CN107019617A - A kind of seat balance rehabilitation training robot and its control method - Google Patents
A kind of seat balance rehabilitation training robot and its control method Download PDFInfo
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- CN107019617A CN107019617A CN201710206787.0A CN201710206787A CN107019617A CN 107019617 A CN107019617 A CN 107019617A CN 201710206787 A CN201710206787 A CN 201710206787A CN 107019617 A CN107019617 A CN 107019617A
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- 238000012549 training Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000013011 mating Effects 0.000 claims description 6
- 239000004677 Nylon Substances 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract 1
- 230000009023 proprioceptive sensation Effects 0.000 description 5
- 208000008279 Dumping Syndrome Diseases 0.000 description 4
- 208000032395 Post gastric surgery syndrome Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
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- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 238000012937 correction Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 230000009251 neurologic dysfunction Effects 0.000 description 1
- 208000015015 neurological dysfunction Diseases 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000272 proprioceptive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000392 somatic effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/40—Detecting, measuring or recording for evaluating the nervous system
- A61B5/4005—Detecting, measuring or recording for evaluating the nervous system for evaluating the sensory system
- A61B5/4023—Evaluating sense of balance
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Abstract
The invention discloses a kind of seat balance rehabilitation training robot and its control method.Including armchair structure, chute double leval jib drive mechanism, main shaft driving structure, spindle tilt sensor and crank angle sensor, armchair structure includes supporting armrests frame, headrest, backrest, support seat cushion etc., chute double leval jib drive mechanism includes rocking bar, deceleration machine support, crank, chute connecting rod, stepping reductor and stepper motor etc., and main shaft driving structure mainly includes transmission main shaft, spindle bearing, back-up ring, torsion spring, main shaft orientation block etc..By spindle tilt sensor record and measurement patient angle of inclination, real-time feedback control motor speed and steering promote patient by accessory systems such as backrest, handrails, realized patient's righting；By angular transducer, real-time feedback control motor reversal resets, and is disengaged by rocking bar and chute connecting rod, by motor crank involution dead-center position.
Description
Technical field
The invention belongs to human body recovery engineering field, especially, it is related to a kind of seat balance with Flexible Transmission link
Recovery exercising robot, while also designing the control method of the image training robot.
Background technology
Stroke hemiplegia causes different neurological dysfunctions because of various factors, so as to lose trunk control
Changeability and adaptability, and then there is stiff or even abnormal somatic movement pattern, wherein balance occurs in the patient for having 80%
There is the symptom that the correction of body to the midline is rolled and resisted to hemiplegia, i.e. dumping syndrome in dysfunction, 25% patient
(Pusher Syndrome)。
There are some researches show dumping syndrome and patient's proprioception, muscle control ability etc. are closely related.Face at present
It is many on bed to carry out gravity motion and dynamic balance training using patient and therapist are one-to-one, to strengthen the power of patient's muscle of trunk
Amount and control ability, that is, allow patient to allow it to be tilted to both sides again after occupying stably, or patient is first passively moved close to unbalance point
Relief is returned again on neutral position, and these treatment methods are used for the rehabilitation of morbidity early stage.
There is also the problem of several respects for above-mentioned treatment method：
1st, this process needs therapist's moment to protect patient, but the action gimmick repeatability of progress rehabilitation is higher, easily production
Raw fatigue；
2nd, by patient help to during positive middle position, it is necessary to by therapist's naked eyes auxiliary transverse alignment, not ensure that and find accurately every time
Vertical position.
The focus of research dumping syndrome patient is evaluation, recovers the proprioception of vertical direction (vertical sense) at present, is led to
It is that the position for measuring patient redirects error and feels error vertically often to analyze the effective ways felt vertically.But in the market does not have
Specifically designed for acute stroke patients, especially tilt syndrome patient and carry out the equipment that training is assessed in dynamic equilibrium.
The content of the invention
The invention aims to replace therapist to the manipulation of patient, gradually correct dumping syndrome patient and exist
The proprioception error of vertical direction, helps it to recover trunk balance ability；Proprioception to patient's vertical direction is determined
Amount, exactly record, evaluation, the clinical rehabilitation treatment for after provide reference.
