CN114042291A - Recovered auxiliary training device of using of spinal cord injury based on virtual reality - Google Patents

Abstract

The invention discloses a virtual reality-based auxiliary training device for spinal cord injury rehabilitation, which comprises a first shell and a second shell fixed on the top surface of the first shell, wherein an adjustable seat is installed on one side of the top surface of the first shell, a lower limb training mechanism for training leg movement of a patient is arranged in the first shell, an upper limb training mechanism for training upper limb movement of the patient is arranged in the second shell, and a resistance-increasing driving mechanism is arranged in the first shell; the invention has three gears for patients to use, the force required for rotating the pedals and the crank can be gradually increased from the first gear to the third gear, the patients can adjust the gears according to the actual condition to meet the training requirement, the resistance between the upper limb training mechanism and the lower limb training mechanism can be controlled only by the resistance-increasing driving mechanism, the operation mode is simple, the regulation and control time is saved, the labor is saved, the adjustment force can be accurately mastered, and the rehabilitation training of the patients is facilitated.

Description

Recovered auxiliary training device of using of spinal cord injury based on virtual reality

Technical Field

The invention belongs to the technical field related to rehabilitation training, and particularly relates to an auxiliary training device for spinal cord injury rehabilitation based on virtual reality.

Background

When carrying out the rehabilitation training to patient, general training is to carrying out lower limbs training and upper limbs training to the patient, and indirect cardiopulmonary function trains, and the unable resistance size of adjusting of current trainer, when patient carries out the rehabilitation training, can't effectively adjust the resistance according to patient's recovery condition.

Application number is CN202110132701.0 discloses a multi-functional patient rehabilitation device, comprising a base plate, the upper surface one end of bottom plate is provided with cushion mechanism, the one end upper surface that cushion mechanism was kept away from to the bottom plate is provided with pedal mechanism, the top of pedal mechanism is provided with resistance adjustment mechanism, resistance adjustment mechanism's inside is provided with arm training mechanism, cushion mechanism includes first spout, the upper surface center department at the bottom plate is seted up to first spout, the second spout has been seted up to the bottom plate one end inside near first spout, the second spout communicates and is parallel to each other with first spout. This rehabilitation device can be after patient's training a period, and when limbs recovered to certain degree, increaseed the training resistance through setting up resistance adjustment mechanism, and the patient of being convenient for is recovered earlier, and wherein resistance adjustment mechanism can increase pedal mechanism and arm training mechanism's resistance simultaneously, and the accommodation process is very convenient.

The prior rehabilitation device technology has the following problems: above-mentioned rehabilitation device needs the resistance through resistance adjustment mechanism manual regulation pedal mechanism and arm training mechanism, and the operating mode is complicated, and is comparatively hard, and is difficult to control the regulation dynamics, is unfavorable for patient's rehabilitation training.

Disclosure of Invention

The invention aims to provide an auxiliary training device for spinal cord injury rehabilitation based on virtual reality, which solves the problems of complex operation mode, labor waste and difficulty in controlling adjustment strength in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a spinal cord injury is recovered with supplementary trainer based on virtual reality, includes first casing and fixes the second casing at first casing top surface, adjustable seat is installed to the top surface one side of first casing, be provided with the lower limbs training mechanism that is used for training patient's shank motion in the first casing, be provided with the upper limbs training mechanism that is used for training patient's upper limbs motion in the second casing, be provided with in the first casing and increase and hinder actuating mechanism's the lower of ordering about, adjust the training resistance of lower limbs training mechanism by sideslip mechanism horizontal motion stepping, drive upper limbs training mechanism operation by drive mechanism and carry out stepping regulation to upper limbs training resistance.

Preferably, the lower limb training mechanism comprises a rotating shaft which is rotatably connected with the first shell, the outer wall of the rotating shaft is fixedly connected with a limiting block, both ends of the rotating shaft are fixedly connected with pedals, three identical balancing weights are sleeved outside the rotating shaft, a second through groove is formed in the circle center of each balancing weight, a first limit groove is arranged below the second through groove, the second through groove and the first limit groove are respectively matched with the rotating shaft and the limit block, a first through groove is arranged above the second through groove, a T-shaped sliding groove is arranged on the outer side surface of the balancing weight, a sliding block is arranged below the balancing weight, the top end of the sliding block is fixedly connected with a T-shaped sliding block, t type slider and T shape spout sliding connection, the equal sliding connection in both ends of sliding block has the slide bar, the top and the first casing fixed connection of slide bar.

