CN2928082Y - Training device for limb recovery - Google Patents

Training device for limb recovery Download PDF

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Publication number
CN2928082Y
CN2928082Y CN 200620074779 CN200620074779U CN2928082Y CN 2928082 Y CN2928082 Y CN 2928082Y CN 200620074779 CN200620074779 CN 200620074779 CN 200620074779 U CN200620074779 U CN 200620074779U CN 2928082 Y CN2928082 Y CN 2928082Y
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CN
China
Prior art keywords
clutch
antivibrator
plate
motor
mechanical arm
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Expired - Fee Related
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CN 200620074779
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Chinese (zh)
Inventor
宋爱国
陈旭
吴涓
崔建伟
王爱民
李会军
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Southeast University
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Southeast University
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Priority to CN 200620074779 priority Critical patent/CN2928082Y/en
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Publication of CN2928082Y publication Critical patent/CN2928082Y/en
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Abstract

The utility model relates to a training device for rehabilitation of muscle and body, which comprises a motor, a frame, a mechanical arm and a reduction gear, wherein the motor is arranged on the frame, an inlet of the reduction gear is connected with a moving axis of the motor, a clutch damper is arranged between the reduction gear and the mechanical arm, a driving shaft of the clutch damper is connected with an outlet of the reduction gear, the driven shaft is connected with the mechanical arm, the driving shaft and a driving plate and a driven plate which are connected with the driving shaft are separately arranged in the shell of the clutch damper, the driving plate and the driven plate are arranged oppositely, and electro pads of reversed polarity are separately arranged on opposite surfaces of the driving plate and the driven plate. In-wall electro pads, which are the same polarity as the electro pads, are arranged on shell in-wall which is adjacent to the driving plate and the driven plate and a shell cave is stuffed by electrical flow. The training device for rehabilitation has the advantages that the structure is simple, controlling is accurate, a plurality of training modes are convenient to achieve, and operating is safe and reliable.

