CN107617190A - Weight-losing rehabilitation platform - Google Patents

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

Weight loss training rehabilitation platform

technical field

The invention relates to the technical field of rehabilitation platforms, in particular to a rehabilitation platform for weight loss training

Background technique

A new structural platform for weight loss training rehabilitation, the invention 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 disabling diseases represented by spinal cord injury and cerebral apoplexy is increasing year by year, which leads to a series of problems that need to be solved urgently, such as the decline in the quality of life of patients, the increase in family care costs, and the increase in medical expenses. At present, there are mainly three kinds of rehabilitation treatments for spinal cord injury, such as surgical treatment, drug therapy and exercise training. The first two have the disadvantages of difficulty in implementation, low cure rate and side effects, and comprehensive therapy combined with exercise training is more widely accepted. At present, there have been some studies on the design of sports rehabilitation platforms at home and abroad, such as treadmill platforms, exoskeleton robots, etc., but there are shortcomings such as single training methods and inability to provide patients with weight loss support, which is also difficult for patients' rehabilitation training. achieve the desired effect. Therefore, there is an urgent need for active and passive exercise combined with multi-task exercise rehabilitation platform with weight loss function.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a kind of weight loss training rehabilitation platform, and described weight loss training rehabilitation platform has multiple task movement patterns of active and passive movement joints of weight loss.

The weight loss training rehabilitation platform according to the embodiment of the present invention includes: a bracket; a DELTA mechanism, the DELTA mechanism is movably arranged on the bracket, and the trainer is suitable for exercising under the support of the DELTA mechanism, and the DELTA mechanism The DELTA mechanism can detect the movement direction of the trainer; the drive system, the drive system is connected with the DELTA mechanism to drive the DELTA mechanism to move on the support; the control system, the control system is connected with the DELTA mechanism and the DELTA mechanism respectively. The drive system is electrically connected.

According to the weight loss training rehabilitation platform of the embodiment of the present invention, since the DELTA mechanism is movably arranged on the support, the trainer is suitable for exercising under the support of the DELTA mechanism, and the DELTA mechanism can detect the movement direction of the trainer, so that the weight loss training The rehabilitation platform has a variety of motion modes, which are suitable for different rehabilitation stages of patients, and adopts the DELTA mechanism to realize elastic connection and active compliant tracking, which ensures that the executive end only has translational freedom, prevents the trainee from rolling over, and improves the relief Safety performance of retraining rehabilitation platform.

In some embodiments, the drive system includes a horizontal motion system, the horizontal motion system has: a horizontal guide rail extending on a horizontal plane; a horizontal guide block, the horizontal guide block is slidably arranged on the horizontal guide rail, The DELTA mechanism is connected with the horizontal guide block; 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.

Specifically, the drive system includes a vertical motion system, the vertical motion system has: a vertical guide rail extending on a vertical plane; a vertical guide block, the vertical guide block is slidably arranged on the On the vertical guide rail, the DELTA mechanism is connected with the vertical guide block; the vertical transmission mechanism drives the vertical guide block to slide along the vertical guide rail.

Specifically, the vertical transmission mechanism is a screw nut transmission mechanism.

In some embodiments, the drive system includes: two X-axis guide rails, the two X-axis guide rails are arranged on the support at intervals; two X-axis guide blocks, and the two X-axis guide blocks respectively slidably provided on the two X-axis guide rails; at least one X-axis direction belt transmission mechanism, the X-axis direction belt transmission mechanism is arranged on the X-axis guide rails and connected with the X-axis guide block; Two Z-axis guide rails, the two Z-axis guide rails are respectively fixed on the two X-axis guide blocks; two Z-axis guide blocks, the two Z-axis guide blocks are respectively slidably arranged on the two On a Z-axis guide rail; at least one Z-axis direction screw nut transmission mechanism, the Z-axis direction screw nut transmission mechanism is arranged on the Z-axis guide rail and connected with the Z-axis guide block; the Y-axis guide rail, the The two ends of the Y-axis guide rail are respectively fixed on the two Z-axis guide blocks; the Y-axis guide block, the Y-axis guide block is slidably arranged on the Y-axis guide rail; the belt transmission mechanism in the Y-axis direction, The Y-axis direction belt transmission mechanism is arranged on the Y-axis guide rail and connected with the Y-axis guide block; wherein, the DELTA mechanism is arranged on the Y-axis guide block.

