CN109700638A - A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat - Google Patents
A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat Download PDFInfo
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- CN109700638A CN109700638A CN201910153904.0A CN201910153904A CN109700638A CN 109700638 A CN109700638 A CN 109700638A CN 201910153904 A CN201910153904 A CN 201910153904A CN 109700638 A CN109700638 A CN 109700638A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The present invention is a kind of rope driving rehabilitation device for lower limb joint structure for being installed on wheelchair seat, including main part, footrest mechanism, rope driving device and seat frame, the main part upper end is connected and fixed on seat frame by two joint pedestals, and lower end is connected with footrest mechanism；Main part includes joint pedestal, three stiffness changing structures, the first joint, guide rod, line handspike, second joint, third joint, support frame, line handspike pedestal, line handspike is fixed on along the vertical direction on line handspike pedestal, and guide rod is connected with footrest mechanism.The mechanism pulls rotary joint to rotate around axle center using rope driving, realizes the control to its motion profile, by three stiffness changing structures, changes joint stiffness, realize the decoupling of movement, due to the lightweight of rope driving, when which is installed in wheelchair seat, load-self weight ratio of complete machine can be improved.
Description
Technical field
The invention belongs to lower limb rehabilitation mechanism fields, refer specifically to a kind of be installed in wheelchair seat and by the lower limb of rope driving
Joint recovering mechanism.
Background technique
The increase of the disadvantaged group such as aging of population aggravation and limbs disability quantity, so that more and more people are because of dysfunction
It is unable to independent ambulation.Lower limb paralysis is sensory disturbance caused by being damaged due to nervous system, causes body lower limb to be lost complete
Or componental movement function.But clinic shows that rehabilitation training appropriate can improve the symptom of extremity numbness and dyskinesia.Pass through
Rehabilitation institution, which drives joint of lower extremity to do simple song of stretching, can promote blood circulation, and promotion functions improve.However existing lower limb health
Structure of answering a pager's call can not accurately allow hip joint, knee joint and ankle-joint to carry out targetedly rehabilitation training, and structure is complicated,
Equipment is heavy, expensive.
Application number 201810270119.9 discloses a kind of lower limb rehabilitation device that can be mounted on wheelchair, is being set to H-shaped
Thigh bar is affected under the driving of the second driving device of a pair of the left and right end of support frame, through linkage transmission, is being set
Shank bar is affected under the driving of disc type electric machine on the outside of knee joint, under the fourth drive device being set on shank bar
Foot pedal is affected, the movement of thigh bar, shank bar and foot pedal is realized.Although the mechanism has the health of joint of lower extremity
Multiple function, but four line handspike motors make control system complicated, and mechanism be easy it is self-locking, due to line handspike itself
Length and freedom degree, limit the rehabilitation amount in joint and the rehabilitation to a certain independent joint.Driving has been applied directly to people
The two sides in body joint, safety can not be protected.
Summary of the invention
For it is existing can to the independent joint rehabilitation training and multi-joint of joint of lower extremity coordinate rehabilitation training mechanism compared with
It is few, there are coupled problem and structure is complicated when three joints move at the same time, the kind of drive of motor gear make overall weight it is big,
The technical issues of the deficiencies of low efficiency, poor safety, the present invention intends to solve, is to provide a kind of independent joint with joint of lower extremity
Trained and multi-joint exercise for coordination function rehabilitation institution.The mechanism pulls rotary joint to rotate around axle center using rope driving, real
Now is changed by joint stiffness, realizes the decoupling of movement by three stiffness changing structures for the control of its motion profile, since rope drives
When the mechanism is installed in wheelchair seat, load-self weight ratio of complete machine is can be improved in dynamic lightweight.
