CN212326875U

CN212326875U - Weight reduction module for lower limb rehabilitation training equipment

Info

Publication number: CN212326875U
Application number: CN202020731018.XU
Authority: CN
Inventors: 邢金秋; 都吉良; 黄日新; 许广艳; 程熙冉
Original assignee: Guangzhou Yikang Medical Equipment Industrial Co ltd
Current assignee: Guangzhou Yikang Medical Equipment Industrial Co ltd
Priority date: 2020-05-06
Filing date: 2020-05-06
Publication date: 2021-01-12
Anticipated expiration: 2030-05-06

Abstract

The utility model discloses a weight-reducing module for lower limb rehabilitation training equipment, which comprises a traction rope with one end connected with a harness, a servo motor arranged on a fixed frame and connected with a speed reducer, a winch, a fixed pulley block, a first rotating shaft vertically arranged on the fixed frame, and a swinging rod with one end fixed on the first rotating shaft, the swing pulley of setting on the swinging arms free end, the cam, set up the second pivot on the mount perpendicularly, set up in mount top and a pot head establish the last connecting rod in the second pivot, set up in mount below and a pot head establish the last connecting rod of second pivot, buffer spring, the capstan winch is connected on the speed reducer, the cam sets up in mount below and with the coaxial follow-up of first pivot, the free end and the cam edge contact of lower connecting rod, buffer spring sets up between last connecting rod free end and mount, the other end of haulage rope is convoluteed on the capstan winch after walking around swing pulley and fixed pulley group in order. The utility model discloses simple structure, convenient operation, the follow-up is high.

Description

Weight reduction module for lower limb rehabilitation training equipment

Technical Field

The present invention relates to a lower limb rehabilitation training device, and more particularly to a device for suspending and pulling a user harness in a lower limb rehabilitation training device.

Background

In the current common lower limb rehabilitation training equipment, in order to ensure that the weight of a user is reduced and the posture of the body is regulated, a harness which is hung at the bottom end of a traction rope and is convenient for the user to wear is usually arranged, and the height of the harness from the ground is changed by adjusting the length of the traction rope. When training, therapist can tighten up the haulage rope earlier according to user's health and rehabilitation training's plan, promotes the harness, reduces the gravity that user's low limbs bore, and when rehabilitation training, when user's gesture changes, the gravity of applying at the low limbs can change thereupon, also needs therapist in time to adjust the length of haulage rope, just can ensure that the gravity of applying on the low limbs accords with rehabilitation training's requirement.

The common device for adjusting the length of the traction rope is a linear motor or an air cylinder, the traction rope is driven by the motion of a piston rod of the linear motor or the air cylinder, the harness is pulled to move up and down, and weight reduction adjustment is achieved. By adopting the weight reduction mode, in the rehabilitation training process of a user, people are required to monitor and operate all the time, the operation is mistakenly carried out, the operation is limited by the experience of an operator and the matching default degree, the traction force for weight reduction can not be accurately controlled, the operation has larger error, and the training effect is limited.

Disclosure of Invention

The utility model aims at providing a low limbs rehabilitation training equipment is with subtracting heavy module can effectively adjust the length of haulage rope, and is following nature strong, easy and simple to handle.

The technical solution of the utility model is that: a weight reduction module for lower limb rehabilitation training equipment comprises a traction rope with one end connected with a harness, and further comprises a servo motor driving mechanism arranged on a fixed frame, a winch, a fixed pulley block, a swinging pulley block, a cam, a buffer connecting rod group and a buffer spring, wherein the servo motor driving mechanism comprises a servo motor connected on a speed reducer, the winch is connected on the speed reducer, the swinging pulley block comprises a first rotating shaft vertically arranged on the fixed frame, a swinging rod with one end fixed on the first rotating shaft, and a swinging pulley arranged on the free end of the swinging rod, the cam is arranged below the fixed frame and coaxially follows the first rotating shaft, the buffer connecting rod group comprises a second rotating shaft vertically arranged on the fixed frame, an upper connecting rod arranged above the fixed frame and one end sleeved on the second rotating shaft, a lower connecting rod arranged below the fixed frame and one end sleeved on the second rotating shaft, and the free end of the lower connecting rod is contacted with the, the buffer spring is arranged between the free end of the upper connecting rod and the fixing frame, and the other end of the traction rope sequentially bypasses the swinging pulley and the fixed pulley group and then is wound on the winch.

The other end of the hauling rope is wound on the winch, the length of the hauling rope can be accurately adjusted by controlling the rotation direction and the rotation time of the servo motor, and the feedback is more timely. Under the action of the pulling force of the buffer spring, the upper connecting rod can rotate towards one direction by taking the second rotating shaft as the shaft, the lower connecting rod is driven to rotate towards the same direction by taking the second rotating shaft as the shaft, so that the edge of the lower connecting rod is attached to the outer edge of the cam, the whole device is in a balanced state, when the traction rope on one side of the harness is pulled downwards or loosened upwards, under the action of the pulling force and the elastic force of the buffer spring, the swinging pulley can swing along with the traction rope, the first rotating shaft is driven to rotate, the cam below the fixing frame can also be driven to rotate, the edge of the cam can push the lower connecting rod to rotate, the upper connecting rod is driven to move, the length change of the traction rope can be consumed by the rotation of the swinging pulley at the moment, the winch does not need to be started, the operation of the servo motor is.

