CA2950546A1 - Lower limb automatic regulating platform for waist rehabilitation training and training method - Google Patents
Lower limb automatic regulating platform for waist rehabilitation training and training method Download PDFInfo
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- CA2950546A1 CA2950546A1 CA2950546A CA2950546A CA2950546A1 CA 2950546 A1 CA2950546 A1 CA 2950546A1 CA 2950546 A CA2950546 A CA 2950546A CA 2950546 A CA2950546 A CA 2950546A CA 2950546 A1 CA2950546 A1 CA 2950546A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
Abstract
The present invention provides a lower limb automatic regulating platform for waist rehabilitation training and a training method thereof, wherein, the lower limb automatic regulating platform comprises an aluminum alloy profile frame, a lower limb automatic regulating platform unit, a standing platform, motor units, flexible ropes, and pulley units. The training method of the present invention comprises eight steps.
The lower limb automatic regulating platform can be controlled accurately, and can safely assist the patient for rehabilitation training, and can avoid accidents of the patient during rehabilitation training. The beneficial technical effects: by means of the lower limb automatic regulating platform provided in the present invention, the legs of the patient can bend or extend in a working range of the lower limb automatic regulating platform unit, and leg postures of the patient standing on the standing platform can be regulated when the waist of the patient straightens and bends. With the training method of the present invention, secondary injuries of the patient during rehabilitation training can be avoided.
The lower limb automatic regulating platform can be controlled accurately, and can safely assist the patient for rehabilitation training, and can avoid accidents of the patient during rehabilitation training. The beneficial technical effects: by means of the lower limb automatic regulating platform provided in the present invention, the legs of the patient can bend or extend in a working range of the lower limb automatic regulating platform unit, and leg postures of the patient standing on the standing platform can be regulated when the waist of the patient straightens and bends. With the training method of the present invention, secondary injuries of the patient during rehabilitation training can be avoided.
Description
LOWER LIMB AUTOMATIC REGULATING PLATFORM FOR WAIST REHABILITATION
= TRAINING AND TRAINING METHOD
FIELD OF THE INVENTION
The present invention relates to the technical field of medical rehabilitation training instruments, in particular to a lower limb automatic regulating platform for waist rehabilitation training and a training method thereof.
BACKGROUND ART
In today's society, there are more and more patients that suffer from waist dyskinesia due to paroxysmal diseases or accidents, but the conventional rehabilitation therapy mainly relies on rehabilitation therapists, which has low efficiency and high cost. Hence, there is a higher demand for waist rehabilitation training. To meet the demand in the society, the inventor has filed a patent application (Application No. CN201410491844.0), which discloses a six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device that utilizes pneumatic artificial muscle to drive waist bending rehabilitation training; in the device, a lower.limb rehabilitation regulating platform is driven by ropes so as to change the spatial position and posture of the platform and thereby enables the legs of a patient to bend and rotate in relation to the waist, to attain an effect of lumbar spinal rehabilitation training. Though the technical scheme and device structure in this application has innovative breakthroughs, it is found in clinical examination that the rehabilitation training device disclosed in this patent application (201410491844.0) has many problems when it is used for training to simulate lower limb exercise:
Firstly, the patient stands on the standing platform and there is no support or connection between the lower limbs and the rehabilitation training device; consequently, in the rehabilitation training, the lower limb movement driven by the movement of the platform in relation to the waist is not stable and has poor smoothness, and may cause secondary injuries to the patient;
Secondly, the lower limb movement is realized by driving the standing platform with a motor via ropes; since the motor has rotation errors and the ropes has deformation caused by expansion and shrinkage, the standing platform can't attain preset spatial positions and postures, causing compromised rehabilitation training effect;
Finally, in the rehabilitation training, the standing platform drives the two legs to make spatial movement, so that the two legs move in relation to the hip joints and thereby realize rehabilitation training of lumbar spine; however, since the thigh and shank of the patient may bend in the training process, assistance is required to enable the legs of the patient to bend so as to attain a better waist rehabilitation S training effect. Hence, it is necessary to further improve the mechanical structure disclosed in this application.
CONTENTS OF THE INVENTION
The object of the present invention is to provide a lower limb automatic regulating platform for waist rehabilitation training and a training method thereof, so as to solve the lower limb jointing problem in the existing waist rehabilitation training devices.
To attain the object described above, the present invention employs the following technical scheme:
A lower limb automatic regulating platform for waist rehabilitation training, comprising an aluminum alloy profile frame 100 in a rectangular shape and fixed to the floor. In addition:
a lower limb automatic regulating platform unit 300, a standing platform 400, motor units 500, ropes 600, and pulley units 700 are arranged in the aluminum alloy profile frame 100.
Four pulley units 700 are arrange at the top of the aluminum alloy profile frame 100. One motor unit 500 is arranged below each of the pulley units 700. The drum shaft of each motor unit SOO is connected with one flexible rope 600. Each flexible rope 600 runs around a pulley unit 700 and then is connected to the standing platform 400. Namely, the direction of the flexible rope 600 is changed via the pulley unit 700, and the length of the flexible rope 600 is changed via the motor unit 500;
thus, the spatial position and posture of the connected standing platform 400 are changed, and thereby the postures of the patient in standing state and moving state are regulated.
The lower limb automatic regulating platform unit 300 is arranged on the standing platform 400.
The lower limb automatic regulating platform unit 300 is movably connected with the legs of the patient, so as to restrain, support, and regulate the leg postures of the patient in standing state and waist movement state. Namely, through the supporting, restraining, and regulating of the lower limb automatic regulating
= TRAINING AND TRAINING METHOD
FIELD OF THE INVENTION
The present invention relates to the technical field of medical rehabilitation training instruments, in particular to a lower limb automatic regulating platform for waist rehabilitation training and a training method thereof.
BACKGROUND ART
In today's society, there are more and more patients that suffer from waist dyskinesia due to paroxysmal diseases or accidents, but the conventional rehabilitation therapy mainly relies on rehabilitation therapists, which has low efficiency and high cost. Hence, there is a higher demand for waist rehabilitation training. To meet the demand in the society, the inventor has filed a patent application (Application No. CN201410491844.0), which discloses a six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device that utilizes pneumatic artificial muscle to drive waist bending rehabilitation training; in the device, a lower.limb rehabilitation regulating platform is driven by ropes so as to change the spatial position and posture of the platform and thereby enables the legs of a patient to bend and rotate in relation to the waist, to attain an effect of lumbar spinal rehabilitation training. Though the technical scheme and device structure in this application has innovative breakthroughs, it is found in clinical examination that the rehabilitation training device disclosed in this patent application (201410491844.0) has many problems when it is used for training to simulate lower limb exercise:
Firstly, the patient stands on the standing platform and there is no support or connection between the lower limbs and the rehabilitation training device; consequently, in the rehabilitation training, the lower limb movement driven by the movement of the platform in relation to the waist is not stable and has poor smoothness, and may cause secondary injuries to the patient;
Secondly, the lower limb movement is realized by driving the standing platform with a motor via ropes; since the motor has rotation errors and the ropes has deformation caused by expansion and shrinkage, the standing platform can't attain preset spatial positions and postures, causing compromised rehabilitation training effect;
Finally, in the rehabilitation training, the standing platform drives the two legs to make spatial movement, so that the two legs move in relation to the hip joints and thereby realize rehabilitation training of lumbar spine; however, since the thigh and shank of the patient may bend in the training process, assistance is required to enable the legs of the patient to bend so as to attain a better waist rehabilitation S training effect. Hence, it is necessary to further improve the mechanical structure disclosed in this application.
CONTENTS OF THE INVENTION
The object of the present invention is to provide a lower limb automatic regulating platform for waist rehabilitation training and a training method thereof, so as to solve the lower limb jointing problem in the existing waist rehabilitation training devices.
To attain the object described above, the present invention employs the following technical scheme:
A lower limb automatic regulating platform for waist rehabilitation training, comprising an aluminum alloy profile frame 100 in a rectangular shape and fixed to the floor. In addition:
a lower limb automatic regulating platform unit 300, a standing platform 400, motor units 500, ropes 600, and pulley units 700 are arranged in the aluminum alloy profile frame 100.
Four pulley units 700 are arrange at the top of the aluminum alloy profile frame 100. One motor unit 500 is arranged below each of the pulley units 700. The drum shaft of each motor unit SOO is connected with one flexible rope 600. Each flexible rope 600 runs around a pulley unit 700 and then is connected to the standing platform 400. Namely, the direction of the flexible rope 600 is changed via the pulley unit 700, and the length of the flexible rope 600 is changed via the motor unit 500;
thus, the spatial position and posture of the connected standing platform 400 are changed, and thereby the postures of the patient in standing state and moving state are regulated.
The lower limb automatic regulating platform unit 300 is arranged on the standing platform 400.
The lower limb automatic regulating platform unit 300 is movably connected with the legs of the patient, so as to restrain, support, and regulate the leg postures of the patient in standing state and waist movement state. Namely, through the supporting, restraining, and regulating of the lower limb automatic regulating
2 platform unit 300, .the legs of the patient can bend and straighten within the working range of the lower limb automatic regulating platform unit 300.
In other words, by means of the joint movement of the standing platform 400 and the lower limb automatic regulating platform unit 300, the leg postures of the patient standing on the standing platform 400 are regulated when the waist of the patient is in straightening state or bending state.
A training method utilizing the lower limb automatic regulating platform for waist rehabilitation training according to the present invention is executed through the following steps:
Step 1: powering up an industrial PC and the motors in the motor units 500, controlling pressure sensors 801, laser ranging sensors 802 and encoders 803 to feedback signals, and resetting thigh pneumatic artificial muscles 316, shank pneumatic artificial muscles 310, rotation joint pneumatic artificial muscles 311, shank springs 307, rotation joint springs 312, and thigh springs 317;
Step 2: inputting thigh and shank length information of the patient to the industrial PC; inputting preset spatial positions and postures and allowable error ranges to the industrial PC, wherein, the preset spatial positions and postures are rehabilitation actions and postures to be exercised by the patient on the waist rehabilitation training device;
Step 3: instructing the patient to stand on the standing platform 400;
controlling the shank pneumatic artificial muscles 310 to inflate or deflate at first according to the leg information of the patient inputted to the industrial PC in the step 2 to adjust the length of the shank modules, detecting the length of the shank springs 307 with laser ranging sensors 802 in the shank modules in real time, and transmitting the detection data to the industrial PC for computation and judgment, till the rotation joints 306 are aligned to the knee joints of the patient at the same level;
then, controlling the thigh pneumatic artificial muscles 316 via the industrial PC to inflate or deflate, so as to adjust the length of the thigh modules, detecting the lengths of the thigh springs 317 in real time via the laser ranging sensors 802 in the thigh modules at the same time, and transmitting the detection data to the industrial PC for computation and judgment, so that elastic hip joint straps 301 are positioned at the hip joints of the patient;
In other words, by means of the joint movement of the standing platform 400 and the lower limb automatic regulating platform unit 300, the leg postures of the patient standing on the standing platform 400 are regulated when the waist of the patient is in straightening state or bending state.
A training method utilizing the lower limb automatic regulating platform for waist rehabilitation training according to the present invention is executed through the following steps:
Step 1: powering up an industrial PC and the motors in the motor units 500, controlling pressure sensors 801, laser ranging sensors 802 and encoders 803 to feedback signals, and resetting thigh pneumatic artificial muscles 316, shank pneumatic artificial muscles 310, rotation joint pneumatic artificial muscles 311, shank springs 307, rotation joint springs 312, and thigh springs 317;
Step 2: inputting thigh and shank length information of the patient to the industrial PC; inputting preset spatial positions and postures and allowable error ranges to the industrial PC, wherein, the preset spatial positions and postures are rehabilitation actions and postures to be exercised by the patient on the waist rehabilitation training device;
Step 3: instructing the patient to stand on the standing platform 400;
controlling the shank pneumatic artificial muscles 310 to inflate or deflate at first according to the leg information of the patient inputted to the industrial PC in the step 2 to adjust the length of the shank modules, detecting the length of the shank springs 307 with laser ranging sensors 802 in the shank modules in real time, and transmitting the detection data to the industrial PC for computation and judgment, till the rotation joints 306 are aligned to the knee joints of the patient at the same level;
then, controlling the thigh pneumatic artificial muscles 316 via the industrial PC to inflate or deflate, so as to adjust the length of the thigh modules, detecting the lengths of the thigh springs 317 in real time via the laser ranging sensors 802 in the thigh modules at the same time, and transmitting the detection data to the industrial PC for computation and judgment, so that elastic hip joint straps 301 are positioned at the hip joints of the patient;
3 Step 4: tying elastic leg straps 303 in the thigh modules and elastic leg straps 303 in the shank modules to the thighs and shanks of the patient respectively, and tying the elastic hip joint straps 301 to the hip joints of the patient, so as to prepare for making rehabilitation movements;
Step 5: controlling the motors in the motor units 500 to rotate by the industrial PC, so that the flexible ropes 600 extend and retract and thereby the standing platform 400 moves. Controlling the air inlet valve and air outlet valve for the two rotation joint pneumatic artificial muscles 311 in real time through the industrial PC to open or close according to the spatial position and posture of the standing platform 400, so as to control the shank joints to rotate and thereby drive the standing platform 400 to move; at the same time, making angle compensation for the rotation of the rotation joints 306 via the industrial PC according to the angles of rotation of the shank modules fed back in real time by the encoders 803, so that the position and posture of the patient standing on the standing platform 400 matches the preset spatial position and posture inputted in the step 2;
Step 6: monitoring the real-time pressure information of the thigh pneumatic artificial muscles 316, real-time pressure information of the shank pneumatic artificial muscles 310, real-time pressure information of the rotation joint pneumatic artificial muscles 311, and real-time spatial position and posture information of the standing platform 400 with pressure sensors 801 and visual sensors respectively, and transmitting the real-time pressure information and real-time spatial position and posture information via a data acquisition card to the industrial PC; stopping the rehabilitation training immediately and alarming for device check if an error goes beyond the allowable error range set in the step 2, to avoid any accident of the patient during the rehabilitation training;
Step 7: removing the elastic leg straps 303 and the elastic hip joint straps 301 manually and instructing the patient to get off the standing platform 400 after the rehabilitation training is finished;
Step 8: resetting the lower limb automatic regulating platform 300, turning off the power of the motor units 400, the pneumatic artificial muscles and the industrial PC.
