CN116672208B - Self-adaptive weight-reducing module and overhead rail suspension rehabilitation training system with same - Google Patents
Self-adaptive weight-reducing module and overhead rail suspension rehabilitation training system with sameInfo
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- CN116672208B CN116672208B CN202310774254.8A CN202310774254A CN116672208B CN 116672208 B CN116672208 B CN 116672208B CN 202310774254 A CN202310774254 A CN 202310774254A CN 116672208 B CN116672208 B CN 116672208B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/001—Apparatus for applying movements to the whole body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
一种自适应减重模块及具有其的天轨悬吊康复训练系统，包括天轨水平移动模块、自适应减重模块和人机连接模块，天轨水平移动模块负责系统水平方向的移动，可根据病人训练时的方向和速度调整跟随；自适应减重模块负责提供减重力，可根据病人训练时不同的情况进行自适应的动态调整减重力；人机连接模块负责将系统与病人连接。自适应减重模块中的压缩弹簧起缓冲和提供受力数据的作用，拉伸弹簧用于储存能量，起到省力和减少模块体积的作用，配合减重电机调整吊带使用，可实现病人垂直方向的动态减重；天轨水平移动模块中的角度测量单元可感知吊带的角度变化，配合行走电机使系统可跟随病人移动，两部分结合可以满足行走、坐站、上下楼梯等训练要求。
An adaptive weight reduction module and a ceiling-mounted suspension rehabilitation training system incorporating it are disclosed. The system includes a ceiling-mounted horizontal movement module, an adaptive weight reduction module, and a human-machine interface module. The ceiling-mounted horizontal movement module is responsible for the horizontal movement of the system and can adjust its following according to the patient's direction and speed during training. The adaptive weight reduction module provides weight reduction force and can dynamically adjust the force adaptively according to different patient conditions during training. The human-machine interface module connects the system to the patient. The compression spring in the adaptive weight reduction module acts as a buffer and provides force data, while the tension spring stores energy, saving effort and reducing the module's size. Used in conjunction with a weight reduction motor to adjust the sling, it enables dynamic weight reduction for the patient in the vertical direction. The angle measurement unit in the ceiling-mounted horizontal movement module senses changes in the sling angle and, in conjunction with a walking motor, allows the system to follow the patient's movement. The combination of these two parts can meet training requirements such as walking, sitting/standing, and climbing stairs.
Description
Technical Field
The invention relates to the field of medical rehabilitation equipment, in particular to a self-adaptive weight-reducing module and a head rail suspension rehabilitation training system with the same.
Background
Since lower limb movement dysfunction seriously affects the life and work quality of patients and their families, it is very important to perform timely and scientific rehabilitation treatment for these patients. The present research shows that besides the traditional operation, medicine and other treatment modes, the patients can achieve good rehabilitation effect by utilizing the weight-reducing gait training. The weight-reducing walking training is a training mode for reducing part of the weight of a patient through external force, so that the patient can perform walking training and gradually recover walking ability.
The weight-reducing support system used at home and abroad mainly comprises 4 kinds of static balance systems, passive counterweight systems, passive elastic force weight-reducing systems and active force weight-reducing systems. The static balance system and the passive counterweight system adopt a passive weight reduction mode, the passive weight reduction adopts a counterweight as a balance unit to provide constant tension for a patient, but in actual rehabilitation training, the load of the legs of the patient changes along with the change of the gravity center, the required weight reduction force is not constant, and in addition, the counterweight can do non-uniform motion up and down along with the movement of the patient in the vertical direction, so that the weight reduction force provided for the patient is greatly changed to cause the distortion of the weight reduction effect, and even abnormal gait of the patient can be caused. The dynamic weight reduction is realized by adding the elastic-force weight reduction system into the elastic-force yellow unit, but the dynamic weight reduction is limited by the length of the spring, and the training of the gravity center change with a large margin, such as the sitting station training, cannot be performed. And the module volume is relatively large, and the weight reduction precision is insufficient. The active weight reduction system provides weight reduction force by using a motor, closed-loop control is realized by returning the force sensor value in real time, and finally constant weight reduction force and active weight reduction are realized.
