KR20240052162A - Rehabilitation exercise machine - Google Patents

Abstract

The present invention relates to a rehabilitation exercise device for disabled people riding in a wheelchair that includes an exercise posture monitoring function. More specifically, the present invention relates to a rehabilitation exercise device for disabled people riding in a wheelchair, which rotates a drive motor based on a weight value set by the user to unwind or wind a wire, and where the wheelchair operates normally. The drive motor operates only when entered and in the correct position, and a safety locking unit is provided to double prevent safety accidents. This is especially useful for rehabilitation exercise for disabled people in wheelchairs with an exercise posture monitoring function. It is about rehabilitation exercise equipment.

Description

Rehabilitation exercise machine for disabled people in wheelchairs with exercise posture monitoring function

The present invention relates to a rehabilitation exercise device for disabled people riding in a wheelchair that includes an exercise posture monitoring function. More specifically, the present invention relates to a rehabilitation exercise device for disabled people riding in a wheelchair, which rotates a drive motor based on a weight value set by the user to unwind or wind a wire, and where the wheelchair operates normally. The drive motor operates only when entered and in the correct position, and a safety locking unit is provided to double prevent safety accidents. This is especially useful for rehabilitation exercise for disabled people in wheelchairs with an exercise posture monitoring function. It is about rehabilitation exercise equipment.

Recently, the number of people who want to take care of their health through home training at home, rather than at exercise facilities such as gyms, training centers, or sports centers, has been increasing. Accordingly, various home training equipment has been manufactured and sold, expanding the options of consumers who want suitable exercise. It is becoming.

In addition, although it is mainly for rehabilitation exercise, training equipment for disabled people with congenital or acquired disabilities is also manufactured and sold, so that disabled people who have a higher need for exercise that can be performed frequently at home compared to non-disabled people can also use it at home. It can be used for training.

However, it is recommended that disabled people perform exercises appropriately programmed according to their disability type, but home training equipment sold on the market does not satisfy this requirement.

In particular, because disabled people have a higher risk of accidents during exercise than the general public due to physical limitations, home training equipment for disabled people must ensure safety during exercise as a top priority, but only focuses on convenience of use for disabled people to ensure stability during exercise. There is no sufficient guarantee.

KR10-1285155 (registration number) 2013.07.05.

In the present invention, the wire 131 is unwound or wound to correspond to the weight value set by the user, and the unwinding or winding of the wire 131 is determined according to the length of the exposed wire 131, so the unwinding operation of the wire 131 The purpose is to provide rehabilitation exercise equipment for disabled people in wheelchairs that includes an exercise posture monitoring function that can prevent safety accidents even in the event of sudden loss of muscle strength.

In addition, the present invention is a wheelchair with an exercise posture monitoring function that can capture the user's exercise appearance and display it on the interface module 400, while simultaneously displaying a standard exercise avatar on the interface module to induce an accurate exercise posture. The purpose is to provide rehabilitation exercise equipment for people with disabilities.

In the present invention, the weight value is calculated using the tension that the force applied by the user acts on the wire 131, and based on this, the drive motor 132 is rotated to unwind or wind the wire 131, but the force applied by the user is We provide rehabilitation exercise equipment for disabled people in wheelchairs that includes an exercise posture monitoring function that increases or decreases the driving force of the drive motor 132 depending on how much the set weight is exceeded, allowing a similar feeling to exercise using weights. There is a purpose to doing so.

In addition, in the present invention, the weight value can be set lower when the wire 131 is lowered compared to when it is raised, and safety accidents can be double prevented by being provided with a safety locking unit 300, so rehabilitation of disabled people with physical disabilities The purpose is to provide rehabilitation exercise equipment for disabled people in wheelchairs that includes an exercise posture monitoring function that is particularly useful for exercise.

The present invention includes a pair of base frames 100 supported on the ground and spaced apart from each other so that the wheelchair 10 can enter; A plurality of wheel detection sensors 102 installed on the base frame 100 to be spaced apart from each other in the longitudinal direction of the base frame 100; A pillar frame 110 extending upward from the rear end of the base frame 100; A hanger frame 120 fixed across the pillar frame 110; A driving unit 130 installed on one side of the base frame 100 to wind or unwind the wire 131; An exercise unit 200 to which the end of the wire 131 is connected; A 3D camera 104 provided on one side of the exercise unit 200 to capture a set range between the base frames 100; a control unit that determines a driving amount of the driving unit 130 and transmits a control signal to the driving unit 130 so that the wire 131 is wound or unwound corresponding to a set weight value; It includes an interface module 400 that receives exercise information, including the set weight to be exercised, from the user and transmits it to the control unit, wherein the control unit determines the length of the wire 131 exposed from the drive unit 130. Accordingly, the forward or reverse rotation direction of the driving unit 130 is determined, and the measured value of the wheel detection sensor 102 is determined from the wheel detection sensor 102 located in the direction furthest from the pillar frame 110. The wheel detection sensor 102 located in the direction closest to the column frame 110 is sequentially measured, and when the motion information is input to the interface module 400, a control signal is transmitted to the driving unit 130. , the image captured from the 3D camera 104 is input, the user's body part position is specified, the user avatar's body part position is matched to the specified user's body part position, and displayed on the interface module 400.

In addition, the control unit of the present invention guides the interface module 400 to a preparatory motion for initially specifying the position of the user's body part, and the 3D camera 104 captures the user's appearance moving along the preparatory motion. A preparation image is generated, and the control unit extracts feature points of the rotation amount of each part of the body from the preparation image, calculates joint positions of each part of the body from the feature points of the extracted rotation amount, and calculates the joint position of each part of the body from the calculated joint position. Specifies the body part of

In addition, the control unit of the present invention displays a standard exercise avatar corresponding to the type of exercise input from the interface module 400 on the interface module 400 together with the user avatar, and the standard exercise avatar is displayed during the driving. Movement is determined depending on the length of the wire 131 exposed in the unit 130.

