CN111991755B - Intelligent antigravity dynamic suspension system with online variable rigidity - Google Patents
Intelligent antigravity dynamic suspension system with online variable rigidity Download PDFInfo
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- CN111991755B CN111991755B CN202010855376.6A CN202010855376A CN111991755B CN 111991755 B CN111991755 B CN 111991755B CN 202010855376 A CN202010855376 A CN 202010855376A CN 111991755 B CN111991755 B CN 111991755B
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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
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/803—Motion sensors
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
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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
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/096—Adjustable dimensions automatically adjusted according to anthropometric data of the user
Abstract
The invention discloses an online variable-stiffness intelligent antigravity dynamic suspension system, which comprises a rack, a flexible rope, an output pulley assembly, a terminal movable pulley output assembly, a hanger, a binding band, a controller and two tension feedback units, wherein two sides of the rack are respectively provided with an active driving system, the active driving system comprises a roller and a driving device capable of driving the roller to rotate, the flexible rope is wound on a movable pulley in the terminal movable pulley output assembly, the tension feedback units comprise a fixed pulley, an S-shaped tension sensor and a fixed pulley assembly, and one end of the flexible rope sequentially penetrates through the output pulley assembly, the fixed pulley assembly and the fixed pulley in one of the tension feedback units and finally winds into one roller; the other end of the flexible rope sequentially passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in the other force feedback unit and finally winds into the other roller. The invention realizes the maintenance of constant weight reduction force and continuity of weight reduction force change, and gives consideration to the working stability and the use safety of the system.
Description
Technical Field
The invention relates to the technical field of rehabilitation machinery, in particular to an online variable-rigidity intelligent antigravity dynamic suspension system.
Background
With the aging problem of China becoming more and more prominent, the number of patients with cardiovascular and cerebrovascular diseases and nervous system diseases is also increasing rapidly, wherein the number of patients with lower limb motor dysfunction caused by central nervous system diseases such as spinal cord injury, cerebrovascular accident, and brain trauma is increasing year by year. The disease condition may vary depending on the location of the injury, from no signs to hemiplegia and complete paralysis. At present, the clinical treatment methods mainly comprise a myoelectric biofeedback and comprehensive rehabilitation training combined method, an antigravity (weight loss) gait rehabilitation training therapy, an acupuncture and moxibustion combined rehabilitation training method and the like.
Weight loss (antigravity) passive rehabilitation is one of the most effective methods for early intervention of patients at present. The robot applied to lower limb rehabilitation training at present is an intelligent training system developed on the basis of weight-loss (antigravity) gait training, and the development of the weight-loss rehabilitation training system is mainly divided into four stages: a static weight reducing system at the first stage, a passive balance weight reducing system at the second stage, a passive elastic weight reducing system at the third stage and an active power weight reducing system at the fourth stage. The active power weight reduction (antigravity) system mainly realizes weight reduction through active power, and a pneumatic, hydraulic, electromagnetic or other active power generation device provides required force in the walking process. The active dynamic weight-reducing (antigravity) system can simulate the walking posture of a normal person and bear part of the weight of the human body, reduces the load of the lower limbs of a patient through the antigravity support device in the rehabilitation training treatment process, organically combines three walking factors (load, stepping and balance), promotes the establishment of a normal gait mode, has great advantages in the aspects of recovering the walking ability, correcting the gait, improving the balance, reducing muscle spasm and the like, can make up the defects of a static weight-reducing system, a passive balance weight-reducing system and a passive elastic weight-reducing system, and therefore becomes the popular research field.
