CN113058227A

CN113058227A - Upper limb rehabilitation training instrument

Info

Publication number: CN113058227A
Application number: CN202110371700.1A
Authority: CN
Inventors: 赵广西
Original assignee: Shanghai Roumeizi Information Technology Co ltd
Current assignee: Shanghai Roumeizi Information Technology Co ltd
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2021-07-02

Abstract

The invention belongs to the field of design and manufacture of rehabilitation training equipment, and particularly relates to an upper limb rehabilitation training instrument which comprises a first guide rail, a second guide rail and an unpowered slide rail, wherein the first guide rail is arranged along the x direction, the second guide rail is arranged along the y direction, one end of a track of the first guide rail is positioned on a slide block of the second guide rail, the other end of the track of the first guide rail is positioned on the unpowered slide rail, a handle and a wrist support are arranged on the slide block of the first guide rail, a force sensor is arranged on the handle, and a detection signal output end of the force sensor is connected with a main controller. The equipment structure is simplified, and the equipment cost is reduced.

Description

Upper limb rehabilitation training instrument

Technical Field

The invention belongs to the field of design and manufacture of rehabilitation training equipment, and particularly relates to an upper limb rehabilitation training instrument.

Background

The rehabilitation training device is mainly used for guiding a patient to do low-intensity movement so as to achieve the purpose of exercising joints and muscle tissues, and the rehabilitation training device mainly has two active and passive guiding modes. The active guidance is that the training equipment detects the human motion trend according to a motion path preset by a computer program or a mechanical sensor to provide extra driving force for the limbs of a patient, and is mainly suitable for patients with severe dyskinesia without autonomic motor ability; the passive guiding means that the patient moves autonomously, the training device provides certain movement resistance for the patient to strengthen the movement intensity of the patient, and on the other hand, the movement track of the limb of the patient is recorded so that the patient can know the self rehabilitation condition in real time. The upper limb rehabilitation training device in the prior art mainly has the following defects when switching between the two states: firstly, the active driving element of the device cannot be completely disconnected in a passive mode, so that the driving element must move synchronously along with the limb, unnecessary energy consumption is generated on one hand, and the device cannot respond quickly when the movement mode of a patient changes suddenly on the other hand; secondly, the movement of the upper limb rehabilitation training device is generally synthesized by two linear movements in the mutually perpendicular directions, so that the damping in the two perpendicular directions needs to be adjusted in real time according to the direction of instantaneous movement in order to keep the resistance of the limb moving in any direction approximately constant, and the prior art cannot meet the requirement, so that the resistance of the conventional upper limb rehabilitation training device in the passive guidance mode fluctuates greatly.

Disclosure of Invention

The invention aims to provide an upper limb rehabilitation training instrument which has two modes of active guidance and passive guidance, and the resistance and the direction under the passive guidance state can be accurately regulated and controlled.

The technical scheme adopted by the invention is as follows:

an upper limb rehabilitation training instrument comprises a first guide rail, a second guide rail and an unpowered slide rail, wherein the first guide rail and the second guide rail are identical in structure and comprise a rail and a slide block, the first guide rail is arranged along the x direction, the second guide rail is arranged along the y direction, the x direction and the y direction are two mutually perpendicular directions in a horizontal plane, one end of the rail of the first guide rail is positioned on the slide block of the second guide rail, the other end of the rail of the first guide rail is positioned on the unpowered slide rail, and the unpowered slide rail is parallel to the second guide rail; a handle and a wrist support are arranged on the sliding block of the first guide rail, a force sensor for detecting the magnitude and direction of external force is arranged on the handle, and a detection signal output end of the force sensor is connected with a main controller; the damping block is movably connected with the sliding block, and the damping block is assembled to be adjustable in contact area with the damping belt; the section of the damping belt is arc-shaped, the damping block is fan-shaped, the damping block is rotationally connected with the sliding block, the rotation center is the fan center of the damping block, and the outer arc surface of the damping block and the inner arc surface of the damping belt form friction fit; the damping adjustment driving mechanism is used for driving the damping block to rotate; a translation driving mechanism for driving the sliding block to slide along the track is arranged between the track and the sliding block; the damping adjustment mechanism is characterized by further comprising a driving element for driving the translation driving mechanism and the damping adjustment driving mechanism to act, a power switching mechanism is arranged between the driving element and the translation driving mechanism and between the driving element and the damping adjustment driving mechanism, and the power switching mechanism is assembled to enable the driving element, the translation driving mechanism and the damping adjustment driving mechanism to be switched between the following two stations: the power of the driving element is independently and specially transferred to the translation driving mechanism at the first station, and the power of the driving element is independently transferred to the damping adjustment driving mechanism at the second station, and the transmission parts which are distributed on the sliding block and the track in the translation driving mechanism are mutually separated so that the sliding block can freely slide relative to the track; the main controller is electrically connected with the driving element and the power switching mechanism, and controls the power switching mechanism to switch between a first station and a second station according to a function selection instruction input by the input equipment; when the power switching mechanism is positioned at a first station, the main controller controls the translation driving mechanism to act according to training parameters input by the input equipment, when the power switching mechanism is positioned at a second station, the main controller calculates the resistance required to be provided by the first guide rail and the second guide rail respectively according to the external force direction detected by the force sensor and the preset resistance value input by the input equipment, and controls the damping adjustment driving mechanisms of the first guide rail and the second guide rail to act according to the calculation result, so that the resultant force of the resistances generated by the two guide rails is opposite to the external force direction borne by the handle all the time, and the resultant force is always kept near the preset resistance value.

