CN207384450U - A kind of detection connector of torque and lumbar vertebra rehabilitation machine people - Google Patents
A kind of detection connector of torque and lumbar vertebra rehabilitation machine people Download PDFInfo
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- CN207384450U CN207384450U CN201720242080.0U CN201720242080U CN207384450U CN 207384450 U CN207384450 U CN 207384450U CN 201720242080 U CN201720242080 U CN 201720242080U CN 207384450 U CN207384450 U CN 207384450U
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Abstract
The utility model provides a kind of detection connector of torque and lumbar vertebra rehabilitation machine people, and the connector of the detection torque includes being input section that is cylindric and being fixedly connected sequentially, torque sensing section and load patch；Input section and load patch are coaxially disposed with torque sensing section, and the outer diameter of the two is respectively less than the outer diameter of torque sensing section；Torque sensing section includes shaft body and multiple foil gauges in shaft body.The lumbar vertebra rehabilitation machine people includes stent, seat and the first motor and the second motor being each attached on stent；Seat includes the cushion being fixed on stent and the backrest that can be rotated, and lumbar vertebra rehabilitation machine people further includes the first connector being connected between the first motor and backrest and luffing mechanism and the second connector and rotating mechanism that are connected between the second motor and backrest；First connector and the second connector are the connector for detecting torque.The utility model makes that the shafting of transmission is compact, and rotary inertia is small, and response is fast.
Description
Technical field
It is more particularly to a kind of to be used for lumbar vertebra rehabilitation machine people and energy the utility model is related to the technical field of medical instrument
Detect the connector of torque and a kind of lumbar vertebra rehabilitation machine people.
Background technology
It please refers to Fig.1 with shown in Fig. 2, the torque sensor 3 of the prior art is realizes the function of torque detection, in existing skill
Left and right two flanges of the torque sensor 3 of art connect the output shaft of motor or speed reducer 1 and load 4 respectively.Motor subtracts
The driving moment that fast machine 1 generates drives the left side flange of the torque sensor 3 of the prior art by shaft coupling 2, then by existing
The right flange band dynamic load 4 of the torque sensor 3 of technology moves.
In driving moment from the torque sensor for during left side flange is transferred to right flange, being hidden in the prior art
The assembly of foil gauge in 3, generates strain, which (is played filtering and electric signal is put by bridge circuit and force samples plate
Big effect) transfer of torque data.
From the foregoing, it will be observed that the left side flange of the torque sensor 3 of the prior art passes through shaft coupling 2 and motor or speed reducer 1
Axis connection is exported, shaft coupling 2 is also fixedly connected with the left side flange of the torque sensor of the prior art 3, to conduct motor or subtract
The driving moment that fast machine 1 generates, shaft coupling 2 are essential in the transmission process.The flange of both sides is distinguished in transmission process
Torque end and load end are connected, the torque sensor 3 of the prior art only has function of torque detection.
In this traditional " output shaft-shaft coupling-torque sensor " drive mechanism, the torque sensor of the prior art
3 are located between shaft coupling and load 4, and are fixed on shaft coupling so that the size of shafting layout is bigger than normal, influences U.S. of shape
It sees；Moreover, the weight and rotary inertia of this traditional drive mechanism are relatively large, dynamic response is partially slow, causes user's meeting
Feel that the output of torque is slow.
In addition, setting shaft coupling 2, also there are potential risks.Since shaft coupling 2 is using screw fastening, if tightening torque
It is too small, easily cause " the seizing power " of shaft coupling 2 is less than normal to cause to loosen；If tightening torque is excessive, screw is easily " sliding in itself
Silk " failure.Moreover, the concentricity for the part that shaft coupling 2 connects both ends has certain requirement.If concentricity is too low, meeting
Influence the transmission efficiency of torque.To avoid shaft coupling 2 that potential risks occur, it is necessary to be checked to the torque of screw, simultaneously
Concentricity is adjusted, maintenance cost is higher.
Utility model content
To solve that the size of traditional drive mechanism is larger, rotary inertia is big and the technical issues of low-response, this practicality is newly
Type proposes a kind of connector and the lumbar vertebra rehabilitation machine people with the connector, and the shafting that can make transmission is compact, and rotates used
Measure small, response is fast, and user is contributed to carry out lumbar vertebra rehabilitation training.
The utility model proposes a kind of connectors for detecting torque, for lumbar vertebra rehabilitation machine people, the detection torque
It is columned input section, torque sensing section and load patch that connector, which includes,；
The input section and the load patch are individually fixed in the both ends of the torque sensing section, and are passed with the torque
Feel section to be coaxially disposed, the outer diameter of the outer diameter of the input section and the load patch is respectively less than the outer diameter of the torque sensing section；
The torque sensing section includes shaft body and multiple foil gauges, and each foil gauge is embedding along the axial direction of the shaft body
It is placed in the shaft body.
