CN113082592A

CN113082592A - Variable damping guide rail and variable damping system of upper limb rehabilitation training device

Info

Publication number: CN113082592A
Application number: CN202110371716.2A
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: 2021-07-09

Abstract

The invention belongs to the field of design and manufacture of rehabilitation training equipment, and particularly relates to a variable damping guide rail and a variable damping system of upper limb rehabilitation training equipment. The invention can linearly adjust the frictional resistance between the slide block and the tracks in a certain range, when the two tracks are combined and used along the mutually vertical directions, the resistance of the two tracks can be respectively adjusted to accurately adjust the resistance and the direction of the tail end moving part in a real-time controllable manner, so that the total resistance direction is always opposite to the moving direction of the tail end moving part, and the total resistance is always kept near a relatively constant preset value.

Description

Variable damping guide rail and variable damping system of upper limb rehabilitation training device

Technical Field

The invention belongs to the field of design and manufacture of rehabilitation training equipment, and particularly relates to a variable damping guide rail and a variable damping system of upper limb rehabilitation training equipment.

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 a variable damping guide rail and a variable damping system of upper limb rehabilitation training equipment, which can perform high-precision linear adjustment on the damping of the guide rail, ensure that the resistance direction of the rehabilitation training equipment can be changed differently from the limb movement direction, and the resistance is always kept near a preset value.

The technical scheme adopted by the invention is as follows:

the utility model provides a variable damping guide rail, includes track and slider, slider and track sliding connection, be equipped with the damping piece on the slider, be equipped with the damping area that sets up along track length direction on the track, damping piece and damping area friction fit are used for providing sliding damping for the slider, the damping piece is adjustable for its area of contact with the damping area with slider swing joint and damping piece assembled.

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.

The damping adjustment driving mechanism is assembled to be capable of driving each damping block to be attached to and separated from the damping belt in sequence.

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 includes the tubulose body, integral key shaft, hollow lead screw, sliding sleeve, damping piece and rotary sleeve all are located the tubulose body, and hollow lead screw and slider are installed on a cylindric support in it, are equipped with the annular on the rotary sleeve, and the shift fork that sets up on this annular and the cylindric support constitutes axial fixity circumference sliding fit, and the cylindric support passes through riser and the outside slider body rigid coupling of tubulose body, is equipped with the gap that is used for dodging riser slip path on the tubulose body, the damping area is installed on the inner wall of tubulose 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.

A variable damping system of upper limb rehabilitation training equipment comprises the variable damping guide rails, wherein one variable damping guide rail is a first damping guide rail arranged along the x direction, and the other variable damping guide rail is a second damping guide rail arranged along the y direction, wherein one end of a rail of the first damping guide rail is positioned on a sliding block of the second damping guide rail, and the other end of the rail of the first damping guide rail is positioned on a unpowered sliding rail; the handle and the wrist support are arranged on the sliding block of the first damping guide rail, the force sensor used for detecting the magnitude and direction of external force is arranged on the handle, the detection signal output end of the force sensor is connected with the main controller, the main controller is electrically connected with the damping adjustment driving mechanism of the variable damping guide rail, the main controller calculates the magnitude of resistance required to be provided by the two variable damping guide rails respectively according to the direction of the external force detected by the force sensor and the preset resistance value input by the input device, and controls the damping adjustment driving mechanism of the two variable damping guide rails to act according to the calculation result, so that the resultant force of the resistance generated by the two variable damping guide rails and the direction of the external force borne by the handle are opposite all the time, and the resultant force.

The input device is a keyboard, a mouse or a touch panel.

The rotary support is arranged on the sliding block of the first damping guide rail, the rotary support is rotatably connected with the sliding block of the first damping guide rail along a vertical axis, and the handle and the wrist support are installed on the rotary support.

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 variable damping guide rail provided by the invention can change the frictional resistance between the sliding block and the track by changing the contact area between the friction pieces, the adjusting mode can enable the frictional resistance between the sliding block and the track to be linearly adjusted within a certain range, when the two tracks are combined and used along the mutually perpendicular directions, the resistance of the two tracks can be respectively adjusted, so that the resistance and the direction of the tail end moving part can be accurately adjusted in a real-time and controllable manner, for example, the total resistance direction can be always opposite to the movement 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.

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.

Example 1

As shown in fig. 2 to 7, a variable damping guide rail comprises a rail 20 and a slider 10, the slider 10 is slidably connected to the rail 20, a damping block 31 is disposed on the slider 10, a damping band 32 is disposed on the rail 20 along the length direction of the rail 20, the damping block 31 is in friction fit with the damping band 32 to provide sliding damping for the slider 10, the damping block 31 is movably connected to 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.