Description

The limb rehabilitation training device
Technical field
This utility model relates to a kind of limb rehabilitation training device that is applied to the hemiplegia of limb patient that causes because of apoplexy, spinal cord injury and various accident.
Background technology
Rehabilitation engineering is an emerging research field that is born along with the development of modern rehabilitation medicine, and the rehabilitation medical robot technology then is an of paramount importance technology in the rehabilitation engineering.The rehabilitation medical robot technology is not only the forward position and the focus of current robot area research, also is the high-tech that rehabilitation medicine and robotics combine.
One of most important achievement in research of modern neural rehabilitation medicine is exactly to have found that the central nervous system has the plasticity of height, and the rehabilitation medicine clinical research shows that it is very important and crucial medical procedure that paralytic's affected limb is carried out rehabilitation training.Patient for the limb function disability that causes because of apoplexy, spinal cord injury and various accident, in time carry out rehabilitation training, especially carry out correct rehabilitation training in the first trimester after disease is decreased, the nervimuscular function of efficient recovery just can be arranged substantially, alleviate disabled degree greatly, improve its quality of life.Great majority among China physical disabilities person belong to acquired disability at present, and wherein quite a few people's deformity then causes because fail to obtain timely, correct rehabilitation training.Therefore, the research of limb rehabilitation training robot will bring glad tidings for these patients, have extremely important social meaning.
Existing device for healing and training mainly is various types of CPM (Continuous Passive Motion, continuous passive motion) machines, and the CPM machine is mainly with Passive Mode work, i.e. mechanical arm drive people joints of hand carries out reciprocal motion.A spot of CPM machine can be with aggressive mode work, and the people's hand-motion mechanical arm that promptly returns to a certain degree carries out reciprocal motion.Up-to-date studies show that: the extremity motor function disability rehabilitation of patients training that causes because of apoplexy, spinal cord injury and various accident is needed four kinds of training modes usually, i.e. passive exercise pattern, power-assisted training mode, active training mode, damping training mode.And present recovery exercising robot usually adopts is motor, decelerator and the articulation structure of mechanical arm combination, exports the different moment of big or small direction by motor on forward or backwards, realizes four kinds of rehabilitation training patterns.But, because motor is a kind of active device, utilize motor that damping force directly is provided, may there be certain potential safety hazard for rehabilitation training, therefore, need carry out complicated safety Design and control.
Summary of the invention
This utility model is at the needs of the hemiplegia of limb patient's who causes because of apoplexy, spinal cord injury and various accident limb rehabilitation training, designed a kind of simple in structure, precise control and limb rehabilitation training device safe and reliable to operation.
This utility model provides a kind of limb rehabilitation training device, comprise motor, frame, mechanical arm and deceleration device, motor is fixed on the frame, the input of deceleration device links to each other with the turning cylinder of motor, it is characterized in that, between deceleration device and mechanical arm, be provided with a clutch-antivibrator, described clutch-antivibrator comprises driving shaft, driven shaft, shell, the driving shaft of clutch-antivibrator links to each other with the outfan of deceleration device, the driven shaft of clutch-antivibrator links to each other with mechanical arm, in the shell of clutch-antivibrator, be provided with respectively the driving disc spacing pressing and the clutch plate of fixedlying connected with driven shaft with driving shaft, the relative arrangement of driving disc spacing pressing and have the gap between the two with clutch plate, be respectively equipped with opposite polarity battery lead plate on the apparent surface of driving disc spacing pressing and clutch plate, battery lead plate in the consistent wall of battery lead plate polarity on the outer casing inner wall of driving disc spacing pressing sides adjacent, being provided with it, battery lead plate in the consistent wall of battery lead plate polarity on being provided with it on the outer casing inner wall of clutch plate sides adjacent, shell inner cavity has filled up ER fluid.In addition, deceleration device is made up of the worm and worm wheel engagement, and worm screw links to each other with the turning cylinder of motor, and worm gear links to each other with the driving shaft of clutch-antivibrator.
Limb rehabilitation training device of the present utility model has the following advantages:
(1) employing is based on the clutch-antivibrator of ER fluid, and the switching by Control of Voltage realization antivibrator and clutch function the utlity model has advantage of simple structure thereby make.
(2) adopt worm and gear speed-reduction apparatus, realized big speed reducing ratio and realized latching characteristics, thereby improved safety.
(3) clutch-antivibrator based on ER fluid is applied the voltage that is higher than given threshold value, realize the clutch function, the motor output torque is passed to mechanical arm reposefully, thereby realize passive exercise pattern and power-assisted training mode, be specially adapted to be in the patient of initial stages of restoration.