The technical scheme is that
A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat, including main part, footrest mechanism, rope
Driving device and seat frame, it is characterised in that:
The main part upper end is connected and fixed on seat frame by two joint pedestals, lower end and footrest mechanism phase
Even；Main part includes joint pedestal, three stiffness changing structures, the first joint, guide rod, line handspike, second joint, third
Joint, support frame, line handspike pedestal, line handspike are fixed on along the vertical direction on line handspike pedestal, guide rod and foot-operated
Trigger structure is connected；The joint of second joint and stiffness changing structure (two) is separately connected on the upper end two sides of line handspike pedestal
End is driven, the other end of second joint is connected on the joint drive end of stiffness changing structure (three), the pass of stiffness changing structure (three)
The first joint is connected on section input terminal, the top in the first joint is connect by pin shaft with a joint pedestal, stiffness changing structure
(3) joint input terminal transmits power by bevel gear set and third motor, and the third motor is fixed on the first joint
Lower part；
It is limited and is axially moved by support frame between second joint and third joint, support frame is simultaneously by second joint and change
The motor base of stiffness structure (two) connects together；
The other end in third joint is connected on the joint input terminal of stiffness changing structure (one), the pass of stiffness changing structure (one)
It saves input terminal and passes through the joint drive end of third joint connection stiffness changing structure (two)；The joint drive end of stiffness changing structure (two)
Power is transmitted by corresponding bevel gear set and the second motor；The joint drive end of stiffness changing structure (one) passes through corresponding helical gear
Group and first motor transfer motion power, the motor base of first motor are connect with the joint pedestal that one is fixed on seat frame；
The footrest mechanism include gear, pedal motor, gear shaft, foot pedal, angle limit switch, two it is foot-operated
Plate connection frame, screw rod, foot pedal pedestal, sleeve pedestal；The output end of pedal motor passes through gear set and gear axis connection, tooth
Wheel shaft is fixed on a foot pedal connection frame, and the top of two foot pedal connection frames is symmetrically arranged on screw rod two sides, foot pedal
The bottom surface of foot pedal is fixed in connection frame lower end, the setting angle limit switch on the side of foot pedal connection frame；Foot pedal connects
It connects the top of frame while being fixed with foot pedal pedestal, setting is used to support the sleeve bottom of fixed guide pole on foot pedal pedestal
Seat；
The rope driving device has three groups of independent driving mechanisms in parallel, and each driving mechanism connects in the same manner, often
A driving mechanism includes rope driving motor, reel, pulley blocks, rope, and the pulley blocks include horizontal trolley and vertical pulley,
The two omnidirectional distribution is in seat frame front bottom end；The corresponding joint of described rope one end and main part is fixed, and the other end twines
It is wound on reel；Reel is fixed on the output shaft of rope driving motor.
The beneficial effects of the present invention are:
The present invention is that wheelchair increases a kind of rehabilitation institution, can drive the rehabilitation training of joint of lower extremity, the three of human body lower limbs
A joint, together with seat and main body joint, main body line handspike constitutes 6 linkages with 3DOF, utilizes kinematics
Inverse solution, the movement of the amount of spin and rope of moving bar piece when rehabilitation joint of lower extremity can be obtained according to the motion profile of foot pedal
Amount, as long as realizing lower limbs joint recovered training by controlling corresponding motor, stiffness changing structure can change joint stiffness,
Realize ankle-joint, in knee joint and hip joint single joint or multiple joint coordinations rehabilitation training.The mechanism can be into
Row is actively and passive rehabilitation training, driving motor are located at under-seat, and security reliability is higher, and rotary joint is led by rope
Draw, compared with gear transmission mode, space utilization rate is high, and quality is small, light-weighted to design the weight for greatly reducing complete machine.
