KR20120129651A - Two-belt treadmill and walking traning device having the same - Google Patents

Abstract

PURPOSE: A two-belt treadmill and a walking training device having the same are provided to prevent the left and right conveyer belts from deviating from a first and second rotation shaft pipe by making both ends of first and second rotation shaft pipe flange-shape. CONSTITUTION: A left conveyer belt(171) and a right conveyer belt(172) are rotatably formed on a treadmill body. The left conveyer belt and the right conveyer belt are respectively rotated by a first driving motor(150) and a second driving motor(160). A belt release preventing portion(180) is installed at the treadmill body. The belt release preventing portion prevents deviation of the left side conveyer belt and right side conveyer belt.

Description

TWO-BELT TREADMILL AND WALKING TRANING DEVICE HAVING THE SAME}

The present invention relates to a two-belt treadmill and a walking rehabilitation training device having the same, and more particularly, to prevent pedestrians walking a belt from falling, with higher efficiency, and a belt by walking movement of a pedestrian. Two-belt treadmill and gait rehabilitation training device having the same to prevent loosening.

In general, the human postural control is achieved in the balance of sensory information and motion, and the exercise process is a coordination of the postural cooperative reaction between the muscles of the torso and the lower extremity muscles, and the sensory process is somatosensory (tactile, high water soluble sense). It is the process of organizing the information input from visual, visual and vestibular organs.

However, these sensations gradually weaken with age, making it difficult for older people to walk and risk falling. Therefore, the elderly and patients with rehabilitation of the lower limbs are doing fall prevention and walking training through walking exercise. For the fall prevention and walking training, the applicant has proposed a fall prevention and walking training system in the Republic of Korea Patent Application No. 10-2010-0026511.

In addition, the modern man is aerobic exercise for fitness or diet reasons, the trend of running or walking (walking) exercise a lot, there is a treadmill (treadmill) as a mechanism for such a running or walking exercise.

Conventional treadmills consist of one belt, but recently two-belt treadmills with two belts have been developed, as in 10-2010-0026511.

However, the two-belt treadmill has a problem that the belt is released by moving each belt to be peeled outward unlike the treadmill composed of one belt.

The present invention was devised to solve the conventional problems as described above, it is possible to not only fall prevention training with pedestrians walking the left and right conveyor belt with higher efficiency, but also loosen the left conveyor belt and the right conveyor. It is an object of the present invention to provide a two-belt treadmill and a walking rehabilitation training device having the same improved structure.

The present invention also provides a two-belt treadmill and a walking rehabilitation training device having the same, which can prevent a pedestrian from falling on the two-belt treadmill during the walking rehabilitation training.

Two-belt treadmill of the present invention for achieving the above object is a treadmill body; A first driving motor and a second driving motor respectively provided on the left and right sides of the treadmill body; A left conveyor belt and a right conveyor belt rotatably installed on the treadmill body and respectively rotated by the first drive motor and the second drive motor; And a belt loosening prevention part installed on the treadmill body to prevent peeling of the left conveyor belt and the right conveyor belt.

The first drive motor and the second drive motor may be configured to further include a fall-inducing control unit for causing the fall of the pedestrian to prevent the fall by training the pedestrian by changing the instantaneous rotational speed.

The controller may be configured to independently rotate the left conveyor belt and the right conveyor belt by forward or reverse rotation of the first driving motor and the second driving motor, respectively.

The belt loosening prevention unit may be configured to include at least a pair of rollers rotatably installed on the treadmill body so as to contact the outer side surfaces of the left conveyor belt and the belt of the right conveyor.

The at least one pair of rollers may be installed in two pairs on the outer side of the front and rear of the left conveyor belt and the right conveyor belt.

It may further include a roller position adjusting unit for moving the belt loosening prevention portion to move the position of the pair of rollers.

Two or more pressure sensors may be provided before and after the left conveyor belt and the right conveyor belt, respectively, and may further include a walk cycle calculator configured to calculate a walk cycle by a signal of the pressure sensor.

A first fixed shaft installed at a front portion of the treadmill body and installed to connect both side ends of the treadmill body; A pair of first rotating shaft tubes spaced apart from each other to be rotatably inserted into the first fixed shaft and to which front ends of the left conveyor belt and the right conveyor belt are wound; A first bracket installed in the middle of the width of the front of the treadmill body; And a support pin extending from the first bracket and penetrating the first fixed shaft.

