CN207532717U - Multiple degrees of freedom cable traction device and balance rehabilitation training instrument - Google Patents

Abstract

The utility model provides a kind of multiple degrees of freedom cable traction device and balance rehabilitation training instrument.The multiple degrees of freedom cable traction device is articulated with the swing span of cradle top, cable traction translation mechanism, cable traction rotating mechanism and two sets of swing haulage gears including pedestal, translation plates, swivel plate, stent, middle part.The utility model sets translation plates on pedestal, swivel plate is set in translation plates, and the mounting bracket on swivel plate, swing span is hinged at the top of stent, and set cable traction translation mechanism that translation plates is pulled to be translated on pedestal, setting cable traction rotating mechanism traction swivel plate rotates in translation plates, and two sets of swing haulage gears is set to respectively drive swing span and are swung in orthogonal both direction, and then provide two-way swing degree of freedom movement, moving in rotation and translational movement, with more easily to personnel's balance rehabilitation training, it occupies little space, and reduce cost.

Description

Multiple degrees of freedom cable traction device and balance rehabilitation training instrument

Technical field

The utility model belongs to field of medical device, is to be related to a kind of multiple degrees of freedom cable traction device more specifically And the balance rehabilitation training instrument using the multiple degrees of freedom cable traction device.

Background technology

In balance rehabilitation training, physical condition of the tester under different mobile status is needed, this just needs to use It is capable of providing the mobile device of multiple degree of freedom movements.And the mobile device used in current rehabilitation training is generally only capable of providing Power is swung around；And the rehabilitation training under the states such as can not being rotated, being translated, to the health such as be rotated, being translated Refreshment is practiced, then needs individual equipment, of high cost, occupied space is big.

Utility model content

The purpose of this utility model is to provide a kind of multiple degrees of freedom cable traction device, to solve to exist in the prior art Rehabilitation training in mobile device provide one-movement-freedom-degree few, the problem of can not realizing rotation, translational motion function.

To achieve the above object, the technical solution adopted in the utility model is：A kind of multiple degrees of freedom cable traction dress is provided It puts, including pedestal, the translation plates being slidably mounted on the pedestal, the swivel plate being pivotally mounted in the translation plates, peace Loaded on the swivel plate stent, middle part be articulated with the swing span of the cradle top, the driving translation plates at the bottom The cable traction rotating mechanism that cable traction translation mechanism, the driving swivel plate translated on seat rotates in the translation plates With the two sets of swing haulage gears for respectively driving the swing span and swinging in orthogonal both direction.

Further, the cable traction rotating mechanism includes the first rope, drives the first of the first rope movement Shaft, driving first rotating shaft rotation the first motor, be articulated on the stent two the first fixed pulleys, respectively with two The corresponding two deflecting wheels of a first fixed pulley and the rotating disk being fixed in the translation plates, the middle part of the swivel plate The opening that cooperation is fixedly connected with the bottom plate for the rotating disk is offered, first motor is installed on the swivel plate, Each deflecting wheel be articulated on the swivel plate and each deflecting wheel it is radial parallel in the swivel plate, two changes The side of close corresponding first fixed pulley of the rotating disk is respectively arranged on to wheel, the first rotating shaft is installed on the stent On, the stage casing of first rope is wound in the first rotating shaft, and the both ends of first rope are respectively around described in two First fixed pulley becomes through the deflecting wheel corresponding with each first fixed pulley backward, respectively through the rotating disk respectively again The one end of both sides and the rotating disk far from the corresponding deflecting wheel be fixedly linked.

Further, the cable traction translation mechanism includes the second rope, the band for driving the translation plates translation Second shaft of the dynamic second rope movement, the second motor of driving the second shaft rotation, the two of second rope The both ends respectively with the pedestal is held to be fixedly linked.

Further, translation plates translation direction described in the pedestal upper edge offers sliding slot, and the cable traction translates machine Structure further includes two the second fixed pulleys being articulated on the stent and two movable pulleys being articulated in the translation plates, described Second motor is installed on the swivel plate, is stretched into the sliding slot on the downside of each movable pulley, the axis of each movable pulley To the length direction perpendicular to the sliding slot, offered in the translation plates corresponding to the position of each movable pulley for described dynamic The trepanning passed through on the downside of pulley, the position that the trepanning correspond in the rotating disk offer through-hole, and second shaft is installed In on the stent, the stage casing of second rope is wound in second shaft, the both ends of second rope rotating around Both ends of two second fixed pulleys again through two movable pulleys and the sliding slot are crossed to be fixedly linked.

Further, the both sides of the sliding slot are respectively equipped with sliding rail, are slided on each sliding rail and are equipped at least one guiding Wheel, each guide wheel are articulated in the bottom surface of the translation plates.

Further, the cable traction rotating mechanism is further included for adjust the first cord tightness degree two One preloader, two first preloaders are respectively arranged in the rotating disk, and two first preloaders respectively with The both ends of first rope are connected, and the accommodating cavity that cooperation houses each first preloader is offered in the rotating disk.

Further, each haulage gear that swings includes pulling the third rope of the swing span swing, driving The third shaft of the third rope movement, is respectively arranged in the swing at the third motor for driving the third shaft rotation Two of frame opposite sides pull wheel and are installed on the swivel plate two corresponding with two pulling wheel positions respectively Third fixed pulley, the third shaft are installed on the stent, and the third motor is installed on the swivel plate, and described The stage casing of three ropes is wound in the third shaft, and the both ends of the third rope are slided surely around two thirds respectively Wheel is fixedly linked again around the both sides with each corresponding pulling wheel of third fixed pulley and the swivel plate respectively；One The line between two third fixed pulley centers for swinging haulage gear is covered perpendicular to the another set of swing haulage gear Two third fixed pulley centers between line.

Further, it is also equipped with pedal on the swing span.

Further, the surrounding of the swing span and middle part are separately installed with pressure detection instrument, if the treadle supporting in It does on the pressure detection instrument.

The advantageous effect of multiple degrees of freedom cable traction device provided by the utility model is：Compared with prior art, originally Utility model sets translation plates on pedestal, sets swivel plate in translation plates, and the mounting bracket on swivel plate, in stent Top is hinged swing span, and sets cable traction translation mechanism that translation plates is pulled to be translated on pedestal, and setting cable traction revolves Rotation mechanism traction swivel plate rotates in translation plates, and two sets of swing haulage gears is set to respectively drive swing span and are being mutually perpendicular to Both direction swing, and then mobile two-way swing degree of freedom, moving in rotation and translational movement are provided, with more easily to people Member's balance rehabilitation training, occupies little space, and reduce cost.

The another object of the utility model is to provide a kind of balance rehabilitation training instrument, including multiple degrees of freedom as described above Cable traction device.

The balance rehabilitation training instrument of the utility model has used above-mentioned multiple degrees of freedom cable traction device, can provide more The movement of degree of freedom, and then be balanced in rehabilitation training in personnel, the test and training under more mobile status can be provided, Reduce equipment cost.

