CN114504472A

CN114504472A - Following control device of shifting machine head

Info

Publication number: CN114504472A
Application number: CN202210112465.0A
Authority: CN
Inventors: 吕鹏; 吴强
Original assignee: Changzhou Qianjing Rehabilitation Co ltd
Current assignee: Changzhou Qianjing Rehabilitation Co ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-05-17

Abstract

The invention relates to the technical field of a head moving along a sky rail, in particular to a following control device of a head moving, wherein the head moving comprises a middle plate group, a controller and a moving driving assembly, a hanging strip assembly and a lifting driving assembly are arranged on the head, a hanging strip is arranged on the hanging strip assembly, and the following control device comprises: the following block is in sliding fit with the hanging strip, and the hanging strip can drive the following block to move leftwards or rightwards when moving leftwards or rightwards; the detector is connected with the following block to detect and sense the leftward or rightward movement of the following block, the detector is electrically connected with the controller, and the controller is electrically connected with the moving driving assembly. According to the following control device, the controller controls the movable driving piece to drive the machine head to move in the same direction as the walking direction of the patient, so that the machine head can move in the same direction along with the patient in the walking process of the patient.

Description

Following control device of shifting machine head

Technical Field

The invention relates to the technical field of a head moving along a sky rail, in particular to a following control device of a head moving.

Background

At present, sky rail rehabilitation training shift system mainly is to the patient that needs early to carry out the rehabilitation training and can not bear a burden on the earth, give to subtract heavy burden and the function of protection in training process, let the patient can begin the rehabilitation training as early as possible under the state of safety, can effectively avoid the motion system, the digestive system, the decline of health functions such as respiratory, prevent that the complication from taking place, also can promote the quick recovery of original disease, can effectually carry out the pertinence training to impaired function, improve recovered effect, sky rail rehabilitation training shift system mainly includes sky rail track and aversion aircraft nose, the aversion aircraft nose moves on the sky rail track, be provided with the suspender on the aversion aircraft nose, carry out the training-assistant to the patient through the suspender, can help the patient walk or, perhaps remove the patient.

The current aversion aircraft nose, when the patient was walked the training in the aircraft nose below, the patient can be forward motion often, backward motion often, but the aircraft nose can't be according to the walking of patient's very fast response of making, can't follow the patient and act, and current following system uses similar wireless relative coordinate sensor, is equipped with the sensor on the hoist, can follow according to patient's gait action, but the control degree of difficulty is bigger, also receives the interference easily.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

Therefore, the invention provides a following control device of a shifting machine head, which is arranged on the shifting machine head, the shifting machine head comprises a middle plate group, a controller and a moving driving assembly, the machine head is arranged on a sky rail, the moving driving assembly drives the machine head to walk on the sky rail, a hanging strip assembly and a lifting driving assembly are arranged on the machine head, a hanging strip is arranged on the hanging strip assembly, the hanging strip carries out tension and weight reduction on a patient, the lifting driving assembly drives the hanging strip to move up and down, and the following control device comprises:

the following block is arranged on the middle plate group, is movably connected with the middle plate group, is in sliding fit with the hanging strip, and can drive the following block to move leftwards or rightwards when the hanging strip moves leftwards or rightwards;

the detector is connected with the following block to detect and sense the leftward or rightward movement of the following block, the detector is electrically connected with the controller, and the controller is electrically connected with the mobile driving assembly to control the mobile driving assembly.

Furthermore, a hole is formed in the following block, the hole is a through hole, the hanging strip penetrates through the hole, and the hanging strip is in contact with the following block in the groove.

Furthermore, two guide limiting blocks are arranged on the middle plate group, the two guide limiting blocks are respectively arranged on the front side and the rear side of the following block, and the following block is in sliding fit with the two guide limiting blocks.

Furthermore, the detector is a tension sensor, and the tension sensor is used for detecting the tension of the following block on the tension sensor in the process of moving leftwards or rightwards.

Furthermore, a sliding part is arranged on the machine head, the sliding part is installed on the middle plate group, the sliding part is in transmission connection with the moving driving assembly, the moving driving assembly drives the sliding part to walk on the top rail track, and the sliding part is in contact with the top rail track.

