CN109700638B - Rope-driven lower limb joint rehabilitation mechanism mounted on wheelchair seat - Google Patents
Rope-driven lower limb joint rehabilitation mechanism mounted on wheelchair seat Download PDFInfo
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- CN109700638B CN109700638B CN201910153904.0A CN201910153904A CN109700638B CN 109700638 B CN109700638 B CN 109700638B CN 201910153904 A CN201910153904 A CN 201910153904A CN 109700638 B CN109700638 B CN 109700638B
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention relates to a rope-driven lower limb joint rehabilitation mechanism arranged on a wheelchair seat, which comprises a main body part, a pedal mechanism, a rope driving device and a seat frame, wherein the upper end of the main body part is fixedly connected to the seat frame by two joint bases, and the lower end of the main body part is connected with the pedal mechanism; the main part includes joint base, three become rigidity structure, first joint, guide bar, sharp push rod, second joint, third joint, support frame, sharp push rod base, and sharp push rod is fixed on sharp push rod base along vertical direction, and the guide bar links to each other with running-board mechanism. The mechanism is driven by the rope, the rotary joint is pulled to rotate around the axis, the control of the motion trail of the rotary joint is realized, the rigidity of the joint is changed through three rigidity-changing structures, the decoupling of motion is realized, and the load-self weight ratio of the whole machine can be improved when the mechanism is arranged on a wheelchair seat due to the light weight of the rope drive.
Description
Technical Field
The invention belongs to the field of lower limb rehabilitation mechanisms, and particularly relates to a lower limb joint rehabilitation mechanism which is arranged on a wheelchair seat and driven by ropes.
Background
The population aging aggravates and the number of weak groups such as limb disabilities increases, so that more and more people cannot walk independently due to dysfunction. Paralysis of the lower extremities is a sensory disturbance due to a damaged nervous system, resulting in loss of complete or partial motor function of the lower extremities of the body. However, the clinical application shows that the proper rehabilitation training can improve the symptoms of limb numbness and dyskinesia. The rehabilitation mechanism drives the joints of the lower limbs to make simple stretching, so that the blood circulation can be promoted, and the function improvement can be promoted. However, the existing lower limb rehabilitation mechanism cannot accurately enable the hip joint, the knee joint and the ankle joint to perform targeted rehabilitation training, and has the disadvantages of complex structure, heavy equipment and high price.
Application number 201810270119.9 discloses a lower limb rehabilitation device capable of being carried on a wheelchair, wherein a thigh rod is pulled under the drive of a pair of second driving devices arranged at the left end and the right end of an H-shaped support frame and driven by a connecting rod mechanism, a shank rod is pulled under the drive of a disc motor arranged at the outer side of a knee joint, and a pedal plate is pulled under the drive of a fourth driving device arranged on the shank rod, so that the movement of the thigh rod, the shank rod and the pedal plate is realized. The mechanism has the rehabilitation function of the joints of the lower limbs, but the four linear push rod motors complicate a control system, the mechanism is easy to self-lock, and the rehabilitation activity of the joints and the rehabilitation of a certain single joint are limited due to the length and the freedom degree of the linear push rod. The driving is directly applied to the two sides of the joints of the human body, and the safety can not be ensured.
Disclosure of Invention
Aiming at the defects that the existing mechanisms capable of performing rehabilitation training on the independent joints and the multi-joint coordination rehabilitation training on the joints of the lower limbs are fewer, the three joints have coupling problems during simultaneous movement and have complex structures, the transmission mode of a motor gear ensures that the whole weight is large, the efficiency is low, the safety is poor and the like, the invention aims to solve the technical problem of providing the rehabilitation mechanism with the functions of the independent joint training and the multi-joint coordination training of the joints of the lower limbs. The mechanism is driven by the rope, the rotary joint is pulled to rotate around the axis, the control of the motion trail of the rotary joint is realized, the rigidity of the joint is changed through three rigidity-changing structures, the decoupling of motion is realized, and the load-self weight ratio of the whole machine can be improved when the mechanism is arranged on a wheelchair seat due to the light weight of the rope drive.
