed, the first energy storage mechanism 25 is driven to rotate clockwise based on the energy stored by the spring plate 31, and the first traction strip 26 is further driven to move from right to left. Thereby completing one complete cycle of the back and forth oscillation of the first pendulum assembly 7.
The initial state of the corresponding spring plate 31 of the second energy stocking mechanism 27 is the power stocking state. At this time, the user may not apply an external force to the second brace 42, and based on the energy stored in the spring plate 31, the user drives the second energy storage mechanism 27 to rotate clockwise, thereby pushing the second traction bar 28 to move from right to left. After the above process is completed, the user applies an external force to the second brace 42 to drive the second energy storing mechanism 27 to rotate counterclockwise, so that the spring plate 31 starts to store energy. Meanwhile, the second traction bar 28 is pulled to move from left to right based on the counterclockwise rotation of the second energy storage mechanism 27. Thereby completing one complete cycle of the second pendulum assembly 8 back and forth oscillation.
Example 3
This embodiment is a further improvement of the foregoing embodiment, and repeated descriptions are omitted.
As shown in fig. 5 and fig. 6, the first planetary gear train, the second planetary gear train, the first energy storage mechanism 25 and the second energy storage mechanism 27 are respectively fixed on an outer frame 32 of the rehabilitation chair through an input shaft 1, an intermediate shaft 2, an output shaft 3 and a fixed shaft 4. Wherein, two ends of the output shaft 3 are respectively connected and fixed with the first wheel 33 and the second wheel 34, and the rotation of the output shaft 3 drives the rotation of the first wheel and the second wheel. In order to save space, the output shaft 1, the intermediate shaft 2, the output shaft 3 and the fixed shaft 4 are arranged on the same horizontal plane parallel to the ground, wherein the first energy storage mechanism 25 and the second energy storage mechanism 27 are both mounted on the fixed shaft 4. The plane defined by the first energy storage mechanism 25 and the second swing link 30 and the plane defined by the second energy storage mechanism 27 and the first swing link 29 are perpendicular to the axial direction of the output shaft 3.
Preferably, in order to keep the walking stability of the rehabilitation chair, at least two third wheels are further arranged. The first wheel and the second wheel are identical in size and structure, and the diameters of the first wheel and the third wheel are different. Preferably, in order to save the manufacturing cost, the third wheel is a driven wheel, and the diameter of the driven wheel is smaller than that of the first wheel. The outer frame 32 is also provided with a cushion 35 having a surface parallel to the ground for seating a user.
Preferably, in order to utilize the energy stored in the energy storage mechanism to the maximum extent to drive the rehabilitation chair to walk. The chair also comprises a return spring 36 and a weight 37. Wherein, a return spring 36 and a weight 37 are respectively arranged on the first swing link 29 and the second swing link 30. The first swing link 29 and the second swing link 30 are both mounted with a weight 37 through a sliding pair to form an operation form in which the weight can move in the axial direction of the first swing link or the second swing link. The first swing link 29 and the second swing link 30 are also fixedly connected in a manner that one end of the first swing link passes through the return spring and is connected with one end of the return spring. Wherein the return spring is located between the weight 37 and one of the ends of the first swing link or the second swing link, so that the weight compresses the return spring to move the inertia center of the swing link closer to the ground based on an increase in the swing speed of the first swing link or the second swing link.
Preferably, the rehabilitation chair also includes a control module consisting of a microprocessor 38, a communication module 39 and a power source 40. The communication module 39, the power source 40, the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 are all electrically connected with the microprocessor 38. The microprocessor 38, communication module 39 and power source 40 may be integrally disposed in a convenient location for the occupant by being enclosed within the same housing. Preferably, the seated person can select the desired mode of operation by operating a key in the form of a button. Or, after the microprocessor 38 is remotely connected to the smart mobile terminal 10, such as a mobile phone, a tablet computer, a smart wearable device, etc., through the communication module 39, the rehabilitation chair is adjusted to a desired working mode through the smart mobile terminal. Preferably, the microprocessor 38 may be a smart chip, a CPU, an integrated circuit board integrated with an arithmetic processor.
