CN102078678A - Magnetic powder brake-based upper limb rehabilitation device - Google Patents

Magnetic powder brake-based upper limb rehabilitation device Download PDF

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CN102078678A
CN102078678A CN 201110021987 CN201110021987A CN102078678A CN 102078678 A CN102078678 A CN 102078678A CN 201110021987 CN201110021987 CN 201110021987 CN 201110021987 A CN201110021987 A CN 201110021987A CN 102078678 A CN102078678 A CN 102078678A
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shaft
link
fixed
spring
connected
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CN 201110021987
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Chinese (zh)
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CN102078678B (en )
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戴亚平
李成求
金英
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北京理工大学
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Abstract

The invention relates to a magnetic powder brake-based upper limb rehabilitation device and belongs to the field of limb rehabilitation. The device comprises a case (1), a control cabinet (2), an adjusting main box (3), a display bracket (4), a mechanical arm (5), a display (6) and a base (7) of the device, wherein the display bracket (4) is connected with the base (7) of the device through a fastening screw (9); and the adjusting main box (3) is connected with the base (7) of the device through a fastening screw (8). A structure for adjusting the platform angle is arranged on the basis, and the function of adjusting the platform height is kept; therefore, the rehabilitation equipment is applied to a wider variety of people and is more conveniently used by different patients. Due to the adoption of the magnetic powder brake, interaction between the patient and the rehabilitation device is effectively isolated, and danger of the conventional device is overcome, so that the training process of the patient is safer.

Description

基于磁粉制动器的上肢康复装置 Upper limb rehabilitation device based on the magnetic powder brake

技术领域 FIELD

[0001] 本发明涉及一种基于磁粉制动器的上肢康复装置,属于肢体康复领域。 [0001] The present invention relates to upper limb rehabilitation device based on a powder brake belongs to the field of physical rehabilitation. 背景技术 Background technique

[0002] 目前,偏瘫上肢康复训练的传统方法是医师对患者进行手把手的训练。 [0002] Currently, traditional methods of hemiplegic upper limb rehabilitation training physicians for patient hands. 这种训练方式存在如下一些问题:首先,一名治疗师只能同时对一名患者进行运动训练,训练效率低下,并且由于治疗师自身的原因,可能无法保证患者得到足够的训练强度,治疗效果多取决于治疗师的经验和水平;其次,不能精确控制和记录训练参数(运动速度、轨迹、强度等), 不利于治疗方案的确定和改进;再有,康复评价指标不够客观,不利于偏瘫患者神经康复规律的深入研究;还有,不能向患者提供实时直观的反馈信息,训练过程不具吸引力,患者被动接受治疗,参与治疗的主动性不够。 The presence of such training methods following questions: First, a therapist while only one patient exercise training, training efficiency is low, and because the therapists own reasons, may not be able to ensure that patients receive adequate training intensity, treatment and more depending on experience and level therapists; secondly, can not be accurately controlled and recorded training parameters (velocity, trajectory, strength, etc.), is not conducive to treatment programs to identify and improvement; again, rehabilitation evaluation is not objective, is not conducive to hemiplegia in-depth study of neurological rehabilitation law; there, can not provide real-time visual feedback to the patient information, the training process is not attractive, passive patients receiving treatment, inadequate treatment involved in the initiative. 可以看出,如果单靠医师进行康复训练,无疑会制约康复训练效率的提高和方法的改进。 As can be seen, if the physician alone rehabilitation training, will undoubtedly increase the constraints and methods of rehabilitation efficiency improvements. 因此,应该开拓更先进的偏瘫康复训练手段,或是把更先进的技术引入到偏瘫康复治疗领域。 Therefore, it should open up more advanced training methods hemiplegia, or the more advanced technology into the field of rehabilitation therapy hemiplegia. 随着计算机技术发展,计算机与认知康复领域的结合已经从理论研究进入应用产品开发,成为国内外研究应用的热点。 With the development of computer technology, combined with the computer has entered the field of cognitive rehabilitation applications development from theoretical research, at home and abroad has become a hot research and application. 特别是上个世纪90年代后,虚拟现实技术(Virtual Reality)出现。 Especially after the 1990s, virtual reality technology (Virtual Reality) appears. 更促进了计算机技术和认知科学更高层次的结合。 But also to promote the combination of computer technology and a higher level of cognitive science. 在认知障碍康复评定和训练方面表现出了传统方法无法比拟的优势。 Rehabilitation assessment and training showed the traditional methods can not match advantage in cognitive impairment. 同时,欠驱动康复装置作为医疗装置的一个重要分支,它的研究贯穿了康复医学、生物力学、机械学、 机械力学、电子学、材料学、计算机科学以及机器人学等诸多领域,已经成为了国际机器人领域的一个研究热点。 Meanwhile, the under-drive rehabilitation device as an important branch of the medical device, its research throughout the rehabilitation medicine, bio-mechanics, mechanics, mechanics, electronics, materials science, computer science and robotics and many other areas, has become international a hot topic in the field of robotics.

