CN108578182A - A kind of auxiliary standing training device - Google Patents
A kind of auxiliary standing training device Download PDFInfo
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- CN108578182A CN108578182A CN201810216233.3A CN201810216233A CN108578182A CN 108578182 A CN108578182 A CN 108578182A CN 201810216233 A CN201810216233 A CN 201810216233A CN 108578182 A CN108578182 A CN 108578182A
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- China
- Prior art keywords
- unit
- training
- assessment
- training object
- head movement
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/021—Measuring pressure in heart or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Detecting, measuring or recording devices for evaluating the respiratory organs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/44—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons
Abstract
The present invention relates to auxiliary standing training devices,Including the driving unit being arranged in rack,Linkage unit,Seat unit,Data acquisition unit and motion estimation unit,Control unit is connect with driving unit and linkage unit,Training object of the linkage unit under the driving of driving unit in such a way that crank rocker links on spare seat unit carries out sitting movement,Wherein,Linkage unit includes crank and rocker mechanism,The shoulder of delta link supplemental training object therein carries out sitting movement according to the head movement curve of fitting,Motion estimation unit includes data processing unit,Assessment unit and control unit,Data processing unit carries out valid data screening to the motion-dependent data of acquisition and valid data is sent to assessment unit,Assessment unit assesses the physical condition and head movement curve of training object based on valid data,The motion frequency of assessment result adjusting training object of the control unit based on assessment unit,Run duration and head movement curve.
Description
The present invention is Chinese Patent Application No. 201610460110.5, and the applying date is on June 21st, 2016, entitled
A kind of divisional application of the application for a patent for invention of the intelligent apparatus of aiding upright.
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of auxiliary standing training devices.
Background technology
Currently, with the raising of scientific and technological level, home-bound patient wishes to improve ability to act, example by medical training
Such as the ability stood and walked, get well again.But more assist devices are wheelchairs currently on the market.Wheelchair
The function of sitting posture can only be provided, locomotor activity can fail after sitting, be unfavorable for Walking and the rehabilitation of patient.How patient is made
It is preferably stood and Walking, is the greatest problem for needing to solve at present.
Auxiliary has opened a kind of auxiliary standing training device during Chinese patent (101947180 A of CN) is public, including chassis, flexible
Pipe, hollow connector, the first strut, the second strut, crossbeam have the first strut, the second strut, the second strut outer cover on chassis
It is connected to movably connecting pipe, hollow connector one end is fixedly connected with fixing pipe, and the other end is hinged with movably connecting pipe, in fixing pipe
There is telescoping tube in portion, has (the first back-moving spring, the outer end of telescoping tube to have handrail, have peace on handrail inside the fixing pipe on telescoping tube top
Full band hook；There is second back-moving spring inside the movably connecting pipe on the second strut top；Crossbeam one end is connect with the first strut, separately
One end is fixed with knee top plate；There is the first wire rope pulley on the output shaft of driving motor speed reducer, there is the second steel in hollow connector
Cord wheel.Although the patent can make to be inconvenient to walk, personage obtains preferable standing exercise, and training form is relatively simple.
Training personage can not understand the training progress and rehabilitation situation of oneself, thus cannot be according to physical rehabilitation situation adjusting training power
Degree.
Invention content
For the deficiency of the prior art, the present invention provides a kind of intelligent apparatus of aiding upright, and described device includes setting
Driving unit, linkage unit, seat unit, data acquisition unit in rack and motion estimation unit, which is characterized in that
The linkage unit assists the seat list under the driving of the driving unit in such a way that crank rocker links
Training object in member carries out sitting movement, and collecting unit acquires the training pair to the motion estimation unit based on the data
The physical condition of training object described in the relative motion data assessment of elephant and adjust in real time the motion frequency of the trained object with
Run duration, wherein
The linkage unit includes at least one crank and rocker mechanism, and the delta link in the crank and rocker mechanism is auxiliary
The shoulder of the trained object is helped to carry out sitting movement according to the head movement curve of fitting.
According to a preferred embodiment, the crank and rocker mechanism includes crank mechanism, delta link mechanism, rocking bar
Mechanism and backrest, the first end point of the delta link mechanism and the second endpoint respectively with the crank mechanism and the rocking bar
Mechanism connects, and the third endpoint of the delta link mechanism is connect with the backrest of fixed training object shoulder to assist
The shoulder of trained object is stated according to the head movement curvilinear motion during sitting.
According to a preferred embodiment, at least two crank and rocker mechanisms are arranged in a symmetrical manner to be leaned on described
The both ends of the back of the body, at least one endpoint of the backrest are fixedly connected with the third endpoint of the corresponding delta link mechanism.
According to a preferred embodiment, the backrest is rectangular backrest, the top endpoint of the backrest and corresponding institute
The third endpoint for stating delta link mechanism is fixedly connected,
The between the lower section endpoint of the backrest and the third endpoint and first end point of the corresponding triangular bar linkage
Correspondence fixed point in three-link is fixedly connected.
According to a preferred embodiment, the data acquisition unit acquires the relative motion data packet of the trained object
Include the pressure data and/or physiologic information data between motion frequency, run duration, training object and pedal, the physiology letter
It includes height, weight, heart rate, blood pressure, respiratory rate and/or body temperature to cease data.
According to a preferred embodiment, the data acquisition unit includes at least the pedal for being set to the rack lower end
At least one pressure sensor, be set to the physiological information sensor and head movement curve sensor of the backrest.
According to a preferred embodiment, the motion estimation unit includes data processing unit, assessment unit and control
Unit, the data processing unit carry out valid data screening to the motion-dependent data that the data acquisition unit acquires and will
Valid data are sent to the assessment unit, the assessment unit based on valid data to the physical condition of the trained object and
Head movement curve is assessed, and assessment result of the described control unit based on the assessment unit adjusts the trained object
Motion frequency, run duration and head movement curve.
