Stretchable motion device with rope automatic tensioning function

Abstract

The invention relates to a stretchable motion device with a rope automatic tensioning function. The device comprises a stretchable motion mechanism and a steel wire rope length compensation mechanism,wherein the stretchable motion mechanism comprises a bottom plate and a motor-reducer arranged on the bottom plate, the output end of the motor-reducer is provided with a gear rack mechanism I, and the output end of the gear rack mechanism I is fixed on a lifting plate; the steel wire rope length compensation mechanism comprises a gear rack mechanism II mounted at the output end of the motor-reducer, the gear rack mechanism II is slidably connected with the bottom plate through a wire rail sliding block assembly II, and the second wire rail sliding block assembly II is connected with the lifting plate through a pulley block; and one end of a steel wire rope is connected with a counterweight module, and the other end of the steel wire rope is connected with an arm of a patient through thepulley block. According to the stretchable motion device with the rope automatic tensioning function, the gear rack mechanisms and the pulley block structure are adopted to realize automatic tensioning of the steel wire rope.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a telescopic movement device with automatic rope tensioning function. Background technique [0002] In medical robots, in order to make the structure of the actuator more compact and the power utilization rate higher, the power output device (such as the motor-reducer module) is often placed on the frame away from the actuator, and the rope (such as a wire rope) is used to connect Power is transmitted to the motion actuator. During the working process of the upper limb rehabilitation robot, in addition to overcoming the self-weight of the mechanical arm, it also needs to provide a large auxiliary force for the patient. Therefore, arranging the motor-reducer and the counterweight module on the frame can reduce the weight of the mechanical arm and improve power utilization efficiency. The key to realizing long-distance power transmission by wire rope is to design th...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the above-mentioned deficiencies in the prior art, the present invention proposes a telescopic motion device with automatic rope tensioning function, which solves the technical problem of transmission failure due to the change of the length of the wire rope in the process of controlling the lifting of the mechanical arm of the existing rehabilitation robot

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