DRIVING SYSTEM FOR CONTROLLING THE ROTATION OF AN OBJECT ABOUT TWO PERPENDICULAR AXES OF ROTATION AND REHABILITATION MACHINE FOR REHABILITATION OF THE LOWER LIMBS AND THE TRUNK INCORPORATING SUCH A DRIVING SYSTEM

摘要

The driving system (10) comprises: a first stationary support structure (16); a second support structure (56) supported by the first support structure (16) for rotation about a stationary axis of rotation (x); a first actuation unit (12, 24, 26, 28, 30) having a first motor device (24), a first output member (12) and first motion transmission means (26, 28, 30); and a second actuation unit (14, 52, 53, 54) having a second motor device (52, 53), a second output member (14) and second motion transmission means (54). The first output member (12) is drivingly connected with the second support structure (56) for rotation about the first axis of rotation (x). The first motor device (24) controls the rotation of the first output member (12), along with the first movable structure (56), about the first axis of rotation (x) and comprises a first motor (24) and a first drive shaft driven by the first motor (24) to rotate about a first motor axis (x2). The second output member (14) is supported by the second support structure (56) for rotation about a second axis of rotation (y). The second motor device (52, 53) controls the rotation of the second output member (14) about the second axis of rotation (y) and comprises a second motor (52) and a second drive shaft (53) driven by the second motor (52) to rotate about a second motor axis (y). The second actuation unit (14, 52, 53, 54) is supported by the support structure (56) and is drivingly connected with the latter for rotation about the first axis of rotation (x). The object to be moved (104), once fixed to the second output member (14), is thus rotatable about the first axis of rotation (x) under the control of the first actuation unit (12, 24, 26, 28, 30) and about the second axis of rotation (y) under the control of the second actuation unit (14, 52, 53, 54). The first motor axis (x2) is arranged parallel to, and spaced from, the first axis of rotation (x), while the second motor axis (y) coincides with the second axis of rotation (y).