Preferably, the first and second swing links 29 and 30 have the same swing amplitude and start and end swinging simultaneously so that the rotation speeds of the first ring gear 15 and the first sun gear 11 are the same. In order to avoid that the first planet wheel 16 and the second planet wheel 17 have different rotation speeds, so that the two interfere with each other based on the different rotation speeds, it is necessary to set the numbers of teeth of the second planet wheel 17 and the first planet wheel 16 corresponding to the numbers of teeth of the first ring gear 15 and the first sun gear 11 so that the second planet wheel 17 and the first planet wheel 16 have the same rotation speed. Preferably, the first planetary gear train has a transmission ratio of 1 by setting the number of teeth of the first ring gear 15, the first sun gear 11, the second planetary gear 17 and the first planetary gear 16. At this point, the counter-clockwise rotation of the intermediate shaft 2 is driven by the simultaneous swinging of the first swing link 29 and the second swing link 30.
Preferably, the second planet gears 17 and the first planet gears 16 have the same rotational speed. The transmission ratio I of the first rocker lever 29 to the intermediate shaft 21＝N16/N11＝Z11/Z16(ii) a The transmission ratio I of the second rocker 30 to the intermediate shaft 22＝N17/N15＝Z15/Z17. N is the same because the first rocker 29 and the second rocker have the same amplitude11＝N15And the first planet wheel 16 and the second planet wheel 17 have the same angular speed, i.e. N16＝N17So that I1＝I2. Namely Z11/Z16＝Z15/Z17I.e. Z16*Z15＝Z11*Z17. Preferably, the gear modules of the second planetary gear 17, the first planetary gear 16, the first sun gear 11 and the first ring gear 15 are the same, so that the teethThe diameter of the wheel is proportional to the number of teeth. Defining a relationship D between the reference circle diameters of the second planet wheels 17, the first planet wheels 16, the first sun wheel 11 and the first ring gear 1516*D15＝D11*D17。
Preferably, the third planet gear 18 is in constant mesh with the second ring gear 20 and the second sun gear 19. Gear ratio I from third planetary gear 18 to second sun gear 193＝Z18/Z19Third planetary gear 18 to second ring gear 20 ratio I4＝Z18/Z20. The gear module of the third planet gear 18, the second ring gear 20 and the second sun gear 19 is the same. The gear modules of the third planetary gear 18, the second ring gear 20 and the second sun gear 19 are thus identical, the respective number of teeth and the respective reference circle diameters thereof being proportional. Preferably, D20Greater than D19The absence of slip between the first unidirectional electromagnetic clutch 23 and the second unidirectional electromagnetic clutch 24 easily leads to a transmission ratio I3Is not equal to I4So that the output shaft 3 is unstably rotated. Thus, the coefficient a is set to D19/D20And adjusting the size of A to debug the two one-way clutches. For example, setting the engagement coefficient of the second one-way electromagnetic clutch 24 to a and the engagement coefficient of the first one-way electromagnetic clutch 23 to 1 makes it possible to set the transmission ratio I transmitted to the output shaft 3 to a value of a3＝I4To make the output shaft 3 rotate stably.
Preferably, N16、N11、N17And N15Representing the angular velocities at which the first planet wheel 16, the first sun wheel 11, the second planet wheel 17 and the first ring gear 15 rotate, respectively. Z11、Z16、Z15、Z17、Z18、Z19And Z20Representing the number of teeth of the first sun gear 11, the first planet gear 16, the first ring gear 15, the second planet gear 17, the third planet gear 18, the second sun gear 19 and the second ring gear 20, respectively. D16、D15、D11、D17、D20And D19Which represent the reference circle diameters of the first planet wheel 16, the first ring gear 15, the first sun wheel 11, the second planet wheel 17, the second ring gear 20 and the second sun wheel 19, respectively.
