Driving structure using four connecting rods to provide dual power

Abstract

The utility model relates to the technical field of rehabilitation, and discloses a driving structure using four connecting rods to provide double power, which comprises a fixed support frame, the fixed support frame is composed of two side plates, a plurality of connecting plates and a limit shaft, the top of each side plate is provided with the plurality of connecting plates, and the limit shaft is provided with the plurality of connecting plates. The two side plates are fixedly connected through a plurality of connecting plates, a servo motor is fixedly installed at the left end of the side plate on the rear side, a first transmission assembly is arranged at the left end of the bottom of the fixed supporting frame, and the first transmission assembly is connected with the output end of the servo motor. The output end of the first transmission assembly is connected with the input end of the second transmission assembly, and the output end of the second transmission assembly is connected with the input end of the third transmission assembly. A plurality of groups of four-connecting-rod mechanisms are adopted, power distribution is achieved through combination of a fixed supporting frame and a transmission assembly, and two power systems can be synchronously driven by a single power source through cooperative work of the three four-connecting-rod mechanisms.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation, in particular to a driving structure that uses four connecting rods to provide dual power. Background Art

[0002] During rehabilitation training, especially in situations where multiple power sources are required to provide driving force, the most common practice is to use multiple driving sources to provide the necessary power input for the entire rehabilitation equipment or structure. In order to achieve this goal, a dual-motor system is usually used to implement this alternating training mode. In this way, the efficiency and effectiveness of rehabilitation training can be significantly improved, and it can also better meet the specific needs of different patients.

[0003] However, this dual-motor system can provide power alternately through the cooperation of two independent motors, thereby ensuring that the rehabilitation equipment can operate smoothly and efficiently. In some occasions, it is especially necessary to ensure that a specific pace or a specific time interval is maintained between each power source to meet the needs of use. At this time, if multiple power sources are used to power the structure, the cost structure will become complicated.

[0004] However, this dual-motor system ensures the smooth and efficient operation of the rehabilitation equipment by alternately outputting power through the coordinated work of two independent motors. However, the use of multiple power source drive structures is likely to increase production and use costs and increase the complexity of control.

[0005] Based on this, the present invention designs a driving structure that uses a four-link to provide dual power to solve the above problems. Utility Model Content

[0006] The purpose of the present invention is to provide a driving structure that uses a four-link to provide dual power, so as to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions: a driving structure using a four-link to provide dual power, comprising a fixed support frame, the fixed support frame consisting of two side plates, a plurality of connecting plates and a limit shaft, a plurality of connecting plates are provided on the top of the side plates, and the two side plates are fixedly connected by the plurality of connecting plates, a servo motor is fixedly installed on the left end of the rear side side plate, a first transmission assembly is provided on the left end of the bottom of the fixed support frame, a second transmission assembly and a third transmission assembly are respectively provided on the front and rear sides of the right end of the first transmission assembly, the first transmission assembly is connected to the output end of the servo motor, the output end of the first transmission assembly is connected to the input end of the second transmission assembly, and the output end of the second transmission assembly is connected to the input end of the third transmission assembly;

[0008] The first transmission assembly includes connecting short rod one, connecting short rod two, connecting short rod three and a bearing. The top end of connecting short rod one is fixedly connected to the output end of the servo motor, the bottom end of connecting short rod one is rotationally limited and connected to connecting short rod two, the top end of connecting short rod two is rotationally limited and connected to connecting short rod three, and the bottom end of connecting short rod three is rotationally limited and connected to a bearing.

[0009] Preferably, the top end of the connecting short rod 1 is rotatably connected to the side plate on the rear side, and the bearing is connected to the side plate on the front side.

[0010] Preferably, the second transmission assembly includes a connecting long rod 1, a joint shaft 1 and a transmission rod 1, the right end of the connecting long rod 1 is rotatably connected to the joint shaft 1, and the connecting long rod 1 is rotatably connected to the transmission rod 1 through the joint shaft 1.

[0011] Preferably, the left end of the connecting long rod 1 is limitedly rotatably connected between the connecting short rod 2 and the connecting short rod 3, and the top end of the transmission rod 1 is sleeved and rotatably connected to the limiting shaft.

