CN103083159B - Electric gravity reduction training frame - Google Patents
Electric gravity reduction training frame Download PDFInfo
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- CN103083159B CN103083159B CN201310038722.1A CN201310038722A CN103083159B CN 103083159 B CN103083159 B CN 103083159B CN 201310038722 A CN201310038722 A CN 201310038722A CN 103083159 B CN103083159 B CN 103083159B
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Abstract
The invention discloses an electric gravity reduction training frame which comprises a controller, a base support mechanism, a driving mechanism, a gravity reduction force adjusting mechanism, a pulley assembly, a limit protection mechanism and a suspension vest. The base support mechanism comprises a reversed L-type standing support. The driving mechanism comprises a motor. The gravity reduction force adjusting mechanism comprises a tensile force sensor and a tensile force sensor supporting plate. The pulley assembly comprises five pulleys and ropes. The limit protection mechanism comprises an approach switch, a limit board and a blocking piece. The controller is used for inputting control information, detecting information of the tensile force sensor, receiving the trigger information of the approach switch and controlling a motor driver to work. By designing the gravity reduction force adjusting mechanism and the limit protection mechanism, the electric gravity reduction training frame is capable of adjusting reduced gravity while adjusting the suspension height, thereby meeting the requirement for weight bearing capacity of lower limbs when patients at different recovery levels do the training. Double protection of the approach switch limit and the suspension ropes can effectively ensure safety of the patients during training.
Description
Technical field
The present invention relates to a kind of medical rehabilitation apparatus, relate in particular to a kind of electric weight-reducing training rack of gait rehabilitation training use.
Background technology
Along with social development, the increase of traffic, industrial accident, and the aging of society, the apoplexy cardiovascular patient causing progressively becomes the common colony of present society.This class patient is except Drug therapy or operative treatment, and the rehabilitation training of science improves also extremely important for patient moving function.For this class patient; normal body weight support treadmill training (the Body Weight Support Training that adopts; be called for short BWST); by suspension apparatus burden patient part body weight; help patient that lower limb can not bear whole body weight in erectility, under therapist auxiliary, carry out the exercise of walking period entire exercise.
Most weight-losing device adopts pneumatic loss of weight or counterweight loss in weight, can not accurately set the size of loss of weight power; And large multi-form single, can only regulate highly provided loss of weight power cannot be provided, cannot adapt to the requirement of the required loss of weight power of different recovery extent patients.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of electric weight-reducing training rack, can regulate loss of weight power in regulating height, meet different recovery extent patients' lower limb bearing capacity demand.
Technical scheme: for solving the problems of the technologies described above, the technical solution used in the present invention is:
Electric weight-reducing training rack, comprises controller, base supporting mechanism, driving mechanism, loss of weight power governor motion, pulley assembly, spacing protecting mechanism and suspention vest;
Described base supporting mechanism comprises base plate and inverted L shape staking, and described staking comprises cross bar and vertical rod, and the top of described vertical rod and the rear end of cross bar fix, and the lower end of vertical rod is fixed on base plate;
Described driving mechanism comprises motor driver, motor and decelerator;
Described loss of weight power governor motion comprises pulling force sensor and pulling force sensor gripper shoe, and described pulling force sensor gripper shoe and staking are fixed, and one end of described pulling force sensor and pulling force sensor gripper shoe are fixed;
Described pulley assembly comprises the first pulley, the second pulley, the 3rd pulley, the 4th pulley, the 5th pulley and rope, and described the first pulley, the second pulley, the 3rd pulley, the 4th pulley and the 5th pulley are positioned at same plane; One end of described rope is fixed on the wheel hub of the first pulley, and the other end hitches suspention vest by suspension rod after walking around successively the second pulley, the 3rd pulley, the 4th pulley and the 5th pulley; Described the first pulley is arranged on the output shaft of decelerator, and be positioned at the first pulley outer housing, and the second pulley is arranged on the second pulley yoke, and the 3rd pulley is arranged on the 3rd pulley yoke, the 4th pulley is arranged on the 4th pulley yoke, and the 5th pulley is arranged in the 5th pulley outer housing; Described the first pulley outer housing and base plate are fixed, and the other end of the second pulley yoke and pulling force sensor is fixed, and the 3rd pulley yoke is fixed on the bottom of vertical rod, and the 4th pulley yoke is fixed on the top of vertical rod, and the 5th pulley outer housing is fixed on the front end of cross bar;
Described spacing protecting mechanism comprises approach switch, limiting plate and catch, described approach switch is fixed on the 5th pulley outer housing, limiting plate and the 5th pulley outer housing are hinged by bearing pin, described catch is arranged on the top that the rope other end is walked around the position after the 5th pulley and is positioned at suspension rod, and catch contacts with limiting plate and promotes limiting plate and triggers approach switch;
Described controller is used for input control information, detects pulling force sensor information, receives the trigger message of approach switch and control motor driver work.