The existing antigravity suspension system generally has the following defects: on the one hand, the weight reduction of the existing anti-gravity suspension system is realized by a counterweight, i.e. the weight of the weight at one end of the rope is transmitted to one end of the human body through a pulley block, and the weight reduction (i.e. anti-gravity) is realized by the counterweight. In the weight reduction mode, a certain acceleration exists in the rope in the up-and-down movement process of the rope, and when the acceleration is changed continuously, the tension on the rope is also changed continuously; meanwhile, during actual use, the weight of the counterweight is obviously accelerated, so the weight reducing force of the antigravity suspension system is changed at any moment. In addition, the position of a human body can change in real time in the walking process of a person, and a weight-reducing rope can swing left and right, so that the weight-reducing force is not constant; the expected constant weight reduction in the using process is limited by the counterweight object, the size of the counterweight is very inconvenient to change, the object with corresponding weight needs to be selected to realize a preset weight reduction value, and the weight reduction force is discontinuous. On the other hand, most of the existing antigravity suspension systems adopt the traditional mechanical spring to realize weight reduction, namely, one end of the rope is connected with the spring through the pulley block, the other end of the rope is connected with a human body, and the elastic potential energy of the spring is utilized to realize weight reduction (antigravity). In the use process, if a person changes the walking speed, in order to ensure the constant weight reduction value in the walking process, the pulling force of the rope needs to be changed along with the change of the walking speed of the person, while the rigidity of the traditional mechanical spring is a fixed value (the inherent characteristic of the spring), the pulling force transmitted to the rope by the elastic potential energy of the spring cannot be changed along with the change of the walking speed of the person, so that the constant weight reduction value when the walking speed of the person is changed cannot be ensured, namely, the adaptability of a counter-gravity system is poor when the walking speed is different; meanwhile, under the influence of use conditions and environmental factors, the service life of the traditional mechanical spring is greatly different, the phenomena of easy aging and fatigue fracture of the spring generally exist, the spring is troublesome to regularly check and replace, the later maintenance cost is increased, and certain potential safety hazards exist; in addition, the traditional mechanical spring is adopted, so that the integral structure of the antigravity suspension system is not attractive, complex and heavy, certain difficulty is brought to initial design, and the possibility of wide popularization and use is low.
Disclosure of Invention
The invention aims to provide an online variable-stiffness intelligent antigravity dynamic suspension system, which is used for solving the problems in the prior art, realizing the purposes of keeping constant weight reduction force and continuity of weight reduction force change and considering the working stability and the use safety of the system.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an online variable-rigidity intelligent antigravity dynamic suspension system, which comprises a rack, a flexible rope, an output pulley assembly, a terminal movable pulley output assembly, a hanging bracket, a binding belt, a controller and two tension feedback units, wherein two sides of the rack are respectively provided with an active driving system, the active driving system comprises a roller and a driving device capable of driving the roller to rotate, and the driving device is fixedly connected with the rack; the flexible rope is wound on a movable pulley in the terminal movable pulley output assembly, the hanging bracket is connected with the terminal movable pulley output assembly through a connecting rope, the binding belt is arranged on the hanging bracket, and the binding belt is used for binding a human body; the tension feedback unit comprises a fixed pulley, an S-shaped tension sensor and a fixed pulley assembly, the fixed pulley and the S-shaped tension sensor are fixedly connected with the rack respectively, and the fixed pulley assembly is fixedly connected with the S-shaped tension sensor;
one end of the flexible rope sequentially passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in the tension feedback unit and finally winds into the roller; the other end of the flexible rope sequentially passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in the other tension feedback unit and finally winds into the other roller; each S-shaped tension sensor and each driving device are electrically connected with the controller.
Preferably, the emergency braking system comprises a limiting swing rod support, a round limiting rod and a magnetic switch, wherein the limiting swing rod support and the magnetic switch are respectively and fixedly arranged on the rack, one end of the round limiting rod is hinged with the limiting swing rod support, and the other end of the round limiting rod is in contact installation with the magnetic switch; the round limiting rod is positioned right above the terminal movable pulley output assembly and right below the output pulley assembly, one part of the flexible rope is positioned on one side of the round limiting rod, one part of the flexible rope is positioned on the other side of the round limiting rod, and the magnetic switch is electrically connected with the controller.
Preferably, the emergency braking system further comprises a manual switch arranged on the rack, a pull rope is arranged on the manual switch, the manual switch can be triggered by pulling the pull rope, and the manual switch is electrically connected with the controller.
Preferably, the driving system further comprises a planetary reducer and an encoder, the driving device is a servo motor, an output shaft of the servo motor is connected with an input shaft of the planetary reducer, an output shaft of the planetary reducer is fixedly connected with one end of the roller, the other end of the roller is fixedly connected with the encoder through a transfer shaft, the encoder is fixedly connected with a bearing end support through an encoder support, the bearing end support is fixedly connected with the frame, and the encoder is electrically connected with the controller.
Preferably, a roller supporting end cover is fixedly arranged at one end of the roller, which is far away from the driving device, the transfer shaft is fixedly connected with the roller supporting end cover, and the roller supporting end cover is in running fit with the bearing end support through a deep groove ball bearing; and a motor end cover is fixedly arranged at one end of the roller close to the driving device and is fixedly connected with an output shaft of the planetary reducer.