Detailed description of the invention
The present invention is described further with reference to the accompanying drawings and detailed description:
Fig. 1 is the overall structure diagram for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat；
Fig. 2 is the structural representation of the main part for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat
Figure；
Fig. 3 is that the structure of the footrest mechanism for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat is shown
It is intended to；
Fig. 4 is that the structure of the rope driving device for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat is shown
It is intended to；
Fig. 5 is a certain position view of mechanism for carrying out knee-joint rehabilitation training；
Fig. 6 is the another location schematic diagram of mechanism for carrying out knee-joint rehabilitation training；
Fig. 7 is a certain position view of mechanism for carrying out hip joint healing training；
Fig. 8 is the another location schematic diagram of mechanism for carrying out hip joint healing training；
Fig. 9 is a kind of variation rigidity knot for rope driving embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat
The structural schematic diagram of stiffness tuning part is implemented in joint in structure；
Figure 10 is rope driving a kind of variation rigidity of embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat
The schematic diagram of internal structure of stiffness tuning part is implemented in joint in structure；
Figure 11 is structure in Fig. 9 along A-A directional profile structural schematic diagram；
Figure 12 is rope driving a kind of variation rigidity of embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat
The sleeve schematic perspective view of structure；
Figure 13 is rope driving a kind of variation rigidity of embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat
The center spindle structure schematic diagram of structure；
(in figure:
101, first motor；102, stiffness changing structure (one)；103, the second motor；104, guide rod；105, third motor；
106, line handspike；107, line handspike pedestal；108, second joint；109, the first joint；110, joint pedestal；111, it supports
Frame；112, third joint；113, stiffness changing structure (two)；114, stiffness changing structure (three)；
1021, the first cone disk；1022, torsional spring；1023, the first disc spring；1024, central axis；1025, first group of steel ball；
1026, the first sliding block；1027, the second sliding block；1028, the second disc spring；1029, the second cone disk；1030, second group of steel ball；
1031, left end cap；1032, the first pressure spring；1033, right-handed nut；1034, left-handed nut；1035, sleeve；1036, the second pressure
Spring；1037 first axle sleeves, 1,038 second axle sleeves；1039 helical teeth gear wheels；
21, rope driving motor；22, reel；23, horizontal trolley；24, vertical pulley；25, rope；
30, gear；31, pedal motor；32, gear shaft；33, foot pedal；34, angle limit switchs；35, foot pedal connects
Connect frame；36, screw rod；37, foot pedal pedestal；38, sleeve pedestal；4, seat frame.
Specific embodiment
The specific embodiment of invention is given below, and is described further in conjunction with diagram:
The present invention is installed on the rope driving rehabilitation device for lower limb joint structure of wheelchair seat, including main part, footrest mechanism
With rope driving device,
The main part upper end is connected and fixed on seat frame 4 by two joint pedestals 110, lower end and foot-operated trigger
Structure is connected；Main part includes 110, three stiffness changing structures of joint pedestal, the first joint 109, guide rod 104, line handspike
106, second joint 108, third joint 112, support frame 111, line handspike pedestal 107, line handspike 106 are solid along the vertical direction
It is scheduled on line handspike pedestal 107, guide rod 104 is connected with the sleeve pedestal 38 of footrest mechanism, guarantees the fortune of line handspike
It is dynamic axially not have radial force；Second joint is separately connected on the upper end two sides of line handspike pedestal 107
108 and stiffness changing structure (two) 113 joint drive end, the other end of second joint 108 is connected to stiffness changing structure (three)
