An electromagnetic pin running and testing device for upper limb rehabilitation equipment

Abstract

This utility model discloses an electromagnetic pin running and testing device for upper limb rehabilitation equipment, including a crossbeam base, a drive motor, a torque sensor, a rotating head, a limiting impact block, a counting sensor, and an electromagnetic pin fixing assembly. The drive motor is vertically downwardly mounted at one end of the crossbeam base. The first connecting shaft of the torque sensor is connected to the output shaft of the drive motor, and the second connecting shaft of the torque sensor is connected to the rotating head. The limiting impact block is mounted on the circumferential surface of the rotating head, and the spindle of the electromagnetic pin is located on the rotation trajectory of the limiting impact block in the extended state. The counting sensor is mounted on the lower end face of the crossbeam base, and the sensing path of the counting sensor is located on one side of the spindle of the electromagnetic pin in the extended state. This utility model can realize the running and testing of electromagnetic pins, reduce the safety risks caused by component failure in rehabilitation equipment, and significantly improve testing efficiency compared to manual inspection.

Description

Technical Field

[0001] This utility model relates to the field of experimental equipment technology, specifically to an electromagnetic pin runner and experimental device for upper limb rehabilitation equipment. Background Technology

[0002] In upper limb rehabilitation training equipment, electromagnetic pins are used to achieve automatic switching and limiting of the left and right arm movements. The switching process of the left and right arms in the upper limb rehabilitation equipment is divided into three steps: first, the mechanical arm is lowered to save rotation space and torque; then, the left and right arms are switched; and finally, the mechanical arm is raised. The electromagnetic pin structure is simple. When the electromagnet is energized, it attracts the internal extension rod to retract; when the power is cut off, the extension rod is lifted. The mechanical limiting during the switching process is achieved by two electromagnetic pins. Two retractable mechanical pins are installed on the flange side of the mechanical arm, and their extension and retraction are controlled by a circuit. The lower end face of the limiting outer ring has two arc grooves. In right-hand mode, the pin of the right-hand limit switch is inserted into the groove, and the pin of the left-hand limit switch is retracted. At this time, the right-hand limit is open and the left-hand limit is closed, which can meet the range of motion of the right hand. The left-hand mode limit works in the same way. When switching from the right arm to the left arm, both limit pins retract simultaneously. After the switch is complete, the left arm limit pin extends while the right arm limit pin remains retracted. The same applies when switching from the left arm to the right arm.

[0003] The stability of the electromagnetic pin's performance directly affects the equipment's operation. If the electromagnetic pin fails to engage or does not engage properly when needed, it can lead to mechanical impact and damage to the equipment. Conversely, if the electromagnetic pin operates when it is not needed, it can also cause mechanical impact and damage to the equipment. Therefore, it is necessary to design an electromagnetic pin running and testing device to conduct running and testing tests on the electromagnetic pin to ensure safe use. Utility Model Content

[0004] The purpose of this invention is to solve the above-mentioned technical problems and provide an electromagnetic pin running and testing device for upper limb rehabilitation equipment.

[0005] To address the shortcomings of the aforementioned technical problems, the present invention adopts the following technical solution: an electromagnetic pin running and testing device for upper limb rehabilitation equipment, comprising a crossbeam base, a drive motor, a torque sensor, a rotating head, a limiting impact block, a counting sensor, and an electromagnetic pin fixing assembly.

[0006] The drive motor is located at one end of the crossbeam base, and the output shaft of the drive motor is vertically downward. The drive motor is fixed to the crossbeam base through its housing.

[0007] The first connecting shaft of the torque sensor is connected to the output shaft of the drive motor, and the second connecting shaft of the torque sensor is connected to the rotating head. The rotating head has a disc structure, and the second connecting shaft of the torque sensor is coaxially arranged with the rotating head.

[0008] The electromagnetic pin fixing assembly includes a fixing housing, which is a cylindrical structure. The electromagnetic pin to be tested can be placed inside the fixing housing. One end of the fixing housing is provided with a through hole through which the mandrel of the electromagnetic pin can pass. The through hole of the fixing housing is vertically arranged downward on the lower end face of the crossbeam base. The fixing housing and the crossbeam base are detachably connected.

