CN105664436B - Involvement formula panoramic virtual reality gait training interaction systems - Google Patents
Involvement formula panoramic virtual reality gait training interaction systems Download PDFInfo
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- CN105664436B CN105664436B CN201610178503.7A CN201610178503A CN105664436B CN 105664436 B CN105664436 B CN 105664436B CN 201610178503 A CN201610178503 A CN 201610178503A CN 105664436 B CN105664436 B CN 105664436B
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- fluted disc
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
- A61G7/1017—Pivoting arms, e.g. crane type mechanisms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0207—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills having shock absorbing means
- A63B22/0214—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills having shock absorbing means between the belt supporting deck and the frame
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/30—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8082—Virtual reality
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- Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Vascular Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of involvement formula panoramic virtual reality gait training interaction systems, belong to rehabilitation training equipment field, suitable for the crowd of lower limb rehabilitation training.Mainly it is made up of main body frame, suspension gear, walking platform.Main body frame top is installed by suspension gear, walking platform is installed in bottom, and suspension gear from the wheelchair lifts patient, and rotation, which is moved on walking platform, to be trained, walking platform can carry out real time rotation correction according to the translational speed of patient and direction, to ensure the safety of patient and training.Patient can be brought into a reality environment by the present invention, be stimulated by vision, the sense of hearing, proprioception etc., and while giving one centrality sensation input of patient, lower limb carry out the ambulation training of biofeedback type.
Description
Technical field
The present invention relates to a kind of rehabilitation training machinery, and in particular to a kind of active involvement formula panoramic virtual reality gait instruction
Practice interaction systems, suitable for the crowd of lower limb rehabilitation training.
Background technology
At present clinically, healing robot has been widely applied in treatment and scientific research, but current rehabilitation machines
Device people equipment also rests on more original pattern, and the machinery for being such as used for lower limb rehabilitation training is still that " mechanical treadmill+loss of weight hangs
Hang " pattern, and for using healing robot patient for, single motor pattern and motion mode can not evoke it
Initiative rehabilitation desire, rehabilitation effect are also barely satisfactory.
The content of the invention
To solve dull training method, and in order to can preferably be stimulated in training process the proprioception of patient and
More many lower limb function trainings are provided, the present invention provides a kind of involvement formula panoramic virtual reality gait training interaction systems,
The system chooses the stimulation modes such as a variety of proprioceptions, vision, the sense of hearing, rehabilitation exercise lifting has been arrived into active aspect, when having
For meaning.
To achieve the above object, the present invention takes following technical scheme：A kind of involvement formula panoramic virtual reality gait training
Interaction systems, it is characterised in that：Including a main body frame, a cursor is installed in the upper end of main body frame, suspended in midair on cursor
One suspension rope；
One walking platform rotary electric machine is installed in the bottom of the main body frame, the connection of walking platform rotary electric machine shaft end is mutually nibbled
The walking platform rotary fluted disc and rotating base fluted disc of conjunction, rotating base fluted disc bottom are fixedly connected with rotating base, rotating base set
It is located in the centrally disposed fixing axle of firm banking, rotating base fluted disc upper surface sets locating dowel, positions top end buckle closure one
Rotary upper cover, rotary upper cover middle part airbreak；
Walking platform, the middle part airbreak covered in the walking platform autorotation are also equipped with the rotating base fluted disc upper surface
Expose at place.
Further, the main body frame includes a column, and the cursor is horizontally installed in the top of column, cursor
Bottom is fixedly connected with a rotary shaft, and rotary shaft is inserted into column；Cursor rotary electric machine is driven by transmission mechanism and rotary shaft
Dynamic connection.
Further say, the transmission mechanism includes pressure bearing, deep groove ball bearing, cursor locking nut, turning gear
Disk, cursor rotary electric machine, bearing supports are set on column inwall, pressure axis is set between rotary shaft and bearing supports
Hold and deep groove ball bearing, cursor locking nut and rotary fluted disc are connected to rotary shaft bottom, cursor rotary electric machine output shaft
Upper connection motor fluted disc, motor fluted disc engage connection with rotary fluted disc.
Further, the suspension rope is installed by suspension gear, the suspension gear include directive wheel and fixed pulley,
Movable pulley, wherein directive wheel are installed on the cursor, and fixed pulley is arranged on column, and movable pulley is arranged on a lifting electric pole
On the lifting fixed support of telescopic end connection, lifting fixed support is slidably installed on guide rail；
The suspension rope is across directive wheel, one end connection safety hook, the other end around after movable pulley, fixed pulley with pulling force
Sensor is connected, and pulling force sensor is fixed on column.