Description of the drawings

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing is briefly described needed in description, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the structure diagram of multiple degrees of freedom cable traction device that the utility model embodiment provides；

Fig. 2 is the decomposition texture schematic diagram of the multiple degrees of freedom cable traction device of Fig. 1；

The structure diagram of part-structure in the multiple degrees of freedom cable traction device that Fig. 3 is Fig. 2；Be not shown in figure stent, Swing span and pedal；

Fig. 4 is two sets of structure diagrams one swung when haulage gear is installed on swivel plate in Fig. 2；

Fig. 5 is two sets of part-structure schematic diagrams two swung when haulage gear is installed on swivel plate in Fig. 4；

Fig. 6 is positive structure diagram when a set of traction swing mechanism is installed on swivel plate in Fig. 5；

Fig. 7 is that cable traction translation mechanism is installed on the structure diagram on pedestal in Fig. 2；

Fig. 8 is that cable traction translation mechanism is installed on the overlooking the structure diagram on pedestal in Fig. 2, is not shown in figure bottom Plate；

Fig. 9 is that cable traction translation mechanism is installed on the dimensional structure diagram on pedestal in Fig. 2, is not shown in figure branch Frame；

The structure that cable traction rotating mechanism is installed on pedestal in the multiple degrees of freedom cable traction device that Figure 10 is Fig. 2 is shown It is intended to one；

Figure 11 is that cable traction rotating mechanism is installed on the dimensional structure diagram on pedestal in Figure 10, is not shown in figure one A disk；

Figure 12 is the decomposition texture schematic diagram of rotating disk in Figure 10；

Figure 13 is the enlarged structure schematic diagram of preloader in Figure 10；

Figure 14 is the enlarged structure schematic diagram of shaft in Figure 10；

Figure 15 is the structural representation of stent and swing span in Fig. 2.

Wherein, each attached drawing main mark in figure：

10- pedestals；101- sliding slots；11- bottom plates；12- cover boards；121- slideway mouths；122- limited blocks；13- ribs；14- is slided Rail；15- guide wheels；

20- stents；21- frame bodies；211- frame plates；2111- support levels；22- limiting plates；25- universal joints；

31- translation plates；The second idler wheels of 311-；312- trepannings；32- swivel plates；The first idler wheels of 321-；322- bearings；323- Locating wheel；324- is open；325- accommodation chambers；

40- swing spans；41- oscillating decks；411- annular slabs；42- support bars；43- support plates；

50- cable traction translation mechanisms；The second ropes of 51-；The second shafts of 52-；The second vanes of 525-；526- second is visited Survey device；The second fixed pulleys of 53-；54- movable pulleys；The second motors of 55-；The second transmission mechanisms of 56-；The second driving wheels of 561-；562- Second driven wheel；The second belts of 563-；The second preloaders of 57-；

60- cable traction rotating mechanisms；The first ropes of 61-；62- first rotating shafts；621- first segments；622- first segments； The first vanes of 625-；The first detectors of 626-；The first fixed pulleys of 63-；64- deflecting wheels；The first motors of 65-；66- first is driven Mechanism；The first driving wheels of 661-；The first driven wheels of 662-；The first belts of 663-；The first preloaders of 67-；671- sliding axles；672- Baffle；673- compressed springs；674- blocks；675- connection rings；68- rotating disks；680- accommodating cavities；681- positioning disks；682- justifies Disk；6821- begins to speak；6822- ducts；683- guiding axis；684- axle sleeves；686- support wheels；687- through-holes；688- grooves；

70- swings haulage gear；71- third ropes；72- third shafts；725- third vanes；726- thirds detect Device；73- third fixed pulleys；74- pulls wheel；75- third motors；76- third transmission mechanisms；761- third driving wheels；762- Three driven wheels；763- third belts；77- third preloaders；78- deflecting axis.

Specific embodiment

In order to which technical problem to be solved in the utility model, technical solution and advantageous effect is more clearly understood, with Lower combination accompanying drawings and embodiments, the present invention is further described in detail.It should be appreciated that specific reality described herein It applies example to be only used to explain the utility model, is not used to limit the utility model.

It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another On one element or it is connected on another element.When an element is known as " being connected to " another element, it can To be directly to another element or be indirectly connected on another element.

In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more this feature." multiple " are meant that two or two in the description of the present invention, More than, unless otherwise specifically defined." several " are meant that one or more, unless otherwise clearly specific limit It is fixed.

In the description of the present invention, it is to be appreciated that term " " center ", " length ", " width ", " thickness ", The orientation of instructions such as " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " or Position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of description the utility model and simplifies description, Rather than instruction or imply signified device or element must have specific orientation, with specific azimuth configuration and operation, because This is it is not intended that limitation to the utility model.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally Connection；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, It can be the interaction relationship of connection inside two elements or two elements.For those of ordinary skill in the art Speech, can understand concrete meaning of the above-mentioned term in the utility model as the case may be.

Also referring to Fig. 1 to Fig. 3, now multiple degrees of freedom cable traction device provided by the utility model is illustrated. The multiple degrees of freedom cable traction device, including 40, two sets of pedestal 10, translation plates 31, swivel plate 32, stent 21, swing span pendulum Dynamic haulage gear 70, cable traction translation mechanism 50 and cable traction rotating mechanism 60；Swivel plate 32 is pivotally mounted to translate On plate 31, translation plates 31 are slidably mounted on pedestal 10, and stent 20 is installed on swivel plate 32, and 40 middle part of swing span is articulated with branch 20 top of frame, thus by stent 20 to support swing span 40, while swung on stent 20 convenient for swing span 40.In addition, Swing span 40 and the top of stent 20 are hinged, oscillation center can be made closer to swing span 40, and then put in swing span 40 When dynamic, center will not move, when being balanced training with test, can more precisely to test human body Physical condition when swinging, accurately reflects the limb rehabilitating situation that lower limb muscles damage the wounded.Cable traction rotating mechanism 60 drives Dynamic swivel plate 32 rotates in translation plates 31.Cable traction translation mechanism 50 drives translation plates 31 to be translated on pedestal 10.Two sets It swings haulage gear 70 and respectively drives swing span 40 in the swing of orthogonal both direction.

Multiple degrees of freedom cable traction device provided by the utility model, compared with prior art, the utility model is in pedestal Translation plates 31 are set on 10, the setting swivel plate 32 in translation plates 31, and the mounting bracket 20 on swivel plate 32, in stent 20 Top is hinged swing span 40, and sets cable traction translation mechanism 50 so that translation plates 31 to be pulled to be translated on pedestal 10, setting rope Rope traction rotating mechanism 60 draws swivel plate 32 and is rotated in translation plates 31, and sets two sets to swing haulage gear 70 and respectively drive Swing span 40 is swung in orthogonal both direction, and then provides mobile two-way swing degree of freedom, moving in rotation and translation It is mobile, more easily to personnel's balance rehabilitation training, to occupy little space, and reduce cost.