Said apparatus, can realize the adjusting of height by the position adjustments of the catch to spacing protecting mechanism, can be appreciated that in time the size of the loss of weight power that user provides by the detection of the pulling force sensor information to loss of weight power governor motion; And by the setting to pulling force sensor, the size of the loss of weight power that adjusting device provides for user, meets the user demand of different user.
Preferably, described base supporting mechanism also comprises pony sill, is provided with castor below pony sill, and described castor is with brake structure; Described base plate is fixed on pony sill.The actuating range that can extend one's service by the design of pony sill and castor, can be with user movement to the user that can have certain ambulatory capabilities, avoid moving in the position that only needs apply the brakes structure just can fix whole device when not possessing the user of ambulatory capabilities and coordinate other rehabilitation equipments to use.
Preferably, described spacing protecting mechanism also comprises torsion spring, and described torsion spring set is contained on bearing pin, and one end of torsion spring is pressed on the 5th pulley outer housing, and the other end is pressed on limiting plate.By the design of torsion spring, can avoid limiting plate to be subject to External Force Acting to touch approach switch, cause the mistake control of controller.
Preferably, the part that described rope is walked around between the 3rd pulley and the 4th pulley is passed from vertical rod inside, can protect rope on the one hand, avoids in addition frame for movement to expose the aesthetic property impact on whole device; The vertical rod that is horizontal square tube, staking such as the cross bar of design staking is cube pipe.
Preferably, described rope be positioned at the second pulley both sides part, be positioned at the 3rd pulley both sides part all vertically parallel.To guarantee that power that pulling force sensor bears puts on overcoming of user with suspention vest and may equate.
Preferably, described spacing protecting mechanism also comprises hoist cable, and one end of described hoist cable is connected with suspension rod, and the other end is fixed on the front end of cross bar.The design of hoist cable is in order to prevent that rope when fracture user from coming to harm, and is a kind of safety equipment.
Preferably, between described cross bar and vertical rod, strengthen fixing by floor, between described vertical rod and base plate, strengthen fixing by floor.Constant intensity by floor between can strengthening part, ensures user's use safety.
Preferably, described driving mechanism also comprises encoder, the rotating speed of described encoder to motor and position is detected and testing result is fed back to motor driver forms closed loop control.
Beneficial effect: electric weight-reducing training rack provided by the invention, by loss of weight power governor motion and spacing protecting mechanism are designed, can in regulating suspention height, regulate the lower limb bearing capacity demand when meeting different recovery extent patients and training to loss of weight power size; Safety when spacing and duplicate protection hoist cable of approach switch has ensured that patient trains effectively.
Brief description of the drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is the main TV structure schematic diagram of the latter half of the present invention;
Fig. 3 is the local structure for amplifying schematic diagram of the horizontal square tube front end of staking of the present invention;
Fig. 4 is the structural representation of the horizontal square tube part of staking of the present invention;
Fig. 5 is the structural representation of staking of the present invention cube pipe end portion.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
If Fig. 1 is to Figure 5 shows that a kind of electric weight-reducing training rack, comprise controller, base supporting mechanism, driving mechanism, loss of weight power governor motion, pulley assembly, spacing protecting mechanism and suspention vest 1.
Described base supporting mechanism comprises pony sill 18, base plate 17 and inverted L shape staking 11, and described staking 11 comprises horizontal square tube and cube pipe, and the top of described cube of pipe and the rear end of horizontal square tube fix, and the lower end of cube pipe is fixed on base plate 17; Below pony sill 18, be provided with castor 19, described castor 19 is with brake structure; Described base plate 17 is fixed on pony sill 18.Between horizontal square tube and cube pipe, strengthen fixingly by A floor 8 and B floor 31, between cube pipe and base plate 17, strengthen fixing by C floor 16.