The utility model also proposes a kind of lumbar vertebra rehabilitation machine people, and the lumbar vertebra rehabilitation machine people includes stent, for holding
It carries the seat of user and the first motor and the second motor on the bracket is fixedly installed；
The seat includes cushion and backrest, and the cushion is fixedly connected on the bracket, and the backrest can be around level
Direction and vertical direction rotate respectively；The lumbar vertebra rehabilitation machine people further includes to be sequentially connected in series and be leaned in first motor with described
The first connector and luffing mechanism between the back of the body and what is be sequentially connected in series between second motor and the backrest second connect
Fitting and rotating mechanism；
It is columned first input section, the first torque sensing section and the first load patch that first connector, which includes,；
First input section and first load patch are individually fixed in the both ends of the first torque sensing section, and with described
One torque sensing section is coaxially disposed, and the outer diameter of the outer diameter of first input section and first load patch is respectively less than described first
The outer diameter of torque sensing section；The first torque sensing section include the first shaft body and multiple first foil gauges, each described first
Foil gauge is along the axial direction of first shaft body in first shaft body；
It is columned second input section, the second torque sensing section and the second load patch that second connector, which includes,；
Second input section and second load patch are individually fixed in the both ends of the second torque sensing section, and with described
Two torque sensing sections are coaxially disposed, and the outer diameter of the outer diameter of second input section and second load patch is respectively less than described second
The outer diameter of torque sensing section；The second torque sensing section include the second shaft body and multiple second foil gauges, each described second
Foil gauge is along the axial direction of second shaft body in second shaft body.
Further, first input section is fixedly connected with the output shaft of first motor, first load patch
It is connected with the luffing mechanism, and the backrest is driven to be rotated around horizontal direction；Second input section and second motor
Output shaft be fixedly connected, second load patch is connected with the rotating mechanism, and drive the backrest around vertical direction turn
It is dynamic.
Further, first shaft body can be rotationally connected by least one clutch shaft bearing with the stent, institute
The second shaft body is stated rotationally to be connected with the stent by least one second bearing.
Further, two first annular grooves are arranged at intervals on the outer wall of first shaft body, on the stent
Backwards to two first shaft shoulders of setting；
The lumbar vertebra rehabilitation machine people further includes the first shaft block ring being separately positioned in each first annular groove,
The outer diameter of first shaft block ring is more than the outer diameter of first shaft body；The quantity of the clutch shaft bearing is two, each institute
The end face outside of clutch shaft bearing is stated respectively with each first shaft block ring against the inner side end of each clutch shaft bearing is distinguished
With each first shaft shoulder against；
Two second annular grooves are arranged at intervals on the outer wall of second shaft body, two are set backwards on the stent
Second shaft shoulder；
The lumbar vertebra rehabilitation machine people further includes the second shaft block ring being separately positioned in each second annular groove,
The outer diameter of second shaft block ring is more than the outer diameter of second shaft body；The quantity of the second bearing is two, each institute
The end face outside of second bearing is stated respectively with each second shaft block ring against the inner side end of each second bearing is distinguished
With each second shaft shoulder against.
Further, two first annular grooves respectively close to first shaft body both ends, described in two
Second annular groove is respectively close to the both ends of second shaft body.
Further, first load patch is fixedly connected by key with the luffing mechanism, second load patch
It is fixedly connected by key with the rotating mechanism.
Further, the lumbar vertebra rehabilitation machine people further includes DPA data processing activity；First connector passes sequentially through
First bridge circuit and first pressure sampling plate are electrically connected with the DPA data processing activity, and second connector passes sequentially through
Two bridge circuits and second pressure sampling plate are electrically connected with the DPA data processing activity.
Further, the luffing mechanism includes the first arched arm, connecting bracket, the first transmission belt and the biography that are vertically arranged
Swing arm；The connecting bracket includes central shaft and at least two spokes, and the central shaft is fixed on described by each spoke
The center of first arched arm, the central shaft can be pivotally attached on the stent；
One end of first transmission belt is fixed on one end of first arched arm, the first motor described in the pile warp of middle part
Output shaft, the other end is fixed on the other end of first arched arm；The transmission arm is L-shaped, and its one end is fixedly connected
Onto the connecting bracket, the other end is fixedly connected with the backrest；
The output shaft of first motor drives first arched arm to rotate by first transmission belt, and drives institute
Transmission arm synchronous rotary is stated, the other end of the transmission arm drives the backrest to be rotated around horizontal direction.
