CN107374917A - Electronic body weight loss of weight mechanism and motion control method - Google Patents
Electronic body weight loss of weight mechanism and motion control method Download PDFInfo
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- CN107374917A CN107374917A CN201710509587.2A CN201710509587A CN107374917A CN 107374917 A CN107374917 A CN 107374917A CN 201710509587 A CN201710509587 A CN 201710509587A CN 107374917 A CN107374917 A CN 107374917A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 230000037396 body weight Effects 0.000 title claims abstract description 28
- 208000016261 weight loss Diseases 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000007405 data analysis Methods 0.000 claims abstract description 10
- 230000003028 elevating effect Effects 0.000 claims description 45
- 208000020442 loss of weight Diseases 0.000 claims description 35
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 239000000725 suspension Substances 0.000 claims description 4
- 238000012549 training Methods 0.000 abstract description 17
- 238000004458 analytical method Methods 0.000 abstract description 5
- 230000033228 biological regulation Effects 0.000 abstract description 5
- 230000005021 gait Effects 0.000 abstract description 4
- 210000003141 lower extremity Anatomy 0.000 description 6
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- 238000011161 development Methods 0.000 description 2
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- 230000035876 healing Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004580 weight loss Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000022306 Cerebral injury Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
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- 230000002526 effect on cardiovascular system Effects 0.000 description 1
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- 238000009207 exercise therapy Methods 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
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Classifications
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0481—Hanging
- A61H2203/0487—Hanging upright
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses electronic body weight loss of weight mechanism and motion control method, electronic body weight loss of weight mechanism, including mechanical structure：For the chassis platform that supports human body He can move；Signal acquisition module：For human pressure's information to be converted into voltage signal, motor rotation is converted into voltage signal；Host computer processing module：For receiving voltage signal and human pressure's data are converted into, motor voltage signal is converted into rotating speed；Data analysis module：Data are obtained to host computer processing module and calculate the height of analysis and regulation supporter, and need the speed moved, and the artificial state that regulation needs manually can be passed through.The present invention can help patient to complete gait training, risk data, conveniently and efficiently recover walking ability.
Description
【Technical field】
The present invention relates to the design of mechanical structure, the collection and processing of signal, the motion control of motor, single unit system
Balance and stability, sensor technology, and in particular to electronic body weight loss of weight mechanism and motion control method.
【Background technology】
With the aggravation and the improvement of people's living standards of aging population, lower limb function caused by cardiovascular and cerebrovascular disease hinders
The patient hindered gradually increases, and therefore, healing robot has become the study hotspot of international robot field.Rehabilitation machines
Device people covers the subjects such as medical science of recovery therapy, mechatronics, biomethanics and robotics.It is clinically it is believed that right
Cerebral apoplexy, spinal cord injury and patients with cerebral injury early stage intervention robot assisted ambulation training (robot-assisted gait
Training, RAGT) it can be helped to rebuild normal gait, recover walking ability.RAGT systems by power platform, loss of weight system and
One drive device being connected with leg or foot collectively constitutes, and can provide limbs of patient outside support, make patient in walking
When produce proper motion pattern electromechanical equipment.Some hemiplegic patients are due to the enabling capabilities deficiency of lower limb, at the beginning of rehabilitation training
Phase oneself can not keep standing, it is therefore desirable to carry out rehabilitation training using different loss in weight.
The researcher of the German charitable mechanism of medical university in Fu Langhuo Fils automatic machinery people research center and Berlin opens
The lower limbs rehabilitation training robot of hair, although there is loss of weight system, because its floor space is larger, therefore it is difficult to apply to reality
Life；The lower limbs rehabilitation training robot that summer Wu Xin et al. is developed, its loss of weight system have only used steel cable, security and
Stability is not good enough；The lower limb rehabilitation robot that Dong Yiming is developed, can not although safety and stability has certain guarantee
The loss of weight ability of regulating system.Based on this, urgent need is a kind of to have good safety and stability, and can adapt in difference
Loss of weight rehabilitation training stage.
