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

A rehabilitation device and cable-driven technology, which are used in appliances that help people move around, physical therapy, etc., can solve the problems of the flexible parts, that is, the length of the rope is difficult to control, the horizontal movement displacement of the rehabilitation patient is small, and the number of degrees of freedom of the motion platform is small. To achieve the effect of easy control and motion output, large motion space, and easy operation

Inactive Publication Date: 2017-09-12
JILIN UNIV
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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

Method used

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

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Embodiment Construction

[0037] The present invention is described in detail below in conjunction with accompanying drawing:

[0038] refer to figure 1 , the cable-driven six-degree-of-freedom parallel rehabilitation device of the present invention includes a first mobile drive mechanism I, a second mobile drive mechanism II, a third mobile drive mechanism III, a fourth mobile drive mechanism IV, and a first fixed drive mechanism Ⅴ. Fixed driving second mechanism Ⅵ, rope rehabilitation mechanism Ⅶ and bracket Ⅷ.

[0039] The structures of the first mobile driving mechanism I, the second mobile driving mechanism II, the third mobile driving mechanism III and the fourth mobile driving mechanism IV are exactly the same, and their connection modes with the bracket VIII are exactly the same. The structure of the fixed driving first mechanism V and the fixed driving second mechanism VI are exactly the same, and their connection mode with the bracket VIII is completely the same.

[0040] The first mobile d...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00
CPCA61H3/008A61H2201/0176A61H2201/0192A61H2201/1207A61H2201/1661A61H2203/0406
Inventor 巩明德孔祥飞胡孔明
Owner JILIN UNIV
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