CN107970564A - Training equipment - Google Patents
Training equipment Download PDFInfo
- Publication number
- CN107970564A CN107970564A CN201711384359.3A CN201711384359A CN107970564A CN 107970564 A CN107970564 A CN 107970564A CN 201711384359 A CN201711384359 A CN 201711384359A CN 107970564 A CN107970564 A CN 107970564A
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- CN
- China
- Prior art keywords
- banding
- controller
- movement
- equipment
- level
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
- A63B2071/0081—Stopping the operation of the apparatus
Abstract
The invention discloses a kind of trained equipment, including：Controller, movement executing mechanism, motor, driver and banding switch；Wherein, the banding switch arrangement exports the first level when being collided and exports second electrical level when not collided in the specific location of the movement executing mechanism；And, the output level that banding described in the controller real time scan switchs, and the controller generates movement instruction according to the output level that the banding switchs by internal algorithm, movement instruction is then handed down to the driver, the driver drives motor movement according to movement instruction.
Description
Technical field
The present invention relates to field of medical device, more particularly to a kind of trained equipment.
Background technology
Lower limb rehabilitation robot as a kind of rehabilitation medicine equipment, by aid in patient carry out scientifically, effectively rehabilitation
Training, so as to achieve the purpose that to recover patient motion function.It provides suitable rehabilitation training in rehabilitation training for patient
At the same time, it is necessary to which therapist's Timely Aid corrects patient's improperly gait.
However, it can occur not with healing robot due to not paying attention to during auxiliary patient's training in therapist
When contact or collision.In order to avoid therapist occurs between therapist and healing robot not in patient's training process is aided in
When contact and collision, this just needs healing robot to have good impact protecting function, to ensure therapist and patient
Meet normal rehabilitation training demand while safe.
It is varied in collision protection method on the market, it is broadly divided into the means of defence based on touch sensor or equipment
(such as force snesor) and the means of defence (such as photoelectric door, heat sensor, range sensor) based on non-contacting sensor.Example
Such as, in industrial robot field, using it is more be that the mutation based on joint of robot electric current after an impact carries out collision protection,
Or force snesor is installed at collision, security protection is carried out by impact force.Also some equipment use non-contact detection
Protection, using sensors such as light, heat, distances, just starts preventing mechanism when there is object to reach in security protection region.
But these above-mentioned preventing collision protection methods are applied to the equipment of this human-computer interaction high concentration of healing robot
In there are problems, in particular for the lower limb rehabilitation robot of balance and ambulation training, there are some following deficiency：
1. contact force detection is carried out as the method for collision protection, it is necessary to the power sensing of high cost using common force snesor
Its precision of device and reliability could meet healing robot demand, and continue the current detecting of robot in-house facility, though cost
It is low, but its result reliability is low, the collision protection for the machine human and environment being only applicable under industrial environment.
2. the preventing collision protection based on noncontacting proximity sensor, due to needing the setting of progress safety zone, this would interfere with
Therapist carries out the convenience of rehabilitation auxiliary, simultaneously because contactless mode, is susceptible to the interference of external object, shadow
Ring the fluency of Rehabilitation training.
3. for the bigger healing robot equipment in anticollision face, it is necessary to arrange big quantity sensor, this will be significantly improved
Equipment own cost, while height is required to hardware, controller, it is not suitable for commercialization equipment.
The content of the invention
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are to provide one kind can be with relatively low
Cost ensure equipment operation it is successional in the case of realize the training equipment of anti-collision safety preventing mechanism.
To achieve the above object, the present invention provides a kind of trained equipment, including：Controller, movement executing mechanism, electricity
Machine, driver and banding switch；Wherein, the banding switch arrangement the movement executing mechanism specific location, in quilt
The first level is exported during collision and exports second electrical level when not collided；Moreover, banding described in the controller real time scan
The output level of switch, and the controller generates movement by internal algorithm according to the output level that the banding switchs and refers to
Order, is then handed down to the driver by movement instruction, and the driver drives motor movement according to movement instruction.
Preferably, the controller stops performing institute in the first level of the real time scan to banding switch output
State the movement instruction close to collision course that controller internal algorithm is generated.