The invention discloses a kind of seat balance rehabilitation training robot, including armchair structure, chute double leval jib transmission knot
Structure and main shaft driving structure, the armchair structure include supporting armrests frame 2, headrest 3, backrest 6, band buckle bandage 9, chest bondage
Band 11, support bar 12, support seat cushion 14, base support 15 and wheel；The chute double leval jib drive mechanism includes rocking bar 25, subtracted
Fast machine support 26, crank 27, chute connecting rod 29, stepping reductor 30 and stepper motor 31；The main shaft driving structure includes passing
Dynamic main shaft 17, spindle bearing 18, back-up ring 19, torsion spring 20, main shaft orientation block 23；The image training robot also includes angle of main shaft inclination
Sensor 24 is spent, the anglec of rotation of the main shaft orientation block 23, i.e., the deflection angle of described support bar 12 are reflected in real time；The instruction
Practicing robot also includes crank angle sensor 28, and the anglec of rotation of the crank 27 is reflected in real time.
Preferably, in the armchair structure, supporting armrests frame 2 is symmetrical set, and passes through tight fixed bolt and support respectively
One end of handrail frame connector 10 is affixed, and the end of supporting armrests frame 2 is connected by snak link with supporting armrests frame handle 1 respectively
Connect, supporting armrests frame connector 10 penetrates support bar 12, it is affixed by bearing pin and support bar 12；Headrest 3 passes through bearing pin and headrest
Connector 4 is connected, and headrest connector 4 is affixed by bearing pin and support bar 12；Backrest 6 passes through mating holes and universal crossed joint 7
One end is connected, and backrest connector 8 is connected by mating holes with the other end of universal crossed joint 7.
Preferably, in the chute double leval jib drive mechanism, stepper motor 31 is carried out with stepping reductor 30 by bolt
Affixed, stepping reductor 30 is fixed on stepping deceleration machine support 26 by bolt, and stepping deceleration machine support 26 is solid by bolt
It is connected on support seat cushion 14；One end of crank 27 is connected with the output shaft of stepping reductor 30 by key, and the other end is by being placed in
Bearing pin formation sliding pair in one end chute of chute connecting rod 29, output torque；The other end of chute connecting rod 29 is by bearing pin with shaking
One end connection of bar 25, forms revolute pair；The other end of rocking bar 25 is provided with the collar, and transmission main shaft 17 is fixed in by holding screw
On.
Preferably, in the main shaft driving structure, spindle bearing 18 is symmetrical set, and passes through bolt and support seat cushion 14
It is affixed；Transmission main shaft 17 is placed on spindle bearing 18, and one end is carried out affixed by bolt and support bar 12；Back-up ring 19 is symmetrical arranged
In the outside of two spindle bearings 18, holding screw 32 is provided with, prevents transmission main shaft 17 from occurring axial float；Torsion spring 20
Be symmetricly set on the inner side of two spindle bearings 18, between be provided with main shaft orientation block 23, one end spring silk of torsion spring 20 is through master
The cooperation aperture of shaft stool 18, other end spring silk is wrapped on main shaft orientation block 23, to form the resistance rotated to transmission main shaft 17
Buddhist nun's link.
Preferably, the spindle tilt sensor 24 is arranged at the remote axle center of main shaft orientation block 23, is gyro
Instrument sensor；The crank angle sensor 28 is arranged on crank 27, is gyro sensor.
Preferably, the armchair structure also includes band buckle bandage 9 and chest binding strip 11, band buckle bandage 9 and chest
Binding strip 11 is arranged to sew up fixation, and the buckle with buckle bandage 9 is placed on rear side of backrest 6, puller strap buckle bandage 9, and chest is tied up
Ligature 11 is located at the center position of backrest 6.
Preferably, nylon jacket 5 is enclosed on the universal crossed joint 7, and its internal diameter is identical with the external diameter of universal crossed joint 7, is used
In fixed universal crossed joint 7, so as to realize being completely fixed relative to support bar 12 of backrest 6.
Preferably, the angle signal that the spindle tilt sensor 24 is exported is inputted by the serial ports A of control panel and controlled
Making sheet card, the angle signal that the crank angle sensor 28 is exported inputs Control card by the serial ports B of control panel；The control
Making sheet card sets a pulse signal to be used for the movement velocity for controlling stepper motor 31, sets a Digital Signals stepping electricity
The direction of motion of machine 31.