[0003] 在现有的康复装置中,清华大学申请的申请号为200810180055. X的专利“一种训练平面可调式上肢偏瘫康复机器人装置”中设计了一种上肢康复装置。 [0003] In the conventional recovery apparatus, Tsinghua University filed Application No. 200810180055. X patent "an adjustable upper plane hemiplegia robot apparatus training" in an upper limb rehabilitation device design. 此装置包括座椅,底座,训练平面,安装在训练平面上的机械臂,腕部固定托架以及控制系统,还包括一个用于调节训练平面相对于地面的高度,以及训练平面与水平面的夹角的训练平面调节装置。 This apparatus includes a seat, a base, training plane, mounted on a robot arm training plane, and a control arm fixed to the carrier system, further comprising for adjusting the height of the ground plane with respect to the training, and the training and the horizontal plane interposed training plane angle adjusting means. 虽然此装置能完成一定的康复的功能,但其训练内容单调,对于康复患者来说十分枯燥,不是很人性化。 Although this device to complete the rehabilitation of certain functions, but its training content monotonous, very boring for the rehabilitation of patients is not very user-friendly. 其次,由于其直接采用电机驱动整个装置,而电机在训练过程中很可能有短时间不正常的冲激响应,这样会加重患者的肢体损伤,不利于患者的康复训练。 Secondly, because of its direct motor-driven entire device, and the motor in the training process is likely to have a short abnormal impulse response, this will add to the patient's limb damage, is not conducive to rehabilitation of patients.

发明内容 SUMMARY

[0004] 本发明所要解决的技术问题是提供一种基于磁粉制动器的上肢康复装置,不但继承和发展现有技术中的优点如可调节训练平面相对于地面的高度,还克服其缺点,如通过虚拟现实技术完成游戏界面并使患者将训练融入游戏之中以提高康复训练的效果,和通过增加磁粉制动器作为患者和康复装置之间的缓冲带来提高装置的安全性。 [0004] The present invention solves the technical problem is to provide an upper limb rehabilitation device based magnetic powder brake, not only the advantages of inheritance and development of such prior art adjustable height with respect to the training ground plane, which also overcomes the disadvantages, such as by virtual reality technology to complete the game interface and patients to take their training into the game itself in order to improve rehabilitation, and bring improved safety device by increasing the magnetic brakes as a buffer between the patient and the rehabilitation device.

[0005] 本发明解决上述技术问题的技术方案如下: [0005] The present invention solves the above problems of the technical solution is as follows:

[0006] 该基于磁粉制动器的上肢康复装置包括机箱(1),控制箱(¾,调节主箱(¾,显示器支架G),机械臂(5),显示器(6)和装置底座(7);显示器支架⑷和装置底座(7)通过紧固螺钉(9)连接,调节主箱(3)和装置底座(7)通过紧固螺钉⑶连接;其特征在于:[0007] 其中机械臂(5)为平行连杆机构,手柄(11)与手柄座(10)通过螺纹连接,手柄座(10)与连杆(12)紧固连接,连杆关节(15)和连杆(16)、连杆关节(13)和连杆(12)、连杆关节(1¾和连杆(14)、连杆关节(17)和连杆(19)连接,其中的连杆关节分成两半,最后通过螺钉固定在一起,连杆夹在两关节之间;连杆关节(17)插在调节箱里的主轴内轴03) 上并紧固;主轴外轴04)和主轴内轴穿过连杆关节0¾上的圆孔并紧固在连杆关节上;平衡块和平衡块OO)安装在连杆(19)和连接关节(17)上; [0006] The upper limb rehabilitation device based powder brake including the chassis (1), control box (¾, adjustment main tank (¾, monitor stand G), arm (5), a display (6) and base plate (7); ⑷ display bracket means and a base (7) via fastening screws (9), adjusting the main tank (3) and base plate (7) are connected by fastening screw ⑶; wherein: [0007] wherein the arm (5) a parallel link mechanism, a handle (11) and the handle seat (10) by a threaded connection, a handle base (10) and the link (12) fastening the connecting rod joint (15) and the link (16), the connecting rod joint (13) and the link (12), the joint link (1¾ and a link (14), a link joint (17) and connecting rod (19), wherein the link joints in half, and finally fixed by screws together, sandwiched between two link joints; link joint (17) is inserted in the inner box adjusting spindle shaft 03) and is fastened; the link shaft passes through the outer joint 0¾ spindle shaft 04) and the spindle a circular hole and secured to the connecting rod joint; mass balance and mass balance OO) is mounted on the rod (19) and the connecting joint (17);