The damping adjusting and driving mechanism is assembled to drive each damping block to be sequentially attached to and separated from the damping belt; the damping adjustment driving mechanism comprises a spline shaft which is arranged along the length of the track in a square mode, and a driving element for driving the spline shaft to rotate is arranged at the end portion of the track; the sliding block is rotatably provided with a hollow screw rod, a spline groove is arranged in a center hole of the hollow screw rod, the spline shaft and the hollow screw rod form axial sliding and circumferential synchronous rotating fit, a sliding sleeve is sleeved outside the hollow screw rod, a nut block in threaded fit with the hollow screw rod is arranged on the sliding sleeve, and the outer wall of the sliding sleeve forms axial sliding and circumferential fixed fit with the sliding block through a spline; the damping device is characterized in that each damping block is respectively connected with a rotary sleeve, the rotary sleeve is rotatably connected with the sliding block, each rotary sleeve is provided with a guide groove, each guide groove is provided with at least one straight line section parallel to the axial direction of the rotary sleeve and a spiral section extending along the axial direction and the circumferential direction of the rotary sleeve at the same time, guide pins protruding outwards in the radial direction are arranged on the outer wall of the sliding sleeve, the guide pins are arranged in a plurality and correspond to the rotary sleeves on the damping blocks one by one, the guide pins and the guide grooves form sliding fit, and the guide pins and the guide grooves are assembled in such a way that when one guide pin is positioned in the spiral section, the rest guide pins are all positioned in the straight line section, namely, the sliding sleeve only drives.

The track comprises a tubular body, the spline shaft, the hollow screw rod, the sliding sleeve, the damping block and the rotary sleeve are all positioned in the tubular body, the hollow screw rod and the sliding block are arranged on a cylindrical support, the rotary sleeve is provided with an annular groove, the annular groove and a shifting fork arranged on the cylindrical support form axial fixed circumferential sliding fit, the cylindrical support is fixedly connected with the sliding block body outside the tubular body through a vertical plate, the tubular body is provided with a gap for avoiding the sliding path of the vertical plate, and the damping belt is arranged on the inner wall of the tubular body; the base is arranged below the tubular body, the slider body located on the outer side of the tubular body comprises limiting blocks arranged on two sides of the vertical plate, arc-shaped grooves matched with the outer wall of the tubular body are formed in the limiting blocks, and the bottoms of the limiting blocks are attached to the top surface of the base.

The translation actuating mechanism comprises a lead screw and a toothed plate, the lead screw is connected with the track in a rotating mode, the lead screw is movably connected with the track along the radial direction, the lead screw can enable external threads of the lead screw to be meshed with or separated from the toothed plate when moving along the radial direction, the driving element is a first servo motor, the power switching mechanism is assembled to enable the power switching mechanism to be capable of transmitting the power of a first servo motor main shaft to the lead screw and driving the lead screw to be meshed with the toothed plate along the radial direction when the power switching mechanism is located at the station II, and enable the power of the first servo motor main shaft to be transmitted to the spline shaft and driving the lead screw to be separated from the toothed plate.

The power switching mechanism comprises a first synchronizing wheel directly or indirectly connected with a main shaft of a first servo motor in a transmission manner, a second synchronizing wheel fixedly connected with the spline shaft, a third synchronizing wheel fixedly connected with the screw rod and a fourth synchronizing wheel movably connected with a bracket at the end part of the track, wherein the first synchronizing wheel, the second synchronizing wheel and the third synchronizing wheel are arranged in a triangular manner, the fourth synchronizing wheel and the first synchronizing wheel are arranged on two sides of a central connecting line of the second synchronizing wheel and the third synchronizing wheel by taking the central connecting line as a boundary, the fourth synchronizing wheel is movably connected with the bracket at the end part of the track along a curved path, an annular synchronous belt is sleeved on the first synchronizing wheel, the second synchronizing wheel, the third synchronizing wheel and the fourth synchronizing wheel, the fourth synchronizing wheel and the first synchronizing wheel and the synchronous belt are always in a meshing state, and when the fourth synchronizing wheel is positioned at one end of the curved path, the synchronous belt is meshed with the second synchronizing wheel and is separated from the third synchronizing wheel, and when the fourth synchronous wheel is positioned at the other end of the curve path, the synchronous belt is meshed with the third synchronous wheel and is separated from the second synchronous wheel, and the curve path is set to be always in a tensioning state when the fourth synchronous wheel moves along the curve path.

The fourth synchronizing wheel is rotatably arranged on a translation block, the translation block is movably arranged on a lifting seat along the horizontal direction, the lifting seat is movably connected with a support at the end part of the track along the vertical direction, a lifting driving mechanism used for driving the lifting seat to move is arranged on the support, a curve groove is formed in the support, a pin shaft is arranged on the translation block and forms sliding fit with the curve groove, the curve path of the fourth synchronizing wheel is limited through the curve groove, the synchronous belt is separated from the second synchronizing wheel and meshed with the third synchronizing wheel when the lifting seat moves upwards to the highest point of the stroke, and the synchronous belt is meshed with the second synchronizing wheel and separated from the third synchronizing wheel when the lifting seat moves downwards at the lowest point of the stroke.

