WO2021003835A1 - 用于无动力多关节同步训练器的凸轮、非圆齿轮副、其制造方法、使用其的传动机构及无动力多关节同步训练器 - Google Patents
用于无动力多关节同步训练器的凸轮、非圆齿轮副、其制造方法、使用其的传动机构及无动力多关节同步训练器 Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1418—Cam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/08—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion
Definitions
- This article relates to a transmission mechanism and a rehabilitation training device. Specifically, a transmission mechanism for an unpowered multi-joint synchronous trainer and an unpowered multi-joint synchronous trainer with a transmission mechanism are designed.
- the survey also shows that more and more physically disabled people have an increasing demand for medical assistance, support, and rehabilitation services.
- my country s rehabilitation technology is still using traditional rehabilitation equipment supplemented by rehabilitation professionals. It requires a large number of rehabilitation technicians to participate in it.
- this article is to provide a suggested lower limb rehabilitation training equipment, which does not need to have electric settings and corresponding complicated control procedures, but can provide one-to-one rehabilitation to patients with limb dysfunction through simple operations by the therapist or operator training.
- this document provides a cam for an unpowered multi-joint synchronized exerciser, characterized in that the cam has a circular body, and a cam is arranged on the first side of the circular body A groove, the contour of the cam groove is configured such that the rotational movement of the cam drives a follower provided in the cam groove to perform variable-speed reciprocation on a predetermined horizontal axis, wherein
- the follower component performs a reciprocating movement between the first position and the second position on the predetermined horizontal axis
- the first position is the position of the follower on the horizontal axis when the follower is at the position of the contour closest to the center of the circular body
- the second position is The position of the follower component on the horizontal axis when the follower component is at the position of the contour farthest from the center of the circular body
- the reciprocating motion drives the driven object connected with the follower component to swing at a variable speed within an angle range.
- this article also provides a non-circular gear pair for an unpowered multi-joint synchronous trainer, comprising a driving non-circular gear and a driven non-circular gear meshing with the driving non-circular gear, wherein
- the driving non-circular gear and the driven non-circular gear have the same number of teeth and a fixed center distance
- the pitch line warp of the driving non-circular gear and the driven non-circular gear is configured such that when the driving non-circular gear rotates once, the driving non-circular gear drives the second non-circular gear provided on the driven non-circular gear.
- the follower component on one side performs a variable speed reciprocating movement between the first position and the second position;
- the first position is the position of the follower member closest to the axis of rotation of the driving non-circular gear
- the second position is the position of the follower member furthest away from the axis of rotation of the driving noncircular gear.
- variable speed reciprocating motion drives the driven object connected to the follower member to swing at variable speed within an angle range.
- this article also provides a method for manufacturing a cam, which includes the following steps:
- step (c) Rotating the disk at a constant speed while performing step (b), wherein the period for the follower member to perform the variable speed reciprocating motion once is equal to the period of one revolution of the disk;
- this article also provides a method for manufacturing a non-circular gear pair, which includes the following steps:
- a follower part is provided on the side surface of the driven non-circular gear, wherein the pitch lines of the driving non-circular gear and the driven non-circular gear are configured such that when the driving non-circular gear rotates once,
- the driving non-circular gear drives the follower component to perform a variable speed reciprocating movement between a first position and a second position, wherein
- the first position is the position of the follower member closest to the axis of rotation of the driving non-circular gear
- the second position is the position of the follower member furthest away from the axis of rotation of the driving noncircular gear.
- variable speed reciprocating motion drives the driven object connected to the follower member to swing at variable speed within an angle range.
- this article also provides a transmission mechanism for an unpowered multi-joint synchronized exerciser, which is characterized in that it includes:
- a transmission assembly the transmission assembly is in transmission connection with the wheel assembly;
- a drive assembly the drive assembly is in transmission connection with the transmission assembly, and the drive assembly has the cam described herein;
- the leg bar assembly is connected to the driving assembly through a connecting rod, so that the leg bar assembly is driven by the transmission assembly to swing.
- this article also provides an unpowered multi-joint synchronized training device, which is characterized in that it includes:
- a first transmission mechanism and a second transmission mechanism are respectively installed on both sides of the body frame, the first transmission mechanism and the second transmission mechanism are the transmission mechanisms described herein; among them
- the drive assembly of the first transmission mechanism and the drive assembly of the second transmission mechanism are connected by a shaft, and the orientation of the drive assembly of the first transmission mechanism and the drive assembly of the second transmission mechanism differ by 180°.
- Fig. 1 is a three-dimensional schematic diagram of an unpowered multi-joint synchronized exerciser according to an embodiment of this document.
- Fig. 2 is a cross-sectional view of the wheel assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 3 is an exploded view of the transmission assembly of the unpowered multi-joint synchronous trainer shown in Fig. 1.
- Fig. 4 is an exploded view of the cam assembly and the cam support of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 5A is an exploded view of the leg bar assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 5B is a three-dimensional schematic diagram of the leg bar assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 6 is a side view of the transmission member of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 7 is a flowchart of a cam profile design method for the cam groove of the cam assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 8 is a three-dimensional schematic diagram of the waist holder of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- Fig. 9 is a three-dimensional schematic diagram of the lumbar retainer support of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
- 10A to 10D are schematic diagrams illustrating the movement of the follower roller driven by the cam according to an embodiment of this document.
- 11A to 11D are schematic diagrams showing the movement of a non-circular gear pair driving a follower component according to another embodiment of this document.
- FIG. 1 shows an unpowered multi-joint synchronized exerciser 10 according to an embodiment of this document.
- the trainer 10 is composed of a body frame 100, a pair of transmission mechanisms 200 attached to the body frame 100, a waist holding assembly 300, a pair of universal wheels 400 and an armrest 500.
- the patient who needs walking rehabilitation training is fixed on the front of the trainer 10 (ie, the left side in FIG. 1), and another medical staff or other operator assisting in the rehabilitation training is located on the trainer The rear of 10 (ie, the right side in Figure 1).
- the medical staff or other operators hold the handrails and slowly push the trainer 10 forward.
- the forward power of the trainer 10 is converted into the force applied to the patient's legs (for example, thigh and/ Or calf part), which enables the patient’s legs to swing with the patient’s hip as the axis in accordance with established rules, so that the patient can follow the trainer 10 with a normal walking gait , In order to achieve the purpose of walking rehabilitation training.
- the patient's legs for example, thigh and/ Or calf part
- a pair of universal wheels 400 are provided on the bottom rear side of the body frame 100.
- the pair of universal wheels 400 is preferably a pair of 4-inch universal silent brake casters, which provide the trainer with balance and stability when moving and at rest.
- the types of universal wheels are not particularly limited, as long as the above-mentioned balance and stability performance can be achieved.
- the transmission mechanism 200 and the waist holding assembly 300 will be described in more detail below.
- the trainer 100 has a pair of transmission mechanisms 200 arranged on both sides of the vehicle body frame (ie, the front and back sides of FIG. 1), and the pair of transmission mechanisms 200 have the same mechanism .
- the transmission mechanism 200 includes a wheel assembly 210, a transmission assembly 220, a driving assembly 230 and a leg assembly 240.
- the wheel assembly 210, the transmission assembly 220, the drive assembly 230, and the leg bar assembly 240 are attached to the body frame 100 at appropriate positions, respectively.
