CN201752559U - Three degree-of-freedom upper limb rehabilitation training device based on virtual reality technique - Google Patents
Three degree-of-freedom upper limb rehabilitation training device based on virtual reality technique Download PDFInfo
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- CN201752559U CN201752559U CN2010202086057U CN201020208605U CN201752559U CN 201752559 U CN201752559 U CN 201752559U CN 2010202086057 U CN2010202086057 U CN 2010202086057U CN 201020208605 U CN201020208605 U CN 201020208605U CN 201752559 U CN201752559 U CN 201752559U
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Abstract
The utility model discloses a three degree-of-freedom upper limb rehabilitation training device based on virtual reality technique, which comprises a vertical shaft support, a transverse shaft support, a connecting rod group and a support connecting rod group. The vertical shaft support and the transverse shaft support are connected through the support connecting rod group to form a parallel four-rod mechanism in a vertical plane. An encoder A, a magnetic powder brake A and a small pulley A are connected with double vertical shafts of the vertical shaft support through keys, an encoder B, a magnetic powder brake B and a small pulley B are connected with a transverse shaft of the transverse shaft support through keys, and a connecting rod A, a connecting rod B, a connecting rod C and a connecting rod D form a planar four-rod mechanism in a horizontal plane. The three degree-of-freedom upper limb rehabilitation training device adopts the parallelogram connecting rod mechanism in the horizontal plane to realize movement in two degree-of-freedom directions in plane, and the parallel four-rod mechanism in the vertical plane realizes vertical movement. Movements in three degree-of-freedom directions do not interfere with one another, thereby guaranteeing accuracy of movements in back-and-forth, bilateral and vertical directions, and increasing quality and effect of rehabilitation training.
Description
Technical field
The utility model relates to a kind of medical rehabilitation equipment, particularly a kind of Three Degree Of Freedom exercising apparatus for recovery of upper limb based on virtual reality technology.
Background technology
Rehabilitation training machine in the past is general and health and fitness facilities is similar, and training content is relatively more dull, and it is very uninteresting that the patient feels, is difficult to adhere to for a long time.The Three Degree Of Freedom exercising apparatus for recovery of upper limb is to utilize virtual space technology and Robotics, the hemiplegic patient's who causes at diseases such as headstrokes rehabilitation training of upper limbs and the special-purpose rehabilitation training equipment that designs.The patient can gently hold the handle of robotic arm or with broadband rope hemiplegia side wrist portion tied up on the mechanical arm handle with the have gentle hands of hemiplegia side, select to be fit to oneself training program or the very strong project of recreation property then on computers, according to the rule of training program, the patient is seeing that the mechanical arm of computer screen operating means finishes training or the recreation that designs in the Virtual Space.Carry out under the virtual environment rehabilitation training patient's arm this when experiencing power, the controlling organization of device is delivered to patient's arm to power by transmission mechanism, makes the patient have real sensation, to reach the purpose of rehabilitation training.Compare with traditional rehabilitation training machine, this device is to utilize virtual space technology to make the patient carry out rehabilitation training in the Virtual Space with the form of playing games, and arouses patient's interest easily, so that carry out long-term rehabilitation training.U.S. in recent years, developed countries such as Japan have set about this type of special-purpose convalescence device of research and development, but when moving, its mechanical arm two free degree directions in the plane interfere phenomenon with the free degree direction that moves up and down, be before and after mechanical arm is done and during side-to-side movement, what move up and down spool also rotates some angles thereupon.This interference causes mechanical arm and the relevant position in the virtual environment can not be accurately corresponding, has reduced the interest that the patient trains in virtual environment, also will influence the rehabilitation of patients effect.In addition, this kind equipment is because controlling organization adopts is the form of servomotor output torque, the i.e. active training method of machine, when controlling organization contingency is malfunctioning, the patient can feel fear extremely, easily causes patient's psychological shade, and then the rehabilitation training after the influence.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the utility model to design a mechanism the arm plane motion with move up and down do not have interfere, the Three Degree Of Freedom exercising apparatus for recovery of upper limb based on virtual reality technology of passive type.