The lead screw rotates with the movable bearing seat that the track tip set up to be connected, movable bearing seat along vertical direction and track tip support swing joint, the pinion rack is located the slider bottom, and the lead screw is located the pinion rack below, is equipped with the first elastic element that is used for the ascending lifting of movable bearing seat between movable bearing seat and the support, be equipped with the fender portion that keeps off the connection with the movable bearing seat top surface on the lift seat, keep off when the lift seat is down that connecting portion can extrude the movable bearing seat downwards so that lead screw and pinion rack separate, the movable bearing seat can go upward so that lead screw and pinion rack mesh under the effect of first elastic element when the lift seat goes upward.

The lifting seat is assembled to be capable of locking the spline shaft circumferentially when the lifting seat moves up to the highest point of travel so as to avoid the spline shaft from rotating under the disturbance of the sliding block; the spline shaft locking mechanism comprises a locking block movably arranged on the support along the radial direction of the spline shaft, a second elastic unit used for driving the locking block to be away from the spline shaft is arranged between the locking block and the support, a wedge surface is arranged on one side, facing back to the spline shaft, of the locking block, a wedge block is arranged on the lifting seat, and the wedge block can extrude the locking block through the wedge surface to enable the locking block to be tightly abutted to the outer ring surface of the end part of the spline shaft when the lifting seat moves to the highest point of the stroke; the lifting driving mechanism comprises a threaded rod which is rotatably connected with the support along the vertical direction, the threaded rod and a threaded hole formed in the lifting seat form threaded fit, and the threaded rod is connected with a main shaft of the second servo motor.

The improved multifunctional electric scooter is characterized in that a rotary support is arranged on a sliding block of the first guide rail, the rotary support is connected with the sliding block of the first guide rail in a rotating mode along a vertical axis, the handle and the wrist support are installed on the rotary support, a path detection panel is arranged at the bottom of the second guide rail and the bottom of the unpowered slide rail, a path detection pen is arranged under the rotating shaft of the rotary support, the path detection pen can slide relative to the path detection panel when moving along with the sliding block of the first guide rail, the path detection panel sends the sliding path to a main controller, and the main controller conducts graphical processing on the sliding path and displays the sliding path on a display screen.

The input equipment is a keyboard, a mouse or a touch panel; and the handle and the wrist support are provided with bandage structures for fixing the upper limbs.

The invention has the technical effects that: the invention can keep the resistance of the limb in a relatively constant state all the time by adjusting the resistance of the two vertical guide rails, the resistance direction is opposite to the motion direction of the limb all the time, and the hand feeling of a patient is smoother when the patient uses the device.

Drawings

Fig. 1 is a perspective view of an upper limb rehabilitation training instrument provided by an embodiment of the invention;

FIG. 2 is a perspective view of a guide rail provided by an embodiment of the present invention;

FIG. 3 is a perspective view of another perspective of a guide rail provided by an embodiment of the present invention;

FIG. 4 is an exploded view of a guide rail provided by an embodiment of the present invention;

FIG. 5 is a perspective view of a damping adjustment drive mechanism provided by an embodiment of the present invention;

FIG. 6 is an exploded view of a damping adjustment drive mechanism provided by an embodiment of the present invention;

FIG. 7 is a cross-sectional view of a damping adjustment drive mechanism provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of a power switching mechanism provided by an embodiment of the present invention;

fig. 9 is a perspective view of a power switching mechanism provided by an embodiment of the present invention;

fig. 10 is a front view of a power switching mechanism provided in an embodiment of the present invention.

In the drawings of the invention, in order to highlight key structural features, partial structures are simplified, for example, partial thread lines of a lead screw and a hollow lead screw are hidden.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.