Described driving mechanism comprises motor driver, motor 21, encoder 22 and decelerator 20, described motor driver control motor 21 rotates, one end of the output shaft of described motor 21 and decelerator 20 is fixed, the rotating speed of described encoder 22 to motor 21 and position is detected and testing result is fed back to motor driver forms closed loop control.
Described loss of weight power governor motion comprises pulling force sensor 23 and pulling force sensor gripper shoe 34, and described pulling force sensor gripper shoe 34 is fixing with staking 11, and one end of described pulling force sensor 23 and pulling force sensor gripper shoe 34 are fixing;
Described pulley assembly comprises the first pulley 32, the second pulley 13, the 3rd pulley 14, the 4th pulley 10, the 5th pulley 30, rope 5, and described the first pulley 32, the second pulley 13, the 3rd pulley 14, the 4th pulley 10 and the 5th pulley 30 are positioned at same plane; One end of described rope 5 is fixed on the wheel hub of the first pulley 32, the other end hitches suspention vest 1 by suspension rod 2 after walking around successively the second pulley 13, the 3rd pulley 14, the 4th pulley 10 and the 5th pulley 30, and rope 5 be positioned at the second pulley 13 both sides part, be positioned at the 3rd pulley 14 both sides part all vertically parallel, the part that described rope 5 is walked around between the 3rd pulley 14 and the 4th pulley 10 is passed from cube pipe inside; Described the first pulley 32 is arranged on the output shaft of decelerator 20, and be positioned at the first pulley outer housing 24, the second pulley 13 is arranged on the second pulley yoke 12, the 3rd pulley 14 is arranged on the 3rd pulley yoke 15, the 4th pulley 10 is arranged on the 4th pulley yoke 9, and the 5th pulley 30 is arranged in the 5th pulley outer housing 7; Described the first pulley outer housing 24 is fixing with base plate 17, the second pulley yoke 12 is fixed with the other end of pulling force sensor 23, the 3rd pulley yoke 15 is fixed on the bottom of cube pipe, and the 4th pulley yoke 9 is fixed on the top of cube pipe, and the 5th pulley outer housing 7 is fixed on the front end of horizontal square tube.
Described spacing protecting mechanism comprises approach switch 6, limiting plate 26, lining 27, torsion spring 28, catch 3 and hoist cable 4, described approach switch 6 is fixed on the 5th pulley outer housing 7, limiting plate 26 and the 5th pulley outer housing 7 are hinged by bearing pin 29, lining is fixed on the 5th pulley outer housing bottom, described catch 3 is arranged on the top that rope 5 other ends are walked around the position after the 5th pulley 30 and are positioned at suspension rod 2, described torsion spring 28 is sleeved on bearing pin 29, one end of torsion spring 28 is pressed on the 5th pulley outer housing 7, and the other end is pressed on limiting plate 26; Catch 3 contacts with limiting plate 26 and the motion rear position margining plate 26 of conflicting triggers approach switch 6; One end of described hoist cable 4 hitches suspention vest 1 by suspension rod 2, and the other end ties up to the front end of horizontal square tube.
Described controller is used for input control information, receives the trigger message of approach switch and control motor driver work, and pulling force sensor is monitored.
In this case, design the second pulley 13, the 3rd pulley 14, the 4th pulley 10 and the 5th pulley 30 are the pulley that size is identical; In order to make the motion of rope 5 not be subject to the interference of staking 11, be provided with gap in staking 11 relevant positions, such the 3rd pulley 14 and the 4th pulley 10 equal some in cube pipe; In order to ensure that pulling force sensor 23 does not twist, position at pulling force sensor gripper shoe 34 fixing pulling force sensors 23 is provided with groove, one end of pulling force sensor 23 is inserted into and in groove, re-uses screw and be fixed, equally, position at the second pulley yoke 12 fixing pulling force sensors 23 is also provided with groove, the other end of pulling force sensor 23 is inserted in groove more fixing, like this pulling force sensor 23 just all the time position vertically between pulling force sensor gripper shoe 34 and the second pulley yoke 12; For rope 5 is protected, on the 5th pulley outer housing 7, hole has been offered in rope 5 extending areas, and aluminum or nylon etc. has been installed compared with the lining of soft material matter 27 at hole place, and at the perforation place edge of lining 27 rounding, wear prevention rope 5; In order to ensure that rope 5 can not skid off pulley under relaxed state, all carries out strict size and tolerance design to pulley bracket and outer housing.