To achieve these goals, the technical solution of the utility model is as follows: a kind of Three Degree Of Freedom exercising apparatus for recovery of upper limb based on virtual reality technology comprises vertical pivot support, transverse axis support, connection rod set, rack rod group, display, host computer and control cabinet, be connected by the rack rod group between vertical pivot support and the transverse axis support, constitute the parallelogram lindage in the vertical plane; Connecting rod joint C in the connection rod set, connecting rod joint D respectively with the vertical pivot support on interior axle be connected with outer shaft, fix by screw;
Described rack rod group comprises rack rod A and rack rod B, and the middle part of rack rod A is fixed by welding on the rack rod axle, and the one end is connected with vertical rolling bearing units on being fixed on supporting plate E, the other end is equipped with the VE piece by screw; The two ends of rack rod B respectively be fixed on supporting plate E on vertical rolling bearing units be connected with vertical rolling bearing units on being fixed on supporting plate I;
Described vertical pivot support by encoder A, magnetic powder brake A, interior axle, outer shaft, small pulley A, interior shaft pulley, outer shaft pulley, synchronously be with A, belt wheel vertical pivot, inner shaft bearing, outer axle bearing, outer shaft bearing block, round rolling bearing units A, bearing bracket A, carrier base A, belt tightener A, encoder locating piece A, magnetic powder brake locating piece A, magnetic powder brake fixed plate A, upper bracket, supporting plate A, supporting plate B, supporting plate C, supporting plate D form synchronously; Axle is installed on the inner shaft bearing in described, inner shaft bearing is fixed on the inside of outer shaft by circlip, outer shaft is installed on the outer axle bearing, and outer axle bearing is installed on the outer shaft bearing block in the mode of matched in clearance, and the outer shaft bearing block is installed on the supporting plate A by supporting plate B; Interior shaft pulley by trip bolt be installed in the axle lower end, outer shaft pulley is installed in the outer shaft lower end by trip bolt, interior shaft pulley be positioned at outer shaft pulley below; Encoder A, magnetic powder brake A, small pulley A are connected with the belt wheel vertical pivot by key, encoder A is positioned at the upper end of belt wheel vertical pivot, be fixed on the encoder locating piece A by screw, encoder locating piece A is fixed on the bearing bracket A by screw, magnetic powder brake A is positioned at the lower end of belt wheel vertical pivot, be connected with the magnetic powder brake fixed plate A by screw, the magnetic powder brake fixed plate A is connected with bearing bracket A by magnetic powder brake locating piece A, and small pulley A is positioned at the middle part of belt wheel vertical pivot; The belt wheel vertical pivot is installed on the round rolling bearing units A, and round rolling bearing units A is positioned at the both sides of small pulley A, is fixed on the bearing bracket A by screw, and bearing bracket A is connected by bolt with carrier base A, and carrier base A is fixed on the supporting plate A by screw; Two small pulley A are connected by being with A synchronously with interior shaft pulley, outer shaft pulley respectively; Belt tightener A one end is fixed on the bearing bracket A synchronously, and the other end is fixed on the supporting plate D; Link together by screw between supporting plate A, supporting plate B, supporting plate C, the supporting plate D, be fixed on the upper bracket;
Described transverse axis support by encoder B, magnetic powder brake B, small pulley B, transverse axis belt wheel, synchronously be with B, belt wheel transverse axis, rack rod axle, round rolling bearing units B, vertical rolling bearing units, bearing bracket B, carrier base B, belt tightener B, encoder locating piece B, magnetic powder brake locating piece B, magnetic powder brake fixed head B, lower carriage, supporting plate F, supporting plate G, supporting plate H, supporting plate I form synchronously; Described encoder B, magnetic powder brake B, small pulley B are connected with the belt wheel transverse axis by key, encoder B is positioned at the middle part of belt wheel transverse axis, be fixed on the encoder locating piece B by screw, encoder locating piece B is fixed on the bearing bracket B by screw, magnetic powder brake B be positioned at the belt wheel