CN105169627A - Weight losing system for lower limb patient rehabilitation training - Google Patents
Weight losing system for lower limb patient rehabilitation training Download PDFInfo
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- CN105169627A CN105169627A CN201510638253.6A CN201510638253A CN105169627A CN 105169627 A CN105169627 A CN 105169627A CN 201510638253 A CN201510638253 A CN 201510638253A CN 105169627 A CN105169627 A CN 105169627A
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Abstract
A weight losing system for lower limb patient rehabilitation training comprises a system support device, a treadmill training platform device and a control device. The system support device is fixed to the two sides of the treadmill training platform device and comprises vertical supports, a weight losing platform support, a guardrail and adjusting supporting frames, the guardrail is installed on the inner side of the corresponding vertical support through the corresponding adjusting supporting frame, and the weight losing platform support is connected with the upper portions of the vertical supports and is rectangular. The treadmill training platform device comprises a training platform and a drive motor controlled through the control device. The system is characterized in that the system further comprises a follow-up weight losing platform device fixed to the upper portion of the weight losing platform support; the control device is used for controlling movements of the follow-up weight losing platform device and the treadmill training platform device; the control device is provided with a constant-force weight losing control program and a speed control program for the treadmill training platform device and the follow-up weight losing platform device.
Description
Technical field
The present invention relates to medical rehabilitation instrument field, particularly relate to a kind of loss of weight system for the training of lower limb Rehabilitation.
Background technology
Along with the development of society, the living standard of people and the constantly raising of material conditions, people start more and more to pay attention to the health of self and household, and the leg disease patient caused due to reasons such as wound, unexpected injury, cerebral apoplexies need could restore funcitons by rehabilitation physical therapy in the middle and later periods for the treatment of.Mainly there are doctor and medical personnel to serve as " human body support " for the rehabilitation training of leg disease patient now and help patient's training, so are tests greatly to the muscle power of doctor and medical personnel, because the muscle power of people and energy and economic dispatch reason patient can not get sufficient training, and patient can not get training in all directions under this training mode, although serve certain positive effect to the rehabilitation of patient, do not reach desirable degree.This just needs a kind of rehabilitation training system to train to replace doctor and medical personnel patient, alleviates the manual labor of doctor and medical personnel, and makes patient obtain sufficient rehabilitation training in all directions again when less expensive.
Do not have enabling capabilities due to patient's lower limb or only have part enabling capabilities but be not enough to support self total weight, this just proposes the requirement for patient's loss of weight to rehabilitation loss of weight system.Body weight support treadmill training (BodyWeightSupportTraining, BWST) is present reasonable a kind of loss in weight, it utilizes sus-pension, is connected on loss of weight vest that patient dresses carry out loss of weight to patient by rope.The rope that Berlin, Germany Fu Langhuo Fil research institute (FRANHOFFINSTITUT) is developed drives healing robot STRING-MAN, patient's upper body in training institution of standing wears loss of weight vest, vest has some connection with rope realize loss of weight, rope is distributed in the different parts of vest.Swiss Zurich Federal Institute of Technology (ETH) and Balgrist medical rehabilitation unit cooperative research and development LOKOMAT, the early production of LOKOMAT has a balancing weight, loss of weight is realized, the later product loss of weight that to be loss of weight system be drives one group of spring to realize in training by nut screw by the gravity of balancing weight.Although existing rehabilitation training loss of weight system can be patient's loss of weight to a certain extent, loss of weight operation more complicated, and only allow patient in the motion of fixing position, because which limit the space of patient, affect training effect.Need a kind of loss of weight system that there is the loss of weight system that can set constant force and follow that patient carries out training within the scope of larger space.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, provides a kind of loss of weight system for the training of lower limb Rehabilitation.The servo-actuated loss of weight system that this loss of weight system can follow patient motion combines with the treadmill formula training platform being usually used in lower limb rehabilitation training, achieve the constant force loss of weight that can set loss of weight value and function is followed to patient motion, patient can be allowed simultaneously to have freedom of motion by a larger margin, thus improve the physiotherapy training effect that leg disease patient carries out training.