Preferably, the bottom of the sliding block is of a wedge-shaped structure.

Preferably, the traversing mechanism comprises a movable plate, the movable plate is connected with the first shell in a sliding mode, three fixed blocks are fixedly connected to the upper surface of the movable plate, and the three fixed blocks correspond to the sliding blocks below the three balancing weights one by one respectively.

Preferably, it is three the length of fixed block differs, and is three the top surface of fixed block all is equipped with the plane, and is three the fixed block is equipped with the inclined plane towards the side of sliding block.

Preferably, the upper limb training mechanism comprises two rotating parts, the two rotating parts are respectively connected with two sides of the second shell through bearings in a rotating manner, a crank is fixedly connected with the outer side face of each rotating part, the inner side of each rotating part is sequentially connected with a first connecting part, a second connecting part and a third connecting part in a rotating manner, a plurality of rubber bulges are fixedly connected with the inner sides of the positions, connected with the first connecting part, the second connecting part and the third connecting part in a rotating manner, the rubber bulges are extruded on the side faces of the first connecting part, the second connecting part and the third connecting part, two limiting columns are fixedly connected with the inner sides of the first connecting part, the limiting columns on the third connecting part are the largest, the limiting columns on the second connecting part are the second length, and the limiting columns on the first connecting part are the smallest length, the inner wall of the second shell is fixedly connected with two fixing rods, two first circular plates are arranged on two sides of the inner part of the second shell, two sides of the two first circular plates are both connected with the two fixing rods in a sliding manner, four first sliding grooves are formed in the inner sides of the first circular plates, a first connecting rod is fixedly connected to the inner side of each first sliding groove, the four first connecting rods are both connected with the second circular plates in a sliding manner, a first spring is sleeved on the outer side of each first connecting rod, two second sliding grooves are formed in the inner side of each second circular plate, a second connecting rod is fixedly connected to the inner side of each second sliding groove, the two second connecting rods are both connected with the third circular plate in a sliding manner, a second spring is sleeved on the outer side of each second connecting rod, and a plurality of second limiting grooves are formed in the side surfaces, facing the rotating member, of the first circular plates, the second circular plates and the third circular plates, the limiting column is matched with the second limiting groove.

Preferably, the outer end part of the limiting column is a round head.

Preferably, drive mechanism includes two-way threaded rods, two first circular plate respectively with the both sides threaded connection of two-way threaded rods, two first belt pulley of fixedly connected with on the two-way threaded rod, two first belt pulley passes through second drive belt transmission and connects.

Preferably, resistance-increasing actuating mechanism is including fixing the motor in the first casing outside, the output shaft of motor penetrates in the first casing and rotates with first casing and be connected, fixedly connected with gear on the output shaft of motor, downside fixedly connected with second belt pulley on the two-way threaded rod, the inboard fixedly connected with third belt pulley of gear, the third belt pulley is connected with second belt pulley transmission through first drive belt, the one end fixedly connected with rack of fly leaf, the rack meshes with the gear mutually.

Compared with the prior art, the invention provides an auxiliary training device for spinal cord injury rehabilitation based on virtual reality, which has the following beneficial effects:

the invention has three gears for patients to use, the force required for rotating the pedals and the crank can be gradually increased from the first gear to the third gear, the patients can adjust the gears according to the actual condition to meet the training requirement, the resistance of the upper limb training mechanism and the lower limb training mechanism can be simultaneously controlled only by the resistance-increasing driving mechanism, the operation mode is simple, the regulation and control time is saved, the labor is saved, the adjustment force can be accurately mastered, and the rehabilitation training of the patients is facilitated.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

fig. 1 is a schematic three-dimensional structure diagram of an auxiliary training device for spinal cord injury rehabilitation based on virtual reality according to the present invention;

fig. 2 is a schematic diagram of a three-dimensional cross-sectional structure of an auxiliary training device for spinal cord injury rehabilitation based on virtual reality according to the present invention;

fig. 3 is a schematic diagram of a three-dimensional cross-sectional structure of an auxiliary training device for spinal cord injury rehabilitation based on virtual reality according to the present invention;

fig. 4 is a schematic diagram of a three-dimensional cross-sectional structure of an auxiliary training device for spinal cord injury rehabilitation based on virtual reality according to the present invention;