The technical scheme of the invention is as follows:
the utility model provides a install in rope drive low limbs joint rehabilitation mechanism of wheelchair seat, includes main part, running-board mechanism, rope drive arrangement and seat frame, its characterized in that:
the upper end of the main body part is fixedly connected to the seat frame by two joint bases, and the lower end of the main body part is connected with the pedal mechanism; the main body part comprises a joint base, three rigidity-changing structures, a first joint, a guide rod, a linear push rod, a second joint, a third joint, a support frame and a linear push rod base, wherein the linear push rod is fixed on the linear push rod base along the vertical direction, and the guide rod is connected with the pedal mechanism; the two lateral surfaces of the upper end of the linear push rod base are respectively connected with a second joint and a joint driving end of a variable stiffness structure (II), the other end of the second joint is connected with a joint driving end of a variable stiffness structure (III), a joint input end of the variable stiffness structure (III) is connected with a first joint, the upper part of the first joint is connected with one joint base through a pin shaft, the joint input end of the variable stiffness structure (III) transmits power with a third motor through a bevel gear set, and the third motor is fixed at the lower part of the first joint;
the second joint and the third joint are limited to move axially through a support frame, and the support frame simultaneously connects the second joint with a motor base of the rigidity-changing structure (II);
the other end of the third joint is connected to the joint input end of the variable stiffness structure (I), and the joint input end of the variable stiffness structure (I) is connected with the joint driving end of the variable stiffness structure (II) through the third joint; the joint driving end of the rigidity-changing structure (II) transmits power with the second motor through a corresponding bevel gear group; the joint driving end of the rigidity-changing structure (I) is in transmission power with a first motor through a corresponding bevel gear set, and a motor base of the first motor is connected with a joint base fixed on the seat frame;
the pedal mechanism comprises a gear, a pedal motor, a gear shaft, pedals, an angle limit switch, two pedal connecting frames, a screw rod, a pedal base and a sleeve base; the output end of the pedal motor is connected with a gear shaft through a gear set, the gear shaft is fixed on one pedal connecting frame, the upper parts of the two pedal connecting frames are symmetrically arranged on two sides of the screw rod, the lower end of the pedal connecting frame is fixed on the bottom surface of the pedal, and an angle limit switch is arranged on one side of the pedal connecting frame; the upper part of the pedal connecting frame is simultaneously fixed with the pedal base, and a sleeve base for supporting and fixing the guide rod is arranged on the pedal base;
the rope driving device is provided with three groups of independent driving mechanisms which are connected in parallel, each driving mechanism is connected in the same way, each driving mechanism comprises a rope driving motor, a winding drum, a pulley block and a rope, the pulley block comprises a horizontal pulley and a vertical pulley, and the horizontal pulley and the vertical pulley are orthogonally distributed at the bottom of the front end of the seat frame; one end of the rope is fixed with the corresponding joint of the main body part, and the other end of the rope is wound on the winding drum; the winding drum is fixed on the output shaft of the rope driving motor.
The invention has the beneficial effects that:
the invention adds a rehabilitation mechanism for the wheelchair, can drive rehabilitation training of lower limb joints, three joints of human lower limbs, a seat, a main body joint and a main body linear push rod to form a 6-rod mechanism with 3 degrees of freedom, can obtain the rotation quantity of a movable rod piece and the movement quantity of a rope when the lower limb joints are rehabilitated according to the movement track of a pedal by utilizing kinematic inverse solution, can realize the rehabilitation training of the lower limb joints only by controlling corresponding motors, can change the joint rigidity by a rigidity-changing structure, and realizes the rehabilitation training of single joint or coordination of a plurality of joints in ankle joints, knee joints and hip joints. The mechanism can perform active and passive rehabilitation training, the driving motor is positioned below the seat, the safety and the reliability are high, the rotary joint is pulled by the rope, and compared with a gear transmission mode, the space utilization rate is high, the weight is small, and the weight of the whole machine is greatly reduced due to the light-weight design.
