CN107617190A - Weight-losing rehabilitation platform - Google Patents
Weight-losing rehabilitation platform Download PDFInfo
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- CN107617190A CN107617190A CN201711049698.6A CN201711049698A CN107617190A CN 107617190 A CN107617190 A CN 107617190A CN 201711049698 A CN201711049698 A CN 201711049698A CN 107617190 A CN107617190 A CN 107617190A
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- 230000007246 mechanism Effects 0.000 claims abstract description 159
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- 230000000694 effects Effects 0.000 claims abstract description 10
- 238000012549 training Methods 0.000 claims description 67
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- 230000004580 weight loss Effects 0.000 claims description 35
- 230000003068 static effect Effects 0.000 claims description 21
- 230000005570 vertical transmission Effects 0.000 claims description 10
- 238000013519 translation Methods 0.000 claims description 9
- 230000005571 horizontal transmission Effects 0.000 claims description 7
- 208000020442 loss of weight Diseases 0.000 abstract 1
- 208000016261 weight loss Diseases 0.000 description 35
- 239000013585 weight reducing agent Substances 0.000 description 15
- 238000000034 method Methods 0.000 description 8
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Abstract
The invention discloses a kind of weight-losing rehabilitation platform, the weight-losing rehabilitation platform includes support, DELTA mechanisms, drive system and control system.DELTA mechanisms are movably located on support, and trainer is suitable to move under the support of DELTA mechanisms, and DELTA mechanisms can detect the direction of motion of trainer.Drive system is connected with DELTA mechanisms to drive the activity on support of DELTA mechanisms.Control system electrically connects with DELTA mechanisms and drive system respectively.Weight-losing rehabilitation platform according to embodiments of the present invention has actively and passively twofold motion pattern, suitable for the different rehabilitation stages of patient, the submissive tracking of elastic connection and active is realized using DELTA mechanisms, it ensure that actuating station only has translational degree of freedom, prevent trainer from turning on one's side, improve the security performance of weight-losing rehabilitation platform.In addition, user by adjusting the height of DELTA mechanisms, can detect force snesor change realize it is adjustable from 0 100% to the quantitative loss of weight for suffering from mouse, suitable for the regulation in different rehabilitation stages.
Description
Technical Field
The invention relates to the technical field of rehabilitation platforms, in particular to a weight-losing training rehabilitation platform
Background
The invention discloses a novel structure platform for weight loss training rehabilitation, which is applicable to the technical field of rehabilitation training and can be applied to the technical field of weight loss training of hemiplegic rats suffering from spinal cord injury, brain injury and other diseases. The incidence of disability diseases such as spinal cord injury and cerebral apoplexy tends to increase year by year, and a series of problems such as the reduction of the quality of life of patients, the increase of the nursing cost of family members, and the increase of medical expenses are urgently needed to be solved. At present, the rehabilitation therapy aiming at spinal cord injury and the like mainly comprises three methods, namely an operation therapy method, a drug therapy method and exercise training. The former two have the disadvantages of difficult implementation, low cure rate, side effect and the like, and the comprehensive therapy combining sports training is more widely accepted. At present, for the design of a sport rehabilitation platform, some researches such as a treadmill platform, an exoskeleton robot and the like exist at home and abroad, but the sports rehabilitation platform has the defects of single training mode, incapability of providing weight reduction support for patients and the like, and the expected effect on the rehabilitation training of the patients is difficult to achieve. Therefore, the research on the active and passive movement combined with the multitask movement rehabilitation platform with the weight reduction function is urgently needed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a weight-reducing training rehabilitation platform which has a plurality of task motion modes of weight-reducing active and passive motion joint.
The weight-losing training rehabilitation platform comprises the following components: a support; a DELTA mechanism movably disposed on the frame, the trainer adapted to move under the support of the DELTA mechanism, and the DELTA mechanism detecting the direction of movement of the trainer; a drive system coupled to the DELTA mechanism for driving the DELTA mechanism to move on the carriage; a control system electrically coupled to the DELTA mechanism and the drive system, respectively.
According to the weight-reducing training rehabilitation platform provided by the embodiment of the invention, as the DELTA mechanism is movably arranged on the bracket, a trainer is suitable for moving under the support of the DELTA mechanism, and the DELTA mechanism can detect the moving direction of the trainer, so that the weight-reducing training rehabilitation platform has multiple moving modes and is suitable for different rehabilitation stages of a patient.