Further, the rotating mechanism includes horizontally disposed second arched arm, babinet, at least one guide runner
With the second transmission belt；
Second arched arm is fixedly connected on the rear side of the backrest, and the backrest is located at second arched arm
Inside；The babinet is fixed on the other end of the transmission arm, and the guide groove of arc is set on the babinet；Each guide runner
Arc-shaped and be extended along second arched arm, each guide runner is fixed on second arched arm, institute
Stating guide runner can be slidably matched with the guide groove；
One end of second transmission belt is fixed on one end of second arched arm, the second motor described in the pile warp of middle part
Output shaft, the other end is fixed on the other end of second arched arm；
The output shaft of second motor drives second arched arm to rotate by second transmission belt, and described second
Arched arm drives the backrest to be rotated around vertical direction, and each guide runner is driven to be slided along the guide groove.
The beneficial effects of the utility model compared with the prior art lie in：The connector of the detection torque of the utility model,
Input section is used for input torque, and for load patch for connecting motion, torque sensing section avoids shaft coupling for detecting torque
Use, reduce the layout of drive shaft system, appearance is relatively compact.
The lumbar vertebra rehabilitation machine people of the utility model, the first connector and the second connector employ the utility model
Detect the connector of torque, the shafting that can make transmission is compact, and rotary inertia is small, and response is fast so that " it is anteflexion, after stretch, revolve
Turn three trained dimensions " response faster, be conducive to user and rapidly enter physical training condition.
Compared with traditional " output shaft-shaft coupling-torque sensor " drive shaft system, the utility model only needs a company
Fitting, you can realize two functions of shaft coupling 2 and torque sensor 3 in the prior art.Connector (the first connector or second
Connector) not only there is torque sensor measurement inherently and transfer of torque signal, also risen in drive shaft system
To the effect of transmission main shaft.
Description of the drawings
Fig. 1 is the schematic diagram of the connection relation of the torque sensor of the prior art；
Fig. 2 is the schematic front view of the shaft coupling of the prior art；
Fig. 3 is the stereoscopic schematic diagram of the connection relation of the connector of the utility model；
Fig. 4 is the schematic front view of the connector of the utility model；
Fig. 5 is the schematic front view of the lumbar vertebra rehabilitation machine people of the utility model；
Fig. 6 is the stereoscopic schematic diagram of the lumbar vertebra rehabilitation machine people of the utility model；
Fig. 7 is the schematic diagram of the connection relation of the connector of the utility model；
Fig. 8 is the sectional view of the Section A-A of Fig. 7；
Fig. 9 is the schematic front view of the luffing mechanism of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 10 is the stereoscopic schematic diagram of the luffing mechanism of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 11 is another stereoscopic schematic diagram of the luffing mechanism of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 12 is the stereoscopic schematic diagram of the transmission arm of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 13 is the stereoscopic schematic diagram of the rotating mechanism of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 14 is another stereoscopic schematic diagram of the rotating mechanism of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 15 is another stereoscopic schematic diagram of the rotating mechanism of the lumbar vertebra rehabilitation machine people of the utility model；
Figure 16 is the vertical of the connection relation of the second arched arm of the rotating mechanism of the lumbar vertebra rehabilitation machine people of the utility model
Body schematic diagram；
Figure 17 is the another of the connection relation of the second arched arm of the rotating mechanism of the lumbar vertebra rehabilitation machine people of the utility model
One stereoscopic schematic diagram.
1- motors or speed reducer；2- shaft couplings；
The torque sensor of the 3- prior arts；4- is loaded；
10- stents；12- clutch shaft bearings；The first shaft block rings of 14-；
20- seats；24- backrests；
The first motors of 32-；The second motors of 34-；
42- torque sensing sections；44- input sections；46- load patch；
The first arched arms of 52-；54- connecting brackets；
The first transmission belts of 56-；58- transmission arms；
The second arched arms of 62-；
64- babinets；642- guide grooves；644- pulleys；
66- guide runners；The second transmission belts of 68-.
Specific embodiment
Below in conjunction with attached drawing, the technical characteristic above-mentioned to the utility model and advantage are clearly and completely described, and show
So, described embodiment is only the section Example rather than whole embodiments of the utility model.
It refers to shown in Fig. 3 and Fig. 4, the utility model proposes a kind of connector for detecting torque, which is used for waist
Vertebra healing robot, detecting the connector of torque includes being columned input section 44, torque sensing section 42 and load patch 46.
Input section 44 and load patch 46 are individually fixed in the both ends of torque sensing section 42, and coaxial with torque sensing section 42
Setting, the outer diameter of input section 44 and the outer diameter of load patch 46 are respectively less than the outer diameter of torque sensing section 42.Torque sensing section 42 includes
Shaft body and multiple foil gauges, each foil gauge is along the axial direction of shaft body in shaft body.
The connector of the utility model, input section 44 are used for input torque, and load patch 46 is used to connect motion, torque
Sensing section 42 avoids the use of shaft coupling 2, reduces the layout of drive shaft system, appearance is relatively compact for detecting torque.
