CN112915475A

CN112915475A - Active and passive balance training module and dynamic balance training system

Info

Publication number: CN112915475A
Application number: CN202110356767.8A
Authority: CN
Inventors: 马明; 田东林; 魏良国; 朱小平
Original assignee: Jiangsu Lyubo Intelligent Technology Co ltd
Current assignee: Jiangsu Lyubo Intelligent Technology Co ltd
Priority date: 2021-04-01
Filing date: 2021-04-01
Publication date: 2021-06-08

Abstract

The invention discloses an active and passive balance training module and a dynamic balance training system, which relate to the technical field of rehabilitation instruments and comprise a rotating plate, an X-axis driving structure and a Y-axis driving structure, wherein the X-axis driving structure and the Y-axis driving structure are in transmission connection through a transmission structure, the rotating plate is arranged on the X-axis driving structure, and an X-direction sensor is arranged on the rotating plate. The active and passive balance training module realizes 360-degree turnover control of the rotating plate through the X-axis driving structure and the Y-axis driving structure, and the platform is connected with the rotating plate through the X-direction sensor, so that the training of a patient is controlled. The multifunctional balance training system can meet the multifunctional training requirement of the balance training system, is attractive in appearance, can realize active and passive training, is simple in structure, high in reliability, convenient to maintain and high in intelligent degree, and can reduce the working pressure of therapists.

Description

Active and passive balance training module and dynamic balance training system

Technical Field

The invention relates to the technical field of rehabilitation instruments, in particular to an active and passive balance training module and a dynamic balance training system.

Background

Balance control is a complex exercise, and people walk and stand, and various actions are successfully completed depending on correct balance capacity. The maintenance of human body posture balance is a complex process, depends on the coordination of the central system on visual, proprioceptive and vestibular information and the control of the motor effector, and several of the processes are indispensable and complement each other. The visual system provides information about the surrounding environment, body movements and directions of movement, and plays an important role especially when the proprioception is impaired. Proprioceptors, located at joints, tendons and muscles, convey status information about the body's immediate posture. The vestibular sense transmits information related to maintaining balance and the surrounding environment of the body, such as information of transmitting acceleration and the position of the head in space, and the vestibular movement system adjusts the eye position to keep clear vision, adjusts the tension of related skeletal muscles and keeps the head position and correct posture.

According to statistics, the annual incidence of cerebrovascular diseases, Parkinson's disease, craniocerebral trauma and spinal cord injury in China is increased year by year. These diseases and injuries can cause balance dysfunction or even disability. While balance dysfunction is a major disabling factor. Several evidence of evidence suggests that training including balance function and lower limb function are important ways to improve function.

The existing balance training products are mainly used for standing posture training and are divided into a passive adaptive product and an active adaptive product, the passive adaptive product is provided with a power system, a trainer is driven to carry out adaptive training by slight swinging of an electric drive pedal, the trainer is easy to be damaged when the balance feeling of the trainer is poor or the strength is insufficient, the active adaptive product is not driven by the trainer, the gravity center is adjusted by the trainer to enable the pedal to incline towards the direction of a training plan, the pedal support structure of the existing dynamic balance training products is not reasonable enough, the damping is too small or too large when the pedal swings easily, when the swing damping of the pedal is small, the trainer is damaged due to the inadaptation when the training is caused, when the swing damping of the pedal is large, the continuous training is difficult due to physical force.

Disclosure of Invention

The invention aims to provide an active and passive balance training module and a dynamic balance training system, which are used for solving the problems in the prior art, meeting the requirements of multifunctional training, realizing active and passive training and reducing the working pressure of therapists.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides an active and passive balance training module which comprises a rotating plate, an X-axis driving structure and a Y-axis driving structure, wherein the X-axis driving structure and the Y-axis driving structure are in transmission connection through a transmission structure, the rotating plate is arranged on the X-axis driving structure, and an X-direction sensor is arranged on the rotating plate.