And a lower stop lever is arranged at the free end of the lower connecting rod, and the outer edge of the cam is contacted with the lower stop lever. The outer edge of the cam can be sufficiently contacted by the lower catch lever in order to transmit torque efficiently.

The fixed frame is provided with a force measuring movable pulley with a torque sensor, the output of the torque sensor is used for being connected with the servo motor, and the other end of the traction rope sequentially bypasses the force measuring movable pulley and the swinging pulley. The change of the traction force is detected through the torque sensor, so that data output is used for controlling the servo motor, the programmed operation is favorably realized, and a hardware basis is provided for accurate control.

A direction-changing fixed pulley is arranged between the force-measuring movable pulley and the swinging pulley, and the other end of the traction rope sequentially bypasses the force-measuring movable pulley, the direction-changing fixed pulley and the swinging pulley. The direction-changing fixed pulley can change the motion direction of the traction rope so as to adjust the cutting-in direction of the traction rope and the force-measuring movable pulley and further control the force-measuring accuracy.

And an angle sensor which coaxially follows the cam is arranged on the first rotating shaft, and the output of the angle sensor is used for being connected with the servo motor. The angle sensor can measure the cam rotation angle data, so that the output is used for controlling the servo motor, the programmable operation is facilitated, and a hardware basis is provided for accurate control.

The fixed pulley block comprises a first fixed pulley and a second fixed pulley which are oppositely arranged, and the other end of the traction rope sequentially winds on the winch after passing around the first fixed pulley and the second fixed pulley. The direction of the traction rope wound on the winch can be adjusted through the positions of the first fixed pulley and the second fixed pulley, the accuracy of the stress direction is ensured, and the interference is reduced.

The utility model has the advantages that: simple structure, convenient operation can realize the size of traction force on the automatic adjustment haulage rope to a certain extent, and the follow-up nature is high, and convenient further transformation realizes automated control.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a perspective schematic view of an embodiment of the present invention;

1. the device comprises a fixed frame, 2, a harness, 3, a traction rope, 4, a servo motor, 5, a speed reducer, 6, a winch, 7, a first fixed pulley, 8, a second fixed pulley, 9, a swinging pulley, 10, a swinging rod, 11, a first rotating shaft, 12, a cam, 13, a second rotating shaft, 14, an upper connecting rod, 15, a lower connecting rod, 16, a buffer spring, 17, a torque sensor, 18, a force measuring movable pulley, 19, a direction changing fixed pulley, 20, an angle sensor, 21, a lower stop lever, 22 and a through hole.

Detailed Description

Examples

Referring to fig. 1-2, a weight reduction module for lower limb rehabilitation training equipment comprises a traction rope 3 with one end connected with a harness 2, and further comprises a servo motor driving mechanism, a winch 6, a fixed pulley block, a swinging pulley block, a cam 12, a buffer connecting rod group and a buffer spring 16 which are arranged on a fixed frame 1, wherein the servo motor driving mechanism comprises a servo motor 4 connected with a speed reducer 5, the winch 6 is connected with the speed reducer 5, the swinging pulley block comprises a first rotating shaft 11 vertically arranged on the fixed frame 1, a swinging rod 10 with one end fixed on the first rotating shaft 11 and a swinging pulley 9 arranged on the free end of the swinging rod 10, the cam 12 is arranged below the fixed frame 1 and coaxially follows the first rotating shaft 11, the buffer connecting rod group comprises a second rotating shaft 13 vertically arranged on the fixed frame 1, an upper connecting rod 14 arranged above the fixed frame 1 and with one end sleeved on the second rotating shaft 13, The lower connecting rod 15 is arranged below the fixed frame 1, one end of the lower connecting rod is sleeved on the second rotating shaft 13, a lower stop lever 21 which is in contact with the edge of the cam 12 is arranged at the free end of the lower connecting rod 15, the buffer spring 16 is arranged between the free end of the upper connecting rod 14 and the fixed frame 1, a force measuring movable pulley 18 with a torque sensor 17 is arranged on the fixed frame 1, and the output of the torque sensor 17 is used for being connected with the servo motor 4. A direction-changing fixed pulley 19 is arranged between the force-measuring movable pulley 18 and the swinging pulley 9, an angle sensor 20 which is coaxially following with the cam 12 is arranged on the first rotating shaft 11, and the output of the angle sensor 20 is used for connecting the servo motor 4. The fixed pulley group comprises a first fixed pulley 7 and a second fixed pulley 8 which are oppositely arranged, and the other end of the traction rope 3 is wound on the winch 6 after passing through a through hole 22 on the fixed frame 1 and sequentially passing around the force measuring movable pulley 18, the direction changing fixed pulley 19, the swinging pulley 9, the first fixed pulley 7 and the second fixed pulley 7.