FIG. 5 is a schematic three-dimensional structure of the traversing mechanism and the lower limb training mechanism according to the present invention;

FIG. 6 is a schematic diagram of a three-dimensional cross-sectional structure of a counterweight according to the present invention;

FIG. 7 is a schematic diagram of a three-dimensional cross-sectional structure of a second housing according to the present invention;

FIG. 8 is a schematic three-dimensional structure diagram of the first, second, and third circular plates according to the present invention;

FIG. 9 is a schematic three-dimensional cross-sectional view of the first, second and third circular plates according to the present invention;

FIG. 10 is a schematic three-dimensional view of a rotor according to the present invention;

FIG. 11 is a schematic view of a three-dimensional cross-sectional structure of a rotor according to the present invention;

in the figure: 1. a first housing; 2. a second housing; 3. an adjustable seat; 4. a rotating shaft; 5. pedaling; 6. a limiting block; 7. a balancing weight; 8. a first through groove; 9. a second through groove; 10. a first limit groove; 11. a T-shaped chute; 12. a slider; 13. a slide bar; 14. a movable plate; 15. a fixed block; 16. a bevel; 17. a plane; 18. a rack; 19. a gear; 20. a motor; 21. fixing the rod; 22. a bidirectional threaded rod; 23. a first drive belt; 24. a second belt; 25. a bearing; 26. a rotating member; 27. a crank; 28. a first connecting member; 29. a second connecting member; 30. a third connecting member; 31. a limiting column; 32. a rubber bulge; 33. a first circular plate; 34. a first connecting rod; 35. a first spring; 36. a second circular plate; 37. a second connecting rod; 38. a second spring; 39. a third circular plate; 40. a second limit groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-11, the present invention provides a technical solution: the utility model provides a recovered training aiding device that uses of spinal cord injury based on virtual reality, includes first casing 1 and fixes the second casing 2 at first casing 1 top surface, and adjustable seat 3 is installed to the top surface one side of first casing 1. A lower limb training mechanism for training the leg movement of the patient is arranged in the first shell 1.

The lower limb training mechanism comprises a rotating shaft 4, the rotating shaft 4 is rotatably connected with a first shell 1, the outer wall of the rotating shaft 4 is fixedly connected with a limiting block 6, two ends of the rotating shaft 4 are both fixedly connected with pedals 5, the outer side of the rotating shaft 4 is sleeved with three identical balancing weights 7, the circle center of each balancing weight 7 is provided with a second through groove 9, the lower part of each second through groove 9 is provided with a first limiting groove 10, each second through groove 9 and each first limiting groove 10 are respectively matched with the rotating shaft 4 and the limiting block 6, a first through groove 8 is arranged above each second through groove 9, the diameter of each first through groove 8 needs to meet the requirement that the rotating shaft 4 and the limiting block 6 can freely rotate in the first through groove, the outer side surface of each balancing weight 7 is provided with a T-shaped sliding groove 11, a sliding block 12 is arranged below each balancing weight 7, as shown in figure 6, the bottom of the sliding block 12 is of a wedge-shaped structure, the top end of the sliding block 12 is fixedly connected with a T-shaped sliding block, the T-shaped sliding block is slidably connected with the T-shaped sliding groove 11, sliding rod 13 is connected to the both ends of sliding block 12, and sliding rod 13's top and first casing 1 fixed connection are after sliding block 12 and balancing weight 7 rebound, at the plane 17 of fixed block 15 and the wedge face contact of sliding block 12, and pivot 4 and stopper 6 are located second through-slot 9 and first spacing groove 10 respectively and are spacing this moment.

