摘要：【中文】本申请公开一种运动定量的家居双上肢训练器，包括左、右侧上肢机构，右侧上肢机构与左侧上肢机构左右对称设置，右侧上肢机构包括右手柄杆、右棘爪杆一，右手柄杆通过平行四连杆机构连接右L形杆的L形一边，右L形杆的L形另一边连接一个平行四连杆机构的一边上，平行四连杆机构的一边的两侧连接边分别连接一个前后滑动的杆、一个上下升降的杆，上下升降的杆上转动安装有右棘爪一，右棘爪一与棘齿条上的棘齿啮合，棘齿条沿着上下方向滑动安装在立柱上，立柱上设置有右棘爪一，防止棘齿条下落，立柱上设置有使右棘爪一、右棘爪二脱离棘齿条上棘齿的复位机构，通过设定棘齿条上升的高度，实现对使用者运动量的定量，提高训练效果。 【EN】The application discloses a household double upper limb trainer with quantitative movement, which comprises a left upper limb mechanism and a right upper limb mechanism, wherein the right upper limb mechanism and the left upper limb mechanism are arranged in a bilateral symmetry manner, the right upper limb mechanism comprises a right handle rod and a right pawl rod I, the right handle rod is connected with one L-shaped side of a right L-shaped rod through a parallel four-bar linkage, the other L-shaped side of the right L-shaped rod is connected with one side of a parallel four-bar linkage, the connecting sides of one side of the parallel four-bar linkage are respectively connected with a rod capable of sliding back and forth and a rod capable of lifting up and down, a right pawl I is rotatably arranged on the lifting rod, the right pawl I is meshed with a ratchet on a ratchet bar, the ratchet bar is slidably arranged on a stand column along the up and down direction, the right pawl I is arranged on the stand column to prevent the ratchet bar from falling down, a resetting mechanism for separating the, by setting the rising height of the ratchet bar, the quantity of the exercise of the user is quantified, and the training effect is improved.

摘要：【中文】本申请公开一种牵引砝码持续上升的家居上肢康复训练器，属于康复医疗器械领域，包括左、右侧上肢机构，左、右侧上肢机构左右对称设置，所述的右侧上肢机构包括右摆杆，右摆杆的中部与右齿条杆铰接，右齿条杆与右扇形齿轮啮合，右扇形齿轮通过曲柄滑块机构驱动棘轮机构，棘轮机构的两个棘爪方向相反，用于时棘轮始终朝向一个方向运动，棘轮机构通过齿轮传动机构驱动带传动机构，带传动机构中的传动带固定砝码，砝码在传动带上的固定位置可调整，左、右侧上肢机构的齿条杆采用可拆卸的结构固定两侧连接杆，实现患者双侧上肢的同步运动或者单一侧肢体运动，或者双侧上肢步态运动，适应不同患者的需要。 【EN】The application discloses a household upper limb rehabilitation training device with a continuously rising traction weight, which belongs to the field of rehabilitation medical appliances and comprises a left upper limb mechanism and a right upper limb mechanism, wherein the left upper limb mechanism and the right upper limb mechanism are arranged in a bilateral symmetry manner, the right upper limb mechanism comprises a right swing rod, the middle part of the right swing rod is hinged with a right rack rod, the right rack rod is meshed with a right sector gear, the right sector gear drives a ratchet mechanism through a crank-slider mechanism, the directions of two pawls of the ratchet mechanism are opposite, when the ratchet mechanism is used, the ratchet mechanism always moves towards one direction, the ratchet mechanism drives a belt transmission mechanism through a gear transmission mechanism, weights are fixed through a transmission belt in the belt transmission mechanism, the fixed positions of the weights on the transmission belt are adjustable, the rack rods of the left upper limb mechanism and the right upper limb mechanism adopt detachable structures, or the gait movement of the upper limbs at the two sides, which is suitable for the requirements of different patients.