In some embodiments, the drive system includes a horizontal motion system having: a horizontal guide rail extending in a horizontal plane; the horizontal guide block can be slidably arranged on the horizontal guide rail, and the DELTA mechanism is connected with the horizontal guide block; and the horizontal transmission mechanism drives the horizontal guide block to slide along the horizontal guide rail.
Specifically, the horizontal transmission mechanism is a belt transmission mechanism.
In particular, the drive system comprises a vertical motion system having: a vertical guide rail extending on a vertical plane; the vertical guide block is slidably arranged on the vertical guide rail, and the DELTA mechanism is connected with the vertical guide block; and the vertical transmission mechanism drives the vertical guide block to slide along the vertical guide rail.
Specifically, the vertical transmission mechanism is a lead screw nut transmission mechanism.
In some embodiments, the drive system comprises: the two X-axis guide rails are arranged on the bracket at intervals; the two X-axis guide blocks are respectively arranged on the two X-axis guide rails in a sliding manner; the X-axis direction belt transmission mechanism is arranged on the X-axis guide rail and is connected with the X-axis guide block; the two Z-axis guide rails are respectively fixed on the two X-axis guide blocks; the two Z-axis guide blocks are respectively arranged on the two Z-axis guide rails in a sliding manner; the Z-axis direction lead screw nut transmission mechanism is arranged on the Z-axis guide rail and is connected with the Z-axis guide block; two ends of the Y-axis guide rail are respectively fixed on the two Z-axis guide blocks; the Y-axis guide block is slidably arranged on the Y-axis guide rail; the Y-axis direction belt transmission mechanism is arranged on the Y-axis guide rail and is connected with the Y-axis guide block; wherein the DELTA mechanism is provided on the Y-axis guide block.
In some embodiments, the drive system comprises a rotational motion system comprising: the DELTA mechanism is rotatably arranged on the rotating support frame; the rotating motor is arranged on the rotating support frame, and a motor shaft of the rotating motor is connected with the DELTA mechanism to drive the DELTA mechanism to rotate.
In some embodiments, the DELTA mechanism comprises: the static platform is movably arranged on the bracket; the movable platform is arranged below the static platform; the movable arm assembly is connected between the static platform and the movable platform, and the angle of the movable arm assembly changes when the movable platform and the static platform perform relative translation; the translational sensing assembly is arranged on the static platform and detects the angle change of the movable arm assembly; the suspender is arranged on the movable platform and is used for supporting the trainer to move.
Specifically, the boom is rotatably provided on the movable platform, and the DELTA mechanism includes: and the rotation sensor is arranged on the movable platform and is used for detecting the rotation angle of the suspender.
In some embodiments, the DELTA mechanism comprises: the outer frame is connected with the static platform and arranged on the outer sides of the movable arm assembly and the movable platform.
Specifically, the DELTA mechanism includes: and the springs are respectively connected between the outer frame and the movable platform.
In some embodiments, the DELTA mechanism further comprises a force sensor disposed on the outer frame for detecting a weight loss of the DELTA mechanism to the trainer.
In some embodiments, the weight loss training rehabilitation platform has an active mode in which the control system controls the direction of activity of the DELTA mechanism in the direction of movement of the trainer detected by the DELTA mechanism; in the passive mode, the control system controls the direction of activity of the DELTA mechanism in a predetermined direction.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a front view of the overall structure of a weight-loss training rehabilitation platform according to an embodiment of the invention.
Fig. 2 is a perspective view of the overall structure of the weight-loss training rehabilitation platform according to the embodiment of the invention.
FIG. 3 is a partial configuration diagram of the DELTA mechanism according to the embodiment of the present invention.
Fig. 4 is a structural diagram of a movable platform according to an embodiment of the present invention.
Fig. 5 is a partial block diagram of a boom of an embodiment of the invention.
Fig. 6 is a schematic diagram of the working principle of the weight-loss training rehabilitation platform according to the embodiment of the invention.