[0009] The limiting impact block is set on the circumferential surface of the rotating head, and the spindle of the electromagnetic pin is located on the rotation trajectory of the limiting impact block when it is extended.

[0010] The counting sensor is located on the lower end face of the beam base, and the sensing path of the counting sensor is located on one side of the spindle of the electromagnetic pin in the extended state.

[0011] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the crossbeam base is provided with a vertical mounting through hole, and the drive motor is placed in the mounting through hole.

[0012] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the counting sensor is a photoelectric counting sensor or an ultrasonic counting sensor.

[0013] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the outer wall of the limiting impact block is wrapped with a shock-absorbing pad.

[0014] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the limiting impact block is detachably connected to the rotating head.

[0015] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the circumferential surface of the rotating head is provided with a threaded hole, and the limiting impact block has a threaded post that can be screwed into the threaded hole.

[0016] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the end of the fixed shell opposite to the through hole is set as an open end, and a tail cap is screwed on the open end, and a tower-shaped spring is provided on the inner end face of the tail cap.

[0017] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the testing device further includes a controller, a human-computer interaction module and a power supply module. The power supply module is used to supply power to the controller, drive motor, torque sensor, counting sensor and electromagnetic pin to be tested. The controller is electrically connected to the drive motor, torque sensor, counting sensor, human-computer interaction module and electromagnetic pin to be tested.

[0018] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the power supply module is an AC / DC power supply module.

[0019] As a further optimization of the electromagnetic pin running and testing device for upper limb rehabilitation equipment of this utility model: the controller is an STM32F407 microcontroller.

[0020] The present invention has the following beneficial effects: The present invention can realize the running and testing of electromagnetic pins, reduce the safety risks caused by component failure of rehabilitation equipment, and significantly improve the testing efficiency compared with manual testing. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the running and testing device of this utility model (when the rotating head is at zero position);

[0022] Figure 2 This is a schematic diagram of the structure of the running and testing device of this utility model (when the rotating head is in the stop position);

[0023] Figure 3 This is a schematic block diagram of the electrical module of the running and testing device of this utility model;

[0024] Marked in the image:

[0025] 1. Beam base;

[0026] 2. Drive motor;

[0027] 3. Torque sensor;

[0028] 4. Rotating head;

[0029] 5. Limiting impact block;

[0030] 6. Counting sensor;

[0031] 7. Electromagnetic pin fixing assembly;

[0032] 8. Spindle. Detailed Implementation

[0033] To better understand this utility model, the following embodiments further illustrate the content of this utility model, but the content of this utility model is not limited to the following embodiments.

[0034] As shown in the figure, an electromagnetic pin running and testing device for upper limb rehabilitation equipment includes a crossbeam base 1, a drive motor 2, a torque sensor 3, a rotating head 4, a limiting impact block 5, a counting sensor 6, and an electromagnetic pin fixing assembly 7.

[0035] The drive motor 2 is located at one end of the crossbeam base 1, which has a vertical mounting through hole. The drive motor 2 is placed inside the mounting through hole. The output shaft of the drive motor 2 is vertically downward, and the drive motor 2 is fixed to the crossbeam base 1 by its housing.

[0036] The first connecting shaft of the torque sensor 3 is connected to the output shaft of the drive motor 2, and the second connecting shaft of the torque sensor 3 is connected to the rotating head 4. The rotating head 4 has a disc structure, and the second connecting shaft of the torque sensor 3 is coaxially arranged with the rotating head 4.

[0037] The electromagnetic pin fixing assembly 7 includes a fixing housing, which is a cylindrical structure. The electromagnetic pin to be tested can be placed inside the fixing housing. One end of the fixing housing is provided with a through hole through which the spindle 8 of the electromagnetic pin can pass. The fixing housing is detachably mounted on the lower end face of the crossbeam base 1, with its through hole facing the rotating head 4 and axially horizontal. The end of the fixing housing opposite to the through hole is set as an open end, and a tail cap is screwed onto this open end. A tower-shaped spring is provided on the inner end face of the tail cap.

