CN115569350B - Motor control system of gait rehabilitation training device with rest chair - Google Patents
Motor control system of gait rehabilitation training device with rest chair Download PDFInfo
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- CN115569350B CN115569350B CN202211185559.7A CN202211185559A CN115569350B CN 115569350 B CN115569350 B CN 115569350B CN 202211185559 A CN202211185559 A CN 202211185559A CN 115569350 B CN115569350 B CN 115569350B
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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
- A63B22/0235—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 driven by a motor
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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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Abstract
The invention discloses a motor control system of a gait rehabilitation training device with a rest chair, which relates to the technical field of motor control and has the advantage of being convenient for a trainer to sit down for rest in the training process, and the technical scheme is as follows: the safety support is including setting up two arcs and the even board of connecting two arcs upper ends in unable adjustment base both sides, the suspender sets up on even board, two arc upper end is connected with the fixed plate through the first extensible member along vertical direction is flexible, be connected with horizontal seat through the second extensible member along the horizontal direction on the fixed plate, be equipped with the control piece of the flexible length of control second extensible member on the seat.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control system of a gait rehabilitation training device with a rest chair.
Background
Many patients suffering from cerebral apoplexy, cerebral trauma and spinal cord injury have the problems of slow walking, abnormal walking posture and easy wrestling, and the life quality of the patients is seriously affected. For the patients, the gait rehabilitation training instrument which is relatively universal in the current rehabilitation clinic is also needed for the patients with children cerebral palsy.
The Chinese patent with the bulletin number of CN212347558U discloses a gait rehabilitation training instrument, which comprises a gait training walking plane, a safety protection device, a projector, a computer and an image information collector, wherein the computer comprises a host computer and a touch display screen, the host computer is provided with a gait training program, a data calculation module and a data analysis module, the touch display screen is used for operating and displaying training contents of the gait rehabilitation training instrument, the host computer controls the projector to project a virtual target and a virtual scene to the gait training walking plane according to the gait training program, a trainer is guided to train according to the virtual target, and the image information collector is used for collecting movement parameters and walking posture data of the trainer on the gait training walking plane and transmitting the movement parameters and the walking posture data to the host computer. The walking plane is a conveying belt plane formed by the running machine or walking ground, the running machine comprises a conveying belt, an inner frame, rollers, a supporting structure and a walking motor, the rollers are respectively rotatably arranged at two ends of the inner frame, the conveying belt is wound on the two rollers, the walking motor is used for driving the rollers to rotate, the walking machine further comprises a fixed base, the running machine is arranged on the fixed base, and the safety protection devices are arranged on two sides of the fixed base.
However, after a trainer walks on the conveyor belt to exercise for a period of time, when the trainer needs to take a rest, the protection of the safety protection device on the trainer needs to be released, then the trainer walks down the conveyor belt to rest at a place with a seat beside, and when the trainer is used again, the safety protection device needs to be bound again, so the applicant considers that the existing gait rehabilitation training device has the defect that the rest position can not be provided when the trainer needs to rest in the process of exercising.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a motor control system of a gait rehabilitation training device with a rest chair, which has the advantage of being convenient for a trainer to sit down and rest in the training process.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a motor control system of a gait rehabilitation training device with a rest chair, which comprises an inner frame, wherein two ends of the inner frame are respectively and rotatably provided with a roller, a conveyor belt is wound between the two rollers, a first motor for driving one of the rollers to rotate is arranged on the inner frame, a fixed base is arranged outside the inner frame, one end of the fixed base is provided with a safety support, the top of the safety support is connected with a binding belt sleeve through a hanging belt, the two sides of the conveyor belt of the inner frame are respectively provided with a supporting rod, the upper ends of the two supporting rods are respectively provided with a horizontal rod, the safety support comprises two arc plates arranged on the two sides of the fixed base and a connecting plate for connecting the upper ends of the two arc plates, the hanging belt is arranged on the connecting plate, the upper ends of the two arc plates are connected with a fixed plate through a first telescopic piece extending along the vertical direction, the fixed plate is connected with a horizontal seat plate through a second telescopic piece extending along the horizontal direction, and a control piece for controlling the telescopic length of the second telescopic piece is arranged on the seat plate.