Reference numerals:
a weight-losing training rehabilitation platform 1000,
A bracket 100,
A DELTA mechanism 200,
A static platform 210, a movable platform 220, a movable arm assembly 230, a translational sensing assembly 240, a suspension rod 250, a connecting frame 251, a rotation sensor 260, an outer frame 270, a spring 280, a force sensor 290,
A drive system 300,
A horizontal motion system 310,
An X-axis guide rail 311, an X-axis guide block 312, an X-axis direction belt transmission mechanism 313, a Y-axis guide rail 314, a Y-axis guide block 315, a Y-axis direction belt transmission mechanism 316,
A vertical motion system 320,
A Z-axis guide rail 321, a Z-axis guide block 322, a Z-axis direction lead screw nut transmission mechanism 323,
A rotational motion system 330,
A rotating motor 331, a rotating support frame 332,
The system 400 is controlled.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements can be directly connected with each other or indirectly connected with each other through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The specific structure of the weight loss training rehabilitation platform 1000 according to the embodiment of the present invention is described below with reference to fig. 1-5.
As shown in fig. 1, the weight loss training rehabilitation platform 1000 according to the embodiment of the present invention includes a support 100, a DELTA mechanism 200, a driving system 300, and a control system 400. The DELTA mechanism 200 is movably provided on the stand 100, the trainer is adapted to move under the support of the DELTA mechanism 200, and the DELTA mechanism 200 detects the moving direction of the trainer. The drive system 300 is coupled to the DELTA mechanism 200 to drive the DELTA mechanism 200 to move on the bracket 100. The control system 400 is electrically connected to the DELTA mechanism 200 and the drive system 300, respectively.
It should be noted that the weight loss training rehabilitation platform 1000 according to the embodiment of the present invention may include a plurality of modes, for example, in the first mode, the control system 400 receives the movement direction of the trainer detected by the DELTA mechanism 200, and the control system 400 transmits a command to the driving system 300 according to the detection result of the DELTA mechanism 200, so as to drive the DELTA mechanism 200 to move along with the trainer. In the second mode, the control system 400 directly transmits a signal to the drive system 300 to actuate the DELTA mechanism 200 to move the trainer. It can be understood that the second mode is used in the early stage of rehabilitation training, and when the trainer has certain difficulty in moving, the second mode can well assist the trainer in moving. The first mode is used in the later stage of rehabilitation training, when the training can be carried out by the trainer, but still certain assistance is needed, the first mode can well assist the trainer in moving, and the trainer has better self-help capability. In addition, elastic connection and active flexible tracking are realized by adopting the DELTA mechanism 200, the execution end is ensured to have only translational freedom, the side turning of a trainer is prevented, and the safety performance of the weight-reducing training rehabilitation platform 1000 is improved.
According to the weight-reduction training rehabilitation platform 1000 provided by the embodiment of the invention, as the DELTA mechanism 200 is movably arranged on the bracket 100, a trainer is suitable for moving under the support of the DELTA mechanism 200, and the DELTA mechanism 200 can detect the moving direction of the trainer, so that the weight-reduction training rehabilitation platform 1000 has multiple moving modes and is suitable for different rehabilitation stages of a patient, and the DELTA mechanism 200 is adopted to realize elastic connection and active flexible tracking, thereby ensuring that an execution end only has translational freedom, preventing the trainer from side turning and improving the safety performance of the weight-reduction training rehabilitation platform 1000.
In some embodiments, as shown in FIG. 1, the drive system 300 includes a horizontal motion system 310, the horizontal motion system 310 having a horizontal rail extending in a horizontal plane, a horizontal guide block slidably disposed on the horizontal rail, and a horizontal drive mechanism coupled to the horizontal guide block and driving the horizontal guide block to slide along the horizontal rail, the DELTA mechanism 200 is coupled to the horizontal guide block. Therefore, the DELTA mechanism 200 can move along the X axis or the Y axis, so that the trainer can realize linear, curved and other two-dimensional space motions, and the motion mode of the trainer is enriched.
Specifically, the horizontal transmission mechanism is a belt transmission mechanism. It can be understood that the belt pulley transmission structure has a lower cost, and the horizontal transmission structure adopting the belt pulley transmission structure can reduce the production cost of the weight-reduction training rehabilitation platform 1000. Of course, the horizontal transmission structure can also be other structures, such as a screw nut structure and the like.