As shown in fig. 1, an upper limb rehabilitation training instrument comprises a first guide rail 1, a second guide rail 2 and an unpowered slide rail 3, wherein the first guide rail 1 and the second guide rail 2 have the same structure and both comprise a rail 20 and a slider 10, the first guide rail 1 is arranged along the x direction, the second guide rail 2 is arranged along the y direction, the x direction and the y direction are two mutually perpendicular directions in a horizontal plane, one end of the rail 20 of the first guide rail 1 is positioned on the slider 10 of the second guide rail 2, the other end of the rail 20 of the first guide rail 1 is positioned on the unpowered slide rail 3, and the unpowered slide rail 3 is parallel to the second guide rail 2; a handle 5 and a wrist support 6 are arranged on a sliding block 10 of the first guide rail 1, a force sensor for detecting the magnitude and direction of external force is arranged on the handle 5, and a detection signal output end of the force sensor is connected with a main controller; the slider 10 is slidably connected with the track 20, as shown in fig. 2-7, a damping block 31 is arranged on the slider 10, a damping band 32 arranged along the length direction of the track 20 is arranged on the track 20, the damping block 31 and the damping band 32 are in friction fit to provide sliding damping for the slider 10, the damping block 31 is movably connected with the slider 10, and the damping block 31 is assembled such that the contact area between the damping block 31 and the damping band 32 is adjustable; the variable damping guide rail provided by the invention can change the frictional resistance between the slider 10 and the track 20 by changing the contact area between the friction pieces, the adjusting mode can enable the frictional resistance between the slider 10 and the track 20 to be linearly adjusted within a certain range, when the two tracks 20 are combined and used along the mutually perpendicular directions, the resistance of the two tracks 20 can be respectively adjusted to enable the resistance and the direction of the tail end moving part to be accurately adjusted in a real-time and controllable manner, for example, the total resistance direction can be enabled to be always opposite to the moving direction of the tail end moving part no matter which direction the tail end moving part moves, and the total resistance is always kept near a relatively constant preset value. As shown in fig. 4 and 5, the section of the damping belt 32 is arc-shaped, the damping block 31 is fan-shaped, the damping block 31 is rotatably connected with the slider 10, the rotation center is the fan center of the damping block 31, and the outer arc surface of the damping block 31 and the inner arc surface of the damping belt 32 form the friction fit; the damping adjustment driving mechanism is used for driving the damping block 31 to rotate; the invention changes the contact area between the friction pieces by adopting a rotary motion mode, so that the structure of the equipment is more compact, and the installation of the driving element is convenient. As shown in fig. 2-4 and 8-10, a translation driving mechanism for driving the slider 10 to slide along the track 20 is arranged between the track 20 and the slider 10; the damping adjustment mechanism is characterized by further comprising a driving element for driving the translation driving mechanism and the damping adjustment driving mechanism to act, a power switching mechanism is arranged between the driving element and the translation driving mechanism and between the driving element and the damping adjustment driving mechanism, and the power switching mechanism is assembled to enable the driving element, the translation driving mechanism and the damping adjustment driving mechanism to be switched between the following two stations: the power of the driving element is independently and specially transmitted to the translation driving mechanism at the first station, and the power of the driving element is independently transmitted to the damping adjustment driving mechanism at the second station, and transmission parts of the translation driving mechanism, which are respectively arranged on the slide block 10 and the track 20, are mutually separated so that the slide block 10 can freely slide relative to the track 20; the invention realizes the power switching among the driving element, the translation driving mechanism and the damping adjustment driving mechanism by utilizing the power switching mechanism, realizes two functions of translation driving and damping adjustment by adopting one power element, simplifies the equipment structure, reduces the equipment cost, and can disconnect the transmission element of the translation driving mechanism when the driving element drives the damping adjustment mechanism to act independently, thereby avoiding the interference of the translation driving mechanism on the movement of the slide block 10. The main controller is electrically connected with the driving element and the power switching mechanism, and controls the power switching mechanism to switch between a first station and a second station according to a function selection instruction input by the input equipment; when the power switching mechanism is at a first station, the main controller controls the translation driving mechanism to act according to training parameters input by input equipment, when the power switching mechanism is at a second station, the main controller calculates the resistance required to be provided by the first guide rail 1 and the second guide rail 2 respectively according to the external force direction detected by the force sensor and a preset resistance value input by the input equipment, and controls the damping adjustment driving mechanism of the first guide rail 1 and the second guide rail 2 to act according to a calculation result, so that the resultant force of the resistances generated by the two guide rails is opposite to the external force direction borne by the grip 5 all the time, and the resultant force is always kept near the preset resistance value. The resistance of the limbs can be kept in a relatively constant state all the time by adjusting the resistance of the two vertical guide rails, the resistance direction is kept opposite to the motion direction of the limbs all the time, the hand feeling of a patient is smoother when the patient uses the device, meanwhile, the device adopts one driving element to drive the translation driving mechanism and the damping adjustment driving mechanism to act, the device structure is simplified, the device cost is reduced, in addition, the driving element can disconnect the transmission element of the translation driving mechanism when independently driving the damping adjustment mechanism to act, and the interference of the translation driving mechanism to the motion of the sliding block 10 in a passive mode is avoided.

Further, the damping blocks 31 are arranged in a plurality and are arranged in sequence along the direction parallel to the length of the damping belt 32, and the damping adjustment driving mechanism is assembled to be capable of driving each damping block 31 to be attached to and detached from the damping belt 32 in sequence; according to the invention, the damping blocks 31 are arranged in a plurality, and each damping block 31 can independently move in the adjusting process, so that the resistance provided by a single damping block 31 can be reduced on the premise of ensuring the damping change threshold value, and the damping control precision of the damping adjusting mechanism is further improved. The damping adjustment driving mechanism comprises a spline shaft 33 which is arranged along the length of the track 20 in a square mode, and a driving element for driving the spline shaft 33 to rotate is arranged at the end of the track 20; the sliding block 10 is rotatably provided with a hollow screw rod 34, a spline groove is arranged in a center hole of the hollow screw rod 34, the spline shaft 33 and the hollow screw rod 34 form axial sliding and circumferential synchronous rotating fit, a sliding sleeve 35 is sleeved outside the hollow screw rod 34, a nut block 352 in threaded fit with the hollow screw rod 34 is arranged on the sliding sleeve 35, and the outer wall of the sliding sleeve 35 and the sliding block 10 form axial sliding and circumferential fixed fit through a spline; each damping block 31 is connected with a rotary sleeve 36, the rotary sleeve 36 is rotatably connected with the slider 10, each rotary sleeve 36 is provided with a guide groove 361, the guide groove 361 is provided with at least one straight line section parallel to the axial direction of the rotary sleeve 36 and spiral sections extending along the axial direction and the circumferential direction of the rotary sleeve 36, the outer wall of the sliding sleeve 35 is provided with guide pins 351 protruding outwards in the radial direction, the guide pins 351 are a plurality of guide pins and are arranged corresponding to the rotary sleeves 36 on the damping blocks 31 one by one, the guide pins 351 are in sliding fit with the guide grooves 361, and the guide pins 351 and the guide grooves 361 are assembled in such a way that when one of the guide pins 351 is positioned in the spiral section, the rest guide pins 351 are all positioned in the straight line section, namely the sliding sleeve 35 drives only one damping block 31 to rotate at any instant. The driving element of the damping adjusting mechanism is arranged at the end part of the track 20, and the power is transmitted to the sliding block 10 through the spline shaft 33, so that the power can be effectively transmitted no matter where the sliding block 10 moves, the structure of the sliding block 10 is simplified, the load of the sliding block 10 is reduced, the equipment structure is more compact, and the guide rail is convenient to assemble and use.