transverse axis an end, be connected with magnetic powder brake fixed head B by screw, magnetic powder brake fixed head B is connected with bearing bracket B by magnetic powder brake locating piece B, and small pulley B is positioned at the other end of belt wheel transverse axis; Described belt wheel transverse axis is installed on the round rolling bearing units B, round rolling bearing units B is between encoder B and magnetic powder brake B, be fixed on the bearing bracket B by screw, bearing bracket B is connected by bolt with carrier base B, and carrier base B is fixed on the lower carriage by screw; The transverse axis belt wheel is installed in an end of rack rod axle by key, is connected by band B synchronously with small pulley B; Belt tightener B one end is fixed on the lower carriage synchronously, and the other end is fixed on the bearing bracket B; Vertical rolling bearing units are installed on supporting plate E, supporting plate H, the supporting plate I by screw, link together by screw between supporting plate F, supporting plate G, supporting plate H, the supporting plate I, are installed on the lower carriage;
Described connection rod set is made up of connecting rod A, connecting rod B, connecting rod C, connecting rod D, connecting rod joint A, connecting rod joint B, connecting rod joint C, connecting rod joint D, joint shaft, connecting rod oscillating bearing, horizontal equilibrium piece, handle; The end of described connecting rod A is equipped with handle, its middle part and the other end by screw and by the joint bolt connecting rod joint A is housed respectively; Connecting rod B one end by the joint bolt connecting rod joint A is housed, the other end is installed on the C of connecting rod joint by trip bolt; Connecting rod C one end by screw connecting rod joint B is housed, the other end is installed on the connecting rod joint D by trip bolt; Connecting rod joint B is equipped with by screw in connecting rod D two ends; Described connecting rod joint A and connecting rod joint B link together by joint shaft and connecting rod oscillating bearing, make connecting rod A, connecting rod B, connecting rod C, connecting rod D form four-bar linkage; On connecting rod B and connecting rod joint D, the horizontal equilibrium piece is installed by screw; Connecting rod joint C is connected with interior axle by screw, and the connecting rod joint D is connected with outer shaft by screw.
Compared with prior art, the utlity model has following beneficial effect:
1, because the utility model has adopted parallelogram linkage (mechanical arm) to realize the motion of two free degree directions on the plane, and movable information being passed to continuous magnetic powder brake and encoder by dual vertical pivot, the motion between two free degree directions does not interfere.
2, because the utility model has adopted the bimodulus block mode, it is the module that planar motion mechanism and corresponding controlling organization module of forming and the mechanism that realizes moving up and down and control corresponding mechanism form, and connect with parallelogram linkage between two modules, and the balanced design of employing linkage, move in the plane of the plane parallel that planar motion mechanism is in all the time and sets at first, guaranteed that any interference does not take place for two frees degree of plane motion and the free degree of the direction that moves up and down, guaranteed the accuracy that moves up and down to have improved the quality and the effect of rehabilitation training.
3, because controlling organization of the present utility model has only adopted controlled magnetic powder brake of torque and encoder, patient's power that arm should be felt in the arm when carrying out rehabilitation training of in virtual environment, operating machine, calculate the position of handle correspondence in virtual environment of determining mechanical arm by computer by the information of encoder, size according to the brake force of programme-control magnetic powder brake, and be reflected to brake force on patient's the arm exactly by mechanical arm, be the patient initiatively and machinery is passive mode, has handling safety, easily manufactured, characteristics such as simple in structure.
Description of drawings
11 in the total accompanying drawing of the utility model, wherein:
Fig. 1 is the exercising apparatus for recovery of upper limb front view.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the exercising apparatus for recovery of upper limb axonometric drawing.