[0012] Preferably, the third transmission assembly includes a connecting long rod 2, a joint shaft 2 and a transmission rod 2, the right end of the connecting long rod 2 is rotatably connected to the joint shaft 2, and the connecting long rod 2 is rotatably connected to the transmission rod 2 through the limited joint shaft 2.

[0013] Preferably, the left end of the second connecting long rod is rotationally connected between the first connecting short rod and the second connecting short rod, and the top end of the second transmission rod is sleeved and rotationally connected to the limiting shaft.

[0014] Preferably, the two side panels are arranged in parallel and symmetrically, and the first transmission assembly, the second transmission assembly and the third transmission assembly are all connected to the bottom of the fixed support frame.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0016] The utility model sets up multiple groups of four-bar linkage mechanisms, and the fixed support frame and the first transmission assembly constitute the first four-bar linkage mechanism, the servo motor drives the first transmission assembly to move, causing the connecting short rod to move in the opposite direction and maintain the position difference, the fixed support frame, the first transmission assembly and the second transmission assembly form the second four-bar linkage mechanism, the connecting short rod guides the transmission assembly to reciprocate, the fixed support frame, the first transmission assembly and the third transmission assembly constitute the third four-bar linkage mechanism, and the connecting short rod drives the transmission assembly to reciprocate, so that a single power source can be distributed to two power systems, realizing the synchronous drive of dual power sources, and ensuring the smooth and efficient operation of the rehabilitation equipment. In addition, the drive structure is more compact, so that the entire equipment occupies less space, which is convenient for installation and use in a limited space. At the same time, due to the use of a single power source, the complexity of the control system is simplified, the maintenance cost is reduced, and the reliability of the equipment is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a structural schematic diagram of the utility model from another perspective;

[0019] Figure 3 This is a structural diagram of the fixed support frame in the present utility model;

[0020] Figure 4 This is a schematic structural diagram of the first transmission assembly in the present utility model;

[0021] Figure 5 This is a schematic structural diagram of the second transmission assembly in the present utility model;

[0022] Figure 6 It is a structural diagram of the third transmission component in the present utility model.

[0023] Among them: 1. Fixed support frame; 2. Side plate; 3. Connecting plate; 4. Limiting shaft; 5. Servo motor; 6. First transmission assembly; 601. Connecting short rod one; 602. Connecting short rod two; 603. Connecting short rod three; 604. Bearing; 7. Second transmission assembly; 701. Connecting long rod one; 702. Joint shaft one; 703. Transmission rod one; 8. Third transmission assembly; 801. Connecting long rod two; 802. Joint shaft two; 803. Transmission rod two. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Example 1

[0026] See also Figure 1 - Figure 4 Describe embodiment 1. In the figure, a driving structure using a four-link to provide dual power includes a fixed support frame 1. The fixed support frame 1 is composed of two side plates 2, a plurality of connecting plates 3 and a limit shaft 4. A plurality of connecting plates 3 are provided on the top of the side plates 2, and the two side plates 2 are fixedly connected by the plurality of connecting plates 3. A servo motor 5 is fixedly installed on the left end of the rear side plate 2. A first transmission assembly 6 is provided on the left end of the bottom of the fixed support frame 1. A second transmission assembly 7 and a third transmission assembly 8 are provided on the front and rear sides of the right end of the first transmission assembly 6 respectively. The first transmission assembly 6 is connected to the output end of the servo motor 5, the output end of the first transmission assembly 6 is connected to the input end of the second transmission assembly 7, and the output end of the second transmission assembly 7 is connected to the input end of the third transmission assembly 8;

[0027] The first transmission assembly 6 includes a connecting short rod 1 601, a connecting short rod 2 602, a connecting short rod 3 603 and a bearing 604. The top end of the connecting short rod 1 601 is fixedly connected to the output end of the servo motor 5. The bottom end of the connecting short rod 1 601 is rotationally limited and connected to the connecting short rod 2 602. The top end of the connecting short rod 2 602 is rotationally limited and connected to the connecting short rod 3 603. The bottom end of the connecting short rod 3 603 is rotationally limited and connected to the bearing 604.