It is described that back is provided at least two shoulders for fixed trained object both shoulders according to a preferred embodiment
Band and at least one waistband for laterally fixed training object upper torso, the shoulder belt and/or the waistband be provided with to
A few physiological information sensor and/or head movement curve sensor.
According to a preferred embodiment, the driving unit includes motor, long axis in axis and two level chain drive low speed wheel,
The motor by level-one chain-drive mechanism and long axis connection, the both ends of long axis respectively by the two level chain-drive mechanism with it is right
The two two level chain drive low speed wheels connection claimed, the two level chain drive low speed wheel pass through the axis and the crank mechanism
One end rotation connection is to make driving force of the linkage unit based on the driving unit carry out synkinesia.
According to a preferred embodiment, the seat unit includes back cushion, retention mechanism, seat support and chair cushion,
In,
The seat support includes U-shaped structure and the strip structure that is integrated with the U-shaped structure vertical connection,
The strip structure part of the seat support is fixed on the machine by the retention mechanism in a manner of adjustable
On the vertical tube of frame, the both ends of the U-shaped structure are respectively arranged at least one through-hole for fixing and adjusting the chair cushion, institute
Back cushion is stated to be arranged in one end of the strip structure.
The advantageous effects of the present invention：
(1) present invention designs the parameter of crank and rocker mechanism according to human normal exercise data, has very strong adaptation
Property and science, be more in line with human motion state, realize more preferably medical effect；
(2) present invention considers that production and processing process, standardized designs, simple and convenient improve service life of a machine, reduces and generates
Period reduces cost, provides a kind of rehabilitation medical instrument of low consumption, possesses more vast market prospect；
(3) present invention combines ergonomics, and selected mechanism size is optimized, and considers height of seat and anteroposterior position
Adjusting is set, while ensureing rehabilitation efficacy, improves human comfort；
(4) present invention except can the patient of independent aiding upright impaired mechanical to complete the rehabilitation training from sitting posture to stance dynamic
Make, other rehabilitation medical instruments can also be coordinated to work, for adjusting patient's figure to carry out related rehabilitation.
Description of the drawings
Fig. 1 is the integrally-built positive structure schematic of the present invention；
Fig. 2 is the integrally-built structure schematic diagram of the present invention；
Fig. 3 is the logic module schematic diagram of the present invention；
Fig. 4 is the delta link structural scheme of mechanism of the present invention；
Fig. 5 is the rack construction schematic diagram of the present invention；
Fig. 6 is the middle shaft structure schematic diagram of the present invention；
Fig. 7 is the armchair structure schematic diagram of the present invention；
Fig. 8 is the disassemblying structure schematic diagram of seat of the present invention；
Fig. 9 is the backrest schematic diagram of the present invention；With
Figure 10 is the head movement curve synoptic diagram of the present invention.
Reference numerals list
1：Crank mechanism 2：Delta link mechanism 3：Rocker device
4：Backrest 5：Rack 6：Seat
7：Motor 8：Level-one chain-drive mechanism 9：Long axis
10：Two level chain-drive mechanism 11：Vertical tube 12：Transverse tube
13：Vertical shaft bearing 14：Motor mounting plate 15：Motor mount
16：Diamond shape bearing block 17：Pedal 18：Axis
19：Two level chain drive low speed wheel 20：Back cushion 21：Retention mechanism
22：Seat support 23：Cushion 51：First pipe
52：Second pipe 53：Third pipe 100：Driving unit
200：Linkage unit 300：Seat unit 400：Data acquisition unit
500：Motion estimation unit 501：Data processing unit 502：Assessment unit
503：Control unit
Specific implementation mode
It is described in detail below in conjunction with the accompanying drawings.
The present invention provides a kind of intelligent apparatus of aiding upright, as shown in Figure 3.A kind of intelligent apparatus of aiding upright, packet
The driving unit 100 being arranged in rack 5, linkage unit 200, seat unit 300, data acquisition unit 400 and movement is included to comment
Estimate unit 500, which is characterized in that linkage unit spare seat list in such a way that crank rocker links under the driving of driving unit
Training object in member carries out sitting movement, and motion estimation unit acquires the relative motion of training object based on data acquisition unit
Data assessment trains the physical condition of object and the in real time motion frequency and run duration of adjusting training object, wherein linkage is single
Member includes at least one crank and rocker mechanism, and the shoulder of the delta link supplemental training object in crank and rocker mechanism is according to quasi-
The head movement curve of conjunction carries out sitting movement.
Embodiment 1
As depicted in figs. 1 and 2, rack 5 is for installing driving unit 100, linkage unit 200, seat unit 300.Rack 5
It is made up of welding and bolt-connection at least one section of curved tube.Preferably, rack 5 is made of five sections of curved tubes.Bending
It is combined by welding and bolt-connection between pipe.Multiple segmentation pipes are selected to be conducive to the transport of pipe and be bent add
Work.
As shown in figure 5, rack 5 is made of the first pipe 51, two the second pipes, 52, two third pipes 53.First circle
Pipe 51 includes the cross that symmetrical side-glance shape is connected in the Z-type bent tube section of zed type with by symmetrical Z-type bent tube section upper end
Beam portion point.Second pipe 52 is bent into approximate trapezoid shape, but is bent as the tube ends reverse symmetry of trapezoidal bottom.Two
A second pipe 52 is symmetrically connected to the both ends of the first pipe 51.The shape of the curved shape of third pipe 53 and the second pipe 52
Shape matches each other.One end of third pipe 53 starts to be bent into constant slope with level angle.The bending angle of third pipe 53
Degree is identical as the angle at trapezoidal base angle of the second pipe 52.The other end of third pipe 53 is bent multiple radians to make third justify
Pipe 53 matches in the shape of perpendicular and the first pipe 51 and the second pipe 52.Two third pipes 53 are respectively with symmetrical
Mode is connect with the first pipe 51 and the second pipe 52.Wherein, rake in the middle part of the Z-shaped of third pipe 53 and the first pipe 51
Divide and is bolted.One end of third pipe 53 is connect with one end of the second pipe 52, the other end of third pipe 53 along
The shape at the trapezoidal upper bottom of the second pipe 52 is bent and is bolted with trapezoidal waist top.Preferably, circle of the invention
The angle of pipe bending is arc angle, to prevent sharp angle from injuring training object.