In addition, the present invention further includes a load cell 121 installed on the movement path of the wire 131 and whose measured value varies depending on the tension of the wire 131, and the control unit is configured to control the load cell 121. ) If the weight value calculated from the measured value exceeds the set weight value, the drive motor 132 is driven in the forward direction, and if the calculated weight value is less than the set weight value, the drive motor 132 is driven in the reverse direction. When the weight value is less than the set weight value, the drive motor 132 is not driven or driven in the forward direction, or when the calculated weight value exceeds the set weight value, the drive motor 132 is not driven or driven in the reverse direction. When this happens, the driving force of the driving motor 132 is corrected.

In the present invention, the wire 131 is unwound or wound to correspond to the weight value set by the user, and the unwinding or winding of the wire 131 is determined according to the length of the exposed wire 131, so the unwinding operation of the wire 131 It has the effect of preventing safety accidents even in case of sudden loss of strength during exercise.

In addition, the present invention has the effect of inducing an accurate exercise posture by filming the user's exercise appearance and displaying it on the interface module 400, while simultaneously displaying a standard exercise avatar on the interface module.

In the present invention, the weight value is calculated using the tension that the force applied by the user acts on the wire 131, and based on this, the drive motor 132 is rotated to unwind or wind the wire 131, but the force applied by the user is Since the driving force of the driving motor 132 is increased or decreased depending on how much the set weight is exceeded, there is an effect of providing a feeling similar to that of exercising using a weight.

In addition, in the present invention, the weight value can be set lower when the wire 131 is lowered compared to when it is raised, and safety accidents can be double prevented by being provided with a safety locking unit 300, so rehabilitation of disabled people with physical disabilities It has a particularly useful effect during exercise.

Figure 1 is a perspective view of a wheelchair entry state of a rehabilitation exercise device for a disabled person riding a wheelchair including an exercise posture monitoring function according to an embodiment of the present invention.
Figure 2 is a perspective view of the wheelchair-mounted rehabilitation exercise equipment for disabled people with an exercise posture monitoring function according to an embodiment of the present invention with the wheelchair removed.
Figure 3 is a partially cut-away perspective view of a rehabilitation exercise device for a disabled person in a wheelchair including an exercise posture monitoring function according to an embodiment of the present invention.
Figure 4 is a partial perspective view of the internal configuration of the main box of a rehabilitation exercise equipment for disabled people in wheelchairs including an exercise posture monitoring function according to an embodiment of the present invention.
Figure 5 is a perspective view of the main part of the safety locking unit of the rehabilitation exercise equipment for the disabled in a wheelchair including an exercise posture monitoring function according to an embodiment of the present invention.
Figure 6 is a diagram illustrating the use state of the rehabilitation exercise equipment for the disabled in a wheelchair including the exercise posture monitoring function according to an embodiment of the present invention when the wire is unwound.
Figure 7 is a diagram illustrating a state of use when winding a wire of a rehabilitation exercise device for disabled persons in a wheelchair including an exercise posture monitoring function according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

The present invention, as shown in FIGS. 1 to 7, includes a pair of base frames 100 supported on the ground and spaced apart from each other so that the wheelchair 10 can enter, and the base frame 100 includes a base frame 100. ), a plurality of wheel detection sensors 102 installed to be spaced apart from each other in the longitudinal direction, a pillar frame 110 extending upward from the rear end of the base frame 100, and a pillar frame 110 intersecting in the longitudinal direction of the pillar frame 110. A hanger frame 120 spaced apart from the base frame 100 and coupled to the pillar frame 110, a drive unit 130 installed on one side of the base frame 100 to wind or unwind the wire 131, Setting between the exercise unit 200, which is provided to perform muscle strength exercise using the wire 131 and to which the end of the wire 131 is connected, and the base frame 100, which is provided on one side of the exercise unit 200. A 3D camera 104 that photographs the range, a control unit that determines the driving amount of the drive unit 130 so that the wire 131 is wound or unwound at a set speed, and a set weight to be exercised is input from the user and is sent to the control unit. It is configured to include an interface module 400 that transmits.

The base frame 100 serves as a mounting base on which other structures are coupled and as a support for supporting them, and is provided in contact with or adjacent to the ground for this purpose. A pillar frame 110 is coupled to the rear end of the base frame 100 to extend upward. That is, it extends across the longitudinal direction of the base frame 100, and the relative angle between the base frame 100 and the column frame 110 is preferably 90 degrees, but this is not limited.

An exercise unit 200 is provided above the base frame 100. The exercise unit 200 is provided above the base frame 100 and allows a user riding the wheelchair 10 to exercise the upper body. For this purpose, the exercise unit 200 is configured to include an exercise equipment frame 210 that is coupled to the top of the column frame 110 or the hanger frame 120 and extends forward.

The base frame 100 consists of a pair of bars spaced apart from each other so that the wheelchair 10 can enter, and a wheel detection sensor 102 to determine whether the wheelchair 10 enters normally is installed on the base frame ( 100), and a plurality of them are provided, spaced apart from each other along the longitudinal direction. If it is assumed that the wheelchair 10 enters normally, the measurement value is first measured at the wheel detection sensor 102 located furthest from the column frame 110, and then the measurement values are measured sequentially, and finally the column frame 110 The measurement value will be measured from the wheel detection sensor 102 located closest to . Through this, it is possible to reduce the risk that the driving unit 130 may malfunction due to the movement of animals such as cats.

