CN111991755A - Intelligent antigravity dynamic suspension system with online variable rigidity - Google Patents

Abstract

The invention discloses an intelligent anti-gravity dynamic suspension system with on-line variable stiffness, comprising a frame, a flexible rope, an output pulley assembly, a terminal movable pulley output assembly, a hanger, a strap, a controller and two tension feedback units. There is an active drive system on both sides of the frame. The active drive system includes a drum and a drive device that can drive the drum to rotate. The flexible rope is wound on the movable pulley in the output assembly of the terminal movable pulley. The tension feedback unit includes a fixed pulley, S-type tension sensor and The fixed pulley assembly, one end of the flexible rope passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in a force feedback unit in turn, and finally winds into a drum; the other end of the flexible rope passes through the output pulley assembly and another force feedback unit in turn. The fixed pulley assembly and the fixed pulley in the middle, and finally wound into another drum. The invention realizes the constant of the weight reduction and the continuity of the change of the weight reduction, and takes into account the stability of the system work and the safety of use.

Description

An intelligent anti-gravity dynamic suspension system with on-line variable stiffness

technical field

The invention relates to the technical field of rehabilitation machinery, in particular to an intelligent anti-gravity dynamic suspension system with on-line variable stiffness.

Background technique

With the aging problem in my country becoming more and more prominent, the number of cardiovascular and cerebrovascular diseases and neurological diseases has also increased sharply. Among them, patients with lower extremity motor dysfunction caused by spinal cord injury, cerebrovascular accident, brain trauma and other central nervous system diseases The number is increasing year by year. Depending on the location of the injury, the condition will vary and can range from no symptoms at all to hemiplegia and complete paralysis. The current clinical treatment methods mainly include the combination of EMG biofeedback and comprehensive rehabilitation training, anti-gravity (weight loss) gait rehabilitation training therapy, and acupuncture and moxibustion combined rehabilitation training method.

Weight loss (antigravity) passive rehabilitation training is currently one of the most effective methods for early intervention in patients. The robot currently used in lower limb rehabilitation training is an intelligent training system developed on the basis of weight loss (anti-gravity) gait training. The development of weight loss rehabilitation training system is mainly divided into four stages: the first stage of static weight loss The system, the passive balance weight loss system in the second stage, the passive elastic weight loss system in the third stage, and the active dynamic weight loss system in the fourth stage. Among them, the active power weight reduction (anti-gravity) system mainly realizes weight reduction through active power, and provides the required force during the walking process by pneumatic, hydraulic, electromagnetic or other active power generating devices. Since the active dynamic weight loss (anti-gravity) system can not only simulate the walking posture of a normal person, but also bear part of the human body weight, in the process of rehabilitation training and treatment, the anti-gravity support device is used to reduce the weight of the patient's lower limbs, and the three elements of walking are used. (weight-bearing, step, balance) organically combined to promote the establishment of a normal gait pattern, which has great advantages in restoring walking ability, correcting gait, improving balance and reducing muscle spasm, and can make up for static weight loss system, passive The shortcomings of balanced weight loss systems and passive elastic weight loss systems have become a hot research field.