Vertical tube 11 is vertical to be arranged on the vertically symmetrical line of the first pipe 51, and one end of vertical tube 11 and the first pipe
The midpoint of 51 header portion connects.The trapezoidal waist connection in the horizontal side by symmetrical two the second pipes 52 of transverse tube 12,
And the midpoint of transverse tube 12 is connect with one end of vertical tube 11.Preferably, it is connected between two third pipes 53 horizontally disposed
Pedal 17.It is connected with horizontally disposed motor mounting plate 14 between the bottom end of two Z-shaped parts of the first pipe 51.Motor is pacified
The middle part of loading board 14 is provided with the motor mount 15 for installing motor 7.Motor 7 is mounted in motor mount 15.
Driving unit 100 is used to provide driving force for linkage unit 200.As shown in Fig. 2, driving unit 100 includes motor
7, long axis 9, axis 18 and two level chain drive low speed wheel 19.Motor 7 is connect with long axis 9 by level-one chain-drive mechanism 8.Long axis 9
Both ends connect respectively by two level chain-drive mechanism 10 with axis 18.One end of axis 18 connects with two level chain drive low speed wheel 19
It connects, the other end is connect with crank mechanism 1, and to make, driving force of the linkage unit 200 based on driving unit 100 carries out auxiliary fortune
It is dynamic.
As shown in Figure 5 and Figure 6, monosymmetric two Z-shaped parts are respectively set there are one vertical in the first pipe 51
Bearing block 13.It is provided with horizontally disposed long axis 9 between two vertical shaft bearings 13.Position corresponding with motor 7 is set on long axis 9
It is equipped with primary transmission chain mechanism 8.One end of primary transmission chain mechanism 8 is connect with motor 7.Motor 7 is servo motor, for providing
Positive and negative rotation power in certain angle.It is used there are two being respectively set in the trapezoidal upper bottom portion position of symmetrical two the second pipes 52
In the diamond shape bearing block 16 of support axis 18.Axis 18 is arranged between two diamond shape bearing blocks 16, and one end of axis 18
It is connect with two level chain drive low speed wheel 19, the other end is connect with crank mechanism 1.Two two level chain drive low speed wheels 19 and long axis 9
Both ends respectively pass through two level chain-drive mechanism 10 connect.
Linkage unit 200 carries out standing exercise for supplemental training object.200 supplemental training object of linkage unit is being stood
During sitting down, head movement curve according to fitting head movement curvilinear motion.Linkage unit 200 includes crank rocker
Mechanism.Crank and rocker mechanism includes crank mechanism 1, delta link mechanism 2, rocker device 3 and backrest 4.
Crank mechanism 1 and rocker device 3 are rod-shaped mechanism.Delta link mechanism 2 is triangular structure, and there are three ends for tool
Point.Three endpoints include first end point B, the second endpoint C and third endpoint E.One end of crank mechanism 1 is connect with axis 18, separately
One end is connect with the first end point B of delta link 2.One end of one end of rocker device 3 and the header portion of the first pipe 51
It pivotally fixes, the other end is connect with the second endpoint C of delta link 2.The third end of delta link mechanism 2
Point E is connect with the shoulder of supplemental training object with the backrest 4 of fixed training object shoulder according to the head movement in standing process
Curvilinear motion.
Rack 5 is symmetrical structure, and two crank and rocker mechanisms are symmetrically arranged with identical connection type the two of rack 5
Side.Preferably, two crank and rocker mechanisms be arranged in a symmetrical manner the power equilibrium that bears backrest 4 at the both ends of backrest 4 from
And supplemental training object keeps balance during sitting.
As shown in figure 4, crank mechanism 1 is arranged in the lower section of rocker device 3.One end point of crank mechanism 1 and rocker device 3
Different location in the same vertical line of rack 5 is not set, to make crank mechanism 1, delta link mechanism 2, rocking bar machine
Structure 3 links in the same perpendicular.
Preferably, backrest 4 is the rectangular backrest for including four endpoints.It is provided on rectangular backrest 4 and meets human body back song
The arc back cushion of line, so that training object is comfortable on during standing exercise.The shape of the backrest 4 of the present invention is not limited to
Rectangle further includes the shapes such as circle, polygon, diamond shape, ellipse.The shape of arc back cushion is consistent with the shape of backrest 4, and
Arc back cushion with the opposite one side in the training back of object is and the matched curved surface of back curve.
Two crank and rocker mechanisms are arranged in the symmetrical both sides of rectangular backrest.Two endpoints of one end of rectangular backrest are fixed
On third connecting rod EB between the third angle of triangular bar linkage and first jiao.Specifically, the upper extreme point domain phase of rectangular backrest
The third endpoint E for the delta link 2 answered with connect, the lower extreme point of rectangular backrest is fixed on the corresponding position F of third connecting rod EB
Place.The distance of the parts connecting rod EF is identical as the distance between endpoint up and down of rectangular backrest.
Seat unit 300 uses when reverting to by standing sitting posture for training object, to make to train object sit-stand
Shuttling movement retains the energy of training object.
As shown in Figure 7 and Figure 8, seat unit 300 includes back cushion 20, retention mechanism 21, seat support 22 and chair cushion 23.Its
In, seat support 22 includes U-shaped structure and the strip structure being integrated with U-shaped structure vertical connection.The bar shaped of seat support 22
Structure division is fixed on the vertical tube 11 of rack 5 retention mechanism 21 in a manner of height-adjustable.The both ends of U-shaped structure point
It is not provided at least one through-hole for fixing and adjusting chair cushion 23.Back cushion 20 is arranged in one end of strip structure.