To realize the function of torque detection, input section 44 connects motor or speed reducer 1, the connection of load patch 46 load 4.Motor
Or after speed reducer 1 starts and runs, driving moment is generated, then is moved by connector band dynamic load 4.In driving moment from input
During section 44 is transferred to load patch 46, the foil gauge being hidden in torque sensing section 42 generates strain.
It refers to shown in Fig. 5 and Fig. 6, the utility model also proposes a kind of lumbar vertebra rehabilitation machine people, lumbar vertebra rehabilitation machine people
Including stent 10, for carrying the seat 20 of user and the first motor 32 and second over the mount 10 be fixedly installed
Motor 34.
Seat 20 includes cushion and backrest 24, and cushion is fixedly connected over the mount 10, and backrest 24 can be around horizontal direction and perpendicular
Nogata to rotating respectively；Lumbar vertebra rehabilitation machine people further includes the first connection being sequentially connected in series between the first motor 32 and backrest 24
Part and luffing mechanism and the second connector and rotating mechanism being sequentially connected in series between the second motor 34 and backrest 24.
It is columned first input section, the first torque sensing section and the first load patch that first connector, which includes,；First
Input section and the first load patch are individually fixed in the both ends of the first torque sensing section, and are coaxially set with the first torque sensing section
It puts, the outer diameter of the outer diameter of the first input section and the first load patch is respectively less than the outer diameter of the first torque sensing section；First torque sensing
Section includes the first shaft body and multiple first foil gauges, and each first foil gauge is embedded at first axle sheet along the axial direction of the first shaft body
In vivo.
It is columned second input section, the second torque sensing section and the second load patch that second connector, which includes,；Second
Input section and the second load patch are individually fixed in the both ends of the second torque sensing section, and are coaxially set with the second torque sensing section
It puts, the outer diameter of the outer diameter of the second input section and the second load patch is respectively less than the outer diameter of the second torque sensing section；Second torque sensing
Section includes the second shaft body and multiple second foil gauges, and each second foil gauge is embedded at the second axis sheet along the axial direction of the second shaft body
In vivo.
The lumbar vertebra rehabilitation machine people of the utility model, the first connector and the second connector employ the utility model
Connector, the shafting that can make transmission is compact, and rotary inertia is small, and response is fast, and user is contributed to carry out lumbar vertebra rehabilitation training.
Further, the first input section is fixedly connected with the output shaft of the first motor 32, the first load patch and luffing mechanism
Connection, and backrest 24 is driven to be rotated around horizontal direction；Second input section is fixedly connected with the output shaft of the second motor 34, and second is negative
It carries section to be connected with rotating mechanism, and backrest 24 is driven to be rotated around vertical direction.
Since cushion is fixedly connected over the mount 10, backrest 24 can respectively be rotated around horizontal direction and vertical direction.Lumbar vertebrae
Healing robot further includes band of tying, and after user is sitting on cushion, the upper part of the body of user is fixed on backrest by band of tying
On 24, the upper part of the body of user can be rotated synchronously with backrest 24.Backrest 24 can not only be driven by luffing mechanism to be turned around horizontal direction
It is dynamic；It can also be driven by rotating mechanism and be rotated around vertical direction.
After luffing mechanism (i.e. anterior flexion and rear stretching mechanism) is subject to the driving of the first motor 32, the first connector successively, driving is leaned on
The back of the body 24 is rotated around horizontal direction, and when backrest 24 is rotated towards the direction where cushion, promotion is sitting in the upper of the user on cushion
To anteflexion body, user does " action of lumbar vertebrae buckling " half body；When backrest 24 away from the direction where cushion towards when rotating, drive is solid
Surely the upper part of the body of the user on backrest 24 of tying stretches backward, and user does " lumbar vertebrae stretching ".
After rotating mechanism is subject to the driving of the second motor 34, the second connector successively, driving backrest 24 turns around vertical direction
Dynamic, backrest 24 drives the upper part of the body of user to be rotated compared with cushion (around vertical direction), and user does " lumbar vertebrae spinning movement ".
By the action of above-mentioned luffing mechanism and rotating mechanism, the rehabilitation training to the lumbar vertebrae of user is realized.Luffing mechanism and rotation
The concrete structure and rehabilitation training principle of mechanism can refer to existing lumbar vertebra rehabilitation machine people, and in this not go into detail.
In the utility model, the first input section and the second input section respectively directly with motor (in the present embodiment, the first motor
Direct driving motor is used with the second motor) it is fixedly connected, therefore shaft coupling need not be used in drive shaft system.With it is traditional
" output shaft-shaft coupling-torque sensor " drive shaft system is compared, under the driving of direct driving motor, it is only necessary to a part
Realize corresponding function, connector realizes two functions of shaft coupling 2 in the prior art and torque sensor 3.Connector (first
Connector or the second connector) not only there is torque sensor measurement inherently and transfer of torque signal, also exist
Play the role of transmission main shaft in drive shaft system.