A support piece installed in the middle of the width of the rear portion of the treadmill body; A pair of second fixed shafts installed to connect one side of the treadmill body and the support piece, and installed to connect the support piece and the other side of the treadmill body; And a pair of second rotating shaft pipes rotatably inserted into the pair of second fixed shafts, the rear ends of the left conveyor belt and the right conveyor belt being respectively wound.

The first fixed shaft and the pair of second fixed shafts may be formed in a flange shape with both ends extended.

The first driving motor and the second driving motor may include a step motor.

On the other hand, the gait rehabilitation training device having a two-belt treadmill of the present invention is rotatably installed on the treadmill body, the first drive motor and the second drive motor provided on the left and right sides of the treadmill body, and the treadmill body A left conveyor belt and a right conveyor belt rotated by the first drive motor and the second drive motor, respectively, and a belt loosening prevention part installed on the treadmill body to prevent peeling of the left conveyor belt and the right conveyor belt; Two-belt treadmill comprising a; A walker unit which is worn to support a pedestrian and detects angular data and EMG signals of the lower limb according to the lower limb joint movement, and includes a joint driving unit installed at each lower limb joint; A support frame installed to surround the two-belt treadmill and having a handle that can be held by a pedestrian; And a traction unit installed at an upper portion of the support frame to pull the human body in a vertical direction to prevent the pedestrian from falling and injuring. The central control unit may include the walker, the first driving motor, and It can be configured to control the second drive motor.

The central control unit, a mode for driving the walker unit in synchronization with the speed, rotation direction and the operation mode of the two treadmill; And, it can be configured to have a mode for driving the two belt treadmill according to the output angle of the walker.

The central control unit is a process of operating by the pedestrian's own, characterized in that for driving the first motor and the second motor of the two belt treadmill in accordance with the muscle state signal of the pedestrian, such as the EMG output from the walker. The mode may be further included.

The central controller is configured to continuously drive the first drive motor and the second drive motor of the two belt treadmill by a start value of the muscle state signal of a pedestrian; And a mode for controlling driving of the first driving motor and the second driving motor according to a start value of the muscle state signal of the pedestrian and angle data according to the lower leg joint motion.

The towing unit includes a towing body coupled to the upper portion of the support frame; A rack gear slidably installed in the towing body; A pinion gear mounted to the towing body so as to be geared with the rack gear; A rod fixed to the rack gear and moving up and down in association with the rotation of the pinion gear; A lift drive motor installed at the traction body to rotate the pinion gear; And a human tow bar coupled to the bottom of the rod in a ball joint manner and rotatable in three dimensions and connected to a seat belt worn by a pedestrian.

According to the present invention, the left and right conveyor belts can be prevented from coming off by the belt loosening prevention part.

Further, both side portions of the first rotating shaft tube and the second rotating shaft tube may be formed in a flange shape to prevent the left and right conveyor belts from coming off from the first and second rotating shaft tubes.

In addition, since the intermediate part of the first fixed shaft is fixed to the treadmill body by the support pin, it is possible to prevent the warpage of the first fixed shaft.

In addition, the pedestrian can prevent the pedestrian from falling and causing injury.

In addition, since the rod of the traction unit is movable up and down, there is an effect that can improve the rehabilitation efficiency during the fall prevention training of pedestrians.

1 is a combined perspective view showing a two-belt treadmill and a walking rehabilitation training device having the same according to an embodiment of the present invention,
Figure 2 is an exploded perspective view showing the components separated from the central control unit and the belt support plate in Figure 1,
3 is a perspective view of the two-belt treadmill except for the side cover and the motor cover in FIG.
4 is an enlarged view illustrating an enlarged portion I shown in FIG. 2;
5 is an enlarged view illustrating an enlarged portion II shown in FIG. 3;
6 is a block diagram schematically showing the control state of the fall induction control unit of the present invention,
7 is a block diagram schematically showing a control state of the central control unit of the present invention;
FIG. 8 is a perspective view showing another form of the first and second rotary shaft tubes of FIG. 2. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features, and advantages of the present invention will become more readily apparent from the following description of preferred embodiments with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In this specification, when an element is referred to as being on another element, it may be directly formed on another element, or a third element may be interposed therebetween. Also in the figures, the thickness of the components is exaggerated for an effective description of the technical content.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other elements.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the following specific embodiments, various specific details are set forth in order to explain and understand the invention in more detail. However, those skilled in the art can understand that the present invention can be used without these various specific details. In some cases, it is mentioned in advance that parts of the invention which are commonly known in the description of the invention and which are not highly related to the invention are not described in order to prevent confusion in explaining the invention without cause.

