CN110975227A - Multi-degree-of-freedom flexible supporting mechanism for pelvis balance training - Google Patents
Multi-degree-of-freedom flexible supporting mechanism for pelvis balance training Download PDFInfo
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- CN110975227A CN110975227A CN201911366296.8A CN201911366296A CN110975227A CN 110975227 A CN110975227 A CN 110975227A CN 201911366296 A CN201911366296 A CN 201911366296A CN 110975227 A CN110975227 A CN 110975227A
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
Abstract
The invention discloses a multi-degree-of-freedom flexible supporting mechanism for pelvic balance training, which relates to the technical field of medical instruments and comprises a movement intention recognition mechanism, a horizontal swing mechanism and a front four-bar mechanism; the motion intention recognition mechanism is respectively connected to the left side and the right side of the horizontal swing mechanism, so that the rotation, advancing or retreating freedom degree of the pelvis, the pelvis width adjustment function and the motion intention recognition function of the pelvis are realized; the front four-bar mechanism is connected with the yaw mechanism in a centering way, and realizes displacement in horizontal degree of freedom and measurement of a transverse displacement value through measurement of a rotating shaft angle; the transverse swinging mechanism realizes the measurement of the degree of freedom of the side inclination and the rotation angle thereof; the multi-degree-of-freedom flexible support mechanism for the pelvis balance training can realize five degrees of freedom such as rotation, side inclination and transverse swing of the pelvis. The motion control of the pelvis of the patient is trained so as to improve the balance control capability and achieve the aim of balance training of the patient.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom flexible supporting mechanism for pelvic balance training.
Background
The cerebral apoplexy survivors mostly leave sequelae such as motor dysfunction, cognitive impairment, speech swallowing disorder and the like in different degrees, wherein the proportion of patients suffering from the motor dysfunction is 70% -80%, the motor dysfunction in different degrees of the patients is lost, the normal life of the patients is influenced, and meanwhile, huge psychological shadow is also caused to most of the patients. The motor dysfunction of the stroke patient is mainly reflected by acute neurogenic hemiplegia, complete hemiplegia, incomplete hemiplegia and the like, and usually mainly comprises hemiparalysis or hemiparalysis. The symptoms of this part of the patients are mainly manifested as a substantial loss of walking ability, or abnormal walking posture, which causes a heavy burden on the healthy side limbs, resulting in more serious physical disability.
The pelvis movement has a plurality of degrees of freedom, and the human body realizes the overall balance of the body by controlling the movement of the pelvis. The pelvis control ability of the patient can be provided by providing a certain feedback force while various motion degrees of freedom of the pelvis motion of the patient are met, and the effect of balance ability training is enhanced.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom flexible supporting mechanism for pelvic balance training, which aims to solve the problems in the prior art and design a mechanical structure meeting the requirements aiming at the requirements of the corresponding motion freedom degree of pelvis. And a corresponding hierarchical balance training mode is provided, and the training requirements of different patients are met.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a multi-degree-of-freedom flexible support mechanism for pelvis balance training, which comprises a movement intention recognition mechanism, a yaw mechanism and a front four-bar mechanism, wherein the movement intention recognition mechanism is connected with the front four-bar mechanism; the motion intention recognition mechanism is respectively connected to the left side and the right side of the horizontal swing mechanism, so that the rotation, advancing or retreating freedom degree of the pelvis, the pelvis width adjustment function and the motion intention recognition function of the pelvis are realized; the front four-bar mechanism is connected with the yaw mechanism in a centering way, and realizes displacement in horizontal degree of freedom and measurement of a transverse displacement value through measurement of a rotating shaft angle; the yaw mechanism realizes the measurement of the roll degree of freedom and the rotation angle thereof.
Preferably, the movement intention recognition mechanism comprises two cylinders, wherein a first ball spline, a compression spring and a pressure sensor are arranged in the two cylinders, and the movement intention recognition mechanism further comprises two torque sensors and two sleeves; the two cylinders are longitudinally arranged oppositely, one end of a ball spline shaft of the first ball spline penetrates out of the cylinders, the other end of the ball spline shaft extends into the cylinders and is connected with the bottom of the cylinders, a spline nut of the first ball spline is sleeved on the ball spline shaft, the two pressure sensors are arranged and are respectively arranged at two ends inside the cylinders, the number of the compression springs is two, one compression spring is arranged between one end of the spline nut and one of the pressure sensors, and the other compression spring is arranged between the other end of the spline nut and the other pressure sensor; the opposite inner sides of the two cylinders are respectively provided with a safety belt connecting buckle, and the two safety belt connecting buckles are respectively connected with the spline nut in the cylinder on one side where the safety belt connecting buckles are located; the two sleeves are transversely arranged, the outer ends of the two sleeves are respectively connected with the torque sensor, the torque sensor is connected with the ball spline shaft extending out of the cylinder on one side of the torque sensor through a connecting plate, and the inner ends of the two sleeves are connected with the transverse swinging mechanism through a shaft connecting block.
