A drive system for controlling the rotation of an object relative to two orthogonal rotation axes and a rehabilitation machine for rehabilitation of the lower limb and the trunk incorporating such a drive system
The drive system (10) comprises: a first fixed support structure (16)； A second support structure (56) supported by the first support structure (16) for rotation about a fixed rotational axis (x)； A first operating unit (12, 24, 26, 28, 30) having a first motor device (24), a first output member (12) and a first motion transmission means (26, 28, 30)； And a second operation unit (14, 52, 53, 54) having a second motor device (52, 53), a second output member (14) and a second motion transmission means (54). The first output member 12 is operatively connected to a second support structure 56 for rotation about a first rotational axis x. The first motor device 24 controls the rotation of the first output member 12 and the first movable structure 56 with respect to the first rotation axis x and the rotation of the first motor 24 and the first motor 24 And a first drive shaft driven to rotate with respect to the first motor shaft x2. The second output member 14 is supported by a second support structure 56 for rotation about a second rotational axis y. The second motor device 52 and 53 control the rotation of the second output member 14 with respect to the second rotation axis y and are controlled by the second motor 52 and the second motor 52, And a second drive shaft 53 driven to rotate relative to the axis y. The second actuating unit 14,52,53,54 is supported by the support structure 56 and is operatively connected to the support structure 56 for rotation about the first axis of rotation x. The object 104 to be moved is rotatable with respect to the first rotational axis x under the control of the first actuating unit 12, 24, 26, 28, 30 when fixed to the second output member 14, Is rotatable with respect to the second rotation axis (y) under the control of the second operation unit (14, 52, 53, 54). The first motor shaft x2 is disposed parallel to the first rotation axis x with a distance from the first rotation axis x and the second motor shaft y coincides with the se