[0008] 调节主箱(¾包括主轴内轴、主轴外轴04)、主轴轴承座0¾、编码器06)、 带座轴承(27)、轴承支架(¾)、弹簧固定(四)、带轮轴(32)、磁粉制动器(33)、磁粉制动器的固定片(34)、弹簧管(35)、弹簧杆(36)、定位杆(39)、小带轮(40)、同步带(41)、支座架(44)、主轴内轴带轮(45)、支架板(46)、蜗杆(47)、涡轮(48)、下支架板(49)、筋板(50)、折叠手柄(51)、手轮(52)、滚动轴承(5¾ ;其中主轴内轴和主轴外轴04)穿过主轴轴承座0¾并通过滚动轴承(54)相连接,而外轴和内轴之间通过滚动轴承(5¾相连,编码器06)通过销连接和带轮轴(3¾相连,编码器固定片(5¾固定在定位杆(39)上,定位杆 [0008] The adjustment main tank (¾ includes a main shaft inner shaft, the main shaft outer shaft 04), the spindle bearing housing 0¾, the encoder 06), bearings (27), bearing bracket (¾), spring retainer (IV) with shaft (32), magnetic powder brake (33), the magnetic powder brake fixing piece (34), a spring tube (35), a spring rod (36), the positioning rod (39), the second pulley (40), belt (41), support frame (44), the pulley shaft of the spindle (45), carrier plate (46), a worm (47), a turbine (48), lower support plate (49), ribs (50), the folding handle (51) , the hand wheel (52), a rolling bearing (5¾; wherein the inner main shaft and the main shaft outer shaft 04) passed through by a spindle bearing housing and roller bearing 0¾ (54) is connected, via a rolling bearing (5¾ connected between the inner shaft and the outer shaft, the encoder 06) is connected by a pin connector and the pulley shaft (3¾, the encoder fixing piece (5¾ fitted in the positioning rod (39), the positioning rod

(39)紧固在轴承支架08)上;带座轴承(XT)固定在轴承支架08)上以支承旋转的带轮轴(32),而带座轴承(31)和轴承支架(30)作用相同;磁粉制动器(3¾固定在磁粉制动器固定片(34)上,磁粉制动器固定片(34)固定在定位杆上,整个带轮轴上的装配零件体都和支座架G4)连接;小带轮00)安装在带轮轴(3¾上,并通过垫圈0¾稳定小带轮 (39) fastened on the bearing holder 08); Bearings (XT) fixed to the bearing holder 08) supporting the rotating shaft of a tape (32), the same seat belt bearing (31) and the bearing bracket (30) effect ; (3¾ upper fixing piece fixed to the magnetic brake (34), the magnetic powder brake fixing piece (34) fixed to the positioning rod, the assembly parts throughout the pulley shaft body and the support frame are G4) magnetic particle brake is connected; small pulley 00 ) mounted on the pulley shaft (3¾, and by stabilizing the small pulley washer 0¾

(40)的运动位置,然后通过同步带Gl)和主轴外轴带轮0¾相连接,手柄(51)安装在手轮(52)上,同时手轮(52)固定在蜗杆(47)上,而蜗杆(47)与涡轮(48)相传动,筋板(50) 固定在下支架板G9)和支架板06)上。 (40) a movement position, of Gl is then connected by a timing belt) and the main shaft outer shaft pulley 0¾, the handle (51) mounted on the hand wheel (52), while the handwheel (52) is fixed to the worm gear (47), and a worm (47) and the turbine (48) with a transmission, the ribs (50) fixed to the lower carrier plate G9) and the carrier plate 06).

[0009] 为了支撑住编码器(¾),将编码器06)用紧固螺钉安装在编码器固定片(55)上。 [0009] In order to prop encoder (¾), the encoder 06) is mounted on the fastening screw with the encoder fixing piece (55).

[0010] 整个带轮轴上的装配零件体都和支座架04)连接,采用双头螺柱(56)来固定,支架座(44)则固定在支架板(46)上。 [0010] The body assembly parts throughout the carrier tape and the support shaft are 04) are connected using a stud (56) secured to the bracket base (44) is fixed to the bracket plate (46).

[0011] 主轴另一侧的装配零件体也固定在中间的支架板,使得整个调节箱的重心在中间,使调节箱平衡。 [0011] the other side of the assembly part of the body is also fixed in the middle of the spindle carrier plate, so that the center of gravity of the entire adjustment tank in the middle of the balance adjustment tank.

[0012] 为了拉紧同步带(41),使同步带保持传动所需的张紧力,先将弹簧固定09) 紧固在轴承支架08)和轴承支架(30)上,再在弹簧固定09)上安装弹簧管(35),并将一带有弹簧的弹簧杆(36)的一端插在弹簧管(3¾中,另一端则安装在另一个弹簧固定(37) 中,而弹簧固定(37)则紧固在支架板G6)上。 [0012] For tensioning belt (41), so that the drive belt tension required for holding, the first fixed spring 09) fastened on the bearing holder 08) and the bearing bracket (30), and then the spring 09 is fixed ) mounted on the spring tube (35), and a spring rod with one end (36) of the spring is inserted in a spring tube (3¾, the other end is mounted on the other spring retainer (37), and the spring is fixed (37) is fastened on the carrier plate G6).