The invention patent CN111150615A discloses a dynamic weight-reducing walking training instrument which comprises a buffer unit with double springs, a machine head, a track, a hanging strip and a hanging rack, wherein the machine head comprises a walking assembly and a lower box body, the walking assembly is used for generating power and walking along the track, the hanging strip is arranged on the lower box body below the walking assembly, the other end of the hanging strip is connected with the hanging rack, and the hanging rack is used for connecting patients. The module can realize large-range vertical and horizontal movement, but the module has larger volume, adopts a passive elastic weight reduction mode when in small-amplitude vertical movement, and has imperfect dynamic weight reduction performance. The invention patent CN111840949A discloses a weight-reducing module for an intelligent weight-reducing trainer, which comprises a winding drum motor, a screw drum, a screw shaft, a sliding rail, a pull rope, a fixed pulley, a movable pulley, a steering wheel, a first mounting plate, a second mounting plate and a fixing plate. The invention can prevent the stay cord from falling off the pulley, reduce the whole volume of the module, but the design of the weight reduction judgment is not reasonable enough, and the situation that the stay cord has a deflection angle when a patient walks is ignored.
Therefore, in order to solve the defects in the prior art, it is necessary to design an adaptive weight-reducing module and a track suspension rehabilitation training system with the same, so as to solve the problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same, which meet various training requirements of patients on walking, sitting, going up and down stairs and the like, adopt complete active weight reduction, self-adaptively adjust the weight reduction according to the gravity center change of a human body, and have the advantages of reliable weight reduction performance, simple structure, small module size and high safety performance.
In order to achieve the above object and other related objects, the present invention provides a self-adaptive weight-reducing module, which is composed of a casing, a guide shaft, a movable plate set, a tension spring, a compression spring, a grating ruler, a tension sensor, a fixed pulley, a weight-reducing motor, a winding drum, a sling and a steering wheel set, wherein the casing at least comprises a bottom plate, a side plate a and a side plate b, the side plate a and the side plate b are fixedly arranged on two opposite sides of the bottom plate, the guide shaft is horizontally arranged between the side plate a and the side plate b and is used for connecting the side plate a and the side plate b, the movable plate set comprises a movable plate a and a movable plate b, the movable plate a and the movable plate b are all arranged on the guide shaft in a one-to-one correspondence manner through linear bearings, the tension spring is axially arranged along the guide shaft and is used for connecting the movable plate a and the side plate b, the compression spring is sleeved on the guide shaft, the compression spring is fixedly arranged on one end of the compression spring, the compression spring is fixedly connected with the grating ruler and the winding drum, the movable plate b is fixedly arranged on the end of the casing, the tension sensor is fixedly arranged on the end of the winding drum is rotatably connected with the movable pulley, the movable pulley is fixedly arranged on the end of the casing, the movable pulley is rotatably fixed on the movable pulley is rotatably arranged on the end of the casing, the movable pulley is fixedly arranged on the movable pulley through the side, the steering wheel group is arranged in the casing and used for guiding the hanging belt to pass through the casing along the axial part of the guide shaft, around the fixed pulley and then through the opening on the bottom plate.
The optimized technical scheme is that the guide shaft is provided with a guide shaft, and the guide shaft is provided with a movable plate b and a side plate b.
The optimized technical scheme is that the guide shafts are arranged in parallel, the two groups of the extension springs, the compression springs and the buffer springs are correspondingly arranged, and the stiffness coefficients of the extension springs and the compression springs are the same.