Invention additionally discloses the control method of the seat balance rehabilitation training robot, flow is as follows,
After motion starts, the control pulse frequency modulated and direction controlling current potential of stepper motor 31 are set, stepper motor is allowed
31 enter holding state, and the amplitude for controlling pulse is low level, and motor is motionless, and now the serial ports A of control panel is opened, and records main shaft
The angle of inclination for the support bar 12 that gradient sensor 24 is gathered, serial ports B is closed；
Patient carries out the free inclination of left and right directions, and deviation vertical position is more remote, and the impedance for being more damped link is bigger,
When patient is close to side, rocking bar 25 can prop up chute one end of chute connecting rod 29, what spindle tilt sensor 24 was recorded
Inclination angle reaches n ° of the thresholding of setting, waits k1 second, and when detecting inclination angle again and reaching n ° of the thresholding of setting, control pulse is put high electric
Flat, stepper motor 31 is rotated forward, and stepper motor 31 makes support bar 12 reversely turn by driving chute connecting rod 29 to push or pull on rocking bar 25
It is dynamic, gradually reset to vertical position；
Motor is in motion process, and Control card can be missed according to the angle of inclination of support bar 12 and the angle of vertical direction
Difference, carries out PFM calculating with the error rate controller P in PID control, realizes that support bar 12 gradually slows down in reseting procedure；
When the angle of inclination of support bar 12 is less than t ° of error threshold, the amplitude of the control pulse of stepper motor 31 is set to low
Level, stepper motor 31 is stalled, and is waited k2 seconds, stepper motor 31 is inverted, and rocking bar 25 is disengaged with chute connecting rod 29 and contacted, serial ports A
Close, serial ports B is opened；
The angle signal that crank angle sensor 28 is collected is sent to Control card, also according to angle signal and song
The error of the initial zero setting position of handle 27, PFM calculating is carried out with the error rate controller P in PID control, realizes crank 27 multiple
Gradually slow down during position；
When the inclination angle of crank 27 and the error of zero position are less than t ° of error threshold, the width of the control pulse of stepper motor 31
Value is set to low level, and stepper motor 31 is stalled, and closes serial ports B, is again turned on serial ports A, completes whole controlling cycle.
The present invention can realize following beneficial effect：
(1) rationally distributed, structure is terse easy, and control is reliable, easy to use, takes into full account the security of early stage patient.
(2) installation of auxiliary equipment can be adjusted according to the specific stature of patient, patient is more beneficial for and uses, in use
Allow patient gradually to recover trunk control ability, strengthen the proprioception of trunk.
(3) the patient angle of inclination limit can be adjusted according to patient profiles, so as to realize the adjustment of training difficulty.
Brief description of the drawings
Fig. 1 is a kind of the left front to stereogram of seat balance rehabilitation training robot of the present invention；
Fig. 2 is the backward stereogram in the right side of the image training robot of the present invention；
Fig. 3 is the double leval jib drive mechanism schematic diagram of the image training robot of the present invention；
Fig. 4 is the main shaft driving structure schematic diagram of the image training robot of the present invention；
Fig. 5 is the electromechanical closed-loop system control flow chart of the image training robot of the present invention；
Description of reference numerals is as follows：
1-supporting armrests frame handle, 2-supporting armrests frame, 3-headrest, 4-headrest connector, 5-nylon jacket, 6-lean on
The back of the body, 7-universal crossed joint, 8-backrest connector, 9-band buckle bandage, 10-support frame connector, 11-chest binding strip,
12-support bar, 13-rear side deflecting roller, 14-support seat cushion, 15-base support, 16-front side directional wheel, 17-transmission master
Axle, 18-spindle bearing, 19-back-up ring, 20-torsion spring, 21-dc source, 22-stepper motor driver, 23-main shaft is fixed
Position block, 24-spindle tilt sensor, 25-rocking bar, 26-stepping deceleration machine support, 27-crank, 28-crank angle
Sensor, 29-chute connecting rod, 30-stepping reductor, 31-stepper motor.