In some embodiments, the drive system includes a rotary motion system, and the rotary motion system includes: a rotary support frame, the DELTA mechanism is rotatably arranged on the rotary support frame; a rotary motor, and the rotary motor is set On the rotating support frame, the 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 includes: a static platform, the static platform is movably arranged on the support; a dynamic platform, the dynamic platform is arranged below the static platform; a moving arm assembly, the The moving arm assembly is connected between the static platform and the moving platform, and the angle of the moving arm assembly changes when the moving platform and the static platform are relatively translated; The dynamic sensing assembly is arranged on the static platform, and the translational sensing assembly detects the angle change of the boom assembly; the boom, the boom is arranged on the moving platform, and the boom is used for To support the exercise of the trainer.

Specifically, the boom is rotatably arranged on the moving platform, and the DELTA mechanism includes: a rotation sensor, which is arranged on the moving platform and used to detect the rotation angle of the boom.

In some embodiments, the DELTA mechanism includes: an outer frame connected to the static platform and arranged on the outside of the moving arm assembly and the moving platform.

Specifically, the DELTA mechanism includes: a plurality of springs, and the plurality of springs are respectively connected between the outer frame and the moving platform.

In some embodiments, the DELTA mechanism further includes a force sensor, the force sensor is provided on the outer frame, and the force sensor is used to detect the weight loss of the DELTA mechanism to the trainer.

In some embodiments, the weight loss training rehabilitation platform has an active mode and a passive mode. In the active mode, the control system controls the movement direction of the DELTA mechanism along the movement direction of the trainer detected by the DELTA mechanism; In the passive mode, the control system controls the movement direction of the DELTA mechanism according to the preset 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.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a front view of the overall structure of a weight loss training rehabilitation platform according to an embodiment of the present invention.

Fig. 2 is a perspective view of the overall structure of the weight loss training rehabilitation platform according to the embodiment of the present invention.

Fig. 3 is a partial structural diagram of the DELTA mechanism of the embodiment of the present invention.

Fig. 4 is a structural diagram of a moving platform according to an embodiment of the present invention.

Fig. 5 is a partial structural view of the boom of the embodiment of the present invention.

Fig. 6 is a schematic diagram of the working principle of the weight loss training rehabilitation platform according to the embodiment of the present invention.

Reference signs:

Weight loss training rehabilitation platform 1000,

bracket 100,

DELTA agency 200,

Static platform 210, moving platform 220, boom assembly 230, translation sensing assembly 240, boom 250, connecting frame 251, rotation sensor 260, outer frame 270, spring 280, force sensor 290,

drive system 300,

horizontal motion system 310,

X-axis guide rail 311, X-axis guide block 312, X-axis direction belt transmission mechanism 313, Y-axis guide rail 314, Y-axis guide block 315, Y-axis direction belt transmission mechanism 316,

Vertical motion system 320,

Z-axis guide rail 321, Z-axis guide block 322, Z-axis direction screw nut transmission mechanism 323,

Turn the motion system 330,

Rotating motor 331, rotating support frame 332,

Control system 400 .

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, be constructed in a particular orientation, and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

The following describes the specific structure of a weight loss training rehabilitation platform 1000 according to an embodiment of the present invention with reference to FIGS. 1-5 .

