CN102526947A - Mass balancing device and method for lower limb rehabilitation training patient - Google Patents

Abstract

The invention relates to a mass balancer for lower limb rehabilitation training patients and a method thereof. The balancer includes a weight reduction force generating mechanism, a bracket, an electric winch, a steel wire rope, a pulley, a force sensor, a sling, a treadmill and a control system. When performing weight loss walking training, the patient puts on the sling and sits on the treadmill. The sling is connected to the wire rope through the movable pulley. The two ends of the wire rope are respectively installed on the weight reduction force generating mechanism and the electric winch. system to achieve closed-loop control. For patients with lower limb motor dysfunction caused by central nervous system diseases such as spinal injuries and strokes, the invention can simultaneously reduce the burden on the patient's lower limbs caused by the patient's own weight and the dynamic load during walking during weight loss walking training, and realize Constant mass loss. According to the patient's recovery situation or training requirements, the weight reducer in the present invention can conveniently adjust the weight loss ratio. The sling in the weight reducer can follow the movement of the patient's center of gravity in real time, which is beneficial to the recovery of the patient's normal physiological gait.

Description

Patient mass balancer and method for lower limb rehabilitation training

technical field

The invention relates to a mass balancer and a method for lower limb rehabilitation training patients, belonging to the field of rehabilitation medical equipment. It is mainly used for weight loss walking rehabilitation training for patients with lower limb motor dysfunction caused by neurological diseases such as spinal cord injury and stroke.

Background technique

In recent years, with the increase of traffic and industrial accidents and the aging of society, the number of patients with lower limb motor dysfunction caused by central nervous system diseases such as spinal injuries and strokes is on the rise, seriously endangering the health and life of patients Quality, and at the same time bring a heavy burden to patients' families and society. A large number of clinical studies have confirmed that, in addition to early surgical treatment and drug treatment, Body Weight Support Treadmill Training (BWSTT) is one of the important means of walking rehabilitation for patients with this type of disease.

In weight-reducing walking training, since the patient cannot support his own weight, it is necessary to unload part of the patient's own weight through other means. During the rehabilitation training process, as the patient gradually recovers, the required weight reduction force will gradually decrease. During walking, the up and down fluctuation of the patient's center of gravity will also generate inertial force, that is, dynamic load, which will also burden the patient's lower limbs. Therefore, in order to improve the effect of weight loss walking training, the weight reducer used must be able to provide the corresponding weight reduction force according to the actual situation of the patient, and at the same time reduce the burden of the patient's own weight and the dynamic load generated during walking on the patient's lower limbs. At present, the weight reduction methods adopted at home and abroad mainly include static balance passive weight reduction, counterweight passive weight reduction, spring passive weight reduction and constant weight active weight reduction. Among them, the static balance passive weight reduction will hinder the up and down movement of the patient's center of gravity, which is not conducive to the recovery of the patient's normal physiological gait; the passive weight reduction of the counterweight needs to consume a lot of physical strength of the operator when adjusting the weight reduction force, and due to the training The influence of the inertia of the counterweight itself leads to a large error in the weight-reducing force provided by it; the passive weight-reducing force of the spring cannot provide the required weight-reducing force due to the change of the position of the patient's center of gravity during the training process; It is good to reduce the burden on the lower limbs caused by the patient's own weight, but it cannot reduce the burden on the lower limbs caused by the dynamic load during walking.

Contents of the invention

The purpose of the present invention is to solve the problems and deficiencies in the weight loss methods currently used at home and abroad, to provide a mass balancer and method for lower limb rehabilitation training patients, and at the same time reduce the patient's own weight and the dynamic load generated during walking on the patient's lower limbs. The burden caused is to achieve the effect that the patient feels that he has received walking training after removing part of his own mass, so that it is consistent with the human dynamics model in the normal walking process, which is more conducive to the recovery of the patient's normal physiological gait.