Drawings
The invention is further described with reference to the drawings and detailed description which follow:
FIG. 1 is a schematic view of the overall structure of a rope-driven lower limb joint rehabilitation mechanism mounted to a wheelchair seat of the present invention;
FIG. 2 is a schematic view of the main body portion of the rope-driven lower limb joint rehabilitation mechanism mounted to a wheelchair seat of the present invention;
FIG. 3 is a schematic view of the foot pedal mechanism of the rope driven lower limb joint rehabilitation mechanism mounted to the wheelchair seat of the present invention;
FIG. 4 is a schematic view of the rope drive mechanism of the rope driven lower limb joint rehabilitation mechanism mounted to the wheelchair seat of the present invention;
FIG. 5 is a schematic view of a position of a mechanism for performing knee rehabilitation training;
FIG. 6 is a schematic view of another position of the mechanism, for example, for performing knee rehabilitation;
FIG. 7 is a schematic view of a position of a mechanism for performing hip rehabilitation training;
FIG. 8 is a schematic view of another position of the mechanism, for example, for performing hip rehabilitation training;
FIG. 9 is a schematic view of the structure of the joint-implementing stiffness adjustment portion of the variable stiffness structure of one embodiment of the rope-driven lower limb joint rehabilitation mechanism mounted to a wheelchair seat of the present invention;
FIG. 10 is a schematic view showing the internal structure of a joint-implementing rigidity adjusting part in a rigidity-varying structure of one embodiment of a rope-driven lower limb joint rehabilitation mechanism mounted to a wheelchair seat according to the present invention;
FIG. 11 is a schematic cross-sectional view of the structure of FIG. 9 taken along the direction A-A;
FIG. 12 is a perspective view of a sleeve of a variable stiffness structure of one embodiment of a rope driven lower limb joint rehabilitation mechanism mounted to a wheelchair seat in accordance with the present invention;
FIG. 13 is a schematic view of the central axis of a variable stiffness structure of one embodiment of a rope driven lower extremity joint rehabilitation mechanism that is mounted to a wheelchair seat in accordance with the present invention;
(in the figure:
101. a first motor; 102. a variable stiffness structure (I); 103. a second motor; 104. a guide rod; 105. a third motor; 106. a straight push rod; 107. a linear push rod base; 108. a second joint; 109. a first joint; 110. a joint base; 111. a support frame; 112. A third joint; 113. a rigidity-variable structure (II); 114. a variable stiffness structure (III);
1021. a first conical disc; 1022. a torsion spring; 1023. a first disc spring; 1024. a central shaft; 1025. a first set of steel balls; 1026. A first slider; 1027. a second slider; 1028. a second disc spring; 1029. a second conical disk; 1030. a second set of steel balls; 1031. A left end cover; 1032. a first compression spring; 1033. a right-handed nut; 1034. a left-handed nut; 1035. a sleeve; 1036. a second compression spring; 1037 a first sleeve, 1038 a second sleeve; 1039 helical gear;
21. a rope driving motor; 22. a reel; 23. a horizontal pulley; 24. a vertical pulley; 25. a rope;
30. a gear; 31. a foot pedal motor; 32. a gear shaft; 33. a foot pedal; 34. an angle limit switch; 35. a foot pedal connecting frame; 36. a screw rod; 37. a foot pedal base; 38. a sleeve base; 4. a seat frame.