Specifically, as shown in fig. 1, the drive system 300 includes a vertical motion system 320, the vertical motion system 320 having a vertical guide rail extending in a vertical plane, a vertical guide block, and a vertical transmission mechanism. The vertical guide block is slidably arranged on the vertical guide rail, the DELTA mechanism 200 is connected with the vertical guide block, and the vertical transmission mechanism drives the vertical guide block to slide along the vertical guide rail. Therefore, the DELTA mechanism 200 can move along the Z axis, so that the trainer can walk up and down stairs, move over obstacles and other three-dimensional spaces, and the movement of the trainer is enriched. In addition, because DELTA can move along the vertical direction, the trainer can be lifted before moving, so that the pressure of the gravity of the trainer on joints and spines is relieved, and the rehabilitation training of the trainer is better realized.
Specifically, the vertical transmission mechanism is a lead screw nut transmission mechanism. It can be understood that when the vertical transmission mechanism stops, the vertical guide block falls under the action of self gravity to cause a safety hazard. The vertical transmission mechanism adopts a screw nut transmission mechanism, and the screw nut transmission mechanism has a self-locking function, so that the vertical guide block cannot fall down due to self gravity when the vertical transmission mechanism stops running, and the safety performance of the weight reduction training platform is improved.
In some embodiments, as shown in fig. 1-2, the drive system 300 includes two X-axis guide rails 311, two X-axis guide blocks 312, at least one X-axis direction belt transmission 313, two Z-axis guide rails 321, two Z-axis guide blocks 322, at least one Z-axis direction lead screw nut transmission 323, a Y-axis guide rail 314, a Y-axis guide block 315, and a Y-axis direction belt transmission 316. Two X-axis guide rails 311 are arranged on the bracket 100 at intervals, two X-axis guide blocks 312 are respectively arranged on the two X-axis guide rails 311 in a sliding manner, and an X-axis direction belt transmission mechanism 313 is arranged on the X-axis guide rails 311 and connected with the X-axis guide blocks 312. The two Z-axis guide rails 321 are respectively fixed on the two X-axis guide blocks 312, the two Z-axis guide blocks 322 are respectively slidably arranged on the two Z-axis guide rails 321, and the Z-axis direction lead screw nut transmission mechanism 323 is arranged on the Z-axis guide rails 321 and connected with the Z-axis guide blocks 322. Two ends of the Y-axis guide rail 314 are respectively fixed on two Z-axis guide blocks 322, the Y-axis guide block 315 is slidably disposed on the Y-axis guide rail 314, and the Y-axis direction belt transmission mechanism 316 is disposed on the Y-axis guide rail 314 and connected to the Y-axis guide block 315. Wherein the DELTA mechanism 200 is provided on the Y-axis guide block 315.
It can be appreciated that, because the DELTA mechanism 200 is provided on the Y-axis guide block 315, the DELTA mechanism 200 can move along the Y-axis. The Y-axis guide 314 is fixed at both ends to two Z-axis guide blocks 322, so that the DELTA mechanism 200 can slide up and down along the Z-axis when the Z-axis guide blocks 322 slide along the Z-axis guide 321. The Z-axis guide rail 321 is provided on the X-axis guide block, so that the DELTA mechanism 200 can slide back and forth along the X-axis when the X-axis guide block 312 slides along the Z-axis guide rail 321. Therefore, translation of the DELTA mechanism 200 in the X-axis direction, the Y-axis direction and the Z-axis direction is realized, so that a trainer can realize motions in various spaces such as straight lines, curves, steps up and down, turning obstacles and the like, and the motion mode of the trainer is enriched.
It should be noted that, in some embodiments of the present invention, the two X-axis guide blocks 312 are driven by two X-axis belt transmission mechanisms 313, and the two Z-axis guide blocks 322 are connected by two Z-axis lead screw nut transmission mechanisms, respectively, so that the motion of DELTA is more stable. In other embodiments of the present invention, two X-axis guide blocks 312 are driven by one X-axis belt transmission 313, and two Z-axis guide blocks 322 are connected by one Z-axis lead screw nut transmission, which reduces the production cost.
In some embodiments, as shown in FIG. 1, the driving system 300 includes a rotational motion system 330, the rotational motion system 330 includes a rotational support frame 332 and a rotational motor 331, the DELTA assembly 200 is rotatably disposed on the rotational support frame 332, the rotational motor 331 is disposed on the rotational support frame 332, and a motor shaft of the rotational motor 331 is connected to the DELTA assembly 200 to drive the DELTA assembly 200 to rotate. It can be understood that, in the active mode, when the trainer rotates, the DELTA mechanism 200 can rotate along with the trainer, thereby increasing the training action of the trainer and improving the rehabilitation training effect.