Fig. 5 is the vertical pivot support cutaway view of exercising apparatus for recovery of upper limb.
Fig. 6 is the A-A profile of Fig. 5.
Fig. 7 is the transverse axis support cutaway view of exercising apparatus for recovery of upper limb.
Fig. 8 is the B-B profile of Fig. 7.
Fig. 9 is an exercising apparatus for recovery of upper limb connection rod set front view.
Figure 10 is the C-C profile of Fig. 9.
Figure 11 is the left view of Fig. 9.
Among the figure: 1, display, 2, host computer, 3, control cabinet;
101, outer shaft, 102, the outer shaft bearing block, 103, supporting plate B, 104, supporting plate A, 105, encoder locating piece A, 106, bearing bracket A, 107, carrier base A, 108, magnetic powder brake locating piece A, 109, the magnetic powder brake fixed plate A, 110, upper bracket, 111, magnetic powder brake A, 112, round rolling bearing units A, 113, small pulley A, 114, synchronous belt tightener A, 115, supporting plate D, 116, encoder A, 117, supporting plate C, 118, the belt wheel vertical pivot, 119, be with A, 120 synchronously, interior shaft pulley, 121, outer shaft pulley, 122, inner shaft bearing, 123, outer axle bearing, 124, interior axle;
201, supporting plate E, 202, vertical rolling bearing units, 203, rack rod B, 204, rack rod A, 205, carrier base B, 206, bearing bracket B, 207, synchronous belt tightener B, 208, encoder B, 209, the belt wheel transverse axis, 210, be with B, 211 synchronously, the rack rod axle, 212, the VE piece, 213, lower carriage, 214, supporting plate F, 215, supporting plate G, 216, supporting plate H, 217, magnetic powder brake B, 218, magnetic powder brake fixed head B, 219, round rolling bearing units B, 220, magnetic powder brake locating piece B, 221, encoder locating piece B, 222, supporting plate I, 223, small pulley B, 224, the transverse axis belt wheel;
301, handle, 302, connecting rod joint B, 303, connecting rod D, 304, the connecting rod joint D, 305, connecting rod joint A, 306, horizontal equilibrium piece, 307, connecting rod joint C, 308, connecting rod B, 309, connecting rod A, 310, connecting rod C, 311, the joint bolt, 312, the connecting rod oscillating bearing, 313, joint shaft.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.Shown in Fig. 1-11, a kind of Three Degree Of Freedom exercising apparatus for recovery of upper limb based on virtual reality technology comprises vertical pivot support, transverse axis support, connection rod set, rack rod group, display 1, host computer 2 and control cabinet 3, be connected by the rack rod group between vertical pivot support and the transverse axis support, constitute the parallelogram lindage in the vertical plane; Connecting rod joint C307 in the connection rod set, connecting rod joint D 304 respectively with the vertical pivot support on interior axle 124 be connected with outer shaft 101, fix by screw;
Described rack rod group comprises rack rod A204 and rack rod B203, the middle part of rack rod A204 is fixed by welding on the rack rod axle 211, and the one end is connected with vertical rolling bearing units 202 on being fixed on supporting plate E201, the other end is equipped with VE piece 212 by screw; The two ends of rack rod B203 respectively be fixed on supporting plate E201 on vertical rolling bearing units 202 be connected with vertical rolling bearing units 202 on being fixed on supporting plate I222;
Described vertical pivot support is by encoder A116, magnetic powder brake A111, interior axle 124, outer shaft 101, small pulley A113, interior shaft pulley 120, outer shaft pulley 121, be with A119 synchronously, belt wheel vertical pivot 118, inner shaft bearing 122, outer axle bearing 123, outer shaft bearing block 102, round rolling bearing units A112, bearing bracket A106, carrier base A107, synchronous belt tightener A114, encoder locating piece A105, magnetic powder brake locating piece A108, magnetic powder brake fixed plate A 109, upper bracket 110, supporting plate A104, supporting plate B103, supporting