On 102 joint drive end, the first joint 109, the first joint 109 are connected on the joint input terminal of stiffness changing structure (three) 102
Top connect with a joint pedestal 110 by pin shaft, the joint input terminal of stiffness changing structure (three) 102 passes through bevel gear set
Power is transmitted with third motor 105, the third motor 105 is fixed on the lower part in the first joint, and third motor is located at first
The inside in joint；
It is connected between second joint 108 and third joint 112 by support frame 111, second joint and third joint pass through
Support frame limitation is axially moved, and the motor base of second joint and stiffness changing structure (two) 113 is connected to by support frame 111 simultaneously
Together；
The other end in third joint 112 is connected on the joint input terminal of stiffness changing structure (one), stiffness changing structure (one)
102 joint input terminal connects the joint drive end of stiffness changing structure (two) 113 by third joint 112；Stiffness changing structure
(2) 113 joint drive end power is transmitted by corresponding bevel gear set and the second motor 103；The pass of stiffness changing structure (one)
By corresponding bevel gear set and 101 transfer motion power of first motor, the motor base of first motor 101 and one consolidate at section driving end
The joint pedestal 110 being scheduled on seat frame 4 connects；
The footrest mechanism includes gear 30, pedal motor 31, gear shaft 32, foot pedal 33, angle limit switch
34, two foot pedal connection frames 35, screw rod 36, foot pedal pedestal 37, sleeve pedestal 38；The output end of pedal motor 31 passes through
Gear set is connect with gear shaft 32, and gear shaft 32 is fixed on a foot pedal connection frame 35, two foot pedal connection frames it is upper
Portion is symmetrically arranged on 36 two sides of screw rod, and the bottom surface of foot pedal 33 is fixed in foot pedal connection frame lower end, in foot pedal connection frame 35
Side on setting angle limit switch 34, for control foot pedal swing angle；The top of foot pedal connection frame simultaneously with
Foot pedal pedestal 37 is fixed, and sleeve pedestal 38 is arranged on foot pedal pedestal 37, and sleeve pedestal is used to support fixed guide pole
104；
The pedal motor 31 by gear set be driven drive foot pedal connection frame 35 rotate, foot pedal connection frame 35 around
The rotation of gear shaft 32 drives foot pedal 33 to swing up and down；The angle limit switch 34 by swinging to certain angle under foot pedal 33 and
Triggering, cutting pedal motor 31 rotate；
The rope driving device has three groups of independent driving mechanisms in parallel, and each driving mechanism connects in the same manner, often
A driving mechanism includes rope driving motor 21, reel 22, pulley blocks, rope 25, and the pulley blocks include 23 He of horizontal trolley
Vertical pulley 24, the two omnidirectional distribution is in seat frame front bottom end；The corresponding joint of described rope 25 one end and main part
Fixed, the other end is wrapped on reel 22；Reel 22 is fixed on the output shaft of rope driving motor 21.
Joint of lower extremity in the present invention mainly includes ankle-joint, knee joint, hip joint.The mechanism can be closed individually for one
Section carries out rehabilitation training and multiple joints carry out exercise for coordination.
First joint, 109 upper end is connect by pin shaft with joint pedestal 110, and lower end is connected with stiffness changing structure (one) 114；
Due to the first joint 109, the coupling of second joint 108 and third joint 112 during exercise, if during control according to
Secondary application power, this method are clearly inefficient, so introducing stiffness changing structure to be decoupled.Three changes in the present invention
The structure of stiffness structure is identical, and restrictive condition is: since the overall space of rehabilitation institution limits, and meeting it and use function
Can, three sets of stiffness changing structures are applied on three moving bar pieces (i.e. three joints) simultaneously.