[0028] See also Figure 1 and Figure 2 , the top end of the connecting short rod 601 in the figure is rotatably connected to the side plate 2 on the rear side, and the bearing 604 is connected to the side plate 2 on the front side;

[0029] In this embodiment, the fixed support frame 1 and the first transmission assembly 6 together constitute a first four-bar linkage. When the servo motor 5 is energized and outputs power, its rotation will drive the first transmission assembly 6 to move. At this time, the two ends of the connecting short rod 1 601 and the connecting short rod 3 603 will produce movements in opposite directions, and maintain a specific position difference through the connecting short rod 2 602. Then, the fixed support frame 1, the first transmission assembly 6 and the second transmission assembly 7 together form a second four-bar linkage. When the connecting short rod 1 601 moves, it will guide the second transmission assembly 7 to perform reciprocating motion. Similarly, the fixed support frame 1, the first transmission assembly 6 and the third transmission assembly 8 together constitute a third four-bar linkage, so that the movement of the connecting short rod 3 603 can drive the third transmission assembly 8 to perform reciprocating motion. Through this ingenious four-bar design, a single power source can be distributed to two different power systems according to a predetermined motion path, thereby realizing a complex motion pattern.

[0030] It should be noted that due to the characteristics of the four-bar linkage, the rotational motion of the servo motor 5 can be effectively converted into linear reciprocating motion, which is suitable for occasions where precise control of reciprocating motion is required, and can provide stable power output and precise motion control. For example, in rehabilitation equipment, the drive structure can provide smooth and adjustable movement to help patients perform rehabilitation training. It not only realizes dual power output from a single power source, but also has the characteristics of high efficiency, high precision and high reliability.

[0031] Example 2

[0032] See also Figure 2 and Figure 5 Example 2 is described. This embodiment further illustrates Example 1. In the figure, the second transmission component 7 includes a connecting long rod 701, a joint shaft 702 and a transmission rod 703. The right end of the connecting long rod 701 is rotatably connected to the joint shaft 702, and the connecting long rod 701 is rotatably connected to the transmission rod 703 through the limited joint shaft 702.

[0033] Furthermore, the left end of the connecting long rod 1 701 is limitedly rotatably connected between the connecting short rod 2 602 and the connecting short rod 3 603, and the top end of the transmission rod 1 703 is sleeved and rotatably connected to the limiting shaft 4;

[0034] In this embodiment, the connecting short rod 2 602 and the connecting short rod 3 603 produce a coordinated reciprocating motion driven by the servo motor 5, and the transmission rod 1 703 will perform corresponding reciprocating motion according to the motion trajectory of the connecting long rod 1 701. Due to the limiting effect of the joint shaft 1 702, the motion range and direction of the transmission rod 1 703 are precisely controlled, thereby ensuring the motion accuracy and stability of the entire drive structure. The top end of the transmission rod 1 703 is sleeved and rotatably connected to the limiting shaft 4, which can further limit the motion trajectory of the transmission rod 1 703, ensuring precise control in complex motion modes.

[0035] It should be noted that the motion trajectory of the transmission rod 703 is coordinated with the motion trajectory of the connecting long rod 701, so that the second transmission component 7 can effectively convert the rotational motion of the servo motor 5 into linear reciprocating motion, which is suitable for occasions where precise control of reciprocating motion is required.

[0036] Example 3

[0037] See also Figure 2 and Figure 6 Description of Example 3. This embodiment further describes Example 2. In the figure, the third transmission component 8 includes a connecting long rod 2 801, a joint shaft 2 802 and a transmission rod 2 803. The right end of the connecting long rod 2 801 is rotatably connected to the joint shaft 2 802, and the connecting long rod 2 801 is rotatably connected to the transmission rod 2 803 through the limited joint shaft 2 802.

[0038] Furthermore, the left end of the second connecting long rod 801 is rotationally connected between the first connecting short rod 601 and the second connecting short rod 602 , and the top end of the second transmission rod 803 is sleeved and rotationally connected to the limiting shaft 4 .