In some embodiments, as shown in FIG. 3, DELTA mechanism 200 includes a stationary platform 210, a movable platform 220, a movable arm assembly 230, a translation sensing assembly 240, and a boom 250. The static platform 210 is movably disposed on the bracket 100, the moving platform 220 is disposed below the static platform 210, the movable arm assembly 230 is connected between the static platform 210 and the moving platform 220, and an angle of the movable arm assembly 230 changes when the moving platform 220 and the static platform 210 relatively translate. The translation sensing assembly 240 is disposed on the stationary platform 210, and the translation sensing assembly 240 detects an angular change of the movable arm assembly 230. The boom 250 is provided on the movable platform 220, and the boom 250 is used to support the exerciser for exercise.
It can be understood that, in the active mode, the movement of the trainer will drive the movable platform 220 to move, when the movable platform 220 moves relative to the stationary platform 210, the angle of the movable arm assembly 230 changes, the translational sensing assembly 240 can detect the change of the angle of the movable arm assembly 230 and transmit the change value to the control system 400, and the control system 400 calculates the position of the trainer according to the angle information transmitted by the translational sensing assembly 240, so as to send a command to the driving structure to drive the DELTA mechanism 200 to move along with the trainer.
Specifically, as shown in fig. 3, the boom 250 is rotatably provided on the movable platform 220, and the DELTA mechanism 200 includes a rotation sensor 260, the rotation sensor 260 being provided on the movable platform 220 and detecting a rotation angle of the boom 250. It will be appreciated that when the trainer makes a swiveling motion, the angle of rotation of the boom 250 can be measured by the rotation sensor 260 and transmitted to the control system 400, and the control system 400 calculates the angle of rotation of the trainer from the angle information transmitted by the rotation sensor, and commands the drive mechanism to rotate the DELTA mechanism 200 with the trainer.
In some embodiments, as shown in FIG. 3, DELTA mechanism 200 includes an outer frame 270, the outer frame 270 being attached to the stationary platform 210 and disposed outboard of the movable arm-set 230 and the movable platform 220. The outer frame 270 may protect the stationary platen 210, the movable platen 220, and the movable arm-set 230.
Specifically, as shown in FIG. 3, the DELTA mechanism 200 includes a plurality of springs 280, and the plurality of springs 280 are respectively connected between the outer frame 270 and the movable platform 220.
It can be understood that, when the trainer is supported on the suspension rod 250 and does not move, the moving platform 220 is driven by the self gravity of the trainer to move downwards, the spring 280 is extended, and the trainer can be lifted by the elastic force of the spring 280, so that the supporting force of the ground to the trainer is reduced, which is equivalent to reducing the weight of the trainer, thereby reducing the pressure of the self gravity of the trainer to the joints and the spine, and better realizing the rehabilitation training of the trainer. It should be noted that, in cooperation with the movement of DELTA in the Z-axis direction, the self-weight of the trainee can be adjusted so that the ground supporting force to the trainee is 0% -100%. It should be noted that, in practical applications, the stiffness of the spring 280 can be changed according to the training intensity of the trainer.
In some embodiments, as shown in FIG. 1, the DELTA mechanism 200 further includes a force sensor 290, the force sensor 290 being disposed between the DELTA mechanism 200 and the Y-axis guide block 315, the force sensor 290 being operable to detect a weight loss of the DELTA mechanism 200 and to control the weight loss to the transmission control system 400. It should be noted that, the user can drive the DELTA mechanism 200 to move up and down by adjusting the height of the Z-axis guide block 332, and the length of the spring 280 connected to the movable platform 220 changes, and the force sensor can detect the change of the weight reduction of the DELTA mechanism 200, so as to adjust the quantitative weight reduction of the trainer from 0% to 100%, and is suitable for adjustment in different rehabilitation stages
In some embodiments, the weight loss training rehabilitation platform 1000 has an active mode in which the control system 400 controls the direction of movement of the DELTA mechanism 200 along the direction of movement of the trainer detected by the DELTA mechanism 200; in the passive mode, the control system 400 controls the direction of activity of the DELTA mechanism 200 in accordance with a predetermined direction.