[0013] 本发明的有益效果是: [0013] Advantageous effects of the present invention are:

[0014] 本发明在原基础上增加了调节平台角度的结构,而且也同时保留了调节平台高度的功能,这样也使康复设备适用的人群更广,也更方便不同患者的使用。 [0014] The present invention is based on the original platform to increase the angle adjusting structure, but also adjusting the height of the platform while maintaining the function of the device so that the rehabilitation also apply to the population broader, more convenient to use different patients. 其次由于采用虚拟现实技术制作游戏,可以使患者的训练过程更加有趣,提高患者训练的积极性,有助于改善患者的恢复情况。 Second, because of the use of virtual reality technology to make games, we can make the training process more interesting patients, improve patient motivation training, help to improve the recovery of patients. 最后由于采用磁粉制动器,有效隔离了患者和康复装置之间的相互作用, 克服了以前装置的危险性,使患者的训练过程更加安全。 Finally, thanks to magnetic brakes, effectively isolating the interaction between the patient and rehabilitation devices to overcome the danger of the previous device, the patient training process more secure.

附图说明 BRIEF DESCRIPTION

[0015] 图1是上肢康复装置整体视图。 [0015] FIG. 1 is an overall view of the upper limb rehabilitation device.

[0016] 图2是康复装置训练手臂上视图。 [0016] FIG. 2 is a top view of the arm of rehabilitation training apparatus. [0017] 图3是康复装置训练手臂左视图。 [0017] FIG. 3 is a left arm rehabilitation training device view.

[0018] 图4是装置调节箱体内部结构上半部分后视图。 [0018] FIG. 4 is a view of the means for adjusting the rear half portion of the internal structure of the housing.

[0019] 图5是装置调节箱体内部结构上半部分前视图。 [0019] FIG. 5 is a means for adjusting the internal configuration of the housing half front view.

[0020] 图6是装置调节箱体内部结构下半部分左视图。 [0020] FIG. 6 is a means for adjusting the internal configuration of the lower half of a left view sub-box.

[0021] 图7是装置调节箱体内部结构整体上视图。 [0021] FIG. 7 is a means for adjusting the overall view of the structure inside the box.

[0022] 图中,1-机箱;2-控制箱;3-调节主箱;4-显示器支架;5-机械臂;6_显示器; 7-装置底座;8-紧固螺钉;9-紧固螺钉;10-手柄座;11-手柄;12-连杆;13-连杆关节; 14-连杆;15-连杆关节;16-连杆;17-连杆关节;18-连杆关节;19-连杆;20-平衡块; 21-平衡块;22-连杆关节;23-主轴内轴;24-主轴外轴;25-主轴轴承座;26-编码器; 27-带座轴承;28-轴承支架;29-弹簧固定;30-轴承支架;31-带座轴承;32-带轮轴; 33-磁粉制动器;34-磁粉制动器的固定片;35-弹簧管;36-弹簧杆;37-弹簧固定;38-弹簧固定螺栓;39-定位杆;40-小带轮;41-同步带;42-垫圈;43-定位杆;44-支座架; 45-主轴内轴带轮;46-支架板;47-蜗杆;48-涡轮;49-下支架板;50-筋板;51-折叠手柄; 52-手轮;53-滚动轴承,54-滚动轴承;55-编码器固定片;56-双头螺柱。 [0022] FIG, 1 case; 2 - control box; 3- adjustment main tank; 4- display bracket; 5- manipulator; 6_ display; 7- base means; 8- fastening screw; 9- fastening screws; 10- handle seat; 11- handle; 12- link; 13- link joint; 14- link; link joint 15; 16- link; 17- link joint; link joint 18; 19- link; balance block 20; 21 balancer; 22- link joint; 23- inner spindle shaft; 24- main outer shaft; main bearing housing 25; 26- encoder; 27- bearings; 28- bearing holder; 29- spring fixing; 30- bearing holder; 31- bearings; 32- pulley shaft; magnetic powder brake 33; 34- powder brake fixing piece; spring tube 35; 36- spring rod; 37 - spring fixing; 38- spring fixing bolts; 39- jumper; small pulley 40; 41- belt; 42- gasket; the positioning rod 43; 44- seat frame; 45- pulley shaft inner shaft; 46 - carrier plate; 47- worm; 48- turbine; 49- lower support plate; rib 50; 51 folded the handle; 52- hand wheel; rolling 53-, 54- rolling; 55- encoder fixing piece; 56- stud.

具体实施方式 Detailed ways

[0023] 以下结合附图对本发明的原理和特征进行描述。 [0023] Hereinafter, the principles and features of this invention will be described in conjunction with the accompanying drawings.

[0024] 在图1中,该康复装置整体包括机箱1,控制箱2,调节主箱3,显示器支架4,机械臂5,显示器6和装置底座7。 [0024] In FIG 1, the rehabilitation device integrally comprises a cabinet 1, a control box 2, adjustment main tank 3, a display holder 4, the robot arm 5, a display 6 and a base 7 apparatus. 其中,显示器支架4和底座7通过紧固螺钉9连接,调节主箱3和底座7通过紧固螺钉8连接。 Wherein the display holder 4 and the base 7 is connected through a fastening screw 9, the adjustment main tank 3 and the base 7 is connected through a fastening screw 8.