- the wheel assembly 220 is arranged on the lower front side of the body frame 100
- the transmission assembly 220 is arranged on the middle rear side of the body frame 100
- the drive assembly 230 is arranged on the upper rear side of the body frame 100
- the leg assembly 240 is arranged on the body frame
- the front part of the body frame 100 extends from the upper part to the lower part of the body frame 100.
- FIG. 2 is a cross-sectional view of the wheel assembly 210 of the transmission mechanism 200.
- the wheel assembly 210 includes a wheel body 211, a sprocket 212, a mounting shaft 213 and a bearing assembly 214.
- the wheel body 211 is preferably a 700C integrated wheel, so that the bottom of the wheel body 211 and the bottom of the universal wheel 400 are on the same horizontal plane, so that the trainer 10 can smoothly contact the ground.
- the sprocket 212 is coaxially arranged with the wheel body 211, and is connected to each other via the mounting shaft 213 and the bearing assembly 214, so that the sprocket 212 and the wheel body 211 can rotate synchronously.
- the mounting shaft 213 is fixed to the body frame 100.
- the wheel assembly 210 is drivingly connected to the transmission assembly 220 which will be described in detail below through the sprocket 212.
- the sprocket 212 of the wheel assembly 210 is drivingly connected to the wheel assembly 220 via a transmission belt 215.
- the transmission belt 215 may be a transmission chain or a transmission belt.
- FIG. 3 is an exploded view of the transmission assembly 200 of the transmission mechanism 200.
- the transmission assembly 200 includes sprockets 221 and 222, bearings 223 and 224, and a mounting shaft 225.
- the sprockets 221 and 222 are connected to each other through a bearing assembly composed of bearings 223 and 224 and a mounting shaft 225, so that the sprockets 221 and 222 can rotate synchronously.
- the sprocket 221 receives the power (or torsion) transmitted by the wheel assembly 210 via the transmission belt 215 described above, and the sprocket 222 is drivingly connected to the drive assembly 230 of the transmission member 200 via another transmission belt 228 , Thereby further transmitting the power (torque) to the driving assembly 230.
- the conveyor belt 228 is similar to the transmission belt 215, and it can be a transmission chain or a transmission belt.
- the mounting shaft 225 is preferably a spline shaft.
- a pair of transmission mechanisms 200 are attached to the body frame 100 shown in FIG. 1. Therefore, the trainer 10 shown in FIG. 1 has a pair of transmission components 200.
- the pair of transmission mechanisms 200 are connected to each other through a shaft 226.
- one end of the shaft 226 is connected with the installation shaft 225 of one transmission assembly 200, and the other end of the shaft 226 is also connected with the installation shaft of another transmission assembly (not shown).
- the transmission assembly 220 includes a differential 227. As shown in FIG. 2, the radially outer side of the differential 227 is welded to the sprocket 222.
- the differential 227 can also be installed at other positions of the transmission assembly 220.
- the differential only needs to be installed on one of the transmission components.
- the differential 227 is installed on the transmission assembly 220 shown in FIG. 2, but it may also be installed on another transmission assembly not shown in FIG. 2. The selection of the differential avoids the self-steering phenomenon caused by uneven road surface or the inconsistent rotational speed of the pair of wheel assemblies 210 when turning, and does not add additional resistance to the steering of the wheels.
- Part A of FIG. 4 is an exploded schematic view of the cam mechanism 230 of the transmission mechanism 200, and part B of FIG. 4 is a schematic view of the cam support 250.
- the driving assembly 230 includes a cam 231, a connecting rod 232, a sprocket 233, a bearing 234, a follower roller 235, a swing rod 236 and a shaft 237.
- the shaft 237 connects the sprocket 233 and the cam 231 to each other by means of a bearing 234 and an opening 2312 formed with the center of the cam 231.
- the sprocket 233 receives the power (torque) provided by the transmission assembly 220 via the conveyor belt 228 described above, so that the cam 231 rotates with the rotation of the transmission assembly 220.
- a cam groove 2311 to be described later is formed on one side of the cam 231.
- One end of the connecting rod 232 is connected to the cam 231, and the other end is connected to the leg assembly 240, which will be described in detail below, so that when the cam 231 rotates, the end of the connecting rod 232 connected to the cam 231 will move at the same time as the cam 231 rotates.
- the follower roller 235 is disposed in the cam groove 2311, and the cam profile of the cam groove 2311 is configured to convert the rotational movement of the cam 231 into a predetermined position of the follower roller 235 in the cam groove 2311 in a substantially horizontal direction. Reciprocating motion.
- the follower roller 235 is preferably a roller bearing.
- the follower roller has a rolling portion 2351 and a support 2352 connected to the rolling portion.
- the rolling portion 2351 is arranged in the cam groove 2311, and the side wall of the rolling portion 2351 is in contact with the side wall of the cam groove 2311, so that when the cam When the 231 rotates, the rolling portion 2351 of the follower roller 235 can roll in the cam groove 2311 along the side wall of the groove.
- FIGS. 10A-10D show a brief schematic diagram of the cam 700 driving the follower roller 750 to move according to the embodiment of this document.
- the cam 700 is similar to the cam 231 in FIG. 4 and the follower roller 750 is similar to the follower roller 235 in FIG. 4.
- the cam 700 has a centered body 710, which can rotate with the center 720 as an axis under the driving of the transmission assembly 220, preferably at a uniform speed.
- a cam groove 740 is formed on the side surface 730 of the center body 710.
- the cam groove 740 is eccentrically arranged with respect to the center 720.
- the cam profile of the cam groove 740 is a non-circular closed curve, and at the position A of the cam profile, its distance from the center of the circle is the closest, so it can be called the near center position A.
- the position B of the cam profile it The distance from the center of the circle is the farthest, so it can be called the telecentric position B.
- the follower roller 750 is disposed in the cam groove 740, and the follower roller 750 is restricted by the swing lever 236 and the cam support 250 shown in FIG. 4 and described below and is substantially movable only on the horizontal axis 760.
- the cam 700 is rotated counterclockwise in the direction of the arrow shown in FIG. 10A, so that the cam 700 is rotated to the state of FIG. 10B.
- a certain position between the proximal position A and the telecentric position B of the cam profile rotates to coincide with the horizontal axis 760.
- the side wall of the cam groove 740 forces the follower roller 750 to move on the horizontal axis 760 in the horizontal direction (for example, horizontally to the left) from the position C1 in FIG. 10A to the position on the horizontal axis 760 in FIG. 10B C2.
- FIG. 10D continue to rotate the cam 700 counterclockwise in the direction of the arrow shown in FIG. 10C, so that the cam 700 is rotated to the state of FIG. 10D.
- a certain position between the proximal position A and the telecentric position B of the cam profile rotates to coincide with the horizontal axis 760.
- the side wall of the cam groove 740 forces the follower roller 750 to move in the opposite direction (for example, horizontally to the right) from the position C3 in FIG. 10C along the horizontal direction on the horizontal axis 760 in the opposite direction to FIGS. 10A and 10B.
- the cam 700 rotated counterclockwise in the direction of the arrow shown in FIG. 10D, it will return to the state shown in FIG. 10A. That is, the proximal position A of the cam groove 740 is exactly on the horizontal axis 760. At this time, the side wall located in the cam groove 740 forces the follower roller 750 to move in the horizontal direction along the horizontal axis 760 in the reverse direction (for example, horizontally to the right) from the position C4 in FIG. 10D back to the position in FIG. 10A C1. At this time, the cam 700 rotates exactly once.