As shown in FIG. 1 , a weight loss training rehabilitation platform 1000 according to an embodiment of the present invention includes a bracket 100 , a DELTA mechanism 200 , a drive system 300 and a control system 400 . The DELTA mechanism 200 is movably arranged on the bracket 100, and the trainer is suitable for moving under the support of the DELTA mechanism 200, and the DELTA mechanism 200 can detect the direction of movement of the trainer. The driving system 300 is connected with the DELTA mechanism 200 to drive the DELTA mechanism 200 to move on the bracket 100 . The control system 400 is electrically connected with the DELTA mechanism 200 and the drive system 300, respectively.

It should be noted that the weight loss training rehabilitation platform 1000 of the embodiment of the present invention may include multiple 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 instructions to the driving system 300 according to the detection result of the DELTA mechanism 200, so that the DELTA mechanism 200 is driven to follow the exerciser. In the second mode, the control system 400 directly transmits a signal to the drive system 300 to drive the DELTA mechanism 200 to drive the exerciser. It is understandable that the second mode is used in the initial stage of rehabilitation training, and when the trainer has some difficulty in exercising himself, the second mode can well assist the trainer in exercising. The first mode is used in the later stage of rehabilitation training. When the trainer can exercise but still needs some assistance, the first mode can well assist the trainer to exercise, and the trainer has better autonomy. In addition, the DELTA mechanism 200 is used to realize elastic connection and active compliant tracking, which ensures that the executive end only has translational freedom, prevents the trainee from rolling over, and improves the safety performance of the weight loss training rehabilitation platform 1000.

According to the weight loss training rehabilitation platform 1000 of the embodiment of the present invention, since the DELTA mechanism 200 is movably arranged on the bracket 100, the trainer is suitable for exercising under the support of the DELTA mechanism 200, and the DELTA mechanism 200 can detect the direction of movement of the trainer , so that the weight loss training rehabilitation platform 1000 has a variety of motion modes, which are suitable for different rehabilitation stages of patients, and the DELTA mechanism 200 is used to realize elastic connection and active compliant tracking, ensuring that the executive end only has translational degrees of freedom, preventing the trainer from Rollover occurs, which improves the safety performance of the weight loss training rehabilitation platform 1000.

In some embodiments, as shown in Figure 1, the driving system 300 includes a horizontal motion system 310, the horizontal motion system 310 has a horizontal guide rail extending on a horizontal plane, a horizontal guide block and a horizontal transmission mechanism, and the horizontal guide block is slidably arranged on On the horizontal guide rail, the DELTA mechanism 200 is connected with the horizontal guide block, and the horizontal transmission mechanism drives the horizontal guide block to slide along the horizontal guide rail. Thus, it is ensured that the DELTA mechanism 200 can move along the X-axis or the Y-axis, so that the trainer can realize a variety of two-dimensional space movements such as straight lines and curves, which enriches the trainer's exercise methods.

Specifically, the horizontal transmission mechanism is a belt transmission mechanism. It can be understood that the cost of the belt pulley transmission structure is low, and the use of the belt pulley transmission structure in the horizontal transmission structure can reduce the production cost of the weight loss training rehabilitation platform 1000 . Of course, the horizontal transmission structure can also be other structures, such as screw nut structure and so on.

Specifically, as shown in Figure 1, the driving system 300 includes a vertical motion system 320, and the vertical motion system 320 has a vertical guide rail extending on 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. Thus, it is ensured that the DELTA mechanism 200 can move along the Z axis, thereby realizing the three-dimensional movement of the trainer such as going up and down stairs, over obstacles, etc., and enriching the trainer's motion. In addition, since DELTA can move in the vertical direction, the trainer can be "suspended" before the trainer moves, which reduces the pressure of the trainer's own gravity on the joints and spine, and better realizes the trainer's rehabilitation training.