Furthermore, the sliding part comprises four sliding wheels, the four sliding wheels are all connected with the middle plate group in a rotating mode, the two sliding wheels at the front end of the middle plate group are coaxially and fixedly connected, the two sliding wheels at the rear end of the middle plate group are coaxially and fixedly connected, and the two sliding wheels at the front end or the rear end of the middle plate group are in transmission connection with the moving driving assembly so as to drive the sliding wheels to rotate through the moving driving assembly.

Furthermore, the movable driving assembly comprises a movable driving motor, a first worm gear and a first gear mechanism, the first worm gear is in transmission connection with the movable driving motor, the first gear mechanism is in transmission connection with the first worm gear, the first gear mechanism is in transmission connection with two sliding wheels at the front end or the rear end of the middle plate group, the sliding wheels are driven to rotate through the movable driving assembly, and the driving machine head is driven to walk on the overhead rail.

Further, the harness assembly includes:

the hoisting disc is in transmission connection with the lifting driving assembly, the lifting driving assembly drives the hoisting disc to rotate, and the hanging strip is wound on the hoisting disc;

the fixed pulley is arranged on the middle plate group, the fixed pulley is rotationally connected with the middle plate group, and the hanging belt is wound on the fixed pulley from the lower part of the fixed pulley;

the movable pulley is connected with the sliding assembly to move along with the sliding assembly, the hanging strip penetrates through the lower portion of the fixed pulley and then penetrates through the upper portion of the driven pulley, and the upper portion of the hanging strip driven pulley is wound on the movable pulley.

Further, the lifting driving assembly comprises a lifting driving piece and a lifting driving piece, the lifting driving piece is in transmission connection with the lifting driving piece to drive the lifting driving piece to move, the lifting driving piece is connected with the hoisting disc to drive the hoisting disc to rotate, the lifting driving piece is electrically connected with the controller, and the lifting driving piece is specifically a motor.

Furthermore, the lifting transmission part comprises a second worm gear mechanism and a second gear mechanism, the second worm gear mechanism is in transmission connection with an output shaft of the lifting driving part, the second gear mechanism is in transmission connection with the second worm gear mechanism, and an output shaft of the second gear mechanism is coaxially and fixedly connected with the hoisting disc.

The following control device has the beneficial effects that when a patient walks and trains, the sling swings leftwards or rightwards in the belt hole, so that the following block is driven to move leftwards or rightwards, the tension sensor is driven to generate a compression and stretching state, when the system is in the compression state, the patient below the sling is determined to move forwards by the system, the tension sensor transmits detected information to the controller, and the controller controls the movable driving piece to drive the machine head to move forwards on the track. When the tension sensor is in an extension state, the system can determine that a patient below the hanging belt does retreating motion, the tension sensor transmits detected information to the controller, and the controller controls the movable driving piece to drive the machine head to move backwards on the track. Therefore, the controller controls the movable driving piece to drive the machine head to walk in the same direction as the walking direction of the patient, and the machine head can move along the same direction of the patient in the walking process of the patient.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic view of the head of the present invention mated with a head rail track.

Fig. 2 is a first perspective view of the handpiece of the present invention.

Fig. 3 is a second perspective view of the handpiece of the present invention.

Fig. 4 is an assembled exploded view of the lift drive assembly of the present invention.

FIG. 5 is an exploded view of the brake assembly of the present invention.

Fig. 6 is a third perspective view of the handpiece of the present invention.

Fig. 7 is a fourth perspective view of the handpiece of the present invention.

FIG. 8 is a schematic diagram of the construction of the flexible system of the present invention.

FIG. 9 is a first schematic view of a portion of the structure in the flexible system of the present invention.

FIG. 10 is a second schematic view of a portion of the structure of the flexible system of the present invention.

Fig. 11 is a partial structural schematic diagram of the follow control device of the present invention.