[0025] 在图2和图3中,整个机械臂5为平行连杆机构,其中手柄11与手柄座10通过螺纹副相连接,手柄座10与连杆12则通过紧固螺钉相连接。 [0025] In FIG 2 and FIG 3, the entire robot arm 5 of the parallel link mechanism, wherein the handle 11 and the handle seat 10 by a threaded connection subphase, the handle seat 10 and the link 12 is connected by a fastening screw. 连杆关节15和连杆16,连杆关节13和连杆12,连杆关节13和连杆14,连杆关节17和连杆19都通过螺钉相连接,其中的连杆关节分成两半,最后通过螺钉固定在一起,而连杆正好夹在两关节之间。 Joint link 15 and link 16, the link joints 13 and link 12, the link joints 13 and link 14, the link joints 17 and link 19 are connected by screws, wherein the rod joint half, finally fixed together by screws, and the link between the two joints just sandwiched. 连杆关节17 直接插在调节箱里的主轴内轴23上,并通过小螺钉紧固。 Link joint 17 is directly inserted in the inner box adjusting spindle shaft 23, and fastened by a screw. 主轴外轴M和主轴内轴23穿过连杆关节22上的圆孔并通过小螺钉紧固在连杆关节上。 The shaft 23 through the link joint spindle shaft M and the outer spindle 22 through the circular hole and a screw rod fastened to the joint. 平衡块21和20安装在连杆19和连接关节17上,以稳定整个机械臂的中心,防止机械臂向另一端倾斜。 21 and the counterweight 20 is mounted on the rod 19 and the connecting joint 17, to stabilize the center of the robot arm, the robot arm to prevent inclined to the other end.

[0026] 在图4,图5,图6和图7中,整个调节主箱3里的结构部件包括主轴内轴23,主轴外轴对,主轴轴承座25,编码器沈,带座轴承27,轴承支架28,弹簧固定四,带轮轴32,磁粉制动器33,磁粉制动器的固定片34,弹簧管35,弹簧杆36,定位杆39,小带轮40,同步带41, 支座架44,主轴内轴带轮45,支架板46,蜗杆47,涡轮48,下支架板49,筋板50,折叠手柄51,手轮52,滚动轴承53。 [0026] In FIG 4, FIG 5, FIG 6 and FIG 7, the entire structural member adjustment main tank 3 in comprising the main shaft 23, an outer spindle shaft alignment, main bearing housing 25, the encoder Shen, bearings 27 , the bearing holder 28, four fixed springs, pulley shaft 32, 33 magnetic brakes, magnetic brakes fixing piece 34, spring tube 35, spring lever 36, the positioning rod 39, a small pulley 40, timing belt 41, the support frame 44, the pulley shaft of the spindle 45, the holder plate 46, a worm 47, a turbine 48, a lower bracket plate 49, ribs 50, the handle 51 is folded, the hand wheel 52, the rolling bearing 53. 其中,主轴内轴23和主轴外轴M穿过主轴轴承座25并通过滚动轴承M相连接,而外轴和内轴之间也通过滚动轴承53相连,这样可以使外轴和内轴的运动相互独立,互不干扰。 Wherein the inner shaft and the main shaft outer shaft 23 passes through the main bearing housing 25 M and M are connected via a rolling bearing, between the outer shaft and inner shaft are also connected by a rolling bearing 53, this could make movement of the outer shaft and inner shaft independently of each other without disturbing each other. 编码器沈通过销连接和带轮轴32相连,而为了支撑住编码器沈,将编码器沈用紧固螺钉安装在编码器固定片55上,同时,编码器固定片55也固定在定位杆39上,定位杆39也通过螺钉紧固在轴承支架28上。 Shen encoder connected through pin connector and the pulley shaft 32, and in order to prop encoder sink, the sink by fastening screws encoder mounted on the encoder plate 55 is fixed, while the encoder plate 55 is also fixed in the positioning rod 39 is fixed the positioning rod 39 is also fastened to the bearing holder 28 by a screw. 带座轴承27通过螺钉固定在轴承支架28上以支承旋转的带轮轴32,而带座轴承31和轴承支架30的作用是一样的。 Bearings 27 by a screw 28 fixed to the bearing holder 32 supporting the rotary shaft in the belt, the seat belt bearing 31 and the bearing holder 30 effect is the same. 此时,磁粉制动器33固定在磁粉制动器固定片34上,而磁粉制动器固定片34则紧固在定位杆43上。 In this case, the magnetic powder brake 33 is fixed to the fixing piece 34 magnetic brake, magnetic brake and the fixing piece 34 in the positioning rod 43 is fastened. 整个带轮轴上的装配零件体都要和支座架44连接,而连接的方法是采用双头螺柱56来固定,支架座44则固定在支架板46上。 Assembly parts over the entire band body and the support shaft to be connected to carrier 44, and the connection method is to use a stud 56 is fixed, the seat bracket 44 fixed to the bracket plate 46. 同时,主轴另一侧的装配零件体也固定在中间的支架板,这样整个调节箱的重心才能在中间,是调节箱平衡。 Meanwhile, the other side of the body assembly parts are also fixed to the intermediate shaft of the carrier plate, so that the entire center of gravity can be adjusted in the intermediate tank is achieved by adjusting the balance tank. 为了使带轮轴和主轴相传动,这里采用带传动的方式。 In order to phase drive pulley shaft and the spindle, here by way of belt drive. 小带轮40安装在带轮轴32上,并通过垫圈42稳定小带轮40的运动位置,然后通过同步带41和主轴外轴带轮45相连接,同时为了拉紧同步带41,使同步带41 保持传动所需的张紧力,这里采用一个弹簧结果,即先将弹簧固定四紧固在轴承支架W和轴承支架30上,再在弹簧固定四上安装弹簧管35,并将一带有弹簧的弹簧杆36的一端插在弹簧管35中,另一端则安装在另一个弹簧固定37中,而弹簧固定37则紧固在支架板46 上。 Small belt pulley 40 is mounted on shaft 32, and then connected by a timing belt pulley 41 and the main shaft outer shaft 45 through the gasket 42 moving position stabilizing small pulley 40, while the tension to the timing belt 41, timing belt 41 maintaining the desired tension actuator, a spring used here results, i.e., four first fixed spring fastened on the bearing holder and the bearing holder 30 W, and then mounting the spring 35 on the spring tube fixed four, and with a spring One end of the spring rod 36 is inserted in the spring tube 35, mounted to the other end 37 is fixed in the other spring, and the spring 37 is fixed to the holder plate 46 is fastened. 手柄51通过螺钉安装在手轮52上,同时手轮52也通过紧固螺钉固定在蜗杆47,而蜗杆47通过螺纹副与涡轮48相传动。 Handle 51 is mounted by screws 52 on the hand wheel, the hand wheel 52 while also by fastening screws 47 on the worm, the worm gear 47 and the turbine 48 by a threaded sub. 筋板50固定在下支架板49和支架板46上,以使整个装配零件稳定。 Ribs 50 fixed to the lower bracket 49 and the bracket plate on the plate 46, so that the entire assembly parts stable.