plate C117, supporting plate D115 forms; Axle 124 is installed on the inner shaft bearing 122 in described, inner shaft bearing 122 is fixed on the inside of outer shaft 101 by circlip, outer shaft 101 is installed on the outer axle bearing 123, outer axle bearing 123 is installed on the outer shaft bearing block 102 in the mode of matched in clearance, and outer shaft bearing block 102 is installed on the supporting plate A104 by supporting plate B103; Interior shaft pulley 120 by trip bolt be installed in the axle 124 lower ends, outer shaft pulley 121 is installed in outer shaft 101 lower ends by trip bolt, interior shaft pulley 120 be positioned at outer shaft pulley 121 below; Encoder A116, magnetic powder brake A111, small pulley A113 are connected with belt wheel vertical pivot 118 by key, encoder A116 is positioned at the upper end of belt wheel vertical pivot 118, be fixed on the encoder locating piece A105 by screw, encoder locating piece A105 is fixed on the bearing bracket A106 by screw, magnetic powder brake A111 is positioned at the lower end of belt wheel vertical pivot 118, be connected with magnetic powder brake fixed plate A 109 by screw, magnetic powder brake fixed plate A 109 is connected with bearing bracket A106 by magnetic powder brake locating piece A108, and small pulley A113 is positioned at the middle part of belt wheel vertical pivot 118; Belt wheel vertical pivot 118 is installed on the round rolling bearing units A112, round rolling bearing units A112 is positioned at the both sides of small pulley A113, be fixed on the bearing bracket A106 by screw, bearing bracket A106 is connected by bolt with carrier base A107, and carrier base A107 is fixed on the supporting plate A104 by screw; Two small pulley A113 are connected by being with A119 synchronously with interior shaft pulley 120, outer shaft pulley 121 respectively; Belt tightener A114 one end is fixed on the bearing bracket A106 synchronously, and the other end is fixed on the supporting plate D115; Link together by screw between supporting plate A104, supporting plate B103, supporting plate C117, the supporting plate D115, be fixed on the upper bracket 110;
Described transverse axis support is by encoder B208, magnetic powder brake B217, small pulley B223, transverse axis belt wheel 224, be with B210 synchronously, belt wheel transverse axis 209, rack rod axle 211, round rolling bearing units B219, vertical rolling bearing units 202, bearing bracket B206, carrier base B205, synchronous belt tightener B207, encoder locating piece B221, magnetic powder brake locating piece B220, magnetic powder brake fixed head B218, lower carriage 213, supporting plate F214, supporting plate G215, supporting plate H216, supporting plate I222 forms; Described encoder B208, magnetic powder brake B217, small pulley B223 is connected with belt wheel transverse axis 209 by key, encoder B208 is positioned at the middle part of belt wheel transverse axis 209, be fixed on the encoder locating piece B221 by screw, encoder locating piece B221 is fixed on the bearing bracket B206 by screw, magnetic powder brake B217 is positioned at an end of belt wheel transverse axis 209, be connected with magnetic powder brake fixed head B218 by screw, magnetic powder brake fixed head B218 is connected with bearing bracket B206 by magnetic powder brake locating piece B220, and small pulley B223 is positioned at the other end of belt wheel transverse axis 209; Described belt wheel transverse axis 209 is installed on the round rolling bearing units B219, round rolling bearing units B219 is between encoder B208 and magnetic powder brake B217, be fixed on the bearing bracket B206 by screw, bearing bracket B206 is connected by bolt with carrier base B205, and carrier base B205 is fixed on the lower carriage 213 by screw; Transverse axis belt wheel 224 is installed in an end of rack rod axle 211 by key, is connected by band B210 synchronously with small pulley B223; Belt tightener B207 one end is fixed on the lower carriage 213 synchronously, and the other end is fixed on the bearing bracket B206; Vertical rolling bearing units 202 are installed on supporting plate E201, supporting plate H216, the supporting plate I222 by screw, link together by screw between supporting plate F214, supporting plate G215, supporting plate H216, the supporting plate I222, are installed on the lower carriage 213;
