CN101862522A - Upper limb rehabilitation training device based on virtual space technology - Google Patents
Upper limb rehabilitation training device based on virtual space technology Download PDFInfo
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- CN101862522A CN101862522A CN 201010186486 CN201010186486A CN101862522A CN 101862522 A CN101862522 A CN 101862522A CN 201010186486 CN201010186486 CN 201010186486 CN 201010186486 A CN201010186486 A CN 201010186486A CN 101862522 A CN101862522 A CN 101862522A
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Abstract
The invention discloses an upper limb rehabilitation training device based on virtual space technology, which comprises a vertical shaft bracket, a horizontal shaft bracket, a main support and a linkage, wherein the vertical shaft bracket is fixed on the upper part of the main support by the screws, the horizontal shaft bracket is fixed on the lower part of the main support by the screws; the linked joint E and a gear fixed plate A in the linkage are connected with an inner shaft by the screws, the linked joint D is connected with an outer shaft by the screws, a rack shaft in the linkage is connected with the rack on the horizontal shaft bracket by the screws. A parallelogram linkage mechanism on the horizontal plane is connected with the inner and the outer shafts, which realizes the transmission of brake force in two moveable degree-of-freedom directions on the horizontal plane; a parallelogram linkage mechanism on the vertical plane is connected with the rack shaft, which realizes the transmission of the brake force in upper and lower degree-of-freedom directions. The movements in three degrees-of-freedom directions do not interfere with each other, which ensures the accuracy of the movement in each degree-of-freedom direction, and increases the quality and the effect of the rehabilitation training.
Description
Technical field
The present invention relates to a kind of medical rehabilitation equipment, particularly a kind of exercising apparatus for recovery of upper limb based on virtual space technology.
Background technology
Rehabilitation training machine in the past is general and health and fitness facilities is similar, and training content is relatively more dull, and it is very uninteresting that the patient feels, is difficult to adhere to for a long time.The Three Degree Of Freedom exercising apparatus for recovery of upper limb is to utilize virtual space technology and Robotics, the hemiplegic patient's who causes at diseases such as headstrokes rehabilitation training of upper limbs and the special-purpose rehabilitation training equipment that designs.The patient can gently hold the handle of robotic arm or with broadband rope hemiplegia side wrist portion tied up on the mechanical arm handle with the have gentle hands of hemiplegia side, select to be fit to oneself training program or the stronger project of recreation property then on computers, according to the rule of training program, the patient is seeing that the mechanical arm of computer screen operating means finishes training or the recreation that designs in the Virtual Space.Carry out under the virtual environment rehabilitation training patient's arm this when experiencing power, the controlling organization of device is delivered to patient's arm to power by transmission mechanism, makes the patient have real sensation, to reach the purpose of rehabilitation training.Compare with traditional rehabilitation training machine, this device is to utilize virtual space technology to make the patient carry out rehabilitation training in the Virtual Space with the form of playing games, and arouses patient's interest easily, so that carry out long-term rehabilitation training.U.S. in recent years, developed countries such as Japan have set about this type of special-purpose convalescence device of research and development, but when moving, its mechanical arm two free degree directions in the plane interfere phenomenon with the free degree direction that moves up and down, be before and after mechanical arm is done and during side-to-side movement, what move up and down spool also rotates some angles thereupon.This interference causes mechanical arm and the relevant position in the virtual environment can not be accurately corresponding, has reduced the interest that the patient trains in virtual environment, also will influence the rehabilitation of patients effect.In addition, this kind equipment is because controlling organization adopts is the form of servomotor output torque, the i.e. active training method of machine, when controlling organization contingency is malfunctioning, the patient can feel fear extremely, easily causes patient's psychological shade, and then the rehabilitation training after the influence.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the present invention to design a mechanism the arm plane motion with move up and down do not have interfere, a kind of exercising apparatus for recovery of upper limb of passive type based on virtual space technology.