Preferably, as shown in fig. 4, in order to further improve the stability of the slider 10 and ensure the compact structure of the device, the rail 20 includes a tubular body 21, the spline shaft 33, the hollow lead screw 34, the sliding sleeve 35, the damping block 31 and the rotary sleeve 36 are all located in the tubular body 21, the hollow lead screw 34 and the slider 10 are mounted on a cylindrical support 2311, the rotary sleeve 36 is provided with a ring groove 362, the ring groove 362 forms an axially fixed circumferential sliding fit with the shift fork 15 provided on the cylindrical support 2311, the cylindrical support 2311 is fixedly connected with the slider 10 body outside the tubular body 21 through the upright 12, the tubular body 21 is provided with a gap for avoiding the sliding path of the upright 12, and the damping band 32 is mounted on the inner wall of the tubular body 21; the base 22 is arranged below the tubular body 21, the slider 10 body located outside the tubular body 21 comprises limiting blocks 13 arranged on two sides of the vertical plate 12, arc-shaped grooves matched with the outer wall of the tubular body 21 are formed in the limiting blocks 13, and the bottom of each limiting block 13 is attached to the top surface of the base 22.

Preferably, as shown in fig. 4, 5 and 7, the translational driving mechanism includes a lead screw 24 disposed parallel to the track 20 and a toothed plate 14 fixedly connected to the slider 10, the lead screw 24 is rotatably connected to the track 20, the lead screw 24 is movably connected to the track 20 in the radial direction, the lead screw 24 can engage or disengage the external thread of the lead screw 24 with or from the toothed plate 14 when moving in the radial direction, the driving element is a first servo motor 50, and the power switching mechanism is configured to transmit the power of the main shaft of the first servo motor 50 to the lead screw 24 and drive the lead screw 24 to engage with the toothed plate 14 in the radial direction when it is in the working position two, and transmit the power of the main shaft of the first servo motor 50 to the spline shaft 33 and drive the lead screw 24 to disengage from the toothed plate 14 in the radial direction when it is in the working position.

Further, as shown in fig. 4 and 8, the power switching mechanism includes a first synchronizing wheel 41 directly or indirectly connected with the main shaft of the first servo motor 50 in a transmission manner, a second synchronizing wheel 42 fixedly connected with the spline shaft 33, a third synchronizing wheel 43 fixedly connected with the lead screw 24, and a fourth synchronizing wheel 44 movably connected with the end bracket 23 of the rail 20, wherein the first synchronizing wheel 41, the second synchronizing wheel 42, and the third synchronizing wheel 43 are arranged in a triangle, the fourth synchronizing wheel 44 and the first synchronizing wheel 41 are respectively disposed on two sides of a central connecting line of the second synchronizing wheel 42 and the third synchronizing wheel 43, the fourth synchronizing wheel 44 is movably connected with the end bracket 23 of the rail 20 along a curved path, an annular synchronous belt 45 is sleeved on the first synchronizing wheel 41, the second synchronizing wheel 42, the third synchronizing wheel 43, and the fourth synchronizing wheel 44, the fourth synchronizing wheel 44 and the first synchronizing wheel 41 are always engaged with the synchronous belt, the timing belt is engaged with the second timing wheel 42 and separated from the third timing wheel 43 when the fourth timing wheel 44 is positioned at one end of the curved path, which is set to be always in a tensioned state when the fourth timing wheel 44 moves along the curved path, and the timing belt is engaged with the third timing wheel 43 and separated from the second timing wheel 42 when the fourth timing wheel 44 is positioned at the other end of the curved path. The invention utilizes the synchronous pulley mechanism to transmit power, reduces transmission error to the utmost extent, and simultaneously utilizes the movably arranged fourth synchronous pulley 44 to realize the switching of the power between the second synchronous pulley 42 and the third synchronous pulley 43, and the transmission structure is simple and reliable.

Preferably, as shown in fig. 8, 9 and 10, the fourth synchronizing wheel 44 is rotatably disposed on a translation block 471, the translation block 471 is movably disposed on a lifting seat 47 along the horizontal direction, the lifting seat 47 is movably connected with the end bracket 23 of the rail 20 along the vertical direction, and the bracket 23 is provided with a lifting driving mechanism for driving the lifting seat 47 to move, the bracket 23 is provided with a curve groove 46, the translation block 471 is provided with a pin, in this embodiment, the pin is coaxial with the rotation axis of the fourth synchronous wheel 44, the pin forms a sliding fit with the curved slot 46, the curved path of the fourth synchronous wheel 44 is limited by the curved slot 46, when the lifting seat 47 moves up to the highest point of the stroke, the synchronous belt is separated from the second synchronous wheel 42 and is meshed with the third synchronous wheel 43, when the lifting seat 47 moves downwards, the synchronous belt is engaged with the second synchronous wheel 42 and separated from the third synchronous wheel 43 when the stroke is at the lowest point. The path of the curved slot 46 in the present invention can be obtained by simulating the motion process of the fourth synchronizing wheel 44, and is specifically formed by sequentially connecting three sections of curves similar to elliptical arcs.