Step 5: controlling the motors in the motor units 500 to rotate by the industrial PC, so that the flexible ropes 600 extend and retract and thereby the standing platform 400 moves. Controlling the air inlet valve and air outlet valve for the two rotation joint pneumatic artificial muscles 311 in real time through the industrial PC to open or close according to the spatial position and posture of the standing platform 400, so as to control the shank joints to rotate and thereby drive the standing platform 400 to move; at the same time, making angle compensation for the rotation of the rotation joints 306 via the industrial PC according to the angles of rotation of the shank modules fed back in real time by the encoders 803, so that the position and posture of the patient standing on the standing platform 400 matches the preset spatial position and posture inputted in the step 2;
Step 6: monitoring the real-time pressure information of the thigh pneumatic artificial muscles 316, real-time pressure information of the shank pneumatic artificial muscles 310, real-time pressure information of the rotation joint pneumatic artificial muscles 311, and real-time spatial position and posture information of the standing platform 400 with pressure sensors 801 and visual sensors respectively, and transmitting the real-time pressure information and real-time spatial position and posture information via a data acquisition card to the industrial PC; stopping the rehabilitation training immediately and alarming for device check if an error goes beyond the allowable error range set in the step 2, to avoid any accident of the patient during the rehabilitation training;
Step 7: removing the elastic leg straps 303 and the elastic hip joint straps 301 manually and instructing the patient to get off the standing platform 400 after the rehabilitation training is finished;
Step 8: resetting the lower limb automatic regulating platform 300, turning off the power of the motor units 400, the pneumatic artificial muscles and the industrial PC.
4 BENEFICIAL EFFECTS OF THE PRESENT INVENTION:
1. The present invention simulates the leg structures of human and designs a lower limb movement device based on pneumatic artificial muscles and springs, which connects the lower limbs of a patient with a waist training device, and attains an effect of fixing and supporting the lower limbs of the patient.
2. The thigh modules and shank module in the device provided in the present invention employ pneumatic artificial muscles and springs which are connected in series, so that the pneumatic artificial muscles drive the flexible rope compression springs to decrease the height of the device, or the height of the device is increased by the spring force; at the same time, the variation of the heights of the springs is monitored in real time with laser ranging sensors; thus, the heights of the thigh device and the shank device can be regulated automatically according to the leg information of the patient, and the device has excellent flexibility, provides shock absorption and damping functions, and thereby effectively protects the waist and prevents secondary injuries in the rehabilitation training.
3. The device provided in the present invention employs pneumatic artificial muscles and springs to drive in parallel and utilizes the engagement transmission between the synchronous belt and the belt pulley to drive the joints to rotate; specifically, the pneumatic artificial muscles are inflated and thereby contract to stretch the springs and thereby drives the pulley to rotate, so that the knee joints rotate; in addition, the pulleys can rotate in a reversed direction under the action of the spring force, so that the knee joint rotate in the reversed direction; in addition, encoders are mounted on the rotation shafts to detect the angles of rotations to ensure the knee joints to rotate accurately in the rehabilitation training process, and thereby assist the standing platform to attain preset change of spatial positions and postures, and the legs of the patient bend in relation to the waist more accurately; thus, a better waist rehabilitation training effect is attained.
4. The lower limb automatic regulating platform in the device provided in the present invention employs a bionic design, and it not only can be used as a lower limb supporting and regulating device for a waist training device, but also can be used for lower limb rehabilitation training in medical rehabilitation, and has high expansibility.
The structural advantages of device provided in the present invention also include:
1. The present invention simulates the leg structures of human and designs a lower limb movement device based on pneumatic artificial muscles and springs, which connects the lower limbs of a patient with a waist training device, and attains an effect of fixing and supporting the lower limbs of the patient.
2. The thigh modules and shank module in the device provided in the present invention employ pneumatic artificial muscles and springs which are connected in series, so that the pneumatic artificial muscles drive the flexible rope compression springs to decrease the height of the device, or the height of the device is increased by the spring force; at the same time, the variation of the heights of the springs is monitored in real time with laser ranging sensors; thus, the heights of the thigh device and the shank device can be regulated automatically according to the leg information of the patient, and the device has excellent flexibility, provides shock absorption and damping functions, and thereby effectively protects the waist and prevents secondary injuries in the rehabilitation training.
3. The device provided in the present invention employs pneumatic artificial muscles and springs to drive in parallel and utilizes the engagement transmission between the synchronous belt and the belt pulley to drive the joints to rotate; specifically, the pneumatic artificial muscles are inflated and thereby contract to stretch the springs and thereby drives the pulley to rotate, so that the knee joints rotate; in addition, the pulleys can rotate in a reversed direction under the action of the spring force, so that the knee joint rotate in the reversed direction; in addition, encoders are mounted on the rotation shafts to detect the angles of rotations to ensure the knee joints to rotate accurately in the rehabilitation training process, and thereby assist the standing platform to attain preset change of spatial positions and postures, and the legs of the patient bend in relation to the waist more accurately; thus, a better waist rehabilitation training effect is attained.
4. The lower limb automatic regulating platform in the device provided in the present invention employs a bionic design, and it not only can be used as a lower limb supporting and regulating device for a waist training device, but also can be used for lower limb rehabilitation training in medical rehabilitation, and has high expansibility.
The structural advantages of device provided in the present invention also include:
5 The aluminum alloy profile frame 100 in the present invention is constructed by a plurality of aluminum alloy profiles and panels, to fix and support the units and thereby accomplish a rehabilitation training process. Four waistband units 200 are fixed to the pneumatic artificial muscles on the front, rear, left, and right sides of the aluminum alloy profile frame 100 to provide axial driving force respectively, which acts on the waist of a patient via connecting devices; the springs in the waistband units 200 are used to balance off the gravity of the connecting devices. The entire structure is simple and robust, and can operate stably and reliably.
The four motor units 500 in the present invention comprise a motor and a drum connected with the output shaft of the motor, and the four motor units 500 are evenly distributed and fixedly mounted on the panels of the aluminum alloy profile frame 100. The mounting shaft at the bottom end of the pulley in the pulley unit 700 is in interference fit with the inner ring of a crossed taper roller bearing, the outer ring of the crossed taper roller bearing is fixedly mounted on the lop of the aluminum alloy profile frame 100 via the support, so that the pulley can rotate freely. The power is output in a simple and efficient way.
The regulating device for assisting leg movement in the lower limb automatic regulating unit 300 comprises a shank module and a thigh module. The bottom of the shank support 309 is mounted on the standing platform 400, a top protrusion part of the shank support 309 has a slotted hole, a bottom protrusion part of the rotation joint 306 forms an insertion plate, which can be inserted into the slotted hole freely. A
top protrusion part of the thigh support 304 has a slotted hole, a bottom protrusion part of the elastic hip joint strap support 319 forms an insertion plate, which can be inserted into the slotted hole freely. The bottom side walls of the thigh support 304 have two holes respectively for mounting bearings 305. The rotation shaft 315 is mounted in the inner rings of the bearings 305, and is connected with the rotation joint 306 via a flat key 320, and the protruding end of the rotation shaft 315 is connected with the synchronous belt pulley 314 by interference fit. The three components are connected compactly, and the length is adjustable, to meet the demand for rehabilitation of patients with different leg shape.
The waistband unit 200 not only can assist the patient to attain a waist rehabilitation training effect, but also can fix and support the upper body of the patient, so that the upper body of the patient is kept in balance.
The four motor units 500 in the present invention comprise a motor and a drum connected with the output shaft of the motor, and the four motor units 500 are evenly distributed and fixedly mounted on the panels of the aluminum alloy profile frame 100. The mounting shaft at the bottom end of the pulley in the pulley unit 700 is in interference fit with the inner ring of a crossed taper roller bearing, the outer ring of the crossed taper roller bearing is fixedly mounted on the lop of the aluminum alloy profile frame 100 via the support, so that the pulley can rotate freely. The power is output in a simple and efficient way.
The regulating device for assisting leg movement in the lower limb automatic regulating unit 300 comprises a shank module and a thigh module. The bottom of the shank support 309 is mounted on the standing platform 400, a top protrusion part of the shank support 309 has a slotted hole, a bottom protrusion part of the rotation joint 306 forms an insertion plate, which can be inserted into the slotted hole freely. A
top protrusion part of the thigh support 304 has a slotted hole, a bottom protrusion part of the elastic hip joint strap support 319 forms an insertion plate, which can be inserted into the slotted hole freely. The bottom side walls of the thigh support 304 have two holes respectively for mounting bearings 305. The rotation shaft 315 is mounted in the inner rings of the bearings 305, and is connected with the rotation joint 306 via a flat key 320, and the protruding end of the rotation shaft 315 is connected with the synchronous belt pulley 314 by interference fit. The three components are connected compactly, and the length is adjustable, to meet the demand for rehabilitation of patients with different leg shape.
The waistband unit 200 not only can assist the patient to attain a waist rehabilitation training effect, but also can fix and support the upper body of the patient, so that the upper body of the patient is kept in balance.
6 In the present invention, the motor units 500 drive the flexible ropes 600 to extend and retract, and thereby drive the standing platform 400 to move. The spatial position and posture of the standing platform 400 varies as the lengths of the four flexible ropes 600 vary.
In the present invention, the elastic hip joint straps 301 are fixedly tied on the hip joint part of the patient, the elastic leg straps 303 are fixedly tied on the thighs and shanks of the patient, so as to fix and support the lower limbs of the patient, without limiting the degree of freedom of lower limb movement of the patient.
The device provided in the present invention can automatically check and correct any error in the actual spatial position and posture of the standing platform 400 compared with the preset spatial position and posture, so that the legs of the patient can reach preset positions; thus, the bending of the legs of the patient in relation to the hip joints is more accurately realized, and the effect of waist rehabilitation training is ensured.
By utilizing the sensors, the present invention not only ensures accurate and safe rehabilitation training, but also realizes automation of the device. The pressures on the pneumatic artificial muscles is monitored in real time with the pressure sensors 801; thus, a potential safety hazard of output force variation resulted from pressure change on the pneumatic artificial muscles is prevented, and the safety of rehabilitation training is ensured. The heights of the thigh modules and the shank modules are detected with the laser ranging sensors 802; so that automatic height regulation is realized. The rotation angles of the shank modules are detected by the encoders 803, and thereby the accuracy of rehabilitation training is ensured.
DESCRIPTION OF THE DRAWINGS
Fig. 1 is a schematic diagram of the overall structure according to the present invention;
Fig. 2 is a front view of the overall structure according to the present invention;
Fig. 3 is a top view of the overall structure according to the present invention;
Fig. 4 is a schematic diagram of the overall structure of the lower limb regulating platform according to the present invention;
Fig. 5 is a front view of the lower limb regulating platform according to the present invention;
Fig. 6 is a top view of the lower limb regulating platform according to the present invention;
Fig. 7 is a partial schematic diagram of the shank module in the lower limb regulating platform according to the present invention;
Fig. 8 is a partial schematic diagram of the thigh module in the lower limb regulating platform according to the present invention;
Fig. 9 is a partial schematic diagram of the rotation joint in the lower limb regulating platform according to the present invention;
Fig. 10 is a schematic diagram of the rotation shaft in the lower limb regulating platform according 10. to the present invention;
Fig. 11 is a schematic diagram of the mechanical structure for lower limb movement according to the present invention;
Fig. 12 is a schematic diagram of the thigh support in the lower limb regulating platform according to the present invention;
Fig. 13 is a schematic diagram of the rotation joint in the lower limb regulating platform according to the present invention;
Fig. 14 is a schematic installation diagram of the sensors in the lower limb regulating platform according to the present invention;
Fig. 15 is a schematic installation diagram of the laser ranging sensors in the lower limb regulating platform according to the present invention;
Fig. 16 is a system control flow chart of the lower limb regulating platform according to the present invention;
In the figures: 100 - aluminum alloy profile frame; 200 - waistband unit; 300 -lower limb automatic regulating platform unit: 301 - elastic hip joint strap; 302 -elastic leg strap support; 303 - elastic =
leg strap; 304 - thigh support; 305 - bearing; 306 - rotation joint; 307 -shank spring; 308 - shank flexible rope; 309- shank support; 310 - shank pneumatic artificial muscle; 311 -rotation joint pneumatic artificial muscle; 312 - rotation joint spring; 313 - synchronous belt; 314 - synchronous belt pulley; 315- rotation shaft; 316- thigh pneumatic artificial muscle; 317- thigh spring; 318- thigh flexible rope; 319- elastic hip joint strap support; 320 - flat key; 400 - standing platform; 500 - motor unit; 600 ¨ flexible rope; 700 -pulley unit; 800 - detection unit; 801 - pressure sensor; 802 - laser ranging sensor; 803 - encoder JEMBODIMENTS
Hereunder the structural features of the present invention will be described in detail with reference to the accompanying drawings.
As shown in Fig. 1, the waist rehabilitation training device comprises an aluminum alloy profile frame 100, which is a rectangular frame constructed with aluminum alloy profiles and is fixed to the floor.
As shown in Fig. 2, a lower limb automatic regulating platform unit 300, a standing platform 400, motor units 500, flexible ropes 600, and pulley units 700 are arranged in the aluminum alloy profile frame 100.
As shown in Fig. 1, four pulley units 700 are arrange on the top of the aluminum alloy profile frame 100. One motor unit 500 is arranged below each of the pulley units 700.
The drum shaft of each motor unit 500 is connected with one flexible rope 600. As shown in Fig. 3, each flexible rope 600 runs around a pulley unit 700 and then is connected to the standing platform 400.
Namely, the direction change of flexible rope 600 is realized via the pulley unit 700, and the length change of the flexible rope 600 is realized via the motor unit 500; thus, the spatial position and posture of the connected standing platform 400 are changed, and thereby the postures of the patient in standing state and movement state are regulated.
In other words, each of the four motor units 500 comprises a motor, a bevel gear pair drive chain connected with the output shaft of the motor, and a drum connected coaxially with the big bevel gear, and the four motor units 500 are evenly distributed and fixedly mounted on the panels of the aluminum alloy profile frame 100. The mounting shaft at the bottom end of the pulley in the pulley unit 700 is in interference fit with the inner ring of a crossed taper roller bearing, the outer ring of the crossed taper roller bearing is fixedly mounted on the top of the aluminum alloy profile frame 100 via the support, so that the pulley can rotate freely. One end of the flexible rope 600 is connected to the drum in the motor unit 500, and the other =
end of the flexible rope 600 is connected to the standing platform 400 via the pulley in the pulley unit 700.
Namely, the motor in the motor unit 500 rotates and drives the connected drum to rotate, so that the rope 600 wound around the drum extends or retracts, and thereby drives the standing platform 400 to move. The spatial position and posture of the standing platform 400 varies as the lengths of the four flexible ropes 600 vary.
As shown in Fig. 1, four waistband units 200 are fixed to the pneumatic artificial muscles on the front, rear, left, and right sides of the aluminum alloy profile frame 100 to provide axial driving force, which acts on the waist of a patient via connecting devices; the springs in the waistband units 200 are used to balance off the gravity of the connecting devices.
