CN107617190B - Weight-losing training rehabilitation platform - Google Patents
Weight-losing training rehabilitation platform Download PDFInfo
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- CN107617190B CN107617190B CN201711049698.6A CN201711049698A CN107617190B CN 107617190 B CN107617190 B CN 107617190B CN 201711049698 A CN201711049698 A CN 201711049698A CN 107617190 B CN107617190 B CN 107617190B
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Abstract
The invention discloses a weight-reducing training rehabilitation platform which comprises a support, a DELTA mechanism, a driving system and a control system. The DELTA mechanism is movably disposed on the frame, the trainer is adapted to move under the support of the DELTA mechanism, and the DELTA mechanism detects the direction of movement of the trainer. The drive system is connected with the DELTA mechanism to drive the DELTA mechanism to move on the bracket. The control system is electrically connected with the DELTA mechanism and the driving system respectively. The weight-reducing training rehabilitation platform has an active and passive dual motion mode, is suitable for different rehabilitation stages of patients, adopts a DELTA mechanism to realize elastic connection and active flexible tracking, ensures that an execution end only has translational freedom, prevents a trainer from turning over, and improves the safety performance of the weight-reducing training rehabilitation platform. In addition, the user can adjust the quantitative weight loss of the mouse from 0 to 100 percent by adjusting the height of the DELTA mechanism and detecting the change of the force sensor, and is suitable for adjusting 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 diseases such as spinal cord injury, brain injury and the like. The incidence of disability-causing diseases such as spinal cord injury and stroke tends to increase year by year, which leads to a series of problems such as reduction in quality of life of patients, increase in home care cost, and increase in medical expenses. 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. To this end, the invention proposes a weight-loss training rehabilitation platform having a plurality of task motion modes of weight-loss active and passive motion engagement.
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 support, 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 on 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 is changed when the movable platform and the static platform are translated relatively; 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 according to 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 whole structure of the weight-loss training rehabilitation platform in 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 illustrating the working principle of the weight-loss training rehabilitation platform according to the embodiment of the present 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 and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 a specific case to those of ordinary skill 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 driving system 300 is connected to the DELTA mechanism 200 to drive the DELTA mechanism 200 to move on the stand 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 sends a signal to the drive system 300 to drive 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, only translational degree of freedom at an execution end is ensured, a trainer is prevented from side turning, and the safety performance of the weight-reducing training rehabilitation platform 1000 is improved.
According to the weight-reducing training rehabilitation platform 1000 disclosed by the embodiment of the invention, as the DELTA mechanism 200 is movably arranged on the support 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-reducing 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-reducing 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 cost of the pulley transmission structure is low, and the horizontal transmission structure adopts the pulley transmission structure to 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 lead 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, climb over obstacles and other three-dimensional spaces, and the movement of the trainer is enriched. In addition, since 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 the spine 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 drive 313, two Z-axis guide rails 321, two Z-axis guide blocks 322, at least one Z-axis direction lead screw nut drive 323, a Y-axis guide rail 314, a Y-axis guide block 315, and a Y-axis direction belt drive 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 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 connected with the Y-axis guide block 315. Wherein the DELTA mechanism 200 is provided on the Y-axis guide block 315.