For ease of understanding, the specific use of the rehabilitation chair is discussed below.
First, the operation modes of the first and second electromagnetic unidirectional clutches 23, 24 are set based on the control module. For example, when the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 is operated to connect the second ring gear 20 and the annular clutch plate 21 to each other by magnetic attraction, and the second one-way electromagnetic clutch 24 is not operated to disconnect the second sun gear 19 from the output shaft 3. When the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 does not operate and the second one-way electromagnetic clutch 24 operates.
The following description will be given with an example of a mode setting in which the first electromagnetic unidirectional clutch 23 is operated and the second electromagnetic unidirectional clutch 24 is not operated under the condition that the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise.
As shown in fig. 1, the swinging of the first swing link 29 from right to left about the second fixed point 6 based on the driving of the second energy storage mechanism 27 causes the first sun gear 11 to rotate clockwise, and at the same time, the swinging of the second swing link 30 from left to right about the first fixed point 5 based on the driving of the first energy storage mechanism 25 causes the first internal gear 15 to rotate counterclockwise. The clockwise rotation of the first sun gear 11 causes the first planetary gear 16 engaged therewith to rotate counterclockwise. The counterclockwise rotation of the first ring gear 15 drives the second planet gear 17 engaged with the first ring gear to rotate counterclockwise. The counter-clockwise rotation of the intermediate shaft 2 is brought about on the basis of the simultaneous counter-clockwise rotation of the first planet wheel 16 and the second planet wheel 17. Thereby completing the counterclockwise rotation of the intermediate shaft 2 based on the simultaneous swing of the first swing link 29 and the second swing link 30. Then, the intermediate shaft 2 is driven to rotate clockwise by the left-to-right swinging of the first swing link 29 and the right-to-left swinging of the second swing link 30. Similarly, the counter-clockwise rotation of the intermediate shaft 2 is then driven on the basis of the left-to-right pivoting of the first pivot lever 29 about the second fastening point 6 and the right-to-left pivoting of the second pivot lever 30 about the first fastening point 5. The intermediate shaft 2 is periodically rotated clockwise and counterclockwise based on the periodic reciprocal swing of the first swing link 29 and the second swing link 30.
As shown in fig. 2, the counterclockwise rotation of the intermediate shaft 2 rotates the third planetary gear 18 counterclockwise. Based on the counterclockwise rotation of the third planetary gear 18, the second ring gear 20 rotates counterclockwise, and at the same time, the second sun gear 19 rotates clockwise. At this time, the first unidirectional electromagnetic clutch 23 is operated and the second unidirectional electromagnetic clutch 24 is not operated, so that the annular clutch disc 21 rotates counterclockwise to drive the output shaft 3 fixed thereto to rotate counterclockwise, and meanwhile, the second sun gear 19 and the output shaft 3 are separated into two independent units without magnetic force adsorption, so that the clockwise rotation of the second sun gear 19 and the counterclockwise rotation of the output shaft 3 do not interfere with each other. Similarly, the clockwise rotation of the intermediate shaft 2 drives the third planetary gear 18 to rotate clockwise. Based on the clockwise rotation of the third planetary gear 18, the second ring gear 20 rotates clockwise, and at the same time, the second sun gear 19 rotates counterclockwise. At this time, the first one-way electromagnetic clutch 23 is not operated and the second one-way electromagnetic clutch 24 is operated. The second sun gear 19 and the output shaft 3 are attracted by magnetic force, so that the output shaft 3 rotates counterclockwise and drives the annular clutch disc 21 to rotate counterclockwise. Meanwhile, the lack of magnetic force between the second ring gear 20 and the annular clutch plate 21 disengages as two separate units so that the clockwise rotation of the second ring gear 20 and the counterclockwise rotation of the annular