An interface module 400 is provided on one side of the base frame 100 to receive exercise information from the user. The interface module 400 receives exercise information, including the set weight to be exercised, from the user and transmits it to the control unit. For this purpose, the interface module 400 is installed on one side of the base frame 100 in the form of a monitor equipped with an input means and a display screen. It is provided in At this time, a display screen with a touch panel may be preferably adopted to enable more intuitive input.

In addition to the function of inputting the set weight value, the interface module 400 can display the exercise schedule, current number of exercises, set weight value, etc., and has a menu to provide guidance or call the medical staff when there is a call from the medical staff. can be printed.

The interface module 400 may also include a wireless recognition function such as RFID without direct input from the user. In this configuration, when it is difficult for the user to directly input the intensity and number of exercises, the exercise information profile preset by the medical staff is stored in the user's smartphone, RFID tag, etc. and provided to the interface module 400, or the exercise information profile is stored in the user's smartphone, RFID tag, etc. It is configured to provide the interface module 400 with a server connection link where the information profile is stored. The provision of exercise information profile through this wireless connection is recognized immediately when a user in a wheelchair enters the inside of the base frame 100, or when the user attaches a smartphone or RFID tag to the wireless recognition tag of the interface module 400. This can be achieved through contact.

In addition, when using this wireless connection function, information such as the number of times the user has exercised and the intensity of the exercise can be transmitted in real time to the medical staff through an internal network or mobile communication network so that it can be used for adjusting the rehabilitation exercise schedule.

The pillar frame 110 serves to support the hanger frame 120, and for this purpose extends upward from the rear end of the base frame 100. At this time, it should be confirmed that the meaning of extending the present invention includes not only being formed as one piece but also being joined with bolts, etc.

The column frame 110 extends upward from the base frame 100, and is shown as a parallel pair spaced apart from each other in the drawing. However, it can be formed alone as long as it stably supports the hanger frame 120. Of course it is possible.

A main box 101 is provided outside the pillar frame 110 and is configured to surround the pillar frame 110. The main box 101 serves to protect the pillar frame 110, the hanger frame 120 and the safety lock unit 300 installed in connection with the pillar frame 110 from being exposed to the outside, and serves as an exercise equipment frame. Only (210) is configured to be exposed and extend to the front of the main box (101).

The hanger frame 120 serves to measure the tension of the wire 131 extending from the drive unit 130 by installing a load cell 121, and for this purpose, the load cell 121 is installed from the pillar frame 110 to the pillar frame 110. ) and extends spaced apart from the base frame 100 to cross the longitudinal direction.

A load cell 121 is installed on one side of the hanger frame 120, and a tension transmission pulley 122 is installed on one side of the load cell 121. Therefore, when tension is generated in the wire 131, the tension transmission pulley 122 transmits it to the load cell 121, and the hanger frame 120 provides a reaction force to the load cell 121 to provide a measured value to the load cell 121. Allow this to be created.

Meanwhile, the hanger frame 120 serves in parallel to fix the first guide shaft 301 and the second guide shaft 302. To this end, the upper ends of the first guide shaft 301 and the second guide shaft 302 are coupled to the lower end of the hanger frame 120 in parallel and spaced apart from each other. And, the lower ends of the first guide shaft 301 and the second guide shaft 302 are fixed to the lower horizontal frame that runs between the rear ends of the base frame 100. At this time, the upper ends of the first guide shaft 301 and the second guide shaft 302 may be directly coupled to the hanger frame 120, but a separate fixing panel is provided between the hanger frame 120 and attached to the fixing panel. The first guide shaft 301 and the second guide shaft 302 may be fixed.

In addition, the hanger frame 120 also serves to fix the exercise equipment frame 210. The exercise equipment frame 210 is fixed to the hanger frame 120 and extends forward. It may be directly coupled to the hanger frame 120 or may be coupled to the hanger frame 120 through a separate fixing frame.

The drive unit 130 serves to allow the user to feel the weight through the wire 131 when the user applies force to the exercise unit 200 by winding or unwinding the wire 131. For this purpose, the driving unit 130 is installed on one side of the base frame 100, preferably between the lower ends of the column frame 110, and the wound wire 131 is transmitted to the exercise unit 200 through the tension transmission pulley 122. extends to reach.

The drive unit 130 includes a drive motor 132 and a drive reel 133 that is coupled to the rotation axis of the drive motor 132 and rotates and on which the wire 131 is wound.

The driving unit 130 is driven by a control signal from the controller and is configured to rotate in both forward and reverse directions.

The load cell 121 generates measured values by the tension applied to the wire 131 and transmits them to the control unit, and is installed on one side of the hanger frame 120 for this purpose. And, in order to transmit the tension of the wire 131 to the load cell 121, a tension transmission pulley 122 is installed on one side of the load cell 121.

At this time, the tension measured by the load cell 121 may vary depending on the angle at which the wire 131 is applied to the tension transmission pulley 122. Therefore, the control unit performs a calculation to convert the tension measured by the load cell 121 into a weight value. You can go through the process.

The exercise unit 200 serves to enable the user sitting in the wheelchair 10 to exercise by forming tension on the wire 131 using upper body strength, and for this purpose, the exercise equipment frame 210 is provided. It extends forward from the hanger frame 120 and is provided above the base frame 100, and the end of the wire 131 is connected to the exercise handle.