The shafting structure of the utility model is compacter, integrated, lightweight so that the rotary inertia smaller of shafting is rung
Should faster, appearance is relatively compact.So that the response of " anteflexion, then stretch, rotate three trained dimensions " is faster, be conducive to user
Rapidly enter physical training condition.In the lumbar vertebra rehabilitation machine people of the utility model, traditional torque sensor 3 and motor are exported
Axis 1 is integrated, and connector is served as motor output shaft, i.e., " is combined into one the function of output shaft and torque sensor ".
Further, refer to shown in Fig. 7 and Fig. 8, by taking the first connector as an example, the first shaft body passes through at least one
One bearing 12 can be rotationally connected with stent 10.Similarly, the second shaft body can be turned by least one second bearing and stent 10
It connects dynamicly.
Further, two first annular grooves are arranged at intervals on the outer wall of the first shaft body, are set backwards on stent 10
Put two first shaft shoulders.Lumbar vertebra rehabilitation machine people further includes the first shaft block ring being separately positioned in each first annular groove
14, the outer diameter of the first shaft block ring 14 is more than the outer diameter of the first shaft body.The quantity of clutch shaft bearing 12 is two, each clutch shaft bearing
12 end face outside respectively with each first shaft block ring 14 against, each clutch shaft bearing 12 inner side end respectively with each first shaft shoulder
Against.
Similarly, two second annular grooves are arranged at intervals on the outer wall of the second shaft body, two are set backwards on stent 10
Second shaft shoulder.Lumbar vertebra rehabilitation machine people further includes the second shaft block ring being separately positioned in each second annular groove, the second axis
It is more than the outer diameter of the second shaft body with the outer diameter of baffle ring.The quantity of second bearing is two, the end face outside point of each second bearing
Not with each second shaft block ring against, each second bearing inner side end respectively with each second shaft shoulder against.
In the present embodiment, clutch shaft bearing 12 and second bearing are using deep groove ball bearing, the first shaft block ring 14 and second
Shaft block ring plays axial limiting to deep groove ball bearing.
Further, as shown in figure 8, two first annular grooves respectively close to the first shaft body both ends, two
Second ring groove is respectively close to the both ends of the second shaft body.
Further, the first load patch is fixedly connected by key with luffing mechanism, and the second load patch passes through key and rotation
Mechanism is fixedly connected.As shown in Figure 3 and Figure 4, keyway is set in load patch 46.
Further, lumbar vertebra rehabilitation machine people further includes DPA data processing activity；First connector passes sequentially through the first electric bridge
Circuit and first pressure sampling plate are electrically connected with DPA data processing activity, and the second connector passes sequentially through the second bridge circuit and second
Force samples plate is electrically connected with DPA data processing activity.The strain that first foil gauge and the second foil gauge generate is respectively by respective
Bridge circuit and force samples plate are transferred to DPA data processing activity (i.e. CPU), generate torque information, and force samples plate plays filter
Ripple and the effect of electric signal amplification.
Further, refer to shown in Fig. 9, Figure 10 and Figure 11, luffing mechanism include be vertically arranged the first arched arm 52,
Connecting bracket 54, the first transmission belt 56 and transmission arm 58；Connecting bracket 54 includes central shaft and at least two spokes, central shaft lead to
The center that each spoke is fixed on the first arched arm 52 is crossed, central shaft can be pivotally attached on stent 10.
As shown in figure 9, one end of the first transmission belt 56 is fixed on one end of the first arched arm 52, the first electricity of middle part pile warp
The output shaft of machine 32, the other end are fixed on the other end of the first arched arm 52；Transmission arm 58 is L-shaped, and its one end is fixedly connected
Onto connecting bracket 54, the other end is fixedly connected with backrest 24.The output shaft of first motor 32 is driven by the first transmission belt 56
First arched arm 52 rotates, and drives 58 synchronous rotary of transmission arm, and the other end of transmission arm 58 drives backrest 24 around horizontal direction
Rotation.Backrest 24 promotes the back of user to do the action of " anteflexion ", " stretching afterwards " respectively along clockwise or counterclockwise.
In the present embodiment, one end of transmission arm 58 is connected on center shaft, after the other end is fixedly connected on backrest 24
Side.It please refers to Fig.1 shown in 2, transmission arm 58 includes a rectangular tube and a round tube, rectangular tube and round tube at right angles intersect
It sets, rectangular tube, by being welded and fixed, sets mounting base with round tube on central shaft, welded between rectangular tube and mounting base solid
Fixed, round tube passes through flanged joint with backrest 24.