Hereinafter, a two-belt treadmill and a walking rehabilitation training apparatus having the same will be described with reference to the drawings.

First, referring to FIGS. 1 and 2, the walking rehabilitation training apparatus according to the present embodiment includes a two belt treadmill 100, a support frame 200, a walker 300, a traction unit 400, and a controller 500. It includes.

1 to 3, the two belt treadmill 100 includes a treadmill body 110, a first drive motor 150 and a second drive motor 160, a left conveyor belt 171, a right conveyor belt 172. ) And the belt loosening prevention unit 180.

The treadmill body 110 includes a “c” shaped base panel 111 having an open rear side, and a belt support plate 113 installed in a mounting space 112 formed in the base panel 111.

The first driving motor 150 and the second driving motor 160 are formed of a step motor, and the first driving motor 150 is fixed to the upper left surface of the motor support plate 114 formed at the front of the base panel 111. Is installed. Next, the second drive motor 160 is fixedly installed on the upper right side of the motor housing 115 installed on the upper side of the motor support plate 114 to surround the first drive motor 150. The motor cover 116 is installed on the upper portion of the motor housing 115 to cover the entire front portion of the base panel 111 on which the first driving motor 150 and the second driving motor 160 are installed.

The left conveyor belt 171 is located at the rear of the motor housing 115 and is horizontally installed to be rotatable along the longitudinal direction of the base panel 111 so as to surround the left side of the belt support plate 113. In addition, the right conveyor belt 172 is located behind the motor housing 115, and is installed horizontally rotatable along the longitudinal direction of the base panel 111, that is, the front-rear direction so as to surround the right side of the belt support plate 113. .

In order for the left and right conveyor belts 171 and 172 to be rotatable to the base panel 111, the first fixed shaft 121 is fixed to connect both side ends of the front portion of the base panel 111, and the first fixed shaft ( A pair of first rotating shaft pipes 123 are inserted into the first fixed shaft 121 so as to be spaced apart from each other so as to be rotatable in 121. In this case, a bearing is provided between the first fixed shaft 121 and the pair of rotary shaft tubes 123 to smoothly rotate the pair of first rotary shaft tubes 123. The pair of first rotary shaft tubes 123 is wound around the front ends of the left conveyor belt 171 and the right conveyor belt 172.

In addition, the pair of second fixed shaft 125 is disposed in the "c" shaped support piece 126 coupled to the base panel 111 and is coupled using the screw member (S). The support pieces 126 are installed to be disposed at both ends of each of the pair of second fixed shafts 125. A pair of second rotary shaft tubes 127 are inserted into the pair of second fixed shafts 125 so as to be rotatable on each of the pair of second fixed shafts 125. In this case, a bearing B is provided between the pair of second fixed shaft 125 and the pair of second rotary shafts 127, respectively, to smoothly rotate the pair of second rotary shaft tubes 127. do. The rear ends of the left conveyor belt 171 and the right conveyor belt 172 are wound around the pair of second rotating shaft tubes 127.

In this case, the second fixing shaft 125 in the support piece 126 is moved while turning the screw member S in one or the other directions. Therefore, when the second fixing shaft 125 is moved backward by turning the screw member S in one direction, the tension of the left or right conveyor belts 171, 172 increases, and the screw member S is turned in the other direction. When the second fixed shaft 124 moves forward, the tension of the left or right conveyor belts 171 and 172 decreases.

The left conveyor belt 171 and the right conveyor belt 172 may rotate forward and reverse independently of the first driving motor 150 and the second driving motor 160, and may rotate in the same direction or opposite to each other. Can rotate in the direction of

Rotational force of the first driving motor 150 and the second driving motor 160 may be transmitted to the left conveyor belt 171 and the right conveyor belt 172 by the power transmission members 155 and 165, respectively.

Each of the power transmission members 155 and 165 may include a driving pulley 156 and 166, a driven pulley 157 and 167, and a belt member 158 and 168.

The driving pulleys 156 and 166 may be axially coupled to the rotation shafts of the first driving motor 150 and the second driving motor 160.

The driven pulleys 157 and 167 may be axially coupled to the outside of the pair of first rotating shaft pipes 123, respectively.