Through adopting above-mentioned technical scheme, the person of training is binded in the person's of training upper body through the bandage cover, after the first motor control conveyer belt begins work, the person of training trains on the conveyer belt, after training a period of time, when the person of training needs to rest, first motor stop work, afterwards, first extensible member moves the fixed plate downwards to certain height, afterwards, second extensible member drive seat is to the person of training direction removal, the flexible length of control piece control second extensible member, the person of being convenient for seat automatically move to the position that the person of training needs to stand, the person of training only need sit down this moment can, need not to untie the bandage cover this moment, when need continue training, the person of training only need stand afterwards, second extensible member and first extensible member move the person of training's top with the seat, first motor drive conveyer belt continues to work this moment, the person of training of being convenient for continues training, the person of training can sit the purpose of rest in the training process.
Preferably, the second telescopic piece comprises a threaded rod which is rotationally connected to the fixed plate, the threaded rod is driven by a second motor arranged on the fixed plate, the fixed plate is vertically arranged, the seat plate is horizontally arranged and is vertical to the fixed plate, guide rods penetrating into two sides of the fixed plate are respectively arranged at two ends of the seat plate, the two guide rods are positioned at two sides of the threaded rod and are parallel to the threaded rod, and a sliding block is arranged at the bottom of the seat plate and is in threaded connection with the threaded rod;
the control piece comprises a first distance sensor arranged on one side of the seat plate, facing the trainer, and an adjusting module for adjusting the rotating speed of the second motor is arranged on the second motor, the first distance sensor collects the distance D from one side of the seat plate to the surface of the trainer and transmits the collected distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the second motor is used for outputting a corresponding rotating speed according to the control signal;
the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;
the rotating speed of the second motor output in response to the first signal is 0, and the rotating speed of the second motor output in response to the second signal is V1.
Preferably, the first telescopic member comprises a transverse plate arranged between two arc-shaped plates, a vertical first rod is arranged on one side of the transverse plate, which faces towards the connecting plate, a second rod is connected to one side of the first rod, which faces away from the transverse plate, in a sliding manner in the vertical direction, a third rod is connected to one side of the second rod, which faces away from the first rod, in a sliding manner in the vertical direction, and the first rod, the second rod and the third rod are driven by a driving member.
Preferably, the driving piece comprises a third motor arranged at the upper end of a second rod, a sliding groove distributed along the length direction of the second rod is formed in one side, facing the third rod, of the second rod, a screw rod is rotationally connected to the sliding groove, a connecting block which slides in the sliding groove and is in threaded connection with the screw rod is arranged on the third rod, a placing groove is formed in one end, provided with the third motor, of the second rod, one end of the screw rod extends into the placing groove, a rotating shaft of the third motor extends into the placing groove, a first bevel gear is coaxially and fixedly connected to the rotating shaft of the third motor, and a second bevel gear meshed with the first bevel gear is coaxially and fixedly arranged at one end, extending into the placing groove, of the screw rod;
the rotation shaft of the third motor penetrates out of one side of the second rod, which faces the first rod, and a moving groove for the rotation shaft to enter is formed in the first rod, the moving grooves are distributed along the length direction of the first rod, racks are arranged on the groove wall of one side of the moving groove, and a driving gear meshed with the racks is coaxially and fixedly arranged at one end of the third motor, which enters the moving groove.
Preferably, a U-shaped guide plate is arranged at the lower end of the first rod, two sides of the second rod are respectively connected with two sides of the guide plate in a sliding manner, and an opening of the guide plate faces the third rod.
Preferably, a second distance sensor is arranged at the lower end of the seat plate, an adjusting module for adjusting the rotating speed of the third motor is arranged on the third motor, the second distance sensor collects the distance D from the lower end of the seat plate to the surface of the conveyor belt and transmits the collected distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the third motor is used for outputting a corresponding rotating speed according to the control signal;
the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;
the rotating speed of the third motor output in response to the first signal is 0, and the rotating speed of the third motor output in response to the second signal is V2.
Preferably, two the locating levers are all rotated on the horizontal bar and are connected, one end of the locating lever is provided with a sleeve sleeved on the outer wall of the horizontal bar, the other horizontal bar opposite to the sleeve is provided with an embedded groove for embedding the other end of the locating lever, the number of the embedded grooves is set to be a plurality of and distributed along the length direction of the horizontal bar, and the upper end face of the locating lever positioned at the front end of a trainer is provided with a strip-shaped table plate.
Preferably, the upper end of the transverse plate is rotationally connected with a driving shaft, the first telescopic piece is connected with the driving shaft through a power piece, and when the power piece works, the first telescopic piece moves towards a direction close to or far away from the transverse plate or parallel to the transverse plate.