Data acquisition unit 400 is for acquiring the exercise data of trained object during the motion.Exercise data includes instruction
Practice sole stress data, motion frequency, run duration, physiologic information data and the head movement curve of object.Physiologic information number
Change according to including physiological parameters such as weight, palmic rate, blood pressure, temperature pulse respiration frequencies.
Data acquisition unit 400 includes at least at least one pressure sensor being set on the pedal of 5 lower end of rack, sets
It is placed in the physiological information sensor and head movement curve sensor of backrest 4.Preferably, it is provided at least one pressure on pedal 17
Force snesor.Pressure sensor is used to monitor foot's stressing conditions of trained object.As shown in figure 9, backrest 4 is provided at least two
A shoulder belt for fixed training object and at least one waistband due to laterally fixing training object.It is arranged on shoulder belt or waistband
There are heart rate sensor, body temperature transducer, blood pressure sensor, respiratory frequen, motion frequency sensor and/or head movement
Curve sensor.Preferably, data acquisition unit further includes the pulse transducer being arranged on wrist strap.
Pressure data, motion frequency data and/or the instruction that motion estimation unit 500 is used to acquire based on data acquisition unit
Practice the health condition of the physiologic information data assessment training object of object, and the motion frequency and fortune of adjusting training object in real time
The dynamic time.
Preferably, head movement test curve and head movement standard curve of the motion estimation unit based on training object are quasi-
The head movement curve with training object matching is closed, and the movement locus of training object is rectified based on head movement curve
Just.
Motion estimation unit 500 can be both arranged in rack 5 or on backrest 4, in a wired or wireless manner into line number
According to transmission, it can also be arranged in intelligent mobile terminal, wirelessly carry out data transmission.In motion estimation unit 500
Portion is stored with the head movement standard curve by scientific algorithm.When training object carries out sitting training for the first time, locomotion evaluation
Unit receives the head movement test curve of data acquisition unit transmission, and by the shoulder of head movement test curve and storage
Motion criteria curve is compared.If the model that the difference of head movement test curve and head movement standard curve allows in error
In enclosing, then the standing exercise of training object is not corrected, i.e., the head movement of training object is corrected.If shoulder is transported
The difference of dynamic test curve and head movement standard curve is larger, and motion estimation unit sends to linkage unit 200 and instructs, instruction
Linkage unit carries out sitting movement by 4 supplemental training object of backrest, and shoulder is made to be moved according to shoulder standard curve, to
Make that object is trained to achieve the effect that standard is stood.
Preferably, if training object is specific group, such as children.Motion estimation unit 500 is based on training object station and exists
The pressure data of pedal 17, the physiologic information data of training object, head movement test curve carry out weight to head movement curve
New fitting.Meanwhile motion estimation unit is according to the indication linked unit adjusting training object of the head movement curve being fitted again
Moving height and head movement curve, to make the specific groups such as children obtain the training of aiding upright.
Preferably, if training object is robot.Motion estimation unit 500 based on training object station pedal 17 pressure
Data, head movement test curve are fitted head movement curve again.Meanwhile motion estimation unit according to being fitted again
The indication linked unit adjusting training object of head movement curve moving height and head movement curve, to make robot etc.
Specific group obtains the training of aiding upright.The pressure of the pressure sensor monitoring of pedal 17 while training object aiding upright
When power disappears, it was demonstrated that trained height has exceeded the height of trained object.Auxiliary station of the motion estimation unit 500 to linkage unit
Vertical height re-starts adjustment, until each data and head movement curve in the motion process of training object are adjusted to normal
In range.
Preferably, the physiologic information data for the training object that motion estimation unit 500 is acquired based on data acquisition unit 400
The health condition of training object is assessed with motion frequency.Physiologic information data point reuse motion frequency based on training object and movement
Time.In the case where exception occur in the physiologic information data of training object, motion estimation unit 500 stops supplemental training object
Sitting training is carried out, and training object is reverted into sitting posture.Preferably, motion estimation unit 500 includes alarm unit.It is instructing
In the case that exception occur in the physiologic information data of white silk object, alarm unit is with the side of audio alarm, light alarm and/or combination
Formula sends a warning.
Preferably, motion estimation unit 500 includes data processing unit 501, assessment unit 502 and control unit 503.Number
Valid data screening is carried out to the motion-dependent data that data acquisition unit 400 acquires according to processing unit 501, valid data are sent out
It send to assessment unit 502.The data of each sensor acquisition of data acquisition unit 400 are not entirely valid data, wherein wrapping
There is the error information beyond error range containing multiple.The data that data processing unit 501 transmits data acquisition unit 400 into
Row screening, excludes the data beyond error range, retains accurate valid data and be sent to assessment unit 502.
Assessment unit 502 assesses the physical condition and head movement curve of training object based on valid data.It comments
Estimate the physical condition of valid data assessment training object of the unit 502 based on reception.For example, if training object is in standing exercise
Palmic rate accelerates and has exceeded normal range in the process, and assessment unit 502 indicates that control unit 503 reduces motion frequency,
To make the palmic rate for training object adjust to normal frequency.Assessment unit 502 is stored with the shoulder fortune by scientific algorithm
Dynamic standard curve.When training object carries out sitting training for the first time, assessment unit 502 tests the head movement of training object bent
Line is compared with the head movement standard curve of storage.If the difference of head movement test curve and head movement standard curve
In the range of error allows, then the standing exercise of training object is not corrected.If head movement test curve and shoulder
The difference of motion criteria curve is larger, and assessment unit 502 sends corrective instruction to control unit 503, and instruction control unit 503 is adjusted
The head movement curve of integrin moving cell makes the shoulder for training object be moved according to shoulder standard curve, to make training
Object achievees the effect that standard is stood.
