Cable-driven six-degree-of-freedom parallel rehabilitation device

Abstract

The invention discloses a flexible cable driven six-degree-of-freedom parallel-connection rehabilitation device. The flexible cable driven six-degree-of-freedom parallel-connection rehabilitation device aims at overcoming the shortcomings of small degree-of-freedom number, small horizontal moving displacement, inconvenient movement, difficultly-controlled rope length and lack of sensor detection and control of an existing movement platform and comprises first, second, third and fourth movement driving mechanisms, first and second fixation driving mechanisms, a rope rehabilitation mechanism and a support. The first, second, third and fourth movement driving mechanisms are sequentially arranged at the top end of the support, the first and second fixation driving mechanisms are sequentially fixed to two fixing base plates at the two ends of a diagonal line of a rectangular frame at the bottom end of the support, and the rope rehabilitation mechanism is arranged at the central position of the support. One end of each of six steel wire ropes of the rope rehabilitation mechanism is sequentially connected with the first, second, third and fourth movement driving mechanisms and the first and second fixation driving mechanisms, and the movement base of the rope rehabilitation mechanism is arranged on the horizontal ground within the rectangular frame at the bottom end of the support.

Description

technical field [0001] The invention relates to a body-building apparatus, more precisely, the invention relates to a cable-driven six-degree-of-freedom parallel rehabilitation device. Background technique [0002] The flexible cable-driven parallel robot is a new type of robot that uses a flexible cable as a transmission tool. One end of the flexible cable is connected to the motion platform, and the other end is connected to the drive motor to make the motion platform move in the desired workspace. The cable-driven parallel robot has the characteristics of light weight, fixed drive, small inertia, and flexible transmission mode of the cable-driven robot. It also has the characteristics of high precision, large load / weight ratio, no error accumulation of the mechanism, and good rigidity. Cable-driven parallel robots are mainly used in simulated weightlessness training of astronauts, camera positioning in large sports fields, bridge construction, port cargo loading and unloa...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the problems existing in the prior art that the number of degrees of freedom of the motion platform is small, the horizontal movement displacement of the rehabilitation patient is small, the movement is inconvenient, the length of the flexible parts used in the overall structure is difficult to control, and the lack of sensor detection and control Problem; a cable-driven six-degree-of-freedom parallel rehabilitation device is provided

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