As shown in Fig. 2, furthermore, the waistband unit 200 not only can assist the patient to attain a waist rehabilitation training effect, but also can fix and support the upper body of the patient, so that the upper body of the patient is kept in balance.
As shown in Fig. 4, the lower limb automatic regulating platform unit 300 is arranged on the standing platform 400. The lower limb automatic regulating platform unit 300 is movably connected with the legs of the patient, so as to restrain, support, and regulate the leg postures of the patient in standing state and waist movement state. Namely, through the supporting, restraining, and regulation functions of the lower limb automatic regulating platform unit 300, the legs of the patient can bend and straighten within the working range of the lower limb automatic regulating platform unit 300, as shown in Fig. 11.
In other words, by means of the joint movement of the standing platform 400 and the lower limb automatic regulating platform unit 300, the leg postures of different patients standing on the standing platform 400 and the leg postures of the patient during waist rehabilitation training are regulated.
Furthermore, a detection unit 800 is arranged on the lower limb automatic regulating platform unit 300. The working postures of the lower limb automatic regulating platform unit 300 are fed back by the detection unit 800 to the industrial PC; length of the legs of the patient and the bending angle of the lower limb automatic regulating platform unit 300 are obtained through calculation via the industrial PC.
The industrial PC associates the movement execution parameters inputted manually, with the length of the legs of the patient and the bending angle of the lower limb automatic regulating platform unit 300 obtained through calculation, to drive the lower limb automatic regulating platform unit 300, the =
standing platform 400 and the motor units 500 to move respectively.
As shown in Fig. 1, a set of waistband units 200 is arranged in the aluminum alloy profile frame 100. The waist of the patient is assisted to bend and straighten by the restraining and length adjustment of the waistband units 200.
In other words, by means of the joint movement of the standing platform 400, the lower limb automatic regulating platform unit 300 and waistband units 200, the leg postures of the patient standing on the standing platform 400 are regulated when the waist of the patient is in straightening state or bending state.
As shown in Fig. 5, the lower limb automatic regulating platform unit 300 comprises elastic hip joint straps 301, elastic hip joint strap supports 319, and two regulating devices for assisting leg movement.
The elastic hip joint straps 301 are straps that have an approximately elliptical shape and are made of an elastic material. Preferably, the elastic hip joint straps 301 are leather straps or rubber straps. One elastic hip joint strap support 319 is connected at each end of the elastic hip joint strap 301 in the long axis direction. The elastic hip joint strap support 319 is in a Y-shape. A pair of hip joint insertion plates are arranged on the bottom of each elastic hip joint strap support 319. The hip joint insertion plates are inserted in the adjacent regulating device for assisting leg movement. The regulating devices for assisting leg movement are in a strip shape, and can bend, extend and retract, as shown in Fig. 11.
The bottom of each regulating device for assisting leg movement is connected to the top surface of the standing platform 400 respectively, as shown in Fig. 6.
As shown in Fig. 5, each regulating device for assisting leg movement comprises a shank module and a thigh module.
As shown in Fig. 9, the bottom end of the shank module is fixedly connected to the top surface of the standing platform 400. The length of the shank module can be adjusted by extending/retracting.
As shown in Fig. 8, the top of the shank module is movably connected to the bottom end of the thigh module. The length of the thigh module can be adjusted by extending/retracting. The bottom end of the thigh module can rotate around the top of the shank module.
As shown in Fig. 7, the top end of the thigh module is movably connected to the adjacent elastic hip joint strap support 319.
Namely, the height of the thigh module in relation to the standing platform 400 is adjustable. The height of the elastic hip joint strap support 319 in relation to the standing platform 400 is adjustable.
The thigh module and the elastic hip joint strap 301 connected with the thigh module via the elastic hip joint strap support 319 can rotate around the top of the shank module.
As shown in Fig. 7, the thigh module comprises an elastic leg strap support 302, an elastic leg strap 303, a thigh support 304, a bearing 305, a synchronous belt pulley 314, a rotation shaft 315, a thigh pneumatic artificial muscle 316, a thigh spring 317, and a thigh flexible rope 318.
As shown in Fig. 12, the thigh support 304 is in a U-shape, and comprises two thigh straight plates and one thigh bottom plate. The two thigh straight plates are arranged vertically and parallel to each other.
The bottoms of the two thigh straight plates are connected together via the thigh bottom plate.
The top surface of each of the two thigh straight plates has one thigh slotted hole. The thigh slotted hole matches the hip joint insertion plate in shape. Namely, the hip joint insertion plate is inserted into the adjacent thigh slotted hole, as shown in Fig. 7.
One thigh cross plate is arranged between the two thigh straight plates above the thigh bottom plate. The thigh cross plate has a small hole.
As shown in Fig. 7, the top surface of the thigh bottom plate is fixedly connected to the bottom of the thigh pneumatic artificial muscle 316. The top end of the thigh pneumatic artificial muscle 316 is connected to one end of the thigh flexible rope 318. The other end of the thigh flexible rope 318 passes through the small hole in the thigh cross plate and then is connected to the bottom surface of the elastic hip joint strap support 319. The thigh spring 317 is fitted over the thigh flexible rope 318 above the thigh cross plate. The top of the thigh spring 317 is in contact with the bottom surface of the elastic hip joint strap support 319, and the bottom of the thigh spring 317 is in contact with the top surface of a top plate.
As shown in Fig. 12, two thigh insertion plates are arranged on the bottom surface of the thigh bottom plate. Both of the thigh insertion plates extend vertically downwards, and are parallel to each other.
Each of the thigh insertion plates has a round hole, a bearing 305 is fitted into the round hole of each thigh insertion plate, and a rotation shaft 315 is arranged for the two adjacent bearings 305, as shown in Fig. 10.
An elastic leg strap support 302 is connected horizontally at the outer side of the thigh straight plate at one side of the thigh support 304. An elastic leg strap 303 is arranged on the tail end of the elastic leg strap support 302. The synchronous belt pulley 314 is arranged on the end of the rotation shaft 315 at the other side of the thigh support 304, as shown in Fig. 10.
As shown in Figs. 4, 7 and ii, when the thigh pneumatic artificial muscle 316 extends or retracts, the elastic hip joint strap support 319 is driven by the thigh flexible rope 318 and the thigh spring 317 to do telescopic motion, and thereby the positions of the elastic leg strap support 302 and the elastic leg strap 303 connected with the thigh support 304 in relation to the elastic hip joint strap support 319 and the elastic hip joint strap 301 are regulated.
As shown in Fig. 9, the shank module comprises an elastic leg strap support 302, an elastic leg strap 303, a rotation joint 306, a shank spring 307, a shank flexible rope 308, a shank support 309, a shank pneumatic artificial muscle 310, a rotation joint pneumatic artificial muscle 311, a rotation joint spring 312, a synchronous belt 313, a synchronous belt pulley 314, and a flat key 320, wherein, as shown in Fig. 13, the rotation joint 306 is a rectangular block. As shown in Fig. 13, a circular tube is arranged on the top of the rotation joint 306. The axial direction of the circular tube on the rotation joint 306 is parallel to the width direction of the rotation joint 306, as shown in Fig. 8. The circular tube on the rotation joint 306 is fitted over the adjacent rotation shaft 315, i.e., the top of the rotation joint 306 is movably connected with the bottom of the thigh support 304, as shown in Fig. 8. As shown in Fig. 13, rectangular holes are arranged on the sides of the rotation joint 306, and the opening direction of the rectangular holes on the sides of the rotation joint 306 is in accordance with the axial direction of the circular tube on the top of the rotation joint 306. Two joint insertion plates are arranged on the bottom of the rotation joint 306. Both of the joint insertion plates extend vertically downwards and are parallel to each other.
The joint insertion plates are perpendicular to the end surface of the circular tube on the rotation joint 306.
As shown in Fig. 9, the shank support 309 is in a H-shape, and comprises two shank'vertical plates and one shank cross plate. The two shank vertical plates are connected together via the shank cross plate.
The shank cross plate has a small hole.
The top surface of each shank vertical plate has a shank slotted hole. The shank slotted hole matches the joint insertion plate in shape. Namely, the joint insertion plate is inserted into the adjacent shank slotted hole.
The top ends of the two shank vertical plates of the shank support 309 are fixedly connected with the bottom ands of the two joint insertion plates of the adjacent rotation joint 306 respectively. The bottom ends of the two shank vertical plates of the shank support 309 are connected to the top surface of the standing platform 400.
An elastic leg strap support 302 is connected horizontally at the outer side of the shank vertical plate at one side of the shank support 309. An elastic leg strap 303 is arranged at the tail end of the elastic leg strap support 302.
As shown in Fig. 9, the shank pneumatic artificial muscle 310 is arranged on the standing platform 400 below the shank cross plate. The top of the shank pneumatic artificial muscle 310 is connected to one end of the shank flexible rope 308. The other end of the shank flexible rope 308 passes through the small hole in the shank cross plate and then is fixedly connected to the bottom of the rotation joint 306.
As shown in Fig. 9, the shank spring 307 is fitted over the shank flexible rope 308 above the shank Cross plate. The bottom of the shank spring 307 contacts with the top surface of the shank cross plate, and the top of the shank spring 307 contacts with the bottom of the rotation joint 306.
As shown in Fig. 5 or 9, a rotation joint pneumatic artificial muscle 311and a rotation joint spring 312 are arranged on the standing platform 400 at the other side of the shank support 309. The top of the rotation joint pneumatic artificial muscle 311 is connected with the top of the rotation joint spring 312 via the synchronous belt 313. The synchronous belt 313 is wound around the synchronous belt pulley 314.
=
As shown in Fig. 10, a flat key 320 is arranged on the rotation shaft 315, a corresponding key slot is arranged on the inner wall of the circular tube on the rotation joint 306, so that the rotation shaft 315 is connected with the rotation joint 306. When the rotation joint pneumatic artificial muscle 311 extends or retracts, the rotation joint pneumatic artificial muscle 311, the rotation joint spring 312, the synchronous belt 313, the synchronous belt pulley 314, and the flat key 320 jointly drive the shank module to move in relation to the thigh module.
When the shank pneumatic artificial muscle 310 extends or retracts, the rotation joint 306 is pulled via the shank spring 307 and the shank flexible rope 308 to extend or retract in relation to the shank support 309, and thereby the positions of the elastic leg strap support 302 and the elastic leg strap 303 connected with the shank support 309 in relation to the elastic hip joint strap support 319 and the elastic hip joint strap 301 are regulated.
As shown in Fig. 5, in the n-shaped structural part formed by the elastic hip joint strap support 319, the elastic hip joint strap 301 and the regulating device for assisting leg movement via connection:
Both the elastic leg strap support 302 connected with the thigh support 304 and the elastic leg strap support 302 connected with the shank support 309 are arranged at the inner side of the n-shaped structural part.
The synchronous belt pulleys 314 connected with the ends of the rotation shaft 315 in the thigh support 304 are arranged at the outer side of the n-shaped structural part.
Furthermore, the thigh pneumatic artificial muscle 316 is a DMSP-20-100N
pneumatic muscle tendon from Festo.
The shank pneumatic artificial muscle 310 is a DMSP-20-130N pneumatic muscle tendon from Festo.
The rotation joint pneumatic artificial muscle 311 is a DMSP-20-130N pneumatic muscle tendon from Festo.
=
As shown in Fig. 14, the detection unit 800 comprises six pressure sensors 801, four laser ranging sensors 802, and two absolute type encoders 803, which are: ISE30A-01-N
pressure switches from SMC, Q4XTBLAF300-Q8 laser ranging sensors from BANNER, and E6CP-A absolute type encoders from OMRON respectively. As shown in Fig. 14, the pressure sensors 801 are mounted at the orifices of air inlet tubes of the thigh pneumatic artificial muscles 316, the orifices of air inlet tubes of the shank pneumatic artificial muscles 310, and the orifices of air inlet tubes of the rotation joint pneumatic artificial muscles 311, detect the value of the pressures on the pneumatic artificial muscles in real time, and transmit the detection data via a data acquisition card to the industrial PC.
As shown in Fig. 15, the laser ranging sensor 802 comprises a laser sensing head and a reflector, wherein, the laser sensing beads of the laser ranging sensors 802 are mounted on the top of the shank supports 309 and on the top of the thigh supports 304 respectively; the reflectors of the laser ranging sensors 802 are mounted on the bottom of the elastic hip joint strap supports 319 and on the bottom of the rotation joints 306 respectively; the laser sensing heads mounted on the top of the thigh supports 304 correspond to the reflectors mounted on the bottom of the elastic hip joint strap supports 319 respectively.
The laser sensing heads mounted on the top o f the shank supports 309 correspond to the reflectors mounted on the bottom of the rotation joints 306 respectively.
The lengths of the thigh springs 317 and the shank springs 307 are measured and transmitted via the data acquisition card to the industrial PC respectively, and the industrial PC calculate the total heights of the thigh modules and the shank modules on the basis of known support height.
An encoder 803 is mounted on the tail end of each rotation shaft 315, the rotation angle of the rotation joint 306 is detected by the encoder 803 and is transmitted via the data acquisition card to the industrial PC. The rotation angle of the rotation joint 306 corresponds to the rotation angle of the shank module.
Furthermore, the detection unit 800 further comprises a visual sensor. The visual sensor is mounted on the aluminum alloy profile frame 100 and is connected to the industrial PC, and is configured to detect the spatial position and posture of the standing platform 400.
The visual sensor comprises an OMRON FH-SCO4 high speed CMOS camera and Sysmac Studio control software installed in the industrial PC. The industrial PC executes the Sysmac Studio control software to analyze and output the images captured by the high speed CMOS
camera.
As shown in Figs. 5 and II, the structure and working principle of the device provided in the present invention are briefly described as follows: in the thigh module, the bottom end of the thigh pneumatic artificial muscle 316 is fixedly mounted on the thigh support 304, and the top end of the thigh pneumatic artificial muscle 316 is connected to one end of the thigh flexible rope 318. The thigh flexible rope 318 passes through the hole in the top of the thigh support 304 and the middle part of the thigh springs 317 and is connected to the bottom of the elastic hip joint strap support 319.
The bottom end of the thigh spring 317 is fixedly mounted on the thigh support 304, and the top end of the thigh spring 317 is connected with the elastic hip joint strap support 319. A top protrusion part of the thigh support 304 has a slotted hole, a bottom protrusion part of the elastic hip joint strap support 319 forms an insertion plate, which can be inserted into the slotted hole freely. In the shank module, the bottom end of the shank pneumatic artificial muscle 310 is fixedly mounted on the standing platform 400, and the top end of the shank pneumatic artificial muscle 310 is connected to one end of the shank flexible rope 308.