[0027] 具体应用时,首先要将调节箱中的两个弹簧杆上的螺母都旋到适当位置,以使两个同步带的张紧度适当,保证同步带良好的传动性。 [0027] When the specific application, first of all to the adjustment tank are two spring rod nut screwed into position, so that the belt tension of the two appropriately, to ensure good transmission of the belt. 然后根据患者的高度来转动调节主箱3的手柄51和旋动底座7与调节主箱3连接处的紧固螺钉8,以使患者的手握住机械臂上的手柄11时的感觉更舒服,这样设置也更人性化。 The patient's height and then adjusting the fastening screw to rotate the lever 51 of the main tank 3 and 7 of the rotating base 3 and connected to the main tank 8 adjustment, so that the patient's hand holding the handle feeling 11:00 on the robot arm is more comfortable such settings are also more humane.

[0028] 具体的过程是转动手柄51时,同时也使和其连接在一起的蜗杆47转动,而涡轮48 会随着蜗杆47上外螺纹的平移和转动而转动,此时整个工作平台也会转动一个角度,而这个角度的大小由患者的位置来定。 [0028] The specific process is turning the handle 51, but also to the worm and which are connected together 47 is rotated, the worm 47 and the turbine 48 will be on the external thread to rotate along with translation and rotation, also at this time the entire work platform a rotation angle, and the size of this angle to set the position of the patient. 此外旋动紧固螺钉8可以调节平台的高度,这和调节平台的角度一起,提高了患者的舒适度。 Further rotating the fastening screw 8 can adjust the height of the platform, and these platforms with angle adjustment, improved patient comfort. 此后,患者用手握住手柄11,既可以自己拉动整个机械臂任意运动,也可以按照显示器中的游戏要求来运动,其中的运动轨迹通过两个编码器来检测,具体过程是拉动手柄11时,连杆12因为和手柄座10固定在一起,因此会和人手的运动一致,而连杆14和连杆16通过连杆关节13和连杆关节15与连杆12形成转动副而转动,连杆19则和连杆关节18形成转动副,由于整个机械臂采用平行四杆结构,所以只须通过连杆16和连杆19末端的编码器检测到的角度就可以算出实际的手的位置。 Thereafter, the patient hand holding the handle 11, the entire robot arm may be any pull their movement, may be moved in accordance with the requirements of the game display, wherein the trajectory is detected by the two encoders, the specific procedure is the handle 11 is pulled , because the rod 12 and the handle holder 10 are fixed together, and therefore the motion of the same hand, and the link 14 and the link 16 is formed by a swivel joint 13 and a link rod articulated joint 15 and the link 12 is rotated, even and the link lever 19 rotates the sub joint 18 is formed, since the entire manipulator structure using four parallel, so long as detected by the end of the link 16 and the link 19 can be calculated from the angle encoder the actual position of the hand. 这些数据传输给控制箱2后,控制箱2再将数据传给电脑机箱1,并传给上位机,由显示器显示出患者手在游戏中所在的位置并处理完数据后,再据此发送控制信号给磁粉制动器,反过来再控制机械臂的运动。 These data transfer to the control box 2, then the data transmitted to the control box 2 computer chassis 1, and to the host computer, showing the position of the patient's hand in the game by the location and display the processed data, and then transmits the control accordingly signal to the magnetic brake, and then control the movement of the robotic arm in turn.