Preferably, a second ball spline is further arranged in each of the two sleeves; the spline nut of second ball spline with sleeve fixed connection, the axle of second ball spline can for the sleeve removes, the epaxial gear regulation hole that is provided with of second ball spline is relative also be provided with the gear regulation hole on the telescopic outer wall, the epaxial gear regulation hole of second ball spline with it is spacing through the screw thread plunger between the gear regulation hole on the telescopic outer wall.
Preferably, the belt buckle is connected to the spline nut through a joint bearing.
Preferably, the yaw mechanism comprises a yaw cylinder, a yaw rotating shaft, a spring module, a spring shifting block, a first potentiometer and a roll degree of freedom locking mechanism; the horizontal swing cylinder is longitudinally arranged, the horizontal swing rotating shaft is longitudinally arranged in the horizontal swing cylinder, the front end of the horizontal swing rotating shaft is rotationally connected with the front end plate of the horizontal swing cylinder, the rear end of the horizontal swing rotating shaft is connected with the shaft connecting block, the spring shifting block is sleeved on the horizontal swing rotating shaft, the spring modules are respectively arranged at the bottoms of the pressure plates at two sides of the spring shifting block, and the spring modules are fixed on a spring module fixing seat positioned at the bottom of the horizontal swing cylinder; the first potentiometer is connected with the yaw rotating shaft through a gear mechanism and is used for reading the rotating angle of the yaw rotating shaft; the roll freedom locking mechanism comprises a first limiting pin, a threaded shaft sleeve and a first swing limiting block, a bearing sleeve is further arranged in the horizontal swing cylinder and is rotationally connected with the horizontal swing rotating shaft through a bearing, the outer wall of the bearing sleeve is fixedly connected with the horizontal swing cylinder, the first swing limiting block is fixedly connected with the horizontal swing cylinder, the threaded shaft sleeve is fixed on the shaft connecting block, a threaded hole of the threaded shaft sleeve is opposite to a positioning hole formed in the first swing limiting block, the first limiting pin is in threaded connection in the threaded shaft sleeve, the bottom end of the first limiting pin is matched with the positioning hole, the first limiting pin is screwed, and the bottom of the first limiting pin can be embedded into the positioning hole.
Preferably, the gear mechanism comprises a gearwheel fixed on the yaw rotating shaft and a pinion engaged with the top end of the gearwheel, and the potentiometer is fixed on the top end of the pinion.
Preferably, the spring module comprises a spring guide seat, a pressure spring, a spring guide shaft and a spring movable seat, the spring guide seat is covered on the top of the spring movable seat and is in sliding connection with the spring movable seat, the spring shifting block is arranged on the top of the spring guide seat, a plurality of spring guide shafts are longitudinally arranged in the spring guide seat, the top end of each spring guide shaft is fixedly connected with the spring guide seat, the bottom end of each spring guide shaft is opposite to a guide hole formed in the spring movable seat, the pressure spring is sleeved on the spring guide shafts, and two ends of each pressure spring are respectively connected with the spring guide seat and the spring movable seat; the spring module fixing seat is provided with an adjusting screw rod, the adjusting screw rod is opposite to the guide hole, the bottom of the adjusting screw rod is connected with the spring module fixing seat through a screw, and the top rod body of the adjusting screw rod extends into the guide hole.
Preferably, the front four-bar mechanism comprises a parallel four-bar mechanism, a tension spring fixing mechanism, a horizontal displacement freedom degree locking mechanism and a second potentiometer; the parallel four-bar mechanism comprises two connecting rods, a movable connecting seat and a fixed connecting seat, the two connecting rods are longitudinally arranged in parallel, the tail ends of the two connecting rods are connected through the movable connecting seat, the head ends of the two connecting rods are connected through the fixed connecting seat, the tail end of the movable connecting seat is connected with the head end of the horizontal swinging cylinder, the fixed connecting seat is fixed on a supporting mechanism, and the connecting rods are rotatably connected with the movable connecting seat and the fixed connecting seat through rotating shafts; the second potentiometer is arranged at the shaft end of one of the rotating shafts; the tension spring fixing mechanism is arranged in an inner cavity formed by the two connecting rods, the movable connecting seat and the fixed connection, and comprises a tension spring, a first tension spring fixing seat and a second tension spring fixing seat; the horizontal displacement freedom degree locking mechanism comprises a second limiting pin, a pin bush and a second swing limiting block, the second swing limiting block is arranged on one of the connecting rods, the pin bush is arranged on the fixed connecting seat, the limiting pin is in threaded connection with the pin bush, a threaded hole of the pin bush is opposite to a positioning hole formed in the second swing limiting block, the bottom end of the second limiting pin is matched with the positioning hole to be arranged, the second limiting pin is screwed, and the bottom of the second limiting pin can be embedded into the positioning hole.