Preferably, as shown in fig. 4 and 5, the cross section of the damping band 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 band 32 form the friction fit; and a damping adjustment driving mechanism for driving the damping block 31 to rotate is also included. 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.

Further, the damping blocks 31 are arranged in a plurality and in sequence along a direction parallel to the length of the damping belt 32, and the damping adjustment driving mechanism is configured to drive 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.

Preferably, as shown in fig. 5, 6 and 7, the damping adjustment driving mechanism comprises a spline shaft 33 which is arranged along the length of the track 20 in a square shape, and the end part of the track 20 is provided with a driving element for driving the spline shaft 33 to rotate; 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 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 screw 34 and the slider 10 are installed on a cylindrical support 11, the rotary sleeve 36 is provided with a ring groove 362, the ring groove 362 and the shift fork 15 arranged on the cylindrical support 11 form an axial fixing circumferential sliding fit, the cylindrical support 11 is fixedly connected with the slider 10 body outside the tubular body 21 through the vertical plate 12, the tubular body 21 is provided with a gap for avoiding the sliding path of the vertical plate 12, and the damping belt 32 is installed 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.

Example 2

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. A variable damping guide rail characterized in that: including track (20) and slider (10), slider (10) and track (20) sliding connection, be equipped with damping piece (31) on slider (10), be equipped with damping area (32) that set up along track (20) length direction on track (20), damping piece (31) and damping area (32) friction fit are used for providing sliding damping for slider (10), damping piece (31) and slider (10) swing joint and damping piece (31) are assembled for its area of contact adjustable with damping area (32).

2. The variable damping guide rail of claim 1, wherein: 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.

3. The variable damping guide rail of claim 2, wherein: the damping blocks (31) are arranged in sequence in the direction parallel to the length of the damping belt (32), and the damping adjusting and driving mechanism is assembled to be capable of driving each damping block (31) to be attached to and separated from the damping belt (32) in sequence.

4. The variable damping guide rail of claim 3, wherein: 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.

5. The variable damping guide rail of claim 4, wherein: track (20) include tubulose body (21), integral key shaft (33), hollow lead screw (34), sliding sleeve (35), damping piece (31) and gyration sleeve pipe (36) all are located tubulose body (21), install on a cylindric support (23) (11) its hollow lead screw (34) and slider (10), be equipped with annular (362) on gyration sleeve pipe (36), shift fork (15) that set up on this annular (362) and cylindric support (23) (11) constitute axial fixity circumference sliding fit, cylindric support (23) (11) pass through riser (12) and outside slider (10) body rigid coupling of tubulose body (21), be equipped with on tubulose body (21) and be used for dodging riser (12) slip path's gap, damping area (32) are installed on the inner wall of tubulose body (21).

6. The variable damping guide rail of claim 5, wherein: 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.

7. The utility model provides a variable damping system of upper limbs rehabilitation training device which characterized in that: comprises two variable damping guide rails according to any one of claims 1 to 6, wherein one variable damping guide rail is arranged along the x direction, namely a first damping guide rail, and the other variable damping guide rail is arranged along the y direction, namely a second damping guide rail, wherein one end of the track (20) of the first damping guide rail is positioned on the slide block (10) of the second damping guide rail, and the other end of the track (20) of the first damping guide rail is positioned on a unpowered sliding rail (3); be equipped with handle (5) and wrist support (6) on slider (10) of first damping guide rail, be equipped with the force sensor who is used for detecting external force size and direction on handle (5), the detected signal output part of force sensor links to each other with main control unit, main control unit is connected with the damping adjustment actuating mechanism electricity of variable damping guide rail, main control unit calculates the resistance size that two variable damping guide rails need provide respectively according to the external force direction that force sensor detected and the preset resistance value of input device input, and adjust the actuating mechanism action according to the damping of calculation result control two variable damping guide rails, make the resultant force of the resistance that two variable damping guide rails produced and handle (5) receive external force direction opposite all the time and this resultant force size remain all the time and predetermine near resistance value.

8. The variable damping system of an upper limb rehabilitation training device of claim 7, wherein: the input device is a keyboard, a mouse or a touch panel.

9. The variable damping system of an upper limb rehabilitation training device of claim 7, wherein: the damping guide rail is characterized in that a rotary support (7) is arranged on the sliding block (10) of the first damping guide rail, the rotary support (7) is rotatably connected with the sliding block (10) of the first damping guide rail along a vertical axis, and the grip (5) and the wrist support (6) are installed on the rotary support (7).

10. The variable damping system of an upper limb rehabilitation training device of claim 9, wherein: and the handle (5) and the wrist support (6) are provided with bandage structures for fixing the upper limbs.