To achieve these goals, technical scheme of the present invention is as follows: a kind of exercising apparatus for recovery of upper limb based on virtual space technology, comprise vertical pivot support, transverse axis support, connection rod set, main support, display, host computer and control cabinet, described vertical pivot support is fixed on the top of main support by screw, and the transverse axis support is fixed on the bottom of main support by screw; Connecting rod joint E in the described connection rod set and gear fixed plate A are connected with interior axle by screw, and the connecting rod joint D is connected with outer shaft by screw, and the rack shaft in the connection rod set is connected with tooth bar on the transverse axis support by screw;
Described vertical pivot support is made up of encoder A, magnetic powder brake A, interior axle, outer shaft, small pulley, interior shaft pulley, outer shaft pulley, synchronous band, belt shaft, inner shaft bearing, outer axle bearing, outer shaft bearing block, round rolling bearing units, bearing bracket, carrier base, synchronous belt tightener, encoder locating piece, magnetic powder brake locating piece, magnetic powder brake fixed plate A, supporting plate A, supporting plate B, supporting plate C, supporting plate D; Axle is installed on the inner shaft bearing in described, inner shaft bearing is fixed on the inside of outer shaft by circlip, outer shaft is installed on the outer axle bearing, and outer axle bearing is installed on the outer shaft bearing block in the mode of matched in clearance, and the outer shaft bearing block is installed on the supporting plate A by supporting plate B; Described in shaft pulley by trip bolt be installed in the axle lower end, outer shaft pulley is installed in the outer shaft lower end by trip bolt, interior shaft pulley be positioned at outer shaft pulley below; Encoder A, magnetic powder brake A, small pulley are connected with belt shaft by key, encoder A is positioned at the upper end of belt shaft, be fixed on the encoder locating piece by screw, the encoder locating piece is fixed on the bearing bracket by screw, magnetic powder brake A is positioned at the lower end of belt shaft, be connected with the magnetic powder brake fixed plate A by screw, the magnetic powder brake fixed plate A is connected with bearing bracket by magnetic powder brake locating piece A, and small pulley is positioned at the middle part of belt shaft; Belt shaft is installed on the round rolling bearing units, and round rolling bearing units are positioned at the both sides of small pulley, is fixed on the bearing bracket by screw, and bearing bracket is connected by bolt with carrier base, and carrier base is fixed on the supporting plate A by screw; Two small pulleys are connected by being with synchronously with interior shaft pulley, outer shaft pulley respectively; Synchronous belt tightener one end is fixed on the bearing bracket, the other end is fixed on the supporting plate D; Link together by screw between supporting plate A, supporting plate B, supporting plate C, the supporting plate D, be fixed on the top of main support;
Described transverse axis support is made up of encoder B, magnetic powder brake B, gear A, gear shaft A, tooth bar, vertical rolling bearing units, magnetic powder brake fixed head B, pulley, pulley yoke A, pulley yoke B, supporting plate E; Described encoder B, magnetic powder brake B, gear A are connected with gear shaft A by key, encoder B be positioned at gear shaft A an end, be fixed on the supporting plate E by screw, magnetic powder brake B be positioned at gear shaft A the other end, be connected with magnetic powder brake fixed head B by screw, magnetic powder brake fixed head B is fixed on the supporting plate E by screw, and gear A is positioned at the middle part of gear shaft A; Described gear shaft A is installed on the vertical rolling bearing units, and vertical rolling bearing units are positioned at the both sides of gear A, is fixed on the supporting plate E by screw; The upper surface of supporting plate E and lower surface respectively are equipped with a pulley, are fixed on the supporting plate E by pulley yoke A and pulley yoke B respectively, with the gear A coplane; Between gear A and pulley, tooth bar is housed, rack and pinion A engagement; Supporting plate E is fixed on the bottom of main support by screw;
Described connection rod set is made up of connecting rod A, connecting rod B, connecting rod C, connecting rod D, connecting rod E, connecting rod F, connecting rod G, connecting rod joint A, connecting rod joint B, connecting rod joint C, connecting rod joint D, connecting rod joint E, connecting rod joint F, connecting rod joint G, connecting rod joint H, connecting rod joint I, joint shaft A, joint shaft B, gear B, gear C, cylinder tooth bar, gear shaft B, gear shaft C, rack shaft, gear fixed plate A, gear fixed head B, gear fixed head C, connecting rod fixed head, handle; The end of described connecting rod A is equipped with handle, its middle part and the other end by screw and by the joint bolt connecting rod joint A is housed respectively; Connecting rod B one end by screw connecting rod joint B is housed, the other end is installed on the I of connecting rod joint by trip bolt; Connecting