- the follower roller 750 reciprocates on the horizontal axis 760.
- the starting position C1 at the time T0 of the follower roller moves horizontally to the left to the position C2 at the time T1, and then continues to move horizontally to the left to the position at the time T2 C3, then move horizontally to the right in the opposite direction to position C4, and finally continue to return horizontally to the right to position C1 in the opposite direction. Therefore, during one rotation of the cam 700, the follower roller 750 undergoes a reciprocating movement of position C1 ⁇ position C2 ⁇ position C3 ⁇ position C4 ⁇ position C1.
- the positions C1 and C3 correspond to the turning point of the reciprocating motion
- the position C1 corresponds to the position where the proximal position A of the cam profile rotates to coincide with the horizontal axis 760
- the position C3 corresponds to the telecentric position B of the cam profile Rotate to the position when it coincides with the horizontal axis 760. Therefore, during one rotation of the cam 700, the follower roller 750 performs a reciprocating motion between the positions C1 and C3.
- the cam profile of the non-circular closed curve also causes the instantaneous speed of the follower roller 750 to move on the horizontal axis 760 during the rotation of the cam 700 to change according to the change of the cam profile, that is, when the cam 700 rotates During this period, the follower roller 750 performs a variable speed reciprocating motion between the positions C1 and C3.
- the variable speed reciprocating motion between the positions C1 and C3 further drives the variable speed swing of the driven object (not shown) to be driven by the follower roller 750 within a predetermined angle range.
- the cam is used as the driving assembly 230 to realize the rotational movement of the cam to drive the follower roller arranged in the cam groove to reciprocate, and then other driving forms can also be used.
- 11A-11D show the use of a non-circular gear pair 800 instead of the cam 700 with the cam groove 740.
- the sprocket 233 of the driving assembly 230 is connected to the driving non-circular gear 810 in the non-circular gear pair 800, instead of connecting the sprocket 233 to the cam 700.
- 11A-11D show a schematic diagram of using a non-circular gear pair 800 to drive the follower 850 thereon to move.
- the non-circular gear pair 800 has a driving non-circular gear 810 and a driven non-circular gear 820 meshing with it.
- the driving non-circular gear 810 drives the driven non-circular gear 820 to rotate.
- the driving non-circular gear 810 and the driven non-circular gear 820 are formed with teeth on the outer periphery.
- the number of teeth of the respective teeth of the driving non-circular gear 810 and the driven non-circular gear 820 are the same, so that every time the driving non-circular gear 810 rotates, The driven non-circular gear 820 also rotates once.
- the rotation shaft centers 830 and 840 of the driving non-circular gear 810 and the driven non-circular gear 820 deviate from their respective geometric centers, and are designed so that the driving non-circular gear 810 and the driven non-circular gear 820 are
- the center distance is equal to each other.
- the center distance refers to the radius of rotation from the rotation axis 830 of the driving non-circular gear 810 to the meshing position and the rotation radius from the rotation axis 840 of the driven non-circular gear 820 to the meshing position. with.
- both the driving non-circular gear 810 and the driven non-circular gear 820 can be meshed together. , And will not separate or squeeze each other.
- a follower 850 is formed on the side surface of the driven non-circular gear 820.
- the position of the follower 850 in FIG. 11A is taken as the starting position D1 at time T0.
- the distance E1 between the follower 850 and the rotation axis 830 of the driving noncircular gear 810 is the shortest, that is, at position D1, the follower is closest to the driving noncircular gear 810 Rotation axis 830.
- the distance E2 between the follower 850 and the rotation axis 830 of the driving noncircular gear 810 is greater than E1, so as the noncircular gear pair 800 moves from the state of FIG. 11A to the state of FIG. 11B, the follower 850 gradually moves away from the rotation axis 830 of the driving non-circular gear 810.
- the driven non-circular gear 820 rotates counterclockwise under the drive of the driving non-circular gear 810 and returns to that shown in FIG. 11A status. That is, as the non-circular gear pair 800 moves from the state of FIG. 11D back to the state of FIG. 11A, the follower member 850 continues to gradually approach the rotation axis 830 of the driving non-circular gear 810 and finally returns to the one closest to the driving non-circular gear 810 The position D1 of the rotation axis 830. At this time, the cam 700 rotates exactly once.
- the follower member 850 reciprocates between the positions D1 and D3.
- the starting position D1 of the follower 850 that is closest to the rotation axis 830 of the driving non-circular gear 810 at time T0 moves to a distance away from the driving non-circular gear 810.
- the position C2 of the rotation axis 830 of the circular gear 810 is then moved further away from the rotation axis 830 of the active non-circular gear 810 to the position D3 farthest from the rotation axis 830 at time T2, and then gradually moves closer to the rotation axis 830 Go to the position D3, and finally move closer to the rotation axis 830 and return to the position D1 closest to the rotation axis 830. Therefore, during one rotation of the non-circular gear pair 800, the follower 850 undergoes a reciprocating movement of position D1 ⁇ position D2 ⁇ position D3 ⁇ position D4 ⁇ position D1.
- the positions D1 and D3 correspond to the turning point of the reciprocating motion, where the position D1 corresponds to the position closest to the rotation axis 830 of the driving non-circular gear 810, and D3 corresponds to the farthest distance from the rotation axis 83 of the driving non-circular gear 810 s position. Therefore, during one rotation of the non-circular gear pair 800, the follower 850 performs a reciprocating movement between the positions D1 and D3.
- the non-circular gear profile also causes that during the rotation of the non-circular gear pair 800, the instantaneous speed of the follower 850 at each position changes according to the change of the non-circular gear pitch line.
- the follower 850 performs variable-speed reciprocating motion between the positions D1 and D3.
- the variable speed reciprocating motion between the positions D1 and D3 further drives the variable speed swing of the driven object (not shown) to be driven by the follower 850 within a predetermined angle range.
- variable speed reciprocating motion obtained by the cam profile design of the cam groove 2311 drives the variable speed swing of a certain point of the leg with the hip as the axis when a normal person walks. Therefore, as the follower roller 235 rolls in the cam groove 2311, the position of the follower roller 235 in the XZ plane will change based on the cam profile of the cam groove 2311, that is, in the XZ plane according to the cam profile of the cam groove 2311 Perform regular variable-speed reciprocating motion between positions C1 and C3 as shown in Figure 10A-10D.
- the two boundary positions C1 and C3 of the reciprocating movement of the follower roller 235 correspond to the two boundary angles of a certain point of the leg with the hip as the axis when a normal person is walking.
- the pillar 2352 of the follower roller 235 is connected to one end of the link 232, and the other end of the link 232 is connected to the leg assembly 240 which will be described below, so that when the follower roller 235 rotates in the XZ plane with the cam 231
- the leg bar assembly 240 performs regular variable-speed swing in the XZ plane under the push/pull action of the connecting rod 232.
- the follower roller 235 in the cam groove 2311 performs a reciprocating motion at a distance defined by positions C1 and C3 in FIGS. 10A-10D, for example. Since the follower roller 235 drives the leg bar assembly 240 to swing, the leg bar assembly 240 is correspondingly driven by the reciprocating motion.
- the swing angle of the leg bar assembly 240 driven by the above-mentioned reciprocating drive corresponds to the swing of the leg relative to the hip when a certain point of the leg is walking when a normal person walks.
- the leg bar assembly 240 is driven by a reciprocating movement of the roller 235
- the variable-speed swing corresponds to the variable-speed swing of the leg relative to the hip when a normal person takes a step when walking, so that it is fixed on the leg bar assembly 240.