Preferably, the transmission structure comprises a worm and a worm wheel which are meshed with each other, the worm is connected with the power output end of the Y-axis driving structure, the worm wheel is connected with the X-axis driving structure through a connecting piece, the connecting piece is fixedly connected with the worm wheel, the connecting piece is rotatably connected with the power output end of the X-axis driving structure, and the power output end of the X-axis driving structure is connected with the rotating plate.

Preferably, the X-axis driving structure comprises an X-axis motor and an X-axis speed reducer, a power output end of the X-axis motor is in transmission connection with the X-axis speed reducer, and a power output end of the X-axis speed reducer is in transmission connection with the rotating plate;

the Y-axis driving structure comprises a Y-axis motor and a Y-axis speed reducer, the power output end of the Y-axis motor is in transmission connection with the Y-axis speed reducer, and the power output end of the Y-axis speed reducer is in transmission connection with the movable structure.

The invention also provides a dynamic balance training system, which comprises a seat motion assembly, a seat training assembly, a balance training assembly and a display assembly, wherein the seat training assembly is arranged on the seat motion assembly, the balance training assembly is arranged on one side of the seat training assembly, the active and passive balance training modules according to any one of claims 1-3 are arranged in the balance training assembly and the seat training assembly, the seat training assembly is arranged towards the display assembly, and the balance training assembly is arranged between the display assembly and the seat training assembly; the display assembly comprises an interactive spherical screen.

Preferably, the balance training assembly further comprises a platform, the platform comprises an inner platform and an outer platform, the outer platform is arranged on the outer side of the inner platform, a bearing plate is arranged at the bottom of the inner platform, the bearing plate is connected with the active and passive balance training module, the bearing plate is connected with the inner platform through a positioning sleeve, and a plurality of gravity sensors are arranged at the bottom of the bearing plate; the lower extreme of outer platform is provided with first outer flange, the lower extreme of inner platform is provided with interior flange, interior flange with be provided with the second outer flange between the first outer flange, the inner platform with outer platform realizes separation and combination through a plurality of driving lever mechanisms.

Preferably, each driving lever mechanism comprises a limiting block, a conversion driving lever and a driving lever support, the limiting block is arranged on the inner platform, the conversion driving lever and the driving lever support are arranged on the outer platform, a first sliding groove is formed in the driving lever support, a second sliding groove is formed in the limiting block, the conversion driving lever can slide in the first sliding groove and the second sliding groove, and a first limiting groove and a second limiting groove are further formed in the driving lever support.

Preferably, the seat training assembly comprises a seat base, the active and passive balance training module is arranged at the lower end of the seat base, the active and passive balance training module is arranged on the seat movement assembly, seat armrests are arranged on two sides of the seat base, and each seat armrest is provided with an adjusting knob;

the seat armrest comprises a sliding connection sliding groove support and a guide support, wherein leather sponge is wrapped outside the sliding groove support, a first strip-shaped hole is formed in the sliding groove support, a second strip-shaped hole is formed in the guide support, the first strip-shaped hole is matched with the second strip-shaped hole, and the adjusting knob stretches into the first strip-shaped hole and the second strip-shaped hole and is fixed through a nut.

Preferably, the seat motion assembly comprises an underframe, an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism, the seat training assembly is arranged on the Y-direction moving mechanism, the Y-direction moving mechanism is arranged on the Z-direction moving mechanism, the Z-direction moving mechanism is arranged on the X-direction moving mechanism, and the X-direction moving mechanism is arranged on the underframe.

Preferably, the X-direction moving mechanism comprises an X-direction push rod and an X-direction nut, the Y-direction moving mechanism comprises a Y-direction push rod, a first Y-direction bottom plate and a second Y-direction bottom plate, and the Z-direction moving mechanism comprises a Z-direction lifting column and a Z-direction bottom plate;

the X is in to the push rod setting one side of chassis, X is provided with on to the push rod with X is to the push rod matching X is to the nut, Z to the bottom plate with X is to the nut connection, Z is to the lower extreme of bottom plate and setting up X on the chassis is to guide rail sliding connection, Z is to being provided with on the bottom plate Z is to the lift post, Z to the upper end of lift post with first Y is to the bottom plate connection, first Y is to being provided with on the bottom plate Y is to the push rod, Y to the push rod with second Y is to the bottom plate connection, second Y is to the lower extreme of bottom plate and setting up Y on the bottom plate is to guide rail sliding connection, second Y to the upper end of bottom plate with the seat training subassembly is connected.