rod C one end is installed in by trip bolt that connecting rod joint F goes up, the other end is fixed on the connecting rod fixed head by screw; Connecting rod D one end by screw be installed on the connecting rod joint E, the other end is equipped with connecting rod joint G; The end of connecting rod E and connecting rod F by the joint bolt connecting rod joint A is housed, the other end is equipped with connecting rod joint B by screw; Connecting rod joint A is equipped with by the joint bolt in the upper end of connecting rod G and middle part, and connecting rod joint C is equipped with in the lower end; Link together by joint shaft A and oscillating bearing between connecting rod joint A and connecting rod joint B, the connecting rod joint C, make connecting rod A, connecting rod B, connecting rod C or connecting rod D, connecting rod E or connecting rod F form the interior parallelogram lindage of horizontal plane, connecting rod A is parallel to connecting rod C or connecting rod D, and connecting rod B is parallel to connecting rod E or connecting rod F; Simultaneously, also make connecting rod E, connecting rod F, connecting rod G, connecting rod fixed head form the parallelogram lindage in the vertical plane, connecting rod E is parallel to connecting rod F, and connecting rod G is parallel to the connecting rod fixed head; The connecting rod joint E is connected with interior axle by screw, and the connecting rod joint D is connected with outer shaft by screw; Gear fixed plate A, gear fixed head B, gear fixed head C are solidly connected together by screw, the upper end of axle in the gear fixed plate A is installed in by screw; Gear B is installed in the end of gear shaft B by key, and inside, its other end that gear shaft B is installed in connecting rod C are equipped with connecting rod joint H by screw; Gear C links to each other with gear shaft C by key and is installed on the gear fixed head C by bearing, with gear B on same horizontal plane; The cylinder tooth bar is installed on the rack shaft, fixes by the nut of tooth bar axle head, the inside of axle in rack shaft is installed in, the cylinder tooth bar between gear B and gear C, and two gears engaged therewith.
Compared with prior art, the present invention has following beneficial effect:
1, because mechanical arm of the present invention has adopted seven-bar mechanism to realize the motion of three degree of freedom direction, promptly realize the motion of two one-movement-freedom-degree directions on the horizontal plane by the four-bar mechanism on the horizontal plane, and the four-bar mechanism on the vertical plane is realized the motion of easy on and off degree direction, can only realize that with the mechanical arm that constitutes by four-bar mechanism the motion of two free degree directions on the horizontal plane compares, has compact conformation, in light weight, characteristics such as rotator inertia is little.
2, because the present invention has adopted parallelogram linkage (mechanical arm) to realize the motion of two free degree directions on the plane, and two axles in outside by triad (outer shaft and interior axle) pass to magnetic powder brake and the encoder that links to each other to movable information, and the motion between two free degree directions does not interfere.
3, the cylindrical straight gear rack structure has been adopted on the axle of (the inside) top because the triad structure middle rack axle that the present invention adopts, when two axles of axle and outer shaft rotate in four-bar linkage drives, can not cause moving up and down of rack shaft, guaranteed that promptly any interference does not take place for two frees degree of plane motion and the free degree of the direction that moves up and down, guaranteed the accuracy that moves up and down to have improved the quality and the effect of rehabilitation training.
4, because controlling organization of the present invention has only adopted controlled magnetic powder brake of torque and encoder, patient's power that arm should be felt in the arm when carrying out rehabilitation training of in virtual environment, operating machine, information according to encoder, calculating by computer with analyze handle corresponding position in virtual environment of determining mechanical arm, determine that magnetic powder brake should export the size of brake force, and brake force is reflected to exactly by mechanical arm on patient's the arm, promptly adopted the patient initiatively and machinery is passive mode.Characteristics such as this mode has handling safety, and is easily manufactured, simple in structure.
Description of drawings
11 in the total accompanying drawing of the present invention, wherein:
Fig. 1 is the exercising apparatus for recovery of upper limb front view.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the exercising apparatus for recovery of upper limb axonometric drawing.
Fig. 5 is the vertical pivot support cutaway view of exercising apparatus for recovery of upper limb.
Fig. 6 is the A-A profile of Fig. 5.
Fig. 7 is the transverse axis support cutaway view of exercising apparatus for recovery of upper limb.
Fig. 8 is the B-B profile of Fig. 7.
Fig. 9 is an exercising apparatus for recovery of upper limb connection rod set front view.