- the patient takes a step passively, and the swing angle of the leg when the patient takes a step And the swing method is no different from normal people, so as to realize the walking training of the patient.
- the connecting rod 232 connects the follower roller 235 with the position of the leg rod assembly 240 close to the hip corresponding to the thigh, and therefore, reciprocating corresponding to the cam profile design of the cam groove 2311
- the movement drives the swing of the thigh relative to the hip when a normal person walks, and the swing angle driven by the reciprocating motion should be the swing angle of the thigh relative to the hip when a normal person walks.
- the exerciser is further provided with a cam support 250.
- the cam support 250 has a first arm 251.
- the bottom and the top of the first arm 251 are respectively provided with fixing sleeves 252 for supporting and fixing the bearing 234 of the driving assembly 230 and the bearing 223 of the transmission assembly 220 respectively.
- the upper part of the first arm 251 is also formed with a guide groove 253 formed as a long hole extending in the X direction.
- the support 2352 of the follower roller 235 is arranged in the guide groove 253, so that when the follower roller 235 swings regularly in the XZ plane, its displacement in the Z direction (ie, the vertical direction) is restricted by the guide groove 253, Roughly only in the X direction (that is, the horizontal direction), a regular back and forth swing is performed.
- the drive assembly 240 further has a swing rod 236.
- One end of the swing rod 236 is connected to the support pillar 2352, and the other end is connected to the cam support 250, so that the follower roller 235 can be displaced in the Z direction through the swing rod 236. Make restrictions.
- the other end of the swing rod 236 may also be directly connected to the body frame 100.
- a second cam groove (not shown) is formed on the other side of the cam 231 opposite to the side on which the cam groove 2311 is formed, similar to the cam groove 2311
- the variable speed reciprocating motion corresponding to the cam profile design of the second cam groove is another variable speed reciprocating motion that is different from the variable speed reciprocating motion corresponding to the cam profile of the cam groove 2311.
- the driving assembly 230 further has a second bearing 234', a second connecting rod 232', a second follower roller 235', and a second swing rod 236'.
- the second bearing 234' is used to connect the cam 231 and the shaft 234.
- the cam support 250 may also have a second arm 254 parallel to the first arm 251.
- the second arm 254 also has a fixing sleeve 252 at the bottom and the top for supporting and fixing the second bearing 234' of the driving assembly 230 and the bearing 224 of the transmission assembly 220 therein.
- the upper part of the second arm 254 is also formed with a second guide groove 255 for restricting the displacement of the second follower roller 235' in the Z direction, so that the second cam groove is configured to convert the rotational movement of the cam 231 into The second follower roller 235' in the second cam groove reciprocates substantially in the X direction (horizontal direction).
- variable speed reciprocating motion corresponding to the cam profile design of the second cam groove corresponds to the variable speed swing of the calf relative to the hip when a normal person is walking
- the two boundary positions of the reciprocating motion correspond to the calf when a normal person is walking.
- variable speed reciprocating movement of the second follower roller 235' in the second cam groove corresponds to the variable speed swing of the calf relative to the hip when a normal person is walking, thereby driving the calf of the leg bar assembly 240
- the part also swings in the same way that the lower leg swings relative to the hip when a normal person walks. Therefore, the patient's calf also swings once in a manner corresponding to the swing of the calf when a normal person walks, so as to realize the patient's walking training.
- the drive assembly 230 may have friction plates 239 and 239' (if present) disposed between the cam support 250 and the connecting rod.
- the friction plates 239 and 239' are preferably PTFE-based friction, which can reduce the frictional resistance of the connecting rod during the swinging process.
- the drive assembly with a non-circular gear pair 800 may further have another additional non-circular gear pair.
- the additional non-circular gear pair is different from the non-circular gear pair 800 and is designed to correspond to the variable speed reciprocating motion of the follower component. It is the variable speed swing of the calf relative to the hip of a normal person. Therefore, in this case, the second link 232' connecting the lower leg position of the leg bar assembly 240 and the second follower roller 235' can be modified to connect the lower leg position of the leg bar assembly 240 and an additional non-circular shape.
- the follower part of the gear pair Therefore, the variable-speed reciprocating motion of the follower part of the additional non-circular gear pair can drive the patient's calf to swing at a variable speed in the manner of swinging the calf relative to the hip when a normal person is walking.
- a pair of transmission mechanisms 200 are attached to the body frame 100. Therefore, the trainer 10 has a pair of driving components 230. As shown in FIG. 4, one end of the shaft 237 is connected to a driving component 230, although not shown, the other end of the shaft 237 is connected to another driving component whose structure is the same as that of the driving component 230. In the walking gait of a normal person, the swing phase of the two legs is always 180 degrees out of phase, so the pair of driving components with the shaft 237 are also installed with a phase difference of 180 degrees.
- the shaft 237 is composed of a first shaft 2371 and a second shaft 2372.
- the first shaft 2371 is connected to the drive assembly 230, and the second shaft 2372 is connected to another shaft.
- the drive components are connected.
- the first shaft 2377 and the second shaft 2372 are equipped with a clutch device 238.
- the advantage of using the clutch device 238 is that the phase difference between a pair of driving components can be adjusted as required. For example, when the patient wears the training device 10, the legs need to be in a closed posture. Therefore, the clutch device 238 can be opened to freely adjust the phases of the drive components on both sides. When the patient is finished wearing, the drive on both sides will be readjusted.
- the clutch device 238 includes a sliding buckle 2381, and the clutch device 238 is provided with limit handles on both sides thereof to limit the orientation of the first shaft 2377 and the second shaft 2372 .
- the orientation of any one of the first shaft 2377 and the second shaft 2372 is defined, and the other of the first shaft 2377 and the second shaft 2372 is adjusted, after adjusting to a specified phase After tightening the limit handle of the other one, the clutch device 238 is closed, and then the limit handles on both sides are respectively released.
- the shaft 237 is also provided with a folding handle 2373 and an accommodation space 2372 for accommodating the folding handle 2373.
- the folding handle 2373 can be rotated from the accommodation space 2372.
- the folding handle 2373 is screwed into the receiving space 2372. Marking lines are engraved on the semi-axes on both sides of the clutch device 238.
- the clutch device When the semi-axes at both ends are adjusted to the mark lines are aligned, slide the sliding buckle to fix the first shaft 2377 and the second shaft 2372 on both sides at a distance of 180
- the clutch device also includes elastic bumpers 2382 to ensure that the sliding buckle 2381 can stay at the designated position when there is no operation.
- FIG. 5A is an exploded view of the leg bar assembly 240 of the transmission mechanism 200.
- FIG. 5B is a perspective view of the leg bar assembly 240 of the transmission mechanism 200.
- the leg bar assembly 240 is mainly composed of a thigh bar 241 and a calf bar 242.
- the thigh bar 241 and the lower leg bar 242 are connected to each other at the knee position by a bearing (not shown).
- the leg bar assembly 240 further includes a sole member 243, and the sole member 243 is detachably connected to the ankle position of the leg bar assembly 240 through a foot connecting seat 244
- the calf bar 242 of the leg bar assembly 240 can also flex forward 0-15 degrees.
- the leg bar assembly 240 further includes a strap plate 245 attached to the thigh bar and a strap seat 246 attached to the lower leg bar 242.