Preferably, the connecting rod comprises two shaft sleeves and a connecting frame connected between the two shaft sleeves, the two shaft sleeves of the connecting rod are connected with the movable connecting seat and the fixed connecting seat through rotating shafts arranged in the two shaft sleeves in a penetrating way, the rotating shaft comprises a long shaft and a short shaft, the long shaft is connected with the inner hole of the shaft sleeve in an interference fit manner, the top end of the long shaft is provided with a shaft shoulder which is clamped at the top of the shaft sleeve, the long shaft at the top of the shaft shoulder is connected with the movable connecting seat or the fixed connecting seat through a bearing, the top of the bearing is provided with a bearing end cover, the short shaft is arranged at the bottom of the long shaft and is connected with the long shaft through a screw, a shaft shoulder is arranged on the short shaft, the shaft shoulder of the short shaft is clamped at the bottom of the shaft sleeve, and the short shaft at the bottom of the shaft shoulder of the short shaft is connected with the movable connecting seat or the fixed connecting seat through a bearing; the second potentiometer is arranged at the shaft end of the long shaft and used for measuring the rotation angle of the long shaft.
Preferably, a protective cover is further arranged at the top of the front four-bar mechanism.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the invention provides a multi-degree-of-freedom flexible support mechanism for pelvic balance training, which consists of a movement intention recognition mechanism, a yaw mechanism and a front four-bar mechanism, is used for balance training of patients and provides certain feedback force. Corresponding movement is realized by designing corresponding mechanical structures according to different degrees of freedom required by the movement of the pelvis of the patient; the realized degree of freedom is correspondingly measured by analyzing the pelvis movement, and the real-time posture measurement of the patient is fed back to the control end; the movement intention of the patient is judged by measuring the force of the patient in the front-back direction and the up-down direction in the movement engineering, so that the control can better follow the movement of the patient; the pelvis width adjusting mechanism is designed according to the pelvis widths of different patients, so that the use requirements of different patients can be met; the locking device with corresponding freedom degree is designed according to the limitation requirement of the patient on the freedom degree in different use situations. The degree of freedom of rotation and horizontal oscillation is realized by the intention recognition mechanism. The judgment of the movement intention of the patient is realized through a pressure sensor and a torque sensor of the movement intention recognition mechanism. The rotating shaft and the spring module of the transverse swing mechanism realize the degree of freedom of side inclination, and provide certain restoring force on the degree of freedom to correct the posture of the pelvis of the patient. The measuring of the movement angle of the patient in the roll degree of freedom is realized by a potentiometer in the yaw mechanism. The displacement of the patient in two directions (front and back and left and right) of the horizontal plane is realized through the parallel four-bar mechanism of the front four-bar mechanism; realize sealing the clearance that exists to the parallelogram linkage through the protection casing, prevent that the patient from stretching into the clearance with the hand in the use, cause the injury. The second potentiometer measures the rotation angle of the rotating shaft of the parallel four-bar mechanism, and the displacement of the patient in two directions (front and back and left and right) of the horizontal plane is calculated. The pelvis of the patient is provided with certain supporting force through a multi-degree-of-freedom flexible supporting mechanism consisting of the movement intention recognition mechanism, the yaw mechanism and the front four-bar mechanism.