The work process of said apparatus is as follows: user dresses suspention vest 1, select loss of weight size and height by the autonomous selection of controller or doctor, controller sends to motor driver after corresponding signal is converted to voltage signal, and motor driver is converted to output torque signal drive motor 21 by voltage signal and works; The first pulley 32 rotates thereupon, drives rope 5 to move to promote suspention vest 1 and rises to user and alleviate own wt; Loss of weight power size can detect by pulling force sensor 23, and after force signal conversion is amplified and processed, feeds back to controller formation closed loop control, makes loss of weight power constant magnitude; The simultaneously rotating speed of encoder 22 to motor 21 and position is detected and testing result is fed back to motor driver forms closed loop control.
Touch limiting plate 26 and promote limiting plate 26 while moving when being fixed on catch 3 on rope 5, limiting plate 26 will trigger approach switch 6; After approach switch 6 is triggered, will feed back the action that stops motor 21 by controller, suspention vest 1 stops rising; Out of control in order to prevent approach switch 6 in addition; can design that limiting plate 26 contacts with lining 27 is also a triggering; this triggering also can be fed back the action that stops motor 21 by controller, and suspention vest 1 stops rising, and plays the dual position limitation protection effect of approach switch 6 and mechanical position limitation.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. electric weight-reducing training rack, is characterized in that: comprise controller, base supporting mechanism, driving mechanism, loss of weight power governor motion, pulley assembly, spacing protecting mechanism and suspention vest (1);
Described base supporting mechanism comprises base plate (17) and inverted L shape staking (11), and described staking (11) comprises cross bar and vertical rod, and the top of described vertical rod and the rear end of cross bar fix, and the lower end of vertical rod is fixed on base plate (17);
Described driving mechanism comprises motor driver, motor (21) and decelerator (20);
Described loss of weight power governor motion comprises pulling force sensor (23) and pulling force sensor gripper shoe (34), described pulling force sensor gripper shoe (34) is fixing with staking (11), and one end of described pulling force sensor (23) and pulling force sensor gripper shoe (34) are fixing;
Described pulley assembly comprises the first pulley (32), the second pulley (13), the 3rd pulley (14), the 4th pulley (10), the 5th pulley (30) and rope (5), and described the first pulley (32), the second pulley (13), the 3rd pulley (14), the 4th pulley (10) and the 5th pulley (30) are positioned at same plane; One end of described rope (5) is fixed on the wheel hub of the first pulley (32), and the other end hitches suspention vest (1) by suspension rod (2) after walking around successively the second pulley (13), the 3rd pulley (14), the 4th pulley (10) and the 5th pulley (30); Described the first pulley (32) is arranged on the output shaft of decelerator (20), and be positioned at the first pulley outer housing (24), the second pulley (13) is arranged on the second pulley yoke (12), the 3rd pulley (14) is arranged on the 3rd pulley yoke (15), it is upper that the 4th pulley (10) is arranged on the 4th pulley yoke (9), and the 5th pulley (30) is arranged in the 5th pulley outer housing (7); Described the first pulley outer housing (24) is fixing with base plate (17), the second pulley yoke (12) is fixed with the other end of pulling force sensor (23), the 3rd pulley yoke (15) is fixed on the bottom of vertical rod, the 4th pulley yoke (9) is fixed on the top of vertical rod, and the 5th pulley outer housing (7) is fixed on the front end of cross bar;
Described spacing protecting mechanism comprises approach switch (6), limiting plate (26) and catch (3), described approach switch (6) is fixed on the 5th pulley outer housing (7), limiting plate (26) is hinged by bearing pin (29) with the 5th pulley outer housing (7), described catch (3) is arranged on the top that rope (5) other end is walked around the position after the 5th pulley (30) and is positioned at suspension rod (2), and catch (3) contacts with limiting plate (26) and promotes limiting plate (26) and triggers approach switch (6);
Described controller is used for input control information, detects pulling force sensor information, receives the trigger message of approach switch and control motor driver work.