The exercise unit 200 is configured to first perform a pull-down exercise. For this purpose, the exercise unit 200 has a front pull-down roller 221 installed at the front end of the exercise equipment frame 210, and a pull-down exercise handle is provided at the end of the exercise equipment frame 210 to use the pull-down roller. The wire 131 passed through is coupled to the pull-down exercise handle. Accordingly, the user can exercise by pulling the pull-down exercise handle while sitting on the wheelchair 10. In addition, as shown in FIGS. 1 to 3, a rear side of the exercise equipment frame 210 in the direction of the hanger frame 120 is provided so that the tension of the wire 131 can be transmitted to the load cell 121 when the user pulls the pull-down exercise handle. A pull-down roller 222 is provided and configured to transmit the tension of the wire 131 to the tension transmission pulley 122 via the direction change pulley 140.

Next, the exercise unit 200 is configured to perform a chest press exercise. For this purpose, the exercise unit 200 includes a chest press exercise handle provided below the exercise equipment frame 210 and rotatably coupled to the exercise equipment frame 210. The chest press exercise handle induces a movement in which the user sits on the wheelchair 10 and rotates the handle by pushing it with both arms, and the wire 131 is coupled below the coupling portion of the chest press exercise handle. Therefore, when the user pushes up the chest press exercise handle, the wire 131 is pulled and a measurement value is measured in the load cell 121. At this time, in order to transmit the tension of the wire 131 to the tension transmission pulley 122, a chest press upper roller 231 is provided at the rear of the chest press exercise handle, and the chest press lower end is located at a set point between the base frame 100. A roller 232 is provided, so that the wire 131 coupled to the chest press exercise handle passes through the chest press upper roller 231 and flows into the direction change pulley 140 via the chest press lower roller 232. Afterwards, the wire 131 passing through the direction change pulley 140 is again fixed to a setting point between the base frames 100 at the bottom. At this time, referring to Figures 1 to 3, the wire 131 coupled to the chest press exercise handle is not wound around the drive unit 130 through the direct tension transmission pulley 122, but only transmits tension through the direction change pulley 140. It is configured to transmit, but this is only a configuration for configuring two exercise handles in one exercise unit 200. If the chest press exercise handle is configured alone, the wire 131 is directly transmitted without the direction change pulley 140. It can be configured to flow into the tension transmission pulley 122. Therefore, even if not directly connected, the wire 131 coupled to the chest press exercise handle should be understood as having the same configuration as the wire 131 wound around the drive unit 130.

Meanwhile, the chest press exercise handle and the pull-down exercise handle have a structure interlocked with each other by a direction change pulley (140). This means that when the pull-down exercise handle is pulled, tension also acts on the wire 131 connected to the chest press exercise handle. Since the chest press exercise handle is free to rotate downward and its backward movement is restricted, the pull-down exercise handle is pulled down without any special action. There is no problem in pulling the down handle (220). However, since the pull-down handle 220 is hanging on the wire 131 and shaking, when the chest press exercise handle is pushed up, the wire 131 connected to the pull-down handle 220 is pulled and the pull-down handle 220 is pulled. It is pulled up and hits the exercise equipment frame 210. In this case, noise may be generated, the pull-down handle 220 may be damaged, and the initial exercise intensity of the chest press exercise handle may not be operated accurately. Therefore, it is necessary to fix the position of the pull-down exercise handle when pushing up the chest press exercise handle. For this purpose, the present invention provides a wire stopper 223 on one side of the exercise equipment frame 210, and allows the user to perform the chest press exercise. When inputting to the interface module 400 to perform a pull-down exercise, the movement of the wire 131 connected to the pull-down exercise handle is limited by the control of the control unit, and the interface module 400 indicates that the user will perform the pull-down exercise. ) is configured not to restrict the movement of the wire 131 connected to the pull-down exercise handle under the control of the control unit.

The control unit serves to control the driving force of the drive motor 132. To this end, it receives exercise information including the set weight from the interface module 400 and receives measured values from the load cell 121, and based on this, the drive motor ( 132) Calculate the driving force. The exercise information may further include various information such as the type and number of exercises to be performed as well as the set weight.

First, the control unit determines whether to send a control signal to the driving unit 130 prior to controlling the driving unit 130. This is to prevent the device from malfunctioning due to incorrect touch by an animal such as a cat, or touch by other people who do not exercise.

For this purpose, the control unit receives measured values from a plurality of wheel detection sensors 102 installed on the base frame 100. If the wheelchair 10 normally enters between the base frames 100 in order for the user to exercise, the measurement value will be measured first at the wheel detection sensor 102 located furthest from the column frame 110, and the measurements will be made sequentially. This is because the value will be detected and the measurement value will be measured from the wheel detection sensor 102 located closest to the pillar frame 110. Accordingly, when the exercise information is input from the interface module 400 after the measurement values are measured in the above-mentioned order, the control unit determines that the user intends to exercise and transmits a control signal to the drive unit 130.

In addition, a heat detection sensor 103 is provided above the base frame 100 to determine whether the user is actually on the wheelchair 10, and the control unit receives the measurement value of the heat detection sensor 103 and measures it. If the value is greater than or equal to the set value, it is determined that the user has entered while riding the wheelchair 10 and a control signal is transmitted to the driving unit 130.

Therefore, through three cross-checks when measurement values are sequentially measured by the wheel detection sensor 102, a person's body temperature is measured by the heat detection sensor 103, and exercise information is input into the interface module 400. Early malfunctions can be ruled out.

When the measured value is transmitted from the load cell 121, the control unit calculates the weight value based on it. The weight value is a calculation of how much force was applied when the user pulled the pull-down handle 220 or pushed up the chest press handle 230.