The stiffness changing structure (referring to Figure 10), including central axis, torsional spring, first group of steel ball, the first cone disk, the first dish
Spring, the first sliding block, the second sliding block, the second disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure spring, right-handed nut, a left side
Spin nut, sleeve, the second pressure spring, the first axle sleeve, the second axle sleeve；The both ends of central axis are separately connected joint joint input terminal and pass
Section driving end, joint joint input terminal is connect with corresponding motor, and is fixed by corresponding motor mounting base；Helical teeth gear wheel is in
Mandrel cooperation, and fixed with joint joint input terminal；Torsional spring is wound outside sleeve, one end and joint joint of the torsional spring input
End is fixed, and the other end is fixed with joint drive end；Helical teeth gear wheel is meshed with helical pinion, is connected by helical pinion
Corresponding motor；
It is above-mentioned first cone disk, the first sliding block, the first disc spring, the first pressure spring respectively with it is corresponding second cone disk, the second sliding block,
Second disc spring, the second pressure spring shape and structure are identical；
It is the center shaft shoulder 10241 in the middle part of the central axis 1024, the shaft part at center shaft shoulder both ends is lead screw 10242, two
Lead screw is oppositely oriented, is primary optic axis 10243 on the outside of lead screw；The outside of primary optic axis is the second optical axis 10244, in side
Second optical axis is equipped with keyway 10245；The outside of second optical axis is third optical axis 10246, and the outside of third optical axis is thread spindle
10247, there is the shaft shoulder in primary optic axis, the second optical axis, third optical axis, thread spindle between any two；
Left end cap 1031, the second pressure spring are successively nested with from driving end to joint input terminal on the central axis 1024
1036, the second cone disk 1029, the second disc spring 1028, left-handed nut 1034, right-handed nut 1033, the first disc spring 1023, first cone
Disk 1021, the first pressure spring 1032, helical teeth gear wheel 1039, the left-handed nut 1034, right-handed nut 1033 are connected through a screw thread
On the corresponding lead screw of central axis 1024, the second cone disk 1029, first bores disk 1021 and is separately fixed at the first of central axis 1024
On optical axis；Helical teeth gear wheel is mounted on the second optical axis of the central axis 1024 on the outside of the first cone disk by keyway 10245, left end
Lid 1031 is located on the second optical axis of the central axis on the outside of the second cone disk；First disc spring 1023, the first pressure spring 1032, second
There are gaps between central axis 1024 for disc spring 1028, the second pressure spring 1036；The left end cap 1031 passes through interference fit peace
It is mounted on the second optical axis 10244 of central axis 1024, axially position is carried out to it by the second axle sleeve 1038；
1035 sets of the sleeve on first group of steel ball 1040 and second group of steel ball 1041, sleeve both ends are distributed identical number
Amount, but the sliding slot that position is staggered, the quantity of sliding slot can have 3,4,5,6 etc., while on the circumference side of sleeve
It is provided with a through slot 10351；First group of steel ball 1040 is located in the steel bead groove of the first cone disk 1021, passes through left end cap 1031
The flange of stretching limits its axial displacement；Second group of steel ball 1041 is located in the steel bead groove of the second cone disk 1029, by oblique
Tooth gear wheel 1039 limits its axial displacement；
1026 sets of first sliding block limits its rotation, while the outside of left and right end nut point on right-handed nut 1033
It is furnished with the convex shape of equivalent amount, convex shape is matched with the sliding slot on sleeve, and protrusion can horizontally slip in sliding slot；Institute
It states 1027 sets of the second sliding block and limits its rotation on left-handed nut 1034.
The stiffness tuning method of stiffness changing structure is: motor (first motor, the second motor, third motor) is passed by gear
Dynamic to drive central axis rotation, the left and right spin nut on central axis is axially moveable to both ends respectively, so that the first cone disk and second
Bore the steel ball on disk it is mobile in steel bead groove and then and barrel contacts, and then the torsion of torsional spring is hindered, by adjusting two disc springs
Decrement realize active variable stiffness function so that rigidity changes；When occurring to turn clock synchronization relatively, torsional spring twists,
Radial deformation occurs for internal diameter, and sleeve is deformed so that first group of steel ball and the first cone disk and second group of steel ball and
Second cone disk cooperates two-by-two, and radial displacement is converted to axial displacement, compresses the first disc spring and the second disc spring, hinders joint
The relative rotation at end and joint joint input terminal is driven, realizes flexible output, i.e. realization passive stiffness-shift function.