The idea of the present invention is: the mass balancer for lower limb rehabilitation training patients designed by the present invention is a rope traction type active weight loss system based on motor control. Suspension weight reduction can reduce the patient's fear of falling, which is beneficial for patients to stand up for early weight reduction walking training; by controlling the motor, the weight reduction force can be adjusted in real time according to needs, and can ensure high accuracy and stability . During the weight-reducing walking training, the patient puts on the sling and is positioned on the treadmill. The sling is connected to the wire rope. One end of the wire rope is connected to the electric winch, and the other end is connected to the weight-reducing force generating mechanism. The electric winch can adjust the length of the wire rope according to the height of the patient, and can assist the medical staff to help the patient stand up; the weight reduction mechanism is used to realize that the sling connected to the wire rope follows the trajectory of the patient's center of gravity and can provide weight reduction. The size of the weight reduction force can be It is set by the medical staff according to the actual training situation of the patient. In order to reduce the load of the motor on the weight-reducing force generating mechanism, thereby reducing energy consumption and heat, a tension spring is introduced to bear part of the load. During the training process, according to the mass that needs to be subtracted set by the medical staff, the weight reduction force that the weight reduction force generation mechanism needs to provide is calculated according to the acceleration of gravity and the acceleration of the patient's center of gravity, and then the force sensor detects the actual size of the weight reduction force and gives feedback Realize force feedback closed-loop control based on position following for the host computer controller, so as to ensure constant weight loss.

According to above-mentioned design, the present invention adopts following technical scheme:

A mass balancer for lower limb rehabilitation training patients, characterized in that the sling connected to the wire rope can follow the trajectory of the patient's center of gravity during training, and can simultaneously relieve the burden of part of the patient's own weight and dynamic load on the patient's lower limbs, achieving constant weight loss Effect. The patient mass balancer for lower limb rehabilitation training includes a weight reduction generating mechanism, a support, an electric winch, a wire rope, a pulley, a force sensor, a sling, a treadmill and a control system, and the weight reduction generating mechanism is connected with one end of the wire rope; The other end of the wire rope is connected with the electric winch through two fixed pulleys and a movable pulley; the two fixed pulleys and the electric winch are installed on the above-mentioned support; the pulley is connected with one end of the force sensor through a wire rope; One end is connected with the sling through a wire rope; the sling can be worn on the patient; the treadmill is installed at the bottom of the support.

The degravity generating mechanism is composed of a motor, a motor connecting plate, a shaft coupling, a ball screw, a bearing housing, a coupler, an encoder, a screw nut, a guide shaft, a guide shaft support, a linear bearing, a wire rope connecting plate, a pulley It consists of extension spring, spring support, limit switch and installation base plate. The motor is installed on the motor connection plate, and the ball screw is driven to rotate through the coupling to realize the linear motion of the wire rope connection plate; the motor connection plate is installed on the installation base plate through the hexagon socket head cap screw; the ball screw is installed on the Two bearing seats; the other end of the ball screw is connected to an encoder through a coupler to detect the actual rotation angle of the ball screw; the encoder is fixed on one of the above bearing seats; the two The two bearing seats are installed on the above-mentioned installation base plate through hexagon socket head screws; the screw nut on the ball screw is fixed in the middle of the steel wire rope connecting plate; two linear bearings are fixed at both ends of the steel wire rope connecting plate; Two linear bearings are set respectively on two parallel guide shafts located on both sides of the ball screw; the two guide shafts are installed on four guide shaft supports; the four guide shaft supports are installed on Install the bottom plate; two spring supports are fixedly connected to the middle position of the two ends of the wire rope connecting plate for connecting one end of the two tension springs; the two tension springs are located on both sides of the motor; the two tension springs are located on both sides of the motor; The other ends of the two tension springs are connected to two spring supports installed on the above-mentioned installation base plate; two limit switches are installed on one side of the installation base plate, which are used to determine the initial position of the wire rope connecting plate and prevent the wire rope from being connected. The board is out of the range of motion when it moves in a straight line.