Further, the walking platform includes the support body being fixed on rotating base fluted disc, and support body is a hollow flat part,
Both ends are provided through the hole of walking band；3~4 walking plate support bars are laid in support body upper surface, and walking plate is fixed on walking plate
Above support bar；Driving shaft and driven shaft are arranged on the both ends of support body, and walking band bypasses walking plate, and ring set is in driving shaft and driven
On axle.
Further, the walking band is driven by variable transmission mechanism and run.
Further say, the variable transmission mechanism is V belt translation mode, Chain conveyer mode or the gear drive kind of drive.
The variable transmission mechanism of V belt translation mode is：Synchronous pulley six, synchronous pulley five are installed on motor output shaft
Timing belt three is connected between synchronous pulley six, synchronous pulley five and synchronous pulley four are co-axially mounted, synchronous pulley four and synchronization
Timing belt two is connected between belt wheel three, synchronous pulley three and synchronous pulley two are co-axially mounted, in synchronous pulley two and synchronous pulley
Timing belt one is connected between one, synchronous pulley one is enclosed on driving shaft.
Further say, in timing belts at different levels, synchronous belt tensioner pulley can be provided with.
Further, system also includes the 3D helmets being worn on trainer's head, and the 3D helmets include the helmet, lock
Band, 3D glasses, earphone.
The present invention is due to arrangement above so that trainer can be in the case of outside stimulus or guiding, and active is rotating
Walking platform on carry out leg training, trainer's safety and steady of leg inconvenience can be put into walking by the suspension gear of upper end
On platform.Application the present invention carry out rehabilitation training when, patient can be brought into a reality environment, by vision,
The sense of hearing, proprioception etc. stimulate, and while giving one centrality sensation input of patient, lower limb carry out the walking of biofeedback type
Training.The sense organ and motor path of logical patient can effectively be promoted by such a mode, the excitability of tractus corticospinalis is stimulated, make
The nerve regneration reparation of central lesion patient is obtained, so as to improve the extremity motor function of patient level, helps patient
Preferably return family and return society.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification
Obtain it is clear that or being understood by implementing the present invention.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as limitation of the present invention, in whole accompanying drawing
In, identical reference symbol represents identical part.
Fig. 1 is the front view of the embodiment of the present invention (containing suspension gear and walking platform section view)；
Fig. 2 is the left view (section view containing suspension gear) of the embodiment of the present invention；
Fig. 3 is the top view (section view of the part containing rotating base) of the embodiment of the present invention；
Fig. 4 is the main body frame front view in the embodiment of the present invention；
Fig. 5 is partial enlarged drawing one in Fig. 4；
Fig. 6 is side view partial enlarged drawing in Fig. 4；
Fig. 7 is partial enlarged drawing two in Fig. 4；
Fig. 8 is the suspension gear front view in the embodiment of the present invention；
Fig. 9 is the suspension gear side view in the embodiment of the present invention；
Figure 10 is the scheme of installation of walking platform in the base in the embodiment of the present invention；
Figure 11 is the front view of the walking platform in the embodiment of the present invention；
Figure 12 is the top view of the walking platform in the embodiment of the present invention；
Figure 13 is governor motion figure of the walking with driven shaft in walking platform；
Figure 14 is the Multi-stage transmission mechanism map of walking band in walking platform；
Figure 15 is the front view of the helmet；
Figure 16 is the side view of the helmet.