The shank flexible rope 308 passes through the hole in the top of the shank support 309 and the middle part of the shank spring 307 and is connected to the bottom of the rotation joint 306. The bottom end of the shank spring 307 is fixedly mounted on the shank support 309, and the top end of the shank spring 307 is connected to the bottom of the rotation joint 306. The bottom of the shank support 309 is mounted on the standing platform 400, a top protrusion part of the shank support 309 has a slotted hole, a bottom protrusion part of the rotation joint 306 = forms an insertion plate, which can be inserted into the slotted hole freely. One end of the rotation joint pneumatic artificial muscle 311 is fixedly mounted on the standing platform 400, the other end of the rotation joint pneumatic artificial muscle 311 is connected to the synchronous belt 313; the synchronous belt 313 is engaged with the synchronous belt pulley 314, and the other end of the synchronous belt 313 is connected to the rotation joint spring 312 fixedly mounted on the standing platform 400. The bottom side walls of the thigh support 304 have two holes respectively for mounting bearings 305. The rotation shaft 315 is mounted in the inner rings of the bearings 305, and is connected with the rotation joint 306 via a flat key 320, and the protruding end of the rotation shaft 315 is connected with the synchronous belt pulley 314 by interference fit.
In use, the elastic leg strap supports 302 in the thigh modules and the shank modules are fixedly mounted on the thigh supports 304 and the shank supports 309 respectively, and the outer ends of the elastic leg strap supports 302 are tied on the thighs and shanks of the patient via the elastic leg straps 303 to provide a fixing function. The elastic hip joint straps 301 are fixedly tied on the hip joint part of the patient, the elastic leg straps 303 are fixedly tied on the thighs and shanks of the patient, so as to fix and support the lower limbs of the patient, without limiting the degree of freedom of lower limb movement of the patient.
When the rotation joint pneumatic artificial muscles 311 are inflated and thereby contract, the synchronous belts 313 moves and the rotation joint springs 312 are tensioned;
at the same time, the synchronous belt pulleys 314 engaged with the synchronous belts 313 are driven to rotate, and thereby the rotation shafts 315 rotate and drive the rotation joints 306 fitted with it via the flat keys 320 to rotate. When the rotation joint pneumatic artificial muscles 311 are deflated and thereby extend, the rotation joint springs 312 reset under the action of the spring force, the synchronous belts 313 move in a reversed direction, and drives the synchronous belt pulleys 314 engaged with the synchronous belts 313 to rotate in a reversed direction at the same time; thus, the rotation shafts 315 rotate in a reversed direction, and drive the rotation joints 306 fitted with it via the flat keys 320 to rotate in a reversed direction, and thereby the purpose of assisting the shanks to rotate backwards and return is attained.
When the shank pneumatic artificial muscles 310 in the shank modules are inflated and thereby contract, the entire leg device is driven by the shank flexible ropes 308 to compress the shank springs 307 and move downwards. When the shank pneumatic artificial muscles 310 are deflated and thereby extend, the entire leg device moves upwards under the spring force of the compressed shank springs 307; thus, the heights of the elastic leg straps 303 in the shank module in relation to the standing platform 400 are regulated, to meet the demand of patients with shanks of different length.
When the thigh pneumatic artificial muscles 316 in the thigh modules are inflated and thereby contract, the elastic hip joint strap supports 319 and the connected elastic hip joint straps 301 are driven by the thigh flexible ropes 318 to compress the thigh springs 317, so that the elastic hip joint strap supports 319 move downwards. When the thigh pneumatic artificial muscles 316 are deflated and thereby extend, the elastic hip joint strap supports 319 and the connected elastic hip joint straps 301 move upwards under the spring force of the compressed thigh springs 317; thus, the heights of the elastic hip joint straps 301 in relation to the elastic leg straps 303 in the thigh modules are regulated, and the demand of patients with thighs of different length is met.
In the present invention, the elastic hip joint straps in the lower limb automatic regulating platform are tied on the hip joints of the patient. Since the elastic hip joint straps have elasticity, their effect on the hip joints of the patient is similar to the effect of ball hinge, and the knee joints in the platform can also rotate; in addition, four waistband units 200 are arranged above the waist of the patient to fix and support the upper body of the patient. Therefore, the entire structure of lower limb movement machine can be simplified to the structure as shown in Fig. 11. Thus, the standing platform 400 is driven by the ropes, and the two legs of the patient can move in relation to the hip joints.
Furthermore, since the knee joints have pneumatic artificial muscles to provide a driving force, the knee joints are assisted to bend. Thus, the bending accuracy of the two legs are ensured, and discomfort and potential safety hazard incurred by forward straightening of the shanks of the patient in relation to the knee joints in the training process can be prevented.
In the rehabilitation training process, the industrial PC controls the motors to rotate, so that the ropes extend or retract, and thereby drive the standing platform 400 to realize preset spatial positions and postures change; at the same time, the spatial position and posture of the standing platform 400 is monitored with a visual sensor and the data is transmitted to the industrial PC. If there is any error in the actual spatial position and posture of the standing platform 400 compared with the preset spatial position and posture, the industrial PC can control the air inlet valves and air outlet valves of the two rotation joint pneumatic artificial muscles 311 in the lower limb automatic regulating platform unit 300 to open and close, and thereby provide a driving force to control the rotation of the shank joints and thereby drive the standing platform 400 to move, so that the standing platform 400 reaches the preset spatial position and posture; thus, the legs of the patient can reach preset positions and can bend in relation to the hip joints in a better way, and thereby the effect of waist rehabilitation training is ensured.
Utilizing the sensors, the lower limb automatic regulating platform provided in the present invention not only ensures accurate and safe rehabilitation training, but also realizes automation of the device. The pressures on the pneumatic artificial muscles is monitored in real time with the pressure sensors 801; thus, a potential safety hazard of output force variation resulted from change of pressure on the pneumatic artificial muscles is prevented, and the safety of rehabilitation training is ensured. The heights of the thigh modules and the shank modules are detected with the laser ranging sensors 802, so that automatic height regulation is realized. The rotation angles of the shank modules are detected by the encoders 803, and thereby the accuracy of rehabilitation training is ensured.
As shown in Fig. 16, a waist rehabilitation training method utilizing the device for waist rehabilitation training according to the present invention is executed through the following steps:
Step 1: powering on an industrial PC and the motors in the motor units 500, controlling pressure sensors 801, laser ranging sensors 802 and encoders 803 to feedback signals, and resetting thigh pneumatic artificial muscles 316, shank pneumatic artificial muscles 310, rotation joint pneumatic artificial muscles 311, shank springs 307, rotation joint springs Step 2: inputting thigh and shank length information of the patient to the industrial PC; inputting preset spatial positions and postures and allowable error ranges to the industrial PC, wherein, the preset spatial positions and postures are rehabilitation actions and postures to be exercised by the patient on the waist rehabilitation training device;
Step 3: instructing the patient to stand on the standing platform 400;
controlling the shank pneumatic artificial muscles 310 to inflate or deflate first according to the leg information of the patient inputted to the industrial PC in the step 2 to adjust the lengths of the shank modules, detecting the lengths of the shank springs 307 with laser ranging sensors 802 in the shank modules in real time, and transmitting the detection data to the industrial PC for computation and judgment, till the rotation joints 306 are flush with the knee joints of the patient; =
then, controlling the thigh pneumatic artificial muscles 316 via the industrial PC to inflate or deflate to adjust the length of the thigh modules, detecting the lengths of the thigh springs 317 in real time via the laser ranging sensors 802 in the thigh modules at the same time, and transmitting the detection data to the industrial PC for computation and judgment, so that elastic hip joint straps 301 are positioned at the hip joints of the patient;
Step 4: tying elastic leg straps 303 in the thigh modules and elastic leg straps 303 in the shank modules to the thighs and shanks of the patient respectively, and tying the elastic hip joint straps 301 to the hip joints of the patient, so as to prepare for making rehabilitation exercise;
Step 5: controlling the motors in the motor units 500 by the industrial PC to rotate, so that the flexible ropes 600 extend or retract and thereby the standing platform 400 moves. Controlling the air inlet valve and air outlet valve for the two rotation joint pneumatic artificial muscles 311 in real time throuth the industrial PC to open or close according to the spatial position and posture of the standing platform 400, so as to control the shank joints to rotate and thereby drive the standing platform 400 to move; at the same time, making angle compensation for the rotation of the rotation joints 306 via the industrial PC according to the angles of rotation of the shank modules fed back in real time by the encoders 803, so that the position and posture of the patient standing on the standing platform 400 matches the preset spatial position and posture inputted in the step 2;
Step 6: monitoring the real-time pressure information of the thigh pneumatic artificial muscles 316, real-time pressure information of the shank pneumatic artificial muscles 310, real-time pressure information of the rotation joint pneumatic artificial muscles 311, and real-time spatial position and posture information of the standing platform 400 with pressure sensors 801 and visual sensors respectively, and transmitting the real-time pressure information and real-time spatial position and posture information via a data acquisition card to the industrial PC; stopping the rehabilitation training immediately and alarming for device examination if an error goes beyond the allowable error range set in the step 2, to avoid any accident of the patient during the rehabilitation training;
Step 7; removing the elastic leg straps 303 and the elastic hip joint straps 301 manually and instructing the patient to get off the standing platform 400 after the rehabilitation training is finished;
Step 8: resetting the lower limb automatic regulating platform 300, cutting off the power supply to the motor units 400, the pneumatic artificial muscles and the industrial PC.
=
In the present invention, the elastic hip joint straps 301 are fixedly tied on the hip joint part of the patient, the elastic leg straps 303 are fixedly tied on the thighs and shanks of the patient, so as to fix and support the lower limbs of the patient, without limiting the degree of freedom of lower limb movement of the patient.
The device provided in the present invention can automatically check and correct any error in the actual spatial position and posture of the standing platform 400 compared with the preset spatial position and posture, so that the legs of the patient can reach preset positions; thus, the bending of the legs of the patient in relation to the hip joints is more accurately realized, and the effect of waist rehabilitation training is ensured.
By utilizing the sensors, the present invention not only ensures accurate and safe rehabilitation training, but also realizes automation of the device. The pressures on the pneumatic artificial muscles is monitored in real time with the pressure sensors 801; thus, a potential safety hazard of output force variation resulted from pressure change on the pneumatic artificial muscles is prevented, and the safety of rehabilitation training is ensured. The heights of the thigh modules and the shank modules are detected with the laser ranging sensors 802; so that automatic height regulation is realized. The rotation angles of the shank modules are detected by the encoders 803, and thereby the accuracy of rehabilitation training is ensured.
DESCRIPTION OF THE DRAWINGS
Fig. 1 is a schematic diagram of the overall structure according to the present invention;
Fig. 2 is a front view of the overall structure according to the present invention;
Fig. 3 is a top view of the overall structure according to the present invention;
Fig. 4 is a schematic diagram of the overall structure of the lower limb regulating platform according to the present invention;
Fig. 5 is a front view of the lower limb regulating platform according to the present invention;
Fig. 6 is a top view of the lower limb regulating platform according to the present invention;
Fig. 7 is a partial schematic diagram of the shank module in the lower limb regulating platform according to the present invention;
Fig. 8 is a partial schematic diagram of the thigh module in the lower limb regulating platform according to the present invention;
Fig. 9 is a partial schematic diagram of the rotation joint in the lower limb regulating platform according to the present invention;
Fig. 10 is a schematic diagram of the rotation shaft in the lower limb regulating platform according 10. to the present invention;
Fig. 11 is a schematic diagram of the mechanical structure for lower limb movement according to the present invention;
Fig. 12 is a schematic diagram of the thigh support in the lower limb regulating platform according to the present invention;
Fig. 13 is a schematic diagram of the rotation joint in the lower limb regulating platform according to the present invention;
Fig. 14 is a schematic installation diagram of the sensors in the lower limb regulating platform according to the present invention;
Fig. 15 is a schematic installation diagram of the laser ranging sensors in the lower limb regulating platform according to the present invention;
Fig. 16 is a system control flow chart of the lower limb regulating platform according to the present invention;
In the figures: 100 - aluminum alloy profile frame; 200 - waistband unit; 300 -lower limb automatic regulating platform unit: 301 - elastic hip joint strap; 302 -elastic leg strap support; 303 - elastic =
leg strap; 304 - thigh support; 305 - bearing; 306 - rotation joint; 307 -shank spring; 308 - shank flexible rope; 309- shank support; 310 - shank pneumatic artificial muscle; 311 -rotation joint pneumatic artificial muscle; 312 - rotation joint spring; 313 - synchronous belt; 314 - synchronous belt pulley; 315- rotation shaft; 316- thigh pneumatic artificial muscle; 317- thigh spring; 318- thigh flexible rope; 319- elastic hip joint strap support; 320 - flat key; 400 - standing platform; 500 - motor unit; 600 ¨ flexible rope; 700 -pulley unit; 800 - detection unit; 801 - pressure sensor; 802 - laser ranging sensor; 803 - encoder JEMBODIMENTS
Hereunder the structural features of the present invention will be described in detail with reference to the accompanying drawings.
As shown in Fig. 1, the waist rehabilitation training device comprises an aluminum alloy profile frame 100, which is a rectangular frame constructed with aluminum alloy profiles and is fixed to the floor.
As shown in Fig. 2, a lower limb automatic regulating platform unit 300, a standing platform 400, motor units 500, flexible ropes 600, and pulley units 700 are arranged in the aluminum alloy profile frame 100.
As shown in Fig. 1, four pulley units 700 are arrange on the top of the aluminum alloy profile frame 100. One motor unit 500 is arranged below each of the pulley units 700.
The drum shaft of each motor unit 500 is connected with one flexible rope 600. As shown in Fig. 3, each flexible rope 600 runs around a pulley unit 700 and then is connected to the standing platform 400.
Namely, the direction change of flexible rope 600 is realized via the pulley unit 700, and the length change of the flexible rope 600 is realized via the motor unit 500; thus, the spatial position and posture of the connected standing platform 400 are changed, and thereby the postures of the patient in standing state and movement state are regulated.
In other words, each of the four motor units 500 comprises a motor, a bevel gear pair drive chain connected with the output shaft of the motor, and a drum connected coaxially with the big bevel gear, and the four motor units 500 are evenly distributed and fixedly mounted on the panels of the aluminum alloy profile frame 100. The mounting shaft at the bottom end of the pulley in the pulley unit 700 is in interference fit with the inner ring of a crossed taper roller bearing, the outer ring of the crossed taper roller bearing is fixedly mounted on the top of the aluminum alloy profile frame 100 via the support, so that the pulley can rotate freely. One end of the flexible rope 600 is connected to the drum in the motor unit 500, and the other =
end of the flexible rope 600 is connected to the standing platform 400 via the pulley in the pulley unit 700.
Namely, the motor in the motor unit 500 rotates and drives the connected drum to rotate, so that the rope 600 wound around the drum extends or retracts, and thereby drives the standing platform 400 to move. The spatial position and posture of the standing platform 400 varies as the lengths of the four flexible ropes 600 vary.