Preferably, a first chain wheel and a second chain wheel are arranged on the bottom frame, the first chain wheel and the second chain wheel are connected through chain transmission, a plurality of chain baffles are arranged on the chain, and the second chain wheel is provided with a tensioning structure.

Compared with the prior art, the invention has the following technical effects:

the active and passive balance training module realizes 360-degree turnover control of the rotating plate through the X-axis driving structure and the Y-axis driving structure, and the platform is connected with the rotating plate through the X-direction sensor, so that the training of a patient is controlled. The multifunctional balance training system can meet the multifunctional training requirement of the balance training system, is attractive in appearance, can realize active and passive training, is simple in structure, high in reliability, convenient to maintain and high in intelligent degree, and can reduce the working pressure of therapists.

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 diagram (view one) of an active-passive balance training module according to the present invention;

FIG. 2 is a second schematic diagram (viewing angle II) of the active and passive balance training module according to the present invention;

FIG. 3 is a top view of an active and passive balance training module of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a cross-sectional view B-B of FIG. 3;

FIG. 6 is a schematic view of the transmission structure of the present invention;

FIG. 7 is a cross-sectional view C-C of FIG. 6;

FIG. 8 is a schematic diagram of a dynamic balance training system of the present invention;

FIG. 9 is a first schematic view (perspective one) of a platen according to the present invention;

FIG. 10 is a second schematic view of a stage according to the present invention (view angle two);

FIG. 11 is a top view of the platform of the present invention;

FIG. 12 is a schematic view of the seat training assembly of the present invention;

FIG. 13 is a schematic view of the armrest of the chair of the present invention;

FIG. 14 is a schematic view of the seat motion assembly of the present invention;

wherein: 100-an active passive balance training module; 200-a dynamic balance training system; 1-a display assembly; 2-equipment base; 3-a balance training component; 4-a seat kinematic assembly; 5-a seat training assembly; 6-a hanging bracket; 7-a handrail; 8-an inner platform; 9-an outer platform; 10-a conversion deflector rod; 11-a first outer flange; 12-an inner flange; 13-a second outer flange; 14-a positioning sleeve; 15-a gravity sensor; 16-a deflector rod support; 17-a limiting block; 18-a bearing plate; 19-rotating plate; 20-limit switch; 21-X axis motor; 22-a connector; 23-a worm gear; 24-a worm; 25-a reinforcing shaft; 26-Y axis motors; 27-a training base plate; a 28-X directional sensor; 29-X axis reducer; a 32-Y axis reducer; 33-first Y-direction floor; 34-chain guard; 35-a first sprocket; a 36-Z direction lifting column; 37-a chain; a 38-X directional guide rail; a 39-X direction push rod; 40-a second sprocket; 41-a chassis; 42-a seat base; 43-seat arm rests; 44-adjusting knob; 46-X axis drive configuration; a 47-Y axis drive configuration; 48-a transmission structure; 49-a deflector rod mechanism; 50-a first runner; 51-a second runner; 52-first restraint slot; 53-a second limit groove; a 54-X direction moving mechanism; a 55-Y direction moving mechanism; a 56-Z direction moving mechanism; 57-X direction nut; 59-a tensioning structure; 102-a bearing cap; 103-a bearing; 104-left upright post plate; 105-connector baffle; 106-right upright post plate; 107-left side panel; 108-X axis rotating bearing blocks; 109-right side plate; 110-a limiting plate; 111-flange plate; 120-worm bearing shield; 121-worm baffle; 122-worm bearing seat; 123-thrust bearing; 124-ball bearings; 126-needle bearings; 127-reducer flange; 301-lifting column connectors; a 302-Z direction base plate; 303-Y direction guide rail; 304-Y to rail connectors; 305-a second Y-direction floor; 306-Y motion floor connection; 307-Y direction push rod; 308-Y direction push rod connector; 401-chute carriage; 402-a guide bracket; 403-a nut; 404-a first strip aperture; 405-a second strip aperture.