The technical scheme that the present invention solve the technical problem employing is, a kind of loss of weight system for the training of lower limb Rehabilitation is provided, comprise system frame device, treadmill training platform device and control device, system frame device is fixed on the both sides of treadmill training platform device, system frame device comprises vertical rack, loss of weight platform support, handrail and adjusting support frame, handrail is arranged on the inner side of corresponding vertical rack by corresponding adjusting support frame, the top of vertical rack is connected with loss of weight platform support, and loss of weight platform support is rectangle; Described treadmill training platform device comprises training platform and drive motors, and drive motors is controlled by control device; It is characterized in that this system also comprises and follow loss of weight stage apparatus, described in follow loss of weight stage apparatus and be fixed on above loss of weight platform support; Control device is for controlling the motion of following loss of weight stage apparatus and treadmill training platform device, and control device is provided with constant force loss of weight control program and treadmill training platform device and follows the speeds control program of loss of weight stage apparatus;
Describedly follow that loss of weight stage apparatus comprises mobile platform, the first guide rail, the second guide rail, rope drives tracking mechanism, rope tension controls permanent loss of weight mechanism, loss of weight vest, supporting mechanism and guide rail slide block;
Described first guide rail is fixed on above loss of weight platform support along handrail length direction, and leaves gap between the first guide rail and loss of weight platform support; Described second guide rail parallel is fixed on the surface of loss of weight platform support in the first guide rail, and the upper surface of the second guide rail and the first guide rail is in same level; Mobile platform is arranged on the first guide rail and the second guide rail by guide rail slide block, and mobile platform can move forward and backward along handrail length direction on the first guide rail and the second guide rail; Described mobile platform center is provided with through hole, and described supporting mechanism is two gripper shoes, and two gripper shoes are mounted opposite the through hole both sides at mobile platform along handrail length direction; Described loss of weight vest is used for trainer and dresses, and described rope tension controls the left side that permanent loss of weight mechanism is positioned at the right gripper shoe of supporting mechanism, and rope drives the right side that tracking mechanism is positioned at supporting mechanism;
Described rope tension controls permanent loss of weight mechanism and comprises loss of weight motor, loss of weight motor coupler, two intermeshing bevel gears, reel, propelling sheave, loss of weight rope, spring and rope tension sensors; Described loss of weight motor is fixed in mobile platform top surface edge, the axle of loss of weight motor is linked together by the axle of loss of weight motor coupler and a bevel gear, the axle of another bevel gear is connected with the axle of reel, two bevel gears engage each other, and loss of weight motor coupler and two intermeshing bevel gears are all positioned at the left end of supporting mechanism; The two ends of the axle of described reel and propelling sheave are separately fixed in two gripper shoes, and reel and propelling sheave are all between two gripper shoes, and propelling sheave is positioned at the top of the through hole of mobile platform; Loss of weight rope one end is fixed on reel, and the other end is fixed on the upper end of loss of weight vest through the through hole of mobile platform through propelling sheave, the loss of weight rope be connected is connected with from top to bottom spring and rope tension sensor with loss of weight vest in turn;
Described rope drives tracking mechanism and comprises mobile motor, mobile motor shaft coupling, traction wheel, pulley, two suspension ring and two pressure sensors, drag rope, pressing plate, guide plate, fairlead, angular transducer, connecting axle, bearing, angular transducer shaft coupling, fixed head and backing plates; Described mobile motor is fixing on a mobile platform, and is positioned at the right-hand member of supporting mechanism, and mobile motor is connected with traction wheel by mobile motor shaft coupling, and the axle of mobile motor is mutually vertical with the axle of loss of weight motor; Described pulley is fixedly mounted on two minor faces of loss of weight platform support, each minor face is all provided with two pulleys; Two suspension ring along handrail length direction respectively symmetry be arranged on mobile platform top surface edge, and be positioned on the center line of mobile platform; Described drag rope has two sections, one end of each section of drag rope is fixed on traction wheel, two pulleys that the other end is walked around on a minor face are fixed on corresponding suspension ring, and the drag rope part leading to a pulley from traction wheel is parallel to each other to from another pulley to the drag rope part of corresponding suspension ring; Described angular transducer is fixed on outside the right gripper shoe of supporting mechanism by fixed head, and is positioned at the rear of mobile motor; The axle of described angular transducer is connected with connecting axle by angular transducer shaft coupling, and described connecting axle is connected with guide plate through the right gripper shoe, and by bearing fixed connection shaft; Described guide plate center is provided with perforate, and the two ends of guide plate are fixed on the inner side of two gripper shoes, and are positioned at the below of propelling sheave; The tapping at guide plate center is connected with a fairlead, and this fairlead extends to the through hole of mobile platform always and passes mobile platform through hole; Loss of weight rope is connected with loss of weight vest through this fairlead; One end of each pressure sensor is fixed on the limit of the loss of weight platform support at the first guide rail place by backing plate, the other end of this pressure sensor is connected by pressing plate one end with the first guide rail, and pressing plate does not contact with loss of weight platform support.
The above-mentioned loss of weight system for the training of lower limb Rehabilitation, the height of described vertical rack is 1.3-2 times of trainer's height.
The above-mentioned loss of weight system for the training of lower limb Rehabilitation, described rope tension sensor adopts S type tension pick-up.
The above-mentioned loss of weight system for the training of lower limb Rehabilitation, in control device, the idiographic flow of constant force loss of weight control program is: first will start control device, start to set the loss of weight value being applicable to training after control device is stablized, namely loss of weight value is G, and the loss of weight value of this setting can be stored in as standard value in system, and rope tension sensor can measure the tension value of rope, this tension value compares with standard value, if be greater than standard value, then control loss of weight motor and put rope, to reduce cord tension; If cord tension value is not more than standard value, then again judge whether cord tension is less than standard value, if be less than standard value, control loss of weight motor rope closing, to increase cord tension; If cord tension had both been not more than also not little standard value, loss of weight motor had been left intact; After above-mentioned three kinds of situations have judged and loss of weight motor have also been made corresponding action, then carry out having judged whether END instruction, if there is END instruction, then train end; If there is no END instruction, then return cord tension and standard value comparison phase, namely judge whether cord tension value is greater than standard value G at first, and this process that always circulates.
The above-mentioned loss of weight system for the training of lower limb Rehabilitation, in control device, treadmill training platform device with the idiographic flow of the speeds control program of following loss of weight stage apparatus is: first will start control device, after control device is stable, the pressure sensor at the first guide rail two ends can measure two force value, is respectively N
1and N
2, system can according to these two force value N
1and N
2calculate the position deviation Δ X of mobile platform, then judge whether this deviation exceeds permissible value, if beyond permissible value, then the treadmill speed V of adjusting training platform
p, reduce the position deviation of mobile platform; If do not exceed the permissible value of deviation, then the treadmill speed V of now training platform
pdo not need adjustment, as the treadmill speed V of training platform
pwhether to adjust and after having acted accordingly, then judged whether END instruction, if there is no END instruction, be then back to the pressure sensor detected pressures value stage and this process that always circulates, if there is END instruction, then train end; Simultaneously, after control device is stable, angular transducer can detect the pivot angle θ of loss of weight rope and vertical direction, control device calculates angular deviation Δ θ according to this pivot angle, then judge whether this deviation exceeds permissible value, if beyond permissible value, then control mobile motor and rotate, adjustment mobile platform speed V
t, be used for reducing angular deviation, if do not exceed the permissible value of deviation, then now mobile platform speed V
tdo not need adjustment, as mobile platform speed V
twhether to adjust and after having acted accordingly, then judged whether END instruction, if there is no END instruction, be then back to the angular transducer detection angle angle value stage and this process that always circulates, if there is END instruction, then train end.