In the control system, after the medical staff set the required weight loss, the industrial computer sends an instruction signal about the trajectory of the center of gravity through the control program, and outputs the motor control amount to the motor driver through the motion control card, and the motor driver controls the motor to realize the sling following The patient's center of gravity moves; at the same time, the industrial computer sends instructions through the serial port to realize the synchronous and coordinated movement of the treadmill; the industrial computer collects the signal of the force sensor in real time through the data acquisition card, that is, the actual weight loss, and feeds it back to the controller. The required weight loss, acceleration of gravity and acceleration of the center of gravity are compared with the weight loss force required at each moment in the weight loss walking training process to achieve constant mass weight loss control, and the current training time, center of gravity trajectory, actual weight loss Information such as weight loss and weight reduction is displayed on the man-machine interface.

The control system adopts force feedback closed-loop control based on position following, and its specific method is: input the reference center-of-gravity trajectory used in weight loss walking training into the PD position controller, and the controller converts the angle signal and the angular velocity signal into phase The corresponding analog voltage signal is sent to the motor driver, and then the motor driver controls the rotation of the motor to achieve the weight loss effect of the mass balancer for patients in lower limb rehabilitation training. At the same time, the force sensor feeds back the actual weight loss force to the industrial computer. The required weight reduction force is compared, and then the industrial computer sends out the correction amount of the angle signal and the angular velocity signal to realize closed-loop control.

A mass balance method for lower limb rehabilitation training patients, which enables patients to perform weight loss walking training under the condition of constant weight loss, and is characterized in that the specific operation steps are as follows:

1) With the help of medical staff, the patient puts on the sling and sits on the treadmill;

2) The medical staff long press the control button of the electric winch, and gradually lift the patient through the sling until the patient stands up completely on the treadmill;

3) The medical staff start the control system of the weight reducer, and input the control parameters through the keyboard according to the patient's training situation: training time and weight loss;

4) The medical staff clicks the initialization button with the mouse, the motor adjusts the spring length according to the set reduction weight, the wire rope connecting plate reaches the initial position, and then the electric winch starts to adjust the length of the wire rope until the weight reduction force received by the patient reaches the set value The initial gravity reduction corresponding to the weight reduction;

5) The medical staff click the training button on the operation interface with the mouse, and the weight-reducing force generating mechanism and the treadmill start to start training at the same time, until the training time ends, or the medical staff presses the stop button, and the training ends.

Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant advantages:

The patient mass balancer for lower limb rehabilitation training designed by the present invention is a rope traction type active weight loss system based on motor control, which can not only reduce the patient's fear of falling, but also help the patient to stand up and carry out early weight loss walking training. The real-time adjustment of the weight reduction force can be realized according to the needs, and high precision and stability can be guaranteed. The present invention adopts the constant mass weight loss method, which can simultaneously reduce the burden on the patient's lower limbs caused by the patient's own weight and the dynamic load generated during walking, so as to achieve the effect that the patient feels that he is receiving walking training after part of his own mass is removed. It is consistent with the human dynamics model in the normal walking process, which is more conducive to the recovery of the patient's normal physiological gait. The control system in the present invention adopts force feedback closed-loop control based on position following, which can not only ensure that the sling follows the movement of the patient's center of gravity in real time, but also effectively reduce the weight loss error, so that the weight loss remains constant within a small error, ensuring The weight reducer achieves the expected weight reduction effect.

Description of drawings

Fig. 1 is a structural diagram of a mass balancer for lower limb rehabilitation training patients;

Fig. 2 is the structural diagram of reducing weight generating mechanism;

Figure 3 is a schematic diagram of the hardware structure of the control system;

Fig. 4 is a control principle block diagram of the present invention.