【The content of the invention】
To solve problems of the prior art, it is an object of the invention to provide electronic body weight loss of weight mechanism and fortune
Flowing control method, the present invention are used for lower limb rehabilitation training, can support human body, the height of adjust automatically human body from the ground, automatically
Load-bearing dynamics is detected, reaches and quantifies trainer's body load-bearing.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
Electronic body weight loss of weight mechanism, including signal acquisition module, host computer processing module, data analysis module, suspention
Vest, elevating motor and the chassis platform that can be moved freely, the telescopic vertical for supporting human body is provided with the platform of chassis
Post and the arm-rest frame for supporting arm, elevating motor are arranged on chassis platform or telescopic column, elevating motor
Steel wire disk is connected with output shaft, steel wire rope is arranged with steel wire disk, the free end of steel wire rope is extended by guider
To the top of telescopic column, the free end of steel wire rope is connected with the crossbeam for hanging suspention vest；
The bottom of chassis platform, which is provided with, to be used to drive the electric wheel hub that chassis platform moves freely, and is connected with electric wheel hub
Joystick, joystick are arranged on arm-rest frame；
The controller of elevating motor and the controller of electric wheel hub are connected with host computer processing module, host computer processing
Module is connected respectively with signal acquisition module and data analysis module, is connected with signal acquisition module for gathering human body to certainly
The pressure sensor of body holding power, the velocity sensor for gathering elevating motor rotating speed and electric wheel hub rotating speed.
The pressure sensor is arranged on the position that sole contacts with ground, and the pressure of supporter is believed for gathering human body
Breath.
The host computer processing module and signal acquisition module pass through wireless transport module wireless connection.
Data disaply moudle is connected with the host computer processing module.
The chassis platform is U-shape structure, and the openend of chassis platform can accommodate the treadmill of treadmill, enable crossbeam
In the surface of treadmill treadmill.
The suspension suspention vest is connected by spring with crossbeam.
The motion control method of electronic body weight loss of weight mechanism, comprises the following steps：
(1) human body is gathered to turn the pressure information of itself holding power, the tach signal of elevating motor and electric wheel hub
Fast signal；
(2) by the human body collected to the pressure information of itself holding power, the tach signal of elevating motor and Electric Motor Wheel
The tach signal of hub is respectively converted into human body and the pressure of itself holding power, the rotating speed of elevating motor and electric wheel hub is turned
Speed；
(3) according to the human body being converted to of step (2) to the pressure of itself holding power, the rotating speed of elevating motor, then
With reference to human body A/W, current loss of weight ratio is obtained, by the loss of weight than being compared with the loss of weight of setting compared with obtaining lifting motor needs
The output torque wanted；(4) lifting electric is controlled according to the power output of the lifting motor needs of the human body needs of step (3) calculating
The rotation of machine, the height of suspention vest is adjusted by the rotation of elevating motor；
(5) when detecting that human body is in setting range to the pressure of itself holding power, control elevating motor stops turning
It is dynamic.
