Drive system for controlling rotation of object around two vertical rotation axes, and rehabilitation device for rehabilitation of lower limbs and trunk incorporating the drive system

摘要

The drive system (10) includes a first fixed support structure (16) and a second support structure supported by the first support structure (16) so as to rotate about the fixed rotation axis (x). A first actuating unit (12, 24, having a body (56), a first motor device (24), a first output member (12), and a first motion transmission means (26, 28, 30); 26, 28, 30), a second motor device (52, 53), a second output member (14), and a second motion unit (54) having a second motion transmission means (54). 53, 54). The first output member (12) is drivingly connected to the second support structure (56) so as to rotate about the first rotation axis (x). The first motor device (24) controls the rotation of the first output member (12) that rotates together with the first movable structure (56) about the first rotation axis (x). A motor (24) and a first drive shaft driven by the first motor (24) to rotate about the first motor shaft (x2) are provided. The second output member (14) is supported by the second support structure (56) so as to rotate about the second rotation axis (y). The second motor device (52, 53) controls the rotation of the second output member (14) about the second rotation axis (y), and the second motor device (52) And a second drive shaft (53) driven by a second motor (52) so as to rotate about the motor shaft (y). The second actuation unit (14, 52, 53, 54) is supported by the support structure (56) and is drivingly connected to the support structure (56) so as to rotate about the first axis of rotation (x). Is done. Therefore, when the object (104) to be moved is fixed to the second output member (14), the first rotating shaft is controlled under the control of the first operating unit (12, 24, 26, 28, 30). It can be rotated about (x), and can be rotated about the second rotation axis (y) under the control of the second operating unit (14, 52, 53, 54). The first motor shaft (x2) is spaced apart from and parallel to the first rotation shaft (x), and the second motor shaft (y) coincides with the second rotation shaft (y).