The preferable technical scheme is that the guide wheel set comprises a guide wheel a, a guide wheel b and a guide wheel c, wherein the guide wheel a is arranged on the bottom plate and is correspondingly arranged with an opening on the side plate a, the bottom side of the guide wheel a is flush with the bottom side of the winding drum, the guide wheel b is arranged on the bottom plate, the top side of the guide wheel b is flush with the top side of the fixed pulley, and the guide wheel c is arranged on the bottom plate and is correspondingly arranged with an opening on the bottom plate, and the top side of the guide wheel c is flush with the bottom side of the fixed pulley.
The mechanical protection unit is composed of a rotating shaft, a rotating disc, a ratchet wheel, a pawl, a ratchet wheel mounting seat, a supporting spring and a pin, one end of the rotating shaft is fixedly connected with the winding drum in a coaxial mode, the other end of the rotating shaft is fixedly connected with the rotating disc in a coaxial mode, the ratchet wheel is fixedly arranged in the ratchet wheel mounting seat, the rotating disc is arranged in the ratchet wheel and is coaxially arranged with the ratchet wheel, a plurality of pawls are arranged at equal angles at the edge of the rotating disc, one end of each pawl is connected with the rotating disc in a rotating mode, a pin is arranged on the inner side of the other end of each pawl, a guide seat is arranged on the rotating disc, a pin hole is formed in the guide seat, the pin penetrates through the pin hole, the supporting spring is sleeved on the pin, one end of the supporting spring abuts against the guide seat, and the other end of the supporting spring abuts against the end of the pin.
The utility model provides a sky rail suspends rehabilitation training system, includes sky rail horizontal migration module, man-machine connection module and foretell self-adaptation subtracts heavy module, sky rail horizontal migration module comprises track and walking unit, man-machine connection module comprises stores pylon and walking training clothing, the track is laid on the ceiling, walking unit is used for producing power and follows the track walking, self-adaptation subtracts heavy module fixed connection in the bottom side of walking module, the stores pylon with the suspender in the self-adaptation subtracts heavy module links to each other and is used for installing walking training clothing.
The track is formed into a square tube structure, strip-shaped openings distributed along the axial direction are formed in the middle of the bottom side of the track, and the bottom side of the track is divided into two strip-shaped suspension platforms which are arranged in parallel.
The walking unit comprises a driven mechanism, a connecting column and a driving mechanism, wherein the driven mechanism comprises a driven frame, a vertical supporting wheel set and a transverse supporting wheel set, the driven frame is arranged in a track, the vertical supporting wheel set is rotatably arranged on the driven frame and supported on the top sides of two strip-shaped suspension platforms, the transverse supporting wheel set is rotatably arranged on the driven frame and supported on the inner sides of two side walls of the track, the connecting column is vertically fixedly arranged on the bottom side of the driven frame and extends out of the track through a strip-shaped opening, the driving unit comprises a driving frame, a pre-tightening spring, a spring stop block, a driving wheel and a walking motor, the driving frame and the pre-tightening spring are sequentially sleeved on the connecting column from top to bottom, the spring stop block is fixedly arranged on the connecting column and positioned below the pre-tightening spring, one end of the pre-tightening spring abuts against the driving frame, the other end of the pre-tightening spring abuts against the spring stop block, the driving wheel is rotatably arranged on the top side of the driving frame and is fixedly arranged on the outer side of the driving platform in a rotating manner, and is tightly attached to the driving wheel and is fixedly arranged on the bottom side of the driving frame.
The angle measuring device comprises a base plate, a clamping wheel, an angle sensor, a rotating shaft, a hanging strip, an angle sensor, a detection end of the angle sensor, and an arc-shaped steering plate, wherein the angle measuring unit is composed of a clamping wheel mounting seat, clamping wheels, an arc-shaped steering plate, an angle sensor mounting seat and an angle sensor, the clamping wheel mounting seat is fixedly arranged on the bottom side of the base plate, the two clamping wheels are mutually parallel and rotatably arranged on the inner side of the clamping wheel mounting seat, a space for guiding the hanging strip to penetrate through is formed between the two clamping wheels and is correspondingly arranged with an opening on the base plate, the arc-shaped steering plate is rotatably arranged on the outer side of the clamping wheel mounting seat through the rotating shaft, the arc-shaped steering plate is provided with a strip-shaped hole for the hanging strip to penetrate through, the angle sensor mounting seat is fixedly arranged on the bottom side of the base plate, and the angle sensor is fixedly arranged on the angle sensor mounting seat.