- the strap plate 245 and the strap seat 246 are still installed with leg straps to fix the patient's leg to the leg bar assembly 240.
- the thigh bar 241 has an opening 2419 at the hip, and an opening 2414 is formed near the hip.
- One end of the connecting rod 232 described above is connected to the opening 2414 through a roller bearing 2413, so that the thigh bar 241 Along with the rotation of the driving assembly 240, it swings regularly to achieve the purpose of walking rehabilitation training. It is described above that in the embodiment where the second link 232' exists, the second link 232' is connected to the lower leg position of the calf lever 242 near the knee, so that the calf portion of the leg lever assembly 240 can also follow the driving The rotation of the assembly 230 performs regular swings. As shown in FIG.
- the driving assembly 230 is installed at a height substantially consistent with the hip position of the leg bar assembly 240, and in the walking gait of a normal person, the swing of the calf often exists in the X direction (horizontal direction) and Z direction at the same time.
- Direction vertical direction
- the second link 232' is indirectly connected to the calf position of the calf rod 242 near the knee via the calf swing rod, which is disposed at the hip including the thigh rod 241 It is composed of a first follower rod 247 and a second follower rod 248. Specifically, one end of the second connecting rod 232' (for example, through a bearing) is connected to an opening at the end 2471 of the first follower rod 247. For example, the opening at the other end 2472 of the first following rod 247 is connected to the opening at the end 2481 of the second following rod 248 through a bearing.
- the second follower rod 248 is connected to an opening 2421 formed at the top of the calf rod 242 at a position close to the knee at the opening of the other end 2482 through a rolling bearing.
- the first follower rod 247 is connected to an opening 2419 formed at the hip of the thigh rod 241 at an opening located on the middle portion 2473, for example, via a bearing.
- the position of the opening 2419 is adjacent to the opening 2414.
- the first follower lever 247 uses the middle portion 2473 as the rotation axis, so that the other end 2472 of the first follower lever 247 swings following the end 2471, and the other end 2472 of the first follower lever 247 swings through the second follower.
- the rod 248 is transmitted to the position of the calf rod 242 close to the knee, thereby driving the patient's knee to swing accordingly.
- the first follower rod 247 preferably has an L-shaped shape.
- the first follower rod 247 and the second follower rod 248 are bent along the Y direction at a predetermined position, so that the second link 232', the first follower rod 247, and the second follower rod 248 are mutually in the Y direction. Staggered so as to avoid the interference of the second link 232', the first follower rod 247, and the second follower rod 248 when they swing.
- the thigh bar 241 includes an outer thigh bar 2411 away from the patient's thigh and an inner thigh bar 2412 that abuts the patient's thigh.
- the outer thigh bar 2411 and the inner thigh bar 2412 are detachably installed together.
- the outer thigh bar 2411 and the inner thigh bar 2412 are jointly connected to the calf bar 242 at the bottom through a bearing, so that when the outer thigh bar 2411 and the inner thigh bar 2412 are separated from each other, they can use the outer thigh bar on the XZ plane.
- connection position of 2411 (and inner thigh bar 2412) and calf bar 242 is that the shafts rotate with each other.
- the advantage of this is that when the patient needs to wear in a sitting position, the outer thigh bar 2411 and the inner thigh bar 2412 can be separated, so that the inner thigh bar 2412 can be at an angle of about 90 degrees with the calf bar 242 in the XZ plane for convenience Wear it. After the patient is put on, the patient stands up with the help of external force.
- the outer thigh bar 2411 and the inner thigh bar 2412 tend to be parallel to each other and overlap each other, the outer thigh bar 2411 and the inner thigh bar 2412 are installed together as a whole to complete Wear.
- the thigh bar 241 has a spring latch mechanism 2417 installed at the opening 2418 on the outer thigh bar 2411.
- the operator manually opens the spring latch mechanism 2417.
- the outer thigh bar 2411 rotates relative to the inner thigh bar 2412, and when the outer thigh bar 2411 is rotated to coincide with the inner thigh bar 2412, it is formed on the inner thigh bar 2412
- the opening 2418' overlaps the opening 2418.
- the spring latch in the spring latch mechanism 2417 automatically springs into the opening 2418', thereby realizing the automatic locking of the outer thigh bar 2411 and the inner thigh bar 2412.
- the thigh bar also has two handle screws 2415, and the handle screws 2415 are installed at the corresponding opening 2416 of the outer thigh bar 2411 and the opening 2416' of the inner thigh bar 2412.
- the operator manually opens the handle screw 2415 to realize the separation of the outer thigh bar 2411 and the inner thigh bar 2412.
- the handle screw 2415 is tightened to further assemble the outer thigh bar 2411 and the inner thigh bar 2412 into a whole.
- FIG. 6 is a side view of the transmission member 200. Some unnecessary components are hidden so that the structure of the transmission member 200 can be displayed more clearly.
- the wheel assembly 210 travels forward.
- the rotation of the wheel assembly 210 is transmitted to the transmission assembly 220 via the transmission belt 215.
- the power of the transmission assembly 220 is again transmitted to the driving assembly 230 via the transmission belt 228 to drive the cam in the driving assembly 230 to rotate.
- the cam rotates, the first link 232 and the second link 232' drive the leg bar assembly 240 to swing regularly.
- the first link 232 is directly connected to the thigh position of the leg bar assembly 240 near the hip, so as to drive the patient's thigh to swing regularly relative to the hip.
- the second link 232' is indirectly connected to the lower leg position of the leg bar assembly 240 near the knee through the first follower bar 247 and the second follower bar 248, so as to drive the patient's lower leg relative to the hip to perform regular swing. So as to finally realize the purpose of walking rehabilitation training.
- the above describes the use of the specially designed cam profile to make the push rod assembly 240 perform regular swings when a normal person walks.
- the cam profile is designed inversely according to the swing law of the legs of a normal person when walking, especially according to the swing law of the hip position and knee position of the leg when a normal person is walking.
- the design method of the cam profile can be done in the opposite way in which the driving assembly 230 drives the leg bar assembly 240 to swing.
- FIG. 7 is a flowchart of a cam profile design method 600 of the cam groove of the driving assembly 230.
- the method 600 will be described below in conjunction with FIGS. 2-6.
- the follower is disposed on the side surface of a disc.
- the follower may be a follower such as a follower roller 235, which can roll on the side surface of the disc.
- a disc with a flat side surface can be used instead of the cam 231 in FIG. 4.
- the follower is arranged so that it is movable substantially only in the horizontal direction.
- the guide groove 253 and the swing rod 236 shown in FIG. 4 are used to limit the displacement of the follower in the vertical direction.
- a circular body is provided, and the follower performs a predetermined reciprocating movement (for example, variable-speed reciprocation) at a predetermined distance on the side surface of the circular body and in a substantially horizontal direction. For example, it is the distance defined by the positions C1 and C3 shown in FIGS. 10A-10D.
- the disk is rotated at a constant speed, so that every time the disk rotates once, the follower performs a reciprocating motion over the predetermined distance.
- the disc also makes exactly one revolution. Therefore, during one reciprocating movement of the follower over this distance, a non-circular closed curve rolling track is formed on the side surface of the disc, and the closed curve is the cam profile of the required cam groove. Therefore, the cam groove described herein can be obtained by forming a cam groove on the circular main body with the closed curve.
- the required reciprocating motion preferably corresponds to the swing of the thigh/calf relative to the hip when a normal person is walking.