In the figure: 1. a head rail track; 2. a middle plate group; 3. a movement drive assembly; 4. a sliding member; 5. a brake assembly; 6. a fixing member; 7. a movable member; 8. a brake actuating member; 9. a contact member; 10. a brake block; 11. a brake seat; 12. a pin shaft; 13. a pin hole; 14. a sliding wheel; 15. a movement driving motor; 16. a first worm gear; 17. a first gear mechanism; 18. a lift drive assembly; 19. a harness assembly; 21. a detection component; 22. an elastic support member; 23. a hoisting disc; 24. a fixed pulley; 25. a movable pulley; 26. a sliding plate; 27. a guide member; 28. a lifting drive member; 29. lifting the transmission member; 30. a second worm gear mechanism; 31. a second gear mechanism; 32. a follower block; 33. a detector; 34. the holes are arranged; 35. a guide limiting block; 36. a sling; 37. a sensor sheet metal part.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to fig. 11, which are preferred embodiments of the present invention, a following control device of a shifting machine head is installed on the shifting machine head, the shifting machine head includes a middle plate set 2, a controller and a moving driving assembly 3, the machine head is installed on a head rail 1, the moving driving assembly 3 drives the machine head to travel on the head rail 1, a sling assembly 19 and a lifting driving assembly 18 are installed on the machine head, a sling 36 is installed on the sling assembly 19, the sling 36 performs pulling force and weight reduction on a patient, the lifting driving assembly 18 drives the sling 36 to move up and down, the following control device includes a following block 32 and a detector 33, the following block 32 is installed on the middle plate set 2, the following block 32 is movably connected with the middle plate set 2, the following block 32 is in sliding fit with the sling 36, and the sling 36 drives the following block 32 to move left or right when moving left or right; the detector 33 is connected with the following block 32 to detect and sense the movement of the following block 32 leftwards or rightwards, the detector 33 is electrically connected with the controller, the controller is electrically connected with the moving driving component 3 to control the moving driving component 3, and particularly, the detector 33 is electrically connected with the moving driving motor 15 to control the driving of the moving driving motor 15 to the first worm and gear 16 mechanism.

The following block 32 is provided with a hole 34, the hole 34 is a through hole, a hanging strip 36 penetrates through the hole 34, and the hanging strip 36 is in contact with the following block 32 in the hole 34. Two guide limiting blocks 35 are arranged on the middle plate group 2, the two guide limiting blocks 35 are respectively arranged on the front side and the rear side of the following block 32, and the following block 32 is in sliding fit with the two guide limiting blocks 35.

Specifically, the detector 33 is a tension sensor for detecting the tension of the follower block 32 on the tension sensor during the leftward or rightward movement.

According to the following control device, when a patient walks and trains, the hanging strip 36 swings leftwards or rightwards in the belt hole 34, so that the following block 32 is driven to move leftwards or rightwards, the tension sensor is driven to generate a compression and stretching state, when the system is in the compression state, the patient below the hanging strip 36 is determined to move forwards by the system, the tension sensor transmits detected information to the controller, and the controller controls the movable driving piece to drive the machine head to move forwards on the track. When the tension sensor is in an extension state, the system can determine that the patient below the sling 36 moves backwards, the tension sensor transmits the detected information to the controller, and the controller controls the movable driving piece to drive the machine head to move backwards on the track. Therefore, the controller controls the movable driving piece to drive the machine head to walk in the same direction as the walking direction of the patient, and the machine head can move along the same direction of the patient in the walking process of the patient.

Still be provided with flexible system on the aircraft nose, flexible system includes: the lifting belt assembly 19, the sliding assembly, the detection assembly 21 and the elastic supporting piece 22, the lifting driving assembly 18 is installed on the middle plate group 2, and the lifting driving assembly 18 is electrically connected with the controller; the hanging strip assembly 19 is provided with a hanging strip 36, the hanging strip assembly 19 is connected with the lifting driving piece 28, the lifting driving piece 28 drives the hanging strip 36 to move so as to adjust the height of the lower end of the hanging strip 36, one part of the sliding wheel 14 group is fixedly connected with the middle plate group 2, and the other part of the sliding wheel 14 group is movably connected with the middle plate group 2; the sliding assembly is arranged on the middle plate group 2, is connected with the middle plate group 2 in a sliding way, is connected with the sliding wheel 14 group, and moves with the sliding assembly at the same time when one part of the sliding wheel 14 group moves; the detection component 21 is connected with the sliding component, the detection component 21 detects the position or displacement of the sliding component, and the detection component 21 is electrically connected with the control circuit to transmit signals; one end of the resilient support 22 is connected to the intermediate plate package 2 and the other end of the resilient support 22 is connected to the sliding assembly, which is supported by the resilient support 22.

