CN104474668B - Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof - Google Patents
Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof Download PDFInfo
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- CN104474668B CN104474668B CN201410785391.2A CN201410785391A CN104474668B CN 104474668 B CN104474668 B CN 104474668B CN 201410785391 A CN201410785391 A CN 201410785391A CN 104474668 B CN104474668 B CN 104474668B
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Abstract
The invention discloses a lower limb gait rehabilitation training self-adaption weight reducing mechanism and a control method thereof. The lower limb gait rehabilitation training self-adaption weight reducing mechanism comprises a bracket, a pedal module arranged on a bracket transverse plate, a swing rod arranged on a bracket vertical plate, a fixing module connected with one end of the swing rod and a counterweight module connected with the other end of the swing rod. By virtue of left and right movement of a counterweight, self gravity center regulation of the counterweight module is realized, and self-adaption counterweight balance is realized, so that the swing rod is driven to move up and down, up and down movement of a rehabilitation trainer is realized, the set gait of the rehabilitation trainer is enabled not to change along with regulation of self-adaptation control, and lower limb gait self-adaption weight-reduction rehabilitation training is realized.
Description
Technical field
The present invention relates to a kind of loss of weight mechanism and control method, more particularly, to a kind of having certainly for lower limb rehabilitation training
Adapt to loss of weight mechanism and the control method of loss of weight function.
Background technology
In daily life, the patient of lower extremity motor function obstacle class disease, because losing body balanced capacity, and
It is limited to the limited enabling capabilities of lower limb, their lower limb rehabilitation training motion often meets with very big obstruction.At present, lower limb
Rehabilitation training mechanism carries out the automedica instrument of rehabilitation training as auxiliary patient, can provide the flat of body to patient
Weighing apparatus, patient can actively carry out rehabilitation training under the support of rehabilitation training mechanism.But it is fully reasonable in rehabilitation training
Ground is in view of the limited enabling capabilities of rehabilitation training person's lower limb, if the rehabilitation training that the bracing force of only armrest arm is carried out, right
For rehabilitation training person, over-burden, and difficulty is excessive but also dangerous, at this moment just be unable to do without the careful side of nursing staff
Help, the requirement to nursing staff will be very high.
Content of the invention
The body balanced capacity of person's forfeiture that the present invention takes into full account lower limb rehabilitation training and limited enabling capabilities, in order to pacify
Entirely, the autonomous rehabilitation training of person that reliably solves the problems, such as lower limb rehabilitation training is it is proposed that a kind of be capable of under self adaptation loss of weight
Limb gait rehabilitation training self adaptation loss of weight mechanism and control method.
The present invention adopts the following technical scheme that
A kind of lower limb gait rehabilitation trains self adaptation loss of weight mechanism, including support, is arranged on stepping on described support transverse slat
Stuck-module that plate module, the swing arm being rotatably arranged on described support riser are connected with described swing arm one end and with
The counterweight module that the described swing arm other end connects；Described stuck-module is used for fixing rehabilitation training person；Described pedal module is surveyed
The pressure that amount rehabilitation training person applies to pedal module；Described counterweight module realizes the bottom on swing arm by adjusting itself center of gravity
Dynamic, thus adjusting the pressure to pedal module for the rehabilitation training person.
Described stuck-module includes braces and bearing plate.
Described pedal module by under pedal and pedal equipped with force cell group form.
Described force cell group is made up of four force cells, and four force cells are evenly distributed on described pedal
Under close to four corners.Force cell group is connected with compunication.
Described counterweight module is included counter-balanced carriage, counterweight, enters the guide rail of line slip for counterweight and be connected with counterweight and drive
The drive mechanism that dynamic counterweight is slided；Described drive mechanism includes motor, screw mandrel and is set in the nut on described screw mandrel.Setting
Timing can be by changing weight mass and each several part length, the such as length of guide rail and screw mandrel, length of swing arm etc., to be suitable for
The crowd of different demands.
It is additionally provided with safety screen, described safety screen is arranged on below described swing arm, for limiting pendulum on described support
The angle that lever swings up and down.