Described connection rod set is made up of connecting rod A309, connecting rod B308, connecting rod C310, connecting rod D303, connecting rod joint A305, connecting rod joint B302, connecting rod joint C307, connecting rod joint D 304, joint shaft 313, connecting rod oscillating bearing 312, horizontal equilibrium piece 306, handle 301; The end of described connecting rod A309 is equipped with handle 301, its middle part and the other end by screw and by joint bolt 311 connecting rod joint A305 is housed respectively; Connecting rod B308 one end by joint bolt 311 connecting rod joint A305 is housed, the other end is installed on the C307 of connecting rod joint by trip bolt; Connecting rod C310 one end by screw connecting rod joint B302 is housed, the other end is installed on the connecting rod joint D 304 by trip bolt; Connecting rod joint B302 is equipped with by screw in connecting rod D303 two ends; Described connecting rod joint A305 and connecting rod joint B302 link together by joint shaft 313 and connecting rod oscillating bearing 312, make connecting rod A309, connecting rod B308, connecting rod C310, connecting rod D303 form four-bar linkage; On connecting rod B308 and connecting rod joint D 304, horizontal equilibrium piece 306 is installed by screw; Connecting rod joint C307 is connected with interior axle 124 by screw, and connecting rod joint D 304 is connected with outer shaft 101 by screw.
During the utility model work, connection rod set is at horizontal in-plane moving, four connecting rods constitute parallelogram, connecting rod A309 parallel rod B308, connecting rod C310 parallel rod D303, the motion of handle 301 motion drivening rod groups, the rotation of axle 124 in connecting rod B308 converts the motion on the x direction to, connecting rod D303 converts the motion on the y direction to the rotation of outer shaft 101, interior shaft pulley 120 and outer shaft pulley 121 drive corresponding small pulley A113 respectively and rotate, thereby encoder A116 and magnetic powder brake A111 that small pulley A113 is driven on the belt wheel vertical pivot 118 rotate, encoder A116 measures the direction and the angle of rotation, the motion of magnetic powder brake A111 control belt wheel vertical pivot 118 makes handle 301 two free degree directions in horizontal plane be subjected to brake force.Horizontal equilibrium piece 306 is used for the weight of balanced connecting rod group in the motion process.When handle 301 moves up and down, drive the mass motion of vertical pivot support, the vertical pivot support, the transverse axis support, rack rod A204 and rack rod B203 constitute the parallelogram lindage in the vertical plane, the motion of handle 301 on the z direction converted to the rotation of rack rod axle 211, the transverse axis belt wheel 224 of rack rod axle 211 axle heads drives small pulley B223 and rotates, thereby the encoder B208 and the magnetic powder brake B217 that drive on the belt wheel transverse axis 209 rotate, encoder B208 measures the direction and the angle of rotation, the motion of magnetic powder brake B217 control belt wheel transverse axis 209, make handle 301 on the z direction, be subjected to brake force, the end of rack rod A204 is equipped with VE piece 212, with balanced connecting rod group and vertical pivot support.Three encoders send data to host computer 2 by control cabinet 3, the position in the Virtual Space that the definite handle 301 of host computer 2 analyses represents in display 1, and pass through the brake force that control cabinet 3 output signals are controlled magnetic powder brake.