It can be understood that the passive mode is used in the initial stage of rehabilitation training, and when the trainer has certain difficulty in self-movement, the passive mode can well assist the trainer in movement. The active mode is used in the later stage of rehabilitation training, when training can be carried out by the trainer, but still needs certain assistance, the active mode can well assist the trainer to move, and the trainer has better autonomous ability. In addition, elastic connection and active flexible tracking are realized by adopting the DELTA mechanism 200, the execution end is ensured to have only translational freedom, the side turning of a trainer is prevented, and the safety performance of the weight-reducing training rehabilitation platform 1000 is improved.
In some embodiments, the boom 250 may rotate relative to the mobile platform 220 in the active mode and the boom 250 may not rotate relative to the mobile platform 220 in the passive mode.
Specifically, the hole in the movable platform 220 is formed as a substantially circular hole, and four corners are provided in the circumferential direction. The boom 250 used in the active mode is rounded, thereby allowing the boom 250 to rotate relative to the mobile platform 220. The jib 250 that adopts under the passive mode is the square head, and four angles departments of four angles cooperations on the round hole of square head are owing to can realize jib 250 can not move the platform 220 motion relatively.
In some embodiments, DELTA mechanism 200 further includes a link 251 pivotally connected to the bottom of boom 250. The user can adjust the angle of the connecting bracket 251 and the suspension rod 250 so that the trainer can be supported on the suspension rod 250 in different postures, such as a standing posture, a lying posture, and the like.
In some embodiments, the contact part of the support 100 with the ground is formed as a roller, so that the user can push the weight-reduction training rehabilitation platform 1000 to move very conveniently.
A weight loss training rehabilitation platform 1000 according to an embodiment of the present invention is described below with reference to fig. 1-6.
The weight loss training rehabilitation platform 1000 of the present embodiment is used for training rehabilitation of rats. As shown in fig. 1, the weight-loss training rehabilitation platform 1000 includes a support 100, a DELTA mechanism 200, a driving system 300, and a control system 400. The DELTA mechanism 200 is movably provided on the stand 100, the trainer is adapted to move under the support of the DELTA mechanism 200, and the DELTA mechanism 200 detects the moving direction of the trainer. The drive system 300 is coupled to the DELTA mechanism 200 to drive the DELTA mechanism 200 to move on the bracket 100. The control system 400 is electrically connected to the DELTA mechanism 200 and the drive system 300, respectively.
As shown in fig. 2, the driving system 300 includes two X-axis guide rails 311, two X-axis guide blocks 312, two X-axis direction belt transmission mechanisms 313, two Z-axis guide rails 321, two Z-axis guide blocks 322, two Z-axis direction lead screw nut transmission mechanisms 323, a Y-axis guide rail 314, a Y-axis guide block 315, and a Y-axis direction belt transmission mechanism 316. Two X-axis guide rails 311 are arranged on the bracket 100 at intervals, two X-axis guide blocks 312 are respectively arranged on the two X-axis guide rails 311 in a sliding manner, and an X-axis direction belt transmission mechanism 313 is arranged on the X-axis guide rails 311 and connected with the X-axis guide blocks 312. The two Z-axis guide rails 321 are respectively fixed on the two X-axis guide blocks 312, the two Z-axis guide blocks 322 are respectively slidably arranged on the two Z-axis guide rails 321, and the Z-axis direction lead screw nut transmission mechanism 323 is arranged on the Z-axis guide rails 321 and connected with the Z-axis guide blocks 322. Two ends of the Y-axis guide rail 314 are respectively fixed on two Z-axis guide blocks 322, the Y-axis guide block 315 is slidably disposed on the Y-axis guide rail 314, and the Y-axis direction belt transmission mechanism 316 is disposed on the Y-axis guide rail 314 and connected to the Y-axis guide block 315. Wherein the DELTA mechanism 200 is provided on the Y-axis guide block 315. The driving system 300 further includes a rotational movement system 330, the rotational movement system 330 includes a rotational support frame 332 and a rotational motor 331, the DELTA mechanism 200 is rotatably disposed on the rotational support frame 332, the rotational motor 331 is disposed on the rotational support frame 332, and a motor shaft of the rotational motor 331 is connected to the DELTA mechanism 200 to drive the DELTA mechanism 200 to rotate.