Compared with prior art, the present invention has outstanding substantive distinguishing features and significant progress:
The present invention adopts rope to drive tracking mechanism and rope tension controls permanent loss of weight mechanism, the mode of being driven loss of weight by rope makes loss of weight rope follow patient's swing, angular transducer is utilized to detect the angle of loss of weight rope and vertical direction, and this angle is realized the movement of loss of weight platform as the input of control function, thus realize following loss of weight, for patient provides larger training space, this is that existing loss in weight institute is inaccessiable.If only adopt rope to drive loss of weight, and do not have angular transducer and control device thereof, the feature of driving loss of weight of so restricting can bring instability to training; If adopt other fixed loss in weights, patient can be fixed on a position, thus affects training effect.By treadmill training platform device and the combination of following loss of weight stage apparatus in the present invention; final realization is followed loss of weight and is controlled; thus guarantee that patient is can freely-movable in the scope of training platform; instead of the motion be fixed in prior art on a point, expand the training space of patient greatly.
Key point of the present invention is the setting of sensor, comprises angular transducer, rope tension sensor and pressure sensor, and each sensor all obtains institute by corresponding control program and surveys data, and then makes control device control corresponding component execution corresponding operating.Angular transducer the pivot angle that can detect loss of weight rope and vertical direction is set, then control the speed of mobile platform by control device; Rope tension sensor can detect the tension force of loss of weight rope, is then controlled the loss of weight motor retractable loss of weight rope of permanent loss of weight mechanism by control device tricing line tension force; Pressure sensor can detect the force value at guide rail two ends, then by the treadmill speed of control device controlled training platform.By corresponding sensor again in conjunction with control device so that realize overall loss of weight system constant force loss of weight and follow loss of weight, ensure that patient has larger training space, meet the requirement of patient to constant force loss of weight in training process, the treadmill speed of the speed of patient and training platform is matched, and ensures the safety of patient.
Accompanying drawing explanation
Fig. 1 is the left TV structure schematic diagram of a kind of embodiment of loss of weight system that the present invention trains for lower limb Rehabilitation;
Fig. 2 is the plan structure schematic diagram of a kind of embodiment of loss of weight system that the present invention trains for lower limb Rehabilitation;
Fig. 3 is the perspective view of the system frame device 2 of a kind of embodiment of loss of weight system that the present invention trains for lower limb Rehabilitation;
Fig. 4 is the left TV structure schematic diagram of following loss of weight stage apparatus 1 of a kind of embodiment of loss of weight system that the present invention trains for lower limb Rehabilitation;
Fig. 5 is the partial enlargement structural representation of I part in Fig. 4;
Fig. 6 be a kind of embodiment of loss of weight system that the present invention trains for lower limb Rehabilitation mobile platform 11 on the perspective view of each several part;
Fig. 7 is the main TV structure schematic diagram of broken section of II part in Fig. 6;
Fig. 8 is the constant force loss of weight control program flow chart of the loss of weight system that the present invention trains for lower limb Rehabilitation;
Fig. 9 is the treadmill training platform of the loss of weight system that the present invention trains for lower limb Rehabilitation and the speeds control program flow diagram of following loss of weight stage apparatus;
In figure, 1. follow loss of weight stage apparatus, 2. system frame device, 3. treadmill training platform device, 21. vertical racks, 22. loss of weight platform supports, 23. handrails, 24. adjusting support frames; 11. mobile platforms, 12. first guide rails, 13. second guide rails, 14. are restricted and are driven tracking mechanism, 15. rope tensions control permanent loss of weight mechanism, 16. loss of weight vests, 17. supporting mechanisms, 18. guide rail slide blocks; 1501. loss of weight motors, 1502. loss of weight motor couplers, 1503. bevel gears, 1504. reels, 1505. propelling sheaves, 1506. loss of weight ropes, 1507. springs, 1508. rope tension sensors; 1401. mobile motors, 1402. mobile motor shaft couplings, 1403 traction wheels, 1404 pulleys, 1405 suspension ring, 1406 pressure sensors, 1407. drag ropes, 1408. pressing plates, 1409. guide plates, 1410. fairleads, 1411. angular transducers, 1412. connecting axles, 1413. bearings, 1414. angular transducer shaft couplings, 1415. fixed heads, 1416. backing plates.
Detailed description of the invention
The present invention is further explained in detail below in conjunction with embodiment and accompanying drawing thereof, but not in this, as the restriction to the claims in the present invention protection domain.