Control unit 503 is connect with driving unit 100 and linkage unit 200.Control unit 503 is based on assessment unit 502
Assessment result adjusting training object motion frequency, run duration and head movement curve.
Embodiment 2
The present embodiment is being further improved and illustrate to embodiment 1, and content same as Example 1 repeats no more.
As shown in figure 4, the crank and rocker mechanism in linkage unit 200, one end A of crank mechanism 1 and the one of rocker device 3
End D is pivotally separately fixed at the different location of same vertical line.Preferably, it one end A of crank mechanism 1 and shakes
One end D of linkage 3 is pivotally utilized respectively the different location that hinge is fixed on same vertical line.Crank mechanism
1 is arranged in the lower section of rocker device 3.Wherein, crank mechanism 1 and crank mechanism 3 vertically rotate.Crank mechanism 1 it is another
One end is connect in a rotating manner with the first end point B of delta link 2.Crank mechanism 1 and first end point B turns in perpendicular
It is dynamic.The other end of rocker device 3 is connect in a rotating manner with the second endpoint C of delta link 2.By crank mechanism 1, triangle
The crank and rocker mechanism that shape connecting rod 2, rocker device 3 form links in the same perpendicular.Symmetrical setting is in 4 liang of backrest
The crank and rocker mechanism of side links in symmetrical two perpendiculars.
Coordinate data according to adult by sitting posture variation for the shoulder movement in standing process counts, and adjusts delta link
2 so that the moving curve of the third endpoint E of delta link 2 is consistent with the head movement curve of adult.As shown in figure 4, setting
The different location on vertical line X=-6 is arranged in one end A of crank mechanism 1, one end D of rocker device.The three of delta link 2
A angle is：Third the angle ∠ EBC=40 ° that BC is formed in EB and first, the first angle ∠ BCE that CE is formed in BC and second
=60 °, the second angle ∠ CEB=80 ° that EB is formed in CE thirds.
According to a preferred embodiment, crank mechanism 1, crank mechanism 3 and the length of side ratio of delta link 2 are fixed not
Become.Preferably, the length L of crank mechanism 1AB, delta link 2 the first side BC length LBCWith the length L of rocker device 3CD's
Ratio is LAB：LBC：LCD=25：77：63.Since the angle of three interior angles of delta link 2 is constant, delta link
2 three edge lengths constant rates.That is, the length ratio of each mechanism in linkage mechanism of the present invention is to limit.Crank mechanism
1, side BC, CE, EB of delta link 2 and the length ratio of rocker device 3 are constant.
The position moving curve of the third endpoint E of delta link 2 and the mean shoulder movement in adult's standing process are bent
Line is consistent.The position moving curve of the third endpoint E of delta link 2 indicates that the head movement during training subjects stand is bent
Line.The present invention chooses the shoulder position parameter of five representative postures in adult's standing process, as shown in table 1.
Table 1：
| 1 | 2 | 3 | 4 | 5 | |
| X | -6.41 | -2.85 | -0.4 | 1 | 0.9 |
| Y | -9.8 | -9.5 | -6.3 | 3.3 | 8.6 |
| θ | -20° | -5° | 0° | 0° | 0° |
Five positions shown in Fig. 10 are the shoulder position of the human body consistent with parameter shown in table 1.The present invention is arranged bent
The different location on vertical line X=-6 is arranged in one end A of handle mechanism 1, one end D of rocker device.In human body standing process
The shoulder position of five postures is indicated with stain in plane coordinates.Five shoulder positions can be fitted to a head movement song
Line.Backrest 4 is fixed between two delta links, according to head movement curve supplemental training under the drive of third endpoint E
The shoulder of object moves, to which supplemental training object is gradually stance from sitting posture variation.
The present disclosure applies equally to the children of different age group.Preferably, assessment unit 502 was stored with suitable for each year
The age linkage unit of section children adjusts data.Physiologic information data assessment and selection of the assessment unit 502 based on training object are suitable
For training the linkage unit of object to adjust data.Linkage unit adjusting data are sent to control unit by assessment unit 502
503.Linkage unit of the control unit 503 based on reception adjusts data and is adjusted to linkage unit.
According to a preferred embodiment, in linkage unit, crank mechanism 1, delta link 2 and rocker device 3 are length
Spend adjustable mechanism.The length of each mechanism carries out equal proportion adjusting in linkage unit.Each mechanism can be in linkage unit
Armstrong's patent adjusting is carried out, motor machine adjusting can also be carried out.Preferably, the crank mechanism 1 in linkage unit of the invention,
Delta link 2 and rocker device 3 carry out motor machine adjusting.Preferably, the end of the terminal A of crank mechanism 1 and rocker device 3
Point D is fixed on the distinct locations on same vertical line in a movable manner.Crank mechanism 1 and rocker device 3 are that length can
The rod-shaped mechanism adjusted.Three sides of delta link 2 are the electric metal bar of adjustable in length.Control unit 503 is based on commenting
The adjusting data for estimating the assessment of unit 502 carry out motor machine adjusting to the endpoint and length of crank mechanism 1, rocker device 3.Control
Unit 503 processed carries out motor machine tune based on the adjusting data that assessment unit 502 is assessed to three edge lengths of delta link 2
Section.The adjusting of crank mechanism 1, rocker device 3 and delta link 2 is to be carried out at the same time adjusting according to equal proportion, to ensure to lean on
The head movement curve of the back of the body 4 is constant, obtains the matched linkage unit of body with training object.Training object is carrying out sitting instruction
In experienced process, head movement curve is consistent with the head movement curve in body standing process, avoids trained object and occurs
The uncomfortable situation of body.
According to a preferred embodiment, assessment unit 502 is arranged in intelligent terminal, and related personnel can pass through intelligent terminal
The adjusting data of each linkage mechanism in linkage unit are selected, assessment time of the assessment unit 502 to training object is shortened.