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.

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.

Example one

As shown in fig. 1-7: the embodiment provides an active and passive balance training module 100, which comprises a rotating plate 19, an X-axis driving structure 46 and a Y-axis driving structure 47, wherein the X-axis driving structure 46 and the Y-axis driving structure 47 are in transmission connection through a transmission structure 48, the rotating plate 19 is arranged on the X-axis driving structure 46, and an X-direction sensor 28 is arranged on the rotating plate 19. The active and passive balance training module 100 controls the rotation motion of the X axis and the Y axis by adopting the X axis driving structure 46 and the Y axis driving structure 47 so as to realize active and passive training, and simultaneously, during active training, the damping control can be realized by the X axis driving structure 46 and the Y axis driving structure 47 so as to meet the rehabilitation training of different damping grades. The active and passive balance training module of this embodiment realizes 360-degree turnover control of the rotating plate 19 through the X-axis driving structure 46 and the Y-axis driving structure 47, and the platform is connected with the rotating plate through the X-direction sensor, thereby realizing the control of the patient training. This embodiment can satisfy balance training system's multi-functional training demand, and the outward appearance is pleasing to the eye, can realize the active passive training, simple structure, and the reliability is high, is convenient for maintain, and intelligent degree is high, can alleviate therapist's operating pressure.

In this embodiment, the transmission structure 48 includes a worm 24 and a worm wheel 23 which are engaged with each other, the worm 24 is connected to the power output end of the Y-axis driving structure 47, the worm wheel 23 is connected to the X-axis driving structure 46 through a connecting member 22, the connecting member 22 is fixedly connected to the worm wheel 23, the connecting member 22 is rotatably connected to the power output end of the X-axis driving structure 46, and the power output end of the X-axis driving structure 46 is connected to the rotating plate 19.

In this embodiment, the X-axis driving structure 46 includes an X-axis motor 21 and an X-axis reducer 29, the X-axis reducer 29 has a compact structure, a small space and a large torque, a power output end of the X-axis motor 21 is in transmission connection with the X-axis reducer 29, and a power output end of the X-axis reducer 29 is in transmission connection with the rotating plate 19; the Y-axis driving structure 47 comprises a Y-axis motor 26 and a Y-axis speed reducer 32, the power output end of the Y-axis motor 26 is in transmission connection with the Y-axis speed reducer 32, and the power output end of the Y-axis speed reducer 32 is in transmission connection with the dynamic structure. The Y-axis motor 26 is decelerated through the Y-axis reducer 32 to drive the worm 24 and the worm wheel 23 to rotate, so that the X-axis driving structure 46 rotates around the Y axis integrally, and the X-axis motor 21 is decelerated through the X-axis reducer 29 to realize the rotation of the rotating plate 19 around the X axis.

In this embodiment, the X-axis is parallel to the section line A-A in FIG. 3, and the Y-axis is parallel to the section line B-B in FIG. 3.

In this embodiment, the Y-axis driving structure 47 is fixed on the training base plate 27, one end of the worm 24 is sleeved with a worm bearing seat 122, a thrust bearing 123 and a ball bearing 124 are installed inside the worm bearing seat 122, and the thrust bearing 123 and the ball bearing 124 respectively ensure axial and radial stress of the worm 24. A worm bearing stopper 120 is installed on the worm bearing housing 122 to prevent the thrust bearing 123 and the ball bearing 124 from moving axially, and a worm stopper 121 is installed at one end of the worm 24 to prevent the worm 24 from moving axially. The other end of the worm 24 is sleeved with a speed reducer flange 127, a needle bearing 126 is arranged between the worm 24 and the speed reducer flange 127, the speed reducer flange 127 is used for connecting the Y-axis speed reducer 32, and the needle bearing 126 is used for rolling the worm 24.