Preferably, the driving shaft is vertically upwards, and the driving shaft outer wall is fixedly provided with a cam, the square frame is placed on the upper end face of the transverse plate, the cam always has three points to collide with the inner wall of the square frame in the rotation process, one side of the square frame is provided with a sliding rod extending out of the transverse plate towards one side of the connecting plate, the upper end of the first rod is arranged at one end of the sliding rod extending out of the transverse plate, the transverse plate is provided with an inverted U-shaped limiting frame limiting the square frame to move on the transverse plate, one side of the square frame on the transverse plate is provided with two opposite positioning blocks, two positioning rods perpendicular to the distribution of the sliding rods are arranged between the positioning blocks in a penetrating mode, and the positioning rods are provided with penetrating holes for the sliding rods to penetrate out.
Preferably, a plurality of balls which are abutted against the upper end face of the transverse plate are embedded on one side, facing the transverse plate, of the square frame and the sliding rod.
The invention has the beneficial effects that: after the trainer starts working, the first motor controls the conveyer belt to train on the conveyer belt, after a period of training, when the trainer needs to rest, the first motor stops working, then the first telescopic part moves the fixed plate downwards to a certain height, then the second telescopic part drives the seat to move towards the trainer, the control part controls the telescopic length of the second telescopic part, the seat is convenient to automatically move to the position where the trainer needs to stand, the trainer only needs to sit down, the bandage sleeve does not need to be untied at the moment, when the training needs to be continued, the trainer only needs to stand, then the second telescopic part and the first telescopic part move the seat to the upper part of the trainer, the first motor drives the conveyer belt to continue working, the trainer can continue training, and the aim that the trainer can sit down to rest in the training process is achieved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present embodiment;
fig. 2 is a schematic structural view of the present embodiment for embodying a threaded rod;
fig. 3 is a schematic structural diagram of the first distance sensor according to the present embodiment;
fig. 4 is a schematic structural view of the present embodiment for embodying the first, second and third bars;
fig. 5 is a schematic structural diagram of the square frame according to the present embodiment;
fig. 6 is a schematic structural view of the present embodiment for embodying a horizontal bar.
Reference numerals illustrate:
in the figure: 1. an inner frame; 11. a conveyor belt; 12. a fixed base; 13. a hanging belt; 131. a strap sleeve; 14. a support rod; 141. a horizontal bar; 15. an arc-shaped plate; 151. a connecting plate; 152. a fixing plate; 153. a seat plate; 154. a threaded rod; 155. a second motor; 156. a guide rod; 157. a slide block; 158. a first distance sensor; 16. a cross plate; 161. a first lever; 162. a second lever; 163. a third lever; 164. a third motor; 165. a chute; 1651. a screw rod; 1652. a connecting block; 166. a placement groove; 1661. a first bevel gear; 1662. a second bevel gear; 167. a moving groove; 168. a rack; 169. a drive gear; 17. a guide plate; 18. a second distance sensor; 19. a limit rod; 191. a sleeve; 192. an embedding groove; 193. a table plate; 194. a drive shaft; 195. a cam; 196. a square frame; 197. a slide bar; 198. a limit frame; 2. a positioning block; 21. and a positioning rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The utility model provides a take gait rehabilitation training device's of rest chair motor control system, as in fig. 1 and 6, including inner frame 1, the cylinder is rotatably installed respectively at inner frame 1's both ends, twine between two cylinders has conveyer belt 11, be equipped with one of them cylinder pivoted first motor of drive on inner frame 1, inner frame 1 is equipped with unable adjustment base 12 outward, unable adjustment base 12's one end is equipped with the emergency support, the top of emergency support is connected with bandage cover 131 through suspender 13, inner frame 1 all is equipped with bracing piece 14 in conveyer belt 11's both sides, two bracing piece 14 upper ends all are equipped with horizontal horizon bar 141, horizon bar 141 supplies the person of training to walk on conveyer belt 11, the hand can hold horizon bar 141, provide auxiliary support power for the person of training, the emergency support is including setting up two arc 15 and the link 151 of connecting two arc 15 upper ends, arc 15 is from unable adjustment base 12 initial bending extension and makes the other end of arc 15 lie in conveyer belt 11 top, 13 sets up on link 151, two arc 15 upper ends are equipped with the flexible control piece 153 along the horizontal control piece 152 along the first telescopic link 153 of telescopic link.