Detailed Description
Specific embodiments of the invention are given below and further described with reference to the drawings:
the invention relates to a rope-driven lower limb joint rehabilitation mechanism arranged on a wheelchair seat, which comprises a main body part, a pedal plate mechanism and a rope driving device,
the upper end of the main body part is fixedly connected to the seat frame 4 by two joint bases 110, and the lower end of the main body part is connected with a pedal mechanism; the main body part comprises a joint base 110, three rigidity-changing structures, a first joint 109, a guide rod 104, a linear push rod 106, a second joint 108, a third joint 112, a support 111 and a linear push rod base 107, wherein the linear push rod 106 is fixed on the linear push rod base 107 along the vertical direction, the guide rod 104 is connected with a sleeve base 38 of the pedal mechanism, so that the movement of the linear push rod can only be along the axial direction without radial force; the two side surfaces of the upper end of the linear push rod base 107 are respectively connected with a second joint 108 and a joint driving end of a variable stiffness structure (II) 113, the other end of the second joint 108 is connected with a joint driving end of a variable stiffness structure (III) 102, a joint input end of the variable stiffness structure (III) 102 is connected with a first joint 109, the upper part of the first joint 109 is connected with a joint base 110 through a pin shaft, the joint input end of the variable stiffness structure (III) 102 transmits power with a third motor 105 through a bevel gear group, the third motor 105 is fixed at the lower part of the first joint, and the third motor is positioned at the inner side of the first joint;
the second joint 108 and the third joint 112 are connected through a support frame 111, the second joint and the third joint limit axial movement through the support frame, and the support frame 111 simultaneously connects the second joint with a motor base of a variable stiffness structure (II) 113;
the other end of the third joint 112 is connected to the joint input end of the variable stiffness structure (I), and the joint input end of the variable stiffness structure (I) 102 is connected to the joint driving end of the variable stiffness structure (II) 113 through the third joint 112; the joint driving end of the rigidity-changing structure (II) 113 transmits power with the second motor 103 through a corresponding bevel gear set; the joint driving end of the rigidity-changing structure (I) is in power transmission with the first motor 101 through a corresponding bevel gear set, and the motor base of the first motor 101 is connected with a joint base 110 fixed on the seat frame 4;
the pedal mechanism comprises a gear 30, a pedal motor 31, a gear shaft 32, a pedal 33, an angle limit switch 34, two pedal connecting frames 35, a screw rod 36, a pedal base 37 and a sleeve base 38; the output end of the pedal motor 31 is connected with a gear shaft 32 through a gear set, the gear shaft 32 is fixed on a pedal connecting frame 35, the upper parts of the two pedal connecting frames are symmetrically arranged on two sides of a screw rod 36, the lower end of the pedal connecting frame is fixed on the bottom surface of a pedal 33, and an angle limit switch 34 is arranged on one side of the pedal connecting frame 35 and used for controlling the swinging angle of the pedal; the upper part of the pedal connecting frame is simultaneously fixed with a pedal base 37, a sleeve base 38 is arranged on the pedal base 37, and the sleeve base is used for supporting and fixing a guide rod 104;
the pedal motor 31 drives the pedal connecting frame 35 to rotate through gear group transmission, and the pedal connecting frame 35 rotates around the gear shaft 32 to drive the pedal 33 to swing up and down; the angle limit switch 34 is triggered by the pedal 33 swinging down to a certain angle, and cuts off the rotation of the pedal motor 31;
the rope driving device is provided with three groups of independent driving mechanisms which are connected in parallel, each driving mechanism is connected in the same way, each driving mechanism comprises a rope driving motor 21, a winding drum 22, a pulley block and a rope 25, the pulley block comprises a horizontal pulley 23 and a vertical pulley 24, and the horizontal pulley 23 and the vertical pulley 24 are orthogonally distributed at the bottom of the front end of the seat frame; one end of the rope 25 is fixed with the corresponding joint of the main body part, and the other end is wound on the winding drum 22; the spool 22 is fixed to the output shaft of the rope drive motor 21.
The lower limb joints in the invention mainly comprise ankle joints, knee joints and hip joints. The mechanism can independently perform rehabilitation training on one joint and coordinate training on a plurality of joints.
The upper end of the first joint 109 is connected with the joint base 110 through a pin shaft, and the lower end is connected with a rigidity-changing structure (I) 114; because of the coupling of the first joint 109, the second joint 108 and the third joint 112 in motion, this approach is obviously inefficient if power is applied sequentially during control, so a variable stiffness structure is introduced for decoupling. The three rigidity-variable structures in the invention have the same structure, and the limitation conditions are that: because of the overall space limitation of the rehabilitation mechanism and to meet the use function thereof, three sets of variable stiffness structures are simultaneously applied to three movable rods (i.e. three joints).