摘要：【中文】本发明涉及一种水下滑翔机内AUV的升降式布放回收装置，由升降机构、支撑装置与固定装置组成。升降装置采用液压驱动，通过电机调节实现平台升降功能。通过刚性半圆柱型外壳实现定位功能；通过弹性半圆柱型外壳实现固定功能。通过升降机的上升与舱门的打开将AUV释放到滑翔机体外实现布放功能；通过升降机的下降与舱门的闭合将AUV回收到滑翔机体内实现回收功能。 【EN】The invention relates to a lifting type distribution and recovery device of an AUV (autonomous underwater vehicle) in an underwater glider, which consists of a lifting mechanism, a supporting device and a fixing device. The lifting device is driven by hydraulic pressure, and the lifting function of the platform is realized through motor adjustment. The positioning function is realized through the rigid semi-cylindrical shell; the fixing function is realized through the elastic semi-cylindrical shell. The AUV is released to the outside of the glider body by the ascending of the elevator and the opening of the cabin door to realize the deploying function; the AUV is recovered into the glider body by descending the elevator and closing the cabin door to realize the recovery function.

摘要：【中文】本发明涉及一种小型回转体型AUV的回收与释放装置，由柔性缓冲导向模块、夹紧与尾部包拢模块、丝杠模块和控制系统模块组成。将小型AUV的回收、夹紧固定和释放操作集中在一个装置内，同时避免使用了复杂的机械传动机构，使得装置整体上的结构更加简单，制造和安装更加方便，也降低了成本。同时用弧度较大的直向回收口来代替喇叭口，可显著降低装置整体的最大尺寸；柔性缓冲导向球能有效降低AUV回收过程中可能发生的碰撞概率，同时也降低了对AUV操纵性的要求。中部夹紧装置可固定回收完毕的AUV，同时尾部包拢件也能增加AUV的隐藏性，降低了AUV鱼鳍在回收后的携运过程中与洋流的相互作用，增加了稳定性。 【EN】The invention relates to a recovery and release device of a small-sized rotary AUV (autonomous Underwater vehicle), which consists of a flexible buffer guide module, a clamping and tail wrapping module, a screw rod module and a control system module. The small AUV recycling, clamping, fixing and releasing operations are concentrated in one device, and a complex mechanical transmission mechanism is avoided, so that the device is simpler in structure on the whole, more convenient to manufacture and install, and lower in cost. Meanwhile, the straight recovery port with larger radian is used for replacing a bell mouth, so that the maximum size of the whole device can be obviously reduced; the flexible buffering guide ball can effectively reduce the collision probability possibly occurring in the AUV recovery process, and simultaneously, the requirement on the AUV maneuverability is also reduced. The middle clamping device can fix the recovered AUV, meanwhile, the tail wrapping piece can also increase the hiding performance of the AUV, the interaction between the AUV fish fins and ocean currents in the carrying process after recovery is reduced, and the stability is improved.

摘要：【中文】本申请公开一种上肢同步运动的家居训练装置，包括左、右上肢机构、储气罐，右上肢机构包括右立柱、右摆臂、右齿轮，右立柱转动安装右转轴，右转轴铰接右摆臂后部，右摆臂的前部设置有右手固定装置，右摆臂的后端铰接右连接杆，右连接杆固定右齿轮，右齿轮与左上肢机构的左齿轮啮合，右齿轮、左齿轮转动安装在齿轮架上，齿轮架同时铰接伸缩杆的上端和气缸的活塞杆，气缸固定在伸缩杆上，伸缩杆下端与底座铰接，储气罐内安装浮标活塞，气缸的上侧腔、下侧腔均设置有进气口、出气口，且每个进气口、出气口均设置有单向阀，活塞杆伸缩过程中，气缸连接的储气罐被充气，浮标活塞上升，观察浮标活塞的上升高度，对使用者的训练进行激励或者评价。 【EN】The application discloses a home training device for upper limb synchronous motion, which comprises a left upper limb mechanism, a right upper limb mechanism and an air storage tank, wherein the right upper limb mechanism comprises a right upright post, a right swing arm and a right gear, the right upright post is rotatably provided with a right rotating shaft, the right rotating shaft is hinged with the rear part of the right swing arm, the front part of the right swing arm is provided with a right hand fixing device, the rear end of the right swing arm is hinged with a right connecting rod, the right connecting rod is used for fixing the right gear, the right gear is meshed with the left gear of the left upper limb mechanism, the right gear and the left gear are rotatably arranged on a gear frame, the gear frame is simultaneously hinged with the upper end of a telescopic rod and a piston rod of an air cylinder, the air cylinder is fixed on the telescopic rod, the lower end of the telescopic rod is hinged with a base, a buoy piston is arranged in the, the float piston is lifted, and the height of the float piston is observed to stimulate or evaluate the training of the user.