Compared with prior art, the present invention has the advantages that：
The speed that the present invention passes through pressure sensor, the velocity sensor of collection elevating motor rotating speed and electric wheel hub rotating speed
Degree sensor gathers human body and the pressure information of itself holding power, the tach signal of elevating motor and electric wheel hub is turned respectively
Fast signal, then exported by signal acquisition module above- mentioned information to host computer processing module, host computer processing module is by human body pair
The tach signal of the pressure information of itself holding power, the tach signal of elevating motor and electric wheel hub is respectively converted into human body pair
The rotating speed of the pressure of itself holding power, the rotating speed of elevating motor and electric wheel hub；Data analysis module meter is according to human body to certainly
The pressure information of body holding power and the tach signal of elevating motor, in conjunction with human body A/W, current loss of weight ratio is obtained,
By the loss of weight than with the loss of weight of setting frequently compared with, obtain lifting motor needs output torque, host computer processing module always according to
The rotating speed of electric wheel hub calculates the velocity of rotation required for electric wheel hub；Host computer processing module is needed by lifting motor again
Output torque control the rotation of elevating motor, drive steel wire disk to rotate come folding and unfolding steel by the rotation of elevating motor
Cord, and the height of suspention vest further is adjusted, host computer handles rotation of the mould according to required for the electric wheel hub of calculating
The rotating speed of the controller control electric wheel hub of speed control electric wheel hub, make the rotating speed for turning to read required for reaching of electric wheel hub；
The present invention is electronic by being provided with the electric wheel hub for being used for driving chassis platform to move freely in the bottom of chassis platform
Joystick is connected with wheel hub, joystick is arranged on arm-rest frame, therefore when patient uses the electronic body weight of the present invention
During loss of weight mechanism, automatic moving can be facilitated；
Telescopic column of the invention by being provided for supporting human body on the platform of chassis, pass through the flexible of telescopic column
Property, electronic body weight loss of weight mechanism of the invention can adapt to the patient of different heights, convenient use.
Further, the voltage signal that the present invention is obtained signal acquisition module using wireless transport module is sent to upper
Machine processing module, therefore the wiring issue in test can be reduced, simplify equipment, reduce test equipment and walking process is done
Disturb.
Further, the present invention sets data disaply moudle, and the original human pressure that can be gathered first with real-time display believes
Number, put down and distinctly display out；Second, loss of weight amount, convenient use can be set；3rd, it can show in human walking procedure
Speed and pressure change and the control speed of travel and direction.
Further, chassis platform is U-shape structure, and the openend of chassis platform can accommodate the treadmill of treadmill, make horizontal stroke
Beam is at the surface of treadmill treadmill, therefore the present invention can coordinate treadmill to use, under conditions of natural loss of weight,
Long-time original place training is carried out in treadmill.
【Brief description of the drawings】
Fig. 1 is the composition structural representation of the electronic body weight loss of weight mechanism of the present invention；
Fig. 2 is loss of weight control flow schematic diagram of the present invention；
Fig. 3 is mass motion control flow schematic diagram of the present invention；
Fig. 4 is the signal acquisition circuit of the present invention；
Fig. 5 is telescopic column expansion rail schematic diagram.
Wherein, 1- chassis platform, 2- universal wheels, 3- electric wheel hubs, 4- battery packs, 5- steel wire ropes, 6- telescopic columns, 7- are helped
Hand cradle, 8- crossbeams, 9- tracks, 9-1- inner tubes, 9-2- outer tubes, 9-3- positioning holes.
【Embodiment】
It is next with reference to the accompanying drawings and examples that the present invention is further illustrated.
As shown in Figure 1-Figure 3, electronic body weight loss of weight mechanism of the invention, including the processing of signal acquisition module, host computer
Module, data analysis module, suspend vest, elevating motor and the chassis platform 1 that can be moved freely in midair, set on chassis platform 1
The telescopic column 6 for supporting human body and the arm-rest frame 7 for supporting arm are equipped with, elevating motor is arranged on chassis platform
1 or telescopic column 6 on, steel wire disk is connected with the output shaft of elevating motor, steel wire rope 5, steel are arranged with steel wire disk
The free end of cord 5 extends to the top of telescopic column 6 by guider, and the free end of steel wire rope 5 is connected with for hanging
Suspend the crossbeam 8 of vest in midair, suspension suspention vest is connected by spring with crossbeam 8；
The bottom of chassis platform 1, which is provided with, to be used to drive the electric wheel hub 3 that chassis platform 1 moves freely, and is connected on electric wheel hub 3
Joystick is connected to, joystick is arranged on arm-rest frame 7；
The controller of elevating motor and the controller of electric wheel hub 3 are connected with host computer processing module, at host computer
Reason module is connected respectively with signal acquisition module and data analysis module, is connected with signal acquisition module for gathering human body pair
The pressure sensor of itself holding power, the velocity sensor for gathering elevating motor rotating speed and the rotating speed of electric wheel hub 3；Pressure
Sensor is arranged on the position that sole contacts with ground, for gathering pressure information of the human body to supporter.