clutch plate 21 do not interfere with each other. Thereby, an operation form is realized in which the counterclockwise rotation of the output shaft 3 is formed based on both the clockwise rotation and the counterclockwise rotation of the intermediate shaft 2. As shown in fig. 5 and 6, first and second wheels are connected to both ends of the output shaft 3, respectively, so that the rehabilitation chair can be moved forward by the clockwise rotation of the output shaft 3. In order to realize that the rehabilitation chair moves towards the rear direction, the working modes of the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 can be switched based on a control module or an external device, so that the output shaft 3 rotates clockwise.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims (8)

1. A drive mechanism comprising an intermediate shaft (2) which is connected in a meshing transmission with an input shaft (1) and an output shaft (3), characterized in that a first end of each of a first rocker (29) and a second rocker (30) is connected to the input shaft (1) and forms an operating configuration in which the directions of oscillation of the first rocker (29) and the second rocker (30) are always opposite to each other,
the swing of the first swing rod (29) drives the intermediate shaft (2) to rotate in an external meshing transmission mode, the swing of the second swing rod (30) drives the intermediate shaft (2) to rotate in an internal meshing transmission mode, and a periodic positive and negative rotating working form of the intermediate shaft (2) is formed based on the periodic swing of the first swing rod (29) and the second swing rod (30);
the intermediate shaft (2) drives the output shaft (3) to rotate according to a mode of periodically alternating failure of internal engagement transmission and external engagement transmission, wherein the working form that the output shaft (3) keeps a fixed rotating direction is formed on the basis of the periodic positive and negative rotation of the intermediate shaft (2);
the driving mechanism also comprises a third planet wheel (18) arranged on the intermediate shaft (2), a second sun wheel (19) which is connected with the third planet wheel (18) according to an external meshing transmission mode and is arranged on the output shaft (3), a second gear ring (20) which is connected with the third planet wheel (18) according to an internal meshing transmission mode and an annular clutch disc (21) fixedly connected with the intermediate shaft (2),
the annular clutch disc (21) is used for nesting the second gear ring (20) and is connected with the second gear ring through a first one-way electromagnetic clutch (23) between the annular clutch disc (21) and the second gear ring (20), the annular clutch disc (21) and the second gear ring (20) are adsorbed together based on magnetic force generated by the first one-way electromagnetic clutch (23) and form a working form that the annular clutch disc (21) and the intermediate shaft (2) are driven to rotate based on rotation of the second gear ring (20);
the second sun gear (19) is used for nesting the output shaft (3) and is connected with the output shaft through a second one-way electromagnetic clutch (24) between the second sun gear and the output shaft, wherein the second sun gear (19) and the output shaft (3) are adsorbed together based on the magnetic force generated by the second one-way electromagnetic clutch (24) and form a working form that the output shaft (3) is driven to rotate based on the rotation of the second sun gear (19);
the driving mechanism further comprises a first sun gear (11) which is arranged on the input shaft (1) and is directly driven by the first swing rod (29), a first gear ring (15) which is indirectly fixed on the input shaft (1) through an outer gear ring rack (9) and is directly driven by the second swing rod (30), a first planet gear (16) which is arranged on the intermediate shaft (2) and is in external meshing transmission with the first sun gear (11), and a second planet gear (17) which is arranged on the intermediate shaft (2) and is in internal meshing transmission with the first gear ring (15); wherein the content of the first and second substances,
the external gear ring frame (9) is used for fixing the first gear ring (15) and forms a working form of rotating by taking the input shaft (1) as a rotation shaft after being connected with the input shaft (1).
