CN208611258U - A kind of dual spring loss of weight mechanism of healing robot suspension system - Google Patents
A kind of dual spring loss of weight mechanism of healing robot suspension system Download PDFInfo
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- CN208611258U CN208611258U CN201721685368.1U CN201721685368U CN208611258U CN 208611258 U CN208611258 U CN 208611258U CN 201721685368 U CN201721685368 U CN 201721685368U CN 208611258 U CN208611258 U CN 208611258U
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Abstract
The utility model provides a kind of dual spring loss of weight mechanism of healing robot suspension system, including lower supporting plate, optical axis, column, linear bearing, sliding block, top shoe, upper backup pad, platform sling, fixed pulley, loss of weight rope, spring and power source, the column lower end is fixedly mounted by lower supporting plate, the connected upper backup pad of the upper end of the column and platform sling；Two optical axises are installed in parallel between the upper backup pad and lower supporting plate；The horizontal direction both ends of the top shoe and sliding block are socketed on two optical axises by linear bearing, pass through two spring connections between top shoe and sliding block；The sliding block is axially moved by power source drives edge optical axis；The connected top shoe in described loss of weight rope one end, the other end pass through upper backup pad, are connected to patient after changing direction by the fixed pulley installed on platform sling.The utility model is able to maintain the continuity that loss of weight power is uniform, and realization loss of weight changes.
Description
Technical field
The present invention relates to rehabilitation medical robot technical field, the loss of weight mechanism of specially a kind of healing robot.
Background technique
As China human mortality aging is on the rise, disabled person's sum is big, and the patient for carrying out rehabilitation medical is needed to increase year by year
It is more.Effective rehabilitation instruction can be carried out to physical disabilities patient in such a way that exoskeleton robot carries out limb rehabilitation training
Practice.Exoskeleton robot is a kind of typical power assisting device, and having in exoskeleton device makes one to be detached from ground and provide loss of weight function
The suspension apparatus of energy.Suspension apparatus is connected to patient by rope, can pass through the space of the telescopic adjustment patient of rope
Position.Suspension apparatus can provide the loss of weight of setting weight for patient.It is general to be provided upwards by tying up the rope above human body
Pulling force, Lai Shixian both legs stand when support force reduction.Loss of weight function is realized by loss of weight mechanism.
The loss of weight mechanism of adjustable loss of weight size is one of the core component of rehabilitation medical robot suspension apparatus.Currently,
The generally existing following disadvantage of the loss of weight mechanism that can be found: weight saving is realized by counterweight, i.e., is conducted by pulley, will in addition
The weight gravity of one end, which is conducted to human body one end, realizes loss of weight.This loss in weight is in rope motion process, if rope
There are acceleration, and when this acceleration constantly changes, the pulling force inside rope can be made constantly to change.Actually make
With in the process, there are acceleration for the weight of breeding, so the loss of weight power moment is becoming.In addition, during the motion, human body
Position is changing, and when i.e. the direction of motion depth of parallelism is bad if the rope of loss of weight is swung left and right, also results in loss of weight
Power is uneven.In use, desired loss of weight power needs uniformly (constant force).Due to being limited by counterweight, change
Counterweight size is inconvenient, needs the object for selecting corresponding gravity to realize the loss of weight of predetermined weight, the size variation of loss of weight
Discontinuously.Therefore there is an urgent need to a kind of loss of weight mechanisms keeps loss of weight power uniform to realize, while the company of loss of weight variation may be implemented
Continuous property.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of dual spring loss of weight machine of healing robot suspension system
Structure is able to maintain the continuity that loss of weight power is uniform, and realization loss of weight changes.
The technical solution adopted by the present invention to solve the technical problems is: the suspension system dual spring loss of weight mechanism,
Including lower supporting plate, optical axis, column, linear bearing, sliding block, top shoe, upper backup pad, platform sling, fixed pulley, loss of weight rope,
Spring and power source.
The column lower end is fixedly mounted by lower supporting plate, the connected upper backup pad of the upper end of the column and platform sling；Described
Two optical axises are installed in parallel between upper backup pad and lower supporting plate；The horizontal direction both ends of the top shoe and sliding block pass through
Linear bearing is socketed on two optical axises, passes through two spring connections between top shoe and sliding block；The sliding block is passive
Power source drives edge optical axis is axially moved；The connected top shoe in described loss of weight rope one end, the other end passes through upper backup pad, by hanging
The fixed pulley installed on plate is connected to patient after changing direction.
The column is perpendicular to the ground, and the lower supporting plate, upper backup pad and platform sling are parallel to the ground.
Two fixed pulleys are installed in the platform sling lower surface, and the loss of weight rope is determined after passing through upper backup pad by two
Pulley realizes 90 degree of steerings respectively.
The power source includes but is not limited to the steering engine that moves along a straight line.