Further, it also referring to Fig. 3, Figure 10 to Figure 12, is led as multiple degrees of freedom rope provided by the utility model A kind of specific embodiment of leading-in device, cable traction rotating mechanism 60 include the first rope 61, first rotating shaft 62, the first motor 65th, two the first fixed pulleys, 63, two deflecting wheels 64 and rotating disk 68, two deflecting wheels 64 and two the first fixed pulleys 63 are opposite Should, the first rope 61 is used to that swivel plate 32 to be driven to rotate in translation plates 31；First rotating shaft 62 is used to pull the first rope 61, the One motor 65 driving first rotating shaft 62 rotates, to pull the first rope 61；Two the first fixed pulleys 63 are articulated on stent 20, with Two the first fixed pulleys 63 are supported by stent 20；Two deflecting wheels 64 are articulated on swivel plate 32, and each deflecting wheel 64 It is radial parallel in swivel plate 32, two deflecting wheels 64 are respectively arranged on rotating disk 68 close to the side of corresponding first fixed pulley 63； First motor 65 is installed on swivel plate 32；The middle part of swivel plate 32 offers cooperation for rotating disk 68 and 31 stationary phase of translation plates Opening 324 even, rotating disk 68 are fixed in translation plates 31.Specifically, as using bolt pass through opening 324 by rotating disk 68 with Translation plates 31 are fixedly linked；Or the middle part of rotating disk 68 is fixedly linked through opening 324 with translation plates 31.Certainly in other realities It applies in example, rotating disk 68 can also be installed in opening 324.So as to which swivel plate 32 can be rotated around rotating disk 68；Each deflecting Wheel 64 can carry out deflecting to the first rope 61, to guide the first rope 61；The stage casing of first rope 61 is wound in first rotating shaft On 62；The both ends of first rope 61 are respectively around two the first fixed pulleys 63, again respectively through corresponding with each first fixed pulley 63 The both sides that deflecting wheel 64 becomes backward, respectively through rotating disk 68 are fixedly linked to the one end of rotating disk 68 far from corresponding deflecting wheel 64, I.e. one end of the first rope 61 passes through and 63 corresponding 64 deflecting of deflecting wheel of the first fixed pulley around first fixed pulley 63, again Afterwards, a side again through rotating disk 68 is fixedly linked with the one end of the rotating disk 68 far from the deflecting wheel 64；First rope 61 The other end is around another first fixed pulley 63, again through becoming with the 63 corresponding deflecting wheel 64 of the first fixed pulley backward, again through rotation Another side of turntable 68 is fixedly linked with the one end of the rotating disk 68 far from the deflecting wheel 64；So as in rotation first rotating shaft 62 When, one end of the first rope 61 is tensed, and loosen the other end of the first rope 61,32 relative rotation disk 68 of swivel plate is rotated, And rotating disk 68 is fixed with translation plates 31, so that swivel plate 32 rotates in translation plates 31.

Rotating disk 68 is fixedly linked by the opening at the middle part of swivel plate 32 with translation plates 31, and by the stage casing of the first rope 61 It is wound in first rotating shaft 62；One end of first rope 61 passes through and first fixed pulley 63 around first fixed pulley 63, again A side that corresponding deflecting wheel 64 becomes backward, again through rotating disk 68 is fixed with the one end of the rotating disk 68 far from the deflecting wheel 64 It is connected；The other end of first rope 61 passes through and the 63 corresponding deflecting of the first fixed pulley around another first fixed pulley 63, again Another side through rotating disk 68 is fixedly linked 64 change of wheel with the one end of the rotating disk 68 far from the deflecting wheel 64 backward, again；From And when rotating first rotating shaft 62, one end of the first rope 61 is tensed, and loosen the other end of the first rope 61, make swivel plate 32 Relative rotation disk 68 rotates, and rotating disk 68 is fixed with translation plates 31, so that swivel plate 32 rotates in translation plates 31；The structure Translation plates 31 can be set it is relatively thin, reduce occupied space, in addition pulled using the first rope 61, and deflecting wheel 64 can be passed through With the first fixed pulley 63 to the first rope 61 carry out deflecting, and then can facilitate layout the first motor 65, first rotating shaft 62 position It puts, it is easy for installation.

In some other embodiment, cable traction rotating mechanism 60 or other structures, such as by the first motor 65 In translation plates 31, then the middle part installation ring gear of swivel plate 32, installation and ring gear meshed gears on the first motor 65, It is rotated by the first motor-driven gear, drives ring gear rotation, and then swivel plate 32 is driven to be rotated in translation plates 31.

Further, it also referring to Figure 10 to Figure 12, is filled as multiple degrees of freedom cable traction provided by the utility model A kind of specific embodiment put, the side of rotating disk 68 are equipped with the groove 688 of accommodating first rope 61 of cooperation, and groove 688 is convex Go out swivel plate 32.Groove 688 is opened up in the side of rotating disk 68 (side for refering in particular to 68 thickness direction of rotating disk), so as to the first rope Rope 61 is placed in the groove 688, and the first rope 61 can preferably be prevented to be detached from rotating disk 68.And by the groove in rotating disk 68 688 protrusion swivel plates 32, can facilitate the first rope 61 to be around in rotating disk 68.

Further, each deflecting wheel 64 maintains an equal level with groove 688, downside and the corresponding deflecting wheel of each first fixed pulley, 63 radial direction 64 maintain an equal level.Each deflecting wheel 64 is maintained an equal level with groove 688, downside and the corresponding deflecting wheel 64 of each first fixed pulley, 63 radial direction maintain an equal level, The frictional force to the first rope 61 can be reduced, while the first rope 61 is made preferably to be around on deflecting wheel 64, prevents the first rope Rope 61 is detached from from deflecting wheel 64.In the present embodiment, deflecting wheel 64 maintains an equal level with groove 688 to be refered in particular in 64 thickness direction of deflecting wheel The distance of portion to distance and groove 688 middle part to the swivel plate 32 of swivel plate 32 it is equal or close (it is close herein, refer to deflecting wheel 64 The distance of the middle part of thickness direction to swivel plate 32 is slightly larger than or is slightly less than the distance that swivel plate 32 is arrived at 688 middle part of groove).First The downside of 63 radial direction of fixed pulley maintains an equal level with corresponding deflecting wheel 64 refers to the middle part of 64 thickness direction of deflecting wheel to the distance of swivel plate 32 Equal or close with the distance of downside to the swivel plate 32 of 63 radial direction of the first fixed pulley (it is close herein, refer to 64 thickness side of deflecting wheel To middle part to swivel plate 32 distance be slightly larger than or be slightly less than the downside of 63 radial direction of the first fixed pulley to swivel plate 32 away from From).