In this embodiment, the connecting member 22 is provided with a left column plate 104 and a right column plate 106, the connecting member 22 is rotatably connected with the left column plate 104 and the right column plate 106 through bearings 103, the left column plate 104 and the right column plate 106 are fixed on the training bottom plate 27 through screws, and the left column plate 104 and the right column plate 106 are connected through a reinforcing shaft 25 to ensure stability. The rotating plate 19 is integrally connected to the left side plate 107 and the right side plate 109 so as to be integrally rotatable. The right side plate 109 is connected to an output flange of the X-axis reducer 29, the left side plate 107 is connected to an X-axis rotary bearing housing 108 via a bearing 103, and the X-axis rotary bearing housing 108 is integrally connected to the connecting member 22. The X-axis reducer 29 is mounted with a reducer limiting plate 110 that prevents the inner race of the X-axis reducer 29 from moving.

In this embodiment, the worm 24 drives the connecting member 22 to rotate through the worm wheel 23, so that the connecting member 22 drives the X-axis motor 21, the X-axis reducer 29 and the rotating plate 19 to integrally rotate around the Y-axis along with the Y-axis motor 26. When the X-axis motor 21 rotates, the X-axis reducer 29, the rotating plate 19, the left side plate 107, and the right side plate 109 are driven to rotate around the X-axis, so that the platform can turn 360 degrees.

In this embodiment, the limit switch 20 is installed on the right column plate 106 and the connecting member 22 of the training base plate 27 to realize the position limit of the rotation angles of the X axis and the Y axis, so as to ensure the safety of the platform movement. The rotating plate 19 is provided with an X-direction sensor 28 to detect force feedback in the front-back direction of the patient. The active and passive balance training module 100 moves to carry the patient on the platform to perform various passive rehabilitation trainings, and meanwhile, during the active training, the X-axis motor 21 and the Y-axis motor 26 can provide damping control, feed back the position and the torsion in time and perform self-adaptive compensation, so that the rehabilitation trainings with different levels of damping can be completed.

Example two

As shown in fig. 8-14: this embodiment provides a dynamic balance training system 200, including seat motion subassembly 4, seat training subassembly 5 and balanced training subassembly 3, seat training subassembly 5 sets up on seat motion subassembly 4, balanced training subassembly 3 sets up the one side at seat training subassembly 5, all be provided with the active and passive balanced training module 100 of an embodiment one in balanced training subassembly 3 and the seat training subassembly 5, 360 degrees turning control of seat can be realized to seat training subassembly 5, satisfy patient's position of sitting training, when patient does not need the position of sitting training, seat training subassembly 5 can motionless keep the level, make things convenient for patient to sit on seat training subassembly 5, then put the foot on balanced training subassembly 3 and carry out the joint training of foot. The active and passive balance training module 100 enables the seat training assembly 5 and the balance training assembly 3 to be tumbled 13-28 degrees over a 360 degree range.

In this embodiment, the dynamic balance training system 200 further comprises a display assembly 1, the seat training assembly 5 is disposed toward the display assembly 1, and the balance training assembly 3 is disposed between the display assembly 1 and the seat training assembly 5; display module 1 includes interactive spherical curtain, interactive spherical curtain is large-scale 180 degrees interactive spherical curtain, interactive spherical curtain includes the spherical curtain body, unable adjustment base, laser projector, optical reflector, the spherical curtain body comprises polylith arc spherical curtain, the arc spherical curtain comprises vertical fossil fragments and the horizontal fossil fragments of spherical curtain, use bolted connection between the arc spherical curtain, with the stability of guaranteeing the spherical curtain body, the arc spherical curtain internal surface is generated by the mould, and carry out polishing treatment, guarantee the smooth finish of spherical curtain internal surface, the ball curtain body internal surface after the equipment carries out professional spraying again and handles, guarantee the smooth finish of whole sphere, high reflection rate. The game image in the interactive dome main machine is transmitted to the laser projector, the laser projector reflects the game image to the inner surface of the dome body through the optical reflector, and the inner surface of the dome body can display complete and clear game pictures. The appearance of the display component 1 is similar to that of a universe celestial body, the visual field is wide, and the high-quality sound box is arranged in the display component, so that clear and vivid visual effects and unprecedented game experience are provided for man-machine interaction, the pleasure in the training process is increased, and the condition that the rehabilitation effect is not ideal due to the fact that the rehabilitation process of a patient is influenced by long-term and tedious training is avoided.