The belt members 158 and 168 are wound around the outer peripheries of the driving pulleys 156 and 166 and the driven pulleys 157 and 167, respectively, so that the rotational force of the first driving motor 150 and the second driving motor 160 may be rotated on the left conveyor belt 171 and the right side, respectively. May be transferred to the conveyor belt 172.

In the present invention, the first bracket 129 is installed in the middle of the width of the front of the base panel 111, the support pin 130 extends from the first bracket 129 through the first bracket 129, the first It penetrates the middle of the fixed shaft 121. Therefore, the intermediate part of the first fixed shaft 121 can be prevented from being bent downward by the pedestrian load, and the rotational center axes of the left conveyor belt 171 and the right conveyor belt 172 are eccentric to the left and the right conveyor. The belts 171 and 172 can be prevented from moving.

Meanwhile, as shown in FIG. 8, the first and second rotary shaft tubes 123 and 127 according to the present exemplary embodiment may be configured such that a flange portion P having a flange shape in which both ends thereof are extended. When the left and right conveyor belts 171 and 172 are wound around the first and second rotary shaft tubes 123 and 127, they are placed between the pair of flange portions P, so that the first and second conveyor belts 171 and 172 are rotated. And does not exit out of the second rotary shaft tubes 123 and 127.

2 to 5, the belt loosening prevention unit 180 has the left and right conveyor belts 171 and 172 peeled off from the pair of first rotating shaft tubes 123 and the pair of second rotating shaft tubes 127. Prevent belt loosening. In this embodiment, the belt loosening prevention unit 180 includes four rollers 183 rotatably installed on the treadmill body 110 as shown in FIG. 3. Each roller 183 is disposed adjacent to the outer side of the front and rear of the left and right conveyor belts (171, 172). However, four rollers 183 of the present embodiment are preferably installed, but only two rollers 183 may be provided adjacent to the outer side surfaces of the rear of the left and right conveyor belts 171 and 172.

In detail, the belt loosening prevention unit 180 includes four, and includes a roller casing 181 and a roller 183.

The roller casing 181 is formed in a rectangular block shape and is installed in the mounting groove 131 formed at the edge of the belt support plate 113. The roller casing 181 has a roller insertion groove 181a formed at the center thereof.

The roller 183 is formed in a cylindrical shape formed with a groove 183a along the outer circumferential direction, and is mounted to the insertion groove 181a so that the groove 183a is exposed to the upper portion of the roller casing 181, and is mounted on the roller casing 181. It is installed to be rotatable.

To this end, the cylinder 184a is inserted into the groove 183a, and the auxiliary cylinder 184b is disposed on both sides of the groove 183a on the upper surface of the roller casing 181. The roller 183 is provided with the bearings B2 on both sides of the top and bottom, and disposed on the upper portion of the cylinder 184a, and then a pair of support pieces 185 on the outer side of the roller casing 181 and the roller 183 in the vertical direction. And a pair of support pieces 185 are connected to each other so that the three bolts 186 pass through the cylinder 184a and the auxiliary cylinder 184b.

In the present embodiment, the belt loosening prevention unit 180 is a structure for rotating the roller 183 in the roller casing 181 and includes a cylinder 184a, an auxiliary cylinder 184b, a support piece 185, and the like. Although made by, the roller 183 is rotatable with respect to the roller casing 181 to be adjacent to the outer side of the left conveyor belt 171 and the right conveyor belt 172 may be any structure.

On the other hand, the belt loosening prevention unit 180 according to the present embodiment may constitute a roller position adjusting unit 190 for moving the roller casing 181 in the mounting groove 131 so that the position of the roller 183 is moved. .

The roller position adjusting unit 190 is a pair in which the roller casing 181 penetrates the roller casing 181 so that the roller casing 181 slides in the left / right direction in the mounting groove 131 and both ends thereof are fixed in the mounting groove 131. The sliding bar 191 and the roller casing 181 is screwed, and includes a control bar 193 for moving the roller casing 181 by rotation. In this case, the hexagonal wrench tool is inserted into the through hole 111a formed on the side surface of the base panel 111 and inserted into the hexagonal groove 193a formed in the adjustment bar 193, thereby rotating the adjustment bar 193. The roller casing 181 moves to the left or to the right, and accordingly, the position of the roller 183 is moved.

On the other hand, the treadmill body 110, as shown in Figures 1 and 2, a pair of the left and right sides of the base panel 111, and a pair of both ends of the belt support plate 113, the belt loosening prevention portion 180 is installed Side cover 118 is installed.