Claims (5)

  1. 1.基于磁粉制动器的上肢康复装置,包括机箱(1),控制箱O),调节主箱(3),显示器支架G),机械臂(5),显示器(6)和装置底座(7);显示器支架(4)和装置底座(7)通过紧固螺钉(9)连接,调节主箱(¾和装置底座(7)通过紧固螺钉(8)连接;其特征在于:其中机械臂(¾为平行连杆机构,手柄(11)与手柄座(10)通过螺纹连接,手柄座(10) 与连杆(1¾紧固连接,连杆关节(1¾和连杆(16)、连杆关节(1¾和连杆(12)、连杆关节(13)和连杆(14)、连杆关节(17)和连杆(19)连接,其中的连杆关节分成两半,最后通过螺钉固定在一起,连杆夹在两关节之间;连杆关节(17)插在调节箱里的主轴内轴上并紧固;主轴外轴04)和主轴内轴穿过连杆关节0¾上的圆孔并紧固在连杆关节上;平衡块和平衡块OO)安装在连杆(19)和连接关节(17)上;调节主箱C3)包括主轴内轴(23)、 1. The upper limb rehabilitation device based on the magnetic powder brake, comprising a chassis (1), the control box O), adjusting the main tank (3), the display stand G), arm (5), a display (6) and base plate (7); monitor stand (4) and base plate (7) (9) connected by a fastening screw, adjust the main tank (¾ and base plate (7) (8) connected by a fastening screw; wherein: wherein the robot arm (¾ of parallel link mechanism, a handle (11) and the handle seat (10) by a threaded connection, a handle base (10) and the link (1¾ fastening, link joints (1¾ and a link (16), the joint link (1¾ and the link (12), the joint rod (13) and the link (14), a link joint (17) and connecting rod (19), wherein the link joints in half, and finally fixed together by screws, link sandwiched between two joints; link joint (17) is inserted in the box in the regulation spindle shaft and secured; axis passing through the circular hole in the inner link joints 0¾ 04) and the outer shaft and tighten spindle fixed to the connecting rod joint; mass balance and mass balance OO) is mounted on the rod (19) and the connecting joint (17); adjustment main tank C3) comprises a main shaft inner shaft (23), 轴外轴(M)、主轴轴承座(25)、编码器(¾)、带座轴承(27)、轴承支架(¾)、弹簧固定(四)、带轮轴(32)、磁粉制动器(33)、磁粉制动器的固定片(34)、弹簧管(35)、弹簧杆(36)、定位杆(39)、小带轮(40)、同步带(41)、支座架(44)、主轴内轴带轮(45)、支架板(46)、蜗杆(47)、涡轮(48)、下支架板(49)、筋板(50)、折叠手柄(51)、手轮(52)、滚动轴承(5¾ ;其中主轴内轴和主轴外轴04)穿过主轴轴承座0¾并通过滚动轴承(54)相连接,而外轴和内轴之间通过滚动轴承(5¾相连,编码器06)通过销连接和带轮轴(3¾相连,编码器固定片(5¾固定在定位杆(39)上,定位杆(39)紧固在轴承支架08)上;带座轴承(XT)固定在轴承支架08)上以支承旋转的带轮轴(32),而带座轴承(31)和轴承支架(30)作用相同;磁粉制动器(3¾固定在磁粉制动器固定片(34)上,磁粉制动器固定片 Shaft outer shaft (M), the spindle bearing housing (25), the encoder (¾), mounted bearing (27), bearing bracket (¾), spring retainer (IV), with shaft (32), magnetic powder brake (33) , magnetic powder brake fixing piece (34), a spring tube (35), a spring rod (36), the positioning rod (39), the second pulley (40), belt (41), the support frame (44), the spindle the pulley shaft (45), carrier plate (46), a worm (47), a turbine (48), lower support plate (49), ribs (50), the folding handle (51), the handwheel (52), rolling ( 5¾; wherein the inner main shaft and the main shaft outer shaft 04) through the spindle bearing housing and 0¾ connected via a rolling bearing (54) by a rolling bearing (5¾ connected to the encoder 06) by a connecting pin between the belt and the outer shaft and the inner shaft axle (3¾ connected encoder fixing piece (5¾ fixed on the positioning bar (39), the positioning rod (39) is fastened on the bearing holder 08); bearings (XT) is fixed to the bearing holder 08) to support the rotation pulley shaft (32), the bearing seat belt (31) and the bearing bracket (30) the same function; the magnetic powder brake (3¾ fixing the fixing piece (34) in the magnetic brakes, magnetic brakes fixing piece (34)固定在定位杆上,整个带轮轴上的装配零件体都和支座架G4)连接;小带轮00)安装在带轮轴(3¾上,并通过垫圈0¾稳定小带轮(40)的运动位置,然后通过同步带Gl)和主轴外轴带轮0¾相连接,手柄(51)安装在手轮(52)上,同时手轮(52)固定在蜗杆(47)上,而蜗杆(47)与涡轮(48)相传动,筋板(50) 固定在下支架板G9)和支架板06)上。 (34) fitted in the positioning rod assembly parts of the whole body and the support frame with both shaft G4) are connected; small pulley 00) mounted on the tape shaft (on 3¾, and by stabilizing the gasket 0¾ small pulley (40) movement position of Gl is then connected by a timing belt) and the main shaft outer shaft pulley 0¾, the handle (51) mounted on the hand wheel (52), while the handwheel (52) is fixed to the worm gear (47), the worm ( 47) and the turbine (48) with the drive, ribs (50) fixed to the lower carrier plate G9) and the carrier plate 06) on.
  2. 2.如权利要求1所述的基于磁粉制动器的上肢康复装置,其特征在于:为了支撑住编码器(26),将编码器06)用紧固螺钉安装在编码器固定片(5¾上。 2. The upper limb rehabilitation device based powder brake according to claim 1, wherein: To prop encoder (26), the encoder 06) is mounted on the encoder fixing piece (5¾ with fastening screws.
  3. 3.如权利要求1或2所述的基于磁粉制动器的上肢康复装置,其特征在于:整个带轮轴上的装配零件体都和支座架G4)连接,采用双头螺柱(56)来固定,支架座G4)则固定在支架板(46)上。 3. The upper limb rehabilitation device based on the magnetic powder brake 12 as claimed in claim, wherein: the body assembly parts throughout the carrier tape and the support shaft are G4) are connected using a stud (56) fixed , bracket seat G4) is fixed to the bracket plate (46).
  4. 4.如权利要求3所述的基于磁粉制动器的上肢康复装置,其特征在于:主轴另一侧的装配零件体也固定在中间的支架板,使得整个调节箱的重心在中间,使调节箱平衡。 Assembly parts on the other side of the main body is also fixed in the middle of the carrier plate, such that the overall gravity center adjustment tank in the middle of the balance adjustment tank: 3, 4. The upper limb rehabilitation device based on a powder brake as claimed in claim wherein .
  5. 5.如权利要求1或2所述的基于磁粉制动器的上肢康复装置,其特征在于:为了拉紧同步带(41),使同步带Gl)保持传动所需的张紧力,先将弹簧固定09)紧固在轴承支架(28)和轴承支架(30)上,再在弹簧固定09)上安装弹簧管(35),并将一带有弹簧的弹簧杆(36)的一端插在弹簧管(3¾中,另一端则安装在另一个弹簧固定(37)中,而弹簧固定(37)则紧固在支架板(46)上。 To tensioning belt (41), timing belt of Gl) holding the drive tension required, first spring fixing: 5 or 12 based on the magnetic powder brake limb rehabilitation device, characterized in that the claim 09) fastened on the bearing holder (28) and the bearing bracket (30), and then mounting the tube spring (35) fixed on the spring 09), and an end of a rod spring with a spring (36) inserted in the spring tube ( 3¾, the other end is mounted on the other spring retainer (37), and the spring is fixed (37) is fastened on the carrier plate (46).
CN 201110021987 2011-01-19 2011-01-19 Magnetic powder brake-based upper limb rehabilitation device CN102078678B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102499853A (en) * 2011-11-17 2012-06-20 北京理工大学 Upper limb rehabilitation training system with active-passive modes
CN106512329A (en) * 2017-01-03 2017-03-22 上海卓道医疗科技有限公司 Planar upper limb rehabilitation training robot with flexible joints
CN106512328A (en) * 2017-01-03 2017-03-22 上海卓道医疗科技有限公司 Planar upper limb rehabilitation training robot