Detailed ways

Preferred embodiments of the present invention are described as follows in conjunction with the accompanying drawings:

Embodiment one:

Referring to Fig. 1, the mass balancer for lower limb rehabilitation training patients in this embodiment includes a weight reduction force generating mechanism (1), a steel wire rope (2), a fixed pulley (3), a bracket (4), an electric winch (5), a movable pulley (6) ), force sensor (7) (Tianmu NS-WL1), sling (9), treadmill (10) (Qiaoshan PARAGON) and control system (see Figure 3).

Referring to Figure 2, the weight reduction mechanism (1) consists of a motor (11) (YASKAWA SGMJV08A), a motor connecting plate (12), a coupling (13), a bearing seat (14), a screw nut (15), a ball screw Bar (16), mounting base plate (17), coupler (18), encoder (19), guide shaft support (20), guide shaft (21), linear bearing (22), limit switch (23), Wire rope connecting plate (24), extension spring (25) and spring support (26) form. The motor (11) is installed on the motor connecting plate (12), and the ball screw (16) is driven to rotate through the coupling (13) to realize the linear motion of the wire rope connecting plate (24); the motor connecting plate (24) passes through the inner hexagon The screw is installed on the installation base plate (17); the ball screw (16) is installed on the two bearing housings (14); the other end of the ball screw (16) is connected to the encoder (19) through the coupler (18), It is used to detect the actual rotation angle of the ball screw; the encoder (19) is connected to one of the bearing housings (14); the two bearing housings (14) are installed on the installation base plate (17) by hexagon socket screws; the ball screw The screw nut (15) on (16) is connected to the middle part of the steel wire rope connecting plate (24); two linear bearings (22) are fixedly connected to both ends of the steel wire rope connecting plate (24); the two linear bearings (22) are sleeved on the Located on the two parallel guide shafts (21) on both sides of the ball screw (16); the two guide shafts (21) are installed on the four guide shaft supports (20); the four guide shaft supports (20) pass through the inner The hex screw is installed on the installation base plate (17); two spring supports (26) are fixedly connected to one end of two extension springs (25) on the center position of the two ends of the wire rope connecting plate (24); Extension spring (25) is positioned at the both sides of motor (11); The other end of two extension springs (25) is connected on two spring supports (26) that are installed on base plate (17); Install base plate (17) ) Two limit switches (23) are installed on one side, which are used to determine the initial position of the wire rope connecting plate and prevent the wire rope connecting plate from exceeding the moving range when doing linear motion.

The weight reduction mechanism (1) is installed on the top of the bracket (4) through the installation base plate (17), and is connected with one end of the wire rope (2) through the wire rope connector (24); the other end of the wire rope (2) is passed through two fixed pulleys (3) and a moving pulley (6) are connected with the electric winch (5); two fixed pulleys (3) and the electric winch (5) are installed on the support (4); One end of the sensor (7) is connected; the other end of the force sensor (7) is connected with the sling (9) through the wire rope (2); the sling (9) can be worn on the patient (8); the treadmill (10) is installed on the bracket ( 4) Bottom.

Referring to Fig. 3, after the control system in this embodiment sets the required weight reduction by the medical staff, the industrial computer (32) (NuPRO-935A main board, Intel Core2 dual-core E8400 CPU) sends out an instruction signal about the trajectory of the center of gravity through the control program , and output the motor control value to the motor driver (29) (YASKAWA SGDV5R5A01A) through the motion control card (31) (PCI-8158), the motor driver (29) controls the motor (11) to realize the movement of the sling following the patient's center of gravity; at the same time The industrial computer (32) sends instructions through the serial port (27) to realize the synchronous and coordinated movement of the treadmill (10); the industrial computer (32) collects the signal of the force sensor (7) in real time through the data acquisition card (30) (DAQ-2204), That is, the actual weight reduction force is fed back to the controller, and is compared with the weight reduction force required at each moment in the weight loss walking training process calculated according to the required weight loss, acceleration of gravity and acceleration of the center of gravity to achieve constant weight loss control, and display information such as the current training time, center of gravity trajectory, actual weight reduction and weight reduction force on the man-machine interface (33).