Embodiment
The seat balance rehabilitation training robot of the present invention, it is impaired for acute stroke patients trunk proprioceptive system
Seriously, it is impossible to keep the symptoms such as sitting balance stabilization, creative carry out seat balance training, its operation principle is as follows：
Torsion spring damping system can prevent patient from swinging to excessively rapid during side, it is to avoid cause damage；Pass through three shaft spaces
Gyro sensor record patient angle of inclination, measures the error of tilt of its relative vertical position, after patient swings to side, this
One signal real-time feedback control motor speed is turned to, the four-bar mechanism of chute connecting rod and motor crank formation single-direction transmission, is passed through
The accessory systems such as backrest, handrail promote patient, realize patient's righting；Afterwards using the angular transducer on crank, feedback control
Motor reversal processed is resetted, and the rocking bar on transmission main shaft is disengaged with chute connecting rod, by stepper motor crank involution dead-center position, is completed
One period of motion.Patient's energy active movement again, but still be limited in original setting range of tilt angles, patient can be again to two
Topple in direction.Also include height-adjustable handrail, backrest, from the binding strip of shoulder immobilized patients.The size of chute connecting rod is set
In respect of a variety of, it can be selected for patient demand, increase or reduction patient institute can inclined angle limits.
To make the purpose, technical scheme and advantage of the invention implemented clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label represent same or similar element or the element with same or like function.Described embodiment is the present invention
A part of embodiment, rather than whole embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to uses
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description to whole accompanying drawings, identical reference represents identical element.It will also be appreciated that as herein
Term "and/or" used includes one or more related listing any of item and all combinations.
It will further be appreciated that when part or unit are referred to as " connecting " or during " coupled " to another part or unit, it can
To be directly connected or coupled to miscellaneous part or unit, or can also there are intermediate member or unit.In addition, for describing portion
Other words of relation should understand in the same fashion between part or unit.
Embodiments of the invention are described in detail below in conjunction with the accompanying drawings.
The seat balance rehabilitation training robot of the present invention includes mechanical part and control section.Wherein, Machinery Ministry subpackage
Include armchair structure, chute double leval jib drive mechanism and main shaft driving structure；Control section is closed-loop control system.
As illustrated in fig. 1 and 2, armchair structure mainly includes supporting armrests frame 2, headrest 3, backrest 6, band buckle bandage 9, chest
Binding strip 11, support bar 12, support seat cushion 14, base support 15 and wheel.Wherein, supporting armrests frame 2 is symmetrical is set,
One end respectively by tight fixed bolt and supporting armrests frame connector 10 is affixed, and the end of supporting armrests frame 2 passes through spring respectively
Button is connected with supporting armrests frame handle 1, and supporting armrests frame connector 10 penetrates support bar 12, is consolidated by bearing pin and support bar 12
Connect；Headrest 3 is connected by bearing pin with headrest connector 4, and to ensure that headrest 3 is rotated, headrest connector 4 passes through bearing pin and support bar
12 is affixed；Backrest 6 is connected by mating holes with one end of universal crossed joint 7, and backrest connector 8 passes through mating holes and universal cross
The other end connection of section 7, nylon jacket 5 is enclosed on universal crossed joint 7, and its internal diameter is identical with the external diameter of universal crossed joint 7, therefore ten thousand
It is completely fixed to crossed joint 7, so as to realize being completely fixed relative to support bar 12 of backrest 6；Band buckle bandage 9 is tied up with chest
Ligature 11 is arranged to sew up fixation, and the buckle with buckle bandage 9 is placed in the rear side of backrest 6, puller strap buckle bandage 9, chest bondage
Band 11 is located at the center position of backrest 6；Support bar 12 is provided with uniform positioning hole, adjustable support arm-rest frame 2, headrest 3, leans on
Carry on the back the height of 6 grade devices；Wheel is divided into front and rear sides, and front side is directional wheel 16, and rear side is deflecting roller 13, facilitates image training robot
It is mobile.Backrest 6 and the bottom of cushion 14 are steel plate, and top is that leather wraps up elastoplast foam.
Connect as shown in figure 3, chute double leval jib drive mechanism mainly includes rocking bar 25, deceleration machine support 26, crank 27, chute
Bar 29, stepping reductor 30 and stepper motor 31.Wherein, stepper motor 31 carried out with stepping reductor 30 by bolt it is affixed,
Stepping reductor 30 is fixed on stepping deceleration machine support 26 by bolt, and stepping deceleration machine support 26 is fixed in branch by bolt
Support on cushion 14；One end of crank 27 is connected with the output shaft of stepping reductor 30 by key, and the other end is connected by being placed in chute
Bearing pin formation sliding pair in one end chute of bar 29, output torque；The other end of chute connecting rod 29 passes through bearing pin and rocking bar 25
One end is connected, and forms revolute pair；The other end of rocking bar 25 is provided with the collar, is fixed in by holding screw on transmission main shaft 17.Institute
Stating drive mechanism can be delivered to the power of stepper motor 31 on transmission main shaft 17.