The harness assembly 19 includes: the hoisting device comprises a hoisting disc 23, a fixed pulley 24 and a movable pulley 25, wherein the hoisting disc 23 is in transmission connection with a lifting driving assembly 18, the lifting driving assembly 18 drives the hoisting disc 23 to rotate, and a hanging belt 36 is wound on the hoisting disc 23; the fixed pulley 24 is attached to the intermediate plate group 2, the fixed pulley 24 is rotatably connected to the intermediate plate group 2, and the hanging belt 36 is wound around the fixed pulley 24 from below the fixed pulley 24. The movable pulley 25 is connected with the sliding assembly to move along with the sliding assembly, the hanging strip 36 passes through the lower part of the fixed pulley 24 and then passes through the upper part of the driven pulley 25, and the hanging strip 36 is wound on the movable pulley 25 above the driven pulley 25.

Specifically, the sliding member includes a sliding plate 26, the sliding plate 26 is slidably connected to the intermediate plate group 2, and the sliding plate 26 is fixedly connected to the movable pulley 25. The detecting component 21 is a displacement sensor, the displacement sensor is fixedly connected with the middle plate group 2, and the sliding plate 26 is connected with a sliding sheet of the displacement sensor to move simultaneously with the sliding sheet. The resilient support 22 is a spring, one end of which is in abutment with or connected to the slide plate 26 and the other end of which is in abutment with or connected to the intermediate plate package 2.

The intermediate plate group 2 is further provided with a guide 27, the guide 27 is arranged along the moving direction of the sliding assembly, and the guide 27 is in sliding fit with the sliding assembly to guide the movement of the sliding assembly. Specifically, the guide members 27 are guide posts that penetrate the sliding plate 26 and are slidably engaged with the sliding plate 26, and the guide posts are disposed in a vertical direction. The spring is sleeved on the guide post, the spring is positioned below the sliding plate 26, the spring supports the sliding plate 26, and the spring is compressed under the action of downward tension of the sliding plate 26 to provide a moving space for the sliding plate 26 and buffer and absorb shock for the sliding plate 26.

The sliding plate 26 is connected with a sliding sheet of the displacement sensor through a sensor sheet metal part, one end of the sensor sheet metal part is detachably connected with the sliding plate 26, and the other end of the sensor sheet metal part is detachably connected with the sliding sheet of the displacement sensor.

The lifting driving assembly 18 includes a lifting driving member 28 and a lifting driving member 29, the lifting driving member 28 is connected to the lifting driving member 29 for driving the lifting driving member 29 to move, the lifting driving member 29 is connected to the winding disc 23 for driving the winding disc 23 to rotate, the lifting driving member 28 is electrically connected to the controller, and specifically, the lifting driving member 28 is a motor. The lifting transmission member 29 comprises a second worm and gear mechanism 30 and a second gear mechanism 31, the second worm and gear mechanism 30 is in transmission connection with the output shaft of the lifting driving member 28, the second gear mechanism 31 is in transmission connection with the second worm and gear mechanism 30, and the output shaft of the second gear mechanism 31 is coaxially and fixedly connected with the winding disc 23.

The flexible system can test the load weight of a heavy object loaded by the hanging strip 36, the flexible system drives the sliding plate 26 to move up and down through the heavy object loaded by the hanging strip 36, meanwhile, the sliding plate 26 is fixedly connected with the displacement sensor, and the sliding plate 26 drives the displacement sensor to move up and down while moving. The spring is sleeved on the guide post, the free position of the spring is an initial position, and the compressed lowest position is a maximum load position. The displacement sensor can calibrate the weight before leaving the factory, each section of position of the displacement sensor can be recorded to obtain a corresponding weight value, the spring is not compressed in the initial state, the corresponding weight of the displacement sensor is 0, and the corresponding weight of the displacement sensor is the maximum when the spring is compressed to the lowest position. Thereby testing the weight of the load weight.