Preferably, the present invention is suitable for the aiding upright training of emulated robot.Related personnel will be imitated by intelligent terminal
The physiological datas such as height, the weight of true robot input assessment unit 502.Physiology number of the assessment unit 502 based on training object
According to the adjusting data for choosing suitable linkage unit.Control unit 503 is based on adjusting data to the crank mechanism in linkage unit
1, the endpoint of rocker device 3 and length are adjusted, while being adjusted to three edge lengths of delta link 2 based on data are adjusted
It is whole, obtain the head movement curve for being applicable in emulated robot.The both shoulders of emulated robot and body top by backrest 4 extremely
Few two shoulder belts and a waistband are fixed, and standing exercise is carried out under the auxiliary of linkage unit.Therefore, the present invention can be according to imitative
Height, the weight of true robot assess matched head movement curve, and aiding upright training is carried out to emulated robot.
Embodiment 3
The present embodiment is the further explanation to embodiment 1 or embodiment 2.
First, seat unit 300 is adjusted, makes that object is trained to be comfortable on.
Adjust fixed position of the retention mechanism 21 on vertical tube 11.The strip structure part of seat support 22 passes through fastening machine
Structure 21 is fixed in a manner of height-adjustable on the vertical tube 11 of rack 5.The height of seat support 22 is adjusted to and training pair
As matched position, the height of seat support 22 is fixed on the vertical tube 11 of rack 5 by retention mechanism 21, convenient for training pair
As standing and sitting down with comfortable height of seat.
Adjust position of the cushion 23 on the U-shaped structure of seat support 22.The both ends of U-shaped structure respectively on be provided at least
The through-hole of one fixed position for adjusting cushion 23.Preferably, the both ends of U-shaped structure respectively on be provided at least one circle
The through-hole of shape.Preferably, there are three circular through-holes for upper setting respectively at the both ends of U-shaped structure.Seat is adjusted by bolt to fix
Position on through-hole adjusts the fixed position of cushion 23, until the position that the sitting posture for being adjusted to trained object is pleasant.
According to a preferred embodiment, the both ends of U-shaped structure respectively on be provided at least one strip through-hole.The both ends of strip through-hole
It can be right-angle structure, can also be arcuate structure.Cushion is adjusted by fixed position of the adjusting bolt on strip through-hole
23 fixed position, until the position that the sitting posture for being adjusted to trained object is pleasant.
It is adjusted to behind the position of training object matching in seat unit 300, training object is sitting on cushion 23.Backrest 4
It is reduced to the back corresponding position of trained object.At least two shoulder belts on backrest 4 are fixed on to the dual-shoulder position of trained object,
The shoulder for training object is set to be bonded with backrest 4.The waist that lateral waistband is laterally fixed to training object makes to train the upper of object
Portion's trunk is consistent with the motion amplitude of backrest 4.The common cooperation of two shoulder belts and a transverse waist band is fixed, and makes to train object
Upper torso is fitted closely with backrest 4, to reach the optimum efficiency that supplemental training object is stood completely.Be arranged on backrest 4 to
A few curve movement sensor.Preferably, a curve movement sensor is respectively set in the both ends of backrest 4, is leaned on for monitoring
The curve movement of the back of the body 4.Since the head movement curve and the curve movement of backrest 4 of training object are completely the same, curve movement passes
Sensor indirect monitoring trains the head movement curve of object.Preferably, temperature sensor, blood pressure are provided at least one shoulder belt
Sensor and respiratory frequen, for monitoring Temperature changing, blood pressure and the breathing of trained object during the motion
Frequency changes.Preferably, shoulder belt corresponding with training object left shoulder position or waistband are additionally provided with palmic rate sensor.It is excellent
Choosing, the pedal 17 below seat unit is provided at least one pressure sensor.Pressure sensor is for monitoring trained object
Pressure change in sitting training process and changes of weight.
After training object is sat straight and is fixed by corresponding shoulder belt and waistband, motion switch is clicked.Motor 7 starts to start,
Positive and negative rotation power in certain angle is provided.Motor 7 rotates forward, and drives 9 turns of long axis by level-one chain-drive mechanism 8
It is dynamic.Long axis 9 drives two level chain reduction wheel 19 to carry out deceleration transmission by the two level chain-drive mechanism 10 at its both ends.Two-stage chain
Gear reduction wheel 19 passes through 18 connecting crank mechanism 1 of axis.Crank mechanism 1 carries out under the drive of two level chain reduction wheel 19
Underdrive.Motor 7 carry out within a certain angle it is positive and negative repeat rotate, crank mechanism 1 the first chain-drive mechanism 8, long axis 9,
Second chain-drive mechanism 10, the second chain reduction wheel 19 transmission under carry out positive and negative rotation.
The first end point B of delta link 2 is pivotally connect with crank mechanism 1.The second of delta link 2
Endpoint C is pivotally connect with rocker device 3.Crank mechanism 1 is first rotated up under the transmission of motor 7.Triangle
Shape connecting rod 2 rotates under the promotion of crank mechanism 1 to corresponding position, and rocker device 3 complies with the movement tendency of delta link 2
Accordingly rotated.The third endpoint E of delta link 2 drives backrest 4 to be moved upwards according to head movement curve, to make instruction
Practice object gradually to stand under the auxiliary of backrest 4.After training object reaches the stance of standard, motor 7 starts reversely
Rotation.Crank mechanism 1 starts downwards slowly rotation under the transmission of the first chain-drive mechanism 8 and the second driving chain mechanism 10.Three
Angle shape rod 2 starts corresponding mobile, the third endpoint E bands of delta link 2 under the driving of the rotatory force of crank mechanism 1
Dynamic backrest 4 is moved downward according to head movement curve.Under the auxiliary of backrest 4, shoulder and the backrest 4 of training object together according to
Head movement curve moves downward, that is, trains object gradually to revert to sitting posture from stance, be sitting in the cushion 23 of seat unit
On.