Claims (1)
1. the Three Degree Of Freedom exercising apparatus for recovery of upper limb based on virtual reality technology comprises vertical pivot support, transverse axis support, connection rod set, rack rod group, display (1), host computer (2) and control cabinet (3), be connected by the rack rod group between vertical pivot support and the transverse axis support, constitute the parallelogram lindage in the vertical plane; Connecting rod joint C (307) in the connection rod set, connecting rod joint D (304) respectively with the vertical pivot support on interior axle (124) be connected with outer shaft (101), fix by screw; Described rack rod group comprises rack rod A (204) and rack rod B (203), the middle part of rack rod A (204) is fixed by welding on the rack rod axle (211), and the one end is connected with vertical rolling bearing units (202) on being fixed on supporting plate E (201), the other end is equipped with VE piece (212) by screw; The two ends of rack rod B (203) respectively be fixed on supporting plate E (201) on vertical rolling bearing units (202) be connected with vertical rolling bearing units (202) on being fixed on supporting plate I (222); It is characterized in that:
Described vertical pivot support is by encoder A (116), magnetic powder brake A (111), interior axle (124), outer shaft (101), small pulley A (113), interior shaft pulley (120), outer shaft pulley (121), be with A (119) synchronously, belt wheel vertical pivot (118), inner shaft bearing (122), outer axle bearing (123), outer shaft bearing block (102), round rolling bearing units A (112), bearing bracket A (106), carrier base A (107), synchronous belt tightener A (114), encoder locating piece A (105), magnetic powder brake locating piece A (108), magnetic powder brake fixed plate A (109), upper bracket (110), supporting plate A (104), supporting plate B (103), supporting plate C (117), supporting plate D (115) forms; Axle (124) is installed on the inner shaft bearing (122) in described, inner shaft bearing (122) is fixed on the inside of outer shaft (101) by circlip, outer shaft (101) is installed on the outer axle bearing (123), outer axle bearing (123) is installed on the outer shaft bearing block (102) in the mode of matched in clearance, and outer shaft bearing block (102) is installed on the supporting plate A (104) by supporting plate B (103); Interior shaft pulley (120) is installed in interior axle (124) lower end by trip bolt, and outer shaft pulley (121) is installed in outer shaft (101) lower end by trip bolt, interior shaft pulley (120) be positioned at outer shaft pulley (121) below; Encoder A (116), magnetic powder brake A (111), small pulley A (113) is connected with belt wheel vertical pivot (118) by key, encoder A (116) is positioned at the upper end of belt wheel vertical pivot (118), be fixed on the encoder locating piece A (105) by screw, encoder locating piece A (105) is fixed on the bearing bracket A (106) by screw, magnetic powder brake A (111) is positioned at the lower end of belt wheel vertical pivot (118), be connected with magnetic powder brake fixed plate A (109) by screw, magnetic powder brake fixed plate A (109) is connected with bearing bracket A (106) by magnetic powder brake locating piece A (108), and small pulley A (113) is positioned at the middle part of belt wheel vertical pivot (118); Belt wheel vertical pivot (118) is installed on the round rolling bearing units A (112), round rolling bearing units A (112) is positioned at the both sides of small pulley A (113), be fixed on the bearing bracket A (106) by screw, bearing bracket A (106) is connected by bolt with carrier base A (107), and carrier base A (107) is fixed on the supporting plate A (104) by screw; Two small pulley A (113) are connected by being with A (119) synchronously with interior shaft pulley (120), outer shaft pulley (121) respectively; Belt tightener A (114) one ends are fixed on the bearing bracket A (106) synchronously, and the other end is fixed on the supporting plate D (115); Supporting plate A (104), supporting plate B (103), supporting plate C (117), supporting plate D link together by screw between (115), are fixed on the upper bracket (110);