When the patient is loaded below the hanging strip 36, when the patient is loaded below the handpiece, and the patient normally moves, the height of the gravity center of the body can change up and down along with the movement, so that the hanging strip 36 can be driven to change up and down, and the sliding plate 26 and the displacement sensor can be driven to change up and down together; when the position of the displacement sensor changes, the system controls the action of the lifting driving piece 28, so that the original position of the displacement sensor is kept, and the original weight reduction weight is maintained.

The flexible system automatically adjusts the hanging strip 36 to enable the up-and-down position of the hanging strip 36 to adapt to the up-and-down change of the gravity center position of a patient in different training states, when the patient is trained, the machine head provides pulling force for the patient through the hanging strip 36, when the patient is in training, the hanging strip 36 is pulled to move downwards, the movable pulley 25 also moves downwards under the pulling force of the hanging strip 36, the sliding plate 26 connected with the movable pulley 25 also moves downwards at the same time, the sliding plate 26 drives the sliding sheet of the displacement sensor to move downwards, the displacement of the downward movement of the sliding plate 26 is detected through the displacement sensor, the displacement sensor transmits the detected displacement data to the controller, the controller drives the lifting driving piece 28 to rotate the winding disc 23 through the driving of the lifting driving piece 28 and the driving of the lifting driving piece 29, the winding disc 23 is unwound, the movable pulley 25 and the sliding plate 26 move upwards under the action of the spring to restore to the original position, at the same time, the sliding piece of the displacement sensor and the sliding plate 26 move back to the original position at the same time, corresponding to the original weight reduction on the displacement sensor.

When the gravity center of a patient moves upwards, the hanging strip 36 tends to move upwards, the sliding plate 26 and the movable pulley 25 move upwards under the action of the spring, the sliding sheet of the displacement sensor and the sliding plate 26 move upwards simultaneously, the displacement sensor transmits the detected displacement data to the controller, the controller controls the lifting driving piece 28, the lifting driving piece 28 drives the winding disc 23 to wind, so that the hanging strip 36 is tightened, the sliding plate 26 and the movable pulley 25 return to the original position, and the sliding sheet of the displacement sensor also returns to the position corresponding to the original weight.

The aircraft nose still includes: the sliding component 4 and the brake component 5, the mobile driving component 3 is arranged on the middle plate group 2; the sliding part 4 is installed on the middle plate group 2, the sliding part 4 is in transmission connection with the movable driving component 3, the movable driving component 3 drives the sliding part 4 to walk on the sky rail track 1, and the sliding part 4 is in contact with the sky rail track 1.

The brake component 5 is arranged on the middle plate group 2, a part of the brake component 5 extends and retracts on the middle plate group 2, the brake component 5 can be abutted against the top rail track 1 to brake, the brake component 5 is abutted against the top rail track 1 to brake when extending out, and the brake component 5 is separated from the top rail track 1 to release the brake when retracting; the controller is electrically connected with the brake assembly 5 to control the extension and retraction of the brake assembly 5, and the controller is electrically connected with the moving driving assembly 3 to control the driving of the sliding member 4 by the moving driving assembly 3.

The brake assembly 5 includes: the brake device comprises a fixed piece 6, a movable piece 7, a brake driving piece 8 and a collision piece 9, wherein the fixed piece 6 is fixedly arranged on the middle plate group 2; the movable piece 7 is movably connected with the fixed piece 6, and the movable piece 7 performs telescopic motion on the fixed piece 6; the brake driving piece 8 is in transmission connection with the movable piece 7, and the brake driving piece 8 drives the movable piece 7 to perform telescopic motion on the fixed piece 6; the contact element 9 is connected with the moving element 7, and when the moving element 7 extends out, the contact element 9 is contacted with the sky rail 1 to brake.

Specifically, mounting 6 is the fixing base, and the inside of fixing base is provided with the slip passage, and moving part 7 sets up inside the slip passage, and moving part 7 extends to the outside of fixing base, and moving part 7 slides in order to stretch out and retract the motion in the slip passage. The moving part 7 is a push rod, the push rod is connected with the fixed seat in a sliding mode, and the push rod is in transmission connection with the brake driving part 8 so as to drive the push rod to extend out and retract through the brake driving part 8.