Further, rotating disk 68 includes positioning disk 681 and two disks 682, and positioning disk 681 is used to support the first rope 61, i.e., when installing the first rope 61, the both ends of the first rope 61 are around in the side of positioning disk 681 (i.e. 681 radial direction of positioning disk Circumference side).Two disks 682 clamp 681 two sides of positioning disk, and two disks 682 and positioning disk 681 are fixedly linked, shape Into rotating disk 68.The diameter of positioning disk 681 is less than the diameter of disk 682, two 682 peripheries of disk and the side of positioning disk 681 Cooperatively form groove 688.The rotating disk 68 of the structure, processing and fabricating are convenient.In some other embodiment, rotating disk 68 also may be used To be an integral molding structure.

Further, in the present embodiment, two the first fixed pulleys 63 are coaxially disposed, and two deflecting wheels 64 are located at rotating disk 68 The same side.The structure facilitates installation and layout.In some other embodiment, two the first fixed pulleys 63 can also be set respectively In the both sides of rotating disk 68, and two deflecting wheels 64 are equally set on the both sides of rotating disk 68.

Further, positioning disk 681 is C-shaped, and the both ends of the first rope 61 extend to positioning disk by the both ends of positioning disk 681 681 middle part is fixedly linked with the positioning disk 681.Positioning disk 681 is set C-shaped, prolonged with the both ends for facilitating the first rope 61 The middle part of positioning disk 681 is extended to, and then the both ends by the first rope 61 is facilitated to fix, while the structure good can prevent One rope 61 skids.Certainly, in further embodiments, fixed column in the side of rotating disk 68 can be set, and first is restricted The both ends of rope 61 are fixedly linked with fixed column.

Further, it is separately installed with to guide the in the corresponding position in 681 both ends of positioning disk between two disks 682 The guiding axis 683 of the both ends deflecting of one rope 61.Guiding axis 683 is set, to be extended in positioning disk 681 in the first rope 61 When, preferably the first rope 61 can be oriented to, reduce the frictional force to the first rope 61, improve making for the first rope 61 Use the service life.Further, guiding axis 683 can be screw, be connected with facilitating with disk 682.Further, rotating disk 68 is also wrapped Two disks 682 of connection and the bolt 685 of positioning disk 681 are included, two disks 682 are fixedly linked with positioning disk 681 with facilitating. Further, axle sleeve 684 is arranged on each guiding axis 683, so as to which axle sleeve 684 can rotate on guiding axis 683, with further Reduce frictional force.

Further, several support wheels 686 are also articulated on the periphery of rotating disk 68, each support wheel 686 is supported in rotation On plate 32, rotating disk 68 is supported on swivel plate 32, so as to reduce the frictional force between rotating disk 68 and swivel plate 32, just In 32 more flexible rotation of swivel plate.

Further, cable traction rotating mechanism 60 further includes two the first preloaders 67, and two the first preloaders 67 are used In adjustment 61 elasticity of the first rope, two the first preloaders 67 are respectively arranged in rotating disk 68, and two the first preloaders 67 both ends respectively with the first rope 61 are connected.First preloader 67 is set, to adjust the elasticity of the first rope 61, Ke Yigeng Good the first rope of tension 61, and the first rope 61 is fixedly linked with rotating disk 68.

Further, the accommodating cavity 680 for offering accommodating first preloader 67 is coordinated in rotating disk 68.In rotating disk 68 Accommodating cavity 680 is opened up, to install the first preloader 67, installation can be facilitated to fix the first preloader 67, while also allow for first The both ends of rope 61 are connected with the first preloader 67.6821 are begun to speak it is possible to further be opened up respectively in two disks 682, and Positioning disk 681 is C-shaped, and to cooperatively form above-mentioned accommodating cavity 680, which facilitates processing and fabricating, while convenient for the first rope 61 Both ends through positioning disk 681 are stretched into accommodating cavity 680 to be connected with corresponding first preloader 67.It is possible to further respectively two 682 open up duct 6822 on a disk, and positioning disk 681 is C-shaped, and to cooperatively form above-mentioned duct 6822, the structure is convenient to be added Work makes.

Further, each first preloader 67 includes sliding axle 671, slides the baffle 672 being placed on sliding axle 671, set In the compressed spring 673 on sliding axle 671 and the block 674 for being installed on 671 one end of sliding axle, the both ends point of compressed spring 673 Baffle 672 and block 674 are not supported, and baffle 672 is fixed in rotating disk 68, the other end of sliding axle 671 and the first rope 61 Corresponding end be connected.Block 674 is flexibly supported by compressed spring 673, and block 674 is fixedly linked with sliding axle 671, then presses 673 resiliency urged sliding axle 671 of contracting spring moves in baffle 672, and when fixing baffle 672, then sliding axle 671 can be drawn Tightly or loosen the first rope 61,61 elasticity of the first rope will be adjusted, and then compensate the first rope 61 being likely to occur to realize The difference of both ends amount of tension and anti-loose measure (because 61 one end of the first rope can be caused excessively tight for above-mentioned difference and the other end excessively Relaxation, so as to be impacted to the service life of the first rope 61 and the precision of displacement distance).Certainly, implement at some other In example, the first preloader 67 can also use the telescopic devices such as ejection telescopic rod to replace.

Further, the other end of sliding axle 671 is equipped with the connection ring 675 for connecting the first rope 61, in sliding axle Connection ring 675 is set on 671, to facilitate the first rope 61 of connection.Further, connection ring 675 and sliding axle 671 can be one It is body formed.Certainly, in further embodiments, connection ring 675 can also weld or screw thread side is connected on sliding axle 671.Into one Step ground, block 674 are stop nut, to facilitate processing and fabricating, reduce cost.

Further, which further includes the first of connection 62 and first motor 65 of first rotating shaft and passes Motivation structure 66, the first transmission mechanism 66 include the first driving wheel 661 being connected with the first motor 65, are connected with first rotating shaft 62 First driven wheel 662 and the first belt 663 of the first driving wheel 661 of connection and the first driven wheel 662.First transmission mechanism is set 66, gearratio can be adjusted, to increase torsion, while the structure is also convenient for the first motor of mounting arrangement 65.Using belt transmission, It is simple in structure, it is at low cost, it is easy to make.Certainly, in some other embodiment, the first transmission mechanism 66 can also use chain First transmission mechanism 66, gear-box etc..

Further, if the dry bearing 322 for supporting 68 periphery of rotating disk is also connected on swivel plate 32, if dry bearing 322 are distributed in the surrounding of rotating disk 68.If installing dry bearing 322 on swivel plate 32, and these bearings 322 are being rotated respectively The surrounding of disk 68 can be held 322 to limit the position of swivel plate 32 with axis, reduce the friction between swivel plate 32 and rotating disk 68 Power, so that swivel plate 32 can be rotated around rotating disk 68 for greater flexibility.

Further, several locating wheels 323 for supporting 68 periphery of rotating disk, several locating wheels are also connected on swivel plate 32 323 are distributed in the surrounding of rotating disk 68.Locating wheel 323 is set, preferably to limit the position between swivel plate 32 and rotating disk 68 It puts.Further, swivel plate 32 is limited by several locating wheels 323, and several support wheels 686 support rotating disk 68 On swivel plate 32, so that swivel plate 32 more flexible can be rotated around rotating disk 68.