1 and 2, the support frame 200 includes an inner support frame 210 and an outer support frame 250.

The inner support frame 210 includes an inner base support 211, an inner upward support 213, and an upper plate 215. The inner base support 211 surrounds the front portion of the base panel 111 and is horizontally seated on the ground. The inner upward support part 213 extends upward from the base support part 210, but is inclined at a predetermined angle in this embodiment. The upper plate 215 is installed at the upper end of the inner upward support 213. Both sides of the inner upward support 213 may be a handle 214 that can be gripped by the user by hand.

The outer support frame 250 has a shape surrounding the two belt treadmill 100, and includes an outer base support 251, an outer upward support 253, a handle 255, and a reinforcement support 257.

The outer base support part 251 is horizontally seated on the ground to surround the inner base support part 211.

The outer upward support 253 extends upward from the outer base support 251 and is inclined backward.

The handle portion 255 extends rearward from a predetermined height of the outer upward supporting portion 253, and a rear end thereof is connected to a rear end of the outer base supporting portion 251.

The reinforcement support part 257 is formed in a shape in which a part is bent so that the center part of the front end part of the outer base support part 251 and the center part of the upper end part of the outer upward support part 253 may mutually connect.

2 and 7, the walker 300 is worn to support the pedestrian, detects angle data and EMG signals of the lower limb joints, and includes a power motor having a joint motor installed at each lower limb joint. It is a driven walking aid.

Specifically, the walker 300 includes the human body support parts 311a, 311b, 311c and 311d and the human body support parts 311a, 311b, 311c and 311d for fixing the lower part of the pedestrian, that is, the foot, the tibia and the thigh. It is installed on the joints 313a, knee joints 313b, and hip joints 313c, and the joints 312a, 313b, and 313c, which are relatively rotatable and connected to each other, so that angle data according to the lower leg joint movement of the pedestrian is Angle sensor 321 to detect and output, EMG sensor 322 to detect and output the EMG signal generated from the muscles of the lower limbs of the pedestrian, human body support 311a, 311b, 311c, 311d to forcibly move the lower joints It consists of a joint drive unit 323 for rotating. At this time, the joint driving unit 323 may be composed of a motor or a pneumatic cylinder.

In this embodiment, the angle sensor 312, the EMG sensor 322, and the joint driver 323 are connected to the control unit 500 by a wired or wireless method and controlled by the control unit 500.

Traction unit 400 is installed to the rear in the center of the upper end of the outer upward support (253) to prevent the pedestrian falls and injuries. The towing unit 400 according to the present embodiment is configured to tow the pedestrian upwards.

1 and 2, the traction unit 400 is a traction body 401, rack gear 403, pinion gear 406, elevating drive motor 408, rod 410, human tow bar 412 ).

Traction body 401 is installed rearward in the center of the upper end of the outer upward support (253).

The rack gear 403 is installed to the traction body 400 so as to be slidable in the vertical direction. The pinion gear 406 is rotatably mounted to the traction body 401 to be geared to the rack gear 403.

The lift drive motor 408 is installed on the side of the traction body 401, and the rotational force of the lift drive motor 408 is configured to be transmitted to the pinion gear 406.

The rod 410 is coupled to the rear side of the rack gear 403, and interlocks with the vertical movement of the rack gear 403. The rod 410 penetrates to the lower side of the towing main body 401, and the length exposed to the lower side of the towing main body 401 varies according to the vertical movement.

Human tow bar 412 is formed in an arc shape, the center of which is coupled to the lower end of the rod 410 in a ball joint manner. Therefore, the human tow bar 412 is able to rotate in three dimensions with respect to the rod 410. Human tow bar 412 may be provided with a pair of wires 413 at both ends. The lower end of the wire 413 may be sewn and fixed in a circular shape or the like so that the accommodation portion 413a may be formed. One side of the seat belt including a belt that can be worn by the user is accommodated inside the accommodation portion 413a. Therefore, the human tow bar 412 and the seat belt worn by the pedestrian are connected using the wire 413. Therefore, the human tow bar 412 supports the seat belt so that the pedestrian wearing the seat belt can safely train without falling.

1, 2, 6, and 7, the controller 500 includes a fall induction controller 510 and a central controller 570.

1, 2, and 6, the fall-inducing control unit 510 may be provided at the center of the upper surface of the upper plate 215.