The beneficial effects of the present invention are: realizing loss of weight due to the elastic force using spring, the company of loss of weight size may be implemented
Continuous variation, simultaneously because spring-mass is small, the inertia that when movement generates is very small, so that loss of weight power is uniform.The present invention devises
Linear motion bearing ensure that the depth of parallelism in rope motion process, solve that existing loss of weight mechanism loss of weight power is non-uniform to ask
Topic.Elastic force in spring is pulled by power source to be controlled, and realizes that loss of weight size variation is very convenient.Dual spring loss of weight machine of the invention
Structure has loss of weight power uniform, the convenient advantage of adjusting size.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
In figure, 1- lower supporting plate, 2- guiding axis is supported, 3- optical axis, 4- column, 5- linear bearing, 6- sliding block, sliding on 7-
Block, 8- upper backup pad, 9- platform sling, 10- fixed pulley A, 11- fixed pulley B, 12- rope, 13- fixture nut, 14- perforated bolt,
15- extension spring, 16- power source.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
Suspension system dual spring loss of weight mechanism described in the embodiment of the present invention, including lower supporting plate 1, guiding axis support 2, light
Axis 3, column 4, linear bearing 5, sliding block 6, top shoe 7, upper backup pad 8, platform sling 9, fixed pulley A10, fixed pulley B11, loss of weight
Rope 12, fixture nut 13, perforated bolt 14, extension spring 15, power source 16.
The parallel ground of lower supporting plate 1 for being fixed on bottom is placed, and support plate is used to carry the weight of all devices.Column 4
The side for being fixed on lower supporting plate 1 is perpendicular to the ground, is 90 degree with lower supporting plate angle.Guiding axis support 2 is connected to support plate
Above, two optical axises 3 are fixed by screws in guiding axis support above, and two optical axises are placed in parallel.Optical axis uses and carried out table
The steel of surface treatment are made, for reducing the frictional force suffered by the bearing operated above.Sliding block 6 and top shoe 7 are straight by 5
Spool, which is held, to be socketed on two optical axises, can freely be moved up and down along optical axis.Two extension springs 15 are connected to perforated bolt
It on 14, and is installed in parallel between top shoe and sliding block by fixture nut 13, spring rate is according to loss of weight range and movement
The reference rigidity that range determines is 30.The other end of optical axis is connected to below upper backup pad 8 by the support of another set guiding axis.
Described 12 one end of loss of weight rope is connected on top shoe, and the hole beaten among upper backup pad is by fixed pulley A10 and determines cunning
It takes turns B11 and realizes that 90 degree of steerings, the other end are connected on human body rope twice, the elastic force in spring is conducted by rope to human body, is used
To realize loss of weight.The fixed pulley A and fixed pulley B is connected on platform sling 9.Platform sling is vertically fixed on column side.Power source
16 are located at below whole device, are fixed between lower supporting plate and sliding block, the linear motion of sliding block are realized, to pull bullet
Spring changes length.The power source includes but is not limited to the steering engine that moves along a straight line.
Claims (4)
1. a kind of dual spring loss of weight mechanism of healing robot suspension system, including lower supporting plate, optical axis, column, linear bearing,
Sliding block, top shoe, upper backup pad, platform sling, fixed pulley, loss of weight rope, spring and power source, it is characterised in that: described is vertical
Column lower end is fixedly mounted by lower supporting plate, the connected upper backup pad of the upper end of the column and platform sling；The upper backup pad and lower support
Two optical axises are installed in parallel between plate；The horizontal direction both ends of the top shoe and sliding block are socketed in two by linear bearing
On root optical axis, pass through two spring connections between top shoe and sliding block；The sliding block is by power source drives edge optical axis axis
To movement；The connected top shoe in described loss of weight rope one end, the other end pass through upper backup pad, pass through the fixed pulley installed on platform sling
It is connected to patient after changing direction.
2. the dual spring loss of weight mechanism of healing robot suspension system according to claim 1, it is characterised in that: described
Column is perpendicular to the ground, and the lower supporting plate, upper backup pad and platform sling are parallel to the ground.
3. the dual spring loss of weight mechanism of healing robot suspension system according to claim 1, it is characterised in that: described
Two fixed pulleys are installed in platform sling lower surface, and the loss of weight rope realizes 90 by two fixed pulleys after upper backup pad respectively
Degree turns to.
4. the dual spring loss of weight mechanism of healing robot suspension system according to claim 1, it is characterised in that: described
Power source includes but is not limited to the steering engine that moves along a straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721685368.1U CN208611258U (en) | 2017-12-06 | 2017-12-06 | A kind of dual spring loss of weight mechanism of healing robot suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721685368.1U CN208611258U (en) | 2017-12-06 | 2017-12-06 | A kind of dual spring loss of weight mechanism of healing robot suspension system |
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| CN208611258U true CN208611258U (en) | 2019-03-19 |
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| CN201721685368.1U Active CN208611258U (en) | 2017-12-06 | 2017-12-06 | A kind of dual spring loss of weight mechanism of healing robot suspension system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026968A (en) * | 2019-05-09 | 2019-07-19 | 广西科技大学 | A kind of optical axis slide block mechanism for cantilever beam |
-
2017
- 2017-12-06 CN CN201721685368.1U patent/CN208611258U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026968A (en) * | 2019-05-09 | 2019-07-19 | 广西科技大学 | A kind of optical axis slide block mechanism for cantilever beam |
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