The optimized technical scheme is that the walking machine further comprises a control module, wherein the control module is connected with the weight-reducing motor, the tension sensor, the grating ruler, the angle sensor and the walking motor at the same time.
Due to the application of the technical scheme, the invention has the following beneficial effects:
1. The self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same provided by the invention have the advantages that the compression spring in the self-adaptive weight-reducing module plays a role in buffering and providing stress data, the extension spring is used for storing energy and playing a role in saving labor and reducing the module volume, the sling is matched with the weight-reducing motor to adjust the sling to realize dynamic weight reduction of a patient in the vertical direction, the angle measuring unit can sense the angle change of the sling, and the module can move along with the patient by matching with the walking motor. The two parts can meet various training requirements of patients on walking, sitting, going up and down stairs and the like.
2. The self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same provided by the invention have the advantages that the tension spring and the compression spring in the self-adaptive weight-reducing module are springs with the same stiffness coefficient, the tension spring and the compression spring are matched, the original performance requirement can be met by half the length when the springs are selected, the module volume can be obviously reduced, the problem of overlarge stiffness coefficient of the heavy load spring is solved, the control precision is improved, the compression spring can also play a role in storing energy, and the labor is saved.
3. The self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same provided by the invention also comprise a mechanical protection unit, and the module can be stopped by means of the mechanical protection unit under the condition of error control or failure of the motor band-type brake, so that the safety of patients during training is better ensured.
Drawings
Fig. 1 is a schematic structural diagram of an adaptive weight-reducing module according to the present invention.
Fig. 2 is a schematic diagram of an internal structure of a casing according to the present invention.
Fig. 3 is a schematic view of a harness transmission according to the present invention.
Fig. 4 is a schematic view of a spool structure according to the present invention.
Fig. 5 is a schematic view of the structure of the angle measuring unit according to the present invention.
Fig. 6 is a schematic structural view of a mechanical protection unit according to the present invention.
Fig. 7 is a schematic structural diagram of a headrail suspension rehabilitation training system according to the present invention.
Fig. 8 is a schematic view of the structure of the walking unit according to the present invention.
Fig. 9 is a cross-sectional view of the traveling unit according to the present invention.
Fig. 10 is a side view of the installation of the headrail horizontal movement module according to the present invention.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
Please refer to fig. 1-10. It should be noted that, in the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or directions or positional relationships in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and for simplifying the description, and are not indicative or implying that the referred module or element must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. The terms "horizontal," "vertical," "overhang," and the like do not denote that the component is required to be absolutely horizontal or overhang, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or communicating between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Examples:
As shown in fig. 1-2, the self-adaptive weight-reducing module provided by the invention is composed of a shell, a guide shaft 1, a movable plate group, an extension spring 2, a compression spring 3, a grating ruler 4, a tension sensor 5, a fixed pulley 6, a weight-reducing motor 7, a winding drum 8, a hanging belt 9 and a steering wheel group, wherein the shell at least comprises a bottom plate 10, a side plate a11 and a side plate b12, the side plate a11 and the side plate b12 are fixedly arranged on two opposite sides of the bottom plate 10, the guide shaft 1 is horizontally arranged between the side plate a11 and the side plate b12 and is used for connecting the side plate a11 and the side plate b12, the movable plate group comprises a movable plate a13 and a movable plate b14, the movable plate a13 and the movable plate b14 are respectively arranged on the guide shaft 1 in a one-to-one correspondence manner through linear bearings, the extension spring 2 is axially arranged along the guide shaft 1 and is used for connecting the movable plate a13 and the side plate b12, the compression spring 3 is sleeved on the guide shaft 1, one end of the compression spring 3 is fixedly connected with the movable plate a13, the other end of the compression spring 3 and the side plate b14 are fixedly arranged on the side plate b12, the movable plate b4 is fixedly arranged on the side plate b1 and the side plate b 6 and is fixedly arranged on the side plate b 5 and the side plate b 2, the side plate b 2 and the side plate b 2 is rotatably arranged on the side plate b 2 and the side plate 5 is used for detecting the side plate b 2 and the side plate b 2.