If the present invention did not use the drive unit 130 and used weights like conventional exercise equipment, the weight set by the user was 20 kg, but the weight applied by the user to the pull-down handle 220 or the chest press handle 230 was 20 kg. If the force is 18 kg, the weight will not be lifted and the wire 131 will not move. Therefore, in order to create a similar environment, the control unit of the present invention drives the drive motor 132 in the forward direction only when the weight value calculated from the measured value of the load cell 121 exceeds the set weight value, and the calculated weight If the value is less than the set weight value, the drive motor 132 is driven in the reverse direction. That is, if the force applied by the user exceeds the set weight value, the wire 131 is unwound, and if the force applied by the user is less than the set weight value, the wire 131 is wound. At this time, when the pull-down handle 220 or the chest press handle 230 is completely moved to its initial state, the drive motor 132 should no longer be driven in the reverse direction, so at this time, the drive motor 132 is stopped. For this purpose, the drive motor 132 may be equipped with an encoder (not shown) that measures how much forward or reverse rotation has occurred from the initial value, and the control unit handles the pull-down handle when the rotation amount according to the measured value of the encoder becomes zero. (220) or the chest press handle 230 is determined to have moved to its initial state and the driving motor 132 is stopped. Alternatively, a sensing block (not shown) is coupled to the lower end of the driving unit 130 side of the wire 131, and a proximity sensor (not shown) that detects the proximity of the sensing block is provided at the upper end of the driving unit 130. The sensor may be configured to stop driving the drive motor 132 when it detects the detection block.

On the other hand, when using weights like conventional exercise equipment, the wire 131 is pulled per unit time when the user sets a 10 kg weight and applies a force of 12 kg and when the user sets a 10 kg weight and applies a force of 20 kg. There is a difference in the length of the draw. In other words, when a stronger force is applied, the wire 131 can be pulled faster.

Accordingly, in the present invention, in order to provide a similar environment, the drive motor 132 is controlled to drive faster when a stronger force is applied. When the weight value calculated from the measurement value of the load cell 121 exceeds the set weight value, the control unit increases the forward driving force by an amount corresponding to the exceeded weight value and drives the drive motor 132. It is desirable for this to appear through immediate measurement and control, and when the user applies a force greater than the weight value set by the user, the speed at which the wire 131 is withdrawn increases, so the resistance feels weak, and through this, the user's It is possible to set the weight value appropriate for muscle strength.

Meanwhile, when the user pulls the pull-down handle 220 or pushes the chest press handle 230 and the drive motor 132 rotates forward, the arm or hand loses strength, etc., so the wire 131 does not have enough power. Failure to provide tension may result in a situation where the control unit controls the drive motor 132 to rotate in reverse. At this time, in the case of conventional exercise equipment using weights, the weights fall rapidly downward and the pull-down handle 220 or chest press handle 230 quickly returns to the initial position, raising the risk of injury to the user. Since the present invention is a rehabilitation exercise device for the disabled, this situation may occur more frequently. Therefore, the control unit reversely rotates the drive motor 132 because the weight value calculated from the measured value of the load cell 121 is less than the set weight value. When driving, the drive motor 132 is configured not to be driven with a driving force that exceeds the set driving force. That is, even if the pressure applied to the pull-down handle 220 or the chest press handle 230 is momentarily lost, it does not immediately return to the initial position but returns gradually, thereby preventing safety accidents.

Alternatively, the control unit drives the drive motor 132 only in the forward rotation direction until the user pulls the pull-down handle 220 or pushes the chest press handle 230 to unwind the wire 131 to a set length. , when the wire 131 is unwound more than a set length, the drive motor 132 may be configured to drive only in the reverse rotation direction until it returns to the initial position. In this case, safety accidents can be prevented even if the user suddenly loses muscle strength while exercising.

Additionally, the control unit may be configured to correct the driving force of the drive motor 132 using the measured value of the load cell 121. If the weight value calculated from the measured value of the load cell 121 is less than the set weight value and the driving motor 132 is not driven or driven in the forward direction even though it is not in the initial position, or from the measured value of the load cell 121 If the calculated weight value exceeds the set weight value but the drive motor 132 is not driven or is driven in the reverse direction, this is regarded as a driving force setting error of the drive motor 132 and is corrected.

Meanwhile, the control unit may set the weight value differently when the user pulls or releases the pull-down handle 220 or pushes the chest press handle 230 up or down again. When the user applies force and gradually releases the force, the force recovery action is a more difficult action in terms of muscle use, so due to the nature of the present invention, which is a rehabilitation exercise device for the disabled, the weight is set lighter in the force recovery action. This is designed to reduce user fatigue and prevent safety accidents. In this case, the set weight for driving the drive motor 132 in the forward direction when the user applies force is different from the set weight for driving the drive motor 132 in the reverse direction when the user recovers the force, and accordingly, the gap between the two set weights is different. If there is a measured value in , the driving motor 132 is stopped, allowing the user to take a breath or recover strength at the desired timing, thereby preventing safety accidents and increasing exercise effectiveness.

On the other hand, if the configuration for preventing safety accidents that occur when the user's muscles are relaxed is described above, as the drive motor 132 is driven by electronic control, it is unintentionally driven strongly in the reverse direction due to a momentary error. A configuration that can prevent safety accidents that occur may be required.

For this purpose, the present invention is provided with a safety locking unit 300 to physically block unintentional strong drive in the reverse direction.