In this embodiment, the dynamic balance training system 200 further includes the equipment base 2, the seat motion component 4, the balance training component 3 and the display component 1 are all arranged on the equipment base 2, the hanging bracket 6 is further arranged on the equipment base 2, the hanging bracket 6 is arranged on the outer side of the balance training component 3, the handrail 7 is arranged on the hanging bracket 6, the hanging bracket 6 and the handrail 7 can provide the functions of lifting, falling prevention and hand holding, and the safety of the patient is protected.

In this embodiment, balance training subassembly 3 still includes the platform, and the platform includes interior platform 8 and outer platform 9, and outer platform 9 sets up in the outside of interior platform 8, and outer platform 9 provides the human body training of standing, and the foot joint training when interior platform 8 provides the position of sitting. The bottom of the inner platform 8 is provided with a bearing plate 18, the bearing plate 18 is connected with the active and passive balance training module 100, the bearing plate 18 is connected with the inner platform 8 through a positioning sleeve 14, and the bottom of the bearing plate 18 is provided with a plurality of gravity sensors 15 to realize position detection and force feedback; the lower extreme of outer platform 9 is provided with first outer flange 11, and the lower extreme of inner platform 8 is provided with inner flange 12, is provided with second outer flange 13 between inner flange 12 and the first outer flange 11, and first outer flange 11, second outer flange 13 and inner flange 12 play the guard action, and inner platform 8 and outer platform 9 realize separating and combining through a plurality of driving lever mechanisms 49.

In this embodiment, each shifter lever mechanism 49 includes a limiting block 17, a conversion shifter lever 10 and a shifter lever support 16, the limiting block 17 is disposed on the inner platform 8, the conversion shifter lever 10 and the shifter lever support 16 are disposed on the outer platform 9, a first sliding groove 50 is disposed on the shifter lever support 16, a second sliding groove 51 is disposed in the limiting block 17, the conversion shifter lever 10 can slide in the first sliding groove 50 and the second sliding groove 51, and a first limiting groove 52 and a second limiting groove 53 are further disposed on the shifter lever support 16. When the foot joint training is not needed, the conversion deflector rod 10 is inwardly inserted into the limiting block 17, the handle of the conversion deflector rod 10 is placed into the second limiting groove 53, the combination of the inner platform 8 and the outer platform 9 is realized, and the platforms can be integrally turned; when the joint of needs foot trains, in the conversion driving lever stopper in the equipment base 2 is outwards dialled into to conversion driving lever 10, first spacing groove 52 is put into to the handle of conversion driving lever 10, realizes the separation of inner platform 8 and outer platform 9, and inner platform 8 can overturn alone.

In this embodiment, the seat training assembly 5 includes a seat base 42, the active and passive balance training module 100 is disposed at the lower end of the seat base 42, the seat base 42 is provided with a plurality of gravity sensors 15, the active and passive balance training module 100 is disposed on the seat motion assembly 4, the seat armrests 43 are disposed on two sides of the seat base 42, each seat armrest 43 is provided with an adjusting knob 44, and the seat armrests 43 can be adjusted in height by the adjusting knobs 44 to adapt to patients with different heights.

In this embodiment, the seat armrest 43 includes the sliding connection's spout support 401 and the guide bracket 402, and the outside parcel of spout support 401 has the cortex sponge, is provided with first bar hole 404 on the spout support 401, is provided with second bar hole 405 on the guide bracket 402, and first bar hole 404 and second bar hole 405 phase-match, and adjust knob 44 stretches into first bar hole 404 and second bar hole 405 and fixes through nut 403.