As shown in fig. 1 and 6, a trainer enters the conveyor belt 11 through the space between the two arc plates 15, the strap sleeve 131 is bound on the upper body of the trainer, after the first motor controls the conveyor belt 11 to start working, the trainer trains on the conveyor belt 11, when the trainer needs to rest after a period of training, the trainer notices that the rest is a short-time rest, such as about 5 minutes to 10 minutes, if the trainer needs to rest for a long time, such as more than 1 hour, the trainer can directly choose not to use the gait rehabilitation trainer, namely the trainer walks down the conveyor belt 11; when the rest time of the trainer is short, the first motor stops working, then the first telescopic piece moves the fixed plate 152 downwards to a certain height, then the second telescopic piece drives the seat 153 to move towards the trainer, the control piece controls the telescopic length of the second telescopic piece, the seat 153 is convenient to automatically move to a position where the trainer needs to stand, the trainer only needs to sit down at the moment, the bandage sleeve 131 is not required to be untied, when the trainer needs to continue training, the trainer only needs to stand, then the second telescopic piece and the first telescopic piece move the seat 153 to the upper side of the trainer, at the moment, the first motor drives the conveyor belt 11 to continue working, the trainer is convenient to continue training, and the aim that the trainer can sit down for rest in the training process is achieved.
As shown in fig. 1 and 2, the first telescopic member includes a transverse plate 16 disposed between two arc plates 15, a vertical first rod 161 is disposed on a side of the transverse plate 16 facing the connecting plate 151, a second rod 162 is slidingly connected to a side of the first rod 161 facing away from the transverse plate 16 along a vertical direction, a third rod 163 is slidingly connected to a side of the second rod 162 facing away from the first rod 161 along a vertical direction, and the first rod 161, the second rod 162 and the third rod 163 are driven by a driving member, and the fixing plate 152 is disposed at a lower end of the third rod 163. At this time, the driving member drives the second rod 162 to slide up and down on the first rod 161, and the third rod 163 slides up and down on the second rod 162, so that the lower end of the third rod 163 gradually rises or descends, when the third rod 163 gradually descends to a certain height, the second telescopic member begins to work again, or can work simultaneously, at this time, the third rod 163 is convenient for descending the seat 153 on the second telescopic member to the height of the seat required by the trainer, and when the seat 153 is not required to be used, the first telescopic member can lift the seat 153 to the space above the head of the trainer, so that the exercise of the trainer is not affected.
As shown in fig. 2 and 3, the second telescopic member includes a threaded rod 154 rotatably connected to the fixed plate 152, the threaded rod 154 is driven by a second motor 155 disposed on the fixed plate 152, the fixed plate 152 is vertically disposed, the seat 153 is horizontally disposed and is perpendicular to the fixed plate 152, guide rods 156 penetrating through both sides of the fixed plate 152 are disposed at both ends of the seat 153, the two guide rods 156 are disposed at both sides of the threaded rod 154 and are parallel to the threaded rod 154, a sliding block 157 is disposed at the bottom of the seat 153, and the sliding block 157 is in threaded connection with the threaded rod 154; at this time, when the second motor 155 starts to rotate forward and backward, the threaded rod 154 is driven to rotate, the threaded rod 154 drives the sliding block 157 to reciprocate on the threaded rod 154, at this time, the seat 153 is driven to move in the horizontal direction, the guiding rod 156 is used to facilitate the sliding connection between the seat 153 and the fixing plate 152, and the movement of the seat 153 in the horizontal direction is facilitated.
As shown in fig. 2 and 3, the control member comprises a first distance sensor 158 arranged on one side of the seat 153 facing the trainer, an adjusting module for adjusting the rotating speed of the second motor 155 is arranged on the second motor 155, the first distance sensor 158 collects the distance from one side of the seat 153 to the surface of the trainer to be D, the collected distance D is transmitted to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the second motor 155 is used for outputting a corresponding rotating speed according to the control signal;
the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;
the rotational speed of the second motor 155 in response to the first signal output is 0, and the rotational speed of the second motor 155 in response to the second signal output is V1.
At this time, the second motor 155 drives the threaded rod 154 to rotate, so that when the seat 153 gradually approaches the trainer, the first distance sensor 158 collects the distance from one side of the seat 153 to the surface of the trainer, at this time, the seat 153 is located at the back of the trainer, when the preset distance is 10cm, for example, when the distance D collected by the first distance sensor 158 is smaller than 10cm, the adjusting module generates a first signal according to the distance D, at this time, the second motor 155 responds to the first signal to output the rotating speed to be 0, i.e. the second motor 155 stops rotating, i.e. the seat 153 is fixed, so that the trainer sits on the seat 153, at this time, the feet of the trainer can be placed on the conveyor belt 11 or a gap exists between the feet and the conveyor belt 11.