A kind of lower limb gait rehabilitation trains self adaptation loss of weight mechanism control method, specifically comprises the following steps that
Step 1: using in the front pressure value for rehabilitation training person's expectation, pedal being caused by computer predetermined threshold value z, z
Limit, unit n；
Step 2: using the braces in stuck-module, rehabilitation training person is leaned against bearing plate and fix；
Step 3: open each several part power supply after rehabilitation training person is ready to, mechanism starts working；
Step 4: the work of force cell group, the pressure value that measurement rehabilitation training person implements to pedal, and data is passed through
Communication connection is sent to computer, and the data that computer receives is converted into pressure value s, and unit is n, and compares with predetermined threshold value z,
If s is ＞ z, computer controls motor rotates, and motor drives screw mandrel to rotate by shaft coupling, then passes through screw mandrel and nut screw connection,
The cooperation of through hole and guide rail, dorsad rehabilitation training person moves to drive counterweight, until surveyed s meets s ＜=z, motor stalls,
Wait and rotate order next time；
Step 5: rehabilitation training person carries out loss of weight rehabilitation training；
Step 6: if needing in training process to change predetermined threshold value, change threshold value on computers, and return to step
4；
Step 7: lower limb rehabilitation training terminates, computer controls motor rotates, and drives counterweight to move towards rehabilitation training person
To top, nursing staff helps rehabilitation training person to unload safely equipment, pass hull closure power supply.
In step 6, whether computer changes every 5 seconds detection predetermined threshold value z, if unchanged, continues with predetermined threshold value
Z runs, if threshold value change is detected, the threshold value after record changes is z1, now subtracted still according to threshold value z before changing
Control again；In detection next time after 5 seconds, if threshold value z detecting2Equal to z1, then according to z1Carry out loss of weight control；If
z2It is not equal to z1, then continue to be controlled according to z, record threshold value now.After namely changing, detected value twice is identical,
Just change and control threshold value, controlled quentity controlled variable changed between second time 5-10.
Compared with prior art, the present invention has the advantage that
(1) present invention adopts swing arm, realizes swinging up and down during Automatic adjusument, and no Plane Rotation, Ke Yibao
The attitude holding rehabilitation training person keeps constant, and Automatic adjusument process will not bring discomfort to rehabilitation training person；
(2) present invention can take into full account its lower limb enabling capabilities according to the different body weight of rehabilitation training person, can self adaptation
Regulation counterweight so that rehabilitation training person for pedal pressing force be less than set threshold value, realize lower limb gait self adaptation loss of weight rehabilitation
Training.
(3) present invention can carry out self adaptation loss of weight regulation, and applicable crowd is wide, can reach more preferable crowd's adaptability.
(4), by simplifying effective control method, control process is continuous, and real-time is good, is additionally arranged peace in invention for the present invention
Full retaining device is so that safety in utilization is preferably ensured.
Brief description
Fig. 1 is embodied as flow chart for the present invention；
Fig. 2 is four force cell distribution schematic diagrams in pedal module in the present invention；
Fig. 3 is an example of the present invention structure chart；
Fig. 4 is an example of the present invention schematic diagram of a scenario；
It is numbered in accompanying drawing: 1. bearing plate and braces；2. force cell group；3. pedal；4. swing arm；5. support；6.
Safety screen；7. motor；8. nut；9. screw mandrel；10. counterweight；11. guide rails；12. through holes；13. shaft couplings；14. counter-balanced carriages.
Specific embodiment:
Below, and combine the specific implementation step that Fig. 1 and Fig. 2 illustrates the present invention taking the example scenario schematic diagram of Fig. 3 as a example:
As shown in figures 1 and 3, the invention discloses a kind of lower limb gait rehabilitation trains self adaptation loss of weight mechanism and controlling party
Method, this lower limb gait rehabilitation training self adaptation loss of weight mechanism includes support, the pedal module being arranged on described support transverse slat, turns
Stuck-module that the dynamic swing arm being arranged on described support riser is connected with described swing arm one end and with described swing arm
The counterweight module that the other end connects；Described stuck-module stuck-module is made up of braces and bearing plate 1, is used for fixing rehabilitation training
Person.Described pedal module by under pedal 3 and pedal equipped with force cell group 2 form, force cell group 2 is by four dynamometry
Sensor forms, and four force cells are evenly distributed under pedal close to four corners, distribution such as Fig. 2.Described pedal mould
Block is used for measuring the pressure that rehabilitation training person applies to pedal module；Described counterweight module includes counter-balanced carriage 14, counterweight 10, is used for
Counterweight 10 enters the guide rail 11 of line slip and the drive mechanism being connected with counterweight 10, and drive mechanism is used for driving counterweight 10 to slide.
Through hole 12 is provided with counterweight 10, passes through counterweight 10 for guide rail 11, and so that counterweight 10 is slided on guide rail 11.Drive mechanism bag
Include motor 7, shaft coupling 13, screw mandrel 9 and be set in nut 8 on described screw mandrel 9, motor 7 is fixed on using four screws joins
On weight frame 14, motor 7 shaft is connected by shaft coupling 13 with screw mandrel 9, and screw mandrel 9 can be driven to rotate.It is additionally provided with safety catch on support 5
Plate 6, safety screen 6 is arranged on below swing arm 4, can limit the angle that swing arm 4 swings up and down, and plays safety effect, protects
Rehabilitation training person will not be lifted too high or press too low by card；Force cell group 2 is connected with compunication, motor 7 and meter
Calculation machine communicates to connect；As shown in Figure 4.