Preferably, the controller can control one driving device to work through an intelligent control algorithm according to a feedback signal of the S-shaped tension sensor so as to adjust the tension value of the flexible rope, and constant weight reduction force is realized; the controller can also control the other driving device to work according to the walking speed of the user through an admittance control principle so as to realize rigidity adjustment.
Compared with the prior art, the invention has the following technical effects:
the online variable-rigidity intelligent antigravity dynamic suspension system realizes the maintenance of constant weight reduction force and continuity of weight reduction force change, and gives consideration to the working stability and the use safety of the system. The online variable-stiffness intelligent antigravity dynamic suspension system comprises two sets of active driving systems, wherein one set of the active driving systems is combined with admittance control, can float along with the gravity center of a walking gait cycle of a person, and can adjust the stiffness of a simulation spring in real time on line according to different walking speeds of the person, so that dynamic weight reduction in the using process is realized; the other set of intelligent antigravity dynamic suspension system combining with the intelligent control algorithm accurately controls the online variable stiffness intelligent antigravity dynamic suspension system and realizes constant-force weight reduction (labor saving) in the use process. The two sets of active driving systems work in a matched mode to achieve dynamic weight reduction and constant force control of the whole set of device, and the device is used in combination with a running machine, can help a patient with nerve injury to conduct gait rehabilitation training, and can also help a healthy person to conduct weightlessness simulation training. Meanwhile, the intelligent antigravity dynamic suspension system with the online variable rigidity is also provided with a triple safety protection device, the triple safety protection device comprises a circular limit rod and a manual switch in an emergency braking system, and a mechanical limit device arranged at the bottom of the top end of the movable rack, and when the final output pulley assembly accidentally exceeds the movement range, the mechanical limit rod forcibly blocks the output pulley assembly, so that the safe and stable operation of the dynamic suspension system is ensured. The safety of the experiencer in the using process can be guaranteed.
The intelligent antigravity dynamic suspension system with the online variable rigidity adopts an aluminum alloy material in structural design, has the characteristics of high strength, light weight and the like, and is simple and compact in structure, good in interchangeability and simple and convenient to operate; the antigravity device of the online variable-rigidity intelligent antigravity dynamic suspension system adopts a symmetrical design, and has the characteristics of attractive integral structure, simplicity in assembly and the like; the maximum static weight reduction value of the online variable-stiffness intelligent antigravity dynamic suspension system is 135kg, and the maximum dynamic weight reduction value is 10-80kg, so that the system can be used by people of various body types.
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 first schematic structural diagram of an online variable stiffness intelligent antigravity dynamic suspension system of the present invention;
FIG. 2 is a bottom view of the on-line variable stiffness intelligent antigravity dynamic suspension system of the present invention;
FIG. 3 is a schematic structural diagram of an active drive system in the online variable stiffness intelligent antigravity dynamic suspension system of the present invention;
FIG. 4 is an exploded view of the active drive system in the intelligent antigravity dynamic suspension system of the present invention with variable linear stiffness;
FIG. 5 is a schematic structural diagram II of the online variable stiffness intelligent antigravity dynamic suspension system of the present invention;
FIG. 6 is a third schematic structural view of the online variable stiffness intelligent antigravity dynamic suspension system of the present invention;
FIG. 7 is a schematic diagram of the control of the artificial spring admittance in the online variable stiffness intelligent antigravity dynamic suspension system of the present invention;
FIG. 8 is a block diagram illustrating the control of the antigravity dynamic suspension system in the on-line variable stiffness intelligent antigravity dynamic suspension system of the present invention;
wherein: 1-left mounting plate, 2-right mounting plate, 3-cross beam, 4-left side plate, 5-right side plate, 6-guide rail bottom plate, 7-first short side plate, 8-second short side plate, 9-top support plate, 10-limit swing rod support, 11-magnetic switch mounting seat, 12-round limit rod, 13-magnetic switch, 14-hand pull switch, 15-pull rope, 16-speed reducer end support, 17-bearing end support, 18-servo motor, 19-planetary speed reducer, 20-planetary speed reducer flange, 21-roller, 22-motor end cover, 23-planetary speed reducer output shaft, 24-roller support end cover, 25-deep groove ball bearing, 26-transfer shaft, 27-encoder, and the like, 28-encoder support, 29-coupler, 30-winch limiting rod, 31-supporting seat, 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 and 39-fixed pulley.
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 obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide an online variable-stiffness intelligent antigravity dynamic suspension system, which is used for solving the problems in the prior art, realizing the purposes of keeping constant weight reduction force and continuity of weight reduction force change and considering the working stability and the use safety of the system.