The loss of weight system (being called for short loss of weight system or system, see Fig. 1) that the present invention is used for the training of lower limb Rehabilitation comprises and follows loss of weight stage apparatus 1, system frame device 2, treadmill training platform device 3 and control device (not drawing in figure); System frame device 2 is fixed on the both sides of treadmill training platform device 3, described in follow the top that loss of weight stage apparatus 1 is positioned at system frame device 2; Control device is for controlling the motion of following loss of weight stage apparatus 1 and treadmill training platform device 3, and control device is provided with constant force loss of weight control program and treadmill training platform device 3 and follows the speeds control program of loss of weight stage apparatus 1; Described treadmill training platform device comprises training platform and drive motors, and drive motors is controlled by control device;
Described system frame device 2 (see Fig. 3) entirety is formed by section combination, comprise two groups of vertical racks 21, loss of weight platform support 22, two handrails 23 and four adjusting support frames 24, two groups of vertical racks 21 are vertically fixed on the both sides of treadmill training platform device 3 respectively, two handrails 23 are arranged on the inner side of corresponding vertical rack 21 by corresponding adjusting support frame 24, handrail 23 provides safeguard protection for trainer, the distance between handrail 23 and vertical rack 21 is regulated by adjusting support frame 24, handrail 23 moving up and down along vertical rack 21 can be realized simultaneously, with the needs of satisfied different patient, the top of vertical rack 21 is connected with loss of weight platform support 22, loss of weight platform support 22 is rectangle, loss of weight platform support 22 is fixed with and follows loss of weight stage apparatus 1, loss of weight platform support 22 follows loss of weight stage apparatus 1 for supporting, and is jointly formed train space by loss of weight platform support 22 and vertical rack 21 and treadmill training platform device 3,
Describedly follow that loss of weight stage apparatus 1 (see Fig. 2, Fig. 4 and Fig. 6) comprises mobile platform 11, first guide rail 12, second guide rail 13, rope drives tracking mechanism 14, rope tension controls permanent loss of weight mechanism 15, loss of weight vest 16, supporting mechanism 17 and guide rail slide block 18;
Described first guide rail 12 is fixed on above loss of weight platform support 22 along handrail 23 length direction, and leaves gap between the first guide rail 12 and loss of weight platform support 22; Described second guide rail 13 is parallel to the first guide rail 12 and is fixed on the surface of loss of weight platform support 22, and the upper surface of the second guide rail 13 and the first guide rail 12 is in same level; Mobile platform 11 is arranged on the first guide rail 12 and the second guide rail 13 by guide rail slide block 18, and mobile platform 11 can move forward and backward along handrail length direction on the first guide rail 12 and the second guide rail 13; Described mobile platform 11 center is provided with through hole, and described supporting mechanism 17 is two gripper shoes, and two gripper shoes are mounted opposite the through hole both sides at mobile platform 11 along handrail 23 length direction; Described loss of weight vest 16 is dressed for trainer, the upper end of loss of weight vest 16 controls permanent loss of weight mechanism 15 by loss of weight rope and rope tension and is connected, described rope tension controls the left side that permanent loss of weight mechanism 15 is positioned at the right gripper shoe of supporting mechanism 17, and rope drives the right side that tracking mechanism 14 is positioned at supporting mechanism 17;
Described rope tension controls permanent loss of weight mechanism 15 and comprises loss of weight motor 1501, loss of weight motor coupler 1502, two intermeshing bevel gears 1503, reel 1504, propelling sheave 1505, loss of weight rope 1506, spring 1507 and rope tension sensors 1508; Described loss of weight motor 1501 is fixed in mobile platform 11 top surface edge, the axle of loss of weight motor 1501 is linked together by the axle of loss of weight motor coupler 1502 and a bevel gear 1503, the axle of another bevel gear is connected with the axle of reel 1504, two bevel gears engage each other, and loss of weight motor coupler 1502 and two intermeshing bevel gears 1503 are all positioned at the left end of supporting mechanism 17; The two ends of the axle of described reel 1504 and propelling sheave 1505 are separately fixed in two gripper shoes, and reel 1504 and propelling sheave 1505 are all between two gripper shoes, and propelling sheave 1505 is positioned at the top of the through hole of mobile platform 11; Loss of weight rope 1506 one end is fixed on reel 1504, the other end is fixed on the upper end of loss of weight vest 16 through the through hole that propelling sheave 1505 passes mobile platform 11, the loss of weight rope be connected is connected with from top to bottom spring 1507 and rope tension sensor 1508 with loss of weight vest 16 in turn; The power of loss of weight motor 1501 passes to two intermeshing bevel gears 1503 by loss of weight motor coupler 1502, two bevel gears 1503 pass to reel 1504 by the engagement of boring tooth power, and the rotation of reel 1504 drives loss of weight rope 1506 shrink or uphold to realize the control of rope tension;
Described rope drives tracking mechanism 14 and comprises mobile motor 1401, mobile motor shaft coupling 1402, traction wheel 1403, pulley 1404, two suspension ring 1405 and two pressure sensors 1406, drag rope 1407, pressing plate 1408, guide plate 1409, fairlead 1410, angular transducer 1411, connecting axle 1412, bearing 1413, angular transducer shaft coupling 1414, fixed head 1415 and backing plates 1416; Described mobile motor 1401 is fixed on mobile platform 11, and is positioned at the right-hand member of supporting mechanism 17, and mobile motor 1401 is connected with traction wheel 1403 by mobile motor shaft coupling 1402, and the axle of mobile motor 1401 is mutually vertical with the axle of loss of weight motor 1501; Described pulley 1404 is fixedly mounted on two minor faces of loss of weight platform support 22, each minor face is all provided with two pulleys 1404; Two suspension ring 1405 along handrail 23 length direction respectively symmetry be arranged on mobile platform 11 top surface