Preferably, the specific location of the banding switch arrangement is the predetermined by user or auxiliary of the movement executing mechanism
On the surface of side residing for operating personnel.
Preferably, the banding switch is connected to the controller via high speed I/O module, and the controller is real-time
The signal that scanning banding switch in ground is passed over via high speed I/O module.
Preferably, the trained equipment is lower limb rehabilitation device, and the movement executing mechanism is basin bone mechanism.
Preferably, the side faced in the state of user's operation training equipment of the trained equipment is disposed with display
Equipment, for showing the region of user's sight blind spot.
The present invention is used as collision detection source using the lower super flexible tape switch of cost, ensure that detection accuracy and can
By property when significantly reduce equipment production cost.Moreover, the present invention uses non-stop-machine Security mechanism, equipment ensure that
The continuity of operation, improves user's service efficiency and to user friendly.Compared with prior art, same reliability and accurate
Under property, cost is lower, reduces the purchase cost of consumer, while improves user experience.
It is described further below with reference to the technique effect of design of the attached drawing to the present invention, concrete structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
With reference to attached drawing, and by reference to following detailed description, it will more easily have more complete understanding to the present invention
And be more easily understood its with the advantages of and feature, wherein：
Fig. 1 is the three-dimensional arrangement schematic diagram of trained equipment according to the preferred embodiment of the invention.
Fig. 2 is the functional block diagram of trained equipment according to the preferred embodiment of the invention.
Fig. 3 is the operation example of the anti-collision safety preventing mechanism of trained equipment according to the preferred embodiment of the invention.
It should be noted that attached drawing is used to illustrate the present invention, it is not intended to limit the present invention.Note that represent that the attached drawing of structure can
It can be not necessarily drawn to scale.Also, in attached drawing, same or similar element indicates same or similar label.
Embodiment
Fig. 1 is the three-dimensional arrangement schematic diagram of trained equipment according to the preferred embodiment of the invention, and Fig. 2 is according to this hair
The functional block diagram of the training equipment of bright preferred embodiment.
As depicted in figs. 1 and 2, trained equipment according to the preferred embodiment of the invention includes：Controller 10, Motor execution machine
Structure 20, motor 30, driver 40 and banding switch 50.
Wherein, banding switch 50 is arranged in the specific location of movement executing mechanism 20, and the first level is exported when being collided
And second electrical level (then exporting low level for example, having collided, do not collide and just maintain high level) is exported when not collided, and control
The output level (that is, scanning whether banding switch 50 collides) of 10 real time scan banding of device switch 50 processed.
The output level of 10 real time scan banding of controller switch.Moreover, the output electricity that controller 10 is switched according to banding
It is flat that movement instruction is generated by internal algorithm, movement instruction is then handed down to driver, driver drives according to movement instruction
Motor movement.
Specifically, banding switch 50 is arranged in the predetermined by user or assist operators' (example of movement executing mechanism 20
Such as, aid in patient treatment personnel) residing for side surface on.
More specifically, in the example depicted in fig. 1, therapist generally sits at the downside of movement executing mechanism 20 in figure,
So in this case in order to detect the impact force shown in dotted line, banding switch 50 is disposed under movement executing mechanism 20
Side periphery, as shown in Figure 1.
Moreover, controller 10 stops performing in controller in the first level of the real time scan to 50 output of banding switch
The movement instruction close to collision course that algorithms are generated.
Specifically, whether controller is triggered by I/O module real time scan banding switch, and triggering, which is meant that, to collide,
When controller detects collision, current device just stops performing the fortune close to collision course that controller internal algorithm is generated
Dynamic instruction, if the movement instruction away from collision course then performs.
For example, movement executing mechanism 20 can be the basin bone mechanism of lower limb rehabilitation device as shown in Figure 1.Wherein, patient
Stand in the treadmill by treadmill drive system driving 90.The electric structure of such as controller 10, motor 30, driver 40 etc can cloth
Put in the housing 70 of equipment.
Moreover, for example, training equipment trains the side faced in the state of equipment to be disposed with display in user's operation
Equipment 80, for showing the region of user's sight blind spot.