The fall-inducing control unit 510 receives the power from the power supply unit 511 to vary the instantaneous forward and reverse rotational speeds of the first driving motor 150 and the second driving motor 160 so that the left conveyor belt 171 and the right conveyor belt are different. It causes the fall of the pedestrian walking 172, and the pedestrian walks in response to the fall training.

The fall-inducing control unit 510 may include a fall-inducing strength control unit 513 that adjusts a difference between instantaneous rotational speeds of the first driving motor 150 and the second driving motor 160.

The fall induction strength operation unit 170 may be provided on the fall induction control unit 510 in various ways such as a push button or a dial button.

When the user sets the fall-induced strength control unit 513 to 'strong', the difference value between rotations of the first driving motor 150 and the second driving motor 160 increases, and thus the left conveyor belt 171 ) And a rapid fall is caused to the pedestrian walking the right conveyor belt 172, so that the pedestrian can perform a high strength fall prevention training.

When the user sets the fall-induced strength control unit 513 to 'weak', the difference between the instantaneous rotational speeds of the first driving motor 150 and the second driving motor 160 becomes small, and thus, the left conveyor belt A gentle fall is caused to the pedestrian walking 171 and the right conveyor belt 172, so that the pedestrian can perform the fall prevention training of low intensity.

In addition, according to the operation of the fall induction strength operation unit 513, the fall induction control unit 510 rotates the first drive motor 150 and the second drive motor 160 to be opposite to each other to the left conveyor belt 171 and the right. Falling may be caused by causing the conveyor belt 172 to rotate in opposite directions, thereby allowing pedestrians to perform fall prevention training.

According to the strength of the fall-induced strength manipulation unit 513 for adjusting the difference between the instantaneous rotational speeds of the first and second drive motors 150 and 160, the fall-induced control unit 510 is configured to control the first and second drive motors 150 and 150. Since the second drive motor 160 is controlled, the fall prevention training can be performed with high efficiency to the pedestrian walking on the left and right conveyor belts 171 and 172.

The left conveyor belt 171 and the right conveyor belt 172 measure the pressure applied to the left conveyor belt 171 and the right conveyor belt 172 while the pedestrian walks the left conveyor belt 171 and the right conveyor 172 belt. A pressure sensor 540 may be provided. The fall trigger controller 510 may calculate the load of the pedestrian through the pressure output from the pressure sensor 540.

In addition, the fall trigger controller 510 may include a walking cycle calculator 550.

The pressure measurement value applied by the pedestrian measured by the pressure sensor 540 to the left conveyor belt 171 and the right conveyor belt 172 may be output to the fall trigger controller 510.

The walking cycle calculator 550 may calculate and quantify the walking cycle of the pedestrian based on the pressure measurement values applied by the pedestrian measured by the pressure sensor 190 to the left conveyor belt 171 and the right conveyor belt 172.

The fall trigger controller 510 outputs the calculated value of the walking period calculator 550 to the first display unit 560 installed in the reinforcement supporter 257.

The first display unit 560 outputs the calculation value of the walking period operation unit 550 as letters, numbers, or the like under the control of the fall trigger controller 510.

A pedestrian walking on the left and right conveyor belts 171 and 172 can easily check the walking cycle of the pedestrian through the first display unit 560 with the naked eye.

1, 2, and 7, the central controller 570 receives an EMG signal and angle data output from the angle sensor 321 and the EMG sensor 322 of the worker unit 300, and the two belt treadmill. The first driving motor 150, the second driving motor 160, and the joint driving unit 323 of the walker 300 are controlled to be driven.

The central control unit 570 may be installed to be disposed on the right side of the two-belt treadmill 100, as shown in FIG.

The central control unit 570 may include a walking rehabilitation mode operation unit 572 for setting various driving modes related to walking rehabilitation training.

The walking rehabilitation training mode operation unit 572 may be provided on the central control unit 570 in various ways such as a push button or a dial button.

When the user sets the walking rehabilitation training mode operation unit 572 to the 'first mode', the central control unit 570 may operate the worker unit 300 according to the speed, rotation direction, and driving mode of the two-belt treadmill 100. Drive in synchronization. That is, the joint driving unit 323 of the walker 300 is controlled according to the speed and the rotation direction of the left and right conveyor belts 171 and 172.

When the user sets the walking rehabilitation training mode operation unit 572 to the 'second mode', the first driving of the two-belt treadmill 100 according to the angle value output from the angle sensor 321 of the worker unit 300. The motor 150 and the second driving motor 160 are controlled to be driven.