The present invention is installed on the working principle of the rope driving rehabilitation device for lower limb joint structure of wheelchair seat and the course of work is:
The rehabilitation course in joint is carried out using the rehabilitation institution: according to the movement rail of foot pedal when rehabilitation human body lower limbs joint
Mark inversely derives the rise of the first joint 109, second joint 108, the turned position in third joint 112 and line handspike 106
And the swing angle of foot pedal 33.It the turned position in joint can be clockwise or inverse with movable reel 22 by rope driving motor 21
Hour hands rotation, one end are fixed on the rope 25 on reel 22 around horizontal trolley 23 and the movement of vertical pulley 24, can be drawn diarthrodial
Rotation.Footrest mechanism provides torque by pedal motor 31, and band moving gear 30 rotates, and gear shaft 32 is connected with the footrest frame
35 is fixed, and 33 wire winding rod 36 of foot pedal can be made to swing up and down, when swinging to extreme position, trigger angle limit switch under foot pedal 33
34, then pedal motor 31 stops operating.
The rehabilitation institution has control system, it can be achieved that hip joint, knee joint and the individual rehabilitation training of ankle-joint, rehabilitation
Person need to only be sitting on wheelchair, and foot is put on the footrests, using foot pedal as a platform, passes through human foot planned in advance
Motion profile realize independent training or the exercise for coordination of hip joint, knee joint and ankle-joint, comfortableness and security are higher,
Even if control is broken down, the mobility in human body lower limbs joint can also slow down impact injury, should due to the lightweight of rope driving
Mechanism is installed in wheelchair seat, and load-self weight ratio of complete machine can be improved.
Embodiment 1
The present embodiment is installed on the rope driving rehabilitation device for lower limb joint structure of wheelchair seat, including main part 1, foot-operated trigger
Structure 3 and rope driving device 2,
The main part upper end is connected and fixed on seat frame 4 by two joint pedestals 110, lower end and foot-operated trigger
Structure is connected；Main part includes 110, three stiffness changing structures of joint pedestal, the first joint 109, guide rod 104, line handspike
106, second joint 108, third joint 112, support frame 111, line handspike pedestal 107,
The stiffness changing structure (three) 114 is rotated by inside third motor 105 by gear set drive central shaft 1024,
Internal nut axial movement squeezes disc spring, axial force is converted to radial force using ball and cone disk, to realize variation rigidity.Institute
It states 108 one end of second joint to connect with stiffness changing structure (three) 114, the other end is connect with line handspike pedestal 106.The straight line
Push rod end connecting pin pedal base 37.Stiffness changing structure (one) 102, first motor bottom are connected on the outside of the third joint 112
Seat is fixed in wheelchair frame, and second joint 108 and third joint 112 are axially moved by the limitation of support frame 111.
The footrest mechanism includes gear 30, pedal motor 31, gear shaft 32, foot pedal 33, angle limit switch
34, foot pedal connection frame 35, screw rod 36, foot pedal pedestal 37, sleeve pedestal 38.The foot pedal connection frame 35 is symmetrically arranged on
36 two sides of screw rod, the other end are fixed on 33 bottom surface of foot pedal.The pedal motor 31 is fixed on pedestal one end, is passed by gear
Dynamic that foot pedal connection frame 35 is driven to rotate, the rotation of 35 wire winding rod 36 of foot pedal connection frame drives foot pedal 33 to swing up and down.It is described
Angle limit switch 34 is triggered by swinging to extreme angles under foot pedal 33, and cutting pedal motor 31 rotates.
The rope driving device is made of three groups of mechanisms in parallel, including rope driving motor 21, reel 22, horizontal trolley
23, vertical pulley 24, rope 25.Driving device of restricting includes three sets of independent mechanisms, and every sets of cords connects in the same manner.It is described
The arthrodesis of rope 25 one end and main part, the other end are wrapped on reel 22.
