CN114042291B - 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 carry out lower limbs training and upper limbs training to the patient, and indirect training trains heart lung function, and the unable adjustment resistance size of current trainer can't be effectively according to patient's the condition of resumeing when patient carries out the rehabilitation training and adjusts the resistance.

Application number is CN202110132701.0 and 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 bottom plate is close to the inside second spout of having seted up of one end of 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 operating means 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 the adjusting force 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, low limbs training mechanism includes the pivot, the pivot rotates with first casing to be connected, fixedly connected with stopper on the outer wall of pivot, the equal fixedly connected with pedal in both ends of pivot, the outside cover of pivot is equipped with three the same balancing weight, the centre of a circle department of balancing weight has seted up the second and has led to the groove, the below that the second led to the groove is equipped with first spacing groove, the second leads to the groove and leads to the groove with first spacing groove respectively with pivot and stopper looks adaptation, the top that the second led to the groove is equipped with first logical groove, T shape spout has been seted up to the lateral surface of balancing weight, the below of balancing weight is provided with the sliding block, the top fixedly connected with T type slider of 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 fixing blocks are fixedly connected to the upper surface of the movable plate, and the three fixing 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 three-dimensional cross-sectional structure diagram of an auxiliary training device for spinal cord injury rehabilitation based on virtual reality according to the present invention;

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

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

FIG. 5 is a schematic three-dimensional structure of the transverse moving 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 structure of a rotor according to the present invention;

FIG. 11 is a schematic three-dimensional sectional view of a rotating member 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.

Lower limb training mechanism includes pivot 4, pivot 4 rotates with first casing 1 to be connected, fixedly connected with stopper 6 on the outer wall of pivot 4, the equal fixedly connected with pedal 5 in both ends of pivot 4, the outside cover of pivot 4 is equipped with three the same balancing weight 7, second logical groove 9 has been seted up to the centre of a circle department of balancing weight 7, the below of second logical groove 9 is equipped with first spacing groove 10, second logical groove 9 and first spacing groove 10 respectively with pivot 4 and stopper 6 looks adaptation, the top of second logical groove 9 is equipped with first logical groove 8, the diameter of first logical groove 8 needs to satisfy pivot 4 and stopper 6 can free rotation in it, T shape spout 11 has been seted up to the lateral surface of balancing weight 7, the below of balancing weight 7 is provided with sliding block 12, as shown in fig. 6, the bottom of sliding block 12 is the wedge structure, the top fixedly connected with T type slider of sliding block 12, T type slider and T shape spout 11 sliding connection, the equal sliding connection in both ends of sliding block 12 has slide bar 13, the top and the first casing 1 fixed connection of slide bar 13, after sliding block 12 and 7 move upwards, plane contact 17 at fixed block 15 and stopper 12, this moment second logical groove carry out spacing groove 10 and second logical groove 10 respectively.

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 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, the inner sides of the rotating parts 26 are sequentially rotatably connected with a first connecting piece 28, a second connecting piece 29 and a third connecting piece 30, a plurality of rubber bulges 32 are fixedly connected with the inner sides of the parts of the rotating parts 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 limit posts 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 portions of the limit posts 31 are round heads, so as to facilitate the insertion of the limit posts 31 into the second limit grooves 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. First connecting rod 34 of inboard fixedly connected with of every first sliding tray, four first connecting rods 34 all with second circular plate 36 sliding connection, the outside cover of first connecting rod 34 is equipped with first spring 35, two second sliding trays have been seted up to the inboard of second circular plate 36, second connecting rod 37 of inboard fixedly connected with of every second sliding tray, two second connecting rods 37 all with third circular plate 39 sliding connection. The second spring 38 is sleeved on the outer side of 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 by an output shaft of a motor 20, so that 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 contacted with the trapezoidal inclined surface of the leftmost sliding block 12 (left and right directions in fig. 5), the leftmost sliding block 12 and the counterweight 7 are further pushed to move upwards, and when the movable plate 14 continues to move, the sliding block 12 and the counterweight 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 manner, and the transmission mechanism drives the upper limb training mechanism to operate to adjust the upper limb training resistance in a stepping manner. 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 compressed 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. Therefore, before the device is used, the resistance of the rotating shaft 4 and the rotating member 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 shift position 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 fixing 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 fixing 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 connecting member 30 is restrained from rotating, so that the patient must overcome the friction force of the rubber protrusions 32 in the rotating grooves of the third connecting member 30 to rotate the crank 27 and the rotating member 26.