The existing anti-gravity suspension systems generally have the following shortcomings: on the one hand, the weight reduction of the existing anti-gravity suspension systems is achieved by counterweights, that is, the gravity of the heavy object at one end of the rope is transmitted to one end of the human body through the pulley block, so as to reduce the weight of the existing anti-gravity suspension system. This way of counterweight to achieve weight loss (ie anti-gravity). In this method of weight reduction, during the up and down movement of the rope, the rope will have a certain acceleration, and when the acceleration changes continuously, the tension on the rope will also change; at the same time, in the actual use process, the weight of the counterweight will Objects also have obvious acceleration, so the de-gravity of this anti-gravity suspension system changes all the time. In addition, during the process of walking, the position of the human body will change in real time, and the weight loss rope may swing left and right, which will also cause the weight loss to be inconstant; during the process of use, the expected constant force weight loss will be affected by the weight of the object. Restriction, it is very inconvenient to change the size of the counterweight, and it is necessary to select an object with a corresponding weight to achieve a predetermined weight reduction value, and the weight reduction is discontinuous. On the other hand, most of the existing anti-gravity suspension systems use traditional mechanical springs to achieve weight reduction, that is, one end of the rope is connected to the spring through a pulley block, and the other end is connected to the human body, and the elastic potential energy of the spring is used to achieve weight reduction (ie, anti-gravity energy). gravity). In the process of use, if a person changes the walking speed, in order to ensure the constant weight loss value during the walking process, the rope tension needs to be changed with the change of the walking speed of the person, while the stiffness of the traditional mechanical spring is a fixed value (the inherent characteristics of the spring) , relying on the spring elastic potential energy to transmit the tension to the rope will not change with the change of the walking speed of the person, so that the weight loss value cannot be guaranteed to be constant when the walking speed of the person changes, that is, the adaptability of the anti-gravity system is not good at different speeds ; At the same time, due to the influence of usage and environmental factors, the service life of traditional mechanical springs is also quite different. The phenomenon of easy aging and fatigue fracture of springs is common. Regular inspection and replacement are more troublesome, and later maintenance costs will also follow. In addition, the use of traditional mechanical springs will make the overall structure of the anti-gravity suspension system unsightly, complex and bulky, which will bring certain difficulties to the initial design and is less likely to be widely used.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a kind of intelligent anti-gravity dynamic suspension system with on-line variable stiffness, so as to solve the problems existing in the above-mentioned prior art, realize the continuity of maintaining the constant weight reduction and the change of the weight reduction, and take into account the stability of the system and the stability of the system. safety of use.

For achieving the above object, the present invention provides the following scheme:

The invention provides an intelligent anti-gravity dynamic suspension system with on-line variable stiffness, including a frame, a flexible rope, an output pulley assembly, a terminal movable pulley output assembly, a hanger, a strap, a controller and two tension feedback units. Two sides of the frame are respectively provided with an active drive system, the active drive system includes a drum and a drive device capable of driving the drum to rotate, the drive device is fixedly connected with the frame; the flexible rope is wound around the frame. On the movable pulley in the terminal movable pulley output assembly, the hanger is connected to the terminal movable pulley output assembly through a connecting rope, and the strap is arranged on the hanger, and the strap is used to bind the human body; the The tension feedback unit includes a fixed pulley, an S-shaped tension sensor, and a fixed pulley assembly. The fixed pulley and the S-shaped tension sensor are respectively fixed to the frame, and the fixed pulley assembly is fixed to the S-shaped tension sensor. ;

One end of the flexible rope passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in one of the force feedback units in sequence, and finally winds into one of the drums; the other end of the flexible rope passes through the output pulley in sequence The pulley assembly, the fixed pulley assembly and the fixed pulley in the other said force feedback unit are wound into the other said drum finally; each of the S-type tension sensors and each of the driving devices is connected with the controller electrical connection.

Preferably, it also includes an emergency braking system, the emergency braking system includes a limit swing rod support, a circular limit rod and a magnetic switch, the limit swing rod support and the magnetic switch are respectively fixed on the On the frame, one end of the circular limit rod is hinged with the limit swing rod support, and the other end is installed in contact with the magnetic switch; the circular limit rod is located at the end of the terminal movable pulley output assembly. Right above and right below the output pulley assembly, a part of the flexible rope is located on one side of the circular limit rod, and a part is located on the other side of the circular limit rod. The magnetic switch is connected to the control rod. electrical connection.

Preferably, the emergency braking system further includes a manual switch disposed on the frame, a pull rope is disposed on the manual switch, and the manual switch can be triggered by pulling the pull rope, and the manual switch is connected to The controller is electrically connected.

Preferably, the active drive system further includes a planetary reducer and an encoder, the drive device is a servo motor, the output shaft of the servo motor is connected to the input shaft of the planetary reducer, and the output of the planetary reducer is connected to the input shaft of the planetary reducer. The shaft is fixedly connected with one end of the drum, the other end of the drum is fixedly connected with the encoder through the transfer shaft, the encoder is fixedly connected with the bearing end support through the encoder bracket, and the bearing end support is connected with the encoder bracket. The frame is fixedly connected, and the encoder is electrically connected to the controller.

Preferably, a drum support end cover is fixed at one end of the drum away from the driving device, the transfer shaft is fixedly connected with the drum support end cover, and the drum support end cover passes through a deep groove ball bearing. It is rotatably matched with the bearing end support; the end of the drum close to the driving device is fixed with a motor end cover, and the motor end cover is fixedly connected with the output shaft of the planetary reducer.