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.
As shown in fig. 1 to 8: the embodiment provides an online rigidity-variable intelligent antigravity dynamic suspension system, which comprises a rack, a flexible rope 32, an output pulley assembly 36, a terminal movable pulley output assembly 33, a hanger 35, a binding band, a controller 34 and two tension feedback units, wherein two sides of the rack are respectively provided with an active driving system, the active driving system comprises a roller 21 and a driving device capable of driving the roller 21 to rotate, and the driving device is fixedly connected with the rack; 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 a connecting rope, and the binding belt is arranged on the hanger 35 and used for binding a human body; the tension feedback unit comprises a fixed pulley 39, an S-shaped tension sensor 37 and a fixed pulley assembly 38, the fixed pulley 39 and the S-shaped tension sensor 37 are fixedly connected with the rack respectively, and the fixed pulley assembly 38 is fixedly connected with the S-shaped tension sensor 37;
one end of the flexible rope 32 sequentially passes through the output pulley assembly 36, the fixed pulley assembly 38 and the fixed pulley 39 in the tension feedback unit and finally winds into a roller 21; the other end of the flexible rope 32 sequentially passes through an output pulley assembly 36, a fixed pulley assembly 38 and a fixed pulley 39 in another tension feedback unit and finally winds into another roller 21; each S-shaped tension sensor 37 and each drive 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 plate 7, a second short side plate 8, and a top support plate 9; the left mounting plate 1 and the right mounting plate 2 are symmetrically fixed at two ends of the cross beam 3 through high-strength inner hexagon screws and nuts respectively; the left side plate 4 and the right side plate 5 are respectively and vertically fixed on the left mounting plate 1 and the right mounting plate 2 through inner hexagon screws; the guide rail bottom plate 6 is arranged between the left side plate 4 and the right side plate 5 by using hexagon socket head cap screws to connect the left side plate 4 and the right side plate 5; first short side plate 7, second short side plate 8 use hexagon socket head cap screw respectively symmetry perpendicular install on left side board 4 and right side board 5, and top support plate 9 is then connected to first short side plate 7 and second short side plate 8.
The online variable-stiffness intelligent antigravity dynamic suspension system further comprises an emergency braking system, wherein the emergency braking system comprises a limiting swing rod support, a round limiting rod 12 and a magnetic switch 13, the limiting swing rod support and the magnetic switch 13 are fixedly arranged on the rack respectively, one end of the round limiting rod 12 is hinged with the limiting swing rod support, and the other end of the round limiting rod 12 is in contact with the magnetic switch 13 and is arranged in a magnetic switch mounting seat 11; the round limiting rod 12 is positioned right above the terminal movable pulley output assembly 33 and right below the output pulley assembly 36, a part of the flexible rope 32 is positioned at one side of the round limiting rod 12, a part of the flexible rope is positioned at the other side of the round limiting rod 12, and the magnetic switch 13 is electrically connected with the controller 34. Therefore, the terminal output limiting component of the online variable-stiffness intelligent antigravity dynamic suspension system is formed, and when the terminal displacement of the flexible rope 32 exceeds the designed safety permission range, the flexible rope touches the circular limiting rod 12, so that the magnetic switch 13 is triggered, and the system is braked emergently.
Meanwhile, a hand-pull switch 14 is designed on the side surface of the main body system structure, and the purpose is that when an emergency occurs, a user can pull down a hand-pull switch pull rope 15 and can also make the system brake emergently, so that the safety of the online variable-stiffness intelligent antigravity dynamic suspension system during working is ensured.
The driving system further comprises a planetary speed reducer 19 and an encoder 27, the driving device is a servo motor 18, an output shaft of the servo motor 18 is connected with an input shaft of the planetary speed reducer 19, an output shaft of the planetary speed reducer 19 is fixedly connected with one end of the roller 21, the other end of the roller 21 is fixedly connected with the encoder 27 through a transfer shaft 26, the encoder 27 is fixedly connected with the bearing end support 17 through an encoder support 28, the bearing end support 17 is fixedly connected with the rack, and the encoder 27 is electrically connected with the controller 34.
A supporting end cover of the roller 21 is fixedly arranged at one end of the roller 21 away from the driving device, the adapting shaft 26 is fixedly connected with the supporting end cover of the roller 21, and the supporting end cover of the roller 21 is in running fit with the bearing end support 17 through the deep groove ball bearing 25; and a motor end cover 22 is fixedly arranged at one end of the roller 21 close to the driving device, and the motor end cover 22 is fixedly connected with an output shaft of the planetary reducer 19.