In the present embodiment, the first arched arm 52 is bolted to connection with connecting bracket 54, and transmission arm 58 is with being connected branch
Frame 54 is bolted to connection.In the present embodiment, as shown in Figure 10, one end of each spoke is connected on the outer wall of central shaft,
Its other end is connected on the inner wall of the first arched arm 52.
As shown in figure 9, the first motor 32 is direct driving motor, the first motor 32 drives the first driving pulley to provide driving force
Square.Two the first idle pulleys are set near the output shaft of the first motor 32, by adjusting the offset of the first idle pulley, tensioner first
Transmission belt 56 increases the cornerite of the first driving pulley, makes movement more steady.
Left side in fig.9, the first transmission belt 56 are bonded with the first driving pulley, the both ends of the first transmission belt 56 mistake respectively
It crosses to the first idle pulley for being located at the first driving pulley both sides respectively, then the both ends of the first transmission belt 56, which each extend over, fits to the
On one arched arm 52.First fixed seat is set respectively at the both ends of the first arched arm 52, by first clamping plate by the first transmission belt
After 56 pressings, then the both ends of the first transmission belt 56 are separately fixed to by screw the both ends of the first arched arm 52.
More preferably, it is anteflexion stretch motor pattern with after during, different patients need different anteflexion and rear hade degree.
Detachably connected position-limitting pin on stent 10 by adjusting the position of position-limitting pin, plays the swing angle of transmission arm 58
Adjustment, the effect limited.
Further, please refer to Fig.1 shown in 3, Figure 14 and Figure 15, rotating mechanism includes horizontally disposed second arched arm
62nd, babinet 64,66 and second transmission belt 68 of at least one guide runner.After second arched arm 62 is fixedly connected on backrest 24
Side, and backrest 24 is located at the inside of the second arched arm 62.
Incorporated by reference to shown in Fig. 9, babinet 64 is fixed on the other end of transmission arm 58.It please refers to Fig.1 shown in 6 and Figure 17, babinet
The guide groove 642 of arc is set on 64.Each guide runner 66 is arc-shaped and is extended along the second arched arm 62, each guide runner 66
It is fixed on the second arched arm 62, guide runner 66 can be slidably matched with guide groove 642.In the present embodiment, in the second arc
One guide runner 66 is set respectively on the upper surface and lower face of arm 62, and guide runner 66 is to the second arched arm 62 around vertical side
To rotation play guiding role, ensure its rotary motion trace.
As shown in figure 14, one end of the second transmission belt 68 is fixed on one end of the second arched arm 62, middle part pile warp second
The output shaft of motor 34, the other end are fixed on the other end of the second arched arm 62.The output shaft of second motor 34 passes through second
Transmission belt 68 drives the second arched arm 62 to rotate, and the second arched arm 62 drives backrest 24 to be rotated around vertical direction, and drives and respectively lead
It is slided to sliding block 66 along guide groove 642.
More preferably, as shown in figure 15, a few pulley 644, the second transmission belt 68 can be rotatably connected in babinet 64
Middle part also pile warp pulley 644, the second transmission belt 68 is enable to be adjacent on the second arched arm 62.
When needing to be rotated, the first motor 32 of driving anterior flexion and rear stretching action stops, and the first arched arm 52 is protected
It holds and does not rotate, correspondingly, transmission arm 58 does not rotate so that the second arched arm 62 and the height and position on ground of rotating mechanism are kept
It is constant, and remain stationary as.More preferably, the rotation axis of the second arched arm 62 and the center overlapping of axles of cushion are made, so that user exists
When doing " lumbar vertebrae spinning movement ", above the waist around the central axis of cushion, the comfort of user is improved.
As shown in figure 13, the second motor 34 is direct driving motor, and the second motor 34 drives the second driving pulley to rotate, the second master
Movable belt pulley drives toothed belt transmission, and synchronous belt is subject to the tensioner respectively positioned at two the second idle pulleys of the second driving pulley both sides to make
With rear, drive the first driven pulley rotation, drive the first driven belt wheel shaft rotation of the first driven pulley, the first driven belt wheel shaft band
Dynamic the second driven pulley positioned at 52 opposite side of the first arched arm rotates, i.e. the first driven pulley and the second driven pulley are coaxial,
It and can synchronous rotary.
As shown in figure 14, the second driven pulley rotation drives the second transmission belt 68 to be driven, in the both sides of the second driven pulley
Two the 3rd idle pulleys, the 3rd the second transmission belt of idle pulley tensioner 68 are set respectively.In the left side of Figure 14, the second transmission belt 68 and second
Driven pulley is bonded, and the both ends of the second transmission belt 68 are by second clamping plate, the second fixed seat and screw in compression in the second arched arm
On 62.