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Publication number Priority date Publication date Assignee Title
US4621620A (en) * 1984-04-16 1986-11-11 Gene Anderson Human limb manipulation device
CN101401765A (en) * 2008-09-05 2009-04-08 清华大学 Upper limb hemiplegia rehabilitation robot device with adjustable training plan
CN201542887U (en) * 2009-09-30 2010-08-11 阎承强 Limb and wrist rehabilitation device
CN101862522A (en) * 2010-05-25 2010-10-20 大连海事大学 Upper limb rehabilitation training device based on virtual space technology

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
US4621620A (en) * 1984-04-16 1986-11-11 Gene Anderson Human limb manipulation device
CN101401765A (en) * 2008-09-05 2009-04-08 清华大学 Upper limb hemiplegia rehabilitation robot device with adjustable training plan
CN201542887U (en) * 2009-09-30 2010-08-11 阎承强 Limb and wrist rehabilitation device
CN101862522A (en) * 2010-05-25 2010-10-20 大连海事大学 Upper limb rehabilitation training device based on virtual space technology

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102499853A (en) * 2011-11-17 2012-06-20 北京理工大学 Upper limb rehabilitation training system with active-passive modes
CN102499853B (en) 2011-11-17 2013-09-11 北京理工大学 Upper limb rehabilitation training system with active-passive modes
CN106512329A (en) * 2017-01-03 2017-03-22 上海卓道医疗科技有限公司 Planar upper limb rehabilitation training robot with flexible joints
CN106512328A (en) * 2017-01-03 2017-03-22 上海卓道医疗科技有限公司 Planar upper limb rehabilitation training robot

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