Specifically, the guide shafts 1 are provided with two guide shafts and are arranged in parallel, the extension springs 2 and the compression springs 3 are correspondingly arranged into two groups, and the two guide shafts 1 have better stability. The stiffness coefficients of the extension spring 2 and the compression spring 3 are the same. The guide wheel group consists of a guide wheel a15, a guide wheel b16 and a guide wheel c17, wherein the guide wheel a15 is arranged on the bottom plate 10 and is correspondingly arranged with the opening on the side plate a11, the bottom side of the guide wheel a15 is flush with the bottom side of the winding drum 8, the guide wheel b16 is arranged on the bottom plate 10, the top side of the guide wheel b16 is flush with the top side of the fixed pulley 6, the guide wheel c17 is arranged on the bottom plate 10 and is correspondingly arranged with the opening on the bottom plate 10, and the top side of the guide wheel c17 is flush with the bottom side of the fixed pulley 6.
In addition, the device also comprises a buffer spring 18, wherein the buffer spring 18 is sleeved on the guide shaft 1 and is positioned between the movable plate b14 and the side plate b12, and when the force on the sling 9 is rapidly reduced and the movable plate b14 is promoted to rebound rapidly due to careless falling or the fact that the body weight cannot be supported by the patient, and the like, the buffer spring 18 can buffer the movable plate b14 to prevent the movable plate b14 from colliding with the side plate b12 and damaging the shell.
The sling 9 is wound several turns around the reel 8 and is secured by a reel stop 81. The sling 9 extends from the lower part of the winding drum 8, penetrates into the machine shell through the opening on the side plate a11, is sequentially connected with the steering wheel a15, the steering wheel b16, the fixed pulley 6 and the steering wheel c17, and finally penetrates out of the machine shell through the opening on the bottom plate 10. In the process of retraction and transmission of the hanging belt 9, the steering wheel a15 plays a role in compaction, and the bottom side of the steering wheel a15 is flush with the bottom side of the winding drum 8, so that the hanging belt 9 is not blocked. The top side of the diverting pulley b16 is flush with the top side of the fixed pulley 6, the diverting pulley b16 functioning to change the direction of the sling 9, the sling 9 being turned 180 ° via the fixed pulley 6 and reaching the diverting pulley c17. The top side of the diverting pulley c17 is flush with the bottom side of the fixed pulley 6 and the sling 9 is 90 deg. diverted through the opening in the bottom plate 10 by the diverting pulley c17. The fixed pulley 6 is connected to a tension sensor 5 fixedly mounted on the movable plate b14, and the tension sensor 5 is used for detecting the force on the fixed pulley 6. The direction change of the steering wheel group ensures that the hanging belt 9 is in a horizontal direction when entering and exiting the fixed pulley 6, thereby ensuring the detection accuracy of the tension sensor 5.