As shown in fig. 1 and 4, the driving member includes a third motor 164 disposed at an upper end of the second rod 162, a sliding groove 165 disposed on a side of the second rod 162 facing the third rod 163 and disposed along a length direction of the second rod 162, a screw rod 1651 rotatably connected to the sliding groove 165, the screw rod 1651 also disposed along a vertical direction, a connection block 1652 sliding in the sliding groove 165 and threadably connected to the screw rod 1651 disposed on the third rod 163, a placement groove 166 disposed at one end of the second rod 162 provided with the third motor 164, one end of the screw rod 1651 extending into the placement groove 166, a rotating shaft of the third motor 164 extending into the placement groove 166, a first bevel gear 1661 coaxially and fixedly connected to the rotating shaft of the third motor 164, and a second bevel gear 1662 engaged with the first bevel gear 1661 coaxially and fixedly disposed at one end of the screw rod 1651 extending into the placement groove 166; at this time, the third motor 164 is fixed on the outer wall of the upper end of the second rod 162, and the rotating shaft of the third motor 164 rotates into the placing groove 166, so as to drive the second bevel gear 1662 on the screw rod 1651 to rotate.
As shown in fig. 1 and 4, the rotating shaft of the third motor 164 passes through one side of the second rod 162 facing the first rod 161, the first rod 161 is provided with a moving groove 167 for the rotating shaft to enter, the moving groove 167 is distributed along the length direction of the first rod 161, one side groove wall of the moving groove 167 is provided with a rack 168, and one end of the third motor 164 entering the moving groove 167 is coaxially and fixedly provided with a driving gear 169 meshed with the rack 168.
As shown in fig. 1 and 4, when the second rod 162 and the third rod 163 need to be slid downward, the third motor 164 starts to operate, so that the third motor 164 drives the screw rod 1651 to rotate through the engagement of the first bevel gear 1661 and the second bevel gear 1662, and further drives the connecting block 1652 to slide downward in the chute 165, at this time, the third rod 163 moves downward along the second rod 162, and simultaneously, the driving gear 169 on the third motor 164 engages with the rack 168, so that the second rod 162 moves downward along the rack 168, thereby accelerating the lowering speed and lowering height of the third rod 163, so as to facilitate the lowering of the seat 153 to a desired position, and when the lowering height position of the seat 153 is fixed, for example, the seat 153 is 50cm away from the conveyor belt 11, at this time, the second rod 162 is provided with an L-shaped clamping rod with one end extending to the outer wall of the first rod 161, at this time, the outer wall of the first rod 161 is provided with a clamping block, and when the seat 153 is lowered to 50cm away from the conveyor belt 11, the third motor 164 stops rotating, at this time, the second rod 162 is moved downward along the rack 168, so that the lowering speed and the lowering height of the third rod 163 is increased, so that the lowering speed of the seat 153 is lowered to a desired height position, for the seat 153, for example, and for driving the clamping block.
As shown in fig. 1 and 4, the lower end of the first rod 161 is provided with a U-shaped guide plate 17, two sides of the second rod 162 are slidably connected to two sides of the guide plate 17, and an opening of the guide plate 17 faces the third rod 163. The action of the guide plate 17 at this time facilitates the sliding of the second rod 162 on the first rod 161.
As shown in fig. 3, a second distance sensor 18 is disposed at the lower end of the seat 153, an adjusting module for adjusting the rotation speed of the third motor 164 is disposed on the third motor 164, the second distance sensor 18 collects the distance D from the lower end of the seat 153 to the surface of the conveyor belt 11, and transmits the collected distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the third motor 164 is used for outputting a corresponding rotation speed according to the control signal;
the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;
the rotational speed of the third motor 164 in response to the first signal output is 0, and the rotational speed of the third motor 164 in response to the second signal output is V2.
That is, when the seat 153 is lowered to a desired height, the second distance sensor 18 collects a distance D from the lower end of the seat 153 to the surface of the conveyor belt 11, when the preset distance is 50cm, the adjustment module generates a first signal according to the distance D when the distance D is less than the preset distance, the rotation speed of the third motor 164 output in response to the first signal is 0, that is, the third motor 164 stops operating, when the distance D is greater than the preset distance, it indicates that the seat 153 is not lowered to the desired height, and the rotation speed of the third motor 164 output in response to the second signal is V2, that is, the seat 153 is lowered at a certain speed.