The rigidity-changing structure (see fig. 10) comprises a central shaft, a torsion spring, a first group of steel balls, a first conical disc, a first disc spring, a first sliding block, a second disc spring, a second conical disc, a second group of steel balls, a left end cover, a first pressure spring, a right-hand nut, a left-hand nut, a sleeve, a second pressure spring, a first shaft sleeve and a second shaft sleeve; the two ends of the central shaft are respectively connected with a joint input end and a joint driving end, and the joint input end is connected with a corresponding motor and fixed through a corresponding motor mounting seat; the helical gear is matched with the central shaft and fixed with the joint input end; a torsion spring is wound outside the sleeve, one end of the torsion spring is fixed with the joint input end, and the other end of the torsion spring is fixed with the joint driving end; the helical gear is meshed with the helical gear pinion and is connected with a corresponding motor through the helical gear pinion;
the first conical disc, the first sliding block, the first disc spring and the first pressure spring are respectively identical to the corresponding second conical disc, the corresponding second sliding block, the corresponding second disc spring and the corresponding second pressure spring in shape and structure;
the middle part of the central shaft 1024 is a central shaft shoulder 10241, shaft sections at two ends of the central shaft shoulder are screw rods 10242, the rotation directions of the two screw rods are opposite, and the outer side of each screw rod is provided with a first optical axis 10243; the outer side of the first optical axis is a second optical axis 10244, and a key groove 10245 is arranged on the second optical axis on one side; the outer side of the second optical axis is a third optical axis 10246, the outer side of the third optical axis is a threaded shaft 10247, and shaft shoulders are arranged among the first optical axis, the second optical axis, the third optical axis and the threaded shaft;
a left end cover 1031, a second pressure spring 1036, a second conical disk 1029, a second disk spring 1028, a left-handed nut 1034, a right-handed nut 1033, a first disk spring 1023, a first conical disk 1021, a first pressure spring 1032 and a helical gear wheel 1039 are nested in sequence on the central shaft 1024 from the driving end to the joint input end, the left-handed nut 1034 and the right-handed nut 1033 are connected to corresponding lead screws of the central shaft 1024 through threads, and the second conical disk 1029 and the first conical disk 1021 are respectively fixed on a first optical axis of the central shaft 1024; the helical gear is mounted on a second optical axis of the central shaft 1024 outside the first conical disk through a key slot 10245, and the left end cover 1031 is positioned on the second optical axis of the central shaft outside the second conical disk; gaps exist between the first disc spring 1023, the first pressure spring 1032, the second disc spring 1028 and the second pressure spring 1036 and the central shaft 1024; the left end cap 1031 is mounted on the second optical axis 10244 of the central shaft 1024 by an interference fit and is axially positioned by the second sleeve 1038;
the sleeve 1035 is sleeved on the first group of steel balls 1040 and the second group of steel balls 1041, the same number of sliding grooves are distributed at two ends of the sleeve, but the sliding grooves are staggered, the number of the sliding grooves can be 3, 4, 5, 6 and the like, and meanwhile, a through groove 10351 is formed in the circumferential side surface of the sleeve; the first group of steel balls 1040 are located in the steel ball grooves of the first cone disk 1021, and the axial displacement of the first group of steel balls is limited by the protruding flange of the left end cover 1031; the second group of steel balls 1041 are located in the steel ball groove of the second conical disk 1029, and the axial displacement of the second group of steel balls is limited by the helical gear 1039;
the first slide block 1026 is sleeved on the right-handed nut 1033 to limit the rotation of the first slide block, the outer sides of the left-handed nut and the right-handed nut are distributed with the same number of protruding shapes, the protruding shapes are matched with the sliding grooves on the sleeve, and the protruding can slide left and right in the sliding grooves; the second slider 1027 is threaded onto the left-hand nut 1034 to limit rotation thereof.
The rigidity adjusting method of the rigidity-variable structure comprises the following steps: the motors (a first motor, a second motor and a third motor) drive the central shaft to rotate through gear transmission, left and right rotation nuts on the central shaft respectively move towards two ends along the axial direction, so that steel balls on the first conical disc and the second conical disc move in the steel ball grooves and then contact with the sleeve, torsion of the torsion spring is further hindered, and the rigidity is changed by adjusting the compression amounts of the two disc springs, so that the active rigidity changing function is realized; when the relative rotation occurs, the torsion spring is twisted, the inner diameter of the torsion spring is radially deformed, the sleeve is extruded and deformed, and then the first group of steel balls and the first conical disc as well as the second group of steel balls and the second conical disc are mutually matched, radial displacement is converted into axial displacement, the first disc spring and the second disc spring are compressed, the relative rotation of the joint driving end and the joint input end is blocked, flexible output is realized, and the passive rigidity changing function is realized.