edge, and be positioned on the center line of mobile platform; Described drag rope 1407 has two sections, one end of each section of drag rope is fixed on traction wheel 1403, two pulleys 1404 that the other end is walked around on a minor face are fixed on corresponding suspension ring 1405, and the drag rope part leading to a pulley from traction wheel is parallel to each other to from another pulley to the drag rope part of corresponding suspension ring 1405; On outside described angular transducer 1411 (see Fig. 7) is fixed on supporting mechanism 17 the right gripper shoe by fixed head 1415, and be positioned at the rear of mobile motor 1401; The axle of described angular transducer is connected with connecting axle 1412 by angular transducer shaft coupling 1414, and described connecting axle 1412 is connected with guide plate 1409 through the right gripper shoe, and by bearing 1413 fixed connection shaft 1412; Described guide plate 1409 center is provided with perforate, and the two ends of guide plate 1409 are fixed on the inner side of two gripper shoes, and are positioned at the below of propelling sheave 1505; The tapping at guide plate 1409 center is connected with a fairlead 1410, and this fairlead extends to the through hole of mobile platform 11 always and passes mobile platform through hole; Loss of weight rope 1506 is connected with loss of weight vest 16 through this fairlead; One end of each pressure sensor 1406 (see Fig. 4 and Fig. 5) is fixed on the limit of the loss of weight platform support 22 at the first guide rail 12 place by backing plate 1416, the other end of this pressure sensor 1406 is connected with one end of the first guide rail 12 by pressing plate 1408, and pressing plate 1408 does not contact with loss of weight platform support 22.Because loss of weight rope 1506 is through fairlead 1410, so the swing of loss of weight rope 1506 can cause fairlead 1410 to swing, and fairlead 1410 and guide plate 1409 are fixed together, drive guide plate rotates, thus drive the axle of angular transducer 1411 to rotate, realize the axle synchronous axial system of guide plate 1409 and angular transducer 1411, and improve the accuracy of detection of angular transducer; Power section, mobile motor 1401 passes to traction wheel 1403 by mobile motor shaft coupling 1402 power, drives drag rope 1407 shrink and uphold the movement realizing mobile platform 11 by the rotation of traction wheel 1403.
Of the present invention be further characterized in that the height of described vertical rack 21 be the 1.3-2 of trainer's height doubly, both the space that takies of the system of saving, can meet again the requirement that patient carries out rehabilitation training in relatively freely space.
Of the present inventionly be further characterized in that described rope tension sensor 1508 adopts S type tension pick-up.
Fig. 8 is constant force loss of weight control program in the control device of the loss of weight system that the present invention trains for lower limb Rehabilitation, its idiographic flow is: first will start control device, start to set the loss of weight value being applicable to training after control device is stablized, namely loss of weight value is G, the loss of weight value of this setting can be stored in system as standard value, rope tension sensor 1508 can measure the tension value of rope, this tension value compares with standard value, if be greater than standard value, then control loss of weight motor 1501 and put rope, to reduce cord tension; If cord tension value is not more than standard value, then again judge whether cord tension is less than standard value, if be less than standard value, control loss of weight motor 1501 rope closing, to increase cord tension; If cord tension had both been not more than also not little standard value, loss of weight motor 1501 had been left intact; After above-mentioned three kinds of situations have judged and loss of weight motor 1501 have also been made corresponding action, then carry out having judged whether END instruction, if there is END instruction, then train end; If there is no END instruction, then return cord tension and standard value comparison phase, namely judge whether cord tension value is greater than standard value G at first, and this process that always circulates.Real-Time Monitoring cord tension in training process, until training terminates.
Fig. 9 is treadmill training platform device 3 and the speeds control program of following loss of weight stage apparatus 1 in the control device of the loss of weight system that the present invention trains for lower limb Rehabilitation, its idiographic flow is: first will start control device, after control device is stable, the pressure sensor 1406 at the first guide rail 12 two ends can measure two force value, is respectively N
1and N
2, system can according to these two force value N
1and N
2calculate the position deviation Δ X of mobile platform 11, then judge whether this deviation exceeds permissible value, if beyond permissible value, then the treadmill speed V of adjusting training platform
p, i.e. V
p=-f
1(Δ X), reduces the position deviation of mobile platform 11; If do not exceed the permissible value of deviation, then the treadmill speed V of now training platform
pdo not need adjustment, as the treadmill speed V of training platform
pwhether to adjust and after having acted accordingly, then judged whether END instruction, if there is no END instruction, be then back to the pressure sensor 1406 detected pressures value stage and this process that always circulates, if there is END instruction, then train end; Simultaneously, after control device is stable, angular transducer 1411 can detect the pivot angle θ of loss of weight rope 1506 and vertical direction, control device calculates angular deviation Δ θ according to this pivot angle, then judge whether this deviation exceeds permissible value, if beyond permissible value, then control mobile motor 1401 and rotate, adjustment mobile platform 11 speed V
t, i.e. V
t=-f
2(Δ θ), is used for reducing angular deviation, if do not exceed the permissible value of deviation, then and now mobile platform speed V
tdo not need adjustment, as mobile platform speed V
twhether to adjust and after having acted accordingly, then judged whether END instruction, if there is no END instruction, be then back to the angular transducer 1411 detection angle angle value stage and this process that always circulates, if there is END instruction, then train end; All detections are all real-time, and are in whole training process, until training terminates, and shutdown system.