The safety locking unit 300 is configured so that the wire 131 is unwound without significant resistance in the direction in which the wire 131 is unwound, but is physically caught in the direction in which the wire 131 is wound. For this purpose, the safety locking unit 300 includes a bar-shaped first guide shaft 301, one end of which is coupled to the hanger frame 120 and the other end of which is coupled to a fixed frame between the base frame 100, and a first guide. A sliding block 310 that is slidably coupled to the shaft 301, a back plate 330 coupled to one side of the sliding block 310, and a wire that secures the wire 131 to one side of the back plate 330. A ratchet block 340 that is rotatably coupled to the fixing block 320 and the back plate 330 and has a pawl 341 protruding on one side having an end at an acute angle in the protruding direction, and one end of which is attached to the ratchet block 340. A spring 342 is coupled and the other end is coupled to the front of the back plate 330, one end is coupled to the hanger frame 120 and the other end is coupled to the base frame 100 and is spaced apart from the first guide shaft 301. The second guide shaft 302 provided and the inclined protrusion 351 that protrudes toward the ratchet block 340 and has an obtuse-angled inclined surface in the direction of the driving unit 130 are repeated in the longitudinal direction of the second guide shaft 302. It is configured to include a ratchet guide 350 that is formed and coupled to the second guide shaft 302. In addition, when the ratchet block 340 is rotated at a set angle in the first direction so as to prevent the ratchet block 340 from rotating more than a set angle in the first direction by being coupled to the back plate 330, the first first contact member contacts the ratchet block 340. The stopper 345 and the back plate 330 or wire 131 are coupled to the fixing plate 321 so that the ratchet block 340 is set in the second direction so that the ratchet block 340 cannot be rotated more than a set angle in the second direction. A second stopper 344 that contacts the ratchet block 340 when rotated at an angle is further provided.

Therefore, when the drive motor 132 is rotated in the forward direction by the user pulling the pull-down handle 220 or pushing the chest press handle 230 and the wire 131 is unwound, the wire fixing block coupled to the wire 131 (320), and the back plate 330, sliding block 310, and ratchet block 340 sequentially coupled to the wire fixing block 320 all rise in the direction of the hanger frame 120. At this time, the pawl 341 protruding from the ratchet block 340 moves along the inclined surface of the inclined protrusion 351 and rotates the ratchet block 340 at a set angle, and the pawl 341 touches the end of the inclined surface of the inclined protrusion 351. When it passes, it enters the slope starting point furrow of the next inclined protrusion 351 and the ratchet block 340 is restored to its original position by the spring 342. If you continue to pull the pull-down handle 220 or push the chest press handle 230 in this state, the ratchet block 340 continues to rise and repeat the above operation, and the ratchet block 340 is moved by the spring 342. It is restored and the pole 341 hits the inclined protrusion 351, so that the wire 131 can be pulled without great resistance along with a clicking sound.

During this operation, if a control error occurs in the drive motor 132 and the drive motor 132 suddenly rotates in reverse, the pawl 341 of the ratchet block 340 contacts the upper vertical surface of the inclined protrusion 351. Since the upper end of the ratchet block 340 is supported by the first stopper 345, the ratchet block 340 cannot rotate and cannot be lowered by the pawl 341. Therefore, even if the drive motor 132 suddenly rotates in reverse, the wire 131 is not suddenly pulled.

On the other hand, even if the wire 131 is unwound without fear of malfunction by the above-described configuration, the wire 131 must be wound up, that is, the ratchet block 340 must be lowered according to the user's intention. Even when (132) rotates in the reverse direction, a situation may occur where the pawl (341) of the ratchet block (340) is blocked by the inclined protrusion (351) of the ratchet guide (350). In order to solve this problem, the present invention rotates the ratchet block 340 during the intended descent to prevent the pawl 341 from being blocked by the inclined protrusion 351, and when the descent is completed and then re-ascends, the ratchet block ( 340) rotates again so that the pole 341 can climb over the inclined protrusion 351.

To this end, the safety locking unit 300 of the present invention includes a first reversal block 370 installed on the first guide shaft 301 at a position closer to the driving unit 130 than the sliding block 310, and a first A second reversal block 360 installed on the second guide shaft 302 at a position closer to the hanger frame 120 than the reversal block 370, and a reversal wheel rotatably coupled to one surface of the ratchet block 340. It is composed including (343). At this time, inclined surfaces are formed in the first reversal block 370 and the second reversal block 360 in directions facing each other, and the reversal wheel rotates when the sliding block 310 moves along the first guide shaft 301. It is configured to contact the inclined surface of the first inversion block 370 or the second inversion block 360.

Looking at the state of use of the safety locking unit 300 by the first inversion block 370, the second inversion block 360, and the inversion wheel 343, the sliding block 310 is connected to the hanger frame 120 as shown in FIG. 6. ) When rising in the direction, the inversion wheel 343 contacts the inclined surface of the second inversion block 360, and when the inversion wheel 343 moves along the inclined surface of the second inversion block 360, the ratchet block 340 It rotates in this second direction. In this state, when the sliding block 310 rises further, the ratchet block 340 rotates further in the second direction and the spring 342 moves to the left beyond the rotation axis of the ratchet block 340. Then, the ratchet block 340 is rapidly rotated in the second direction by the force of the spring 342 pulling the ratchet block 340 without the force acting on the inversion wheel 343, and the ratchet block 340 is used as a second stopper. When in contact with 344, the state of the ratchet block 340 is fixed by the spring 342 and the second stopper 344. In this state, the pawl 341 is not in contact with the inclined protrusion 351 of the ratchet guide 350, so the ratchet block 340 can be easily lowered even if the user recovers force and the wire 131 is wound. do.