As shown in Fig. 1, four waistband units 200 are fixed to the pneumatic artificial muscles on the front, rear, left, and right sides of the aluminum alloy profile frame 100 to provide axial driving force, which acts on the waist of a patient via connecting devices; the springs in the waistband units 200 are used to balance off the gravity of the connecting devices.
As shown in Fig. 2, furthermore, the waistband unit 200 not only can assist the patient to attain a waist rehabilitation training effect, but also can fix and support the upper body of the patient, so that the upper body of the patient is kept in balance.
As shown in Fig. 4, the lower limb automatic regulating platform unit 300 is arranged on the standing platform 400. The lower limb automatic regulating platform unit 300 is movably connected with the legs of the patient, so as to restrain, support, and regulate the leg postures of the patient in standing state and waist movement state. Namely, through the supporting, restraining, and regulation functions of the lower limb automatic regulating platform unit 300, the legs of the patient can bend and straighten within the working range of the lower limb automatic regulating platform unit 300, as shown in Fig. 11.
In other words, by means of the joint movement of the standing platform 400 and the lower limb automatic regulating platform unit 300, the leg postures of different patients standing on the standing platform 400 and the leg postures of the patient during waist rehabilitation training are regulated.
Furthermore, a detection unit 800 is arranged on the lower limb automatic regulating platform unit 300. The working postures of the lower limb automatic regulating platform unit 300 are fed back by the detection unit 800 to the industrial PC; length of the legs of the patient and the bending angle of the lower limb automatic regulating platform unit 300 are obtained through calculation via the industrial PC.
The industrial PC associates the movement execution parameters inputted manually, with the length of the legs of the patient and the bending angle of the lower limb automatic regulating platform unit 300 obtained through calculation, to drive the lower limb automatic regulating platform unit 300, the =
standing platform 400 and the motor units 500 to move respectively.
As shown in Fig. 1, a set of waistband units 200 is arranged in the aluminum alloy profile frame 100. The waist of the patient is assisted to bend and straighten by the restraining and length adjustment of the waistband units 200.
In other words, by means of the joint movement of the standing platform 400, the lower limb automatic regulating platform unit 300 and waistband units 200, the leg postures of the patient standing on the standing platform 400 are regulated when the waist of the patient is in straightening state or bending state.
As shown in Fig. 5, the lower limb automatic regulating platform unit 300 comprises elastic hip joint straps 301, elastic hip joint strap supports 319, and two regulating devices for assisting leg movement.
The elastic hip joint straps 301 are straps that have an approximately elliptical shape and are made of an elastic material. Preferably, the elastic hip joint straps 301 are leather straps or rubber straps. One elastic hip joint strap support 319 is connected at each end of the elastic hip joint strap 301 in the long axis direction. The elastic hip joint strap support 319 is in a Y-shape. A pair of hip joint insertion plates are arranged on the bottom of each elastic hip joint strap support 319. The hip joint insertion plates are inserted in the adjacent regulating device for assisting leg movement. The regulating devices for assisting leg movement are in a strip shape, and can bend, extend and retract, as shown in Fig. 11.
The bottom of each regulating device for assisting leg movement is connected to the top surface of the standing platform 400 respectively, as shown in Fig. 6.
As shown in Fig. 5, each regulating device for assisting leg movement comprises a shank module and a thigh module.
As shown in Fig. 9, the bottom end of the shank module is fixedly connected to the top surface of the standing platform 400. The length of the shank module can be adjusted by extending/retracting.
As shown in Fig. 8, the top of the shank module is movably connected to the bottom end of the thigh module. The length of the thigh module can be adjusted by extending/retracting. The bottom end of the thigh module can rotate around the top of the shank module.
As shown in Fig. 7, the top end of the thigh module is movably connected to the adjacent elastic hip joint strap support 319.
Namely, the height of the thigh module in relation to the standing platform 400 is adjustable. The height of the elastic hip joint strap support 319 in relation to the standing platform 400 is adjustable.
The thigh module and the elastic hip joint strap 301 connected with the thigh module via the elastic hip joint strap support 319 can rotate around the top of the shank module.
As shown in Fig. 7, the thigh module comprises an elastic leg strap support 302, an elastic leg strap 303, a thigh support 304, a bearing 305, a synchronous belt pulley 314, a rotation shaft 315, a thigh pneumatic artificial muscle 316, a thigh spring 317, and a thigh flexible rope 318.
As shown in Fig. 12, the thigh support 304 is in a U-shape, and comprises two thigh straight plates and one thigh bottom plate. The two thigh straight plates are arranged vertically and parallel to each other.
The bottoms of the two thigh straight plates are connected together via the thigh bottom plate.
The top surface of each of the two thigh straight plates has one thigh slotted hole. The thigh slotted hole matches the hip joint insertion plate in shape. Namely, the hip joint insertion plate is inserted into the adjacent thigh slotted hole, as shown in Fig. 7.
One thigh cross plate is arranged between the two thigh straight plates above the thigh bottom plate. The thigh cross plate has a small hole.
As shown in Fig. 7, the top surface of the thigh bottom plate is fixedly connected to the bottom of the thigh pneumatic artificial muscle 316. The top end of the thigh pneumatic artificial muscle 316 is connected to one end of the thigh flexible rope 318. The other end of the thigh flexible rope 318 passes through the small hole in the thigh cross plate and then is connected to the bottom surface of the elastic hip joint strap support 319. The thigh spring 317 is fitted over the thigh flexible rope 318 above the thigh cross plate. The top of the thigh spring 317 is in contact with the bottom surface of the elastic hip joint strap support 319, and the bottom of the thigh spring 317 is in contact with the top surface of a top plate.
As shown in Fig. 12, two thigh insertion plates are arranged on the bottom surface of the thigh bottom plate. Both of the thigh insertion plates extend vertically downwards, and are parallel to each other.
Each of the thigh insertion plates has a round hole, a bearing 305 is fitted into the round hole of each thigh insertion plate, and a rotation shaft 315 is arranged for the two adjacent bearings 305, as shown in Fig. 10.
An elastic leg strap support 302 is connected horizontally at the outer side of the thigh straight plate at one side of the thigh support 304. An elastic leg strap 303 is arranged on the tail end of the elastic leg strap support 302. The synchronous belt pulley 314 is arranged on the end of the rotation shaft 315 at the other side of the thigh support 304, as shown in Fig. 10.
As shown in Figs. 4, 7 and ii, when the thigh pneumatic artificial muscle 316 extends or retracts, the elastic hip joint strap support 319 is driven by the thigh flexible rope 318 and the thigh spring 317 to do telescopic motion, and thereby the positions of the elastic leg strap support 302 and the elastic leg strap 303 connected with the thigh support 304 in relation to the elastic hip joint strap support 319 and the elastic hip joint strap 301 are regulated.
As shown in Fig. 9, the shank module comprises an elastic leg strap support 302, an elastic leg strap 303, a rotation joint 306, a shank spring 307, a shank flexible rope 308, a shank support 309, a shank pneumatic artificial muscle 310, a rotation joint pneumatic artificial muscle 311, a rotation joint spring 312, a synchronous belt 313, a synchronous belt pulley 314, and a flat key 320, wherein, as shown in Fig. 13, the rotation joint 306 is a rectangular block. As shown in Fig. 13, a circular tube is arranged on the top of the rotation joint 306. The axial direction of the circular tube on the rotation joint 306 is parallel to the width direction of the rotation joint 306, as shown in Fig. 8. The circular tube on the rotation joint 306 is fitted over the adjacent rotation shaft 315, i.e., the top of the rotation joint 306 is movably connected with the bottom of the thigh support 304, as shown in Fig. 8. As shown in Fig. 13, rectangular holes are arranged on the sides of the rotation joint 306, and the opening direction of the rectangular holes on the sides of the rotation joint 306 is in accordance with the axial direction of the circular tube on the top of the rotation joint 306. Two joint insertion plates are arranged on the bottom of the rotation joint 306. Both of the joint insertion plates extend vertically downwards and are parallel to each other.
The joint insertion plates are perpendicular to the end surface of the circular tube on the rotation joint 306.
As shown in Fig. 9, the shank support 309 is in a H-shape, and comprises two shank'vertical plates and one shank cross plate. The two shank vertical plates are connected together via the shank cross plate.
The shank cross plate has a small hole.
The top surface of each shank vertical plate has a shank slotted hole. The shank slotted hole matches the joint insertion plate in shape. Namely, the joint insertion plate is inserted into the adjacent shank slotted hole.
The top ends of the two shank vertical plates of the shank support 309 are fixedly connected with the bottom ands of the two joint insertion plates of the adjacent rotation joint 306 respectively. The bottom ends of the two shank vertical plates of the shank support 309 are connected to the top surface of the standing platform 400.
An elastic leg strap support 302 is connected horizontally at the outer side of the shank vertical plate at one side of the shank support 309. An elastic leg strap 303 is arranged at the tail end of the elastic leg strap support 302.
As shown in Fig. 9, the shank pneumatic artificial muscle 310 is arranged on the standing platform 400 below the shank cross plate. The top of the shank pneumatic artificial muscle 310 is connected to one end of the shank flexible rope 308. The other end of the shank flexible rope 308 passes through the small hole in the shank cross plate and then is fixedly connected to the bottom of the rotation joint 306.
As shown in Fig. 9, the shank spring 307 is fitted over the shank flexible rope 308 above the shank Cross plate. The bottom of the shank spring 307 contacts with the top surface of the shank cross plate, and the top of the shank spring 307 contacts with the bottom of the rotation joint 306.
As shown in Fig. 5 or 9, a rotation joint pneumatic artificial muscle 311and a rotation joint spring 312 are arranged on the standing platform 400 at the other side of the shank support 309. The top of the rotation joint pneumatic artificial muscle 311 is connected with the top of the rotation joint spring 312 via the synchronous belt 313. The synchronous belt 313 is wound around the synchronous belt pulley 314.
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As shown in Fig. 10, a flat key 320 is arranged on the rotation shaft 315, a corresponding key slot is arranged on the inner wall of the circular tube on the rotation joint 306, so that the rotation shaft 315 is connected with the rotation joint 306. When the rotation joint pneumatic artificial muscle 311 extends or retracts, the rotation joint pneumatic artificial muscle 311, the rotation joint spring 312, the synchronous belt 313, the synchronous belt pulley 314, and the flat key 320 jointly drive the shank module to move in relation to the thigh module.
When the shank pneumatic artificial muscle 310 extends or retracts, the rotation joint 306 is pulled via the shank spring 307 and the shank flexible rope 308 to extend or retract in relation to the shank support 309, and thereby the positions of the elastic leg strap support 302 and the elastic leg strap 303 connected with the shank support 309 in relation to the elastic hip joint strap support 319 and the elastic hip joint strap 301 are regulated.
As shown in Fig. 5, in the n-shaped structural part formed by the elastic hip joint strap support 319, the elastic hip joint strap 301 and the regulating device for assisting leg movement via connection:
Both the elastic leg strap support 302 connected with the thigh support 304 and the elastic leg strap support 302 connected with the shank support 309 are arranged at the inner side of the n-shaped structural part.
The synchronous belt pulleys 314 connected with the ends of the rotation shaft 315 in the thigh support 304 are arranged at the outer side of the n-shaped structural part.
Furthermore, the thigh pneumatic artificial muscle 316 is a DMSP-20-100N
pneumatic muscle tendon from Festo.
The shank pneumatic artificial muscle 310 is a DMSP-20-130N pneumatic muscle tendon from Festo.
The rotation joint pneumatic artificial muscle 311 is a DMSP-20-130N pneumatic muscle tendon from Festo.
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As shown in Fig. 14, the detection unit 800 comprises six pressure sensors 801, four laser ranging sensors 802, and two absolute type encoders 803, which are: ISE30A-01-N
pressure switches from SMC, Q4XTBLAF300-Q8 laser ranging sensors from BANNER, and E6CP-A absolute type encoders from OMRON respectively. As shown in Fig. 14, the pressure sensors 801 are mounted at the orifices of air inlet tubes of the thigh pneumatic artificial muscles 316, the orifices of air inlet tubes of the shank pneumatic artificial muscles 310, and the orifices of air inlet tubes of the rotation joint pneumatic artificial muscles 311, detect the value of the pressures on the pneumatic artificial muscles in real time, and transmit the detection data via a data acquisition card to the industrial PC.
As shown in Fig. 15, the laser ranging sensor 802 comprises a laser sensing head and a reflector, wherein, the laser sensing beads of the laser ranging sensors 802 are mounted on the top of the shank supports 309 and on the top of the thigh supports 304 respectively; the reflectors of the laser ranging sensors 802 are mounted on the bottom of the elastic hip joint strap supports 319 and on the bottom of the rotation joints 306 respectively; the laser sensing heads mounted on the top of the thigh supports 304 correspond to the reflectors mounted on the bottom of the elastic hip joint strap supports 319 respectively.
The laser sensing heads mounted on the top o f the shank supports 309 correspond to the reflectors mounted on the bottom of the rotation joints 306 respectively.
The lengths of the thigh springs 317 and the shank springs 307 are measured and transmitted via the data acquisition card to the industrial PC respectively, and the industrial PC calculate the total heights of the thigh modules and the shank modules on the basis of known support height.
An encoder 803 is mounted on the tail end of each rotation shaft 315, the rotation angle of the rotation joint 306 is detected by the encoder 803 and is transmitted via the data acquisition card to the industrial PC. The rotation angle of the rotation joint 306 corresponds to the rotation angle of the shank module.
Furthermore, the detection unit 800 further comprises a visual sensor. The visual sensor is mounted on the aluminum alloy profile frame 100 and is connected to the industrial PC, and is configured to detect the spatial position and posture of the standing platform 400.
The visual sensor comprises an OMRON FH-SCO4 high speed CMOS camera and Sysmac Studio control software installed in the industrial PC. The industrial PC executes the Sysmac Studio control software to analyze and output the images captured by the high speed CMOS
camera.
As shown in Figs. 5 and II, the structure and working principle of the device provided in the present invention are briefly described as follows: in the thigh module, the bottom end of the thigh pneumatic artificial muscle 316 is fixedly mounted on the thigh support 304, and the top end of the thigh pneumatic artificial muscle 316 is connected to one end of the thigh flexible rope 318. The thigh flexible rope 318 passes through the hole in the top of the thigh support 304 and the middle part of the thigh springs 317 and is connected to the bottom of the elastic hip joint strap support 319.