摘要：【中文】本发明涉及一种喇叭口导向的AUV回收与释放装置，由喇叭口导向缓冲模块、夹紧模块、丝杠模块和控制系统模块组成。将小型AUV的回收、夹紧固定和释放操作集中在一个装置内，同时避免使用了复杂的机械传动机构，使得装置整体上的结构更加简单，制造和安装更加方便，也降低了成本。喇叭导向口结合柔性缓冲导向滚轮，可增强传统单装置的作用，在将AUV引导至回收装置内部后，还可以进一步增加AUV的同轴度，也起到了减震缓冲的效果，降低了对AUV操纵性的要求。中部夹紧装置可固定回收完毕的AUV，导向固定环可在回收的过程中增加AUV的同轴度，同时由于导向固定环的直径较大，不会对AUV壳体上的传感器和摄影设备造成损坏，安全可靠。 【EN】The invention relates to an AUV (autonomous Underwater vehicle) recovery and release device guided by a bell mouth, which consists of a bell mouth guide buffer module, a clamping module, a screw rod module and a control system module. The small AUV recycling, clamping, fixing and releasing operations are concentrated in one device, and a complex mechanical transmission mechanism is avoided, so that the device is simpler in structure on the whole, more convenient to manufacture and install, and lower in cost. The horn guide opening combines flexible buffering guide roller, can strengthen the effect of traditional single device, is leading AUV to recovery unit inside the back, can also further increase AUV's axiality, has also played the effect of shock attenuation buffering, has reduced the requirement to AUV maneuverability. The middle clamping device can fix the recovered AUV, the guide fixing ring can increase the coaxiality of the AUV in the recovery process, and meanwhile, the diameter of the guide fixing ring is large, so that the sensor and the photographic equipment on the AUV shell cannot be damaged, and the AUV is safe and reliable.

摘要：【中文】多方式减重干湿两用全方位步行康复训练系统，包括底座，在底座上设置有水槽，水槽上设置有循环水泵，在水槽的前端设置有桶形蓄水舱闸门，康复训练系统还包括还包括硬质减重伴随行走装置，所述的硬质减重伴随行走装置包括连接至控制器的伴随行走驱动机构、硬质减重机构，硬质减重机构下具有平衡悬吊杆，平衡悬吊杆的下端连接有腰部束缚系统；腰部束缚系统包括护腰带，护腰带背面外端固定连接有连接板，连接板背面通过连接铰链与平衡护腰板铰接一起，平衡护腰板的背面连接有柔性支撑缓冲装置，所述的康复训练系统还包括全方位跑台。本训练系统集成度高、柔性大。 【EN】The multi-mode weight-reduction dry-wet dual-purpose omnibearing walking rehabilitation training system comprises a base, wherein a water tank is arranged on the base, a circulating water pump is arranged on the water tank, a barrel-shaped water storage cabin gate is arranged at the front end of the water tank, the rehabilitation training system further comprises a hard weight-reduction accompanying walking device, the hard weight-reduction accompanying walking device comprises an accompanying walking driving mechanism and a hard weight-reduction mechanism, the accompanying walking driving mechanism and the hard weight-reduction mechanism are connected to a controller, a balance suspension rod is arranged below the hard weight-reduction mechanism, and the lower end of the balance suspension rod is connected with a waist binding system; the waist constraint system comprises a waist protecting belt, a connecting plate is fixedly connected to the outer end of the back of the waist protecting belt, the back of the connecting plate is hinged to a balance waist protecting plate through a connecting hinge, a flexible supporting and buffering device is connected to the back of the balance waist protecting plate, and the rehabilitation training system further comprises an all-dimensional running platform. The training system has high integration level and high flexibility.