[0038] Specifically, the fixed housing is manufactured in sections from high-strength aluminum alloy, including a front housing section and a rear connecting ring, which are connected by precision threads. An axial guide groove is provided inside the housing; the groove depth and width match the outer diameter of the electromagnetic pin, limiting the circumferential rotation of the electromagnetic pin and ensuring the mandrel is horizontally aligned with the through hole. The inner wall of the through hole is plated with a hard chromium layer, and the hole diameter is 0.2mm larger than the diameter of the electromagnetic pin mandrel, avoiding frictional resistance and ensuring radial stability during mandrel extension and retraction. The housing is connected to the lower end face of the crossbeam base via a dovetail clip, with a spring-loaded steel ball positioning pin inside the clip; pressing release allows for quick disassembly of the housing.

[0039] The limiting impact block 5 is disposed on the circumferential surface of the rotating head 4, and the spindle 8 of the electromagnetic pin is located on the rotation trajectory of the limiting impact block 5 when extended. Specifically, the circumferential surface of the rotating head 4 is provided with a threaded hole, and the limiting impact block 5 has a threaded post that can be screwed into the threaded hole. The outer wall of the limiting impact block 5 is covered with a shock-absorbing pad.

[0040] The counting sensor 6 is disposed on the lower end face of the beam base 1, and the sensing path of the counting sensor 6 is located on one side of the spindle 8 of the electromagnetic pin in the extended state. The counting sensor 6 is a photoelectric counting sensor or an ultrasonic counting sensor.

[0041] The testing apparatus also includes a controller, a human-machine interface module, and a power supply module (electrical module). The power supply module supplies power to the controller, drive motor 2, torque sensor 3, counting sensor 6, and the electromagnetic pin under test. The controller is electrically connected to drive motor 2, torque sensor 3, counting sensor 6, and the electromagnetic pin under test. The power supply module is an AC / DC power supply module. The controller is an STM32F407 microcontroller.

[0042] The working principle of an electromagnetic pin is based on electromagnetic induction. When the coil is energized, a magnetic field is generated. This magnetic field magnetizes the mandrel, causing it to interact with a fixed magnetic component (such as a magnet). This force overcomes the resistance of the spring, causing the mandrel to retract into the electromagnetic coil. When the power is off, the magnetic field disappears, and the mandrel extends under the action of the spring force.

[0043] The purpose of this invention is to realize the operation of an electromagnetic pin, specifically its attraction and release actions when installed vertically downwards. These actions require testing after a period of power-on, typically 24 hours. The power-on duration should be adjustable from 0 to 99 hours. Data communication is achieved via a serial port and a human-machine interface. The power-on duration (range 0-99 hours) and the number of tests (range 0-9999) can be set. When the power-on duration is reached, the electromagnetic pin activates, and the controller sends a motor rotation command. The motor drives the rotating head to rotate from zero until the limit impact block contacts the spindle of the electromagnetic pin, at which point the rotating head stops. Simultaneously, a counting sensor detects the limit impact block and counts. The drive motor determines whether the electromagnetic pin position has been reached based on the torque sensor reading. If the position has been reached, the controller commands the motor to stop rotating and then reverse back to zero, completing one action. This process is repeated until the set number of tests is reached. The drive motor speed can also be set via the human-machine interface.

[0044] Set the following parameters via the human-machine interface: Power-on time: adjustable from 0 to 99 hours (default 24 hours). Number of tests: 0 to 9999 cycles (default 1000 cycles). Drive motor speed: set according to the load characteristics of the electromagnetic pin (e.g., 10 to 50 RPM). Confirm that the output voltage of the power module (AC / DC) matches the rated voltage of the electromagnetic pin.

[0045] The controller receives instructions from the human-machine interface module via serial port, activates the power module to supply power to the electromagnetic pin, and begins the power-on countdown. During power-on, the electromagnetic pin remains in an engaged state, and the controller monitors current and temperature data in real time. If the data exceeds a threshold, an alarm is triggered. The drive motor 2 performs a no-load operation test, rotating the head 4 from zero to the mechanical limit and back, verifying that the deviation between the torque sensor 3's feedback value and the preset value is within ±2%.