2. The multi-degree-of-freedom flexible supporting mechanism for pelvic balance training provided by the invention can be used for rehabilitation training of lower limb movement dysfunction caused by spinal cord injury, cerebral apoplexy, craniocerebral trauma, accidents, congenital leg disabilities and the like, and meets the requirements of the pelvis of a patient on different degrees of freedom and the measurement of the motion parameters of the patient by a doctor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic perspective view of a multi-degree-of-freedom flexible support mechanism for pelvic balance training according to the present invention;
FIG. 2 is a schematic side view of a cylinder in the motion recognition mechanism of the present invention;
FIG. 3 is a cross-sectional view of the cylinder of FIG. 2 taken along line A-A;
FIG. 4 is a schematic view of a forward structure of a sleeve in the motion recognition mechanism of the present invention;
FIG. 5 is a cross-sectional view of the sleeve of FIG. 4 taken along line B-B;
FIG. 6 is a perspective view of the yaw mechanism of the present invention;
FIG. 7 is a schematic view of a top down configuration of the yaw mechanism of the present invention; (ii) a
FIG. 8 is a cross-sectional view of the yaw mechanism of FIG. 7 taken along line C-C;
FIG. 9 is a cross-sectional view of the yaw mechanism of FIG. 7 taken along line D-D;
FIG. 10 is a schematic diagram of a forward structure of a spring module according to the present invention;
FIG. 11 is a schematic top down view of a spring module of the present invention;
FIG. 12 is a cross-sectional view of the spring module of FIG. 11 taken along line E-E;
FIG. 13 is a perspective view of the front four-bar linkage of the present invention;
FIG. 14 is a top view of the front four-bar linkage of the present invention;
FIG. 15 is a cross-sectional view of the front four-bar linkage of FIG. 14 taken along line F-F;
FIG. 16 is a cross-sectional view of the anterior four-bar linkage of FIG. 14 taken along line G-G;
FIG. 17 is a perspective view of the connecting rod of the present invention;
in the figure: 1-movement intention recognition mechanism, 2-yaw mechanism, 3-front four-bar mechanism, 4-joint bearing, 5-pressure sensor, 6-cylinder, 7-spline nut, 8-compression spring, 9-ball spline shaft, 10-safety belt connecting buckle, 11-threaded plunger, 12-torque sensor, 13-second ball spline, 14-flange, 15-sleeve, 16-spring module, 17-spring module fixing seat, 18-spring guide seat, 19-pressure spring, 20-spring guide shaft, 21-spring moving seat, 22-yaw cylinder, 23-spring shifting block, 24-yaw rotating shaft, 25-first limit pin, 26-threaded shaft sleeve, 27-first swing limit block, 28-bearing sleeve, 29-shaft connecting block, 30-first potentiometer, 31-pinion, 32-bull gear, 33-adjusting screw, 34-second limiting pin, 35-pin sleeve, 36-second swing limiting block, 37-tension spring, 38-first tension spring fixing seat, 39-second tension spring fixing seat, 40-protective cover, 41-second potentiometer, 42-end cover, 43-long shaft, 44-connecting rod, 45-short shaft, 46-fixed connecting seat, 47-movable connecting seat, 48-shaft sleeve and 49-connecting frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a multi-degree-of-freedom flexible support mechanism for pelvic balance training, which aims to solve the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment provides a multi-degree-of-freedom flexible support mechanism for pelvic balance training, which comprises a movement intention recognition mechanism 1, a yaw mechanism 2 and an anterior four-bar mechanism 3, as shown in fig. 1; the movement intention recognition mechanism 1 is respectively connected to the left side and the right side of the horizontal swing mechanism 2, and realizes the functions of rotating, advancing or retreating the pelvis, adjusting the pelvis width and recognizing the movement intention; the front four-bar mechanism 3 is connected with the horizontal swing mechanism 2 in a centering way, and the front four-bar mechanism 3 realizes displacement in horizontal degree of freedom and measurement of a transverse displacement value through measurement of a rotating shaft angle; the yaw mechanism 2 enables measurement of the roll degree of freedom and its angle of rotation.
As shown in fig. 2 to 5, the movement intention identifying mechanism 1 includes two cylinders 6, a first ball spline, a compression spring 8, a pressure sensor 5, two torque sensors 12 and two sleeves 15 are arranged in the two cylinders 6; the two cylinders 6 are longitudinally arranged oppositely, one end of a ball spline shaft 9 of the first ball spline penetrates through the cylinders 6, the other end of the ball spline shaft extends into the cylinders 6 and is connected with the bottom of the cylinders 6, a spline nut 7 of the ball spline is sleeved on the ball spline shaft 9, the two pressure sensors 5 are arranged and are respectively arranged at two ends inside the cylinders 6, the two compression springs 8 are arranged, one compression spring 8 is arranged between one end of the spline nut 7 and one of the pressure sensors 5, and the other compression spring 8 is arranged between the other end of the spline nut 7 and the other pressure sensor 5; the opposite inner sides of the two cylinders 6 are respectively provided with a safety belt connecting buckle 10, and the two safety belt connecting buckles 10 are respectively connected with a spline nut 7 in the cylinder 6 at one side where the safety belt connecting buckles are positioned and are connected with the spline nut 7 through a joint bearing 4; the two sleeves 15 are transversely arranged, the outer ends of the two sleeves 15 are respectively connected with a torque sensor 12, the torque sensor 12 is connected with a ball spline shaft 9 which extends out of the cylinder 6 and is arranged on one side of the torque sensor 12 through a connecting plate, and the inner ends of the two sleeves 15 are provided with flanges 14 and are connected with the horizontal swinging mechanism 2 through a shaft connecting block 29.