- the above two boundary points of the predetermined distance correspond to the two boundary angles of the swing of the thigh/calf relative to the hip when a normal person walks.
- leg rod When the leg rod is fixed to the legs of a normal person instead of the legs of a patient, whenever a normal person performs a normal walking action, it will drive the follower to perform at the swing angle corresponding to the normal person walking.
- the swing motion corresponding to human walking so the track left by the follower on the side surface of the disc corresponds to the swing of the calf/thigh when a normal person walks, and the corresponding cam profile is obtained.
- the cam profile can also be obtained by software modeling.
- computer-aided software for example, Solidworks
- Solidworks can be used to model the characteristic dimensions of the human body’s legs and the basic structure of the trainer, and then according to the reciprocation of the legs (for example, hips and knees) during normal walking.
- the law of motion adds constraint loads to the model and performs kinematics simulation calculations to obtain the gait displacement curve of a normal person walking, and import the simulated gait displacement curve into the model of the basic structure of the trainer, which can be reversed Find the cam profile.
- the advantage of this is that the legs of the actual patient can be measured, so that the most suitable cam profile can be customized for the specific patient to improve the effect of rehabilitation training.
- the manufacturing method can be carried out as follows:
- the driving non-circular gear and the driven non-circular gear that mesh with each other, wherein the driving non-circular gear and the driven non-circular gear have the same number of teeth and a fixed center distance, so that the driving non-circular gear 810 rotates every time In one revolution, the driven non-circular gear 820 also rotates, and when the driving non-circular gear 810 and the driven non-circular gear 820 rotate to any position, the driving non-circular gear 810 and the driven non-circular gear 820 are guaranteed to be able to Engaged together without separation or squeezing.
- the rotational axis centers of the driving non-circular gear and the driven non-circular gear are designed to deviate from their respective geometric centers.
- a follower part is formed on the side surface of the driven non-circular gear to complete the manufacture of the non-circular gear pair.
- the gear pitch lines of the driving non-circular gear and the driven non-circular gear are designed such that when the driving non-circular gear rotates one revolution, the driving non-circular gear can drive the follower component on the driven non-circular gear Perform a variable speed reciprocating motion between the first position and the second position.
- the first position is the position of the follower member closest to the rotation axis of the driving non-circular gear
- the second position is the position of the follower member furthest away from the rotation axis of the driving noncircular gear.
- the variable speed reciprocating movement of the follower component can drive the component connected to it (for example by a connecting rod) to perform within a certain angle range.
- the follower member may be connected to the leg bar assembly 240 at a position corresponding to the thigh or a position corresponding to the lower leg in the leg bar assembly 240 through a link.
- variable speed reciprocating movement of the follower component can drive the thigh position of the leg bar assembly 240 to take the hip as the axis and follow the thigh relative to the normal person walking.
- the swing mode of the hip is variable-speed swing.
- the swing angle driven by this variable speed reciprocating motion corresponds to the swing angle of the thigh relative to the hip when a normal person walks.
- the two boundary positions (ie, the first position and the second position) where the follower moves back and forth correspond to the two boundary angles of the thigh swing when a normal person walks.
- the first position corresponds to when the left leg is used as the supporting leg, the right leg takes a step and the left leg relative to the lower boundary angle of the hip, and the second position corresponds to When the right leg is used as the supporting leg, the lower boundary angle of the left leg relative to the hip after the left leg takes a step.
- the pitch line design of the driving non-circular gear and the driven non-circular gear it can be designed by conventional methods. That is, determine the pitch curve, modulus, number of teeth, and center distance.
- the pitch curve is obtained according to the required predetermined swing law.
- the required predetermined swing law is the variable speed swing law of the leg (thigh or calf) relative to the hip when a normal person walks. If the rotation angle of the driving non-circular gear is used as the time reference, the leg rod driven by the non-circular gear pair will swing according to this time reference and according to a predetermined rule. At this time, there is no movement curve of the driven non-circular gear, so the driven non-circular gear is driven by the leg rod through the connecting rod to drive the driven non-circular gear.
- the driving non-circular gear makes one revolution
- the driven non-circular gear also makes exactly one revolution.
- the rotation speed of the driven non-circular gear driven by the leg rod is not equal to the uniform speed of the driving non-circular gear, but the integral of the rotation speed with time should be equal to 360 in one rotation period of the driving non-circular gear. °.
- the numerical integration result due to the influence of rounding error and sampling density, there will be a small amount of deviation in the numerical integration result, which requires proportional correction to control the numerical integration error within the allowable range.
- modulus For the determination of modulus, number of teeth and center distance, standard modulus is preferred for non-circular gear pairs, which is convenient for processing with standard tools.
- the modulus is determined and based on the given number of teeth, the perimeter of the pitch line of the non-circular gear is also determined.
- the instantaneous transmission ratio of the non-circular gear pair is equal to the inverse ratio of the respective rotation radii of the meshing points of the driving non-circular gear and the driven non-circular gear on the pair of pitch lines.
- the sum of the radius of each pair of pitch lines on the pitch line is equal to the center distance of the non-circular gear pair.
- the pitch line is non-circular, there is no longer a simple proportional relationship between the center distance, the module and the number of teeth like a circular gear pair. That is, if a standard modulus is used, non-standard center distances will appear, and vice versa. Since the pitch radius of each point must be determined before the numerical integration of the pitch line circumference, and the pitch line radius is obtained based on the center distance and the instantaneous transmission ratio, first assume a center distance, and try to Calculate the perimeter of the pitch line. By adjusting the center distance, finally the pitch line circumference error is less than the allowable value.
- the non-circular gear pair designed in this way has a standard modulus and a non-standard center distance. It is easy to manufacture with standard modulus and non-standard center distance.
- the trainer 10 has a waist holding assembly 300 attached to the top of the body frame 100. It is designed to provide strength support to the waist for patients with paraplegia and hemiplegia during rehabilitation training, allowing patients to experience walking upright.
- the part where the waist holding component 300 contacts the patient may be provided with a polymer material band and supplemented with soft and comfortable foam rubber filling, which increases the wearing comfort and use experience of the patient.
- the waist retaining assembly 300 includes components including a waist retainer 310 in contact with the patient and a waist retainer support 320 for attaching the waist retainer 310 to the body frame 100 .
- the waist holder 310 is above the body frame 100 and extends between both sides of the body frame 100.
- the center of gravity of the human body has a floating amount of about 20-30mm in the vertical direction.
- the lumbar holder support 320 is configured to be capable of floating up and down in the vertical direction to match the floating of the center of gravity of the human body in the vertical direction during normal walking.
- FIG. 8 is a perspective schematic view of the waist holder 310.
- the waist holder 310 includes a pair of brackets 311 fixed to the waist holder support 320, and a pair of baffles 311 are pivotally connected to the corresponding bracket 311 at one end thereof.
- the baffle 311 can be opened and closed, so that the paraplegic patient can change the spatial position of wearing in a sitting posture and walking in a standing posture.
- the waist holder 310 may further include a latch 313 detachably connected with the baffle 311 to ensure that the baffle 311 can maintain the rigidity and stability of the waist holder 310 as a whole after the baffle 311 is closed.
- the latch 313 may be carbon fiber material.
- FIG. 9 is a perspective view of the waist holder support 320.
- the holder support 320 includes a fixed part 321, an adjusting part 322 and a floating part 323.
- the fixing part 320 is attached to the top of the body frame 100.
- the floating part 323 is connected to the waist holder 310.