Figure 10 is the C-C profile of Fig. 9.
Figure 11 is the left view of Fig. 9.
Among the figure: 1, display, 2, host computer, 3, control cabinet;
101, supporting plate A, 102, supporting plate B, 103, encoder locating piece A, 104, carrier base, 105, bearing bracket, 106, the magnetic powder brake locating piece, 107, magnetic powder brake A, 108, the magnetic powder brake fixed plate A, 109, round rolling bearing units, 110, small pulley, 111, synchronous belt tightener, 112, supporting plate D, 113, encoder A, 114, supporting plate C, 115, outer shaft bearing block, 116, outer shaft, 117, interior axle, 118, belt shaft, 119, synchronous band, 120, interior shaft pulley, 121, outer shaft pulley, 122, outer axle bearing, 123, inner shaft bearing;
201, main support, 202, magnetic powder brake B, 203, magnetic powder brake fixed head B, 204, supporting plate E, 205, tooth bar, 206, pulley yoke B, 207, gear shaft A, 208, pulley yoke A, 209, pulley, 210, encoder B, 211, vertical rolling bearing units, 212, gear A;
301, joint shaft B, 302, the connecting rod joint D, 303, the connecting rod joint E, 304, the gear fixed plate A, 305, gear fixed head B, 306, gear shaft B, 307, gear B, 308, the cylinder tooth bar, 309, rack shaft, 310, gear shaft C, 311, gear fixed head C, 312, connecting rod E, 313, connecting rod F, 314, connecting rod joint B, 315, connecting rod joint A, 316, connecting rod G, 317, handle, 318, connecting rod A, 319, connecting rod joint C, 320, connecting rod B, 321, connecting rod joint F, 322, connecting rod C, 323, the connecting rod fixed head, 324, connecting rod joint G, 325, connecting rod joint H, 326, gear C, 327, connecting rod joint I, 328, connecting rod D, 329, the joint bolt, 330, oscillating bearing, 331, joint shaft A.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.Shown in Fig. 1-11, a kind of exercising apparatus for recovery of upper limb based on virtual space technology, comprise vertical pivot support, transverse axis support, connection rod set, main support 201, display 1, host computer 2 and control cabinet 3, described vertical pivot support is fixed on the top of main support 201 by screw, and the transverse axis support is fixed on the bottom of main support 201 by screw; Connecting rod joint E 303 in the described connection rod set and gear fixed plate A 304 are connected with interior axle 117 by screw, and connecting rod joint D 302 is connected with outer shaft 116 by screw, and the rack shaft 309 in the connection rod set is connected with tooth bar 205 on the transverse axis support by screw;
Described vertical pivot support is by encoder A113, magnetic powder brake A107, interior axle 117, outer shaft 116, small pulley 110, interior shaft pulley 120, outer shaft pulley 121, be with 119 synchronously, belt shaft 118, inner shaft bearing 123, outer axle bearing 122, outer shaft bearing block 115, round rolling bearing units 109, bearing bracket 105, carrier base 104, synchronous belt tightener 111, encoder locating piece 103, magnetic powder brake locating piece 106, magnetic powder brake fixed plate A 108, supporting plate A101, supporting plate B102, supporting plate C114, supporting plate D112 forms; Axle 117 is installed on the inner shaft bearing 123 in described, inner shaft bearing 123 is fixed on the inside of outer shaft 116 by circlip, outer shaft 116 is installed on the outer axle bearing 122, outer axle bearing 122 is installed on the outer shaft bearing block 115 in the mode of matched in clearance, and outer shaft bearing block 115 is installed on the supporting plate A101 by supporting plate B102; Described in shaft pulley 120 by trip bolt be installed in the axle 117 lower ends, outer shaft pulley 121 is installed in outer shaft 116 lower ends by trip bolt, interior shaft pulley 120 be positioned at outer shaft pulley 121 below; Encoder A113, magnetic powder brake A107, small pulley 110 are connected with belt shaft 118 by key, encoder A113 is positioned at the upper end of belt shaft 118, be fixed on the encoder locating piece 103 by screw, encoder locating piece 103 is fixed on the bearing bracket 105 by screw, magnetic powder brake A107 is positioned at the lower end of belt shaft 118, be connected with magnetic powder brake fixed plate A 108 by screw, magnetic powder brake fixed plate A 108 is connected with bearing bracket 105 by magnetic powder brake locating piece A106, and small pulley 110 is positioned at the middle part of belt shaft 118; Belt shaft 118 is installed on the round rolling bearing units 109, round rolling bearing units 109 are positioned at the both sides of small pulley 110, be fixed on the bearing bracket 105 by screw, bearing bracket 105 and carrier base 104 are connected by bolt, and carrier base 104 is fixed on the supporting plate A101 by screw; Two small pulleys 110 respectively with interior shaft pulley 120, outer shaft pulley 121 by being with 119 to be connected synchronously; Synchronous belt tightener 111 1 ends are fixed on the bearing bracket 105, the other end is fixed on the supporting plate D112; Link together by screw between supporting plate A101, supporting plate B102, supporting plate C114, the supporting plate D112, be fixed on the top of main support 201;