(4) allow motor quit work; clutch-antivibrator based on ER fluid is applied the voltage that is lower than given threshold value; utilize the latching characteristics of worm and gear; realize the antivibrator function, control applies voltage, realizes the accurate control of damping; thereby realize the damping training mode; under this training mode, patient's upper and lower extremities rehabilitation exercise is subjected to the protection of this limb rehabilitation training device, and safety is greatly improved.
(5) allow motor quit work, utilize the latching characteristics of worm and gear, the clutch-antivibrator based on ER fluid is applied no-voltage, thereby realize initiatively training mode.
To sum up, limb rehabilitation training device of the present utility model has that simple in structure, precise control, multiple training mode are easy to realize and easy switching, advantage safe and reliable to operation.
Description of drawings
Fig. 1 is the schematic perspective view of limb rehabilitation training device of the present utility model.
Fig. 2 is the structural representation according to the clutch-antivibrator based on ER fluid of the present utility model.
Fig. 3 is the schematic perspective view according to exercising apparatus for recovery of upper limb of the present utility model.
Fig. 4 is the schematic perspective view according to lower limb rehabilitation training device of the present utility model.
The specific embodiment
Hereinafter in conjunction with the accompanying drawings and specific embodiment limb rehabilitation training device of the present utility model is described in detail.
The deceleration device that the limb rehabilitation training device comprises motor 1, frame 2, constituted by worm screw 3 and worm gear 4, based on the clutch-antivibrator 5 and the mechanical arm 6 of ER fluid.Wherein, motor 1 is fixed on the frame 2, and the turning cylinder of motor 1 links to each other with worm screw 3, and the driving shaft 51 of the turning cylinder of worm gear 4 and clutch-antivibrator 5 connects, and the driven shaft 56 of clutch-antivibrator 5 connects with mechanical arm 6.The rotation of motor 1 drives worm screw 3 and rotates, and along with the rotation of worm screw 3, the worm gear 4 on it can produce and the perpendicular rotation of worm screw 3 rotation directions, the moving circle of worm screw revolution, and worm gear rotates the angle of a tooth.
Be provided with respectively the driving disc spacing pressing 54 and the clutch plate 58 of fixedlying connected with driven shaft 56 with driving shaft 51 in the shell 521 of clutch-antivibrator 5, driving disc spacing pressing 54 is with clutch plate 58 relative arrangements and have the gap between the two.On the apparent surface of driving disc spacing pressing 54 and clutch plate 58, be respectively equipped with positive plate 55 and minus plate 59.On the outer casing inner wall of driving disc spacing pressing 54 respective side, be provided with wall inner anode plate 53, on the outer casing inner wall of clutch plate 58 respective side, be provided with wall inner cathode plate 57.The internal cavities 522 of clutch-antivibrator 5 has filled up ER fluid.The wall inner anode plate 53 of clutch-antivibrator 5 and the positive plate 55 on the driving disc spacing pressing 54 are connected the anode of power supply jointly, and the wall inner cathode plate 57 of clutch-antivibrator 5 and the minus plate 59 on the clutch plate are connected the negative terminal of power supply jointly.
The work and the control principle of limb rehabilitation training device of the present utility model are as follows: for for the clutch-antivibrator 5 of ER fluid, because the positive plate 55 on wall inner anode plate 53 and the driving disc spacing pressing 54 is connected the anode of power supply jointly, minus plate 59 on wall inner cathode plate 57 and the clutch plate 58 is connected the negative terminal of power supply jointly, therefore when electrical source voltage is not 0, extra electric field E mainly is applied between driving disc spacing pressing 54 and the clutch plate 58, and electric field intensity is almost 0 in the cavity of driving disc spacing pressing and clutch plate outside.Therefore have only the ER fluid between driving disc spacing pressing 54 and the clutch plate 58 just to be subjected to the influence of external voltage E, thereby electric current change effect takes place.Along with the increase gradually of external voltage E, the more and more thickness that becomes of the ER fluid between driving disc spacing pressing 54 and the clutch plate 58, the relative motion damping between driving disc spacing pressing 54 and the clutch plate 58 also increases gradually; When external voltage E greater than certain threshold value E hThe time, the ER fluid full solidification between driving disc spacing pressing 54 and the clutch plate 58, driving disc spacing pressing 54 and clutch plate 58 become and connect firmly.Therefore, be in 0 voltage or E when external voltage hWhen above, work in the clutch mode based on the clutch-antivibrator 5 of ER fluid; When external voltage is in 0 voltage and E hBetween the time, work in the antivibrator mode based on the clutch-antivibrator 5 of ER fluid.
If the external diameter of driving disc spacing pressing 54 and clutch plate 58 all is r, the spacing between driving disc spacing pressing 54 and the clutch plate 58 is h, and then the shear stress of relative motion can calculate according to following formula between driving disc spacing pressing 54 and the clutch plate 58:
τ＝τ c+η·v (1)
In the formula, τ cBe yield stress, η is the plastic viscosity of ER fluid, and v is a shear rate.
If the speed discrepancy of driving disc spacing pressing 54 and clutch plate 58 is Δ n, then shear rate is:
v = d ( rωx ) dx = r h Δn - - - ( 2 )
So, the moment T that produces owing to electric rheological effect is:
T = ∫ 0 r 2 πτ x 2 dx = 2 π τ c r 3 3 + πηΔnr 4 2 h - - - ( 3 )
According to the principle of electric rheological effect, yield stress τ cCan be expressed as:
τ c = K c E 2 h 2 - - - ( 4 )
K cBe yield stress electric field coefficient.The output torque of clutch plate 58 then:
T = 2 π K c E 2 r 3 3 h 2 + πηΔnr 2 h 4 - - - ( 5 )
Because the movement velocity of recovery exercising robot is very low, thus second in the following formula can ignore, promptly
T = 2 π K c E 2 r 3 3 h 2 - - - ( 6 )
As can be known, output torque T is directly proportional with 2 powers of applied voltage E from (6) formula.Therefore we just can control the variation of damping quickly and accurately by the size of control applied voltage E.
In first embodiment of the present utility model,, can realize by following control according to four kinds of mode of operations of exercising apparatus for recovery of upper limb of the present utility model with reference to Fig. 3:
(1) passive exercise pattern
Clutch-antivibrator 5 based on ER fluid applied be higher than given threshold value E hVoltage E, then clutch-antivibrator 5 is operated in clutch state, driving shaft 51 connects firmly mutually with driven shaft 56, at this moment, clutch passes to mechanical arm 6 reposefully with the motor output torque, mechanical arm 6 drives patient's upper limb and carries out passive exercise.
(2) power-assisted training mode
In the passive exercise pattern, by detecting patient's movable information (as the nervimuscular electromyographic signal of extremity), the size and Orientation of the output torque of control motor 1, clutch passes to mechanical arm 6 reposefully with the motor output torque, 6 of mechanical arms apply with the patient attempts the consistent power of the direction of motion, helps patient's upper limb to carry out rehabilitation training.
(3) active training mode
Allow motor 1 quit work, and the clutch-antivibrator 5 based on ER fluid is applied 0 voltage, then clutch-antivibrator 5 is operated in clutch state, and driving shaft 51 and driven shaft 56 do not link, and driven shaft 56 is free to rotate.Because the latching characteristics of worm and gear, driving shaft 51 can't freely rotate.At this moment, patient's upper limb can drive mechanical arm 6 and carries out the reciprocal motion of undamped freedom.
(4) damping training mode
Allow motor 1 quit work, the clutch-antivibrator 5 based on ER fluid is applied 0-E hBetween voltage, clutch-antivibrator 5 is operated in the antivibrator state.Because the latching characteristics of worm and gear, driving shaft 51 can't freely-movable, and driven shaft 56 has freely rotating of damping.At this moment, patient's upper limb can drive the reciprocating motion that mechanical arm 6 has damping.According to (6) formula,, just can accurately control the damping of mechanical arm 6 by the size of control applied voltage.
In second embodiment of the present utility model,, can realize by following control according to four kinds of mode of operations of lower limb rehabilitation training device of the present utility model with reference to Fig. 4:
(1) passive exercise pattern
Clutch-antivibrator 5 based on ER fluid applied be higher than given threshold value E hVoltage E, then clutch-antivibrator 5 is operated in clutch state, driving shaft 51 connects firmly mutually with driven shaft 56, at this moment, clutch passes to mechanical arm 6 reposefully with the motor output torque, mechanical arm 6 drives patient's lower limb and carries out passive exercise.
(2) power-assisted training mode
In the passive exercise pattern, by detecting patient's movable information (as the nervimuscular electromyographic signal of extremity), the size and Orientation of the output torque of control motor 1, clutch passes to mechanical arm 6 reposefully with the motor output torque, 6 of mechanical arms apply with the patient attempts the consistent power of the direction of motion, helps patient's lower limb to carry out rehabilitation training.
(3) active training mode
Allow motor 1 quit work, and the clutch-antivibrator 5 based on ER fluid is applied 0 voltage, then clutch-antivibrator 5 is operated in clutch state, and driving shaft 51 and driven shaft 56 do not link, and driven shaft 56 is free to rotate.Because the latching characteristics of worm and gear, driving shaft 51 can't freely rotate.At this moment, patient's lower limb can drive mechanical arm 6 and carry out the reciprocal motion of undamped freedom.
(4) damping training mode
Allow motor 1 quit work, the clutch-antivibrator 5 based on ER fluid is applied 0-E hBetween voltage, clutch-antivibrator 5 is operated in the antivibrator state.Because the latching characteristics of worm and gear, driving shaft 51 can't freely-movable, and driven shaft 56 has freely rotating of damping.At this moment, patient's lower limb can drive the reciprocating motion that mechanical arm 6 has damping.According to (6) formula,, just can accurately control the damping of mechanical arm 6 by the size of control applied voltage.
Read after the above content, be not difficult to find that the driving disc spacing pressing mentioned and the position of positive plate on the clutch plate and minus plate can exchange herein, simultaneously the wall inner anode plate on the corresponding outer casing inner wall and the position of wall inner cathode plate also will exchange, thereby play and above describe identical effect.