The bottom end of the thigh spring 317 is fixedly mounted on the thigh support 304, and the top end of the thigh spring 317 is connected with the elastic hip joint strap support 319. A top protrusion part of the thigh support 304 has a slotted hole, a bottom protrusion part of the elastic hip joint strap support 319 forms an insertion plate, which can be inserted into the slotted hole freely. In the shank module, the bottom end of the shank pneumatic artificial muscle 310 is fixedly mounted on the standing platform 400, and the top end of the shank pneumatic artificial muscle 310 is connected to one end of the shank flexible rope 308.
The shank flexible rope 308 passes through the hole in the top of the shank support 309 and the middle part of the shank spring 307 and is connected to the bottom of the rotation joint 306. The bottom end of the shank spring 307 is fixedly mounted on the shank support 309, and the top end of the shank spring 307 is connected to the bottom of the rotation joint 306. The bottom of the shank support 309 is mounted on the standing platform 400, a top protrusion part of the shank support 309 has a slotted hole, a bottom protrusion part of the rotation joint 306 = forms an insertion plate, which can be inserted into the slotted hole freely. One end of the rotation joint pneumatic artificial muscle 311 is fixedly mounted on the standing platform 400, the other end of the rotation joint pneumatic artificial muscle 311 is connected to the synchronous belt 313; the synchronous belt 313 is engaged with the synchronous belt pulley 314, and the other end of the synchronous belt 313 is connected to the rotation joint spring 312 fixedly mounted on the standing platform 400. The bottom side walls of the thigh support 304 have two holes respectively for mounting bearings 305. The rotation shaft 315 is mounted in the inner rings of the bearings 305, and is connected with the rotation joint 306 via a flat key 320, and the protruding end of the rotation shaft 315 is connected with the synchronous belt pulley 314 by interference fit.
In use, the elastic leg strap supports 302 in the thigh modules and the shank modules are fixedly mounted on the thigh supports 304 and the shank supports 309 respectively, and the outer ends of the elastic leg strap supports 302 are tied on the thighs and shanks of the patient via the elastic leg straps 303 to provide a fixing function. The elastic hip joint straps 301 are fixedly tied on the hip joint part of the patient, the elastic leg straps 303 are fixedly tied on the thighs and shanks of the patient, so as to fix and support the lower limbs of the patient, without limiting the degree of freedom of lower limb movement of the patient.
When the rotation joint pneumatic artificial muscles 311 are inflated and thereby contract, the synchronous belts 313 moves and the rotation joint springs 312 are tensioned;
at the same time, the synchronous belt pulleys 314 engaged with the synchronous belts 313 are driven to rotate, and thereby the rotation shafts 315 rotate and drive the rotation joints 306 fitted with it via the flat keys 320 to rotate. When the rotation joint pneumatic artificial muscles 311 are deflated and thereby extend, the rotation joint springs 312 reset under the action of the spring force, the synchronous belts 313 move in a reversed direction, and drives the synchronous belt pulleys 314 engaged with the synchronous belts 313 to rotate in a reversed direction at the same time; thus, the rotation shafts 315 rotate in a reversed direction, and drive the rotation joints 306 fitted with it via the flat keys 320 to rotate in a reversed direction, and thereby the purpose of assisting the shanks to rotate backwards and return is attained.
When the shank pneumatic artificial muscles 310 in the shank modules are inflated and thereby contract, the entire leg device is driven by the shank flexible ropes 308 to compress the shank springs 307 and move downwards. When the shank pneumatic artificial muscles 310 are deflated and thereby extend, the entire leg device moves upwards under the spring force of the compressed shank springs 307; thus, the heights of the elastic leg straps 303 in the shank module in relation to the standing platform 400 are regulated, to meet the demand of patients with shanks of different length.
When the thigh pneumatic artificial muscles 316 in the thigh modules are inflated and thereby contract, the elastic hip joint strap supports 319 and the connected elastic hip joint straps 301 are driven by the thigh flexible ropes 318 to compress the thigh springs 317, so that the elastic hip joint strap supports 319 move downwards. When the thigh pneumatic artificial muscles 316 are deflated and thereby extend, the elastic hip joint strap supports 319 and the connected elastic hip joint straps 301 move upwards under the spring force of the compressed thigh springs 317; thus, the heights of the elastic hip joint straps 301 in relation to the elastic leg straps 303 in the thigh modules are regulated, and the demand of patients with thighs of different length is met.
In the present invention, the elastic hip joint straps in the lower limb automatic regulating platform are tied on the hip joints of the patient. Since the elastic hip joint straps have elasticity, their effect on the hip joints of the patient is similar to the effect of ball hinge, and the knee joints in the platform can also rotate; in addition, four waistband units 200 are arranged above the waist of the patient to fix and support the upper body of the patient. Therefore, the entire structure of lower limb movement machine can be simplified to the structure as shown in Fig. 11. Thus, the standing platform 400 is driven by the ropes, and the two legs of the patient can move in relation to the hip joints.
Furthermore, since the knee joints have pneumatic artificial muscles to provide a driving force, the knee joints are assisted to bend. Thus, the bending accuracy of the two legs are ensured, and discomfort and potential safety hazard incurred by forward straightening of the shanks of the patient in relation to the knee joints in the training process can be prevented.
In the rehabilitation training process, the industrial PC controls the motors to rotate, so that the ropes extend or retract, and thereby drive the standing platform 400 to realize preset spatial positions and postures change; at the same time, the spatial position and posture of the standing platform 400 is monitored with a visual sensor and the data is transmitted to the industrial PC. If there is any error in the actual spatial position and posture of the standing platform 400 compared with the preset spatial position and posture, the industrial PC can control the air inlet valves and air outlet valves of the two rotation joint pneumatic artificial muscles 311 in the lower limb automatic regulating platform unit 300 to open and close, and thereby provide a driving force to control the rotation of the shank joints and thereby drive the standing platform 400 to move, so that the standing platform 400 reaches the preset spatial position and posture; thus, the legs of the patient can reach preset positions and can bend in relation to the hip joints in a better way, and thereby the effect of waist rehabilitation training is ensured.
Utilizing the sensors, the lower limb automatic regulating platform provided in the present invention not only ensures accurate and safe rehabilitation training, but also realizes automation of the device. The pressures on the pneumatic artificial muscles is monitored in real time with the pressure sensors 801; thus, a potential safety hazard of output force variation resulted from change of pressure on the pneumatic artificial muscles is prevented, and the safety of rehabilitation training is ensured. The heights of the thigh modules and the shank modules are detected with the laser ranging sensors 802, so that automatic height regulation is realized. The rotation angles of the shank modules are detected by the encoders 803, and thereby the accuracy of rehabilitation training is ensured.
As shown in Fig. 16, a waist rehabilitation training method utilizing the device for waist rehabilitation training according to the present invention is executed through the following steps:
Step 1: powering on an industrial PC and the motors in the motor units 500, controlling pressure sensors 801, laser ranging sensors 802 and encoders 803 to feedback signals, and resetting thigh pneumatic artificial muscles 316, shank pneumatic artificial muscles 310, rotation joint pneumatic artificial muscles 311, shank springs 307, rotation joint springs Step 2: inputting thigh and shank length information of the patient to the industrial PC; inputting preset spatial positions and postures and allowable error ranges to the industrial PC, wherein, the preset spatial positions and postures are rehabilitation actions and postures to be exercised by the patient on the waist rehabilitation training device;
Step 3: instructing the patient to stand on the standing platform 400;
controlling the shank pneumatic artificial muscles 310 to inflate or deflate first according to the leg information of the patient inputted to the industrial PC in the step 2 to adjust the lengths of the shank modules, detecting the lengths of the shank springs 307 with laser ranging sensors 802 in the shank modules in real time, and transmitting the detection data to the industrial PC for computation and judgment, till the rotation joints 306 are flush with the knee joints of the patient; =
then, controlling the thigh pneumatic artificial muscles 316 via the industrial PC to inflate or deflate to adjust the length of the thigh modules, detecting the lengths of the thigh springs 317 in real time via the laser ranging sensors 802 in the thigh modules at the same time, and transmitting the detection data to the industrial PC for computation and judgment, so that elastic hip joint straps 301 are positioned at the hip joints of the patient;
Step 4: tying elastic leg straps 303 in the thigh modules and elastic leg straps 303 in the shank modules to the thighs and shanks of the patient respectively, and tying the elastic hip joint straps 301 to the hip joints of the patient, so as to prepare for making rehabilitation exercise;
Step 5: controlling the motors in the motor units 500 by the industrial PC to rotate, so that the flexible ropes 600 extend or retract and thereby the standing platform 400 moves. Controlling the air inlet valve and air outlet valve for the two rotation joint pneumatic artificial muscles 311 in real time throuth the industrial PC to open or close according to the spatial position and posture of the standing platform 400, so as to control the shank joints to rotate and thereby drive the standing platform 400 to move; at the same time, making angle compensation for the rotation of the rotation joints 306 via the industrial PC according to the angles of rotation of the shank modules fed back in real time by the encoders 803, so that the position and posture of the patient standing on the standing platform 400 matches the preset spatial position and posture inputted in the step 2;
Step 6: monitoring the real-time pressure information of the thigh pneumatic artificial muscles 316, real-time pressure information of the shank pneumatic artificial muscles 310, real-time pressure information of the rotation joint pneumatic artificial muscles 311, and real-time spatial position and posture information of the standing platform 400 with pressure sensors 801 and visual sensors respectively, and transmitting the real-time pressure information and real-time spatial position and posture information via a data acquisition card to the industrial PC; stopping the rehabilitation training immediately and alarming for device examination if an error goes beyond the allowable error range set in the step 2, to avoid any accident of the patient during the rehabilitation training;
Step 7; removing the elastic leg straps 303 and the elastic hip joint straps 301 manually and instructing the patient to get off the standing platform 400 after the rehabilitation training is finished;
Step 8: resetting the lower limb automatic regulating platform 300, cutting off the power supply to the motor units 400, the pneumatic artificial muscles and the industrial PC.
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Claims (10)
1. A lower limb automatic regulating platform for waist rehabilitation training, comprising an aluminum alloy profile frame (100) which Is a rectangular frame constructed by aluminum alloy profiles and fixed to the floor, wherein, .cndot. a lower limb automatic regulating platform unit (300), a standing platform (400), motor units (500), flexible ropes (600), and pulley units (700) are arranged in the aluminum alloy profile frame (100);
.cndot. four pulley units (700) are arrange on the top of the aluminum alloy profile frame (100);
one motor unit (500) is arranged below each of the pulley units (700); the drum shaft of each motor unit (500) is connected with one flexible rope (600); each flexible rope (600) runs around a pulley unit (700) and then is connected to the standing platform (400);
namely, the direction of the flexible rope (600) is changed via the pulley unit (700), and the length of the flexible rope (600) is changed via the motor unit (500);
thus, the spatial position and posture of the connected standing platform (400) are changed, and thereby the leg postures of the patient in standing state and movement state are regulated;
.cndot. the lower limb automatic regulating platform unit (300) is arranged on the standing platform (400); the lower limb automatic regulating platform unit (300) is movably connected with the legs of the patient, so as to restrain, support, and regulate the leg postures of the patient in standing state and waist movement state; namely, through the supporting, restraining, and regulation functions of the lower limb automatic regulating platform unit (300), the legs of the patient can bend and straighten within the working range of the lower limb automatic regulating platform unit (300);
.cndot. in other words, by means of the joint movement of the standing platform (400) and the lower limb automatic regulating platform unit (300), the leg postures of the patient standing on the standing platform (400) and the leg postures of the patient during waist rehabilitation training are regulated.
.cndot. four pulley units (700) are arrange on the top of the aluminum alloy profile frame (100);
one motor unit (500) is arranged below each of the pulley units (700); the drum shaft of each motor unit (500) is connected with one flexible rope (600); each flexible rope (600) runs around a pulley unit (700) and then is connected to the standing platform (400);
namely, the direction of the flexible rope (600) is changed via the pulley unit (700), and the length of the flexible rope (600) is changed via the motor unit (500);
thus, the spatial position and posture of the connected standing platform (400) are changed, and thereby the leg postures of the patient in standing state and movement state are regulated;
.cndot. the lower limb automatic regulating platform unit (300) is arranged on the standing platform (400); the lower limb automatic regulating platform unit (300) is movably connected with the legs of the patient, so as to restrain, support, and regulate the leg postures of the patient in standing state and waist movement state; namely, through the supporting, restraining, and regulation functions of the lower limb automatic regulating platform unit (300), the legs of the patient can bend and straighten within the working range of the lower limb automatic regulating platform unit (300);
.cndot. in other words, by means of the joint movement of the standing platform (400) and the lower limb automatic regulating platform unit (300), the leg postures of the patient standing on the standing platform (400) and the leg postures of the patient during waist rehabilitation training are regulated.
2. The lower limb automatic regulating platform for waist rehabilitation training according to claim 1, wherein, a detection unit (800) is arranged on the lower limb automatic regulating platform unit (300);
the working postures of the lower limb automatic regulating platform unit (300) are fed back by the detection unit (800) to the industrial PC; the length of the legs of the patient and the spatial angle of the lower limb automatic regulating platform unit (300) are obtained through calculation via the industrial PC;
.cndot. the industrial PC utilizes the movement execution parameters inputted manually, and the length of the legs of the patient and the spatial angle of the lower limb automatic regulating platform unit (300) obtained through calculation in combination to drive the lower limb automatic regulating platform unit (300), the standing platform (400) and the motor units (500) to move respectively.
the working postures of the lower limb automatic regulating platform unit (300) are fed back by the detection unit (800) to the industrial PC; the length of the legs of the patient and the spatial angle of the lower limb automatic regulating platform unit (300) are obtained through calculation via the industrial PC;
.cndot. the industrial PC utilizes the movement execution parameters inputted manually, and the length of the legs of the patient and the spatial angle of the lower limb automatic regulating platform unit (300) obtained through calculation in combination to drive the lower limb automatic regulating platform unit (300), the standing platform (400) and the motor units (500) to move respectively.
3. The lower limb automatic regulating platform for waist rehabilitation training according to claim 1, wherein, a set of waistband units (200) are arranged in the aluminum alloy profile frame (100); the waist of the patient is assisted to bend and straighten by the restraining and length adjustment of the waistband units (200);
.cndot. in other words, by means of the joint movement of the standing platform (400), the lower limb automatic regulating platform unit (300) and waistband units (200), the leg postures of the patient standing on the standing platform (400) are regulated when the waist'of the patient is in straightening state or bending state.
.cndot. in other words, by means of the joint movement of the standing platform (400), the lower limb automatic regulating platform unit (300) and waistband units (200), the leg postures of the patient standing on the standing platform (400) are regulated when the waist'of the patient is in straightening state or bending state.