Label in figure：101- main body frames, 102- suspension gears, 103- walking platforms；
201- cursors, 202- pressure bearings, 203- deep groove ball bearings, 204- cursor locking nuts, 205- turning gears
Disk, 206- cursor rotary electric machines, 207- columns, 208- walking platform rotary electric machines, 209- walking platform rotary electric machine fixtures,
210- walking platform rotary fluted discs, 211- BOGEY WHEELs, 212- rotating bases, 213- rotating base locking nuts, 214- rolling bearings,
215- firm bankings, 216- rotating base fluted discs, 217- locating dowels, 218- rotary upper covers, 219- rotary shafts, 220- bearings
Part, 221- motor fluted discs, 222- fixing axles；
301- directive wheels, 302- suspension ropes, 303- fixed pulleys, 304- lifting electric poles, 305- pulling force sensors, 306- safety
Hook, 307- lifting fixed supports, 308- movable pulleys, 309- guide rails；
401- support bodys, 402- yielding rubber plates, 403- walking plates, 404- walking bands, 405- walking plate support bars, 406- master
Moving axis bearing block, 407- synchronization belt tensioner pulley fixtures, 408- synchronization belt tensioner pulleys, 409- motor fixtures, 410- support bodys are consolidated
Determine part, 411- drive shaft bearings, 412- driving shafts, 413- synchronous pulleys one, 414- timing belts one, 415- synchronous pulleys three,
416- synchronous pulleys two, 417- timing belts two, 418- synchronous pulleys four, 419- synchronous pulleys five, 420- timing belts three, 421- is same
Walk belt wheel six, the driven axle bearings of 422-, 423- driven shafts, 424- driven shaft bearing blocks, 425- driven shaft position adjustments bolts；
The 501- helmets, 502- locking belts, 503-3D glasses, 504- earphones.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples, wherein, accompanying drawing forms the application part,
And it is used to explain the present invention together with embodiments of the present invention.But it will be appreciated by those skilled in the art that following examples are simultaneously
Be not to technical solution of the present invention make unique restriction, it is every done under technical solution of the present invention Spirit Essence it is any equivalent
Conversion or change, are regarded as belonging to protection scope of the present invention.
As shown in FIG. 1 to 3, a kind of involvement formula panoramic virtual reality gait training interaction systems of the present invention, mainly by：It is main
Body framework 101, suspension gear 102, the part of walking platform more than 103 form mechanical part, are also equipped with the virtual helmet Dai Yuxun of 3D in addition
Auxiliary completes training on white silk person's head.Main body frame 101 is a vertical frame, by its column 207 and cursor 201, on top
Suspension gear 102 is installed；Walking platform 103 is installed in bottom by its firm banking 215, installs and rotates on firm banking 215
Base 212 and rotary upper cover 218；Suspension gear 102 is used to from the wheelchair lift patient by lifting rope, moves to walking platform
Trained on 103, walking platform 103 according to the speed of travel of patient and the demand of direction of travel, will adjust the angle of walking plate in real time
The speed of service of degree and walking band, feeling patient is walked in a real environment, and then induces its autonomous hair
Power is so as to realizing the purpose of rehabilitation training.This training system is applied to the patient with certain locomotor activity.First it is situated between separately below
Continue each several part mechanical structure：
1. main body frame 101
In terms of Fig. 4~embodiment illustrated in fig. 6, main body frame 101 mainly includes：Cursor 201, pressure bearing 202, zanjon
Ball bearing 203, cursor locking nut 204, rotary fluted disc 205, cursor rotary electric machine 206, column 207, walking platform rotate
Motor 208, walking platform rotary electric machine fixture 209, walking platform rotary fluted disc 210, BOGEY WHEEL 211, rotating base 212, rotation
Base locking nut 213, rolling bearing 214, firm banking 215, rotating base fluted disc 216, locating dowel 217, rotary upper cover 218
These parts.
Cursor 201 is horizontally installed in the top of column 207, and cursor 201 passes through pressure bearing 202, deep groove ball bearing
203rd, cursor locking nut 204, rotary fluted disc 205, the transmission mechanism band of these parts composition of cursor rotary electric machine 206
Move its rotation, the lower section of cursor 201 connection suspension rope 302, so as to from the wheelchair hang patient by rotating suspension rope 302
Walking platform is moved on to come up.In terms of embodiment illustrated in fig. 5, the assembly relation of cursor 201 and transmission mechanism is：The bottom of cursor 201
Portion is fixedly connected with a rotary shaft 219, and hollow shaft is preferably designed as in order to mitigate weight rotary shaft, naturally it is also possible to is solid
Axle；Column 207 is a hollow column, and bearing supports 220 are set on column inwall；Rotary shaft 219 on cursor 201 is certainly
It is inserted at the top of column in column, pressure bearing 202 and deep-groove ball axle is set between rotary shaft 219 and bearing supports 220
203 are held, pressure bearing 202 is located at bearing supports upper end, and deep groove ball bearing 203 is located at bearing supports lower end, sets pressure
The effect of bearing 202 and deep groove ball bearing 203 is in order that cursor 201 is also can be concentric light up and down in the case of compression
Pine rotates；Cursor locking nut 204 is rotatably connected in rotary shaft 219, is kept off in the bottom of deep groove ball bearing 203, is in order that rotating
Arm 201 is not deviate from from column 207.Rotary fluted disc 205 is fixed on the bottom of rotary shaft 219, and cursor rotary electric machine 206 passes through electricity
Machine fixture is fixed on column 207, and the shaft end of cursor rotary electric machine 206 connects a motor fluted disc 221, motor fluted disc 221
Engagement connection rotary fluted disc 205, will drive rotary fluted disc 205 to rotate when cursor rotary electric machine 206 rotates, and due to turning
Active toothed disk 205 is fixed as one by rotary shaft 219 and cursor 201, so can be achieved with cursor when motor 206 rotates
It has rotated.