Claims (2)

1, a kind of limb rehabilitation training device, comprise motor (1), frame (2), mechanical arm (6) and deceleration device, motor (1) is located on the frame (2), the input of deceleration device links to each other with the turning cylinder of motor (1), it is characterized in that, between deceleration device and mechanical arm (6), be provided with a clutch-antivibrator (5), described clutch-antivibrator comprises driving shaft (51), driven shaft (56), shell (521), the driving shaft (51) of clutch-antivibrator (5) links to each other with the outfan of deceleration device, the driven shaft (56) of clutch-antivibrator (5) links to each other with mechanical arm (6), in the shell (521) of clutch-antivibrator (5), be provided with respectively the driving disc spacing pressing (54) and the clutch plate (58) of fixedlying connected with driven shaft (56) with driving shaft (51), the relative arrangement of driving disc spacing pressing (54) and have the gap between the two with clutch plate (58), be respectively equipped with opposite polarity battery lead plate (55 on the apparent surface of driving disc spacing pressing (54) and clutch plate (58), 59), battery lead plate (53) in the consistent wall of battery lead plate polarity on the outer casing inner wall of driving disc spacing pressing (54) sides adjacent, being provided with it, battery lead plate (57) in the consistent wall of battery lead plate polarity on being provided with it on the outer casing inner wall of clutch plate (58) sides adjacent, shell inner cavity (522) has filled up ER fluid.
2, limb rehabilitation training device according to claim 1, it is characterized in that, described deceleration device is made up of intermeshing worm screw (3) and worm gear (4), and wherein worm screw (3) links to each other with the turning cylinder of motor (1), and worm gear (4) links to each other with the driving shaft (51) of clutch-antivibrator (5).
CN 200620074779 2006-07-10 2006-07-10 Training device for limb recovery Expired - Fee Related CN2928082Y (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100398273C (en) * 2006-07-10 2008-07-02 东南大学 Joint structure for rehabilitation training robot
CN101785720A (en) * 2010-03-26 2010-07-28 中国人民解放军第三军医大学第一附属医院 Recovery bracket after mammary cancer operation
CN103126856A (en) * 2013-03-08 2013-06-05 大连理工大学 Rehabilitation device used for training wrist joint to bend and stretch
CN104706504A (en) * 2015-03-26 2015-06-17 广西大学 Portable electric control device for preventing and relieving scapulohumeral periarthritis
CN108273236A (en) * 2018-02-09 2018-07-13 东北大学 A kind of limbs joint rehabilitation training device
CN108670251A (en) * 2018-06-01 2018-10-19 广州中医药大学(广州中医药研究院) Shoulder rehabilitation system and method
CN112295194A (en) * 2020-10-26 2021-02-02 桂林旅游学院 Taijiquan exercising apparatus

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100398273C (en) * 2006-07-10 2008-07-02 东南大学 Joint structure for rehabilitation training robot
CN101785720A (en) * 2010-03-26 2010-07-28 中国人民解放军第三军医大学第一附属医院 Recovery bracket after mammary cancer operation
CN103126856A (en) * 2013-03-08 2013-06-05 大连理工大学 Rehabilitation device used for training wrist joint to bend and stretch
CN104706504A (en) * 2015-03-26 2015-06-17 广西大学 Portable electric control device for preventing and relieving scapulohumeral periarthritis
CN108273236A (en) * 2018-02-09 2018-07-13 东北大学 A kind of limbs joint rehabilitation training device
CN108273236B (en) * 2018-02-09 2019-07-12 东北大学 A kind of limbs joint rehabilitation training device
CN108670251A (en) * 2018-06-01 2018-10-19 广州中医药大学(广州中医药研究院) Shoulder rehabilitation system and method
CN112295194A (en) * 2020-10-26 2021-02-02 桂林旅游学院 Taijiquan exercising apparatus

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20070801

Termination date: 20100710