Preferably, the controller can control the operation of one of the driving devices through an intelligent control algorithm according to the feedback signal of the S-shaped tension sensor to adjust the tension value of the flexible rope, so as to achieve constant weight reduction; the controller can also According to the walking speed of the user, the other driving device is controlled to work through the admittance control principle to realize the stiffness adjustment.

The present invention has achieved the following technical effects with respect to the prior art:

The intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the invention realizes the constant reduction of gravity and the continuity of the change of gravity, and the stability of the system work and the safety of use are taken into account. The intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention includes two sets of active drive systems, one of which is combined with admittance control and can follow the center of gravity in the walking gait cycle of a person, Real-time online adjustment of the stiffness of the simulated spring, and then to achieve dynamic weight reduction during use; another set of intelligent control algorithms combined with the intelligent anti-gravity dynamic suspension system with online variable stiffness to accurately control and achieve constant force reduction during use. Heavy (saving effort). The two sets of active drive systems work together to achieve dynamic weight loss and constant force control of the entire device. Combined with the treadmill, it can help patients with nerve damage to carry out gait rehabilitation training, and can also help healthy people carry out weightless simulation training. At the same time, the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention is also designed with a triple safety protection device. The triple safety protection device includes a circular limit rod and a manual switch in the emergency braking system, and also includes a set on the top of the moving frame. The mechanical limit device at the bottom, when the final output pulley assembly unexpectedly exceeds the range of motion, the mechanical limit rod will forcibly block the output pulley assembly to ensure the safe and stable operation of the dynamic suspension system. It can ensure the safety of the experiencer during use.

The structural design of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention adopts aluminum alloy material, which has the characteristics of high strength, light weight, etc., the structure is simple and compact, the interchangeability is good, and the operation is simple; The anti-gravity device of the anti-gravity dynamic suspension system adopts a symmetrical design, which has the characteristics of beautiful overall structure and simple assembly; It is 10-80kg and can be used by people of various body types.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structure schematic diagram 1 of the intelligent anti-gravity dynamic suspension system of the present invention's on-line variable stiffness;

Fig. 2 is the bottom view of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention;

3 is a schematic structural diagram of an active drive system in the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention;

4 is an exploded view of the active drive system in the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention;

Fig. 5 is the second structural schematic diagram of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention;

Fig. 6 is the structural schematic diagram 3 of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present invention;

7 is a block diagram of the control principle of the simulated spring admittance in the intelligent anti-gravity dynamic suspension system with on-line variable stiffness according to the present invention;

Fig. 8 is the control principle block diagram of the anti-gravity dynamic suspension system in the intelligent anti-gravity dynamic suspension system of the present invention;

Among them: 1-left mounting plate, 2-right mounting plate, 3-beam, 4-left side plate, 5-right side plate, 6-rail bottom plate, 7-first short side side plate, 8-second short side Side plate, 9-top support plate, 10-limit pendulum rod support, 11-magnetic switch mounting seat, 12-circular limit rod, 13-magnetic switch, 14-hand pull switch, 15-pull rope, 16 -Reducer end support, 17- Bearing end support, 18- Servo motor, 19- Planetary reducer, 20- Planetary reducer flange, 21- Roller, 22- Motor end cover, 23- Planetary reducer Output shaft, 24-roller support end cover, 25-deep groove ball bearing, 26-transfer shaft, 27-encoder, 28-encoder bracket, 29-coupling, 30- capstan limit rod, 31- Support base, 32-flexible rope, 33-terminal movable pulley output assembly, 34-controller, 35-hanger, 36-output pulley assembly, 37-S-type tension sensor, 38-fixed pulley assembly, 39-fixed pulley.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a kind of intelligent anti-gravity dynamic suspension system with on-line variable stiffness, so as to solve the problems existing in the above-mentioned prior art, realize the continuity of maintaining the constant weight reduction and the change of the weight reduction, and take into account the stability of the system and the stability of the system. safety of use.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIGS. 1 to 8 : this embodiment provides an intelligent anti-gravity dynamic suspension system with on-line variable stiffness, including a frame, a flexible rope 32 , an output pulley assembly 36 , a terminal movable pulley output assembly 33 , and a hanger 35 , a strap, a controller 34 and two tension feedback units, an active drive system is respectively provided on both sides of the frame, and the active drive system includes a drum 21 and a drive device capable of driving the drum 21 to rotate, and the drive device is fixedly connected with the frame; The flexible rope 32 is wound on the movable pulley in the terminal movable pulley output assembly 33, the hanger 35 is connected with the terminal movable pulley output assembly 33 through the connecting rope, the strap is arranged on the hanger 35, and the strap is used to bind the human body; the tension feedback unit includes The fixed pulley 39, the S-shaped tension sensor 37 and the fixed pulley assembly 38, the fixed pulley 39 and the S-shaped tension sensor 37 are respectively fixed to the frame, and the fixed pulley assembly 38 is fixed to the S-shaped tension sensor 37;