When the adaptive weight-reducing module is in a stopped state, the extension spring 2, the compression spring 3 and the buffer spring 18 are all in original length. When the patient starts to train, the weight-reducing motor 7 starts to work, the set weight-reducing force is applied to the sling 9 through the winding drum 8, the sling 9 is tensioned under the action of the force, and the movable plate b14 moves along with the sling 9. The movement of the movable plate b14 makes the compression spring 3 compressed under the force of the compression spring 3, the movable plate a13 moves along the same direction with the movable plate b14 under the action of the elastic force of the compression spring 3, and the movement of the movable plate a13 causes the tension spring 2 to be stretched under the force. The weight reduction force provided by the weight reduction motor 7 is thus converted into a resultant force of the compression spring 3 and the extension spring 2, and since the stiffness coefficients of the compression spring 3 and the extension spring 2 are the same, their respective elastic forces are also the same. And because the stiffness coefficient of the spring is related to the dynamic weight reduction performance of the module, the smaller the stiffness coefficient is, the more accurate the control performance is. The stiffness coefficient is related to the deflection and maximum load of the spring, and the maximum load of the system has been set to 300kg, so that the deflection can only be changed by changing the deflection, and the stiffness coefficient is smaller when the deflection is longer, but the original length of the spring is longer, so that the system is excessively large. Therefore, under the condition that the stiffness coefficient is unchanged, the compression spring 3 and the extension spring 2 are matched, and compared with the compression spring which is singly used, the extension spring 2 designed by the application shares half of load, so that half of spring length can be reduced, and the structure can obviously reduce the volume of a module. In addition, after solving the too big shortcoming of volume, still can select the spring that stiffness coefficient is less, reach better control accuracy. Finally, the extension spring 2 also serves to fix the compression spring 3. When the sling 9 is tensioned, the extension spring 2 is stretched, energy is stored, elastic potential energy is increased, when the sling 9 is retracted, the stored elastic potential energy can assist the weight-reducing motor 7 to recover the sling 9, the load of the weight-reducing motor 7 is effectively reduced, and the service life of the weight-reducing motor 7 is prolonged.
The self-adaptive weight-reducing module is in the following operation mode, firstly, the self-adaptive weight-reducing module is responsible for providing weight reduction, the weight reduction value can be manually set by a user or intelligently selected by the system according to the physical condition of a patient, the weight reduction direction is consistent with the direction of the supporting force of the lower limb of the patient, and the sum of the weight reduction force provided by the self-adaptive weight-reducing module and the supporting force of the patient is the weight of the patient. The weight-reducing motor 7 drives the winding drum 8 to tighten the hanging belt 9 to lift the patient, rehabilitation training is started, and the extension spring 2 and the compression spring 3 are in a deformed state at the moment. When the patient steps to lift the foot or squat down, the gravity center of the human body is upward, the tension of the hanging strip 9 is increased, the weight-reducing motor 7 is controlled to tighten the hanging strip 9, and the tension is controlled to restore the set value. The tension sensor 5 detects the tension of the sling 9 in real time, the grating ruler 4 detects the displacement of the movable plate a13 and the movable plate b14, the displacement of the compression spring 3 can be obtained by subtracting the displacement of the movable plate a13 and the displacement of the movable plate b14, and then the spring displacement can be converted into force through a mathematical model. And the self-adaptive dynamic control weight reduction force of the weight reduction motor 7 is kept constant all the time by double closed loop control according to the tension value measured by the tension sensor 5 and the force converted by the grating ruler 4.
The mechanical protection unit is composed of a rotating shaft 19, a rotating disc 20, a ratchet 21, pawls 22, a ratchet mounting seat 23, a supporting spring 24 and a pin 25, one end of the rotating shaft 19 is fixedly connected with a winding drum 8 coaxially, the other end of the rotating shaft 19 is fixedly connected with the rotating disc 20 coaxially, the ratchet mounting seat 23 is fixedly arranged on the outer side of a side plate a11, the ratchet 21 is fixedly arranged in the ratchet mounting seat 23, the rotating disc 20 is arranged in the ratchet 21 and coaxially arranged with the ratchet 21, a plurality of pawls 22 are arranged at equal angles at the edge of the rotating disc 20 and are rotatably connected with the rotating disc 20, the pin 25 is arranged on the inner side of the other end of the pawl 22, a guide seat 201 is arranged on the rotating disc 20, a pin hole is formed in the guide seat 201, the pin 25 is arranged in the pin hole in a penetrating mode, the supporting spring 24 is sleeved on the pin 25, one end of the supporting spring 24 abuts against the guide seat 201, and the other end of the supporting spring 24 abuts against the end of the pin 25.