Referring to fig. 6, after a trainer sits on the sitting plate 153, two horizontal rods 141 are rotatably connected with a limit rod 19, one end of the limit rod 19 is provided with a sleeve 191 sleeved on the outer wall of the horizontal rod 141, the other horizontal rod 141 opposite to the sleeve 191 is provided with an embedded groove 192 for embedding the other end of the limit rod 19, the number of the embedded grooves 192 is set to be a plurality and distributed along the length direction of the horizontal rod 141, and the upper end face of the limit rod 19 positioned at the front end of the trainer is provided with a strip-shaped table 193. At this time, remove gag lever post 19 for two gag lever posts 19 are located the front and back both sides of training person respectively, keep away from sleeve 191's the other end embedding embedded groove 192 with gag lever post 19 this moment, and then realize gag lever post 19's fixed, and two gag lever posts 19 realize the protection to the training person around this moment, and be convenient for the training person hold gag lever post 19 and stand up, and the design of table 193 is convenient for the training person hand to place, reaches the purpose of the training person rest of being convenient for.
As shown in fig. 1 and 5, when the trainer is not in the standing position of the sitting plate 153, the position of the sitting plate 153 needs to be adjusted, so that the upper end of the transverse plate 16 is rotatably connected with the driving shaft 194, the first telescopic member is connected with the driving shaft 194 through the power member, and when the power member works, the first telescopic member moves towards or away from the transverse plate 16 or parallel to the transverse plate 16. At this time, the position of the seating plate 153 is adjusted, and the range of use is increased.
As shown in fig. 1 and 5, the driving shaft 194 is vertically upward, and the outer wall of the driving shaft 194 is fixedly provided with a cam 195, the cam 195 is formed by three arc-shaped side arc transitional connections, the center of the cam 195 is eccentrically connected with the axis of the driving shaft 194, the square frame 196 is placed on the upper end surface of the horizontal plate 16, three points of the cam 195 are always in contact with the inner wall of the square frame 196 in the rotation process, one side of the square frame 196 is provided with a sliding rod 197 extending out of the horizontal plate 16 towards one side of the connecting plate 151, the upper end of the first rod 161 is arranged at one end of the sliding rod 197 extending out of the horizontal plate 16, the horizontal plate 16 is provided with an inverted U-shaped limiting frame 198 limiting the square frame 196 on the horizontal plate 16, so that the square frame 196 always moves on the horizontal plate 16, one side of the horizontal plate 16 is provided with two opposite positioning blocks 2, a positioning rod 21 distributed perpendicularly to the sliding rod 197 is penetrated between the two positioning blocks 21, two opposite sides of the positioning rod 197 are penetrated out, and a positioning block 198 penetrating out of the sliding rod 197 is also arranged in the positioning rod 21. The drive shaft 194 is coaxially driven by a fourth motor fixed to the lower end surface of the cross plate 16.
As shown in fig. 1 and fig. 5, when the fourth motor works, the driving shaft 194 is driven to rotate, at this time, the driving shaft 194 drives the cam 195 to rotate, so that the edge of the cam 195 drives the square frame 196 to move on the transverse plate 16, the square frame 196 drives the sliding rod 197 to also move on the transverse plate 16, at this time, the sliding rod 197 drives the positioning rod 21 to reciprocate between the two positioning blocks 2, and the moving track of one end of the sliding rod 197 away from the square frame 196 is rectangular, so that the sliding rod 197 drives the first rod 161 to displace, and the first rod 161 drives the seat plate 153 through the second rod 162 and the third rod 163 to move in a direction approaching to or separating from the transverse plate 16 or parallel to the transverse plate 16 in space, thereby facilitating the position change of the seat plate 153 and further meeting the use requirements of a trainer.