The invention relates to a rope-driven lower limb joint rehabilitation mechanism arranged on a wheelchair seat, which comprises the following working principles and working processes:
the rehabilitation process of the joint is carried out by utilizing the rehabilitation mechanism: the rotational positions of the first joint 109, the second joint 108 and the third joint 112, the pushing distance of the linear push rod 106 and the swinging angle of the foot pedal 33 are reversely deduced according to the movement track of the foot pedal when the lower limb joints of the human body are recovered. The rotation position of the joint can drive the winding drum 22 to rotate clockwise or anticlockwise through the rope driving motor 21, and the rope 25 with one end fixed on the winding drum 22 moves around the horizontal pulley 23 and the vertical pulley 24, so that the rotation of the joint can be pulled. The pedal mechanism provides torque through the pedal motor 31 to drive the gear 30 to rotate, the gear shaft 32 is fixed with the pedal connecting frame 35, the pedal 33 can swing up and down around the wire rod 36, when the pedal 33 swings down to the limit position, the angle limit switch 34 is triggered, and the pedal motor 31 stops rotating.
The rehabilitation mechanism is provided with a control system, can realize independent rehabilitation training of hip joints, knee joints and ankle joints, a rehabilitation person only needs to sit on a wheelchair, places feet on foot pedals, takes the foot pedals as a platform, realizes independent training or coordinated training of the hip joints, the knee joints and the ankle joints through the motion trail of human feet planned in advance, has higher comfort and safety, can slow down impact injury even if the control fails, and can improve the load-weight ratio of the whole machine because the mechanism is arranged on the wheelchair seat due to the light weight of rope driving.
Example 1
The rope-driven lower limb joint rehabilitation mechanism arranged on the wheelchair seat comprises a main body part 1, a pedal plate mechanism 3 and a rope driving device 2,
the upper end of the main body part is fixedly connected to the seat frame 4 by two joint bases 110, and the lower end of the main body part is connected with a pedal mechanism; the main body part comprises a joint base 110, three rigidity-changing structures, a first joint 109, a guide rod 104, a linear push rod 106, a second joint 108, a third joint 112, a support 111 and a linear push rod base 107,
the rigidity-changing structure (III) 114 is driven by the third motor 105 at the inner side to rotate the central shaft 1024 through a gear set, the internal nut axially moves to squeeze the disc spring, and the axial force is converted into the radial force through the balls and the conical disc, so that the rigidity changing is realized. The second joint 108 has one end connected to the stiffness varying structure (III) 114 and the other end connected to the linear putter base 106. The tail end of the straight push rod is connected with a foot pedal base 37. The outer side of the third joint 112 is connected with the rigidity-variable structure (I) 102, the first motor base is fixed on the wheelchair frame, and the second joint 108 and the third joint 112 limit axial movement through the support frame 111.
The pedal mechanism comprises a gear 30, a pedal motor 31, a gear shaft 32, a pedal 33, an angle limit switch 34, a pedal connecting frame 35, a screw rod 36, a pedal base 37 and a sleeve base 38. The pedal connecting frames 35 are symmetrically arranged on two sides of the screw rod 36, and the other ends of the pedal connecting frames are fixed on the bottom surface of the pedal 33. The pedal motor 31 is fixed at one end of the base, and drives the pedal connecting frame 35 to rotate through gear transmission, and the pedal connecting frame 35 rotates around the wire rod 36 to drive the pedal 33 to swing up and down. The angle limit switch 34 is triggered by the pedal 33 swinging down to the limit angle, and cuts off the rotation of the pedal motor 31.
The rope driving device consists of three groups of parallel mechanisms, including a rope driving motor 21, a winding drum 22, a horizontal pulley 23, a vertical pulley 24 and a rope 25. The rope drive comprises three separate sets of mechanisms, each set of ropes being connected in the same way. The rope 25 has one end fixed to the joint of the main body portion and the other end wound on the drum 22.