The retractable that the present invention controls loss of weight rope 1506 by loss of weight motor 1501 can control the tension force of loss of weight rope, thus realizes tension force and control.Fairlead 1410 can swing along with rope along the lead direction of loss of weight rope 1506 and change angle, and angular transducer 1411 can detect the angle value of fairlead 1410.Angular transducer 1411 is fixed on outside the right gripper shoe of supporting mechanism 17 by fixed head 1415, axle and the connecting axle 1412 of angular transducer 1411 adopt angular transducer shaft coupling 1414 to be connected, connecting axle 1412 is connected with one end of guide plate 1409 through the right gripper shoe, fixed by bearing 1413 between the right gripper shoe of connecting axle 1412 and supporting mechanism, thus the friction decreased between connecting axle 1412 and supporting mechanism 17, also improve sensitivity and the service life of angular transducer simultaneously.
As shown in Figure 2, first guide rail 12 and the second guide rail 13 are placed on loss of weight platform support 22, and be arranged in parallel along the long side direction of loss of weight platform support, mobile platform 11 is arranged on the first guide rail 12 and the second guide rail 13 by guide rail slide block 18, and mobile platform 11 can move forward and backward on the first guide rail 12 and the second guide rail 13.Rope drives tracking mechanism 14 and comprises mobile motor 1401, mobile motor shaft coupling 1402, traction wheel 1403, pulley 1404, two suspension ring 1405 and two pressure sensors 1406, drag rope 1407, pressing plate 1408, guide plate 1409, fairlead 1410, angular transducer 1411, connecting axle 1412, bearing 1413, angular transducer shaft coupling 1414, fixed head 1415 and backing plates 1416.Mobile motor 1401 controls traction wheel 1403 by mobile motor shaft coupling 1402, and traction wheel 1403 is moved along the first guide rail 12 and the second guide rail 13 by drag rope 1407, pulley 1404 and suspension ring 1405 tethered sliding platform 11.Two pressure sensors 1406 are placed in the two ends of the first guide rail 12 respectively, one end of each pressure sensor 1406 (see Fig. 4 and Fig. 5) is fixed on the limit of the loss of weight platform support 22 at the first guide rail 12 place by backing plate 1416, the other end of this pressure sensor 1406 is connected with one end of the first guide rail 12 by pressing plate 1408, pressing plate 1408 does not contact with loss of weight platform support 22, can be detected the force value at these the first guide rail two ends by two pressure sensors.In the present invention, pressure sensor can also be arranged on the two ends of the second guide rail 13, mounting means is identical with the mounting means on the first guide rail 12, in the first guide rail 12 described in the present invention and the second guide rail 13 first and second is whether representative pressure sensor is installed, setting pressure sensor on the first guide rail two ends.By mobile platform 11 model-following control and to the speeds control of treadmill training platform device 3 combine realize to patient motion continue follow loss of weight and security protection.
In control device in the present invention, constant force loss of weight control program refers to the constant tensile control of loss of weight rope 1506, namely in control device, constant force control function is designed for controlling to drive speed and the direction of loss of weight motor 1501, loss of weight rope 1506 tension force is detected by rope tension sensor 1508, and compare with the loss of weight force value of setting, loss of weight rope 1506 tension force obtained and the difference of setting value are as the independent variable of constant force control function.The output valve of function, for controlling loss of weight motor 1501 by transmission system retractable loss of weight rope 1506 to adjust loss of weight rope tension, makes loss of weight rope tension remain in the error range of permission.Constant force control function can be led with conventional control functions such as proportion function, proportion differential function, ambiguity functions, make loss of weight motor 1501 turn to rotating speed control trend be: when tension force is greater than setting value, loss of weight motor 1501 turns to and loss of weight rope is released, when tension force is less than setting value, loss of weight motor 1501 turns to and loss of weight rope is reclaimed, and loss of weight motor 1501 rotating speed is bigger than normal when difference amplitude is large, difference amplitude hour, loss of weight motor 1501 rotating speed is less than normal, and difference is zero rotating speed is zero.
In control device in the present invention, treadmill training platform device 3 refers to the speeds control of mobile platform 11 and the speeds control of treadmill training platform device 3 with the speeds control program of following loss of weight stage apparatus 1, wherein the speeds control of mobile platform 11 is in control device, design mobile platform 11 speeds control function, drives turning to and rotating speed of tracking mechanism 14 mobile motor 1401 for tricing line.Can be detected the angle value of loss of weight rope 1506 and vertical direction by angular transducer 1411, using it as mobile platform speeds control argument of function, the functional value drawn drives the rotating speed of the mobile motor 1401 of tracking mechanism and turns to for tricing line.Mobile motor 1401 drives mobile platform 11 to move on the first guide rail 12 and the second guide rail 13 by drag rope 1407, pulley 1404 and suspension ring 1405, moving direction makes fairlead 1410 reduce with the angle of vertical direction, translational speed size keeps identical trend with the amplitude size of angle, thus realizes following of mobile platform 11 couples of trainers.
The speeds control of treadmill training platform device 3 is project training platform speed control functions in control device, for controlling turning to and speed of the drive motors of treadmill training platform device.By the pressure sensor 1406 be connected with the first guide rail 12 two ends, detect the force value at the first guide rail 12 two ends, be designated as N respectively
1and N
2.The position x of the loss of weight point of application relative to the first guide rail 12 can be calculated according to the lever principle that the first guide rail 12 is stressed.Length according to this position x and the first guide rail 12 can calculate the length Δ x of loss of weight rope 1506 point of application relative to the first guide rail 12 mid point.Δ x is the position of trainer relative to training space mid point.With Δ x for independent variable, utilizing the treadmill speeds control function of training platform to draw functional value, for controlling the drive motors of treadmill training platform device, making training platform movement velocity be the trend that Δ x is reduced.Velocity magnitude trend keeps consistent with Δ x value amplitude size.With this, trainer is remained in training and be positioned at the centre position of training space, and the treadmill speed of training platform and trainer's movement velocity are matched, the training realizing continuing also makes the safety of trainer be protected.