By taking rehabilitation knee joint as an example, when human body knee joint angle changes to 130 ° of Fig. 6 by 95 ° of Fig. 5, driving motor of restricting
21 band movable reels 22 rotate, so that rope 25 is mobile around horizontal trolley 23 and vertical pulley 24, first under the traction of rope 25
Joint 109 is rotated counterclockwise around top pin shaft, and second joint 108 is rotated clockwise around the central axis of stiffness changing structure (three) 114,
Line handspike 106 is rotated counterclockwise around top pin shaft, and wherein the action situation of stiffness changing structure (three) 114 is third motor 105
It is rotated by gear set drive central shaft 1024, internal nut is mobile to axis center position, discharges disc spring pressure, first group of steel
Pearl 1040 and second group of steel ball 1041 are mobile to centre along the chute, and 1035 diameter of sleeve is reduced, to reduce it to torsional spring
1022 extruding.Pedal motor 31 is rotated with moving gear 30, so that foot pedal 33 is rotated around the instantaneous needle of gear shaft 32.
The modification and same transformation made according to the present invention still fall within protection scope of the present invention.
The present invention does not address place and is suitable for the prior art.
Claims (4)
1. a kind of rope driving rehabilitation device for lower limb joint structure for being installed on wheelchair seat, including main part, footrest mechanism, rope drive
Dynamic device and seat frame, it is characterised in that:
The main part upper end is connected and fixed on seat frame by two joint pedestals, and lower end is connected with footrest mechanism；
Main part includes joint pedestal, three stiffness changing structures, the first joint, guide rod, line handspike, second joint, third pass
Section, support frame, line handspike pedestal, line handspike are fixed on along the vertical direction on line handspike pedestal, guide rod and foot pedal
Mechanism is connected；It drives in the joint that second joint and stiffness changing structure (two) are separately connected on the upper end two sides of line handspike pedestal
Moved end, the other end of second joint are connected on the joint drive end of stiffness changing structure (three), the joint of stiffness changing structure (three)
The first joint is connected on input terminal, the top in the first joint is connect by pin shaft with a joint pedestal, stiffness changing structure (three)
Joint input terminal power is transmitted by bevel gear set and third motor, the third motor is fixed on the lower part in the first joint；
It is limited and is axially moved by support frame between second joint and third joint, support frame is simultaneously by second joint and variation rigidity
The motor base of structure (two) connects together；
The other end in third joint is connected on the joint input terminal of stiffness changing structure (one), and the joint of stiffness changing structure (one) is defeated
Enter end and passes through the joint drive end of third joint connection stiffness changing structure (two)；The joint drive end of stiffness changing structure (two) passes through
Corresponding bevel gear set and the second motor transmit power；The joint drive end of stiffness changing structure (one) by corresponding bevel gear set with
First motor transfer motion power, the motor base of first motor are connect with the joint pedestal that one is fixed on seat frame；
The footrest mechanism includes gear, pedal motor, gear shaft, foot pedal, angle limit switch, two foot pedals companies
Connect frame, screw rod, foot pedal pedestal, sleeve pedestal；The output end of pedal motor passes through gear set and gear axis connection, gear shaft
It is fixed on a foot pedal connection frame, the top of two foot pedal connection frames is symmetrically arranged on screw rod two sides, foot pedal connection
The bottom surface of foot pedal is fixed in frame lower end, the setting angle limit switch on the side of foot pedal connection frame；Foot pedal connection frame
Top fixed simultaneously with foot pedal pedestal, setting is used to support the sleeve pedestal of fixed guide pole on foot pedal pedestal；
The rope driving device has three groups of independent driving mechanisms in parallel, and each driving mechanism connects in the same manner, each drive
Motivation structure includes rope driving motor, reel, pulley blocks, rope, and the pulley blocks include horizontal trolley and vertical pulley, the two
Omnidirectional distribution is in seat frame front bottom end；The corresponding joint of described rope one end and main part is fixed, and the other end is wrapped in
On reel；Reel is fixed on the output shaft of rope driving motor.