In this embodiment, the seat motion assembly 4 enables X, Y and Z directional movement of the seat for different types of training for patients of different heights. The seat motion assembly 4 comprises a base frame 41, an X-direction moving mechanism 54, a Y-direction moving mechanism 55 and a Z-direction moving mechanism 56, wherein the base frame 41 is formed by welding, the seat training assembly 5 is arranged on the Y-direction moving mechanism 55, the Y-direction moving mechanism 55 is arranged on the Z-direction moving mechanism 56, the Z-direction moving mechanism 56 is arranged on the X-direction moving mechanism 54, and the X-direction moving mechanism 54 is arranged on the base frame 41. The seat motion component 4 is convenient for use under various conditions, when a patient needs to stand for training, the seat training component 5 can be moved to the side of the equipment, so that the patient can conveniently carry out various training, and the patient sitting on a wheelchair can be pushed onto a platform and then moved away from the wheelchair for training; when sitting posture and foot joint training are required, the seat training assembly 5 can be moved to the intermediate position, and rehabilitation training can be carried out after the patient sits. In order to be suitable for patients with different heights, the seat motion assembly 4 can move back and forth, left and right and up and down, so that the application range of the device is wide.

In this embodiment, the X-direction moving mechanism 54 includes an X-direction push rod 39 and an X-direction nut 57, the Y-direction moving mechanism 55 includes a Y-direction push rod 307, a first Y-direction base plate 33, and a second Y-direction base plate 305, and the Z-direction moving mechanism 56 includes a Z-direction lifting column 36 and a Z-direction base plate 302; the X-direction push rod 39 is arranged at one side of the bottom frame 41, the X-direction push rod 39 is provided with an X-direction nut 57 matched with the X-direction push rod 39, the Z-direction bottom plate 302 is connected with the X-direction nut 57 through a lifting upright post connector 301, the lower end of the Z-direction bottom plate 302 is connected with an X-direction guide rail 38 arranged on the bottom frame 41 through a sliding block in a sliding way to realize the movement along the axial direction (left and right) of the X-direction push rod 39, the Z-direction bottom plate 302 is provided with a Z-direction lifting post 36, the Z-direction lifting post 36 is a standard medical grade lifting post, the upper end of the Z-direction lifting post 36 is connected with a first Y-direction bottom plate 33, the lifting of the Z-direction lifting post 36 realizes the lifting along the axial direction (up and down) of the Z-direction lifting post 36, the first Y-direction bottom plate 33 is provided with a Y-direction push rod 307, the Y-direction push rod 307 is connected with the first Y-direction, the lower end of the second Y-direction base plate 305 is slidably connected to a Y-direction rail 303 provided on the first Y-direction base plate 33 via a Y-direction rail connection 304, the upper end of the second Y-direction base plate 305 is connected to the seat training assembly 5, and the Y-direction push rod 307 drives the seat training assembly 5 to realize axial (front-back) movement along the Y-direction rail 303.

In this embodiment, be provided with on the chassis 41 and rotate first sprocket 35 and the second sprocket 40 of being connected with the chassis 41, first sprocket 35 and second sprocket 40 pass through chain 37 transmission and are connected, be provided with a plurality of chain baffle 34 on the chain 37, play the guard action, seat motion subassembly 4 sets up between two sets of chains 37 and sets up the position of seat motion subassembly 4 and does not set up chain baffle 34, second sprocket 40 is provided with the tight structure 59 that rises, the tight structure 59 that rises is adjustable bearing frame, convenient adjustment, chassis 41 stable in structure, simple to operate.

The present embodiment can count various data of the patient in the balance training, such as position, speed, torque, etc. through the X-direction sensor 28 and the gravity sensor 15, and through the analysis of these data, an evaluation report is given to the therapist after each training is finished to analyze the training effect, and a comparative analysis report with the last training result is provided.

The damping control system is simple in structure, simple in platform control, capable of providing damping control real-time feedback and high in reliability, and only two motors are used for controlling. This embodiment provides abundanter game training items for patient, and patient can interact with the clear lifelike game personage in the dome, and timely feedback is revised, better completion training. This embodiment has realized a tractor serves several purposes, it is applicable in the crowd of different heights, can realize the training of position of sitting and station appearance, can realize initiative and passive training, and can realize damping control, the intelligence feedback, according to patient's training state real-time feedback, the tracking training, ensure the security of training, the scientificity, the rationality, satisfy the multi-functional demand of balance training, this embodiment outward appearance is pleasing to the eye, can realize different crowds, the diversified training of various joints, moreover, the steam generator is simple in structure, high reliability, and convenient for maintenance, intelligent degree is high, therapist's operating pressure can be alleviateed.