In order to make the stable movement in training process, all function arguments of the control program in control device of the present invention are all provided with the permissible value in certain limit.Namely within the scope of permissible value, think that function does not have input value, system does not adjust action, and when only exceeding permissible value, function just has input value, has also just had output valve through functional operation, and system is made according to the output valve of function and adjusted action accordingly.Thus reduction error, to realize constant force loss of weight and to follow the stable object of loss of weight.Described mobile platform speeds control function and training platform control function can the conventional control functions such as adoption rate function, proportion differential function, ambiguity function.
The location arrangements of three kinds of sensors of the present invention and loss of weight motor, mobile motor are the design feature of whole loss of weight system with the movement of mobile platform.On the basis of this design feature, the signal using sensor to detect also is equipped with corresponding control device, realizes constant force loss of weight, the following and the coupling of treadmill speed and patient's training speed of mobile platform.
The operation principle of the loss of weight system that the present invention trains for lower limb Rehabilitation and operating process are:
First by system initialization, loss of weight vest 16 and handrail 23 are adjusted to the position that patient is applicable to, before starting training, therapist helps patient to dress loss of weight vest 16, and patient holds handrail 23.
Therapist is applicable to loss of weight value G and the training speed of patient according to the needs setting of patient, this loss of weight value controls the standard value of cable tension as control system, training speed value is then the initial velocity of treadmill, and in hands-on process, treadmill speed can adjust in time along with patient's hands-on speed.
Rope tension controls permanent loss of weight mechanism 15 and utilizes above-mentioned constant force control function output function value in order to control loss of weight motor 1501, loss of weight motor 1501 drives cone tooth 1503 to rotate by loss of weight motor coupler 1502, thus drive reel 1504 to rotate, finally realize the action of retractable loss of weight rope 1506, reached the object of constant force loss of weight by the tension force controlling loss of weight rope 1506.
It is utilize above-mentioned mobile platform speeds control function output function value in order to control mobile motor 1401 that rope drives tracking mechanism 14, mobile motor 1401 drives reel 1403 to rotate the retractable realizing drag rope 1407 different directions by mobile motor shaft coupling 1402, drag rope 1407 is fixed on mobile platform 11 by corresponding pulley 1404 and suspension ring 1405, is realized the movement of mobile platform 11 by the retractable of drag rope 1407.Treadmill training platform device 3 utilizes above-mentioned training platform control function output valve in order to control the treadmill speeds control of drive motors to training platform, realizes mating of treadmill speed and training speed.Treadmill training platform device 3 and the combination of following loss of weight stage apparatus 1, final realization follows loss of weight control.
The "front", "rear" mentioned in the present invention, "left", "right" are a relative concept, the handle direction (i.e. handrail extension) of definition handrail 23 is for front, direction, loss of weight motor 1501 place is left, and direction, mobile motor 1401 place is right.
The present invention does not address part and is applicable to prior art.
Claims (5)
1. the loss of weight system for the training of lower limb Rehabilitation, comprise system frame device, treadmill training platform device and control device, system frame device is fixed on the both sides of treadmill training platform device, system frame device comprises vertical rack, loss of weight platform support, handrail and adjusting support frame, handrail is arranged on the inner side of corresponding vertical rack by corresponding adjusting support frame, the top of vertical rack is connected with loss of weight platform support, and loss of weight platform support is rectangle; Described treadmill training platform device comprises training platform and drive motors, and drive motors is controlled by control device; It is characterized in that this system also comprises and follow loss of weight stage apparatus, described in follow loss of weight stage apparatus and be fixed on above loss of weight platform support; Control device is for controlling the motion of following loss of weight stage apparatus and treadmill training platform device, and control device is provided with constant force loss of weight control program and treadmill training platform device and follows the speeds control program of loss of weight stage apparatus;
Describedly follow that loss of weight stage apparatus comprises mobile platform, the first guide rail, the second guide rail, rope drives tracking mechanism, rope tension controls permanent loss of weight mechanism, loss of weight vest, supporting mechanism and guide rail slide block;
Described first guide rail is fixed on above loss of weight platform support along handrail length direction, and leaves gap between the first guide rail and loss of weight platform support; Described second guide rail parallel is fixed on the surface of loss of weight platform support in the first guide rail, and the upper surface of the second guide rail and the first guide rail is in same level; Mobile platform is arranged on the first guide rail and the second guide rail by guide rail slide block, and mobile platform can move forward and backward along handrail length direction on the first guide rail and the second guide rail; Described mobile platform center is provided with through hole, and described supporting mechanism is two gripper shoes, and two gripper shoes are mounted opposite the through hole both sides at mobile platform along handrail length direction; Described loss of weight vest is used for trainer and dresses, and described rope tension controls the left side that permanent loss of weight mechanism is positioned at the right gripper shoe of supporting mechanism, and rope drives the right side that tracking mechanism is positioned at supporting mechanism;
Described rope tension controls permanent loss of weight mechanism and comprises loss of weight motor, loss of weight motor coupler, two intermeshing bevel gears, reel, propelling sheave, loss of weight rope, spring and rope tension sensors; Described loss of weight motor is fixed in mobile platform top surface edge, the axle of loss of weight motor is linked together by the axle of loss of weight motor coupler and a bevel gear, the axle of another bevel gear is connected with the axle of reel, two bevel gears engage each other, and loss of weight motor coupler and two intermeshing bevel gears are all positioned at the left end of supporting mechanism; The two ends of the axle of described reel and propelling sheave are separately fixed in two gripper shoes, and reel and propelling sheave are all between two gripper shoes, and propelling sheave is positioned at the top of the through hole of mobile platform; Loss of weight rope one end is fixed on reel, and the other end is fixed on the upper end of loss of weight vest through the through hole of mobile platform through propelling sheave, the loss of weight rope be connected is connected with from top to bottom spring and rope tension sensor with loss of weight vest in turn;