In the training process that training object carries out sitting posture-standing-sitting posture for the first time, the acquisition instruction of data acquisition unit 400
Practice the related datas such as weight, blood pressure, heart rate, temperature, respiratory rate, the head movement test curve of object.Specifically, pedal 17
On pressure sensor the pressure change between training object and pedal 17 is monitored during training subjects stand, and instructing
The weight of training object is recorded when practicing subjects stand.Temperature sensor, heart rate sensor, respiratory frequen on shoulder belt,
Temperature changing, changes in heart rate, change of respiratory rate and the blood pressure of blood pressure sensor monitoring training object.Shoulder on backrest 4
Portion's curve movement Sensor monitoring head movement curve.
The data of acquisition are sent to motion estimation unit 500 by data acquisition unit 400 in a wired or wireless manner.Number
The data that data acquisition unit 400 is sent are received according to processing unit 501.And valid data screening is carried out to data, discharge misses
The larger data of difference, retain accurate valid data.Valid data are sent to assessment unit 502 by data processing unit 501.
Assessment unit 502 assesses the health condition and head movement curve of training object based on valid data.If
The physical condition of assessment training object is not suitable for carrying out sitting training, then sends and instruct to control unit 503, control unit 503
Send out the warning information of uncomfortable resultant motion.If the physical condition of the assessment training object of assessment unit 502 is suitble to sitting training, tie
The physiologic information data for closing training object determine the run duration and motion frequency of training object.For example, the weight of training object
Belong to critical field with the BMI indexes of height, and the data such as heart rate, blood pressure, shell temperature, respiratory rate are in normal range (NR)
Interior, then assessment unit 502 formulates exercise program according to standard movement time and motion frequency.Preferably, the standard movement time is
30 minutes, motion frequency was 2 beats/min.Training object carries out standing exercise according to the standing exercise process of standard.
If the weight of training object and the BMI indexes of height belong to partially fat range, and heart rate, blood pressure, shell temperature, exhale
The data such as frequency are inhaled in normal range (NR), then the movement of the physical condition discomfort standardization of the assessment of assessment unit 502 training object
The run duration of training object is evaluated as 20 minutes by frequency and run duration, and motion frequency is 2 beats/min.Training object is pressed
Standing exercise is carried out according to the motion process of assessment.If training object palmic rate during standing exercise accelerates and has exceeded
Normal range, assessment unit 502 is sent to control unit 503 reduces motion frequency instruction.Control unit 503 is based on reception
Indication linked unit is instructed to reduce motion frequency, to make the palmic rate for training object adjust to normal frequency.
Assessment unit 502 is stored with the head movement standard curve by scientific algorithm.It is sat for the first time in training object
When vertical training, assessment unit 502 carries out the head movement standard curve of the head movement test curve of training object and storage
Compare.If the difference of head movement test curve and head movement standard curve is in the range of error allows, not to training
The standing exercise of object is corrected.If head movement test curve and the difference of head movement standard curve are larger, assessment is single
Member 502 sends corrective instruction to control unit 503, and instruction control unit 503 adjusts the head movement curve of linkage unit, makes instruction
The shoulder for practicing object is moved according to shoulder standard curve, to make to train object to achieve the effect that standard is stood.
Control unit 503 is connect with driving unit 100 and linkage unit 200.Specifically, control unit 503 and motor 7,
Second level chain-drive mechanism ratio wheel 19 connects.Assessment result regulation motor 7 of the control unit 503 based on assessment unit 502
Positive and negative rotation frequency and run time, to motion frequency, run duration and the head movement curve of rectificative training object.It is meeting
To emergency case, such as train the body of object uncomfortable suddenly, control unit 503 stops the rotation of motor 7, while making the second level
Chain-drive mechanism ratio wheel 19 minimizes crank mechanism 1, to drive the 4 supplemental training object of backrest in linkage unit extensive
It is multiple to be given first aid to sitting posture convenient for training object to be fixed with the releasing of backrest 4.Also, control unit 503 is connected with alarm unit.
Control unit 503 controls alarm unit alert, and surrounding population is reminded to give first aid to and help training object.
According to a preferred embodiment, motion estimation unit 500 is electronic module, can be arranged in the arbitrary of rack 5
On position.Preferably, the data processing unit 501 in motion estimation unit 500, the setting of assessment unit 502 are at intelligent mobile end
On end, any position in rack 5 is arranged in control unit 503.Data acquisition unit 400 is wirelessly by acquisition
Data are sent on the data processing unit 501 of intelligent mobile terminal.For example, data acquisition unit with bluetooth, WiFi,
The wireless transmission methods such as ZigBee, iBecon send data to data processing unit 501.Assessment unit 502 is based at data
The valid data that reason unit 501 is sent are assessed, and regulating command is wirelessly sent to control unit 503.
For example, assessment unit 502 sends data to control unit with the wireless transmission methods such as bluetooth, WiFi, ZigBee, iBecon
503。
According to a preferred embodiment, pressure sensor, temperature sensor, heart rate in data acquisition unit 400 pass
The EnOcean modules for being provided with the energy are arranged in sensor, blood pressure sensor, respiratory frequen.EnOcean modules will be trained pair
The thermal energy of elephant, mechanical energy are converted into electric energy, and the energy is provided for sensor.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention
Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention range and fall into this hair
Within bright protection domain.It will be understood by those skilled in the art that description of the invention and its attached drawing are illustrative and are not
Constitute limitations on claims.Protection scope of the present invention is limited by claim and its equivalent.