As shown in figure 1, chassis platform 1 is U-shape structure, the openend of chassis platform 1 can accommodate the treadmill of treadmill, make
Crossbeam 8 is at the surface of treadmill treadmill.
The motion control method of the electronic body weight loss of weight mechanism of the present invention, with reference to Fig. 2 and Fig. 3, comprises the following steps：
(1) human body is gathered to turn the pressure information of itself holding power, the tach signal of elevating motor and electric wheel hub 3
Fast signal；
(2) by the human body collected to the pressure information of itself holding power, the tach signal of elevating motor and Electric Motor Wheel
The tach signal of hub 3 is respectively converted into human body and the pressure of itself holding power, the rotating speed of elevating motor and electric wheel hub 3 is turned
Speed；
(3) according to the human body being converted to of step (2) to the pressure of itself holding power and the rotating speed of elevating motor, then
With reference to human body A/W, current loss of weight ratio is obtained, by the loss of weight than being compared with the loss of weight of setting compared with obtaining lifting motor needs
The output torque wanted；
(4) rotation of elevating motor is controlled according to the output torque of the lifting motor needs of step (3) calculating, passed through
The height of vest is suspended in the rotation of elevating motor in midair to adjust；
(5) when detecting that human body is in setting range to the pressure of itself holding power, control elevating motor stops turning
It is dynamic.
Embodiment
The electronic body weight loss of weight mechanism of the present invention includes mechanical structure portion, and mechanical structure portion includes：
For the chassis platform 1 that supports human body He can move；Signal acquisition module：As shown in figure 4, it is used for human body pair
The pressure information of itself holding power is converted to voltage signal, and the turn signal of motor rotation is converted into voltage signal, label
S1 is connected to pressure sensor, and sensor is connected to another port -3.3V voltages, and label PA.0 is connected to the I/O of processor
The AD acquisition terminals of port；Host computer processing module：Changed respectively for receiving piezoelectric signal, and by above-mentioned three kinds of piezoelectric signals
Pressure data for human body to supporter, the voltage signal of motor is converted into rotating speed；Data analysis module：At host computer
Reason module obtains pressure data and rotary speed data and is calculated, analyzed, adjust the exporting to change the height of supporter of lifting motor
Degree, and the speed that platform needs in chassis move, and manually operated joystick can be passed through and adjust the state needed.
System also includes wireless transport module：Voltage signal for signal acquisition module to be obtained is sent to by bluetooth
Host computer processing module；Movable chassis platform is the motor-driven carrier based on electric wheel hub, and motor-driven carrier is whole mechanism
Base, chassis platform openings end are front end, and two ends of its openend respectively set a universal wheel, on the platform of chassis with opening
It is rear end to hold relative one end, and electric wheel hub is arranged on rear end as trailing wheel；Electric wheel hub uses 24v battery powereds, passes through drive
Dynamic circuit connection wheel hub motor, the control unit of electric wheel hub can cut-off indirect control Electric Motor Wheel by control drive circuit
Velocity of rotation；Data disaply moudle is capable of pressure information, velocity information and the side of real-time display host computer processing module acquisition
To information；
The selection of steel wire rope of the present invention, rule of thumb formula F≤50/K
In formula, F (kg) is the Fracture Force of steel wire rope, and K is safety coefficient, K=4；D (mm) is the diameter of steel wire rope；Work as F=
During 150kg, D >=3.46mm, therefore, the design are 6 × 7 from round-strand rope, choose D=4mm, and steel cord ends use is opened
Stomochord section is attached；
The selection of spring, it is assumed that patient weight 150kg, therefore the maximum pull that every spring can bear should exceed
750N, according to mechanical design handbook data, the diameter d=6mm of selected spring, mean diameter of coil D=65mm, allowable shear stress τp=
585MPa, the maximum pull that can bear are 796N, number of coils n=15, rigidity k=3N/mm, extension spring hook
Form is LVII types；
It is different in view of Patient height, it is assumed that Patient height is 152~188cm, excursion 36cm, and loss of weight pattern is
When 30%, patient 150kg, spring deformation amount is 25cm, so the length and joystick of the track (see Fig. 5) of telescopic column
Stroke have to be larger than 51cm.The track 9 of telescopic column includes the outer tube 9-2 for being arranged on bottom, outer tube 9-2 upper end insertion
There is inner tube 9-1, coordinate between inner tube 9-1 outer wall and outer tube 9-2 inwall for gap, inner tube 9-1 and outer tube 9-2 tube wall edge
Their radial direction offer some groups be used for position positioning hole 9-3, by positioning hole setting latch can make inner tube 9-1
It is relatively fixed with outer tube 9-2, it is achieved thereby that the regulation to telescopic column height, so as to the patient suitable for different heights, is carried
The universality of high equipment.