One end of the flexible rope 32 passes through the output pulley assembly 36, the fixed pulley assembly 38 and the fixed pulley 39 in a force feedback unit in sequence, and finally winds into a drum 21; the other end of the flexible rope 32 passes through the output pulley assembly 36, the other The fixed pulley assembly 38 and the fixed pulley 39 in the force feedback unit are finally wound into the other drum 21 ; each S-shaped tension sensor 37 and each driving device are electrically connected to the controller 34 .

In this embodiment, the rack includes a left mounting plate 1, a right mounting plate 2, a left side plate 4, a right side plate 5, a rail bottom plate 6, a first short-side side plate 7, a second short-side side plate 8 and a top Support plate 9; left mounting plate 1 and right mounting plate 2 are respectively fixed on both ends of beam 3 symmetrically by high-strength socket head cap screws and nuts; left side plate 4 and right side plate 5 are respectively vertically fixed on the left mounting plate by socket head cap screws 1 and the right mounting plate 2; the guide rail bottom plate 6 is installed between the left side plate 4 and the right side plate 5 by using hexagon socket head screws to connect the left side plate 4 and the right side plate 5; the first short side side plate 7 , The second short side side plate 8 is vertically mounted on the left side plate 4 and the right side plate 5 symmetrically using hexagon socket screws, and the top support plate 9 is connected to the first short side side plate 7 and the second short side side plate 7 8 on.

The intelligent anti-gravity dynamic suspension system with on-line variable stiffness in this embodiment also includes an emergency braking system. The emergency braking system includes a limit swing rod support, a circular limit rod 12 and a magnetic switch 13. The limit swing rod support The magnetic switch 13 and the magnetic switch 13 are respectively fixed on the frame, one end of the circular limit rod 12 is hinged with the limit pendulum rod support, and the other end is in contact with the magnetic switch 13 and installed in the magnetic switch mounting seat 11; the circular limit rod 12 is located just above the terminal movable pulley output assembly 33 and just below the output pulley assembly 36. A part of the flexible rope 32 is located on one side of the circular limit rod 12, and a part is located on the other side of the circular limit rod 12. The magnetic switch 13 is connected to the The controller 34 is electrically connected. In this way, the terminal output limit component of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of the present embodiment is formed. When the terminal displacement of the flexible rope 32 exceeds the designed safety allowable range, it will touch the circular limit rod 12 , thereby triggering the magnetic switch 13 to make the system emergency braking.

At the same time, on the side of the main system structure, a hand-pull switch 14 is also designed, the purpose is that when encountering an emergency, the user can pull down the hand-operated switch pull rope 15, and can also make the system emergency braking, which ensures that the The safety of the intelligent anti-gravity dynamic suspension system with online variable stiffness when working.

The active drive system also includes a planetary reducer 19 and an encoder 27. The drive device is a servo motor 18. The output shaft of the servo motor 18 is connected to the input shaft of the planetary reducer 19. The output shaft of the planetary reducer 19 is fixed to one end of the drum 21. The other end of the drum 21 is fixedly connected with the encoder 27 through the transfer shaft 26, the encoder 27 is fixedly connected with the bearing end support 17 through the encoder bracket 28, the bearing end support 17 is fixed with the frame, and the encoder 27 is connected with The controller 34 is electrically connected.

The end of the drum 21 away from the driving device is fixed with the support end cover of the drum 21, the transfer shaft 26 is fixedly connected with the support end cover of the drum 21, and the support end cover of the drum 21 rotates with the bearing end support 17 through the deep groove ball bearing 25 Matching; the end of the drum 21 close to the driving device is fixed with a motor end cover 22 , and the motor end cover 22 is fixedly connected with the output shaft of the planetary reducer 19 .