4. The lower limb automatic regulating platform for waist rehabilitation training according to claim 1, 2 or 3, wherein, .cndot. the lower limb automatic regulating platform unit (300) comprises elastic hip joint straps (301), elastic hip joint strap supports (319), and two regulating devices for assisting leg movement;
.cndot. the elastic hip joint straps (301) are straps that have an approximately elliptical shape and are made of elastic material; one elastic hip joint strap support (319) is connected at each end of the elastic hip joint strap (301) in the long axis direction; a pair of hip joint insertion plates are arranged on the bottom of each elastic hip joint strap support (319); the hip joint insertion plate is inserted in the adjacent regulating device for assisting leg movement; the regulating devices for assisting leg movement are in a strip shape, and can bend, extend and retract;
.cndot. the bottom of each regulating device for assisting leg movement is connected to the top surface of the standing platform (400) respectively.
.cndot. the elastic hip joint straps (301) are straps that have an approximately elliptical shape and are made of elastic material; one elastic hip joint strap support (319) is connected at each end of the elastic hip joint strap (301) in the long axis direction; a pair of hip joint insertion plates are arranged on the bottom of each elastic hip joint strap support (319); the hip joint insertion plate is inserted in the adjacent regulating device for assisting leg movement; the regulating devices for assisting leg movement are in a strip shape, and can bend, extend and retract;
.cndot. the bottom of each regulating device for assisting leg movement is connected to the top surface of the standing platform (400) respectively.
5. The lower limb automatic regulating platform for waist rehabilitation training according to claim 4, wherein, .cndot. each regulating device for assisting leg movement comprises a shank module and a thigh module;
.cndot. the bottom end of the shank module is fixedly connected to the top surface of the standing platform (400); the length of the shank module can be adjusted by extending/retracting;
.cndot. the top of the shank module is movably connected to the bottom end of the thigh module;
the length of the thigh module can be adjusted by extending/retracting; the bottom end of the thigh module can rotate around the top of the shank module;
.cndot. the top end of the thigh module is movably connected to the adjacent elastic hip joint strap support (319);
.cndot. namely, the height of the thigh module in relation to the standing platform (400) is adjustable; the height of the elastic hip joint strap support (319) in relation to the standing platform (400) is adjustable;
.cndot. the thigh module and the elastic hip joint strap (301) connected with the thigh module via the elastic hip joint strap support (319) can rotate around the top of the shank module.
.cndot. the bottom end of the shank module is fixedly connected to the top surface of the standing platform (400); the length of the shank module can be adjusted by extending/retracting;
.cndot. the top of the shank module is movably connected to the bottom end of the thigh module;
the length of the thigh module can be adjusted by extending/retracting; the bottom end of the thigh module can rotate around the top of the shank module;
.cndot. the top end of the thigh module is movably connected to the adjacent elastic hip joint strap support (319);
.cndot. namely, the height of the thigh module in relation to the standing platform (400) is adjustable; the height of the elastic hip joint strap support (319) in relation to the standing platform (400) is adjustable;
.cndot. the thigh module and the elastic hip joint strap (301) connected with the thigh module via the elastic hip joint strap support (319) can rotate around the top of the shank module.
6. The lower limb automatic regulating platform for waist rehabilitation training according to claim 5, wherein, .cndot. the thigh module comprises an elastic leg strap support (302), an elastic leg strap (303), a thigh support (304), a bearing (305), a synchronous belt pulley (314), a rotation shaft (315), a thigh pneumatic artificial muscle (316), a thigh spring (317), and a thigh flexible rope (318);
.cndot. the thigh support (304) is in a U-shape, and comprises two thigh straight plates and one thigh bottom plate; the two thigh straight plates are arranged vertically and parallel to each other; the bottoms of the two thigh straight plates are connected together via the thigh bottom plate;
.cndot. the top surface of each of the two thigh straight plates has one thigh slotted hole; the thigh slotted hole matches the hip joint insertion plate in shape; namely, the hip joint insertion plate is inserted into the adjacent thigh slotted hole;
.cndot. one thigh cross plate is arranged between the two thigh straight plates above the thigh bottom plate; the thigh cross plate has &small hole;
.cndot. the top surface of the thigh bottom plate is fixedly connected to the bottom of the thigh pneumatic artificial muscle (316); the top end of the thigh pneumatic artificial muscle (316) is connected to one end of the thigh flexible rope (318); the other end of the thigh flexible rope (318) passes through the small hole in the thigh cross plate and then is connected to the bottom surface of the elastic hip joint strap support (319);
the thigh spring (317) is fitted over the thigh flexible rope (318) above the thigh cross plate; the top of the thigh spring (317) contacts with the bottom surface of the elastic hip joint strap support (319), and the bottom of the thigh spring (317) contacts with the top surface of a top plate;
.cndot. two thigh insertion plates are arranged on the bottom surface of the thigh bottom plate;
both of the thigh insertion plates extend vertically downwards, and are parallel to each other; each of the thigh insertion plates has around hole, a bearing (305) is fitted into the round hole of each thigh insertion plate, and the rotation shaft (315) is arranged between the two adjacent bearings (305);
.cndot. an elastic leg strap support (302) is connected horizontally at the outer side of the thigh straight plate at one side of the thigh support (304); an elastic leg strap (303) is arranged on the tail end of the elastic leg strap support (302); the synchronous belt pulley (314) is arranged on the end of the rotation shaft (315)- at the other side of the thigh support (304);
.cndot. when the thigh pneumatic artificial muscle (316) extends or retracts, the elastic hip joint strap support (319) is driven via the thigh flexible rope (318) and the thigh spring (317) to move up and down, and thereby the positions of the elastic leg strap support (302) and the elastic leg strap (303) connected with the thigh support (304) in relation to the elastic hiP
joint strap support (319) and the elastic hip joint strap (301) are regulated;
.cndot. the shank module comprises an elastic leg strap support (302), an elastic leg strap (303), a rotation joint (306), a shank spring (307), a shank flexible rope (308), a shank support (309), a shank pneumatic artificial muscle (310), a rotation joint pneumatic artificial muscle (311), a rotation joint spring (312), a synchronous belt (313), a synchronous belt pulley (314), and a flat key (320), wherein, .cndot. the rotation joint (306) is a rectangular block; a circular tube is arranged on the top of the rotation joint (306); the axial direction of the circular tube on the rotation joint (306) is parallel to the width direction of the rotation joint (306); the circular tube on the rotation joint (306) is fitted over the adjacent rotation shaft (315), i.e., the top of the rotation joint (306) is movably connected with the bottom of the thigh support (304);
rectangular holes are arranged on the sides of the rotation joint (306), and the opening direction of the rectangular holes on the sides of the rotation joint (306) is in accordance with the axial direction of the circular tube on the top of the rotation joint (306); two joint insertion plates are arranged on the bottom of the rotation joint (306); both of the joint insertion plates extend vertically downwards and are parallel to each other; the joint insertion plates are perpendicular to the end surface of the circular tube on the rotation joint (306);
.cndot. the shank support (309) is in a H-shape, and comprises two shank vertical plates and one shank cross plate; the two shank vertical plates are connected together via the shank cross plate; the shank cross plate has a small hole;
.cndot. the top surface of each shank vertical plate has a shank slotted hole; the shank slotted hole matches the joint insertion plate in shape; namely, the joint insertion plate is inserted into the adjacent shank slotted hole;
.cndot. the top ends of the two shank vertical plates of the shank support (309) are fixedly connected with the bottom ends of the two joint insertion plates of the adjacent rotation joint (306) respectively; the bottom ends of the two shank vertical plates of the shank support (309) are connected to the top surface of the standing platform (400);
.cndot. an elastic leg strap support (302) is connected horizontally at the outer side of the shank vertical plate'at one side of the shank support (309); an elastic leg strap (303) is arranged on the tail end of the elastic leg strap support (302);
.cndot. the shank pneumatic artificial muscle (310) is arranged on the standing platform (400) below the shank cross plate; the top of the shank pneumatic artificial muscle (310) is connected to one end of the shank flexible rope (308); the other end of the shank flexible rope (308) passes through the small hole in the shank cross plate and then is fixedly connected to the bottom of the rotation joint (306);
.cndot. the shank spring (307) is fitted over the shank flexible rope (308) above the shank cross plate; the bottom of the shank spring (307) contacts with the top surface of the shank cross plate, and the top of the shank spring (307) contacts with the bottom of the rotation joint (306);
.cndot. one rotation joint pneumatic artificial muscle (311) and one rotation joint spring (312) are arranged on the standing platform (400) at the other side of the shank support (309); the top of the rotation joint pneumatic artificial muscle (311) is connected with the top of the rotation joint spring (312) via one synchronous belt (313); the synchronous belt (313) is wound around the synchronous belt pulley (314);
.cndot. the flat key (320) is arranged on the rotation shaft (315), a corresponding key slot is arranged on the inner wall of the circular tube on the rotation joint (306), so that the rotation shaft (315) is connected with the rotation joint (306); when the rotation joint pneumatic artificial muscle (311) extends or retracts, the rotation joint pneumatic artificial muscle (311), the rotation joint spring (312), the synchronous belt (313), the synchronous belt pulley (314), and the flat key (320) jointly drive the shank module to move in relation to the thigh module;
.cndot. when the shank pneumatic artificial muscle (310) extends or retracts, the rotation joint (306) is driven by the shank spring (307) and the shank flexible rope (308) to extend or retract in relation to the shank support (309), and thereby the positions of the elastic leg strap support (302) and the elastic leg strap (303) connected with the shank support (309) in relation to the elastic hip joint strap support (319) and the elastic hip joint strap (301) are regulated.
.cndot. the thigh support (304) is in a U-shape, and comprises two thigh straight plates and one thigh bottom plate; the two thigh straight plates are arranged vertically and parallel to each other; the bottoms of the two thigh straight plates are connected together via the thigh bottom plate;
.cndot. the top surface of each of the two thigh straight plates has one thigh slotted hole; the thigh slotted hole matches the hip joint insertion plate in shape; namely, the hip joint insertion plate is inserted into the adjacent thigh slotted hole;
.cndot. one thigh cross plate is arranged between the two thigh straight plates above the thigh bottom plate; the thigh cross plate has &small hole;
.cndot. the top surface of the thigh bottom plate is fixedly connected to the bottom of the thigh pneumatic artificial muscle (316); the top end of the thigh pneumatic artificial muscle (316) is connected to one end of the thigh flexible rope (318); the other end of the thigh flexible rope (318) passes through the small hole in the thigh cross plate and then is connected to the bottom surface of the elastic hip joint strap support (319);
the thigh spring (317) is fitted over the thigh flexible rope (318) above the thigh cross plate; the top of the thigh spring (317) contacts with the bottom surface of the elastic hip joint strap support (319), and the bottom of the thigh spring (317) contacts with the top surface of a top plate;
.cndot. two thigh insertion plates are arranged on the bottom surface of the thigh bottom plate;
both of the thigh insertion plates extend vertically downwards, and are parallel to each other; each of the thigh insertion plates has around hole, a bearing (305) is fitted into the round hole of each thigh insertion plate, and the rotation shaft (315) is arranged between the two adjacent bearings (305);
.cndot. an elastic leg strap support (302) is connected horizontally at the outer side of the thigh straight plate at one side of the thigh support (304); an elastic leg strap (303) is arranged on the tail end of the elastic leg strap support (302); the synchronous belt pulley (314) is arranged on the end of the rotation shaft (315)- at the other side of the thigh support (304);
.cndot. when the thigh pneumatic artificial muscle (316) extends or retracts, the elastic hip joint strap support (319) is driven via the thigh flexible rope (318) and the thigh spring (317) to move up and down, and thereby the positions of the elastic leg strap support (302) and the elastic leg strap (303) connected with the thigh support (304) in relation to the elastic hiP
joint strap support (319) and the elastic hip joint strap (301) are regulated;
.cndot. the shank module comprises an elastic leg strap support (302), an elastic leg strap (303), a rotation joint (306), a shank spring (307), a shank flexible rope (308), a shank support (309), a shank pneumatic artificial muscle (310), a rotation joint pneumatic artificial muscle (311), a rotation joint spring (312), a synchronous belt (313), a synchronous belt pulley (314), and a flat key (320), wherein, .cndot. the rotation joint (306) is a rectangular block; a circular tube is arranged on the top of the rotation joint (306); the axial direction of the circular tube on the rotation joint (306) is parallel to the width direction of the rotation joint (306); the circular tube on the rotation joint (306) is fitted over the adjacent rotation shaft (315), i.e., the top of the rotation joint (306) is movably connected with the bottom of the thigh support (304);
rectangular holes are arranged on the sides of the rotation joint (306), and the opening direction of the rectangular holes on the sides of the rotation joint (306) is in accordance with the axial direction of the circular tube on the top of the rotation joint (306); two joint insertion plates are arranged on the bottom of the rotation joint (306); both of the joint insertion plates extend vertically downwards and are parallel to each other; the joint insertion plates are perpendicular to the end surface of the circular tube on the rotation joint (306);
.cndot. the shank support (309) is in a H-shape, and comprises two shank vertical plates and one shank cross plate; the two shank vertical plates are connected together via the shank cross plate; the shank cross plate has a small hole;
.cndot. the top surface of each shank vertical plate has a shank slotted hole; the shank slotted hole matches the joint insertion plate in shape; namely, the joint insertion plate is inserted into the adjacent shank slotted hole;
.cndot. the top ends of the two shank vertical plates of the shank support (309) are fixedly connected with the bottom ends of the two joint insertion plates of the adjacent rotation joint (306) respectively; the bottom ends of the two shank vertical plates of the shank support (309) are connected to the top surface of the standing platform (400);
.cndot. an elastic leg strap support (302) is connected horizontally at the outer side of the shank vertical plate'at one side of the shank support (309); an elastic leg strap (303) is arranged on the tail end of the elastic leg strap support (302);
.cndot. the shank pneumatic artificial muscle (310) is arranged on the standing platform (400) below the shank cross plate; the top of the shank pneumatic artificial muscle (310) is connected to one end of the shank flexible rope (308); the other end of the shank flexible rope (308) passes through the small hole in the shank cross plate and then is fixedly connected to the bottom of the rotation joint (306);
.cndot. the shank spring (307) is fitted over the shank flexible rope (308) above the shank cross plate; the bottom of the shank spring (307) contacts with the top surface of the shank cross plate, and the top of the shank spring (307) contacts with the bottom of the rotation joint (306);
.cndot. one rotation joint pneumatic artificial muscle (311) and one rotation joint spring (312) are arranged on the standing platform (400) at the other side of the shank support (309); the top of the rotation joint pneumatic artificial muscle (311) is connected with the top of the rotation joint spring (312) via one synchronous belt (313); the synchronous belt (313) is wound around the synchronous belt pulley (314);
.cndot. the flat key (320) is arranged on the rotation shaft (315), a corresponding key slot is arranged on the inner wall of the circular tube on the rotation joint (306), so that the rotation shaft (315) is connected with the rotation joint (306); when the rotation joint pneumatic artificial muscle (311) extends or retracts, the rotation joint pneumatic artificial muscle (311), the rotation joint spring (312), the synchronous belt (313), the synchronous belt pulley (314), and the flat key (320) jointly drive the shank module to move in relation to the thigh module;
.cndot. when the shank pneumatic artificial muscle (310) extends or retracts, the rotation joint (306) is driven by the shank spring (307) and the shank flexible rope (308) to extend or retract in relation to the shank support (309), and thereby the positions of the elastic leg strap support (302) and the elastic leg strap (303) connected with the shank support (309) in relation to the elastic hip joint strap support (319) and the elastic hip joint strap (301) are regulated.