Taking the rehabilitation knee joint as an example, when the knee joint angle of a human body is changed from 95 degrees in fig. 5 to 130 degrees in fig. 6, the rope driving motor 21 drives the winding drum 22 to rotate, so that the rope 25 moves around the horizontal pulley 23 and the vertical pulley 24, the first joint 109 rotates anticlockwise around the top pin shaft under the traction of the rope 25, the second joint 108 rotates clockwise around the central shaft of the rigidity-changing structure (III) 114, the linear push rod 106 rotates anticlockwise around the top pin shaft, the third motor 105 drives the central shaft 1024 to rotate through the gear set, the internal nut moves towards the central shaft position, the disc spring pressure is released, the first group of steel balls 1040 and the second group of steel balls 1041 move towards the middle along the sliding groove, and the diameter of the sleeve 1035 is reduced, so that the extrusion of the torsion spring 1022 is reduced. The pedal motor 31 rotates the gear 30 such that the pedal 33 instantaneously rotates around the gear shaft 32.
Modifications and equivalent variations according to the invention still fall within the scope of the invention.
The invention is applicable to the prior art where it is not described.
Claims (4)
1. The utility model provides a install in rope drive low limbs joint rehabilitation mechanism of wheelchair seat, includes main part, running-board mechanism, rope drive arrangement and seat frame, its characterized in that:
the upper end of the main body part is fixedly connected to the seat frame by two joint bases, and the lower end of the main body part is connected with the pedal mechanism; the main body part comprises a joint base, three rigidity-changing structures, a first joint, a guide rod, a linear push rod, a second joint, a third joint, a support frame and a linear push rod base, wherein the linear push rod is fixed on the linear push rod base along the vertical direction, and the guide rod is connected with the pedal mechanism; the two lateral surfaces of the upper end of the linear push rod base are respectively connected with a second joint and a joint driving end of a variable stiffness structure (II), the other end of the second joint is connected with a joint driving end of a variable stiffness structure (III), a joint input end of the variable stiffness structure (III) is connected with a first joint, the upper part of the first joint is connected with one joint base through a pin shaft, the joint input end of the variable stiffness structure (III) transmits power with a third motor through a bevel gear set, and the third motor is fixed at the lower part of the first joint;
the second joint and the third joint are limited to move axially through a support frame, and the support frame simultaneously connects the second joint with a motor base of the rigidity-changing structure (II);
the other end of the third joint is connected to the joint input end of the variable stiffness structure (I), and the joint input end of the variable stiffness structure (I) is connected with the joint driving end of the variable stiffness structure (II) through the third joint; the joint driving end of the rigidity-changing structure (II) transmits power with the second motor through a corresponding bevel gear group; the joint driving end of the rigidity-changing structure (I) is in transmission power with a first motor through a corresponding bevel gear set, and a motor base of the first motor is connected with a joint base fixed on the seat frame;
the pedal mechanism comprises a gear, a pedal motor, a gear shaft, pedals, an angle limit switch, two pedal connecting frames, a screw rod, a pedal base and a sleeve base; the output end of the pedal motor is connected with a gear shaft through a gear set, the gear shaft is fixed on one pedal connecting frame, the upper parts of the two pedal connecting frames are symmetrically arranged on two sides of the screw rod, the lower end of the pedal connecting frame is fixed on the bottom surface of the pedal, and an angle limit switch is arranged on one side of the pedal connecting frame; the upper part of the pedal connecting frame is simultaneously fixed with the pedal base, and a sleeve base for supporting and fixing the guide rod is arranged on the pedal base;
the rope driving device is provided with three groups of independent driving mechanisms which are connected in parallel, each driving mechanism is connected in the same way, each driving mechanism comprises a rope driving motor, a winding drum, a pulley block and a rope, the pulley block comprises a horizontal pulley and a vertical pulley, and the horizontal pulley and the vertical pulley are orthogonally distributed at the bottom of the front end of the seat frame; one end of the rope is fixed with the corresponding joint of the main body part, and the other end of the rope is wound on the winding drum; the winding drum is fixed on the output shaft of the rope driving motor.