A second ball spline 13 is respectively arranged in the two sleeves 15; spline nut and sleeve 15 fixed connection of second ball spline 13, the axle of second ball spline 13 can remove for sleeve 15, and the epaxial gear regulation hole that is provided with of second ball spline 13 also is provided with the gear regulation hole on the outer wall of relative sleeve 15, and it is spacing through screw thread plunger 11 between the epaxial gear regulation hole of second ball spline 13 and the gear regulation hole on the outer wall of sleeve 15.
In the exercise intention recognition mechanism 1 of the present embodiment, when the patient has a tendency of forward and backward movement or rotational movement, the exercise intention of the patient is determined by the combination of signals of the pressure sensor 5 and the magnitude of the numerical value, and the basic exercise mode is: straight, backward, left turn and right turn. The joint bearing 4 on the safety belt connecting buckle 10 is matched with the spline nut 7 on the first ball spline to realize the freedom degree of the pelvis rotation and the forward tilting or the backward extending. The nut of second ball spline 13 and sleeve 15 fixed connection, the position that the axle can change relatively for sleeve 15, and the design has three grades of adjustment positions, realizes the rigidity through screw thread plunger 11 and gear adjusting hole, and after manual the required position of transferring to, through knob screw thread plunger 11 entering locating hole, locking relative position to the realization is to the regulation of pelvis mechanism width. The torque measured by the torque sensor 12 is divided by the arm of force to obtain the force applied to the supporting mechanism by the person in the gravity direction, and then the up-and-down movement intention of the pelvis is judged through the force signal.
As shown in fig. 6 to 12, the yaw mechanism 2 includes a yaw cylinder 22, a yaw rotation shaft 24, a spring module 16, a spring block 23, a first potentiometer 30, and a roll degree of freedom locking mechanism; the horizontal swing cylinder 22 is longitudinally arranged, the horizontal swing rotating shaft 24 is longitudinally arranged in the horizontal swing cylinder 22, the front end of the horizontal swing rotating shaft 24 is rotatably connected with the front end plate of the horizontal swing cylinder 22, the rear end of the horizontal swing rotating shaft 24 is connected with the shaft connecting block 29, the spring shifting block 23 is sleeved on the horizontal swing rotating shaft 24, the bottoms of the pressure plates at two sides of the spring shifting block 23 are respectively provided with a spring module 16, and the spring module 16 is fixed on a spring module fixing seat 17 positioned at the bottom of the horizontal swing cylinder 22; the first potentiometer 30 is connected with the yaw rotating shaft 24 through a gear mechanism and is used for reading the rotating angle of the yaw rotating shaft 24; the side-tipping freedom degree locking mechanism comprises a first limiting pin 25, a threaded shaft sleeve 26 and a first swinging limiting block 27, a bearing sleeve 28 is further arranged in the horizontal swinging cylinder 22, the bearing sleeve 28 is rotatably connected with the horizontal swinging rotating shaft 24 through a bearing, the outer wall of the bearing sleeve 28 is fixedly connected with the horizontal swinging cylinder 22, the first swinging limiting block 27 is fixedly connected with the horizontal swinging cylinder 22, the threaded shaft sleeve 26 is fixed on a shaft connecting block 29, a threaded hole of the threaded shaft sleeve 26 is opposite to a positioning hole formed in the first swinging limiting block 27, the first limiting pin 25 is in threaded connection in the threaded shaft sleeve 26, the bottom end of the first limiting pin 25 is matched with the positioning hole, the first limiting pin 25 is screwed, and the bottom of the first limiting pin 25 can be embedded into the positioning hole; when the degree of freedom that heels needs to be locked, twist first spacer pin 25, make the bottom on first spacer pin 25 and the locating hole cooperation locking on the first swing stopper 27.
Specifically, the gear mechanism of the yaw mechanism 2 comprises a large gear 32 and a small gear 31, the large gear 32 is fixed on the yaw rotating shaft 24, the small gear 31 is meshed with the top end of the large gear 32, a potentiometer is fixed on the top end of the small gear 31, the potentiometer reads out the rotating angle of the yaw rotating shaft 24 through the gear mechanism, and measurement of the rotating angle of the roll degree of freedom is achieved.