For example, banding switch 50 is connected to controller 10 via high speed I/O module 60, and controller 10 scans in real time
The signal that banding switch 50 is passed over via high speed I/O module 60.
Can be that each movement executing mechanism is matched somebody with somebody moreover, in the case of training equipment includes multiple movement executing mechanisms
A banding switch 50 is put to perform above-mentioned preventing collision protection scheme.
For example, banding switch is installed on each motion of equipment, and accesses I/O module, and controller passes through at a high speed
I/O signal is scanned in real time, obtains whether each motion collides, security procedure is immediately performed after colliding, and is sent
Control instruction stops the movement of close collision course to driver by driver with most fast and safe acceleration by executing agency,
Real time scan detects collision alarm, this is then performed when there is the movement instruction not towards collision course (for example away from collision course)
Movement instruction, otherwise keeps stopping the movement close to collision course, after collision alarm releases, robot normally performs response
Function program.Ensure that user normal use and its use process continuity.
More specifically, being directed to lower limb rehabilitation robot, its collision protection method can be with as shown in figure 3, user sets in use
Standby to carry out in rehabilitation training, therapist can be corrected auxiliary accordingly behind in patient (on the downside of healing robot pelvis mechanism)
Help, pelvis mechanism will move up and down with patient's center of gravity, when therapist collides treatment for then there is a strong possibility on the downside of pelvis
Teacher, therefore banding switch is installed on surrounding on the downside of pelvis, occurs extrusion and collision etc. when running into therapist, then controller is immediately
Security protection program is performed, stops the downward movement of pelvis, only performs the instruction moved upwards, it is known that collision alarm disappears.From
And ensured therapist it is safe while do not influence the continuation of Rehabilitation training, also improve the usage experience of patient.
It should be noted that the present invention is suitable for a kind of lower limb rehabilitation robot based on pelvic support mechanism, can be to control
Treating teacher aids in patient to provide safer protection, the human-computer interaction friendly that enhancing robot uses when carrying out rehabilitation training.But
It is that, it will be appreciated by persons skilled in the art that the present invention is suitable for but is not limited to healing robot technology, lower limb physics is controlled
The present invention can also be applied with fields such as gait trainings by treating.
The present invention provides the preventing collision protection based on banding switch detection, the use that banding switchs will significantly reduce existing
Healing robot collides cost caused by the big quantity sensor used in order to prevent, while its protection execution mechanism can guarantee that and touch
Ensure the continuity of Rehabilitation training while hitting the reliability of protection.
The present invention is used as collision detection source using the lower super flexible tape switch of cost, ensure that detection accuracy and can
By property when significantly reduce equipment production cost.Moreover, the present invention uses non-stop-machine Security mechanism, equipment ensure that
The continuity of operation, improves user's service efficiency and to user friendly.Compared with prior art, same reliability and accurate
Under property, cost is lower, reduces the purchase cost of consumer, while improves user experience.
The preferred embodiment of the present invention has shown and described in described above, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and
Environment, and can be changed in the scope of the invention is set forth herein by the technology or knowledge of above-mentioned teaching or association area
It is dynamic., then all should be appended by the present invention and changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention
In scope of the claims.
Claims (6)
- A kind of 1. trained equipment, it is characterised in that including：Controller, movement executing mechanism, motor, driver and banding are opened Close；Wherein, the banding switch arrangement is in the specific location of the movement executing mechanism, exported when being collided the first level and Second electrical level is exported when not collided；Moreover, the output level that banding described in the controller real time scan switchs, Er Qiesuo State controller and movement instruction is generated by internal algorithm according to the output level that the banding switchs, then issue movement instruction To the driver, the driver drives motor movement according to movement instruction.
- 2. training equipment as claimed in claim 1, it is characterised in that the controller is switched in real time scan to the banding During the first level of output, stop performing the movement instruction close to collision course that the controller internal algorithm is generated.
- 3. training equipment as claimed in claim 1 or 2, it is characterised in that the specific location of the banding switch arrangement is institute State the predetermined as on the surface of the side residing for user or assist operators of movement executing mechanism.