Specifically, the vertical transmission mechanism is a screw nut transmission mechanism. It can be understood that when the vertical transmission mechanism stops running, the vertical guide block will fall under the action of its own gravity, causing potential safety hazards. The vertical transmission mechanism adopts the screw nut transmission mechanism. Since the screw nut transmission mechanism has a self-locking function, when the vertical transmission mechanism stops running, the vertical guide block will not fall due to its own gravity, which improves the safety performance of the weight loss training platform. .

In some embodiments, as shown in FIGS. 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 mechanism 313, and two Z-axis guide rails 321. , two Z-axis guide blocks 322 , at least one Z-axis direction screw nut transmission mechanism 323 , Y-axis guide rail 314 , Y-axis guide block 315 and 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 slidably arranged on the two X-axis guide rails 311 respectively, and an X-axis direction belt transmission mechanism 313 is arranged on the X-axis guide rails 311 And it is connected with the X-axis guide block 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 rail 321 is connected to the Z-axis guide block 322 . The 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 arranged on the Y-axis guide rail 314, and the Y-axis direction belt transmission mechanism 316 is arranged on the Y-axis guide rail 314 and It is connected with the Y-axis guide block 315 . Wherein, the DELTA mechanism 200 is set on the Y-axis guide block 315 .

It can be understood that since the DELTA mechanism 200 is arranged on the Y-axis guide block 315, the DELTA mechanism 200 can move along the Y-axis. Both ends of the Y-axis guide rail 314 are fixed on two Z-axis guide blocks 322 , so when the Z-axis guide blocks 322 slide along the Z-axis guide rails 321 , the DELTA mechanism 200 can slide up and down along the Z-axis. The Z-axis guide rail 321 is arranged on the X-axis guide block, therefore, when the X-axis guide block 312 slides along the Z-axis guide rail 321, the DELTA mechanism 200 can slide back and forth along the X-axis. Thus, the translational movement of the DELTA mechanism 200 in the X-axis, Y-axis and Z-axis directions is realized, so that the trainer can realize the movement in various spaces such as straight lines, curves, up and down steps, browsing obstacles, etc., which enriches the trainer's way of exercise.

It should be noted that, in some embodiments of the present invention, the two X-axis guide blocks 312 are respectively driven by two X-axis direction belt transmission mechanisms 313, and the two Z-axis guide blocks 322 are respectively driven by two Z-axis direction lead screws. The nut driving structure is connected, which can make the movement of DELTA more stable. In other embodiments of the present invention, the two X-axis guide blocks 312 are driven by a belt transmission mechanism 313 in the X-axis direction, and the two Z-axis guide blocks 322 are connected by a screw nut transmission structure in the Z-axis direction, so as to reduce generation cost.

In some embodiments, as shown in FIG. 1 , the drive system 300 includes a rotary motion system 330, the rotary motion system 330 includes a rotary support frame 332 and a rotary motor 331, and the DELTA mechanism 200 is rotatably arranged on the rotary support frame 332, and rotates The motor 331 is arranged on the rotating support frame 332 , and the motor shaft of the rotating motor 331 is connected with the DELTA mechanism 200 to drive the DELTA mechanism 200 to rotate. It can be understood that, in the active mode, when the trainer performs body rotation, the DELTA mechanism 200 can follow the trainer's rotation, thereby increasing the trainer's training actions and improving the effect of rehabilitation training.

In some embodiments, as shown in FIG. 3 , the DELTA mechanism 200 includes a static platform 210, a moving platform 220, a moving arm assembly 230, a translation sensing assembly 240, and a boom 250. The static platform 210 is movably arranged on the bracket 100, the movable platform 220 is arranged below the static platform 210, the movable arm assembly 230 is connected between the static platform 210 and the movable platform 220, and relative translation occurs between the movable platform 220 and the static platform 210 At this time, the angle of the boom assembly 230 changes. The translation sensor assembly 240 is arranged on the static platform 210 , and the translation sensor assembly 240 detects the angle change of the boom assembly 230 . Suspender 250 is located on moving platform 220, and suspender 250 is used for supporting trainer's motion.