Described transverse axis support is made up of encoder B210, magnetic powder brake B202, gear A 212, gear shaft A207, tooth bar 205, vertical rolling bearing units 211, magnetic powder brake fixed head B203, pulley 209, pulley yoke A208, pulley yoke B206, supporting plate E204; Described encoder B210, magnetic powder brake B202, gear A 212 are connected with gear shaft A207 by key, encoder B210 be positioned at gear shaft A207 an end, be fixed on the supporting plate E204 by screw, magnetic powder brake B202 be positioned at gear shaft A207 the other end, be connected with magnetic powder brake fixed head B203 by screw, magnetic powder brake fixed head B203 is fixed on the supporting plate E204 by screw, and gear A 212 is positioned at the middle part of gear shaft A207; Described gear shaft A207 is installed on the vertical rolling bearing units 211, and vertical rolling bearing units 211 are positioned at the both sides of gear A 212, is fixed on the supporting plate E204 by screw; The upper surface of supporting plate E204 and lower surface respectively are equipped with a pulley 209, are fixed on the supporting plate E204 by pulley yoke A208 and pulley yoke B206 respectively, with gear A 212 coplanes; Between gear A 212 and pulley 209, tooth bar 205 is housed, tooth bar 205 and gear A 212 engagements; Supporting plate E204 is fixed on the bottom of main support 201 by screw;
Described connection rod set is by connecting rod A318, connecting rod B320, connecting rod C322, connecting rod D328, connecting rod E312, connecting rod F313, connecting rod G316, connecting rod joint A315, connecting rod joint B314, connecting rod joint C319, connecting rod joint D 302, connecting rod joint E 303, connecting rod joint F321, connecting rod joint G324, connecting rod joint H325, connecting rod joint I327, joint shaft A331, joint shaft B301, gear B 307, gear C 326, cylinder tooth bar 308, gear shaft B306, gear shaft C310, rack shaft 309, gear fixed plate A 304, gear fixed head B305, gear fixed head C311, connecting rod fixed head 323, handle 317 is formed; The end of described connecting rod A318 is equipped with handle 317, its middle part and the other end by screw and by joint bolt 329 connecting rod joint A315 is housed respectively; Connecting rod B320 one end by screw connecting rod joint B314 is housed, the other end is installed on the I327 of connecting rod joint by trip bolt; Connecting rod C322 one end is installed in by trip bolt that connecting rod joint F321 goes up, the other end is fixed on the connecting rod fixed head 323 by screw; Connecting rod D328 one end by screw be installed on the connecting rod joint E 303, the other end is equipped with connecting rod joint G324; The end of connecting rod E312 and connecting rod F313 by joint bolt 329 connecting rod joint A315 is housed, the other end is equipped with connecting rod joint B314 by screw; Connecting rod joint A315 is equipped with by joint bolt 329 in the upper end of connecting rod G316 and middle part, and connecting rod joint C319 is equipped with in the lower end; Link together by joint shaft A331 and oscillating bearing 330 between connecting rod joint A315 and connecting rod joint B314, the connecting rod joint C319, make connecting rod A318, connecting rod B320, connecting rod C322 or connecting rod D328, connecting rod E312 or connecting rod F313 form the interior parallelogram lindage of horizontal plane, connecting rod A318 is parallel to connecting rod C322 or connecting rod D328, and connecting rod B320 is parallel to connecting rod E312 or connecting rod F313; Simultaneously, the parallelogram lindage that connecting rod E312, connecting rod F313, connecting rod G316, connecting rod fixed head 323 are formed in the vertical plane, connecting rod E312 is parallel to connecting rod F313, and connecting rod G316 is parallel to connecting rod fixed head 323; Connecting rod joint E 303 is connected with interior axle 117 by screw, and connecting rod joint D 302 is connected with outer shaft 116 by screw; Gear fixed plate A 304, gear fixed head B305, gear fixed head C311 are solidly connected together by screw, the upper end of axle 117 in gear fixed plate A 304 is installed in by screw; Gear B 307 is installed in the end of gear shaft B306 by key, and inside, its other end that gear shaft B306 is installed in connecting rod C322 are equipped with connecting rod joint H325 by screw; Gear C 326 links to each other with gear shaft C310 by key and is installed on the gear fixed head C311 by bearing, with gear B 307 on same horizontal plane; Cylinder tooth bar 308 is installed on the rack shaft 309, fixes by the nut of rack shaft 309 ends, axle 117 inside in rack shaft 309 is installed in, cylinder tooth bar 308 between gear B 307 and gear C 326, and two gears engaged therewith.