Under normal conditions, through identifying the measurement data of the tension sensor 5 and the grating ruler 4, when a patient carelessly falls down or cannot support the weight due to physical weakness, the hanging belt 9 can be rapidly lengthened, the tension on the hanging belt 9 can be instantaneously increased, the sudden change of the detected tension value or displacement can immediately control the weight-reducing motor 7 to stop running so as to prevent the patient from being damaged when falling on the ground, and when the weight-reducing motor 7 suddenly fails, the motor band-type brake can be immediately started to emergently stop the weight-reducing motor 7 from running. And the mechanical protection unit is used as a final emergency stop protection device. If the motor can not be controlled to stop in time due to faults, the winding drum 8 rotates too fast, the rotating disc 20 rotates faster, the centrifugal force is larger as the rotating speed is faster, the centrifugal force borne by the pawl 22 is larger than the elastic force of the supporting spring 24, and the pawl 22 extends outwards and is clamped with the ratchet wheel 21. The ratchet wheel 21 is fixed on the side plate a11 through the ratchet wheel mounting seat 23, so that the rotating disc 20 is fixed and cannot rotate, the stop of the winding drum 8 is finally realized, the hanging belt 9 is stopped, the safety of the module is enhanced, and a patient is better protected.
The application also relates to a head rail suspension rehabilitation training system which comprises a head rail horizontal movement module, a man-machine connection module and the self-adaptive weight reduction module, wherein the head rail horizontal movement module is responsible for moving in the horizontal direction of the system and can intelligently adjust and follow according to the direction and the speed of a patient during training, the self-adaptive weight reduction module is responsible for providing weight reduction for the patient and can carry out self-adaptive dynamic adjustment and weight reduction according to different conditions during the patient training, and the man-machine connection module is responsible for connecting the system with the patient.
The horizontal movement module of the top rail consists of a rail 26 and a walking unit, wherein the rail 26 is an aluminum alloy section, and is specifically formed into a square tube structure, a strip-shaped opening 261 which is distributed along the axial direction is arranged at the middle position of the bottom side, and the bottom side of the rail is divided into two strip-shaped suspension platforms 262 which are arranged in parallel. The track 26 is paved on the ceiling, has straight rails and curved rails, can be spliced into different lengths and shapes according to actual needs, and is convenient for patients to perform rehabilitation training. The walking unit is used for generating power and walking along the track, and the self-adaptive weight-reducing module is fixedly connected to the bottom side of the walking unit. The man-machine connection module consists of a hanging frame 27 and walking training clothes, wherein the hanging frame 27 is connected with the hanging belt 9 in the self-adaptive weight-reducing module and is used for installing the walking training clothes.
The conductive contact assembly 28 is installed on one side of the track 26, and when the system is used, the system returns to the original position, and the conductive blocks on the walking unit can be contacted with the conductive contact assembly 28, so that the system can be charged in time.
The walking unit consists of a driven mechanism, a connecting column 29 and a driving mechanism, wherein the driven mechanism consists of a driven frame 30, a vertical supporting wheel set 31 and a horizontal supporting wheel set 32, the driven frame 30 is arranged in a track 26, the vertical supporting wheel set 31 is rotatably arranged on the driven frame 30 and supported on the top sides of two strip-shaped suspension platforms 262, the horizontal supporting wheel set 32 is rotatably arranged on the driven frame 30 and supported on the inner sides of two side walls of the track 26, the connecting column 29 is vertically fixedly arranged on the bottom side of the driven frame 30 and extends out of the track 26 through a strip-shaped opening 261, the driving unit consists of a driving frame 33, a pre-tightening spring 34, a spring stop 35, a driving wheel 36 and a walking motor 37, the driving frame 33 and the pre-tightening spring 34 are sequentially sleeved on the connecting column 29 from top to bottom, the spring stop 35 is fixedly arranged on the connecting column 29 and is positioned below the pre-tightening spring 34, one end of the pre-tightening spring 34 is abutted against the driving frame 33, the other end of the pre-tightening spring 34 is abutted against the spring stop 35, the driving wheel 36 is rotatably arranged on the top side of the driving frame 33 and is tightly clung to the bottom side of the strip-shaped suspension platforms 262, the driving motor 37 is fixedly arranged on the outer side of the driving frame 33 and is used for driving the driving wheel 36. In use, under the action of the pre-tension spring 34, the drive frame 33 is lifted up and the drive wheel 36 is pressed against the underside of the track 26, ensuring that no slip occurs.