Further, cursor 201 can not only realize its rotation on column by above-mentioned frame mode, other
Any mechanism that cursor 201 can be driven to be rotated around column all should be within technical scheme category.
As shown in fig. 7, column 207 is connected with firm banking 215 by connector and perpendicular to firm banking 215.Walk
Step platform rotary electric machine 208 is fixed on outside column by walking platform rotary electric machine fixture 209, the axle of walking platform rotary electric machine 208
End connection walking platform rotary fluted disc 210, the engagement connection rotating base of walking platform rotary fluted disc 210 fluted disc 216.Rotating base fluted disc
216 bottoms are fixedly connected with rotating base 212, form more abundant connector, rotating base fluted disc 216 and rotating base 212
It is integrally formed and rotates together.The center of firm banking 215 is provided with fixing axle 222, and rotating base 212 is located in fixing axle 222, and
Supported by rolling bearing 214, locked by rotating base locking nut 213 in shaft end；Fixing axle 222 mainly ensures rotating base
212 stability of rotation, rolling bearing 214 primarily to keeping the flexibility that rotating base 212 rotates, lock by rotating base
Rotating base 212 is mainly limited in fixing axle 222 by nut 213.Rotating base is driven by walking platform rotary fluted disc 210
Fluted disc 216 realizes that rotating base 212 rotates.BOGEY WHEEL 211 is gently to be set when keeping the rotation of walking platform, being provided with two
It is individual, the edge of rotating base 212 is arranged on pivot symmetry.
The upper table face ring of rotating base fluted disc 216 week set several locating dowels 217, the top buckle closure one of locating dowel 217 rotate on
Lid 218, indirectly, rotary upper cover 218 are rotatably arranged on rotating base 212, can so keep rotating base rotate when
Security, while rotary upper cover 218 is the rotation platform of a middle part airbreak.
The main function of rotating base 212 is that it is that load-supporting part is rotary part again, and rotating base fluted disc 216 is actual
On be a ring gear, rotating base fluted disc 216 and rotary upper cover 218 are all fixed on rotating base 212, theoretically can be by
Rotating base fluted disc 216 carrys out load-bearing, and so as to save rotating base 212, but fluted disc is too expensive at that rate, in order to reduce cost event
Using the rotating base fluted disc 216 of ring gear form.Locating dowel 217 essentially consists in lid 218 on support rotating in effect and vacateed
Certain inner space, for installing walking platform 103.The effect of rotary upper cover 218 is to decorate, only at the position of patient's walking
Expose walking band, remaining place is all blocked.
Equally, including walking platform rotary electric machine 208, walking platform rotary electric machine fixture 209, walking platform rotary fluted disc 210,
BOGEY WHEEL 211, rotating base 212, rotating base locking nut 213, rolling bearing 214, rotating base fluted disc 216, in rotation
Bottom rotating mechanism including lid 218, its structure type is nor unique restriction of the present invention.It is any to realize rotating base
212nd, the design for the rotating mechanism that rotating base fluted disc 216, rotary upper cover 218 rotate all is possible in the present invention.
So the purpose of design agentses framework 101 of the present invention is that, in its one rotatable cursor of top design
201, in the rotatable rotating base 212 of its bottom design one, cursor 201 can drive suspension gear 102 to rotate, and rotate
Base 212 can drive walking platform 103 to rotate.