It is understood that since 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 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. 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, the DELTA mechanism 200 includes a stationary platform 210, a movable platform 220, a movable arm assembly 230, a translational 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 moving platform 220, and the DELTA mechanism 200 includes a rotation sensor 260, the rotation sensor 260 being provided on the moving 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 activity of the DELTA mechanism 200 in the direction of movement of the trainer as 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 moving, the passive mode can well assist the trainer in moving. 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, only translational degree of freedom at an execution end is ensured, a trainer is prevented from side turning, 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, the DELTA mechanism 200 further includes a link 251 rotatably connected to the bottom of the 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 and the ground is formed as a roller, so that the user can push the weight-reducing training rehabilitation platform 1000 to move 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-reducing 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 driving system 300 is connected to the DELTA mechanism 200 to drive the DELTA mechanism 200 to move on the stand 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 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 connected with 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 motion system 330, the rotational motion 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 translational sensing assembly 240 is disposed on the stationary platform 210, and the translational sensing assembly 240 detects a change in an angle 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 is disposed outside the movable arm-set 230 and the movable platform 220, and the three springs 280 are connected between the outer frame 270 and the movable platform 220, respectively. The force sensor 290 is disposed between the DELTA mechanism 200 and the Y-axis guide block 315, and detects the weight reduction amount of the DELTA and transmits the detected weight reduction amount 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 mechanical structure portions 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: the method comprises the steps of initializing the position of a movable platform 220 and setting a threshold value, enabling a mouse to complete corresponding movement, sending an instruction by a control system 400, reading values of a force sensor 290, a translation sensing assembly 240 and a rotation sensor 260, calculating the position of a DELTA mechanism 200, comparing a balance position with an adjustment threshold, sending a corresponding instruction to a drive, and performing feedback adjustment on movement by using a PID (proportion integration differentiation) 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 is simple in structure, reasonable in layout, simple and convenient to operate, has certain portability, and is suitable 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 1000r/min.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means 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 (6)
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 connected to the DELTA mechanism and the drive system, respectively; the drive system includes:
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 content of the first and second substances,
the DELTA mechanism is arranged on the Y-axis guide block; the DELTA mechanism includes:
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 suspension rod is arranged on the movable platform and is used for supporting the trainer to move; the DELTA mechanism includes: the outer frame, the outer frame with the quiet platform links to each other and establish in the movable arm subassembly with the outside of moving the platform, the DELTA mechanism includes: the springs are respectively connected between the outer frame and the movable platform, the DELTA mechanism further comprises a force sensor, the force sensor is arranged on the outer frame, and the force sensor is used for detecting the weight loss of the DELTA mechanism to a trainer; the boom is rotatably arranged on the movable platform, and the DELTA mechanism comprises: the rotation sensor is arranged on the movable platform and is used for detecting the rotation angle of the suspender; the weight loss training rehabilitation platform has an active mode and a passive mode, and in the active mode, the control system controls the activity 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 direction of activity of the DELTA mechanism in a predetermined direction; the principle of the active mode is as follows: initializing the position of the movable platform and setting a threshold value, finishing corresponding movement of a patient, sending an instruction by the control system, reading the values of the force sensor, the translation sensing assembly and the rotation sensor, calculating the position of the DELTA mechanism, comparing a balance position with an adjustment threshold, sending a corresponding instruction to the driving system, and performing feedback adjustment of movement by using a PID position algorithm to realize an active flexible tracking process.
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 arranged on the horizontal guide rail in a sliding way, 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 includes 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-reduction training rehabilitation platform according to claim 4, wherein the vertical transmission mechanism is a lead screw nut transmission mechanism.
6. 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.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711049698.6A CN107617190B (en) | 2017-10-31 | 2017-10-31 | Weight-losing training rehabilitation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711049698.6A CN107617190B (en) | 2017-10-31 | 2017-10-31 | Weight-losing training rehabilitation platform |
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| Publication Number | Publication Date |
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| CN107617190A CN107617190A (en) | 2018-01-23 |
| CN107617190B true CN107617190B (en) | 2022-11-15 |
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| CN112336576B (en) * | 2020-12-04 | 2022-12-20 | 西安交通大学医学院第一附属医院 | A rehabilitation device for treating department of neurology disease |
| CN112957690B (en) * | 2021-02-03 | 2021-12-14 | 台州职业技术学院 | Multifunctional rehabilitation training device for rats with brain injury |
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| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| AU2015277005A1 (en) * | 2014-06-18 | 2017-02-02 | Alterg, Inc. | Pressure chamber and lift for differential air pressure system with medical data collection capabilities |
| CN104666054B (en) * | 2014-11-08 | 2016-09-14 | 沈阳工业大学 | All-around mobile suspension recovering aid robot with force feedback |
| CN104688486A (en) * | 2015-02-10 | 2015-06-10 | 三峡大学 | Lower limbs rehabilitation robot motion control system |
| CN106236519B (en) * | 2016-09-18 | 2018-07-10 | 南开大学 | A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair |
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