Then, when the user recovers more force and the wire 131 is further wound, the sliding block 310 descends in the direction of the driving unit 130 as shown in FIG. 7 and the reversal wheel 343 moves toward the first reversal block 370. When in contact with an inclined surface, the ratchet block 340 is rotated in the first direction by the inversion wheel 343. In this state, when the sliding block 310 and the ratchet block 340 descend further, the spring 342 deviates from the rotation axis of the ratchet block 340 and is located on the right side. Then, the ratchet block 340 is rapidly rotated in the first direction by the force of the spring 342 pulling the ratchet block 340 without the force acting on the inversion wheel 343, and the ratchet block 340 is the first stopper. When in contact with 345, the state of the ratchet block 340 is fixed by the spring 342 and the first stopper 345. In this state, when the user pulls the pull-down handle 220 or pushes up the chest press handle 230 and the sliding block 310 and ratchet block 340 are raised, the ratchet block 340 is raised by the ratchet guide 350. ) and rises.

However, a control error may occur in the driving motor 132 even while the sliding block 310 and the ratchet block 340 are lowered by the user's intention. A driving force greater than the intended driving force may suddenly cause a reverse rotation, causing a safety accident. Accordingly, the safety locking unit 300 of the present invention may further include a ratchet motor coupled to the rear of the back plate 330 and whose rotation axis is coupled to the rotation axis of the ratchet block 340. The ratchet motor serves to rotate the ratchet block 340 from the second direction to the first direction under the control of the control unit. Therefore, when the reverse rotation of the drive motor 132 is driven with a driving force that is much larger than the intended driving force, the control unit operates the ratchet motor in the first direction so that the pawl 341 is in contact with the vertical surface of the inclined protrusion 351, thereby blocking the ratchet block. It is possible to stop the descent of (340).

Meanwhile, the sliding block 310 and the back plate 330 affect the tension of the wire 131 during raising and lowering operations due to their own weight. Accordingly, the present invention further includes a weight compensation block 380 to offset the weight of the sliding block 310 and the back plate 330 when they are raised and lowered. The weight compensation block 380 slides up and down near the sliding block 310, and a compensation shaft 381 is provided parallel to the first guide shaft 301 to raise and lower the weight compensation block 380. And the weight compensation block 380 is slidably mounted on the compensation shaft 381. The weight compensation block 380 is connected to the weight compensation wire 382, and the weight compensation wire 382 is connected to the sliding block 310 or the back plate 330 via a pulley at the top. Therefore, when the sliding block 310 and the back plate 330 rise, the weight compensation block 380 descends, and when the sliding block 310 and the back plate 330 descend, the weight compensation block 380 rises. By doing so, it is possible to minimize the influence that occurs when the sliding block 310, the back plate 330, and the ratchet block 340 move up and down. For this purpose, the weight compensation block 380 is preferably formed to have the same weight as the weight of the sliding block 310, the back plate 330, the wire fixing block 320, the ratchet block 340, and other parts.

Meanwhile, although it is important to perform rehabilitation exercises while ensuring safety, performing exercises in the correct posture can maximize the rehabilitation effect.

For this purpose, the present invention is provided with a 3D camera 104 installed on one side of the exercise unit 200 to capture a set range between the base frames 100.

The 3D camera 104 is a camera composed of a plurality of image sensors and lenses and configured to calculate the depth of the subject based on images taken at different positions. The images captured from the 3D camera 104 are transmitted to the control unit. .

The control unit receives the captured image from the 3D camera 104, specifies the position of the user's body part, matches the position of the user avatar's body part to the position of the specified user's body part, and displays it on the interface module 400.

At this time, in order to match the position of the user's body part with that of the avatar, it is necessary to accurately calculate the position of the user's joints. To this end, a process is performed to initially specify the position of the user's body part.

In order to initially specify the position of the user's body part, the control unit guides the preparatory motion through the interface module 400. The preparation motion is a motion that the user must follow in order to specify the user's joint position, and motions that can mainly measure the degree of bending of the shoulder, elbow, and wrist are provided.

The 3D camera 104 captures the user moving along the preparation motion to create a preparation image, and the control unit extracts feature points of the rotation amount of each part of the body from the preparation image transmitted from the 3D camera 104, and extracts the extracted The joint positions of each part of the body are calculated from the characteristic points of the rotation amount. Then, the user's body part is specified from the calculated joint position.

At this time, the characteristic point of the amount of rotation of each part of the body does not simply mean the center of rotation. In the case of the elbow, which moves as a single joint, the center of rotation is the elbow, but in the case of the shoulder, the joint that becomes the point of action when lifting the arm to the side and when lowering the arm back to the original position is different, so it is more Has complex movements. Therefore, depending on the type of joint, the position of the joint is specified based on the amount of rotation of the body part connected to the joint, and the parameters that specify the position of the joint from the characteristic points of the amount of rotation of the body part are pre-stored for each joint at the time of the first measurement. The rotation characteristic value of can be followed.

Meanwhile, the control unit can receive the user's height and weight information, and can correct the user's body part information based on the user's height and weight information.

When the user's body part is specified, the control unit matches the user's body part position with the user avatar's body part position and displays it on the interface module 400. Based on this, users can objectively look at the posture they are exercising in when exercising.

However, just by looking at your own exercise posture, you cannot tell whether your posture is the correct exercise posture. Accordingly, the control unit stores standard exercise avatars that move in desirable exercise postures for each type of exercise, and the control unit displays the standard exercise avatar and the user avatar together on the interface module 400. At this time, when the user moves while exercising, the user avatar that matches the position of the user's body part moves. The standard exercise avatar must also move at the same speed so that the user can perform the exercise by comparing the movement of the standard exercise avatar with that of the user avatar. You can. Accordingly, the control unit must move the standard exercise avatar in accordance with the user's movements. When the user performs exercise, the wire 131 is unwound or wound, and this is used to control the movement of the standard exercise avatar. The control unit determines the movement of the standard exercise avatar according to the length of the wire 131 exposed from the driving unit 130 and transmits it to the interface module 400, and the user compares whether the movement of the standard exercise avatar and the user avatar match. You will be able to perform exercises with precise movements.