- 4. training equipment as claimed in claim 1 or 2, it is characterised in that the banding switch is connected via high speed I/O module To the controller, and the controller scans the signal that banding switch is passed over via high speed I/O module in real time.
- 5. training equipment as claimed in claim 1 or 2, it is characterised in that the trained equipment is lower limb rehabilitation device, described Movement executing mechanism is basin bone mechanism.
- 6. training equipment as claimed in claim 1 or 2, it is characterised in that the trained equipment is set in user's operation training The side faced in the state of standby is disposed with display device, for showing the region of user's sight blind spot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711384359.3A CN107970564A (en) | 2017-12-20 | 2017-12-20 | Training equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711384359.3A CN107970564A (en) | 2017-12-20 | 2017-12-20 | Training equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107970564A true CN107970564A (en) | 2018-05-01 |
Family
ID=62006981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711384359.3A Pending CN107970564A (en) | 2017-12-20 | 2017-12-20 | Training equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107970564A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2623191Y (en) * | 2003-04-15 | 2004-07-07 | 金坛市中医院 | Adjustable suspension traction rack for treating femoral fracture for children |
| CN101589984A (en) * | 2009-07-03 | 2009-12-02 | 北京理工大学 | A kind of healing robot |
| KR101384966B1 (en) * | 2013-03-26 | 2014-04-14 | 주식회사 삼양 | Whole body training device combined sit-up exercise |
| CN203749790U (en) * | 2014-01-30 | 2014-08-06 | 孙波 | Device for passive rehabilitation of patients suffering from acroparalysis |
| CN104949841A (en) * | 2014-03-31 | 2015-09-30 | 上海汽车集团股份有限公司 | Device used for automobile collision avoidance test |
| CN105597278A (en) * | 2016-03-04 | 2016-05-25 | 上海电气集团股份有限公司 | Pelvis mechanism capable of being adjusted and locked fast and used for gait rehabilitation training |
| WO2016146960A1 (en) * | 2015-03-19 | 2016-09-22 | Phasex Ab | A modular universal joint with harmonised control method for an assistive exoskeleton |
| CN106176148A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Device for healing and training |
| US20170143574A1 (en) * | 2015-11-19 | 2017-05-25 | Samsung Electronics Co., Ltd. | Supporting module and motion assistance apparatus including the same |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
-
2017
- 2017-12-20 CN CN201711384359.3A patent/CN107970564A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2623191Y (en) * | 2003-04-15 | 2004-07-07 | 金坛市中医院 | Adjustable suspension traction rack for treating femoral fracture for children |
| CN101589984A (en) * | 2009-07-03 | 2009-12-02 | 北京理工大学 | A kind of healing robot |
| KR101384966B1 (en) * | 2013-03-26 | 2014-04-14 | 주식회사 삼양 | Whole body training device combined sit-up exercise |
| CN203749790U (en) * | 2014-01-30 | 2014-08-06 | 孙波 | Device for passive rehabilitation of patients suffering from acroparalysis |
| CN104949841A (en) * | 2014-03-31 | 2015-09-30 | 上海汽车集团股份有限公司 | Device used for automobile collision avoidance test |
| WO2016146960A1 (en) * | 2015-03-19 | 2016-09-22 | Phasex Ab | A modular universal joint with harmonised control method for an assistive exoskeleton |
| US20170143574A1 (en) * | 2015-11-19 | 2017-05-25 | Samsung Electronics Co., Ltd. | Supporting module and motion assistance apparatus including the same |
| CN105597278A (en) * | 2016-03-04 | 2016-05-25 | 上海电气集团股份有限公司 | Pelvis mechanism capable of being adjusted and locked fast and used for gait rehabilitation training |
| CN106176148A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Device for healing and training |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180501 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2019310000013 Denomination of invention: Exercising apparatus for football match License type: Exclusive License Record date: 20191008 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180501 |
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| RJ01 | Rejection of invention patent application after publication | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2019310000013 Date of cancellation: 20230904 |
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| EC01 | Cancellation of recordation of patent licensing contract |