7. The lower limb automatic regulating platform for waist rehabilitation training according to claim 6, wherein, in the n-shaped structural part formed by the elastic hip joint strap support (319), the elastic hip joint strap (301) and the regulating device for assisting kg movement through connection:
.cndot. both the elastic leg strap support (302) connected with the thigh support (304) and the elastic leg strap support (302) connected with the shank support (309) are arranged at the inner side of the n-shaped structural part;
.cndot. the synchronous belt pulleys (314) connected with the ends of the rotation shaft (315) in the thigh support (304) are arranged at the outer side of the n-shaped structural part.
.cndot. both the elastic leg strap support (302) connected with the thigh support (304) and the elastic leg strap support (302) connected with the shank support (309) are arranged at the inner side of the n-shaped structural part;
.cndot. the synchronous belt pulleys (314) connected with the ends of the rotation shaft (315) in the thigh support (304) are arranged at the outer side of the n-shaped structural part.
8. The lower limb automatic regulating platform for waist rehabilitation training according to claim 6, wherein, .cndot. the detection unit (800) comprises six pressure sensors (801), four laser ranging sensors (802), and two absolute type encoders (803), wherein, .cndot. the pressure sensors (801) are mounted at the orifices of air inlet tubes of the thigh pneumatic artificial muscles (316), the orifices of air inlet tubes of the shank pneumatic artificial muscles (310), and the orifices of air inlet tubes of the rotation joint pneumatic artificial muscles (311), detect the pressures on the above pneumatic artificial muscles in real time, and transmit the detection data via a data acquisition card to the industrial PC;
.cndot. the laser ranging sensor (802) comprises a laser sensing head and a reflector, wherein, the laser sensing heads of the laser ranging sensors (802) are mounted on the top of the shank supports (309) and on the top of the thigh supports (304) respectively; the reflectors of the laser ranging sensors (802) are mounted on the bottom of the elastic hip joint strap supports (319) and on the bottom of the rotation joints (306) respectively;
.cndot. the laser sensing heads mounted on the top of the thigh supports (304) correspond to the reflectors mounted on the bottom of the elastic hip joint strap supports (319) respectively;
the laser sensing heads mounted on the top of the shank supports (309) correspond to the reflectors mounted on the bottom of the rotation joints (306) respectively;
.cndot. the lengths of the thigh springs (317) and the shank springs (307) are measured and transmitted via the data acquisition card to the industrial PC respectively, and the industrial PC calculate the total heights of the thigh modules and the shank modules on the basis of known support height;
.cndot. an encoder (803) is mounted on the tail end of each rotation shaft (315), the rotation angle of the rotation joint (306) is detected by the encoder (803) and is transmitted via the data acquisition card to the industrial PC, the rotation angle of the rotation joint (306) corresponds to the rotation angle of the shank module.
.cndot. the laser ranging sensor (802) comprises a laser sensing head and a reflector, wherein, the laser sensing heads of the laser ranging sensors (802) are mounted on the top of the shank supports (309) and on the top of the thigh supports (304) respectively; the reflectors of the laser ranging sensors (802) are mounted on the bottom of the elastic hip joint strap supports (319) and on the bottom of the rotation joints (306) respectively;
.cndot. the laser sensing heads mounted on the top of the thigh supports (304) correspond to the reflectors mounted on the bottom of the elastic hip joint strap supports (319) respectively;
the laser sensing heads mounted on the top of the shank supports (309) correspond to the reflectors mounted on the bottom of the rotation joints (306) respectively;
.cndot. the lengths of the thigh springs (317) and the shank springs (307) are measured and transmitted via the data acquisition card to the industrial PC respectively, and the industrial PC calculate the total heights of the thigh modules and the shank modules on the basis of known support height;
.cndot. an encoder (803) is mounted on the tail end of each rotation shaft (315), the rotation angle of the rotation joint (306) is detected by the encoder (803) and is transmitted via the data acquisition card to the industrial PC, the rotation angle of the rotation joint (306) corresponds to the rotation angle of the shank module.
9. The device for waist rehabilitation training according to claim 8, wherein, the detection unit (800) further comprises a visual sensor; the visual sensor is mounted on the aluminum alloy profile frame (100) and is connected to the industrial PC, and is configured to detect the spatial position and posture of the standing platform (400).
10. A training method utilizing the lower limb automatic regulating platform for waist rehabilitation training according to claim 9, characterized in that, this method is executed through the following steps:
Step 1: powering on an industrial PC and the motors in the motor units (500), controlling pressure sensors (801), laser ranging sensors (802) and encoders (803) to feedback signals, and resetting thigh pneumatic artificial muscles (316), shank pneumatic artificial muscles (310), rotation joint pneumatic artificial muscles (311), shank springs (307), rotation joint springs (312), and thigh springs (317);
Step 2: inputting thigh and shank length information of the patient to the industrial PC; inputting preset spatial positions and postures and allowable error ranges to the industrial PC, the preset spatial positions and postures are rehabilitation actions and postures to be exercised by the patient on the waist rehabilitation training device;
Step 3: instructing the patient to stand on the standing platform 400;
controlling the shank pneumatic artificial muscles (310) to inflate or deflate first according to the leg information of the patient inputted to the industrial PC in the step 2, so as to adjust the lengths of the shank modules, detecting the lengths of the shank springs (307) with laser ranging sensors (802) in the shank modules in real time, and transmitting the detection data to the industrial PC for computation and judgment, till the rotation joints (306) are flush with the knee joints of the patient;
.cndot. then, controlling the thigh pneumatic artificial muscles (316) via the industrial PC to inflate or deflate, so as to adjust the length of the thigh modules, detecting the lengths of the thigh springs (317) in real time via the laser ranging sensors (802) in the thigh modules at the same time, and transmitting the detection data to the industrial PC for computation and judgment, so that elastic hip joint straps (301) are positioned at the hip joints of the patient;
Step 4: tying elastic leg straps (303) in the thigh modules and elastic leg straps (303) in the shank modules to the thighs and shanks of the patient respectively, and tying the elastic hip joint straps (301) to the hip joints of the patient, so as to prepare for making rehabilitation exercise;
Step 5: controlling the motors in the motor units (500) to rotate through the industrial PC, so that the flexible ropes (600) extend and retract and thereby the standing platform (400) moves; controlling in real time the air inlet valve and air outlet valve for the two rotation joint pneumatic artificial muscles (311) to open or Close through the industrial PC according to the spatial position and posture of the standing platform (400), so as to control the shank joints to rotate and thereby drive the standing platform (400) to move; at the same time, making angle compensation for the rotation of the rotation joints (306) via the industrial PC according to the angles of rotation of the shank modules fed back in real time by the encoders (803), so that the position and posture of the patient standing on the standing platform (400) matches the preset spatial position and posture inputted in the step 2;
Step 6: monitoring the real-time pressure information of the thigh pneumatic artificial muscles (316), real-time pressure information of the shank pneumatic artificial muscles (310), real-time pressure information of the rotation joint pneumatic artificial muscles (311), and real-time spatial position and posture information of the standing platform (400) with pressure sensors (801) and visual sensors respectively, and transmitting the real-time pressure information and real-time spatial position and posture information via a data acquisition card to the industrial PC; stopping the rehabilitation training immediately and alarming for device examination if an error goes beyond the allowable error range set in the step 2, to avoid any accident of the patient during the rehabilitation training;
Step 7: removing the elastic leg straps (303) and the elastic hip joint straps (301) manually and instructing the patient to get off the standing platform (400) after the rehabilitation training is finished;
Step 8: resetting the lower limb automatic regulating platform (300), cutting off the power supply to the motor units (400), the pneumatic artificial muscles and the industrial PC.
Step 1: powering on an industrial PC and the motors in the motor units (500), controlling pressure sensors (801), laser ranging sensors (802) and encoders (803) to feedback signals, and resetting thigh pneumatic artificial muscles (316), shank pneumatic artificial muscles (310), rotation joint pneumatic artificial muscles (311), shank springs (307), rotation joint springs (312), and thigh springs (317);
Step 2: inputting thigh and shank length information of the patient to the industrial PC; inputting preset spatial positions and postures and allowable error ranges to the industrial PC, the preset spatial positions and postures are rehabilitation actions and postures to be exercised by the patient on the waist rehabilitation training device;
Step 3: instructing the patient to stand on the standing platform 400;
controlling the shank pneumatic artificial muscles (310) to inflate or deflate first according to the leg information of the patient inputted to the industrial PC in the step 2, so as to adjust the lengths of the shank modules, detecting the lengths of the shank springs (307) with laser ranging sensors (802) in the shank modules in real time, and transmitting the detection data to the industrial PC for computation and judgment, till the rotation joints (306) are flush with the knee joints of the patient;
.cndot. then, controlling the thigh pneumatic artificial muscles (316) via the industrial PC to inflate or deflate, so as to adjust the length of the thigh modules, detecting the lengths of the thigh springs (317) in real time via the laser ranging sensors (802) in the thigh modules at the same time, and transmitting the detection data to the industrial PC for computation and judgment, so that elastic hip joint straps (301) are positioned at the hip joints of the patient;
Step 4: tying elastic leg straps (303) in the thigh modules and elastic leg straps (303) in the shank modules to the thighs and shanks of the patient respectively, and tying the elastic hip joint straps (301) to the hip joints of the patient, so as to prepare for making rehabilitation exercise;
Step 5: controlling the motors in the motor units (500) to rotate through the industrial PC, so that the flexible ropes (600) extend and retract and thereby the standing platform (400) moves; controlling in real time the air inlet valve and air outlet valve for the two rotation joint pneumatic artificial muscles (311) to open or Close through the industrial PC according to the spatial position and posture of the standing platform (400), so as to control the shank joints to rotate and thereby drive the standing platform (400) to move; at the same time, making angle compensation for the rotation of the rotation joints (306) via the industrial PC according to the angles of rotation of the shank modules fed back in real time by the encoders (803), so that the position and posture of the patient standing on the standing platform (400) matches the preset spatial position and posture inputted in the step 2;
Step 6: monitoring the real-time pressure information of the thigh pneumatic artificial muscles (316), real-time pressure information of the shank pneumatic artificial muscles (310), real-time pressure information of the rotation joint pneumatic artificial muscles (311), and real-time spatial position and posture information of the standing platform (400) with pressure sensors (801) and visual sensors respectively, and transmitting the real-time pressure information and real-time spatial position and posture information via a data acquisition card to the industrial PC; stopping the rehabilitation training immediately and alarming for device examination if an error goes beyond the allowable error range set in the step 2, to avoid any accident of the patient during the rehabilitation training;
Step 7: removing the elastic leg straps (303) and the elastic hip joint straps (301) manually and instructing the patient to get off the standing platform (400) after the rehabilitation training is finished;
Step 8: resetting the lower limb automatic regulating platform (300), cutting off the power supply to the motor units (400), the pneumatic artificial muscles and the industrial PC.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510348989.X | 2015-06-24 | ||
| CN201510348989.XA CN105147493B (en) | 2015-06-24 | 2015-06-24 | Platform and training method are automatically adjusted for the lower limb in waist rehabilitation training |
| PCT/CN2015/086631 WO2016206175A1 (en) | 2015-06-24 | 2015-08-11 | Automatic lower limb adjustment platform for lumbar rehabilitation training, and training method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2950546A1 true CA2950546A1 (en) | 2016-12-24 |
| CA2950546C CA2950546C (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2950546A Active CA2950546C (en) | 2015-06-24 | 2015-08-11 | Lower limb automatic regulating platform for waist rehabilitation training and training method |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105147493B (en) |
| CA (1) | CA2950546C (en) |
| WO (1) | WO2016206175A1 (en) |
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| CN102441252A (en) * | 2011-08-22 | 2012-05-09 | 国家康复辅具研究中心 | Lower limb motion mode forming training device and use method thereof |
| CN202497658U (en) * | 2011-12-28 | 2012-10-24 | 宁波大学 | Lower limb assistant training device |
| CN202590240U (en) * | 2012-03-21 | 2012-12-12 | 国家康复辅具研究中心 | Body weight-supported treadmill training robot |
| CN103417356A (en) * | 2013-07-10 | 2013-12-04 | 南京升泰元机器人科技有限公司 | Gait rehabilitation training robot |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN104224494B (en) * | 2014-09-23 | 2017-05-03 | 合肥工业大学 | Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device |
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2015
- 2015-06-24 CN CN201510348989.XA patent/CN105147493B/en active Active
- 2015-08-11 CA CA2950546A patent/CA2950546C/en active Active
- 2015-08-11 WO PCT/CN2015/086631 patent/WO2016206175A1/en active Application Filing
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| CN106903675A (en) * | 2017-04-11 | 2017-06-30 | 河北科技大学 | A kind of telecontrol equipment based on flexible cable parallel technology |
| CN107126344A (en) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method |
| CN107126344B (en) * | 2017-07-05 | 2023-08-18 | 天津科技大学 | Exoskeleton rehabilitation robot for rehabilitation of lower limb walking function and control system and method |
| CN108354784A (en) * | 2018-04-27 | 2018-08-03 | 深圳市迈步机器人科技有限公司 | A kind of electronic equipment and control method |
| CN111358661A (en) * | 2020-02-21 | 2020-07-03 | 华中科技大学鄂州工业技术研究院 | Rehabilitation robot |
| CN111888186A (en) * | 2020-07-21 | 2020-11-06 | 埃斯顿(南京)医疗科技有限公司 | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof |
| CN111888186B (en) * | 2020-07-21 | 2022-04-19 | 埃斯顿(南京)医疗科技有限公司 | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof |
| CN113925669A (en) * | 2021-10-24 | 2022-01-14 | 毕道勇 | Frostbite is alleviated and is extended ware |
| CN114832311A (en) * | 2022-04-29 | 2022-08-02 | 四川大学华西医院 | Abduction training device for hip joint |
| CN114832311B (en) * | 2022-04-29 | 2023-03-31 | 四川大学华西医院 | Abduction training device for hip joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105147493A (en) | 2015-12-16 |
| CA2950546C (en) | 2019-08-27 |
| CN105147493B (en) | 2017-03-29 |
| WO2016206175A1 (en) | 2016-12-29 |
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