As shown in figure 4, main shaft driving structure mainly includes transmission main shaft 17, spindle bearing 18, back-up ring 19, torsion spring 20, master
Axle locating piece 23.Wherein, spindle bearing 18 is symmetrical set, affixed by bolt and support seat cushion 14；Transmission main shaft 17 is put
In on spindle bearing 18, one end is carried out affixed by bolt and support bar 12；Back-up ring 19 is symmetricly set on two spindle bearings 18
Outside, be provided with holding screw 32, with prevent transmission main shaft 17 occur axial float, i.e. holding screw 32 transmission lead
Axle 17 is turned to after certain angle, can be withstood spindle bearing 18, be realized mechanical position limitation；Torsion spring 20 is symmetricly set on two main shaft branch
The inner side of seat 18, between be provided with main shaft orientation block 23, one end spring silk of torsion spring 20 passes through the cooperation aperture of spindle bearing 18, separately
One end spring silk is wrapped on main shaft orientation block 23, to form the damping link rotated to transmission main shaft 17.
Spindle tilt sensor 24 is arranged at the remote axle center of main shaft orientation block 23, is gyro sensor, excellent
Selection of land is MPU6050 three-axis gyroscope sensors, and the anglec of rotation of reflection main shaft orientation block 23, also just reflects support bar in real time
12 deflection angle；Crank angle sensor 28 is arranged on crank 27, is similarly gyro sensor, is preferably similarly
MPU6050 three-axis gyroscope sensors, the anglec of rotation of crank 27 can be reflected in real time.
The angle signal that spindle tilt sensor 24 is exported inputs Control card, crank by the serial ports A of control panel
The angle signal that rotary angle transmitter 28 is exported inputs Control card by the serial ports B of control panel；Control card sets a pulse
Signal is used for the movement velocity for controlling stepper motor 31, sets the direction of motion of a digital signal controling stepping motor 31.
Calibration gyro sensor before work.When support bar 12 is placed in vertical position, by spindle tilt sensor
24 along the direction of transmission main shaft 17 anglec of rotation zero setting；The cranking lever 27 of stepper motor 31 is controlled, can when it turns to certain position
To allow support bar 12 to swing equal angular, now by the crank angle sensor 28 on crank 27 along the output shaft side of motor 31
To anglec of rotation zero setting.
As shown in figure 5, the closed-loop control system control flow of the present invention is as follows：
After motion starts, the control pulse frequency modulated and direction controlling current potential of stepper motor 31 are set, stepper motor is allowed
31 enter holding state, and the amplitude for controlling pulse is low level, and motor is motionless, and now the serial ports A of control panel is opened, and records main shaft
The angle of inclination for the support bar 12 that gradient sensor 24 is gathered, the serial ports B of control panel is closed；
Patient carries out the free inclination of left and right directions, and deviation vertical position is more remote, and the impedance for being more damped link is bigger,
When patient is close to side, rocking bar 25 can prop up chute one end of chute connecting rod 29, what spindle tilt sensor 24 was recorded
Inclination angle reaches n ° of the thresholding of setting, waits k1 second, and when detecting inclination angle again and reaching n ° of the thresholding of setting, control pulse is put high electric
Flat, stepper motor 31 is rotated forward, and stepper motor 31 makes support bar 12 reversely turn by driving chute connecting rod 29 to push or pull on rocking bar 25
It is dynamic, gradually reset to vertical position；
Motor is in motion process, and Control card can be missed according to the angle of inclination of support bar 12 and the angle of vertical direction
Difference, carries out PFM calculating with the error rate controller P in PID control, realizes that support bar 12 gradually slows down in reseting procedure；
When the angle of inclination of support bar 12 is less than t ° of error threshold, the amplitude of the control pulse of stepper motor 31 is set to low
Level, stepper motor 31 is stalled, and is waited k2 seconds, stepper motor 31 is inverted, and rocking bar 25 is disengaged with chute connecting rod 29 and contacted, serial ports A
Close, serial ports B is opened；
The angle signal that crank angle sensor 28 is collected is sent to Control card, also according to angle signal and song
The error of the initial zero setting position of handle 27, PFM calculating is carried out with the error rate controller P in PID control, realizes crank 27 multiple
Gradually slow down during position；
When the inclination angle of crank 27 and the error of zero position are less than t ° of error threshold, the width of the control pulse of stepper motor 31
Value is set to low level, and stepper motor 31 is stalled, and closes serial ports B, is again turned on serial ports A, completes whole controlling cycle.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
The present invention is described in detail with reference to the foregoing embodiments for pipe, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, or which part technical characteristic is equally replaced
Change；And these modifications or replacement, the essence of appropriate technical solution is departed from the essence of various embodiments of the present invention technical scheme
God and scope.