Further, which further includes the first idler wheel 321 of several support swivel plates 32, several First idler wheel 321 is articulated on swivel plate 32.First idler wheel 321 is set, so that swivel plate 32 can reduce swivel plate 32 with putting down The frictional force between plate 31 is moved, so that swivel plate 32 can rotate for greater flexibility.It certainly, in other embodiments, can also be The bottom of swivel plate 32 sets several balls, so that swivel plate 32 can be rotated neatly in translation plates 31.

Further, it also referring to Figure 10, Figure 11 and Figure 14, is led as multiple degrees of freedom rope provided by the utility model A kind of specific embodiment of leading-in device, first rotating shaft 62 have first segment 621 and the first segment extended by first segment 621 622, the first rope 61 is wound on first segment 621.First rotating shaft 62 is set as first segment 621 and first segment 622, with convenient Processing, while it is also convenient for the first rope 61 of winding.

Further, the inclined hole (not shown) passed through for the first rope 61, the axis of inclined hole are offered on first segment 621 To the axial direction for favouring first rotating shaft 62, and the both ends of inclined hole are located at the both ends of first segment 621 respectively.The of first rotating shaft 62 First rope 61 can be passed through inclined hole by one section of 621 setting inclined hole, so as to preferably preventing the first rope 61 from skidding, so as to the One shaft 62 preferably pulls the first rope 61.

Further, the end of the first segment 621 of first rotating shaft 62 is equipped with the first vane for having grid in a ring 625, the first detector 626 for detecting 625 rotation angle of the first vane is installed on stent 20.In first segment 621 The first vane 625 is installed in end, the rotation angle of first rotating shaft 62 can be detected by the first detector 626, so as to more Good control first rotating shaft 62 rotates, and then controls the movement of swivel plate 32.

Further, first rotating shaft 62 is stepped, and the diameter of first segment 621 is more than the diameter of first segment 622.By first The diameter setting of section 621 can facilitate the first rope 61 of winding, be also convenient for processing and fabricating, simultaneously more than the diameter of first segment 622 It is also convenient for first rotating shaft 62 being mounted on stent 20.

Further, the first rope 61 can use steel wire rope.Certainly in some other embodiment, the first rope 61 It can be made using other materials.Further, the periphery of each first fixed pulley 63 is equipped with to house determining for the first rope 61 Position slot, is detached to prevent the first rope 61.Similarly, the periphery of each deflecting wheel 64 is equipped with the locating slot for housing the first rope 61, It is detached to prevent the first rope 61.

Further, also referring to Fig. 3, Fig. 7 to Fig. 9, as multiple degrees of freedom cable traction provided by the utility model A kind of specific embodiment of device, cable traction translation mechanism 50 include the second rope 51, the second shaft 52 and the second motor 55, the second rope 51 is used to that translation plates 31 to be driven to translate on pedestal 10；Second shaft 52 for pull the second rope 51, second Motor 55 drives the second shaft 52 to rotate, to pull the second rope 51.Second rope, 51 both ends and the both ends stationary phase of pedestal 10 Even, so as to which when rotating the second shaft 52, the second shaft 52 can be moved towards one end of the second rope 51, and then drive translation plates 1 moves on pedestal 10.Second shaft 52 can be articulated in translation plates 31 by the structure.Further, the second shaft 52 can To use the structure identical with first rotating shaft 62, to facilitate processing and fabricating, cost is reduced.

Further, 10 upper edge translation plates of pedestal, 31 translation direction offers sliding slot 101, and cable traction translation mechanism 50 is also Including two the second fixed pulleys 53 and two movable pulleys 54, two the second fixed pulleys 53 are articulated on stent 20, to pass through stent 20 support two the second fixed pulleys 53；Two movable pulleys 54 are articulated in translation plates 31, so as to be moved with translation plates 31； Second motor 55 is installed on swivel plate 32；The downside of each movable pulley 54 is stretched into sliding slot 101, so as to which two movable pulleys 54 can be with It is moved along sliding slot 101；The length direction for being axially perpendicular to sliding slot 101 of each movable pulley 54 corresponds to each dynamic cunning in translation plates 31 The position of wheel 54 offers the trepanning 312 passed through for 54 downside of movable pulley, then each movable pulley 54 can carry out the second rope 51 Guiding, to guide the second rope 51；Second shaft 52 is installed on stent 20, and the stage casing of the second rope 51 is wound in the second shaft On 52, the both ends of the second rope 51 bypass two the second fixed pulleys 53 both ends through two movable pulleys 54 Yu sliding slot 101 again respectively It is fixedly linked, so as to which when rotating the second shaft 52, the second shaft 52 can tense one end of the second rope 51, and loosen the second rope The other end of rope 51 is guided by two the second fixed pulleys 53, then through two movable pulleys 54, pulls one end of the second rope 51 One end of sliding slot 101, and movable pulley 54, stent 20, the second motor 55, the second shaft 52 and the second fixed pulley 53 are and translation plates 31 is opposing stationary, and then 10 relative translation plate 31 of pedestal can be pulled to translate, and if pedestal 10 is fixed, translation plates 31 can the bottom of at 10 upper edge sliding slots 101 of seat move.

Further, cable traction translation mechanism 50 further includes two the second preloaders 57, and two the second preloaders 57 are used In adjustment 51 elasticity of the second rope, two the second preloaders 57 are respectively arranged in the both ends of sliding slot 101, and two second preloads Both ends of the device 57 respectively with the second rope 51 are connected.Second preloader 57 is set, it, can be with to adjust the elasticity of the second rope 51 The second rope 51 is preferably tensed, and the both ends of the second rope 51 and sliding slot 101 are fixedly linked.Further, second is pre- Tight device 57 can use the structure identical with the first preloader 67, to reduce cost.

Further, also referring to Fig. 7 to Fig. 9, as multiple degrees of freedom cable traction device provided by the utility model A kind of specific embodiment, the cable traction translation mechanism 50 further include connection the second shaft 52 and the second motor 55 second Transmission mechanism 56, the second transmission mechanism 56 include the second driving wheel 561 being connected with the second motor 55, are connected with the second shaft 52 The second driven wheel 562 and connection the second driving wheel 561 and the second driven wheel 562 the second belt 563.Second driver is set Structure 56 can adjust gearratio, and to increase torsion, while the structure is also convenient for the second motor of mounting arrangement 55.Use the second skin Band, it is simple in structure, it is at low cost, it is easy to make.Certainly, in some other embodiment, the second transmission mechanism 56 can also use The second transmission mechanism of chain, gear-box etc..

Further, it is separately installed on pedestal 10 in the corresponding position in the both ends of sliding slot 101 for backstop translation plates 31 To limit the limited block 122 of 31 stroke of translation plates.Limited block 122 is installed on pedestal 10, to limit the stroke of translation plates 31, It prevents translation plates 31 from skidding off pedestal 10, the second rope 51 can be broken.