It should be noted that an upper limb training mechanism for training the movement of the upper limb of the patient is arranged in the second housing 2, the upper limb training mechanism comprises two rotating parts 26, the two rotating parts 26 are respectively rotatably connected with the two sides of the second housing 2 through bearings 25, a crank 27 is fixedly connected with the outer side surfaces of the rotating parts 26, as shown in fig. 11, a first connecting piece 28, a second connecting piece 29 and a third connecting piece 30 are sequentially and rotatably connected with the inner side of the rotating part 26, a plurality of rubber bulges 32 are fixedly connected with the inner sides of the positions on the rotating part 26 rotatably connected with the first connecting piece 28, the second connecting piece 29 and the third connecting piece 30, the rubber bulges 32 are extruded on the side surfaces of the first connecting piece 28, the second connecting piece 29 and the third connecting piece 30, two limiting columns 31 are fixedly connected with the inner sides of the first connecting piece 28, the second connecting piece 29 and the third connecting piece 30, the outer end of the position-limiting column 31 is rounded so as to facilitate the insertion of the position-limiting column 31 into the second position-limiting groove 40. As shown in fig. 10, the length of the limiting post 31 on the third connecting member 30 is the largest, the length of the limiting post 31 on the second connecting member 29 is the next largest, and the length of the limiting post 31 on the first connecting member 28 is the smallest. Two fixing rods 21 are fixedly connected to the inner wall of the second shell 2, two first circular plates 33 are arranged on two sides of the inner portion of the second shell 2, two sides of each first circular plate 33 are slidably connected with the two fixing rods 21, and four first sliding grooves are formed in the inner sides of the first circular plates 33. The inboard fixedly connected with of every first sliding tray connects pole 34, four first connecting poles 34 all with second circular plate 36 sliding connection, the outside cover of pole 34 is equipped with first spring 35, two second sliding trays have been seted up to the inboard of second circular plate 36, the inboard fixedly connected with of every second sliding tray connects pole 37, two second connecting poles 37 all with third circular plate 39 sliding connection. The second spring 38 is sleeved outside the second connecting rod 37, the elastic force of the first spring 35 is larger than that of the second spring 38, the elastic force required to be overcome when the third circular plate 39 is pressed to move into the second circular plate 36 is far smaller than the elastic force required to be overcome when the second circular plate 36 moves into the first circular plate 33, a plurality of second limiting grooves 40 are formed in the side faces, facing the rotating piece 26, of the first circular plate 33, the second circular plate 36 and the third circular plate 39, the limiting columns 31 are matched with the second limiting grooves 40, and when the third circular plate 39 and the second circular plate 36 are pressed to retract into the first circular plate 33 to the limit, the outer side end faces of the first circular plate 33, the second circular plate 36 and the third circular plate 39 are located on the same plane. As shown with reference to fig. 8-11.

Wherein drive mechanism includes two-way threaded rod 22, two first circular plates 33 respectively with two-way threaded rod 22's both sides threaded connection, the first belt pulley of fixedly connected with on two-way threaded rod 22, two first belt pulleys pass through second drive belt 24 transmission and connect, gear 19 can drive two-way threaded rod 22 rotatory through first drive belt 23 in rotatory, the two-way threaded rod 22 that leans on the below drives the two-way threaded rod 22 of top together rotatory through second drive belt 24, and then make two first circular plates 33 motion dorsad, spacing post 31 on third connecting piece 30 inserts in the second spacing groove 40 on the third circular plate 39.

It is worth proposing that the first casing 1 is provided with a resistance-increasing driving mechanism, the resistance-increasing driving mechanism comprises a motor 20 fixed on the outer side of the first casing 1, an output shaft of the motor 20 penetrates into the first casing 1 and is rotationally connected with the first casing 1, and a gear 19 is fixedly connected to the output shaft of the motor 20. A second belt pulley is fixedly connected to the lower bidirectional threaded rod 22, a third belt pulley is fixedly connected to the inner side of the gear 19, and the third belt pulley is in transmission connection with the second belt pulley through a first transmission belt 23.

One end of the movable plate 14 is fixedly connected with a rack 18, the rack 18 is meshed with a gear 19, the gear 19 can be driven to rotate through an output shaft of a motor 20, and further the rack 18 is driven to move rightwards (left and right directions in fig. 4), the movable plate 14 is driven to slide rightwards by the rack 18, the movable plate 14 moves rightwards, so that the inclined surface 16 of the leftmost fixed block 15 is in contact with the trapezoidal inclined surface of the leftmost sliding block 12 (left and right directions in fig. 5), and further the leftmost sliding block 12 and the balancing weight 7 are pushed to move upwards, and when the movable plate 14 continues to move, the sliding block 12 and the balancing weight 7 can be pushed to move upwards by the other two fixed blocks 15.