Claims (9)
1. a kind of seat balance rehabilitation training robot, including armchair structure, chute double leval jib drive mechanism and spindle drive knot
Structure, it is characterised in that
The armchair structure includes supporting armrests frame (2), headrest (3), backrest (6), support bar (12), support seat cushion (14), bottom
Seat support (15) and wheel；
The chute double leval jib drive mechanism include rocking bar (25), deceleration machine support (26), crank (27), chute connecting rod (29),
Stepping reductor (30) and stepper motor (31)；
The main shaft driving structure includes transmission main shaft (17), spindle bearing (18), back-up ring (19), torsion spring (20), main shaft orientation
Block (23)；
The image training robot also includes spindle tilt sensor (24), and the rotation of the main shaft orientation block (23) is reflected in real time
Gyration, i.e., the deflection angle of described support bar (12)；
The image training robot also includes crank angle sensor (28), and the anglec of rotation of the crank (27) is reflected in real time.
2. image training robot according to claim 1, it is characterised in that in the armchair structure, supporting armrests frame (2) is left
The right side is symmetrical arranged, and one end by tight fixed bolt and supporting armrests frame connector (10) is affixed respectively, supporting armrests frame (2 end
End is connected by snak link with supporting armrests frame handle (1) respectively, and supporting armrests frame connector (10) penetrates support bar (12), is led to
Cross bearing pin and support bar (12) is affixed；Headrest (3) is connected by bearing pin with headrest connector (4), and headrest connector (4) passes through pin
Axle and support bar (12) are affixed；Backrest (6) is connected by mating holes with one end of universal crossed joint (7), and backrest connector (8) leads to
The other end that mating holes is crossed with universal crossed joint (7) is connected.
3. image training robot according to claim 1, it is characterised in that in the chute double leval jib drive mechanism, stepping
Motor (31) carried out with stepping reductor (30) by bolt it is affixed, stepping reductor (30) by bolt be fixed in stepping slow down
On machine support (26), stepping deceleration machine support (26) is fixed on support seat cushion (14) by bolt；One end of crank (27) with
The output shaft of stepping reductor (30) is connected by key, and the other end passes through the bearing pin shape that is placed in the chute of chute connecting rod (29) one end
Into sliding pair, output torque；The other end of chute connecting rod (29) is connected by bearing pin with one end of rocking bar (25), is formed and rotated
It is secondary；Rocking bar (25) other end is provided with the collar, is fixed in by holding screw on transmission main shaft (17).
4. image training robot according to claim 1, it is characterised in that in the main shaft driving structure, spindle bearing
(18) it is symmetrical set, it is affixed by bolt and support seat cushion (14)；Transmission main shaft (17) is placed on spindle bearing (18), and one
End is carried out affixed by bolt and support bar (12)；Back-up ring (19) is symmetricly set on the outside of two spindle bearings (18), thereon
Holding screw (32) is provided with, prevents transmission main shaft (17) from occurring axial float；Torsion spring (20) is symmetricly set on two main shaft branch
The inner side of seat (18), between be provided with main shaft orientation block (23), one end spring silk matching somebody with somebody through spindle bearing (18) of torsion spring (20)
Aperture is closed, other end spring silk is wrapped on main shaft orientation block (23), to form the damping link rotated to transmission main shaft (17).
5. image training robot according to claim 1, it is characterised in that the spindle tilt sensor (24) is set
It is gyro sensor at the remote axle center of main shaft orientation block (23)；The crank angle sensor (28) is arranged on crank
(27) it is gyro sensor on.