It, can be by setting guide wheel in some location point in the deposition path of the second transmission belt 68, and make the second transmission
Mode with 68 winding guide wheels, changes the path of steel wire rope, and limits the deposition path of the second transmission belt 68.
More preferably, the first transmission belt 56 and the second transmission belt 68 are belt or flexible strand.It can be in the first arched arm 52
Lateral wall on the first holding tank is set, for accommodating and positioning the first transmission belt 56.It similarly, can also be in the second arched arm 62
Lateral wall on the second holding tank is set, for accommodating and positioning the second transmission belt 68.
Particular embodiments described above has carried out into one the purpose of this utility model, technical solution and advantageous effect
The detailed description of step, it should be understood that the foregoing is merely specific embodiment of the utility model, are not used to limit this reality
With new protection domain.Particularly point out, to those skilled in the art, it is all the spirit and principles of the utility model it
Any modification, equivalent substitution, improvement and etc. that are interior, being done, should be included within the scope of protection of this utility model.
Claims (10)
- A kind of 1. connector for detecting torque, for lumbar vertebra rehabilitation machine people, which is characterized in that the connector of the detection torque Including being columned input section, torque sensing section and load patch；The input section and the load patch are individually fixed in the both ends of the torque sensing section, and with the torque sensing section The outer diameter of coaxial arrangement, the outer diameter of the input section and the load patch is respectively less than the outer diameter of the torque sensing section；The torque sensing section includes shaft body and multiple foil gauges, and each foil gauge is embedded at along the axial direction of the shaft body In the shaft body.
- 2. a kind of lumbar vertebra rehabilitation machine people, which is characterized in that the lumbar vertebra rehabilitation machine people includes stent, for carrying user Seat and the first motor and the second motor on the bracket is fixedly installed；The seat includes cushion and backrest, and the cushion is fixedly connected on the bracket, and the backrest can be around horizontal direction It is rotated respectively with vertical direction；The lumbar vertebra rehabilitation machine people further include be sequentially connected in series first motor and the backrest it Between the first connector and luffing mechanism and the second connector for being sequentially connected in series between second motor and the backrest And rotating mechanism；It is columned first input section, the first torque sensing section and the first load patch that first connector, which includes,；It is described First input section and first load patch are individually fixed in the both ends of the first torque sensing section, and are turned round with described first The outer diameter of square sensing section coaxial arrangement, the outer diameter of first input section and first load patch is respectively less than first torque Sense the outer diameter of section；The first torque sensing section includes the first shaft body and multiple first foil gauges, each first strain Piece is along the axial direction of first shaft body in first shaft body；It is columned second input section, the second torque sensing section and the second load patch that second connector, which includes,；It is described Second input section and second load patch are individually fixed in the both ends of the second torque sensing section, and are turned round with described second The outer diameter of square sensing section coaxial arrangement, the outer diameter of second input section and second load patch is respectively less than second torque Sense the outer diameter of section；The second torque sensing section includes the second shaft body and multiple second foil gauges, each second strain Piece is along the axial direction of second shaft body in second shaft body.
- 3. lumbar vertebra rehabilitation machine people according to claim 2, which is characterized in that first input section and the described first electricity The output shaft of machine is fixedly connected, and first load patch is connected with the luffing mechanism, and drives the backrest around horizontal direction It rotates；Second input section is fixedly connected with the output shaft of second motor, second load patch and the whirler Structure connects, and the backrest is driven to be rotated around vertical direction.
- 4. lumbar vertebra rehabilitation machine people according to claim 2, which is characterized in that first shaft body passes through at least one Clutch shaft bearing can be rotationally connected with the stent, and second shaft body passes through at least one second bearing and the stent energy Rotationally connect.
- 5. lumbar vertebra rehabilitation machine people according to claim 4, which is characterized in that be spaced on the outer wall of first shaft body Two first annular grooves are set, two first shaft shoulders are set backwards on the stent；The lumbar vertebra rehabilitation machine people further includes the first shaft block ring being separately positioned in each first annular groove, described The outer diameter of first shaft block ring is more than the outer diameter of first shaft body；The quantity of the clutch shaft bearing is two, each described the The end face outside of one bearing respectively with each first shaft block ring against, each clutch shaft bearing inner side end respectively with respectively First shaft shoulder against；Two second annular grooves are arranged at intervals on the outer wall of second shaft body, two second are set backwards on the stent The shaft shoulder；The lumbar vertebra rehabilitation machine people further includes the second shaft block ring being separately positioned in each second annular groove, described The outer diameter of second shaft block ring is more than the outer diameter of second shaft body；The quantity of the second bearing is two, each described the The end face outside of two bearings respectively with each second shaft block ring against, each second bearing inner side end respectively with respectively Second shaft shoulder against.