2. suspension gear 102
In terms of Fig. 1, Fig. 2 and Fig. 8, Fig. 9, suspension gear 102 is arranged on cursor 201, and it mainly includes：Directive wheel
301st, suspension rope 302, fixed pulley 303, lifting electric pole 304, pulling force sensor 305, safety hook 306, lifting fixed support
307th, movable pulley 308, guide rail 309.Except directive wheel 301 is on cursor 201, remaining part is all mounted in the inner side of column 207
On wall.
Two directive wheels 301 are one in front and one in back arranged on cursor 201, and suspension rope 302 connects across two directive wheels, one end
Safety hook 306 is connect, the other end is fixed after bypassing movable pulley 308, fixed pulley 303 with pulling force sensor 305, pulling force sensor
305 are fixed on the madial wall of column 207 by a connector.Safety hook 306, it is fixed on suspension rope 302, safety hook
306 are used to catch on the lap belt or safety clothes --- with reflecting parts on clothes on human body, and people is lifted.Motor-driven lifting electric pole 304, upper end are fixation
End, lower end are telescopic end, and telescopic end installation lifting fixed support 307, movable pulley 308 is installed in lifting fixed support 307 lower end.Rise
The telescopic end of electric pole 304 connection lifting fixed support 307 drops, and its object is to be telescoped up to folding and unfolding suspension rope 302 by electric pole
Purpose.Fixed pulley 303 is arranged on column 207, and role is to commutate for suspension rope.Two guide rails 309 are fixed on vertical
On post 207, lift and be fixed with sliding sleeve on fixed support 307, the sliding sleeve only slides on guide rail 309, therefore the work of guide rail 309
With being to allow lifting fixed support 307 to move along a straight line, because the telescopic end for lifting electric pole 304 is fixed on lifting support 307,
So the direction of motion can of electric pole telescopic end directed.Lift the flexible size for also depending on bearing capacity of electric pole 304.It is main
Cursor 201 on body framework 101, which rotates to an angle and (is no more than 90 °), is from the wheelchair moved patient by suspension gear 102
Walking platform is moved on to come up.When cursor rotates, the part suspension rope between directive wheel and movable pulley on cursor can be into
Still rope will not fall off twisted shape, and the maximum anglec of rotation of this mechanism is 0~90 °.
3. walking platform 103
From the point of view of Figure 10~Figure 14, walking platform 103 is mounted under the top of rotating base fluted disc 216 and rotary upper cover 218
In neutral gear between portion, walking platform 103 includes：Support body 401, yielding rubber plate 402, walking plate 403, walking band 404, walking plate
Support bar 405, drive shaft bearing seat 406, synchronous belt tensioner pulley fixture 407, synchronous belt tensioner pulley 408, motor fixture
409th, support body fixture 410, drive shaft bearing 411, driving shaft 412, synchronous pulley 1, timing belt 1, synchronous pulley
3 415, synchronous pulley 2 416, timing belt 2 417, synchronous pulley 4 418, synchronous pulley 5 419, timing belt 3 420, synchronization
Belt wheel 6 421, driven axle bearing 422, driven shaft 423, driven shaft bearing block 424, driven shaft position adjustments bolt 425.
The main function of walking platform 103 is：Carry patient (need to have certain in walking above with the patient of this systematic training
Locomotor activity, simply both legs can not normally be walked in the state of itself total weight is born as normal person, training
Purpose is that makes it recover as normal direction by training).Support body fixture 410 is two root architecture steel parts, is fixed on and turns
On dynamic base fluted disc 216, support body fixture 410 fixes support body 401 above.Further, support body fixture 410 is two grooves
Steel, is close to the bottom of rotating base fluted disc 216, and support body 401 is located at the upper surface of rotating base fluted disc 216, support body fixture 410,
Rotating base fluted disc 216, the three of support body 401 are designed with screw hole, and three is connected and fixed by screw, can so protect
Card support body 401 is constantly in stable state in motion.Support body 401 is a hollow flat part, and the inside is used for the timing belt that shuttles
404；Walking plate support bar 405 there are about 3~4, and tiling is fixed on support body 401；Walking plate 403 is bolted on walking
Above plate support bar 405；Yielding rubber plate 402 is fixed between walking plate support bar 405 and walking plate 403, so can guarantee that
The effective buffering that reduces in motion of walking plate 403 ensures that walking plate will not produce deformation in use.