6. image training robot according to claim 1, it is characterised in that the armchair structure also includes band buckle bandage
(9) and chest binding strip (11), band buckle bandage (9) is arranged to sew up fixation, band buckle bandage (9) with chest binding strip (11)
Buckle be placed on rear side of backrest (6), puller strap buckle bandage (9), chest binding strip (11) is i.e. positioned at backrest (6) center position.
7. image training robot according to claim 2, it is characterised in that nylon jacket (5) is enclosed on the universal crossed joint (7)
On, its internal diameter is identical with the external diameter of universal crossed joint (7), for fixing universal crossed joint (7), so as to realize that backrest (6) is relative
In being completely fixed for support bar (12).
8. image training robot according to claim 5, it is characterised in that spindle tilt sensor (24) output
Angle signal Control card, the angle signal of crank angle sensor (28) output are inputted by the serial ports A of control panel
Control card is inputted by the serial ports B of control panel；The Control card sets a pulse signal to be used to control stepper motor
(31) movement velocity, sets the direction of motion of a digital signal controling stepping motor (31).
9. according to the control method of any one of the claim 1-8 seat balance rehabilitation training robots, it is characterised in that stream
Journey is as follows,
After motion starts, the control pulse frequency modulated and direction controlling current potential of setting stepper motor (31) allow stepper motor
(31) holding state is entered, the amplitude for controlling pulse is low level, and motor is motionless, and now the serial ports A of control panel is opened, record master
The angle of inclination of the support bar (12) of axle gradient sensor (24) collection, the serial ports B of control panel is closed；
Patient carries out the free inclination of left and right directions, and deviation vertical position is more remote, and the impedance for being more damped link is bigger, works as trouble
When person is close to side, rocking bar (25) can prop up chute one end of chute connecting rod (29), spindle tilt sensor (24) record
Inclination angle reach n ° of the thresholding of setting, wait k1 second, when detecting inclination angle again and reaching n ° of the thresholding of setting, control pulse to put height
Level, stepper motor (31) is rotated forward, and stepper motor (31) makes support bar by driving chute connecting rod (29) to push or pull on rocking bar (25)
(12) rotate backward, gradually reset to vertical position；
Motor is in motion process, angle of inclination and the angular error of vertical direction that Control card can be according to support bar (12),
PFM calculating is carried out with the error rate controller P in PID control, realizes that support bar (12) gradually slows down in reseting procedure；
When the angle of inclination of support bar (12) is less than t ° of error threshold, the amplitude of the control pulse of stepper motor (31) is set to low
Level, stepper motor (31) stalling, is waited k2 seconds, and stepper motor (31) reversion, rocking bar (25) is disengaged with chute connecting rod (29) and connect
Touch, serial ports A is closed, serial ports B is opened；
The angle signal that crank angle sensor (28) is collected is sent to Control card, also according to angle signal and crank
(27) error of initial zero setting position, carries out PFM calculating with the error rate controller P in PID control, realizes that crank (27) exists
Gradually slow down in reseting procedure；
When the inclination angle of crank (27) and the error of zero position are less than t ° of error threshold, the width of the control pulse of stepper motor (31)
Value is set to low level, and stepper motor (31) stalling closes serial ports B, is again turned on serial ports A, completes whole controlling cycle.
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| CN107671844A (en) * | 2017-11-09 | 2018-02-09 | 杭州程天科技发展有限公司 | A kind of assistant robot chest supporting structure |
| CN107692970A (en) * | 2017-10-11 | 2018-02-16 | 青岛大学 | A kind of total balance of the body detection and rehabilitation training equipment |
| CN109674478A (en) * | 2018-12-25 | 2019-04-26 | 沈阳体育学院 | A kind of total balance of the body quality test instrument for training |
| CN111150604A (en) * | 2020-01-06 | 2020-05-15 | 河南牛帕力学工程研究院 | Rehabilitation training device and rehabilitation training support |
| CN113844344A (en) * | 2020-06-27 | 2021-12-28 | 孔祥仁 | Health-care sitting device for overcoming C-shaped spinal deformation and eliminating waist soreness, back pain and fatigue |
| CN114668948A (en) * | 2022-03-24 | 2022-06-28 | 江苏省人民医院（南京医科大学第一附属医院） | Integrated vertical perception training instrument |
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| CN113844344B (en) * | 2020-06-27 | 2023-07-28 | 孔祥仁 | Health-care sitting device for overcoming C-shaped spinal deformation and eliminating waist soreness and back pain and fatigue and hypodynamia |
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