It can be understood that in the active mode, the movement of the trainer will drive the dynamic platform 220 to move, and when the dynamic platform 220 moves relative to the static platform 210, the angle of the boom assembly 230 will change, and the translation sensor assembly 240 can detect the movement of the boom assembly. 230 changes, and transmits the change value to the control system 400, the control system 400 calculates the position of the trainer according to the angle information transmitted by the translation sensor component 240, and then sends instructions to the driving structure to drive the follow-up of the DELTA mechanism 200 moving with the trainer.

Specifically, as shown in Figure 3, the boom 250 is rotatably arranged on the moving platform 220, and the DELTA mechanism 200 includes a rotation sensor 260, which is arranged on the moving platform 220 and is used to detect the rotation angle of the boom 250. It can be understood that, when the trainer makes a swivel movement, the rotation angle of the suspender 250 can be measured by the rotation sensor 260 and transmitted to the control system 400, and the control system 400 calculates the training program according to the angle information transmitted by the rotation sensor. The rotation angle of the trainer, so as to send instructions to the driving structure, and drive the DELTA mechanism 200 to rotate with the trainer.

In some embodiments, as shown in FIG. 3 , the DELTA mechanism 200 includes an outer frame 270, which is connected to the static platform 210 and arranged outside the boom assembly 230 and the moving platform 220. The outer frame 270 can protect the static platform 210 , the moving platform 220 and the boom assembly 230 to a certain extent.

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 moving platform 220.

It can be understood that when the trainer is supported on the suspension rod 250 and does not move, the trainer's own gravity will drive the moving platform 220 to move downward, and the spring 280 will be stretched. Due to the elastic force of the spring 280, it will Lifting the trainer himself reduces the support force of the ground to the trainer, which is equivalent to "lowering" the trainer's weight, thereby reducing the pressure of the trainer's own gravity on the joints and spine, and better realizing the trainer's body weight. Rehabilitation. It should be noted that, in conjunction with the movement of the DELTA in the Z-axis direction, the support force of the ground to the trainer can be adjusted from 0% to 100% of the trainer's own weight. It should be noted that, in the actual application process, 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 is arranged between the DELTA mechanism 200 and the Y-axis guide block 315, and the force sensor 290 can be used to detect the deceleration of the DELTA mechanism 200. weight, and will reduce the weight transmitter control system 400. It should be noted that the user can adjust the height of the Z-axis guide block 332 to drive the DELTA mechanism 200 to move up and down, and at the same time, the length of the spring 280 connected to the moving platform 220 changes, and the force sensor can detect the change in the weight of the DELTA mechanism 200. Realize the quantitative weight loss of the trainer adjustable from 0-100%, suitable for the adjustment of different rehabilitation stages

In some embodiments, the weight loss training rehabilitation platform 1000 has an active mode and a passive mode. In the active mode, the control system 400 controls the movement direction of the DELTA mechanism 200 along the motion direction of the trainer detected by the DELTA mechanism 200; in the passive mode, The control system 400 controls the movement direction of the DELTA mechanism 200 according to the preset direction.

It is understandable that the passive mode is used in the early stage of rehabilitation training, and when the trainer has certain difficulties in exercising, the passive mode can well assist the trainer in exercising. The active mode is used in the later stage of rehabilitation training. When the trainer can exercise but still needs some assistance, the active mode can assist the trainer to exercise well, and the trainer has better autonomy. In addition, the DELTA mechanism 200 is used to realize elastic connection and active compliant tracking, which ensures that the executive end has only translational freedom, prevents the trainee from rolling over, and improves the safety performance of the weight loss training rehabilitation platform 1000.

In some embodiments, the boom 250 can rotate relative to the moving platform 220 in the active mode, and the boom 250 cannot rotate relative to the moving platform 220 in the passive mode.