When the present invention works: at connecting rod A318, connecting rod B320, connecting rod C322 or connecting rod D328, connecting rod E312 or connecting rod F313 form in the interior parallelogram lindage of horizontal plane, connecting rod A318 is parallel to connecting rod C322 or connecting rod D328, connecting rod B320 is parallel to connecting rod E312 or connecting rod F313, handle 317 motion drivening rod A318 motion, connecting rod B320 converts the motion on the x direction to the rotation of outer shaft 116, the rotation of axle 117 in connecting rod D328 converts the motion on the y direction to, interior shaft pulley 120 and outer shaft pulley 121 drive corresponding small pulley 110 respectively and rotate, thereby encoder A113 and magnetic powder brake A107 that small pulley 110 is driven on the belt shaft 118 rotate, encoder A113 measures the direction and the angle of rotation, the brake force that magnetic powder brake A107 output handle 317 is should be in horizontal plane suffered.Connecting rod E312, connecting rod F313, connecting rod G316, in the vertical plane parallelogram lindage that connecting rod fixed head 323 is formed, when handle 317 moves up and down, connecting rod E312 rotates by gear shaft B306 driven gear B307, gear B 307 drives cylinder tooth bar 308 and moves up and down, convert the motion of handle 317 on the z direction to cylinder tooth bar 308 move up and down, cylinder tooth bar 308 moves by the tooth bar 205 that rack shaft 309 drives in the transverse axis support, thereby encoder B210 on the driven gear axle A207 and magnetic powder brake B202 rotate, encoder B210 measures the direction and the angle of rotation, the brake force that magnetic powder brake B202 output handle 317 is should be on the z direction suffered.3 encoders send data to host computer 2, determine handle 317 corresponding position in the Virtual Space by host computer 2 process analyses, last host computer 2 is by the brake force of control cabinet 3 output signals control magnetic powder brake A107 and magnetic powder brake B202.
Claims (1)
1. exercising apparatus for recovery of upper limb based on virtual space technology, comprise vertical pivot support, transverse axis support, connection rod set, main support (201), display (1), host computer (2) and control cabinet (3), it is characterized in that: described vertical pivot support is fixed on the top of main support (201) by screw, and the transverse axis support is fixed on the bottom of main support (201) by screw; Connecting rod joint E (303) in the described connection rod set is connected with interior axle (117) by screw with gear fixed plate A (304), connecting rod joint D (302) is connected with outer shaft (116) by screw, and the rack shaft in the connection rod set (309) is connected with tooth bar (205) on the transverse axis support by screw;
Described vertical pivot support is by encoder A (113), magnetic powder brake A (107), interior axle (117), outer shaft (116), small pulley (110), interior shaft pulley (120), outer shaft pulley (121), be with synchronously (119), belt shaft (118), inner shaft bearing (123), outer axle bearing (122), outer shaft bearing block (115), round rolling bearing units (109), bearing bracket (105), carrier base (104), synchronous belt tightener (111), encoder locating piece (103), magnetic powder brake locating piece (106), magnetic powder brake fixed plate A (108), supporting plate A (101), supporting plate B (102), supporting plate C (114), supporting plate D (112) forms; Axle (117) is installed on the inner shaft bearing (123) in described, inner shaft bearing (123) is fixed on the inside of outer shaft (116) by circlip, outer shaft (116) is installed on the outer axle bearing (122), outer axle bearing (122) is installed on the outer shaft bearing block (115) in the mode of matched in clearance, and outer shaft bearing block (115) is installed on the supporting plate A (101) by supporting plate B (102); Shaft pulley (120) is installed in interior axle (117) lower end by trip bolt in described, and outer shaft pulley (121) is installed in outer shaft (116) lower end by trip bolt, interior shaft pulley (120) be positioned at outer shaft pulley (121) below; Encoder A (113), magnetic powder brake A (107), small pulley (110) is connected with belt shaft (118) by