In this case, when the central control unit 570 drives the joint driving unit 323 of the worker unit 300 to perform forced walking training by the worker unit 300, the angle sensor 321 of the worker unit 300 is used. The first drive motor 150 and the second drive motor 160 of the two-belt treadmill 100 are controlled according to the angle value output from

When the user sets the walking rehabilitation training mode operation unit 572 to the 'third mode', the first of the two-belt treadmill 100 according to the EMG signal value output from the EMG sensor 322 of the worker unit 300. The driving motor 150 and the second driving motor 160 are controlled to be driven.

When the pedestrian performs the walking rehabilitation training through his / her will, that is, arbitrary movement, the central control unit 570, according to the EMG signal from the EMG sensor 322 of the worker unit 300, that is, the muscle state signal, The first driving motor 150 and the second driving motor 160 of the belt treadmill 100 are controlled to be driven.

In this case, the central control unit 570 detects the start signal (initial signal) of the EMG signal output from the EMG sensor 322 and detects the first drive motor 150 and the second drive motor of the two-belt treadmill 100. The first driving motor of the two-belt treadmill 100 may be driven continuously or according to the start signal (initial signal) of the EMG signal output from the EMG sensor 322 and the angle value of the angle sensor 321. 150 may be controlled to drive the second driving motor 160.

On the other hand, the central control unit 570 when the fall prevention training through the two-belt treadmill 100, when receiving the signal value that is determined to fall by receiving the angle value output from the angle sensor 321 of the worker unit 300 Controls the lifting driving motor 408 to raise the rod 410 of the towing unit 400 to prevent the pedestrian from falling.

On the other hand, the numerical values generated in each of the gait rehabilitation training mode can be checked with the naked eye through the second display unit 574 formed on the upper side of the central control unit 570. In this case, trainers such as doctors, nurses and rehabilitation therapists who observe pedestrian rehabilitation training may check the second display unit 574 to recognize objective training information according to the training.

100 ... two-belt treadmill
110.Treadmill body
111.Base panel
111a ... through-through
112 ... mounting space
113 Belt Support Plate
114.Motor support plate
115 ... motor housing
116 ... motor cover
121 ... the first fixed shaft
123 ... the first rotary tube
125 ... 2nd fixed shaft
127 ... 2nd rotating shaft pipe
129 ... Bracket 1
130 ... support pin
131.Mounting groove
150,160 ... 1st drive motor, 2nd drive motor
155,165 ... drive pulley
157,167 ... Following pulley
158,168 belt part
171 left conveyor belt
172.Right Conveyor Belt
180 ... belt loosening
181 ... roller casing
181a ... Roller Insertion Groove
183 ... roller
184a ... cylinder
184b ... Secondary cylinder
185.
186 ... bolt
190 ... Roller Position Adjuster
191 Sliding Bar
193.Adjustment bar
193a ... hexagonal groove
200 ... support frame
210 ... inner support frame
211 ... Inner Base Support
213.Inner upward support
214 ... handle
215 ... top plate
250 ... outer support frame
251.Outer base support
253.Outer upward support
255.Handle
257 Reinforcement Support
300 ... Walker
311a ~ 311d ... Human Supports
313a ... ankle joint
313b ... Knee joint
313c ... hip joint
321 ... angle sensor
322 ... EMG sensor
323 ... Joint drive
400 ... towing unit
401 Towing
403 ... Gear Gear
406 Pinion Gear
408 ... lift drive motor
410 ... load
412.Human Traction Bar
500 ... control unit
510.Fall induction control unit
511 Power supply
513.Fall induction strength control unit
540 ... pressure sensor
550 ... Walking cycle calculator
560 ... First display unit
570 Central control unit
572 ... Walking Rehabilitation Mode Control Panel

Claims (17)