The assembly process of the active drive system is as follows: the reducer end support 16 and the bearing end support 17 are respectively installed on the outer side of one of the short side side plates at a certain distance through hexagon socket screws; the servo motor 18 and the planetary reducer 19 according to It is required to be assembled in advance, and then connect the planetary reducer flange 20 with the reducer end support 16 with hexagon socket screws, and connect the servo motor 18 with the planetary reducer 19 to obtain the required rotational speed when the winch of the active power system rotates. and torque, the control signal of the servo motor 18 is connected to the controller 34, which can carry out high-speed parallel data acquisition and calculation, which can effectively reduce the delay of data processing; Planetary reducer output shaft 23; install the support end cover of the drum 21 to the other end of the drum 21, and install it on the bearing end support 17 through the deep groove ball bearing 25; connect the encoder 27 to the transfer shaft 26 through the socket head cap screw Connect to the end face of the shaft of the support end cover of the drum 21; fix the absolute encoder 27 to the support end cover of the drum 21 through the encoder bracket 28, and finally use the coupling 29 to connect the encoder 27 and the encoder 27 to the shaft 26 is connected, and the absolute encoder 27 is connected with the drum 21, which can record the absolute position of the drum 21 when it rotates, so as to prepare for safety control; The capstan limit rod 30 is installed in parallel with the drum 21 and fixed on the reducer end support 16 and the bearing end support 17 through two support seats 31 . In this way, the structure of a set of active drive system of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of this embodiment is formed. Another set of active drive system structure is installed on the other side of the main structure frame.

The controller 34 can control the operation of a driving device through an intelligent control algorithm according to the feedback signal of the S-type tension sensor 37 to adjust the tension value of the flexible rope 32 to achieve constant weight reduction. In this embodiment, the model of the controller 34 is STM32F407; 34 can also control another driving device to work according to the user's walking speed through the principle of admittance control to realize stiffness adjustment.

The working principle of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness in this embodiment is as follows: the flexible rope 32 passes through the terminal movable pulley output assembly 33 in turn, and the output pulley assembly 36 (installed on the guide rail bottom plate 6), and then winds into and S The fixed pulley assembly 38 connected with the type tension sensor 37 and the fixed pulley 39 fixed on the short side side plate are wound into the drum 21 at last, so that the flexible rope 32 can move up and down, wherein the S-shaped tension pressure sensor is connected with the fixed pulley assembly 38 , the tensile force on a single flexible rope 32 can be measured in real time, and the measured tensile force value can be converted into an electrical signal and transmitted to the controller 34, so that the required weight loss value can be adjusted. When the system is started, the system will automatically recover Zero position (initial position), when a person wears the strap and hangs on the hanger 35 and walks or runs on the treadmill set under the hanger 35, the S-type tension sensor 37 will detect a tension value F1, The system will compare the tension value F1 with the set target weight loss value G1, and control the drum 21 of one of the active power systems to rotate back and forth through the intelligent control algorithm (existing technology), and the tension value on the flexible rope 32 will be adjusted. F1 is adjusted to achieve the preset target weight loss value G1, and this process is carried out in real time during the walking process of the person; at the same time, the controller 34 can obtain the walking or running speed of the person through the treadmill. When walking, another set of active drive system is controlled by the admittance control principle (existing technology) to adjust the stiffness of the simulated spring device. When the preset target weight loss value G1 remains unchanged, this process can be adjusted. When the system is in the zero position, the initial tension F1 of the flexible rope 32 (in this way, the stiffness of the simulated spring can be realized and the replacement of the traditional mechanical spring can be avoided), and the weight reduction value of the system can reach the preset value in combination with the intelligent control algorithm of another set of active drive system. The fixed target value G1, in this way, the center of gravity of the intelligent anti-gravity dynamic suspension system with on-line variable stiffness of this embodiment can accurately follow the gait cycle of the subject's walking during use. The center of gravity of the human body will float up and down within a certain range, which is the characteristic of human walking, and relevant biomechanical literature has been discussed. The dynamic suspension system mainly relies on the encoder 27 and the S-type tension sensor 37 to measure the position of the human body in the vertical direction and the rope tension. When the person's position moves up and down in a small range, the winch of one of the active drive systems will rotate back and forth, so that the target weight loss value remains constant when the person's vertical position is changed. The encoder 27 can detect the rotation of the winch, return the signal to the control system, and finally realize constant force control and dynamic weight reduction; The position in the vertical direction is calculated by the encoder 27 detecting the forward and reverse rotation of the drum 21. At the same time, the size of the treadmill is limited, and the distance that the person deviates from directly below will not be too much, because the system records the flexibility The length of the rope 32 rolling into and out of the drum 21 (that is, the length of the rope moving up and down), when the person deviates from the bottom, because the flexible rope 32 will provide the wearer with a certain pulling force (to achieve the target weight loss value), then when the When a person walks, it will be pulled to the position directly below, that is to say, the relative position of the person when walking will remain directly below, and there will not be too much deviation, so it can be ignored.