Further, the end of the second shaft 52 is equipped with the second vane 525 for having grid in a ring, pacifies on stent 20 Equipped with the second detector 526 for detection 525 rotation angle of the second vane.It can be detected by the second detector 526 The rotation angle of second shaft 52 so that the second shaft 52 is preferably controlled to rotate, and then controls the movement of translation plates 31.

Further, also referring to Fig. 7 to Fig. 9, as multiple degrees of freedom cable traction device provided by the utility model A kind of specific embodiment, the both sides of sliding slot 101 are respectively equipped with sliding rail 14, are slided on each sliding rail 14 and be equipped at least one guiding Wheel 15, each guide wheel 15 is articulated in the bottom surface of translation plates 31.Sliding rail 14 is set respectively in the both sides of sliding slot 101, on sliding rail 14 Guide wheel 15 is set, translation plates 31 preferably to be guided to be moved along sliding rail 14.

Further, the periphery of each guide wheel 15 is equipped with the U-lag of the accommodating sliding rail 14 of cooperation, so as to work as guide wheel 15 along cunning Rail 14 roll when, can anti-anti-slip track 14 be detached from guide wheel 15, and then translation plates 31 is prevented to be detached from pedestal in the vertical direction 10。

Further, two the second fixed pulleys 53 are coaxially disposed, and two movable pulleys 54 are set to two the second fixed pulleys 53 Lower section.Two the second fixed pulleys 53 are coaxially disposed, to facilitate installation, and two movable pulleys 54 are arranged on the second fixed pulley 53 lower section, the second rope 51 to be facilitated, further around excessively corresponding movable pulley 54, to facilitate movable pulley 54 and through the second fixed pulley 53 Two fixed pulleys 53 coordinate carries out deflecting to the second rope 51.

Further, pedestal 10 includes bottom plate 11, several ribs 13 being installed on bottom plate 11 and is installed on rib 13 Cover board 12, offer slideway mouth 121 on cover board 12, the bottom surface of cover board 12 in the corresponding rib 13 in the both sides of slideway mouth 121 with Slideway mouth 121 and bottom plate 11 are with the above-mentioned sliding slot 101 of synthesis.10 processing and fabricating of pedestal of the structure is convenient, light-weight.

Further, several second idler wheels 311 are also equipped in translation plates 31, several second idler wheels 311 are placed in pedestal 10 On, translation plates 31 are supported, while moved on pedestal 10 convenient for translation plates 31 with logical second idler wheel 311.

Further, the second rope 51 can use steel wire rope.Certainly in some other embodiment, the second rope 51 It can be made using other materials.Further, the periphery of each second fixed pulley 53 is equipped with to house determining for the second rope 51 Position slot, is detached to prevent the second rope 51.Similarly, the periphery of each movable pulley 54 is equipped with the locating slot for housing the second rope 51, It is detached to prevent the second rope 51.

Further, also referring to Fig. 3 to Fig. 6, one as cable traction translation mechanism provided by the utility model Kind specific embodiment, each haulage gear 70 that swings is for driving swing span 40 to be swung up in a side, and two sets of swings are led Drawing mechanism 70 drives swing span 40 to be swung in orthogonal both direction, to realize bidirectional swinging.It is each to swing haulage gear 70, which include third rope 71, third shaft 72,75, two, third motor, pulls wheel 74 and two third fixed pulleys 73；Third rope Rope 71 is used to that swing span 40 to be driven to swing on stent 20；For pulling third rope 71, third motor 75 drives third shaft 72 Dynamic third shaft 72 rotates, to pull third rope 71；Two pull wheel 74 to be respectively arranged in 40 opposite sides of swing span, two Third fixed pulley 73 is articulated on swivel plate 32, and the position of two third fixed pulleys 73 pulls the position of wheel 74 opposite with two It should；The stage casing of third rope 71 is wound in third shaft 72, and the both ends of third rope 71 bypass two third fixed pulleys respectively 73rd, again respectively around it is corresponding with each third fixed pulley 73 pull take turns 74 and the both sides of swivel plate 32 be fixedly linked, thus the When three shafts 72 rotate, one end of corresponding third rope 71 is tensed, so that the third fixed pulley 73 of end wrapping is with pulling wheel 74 It is close to each other, and loosen the other end of the third rope 71, so that the third fixed pulley 73 of end wrapping is with pulling wheel 74 mutually It is separate, and then realize and swing span 40 is pulled to be swung on stent 20.

Two sets swing in haulage gear 70：Company between a set of two 73 centers of third fixed pulley for swinging haulage gear 70 Line of the line between another set of two 73 centers of third fixed pulley for swinging haulage gear 70.So as to which two sets of tractions are swung Mechanism realizes that swing span 40 is swung along in orthogonal both direction.

Further, also referring to Fig. 1, Fig. 7 and Fig. 8, as multiple degrees of freedom cable traction provided by the utility model A kind of specific embodiment of device, the top of stent 20 are equipped with universal joint 25, the middle part phase of universal joint 25 and swing span 40 Even.Universal joint 25 is set at the top of stent 20, to facilitate the top by the middle part of swing span 40 by universal joint 25 and stent 20 Portion is hinged.And then swing span 40 is facilitated to be swung on stent 20.The structure facilitates stent 20 to support swing span 40 simultaneously.At it In its some embodiment, pearl hinge can also be used to be hinged swing span 40 and the top of stent 20.

Further, also referring to Fig. 2, Fig. 4 and Figure 15, as multiple degrees of freedom cable traction provided by the utility model A kind of specific embodiment of device, stent 20 include orthogonal two frame bodies 21, and each frame body 21 is in arch form, two frame bodies It is fixedly linked in the middle part of 21 arch form, two third shafts 72 are respectively arranged on two frame bodies 21, first rotating shaft 62 and second turn Axis 52 is separately mounted on two frame bodies 21, to facilitate mounting arrangement.Further, the second fixed pulley 53 and the second shaft 52 It is installed on same frame body 21；First fixed pulley 63 is installed on first rotating shaft 62 on same frame body 21, to facilitate winding Rope.Stent 20 is connected to form using two orthogonal frame bodies 21, processing and fabricating is simple, occupies little space, while also side Just installation is with supporting each third shaft 72.And set each frame body 21 in arch form, swing span 40 easy to support, facilitate swing span 40 Swung on stent 20, and the structure can make stent 20 bottom and two frame bodies 21 between corresponding position have it is more Space, to facilitate accommodating 75 grade components of third motor, each swing 70 occupied space of haulage gear can be reduced, and then can be subtracted The volume of the small multiple degrees of freedom cable traction device.