Treadmill body;
A first driving motor and a second driving motor respectively provided on the left and right sides of the treadmill body;
A left conveyor belt and a right conveyor belt rotatably installed on the treadmill body and respectively rotated by the first drive motor and the second drive motor;
And a belt loosening prevention part installed on the treadmill body to prevent peeling of the left conveyor belt and the right conveyor belt.
The method of claim 1,
And a fall-inducing control unit for causing the pedestrian to fall by causing the fall of the pedestrian by changing the instantaneous rotational speed of the first drive motor and the second drive motor.
The method of claim 2,
The control unit is a two-belt tread mill, characterized in that for driving the first drive motor and the second drive motor forward or reverse rotation respectively independently the forward or reverse rotation of the left conveyor belt and the right conveyor belt.
The method of claim 1,
And the belt loosening prevention part includes at least one pair of rollers rotatably installed on the treadmill body so as to contact the outer side surfaces of the belts of the left conveyor belt and the right conveyor.
The method of claim 4, wherein
The at least one pair of rollers is a two-belt treadmill, characterized in that two pairs are installed on the outer side of the front and rear of the left conveyor belt and the right conveyor belt.
The method of claim 4, wherein
Two-belt treadmill further comprises a roller position adjusting unit for moving the belt release preventing portion to move the position of the pair of rollers.
The method of claim 1,
And a pressure sensor mounted on the left conveyor belt and the right conveyor belt.
The method of claim 7, wherein
At least two pressure sensors are installed at the front and rear of the left conveyor belt and the right conveyor belt, respectively.
A two-belt treadmill, characterized in that it further comprises a walking cycle calculation unit for calculating the walking cycle by the signal of the pressure sensor.
The method of claim 1,
A first fixed shaft installed at a front portion of the treadmill body and installed to connect both side ends of the treadmill body,
A pair of first rotating shaft tubes spaced apart from each other to be rotatably inserted into the first fixed shaft and to which front ends of the left conveyor belt and the right conveyor belt are wound;
A first bracket installed in the middle of the width of the front of the treadmill body; And,
And a support pin extending from the first bracket and penetrating through the first fixed shaft.
The method of claim 9,
A support piece installed in the middle of the width of the rear portion of the treadmill body;
A pair of second fixed shafts installed to connect one side of the treadmill body and the support piece, and installed to connect the support piece and the other side of the treadmill body; And,
And a pair of second rotating shaft pipes rotatably inserted into the pair of second fixed shafts, the rear ends of the left conveyor belt and the right conveyor belt respectively being wound around the pair of second fixed shafts.
The method of claim 9 or 10,
The first fixed shaft and the pair of second fixed shaft
A two-belt treadmill, characterized in that both ends are formed in an extended flange shape.
The two-belt treadmill of claim 1, wherein the first and second drive motors comprise a step motor.
A treadmill body, a first drive motor and a second drive motor provided on the left and right sides of the treadmill body, respectively, and a left side rotatably installed on the treadmill body to rotate by the first drive motor and the second drive motor, respectively. A two-belt treadmill including a conveyor belt and a right conveyor belt, and a belt unwinding part installed on the treadmill body to prevent peeling of the left conveyor belt and the right conveyor belt;
A walker unit which is worn to support a pedestrian and detects angular data and EMG signals of the lower limb according to the lower limb joint movement, and includes a joint driving unit installed at each lower limb joint;
A support frame installed to surround the two-belt treadmill and having a handle to be gripped by the pedestrian;
A traction unit installed on an upper portion of the support frame to pull the pedestrian in a vertical direction to prevent the pedestrian from falling and injuring himself; And,
And a central control unit for controlling the walker, the first driving motor, and the second driving motor.
The method of claim 13, wherein the central control unit,
A mode for driving the walker in synchronization with the speed, rotation direction, and operation mode of the two treadmill; And,
Walking rehabilitation training device characterized in that it comprises a mode for driving the two belt treadmill according to the output angle of the walker.
The method of claim 13, wherein the central control unit
The first step and the second motor of the two-belt treadmill according to the muscle state signal of the pedestrian, such as the EMG output from the walker, the process of operating by the pedestrian's own mode Gait rehabilitation training device further comprising;
The method of claim 15, wherein the central control unit
A mode for continuously driving the first drive motor and the second drive motor of the two belt treadmill by a start value of the muscle state signal of the pedestrian; and
Walking rehabilitation training device further comprises; a mode for controlling the driving of the first drive motor and the second drive motor in accordance with the start value of the muscle state signal of the pedestrian and the lower leg joint motion; .
The method of claim 13, wherein the towing unit
Towing body coupled to the upper portion of the support frame;
A rack gear slidably mounted to the traction body;
A pinion gear mounted to the towing body so as to be geared with the rack gear;
A rod fixed to the rack gear and moving up and down in association with the rotation of the pinion gear;
A lift drive motor installed at the traction body to rotate the pinion gear; And,
Walking rehabilitation training apparatus comprising a; a human towing bar coupled to the lower end of the rod is rotatable in three dimensions and connected to the seat belt worn by pedestrians.

Images