摘要：【中文】本发明涉及一种水下滑翔机采用的升降台笼式AUV释放与回收装置，包括由机构安装架、主液压柱、辅助限位杆组、上层工作平台所构成的升降机构，以及C型上压紧框组、弹簧压紧装置、弹性缓冲垫组、液压伸缩杆组、上层工作平台所构成的AUV回收锁紧机构，两者共同完成AUV水下释放与回收。机构结构紧凑，不影响航行器的外形布局，可用于身融合式水下滑翔机，且此机构避免了在AUV释放与回收过程中AUV的倒车操作，降低了AUV水下释放回收过程中的运动复杂程度。 【EN】The invention relates to a lifting platform cage type AUV releasing and recovering device for an underwater glider, which comprises a lifting mechanism consisting of a mechanism mounting frame, a main hydraulic column, an auxiliary limiting rod group and an upper working platform, and an AUV recovering and locking mechanism consisting of a C-shaped upper pressing frame group, a spring pressing device, an elastic buffer cushion group, a hydraulic telescopic rod group and the upper working platform, wherein the AUV releasing and recovering device and the AUV recovering and locking mechanism jointly complete AUV underwater releasing and recovering. The mechanism has compact structure, does not influence the appearance layout of an aircraft, can be used for an integrated underwater glider, avoids the backing operation of the AUV in the AUV releasing and recovering process, and reduces the motion complexity of the AUV in the AUV underwater releasing and recovering process.

摘要：【中文】本发明涉及一种AUV螺旋通道推进器，使用减速线性对导流器外部线型进行设计，使用加速线性对整流器外部线型进行设计。通过对导流器与整流器进行线型设计，使螺旋通道推进器工作中，通过前段经过线型设计的导流器对来流进行导流，使其低阻的以螺旋前进流动的方式进入螺旋通道；通过经过线型设计的整流器对尾流进行整合，从而减小尾流对推进器产生的不利影响。本发明的导流器与整流器设可以允许导流器与整流器正常顺利完成其功能的同时，减少来流和尾流对推进器造成的各类不利影响，如：降低流体阻力、减弱压力脉动以及流体噪声，提高螺旋通道推进器推进性能。 【EN】The invention relates to an AUV spiral channel propeller, which designs the external line type of a fluid director by using deceleration linearity and designs the external line type of the fluid director by using acceleration linearity. The linear design is carried out on the fluid director and the rectifier, so that when the spiral channel propeller works, the incoming flow is guided by the fluid director with the front section passing through the linear design, and the low-resistance fluid enters the spiral channel in a spiral forward flowing mode; the wake flow is integrated through the rectifier which is designed in a linear mode, and therefore the adverse effect of the wake flow on the propeller is reduced. The flow guider and the rectifier of the invention can allow the flow guider and the rectifier to normally and smoothly complete the functions of the flow guider and the rectifier, and simultaneously reduce various adverse effects on the propeller caused by incoming flow and wake flow, such as: the fluid resistance is reduced, the pressure pulsation and the fluid noise are weakened, and the propelling performance of the spiral channel propeller is improved.

摘要：【中文】本发明公开一种家居双侧反向运动上肢康复训练器，包括立柱、左、右侧上肢机构，左、右上肢机构左右对称设置，右侧上肢机构包括右手柄杆，右手柄杆通过平行四连杆机构驱动曲柄滑块机构，曲柄滑块机构中的滑块与立柱滑动连接，曲柄滑块机构中的滑块沿着左右方向水平设置有右水平槽，右水平槽内滑动安装右棘爪轴，右棘爪轴上转动安装右棘爪，右棘爪轴固定在中间摆杆右端，中间摆杆转动安装在支撑轴上，支撑轴固定在立柱上，右棘爪与棘齿条上的棘齿啮合，棘齿条与立柱沿着上下方向滑动连接，实现左、右侧上肢机构反向运动以及通过摆动杆实现棘齿条持续上升，提高了使用者的训练兴趣。 【EN】The invention discloses a household bilateral reverse movement upper limb rehabilitation trainer, which comprises an upright post, a left upper limb mechanism and a right upper limb mechanism, wherein the left upper limb mechanism and the right upper limb mechanism are arranged in bilateral symmetry, the right upper limb mechanism comprises a right handle rod, the right handle rod drives a crank slider mechanism through a parallel four-bar linkage mechanism, a slider in the crank slider mechanism is in sliding connection with the upright post, a slider in the crank slider mechanism is horizontally provided with a right horizontal groove along the left-right direction, a right pawl shaft is arranged in the right horizontal groove in a sliding manner, a right pawl is rotatably arranged on the right pawl shaft, the right pawl shaft is fixed at the right end of a middle swing rod, the middle swing rod is rotatably arranged on a support shaft, the support shaft is fixed on the upright post, the right pawl is meshed with a ratchet on a ratchet rack, the ratchet rack is in sliding connection with the upright, the training interest of the user is improved.