Specifically, the hole on the moving platform 220 is formed as a substantially circular hole with four corners in the circumferential direction. The boom 250 used in the active mode has a round head, so that the boom 250 can rotate relative to the moving platform 220 . The suspension rod 250 that adopts under the passive mode is a square head, and the four corners of the square head are matched with the four corners on the circular hole, because the suspension rod 250 can not move relative to the moving platform 220 because it can be realized.

In some embodiments, the DELTA mechanism 200 further includes a connecting frame 251 rotatably connected to the bottom of the boom 250 . The user can adjust the angle between the connecting frame 251 and the suspension rod 250 so that the trainee can support on the suspension rod 250 in different postures, such as standing posture, lying posture and so on.

In some embodiments, the contact between the support 100 and the ground is formed as a roller, so that the user can push the weight loss training rehabilitation platform 1000 to move very conveniently.

The following describes a weight loss training rehabilitation platform 1000 according to a specific embodiment of the present invention with reference to FIGS. 1-6 .

The weight loss training rehabilitation platform 1000 of this embodiment is used for the training rehabilitation of rats. As shown in FIG. 1 , the weight loss training rehabilitation platform 1000 includes a bracket 100 , a DELTA mechanism 200 , a drive system 300 and a control system 400 . The DELTA mechanism 200 is movably arranged on the bracket 100, and the trainer is suitable for exercising under the support of the DELTA mechanism 200, and the DELTA mechanism 200 can detect the movement direction of the trainer. The driving system 300 is connected with the DELTA mechanism 200 to drive the DELTA mechanism 200 to move on the bracket 100 . The control system 400 is electrically connected with the DELTA mechanism 200 and the drive system 300, respectively.

As shown in Figure 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 screw nut transmission mechanisms 323 , Y-axis guide rail 314 , Y-axis guide block 315 and 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 slidably arranged on the two X-axis guide rails 311 respectively, and an X-axis direction belt transmission mechanism 313 is arranged on the X-axis guide rails 311 And it is connected with the X-axis guide block 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 located on The Z-axis guide rail 321 is connected to the Z-axis guide block 322 . The 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 arranged on the Y-axis guide rail 314, and the Y-axis direction belt transmission mechanism 316 is arranged on the Y-axis guide rail 314 and It is connected with the Y-axis guide block 315 . Wherein, the DELTA mechanism 200 is set on the Y-axis guide block 315 . The drive system 300 also includes a rotary motion system 330, the rotary motion system 330 includes a rotary support frame 332 and a rotary motor 331, the DELTA mechanism 200 is rotatably arranged on the rotary support frame 332, and the rotary motor 331 is located on the rotary support frame 332, and rotates The motor shaft of the motor 331 is connected with the DELTA mechanism 200 to drive the DELTA mechanism 200 to rotate.

As shown in Figures 3-5, the DELTA mechanism 200 includes a static platform 210, a moving platform 220, a moving arm assembly 230, a translation sensing 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 arranged on the bracket 100, the movable platform 220 is arranged below the static platform 210, the movable arm assembly 230 is connected between the static platform 210 and the movable platform 220, and relative translation occurs between the movable platform 220 and the static platform 210 At this time, the angle of the boom assembly 230 changes. The translation sensing assembly 240 is arranged on the static platform 210, and the translation sensing assembly 240 detects the angle change of the boom assembly 230. Suspender 250 is located on moving platform 220, and suspender 250 is used for supporting trainer's motion. The suspension rod 250 is rotatably arranged on the moving platform 220, and the rotation sensor 260 is arranged on the moving platform 220 and is used for detecting the rotation angle of the suspension rod 250. The outer frame 270 is connected with the static platform 210 and arranged outside the boom assembly 230 and the moving platform 220 , and the three springs 280 are respectively connected between the outer frame 270 and the moving platform 220 . The force sensor 290 is arranged between the DELTA mechanism 200 and the Y-axis guide block 315, and is used to detect the weight loss of the DELTA, and transmit the weight loss to the control system 400.