The main movement mechanism of walking platform is one group of tape handler, and people takes walking in walking and reaches exercise purpose.Electricity
The driving shaft 412 of machine connection is connected to one end of support body 401 by drive shaft bearing seat 406 and drive shaft bearing 411, ensures
Concentricity during rotation；Driven shaft 423 is connected to the another of support body 401 by driven axle bearing 422 and driven shaft bearing block 424
End.Walking band 404 is enclosed between driving shaft 412 and driven shaft 423 and circularizes band, along the upper surface of walking plate 403 and support body 401
Internal cavities operation (is to have friction between walking plate 403 and walking band 404, but the strength of motor is enough customer service that these rub
Wipe).
Further, a rotatable sleeve is covered above driven shaft, driven shaft is fixed on by driven axle bearing 422
On, driven shaft is motionless, but that sleeve is rotary.Walking band 404 is in contact with the sleeve on driven shaft, because
This can adjust the position of driven shaft by regulating bolt 425, and the position of sleeve also changes, therefore can adjust walking band
Elasticity.
The present invention can realize the multi-change speed operation of walking band 404, and this variable-speed operation is by motor and active
Set up variable transmission mechanism between axle 412 and realize, this variable transmission mechanism can use V belt translation mode, can also use
Chain conveyer or gear drive, V belt translation mode is described in the embodiment that accompanying drawing provides.Motor is solid by motor fixing frame 409
The side of support body 401 is scheduled on, synchronous pulley 6 421 is installed on motor shaft, connected between synchronous pulley 5 419 and synchronous pulley 6 421
Timing belt 3 420 is connect, synchronous pulley 5 419 and synchronous pulley 4 418 are co-axially mounted, synchronous pulley 4 418 and synchronous pulley three
Timing belt 2 417 is connected between 415, synchronous pulley 3 415 and synchronous pulley 2 416 are co-axially mounted, in the He of synchronous pulley 2 416
Timing belt 1 is connected between synchronous pulley 1, synchronous pulley 1 is enclosed on driving shaft 412 and (is co-axially mounted), this
Sample can just pass through motor driven spindle rotation.Here, three-level transmission has been passed through and motor speed is delivered to driving shaft 412, phase
Between can change gearratio by changing the model of belt wheels at different levels, can arbitrarily coordinate, it is possible to realize a variety of speed
Output, can arbitrarily set transmission series as needed in other embodiments.In timing belts at different levels, timing belt can be set
Tensioning wheel 408, the rate of tension of timing belt is adjusted by being fixed on synchronous belt tensioner pulley fixture 407.Whole walking platform 103
Be placed on rotating base fluted disc 216, consequently, it is possible to patient is on walking platform 103, both can under the drive of walking band 404, with
The speed Walking same with walking band；Simultaneously because walking platform 103 is provided on the rotating mechanism of main body frame bottom,
So rotated simultaneously also with the rotation of rotating mechanism；Rotary upper cover 218, which encloses, is located at walking edge of table, only exposes walking band
404, patient has safety clothes --- with reflecting parts on clothes protection not fall down walking band, and the main function of rotary upper cover 218 is decoration function.
It is using the operating process during present invention：It is by the rotation of cursor 201 first, drives suspension gear 102 to revolve
Go at patient, then start suspension gear 102 and from the wheelchair lifted patient by safety hook 306, then with rotation
Arm is gone on walking platform 103, then puts down patient.Patient's station walking takes, and then starting walking platform rotary electric machine makes walking
Platform is turned over, and starting walking band operation motor behaves walking band, and people's can is walked while above in rotation, is rotated
Purpose be to allow patient to have a sensation on the spot in person to have reached more preferable training effect so as to induce its autonomous has an effect, by
It is adjustable in the speed speed of rotation, it will not swoon.
In order to realize sense system training, the rotation and walking campaign of people are intended to Wangdu and derive from outside stimulus.Therefore, also directed to
The system devises the 3D helmets, for protecting head part in order to avoid tumble injury, while can also perceive the external world, such as the institute of Figure 15~16
Show, including the helmet 501, locking belt 502,3D glasses 503, earphone 504.After people sees or hears some instructions or temptation, just
It can take action on one's own initiative.
So overall purpose of the invention is, patient is allowed to practise capturing object in virtual reality scenario, hide object
And gait training, patient is guided by virtual element, induction patient makes corresponding reaction, so as to reach Rehabilitation
The effect of training.