2. electric weight-reducing training rack according to claim 1, is characterized in that: described base supporting mechanism also comprises pony sill (18), is provided with castor (19) in the below of pony sill (18), and described castor (19) is with brake structure; Described base plate (17) is fixed on pony sill (18).
3. electric weight-reducing training rack according to claim 1; it is characterized in that: described spacing protecting mechanism also comprises torsion spring (28); described torsion spring (28) is sleeved on bearing pin (29); it is upper that one end of torsion spring (28) is pressed in the 5th pulley outer housing (7), and the other end is pressed on limiting plate (26).
4. electric weight-reducing training rack according to claim 1, is characterized in that: the part that described rope (5) is walked around between the 3rd pulley (14) and the 4th pulley (10) is passed from vertical rod inside.
5. electric weight-reducing training rack according to claim 1, is characterized in that: described rope (5) be positioned at the second pulley (13) both sides part, be positioned at the 3rd pulley (14) both sides part all vertically parallel.
6. electric weight-reducing training rack according to claim 1, is characterized in that: described spacing protecting mechanism also comprises hoist cable (4), and one end of described hoist cable (4) is connected with suspension rod (2), and the other end is fixed on the front end of cross bar.
7. electric weight-reducing training rack according to claim 1, is characterized in that: between described cross bar and vertical rod, strengthen fixing by floor, strengthen fixing between described vertical rod and base plate (17) by floor.
8. electric weight-reducing training rack according to claim 1, it is characterized in that: described driving mechanism also comprises encoder (22) rotating speed of described encoder (22) to motor (21) and position is detected and testing result is fed back to motor driver forms closed loop control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310038722.1A CN103083159B (en) | 2013-01-31 | 2013-01-31 | Electric gravity reduction training frame |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310038722.1A CN103083159B (en) | 2013-01-31 | 2013-01-31 | Electric gravity reduction training frame |
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| CN103083159A CN103083159A (en) | 2013-05-08 |
| CN103083159B true CN103083159B (en) | 2014-07-16 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104127299B (en) * | 2014-07-24 | 2016-03-02 | 合肥工业大学 | Flexible cable pneumatic muscles combines driving waist rehabilitation robot |
| CN107374917A (en) * | 2017-06-28 | 2017-11-24 | 长安大学 | Electronic body weight loss of weight mechanism and motion control method |
| CN107693301B (en) * | 2017-09-30 | 2019-12-24 | 西安交通大学 | Suspension type self-adaptation of rehabilitation training usefulness subtracts heavy device and rehabilitation training robot |
| CN107811807A (en) * | 2017-12-03 | 2018-03-20 | 黑龙江聚拢华玺智能科技有限公司 | A kind of orthopedic rehabilitation Walking device |
| CN108125752A (en) * | 2017-12-15 | 2018-06-08 | 上海邦邦机器人有限公司 | A kind of automatic Reduction of Students' Study Load system |
| CN109568887A (en) * | 2018-11-29 | 2019-04-05 | 臧大维 | A kind of outstanding rail class brain intelligent bionic body weight support treadmill training robot |
| CN111419632A (en) * | 2020-03-31 | 2020-07-17 | 合肥工业大学 | Redundant constraint flexible cable driven lower limb training parallel rehabilitation robot and control method thereof |
| CN111991755B (en) * | 2020-08-24 | 2021-09-10 | 武汉沃森拓客科技有限公司 | Intelligent antigravity dynamic suspension system with online variable rigidity |
| CN112656652A (en) * | 2021-01-11 | 2021-04-16 | 南京伟思医疗科技股份有限公司 | Dynamic weight reduction device for lower limb walking rehabilitation training |
| CN112691005A (en) * | 2021-01-28 | 2021-04-23 | 南京伟思医疗科技股份有限公司 | Rehabilitation subtracts heavy walking training car |
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| WO2009017747A1 (en) * | 2007-07-30 | 2009-02-05 | Boston University | Method and device for gravity like simulation of natural balance movements |
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