2. The rope-driven lower limb joint rehabilitation mechanism mounted on a wheelchair seat according to claim 1, wherein the three variable stiffness structures are identical, each variable stiffness structure comprises a central shaft, a torsion spring, a first group of steel balls, a first conical disc, a first disc spring, a first slider, a second disc spring, a second conical disc, a second group of steel balls, a left end cover, a first pressure spring, a right-handed nut, a left-handed nut, a sleeve, a second pressure spring, a first shaft sleeve and a second shaft sleeve; the two ends of the central shaft are respectively connected with a joint, a joint input end and a joint driving end, and the joint input end is connected with a corresponding motor and fixed through a corresponding motor mounting seat; the helical gear is matched with the central shaft and fixed with the joint input end; a torsion spring is wound outside the sleeve, one end of the torsion spring is fixed with the joint input end, and the other end of the torsion spring is fixed with the joint driving end; the helical gear is meshed with the helical gear pinion and is connected with a corresponding motor through the helical gear pinion;
the first conical disc, the first sliding block, the first disc spring and the first pressure spring are respectively identical to the corresponding second conical disc, the corresponding second sliding block, the corresponding second disc spring and the corresponding second pressure spring in shape and structure.
3. The rope-driven lower limb joint rehabilitation mechanism mounted on a wheelchair seat according to claim 2, wherein the middle part of the central shaft is a central shaft shoulder, shaft sections at two ends of the central shaft shoulder are lead screws, the rotation directions of the two lead screws are opposite, and the outer side of the lead screw is a first optical axis; the outer side of the first optical axis is a second optical axis, and a key slot is arranged on the second optical axis on one side; the outer side of the second optical axis is a third optical axis, the outer side of the third optical axis is a threaded shaft, and shaft shoulders are arranged between the first optical axis, the second optical axis, the third optical axis and the threaded shaft;
the left end cover, the second pressure spring, the second conical disc, the second disc spring, the left-handed nut, the right-handed nut, the first disc spring, the first conical disc, the first pressure spring and the helical gear are sequentially nested on the central shaft from the driving end to the joint input end, the left-handed nut and the right-handed nut are connected to corresponding lead screws of the central shaft through threads, and the second conical disc and the first conical disc are respectively fixed on a first optical axis of the central shaft; the helical gear is arranged on a second optical axis of the central shaft outside the first conical disc through a key slot, and the left end cover is positioned on the second optical axis of the central shaft outside the second conical disc; gaps are reserved between the first disc spring, the first pressure spring, the second disc spring and the second pressure spring and the central shaft; the left end cover is arranged on a second optical axis of the central shaft through interference fit, and is axially positioned through a second sleeve;
the sleeve is sleeved on the first group of steel balls and the second group of steel balls, a plurality of evenly distributed sliding grooves are formed in the circumferences of the left end and the right end, and meanwhile, a through groove is formed in the circumferential side face of the sleeve; the first group of steel balls are positioned in the steel ball groove of the first conical disc, and the axial displacement of the first group of steel balls is limited by the flange extending out of the left end cover; the second group of steel balls are positioned in the steel ball groove of the second conical disc, and the axial displacement of the second group of steel balls is limited by the helical gear;
the first sliding block is sleeved on the right-handed nut to limit the rotation of the first sliding block, the outer side surface of the sliding block is uniformly provided with protrusions with the same number as the second sliding block along the axial direction of the sliding block, the shapes of the protrusions are matched with the sliding grooves on the sleeve, and the protrusions can slide left and right in the sliding grooves; the second sliding block is sleeved on the left-handed nut to limit the rotation of the left-handed nut.
4. The rope-driven lower limb joint rehabilitation mechanism mounted on a wheelchair seat according to claim 1, wherein three rigidity-varying structures are arranged in the main body part of the mechanism, one end of the rigidity-varying structure (one) is connected and fixed on the seat frame with the joint base, and the other end is connected with the third joint; one end of the rigidity-changing structure (II) is connected with the support frame, and the other end is connected with the linear push rod base; the variable stiffness structure (III) is arranged between the first joint and the 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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| CN111084707A (en) * | 2019-12-12 | 2020-05-01 | 上海理工大学 | Spinal cord injury lower limb rehabilitation equipment |
| CN111000702A (en) * | 2020-03-04 | 2020-04-14 | 南京优米亚信息科技有限公司 | Artificial intelligence motion assistance device |
| CN115006190B (en) * | 2022-04-06 | 2023-06-02 | 南京航空航天大学 | Sitting type rigidity-variable exoskeleton and flexibility-variable auxiliary control method as required |
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