The assembly process of the active drive system is as follows: the speed reducer end support 16 and the bearing end support 17 are respectively installed on the outer side of one short side plate at a certain distance through inner hexagon screws; the servo motor 18 and the planetary reducer 19 are assembled in advance according to requirements, then the flange plate 20 of the planetary reducer is connected with the end support 16 of the reducer by using the hexagon socket head cap screws, the servo motor 18 is connected with the planetary reducer 19, the rotating speed and the torque required by the rotation of a winch of an active power system can be obtained, a control signal of the servo motor 18 is accessed into the controller 34, high-speed parallel data acquisition and operation can be carried out, and the data processing delay can be effectively reduced; connecting the roller 21 with the end cover 22 of the motor end through an inner hexagon screw, and then installing the roller to an output shaft 23 of a planetary reducer; mounting the end cover of the support end of the roller 21 to the other end of the roller 21 and mounting the end cover on the bearing end support 17 through a deep groove ball bearing 25; the encoder 27 is attached to the end face of the drum 21 supporting the end cap shaft by means of socket head cap screws 26; fixing an absolute encoder 27 on a supporting end cover of the roller 21 through an encoder bracket 28, and finally connecting the encoder 27 with an adapter shaft 26 of the encoder 27 through a coupler 29, wherein the absolute encoder 27 is connected with the roller 21, so that the absolute position of the roller 21 during rotation can be recorded, and preparation is made for safety control; in order to avoid the flexible rope 32 from winding up when it is wound into the drum 21, a winch-limiting rod 30 is also provided, which winch-limiting rod 30 is mounted parallel to the drum 21 and is fixed to the speed reducer end support 16 and the bearing end support 17 by means of two support blocks 31. Thus, the structure of the active driving system of the intelligent antigravity dynamic suspension system with the online variable stiffness is formed. And the other set of active driving system structure is arranged on the other side of the main structure frame.
The controller 34 can control a driving device to work through an intelligent control algorithm according to a feedback signal of the S-shaped tension sensor 37 to adjust the tension value of the flexible rope 32, so that the weight reduction force is constant, wherein the controller 34 is of an STM32F407 model in the embodiment; the controller 34 can also control the operation of another driving device to realize the stiffness adjustment according to the walking speed of the user through the admittance control principle.
The working principle of the intelligent antigravity dynamic suspension system with the online variable stiffness of the embodiment is as follows: the flexible rope 32 passes through the terminal movable pulley output assembly 33, the output pulley assembly 36 (installed on the guide rail bottom plate 6) in sequence, then winds into the fixed pulley assembly 38 connected with the S-shaped tension sensor 37, the fixed pulley 39 fixed on the short side plate and finally winds into the roller 21, 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, can measure the tension force on the single flexible rope 32 in real time, converts the measured tension force value into an electric signal and transmits the electric signal to the controller 34, so that the required weight reduction value can be adjusted, when the system is started, the system can automatically recover the zero position (initial position), when a person wears a binding band to be suspended on the hanger 35 and walks or runs on a treadmill arranged below the hanger 35, the S-shaped tension sensor 37 can detect a tension value F1, the system can compare the tension value F1 with a set target weight reduction value G1, the roller 21 of one set of the active power system is controlled to rotate back and forth through an intelligent control algorithm (the prior art), the tension value F1 on the flexible rope 32 is adjusted to reach a preset target weight reduction value G1, and the process is carried out in real time in the walking process of a person; meanwhile, the controller 34 can obtain the walking or running speed of the person through the running machine, when the person walks at different speeds, the stiffness of the artificial spring device is adjusted by controlling another set of active driving system through an admittance control principle (the prior art), when the preset target weight reduction value G1 is not changed, the process can adjust the initial tension F1 of the flexible rope 32 at the zero position of the system (so as to realize the variable stiffness of the artificial spring and avoid replacing the traditional mechanical spring), and the weight reduction value of the system reaches the preset target value G1 by combining an intelligent control algorithm of another set of active driving system, so that the intelligent antigravity dynamic suspension system with the variable stiffness of the online embodiment can accurately float along with the gravity center of the walking cycle of the testee in the use process, and the gravity center of the human body can float up and down within a certain range in the walking process of the person, this is a characteristic of human walking and relevant biomechanical literature has been discussed. The dynamic suspension system mainly depends on an encoder 27 and an S-shaped tension sensor 37 to measure the position of a human body in the vertical direction and the tension of a rope. When the position of a person moves up and down in a small amplitude, the winch of one set of active driving system can rotate back and forth, so that the target weight reduction value is kept constant when the vertical position of the person is