- An opening is formed at both ends of the fixing portion 320, and the optical shaft 324 passes through the opening of the fixing portion 320 and is assembled with the fixing portion 320 through a linear bearing (not shown), so that the optical shaft 324 can be in the opening of the fixing portion 320 Move up and down in the vertical direction.
- Both ends of the adjusting part 322 are also formed with openings.
- the adjusting part 322 is attached to the optical axis 324 at its opening through a linear bearing (not shown), and the adjusting part 322 can be arranged along the extending direction (vertical direction) of the optical axis 324. )move up and down.
- the top of the optical shaft 324 is connected to the floating part 323.
- the adjusting part 322 is further connected to the fixing part 321 by a lifting screw 325 (for example, a cylindrical screw), and the distance between the fixing part 321 and the adjusting part 322 in the vertical direction is adjusted by an adjusting mechanism 326 provided on the fixing part 321.
- the floating part 322 is further connected to the adjusting part 322 through an elastic member 327 (for example, a tower spring).
- the distance between the adjustable portion 322 and the fixed portion 321 in the vertical direction that is, the position of the adjustable portion 322 in the vertical direction relative to the body frame 100, can be adjusted to adjust the waist holder support 320
- the vertical position of the connected waist holder 310 may provide different installation positions of the waist holder 310 for patients of different heights. Since the floating part 323 is connected to the adjusting part 322 through the elastic member 327, the floating part 323 can work with the waist holder 310 connected to the floating part 323 when the patient is used for rehabilitation training. The center of gravity floats in the vertical direction accordingly.
- the trainer in this article can perform walking rehabilitation training for the patient only through a simple mechanical mechanism, without the aid of electronic equipment. Therefore, the manufacturing cost is low, and at the same time, the high research and development cost required for the research and development of the intelligent control program matched with the trainer that requires electronic equipment is eliminated. Only a medical staff or even an ordinary operator can provide walking rehabilitation training for the patient, which improves the continuity of the rehabilitation training and the treatment effect.
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Abstract
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Claims (30)
- 一种用于无动力多关节同步训练器的凸轮,其特征在于,所述凸轮具有圆形主体,所述圆形主体的第一侧面布置有凸轮槽,所述凸轮槽的轮廓被构造为使所述凸轮的旋转运动驱动设置在所述凸轮槽中的随动部件在预定水平轴线上进行变速往复运动,其中所述凸轮每旋转一周,所述随动部件在所述预定水平轴线上的第一位置与第二位置之间进行一次往复运动;所述第一位置是当所述随动部件处于所述轮廓的距离所述圆形主体的圆心最近的位置时,所述随动部件在所述水平轴线上的位置,所述第二位置是当所述随动部件处于所述轮廓的距离所述圆形主体的圆心最远的位置时,所述随动部件在所述水平轴线上的位置;并且所述往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
- 根据权利要求1所述的凸轮,其中所述被驱动物是人的大腿,所述角度是正常人行走时大腿以髋部为轴的摆动角度,所述变速摆动是正常人行走时大腿的摆动。
- 根据权利要求1或2所述的凸轮,其中所述凸轮进一步包括第二凸轮槽,所述第二凸轮槽设置在所述圆形主体的所述第一侧面相对的第二侧面上,所述第二凸轮槽的第二轮廓被构造为使所述凸轮的旋转运动驱动设置在所述第二凸轮槽中的第二随动部件在所述水平轴线上进行另一往复运动,所述第二轮廓与所述轮廓不同,其中所述凸轮每旋转一周,所述第二随动部件在所述预定水平轴线上并在第三位置与第四位置之间进行一次往复运动;所述第三位置是当所述第二随动部件处于所述第二轮廓的距离所述圆形主体的圆心最近的位置时,所述第二随动部件在所述水平轴线上的位置,所述第四位置是当所述第二随动部件处于所述第二轮廓的距离所述圆形主体的圆心最远的位置时,所述第二随动部件在所述水平轴线上的位置;并且所述另一往复运动驱动与所述第二随动部件相连的另一被驱动物在另一角度范围内变速摆动。
- 根据权利要求3所述的凸轮,其中所述另一被驱动物是人的小腿,所述另一角度是正常人行走时小腿以髋部为轴的摆动角度,所述另一变速摆动是正常人行走时小腿的摆动。
- 一种用于无动力多关节同步训练器的非圆齿轮副,包括主动非圆齿轮和与所述主动非圆齿轮传动啮合的从动非圆齿轮,其中所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距,所述主动非圆齿轮和所述从动非圆齿轮的节线经构造使得当所述主动非圆齿轮旋转一周时,所述主动非圆齿轮驱动设置在所述从动非圆齿轮上的第一侧面上的随动部件在第一位置和第二位置之间进行一次变速往复运动;所述第一位置是所述随动部件最接近所述主动非圆齿轮的旋转轴心的位置,所述第二位置是所述随动部件最远离所述主动非圆齿轮的旋转轴心的位置;并且所述变速往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
- 根据权利要求5所述的非圆齿轮副,其中所述被驱动物是人的大腿,所述角度是正常人行走时大腿以髋部为轴的摆动角度,所述变速摆动是正常人行走时大腿的摆动。