- 6. lumbar vertebra rehabilitation machine people according to claim 5, which is characterized in that two first annular grooves are leaned on respectively The both ends of nearly first shaft body, two second annular grooves are respectively close to the both ends of second shaft body.
- 7. lumbar vertebra rehabilitation machine people according to claim 3, which is characterized in that first load patch by key with it is described Luffing mechanism is fixedly connected, and second load patch is fixedly connected by key with the rotating mechanism.
- 8. according to claim 2 to 7 any one of them lumbar vertebra rehabilitation machine people, which is characterized in that the lumbar vertebra rehabilitation machine People further includes DPA data processing activity；First connector pass sequentially through the first bridge circuit and first pressure sampling plate with it is described DPA data processing activity is electrically connected, and second connector passes sequentially through the second bridge circuit and second pressure sampling plate and the number It is electrically connected according to processing mechanism.
- 9. lumbar vertebra rehabilitation machine people according to claim 2, which is characterized in that the luffing mechanism includes what is be vertically arranged First arched arm, connecting bracket, the first transmission belt and transmission arm；The connecting bracket includes central shaft and at least two spokes, The central shaft is fixed on the center of first arched arm by each spoke, and the central shaft can be pivotally attached to described On stent；One end of first transmission belt is fixed on one end of first arched arm, and the first motor is defeated described in the pile warp of middle part Shaft, the other end are fixed on the other end of first arched arm；The transmission arm is L-shaped, and its one end is fixedly attached to institute It states in connecting bracket, the other end is fixedly connected with the backrest；The output shaft of first motor drives first arched arm to rotate by first transmission belt, and drives the biography Swing arm synchronous rotary, the other end of the transmission arm drive the backrest to be rotated around horizontal direction.
- 10. lumbar vertebra rehabilitation machine people according to claim 9, which is characterized in that the rotating mechanism includes horizontally disposed The second arched arm, babinet, at least one guide runner and the second transmission belt；Second arched arm is fixedly connected on the rear side of the backrest, and the backrest is located at the interior of second arched arm Side；The babinet is fixed on the other end of the transmission arm, and the guide groove of arc is set on the babinet；Each guide runner is in Arc is simultaneously extended along second arched arm, and each guide runner is fixed on second arched arm, described Guide runner can be slidably matched with the guide groove；One end of second transmission belt is fixed on one end of second arched arm, and the second motor is defeated described in the pile warp of middle part Shaft, the other end are fixed on the other end of second arched arm；The output shaft of second motor drives second arched arm to rotate by second transmission belt, second arc Arm drives the backrest to be rotated around vertical direction, and each guide runner is driven to be slided along the guide groove.
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| CN201720242080.0U CN207384450U (en) | 2017-03-13 | 2017-03-13 | A kind of detection connector of torque and lumbar vertebra rehabilitation machine people |
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| CN201720242080.0U CN207384450U (en) | 2017-03-13 | 2017-03-13 | A kind of detection connector of torque and lumbar vertebra rehabilitation machine people |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044730A (en) * | 2018-07-26 | 2018-12-21 | 张建华 | Patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot |
| CN111184619A (en) * | 2020-01-13 | 2020-05-22 | 北京工业大学 | Muscle strength training device for waist rotation |
| CN111803317A (en) * | 2020-06-30 | 2020-10-23 | 四川大学华西医院 | Lumbar vertebra pathological change detection device and lumbar vertebra pathological change detection system |
| CN111896829A (en) * | 2020-07-31 | 2020-11-06 | 上海荣泰健康科技股份有限公司 | Tool for testing service life of massage machine core and debugging method thereof |
| CN114732667A (en) * | 2022-03-28 | 2022-07-12 | 上海电气集团股份有限公司 | Variable impedance device applied to rehabilitation robot |
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2017
- 2017-03-13 CN CN201720242080.0U patent/CN207384450U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044730A (en) * | 2018-07-26 | 2018-12-21 | 张建华 | Patient's horizontal-vertical double-purpose formula healing and training shoulder joint medical robot |
| CN111184619A (en) * | 2020-01-13 | 2020-05-22 | 北京工业大学 | Muscle strength training device for waist rotation |
| CN111803317A (en) * | 2020-06-30 | 2020-10-23 | 四川大学华西医院 | Lumbar vertebra pathological change detection device and lumbar vertebra pathological change detection system |
| CN111803317B (en) * | 2020-06-30 | 2022-04-15 | 四川大学华西医院 | Lumbar vertebra lesion detection system |
| CN111896829A (en) * | 2020-07-31 | 2020-11-06 | 上海荣泰健康科技股份有限公司 | Tool for testing service life of massage machine core and debugging method thereof |
| CN114732667A (en) * | 2022-03-28 | 2022-07-12 | 上海电气集团股份有限公司 | Variable impedance device applied to rehabilitation robot |
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