Specifically, the abutting member 9 includes a brake block 10 and a brake base 11, the brake base 11 is fixedly connected with the movable member 7, and the brake block 10 is detachably and fixedly connected with the brake base 11. The brake block 10 is made of rubber materials with high sliding friction factors, so that the friction force between the brake block 10 and the sky rail track 1 is improved, and the braking effect is enhanced.

The brake base 11 is connected with the moving part 7 through a connecting piece, and the connecting piece is detachably and fixedly connected with the brake base 11 and the moving part 7. Specifically, the connecting piece includes round pin axle 12, and during the one end grafting of moving part 7 entered brake seat 11, be provided with pinhole 13 on the side of brake seat 11, pinhole 13 runs through brake seat 11 and moving part 7, and round pin axle 12 is pegged graft and is gone into in pinhole 13 in order to fix brake seat 11 and moving part 7.

The sliding piece 4 comprises four sliding wheels 14, the four sliding wheels 14 are all connected with the middle plate group 2 in a rotating mode, the two sliding wheels 14 at the front end of the middle plate group 2 are fixedly connected in a coaxial mode, the two sliding wheels 14 at the rear end of the middle plate group 2 are fixedly connected in a coaxial mode, and the two sliding wheels 14 at the front end or the rear end of the middle plate group 2 are in transmission connection with the moving driving component 3 to drive the sliding wheels 14 to rotate through the moving driving component 3.

The movable driving assembly 3 comprises a movable driving motor 15, a first worm gear 16 and a first gear mechanism 17, the first worm gear 16 is in transmission connection with the movable driving motor 15, the first gear mechanism 17 is in transmission connection with the first worm gear 16, and the first gear mechanism 17 is in transmission connection with two sliding wheels 14 at the front end or the rear end of the middle plate group 2, so that the sliding wheels 14 are driven to rotate through the movable driving assembly 3, and the machine head is driven to walk on the sky rail track 1.

The machine head with the braking function has the beneficial effects that when the shifting machine head needs to brake after reaching a specified position, the brake component 5 is controlled by the controller, the brake component 5 is controlled to extend out, and the brake component 5 is abutted against the top rail track 1 so as to rapidly increase the friction force between the shifting machine head and the top rail track 1, so that the shifting machine head is prevented from continuously sliding forwards under the action of inertia, the shifting machine head at the rear part is prevented from colliding with the shifting machine head at the front part, and the occurrence of safety accidents is avoided.

According to the brake assembly 5, the controller controls the brake driving piece 8 to drive the moving piece 7 to extend and retract, when the moving piece 7 extends out of the fixing piece 6, the abutting piece 9 and the moving piece 7 move simultaneously, and the abutting piece 9 abuts against the top rail track 1 to brake a machine head.

The following control device of the invention is matched with the flexible system to realize the gait training process. The aircraft nose can follow the walking according to patient's direction of motion, can not only reduce patient's resistance of walking, effectively reduces patient's the degree of difficulty of walking, can also reduce medical personnel's work load.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined by the scope of the claims.

Claims

1. The utility model provides a follow controlling means of aversion aircraft nose, installs on the machine head that shifts, and the machine head that shifts includes intermediate plate group (2), controller and removal drive assembly (3), and the aircraft nose is installed on sky rail track (1), move drive assembly (3) drive aircraft nose and walk on sky rail track (1), set up suspender subassembly (19) and lift drive assembly (18) on the aircraft nose, be provided with suspender (36) on suspender subassembly (19), suspender (36) carry out the pulling force to the patient and subtract heavy, lift drive assembly (18) drive suspender (36) reciprocate, its characterized in that: the following control device includes:

the follow block (32) is installed on the middle plate group (2), the follow block (32) is movably connected with the middle plate group (2), the middle plate group (2) is in sliding fit with the hanging strip (36), and the hanging strip (36) can drive the follow block (32) to move leftwards or rightwards when moving leftwards or rightwards;

the detector (33) is connected with the following block (32) to detect and sense the movement of the following block (32) leftwards or rightwards, the detector (33) is electrically connected with the controller, and the controller is electrically connected with the moving driving component (3) to control the moving driving component (3).