The working principle of the weight loss training rehabilitation platform 1000 in this embodiment: as shown in FIG. 6 , the weight loss training rehabilitation exercise platform 220 can be divided into a mechanical structure part and a control system 400 part. The DELTA mechanism 200, as the weight loss adjustment part, is the core of the mechanical structure and completes the functions of quantitative weight loss and motion feedback. In the detection device, the force sensor 290, the translation sensor assembly 240 and the rotation sensor 260 detect the movement of the sick mouse, and transmit it back to the control system 400 to make feedback adjustments to the position of the DELTA mechanism 200. The principle of the active mode is as follows: firstly, the position of the moving platform 220 is initialized and the threshold value is set, and the affected mouse completes the corresponding movement, and then the control system 400 sends instructions to read the values of the force sensor 290, the translation sensor component 240 and the rotation sensor 260, Calculate the position of the DELTA mechanism 200, compare the balance position with the adjustment threshold, send corresponding commands to the drive, and use the PID position algorithm to perform feedback adjustment of the motion to realize the active and compliant tracking process.

The weight loss training rehabilitation platform 1000 of the present embodiment has the following characteristics:

(1) The gantry-type three-axis motion method is adopted, which improves the rigidity and stability of the system and increases the three-dimensional motion space.

(2) Using the improved DELTA mechanism 200 combined with corresponding sensors, two modes of active following and passive movement can be realized, and quantitative weight loss support can be provided for the affected mice. The active tracking process is flexible, and the passive movement can be set to a straight line or a curve. , speed change, turning, obstacle avoidance and other multi-tasking modes to improve the effect of rehabilitation training.

The weight loss training rehabilitation platform 1000 of this embodiment is simple in structure, reasonable in layout, easy to operate, has a certain degree of portability, and is suitable for the rehabilitation exercise training process of various small animals. Among them, the active follow-up movement can ensure smooth tracking, and the passive movement process can complete multi-task modes such as straight lines, curves, speed changes, turns, and obstacle avoidance for the affected mice according to needs, improving the effect of rehabilitation training. At the same time, the verification of animal experiments as a rehabilitation platform has been carried out, and it will also be applied to the rehabilitation training of rats suffering from hemiplegia caused by spinal cord injury and brain injury in the future.

The technical indicators of the weight loss training rehabilitation platform 1000 of the present embodiment: the range of the force sensor 290 is 3kg, the resolution is 1g, and the accuracy is 3g (1%); The accuracy is 0.3% of full scale or 1.08°. The motor torque of the drive system 300 is 3Nm, and the rotational speed reaches 1000r/min.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (13)

