CN113057856A - Sleeve type reciprocating transmission device - Google Patents
Sleeve type reciprocating transmission device Download PDFInfo
- Publication number
- CN113057856A CN113057856A CN202110502506.2A CN202110502506A CN113057856A CN 113057856 A CN113057856 A CN 113057856A CN 202110502506 A CN202110502506 A CN 202110502506A CN 113057856 A CN113057856 A CN 113057856A
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- Prior art keywords
- drive
- screw rod
- nut
- transmission
- mechanical arm
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 54
- 230000005021 gait Effects 0.000 abstract description 9
- 238000010438 heat treatment Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a sleeve type reciprocating transmission device, which belongs to the technical field of gait training devices and comprises: a housing; the driving assembly is provided with an output shaft and is fixed on the shell; the screw rod is provided with a first end and a second end, a radial bearing is sleeved on the first end, and a thrust bearing is arranged at the end part of the first end and is rotationally connected with the shell; the screw rod is sleeved with a transmission seat, and the transmission seat is in transmission connection with the output shaft; the second end has threads on an outer surface; the nut is in threaded connection with the second end; the nut can drive the mechanical arm to swing when moving; the invention realizes the swing of the mechanical arm by a mode that the screw rod rotates to drive the nut to move, and the thrust bearing between the screw rod and the shell can bear the axial force applied to the screw rod by the mechanical arm, thereby preventing the screw rod and the nut from loosening, vibrating, heating and the like even after long-time use, prolonging the service life, ensuring the swing stability of the mechanical arm and eliminating potential safety hazards.
Description
Technical Field
The invention relates to the technical field of gait training devices, in particular to a sleeve type reciprocating transmission device.
Background
Walking is the most basic activity in everyday life activities. In the early rehabilitation therapy target and training plan, the functions required by walking are fully considered, and careful guidance and implementation are carried out, so that a solid foundation is laid for the walking therapy movement training in the future.
Coordination, mobility and stability are three elements of walking. Normal walking must have the ability to support weight, maintain balance and take a step. The movements involved in walking (heel strike, single leg support, heel lift, leg swing, etc.) all require coordinated movements of various parts of the body, forming a complete, fine, skilled, and continuous process in walking. Patients who are disabled from walking will have a wide variety of specific training regimens depending on the disease, the cause of the disorder, the problem involved, and the goal of rehabilitation. The rehabilitation personnel should select a proper gait training device and make a personalized training scheme on the basis of correctly analyzing the problems of the patient.
The gait training mainly comprises the contents of standing-phase load training, gravity center movement training, walking training in the daily life environment and the like. Wherein, most gait training contents can be carried out only by matching with a gait training device.
When a patient who loses or partially loses walking ability performs gait training, auxiliary training needs to be performed by mechanical legs on a gait training device. The mechanical arm on the existing mechanical leg usually realizes reciprocating swing under the driving of a driving assembly, so that the leg of a patient can be driven to move along with the movement, and leg training is realized. The swing of arm utilizes linear drive's mode to realize usually, realize this linear drive's component, can be electric putter or lead screw, at the wobbling in-process of driving the arm, electric putter or lead screw need bear great axial force, after long-time the use, electric putter or lead screw appear becoming flexible easily, vibrate, a series of problems such as generate heat, not only can influence the life of mechanical leg, moreover, still can influence the swing stability of arm and the accurate nature of swing range, can have certain potential safety hazard.
Disclosure of Invention
For the problems in the prior art, the sleeve type reciprocating transmission device provided by the invention has the advantages that the swinging of the mechanical arm is realized in a mode that the screw rod rotates to drive the nut to move, the axial force applied to the screw rod by the mechanical arm can be effectively borne by the thrust bearing between the screw rod and the shell, the conditions of looseness, vibration, heating and the like between the screw rod and the nut can be effectively prevented even after the sleeve type reciprocating transmission device is used for a long time, the service life is effectively prolonged, the swinging stability and the accuracy of the swinging amplitude of the mechanical arm can be always ensured, and the potential safety hazard is eliminated.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a telescopic reciprocating drive comprising:
a housing;
a drive assembly having an output shaft, the drive assembly being secured to the housing;
the screw rod is provided with a first end and a second end, the first end is sleeved with at least one radial bearing, the end part of the first end is provided with a thrust bearing, and the screw rod is rotatably connected with the shell through the radial bearing and the thrust bearing; the screw rod is sleeved with a transmission seat, and the transmission seat is in transmission connection with the output shaft; the second end has threads on an outer surface;
a nut in threaded connection with the second end;
and the nut can drive the mechanical arm to swing when moving.
As a preferred technical solution, the driving assembly is a servo motor.
As a preferable technical solution, two radial bearings are provided, and the two radial bearings are respectively provided at two sides of the transmission seat.
In a preferred embodiment, the radial bearing is a deep groove ball bearing, and the thrust bearing is a bidirectional thrust ball bearing.