Force cell 2 is used for measuring the pressure that rehabilitation training person applies to pedal, and computer is obtained by communication connection
Surveyed data is simultaneously compared with predetermined threshold value z, is rotated with predetermined threshold value z result of the comparison controlled motor 7 according to institute measuring pressure s, electricity
Machine 7 drives screw mandrel to rotate by shaft coupling 13, then the cooperation by the nut 8 under counterweight 10 and screw mandrel 9, the through hole in counterweight 10
12 with the cooperation of guide rail 11, drive counterweight 10 to move left and right, realize counterweight module gravity center shift, self adaptation counterweight balances.Pass through
Counterweight 10 moves left and right itself gravity center shift of adjustment, thus driving swing arm to swing up and down, and then it is upper and lower to realize rehabilitation training person
Mobile, adjust the pressure to pedal module for the rehabilitation training person.The present invention is replaced by plane using swinging up and down of swing arm 4
Rotate it is ensured that the setting attitude of rehabilitation training person does not change with the adjustment of Self Adaptive Control, realize lower limb gait self adaptation and subtract
Rehabilitation training again.
It specifically comprises the following steps that
Step 1: using the front pressure value for rehabilitation training person's expectation, pedal 3 being caused by computer predetermined threshold value z, z
The upper limit, unit n；
Step 2: using the braces in stuck-module, rehabilitation training person is leaned against bearing plate 1 fixing；
Step 3: open each several part power supply after rehabilitation training person is ready to, mechanism starts working；
Step 4: force cell group 2 works, measures the pressure value to pedal for the rehabilitation training person, and transfers data to count
Calculation machine, four force cell 2 data measureds are sued for peace and are converted into pressure value s by computer, unit be n, and with predetermined threshold value z
Relatively, if s is ＞ z, computer controls motor 7 rotates, and motor 7 drives screw mandrel 9 to rotate, by screw mandrel 9 He by shaft coupling 13
Nut 8 coordinates, the cooperation of through hole 12 and guide rail 11, and dorsad rehabilitation training person moves, until surveyed s meets s ＜ to drive counterweight 10
=z, motor 7 stops operating, and waits and rotates order next time；
Step 5: rehabilitation training person carries out loss of weight rehabilitation training；
Step 6: if needing in training process to change predetermined threshold value z, changing threshold value z on computers, and returning step
Rapid 4；Whether computer changes every 5 seconds detection predetermined threshold value z, if unchanged, continues to run with predetermined threshold value z, if detecting
When threshold value changes, the threshold value after record changes is z1, now carry out loss of weight control still according to threshold value z before changing；After 5 seconds
Detection next time in, if threshold value z detecting2Equal to z1, then according to z1Carry out loss of weight control；If z2It is not equal to z1, then continue
Continue and be controlled according to z, record threshold value now.After namely changing, detected value twice is identical, just changes and controls threshold value,
Controlled quentity controlled variable changed between second time 5-10, played the effect postponing to change threshold value.Afterwards, computer is held to the threshold value of loss of weight mechanism
Continue and be monitored.
Step 7: lower limb rehabilitation training terminates, computer controls motor rotates, and drives counterweight 10 to move towards rehabilitation training person
Move to top, nursing staff helps rehabilitation training person to unload safely equipment, pass hull closure power supply.
In the specific embodiment of the invention, can in design by changing weight mass and each several part length, such as guide rail with
The length of screw mandrel, length of swing arm etc., to be suitable for the crowd of different demands.
Elaborate a lot of details in order to fully understand the present invention in the above description.But above description is only
Presently preferred embodiments of the present invention, the present invention can be much to implement different from alternate manner described here, therefore originally
Invention is not embodied as being limited by disclosed above.Every content without departing from technical solution of the present invention, according to the present invention's
Technical spirit, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within technical solution of the present invention
In the range of protection.
Claims (8)
1. a kind of lower limb gait rehabilitation training self adaptation loss of weight mechanism it is characterised in that: include support, to be arranged on described support horizontal
The stent that pedal module on plate, the swing arm being rotatably arranged on described support riser are connected with described swing arm one end
Block and the counterweight module being connected with the described swing arm other end；Described stuck-module is used for fixing rehabilitation training person；Described step on
Plate module measures rehabilitation training person's pressure that pedal module is applied and expects pedal is caused with default rehabilitation training person
The pressure value upper limit compares；If the pressure that rehabilitation training person applies to pedal module is more than described default rehabilitation training person's expectation
The pressure value upper limit that pedal is caused, described counterweight module adjusts itself center of gravity, and dorsad rehabilitation training person moves, until rehabilitation instruction
The pressure that white silk person applies to pedal module is less than or equal to the pressure value that described default rehabilitation training person's expectation causes to pedal
The upper limit.