As shown in fig. 3-5, DELTA mechanism 200 includes a stationary platform 210, a movable platform 220, a movable arm assembly 230, a translational sensor assembly 240, a boom 250, a rotation sensor 260, an outer frame 270, a spring 280, and a force sensor 290. The static platform 210 is movably disposed on the bracket 100, the moving platform 220 is disposed below the static platform 210, the movable arm assembly 230 is connected between the static platform 210 and the moving platform 220, and an angle of the movable arm assembly 230 changes when the moving platform 220 and the static platform 210 relatively translate. The translation sensing assembly 240 is disposed on the stationary platform 210, and the translation sensing assembly 240 detects an angular change of the movable arm assembly 230. The boom 250 is provided on the movable platform 220, and the boom 250 is used to support the exerciser for movement. The boom 250 is rotatably provided on the movable platform 220, and the rotation sensor 260 is provided on the movable platform 220 and detects a rotation angle of the boom 250. The outer frame 270 is connected to the stationary platform 210 and disposed outside the movable arm-set 230 and the movable platform 220, and three springs 280 are connected between the outer frame 270 and the movable platform 220, respectively. The force sensor 290 is provided between the DELTA mechanism 200 and the Y-axis guide block 315, and detects the weight reduction amount of the DELTA, and controls the weight reduction amount transmitter to the system 400.
The working principle of the weight-loss training rehabilitation platform 1000 of the embodiment is as follows: as shown in fig. 6, the weight loss training rehabilitation exercise platform 220 may be divided into a mechanical structure portion and a control system 400 portion. The DELTA mechanism 200 is used as a weight reduction regulating part and is the core of a mechanical structure, and the quantitative weight reduction and motion feedback functions are completed. The force sensor 290, the translation sensor assembly 240 and the rotation sensor 260 in the detection device detect the movement of the mouse and transmit the movement back to the control system 400, so as to perform feedback adjustment on the position of the DELTA mechanism 200. The principle of the active mode is: firstly, initializing the position of the movable platform 220 and setting a threshold value, completing corresponding movement of a mouse, then sending an instruction by the control system 400, reading the values of the force sensor 290, the translational sensing component 240 and the rotation sensor 260, carrying out position calculation of the DELTA mechanism 200, comparing a balance position with an adjustment threshold value, sending a corresponding instruction to a drive, and carrying out feedback adjustment of movement by utilizing a PID position algorithm to realize an active flexible tracking process.
The weight loss training rehabilitation platform 1000 of the embodiment has the following characteristics:
(1) and a gantry type three-axis motion mode is adopted, so that the rigidity and the stability of the system are improved, and the three-dimensional motion space is enlarged.
(2) The improved DELTA mechanism 200 is combined with a corresponding sensor to realize two modes of active following and passive movement, quantitative weight reduction support can be provided for the mouse, the active tracking process has flexibility, the passive movement can be set into multi-task modes such as straight lines, curves, speed change, turning, obstacle avoidance and the like, and the rehabilitation training effect is improved.
The weight-losing training rehabilitation platform 1000 of the embodiment has the advantages of simple structure, reasonable layout, simplicity and convenience in operation, certain transportability and suitability for the rehabilitation exercise training process of various small animals. The active following movement can ensure flexible tracking, and the passive movement process can complete multi-task modes of straight line, curve, speed change, turning, obstacle avoidance and the like of the mouse according to requirements, so that the rehabilitation training effect is improved. Meanwhile, the verification of animal experiments as a rehabilitation platform is already carried out, and the method can be applied to the rehabilitation training of rats suffering from hemiplegia due to wide spinal cord injury and brain injury in the future.
Technical indexes of the weight loss training rehabilitation platform 1000 of the embodiment are as follows: the measuring range of the force sensor 290 is 3kg, the resolution is 1g, and the precision is 3g (1%); the range of the translational sensing component 240 and the rotary sensor 260 is 0-360 degrees, and the measurement precision is 0.3 percent of the full range, namely 1.08 degrees. The motor torque of the driving system 300 is 3Nm, and the rotating speed reaches 1000 r/min.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. A weight loss training rehabilitation platform, comprising:
a support;
a DELTA mechanism movably disposed on the frame, the trainer adapted to move under the support of the DELTA mechanism, and the DELTA mechanism detecting the direction of movement of the trainer;
a drive system coupled to the DELTA mechanism for driving the DELTA mechanism to move on the carriage;
a control system electrically coupled to the DELTA mechanism and the drive system, respectively.