1. A weight loss training rehabilitation platform, characterized in that, comprising: bracket; A DELTA mechanism, the DELTA mechanism is movably arranged on the bracket, the trainer is suitable for exercising under the support of the DELTA mechanism, and the DELTA mechanism can detect the movement direction of the trainer; A driving system, the driving system is connected with the DELTA mechanism to drive the DELTA mechanism to move on the support; A control system, the control system is electrically connected to the DELTA mechanism and the drive system respectively. 2. weight loss training rehabilitation platform according to claim 1, is characterized in that, described driving system comprises horizontal motion system, and described horizontal motion system has: horizontal rails extending on the horizontal plane; a horizontal guide block, the horizontal guide block is slidably arranged on the horizontal guide rail, and the DELTA mechanism is connected with the horizontal guide block; A horizontal transmission mechanism, the horizontal transmission mechanism drives the horizontal guide block to slide along the horizontal guide rail. 3. The weight loss training rehabilitation platform according to claim 2, wherein the horizontal transmission mechanism is a belt transmission mechanism. 4. weight reduction training rehabilitation platform according to claim 1, is characterized in that, described drive system comprises vertical motion system, and described vertical motion system has: a vertical rail extending on a vertical plane; a vertical guide block, the vertical guide block is slidably arranged on the vertical guide rail, and the DELTA mechanism is connected with the vertical guide block; A vertical transmission mechanism, the vertical transmission mechanism drives the vertical guide block to slide along the vertical guide rail. 5. The weight loss training rehabilitation platform according to claim 4, wherein the vertical transmission mechanism is a screw nut transmission mechanism. 6. weight loss training rehabilitation platform according to claim 1, is characterized in that, described driving system comprises: two X-axis guide rails, the two X-axis guide rails are arranged on the support at intervals; Two X-axis guide blocks, the two X-axis guide blocks are respectively slidably arranged on the two X-axis guide rails; At least one X-axis direction belt transmission mechanism, the X-axis direction belt transmission mechanism is arranged on the X-axis guide rail and connected with the X-axis guide block; Two Z-axis guide rails, the two Z-axis guide rails are respectively fixed on the two X-axis guide blocks; Two Z-axis guide blocks, the two Z-axis guide blocks are respectively slidably arranged on the two Z-axis guide rails; At least one Z-axis direction screw nut transmission mechanism, the Z-axis direction screw nut transmission mechanism is arranged on the Z-axis guide rail and connected with the Z-axis guide block; a Y-axis guide rail, the two ends of the Y-axis guide rail are respectively fixed on the two Z-axis guide blocks; a Y-axis guide block, the Y-axis guide block is slidably arranged on the Y-axis guide rail; A belt transmission mechanism in the Y-axis direction, the belt transmission mechanism in the Y-axis direction is arranged on the Y-axis guide rail and connected to the Y-axis guide block; wherein, The DELTA mechanism is arranged on the Y-axis guide block. 7. The weight loss training rehabilitation platform according to claim 1, wherein the drive system comprises a rotational motion system, and the rotational motion system comprises: A rotating support frame, the DELTA mechanism is rotatably arranged on the rotating support frame; The rotating motor is arranged on the rotating support frame, and the motor shaft of the rotating motor is connected with the DELTA mechanism to drive the DELTA mechanism to rotate. 8. weight loss training rehabilitation platform according to claim 1, is characterized in that, described DELTA mechanism comprises: a static platform, the static platform is movably arranged on the support; A moving platform, the moving platform is arranged below the static platform; a moving arm assembly, the moving arm assembly is connected between the static platform and the moving platform, and the angle of the moving arm assembly changes when the moving platform and the static platform are relatively translated; a translation sensing component, the translation sensing component is arranged on the static platform, and the translation sensing component detects the angle change of the boom component; The suspension rod is arranged on the moving platform, and the suspension rod is used to support the movement of the trainer. 9. The weight loss training rehabilitation platform according to claim 8, characterized in that, the suspension rod is rotatably arranged on the moving platform, and the DELTA mechanism comprises: a rotation sensor, and the rotation sensor is arranged on the on the moving platform and used to detect the rotation angle of the boom. 10. The weight loss training rehabilitation platform according to claim 8, characterized in that, the DELTA mechanism comprises: an outer frame, the outer frame is connected with the static platform and is arranged on the movable arm assembly and the movable arm assembly. outside of the platform. 11 . The weight loss training rehabilitation platform according to claim 10 , wherein the DELTA mechanism comprises: a plurality of springs, and the plurality of springs are respectively connected between the outer frame and the moving platform. 12. weight loss training rehabilitation platform according to claim 1, is characterized in that, described DELTA mechanism also comprises force sensor, and described force sensor is located on described outer frame, and described force sensor is used for detecting described DELTA Weight reduction by the body to the trainer. 13. The weight loss training rehabilitation platform according to any one of claims 1-11, characterized in that, the weight loss training rehabilitation platform has an active mode and a passive mode, In the active mode, the control system controls the movement direction of the DELTA mechanism along the motion direction of the trainer detected by the DELTA mechanism; In the passive mode, the control system controls the movement direction of the DELTA mechanism according to the preset direction.