It should be noted that under the driving of the resistance-increasing driving mechanism, the horizontal movement of the transverse moving mechanism adjusts the training resistance of the lower limb training mechanism in a stepping way, and the transmission mechanism drives the upper limb training mechanism to operate to adjust the upper limb training resistance in a stepping way. It is worth noting that the traversing mechanism comprises a movable plate 14, the movable plate 14 is connected with the first housing 1 in a sliding manner, as shown in fig. 5, three fixed blocks 15 are fixedly connected to the upper surface of the movable plate 14, the lengths of the three fixed blocks 15 are different, the lengths of the three fixed blocks 15 decrease from left to right, the top surfaces of the three fixed blocks 15 are all provided with a plane 17, the side surfaces of the three fixed blocks 15 facing the sliding blocks 12 are provided with inclined planes 16, and the three fixed blocks 15 correspond to the positions of the sliding blocks 12 below the three counter weights 7 one by one.

The working principle and the using process of the invention are as follows: the user wears VR equipment and selects the motion scene to be simulated to be matched with the training device provided by the invention for use. The specific method of use of the device is described in detail below.

Fig. 2 and 3 show the initial state of the device. Referring to fig. 5 and 6, the rotating shaft 4 and the limiting block 6 are located in the first through grooves 8 of the three balancing weights 7, and at this time, the rotating shaft 4 and the limiting block 6 rotate in the first through grooves 8 to idle; referring to fig. 7, the first circular plate 33, the second circular plate 36, and the third circular plate 39 are spaced apart from the rotation member 26, that is, the position-limiting post 31 is not inserted into the second position-limiting groove 40; referring to fig. 11, the rubber protrusion 32 is in a pressed state, so that the third connecting member 30, the second connecting member 29, and the first connecting member 28 have a certain rotational friction; referring to fig. 10, the plurality of stopper posts 31 are located on the same plane, and the length of the plurality of stopper posts 31 distributed from the inside to the outside is gradually shortened; it should be noted that the plurality of second limiting grooves 40 are formed in the first circular plate 33, the second circular plate 36, and the third circular plate 39, so that the limiting column 31 can be inserted into the second limiting groove 40 only when the crank 27 is in the vertical state.

It should be noted that, as can be seen from the above structural connection relationship, the four first connecting rods 34 are slidably connected to the second circular plate 36, and the outer sides of the four first connecting rods 34 are all sleeved with the first springs 35; the third circular plate 39 is slidably connected to the second circular plate 36 via two second connecting rods 37, and the outer sides of the two second connecting rods 37 are both sleeved with a second spring 38. And the elastic force of the first spring 35 is greater than that of the second spring 38. That is, the spring force to be overcome when pressing the third circular plate 39 to move into the second circular plate 36 is much smaller than the spring force to be overcome when the second circular plate 36 moves into the first circular plate 33.

When the adjustable chair is used, a patient sits on the adjustable chair 3, and the pedals 5 and the crank 27 are respectively operated by feet and hands to perform rotary motion, so that rehabilitation training can be performed. Of course, in the state shown in fig. 6, when the pedals 5 and the crank 27 are operated, the rotation shaft 4 and the rotor 26 are both idle, and it is difficult to achieve the training effect. Before the device is used, the resistance of the rotating shaft 4 and the rotating part 26 during rotation needs to be adjusted to meet the requirements of different patients. The device has three gears which can be adjusted, and the content and the specific adjusting method of the three gears are explained below.

When the gear is adjusted, the pedals 5 and the crank 27 are kept in the vertical state as shown in fig. 1 and 4. When the motor 20 is started, the motor 20 drives the gear 19 to rotate through the output shaft, and further drives the rack 18 to move rightward (leftward and rightward in fig. 4), and the rack 18 drives the movable plate 14 to slide rightward. The movable plate 14 moves rightwards, so that the inclined surface 16 of the leftmost fixed block 15 is contacted with the trapezoidal inclined surface of the leftmost sliding block 12 (in the left-right direction in fig. 5), and further, the leftmost sliding block 12 and the counterweight 7 are pushed to move upwards, and after the plane 17 of the fixed block 15 is contacted with the wedge-shaped surface of the sliding block 12, the rotating shaft 4 and the limiting block 6 are respectively positioned in the second through groove 9 and the first limiting groove 10 for limiting. The gear 19 can drive the bidirectional threaded rod 22 to rotate through the first transmission belt 23 while rotating, the bidirectional threaded rod 22 close to the lower side drives the bidirectional threaded rod 22 above to rotate together through the second transmission belt 24, so that the two first circular plates 33 move back to back, and when the limiting column 31 on the third connecting piece 30 is inserted into the second limiting groove 40 on the third circular plate 39, the motor 20 is turned off, and the adjustment of the first gear is completed. The first gear is the gear with the lowest resistance in the third gear. When rotatory pedal 5 this moment, pivot 4 can drive a balancing weight 7 through stopper 6 and rotate, pedals pedal 5 rotation promptly and need drive a balancing weight 7 rotatory, and the patient needs just can drive a balancing weight 7 rotatory with some multi-purpose power this moment. When the crank 27 is rotated, the third link 30 is restrained and fixed from rotating, so that the patient must overcome the friction force of the rubber protrusion 32 in the rotating groove of the third link 30 to rotate the crank 27 and the rotating member 26.