Specifically, the spring module 16 of the yaw mechanism 2 includes a spring guide seat 18, a pressure spring 19, a spring guide shaft 20 and a spring movable seat 21, the spring guide seat 18 is covered on the top of the spring movable seat 21 and is slidably connected with the spring movable seat 21, a spring shifting block 23 is arranged on the top of the spring guide seat 18, a plurality of spring guide shafts 20 are longitudinally arranged inside the spring guide seat 18, the top end of each spring guide shaft 20 is fixedly connected with the spring guide seat 18, the bottom end of each spring guide shaft 20 is opposite to a guide hole formed in the spring movable seat 21, the pressure spring 19 is sleeved on the spring guide shaft 20, two ends of each spring guide shaft are respectively connected with the spring guide seat 18 and the spring movable seat 21, an acting force acts on the spring guide seat 18, the spring 8 is compressed and generates displacement relative to the spring guide movable seat, the movement in the direction of the force is realized, and a certain reset force is generated by the; the spring module fixing seat 17 is provided with an adjusting screw 33, the adjusting screw 33 is opposite to the guide hole, the bottom of the adjusting screw is connected with the spring module fixing seat 17 through a screw, the top rod body of the adjusting screw 33 extends into the guide hole, and the adjusting screw 33 is rotated to adjust the height of the adjusting screw in the guide hole, so that the stroke of the spring guide shaft 20 can be limited.
As shown in fig. 13 to 17, the front four-bar mechanism 3 includes a parallel four-bar mechanism, a tension spring fixing mechanism, a horizontal displacement degree-of-freedom locking mechanism, and a second potentiometer 41; the parallel four-bar mechanism comprises two connecting rods 44, a movable connecting seat 47 and a fixed connecting seat 46, the two connecting rods 44 are longitudinally arranged in parallel, the tail ends of the two connecting rods 44 are connected through the movable connecting seat 47, the head ends of the two connecting rods 44 are connected through the fixed connecting seat 46, the tail end of the movable connecting seat 47 is connected with the head end of the horizontal swing cylinder 22, the fixed connecting seat 46 is fixed on a supporting mechanism, and the connecting rods 44 are rotatably connected with the movable connecting seat 47, the connecting rods 44 and the fixed connecting seat 46 through rotating shafts; the second potentiometer 41 is arranged at the shaft end of one of the rotating shafts; the tension spring 37 fixing mechanism is arranged in an inner cavity formed by fixedly connecting the two connecting rods 44 with the movable connecting seat 47, the tension spring 37 fixing mechanism comprises a tension spring 37, a first tension spring fixing seat 38 and a second tension spring fixing seat 39, the first tension spring fixing seat 38 is arranged on the fixed connecting seat 46, the second tension spring fixing seat 39 is connected with the connecting rods 44 and arranged at the tail ends of the two connecting rods 44, and the tension spring 37 is connected between the first tension spring fixing seat 38 and the second tension spring fixing seat 39; the horizontal displacement freedom locking mechanism comprises a second limiting pin 34, a pin sleeve 35 and a second swing limiting block 36, the second swing limiting block 36 is arranged on one connecting rod 44, the pin sleeve 35 is arranged on the fixed connecting seat 46, the limiting pin is in threaded connection with the pin sleeve 35, a threaded hole of the pin sleeve 35 is opposite to a positioning hole formed in the second swing limiting block 36, the bottom end of the second limiting pin 34 is matched with the positioning hole, the second limiting pin 34 is screwed, the bottom of the second limiting pin 34 can be embedded into the positioning hole, when a patient needs to lock the horizontal movement freedom in the horizontal movement direction, the second limiting pin 34 is screwed, and the bottom end of the second limiting pin 34 is matched with the positioning hole in the second swing limiting block 36 to lock the horizontal movement freedom in the horizontal direction.
As shown in fig. 17, the link lever 44 in this embodiment includes two bosses 48 and a connecting frame 49 connected between the two bosses 48, the two bosses 48 of the link lever 44 are connected to the movable connecting base 47 by a rotating shaft passing therethrough, the fixed connection seat 46 is connected, the rotating shaft comprises a long shaft 43 and a short shaft 45, the long shaft 43 is connected with an inner hole of the shaft sleeve 48 in an interference fit mode and cannot rotate relatively, a shaft shoulder is arranged at the top end of the long shaft 43 and clamped at the top of the shaft sleeve 48, the long shaft 43 at the top of the shaft shoulder is connected with the movable connection seat 47 or the fixed connection seat 46 through a bearing, a bearing end cover 42 is arranged at the top of the bearing, the short shaft 45 is arranged at the bottom of the long shaft 43 and connected with the long shaft 43 through a screw, the shaft shoulder is arranged on the short shaft 45 and clamped at the bottom of the shaft sleeve, and the short shaft 45 at the bottom of the shaft shoulder of the short shaft 45 is; the second potentiometer 41 is disposed at the end of the long shaft 43 for measuring the rotation angle of the long shaft 43, and the displacement of the patient in two directions (front and back and left and right) of the horizontal plane can be obtained after conversion.