Further, as shown in fig. 9 and 10, the lead screw 24 is rotatably connected to a movable bearing seat 241 arranged at an end of the rail 20, the movable bearing seat 241 is movably connected to a bracket 23 at an end of the rail 20 along a vertical direction, the toothed plate 14 is located at the bottom of the slider 10, the lead screw 24 is located below the toothed plate 14, a first elastic unit 242 for lifting the movable bearing seat 241 upwards is arranged between the movable bearing seat 241 and the bracket 23, a blocking part 472 which is blocked and connected with the top surface of the movable bearing seat 241 is arranged on the lifting seat 47, the blocking part 472 can press the movable bearing seat 241 downwards to separate the lead screw 24 from the toothed plate 14 when the lifting seat 47 moves downwards, and the movable bearing seat 241 can move upwards under the action of the first elastic unit 242 to engage the lead screw 24 with the toothed plate 14 when the lifting seat 47 moves upwards. According to the invention, the separation of the screw rod 24 and the toothed plate 14 is driven by the movement of the lifting seat 47, so that the linkage design between the screw rod 24 and the power switching mechanism is realized, and the equipment mechanism is further simplified.

Further, as shown in fig. 9 and 10, the lifting device further comprises a spline shaft locking mechanism, wherein the spline shaft locking mechanism is assembled to circumferentially lock the spline shaft 33 to prevent the spline shaft 33 from rotating under the disturbance of the slider 10 when the lifting seat 47 moves upwards to the highest point of the stroke; the spline shaft locking mechanism comprises a locking block 48 which is movably arranged on the bracket 23 along the radial direction of the spline shaft 33, a second elastic unit 481 used for driving the locking block 48 to be far away from the spline shaft 33 is arranged between the locking block 48 and the bracket 23, an inclined wedge surface is arranged on one side, back to the spline shaft 33, of the locking block 48, an inclined wedge block is arranged on the lifting seat 47, and when the lifting seat 47 moves upwards to the highest point of the stroke, the inclined wedge block can extrude the locking block 48 through the inclined wedge surface so that the locking block 48 can be abutted against the outer ring surface of the end part of the spline shaft 33; the lifting driving mechanism comprises a threaded rod 49 which is rotatably connected with the support 23 along the vertical direction, the threaded rod 49 and a threaded hole formed in the lifting seat 47 form threaded fit, and the threaded rod 49 is connected with a main shaft of a second servo motor 49. The spline shaft locking mechanism can lock the spline shaft 33 when the translation driving mechanism acts, so that the spline shaft 33 is prevented from rotating due to disturbance of the sliding block 10, and the resistance of the sliding block 10 is prevented from changing in an active mode.

Preferably, as shown in fig. 1, 2 and 3, a rotary support 7 is arranged on a slider 10 of the first guide rail 1, the rotary support 7 is rotatably connected with the slider 10 of the first guide rail 1 along a vertical axis, the handle 5 and the wrist rest 6 are mounted on the rotary support 7, a path detection panel 9 is arranged at the bottom of the second guide rail 2 and the unpowered slide rail 3, a path detection pen 8 is arranged right below a rotary shaft of the rotary support 7, the path detection pen 8 can slide relative to the path detection panel 9 when moving along with the slider 10 of the first guide rail 1, the path detection panel 9 sends a sliding path to the main controller, and the main controller performs graphical processing on the sliding path and displays the sliding path on the display screen 4. The path detection panel 9 may be a capacitive touch panel or a digitizer, and the matching path detection pen 8 may be a capacitive pen or an electromagnetic induction pen.

Preferably, the input device is a keyboard, a mouse or a touch panel; and the handle 5 and the wrist support 6 are provided with bandage structures for fixing the upper limbs.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.

Claims

1. The utility model provides an upper limbs rehabilitation training appearance which characterized in that: the guide rail structure comprises a first guide rail (1), a second guide rail (2) and an unpowered slide rail (3), wherein the first guide rail (1) and the second guide rail (2) are identical in structure and comprise a rail (20) and a slide block (10), the first guide rail (1) is arranged along the x direction, the second guide rail (2) is arranged along the y direction, the x direction and the y direction are two mutually perpendicular directions in the horizontal plane, one end of the rail (20) of the first guide rail (1) is positioned on the slide block (10) of the second guide rail (2), the other end of the rail (20) of the first guide rail (1) is positioned on the unpowered slide rail (3), and the unpowered slide rail (3) is parallel to the second guide rail (2); a handle (5) and a wrist support (6) are arranged on a sliding block (10) of the first guide rail (1), a force sensor for detecting the magnitude and direction of an external force is arranged on the handle (5), and a detection signal output end of the force sensor is connected with a main controller; the sliding block (10) is connected with the track (20) in a sliding mode, a damping block (31) is arranged on the sliding block (10), a damping belt (32) arranged along the length direction of the track (20) is arranged on the track (20), the damping block (31) and the damping belt (32) are in friction fit and used for providing sliding damping for the sliding block (10), the damping block (31) is movably connected with the sliding block (10), and the damping block (31) is assembled so that the contact area between the damping block (31) and the damping belt (32) is adjustable; the section of the damping belt (32) is arc-shaped, the damping block (31) is fan-shaped, the damping block (31) is rotatably connected with the sliding block (10), the rotation center is the fan center of the damping block (31), and the outer arc surface of the damping block (31) and the inner arc surface of the damping belt (32) form friction fit; the damping adjustment driving mechanism is used for driving the damping block (31) to rotate; a translation driving mechanism for driving the sliding block (10) to slide along the track (20) is arranged between the track (20) and the sliding block (10); the damping adjustment mechanism is characterized by further comprising a driving element for driving the translation driving mechanism and the damping adjustment driving mechanism to act, a power switching mechanism is arranged between the driving element and the translation driving mechanism and between the driving element and the damping adjustment driving mechanism, and the power switching mechanism is assembled to enable the driving element, the translation driving mechanism and the damping adjustment driving mechanism to be switched between the following two stations: the power of the driving element is independently and specially transmitted to the translation driving mechanism at the first station, and the power of the driving element is independently transmitted to the damping adjustment driving mechanism at the second station, and transmission parts which are distributed on the sliding block (10) and the track (20) in the translation driving mechanism are mutually separated so that the sliding block (10) can freely slide relative to the track (20); the main controller is electrically connected with the driving element and the power switching mechanism, and controls the power switching mechanism to switch between a first station and a second station according to a function selection instruction input by the input equipment; when the power switching mechanism is positioned at a first station, the main controller controls the translation driving mechanism to act according to training parameters input by input equipment, when the power switching mechanism is positioned at a second station, the main controller calculates the resistance required to be provided by the first guide rail (1) and the second guide rail (2) respectively according to the external force direction detected by the force sensor and a preset resistance value input by the input equipment, and controls the damping adjustment driving mechanism of the first guide rail (1) and the second guide rail (2) to act according to a calculation result, so that the resultant force of the resistance generated by the two guide rails is opposite to the external force direction borne by the grip (5) all the time, and the resultant force is always kept near the preset resistance value.