Joystick is chosen, joystick has the advantages that small volume, precision height, Complete Synchronization, self-locking property are good, and
PLC access interface is also provided, controlled in real time with reaching process, for ensure joystick can normal work, patient uses process
In, human hand opereating specification is limited, and for security consideration, during preventing use, because the tensile strength of handle is inadequate, handle is rolled over
Disconnected to wait the appearance that sudden hurt accident is caused to patient, its tensile strength must be more than the body weight of patient, i.e.,
F=mg=150 × 10=1500N
With reference to above-mentioned analysis, the stroke that the present invention chooses joystick is 600mm, and selected joystick parameter is defeated
Enter voltage 24V, maximum load 2000N, speed 13mm/s.
Pressure sensor is chosen, body weight is 150kg patient, and under 30% loss of weight pattern, suffered pulling force is 450N,
From the standard for the advantages that measurement accuracy is high, stability is good, temperature drift is small, output symmetry is good, compact-sized
Flexiforce sensors, its range are 0~750N.
Electric wheel hub voltage is 24V, power 350W, diameter of tyres 20cm, and the wide 5cm of tire, speed per hour is 28 kilometers, Electric Motor Wheel
The drive device of hub is 24V motor drivers, and battery pack 4 is connected with 24V motor drivers, and the supply of required energy is
24V lithium battery, host computer can control the rotating speed of Electric Motor Wheel and the direction of motion of total system；Elevating motor can reach
The moment of torsion of pull-up human body, and can be real-time, rotating speed is quickly adjusted, elevating motor rotating speed and moment of torsion algorithmic formula are as follows：
Power of motor：P=1.732 × U × I × cos φ, U is voltage, and unit V, I are electric current, unit A；
Motor torque：T=9549 × P/n；
Power of motor torque=9550 × power output/output speed
Torque=9550 × power output/output speed.
P is power kW in formula, and T is that torque Nm, n are rotating speed r/min.
When in use, method is as follows for the electronic body weight loss of weight mechanism of the present invention：
Step 1：Human body is gathered for support oneself and to the pressure information of supporter；
Step 2：Calculating analysis is carried out to the pressure information collected and obtains human pressure's data, and according to pressure information
Pulling force size of the supporting construction to human body is adjusted, torque of the pulling force control depending on motor, reaching human leg can support
Body weight pressure size；
Step 3：Chassis platform starts to advance, and can be adjusted to required pace, moved by joystick
During, human pressure is detected, pulling force of the supporter to human body is adjusted in real time according to pressure information, so as to reach in motion process
The effect of real-time loss of weight.
The position for being arranged on sole using two pressure sensors are provided with step 1 and being contacted with ground, gathers human body
To the pressure information of supporter.
Compared with prior art, the present invention has technique effect beneficial below：
Present system using pressure sensor detection human body pressure information, then using signal acquisition module by pressure
Information is converted to voltage signal, using host computer processing module receiving voltage signal and is converted into pressure information, utilizes number
Calculating analysis is carried out to the pressure information that host computer processing module obtains according to analysis module and obtains human pressure's size, using pressure
Data when pressure data is beyond normal setting data area, then can be drawn compared with the loss of weight amount needed by adjusting
Power size, reach weight loss effect, so can quickly adjust weight loss effect in real time, ensure that the pressure on human body and ground is certain,
The body ability to bear of tester is protected, reduces the secondary injury that user is subject to.