In this embodiment, a protective cover 40 is further provided on the top of the front four-bar mechanism 3, and the protective cover 40 covers the gap between the two to prevent the fingers of the patient from entering the mechanism gap.
The invention has been explained by applying specific examples to the principle and implementation of the invention, and the above description of the embodiments is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (10)
1. A multi freedom flexible support mechanism for pelvis balance training which characterized in that: the device comprises a movement intention recognition mechanism, a yaw mechanism and a front four-bar mechanism; the motion intention recognition mechanism is respectively connected to the left side and the right side of the horizontal swing mechanism, so that the rotation, advancing or retreating freedom degree of the pelvis, the pelvis width adjustment function and the motion intention recognition function of the pelvis are realized; the front four-bar mechanism is connected with the yaw mechanism in a centering way, and realizes displacement in horizontal degree of freedom and measurement of a transverse displacement value through measurement of a rotating shaft angle; the yaw mechanism realizes the measurement of the roll degree of freedom and the rotation angle thereof.
2. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 1, wherein: the movement intention recognition mechanism comprises two cylinders, wherein a first ball spline, a compression spring and a pressure sensor are arranged in the two cylinders, and the movement intention recognition mechanism also comprises two torque sensors and two sleeves; the two cylinders are longitudinally arranged oppositely, one end of a ball spline shaft of the first ball spline penetrates out of the cylinders, the other end of the ball spline shaft extends into the cylinders and is connected with the bottom of the cylinders, a spline nut of the first ball spline is sleeved on the ball spline shaft, the two pressure sensors are arranged and are respectively arranged at two ends inside the cylinders, the number of the compression springs is two, one compression spring is arranged between one end of the spline nut and one of the pressure sensors, and the other compression spring is arranged between the other end of the spline nut and the other pressure sensor; the opposite inner sides of the two cylinders are respectively provided with a safety belt connecting buckle, and the two safety belt connecting buckles are respectively connected with the spline nut in the cylinder on one side where the safety belt connecting buckles are located; the two sleeves are transversely arranged, the outer ends of the two sleeves are respectively connected with the torque sensor, the torque sensor is connected with the ball spline shaft extending out of the cylinder on one side of the torque sensor through a connecting plate, and the inner ends of the two sleeves are connected with the transverse swinging mechanism through a shaft connecting block.
3. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 2, wherein: a second ball spline is also arranged in each of the two sleeves; the spline nut of second ball spline with sleeve fixed connection, the axle of second ball spline can for the sleeve removes, the epaxial gear regulation hole that is provided with of second ball spline is relative also be provided with the gear regulation hole on the telescopic outer wall, the epaxial gear regulation hole of second ball spline with it is spacing through the screw thread plunger between the gear regulation hole on the telescopic outer wall.
4. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 1, wherein: the safety belt connecting buckle is connected with the spline nut through a joint bearing.
5. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 2, wherein: the transverse swinging mechanism comprises a transverse swinging cylinder, a transverse swinging rotating shaft, a spring module, a spring shifting block, a first potentiometer and a lateral-rolling degree of freedom locking mechanism; the horizontal swing cylinder is longitudinally arranged, the horizontal swing rotating shaft is longitudinally arranged in the horizontal swing cylinder, the front end of the horizontal swing rotating shaft is rotationally connected with the front end plate of the horizontal swing cylinder, the rear end of the horizontal swing rotating shaft is connected with the shaft connecting block, the spring shifting block is sleeved on the horizontal swing rotating shaft, the spring modules are respectively arranged at the bottoms of the pressure plates at two sides of the spring shifting block, and the spring modules are fixed on a spring module fixing seat positioned at the bottom of the horizontal swing cylinder; the first potentiometer is connected with the yaw rotating shaft through a gear mechanism and is used for reading the rotating angle of the yaw rotating shaft; the roll freedom locking mechanism comprises a first limiting pin, a threaded shaft sleeve and a first swing limiting block, a bearing sleeve is further arranged in the horizontal swing cylinder and is rotationally connected with the horizontal swing rotating shaft through a bearing, the outer wall of the bearing sleeve is fixedly connected with the horizontal swing cylinder, the first swing limiting block is fixedly connected with the horizontal swing cylinder, the threaded shaft sleeve is fixed on the shaft connecting block, a threaded hole of the threaded shaft sleeve is opposite to a positioning hole formed in the first swing limiting block, the first limiting pin is in threaded connection in the threaded shaft sleeve, the bottom end of the first limiting pin is matched with the positioning hole, the first limiting pin is screwed, and the bottom of the first limiting pin can be embedded into the positioning hole.
6. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 5, wherein: the gear mechanism comprises a large gear and a small gear, the large gear is fixed on the yaw rotating shaft, the small gear is meshed with the top end of the large gear, and the potentiometer is fixed on the top end of the small gear.
7. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 5, wherein: the spring module comprises a spring guide seat, a pressure spring, spring guide shafts and a spring moving seat, the spring guide seat is covered at the top of the spring moving seat and is in sliding connection with the spring moving seat, the spring shifting block is arranged at the top of the spring guide seat, a plurality of spring guide shafts are longitudinally arranged in the spring guide seat, the top end of each spring guide shaft is fixedly connected with the spring guide seat, the bottom end of each spring guide shaft is opposite to a guide hole formed in the spring moving seat, the pressure spring is sleeved on the spring guide shafts, and two ends of each pressure spring are respectively connected with the spring guide seat and the spring moving seat; the spring module fixing seat is provided with an adjusting screw rod, the adjusting screw rod is opposite to the guide hole, the bottom of the adjusting screw rod is connected with the spring module fixing seat through a screw, and the top rod body of the adjusting screw rod extends into the guide hole.
8. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 5, wherein: the front four-bar mechanism comprises a parallel four-bar mechanism, a tension spring fixing mechanism, a horizontal displacement freedom degree locking mechanism and a second potentiometer; the parallel four-bar mechanism comprises two connecting rods, a movable connecting seat and a fixed connecting seat, the two connecting rods are longitudinally arranged in parallel, the tail ends of the two connecting rods are connected through the movable connecting seat, the head ends of the two connecting rods are connected through the fixed connecting seat, the tail end of the movable connecting seat is connected with the head end of the horizontal swinging cylinder, the fixed connecting seat is fixed on a supporting mechanism, and the connecting rods are rotatably connected with the movable connecting seat and the fixed connecting seat through rotating shafts; the second potentiometer is arranged at the shaft end of one of the rotating shafts; the tension spring fixing mechanism is arranged in an inner cavity formed by the two connecting rods, the movable connecting seat and the fixed connection, and comprises a tension spring, a first tension spring fixing seat and a second tension spring fixing seat; the horizontal displacement freedom degree locking mechanism comprises a second limiting pin, a pin bush and a second swing limiting block, the second swing limiting block is arranged on one of the connecting rods, the pin bush is arranged on the fixed connecting seat, the limiting pin is in threaded connection with the pin bush, a threaded hole of the pin bush is opposite to a positioning hole formed in the second swing limiting block, the bottom end of the second limiting pin is matched with the positioning hole to be arranged, the second limiting pin is screwed, and the bottom of the second limiting pin can be embedded into the positioning hole.
9. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 8, wherein: the connecting rod comprises two shaft sleeves and a connecting frame connected between the two shaft sleeves, the two shaft sleeves of the connecting rod are connected with the movable connecting seat and the fixed connecting seat through rotating shafts arranged in the two shaft sleeves in a penetrating way, the rotating shaft comprises a long shaft and a short shaft, the long shaft is connected with the inner hole of the shaft sleeve in an interference fit manner, the top end of the long shaft is provided with a shaft shoulder which is clamped at the top of the shaft sleeve, the long shaft at the top of the shaft shoulder is connected with the movable connecting seat or the fixed connecting seat through a bearing, the top of the bearing is provided with a bearing end cover, the short shaft is arranged at the bottom of the long shaft and is connected with the long shaft through a screw, a shaft shoulder is arranged on the short shaft, the shaft shoulder of the short shaft is clamped at the bottom of the shaft sleeve, and the short shaft at the bottom of the shaft shoulder of the short shaft is connected with the movable connecting seat or the fixed connecting seat through a bearing; the second potentiometer is arranged at the shaft end of the long shaft and used for measuring the rotation angle of the long shaft.
10. The multiple degree of freedom flexible support mechanism for pelvic balance training of claim 8, wherein: the top of the front four-bar mechanism is also provided with a protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911366296.8A CN110975227A (en) | 2019-12-26 | 2019-12-26 | Multi-degree-of-freedom flexible supporting mechanism for pelvis balance training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911366296.8A CN110975227A (en) | 2019-12-26 | 2019-12-26 | Multi-degree-of-freedom flexible supporting mechanism for pelvis balance training |
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| CN110975227A true CN110975227A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911366296.8A Pending CN110975227A (en) | 2019-12-26 | 2019-12-26 | Multi-degree-of-freedom flexible supporting mechanism for pelvis balance training |
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| CN (1) | CN110975227A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826697A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Lower limb rehabilitation training robot |
| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
-
2019
- 2019-12-26 CN CN201911366296.8A patent/CN110975227A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826697A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Lower limb rehabilitation training robot |
| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
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