2. the rope driving rehabilitation device for lower limb joint structure according to claim 1 for being installed on wheelchair seat, which is characterized in that three
A stiffness changing structure is identical, and each stiffness changing structure includes central axis, torsional spring, first group of steel ball, the first cone disk, the first dish
Spring, the first sliding block, the second sliding block, the second disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure spring, right-handed nut, a left side
Spin nut, sleeve, the second pressure spring, the first axle sleeve, the second axle sleeve；The both ends of central axis are separately connected joint, joint input terminal and
Joint drive end, joint input terminal are connect with corresponding motor, and are fixed by corresponding motor mounting base；Helical teeth gear wheel and center
Axis cooperation, and fixed with joint input terminal；Torsional spring is wound outside sleeve, one end and the joint input terminal of the torsional spring are fixed, separately
One end is fixed with joint drive end；Helical teeth gear wheel is meshed with helical pinion, connects corresponding motor by helical pinion；
Above-mentioned first cone disk, the first sliding block, the first disc spring, the first pressure spring bore disk, the second sliding block, second with corresponding second respectively
Disc spring, the second pressure spring shape and structure are identical.
3. the rope driving rehabilitation device for lower limb joint structure according to claim 2 for being installed on wheelchair seat, which is characterized in that institute
Stating in the middle part of central axis is the center shaft shoulder, and the shaft part at center shaft shoulder both ends is lead screw, and two lead screws are oppositely oriented, are on the outside of lead screw
Primary optic axis；The outside of primary optic axis is the second optical axis, and keyway is equipped on the second optical axis of side；The outside of second optical axis is
The outside of third optical axis, third optical axis is thread spindle, and primary optic axis, the second optical axis, third optical axis, thread spindle are deposited between any two
In the shaft shoulder；
Left end cap, the second pressure spring, the second cone disk, the second dish are successively nested on the central axis from driving end to joint input terminal
Spring, left-handed nut, right-handed nut, the first disc spring, the first cone disk, the first pressure spring, helical teeth gear wheel, the left-handed nut, dextrorotation
Nut is threadedly attached on the corresponding lead screw of central axis, and the second cone disk, the first cone disk are separately fixed at the first of central axis
On optical axis；On second optical axis of the central axis that helical teeth gear wheel is mounted on the outside of the first cone disk by keyway, left end cap is located at the
On second optical axis of the central axis on the outside of plug tap disk；First disc spring, the first pressure spring, the second disc spring, the second pressure spring are in
There are gaps between mandrel；The left end cap is mounted on the second optical axis of central axis by interference fit, passes through the second axis
Set carries out axially position to it；
The sleeve covers on first group of steel ball and second group of steel ball, and uniformly distributed multiple sliding slots are provided on the circumference of left and right ends,
A through slot is provided on the circumference side of sleeve simultaneously；First group of steel ball is located in the steel bead groove of the first cone disk, passes through
The flange that left end cap stretches out limits its axial displacement；Second group of steel ball is located in the steel bead groove of the second cone disk, passes through helical teeth
Gear wheel limits its axial displacement；
First slide block set limits its rotation on right-handed nut, and the lateral surface of sliding block is axially evenly arranged with the along sliding block
The protrusion of the identical quantity of two sliding blocks, convex shape are matched with the sliding slot on sleeve, and protrusion can horizontally slip in sliding slot；It is described
Second slide block set limits its rotation on left-handed nut.
4. the rope driving rehabilitation device for lower limb joint structure according to claim 1 for being installed on wheelchair seat, which is characterized in that three
A stiffness changing structure is arranged in the main part of mechanism, and one end of stiffness changing structure (one) and joint pedestal are connected and fixed on seat
On chair frame, the other end is connect with third joint；One end of stiffness changing structure (two) is connect with support frame, and the other end is pushed away with straight line
The connection of bar pedestal；Stiffness changing structure (three) is arranged among the first joint and second joint.
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| CN201910153904.0A CN109700638B (en) | 2019-03-01 | 2019-03-01 | Rope-driven lower limb joint rehabilitation mechanism mounted on wheelchair seat |
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| CN109700638B (en) | 2023-08-25 |
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