As a preferable technical solution, the transmission seat is in transmission connection with the output shaft through a transmission belt.
In a preferred embodiment, the transmission base, the output shaft and the upper transmission belt have transmission teeth on their inner surfaces.
As a preferred technical scheme, a positioning key is arranged at a position on the screw rod corresponding to the transmission seat, and a positioning groove is arranged at a position on the transmission seat corresponding to the positioning key.
As a preferred technical scheme, one end of the nut, which is far away from the screw rod, is provided with a connecting seat, and the connecting seat is rotationally connected with the mechanical arm.
As a preferred technical scheme, the connecting seat is rotatably connected with the mechanical arm through a rotating shaft.
As a preferred technical scheme, the mechanical arm is rotatably connected with a frame.
The beneficial effects of the invention are as follows:
according to the invention, the swinging of the mechanical arm is realized by a mode that the screw rod rotates to drive the nut to move, the axial force applied to the screw rod by the mechanical arm can be effectively borne by the thrust bearing between the screw rod and the shell, and the conditions of looseness, vibration, heating and the like of a sleeve structure formed by the screw rod and the nut can be effectively prevented even after the mechanical arm is used for a long time, so that the service life is effectively prolonged, the swinging stability and the accuracy of the swinging amplitude of the mechanical arm can be ensured all the time, and the potential safety hazard is eliminated.
Drawings
Fig. 1 is a schematic view of the overall structure of an embodiment of a telescopic reciprocating transmission according to the present invention.
In the figure: 1-shell, 2-driving component, 21-output shaft, 22-transmission belt, 3-lead screw, 31-radial bearing, 32-thrust bearing, 33-transmission seat, 34-positioning key, 4-nut, 41-connecting seat, 42-rotating shaft, 5-mechanical arm and 6-frame.
Detailed Description
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of a telescopic reciprocating transmission device according to the present invention includes:
a housing 1, the housing 1 being used to house and support the other components of the invention, the housing 1 being intended to be secured to a frame 6 of a gait training apparatus;
the driving assembly 2, the driving assembly 2 has output shafts 21, the driving assembly 2 outputs the power to the outside through the output shaft 21; the driving assembly 2 is fixed on the shell 1;
the screw rod 3, the screw rod 3 has first end and second end, the first end is fitted with at least one radial bearing 31, the end of the first end has thrust bearings 32, the screw rod 3 is connected with shell 1 rotatably through radial bearing 31 and thrust bearing 32, the radial bearing 31 can bear the radial force of the screw rod 3, the thrust bearing 32 can bear the axial force of the screw rod 3, can greatly improve the stress surface between screw rod and shell 1, even after bearing the external force for a long time, the screw rod 3 can also guarantee the stability and compactness of the rotary connection between screw rod 3 and shell 1 effectively; the screw rod 3 is sleeved with a transmission seat 33, the transmission seat 33 is in transmission connection with the output shaft 21, and the driving assembly 2 can effectively drive the screw rod 3 to rotate through the transmission seat 33 and the output shaft 21 which are in transmission connection; the second end has threads on an outer surface;
the nut 4 is in threaded connection with the second end, and when the screw rod 3 rotates, the nut 4 can move along the axial direction of the screw rod 3;
the mechanical arm 5 can be driven to swing when the nut 4 moves.
It should be noted that, in the present invention, a larger threaded connection surface is provided between the nut 4 and the lead screw 3, and the lead screw 3 and the housing 1 can well bear radial and axial forces through the radial bearing 31 and the thrust bearing 32, and can effectively bear and share the pressure of the mechanical arm 5 on the lead screw 3, so as to effectively avoid the loosening between the nut 4 and the lead screw 3 and between the lead screw 3 and the housing 1, and the mechanical arm 5 will not vibrate in the swinging process, thereby ensuring the swinging accuracy of the mechanical arm 5; when the nut 4 and the screw rod 3 rotate relatively and the screw rod 3 and the shell 1 rotate relatively, local heating caused by small friction stress area is avoided, the service life is greatly prolonged, and potential safety hazards are eliminated; the spindle 3 is preferably a ball screw, and correspondingly the nut 4 is a ball nut.
In the present embodiment, referring to fig. 1, the driving assembly 2 is a servo motor, and the reciprocating transmission of the screw rod 3 can be effectively realized by using the forward and reverse rotation of the output shaft 21 of the servo motor, so as to drive the mechanical arm 5 to swing.
In this embodiment, referring to fig. 1, two radial bearings 31 are provided, and the two radial bearings 31 are respectively disposed on two sides of the transmission seat 33, so that when being installed, the position of the screw rod 3 can be better positioned, and a radial force can be better borne in the length direction of the screw rod 3, thereby ensuring the stability of the screw rod 3 during rotation; further, the radial bearing 31 is preferably a deep groove ball bearing, and the thrust bearing 32 is preferably a two-way thrust ball bearing.