The present invention is faster than artificial regulation using power resources of the more quick elevating motor as pulling force, governing speed
Speed, the height efficiency of artificial regulation supporter is slow, easily estimates mistake to human pressure, so as to cause to damage to human body, electricity
Motivation can be very good to reach required loss of weight pressure size by control, and so as to protect user, faster adjustment is first
Beginning state, and the torque of control motor in real time in motion process, ensure that loss of weight amount is constant in different conditions.
The present invention uses electric wheel hub, therefore makes single unit system conveniently moving, cannot be automatically moved compared to former
Device, the present invention be capable of manual control motion speed and track, according to the body weight of user set loss of weight amount, be moved through
Pulling force is automatically adjusted in journey, keeps loss of weight amount constant, reaches the effect more preferably used.
The present invention can reduce the dress burden of user, improve flexibility, and loss of weight support frame can be adjusted in real time, can be real
Existing different height and weight persons progress weight-losings, loss of weight arm-rest frame width, height adjustable, while can be 90 degree with abduction, it can realize
Different fat or thin people use.Electric wheels are arranged at single unit system bottom, the speed of the walking required for can adjusting, use inhomogeneity
The trainer of type uses, also convenient to carry, and uses over long distances, and large-capacity battery is more suitable for using for a long time.Suspention vest is set
Meter is based on human body inverted triangle form, and power can be made to be evenly distributed on trunk surrounding.Control system can monitor trainer in real time
The speed of travel, the stabilization of rotation direction and loss of weight amount is controlled, using more convenient comfortable.
Meanwhile automatically control integral platform can overall forward-reverse turn, and adjust the speed of motion, avoid automatically
The function of barrier, treadmill can also be coordinated so that patient is during loss of weight is suspended in midair, on-the-spot training.It is that one kind is convenient just
Prompt remedy electric training apparatus.
Because patients with cerebral apoplexy may lose intelligence because brain cell is impaired, the multi abilities such as consciousness and motion.However,
As an organism, some positions of human body have the ability to recover its shape by regenerating, and recover its function by retraining,
This includes brain and spinal cord.Based on this hypothesis, carry out gait rehabilitation plan, to allow patient to rediscover oneself in this one kind
Locomitivity, by the action repeated, stimulate the functional rehabilitation of spinal cord injury；
Wheelchair or bed during restoration for a long time, weaken the ability that leg muscle supports oneself body weight, and therapist is necessary
Patient is helped in rehabilitation training, this needs to consume very big time and efforts.
The electronic body weight loss of weight mechanism of the present invention can assist a ruler in governing a country doctor and disabled patient is resumed training, and fill up clinic
Many leaks of health exercise therapy, it is even more to be expected to substitute manual therapeutic in the near future, is robot technology in rehabilitation medical
The once important practice in field, the exploration and research of healing robot make the contact of medical science and engineering closer, are cured for the mankind
Treat career development and opened up more wide vision, the development to human future has important real value.
When rehabilitation carries out rehabilitation training by electronic loss of weight mechanism, patient needs to put on suspention vest in advance
Etc. auxiliary equipment, rehabilitation is reached commitment positions by instruments such as wheelchairs, i.e., below intermediate transverse girder and face mechanism column
The position of beam；Steel wire rope and suspention vest and the connecting line of pressure sensor and controller have been reconnected, has passed through sole and ground
The pressure sensor measurement human body that contact point is placed is to itself holding power, after being converted into voltage signal, by wireless communication module,
Voltage signal is transmitted to host computer, through host computer processing module and data analysis and processing module, obtains pressure information and motor
Control signal, pressure information graphically shows that motor control signal is transmitted back to control by wireless module on host computer
Device processed, and then realize adaptive loss of weight；When rehabilitation can stand up by mechanism bipod, in the case where other people help, enter one
180 ° of step rotation is extremely back to mechanism vertical beam post position；Again by the control of handle in mechanism, realize to hub motor control, with machine
The motion auxiliary of structure completes rehabilitation training.Mechanism can also coordinate treadmill, reach the purpose of on-the-spot training.