If the pedal needs to be adjusted to the second gear, the pedal 5 and the crank 27 are kept in the vertical state, and then the motor 20 is started. Rotation of the gear 19 causes the movable plate 14 to continue sliding to the right, and movement of the movable plate 14 to the right causes the intermediate weight 7 to move upward. At the same time, the rotation of the gear 19 will make the two first circular plates 33 move back and forth, so that the third circular plate 39 slides into the second circular plate 36, at this time, the second spring 38 is compressed, and the position-limiting post 31 of the second connecting member 29 is inserted into the second position-limiting groove 40 of the second circular plate 36. At this time, the motor 20 is turned off to complete the second gear adjustment. When rotatory pedal 5 this moment, pivot 4 can drive two balancing weights 7 through stopper 6 and rotate, and the patient need just can drive two balancing weights 7 rotatoryly with some power more this moment. At this time, when the crank 27 is rotated, since the third link 30 and the second link 29 are both limited and non-rotatable, the patient must overcome the friction force of the rubber protrusion 32 in the rotation groove of the third link 30 and the friction force of the rubber protrusion 32 in the rotation groove of the second link 29 to rotate the crank 27 and the rotation member 26.

If the gear needs to be adjusted to the third gear, the pedal 5 and the crank 27 are kept in the vertical state, and then the motor 20 is started. Rotation of the gear 19 causes the movable plate 14 to continue sliding to the right, and movement of the movable plate 14 to the right causes the rightmost weight 7 to move upward. At the same time, the rotation of the gear 19 will make the two first circular plates 33 move back and forth, so that the second circular plate 36 slides into the first circular plate 33, at which time the first spring 35 is compressed, and the position-limiting post 31 of the first connecting member 28 will be inserted into the second position-limiting groove 40 of the first circular plate 33. At this time, the motor 20 is turned off to complete the third gear adjustment. When rotatory pedal 5 this moment, pivot 4 can drive three balancing weight 7 through stopper 6 and rotate, and the patient need just can drive three balancing weight 7 rotatoryly with some power more this moment. At this time, when the crank 27 is rotated, since the third link 30, the second link 29, and the first link 28 are all limited and non-rotatable, the patient needs to overcome the friction of the rubber protrusion 32 in the rotation groove of the third link 30, the friction of the rubber protrusion 32 in the rotation groove of the second link 29, and the friction of the rubber protrusion 32 in the rotation groove of the first link 28, so as to rotate the crank 27 and the rotation member 26.

When the adjustment from the high gear to the low gear is required, the starter motor 20 may be rotated in the reverse direction.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides a recovered training aiding device that uses of spinal cord injury based on virtual reality, includes first casing (1) and fixes second casing (2) at first casing (1) top surface, adjustable seat (3), its characterized in that are installed to the top surface one side of first casing (1): be provided with the lower limbs training mechanism that is used for carrying out the training to patient's shank motion in first casing (1), be provided with the upper limbs training mechanism that is used for carrying out the training to patient's upper limbs motion in second casing (2), be provided with in first casing (1) and increase resistance actuating mechanism's the training resistance of adjusting lower limbs training mechanism by sideslip mechanism horizontal motion stepping, drive upper limbs training mechanism operation by drive mechanism and carry out stepping regulation to upper limbs training resistance.

2. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 1, characterized in that: the lower limb training mechanism comprises a rotating shaft (4), the rotating shaft (4) is rotatably connected with a first shell (1), a limiting block (6) is fixedly connected to the outer wall of the rotating shaft (4), pedals (5) are fixedly connected to the two ends of the rotating shaft (4), three identical balancing weights (7) are sleeved on the outer side of the rotating shaft (4), a second through groove (9) is formed in the circle center of each balancing weight (7), a first limiting groove (10) is arranged below the second through groove (9), the second through groove (9) and the first limiting groove (10) are respectively matched with the rotating shaft (4) and the limiting block (6), a first through groove (8) is formed above the second through groove (9), a T-shaped sliding groove (11) is formed in the outer side surface of each balancing weight (7), a sliding block (12) is arranged below each balancing weight (7), and a T-shaped sliding block is fixedly connected to the top end of each sliding block (12), t type slider and T shape spout (11) sliding connection, the equal sliding connection in both ends of slider (12) has slide bar (13), the top and first casing (1) fixed connection of slide bar (13).

3. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 2, characterized in that: the bottom of the sliding block (12) is of a wedge-shaped structure.

4. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 3, characterized in that: the transverse moving mechanism comprises a movable plate (14), the movable plate (14) is connected with the first shell (1) in a sliding mode, the upper surface of the movable plate (14) is fixedly connected with three fixed blocks (15), and the three fixed blocks (15) correspond to the positions of sliding blocks (12) below the three balancing weights (7) one by one.

5. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 4, wherein: the length of three fixed block (15) differs, and is three the top surface of fixed block (15) all is equipped with plane (17), and is three fixed block (15) are equipped with inclined plane (16) towards the side of sliding block (12).

6. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 5, wherein: the upper limb training mechanism comprises two rotating parts (26), the two rotating parts (26) are respectively connected with the two sides of the second shell (2) in a rotating manner through bearings (25), the outer side faces of the rotating parts (26) are fixedly connected with crank handles (27), the inner sides of the rotating parts (26) are sequentially connected with a first connecting piece (28), a second connecting piece (29) and a third connecting piece (30) in a rotating manner, a plurality of rubber bulges (32) are fixedly connected with the inner sides of the positions, which are rotatably connected with the first connecting piece (28), the second connecting piece (29) and the third connecting piece (30), on the rotating parts (26), the rubber bulges (32) are extruded on the side faces of the first connecting piece (28), the second connecting piece (29) and the third connecting piece (30), two limit columns (31) are fixedly connected with the inner sides of the first connecting piece (28), the second connecting piece (29) and the third connecting piece (30), the length of the limiting column (31) on the third connecting piece (30) is the largest, the length of the limiting column (31) on the second connecting piece (29) is the second, the length of the limiting column (31) on the first connecting piece (28) is the smallest, two fixing rods (21) are fixedly connected to the inner wall of the second shell (2), two first circular plates (33) are arranged on two sides of the inner portion of the second shell (2), two sides of the two first circular plates (33) are both in sliding connection with the two fixing rods (21), four first sliding grooves are formed in the inner side of each first circular plate (33), one first connecting rod (34) is fixedly connected to the inner side of each first sliding groove, the four first connecting rods (34) are all in sliding connection with the first sliding grooves, a first spring (35) is sleeved on the outer side of each first connecting rod (34), and two second sliding grooves are formed in the inner side of each second circular plate (36), every second connecting rod (37), every of inboard fixedly connected with of second sliding tray second connecting rod (37) all with second sliding tray sliding connection, the outside cover of second connecting rod (37) is equipped with second spring (38), a plurality of second spacing grooves (40) have all been seted up towards the side that rotates piece (26) in first circular plate (33), second circular plate (36), third circular plate (39), spacing post (31) and second spacing groove (40) looks adaptation.

7. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 6, wherein: the outer end part of the limiting column (31) is a round head.

8. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 6, wherein: drive mechanism includes two-way threaded rod (22), two first circular slab (33) respectively with the both sides threaded connection of two-way threaded rod (22), two first belt pulley of fixedly connected with on two-way threaded rod (22), two first belt pulley passes through second drive belt (24) transmission and connects.

9. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 8, wherein: resistance-increasing actuating mechanism includes motor (20), the output shaft of motor (20) penetrates in first casing (1) and rotates with first casing (1) and is connected, fixedly connected with gear (19), downside on the output shaft of motor (20) fixedly connected with second belt pulley on two-way threaded rod (22), the inboard fixedly connected with third belt pulley of gear (19), the third belt pulley passes through first drive belt (23) and is connected with the transmission of second belt pulley, the one end fixedly connected with rack (18) of fly leaf (14), rack (18) and gear (19) mesh mutually.

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