Claims (10)
1. a kind of auxiliary standing training device, described device includes the driving unit being arranged in rack, linkage unit, seat list
Member, data acquisition unit and motion estimation unit, wherein described control unit (503) and the driving unit (100) and described
Linkage unit (200) connects,
It is characterized in that,
The linkage unit assists in such a way that crank rocker links on the seat unit under the driving of the driving unit
Training object carry out sitting movement, wherein
The linkage unit includes at least one crank and rocker mechanism, and the delta link in the crank and rocker mechanism assists institute
The shoulder for stating trained object carries out sitting movement according to the head movement curve of fitting,
The motion estimation unit includes data processing unit, assessment unit and control unit, and the data processing unit is to institute
The motion-dependent data for stating data acquisition unit acquisition carries out valid data screening and valid data is sent to the assessment list
Member, the assessment unit assess the physical condition and head movement curve of the trained object based on valid data, institute
State motion frequency, run duration and shoulder that assessment result of the control unit based on the assessment unit adjusts the trained object
Curve movement.
2. auxiliary standing training device as described in claim 1, which is characterized in that the crank and rocker mechanism includes crank mechanism
(1), delta link mechanism (2), rocker device (3) and backrest (4), the first end point of the delta link mechanism (2) and
Second endpoint is connect with the crank mechanism (1) and the rocker device (3) respectively, and the of the delta link mechanism (2)
Three endpoints are connect with the backrest (4) of fixed training object shoulder to assist the shoulder of the trained object according to sitting process
In head movement curvilinear motion.
3. auxiliary standing training device as claimed in claim 2, which is characterized in that at least two crank and rocker mechanisms are with right
The both ends in the backrest (4) are arranged in the mode of title, and at least one endpoint of the backrest (4) connects with the corresponding triangle
The third endpoint of linkage (2) is fixedly connected.
4. auxiliary standing training device as described in claim 1, which is characterized in that the seat unit (300) is for training object
It is used when reverting to sitting posture by standing, to make that object is trained to carry out the shuttling movement sat-stood.
5. the auxiliary standing training device as described in one of Claims 1-4, which is characterized in that assessment unit (502) storage
There is the head movement standard curve by scientific algorithm, wherein when training object carries out sitting training for the first time, the assessment is single
First (502) will train the head movement standard curve by scientific algorithm of the head movement test curve and the storage of object
It is compared, wherein head movement test curve and head movement standard curve of the assessment unit (502) in training object
In the case of there are significant difference, corrective instruction is sent to described control unit (503), instruction described control unit (503) is adjusted
The head movement curve of the whole linkage unit makes the shoulder for training object be moved according to shoulder standard curve, to make
Training object achievees the effect that standard is stood..
6. auxiliary standing training device as claimed in claim 5, which is characterized in that the data acquisition unit includes at least setting
In the pedal (17) of the rack (5) lower end at least one pressure sensor, be set to the backrest (4) a physiology letter
Cease sensor and head movement curve sensor.
7. the auxiliary standing training device as described in one of Claims 1-4, which is characterized in that the assessment unit (502) is based on
The physical condition of the valid data assessment training object of reception, wherein if training object heartbeat frequency during standing exercise
Rate accelerates and has exceeded normal range, then assessment unit (502) the instruction described control unit (503) reduces movement frequency
Rate, to make the palmic rate for training object adjust to normal frequency.
8. auxiliary standing training device as claimed in claim 6, which is characterized in that be provided at least two on the backrest (4)
Shoulder belt for fixed training object both shoulders and at least one waistband for laterally fixed training object upper torso, the shoulder
Band and/or the waistband are provided at least one physiological information sensor and/or head movement curve sensor.
9. the auxiliary standing training device as described in one of claim 1 to 8, which is characterized in that the motion estimation unit (500)
Object is trained in the physiologic information data of the training object of collecting unit (400) acquisition and motion frequency assessment based on the data
Health condition, based on the physiologic information data point reuse motion frequency and run duration of training object, in the physiology letter of training object
In the case that exception occur in breath data, the motion estimation unit (500) stops supplemental training object and carries out sitting training, and
Training object is reverted into sitting posture.
10. auxiliary standing training device as claimed in claim 9, which is characterized in that the motion estimation unit (500) includes police
Declaration form member, in the case where exception occur in the physiologic information data of training object, the alarm unit is warned with audio alarm, light
Report and/or the mode combined send a warning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810216233.3A CN108578182B (en) | 2016-06-21 | 2016-06-21 | Auxiliary standing trainer |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610460110.5A CN106109182B (en) | 2016-06-21 | 2016-06-21 | A kind of intelligent apparatus of aiding upright |
| CN201810216233.3A CN108578182B (en) | 2016-06-21 | 2016-06-21 | Auxiliary standing trainer |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610460110.5A Division CN106109182B (en) | 2016-06-21 | 2016-06-21 | A kind of intelligent apparatus of aiding upright |
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| Publication Number | Publication Date |
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| CN108578182A true CN108578182A (en) | 2018-09-28 |
| CN108578182B CN108578182B (en) | 2020-11-27 |
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| CN201610460110.5A Active CN106109182B (en) | 2016-06-21 | 2016-06-21 | A kind of intelligent apparatus of aiding upright |
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| CN201610460110.5A Active CN106109182B (en) | 2016-06-21 | 2016-06-21 | A kind of intelligent apparatus of aiding upright |
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| CN106491310B (en) * | 2016-11-17 | 2019-02-05 | 合肥工业大学 | A kind of intelligent rehabilitation medical device |
| CN107121164A (en) * | 2017-06-29 | 2017-09-01 | 湖南镭目科技有限公司 | A kind of carbon content of molten steel and system for detecting temperature |
| CN112932824B (en) * | 2021-01-28 | 2023-01-03 | 师大瑞利光电科技(清远)有限公司 | Sitting-up power assisting device and power assisting using method thereof |
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Also Published As
| Publication number | Publication date |
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| CN108578182B (en) | 2020-11-27 |
| CN106109182B (en) | 2018-06-26 |
| CN106109182A (en) | 2016-11-16 |
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