Claims (7)
1. electronic body weight loss of weight mechanism, it is characterised in that including signal acquisition module, host computer processing module, data analysis
Module, suspend vest, elevating motor and the chassis platform (1) that can be moved freely in midair, be provided with chassis platform (1) for branch
Support the telescopic column (6) of human body and arm-rest frame (7) for supporting arm, elevating motor be arranged on chassis platform (1) or
On telescopic column (6), steel wire disk is connected with the output shaft of elevating motor, steel wire rope (5), steel are arranged with steel wire disk
The free end of cord (5) extends to the top of telescopic column (6) by guider, and the free end of steel wire rope (5) is connected with use
In the crossbeam (8) of suspension suspention vest；
The bottom of chassis platform (1), which is provided with, to be used to drive the electric wheel hub (3) that chassis platform (1) moves freely, electric wheel hub (3)
On be connected with joystick, joystick is arranged on arm-rest frame (7)；
The controller of the controller and electric wheel hub (3) of elevating motor is connected with host computer processing module, host computer processing
Module is connected respectively with signal acquisition module and data analysis module, is connected with signal acquisition module for gathering human body to certainly
The pressure sensor of body holding power, the velocity sensor for gathering elevating motor rotating speed and electric wheel hub (3) rotating speed.
2. electronic body weight loss of weight mechanism according to claim 1, it is characterised in that the pressure sensor is arranged on pin
The position contacted with ground is slapped, for gathering pressure information of the human body to supporter.
3. electronic body weight loss of weight mechanism according to claim 1, it is characterised in that the host computer processing module and letter
Number acquisition module passes through wireless transport module wireless connection.
4. electronic body weight loss of weight mechanism according to claim 1, it is characterised in that connect in the host computer processing module
It is connected to data disaply moudle.
5. electronic body weight loss of weight mechanism according to claim 1, it is characterised in that the chassis platform (1) is U-shaped knot
Structure, the openend of chassis platform (1) can accommodate the treadmill of treadmill, make crossbeam (8) be at treadmill treadmill just on
Side.
6. electronic body weight loss of weight mechanism according to claim 1, it is characterised in that the suspension suspention vest passes through bullet
Spring is connected with crossbeam (8).
7. the control method based on the electronic body weight loss of weight mechanism described in claim, it is characterised in that comprise the following steps：
(1) rotating speed of the human body to the pressure information of itself holding power, the tach signal of elevating motor and electric wheel hub (3) is gathered
Signal；
(2) by the human body collected to the pressure information of itself holding power, the tach signal of elevating motor and electric wheel hub (3)
Tach signal be respectively converted into human body to the pressure of itself holding power, the rotating speed of elevating motor and electric wheel hub (3) turn
Speed；
(3) according to the human body being converted to of step (2) to the pressure of itself holding power and the rotating speed of elevating motor, in conjunction with
Human body A/W, obtain current loss of weight ratio, by the loss of weight than with the loss of weight of setting frequently compared with, obtain lifting motor needs
Output torque；(4) rotation of elevating motor is controlled according to the output torque of the lifting motor needs of step (3) calculating, led to
Cross elevating motor rotation come adjust suspention vest height；
(5) when detecting that human body is in setting range to the pressure of itself holding power, control elevating motor stops operating.
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| CN201710509587.2A CN107374917A (en) | 2017-06-28 | 2017-06-28 | Electronic body weight loss of weight mechanism and motion control method |
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| CN201710509587.2A CN107374917A (en) | 2017-06-28 | 2017-06-28 | Electronic body weight loss of weight mechanism and motion control method |
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