[0046] Running-in test execution procedure

[0047] 1. Single action loop

[0048] Step 1: Trigger the release of the electromagnetic pin

[0049] After the power-on time reaches the set value, the controller cuts off the power supply to the electromagnetic pin, and the electromagnetic pin spindle pops out to the extended state under the action of the tower spring.

[0050] Step 2: Drive the motor to rotate in the forward direction

[0051] The controller sends a command to start the drive motor, which drives the rotating head to rotate from zero position, and the torque sensor detects the load torque in real time.

[0052] Judgment condition: When the torque value suddenly increases to a preset threshold (e.g., ≥1.5 N·m), it is determined that the limit impact block has contacted the electromagnetic pin shaft, and the motor is stopped immediately.

[0053] Step 3: Counting and Reverse Reset

[0054] The counting sensor detects the limit impact block passing through, accumulating the number of tests (+1). The controller controls the drive motor to rotate in the opposite direction, causing the rotating head to return to the zero position, completing one cycle.

[0055] 2. Repeat in a loop

[0056] Repeat the above single action until the set number of trials is reached.

[0057] The controller records the following data in real time: peak torque for each cycle and action response time (the delay from the release of the electromagnetic pin to the stop of the motor).

[0058] Total number of trials and remaining cycles.

[0059] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. An electromagnetic pin running and testing device for upper limb rehabilitation equipment, characterized in that: It includes a beam base (1), a drive motor (2), a torque sensor (3), a rotating head (4), a limit impact block (5), a counting sensor (6), and an electromagnetic pin fixing assembly (7); The drive motor (2) is located at one end of the crossbeam base (1), and the output shaft of the drive motor (2) is set vertically downward. The drive motor (2) is fixed to the crossbeam base (1) through its housing. The first connecting shaft of the torque sensor (3) is connected to the output shaft of the drive motor (2), and the second connecting shaft of the torque sensor (3) is connected to the rotating head (4). The rotating head (4) is a disc structure, and the second connecting shaft of the torque sensor (3) is coaxially arranged with the rotating head (4). The electromagnetic pin fixing assembly (7) includes a fixing housing, which is a cylindrical structure. The electromagnetic pin to be tested can be placed inside the fixing housing. One end of the fixing housing is provided with a through hole through which the spindle (8) of the electromagnetic pin can pass. The through hole of the fixing housing is vertically arranged on the lower end face of the beam base (1) with the through hole facing downward. The fixing housing and the beam base (1) are detachably connected. The limiting impact block (5) is set on the circumferential surface of the rotating head (4), and the spindle (8) of the electromagnetic pin is located on the rotation trajectory of the limiting impact block (5) in the extended state. The counting sensor (6) is located on the lower end face of the beam base (1), and the sensing path of the counting sensor (6) is located on one side of the spindle (8) of the electromagnetic pin in the extended state.

2. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 1, characterized in that: The crossbeam base (1) is provided with a vertical mounting through hole, and the drive motor (2) is placed in the mounting through hole.

3. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 1, characterized in that: The counting sensor (6) is a photoelectric counting sensor or an ultrasonic counting sensor.

4. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 1, characterized in that: The outer wall of the limiting impact block (5) is covered with a shock-absorbing pad.

5. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 1, characterized in that: The limiting impact block (5) is detachably connected to the rotating head (4).

6. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 5, characterized in that: The circumferential surface of the rotating head (4) is provided with a threaded hole, and the limiting impact block (5) has a threaded post that can be screwed into the threaded hole.

7. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 1, characterized in that: The fixed housing is configured with an open end opposite to the through hole, and a tail cap is screwed onto the open end. A tower-shaped spring is provided on the inner end face of the tail cap.

8. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 1, characterized in that: The test device also includes a controller, a human-machine interaction module and a power supply module. The power supply module is used to supply power to the controller, drive motor (2), torque sensor (3), counting sensor (6) and electromagnetic pin to be tested. The controller is electrically connected to the drive motor (2), torque sensor (3), counting sensor (6), human-machine interaction module and electromagnetic pin to be tested.

9. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 8, characterized in that: The power module is an AC / DC power module.

10. The electromagnetic pin running and testing device for upper limb rehabilitation equipment as described in claim 8, characterized in that: The controller is an STM32F407 microcontroller.

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