- 根据权利要求5所述的非圆齿轮副,其中所述被驱动物是人的小腿,所述角度是正常人行走时小腿以髋部为轴的摆动角度,所述变速摆动是正常人行走时小腿的摆动。
- 一种凸轮的制造方法,包括以下步骤:(a)提供一圆形主体,将一随动件设置在所述圆形主体的侧表面上,所述随动部件在所述侧表面上并仅在水平方向上是可移动的;(b)使所述随动部件在所述盘片的所述侧表面上在第一位置和第二位置之间进行一次变速往复运动;(c)在执行步骤(b)的同时等速旋转所述盘片,其中所述随动部件执行一次所述变速往复运动的周期与所述盘片旋转一周的周期相等;以及(d)将所述随动部件在所述盘片的所述侧表面移动的轨迹作为凸轮轮廓以在所述圆心主体的侧表面上形成凸轮槽,其中所述第一位置与所述圆形主体的圆心之间的距离等于所述凸轮轮廓上距离所述圆心最近的位置与所述圆心之间的距离,并且所述第二位置与所述圆心之间的距离等于所述凸轮轮廓上距离所述圆心最远的位置与所述圆心之间的距离。
- 根据权利要求8所述的方法,进一步包括以下步骤:提供一固定至人的腿部的腿杆,所述腿杆具有彼此相连的大腿部分和小腿部分,将所述随动部件通过连杆与所述大腿部分相连,使用正常人行走时所述大腿部分以髋部为轴的变速摆动驱动所述随动部件进行所述变速往复运动。
- 根据权利要求8所述的方法,进一步包括以下步骤:提供一固定至人的腿部的腿杆,所述腿杆具有彼此相连的大腿部分和小腿部分,将所述随动部件通过连杆与所述小腿部分相连,使用正常人行走时所述小腿部分以髋部为轴的变速摆动驱动所述随动部件进行所述变速往复运动。
- 一种非圆齿轮副的制造方法,包括以下步骤,提供彼此啮合的主动非圆齿轮和从动非圆齿轮,其中所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距;以及在所述从动非圆齿轮的侧表面上提供随动部件,所述主动非圆齿轮和所述从动非圆齿轮的节线被构造为使得当所述主动非圆齿轮旋转一周时,所述主动非圆齿轮驱动所述随动部件在第一位置和第二位置之间进行一次变速往复运动,其中所述第一位置是所述随动部件最接近所述主动非圆齿轮的旋转轴心的位置,所述第二位置是所述随动部件最远离所述主动非圆齿轮的旋转轴心的位置;并且所述变速往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
- 根据权利要求11所述的非圆齿轮副,其中所述被驱动物是人的大腿,所述角度是正常人行走时大腿以髋部为轴的摆动角度,所述变速摆动是正常人行走时大腿的摆动。
- 根据权利要求11所述的非圆齿轮副,其中所述被驱动物是人的小腿,所述角度是正常人行走时小腿以髋部为轴的摆动角度,所述变速摆动是正常人行走时小腿的摆动。
- 一种用于无动力多关节同步训练器的传动机构,其特征在于,包括:车轮组件;传动组件,所述传动组件与所述车轮组件传动连接;驱动组件,所述驱动组件与所述传动组件传动连接,所述驱动组件具有权利要求3所述的凸轮;以及腿杆组件,所述腿杆组件通过连杆与所述驱动组件连接,使得所述腿杆组件受所述传动组件的驱动而进行摆动。
- 根据权利要求14所述的传动机构,其中所述驱动组件进一步包括:支撑件,用于支撑所述凸轮;以及摆杆,所述摆杆的一端与所述驱动组件的随动部件连接,所述摆杆的另一端固定连接至所述支撑件。
- 根据权利要求14所述的传动机构,其中所述驱动组件进一步包括聚四氟基摩擦片,设置在所述连杆与所述凸轮支撑件之间。
- 根据权利要求14所述的传动机构,其中所述腿杆组件包括:大腿杆;以及小腿杆;所述小腿杆通过轴承在所述腿杆组件的膝部位置处与所述大腿 杆连接;其中所述连杆将所述随动部件连接至所述大腿杆上,使得所述大腿杆受所述随动部件驱动而在一角度上进行变速摆动,所述角度是正常人行走时大腿以髋部为轴摆动的角度,并且所述变速摆动是正常人行走时大腿的摆动。
- 根据权利要求17所述的传动机构,进一步包括:小腿摆动杆;第二连杆,所述第二连杆的一端经由所述小腿摆动杆连接至所述小腿杆上,所述小腿摆动杆设置在所述大腿杆的对应髋部的位置处,所述第二连杆的另一端连接至所述驱动组件的第二随动部件;以及第二摆杆,所述第二摆杆的一端与所述第二随动部件连接,所述第二摆杆的另一端固定连接至所述支撑件;其中所述第二随动部件驱动所述小腿杆以另一角度进行另一变速摆动,所述另一角度是正常人行走时小腿以髋部为轴摆动的角度,并且所述另一变速摆动是正常人行走时小腿的摆动。
- 一种用于无动力多关节同步训练器的传动机构,其特征在于,包括:车轮组件;传动组件,所述传动组件与所述车轮组件传动连接;驱动组件,所述驱动组件与所述传动组件传动连接,所述驱动组件具有权利要求5所述的非圆齿轮副;以及腿杆组件,所述腿杆组件通过连杆与所述驱动组件连接,使得所述腿杆组件受所述传动组件的驱动而进行摆动。
- 根据权利要求19所述的传动机构,其中所述腿杆组件包括:大腿杆;以及小腿杆;所述小腿杆通过轴承在所述腿杆组件的膝部位置处与所述大腿杆连接;其中所述连杆将所述驱动组件的随动部件连接至所述大腿杆上,使得所述大腿杆受所述随动部件驱动而在一角度上进行变速摆动,所述角度是正常人行 走时大腿以髋部为轴摆动的角度,并且所述变速摆动是正常人行走时大腿的摆动。
- 根据权利要求19所述的传动机构,进一步包括:另一驱动组件,其中所述另一驱动组件具有权利要求5所述的非圆齿轮副;小腿摆动杆;第二连杆,所述第二连杆的一端经由所述小腿摆动杆连接至所述小腿杆上,所述小腿摆动杆设置在所述大腿杆的对应髋部的位置处,所述第二连杆的另一端连接至所述另一驱动组件的第二随动部件;以及第二摆杆,所述第二摆杆的一端与所述第二随动部件连接,所述第二摆杆的另一端固定连接至所述支撑件;其中所述第二随动部件驱动所述小腿杆以另一角度进行另一变速摆动,所述另一角度是正常人行走时小腿以髋部为轴摆动的角度,并且所述另一变速摆动是正常人行走时小腿的摆动。
- 根据权利要求17或20所述的传动机构,所述腿杆组件进一步包括足底部件,所述足底部件在所述腿杆组件的踝关节处可拆卸地安装至所述小腿杆。
- 根据权利要求17或20所述的传动机构,所述大腿杆包括外侧大腿杆和内侧大腿杆,所述内侧大腿杆上安装有绑带板,所述小腿杆上安装有绑带座;其中所述内侧大腿杆相对于所述外侧大腿杆是可旋转的。
- 一种无动力多关节同步训练器,其特征在于,包括:车身框架;以及第一传动机构和第二传动机构,所述第一传动机构和第二传动机构分别安装在所述车身框架的两侧,所述第一传动机构和第二传动机构是如权利要求14-23任一项所述的传动机构;其中所述第一传动机构的驱动组件与所述第二传动机构的驱动组件通过轴杆相连,并且所述第一传动机构的驱动组件与所述第二传动机构的驱动组件的定向相差180°。
- 根据权利要求24所述的无动力多关节同步训练器,其中所述轴杆包括第一杆部和第二杆部,所述第一杆部通过离合器与所述第二杆部相连。
- 根据权利要求24所述的无动力多关节同步训练器,其中所述第一传动机构与所述第二传动机构通过第二轴杆相连,并且所述第一传动机构与所述第二传动机构之间具有安装至所述第二轴杆的差速器。
- 根据权利要求24所述的无动力多关节同步训练器,进一步具有两个万向刹车脚轮,安装在所述车身框架的底部并分别位于所述车身框架的两侧。
- 根据权利要求24所述的无动力多关节同步训练器,进一步具有腰部保持架,所述腰部保持架连接至所述车身框架的顶部并在所述框架的两侧之间延伸。
- 根据权利要求28所述的无动力多关节同步训练器,进一步具有两个腰部保持架支撑件,所述两个腰部保持架支撑件安装在所述车身框架的顶部并位于所述车身框架的两侧,所述腰部保持架支撑件包括:固定部,固定连接至所述车身框架;调节部,通过升降螺杆与所述固定部连接;以及浮动部,所述浮动部通过弹性件与所述调节部连接;其中所述腰部保持架的两端分别连接至相应腰部保持架支撑件的所述浮动部。
- 根据权利要求24所述的无动力多关节同步训练器,进一步具有扶手,所述扶手安装在所述车身框架上。
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EP3998053A1 (en) | 2022-05-18 |
CN112739302B (zh) | 2024-01-26 |
JP2022540408A (ja) | 2022-09-15 |
KR20220027228A (ko) | 2022-03-07 |
US20220331186A1 (en) | 2022-10-20 |
CA3146011A1 (en) | 2021-01-14 |
JP7240782B2 (ja) | 2023-03-16 |
CN112739302A (zh) | 2021-04-30 |
AU2019456345B2 (en) | 2023-07-06 |
JP2023061997A (ja) | 2023-05-02 |
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AU2019456345A1 (en) | 2022-02-17 |
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