In the embodiment, referring to fig. 1, the transmission base 33 is in transmission connection with the output shaft 21 through the transmission belt 22, and the transmission belt 22 can ensure a good transmission effect and ensure the accuracy of the swing amplitude of the mechanical arm 5; furthermore, the transmission seat 33, the output shaft 21 and the inner surface of the upper transmission belt 22 are provided with transmission teeth, and the transmission teeth on the inner surface of the transmission belt 22 are respectively meshed with the transmission teeth on the transmission seat 33 and the output shaft 21, so that the stability of transmission is ensured. In other embodiments, the transmission connection between the transmission seat 33 and the output shaft 21 can also be realized by a gear transmission or a chain transmission.
In this embodiment, referring to fig. 1, a position key 34 is disposed on the lead screw 3 at a position corresponding to the transmission seat 33, a position groove is disposed at a position corresponding to the position key 34 of the transmission seat 33, the position key 34 can be embedded into the position groove, and the position key 34 is in clearance fit with the position groove, so that the transmission seat 33 can be effectively positioned on the lead screw 3; specifically, the positioning key 34 may be integrally formed with the screw rod 3, may be welded to the screw rod 3, or may be fixed to the screw rod 3 by a screw.
In this embodiment, referring to fig. 1, one end of the nut 4 away from the screw rod 3 is provided with a connecting seat 41, the connecting seat 41 is rotatably connected with the mechanical arm 5, the connecting seat 41 is fixedly connected with the nut 4, and when the screw rod 3 rotates, the nut 4 moves along the axial direction of the screw rod 3, so that the connecting seat 41 drives the mechanical arm 5 to swing; specifically, the connecting seat 41 is rotatably connected with the mechanical arm 5 through the rotating shaft 42, so that when the mechanical arm 5 swings, the connecting angle between the connecting seat 41 and the connecting seat can be changed at will, the acting force of the mechanical arm 5 can be effectively transmitted, and the service life is prolonged; preferably, the shaft 42 is provided as a self-lubricating sliding bearing.
It should be noted that, referring to fig. 1, the robot arm 5 should be rotatably disposed on the frame 6, and the robot arm 5 can swing around a rotation connection point with the frame 6 under the driving of the driving assembly 2.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A telescopic reciprocating transmission, comprising:
a housing;
a drive assembly having an output shaft, the drive assembly being secured to the housing;
the screw rod is provided with a first end and a second end, the first end is sleeved with at least one radial bearing, the end part of the first end is provided with a thrust bearing, and the screw rod is rotatably connected with the shell through the radial bearing and the thrust bearing; the screw rod is sleeved with a transmission seat, and the transmission seat is in transmission connection with the output shaft; the second end has threads on an outer surface;
a nut in threaded connection with the second end;
and the nut can drive the mechanical arm to swing when moving.
2. A telescopic reciprocating drive according to claim 1, wherein the drive assembly is provided as a servo motor.
3. A telescopic reciprocating drive according to claim 1, wherein said radial bearings are provided in two, two on either side of said drive mount.
4. The telescopic reciprocating drive of claim 1, wherein the radial bearing is a deep groove ball bearing and the thrust bearing is a two-way thrust ball bearing.
5. The telescopic reciprocating drive of claim 1, wherein said drive mount is drivingly connected to said output shaft by a drive belt.
6. The telescopic reciprocating drive of claim 5, wherein said drive mount, said output shaft and said upper drive belt have drive teeth on their inner surfaces.
7. The telescopic reciprocating actuator according to claim 1, wherein a positioning key is provided on the lead screw at a position corresponding to the actuator seat, and a positioning groove is provided on the actuator seat at a position corresponding to the positioning key.
8. The telescopic reciprocating drive of claim 1, wherein an end of said nut remote from said lead screw is provided with a connecting socket, said connecting socket being rotatably connected to said robotic arm.
9. The telescopic reciprocating drive of claim 8, wherein said connecting base is rotatably connected to said robotic arm by a pivot.
10. The telescopic reciprocating drive of claim 1, wherein said robotic arm is pivotally connected to the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110502506.2A CN113057856A (en) | 2021-05-08 | 2021-05-08 | Sleeve type reciprocating transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110502506.2A CN113057856A (en) | 2021-05-08 | 2021-05-08 | Sleeve type reciprocating transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113057856A true CN113057856A (en) | 2021-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110502506.2A Pending CN113057856A (en) | 2021-05-08 | 2021-05-08 | Sleeve type reciprocating transmission device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113057856A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114146364A (en) * | 2021-12-09 | 2022-03-08 | 山东泽普医疗科技有限公司 | Dynamic force feedback constant speed training device |
-
2021
- 2021-05-08 CN CN202110502506.2A patent/CN113057856A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114146364A (en) * | 2021-12-09 | 2022-03-08 | 山东泽普医疗科技有限公司 | Dynamic force feedback constant speed training device |
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