Referring to Fig. 4, the control system of this embodiment adopts force feedback closed-loop control based on position following, and its specific method is: input the reference center-of-gravity trajectory used during weight-loss walking training into the PD position controller, and the controller outputs the angle signal and The angular velocity signal is converted into a corresponding analog voltage signal and sent to the motor driver, and then the motor driver controls the rotation of the motor to achieve the weight loss effect of the mass balancer for patients in lower limb rehabilitation training. At the same time, the force sensor feeds back the actual weight loss to the industrial control. In the machine, by comparing with the required weight reduction force, the industrial computer sends out the correction amount of the angle signal and the angular velocity signal to realize the closed-loop control.

Embodiment two:

In the present embodiment, the specific operation steps of the mass balance method for patients undergoing lower limb rehabilitation training are as follows:

1) The patient (8) puts on the sling (9) with the help of the medical staff, and gets in place on the treadmill (10);

2) The medical personnel long press the control button of the electric winch (5), and gradually lift the patient through the sling (9) until the patient stands up completely on the treadmill (10);

3) The medical staff start the control system of the weight reducer, and input the control parameters through the keyboard according to the patient's training situation: training time and weight loss;

4) The medical personnel click the initialization button with the mouse, the motor adjusts the length of the spring (25) according to the set reduction weight, the wire rope connecting plate (24) reaches the initial position, and then the electric winch (5) starts to adjust the length of the wire rope (2). length until the weight-reducing force received by the patient (8) reaches the initial weight-reducing force corresponding to the set weight-reducing weight;

5) The medical staff clicks the training button on the operation interface with the mouse, and the weight-reducing force generating mechanism (1) and the treadmill (10) start training at the same time, until the training time ends, or the medical staff presses the stop button, and the training ends.

Claims (5)

1. lower limb rehabilitation training patient mass balance device; Comprise that loss of weight power produces mechanism (1), steel wire rope (2), fixed pulley (3), support (4), electric winch (5), movable pulley (6), power sensor (7), suspender belt (9), treadmill (10) and control system, it is characterized in that said loss of weight power produces mechanism (1) and is connected with an end of steel wire rope (2); The other end of steel wire rope (2) is connected with electric winch (5) with a movable pulley (6) through two fixed pulleys (3); Two fixed pulleys (3) and electric winch (5) are installed on the support (4); Movable pulley (6) is connected with power sensor (7) one ends through steel wire rope (2); Power sensor (7) other end is connected with suspender belt (9) through steel wire rope (2); Suspender belt (9) can be through on one's body the patient (8); Treadmill (10) is installed in support (4) bottom.