[0039] Furthermore, the two side panels 2 are arranged in parallel and symmetrically, and the first transmission assembly 6, the second transmission assembly 7 and the third transmission assembly 8 are all connected to the bottom of the fixed support frame 1;

[0040] In this embodiment, the connecting short rod 1 601 and the connecting short rod 2 602 produce a coordinated reciprocating motion driven by the servo motor 5, and the transmission rod 2 803 will perform corresponding reciprocating motion according to the motion trajectory of the connecting long rod 2 801. Due to the limiting effect of the joint shaft 2 802, the motion range and direction of the transmission rod 2 803 are precisely controlled, thereby ensuring the motion accuracy and stability of the entire drive structure. The top end of the transmission rod 2 803 is sleeved and rotatably connected to the limiting shaft 4, which can further limit the motion trajectory of the transmission rod 2 803, ensuring precise control in complex motion modes.

[0041] It should be noted that the motion trajectory of the transmission rod 2 803 is coordinated with the motion trajectory of the connecting long rod 2 801, so that the third transmission component 8 can effectively convert the rotational motion of the servo motor 5 into linear reciprocating motion, which is suitable for occasions where precise control of reciprocating motion is required, so that the drive structure can achieve precise motion control in multiple directions and meet the requirements of different equipment for motion accuracy and stability.

[0042] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A driving structure using a four-link to provide dual power, comprising a fixed support frame (1), characterized in that: The fixed support frame (1) is composed of two side panels (2), a plurality of connecting panels (3) and a limiting shaft (4); a plurality of connecting panels (3) are provided on the top of the side panels (2), and the two side panels (2) are fixedly connected through the plurality of connecting panels (3); a servo motor (5) is fixedly installed on the left end of the rear side panel (2); a first transmission assembly (6) is provided on the left end of the bottom of the fixed support frame (1); a second transmission assembly (7) and a third transmission assembly (8) are provided on the front and rear sides of the right end of the first transmission assembly (6), respectively; the first transmission assembly (6) is connected to the output end of the servo motor (5); the output end of the first transmission assembly (6) is connected to the input end of the second transmission assembly (7); and the output end of the second transmission assembly (7) is connected to the input end of the third transmission assembly (8); The first transmission assembly (6) comprises a connecting short rod 1 (601), a connecting short rod 2 (602), a connecting short rod 3 (603) and a bearing (604); the top end of the connecting short rod 1 (601) is fixedly connected to the output end of the servo motor (5); the bottom end of the connecting short rod 1 (601) is connected to the connecting short rod 2 (602) in a limited rotation manner; the top end of the connecting short rod 2 (602) is connected to the connecting short rod 3 (603) in a limited rotation manner; and the bottom end of the connecting short rod 3 (603) is connected to the bearing (604) in a limited rotation manner.

2. The driving structure using a four-link to provide dual power according to claim 1, characterized in that: The top end of the connecting short rod (601) is rotatably connected to the side plate (2) at the rear side, and the bearing (604) is connected to the side plate (2) at the front side.

3. The driving structure using a four-link to provide dual power according to claim 1, characterized in that: The second transmission assembly (7) comprises a connecting rod (701), a joint shaft (702) and a transmission rod (703). The right end of the connecting rod (701) is rotatably connected to the joint shaft (702). The connecting rod (701) is rotatably connected to the transmission rod (703) via the joint shaft (702).

4. The driving structure using a four-link to provide dual power according to claim 3, characterized in that: The left end of the connecting long rod 1 (701) is rotationally connected between the connecting short rod 2 (602) and the connecting short rod 3 (603), and the top end of the transmission rod 1 (703) is sleeved and rotationally connected to the limiting shaft (4).

5. The driving structure using a four-link to provide dual power according to claim 1, characterized in that: The third transmission assembly (8) includes a second connecting rod (801), a second joint shaft (802) and a second transmission rod (803). The right end of the second connecting rod (801) is rotatably connected to the second joint shaft (802). The second connecting rod (801) is rotatably connected to the second transmission rod (803) through the second joint shaft (802).

6. The driving structure using a four-link to provide dual power according to claim 5, characterized in that: The left end of the second connecting long rod (801) is rotationally connected between the first connecting short rod (601) and the second connecting short rod (602), and the top end of the second transmission rod (803) is sleeved and rotationally connected to the limiting shaft (4).

7. The driving structure using a four-link to provide dual power according to claim 1, characterized in that: The two side panels (2) are arranged in parallel and symmetrically, and the first transmission assembly (6), the second transmission assembly (7) and the third transmission assembly (8) are all connected to the bottom of the fixed support frame (1).

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