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

1. An active and passive balance training module, characterized in that: the X-axis driving structure and the Y-axis driving structure are in transmission connection through a transmission structure, the rotating plate is arranged on the X-axis driving structure, and an X-direction sensor is arranged on the rotating plate.

2. The active-passive balance training module of claim 1, wherein: the transmission structure comprises a worm and a worm wheel which are meshed with each other, the worm is connected with the power output end of the Y-axis driving structure, the worm wheel is connected with the X-axis driving structure through a connecting piece, the connecting piece is fixedly connected with the worm wheel, the connecting piece is rotatably connected with the power output end of the X-axis driving structure, and the power output end of the X-axis driving structure is connected with the rotating plate.

3. The active-passive balance training module of claim 1, wherein: the X-axis driving structure comprises an X-axis motor and an X-axis speed reducer, the power output end of the X-axis motor is in transmission connection with the X-axis speed reducer, and the power output end of the X-axis speed reducer is in transmission connection with the rotating plate;

4. A dynamic balance training system, characterized by: the seat training assembly is arranged on the seat movement assembly, the balance training assembly is arranged on one side of the seat training assembly, an active and passive balance training module according to any one of claims 1-3 is arranged in each of the balance training assembly and the seat training assembly, the seat training assembly is arranged towards the display assembly, and the balance training assembly is arranged between the display assembly and the seat training assembly; the display assembly comprises an interactive spherical screen.

5. The dynamic balance training system of claim 4, wherein: the balance training assembly further comprises a platform, the platform comprises an inner platform and an outer platform, the outer platform is arranged on the outer side of the inner platform, a bearing plate is arranged at the bottom of the inner platform and connected with the active and passive balance training module, the bearing plate is connected with the inner platform through a positioning sleeve, and a plurality of gravity sensors are arranged at the bottom of the bearing plate; the lower extreme of outer platform is provided with first outer flange, the lower extreme of inner platform is provided with interior flange, interior flange with be provided with the second outer flange between the first outer flange, the inner platform with outer platform realizes separation and combination through a plurality of driving lever mechanisms.

6. The dynamic balance training system of claim 5, wherein: each driving lever mechanism all includes stopper, conversion driving lever and driving lever support, the stopper sets up on the inner platform, conversion driving lever with driving lever support all sets up on the outer platform, be provided with first spout on the driving lever support, be provided with the second spout in the stopper, the conversion driving lever can slide in first spout with the second spout, still be provided with first spacing groove and second spacing groove on the driving lever support.

7. The dynamic balance training system of claim 4, wherein: the seat training assembly comprises a seat base, the active and passive balance training module is arranged at the lower end of the seat base, the active and passive balance training module is arranged on the seat movement assembly, seat armrests are arranged on two sides of the seat base, and adjusting knobs are arranged on the seat armrests;

8. The dynamic balance training system of claim 4, wherein: the seat motion assembly comprises an underframe, an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism, the seat training assembly is arranged on the Y-direction moving mechanism, the Y-direction moving mechanism is arranged on the Z-direction moving mechanism, the Z-direction moving mechanism is arranged on the X-direction moving mechanism, and the X-direction moving mechanism is arranged on the underframe.

9. The dynamic balance training system of claim 8, wherein: the X-direction moving mechanism comprises an X-direction push rod and an X-direction nut, the Y-direction moving mechanism comprises a Y-direction push rod, a first Y-direction bottom plate and a second Y-direction bottom plate, and the Z-direction moving mechanism comprises a Z-direction lifting column and a Z-direction bottom plate;

10. The dynamic balance training system of claim 8, wherein: the chain type tension device is characterized in that a first chain wheel and a second chain wheel are arranged on the bottom frame, the first chain wheel and the second chain wheel are connected through chain transmission, a plurality of chain baffles are arranged on the chain, and a tension structure is arranged on the second chain wheel.