2. The upper limb rehabilitation training instrument according to claim 1, wherein: the damping blocks (31) are arranged in sequence along the direction parallel to the length of the damping belt (32), and the damping adjusting and driving mechanism is assembled to drive each damping block (31) to be sequentially attached to and separated from the damping belt (32); the damping adjustment driving mechanism comprises a spline shaft (33) which is arranged along the length of the track (20) in a square mode, and a driving element for driving the spline shaft (33) to rotate is arranged at the end portion of the track (20); the sliding block (10) is rotatably provided with a hollow screw rod (34), a spline groove is arranged in a center hole of the hollow screw rod (34), the spline shaft (33) and the hollow screw rod (34) form axial sliding and circumferential synchronous rotating fit, a sliding sleeve (35) is sleeved outside the hollow screw rod (34), a nut block (352) in threaded fit with the hollow screw rod (34) is arranged on the sliding sleeve (35), and the outer wall of the sliding sleeve (35) forms axial sliding and circumferential fixed fit with the sliding block (10) through a spline; each damping block (31) is respectively connected with a rotary sleeve (36), the rotary sleeve (36) is rotationally connected with the sliding block (10), each rotary sleeve (36) is provided with a guide groove (361), the guide groove (361) is provided with at least one straight line section parallel to the axial direction of the rotary sleeve (36) and a spiral section simultaneously extending along the axial direction and the circumferential direction of the rotary sleeve (36), the outer wall of the sliding sleeve (35) is provided with a plurality of guide pins (351) which are arranged in a protruding way along the radial direction, the guide pins (351) are arranged in a one-to-one correspondence way with the rotary sleeves (36) on the damping blocks (31), the guide pins (351) and the guide grooves (361) form a sliding fit, and each guide pin (351) and each guide groove (361) are assembled in a way that when one guide pin (351) is positioned in the spiral section, the rest guide pins (351) are all positioned in the straight section, namely the sliding sleeve (35) drives only one damping block (31) to rotate at any instant position.

3. The upper limb rehabilitation training instrument of claim 2, wherein: the track (20) comprises a tubular body (21), the spline shaft (33), the hollow screw rod (34), the sliding sleeve (35), the damping block (31) and the rotary sleeve (36) are all located in the tubular body (21), the hollow screw rod (34) and the sliding block (10) are installed on a cylindrical support (23) and a cylindrical support (11), a ring groove (362) is formed in the rotary sleeve (36), the ring groove (362) and a shifting fork (15) arranged on the cylindrical support (23) and the cylindrical support (11) form axial fixing circumferential sliding fit, the cylindrical support (23) and the cylindrical support (11) are fixedly connected with the sliding block (10) body outside the tubular body (21) through a vertical plate (12), a gap for avoiding the sliding path of the vertical plate (12) is formed in the tubular body (21), and the damping belt (32) is installed on the inner wall of the tubular body (21); tubular body (21) below is equipped with base (22), and slider (10) body that is located the tubular body (21) outside is equipped with the arc wall with tubular body (21) outer wall complex including installing stopper (13) in riser (12) both sides on stopper (13), stopper (13) bottom and base (22) top surface laminating.

4. The upper limb rehabilitation training instrument of claim 2, wherein: the translation driving mechanism comprises a lead screw (24) arranged in parallel with the track (20) and a toothed plate (14) fixedly connected with the sliding block (10), the lead screw (24) is rotatably connected with the track (20), and the screw rod (24) is movably connected with the track (20) along the radial direction, the screw rod (24) can enable the external thread of the screw rod (24) to be meshed with or separated from the toothed plate (14) when moving along the radial direction, the drive element is a first servo motor (50), the power switching mechanism is assembled to transmit the power of the main shaft of the first servo motor (50) to the lead screw (24) and drive the lead screw (24) to be engaged with the toothed plate (14) along the radial direction when the power switching mechanism is in the working position, when the servo motor is in the second station, the power of the main shaft of the first servo motor (50) can be transmitted to the spline shaft (33) and the lead screw (24) is driven to be separated from the toothed plate (14) along the radial direction.