In the present invention, which consists of the above-described configuration, the wire 131 is unwound or wound to correspond to the weight value set by the user, and the unwinding or winding of the wire 131 is determined according to the length of the exposed wire 131, so the wire ( 131) has the effect of preventing safety accidents even in the event of sudden loss of muscle strength during the unwinding operation.

In addition, the present invention has the effect of inducing an accurate exercise posture by filming the user's exercise appearance and displaying it on the interface module 400, while simultaneously displaying a standard exercise avatar on the interface module.

In addition, the present invention calculates the weight value using the tension that the force applied by the user acts on the wire 131, and based on this, rotates the drive motor 132 to unwind or wind the wire 131, but the user Since the driving force of the driving motor 132 is increased or decreased depending on how much the applied force exceeds the set weight, there is an effect of providing a feeling similar to that of exercising using a weight.

In addition, in the present invention, the weight value can be set lower when the wire 131 is lowered compared to when it is raised, and safety accidents can be double prevented by being provided with a safety locking unit 300, so rehabilitation of disabled people with physical disabilities It has a particularly useful effect during exercise.

100: Base frame 101: Main box
102: wheel detection sensor 103: heat detection sensor
110: pillar frame
120: hanger frame 121: load cell
122: Tension transmission pulley 130: Drive unit
131: wire 132: driving motor
133: Drive reel
200: exercise unit 210: exercise equipment frame
220: pull down handle 221: front pull down roller
222: rear pull down roller 223: wire stopper
230: Chest press handle 231: Chest press top roller
232: Chest press bottom roller 240: Direction change pulley
300: Safety locking unit 301: First guide shaft
302: second guide shaft 310: sliding block
320: Wire fixing block
330: back plate 340: ratchet block
341: pole 342: spring
343: Inversion wheel 344: Second stopper
345: First stopper 350: Ratchet guide
351: Inclined protrusion 360: Second inversion block
370: 1st inversion block
380: weight compensation block 381: compensation shaft
382: Weight compensation wire
400: interface module

Claims (4)

A pair of base frames (100) spaced apart from each other and supported on the ground so that the wheelchair (10) can enter;
A plurality of wheel detection sensors 102 installed on the base frame 100 to be spaced apart from each other in the longitudinal direction of the base frame 100;
A pillar frame 110 extending upward from the rear end of the base frame 100;
A hanger frame 120 fixed across the pillar frame 110;
A driving unit 130 installed on one side of the base frame 100 to wind or unwind the wire 131;
An exercise unit 200 to which the end of the wire 131 is connected;
A 3D camera 104 provided on one side of the exercise unit 200 to capture a set range between the base frames 100;
a control unit that determines a driving amount of the driving unit 130 and transmits a control signal to the driving unit 130 so that the wire 131 is wound or unwound corresponding to a set weight value;
An interface module 400 that receives exercise information including a set weight to be exercised from the user and transmits it to the control unit;
Includes,
The control unit determines the forward or reverse rotation direction of the driving unit 130 according to the length of the wire 131 exposed in the driving unit 130, and the measured value of the wheel detection sensor 102 is It is measured sequentially from the wheel detection sensor 102 located in the direction furthest from the column frame 110 to the wheel detection sensor 102 located in the direction closest to the column frame 110, and the interface module 400 ), when the exercise information is input, a control signal is transmitted to the driving unit 130, the image captured from the 3D camera 104 is input, the location of the user's body part is specified, and the location of the specified user's body part is determined. A rehabilitation exercise equipment for disabled people in wheelchairs that includes an exercise posture monitoring function that matches the positions of body parts of the user avatar and displays them on the interface module 400.
According to paragraph 1,
The control unit guides the interface module 400 to a preparatory motion for initially specifying the position of the user's body part,
The 3D camera 104 generates a preparation image by capturing the user moving along the preparation motion,
The control unit extracts feature points of the rotation amount of each part of the body from the preparation image, calculates joint positions of each part of the body from the extracted feature points of the rotation amount, and performs an exercise that specifies the user's body part from the calculated joint positions. Rehabilitation exercise equipment for disabled people in wheelchairs with posture monitoring.
According to paragraph 2,
The control unit displays a standard exercise avatar corresponding to the type of exercise input from the interface module 400 on the interface module 400 together with the user avatar, and the standard exercise avatar is displayed in the driving unit 130. A rehabilitation exercise device for disabled persons in a wheelchair including an exercise posture monitoring function whose movement is determined depending on the length of the exposed wire 131.
According to paragraph 1,
It further includes a load cell 121 installed on the movement path of the wire 131 and whose measured value varies depending on the tension of the wire 131,
The control unit drives the drive motor 132 in the forward direction if the weight value calculated from the measurement value of the load cell 121 exceeds the set weight value, and if the calculated weight value is less than the set weight value, the drive motor 132 ) is driven in the reverse direction, and the drive motor 132 is not driven or driven in the forward direction when the calculated weight value is less than the set weight value, or the drive motor 132 is driven in the forward direction when the calculated weight value exceeds the set weight value. A rehabilitation exercise device for disabled persons in a wheelchair including an exercise posture monitoring function that corrects the driving force of the drive motor (132) when it is not driven or driven in the reverse direction.