2. The follow control device of the displacement head according to claim 1, wherein: the following block (32) is provided with a hole (34), the hole (34) is a through hole, the hanging strip (36) penetrates through the hole (34), and the hanging strip (36) is in contact with the following block (32) in a groove.

3. The follow control device of the displacement head according to claim 1, wherein: the middle plate group (2) is provided with two guide limiting blocks (35), the two guide limiting blocks (35) are respectively arranged on the front side and the rear side of the following block (32), and the following block (32) is in sliding fit with the two guide limiting blocks (35).

4. The follow control device of the displacement head according to claim 1, wherein: the detector (33) is a tension sensor, and the tension sensor is used for detecting the tension of the following block (32) on the tension sensor in the process of moving leftwards or rightwards.

5. The follow control device of the displacement head according to claim 1, wherein: be provided with sliding part (4) on the aircraft nose, sliding part (4) are installed on middle board group (2), sliding part (4) are connected with removal drive assembly (3) transmission, remove drive assembly (3) drive sliding part (4) and walk on sky rail track (1), sliding part (4) contact with sky rail track (1).

6. The following control device of the displacing head as claimed in claim 5, wherein: the sliding piece (4) comprises four sliding wheels (14), the four sliding wheels (14) are rotatably connected with the middle plate set (2), the two sliding wheels (14) at the front end of the middle plate set (2) are coaxially and fixedly connected, the two sliding wheels (14) at the rear end of the middle plate set (2) are coaxially and fixedly connected, and the two sliding wheels (14) at the front end or the rear end of the middle plate set (2) are in transmission connection with the moving driving component (3) to drive the sliding wheels (14) to rotate through the moving driving component (3).

7. The following control device of the displacing head as claimed in claim 6, wherein: the movable driving assembly (3) comprises a movable driving motor (15), a first worm gear (16) and a first gear mechanism (17), the first worm gear (16) is in transmission connection with the movable driving motor (15), the first gear mechanism (17) is in transmission connection with the first worm gear (16), the first gear mechanism (17) is in transmission connection with two sliding wheels (14) at the front end or the rear end of the middle plate group (2), the sliding wheels (14) are driven to rotate through the movable driving assembly (3), and the driving machine head is driven to walk on the overhead rail (1).

8. The follow control device of the displacement head according to claim 1, wherein: the harness assembly (19) comprising:

the hoisting disc (23), the hoisting disc (23) is in transmission connection with the lifting driving component (18), the lifting driving component (18) drives the hoisting disc (23) to rotate, and the hanging belt (36) is wound on the hoisting disc (23);

the fixed pulley (24) is installed on the middle plate group (2), the fixed pulley (24) is rotatably connected with the middle plate group (2), and the hanging belt (36) is wound on the fixed pulley (24) from the lower part of the fixed pulley (24);

the movable pulley (25), movable pulley (25) link to each other with the slip subassembly in order to follow the simultaneous movement of slip subassembly, suspender (36) pass from fixed pulley (24) below back driven pulley (25) top again and pass, suspender (36) driven pulley (25) top is around establishing on movable pulley (25).

9. The follow control device of the displacing head as set forth in claim 8, wherein: the lifting driving assembly (18) comprises a lifting driving piece (28) and a lifting transmission piece (29), the lifting driving piece (28) is in transmission connection with the lifting transmission piece (29) to drive the lifting transmission piece (29) to move, the lifting transmission piece (29) is connected with the hoisting disc (23) to drive the hoisting disc (23) to rotate, the lifting driving piece (28) is electrically connected with the controller, and particularly, the lifting driving piece (28) is a motor.

10. The following control device of the displacing head as claimed in claim 9, wherein: the lifting transmission part (29) comprises a second worm gear mechanism (30) and a second gear mechanism (31), the second worm gear mechanism (30) is in transmission connection with an output shaft of the lifting driving part (28), the second gear mechanism (31) is in transmission connection with the second worm gear mechanism (30), and an output shaft of the second gear mechanism (31) is coaxially and fixedly connected with the hoisting disc (23).