2. The weight loss training rehabilitation platform of claim 1, wherein the drive system comprises a horizontal motion system having:
a horizontal guide rail extending in a horizontal plane;
the horizontal guide block can be slidably arranged on the horizontal guide rail, and the DELTA mechanism is connected with the horizontal guide block;
and the horizontal transmission mechanism drives the horizontal guide block to slide along the horizontal guide rail.
3. The weight loss training rehabilitation platform of claim 2, wherein the horizontal transmission mechanism is a belt transmission mechanism.
4. The weight loss training rehabilitation platform of claim 1, wherein the drive system comprises a vertical motion system having:
a vertical guide rail extending on a vertical plane;
the vertical guide block is slidably arranged on the vertical guide rail, and the DELTA mechanism is connected with the vertical guide block;
and the vertical transmission mechanism drives the vertical guide block to slide along the vertical guide rail.
5. The weight loss training rehabilitation platform of claim 4, wherein the vertical transmission is a lead screw nut transmission.
6. The weight loss training rehabilitation platform of claim 1, wherein the drive system comprises:
the two X-axis guide rails are arranged on the bracket at intervals;
the two X-axis guide blocks are respectively arranged on the two X-axis guide rails in a sliding manner;
the X-axis direction belt transmission mechanism is arranged on the X-axis guide rail and is connected with the X-axis guide block;
the two Z-axis guide rails are respectively fixed on the two X-axis guide blocks;
the two Z-axis guide blocks are respectively arranged on the two Z-axis guide rails in a sliding manner;
the Z-axis direction lead screw nut transmission mechanism is arranged on the Z-axis guide rail and is connected with the Z-axis guide block;
two ends of the Y-axis guide rail are respectively fixed on the two Z-axis guide blocks;
the Y-axis guide block is slidably arranged on the Y-axis guide rail;
the Y-axis direction belt transmission mechanism is arranged on the Y-axis guide rail and is connected with the Y-axis guide block; wherein,
the DELTA mechanism is provided on the Y-axis guide block.
7. The weight loss training rehabilitation platform of claim 1, wherein said drive system comprises a rotational motion system, said rotational motion system comprising:
the DELTA mechanism is rotatably arranged on the rotating support frame;
the rotating motor is arranged on the rotating support frame, and a motor shaft of the rotating motor is connected with the DELTA mechanism to drive the DELTA mechanism to rotate.
8. The weight loss training rehabilitation platform of claim 1, wherein said DELTA mechanism comprises:
the static platform is movably arranged on the bracket;
the movable platform is arranged below the static platform;
the movable arm assembly is connected between the static platform and the movable platform, and the angle of the movable arm assembly changes when the movable platform and the static platform perform relative translation;
the translational sensing assembly is arranged on the static platform and detects the angle change of the movable arm assembly;
the suspender is arranged on the movable platform and is used for supporting the trainer to move.
9. The weight loss training rehabilitation platform of claim 8, wherein said boom is rotatably mounted to said movable platform, said DELTA mechanism comprising: and the rotation sensor is arranged on the movable platform and is used for detecting the rotation angle of the suspender.
10. The weight loss training rehabilitation platform of claim 8, wherein said DELTA mechanism comprises: the outer frame is connected with the static platform and arranged on the outer sides of the movable arm assembly and the movable platform.
11. The weight loss training rehabilitation platform of claim 10, wherein said DELTA mechanism comprises: and the springs are respectively connected between the outer frame and the movable platform.
12. The weight loss exercise rehabilitation platform of claim 1, wherein said DELTA mechanism further comprises a force sensor disposed on said outer frame, said force sensor for detecting the amount of weight loss of said DELTA mechanism to the exerciser.
13. The weight loss training rehabilitation platform of any of claims 1-11, wherein the weight loss training rehabilitation platform has an active mode and a passive mode,
in the active mode, the control system controls the direction of activity of the DELTA mechanism in the direction of movement of the handler detected by the DELTA mechanism;
in the passive mode, the control system controls the direction of activity of the DELTA mechanism in a predetermined direction.
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| CN112336576A (en) * | 2020-12-04 | 2021-02-09 | 西安交通大学医学院第一附属医院 | A rehabilitation device for treating department of neurology disease |
| CN112957690A (en) * | 2021-02-03 | 2021-06-15 | 台州职业技术学院 | Multifunctional rehabilitation training device for rats with brain injury |
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| CN107617190B (en) | 2022-11-15 |
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