2. The drive mechanism according to claim 1, characterized in that in a mode in which the first one-way electromagnetic clutch (23) generates a magnetic force based on the rotation of the second ring gear (20) in the first direction and the second one-way electromagnetic clutch (24) generates a magnetic force based on the rotation of the second sun gear (19) in the second direction, the output shaft (3) always maintains the rotation in the first direction based on the periodic forward and reverse rotations of the intermediate shaft (2);
in a mode in which the first one-way electromagnetic clutch (23) is operated based on rotation of the second ring gear (20) in the second direction and the second one-way electromagnetic clutch (24) is operated based on rotation of the second sun gear (19) in the first direction, the output shaft (3) always keeps rotating in the second direction based on periodic forward and reverse rotations of the intermediate shaft (2); wherein the content of the first and second substances,
the first direction and the second direction are opposite directions.
3. The drive mechanism according to claim 2, characterized in that the first rocker (29) and the second rocker (30) have the same amplitude of oscillation and are configured such that the angular speeds of the first planetary gear (16) and the second planetary gear (17) are maintained at the same time based on the setting of the tooth ratio of the first sun gear (11), the first ring gear (15), the first planetary gear (16), and the second planetary gear (17) to each other; wherein the content of the first and second substances,
in an operating mode that the first swing rod (29) swings in the third direction and the second swing rod (30) swings in the fourth direction, the first planet wheel (16) and the second planet wheel (17) drive the input shaft (1) to rotate in the fifth direction together in a mode of having the same angular speed;
in an operating mode that the first swing rod (29) swings in the fourth direction and the second swing rod (30) swings in the third direction, the first planet wheel (16) and the second planet wheel (17) drive the input shaft (1) to rotate in the sixth direction together in a mode of having the same angular speed; wherein the content of the first and second substances,
the third direction is opposite to the fourth direction, and the fifth direction is opposite to the sixth direction.
4. A drive mechanism according to claim 3, further comprising at least two energy accumulating mechanisms arranged at the stationary shaft (4), said energy accumulating mechanisms comprising at least a winding wheel (31) connected at one end to the stationary shaft, wherein,
the spring plate (31) is screwed down to store energy based on the action of external force;
the second end parts of the first swing link (29) and the second swing link (30) are respectively connected to the second energy storage mechanism (27) and the first energy storage mechanism (25) through a second traction strip (28) and a first traction strip (26) to realize the swinging of the two.
5. The drive mechanism according to claim 4, further comprising a return spring (36) and a weight (37) provided at the first swing link (29) and the second swing link (30), wherein,
the return spring (36) is positioned between the weight (37) and the second end portion to form an operating mode that the weight (37) can change the position of the gravity center of the weight (37) by compressing the return spring (36) during the swinging process of the first swinging rod (29) and the second swinging rod (30).
6. A rehabilitation wheelchair comprising a control module arranged at an outer frame (32), characterized in that it is equipped with a drive mechanism according to claim 4 or 5, wherein,
the rehabilitation wheelchair further comprises a first brace (41) and a second brace (42) which are respectively connected to the first energy storage mechanism (25) and the second energy storage mechanism (27), and the first energy storage mechanism (25) and the second energy storage mechanism (27) are stored with energy based on pulling of the first brace (41) and the second brace (42).
7. The rehabilitation wheelchair as claimed in claim 6, further comprising at least one pair of wheels provided on the outer frame (32), the control module comprising a communication module (39) and a power supply (40) electrically connected to the microprocessor (38), wherein,
microprocessor (38) with first one-way electromagnetic clutch (23) with the equal electricity of second one-way electromagnetic clutch (24) is connected, realizes through communication module (39) based on behind the wireless connection of control module and intelligent movement end (10) through intelligent movement end (10) control first one-way electromagnetic clutch (23) with the mode of second one-way electromagnetic clutch (24).
8. The rehabilitation wheelchair as claimed in claim 7, wherein a first wheel (33) and a second wheel (34) are respectively fixed to both ends of the output shaft (3) to drive the rehabilitation wheelchair to move based on the rotation of the output shaft (3).
CN201810292734.XA 2018-03-30 2018-03-30 Driving mechanism and rehabilitation wheelchair with same Expired - Fee Related CN108757843B (en)

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