The angle measuring device further comprises an angle measuring unit, wherein the angle measuring unit comprises a clamping wheel mounting seat 38, clamping wheels 39, an arc-shaped steering plate 40, an angle sensor mounting seat 41 and an angle sensor 42, the clamping wheel mounting seat 38 is fixedly arranged on the bottom side of the bottom plate 10, the two clamping wheels 39 are mutually parallel and rotatably arranged on the inner side of the clamping wheel mounting seat 38, and a space for guiding the hanging strip 9 to penetrate is formed between the two clamping wheels 39 and is correspondingly arranged with the opening on the bottom plate 10. The arc-shaped steering plate 40 is rotationally arranged on the outer side of the clamping wheel mounting seat 38 through a rotating shaft, a strip-shaped hole 401 for a hanging strip to penetrate is formed in the arc-shaped steering plate 40, the angle sensor mounting seat 41 is fixedly arranged on the bottom side of the bottom plate 40, the angle sensor 42 is fixedly arranged on the angle sensor mounting seat 41, and the detection end of the angle sensor 42 and the rotating shaft are coaxially arranged and fixedly connected with the arc-shaped steering plate 40. The patient can drive the angle sensor 42 to rotate when walking, and the system can intelligently judge the walking direction and speed of the patient according to the angle change measured by the angle sensor 42, so as to control the patient to move horizontally.
In addition, a photoelectric switch 43 is installed in front of and behind the self-adaptive weight-reducing module, and is used for detecting obstacles in front of and behind the system, and baffles are arranged at two ends of the track 26. When the rehabilitation training system approaches to two ends of the track, the system controls the walking motor to reduce speed, so that the system is prevented from collision and even rushing out of the track.
The device also comprises a control module which is connected with the weight-reducing motor 7, the tension sensor 5, the grating ruler 4, the angle sensor 42 and the walking motor 37 at the same time, so that the normal operation of the control system is realized.
Therefore, the invention has the following advantages:
1. The self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same provided by the invention have the advantages that the compression spring in the self-adaptive weight-reducing module plays a role in buffering and providing stress data, the extension spring is used for storing energy and playing a role in saving labor and reducing the module volume, the sling is matched with the weight-reducing motor to adjust the sling to realize dynamic weight reduction of a patient in the vertical direction, the angle measuring unit can sense the angle change of the sling, and the module can move along with the patient by matching with the walking motor. The two parts can meet various training requirements of patients on walking, sitting, going up and down stairs and the like.
2. The self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same provided by the invention have the advantages that the tension spring and the compression spring in the self-adaptive weight-reducing module are springs with the same stiffness coefficient, the tension spring and the compression spring are matched, the original performance requirement can be met by half the length when the springs are selected, the module volume can be obviously reduced, the problem of overlarge stiffness coefficient of the heavy load spring is solved, the control precision is improved, the compression spring can also play a role in storing energy, and the labor is saved.
3. The self-adaptive weight-reducing module and the overhead rail suspension rehabilitation training system with the same provided by the invention also comprise a mechanical protection unit, and the module can be stopped by means of the mechanical protection unit under the condition of error control or failure of the motor band-type brake, so that the safety of patients during training is better ensured.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations which can be accomplished by persons skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (10)
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