If the two-gear state is required to be adjusted, the pedals 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 (4)

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): a lower limb training mechanism used for training the leg movement of a patient is arranged in the first shell (1), an upper limb training mechanism used for training the upper limb movement of the patient is arranged in the second shell (2), a resistance-increasing driving mechanism is arranged in the first shell (1), the training resistance of the lower limb training mechanism is adjusted in a stepping manner by the horizontal movement of the transverse moving mechanism under the driving of the resistance-increasing driving mechanism, and the upper limb training mechanism is driven by the transmission mechanism to operate to adjust the upper limb training resistance in a stepping manner;

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 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 formed below each second through groove (9), 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 formed above each 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), a T-shaped sliding block is fixedly connected to the top end of each sliding block (12), each T-shaped sliding block is slidably connected with the T-shaped sliding groove (11), two ends of each sliding block (12) are slidably connected with the top end of each sliding rod (13), and the first shell (1) is fixedly connected with each sliding rod (13);

the bottom of the sliding block (12) is of a wedge-shaped structure;

the transverse moving mechanism comprises a movable plate (14), the movable plate (14) is connected with the first shell (1) in a sliding mode, three fixed blocks (15) are fixedly connected to the upper surface of the movable plate (14), and the three fixed blocks (15) correspond to the positions of sliding blocks (12) below the three balancing weights (7) one by one respectively;

the lengths of the three fixed blocks (15) are different, the top surfaces of the three fixed blocks (15) are provided with planes (17), and the side surfaces of the three fixed blocks (15) facing the sliding block (12) are provided with inclined planes (16);

the upper limb training mechanism comprises two rotating parts (26), the two rotating parts (26) are respectively connected with two sides of a second shell (2) in a rotating manner through bearings (25), a crank (27) is fixedly connected to the outer side face of each rotating part (26), a plurality of rubber bulges (32) are sequentially and rotatably connected to the inner side of each rotating part (26) and are extruded on the side faces of the first connecting part (28), the second connecting part (29) and the third connecting part (30), the inner sides of the first connecting part (28), the second connecting part (29) and the third connecting part (30) are respectively and fixedly connected with two limiting columns (31), the length of the limiting column (31) on the third connecting part (30) is maximum, the length of the limiting column (31) on the second connecting part (29) is the second time, the length of the first connecting part (28) is the second limiting column (31) is the second time, the length of the first connecting part (28) is the second connecting part (31) is the smallest, and two inner side faces of the second shell (2) are respectively connected with two fixing plates (21), two the both sides of first circular plate (33) all with two dead lever (21) sliding connection, four first sliding tray, every have been seted up to the inboard of first circular plate (33) first connecting rod (34), four of inboard fixedly connected with of first sliding tray first connecting rod (34) all with second circular plate (36) sliding connection, the outside cover of first connecting rod (34) is equipped with first spring (35), two second sliding trays, every have been seted up to the inboard of second circular plate (36) second connecting rod (37) of inboard fixedly connected with of second sliding tray, every second connecting rod (37) all with third circular plate (39) 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) to first circular plate (33), second circular plate (36), third circular plate (39), spacing post (31) and second spacing groove (40) looks adaptation.

2. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 1, characterized in that: the outer end part of the limiting column (31) is a round head.

3. The auxiliary training device for spinal cord injury rehabilitation based on virtual reality as claimed in claim 1, characterized in that: the transmission mechanism comprises two-way threaded rods (22), the two first circular plates (33) are in threaded connection with two sides of the two-way threaded rods (22) respectively, first belt pulleys are fixedly connected to the two-way threaded rods (22), and the two first belt pulleys are in transmission connection through a second transmission belt (24).

4. The virtual reality-based auxiliary training device for spinal cord injury rehabilitation according to claim 3, characterized in that: resistance-increasing actuating mechanism includes motor (20), the output shaft of motor (20) penetrates in first casing (1) and rotates with first casing (1) to be connected, fixedly connected with gear (19), downside on the output shaft of motor (20) fixedly connected with second belt pulley on the two-way threaded rod (22), the inboard fixedly connected with third belt pulley of gear (19), the third belt pulley is connected with second belt pulley transmission through first drive belt (23), the one end fixedly connected with rack (18) of fly leaf (14), rack (18) and gear (19) mesh mutually.

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