As shown in fig. 1 and 5, a plurality of balls (not shown) abutting against the upper end surface of the transverse plate 16 are embedded on the sides of the square frame 196 and the sliding rod 197 facing the transverse plate 16, at this time, the rollers are arranged so that the square frame 196 and the sliding rod 197 slide on the upper end surface of the transverse plate 16, and the balls are not arranged on the end of the sliding rod 197 extending out of the transverse plate 16.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The utility model provides a take gait rehabilitation training device's of rest chair motor control system, includes inner frame (1), the both ends of inner frame (1) are rotationally installed cylinder respectively, two twine between the cylinder has conveyer belt (11), be equipped with the first motor of drive one of them cylinder pivoted on inner frame (1), inner frame (1) are equipped with unable adjustment base (12) outward, the one end of unable adjustment base (12) is equipped with the emergency support, and the top of emergency support is connected with bandage cover (131) through suspender (13), inner frame (1) all is equipped with bracing piece (14) in the both sides of conveyer belt (11), and two bracing piece (14) upper end all is equipped with horizontal horizon bar (141), its characterized in that, the emergency support is including setting up two arc plates (15) in unable adjustment base (12) both sides and connecting link plate (151) of two arc plates (15) upper end, suspender (13) set up on link plate (151), two the one end of unable adjustment base (12) is connected with bandage cover (131) through first extension piece along the vertical direction, extension control piece (152) are connected with extension control piece (153) along the length of extension control on the horizontal extension piece (153);
the second telescopic piece comprises a threaded rod (154) which is rotationally connected to the fixed plate (152), the threaded rod (154) is driven by a second motor (155) arranged on the fixed plate (152), the fixed plate (152) is vertically arranged, the seat plate (153) is horizontally arranged and is perpendicular to the fixed plate (152), guide rods (156) penetrating into two sides of the fixed plate (152) are arranged at two ends of the seat plate (153), the two guide rods (156) are positioned at two sides of the threaded rod (154) and are parallel to the threaded rod (154), a sliding block (157) is arranged at the bottom of the seat plate (153), and the sliding block (157) is in threaded connection with the threaded rod (154);
the control piece comprises a first distance sensor (158) arranged on one side of the seat plate (153) facing the trainer, an adjusting module for adjusting the rotating speed of the second motor (155) is arranged on the second motor (155), the first distance sensor (158) collects the distance from one side of the seat plate (153) to the surface of the trainer to be D, the collected distance D is transmitted to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the second motor (155) is used for outputting a corresponding rotating speed according to the control signal;
the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;
the rotation speed of the second motor (155) responding to the first signal output is 0, and the rotation speed of the second motor (155) responding to the second signal output is V1;
the first telescopic piece comprises a transverse plate (16) arranged between two arc-shaped plates (15), a vertical first rod (161) is arranged on one side, facing towards the connecting plate (151), of the transverse plate (16), a second rod (162) is connected to one side, facing away from the transverse plate (16), of the first rod (161) in a sliding manner along the vertical direction, a third rod (163) is connected to one side, facing away from the first rod (161), of the second rod (162) in a sliding manner along the vertical direction, and the first rod (161), the second rod (162) and the third rod (163) are driven by a driving piece;
the driving piece comprises a third motor (164) arranged at the upper end of a second rod (162), a sliding groove (165) distributed along the length direction of the second rod (162) is formed in one side of the second rod (162) facing the third rod (163), a screw rod (1651) is connected in a rotating mode in the sliding groove (165), a connecting block (1652) which slides in the sliding groove (165) and is in threaded connection with the screw rod (1651) is arranged on the third rod (163), a placing groove (166) is formed in one end of the second rod (162) where the third motor (164) is arranged, one end of the screw rod (1651) extends into the placing groove (166), a rotating shaft of the third motor (164) extends into the placing groove (166), a first bevel gear (1661) is fixedly connected onto the rotating shaft of the third motor (164), and a second bevel gear (1662) meshed with the first bevel gear (1661) is fixedly arranged on one end of the screw rod (1651) extending into the placing groove (166) in a coaxial mode;
the rotation shaft of third motor (164) wears out one side of second pole (162) towards first pole (161) and offer on first pole (161) and supply removal groove (167) that the rotation shaft got into, remove groove (167) along the length direction of first pole (161) distribution just be equipped with rack (168) on the cell wall of one side of removal groove (167), the one end coaxial fixed driving gear (169) that are equipped with rack (168) meshing of third motor (164) entering removal groove (167).
2. The motor control system of the gait rehabilitation training device with the rest chair according to claim 1, wherein a U-shaped guide plate (17) is arranged at the lower end of the first rod (161), two sides of the second rod (162) are respectively connected with two sides of the guide plate (17) in a sliding manner, and an opening of the guide plate (17) faces to the third rod (163).
3. The motor control system of the gait rehabilitation training device with the rest chair according to claim 2, wherein a second distance sensor (18) is arranged at the lower end of the seat plate (153), an adjusting module for adjusting the rotating speed of the third motor (164) is arranged on the third motor (164), the second distance sensor (18) collects the distance D from the lower end of the seat plate (153) to the surface of the conveyor belt (11), the collected distance D is transmitted to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the third motor (164) is used for outputting a corresponding rotating speed according to the control signal;
the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;
the rotational speed of the third motor (164) in response to the first signal output is 0, and the rotational speed of the third motor (164) in response to the second signal output is V2.