Described transverse axis support is by encoder B (208), magnetic powder brake B (217), small pulley B (223), transverse axis belt wheel (224), be with B (210) synchronously, belt wheel transverse axis (209), rack rod axle (211), round rolling bearing units B (219), vertical rolling bearing units (202), bearing bracket B (206), carrier base B (205), synchronous belt tightener B (207), encoder locating piece B (221), magnetic powder brake locating piece B (220), magnetic powder brake fixed head B (218), lower carriage (213), supporting plate F (214), supporting plate G (215), supporting plate H (216), supporting plate I (222) is formed; Described encoder B (208), magnetic powder brake B (217), small pulley B (223) is connected with belt wheel transverse axis (209) by key, encoder B (208) is positioned at the middle part of belt wheel transverse axis (209), be fixed on the encoder locating piece B (221) by screw, encoder locating piece B (221) is fixed on the bearing bracket B (206) by screw, magnetic powder brake B (217) is positioned at an end of belt wheel transverse axis (209), be connected with magnetic powder brake fixed head B (218) by screw, magnetic powder brake fixed head B (218) is connected with bearing bracket B (206) by magnetic powder brake locating piece B (220), and small pulley B (223) is positioned at the other end of belt wheel transverse axis (209); Described belt wheel transverse axis (209) is installed on the round rolling bearing units B (219), round rolling bearing units B (219) is positioned between encoder B (208) and the magnetic powder brake B (217), be fixed on the bearing bracket B (206) by screw, bearing bracket B (206) is connected by bolt with carrier base B (205), and carrier base B (205) is fixed on the lower carriage (213) by screw; Transverse axis belt wheel (224) is installed in an end of rack rod axle (211) by key, is connected by band B (210) synchronously with small pulley B (223); Belt tightener B (207) one ends are fixed on the lower carriage (213) synchronously, and the other end is fixed on the bearing bracket B (206); Vertical rolling bearing units (202) are installed on supporting plate E (201), supporting plate H (216), the supporting plate I (222) by screw, supporting plate F (214), supporting plate G (215), supporting plate H (216), supporting plate I link together by screw between (222), are installed on the lower carriage (213);
Described connection rod set is made up of connecting rod A (309), connecting rod B (308), connecting rod C (310), connecting rod D (303), connecting rod joint A (305), connecting rod joint B (302), connecting rod joint C (307), connecting rod joint D (304), joint shaft (313), connecting rod oscillating bearing (312), horizontal equilibrium piece (306), handle (301); The end of described connecting rod A (309) is equipped with handle (301), its middle part and the other end by screw and by joint bolt (311) connecting rod joint A (305) is housed respectively; Connecting rod B (308) one ends by joint bolt (311) connecting rod joint A (305) is housed, the other end is installed on the connecting rod joint C (307) by trip bolt; Connecting rod C (310) one ends by screw connecting rod joint B (302) is housed, the other end is installed on the connecting rod joint D (304) by trip bolt; Connecting rod D (303) is equipped with connecting rod joint B (302) by screw in two ends; Described connecting rod joint A (305) and connecting rod joint B (302) link together by joint shaft (313) and connecting rod oscillating bearing (312), make connecting rod A (309), connecting rod B (308), connecting rod C (310), connecting rod D (303) form four-bar linkage; Upward horizontal equilibrium piece (306) is installed at connecting rod B (308) and connecting rod joint D (304) by screw; Connecting rod joint C (307) is connected with interior axle (124) by screw, and connecting rod joint D (304) is connected with outer shaft (101) by screw.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202086057U CN201752559U (en) | 2010-05-25 | 2010-05-25 | Three degree-of-freedom upper limb rehabilitation training device based on virtual reality technique |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202086057U CN201752559U (en) | 2010-05-25 | 2010-05-25 | Three degree-of-freedom upper limb rehabilitation training device based on virtual reality technique |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104800050A (en) * | 2015-05-21 | 2015-07-29 | 王妍 | Upper limb exercise equipment |
| CN110251917A (en) * | 2019-03-28 | 2019-09-20 | 安徽中科裕田智能科技有限公司 | A kind of taijiquan basis works digitize training device |
-
2010
- 2010-05-25 CN CN2010202086057U patent/CN201752559U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104800050A (en) * | 2015-05-21 | 2015-07-29 | 王妍 | Upper limb exercise equipment |
| CN104800050B (en) * | 2015-05-21 | 2017-03-08 | 王妍 | A kind of upper body exercise apparatus |
| CN110251917A (en) * | 2019-03-28 | 2019-09-20 | 安徽中科裕田智能科技有限公司 | A kind of taijiquan basis works digitize training device |
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