2. lower limb gait rehabilitation according to claim 1 training self adaptation loss of weight mechanism it is characterised in that: described stent
Block includes braces and bearing plate.
3. lower limb gait rehabilitation according to claim 1 training self adaptation loss of weight mechanism it is characterised in that: described pedal mould
Block by under pedal and pedal equipped with force cell group form.
4. lower limb gait rehabilitation according to claim 3 training self adaptation loss of weight mechanism it is characterised in that: described dynamometry passes
Sensor group is made up of four force cells, and four force cells are evenly distributed under described pedal close to four corners.
5. lower limb gait rehabilitation according to claim 1 training self adaptation loss of weight mechanism it is characterised in that: described counterweight mould
Block is included counter-balanced carriage, counterweight, enters the guide rail of line slip for counterweight and be connected and drive the driving machine that counterweight is slided with counterweight
Structure.
6. lower limb gait rehabilitation according to claim 1 training self adaptation loss of weight mechanism it is characterised in that: on described support
It is additionally provided with safety screen, described safety screen is arranged on below described swing arm.
7. the lower limb gait rehabilitation training self adaptation loss of weight mechanism control method described in a kind of application claim 1, its feature exists
In: specifically comprise the following steps that
Step 1: using the front pressure value upper limit for rehabilitation training person's expectation, pedal being caused by computer predetermined threshold value z, z,
Unit n；
Step 2: using the braces in stuck-module, rehabilitation training person is leaned against bearing plate and fix；
Step 3: open each several part power supply after rehabilitation training person is ready to, mechanism starts working；
Step 4: the work of force cell group, the pressure value that measurement rehabilitation training person implements to pedal, and data is passed through communication
Linkup transmit is converted into pressure value s to computer, the data that computer receives, and unit is n, and compares with predetermined threshold value z, if s
＞ z, then computer controls motor rotation, motor drives screw mandrel to rotate by shaft coupling, then passes through screw mandrel and nut screw connection, through hole
With the cooperation of guide rail, dorsad rehabilitation training person moves to drive counterweight, and swing arm swings, and drives rehabilitation training person to move up；Directly
Meet s ＜=z, motor stalls to surveyed s, wait and rotate order next time；
Step 5: rehabilitation training person carries out loss of weight rehabilitation training；
Step 6: if needing in training process to change predetermined threshold value, change threshold value on computers, and return to step 4；
Step 7: lower limb rehabilitation training terminates, computer controls motor rotates, and drives counterweight extremely to push up towards rehabilitation training person is mobile
End, nursing staff helps rehabilitation training person to unload safely equipment, pass hull closure power supply.
8. lower limb gait rehabilitation according to claim 7 training self adaptation loss of weight mechanism control method it is characterised in that:
In step 6, whether computer changes every 5 seconds detection predetermined threshold value z, if unchanged, continues to run with predetermined threshold value z, if inspection
When measuring threshold value change, the threshold value after record changes is z1, now carry out loss of weight control still according to threshold value z before changing；5
In detection next time after second, if threshold value z detecting2Equal to z1, then according to z1Carry out loss of weight control；If z2It is not equal to z1,
Then continue to be controlled according to z, record threshold value now.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410785391.2A CN104474668B (en) | 2014-12-16 | 2014-12-16 | Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof |
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| CN201410785391.2A CN104474668B (en) | 2014-12-16 | 2014-12-16 | Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof |
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| CN104474668B true CN104474668B (en) | 2017-01-18 |
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| CN107374917A (en) * | 2017-06-28 | 2017-11-24 | 长安大学 | Electronic body weight loss of weight mechanism and motion control method |
| CN108888422A (en) * | 2018-07-09 | 2018-11-27 | 温州医科大学附属第医院 | A kind of medicinal intelligent stair climbing wheelchair and its control system |
| CN109335629B (en) * | 2018-10-23 | 2024-01-23 | 广西科技大学 | Passive weight reducing mechanism |
| CN112451921B (en) * | 2020-09-30 | 2021-09-14 | 优品优家(深圳)科技有限公司 | Automatic walking machine and control method and storage medium thereof |
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| EP1772134A1 (en) * | 2005-10-05 | 2007-04-11 | Eidgenössische Technische Hochschule Zürich | Device and method for an automatic treadmill therapy |
| WO2008124025A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Powered orthosis |
| CN203291184U (en) * | 2013-06-03 | 2013-11-20 | 南京信息工程大学 | Intelligent human body gait rehabilitation training device |
| CN103598889A (en) * | 2013-11-13 | 2014-02-26 | 东南大学常州研究院 | Scene interaction rehabilitation training method based on Kinect vision gait analysis |
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