4. The motor control system of the gait rehabilitation training device with the rest chair according to claim 1, wherein two horizontal rods (141) are respectively connected with a limiting rod (19) in a rotating mode, one end of each limiting rod (19) is provided with a sleeve (191) sleeved on the outer wall of each horizontal rod (141), the other horizontal rod (141) opposite to the sleeve (191) is provided with an embedded groove (192) for embedding the other end of each limiting rod (19), the number of the embedded grooves (192) is set to be a plurality, the embedded grooves are distributed along the length direction of each horizontal rod (141), and the upper end face of each limiting rod (19) positioned at the front end of a trainer is provided with a strip-shaped table plate (193).
5. The motor control system of the gait rehabilitation training device with the rest chair according to claim 4, wherein the upper end of the transverse plate (16) is rotatably connected with a driving shaft (194), the first telescopic piece is connected with the driving shaft (194) through a power piece, and when the power piece works, the first telescopic piece moves towards a direction approaching or separating from the transverse plate (16) or is parallel to the transverse plate (16).
6. The motor control system with a rest chair for the gait rehabilitation training device according to claim 5, wherein the driving shaft (194) is vertically upwards, a cam (195) is fixedly arranged on the outer wall of the driving shaft (194), a square frame (196) is arranged on the upper end face of the transverse plate (16), three points of the cam (195) are always abutted against the inner wall of the square frame (196) in the rotation process, a sliding rod (197) extending out of the transverse plate (16) towards one side of the connecting plate (151) is arranged on one side of the square frame (196), the upper end of the first rod (161) is arranged at one end, extending out of the transverse plate (16), of the sliding rod (197) is arranged on the transverse plate (16), an inverted U-shaped limiting frame (198) limiting the square frame (196) to move on the transverse plate (16), two opposite positioning blocks (2) are arranged on one side of the square frame (196), a positioning rod (21) distributed perpendicular to the sliding rod (197) is arranged between the two positioning blocks (2), and the positioning rod (21) is provided with a sliding rod penetrating hole.
7. The motor control system of the gait rehabilitation training device with the rest chair according to claim 6, wherein a plurality of balls which are abutted against the upper end face of the transverse plate (16) are embedded on one side of the square frame (196) and the sliding rod (197) facing the transverse plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211185559.7A CN115569350B (en) | 2022-09-27 | 2022-09-27 | Motor control system of gait rehabilitation training device with rest chair |
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| CN202211185559.7A CN115569350B (en) | 2022-09-27 | 2022-09-27 | Motor control system of gait rehabilitation training device with rest chair |
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| CN115569350B true CN115569350B (en) | 2023-05-05 |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2015277005A1 (en) * | 2014-06-18 | 2017-02-02 | Alterg, Inc. | Pressure chamber and lift for differential air pressure system with medical data collection capabilities |
| US10376734B1 (en) * | 2014-09-07 | 2019-08-13 | Eli Razon | Gait training exercise and analysis systems for body support systems with adjustable user body weight force |
| CN104587636A (en) * | 2015-01-30 | 2015-05-06 | 刘宇轩 | Tractive multifunctional lower limb rehabilitation training robot |
| CN205699111U (en) * | 2016-06-21 | 2016-11-23 | 南阳医学高等专科学校 | A kind of treadmill of safety |
| CN212347558U (en) * | 2019-12-24 | 2021-01-15 | 广州晓康医疗科技有限公司 | Gait rehabilitation training instrument |
| CN211724520U (en) * | 2020-03-03 | 2020-10-23 | 重庆医科大学附属永川医院 | Lower limb exercise device for diabetic patient |
| CN111449904A (en) * | 2020-04-08 | 2020-07-28 | 海南省人民医院 | Device is tempered with supplementary limbs to severe nursing |
| CN113069729B (en) * | 2021-04-09 | 2022-08-02 | 宁波市第一医院 | Patient's recovered multi-functional training ware of taking exercise |
| CN113018768A (en) * | 2021-04-29 | 2021-06-25 | 广东海洋大学 | Old person rehabilitation furniture |
| CN217430751U (en) * | 2022-04-22 | 2022-09-16 | 中国人民解放军东部战区总医院 | Rehabilitation exercise device for elderly patients with endocrine and metabolic diseases |
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