changed. The encoder 27 can detect the rotation of the winch and return a signal to a control system, and finally constant force control and dynamic weight reduction are realized; when a person does not stand right below the flexible rope 32, the system records the position of the vertical direction of the movable pulley output assembly 33 of the terminal, and the position is converted by detecting the positive and negative rotation of the roller 21 through the encoder 27, meanwhile, the size of the treadmill is limited, the distance of the person deviating from the right lower side is not too large, the system records the length of the flexible rope 32 wound in and out of the roller 21 (namely the length of the rope moving up and down), when the person deviates from the right lower side, the flexible rope 32 can provide certain pulling force (achieving a target weight reduction value) for a wearer, and when the person walks, the person can be pulled to the right lower side, namely, the relative position when the person walks can be kept right below, and the deviation is not too large, so the deviation 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", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present 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 view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. The utility model provides an online become intelligent antigravity dynamic suspension system of rigidity which characterized in that: the device comprises a rack, a flexible rope, an output pulley assembly, a terminal movable pulley output assembly, a hanger, a binding band, a controller and two tension feedback units, wherein two sides of the rack are respectively provided with an active driving system, the active driving system comprises a roller and a driving device capable of driving the roller to rotate, and the driving device is fixedly connected with the rack; the flexible rope is wound on a movable pulley in the terminal movable pulley output assembly, the hanging bracket is connected with the terminal movable pulley output assembly through a connecting rope, the binding belt is arranged on the hanging bracket, and the binding belt is used for binding a human body; the tension feedback unit comprises a fixed pulley, an S-shaped tension sensor and a fixed pulley assembly, the fixed pulley and the S-shaped tension sensor are fixedly connected with the rack respectively, and the fixed pulley assembly is fixedly connected with the S-shaped tension sensor;
one end of the flexible rope sequentially passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in the tension feedback unit and finally winds into the roller; the other end of the flexible rope sequentially passes through the output pulley assembly, the fixed pulley assembly and the fixed pulley in the other tension feedback unit and finally winds into the other roller; each S-shaped tension sensor and each driving device are electrically connected with the controller;
the controller can control one driving device to work through an intelligent control algorithm according to a feedback signal of the S-shaped tension sensor so as to adjust the tension value of the flexible rope and realize constant weight reduction force; the controller can also control the other driving device to work according to the walking speed of the user through an admittance control principle so as to realize rigidity adjustment.
2. The online variable stiffness intelligent antigravity dynamic suspension system of claim 1, wherein: the emergency braking system comprises a limiting swing rod support, a round limiting rod and a magnetic switch, wherein the limiting swing rod support and the magnetic switch are fixedly arranged on the rack respectively, one end of the round limiting rod is hinged with the limiting swing rod support, and the other end of the round limiting rod is installed in contact with the magnetic switch; the round limiting rod is positioned right above the terminal movable pulley output assembly and right below the output pulley assembly, one part of the flexible rope is positioned on one side of the round limiting rod, one part of the flexible rope is positioned on the other side of the round limiting rod, and the magnetic switch is electrically connected with the controller.
3. The online variable stiffness intelligent antigravity dynamic suspension system of claim 2, wherein: the emergency braking system further comprises a manual switch arranged on the rack, a pull rope is arranged on the manual switch, the manual switch can be triggered by pulling the pull rope, and the manual switch is electrically connected with the controller.
4. The online variable stiffness intelligent antigravity dynamic suspension system of claim 1, wherein: the driving system further comprises a planetary speed reducer and an encoder, the driving device is a servo motor, an output shaft of the servo motor is connected with an input shaft of the planetary speed reducer, an output shaft of the planetary speed reducer is fixedly connected with one end of the roller, the other end of the roller is fixedly connected with the encoder through a transfer shaft, the encoder is fixedly connected with a bearing end support through an encoder support, the bearing end support is fixedly connected with the rack, and the encoder is electrically connected with the controller.
5. The online variable stiffness intelligent antigravity dynamic suspension system of claim 4, wherein: a roller supporting end cover is fixedly arranged at one end of the roller, which is far away from the driving device, the transfer shaft is fixedly connected with the roller supporting end cover, and the roller supporting end cover is in running fit with the bearing end support through a deep groove ball bearing; and a motor end cover is fixedly arranged at one end of the roller close to the driving device and is fixedly connected with an output shaft of the planetary reducer.
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