In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In this specification, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (6)

1. An intelligent anti-gravity dynamic suspension system with on-line variable rigidity is characterized in that: comprising a frame, a flexible rope, an output pulley assembly, a terminal movable pulley output assembly, a hanger, a strap, a controller and two tension feedback units , an active drive system is respectively provided on both sides of the frame, the active drive system includes a drum and a drive device capable of driving the drum to rotate, the drive device is fixedly connected with the frame; the flexible rope is wound around On the movable pulley in the terminal movable pulley output assembly, the hanger is connected to the terminal movable pulley output assembly through a connecting rope, and the strap is arranged on the hanger, and the strap is used to bind the human body; The tension feedback unit includes a fixed pulley, an S-shaped tension sensor, and a fixed pulley assembly. The fixed pulley and the S-shaped tension sensor are respectively fixed to the frame, and the fixed pulley assembly is connected to the S-shaped tension sensor. fixed; One end of the flexible rope passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in one of the force feedback units in sequence, and finally winds into one of the drums; the other end of the flexible rope passes through the output pulley in sequence The pulley assembly, the fixed pulley assembly and the fixed pulley in the other said force feedback unit are wound into the other said drum finally; each of the S-type tension sensors and each of the driving devices is connected with the controller electrical connection. 2 . The intelligent anti-gravity dynamic suspension system with on-line variable stiffness according to claim 1 , further comprising an emergency braking system, wherein the emergency braking system comprises a limit pendulum rod support, a circular limit A rod and a magnetic switch, the limit swing rod support and the magnetic switch are respectively fixed on the frame, one end of the circular limit rod is hinged with the limit swing rod support, and the other end is hinged with the limit swing rod support. The magnetic switch is installed in contact; the circular limit rod is located just above the terminal movable pulley output assembly and directly below the output pulley assembly, and a part of the flexible rope is located on one side of the circular limit rod , a part is located on the other side of the circular limit rod, and the magnetic switch is electrically connected with the controller. 3 . The intelligent anti-gravity dynamic suspension system with on-line variable stiffness according to claim 2 , wherein the emergency braking system further comprises a manual switch arranged on the frame, and the manual switch is arranged on the manual switch. 4 . There is a pull cord, the manual switch can be triggered by pulling the pull cord, and the manual switch is electrically connected with the controller. 4. The intelligent anti-gravity dynamic suspension system with on-line variable stiffness according to claim 1, wherein the active drive system further comprises a planetary reducer and an encoder, the drive device is a servo motor, and the servo The output shaft of the motor is connected with the input shaft of the planetary reducer, the output shaft of the planetary reducer is fixedly connected with one end of the drum, and the other end of the drum is fixedly connected with the encoder through the transfer shaft, so The encoder is fixedly connected to the bearing end support through an encoder bracket, the bearing end support is fixedly connected to the frame, and the encoder is electrically connected to the controller. 5 . The intelligent anti-gravity dynamic suspension system with on-line variable stiffness according to claim 4 , wherein: the end of the drum away from the driving device is fixed with a drum support end cover, and the transfer shaft is connected to the end cover of the drum. 6 . The drum support end cover is fixedly connected, and the drum support end cover is rotatably matched with the bearing end support through a deep groove ball bearing; the end of the drum close to the driving device is fixed with a motor end cover, the The motor end cover is fixedly connected with the output shaft of the planetary reducer. 6 . The intelligent anti-gravity dynamic suspension system with on-line variable stiffness according to claim 1 , wherein the controller can control one of the driving devices through an intelligent control algorithm according to the feedback signal of the S-shaped tension sensor. 7 . Work to adjust the tension value of the flexible rope to achieve constant weight reduction; the controller can also control another driving device to work according to the user's walking speed through the admittance control principle to achieve stiffness adjustment.

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