Further, each frame body 21 includes two block frame plates 211 being arranged in parallel, and the both ends of each third shaft 72 are pivotally connected respectively In on corresponding two frame plates 211.Each frame body 21 is made using two frame plates being arranged in parallel 211 and is formed, and processing and fabricating is convenient, knot Structure is simple, at low cost, while is also convenient for first rotating shaft 52, the second shaft 62 and third shaft 72 being mounted on frame body 21.Tool Body, each frame plate 211 is in arch form structure, and then makes corresponding frame body 21 into arch form structure.

Further, 72 corresponding two thirds of third shaft that the length direction of each frame body 21 is supported with the frame body 21 Line direction between 73 center of fixed pulley is consistent.Since two third shafts 72 are respectively arranged on two frame bodies 21, and incite somebody to action The length direction of two frame bodies 21 is consistent with two third fixed pulleys, the 73 line direction of two sets of traction swing mechanisms respectively, can be with Make each third rope 71 after corresponding third shaft 72, preferably wrap corresponding third fixed pulley 73 with pulling wheel 74, subtract The small frictional force to third rope 71.

Further, each third fixed pulley 73 is respectively pivoted to the end of corresponding frame body 21, so as to facilitate each third of support Fixed pulley 73.In addition, since each frame body 21 is made using two frame plates being arranged in parallel 211, then facilitate each third fixed pulley 73 are articulated on frame plate 211, and installation is more convenient, is also convenient for being laid out.

Further, the limiting plate 22 for limiting 40 angle of inclination of swing span is also equipped on stent 20.In stent 20 Upper setting limiting plate 22, to limit the angle of the swing of swing span 40, preferably protects third rope 71.

Further, also referring to fig. 4 to fig. 6, each set draws process of the third shaft 72 in rotation of swing mechanism In, the length that third rope 71 loosens one end increases, and the length for tightening one end reduces, and often third rope 71 loosens one end increasing It is different that dosage and third rope 71, which tighten one end reduction amount, when the two difference is more than the permission deformation quantity of third rope 71 When, third rope 71 can be then broken, thus need to find the appropriate spatial position of correlated parts, to reduce difference, thus logical The setting of limiting plate 22 is crossed, can play the role of protecting third rope 71.

Further, total balance of the body training, the altitude range one of the multiple degrees of freedom cable traction device are carried out for convenience As be set as 200-300mm, with facilitate people station tested on multiple degrees of freedom cable traction device.That is the height of stent 20 is 200-300mm.71 overall length difference of third rope be equal to third rope 71 originate total length subtract rotation after third rope 71 it is total Length.Wherein as being 71 initial position of third rope when 40 both sides of swing span are located at sustained height in Fig. 6.It is calculated through analysis Afterwards, ideal initial position is obtained, the position on swivel plate 32 is corresponded to as origin using 25 center of universal joint, then universal joint 25 coordinate is (0,122), and the coordinate at each 74 centers of pulling wheel is (285,122), and the coordinate at each 73 center of third fixed pulley is (250,14), unit mm.I.e. 25 center of universal joint to the height of origin for 122mm, the transverse direction at 25 center of universal joint to origin Distance is 0；Each height for pulling 74 centers of wheel to origin is 122mm, and the lateral distance for respectively pulling wheel 74 centers to origin is 285mm；Each 73 center of third fixed pulley to origin height for 14mm, the lateral distance at each 73 center of third fixed pulley to origin For 250mm.Under this location status, when swing span 40 rotates 14.6 degree, maximum difference occurs, maximum difference 0.25mm (difference subtracts reduction amount equal to incrementss, retains two-decimal).The angle that then swing span 40 is swung is less than or equal to 14.6 degree.

Further, also referring to fig. 4 to fig. 6, as multiple degrees of freedom cable traction device provided by the utility model A kind of specific embodiment, it is each swing haulage gear 70 further include it is pre- for adjusting two thirds of 71 elasticity of third rope Tight device 77, two third preloaders 77 are respectively arranged in swivel plate 32, and two third preloaders 77 respectively with third rope 71 Both ends be connected.Third preloader 77 is set, to adjust the elasticity of third rope 71, can preferably tense third rope 71, and third rope 71 and swivel plate 32 are fixedly linked.Further, third preloader 77 can be used pre-tightens with first The identical structure of device 67, to reduce cost.

Further, the accommodation chamber 325 for offering accommodating third preloader 77 is coordinated in swivel plate 32.In swivel plate 32 Accommodation chamber 325 is opened up, to install third preloader 77, the fixed third preloader 77 of installation can be facilitated, while also allow for third The both ends of rope 71 are connected with third preloader 77.

Further, the thickness direction of the length direction vertical rotary plate 32 of each third preloader 77, on swivel plate 32 also The deflecting axis 78 for being respectively used to that deflecting is carried out to the end of each third rope 71 is installed, the end of each third rope 71 bypasses phase The deflecting axis 78 answered is connected with corresponding third preloader 77.The structure can make 77 occupied space of third preloader smaller, together When, sets swivel plate 32 relatively thin, occupies smaller space.Further, setting deflecting axis 78, so as to the end of third rope 71 Portion is connected with third preloader 77, while preferably protection third rope 71.

Further, also referring to Fig. 3 to Fig. 6, as multiple degrees of freedom cable traction device provided by the utility model A kind of specific embodiment, each swing mechanism that draws further includes connection third shaft 72 and the third driver of third motor 75 Structure 76, third transmission mechanism 76 include the third driving wheel 761 being connected with third motor 75, the third being connected with third shaft 72 The third belt 763 of driven wheel 762 and connection third driving wheel 761 and third driven wheel 762.Third transmission mechanism 76 is set, Gearratio can be adjusted, to increase torsion, while the structure is also convenient for mounting arrangement third motor 75.Use belt transmission, knot Structure is simple, at low cost, easy to make.Certainly, in some other embodiment, third transmission mechanism 76 can also use chain the Three transmission mechanisms 76, gear-box etc..

Further, third rope 71 can use steel wire rope.Certainly in some other embodiment, third rope 71 It can be made using other materials.Further, third shaft 72 can use the structure identical with first rotating shaft 62, with convenient Processing and fabricating reduces cost.

Further, the end of third shaft 72 is equipped with the third vane 725 for having grid in a ring, pacifies on stent 20 Equipped with for detecting the third detector 726 of 725 rotation angle of third vane.It can be detected by third detector 726 The rotation angle of third shaft 72 so that third shaft 72 is preferably controlled to rotate, and then controls the movement of swing span 40.

Further, the periphery of each third fixed pulley 73 is equipped with the locating slot for housing third rope 71, to prevent third Rope 71 is detached from.Similarly, each periphery for pulling wheel 74 is equipped with the locating slot for housing third rope 71, to prevent third rope 71 It is detached from.

Further, also referring to Fig. 1 and Fig. 2, as multiple degrees of freedom cable traction device provided by the utility model A kind of specific embodiment, pedal 80 is installed on swing span 40, so that support personnel stands.Further, swing span 40 Surrounding and middle part be separately installed with pressure detection instrument 81, pedal 80 is supported on pressure detection instrument 81, with will pass through pressure spy 81 tester of instrument is surveyed under different mobile status, the pressure of two limbs, and then analyze the physical condition of personnel and rehabilitation situation.