The function that the present invention has includes：1. sonic stimulation, the direction sonic stimulation in virtual scene：As random direction goes out
Existing bird cries, and patient needs rotary head to look for source direction, so as to guide patient to turn to；The cadence of patient's training stimulates：In patient
Any period in gait cycle can all add prompt tone, and guiding patient completes the action specified when Tip Sound.2.
Vision guide, occurs random targets thing or barrier in virtual scene, and patient needs to be set for object according to training
Chase or barrier is hidden.3. real-time torque is shown, when patient trains in knee joint and hip joint install sensor, energy
Enough real-time displays go out the torque situation of patient or so leg, while according to real torque state, to judge in virtual reality
Whether the treadmill in personage and reality is kept straight on or is turned.4. adjustment of sensitivity, enhancing or reduction picture virtual portrait are suffered to true
The extent of reaction (left and right leg can be adjusted respectively) of person's torque, such as：It is assumed that the setting right leg of patient is had an effect in 50n/m virtual realities
Treadmill in personage and reality can turn, after sensitivity is turned down, the right leg of same patient need to have an effect 60n/m strength
The treadmill in personage and reality in virtual reality can be made to complete turning action, vice versa.
The achievable training mode of the present invention has：1. collection/crawl training；2. walking route, (straight line, annular, is not advised
Then route) training；3. fluctuating hill path is trained.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
Claims (10)
- A kind of 1. involvement formula panoramic virtual reality gait training interaction systems, it is characterised in that：Including a main body frame (101), One cursor (201) is installed in the upper end of main body frame (101), suspends a suspension rope (302) in midair on cursor (201)；One walking platform rotary electric machine (208), walking platform rotary electric machine (208) axle are installed in the bottom of the main body frame (101) End connects intermeshing walking platform rotary fluted disc (210) and rotating base fluted disc (216), rotating base fluted disc (216) bottom Rotating base (212) is fixedly connected with, rotating base (212) is set in the centrally disposed fixing axle (222) of firm banking (215) On, rotating base fluted disc (216) upper surface setting locating dowel (217), the rotary upper cover (218) of locating dowel (217) top buckle closure one, Airbreak in the middle part of rotary upper cover (218)；Walking platform (103) is also equipped with rotating base fluted disc (216) upper surface, in walking platform (103) autorotation Cover at the middle part airbreak of (218) and expose.
- 2. involvement formula panoramic virtual reality gait training interaction systems according to claim 1, it is characterised in that：The master Body framework (101) includes a column (207), and the cursor (201) is horizontally installed in the top of column (207), cursor (201) bottom is fixedly connected with a rotary shaft (219), and rotary shaft (219) is inserted into column (207)；Cursor rotary electric machine (206) transmission mechanism and rotary shaft (219) drive connection are passed through.
- 3. involvement formula panoramic virtual reality gait training interaction systems according to claim 2, it is characterised in that：The biography Motivation structure include pressure bearing (202), deep groove ball bearing (203), cursor locking nut (204), rotary fluted disc (205), turn Swing arm rotary electric machine (206),Bearing supports (220) are set on column (207) inwall, set between rotary shaft (219) and bearing supports (220) Pressure bearing (202) and deep groove ball bearing (203), cursor locking nut (204) and rotary fluted disc (205) are connected to rotary shaft (219) bottom, motor fluted disc (221), motor fluted disc (221) and turning gear are connected on cursor rotary electric machine (206) output shaft Disk (205) engagement connection.
- 4. the involvement formula panoramic virtual reality gait training interaction systems according to Claims 2 or 3, it is characterised in that：Institute State suspension rope (302) to install by suspension gear (102), the suspension gear (102) includes directive wheel (301) and fixed pulley (303), movable pulley (308), wherein directive wheel (301) are installed on the cursor (201), and fixed pulley (303) is arranged on vertical On post (207), movable pulley (308) is arranged on the lifting fixed support (307) of lifting electric pole (304) telescopic end connection, is risen Drop fixed support (307) is slidably installed on guide rail (309)；The suspension rope (302) bypasses movable pulley across directive wheel (301), one end connection safety hook (306), the other end (308), fixed pulley (303) is connected with pulling force sensor (305) afterwards, and pulling force sensor (305) is fixed on column (207).