key, encoder A (113) is positioned at the upper end of belt shaft (118), be fixed on the encoder locating piece (103) by screw, encoder locating piece (103) is fixed on the bearing bracket (105) by screw, magnetic powder brake A (107) is positioned at the lower end of belt shaft (118), be connected with magnetic powder brake fixed plate A (108) by screw, magnetic powder brake fixed plate A (108) is connected with bearing bracket (105) by magnetic powder brake locating piece A (106), and small pulley (110) is positioned at the middle part of belt shaft (118); Belt shaft (118) is installed on the round rolling bearing units (109), round rolling bearing units (109) are positioned at the both sides of small pulley (110), be fixed on the bearing bracket (105) by screw, bearing bracket (105) is connected by bolt with carrier base (104), and carrier base (104) is fixed on the supporting plate A (101) by screw; Two small pulleys (110) are connected by being with (119) synchronously with interior shaft pulley (120), outer shaft pulley (121) respectively; Synchronous belt tightener (111) one ends are fixed on the bearing bracket (105), the other end is fixed on the supporting plate D (112); Supporting plate A (101), supporting plate B (102), supporting plate C (114), supporting plate D link together by screw between (112), are fixed on the top of main support (201);
Described transverse axis support is made up of encoder B (210), magnetic powder brake B (202), gear A (212), gear shaft A (207), tooth bar (205), vertical rolling bearing units (211), magnetic powder brake fixed head B (203), pulley (209), pulley yoke A (208), pulley yoke B (206), supporting plate E (204); Described encoder B (210), magnetic powder brake B (202), gear A (212) are connected with gear shaft A (207) by key, encoder B (210) be positioned at gear shaft A (207) an end, be fixed on the supporting plate E (204) by screw, magnetic powder brake B (202) be positioned at gear shaft A (207) the other end, be connected with magnetic powder brake fixed head B (203) by screw, magnetic powder brake fixed head B (203) is fixed on the supporting plate E (204) by screw, and gear A (212) is positioned at the middle part of gear shaft A (207); Described gear shaft A (207) is installed on the vertical rolling bearing units (211), and vertical rolling bearing units (211) are positioned at the both sides of gear A (212), is fixed on the supporting plate E (204) by screw; The upper surface of supporting plate E (204) and lower surface respectively are equipped with a pulley (209), are fixed on the supporting plate E (204) by pulley yoke A (208) and pulley yoke B (206) respectively, with gear A (212) coplane; Between gear A (212) and pulley (209), tooth bar (205) is housed, tooth bar (205) and gear A (212) engagement; Supporting plate E (204) is fixed on the bottom of main support (201) by screw;
Described connection rod set is by connecting rod A (318), connecting rod B (320), connecting rod C (322), connecting rod D (328), connecting rod E (312), connecting rod F (313), connecting rod G (316), connecting rod joint A (315), connecting rod joint B (314), connecting rod joint C (319), connecting rod joint D (302), connecting rod joint E (303), connecting rod joint F (321), connecting rod joint G (324), connecting rod joint H (325), connecting rod joint I (327), joint shaft A (331), joint shaft B (301), gear B (307), gear C (326), cylinder tooth bar (308), gear shaft B (306), gear shaft C (310), rack shaft (309), gear fixed plate A (304), gear fixed head B (305), gear fixed head C (311), connecting rod fixed head (323), handle (317) is formed; The end of described connecting rod A (318) is equipped with handle (317), its middle part and the other end by screw and by joint bolt (329) connecting rod joint A (315) is housed respectively; Connecting rod B (320) one ends by screw connecting rod joint B (314) is housed, the other end is installed on the connecting rod joint I (327) by trip bolt; Connecting rod C (322) one ends are installed in by trip bolt that connecting rod joint F (321) goes up, the other end is fixed on the connecting rod fixed head (323) by screw; Connecting rod D (328) one ends are installed in by screw that connecting rod joint E (303) goes up, the other end is equipped with connecting rod joint G (324); The end of connecting rod E (312) and connecting rod F (313) by joint bolt (329) connecting rod joint A (315) is housed, the other end is equipped with connecting rod joint B (314) by screw; Connecting rod joint A (315) is equipped with by joint bolt (329) in the upper end of connecting rod G (316) and middle part, and connecting rod joint C (319) is equipped with in the lower end; Link together by joint shaft A (331) and oscillating bearing (330) between connecting rod joint A (315) and connecting rod joint B (314), the connecting rod joint C (319), make connecting rod A (318), connecting rod B (320), connecting rod C (322) or connecting rod D (328), connecting rod E (312) or connecting rod F (313) form the interior parallelogram lindage of horizontal plane, connecting rod A (318) is parallel to connecting rod C (322) or connecting rod D (328), and connecting rod B (320) is parallel to connecting rod E (312) or connecting rod F (313); Simultaneously, also make connecting rod E (312), connecting rod F (313), connecting rod G (316), connecting rod fixed head (323) form the parallelogram lindage in the vertical plane, connecting rod E (312) is parallel to connecting rod F (313), and connecting rod G (316) is parallel to connecting rod fixed head (323); Connecting rod joint E (303) is connected with interior axle (117) by screw, and connecting rod joint D (302) is connected with outer shaft (116) by screw; Gear fixed plate A (304), gear fixed head B (305), gear fixed head C (311) are solidly connected together by screw, and gear fixed plate A (304) is installed in the upper end of interior axle (117) by screw; Gear B (307) is installed in the end of gear shaft B (306) by key, and inside, its other end that gear shaft B (306) is installed in connecting rod C (322) are equipped with connecting rod joint H (325) by screw; Gear C (326) links to each other with gear shaft C (310) by key and is installed on the gear fixed head C (311) by bearing, with gear B (307) on same horizontal plane; Cylinder tooth bar (308) is installed on the rack shaft (309), nut by rack shaft (309) end is fixed, rack shaft (309) is installed in the inside of interior axle (117), and cylinder tooth bar (308) is positioned between gear B (307) and the gear C (326), two gears engaged therewith also.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101864864A CN101862522B (en) | 2010-05-25 | 2010-05-25 | Upper limb rehabilitation training device based on virtual space technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101864864A CN101862522B (en) | 2010-05-25 | 2010-05-25 | Upper limb rehabilitation training device based on virtual space technology |
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| CN101862522A true CN101862522A (en) | 2010-10-20 |
| CN101862522B CN101862522B (en) | 2011-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101864864A Expired - Fee Related CN101862522B (en) | 2010-05-25 | 2010-05-25 | Upper limb rehabilitation training device based on virtual space technology |
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| CN102078678A (en) * | 2011-01-19 | 2011-06-01 | 北京理工大学 | Magnetic powder brake-based upper limb rehabilitation device |
| CN103735270A (en) * | 2013-09-22 | 2014-04-23 | 国家康复辅具研究中心 | Meridian circulation, dredging, guiding and feedback rehabilitation training system for upper-limb potential development |
| CN109529251A (en) * | 2018-11-13 | 2019-03-29 | 赵田斌 | A kind of children ADHD rehabilitation training rehabilitation machines |
| CN109998867A (en) * | 2019-05-23 | 2019-07-12 | 华北理工大学 | The upper and lower limbs rehabilitation training robot of drive lacking |
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| CN103735270A (en) * | 2013-09-22 | 2014-04-23 | 国家康复辅具研究中心 | Meridian circulation, dredging, guiding and feedback rehabilitation training system for upper-limb potential development |
| CN109529251A (en) * | 2018-11-13 | 2019-03-29 | 赵田斌 | A kind of children ADHD rehabilitation training rehabilitation machines |
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| CN109998867B (en) * | 2019-05-23 | 2023-09-19 | 华北理工大学 | Under-actuated upper and lower limb rehabilitation training robot |
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| Publication number | Publication date |
|---|---|
| CN101862522B (en) | 2011-11-23 |
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