Further, also referring to Fig. 1, Fig. 2 and Figure 15, as multiple degrees of freedom cable traction provided by the utility model A kind of specific embodiment of device, swing span 40 are in " ten " font.Swing span 40 is set in " ten " font, to mitigate weight Amount, while facilitate and each pull is taken turns into the 74 each ends for being mounted on swing span 40.

Further, swing span 40 includes oscillating deck 41 and the support bar 42 being installed on oscillating deck 41, by swinging It is hinged with universal joint 25 to facilitate that support bar 42 is set on plate 41, while is also convenient for the structures such as support pedal.Further, it swings Plate 41 is in " ten " font, and swing span 40 is made in " ten " font.

Further, swing span 40 further includes the support plate 43 that cooperation is placed on support bar 42.Support plate 43 is set, with Each support bar 42 is connected, so as to increase the intensity of swing span 40, while can preferably support pedal 80.

Further, the middle part of oscillating deck 41 is equipped with annular slab 411.At the middle part of oscillating deck 41, annular slab 411 is set, with The limiting plate 22 on stent 20 is facilitated to carry out backstop annular slab 411, and then preferably play position-limiting action.Further, stent 20 On limiting plate 22 in a ring, to be easily installed on stent 20, at the same facilitate limit swing span 40 swing angle.

Further, also referring to Fig. 5, Fig. 6 and Figure 15, the both sides on the top of each frame plate 211 are respectively equipped with support Step 2111, the inside of limiting plate 22 and support limit plate 22 are held in each 2111 bottom of support level, and then pass through the frame of each frame body 21 Support level 2111 on plate 211, facilitates positioning and support limit plate 22.

Referring to Fig. 1, the utility model embodiment also discloses a kind of balance rehabilitation training instrument, including as described above more Degree of freedom cable traction device.The balance rehabilitation training instrument of the utility model has used above-mentioned multiple degrees of freedom cable traction device, The movement of more freedom can be provided, and then be balanced in rehabilitation training in personnel, can be provided under more mobile status Test and training, reduce equipment cost.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

1. multiple degrees of freedom cable traction device, it is characterised in that：Including pedestal, the translation plates being slidably mounted on the pedestal, The swivel plate that is pivotally mounted in the translation plates, the stent being installed on the swivel plate, middle part are articulated with the stent The swing span at top, the cable traction translation mechanism that the translation plates is driven to be translated on the pedestal, the driving swivel plate The cable traction rotating mechanism that is rotated in the translation plates and the swing span is respectively driven in orthogonal both direction The two sets of swing haulage gears swung.

2. multiple degrees of freedom cable traction device as described in claim 1, it is characterised in that：The cable traction rotating mechanism packet Include the first rope, the first rotating shaft for driving the first rope movement, the first motor of the driving first rotating shaft rotation, pivot joint In on the stent two the first fixed pulleys, two deflecting wheels corresponding with two first fixed pulleys and be fixed on respectively Rotating disk in the translation plates offers cooperation in the middle part of the swivel plate and is fixedly connected with the bottom plate for the rotating disk Opening, first motor are installed on the swivel plate, and each deflecting wheel is articulated on the swivel plate and each change To the radial parallel in the swivel plate of wheel, it is fixed close to corresponding described first that two deflecting wheels are respectively arranged on the rotating disk The side of pulley, the first rotating shaft are installed on the stent, and the stage casing of first rope is wound in the first rotating shaft On, the both ends of first rope pass through and each first fixed pulley phase respectively around two first fixed pulleys, again respectively The deflecting wheel answered becomes both sides and one of the rotating disk far from the corresponding deflecting wheel backward, respectively through the rotating disk End is fixedly linked.

3. multiple degrees of freedom cable traction device as claimed in claim 1 or 2, it is characterised in that：The cable traction translates machine Structure includes driving the second rope of the translation plates translation, the second shaft for driving the second rope movement, driving institute The second motor of the second shaft rotation is stated, the both ends of the both ends of second rope respectively with the pedestal are fixedly linked.

4. multiple degrees of freedom cable traction device as claimed in claim 3, it is characterised in that：Translation plates described in the pedestal upper edge Translation direction offers sliding slot, and the cable traction translation mechanism further includes two the second fixed pulleys being articulated on the stent With two movable pulleys being articulated in the translation plates, second motor is installed on the swivel plate, each movable pulley Downside stretch into the sliding slot, the length direction for being axially perpendicular to the sliding slot of each movable pulley, in the translation plates Offer trepanning for passing through on the downside of the movable pulley corresponding to the position of each movable pulley, it is corresponding in the rotating disk described in The position of trepanning offers through-hole, and second shaft is installed on the stent, and the stage casing of second rope is wound in institute State in the second shaft, the both ends of second rope respectively around two second fixed pulleys again through two movable pulleys with The both ends of the sliding slot are fixedly linked.

5. multiple degrees of freedom cable traction device as claimed in claim 4, it is characterised in that：The both sides of the sliding slot are respectively equipped with Sliding rail slides on each sliding rail and is equipped at least one guide wheel, and each guide wheel is articulated in the bottom surface of the translation plates.

6. multiple degrees of freedom cable traction device as claimed in claim 1 or 2, it is characterised in that：The cable traction whirler Structure further includes two the first preloaders for adjusting the first cord tightness degree, and two first preloaders are installed respectively In in the rotating disk, and both ends of two first preloaders respectively with first rope are connected, in the rotating disk Offer the accommodating cavity that cooperation houses each first preloader.

7. multiple degrees of freedom cable traction device as claimed in claim 1 or 2, it is characterised in that：Each swing haulage gear Including described in the third rope for being used to pull the swing span swing, the third shaft that the third rope is driven to move, driving The third motor of third shaft rotation is respectively arranged in two of the swing span opposite sides and pulls wheel and be installed on the rotation On flap respectively with two it is described pull the corresponding two third fixed pulleys in wheel position, the third shaft is installed on the stent On, the third motor is installed on the swivel plate, and the stage casing of the third rope is wound in the third shaft, described The both ends of third rope respectively around two third fixed pulleys, bypass institute corresponding with each third fixed pulley respectively again It states and the both sides of wheel and the swivel plate is pulled to be fixedly linked；It is a set of it is described swing haulage gear two third fixed pulley centers it Between line perpendicular to it is another set of it is described swing haulage gear two third fixed pulley centers between line.

8. multiple degrees of freedom cable traction device as claimed in claim 1 or 2, it is characterised in that：It is also installed on the swing span There is pedal.

9. multiple degrees of freedom cable traction device as claimed in claim 8, it is characterised in that：The surrounding of the swing span and middle part Pressure detection instrument is separately installed with, the treadle supporting is on several pressure detection instrument.

10. balance rehabilitation training instrument, it is characterised in that：It is led including such as claim 1-9 any one of them multiple degrees of freedom rope Leading-in device.