- 5. involvement formula panoramic virtual reality gait training interaction systems according to claim 1, it is characterised in that：It is described walk Step platform (103) includes being fixed on support body (401) on rotating base fluted disc (216), and support body (401) is a hollow flat part, and two End is provided through the hole of walking band (404)；3~4 walking plate support bars (405) are laid in support body (401) upper surface, walking plate (403) it is fixed on walking plate support bar (405) above；Driving shaft (412) and driven shaft (423) are arranged on the both ends of support body (401), and walking band (404) bypasses walking plate (403), Ring set is on driving shaft (412) and driven shaft (423).
- 6. involvement formula panoramic virtual reality gait training interaction systems according to claim 5, it is characterised in that：It is described walk Step band (404) is driven by variable transmission mechanism and run.
- 7. involvement formula panoramic virtual reality gait training interaction systems according to claim 6, it is characterised in that：The change Fast transmission mechanism is V belt translation mode, Chain conveyer mode or the gear drive kind of drive.
- 8. involvement formula panoramic virtual reality gait training interaction systems according to claim 7, it is characterised in that：V belt translation The variable transmission mechanism of mode is：Synchronous pulley six (421) is installed, synchronous pulley five (419) and same on motor output shaft Timing belt three (420) is connected between step belt wheel six (421), synchronous pulley five (419) and synchronous pulley four (418) are co-axially mounted, Timing belt two (417), synchronous pulley three (415) and timing belt are connected between synchronous pulley four (418) and synchronous pulley three (415) Two (416) of wheel are co-axially mounted, and timing belt one (414) are connected between synchronous pulley two (416) and synchronous pulley one (413), together Step belt wheel one (413) is enclosed on driving shaft (412).
- 9. involvement formula panoramic virtual reality gait training interaction systems according to claim 8, it is characterised in that：At different levels In timing belt, synchronous belt tensioner pulley (408) is provided with.
- 10. the involvement formula panoramic virtual reality gait training according to claim 1 or 2 or 3 or 5 or 6 or 7 or 8 or 9 is interactive System, it is characterised in that：Also include the 3D helmets being worn on trainer's head, the 3D helmets include the helmet (501), lock Band (502), 3D glasses (503), earphone (504).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106236511B (en) * | 2016-08-31 | 2019-03-01 | 漫步者（天津）康复设备有限公司 | Loss of weight gait image training robot |
| CN106693280A (en) * | 2016-12-29 | 2017-05-24 | 深圳市臻络科技有限公司 | Virtual-reality-based Parkinsonism training method, system and device |
| CN109550132A (en) * | 2017-09-26 | 2019-04-02 | 中国科学院宁波材料技术与工程研究所 | A kind of Proprioception training device and its application in neural rehabilitation |
| CN108079574B (en) * | 2017-12-22 | 2022-01-18 | 深圳华侨城卡乐技术有限公司 | Virtual reality game platform based on carousel equipment and control method thereof |
| CN109065119B (en) * | 2018-06-25 | 2021-06-22 | 广西壮族自治区江滨医院 | Live-action rehabilitation training method and system |
| CN109173159B (en) * | 2018-08-16 | 2020-05-19 | 曼纽科健康产业(广州)有限公司 | Muscle health management system and control method thereof |
| DE102019119025A1 (en) * | 2019-07-12 | 2021-01-14 | Febromed Gmbh & Co. Kg | Radiology holding device for a radiology device |
| CN110882545B (en) * | 2019-12-06 | 2022-06-24 | 腾讯科技（深圳）有限公司 | Virtual object control method and device, electronic equipment and storage medium |
| CN110782968B (en) * | 2019-12-13 | 2022-04-01 | 江西希尔康泰制药有限公司 | Alzheimer disease auxiliary therapeutic instrument |
| CN111773616B (en) * | 2020-07-25 | 2021-12-28 | 西安交通大学 | Active multifunctional omnidirectional running machine |
| CN112295163A (en) * | 2020-09-17 | 2021-02-02 | 叶光明 | Running machine |
| CN112451269B (en) * | 2020-12-03 | 2021-09-17 | 杭州程天科技发展有限公司 | Patient shifting machine |
| CN113082600A (en) * | 2021-04-09 | 2021-07-09 | 山东第一医科大学第二附属医院 | Portable medical rehabilitation automation equipment |
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| IT1393365B1 (en) * | 2009-03-20 | 2012-04-20 | Dinon | ROBOT MOTOR REHABILITATION DEVICE |
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| CN200977372Y (en) * | 2006-07-07 | 2007-11-21 | 叶德顺 | Lumbar and cervical vertebra traction running machine |
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