Described rope drives tracking mechanism and comprises mobile motor, mobile motor shaft coupling, traction wheel, pulley, two suspension ring and two pressure sensors, drag rope, pressing plate, guide plate, fairlead, angular transducer, connecting axle, bearing, angular transducer shaft coupling, fixed head and backing plates; Described mobile motor is fixing on a mobile platform, and is positioned at the right-hand member of supporting mechanism, and mobile motor is connected with traction wheel by mobile motor shaft coupling, and the axle of mobile motor is mutually vertical with the axle of loss of weight motor; Described pulley is fixedly mounted on two minor faces of loss of weight platform support, each minor face is all provided with two pulleys; Two suspension ring along handrail length direction respectively symmetry be arranged on mobile platform top surface edge, and be positioned on the center line of mobile platform; Described drag rope has two sections, one end of each section of drag rope is fixed on traction wheel, two pulleys that the other end is walked around on a minor face are fixed on corresponding suspension ring, and the drag rope part leading to a pulley from traction wheel is parallel to each other to from another pulley to the drag rope part of corresponding suspension ring; Described angular transducer is fixed on outside the right gripper shoe of supporting mechanism by fixed head, and is positioned at the rear of mobile motor; The axle of described angular transducer is connected with connecting axle by angular transducer shaft coupling, and described connecting axle is connected with guide plate through the right gripper shoe, and by bearing fixed connection shaft; Described guide plate center is provided with perforate, and the two ends of guide plate are fixed on the inner side of two gripper shoes, and are positioned at the below of propelling sheave; The tapping at guide plate center is connected with a fairlead, and this fairlead extends to the through hole of mobile platform always and passes mobile platform through hole; Loss of weight rope is connected with loss of weight vest through this fairlead; One end of each pressure sensor is fixed on the limit of the loss of weight platform support at the first guide rail place by backing plate, the other end of this pressure sensor is connected by pressing plate one end with the first guide rail, and pressing plate does not contact with loss of weight platform support.
2. the loss of weight system for the training of lower limb Rehabilitation according to claim 1, is characterized in that the height of described vertical rack is 1.3-2 times of trainer's height.
3. the loss of weight system for the training of lower limb Rehabilitation according to claim 1, is characterized in that described rope tension sensor adopts S type tension pick-up.
4. the loss of weight system for the training of lower limb Rehabilitation according to claim 1, it is characterized in that the idiographic flow of constant force loss of weight control program in control device is: first control device will be started, start to set the loss of weight value being applicable to training after control device is stablized, namely loss of weight value is G, the loss of weight value of this setting can be stored in system as standard value, rope tension sensor can measure the tension value of rope, this tension value compares with standard value, if be greater than standard value, then control loss of weight motor and put rope, to reduce cord tension; If cord tension value is not more than standard value, then again judge whether cord tension is less than standard value, if be less than standard value, control loss of weight motor rope closing, to increase cord tension; If cord tension had both been not more than also not little standard value, loss of weight motor had been left intact; After above-mentioned three kinds of situations have judged and loss of weight motor have also been made corresponding action, then carry out having judged whether END instruction, if there is END instruction, then train end; If there is no END instruction, then return cord tension and standard value comparison phase, namely judge whether cord tension value is greater than standard value G at first, and this process that always circulates.
5. the loss of weight system for the training of lower limb Rehabilitation according to claim 1, it is characterized in that in control device, treadmill training platform device with the idiographic flow of the speeds control program of following loss of weight stage apparatus is: first control device will be started, after control device is stable, the pressure sensor at the first guide rail two ends can measure two force value, is respectively N
1and N
2, system can according to these two force value N
1and N
2calculate the position deviation Δ X of mobile platform, then judge whether this deviation exceeds permissible value, if beyond permissible value, then the treadmill speed V of adjusting training platform
p, reduce the position deviation of mobile platform; If do not exceed the permissible value of deviation, then the treadmill speed V of now training platform
pdo not need adjustment, as the treadmill speed V of training platform
pwhether to adjust and after having acted accordingly, then judged whether END instruction, if there is no END instruction, be then back to the pressure sensor detected pressures value stage and this process that always circulates, if there is END instruction, then train end; Simultaneously, after control device is stable, angular transducer can detect the pivot angle θ of loss of weight rope and vertical direction, control device calculates angular deviation Δ θ according to this pivot angle, then judge whether this deviation exceeds permissible value, if beyond permissible value, then control mobile motor and rotate, adjustment mobile platform speed V
t, be used for reducing angular deviation, if do not exceed the permissible value of deviation, then now mobile platform speed V
tdo not need adjustment, as mobile platform speed V
twhether to adjust and after having acted accordingly, then judged whether END instruction, if there is no END instruction, be then back to the angular transducer detection angle angle value stage and this process that always circulates, if there is END instruction, then train end.
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| CN201510638253.6A CN105169627A (en) | 2015-09-30 | 2015-09-30 | Weight losing system for lower limb patient rehabilitation training |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510638253.6A CN105169627A (en) | 2015-09-30 | 2015-09-30 | Weight losing system for lower limb patient rehabilitation training |
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Application publication date: 20151223 |