The other end of the hauling rope 3 is wound on the winch 6, the length of the hauling rope 3 can be accurately adjusted by controlling the rotation direction and the rotation time of the servo motor 4, and the feedback is more timely. Under the action of the pulling force of the buffer spring 16, the upper connecting rod 14 can rotate towards one direction by taking the second rotating shaft 13 as an axis, the lower connecting rod 15 is driven to rotate towards the same direction by taking the second rotating shaft 13 as an axis, so that the lower stop lever 21 on the free end of the lower connecting rod 15 is tightly attached to the outer edge of the cam 12, the whole device is in a balanced state, when the traction rope 3 on one side of the harness 2 is pulled downwards or loosened upwards, the swinging pulley 9 can swing along with the traction rope 3 under the action of the pulling force and the elastic force of the buffer spring 16, so that the first rotating shaft 11 is driven to rotate, the cam 12 below the fixed frame 1 can also be driven to rotate, the edge can push the lower connecting rod 15 to rotate, so as to drive the upper connecting rod 14 to move, at the moment, the length change of the traction rope 3 can be consumed by the rotation of the swinging pulley 9, the winch 6 is not required to be started, so that the operation, the operation is convenient. When haulage rope 3 is pulled, moment sensor 17 can detect the change of traction force to output data can be used to servo motor 4's control, if drive servo motor 4 clockwise or anticlockwise rotation, makes capstan winch 6 tighten up or release haulage rope 3, reconciles with changing self-adaptation according to traction force, thereby the simplified operation reduces the inconvenience of manpower control. The angle sensor 20 can also measure the rotation angle data of the cam 12, thereby outputting data, being used for controlling the servo motor 4, also being beneficial to realizing programmed operation and providing a hardware basis for precise control.

The direction of the traction rope 3 can be adjusted by the positions of the direction-changing fixed pulley 19, the first fixed pulley 7 and the second fixed pulley 8, so that the accurate stress direction of the winch 6 is ensured, and the interference is reduced.

The above detailed description is specific to one possible embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention should be included within the scope of the present invention.

Claims

1. The utility model provides a lower limbs rehabilitation training equipment is with subtracting heavy module, includes the haulage rope of harness is connected to one end, its characterized in that: the device also comprises a servo motor driving mechanism arranged on the fixed frame, a winch, a fixed pulley block, a swinging pulley block, a cam, a buffering connecting rod group and a buffering spring, wherein the servo motor driving mechanism comprises a servo motor connected to the speed reducer, the winch is connected to the speed reducer, the swinging pulley block comprises a first rotating shaft vertically arranged on the fixed frame, a swinging rod with one end fixed on the first rotating shaft and a swinging pulley arranged on the free end of the swinging rod, the cam is arranged below the fixed frame and coaxially follows the first rotating shaft, the buffering connecting rod group comprises a second rotating shaft vertically arranged on the fixed frame, an upper connecting rod arranged above the fixed frame and one end sleeved on the second rotating shaft, a lower connecting rod arranged below the fixed frame and one end sleeved on the second rotating shaft, the free end of the lower connecting rod is contacted with the edge of the cam, and the buffering spring is arranged between the free, and the other end of the traction rope sequentially bypasses the swinging pulley and the fixed pulley block and then is wound on the winch.

2. The weight reduction module for the lower limb rehabilitation training device as recited in claim 1, wherein: and a lower stop lever is arranged at the free end of the lower connecting rod, and the outer edge of the cam is contacted with the lower stop lever.

3. The weight reduction module for the lower limb rehabilitation training device according to claim 1 or 2, characterized in that: the fixed frame is provided with a force measuring movable pulley with a torque sensor, the output of the torque sensor is used for being connected with the servo motor, and the other end of the traction rope sequentially bypasses the force measuring movable pulley and the swinging pulley.

4. The weight reduction module for the lower limb rehabilitation training device as recited in claim 3, characterized in that: a direction-changing fixed pulley is arranged between the force-measuring movable pulley and the swinging pulley, and the other end of the traction rope sequentially bypasses the force-measuring movable pulley, the direction-changing fixed pulley and the swinging pulley.

5. The weight reduction module for the lower limb rehabilitation training device as recited in claim 4, wherein: and an angle sensor which coaxially follows the cam is arranged on the first rotating shaft, and the output of the angle sensor is used for being connected with the servo motor.

6. The weight reduction module for the lower limb rehabilitation training device as recited in claim 4, wherein: the fixed pulley block comprises a first fixed pulley and a second fixed pulley which are oppositely arranged, and the other end of the traction rope sequentially winds on the winch after passing around the first fixed pulley and the second fixed pulley.