5. The upper limb rehabilitation training instrument according to claim 4, wherein: the power switching mechanism comprises a first synchronizing wheel (41) directly or indirectly in transmission connection with a main shaft of a first servo motor (50), a second synchronizing wheel (42) fixedly connected with a spline shaft (33), a third synchronizing wheel (43) fixedly connected with a lead screw (24) and a fourth synchronizing wheel (44) movably connected with a support (23) at the end part of a track (20), wherein the first synchronizing wheel (41), the second synchronizing wheel (42) and the third synchronizing wheel (43) are arranged in a triangular mode, the fourth synchronizing wheel (44) and the first synchronizing wheel (41) are arranged on two sides of a central connecting line by taking the central connecting line of the second synchronizing wheel (42) and the central connecting line of the third synchronizing wheel (43) as a boundary, the fourth synchronizing wheel (44) is movably connected with the support (23) at the end part of the track (20) along a curve path, and an annular synchronous belt (45) is sleeved on the first synchronizing wheel (41), the second synchronizing wheel (42), the third synchronizing wheel (43) and the fourth synchronizing wheel (44), the fourth synchronous wheel (44) and the first synchronous wheel (41) are always in a meshing state with the synchronous belt, the synchronous belt is meshed with the second synchronous wheel (42) and separated from the third synchronous wheel (43) when the fourth synchronous wheel (44) is located at one end of the curved path, the synchronous belt is meshed with the third synchronous wheel (43) and separated from the second synchronous wheel (42) when the fourth synchronous wheel (44) is located at the other end of the curved path, and the curved path is set to be in a tensioning state when the fourth synchronous wheel (44) moves along the curved path.

6. The upper limb rehabilitation training instrument according to claim 5, wherein: the fourth synchronizing wheel (44) is rotationally arranged on a translation block (471), the translation block (471) is movably arranged on a lifting seat (47) along the horizontal direction, the lifting seat (47) is movably connected with the bracket (23) at the end part of the track (20) along the vertical direction, and the bracket (23) is provided with a lifting driving mechanism for driving the lifting seat (47) to move, a curved groove (46) is arranged on the bracket (23), a pin shaft is arranged on the translation block (471), the pin shaft and the curved groove (46) form sliding fit, the curved path of the fourth synchronizing wheel (44) is limited by the curved groove (46), when the lifting seat (47) moves upwards to the highest point of the stroke, the synchronous belt is separated from the second synchronous wheel (42) and meshed with the third synchronous wheel (43), when the lifting seat (47) moves downwards, the synchronous belt is meshed with the second synchronous wheel (42) and separated from the third synchronous wheel (43) when the stroke is at the lowest point.

7. The upper limb rehabilitation training instrument according to claim 6, wherein: the screw rod (24) is rotationally connected with a movable bearing seat (241) arranged at the end part of the track (20), the movable bearing seat (241) is movably connected with a bracket (23) at the end part of the track (20) along the vertical direction, the toothed plate (14) is positioned at the bottom of the sliding block (10), the lead screw (24) is positioned below the toothed plate (14), a first elastic unit (242) used for lifting the movable bearing seat (241) upwards is arranged between the movable bearing seat (241) and the support (23), a blocking part (472) which is blocked and connected with the top surface of the movable bearing seat (241) is arranged on the lifting seat (47), when the lifting seat (47) moves downwards, the blocking part (472) can downwards press the movable bearing seat (241) to separate the screw rod (24) from the toothed plate (14), when the lifting seat (47) moves upwards, the movable bearing seat (241) can move upwards under the action of the first elastic unit (242) to enable the lead screw (24) to be meshed with the toothed plate (14).

8. The upper limb rehabilitation training instrument according to claim 6, wherein: the lifting seat (47) can move upwards to the highest point of travel, and the spline shaft locking mechanism can circumferentially lock the spline shaft (33) to prevent the spline shaft from rotating under the disturbance of the sliding block (10); the spline shaft locking mechanism comprises a locking block (48) which is radially and movably arranged on a support (23) along a spline shaft (33), a second elastic unit (481) used for driving the locking block (48) to be far away from the spline shaft (33) is arranged between the locking block (48) and the support (23), an inclined wedge surface is arranged on one side, facing away from the spline shaft (33), of the locking block (48), an inclined wedge block is arranged on a lifting seat (47), and when the lifting seat (47) moves upwards to the highest point of stroke, the inclined wedge block can extrude the locking block (48) through the inclined wedge surface to enable the locking block (48) to be tightly abutted against the outer ring surface of the end part of the spline shaft (33); the lifting driving mechanism comprises a threaded rod (49) which is rotatably connected with the support (23) along the vertical direction, the threaded rod (49) and a threaded hole formed in the lifting seat (47) form threaded fit, and the threaded rod (49) is connected with a main shaft of the second servo motor (49).

9. The upper limb rehabilitation training instrument according to claim 1, wherein: be equipped with a slewing bearing (7) on slider (10) of first guide rail (1), slewing bearing (7) are rotated along vertical axis and slider (10) of first guide rail (1) and are connected, handle (5) and wrist support (6) are installed on this slewing bearing (7), second guide rail (2) and unpowered slide rail (3) bottom are equipped with a route and detect panel (9), be equipped with a route under the slewing bearing of slewing bearing (7) and detect pen (8), and route is detected pen (8) and can produce relative slip with route detection panel (9) when moving along with slider (10) of first guide rail (1), and route detection panel (9) send sliding path to main control unit, and main control unit carries out graphical processing and shows sliding path on display screen (4).

10. The upper limb rehabilitation training instrument according to claim 1, wherein: the input equipment is a keyboard, a mouse or a touch panel; and the handle (5) and the wrist support (6) are provided with bandage structures for fixing the upper limbs.