2. according to the said lower limb rehabilitation training patient of claim 1 mass balance device, it is characterized in that said loss of weight power produces mechanism (1) and is made up of motor (11), connecting plate for electric motor (12), shaft coupling (13), bearing block (14), feed screw nut (15), ball-screw (16), installation base plate (17), coupler (18), encoder (19), axis of guide bearing (20), the axis of guide (21), linear bearing (22), limit switch (23), steel wire rope connecting plate (24), extension spring (25) and spring fastening (26); Said motor (11) is installed on the connecting plate for electric motor (12), drives ball-screw (16) through shaft coupling (13) and rotates, and realizes the rectilinear motion of steel wire rope connecting plate (24); Said connecting plate for electric motor (12) is installed in through soket head cap screw and installs on the base plate (17); Said ball-screw (16) is installed on two bearing blocks (14); The other end of said ball-screw (16) connects encoder (19) through coupler (18), is used to detect the angle of ball-screw actual rotation; Said encoder (19) is connected bearing block (14) on one of them; Said two bearing blocks (14) are installed in through soket head cap screw and install on the base plate (17); Feed screw nut (15) on the said ball-screw (16) is connected steel wire rope connecting plate (24) middle part; Said steel wire rope connecting plate (24) two ends are connected with two linear bearings (22); These two linear bearings (22) are enclosed within respectively on two the parallel axis of guides (21) that are positioned at ball-screw (16) both sides; These two axis of guides (21) are installed on four axis of guide bearings (20); Said four axis of guide bearings (20) are installed in through soket head cap screw and install on the base plate (17); Also be connected with two spring fastenings (26) on the middle partially position, steel wire rope connecting plate (24) two ends and be used to connect two extension springs (25) one ends; These two extension springs (25) are positioned at the both sides of motor (11); The other end of said two extension springs (25) is connected two and is installed on the spring fastening (26) that base plate (17) is installed; (17) sides of this installation base plate are equipped with two limit switches (23), are used for confirming the initial position of steel wire rope connecting plate and preventing that the steel wire rope connecting plate from exceeding moving range when doing rectilinear motion.

3. according to the said lower limb rehabilitation training patient of claim 1 mass balance device; It is characterized in that said control system medical personnel configure needs subtract quality after; Industrial computer (32) sends the command signal about barycenter trajectory through control program; And passing through motion control card (31) output motor controlled quentity controlled variable in motor driver (29), motor driver (29) control motor (11) realization suspender belt is followed patient's centre-of-gravity motion; Meanwhile industrial computer (32) sends the synchronous coordination motion that instruction realizes treadmill (10) through serial ports (27); Industrial computer (32) is gathered the signal of power sensor (7) in real time through data collecting card (30); Promptly actual loss of weight power; Feed back in the controller; Through with according to required subtract in the Unweighting walking training process that quality, acceleration of gravity and center of gravity accelerometer calculate each constantly required loss of weight power compare, realize permanent quality loss of weight control, and will the current training time, the information such as quality and loss of weight power that subtract of barycenter trajectory, reality are presented on the man-machine interface (33).

4. according to the said lower limb rehabilitation training patient of claim 3 mass balance device; It is characterized in that the force feedback closed-loop control that said control system adopts position-based to follow; Its concrete control mode is: the reference barycenter trajectory of using when Unweighting walking is trained is input in the PD positioner; Controller converts angle signal and angular velocity signal to corresponding analog voltage signal and sends to motor driver (29), again by the rotation of motor driver (29) control motor (11), realizes the weight loss effect of lower limb rehabilitation training patient mass balance device; Meanwhile power sensor (7) arrives the loss of weight force feedback of reality in the industrial computer (32); Loss of weight power through with needs compares, and sends the correction about angle signal and angular velocity signal by industrial computer (32) again, realizes closed-loop control.

5. a lower limb rehabilitation training patient mass balance method adopts and carries out balance according to claim 1 or 4 said lower limb rehabilitation training patient mass balance devices, it is characterized in that the concrete operations step is following:

1) patient (8) has dressed suspender belt (9) under medical personnel's help, goes up in place at treadmill (10);

2) medical personnel are long presses electric winch (5) control button, gradually the patient is sling through suspender belt (9), stands up fully on treadmill (10) until the patient;

3) medical personnel start the control system of loss of weight device, according to patient's training through keyboard input control parameter: the training time with subtract the quality size;

4) medical personnel are through the initialization button of click; Motor subtracts quality adjustment spring (25) length according to what configure; Steel wire rope connecting plate (24) arrives initial position; And then electric winch (5) length that begins to regulate steel wire rope (2), the loss of weight power that receives until patient (8) reaches to set and subtracts the corresponding initial loss of weight power of quality;

5) medical personnel are through the training button on the click operation interface, and loss of weight power generation mechanism (1) and treadmill (10) start simultaneously and begin training, finish until the training time, or medical personnel press stop button, the training end.

Images