CN202128852U - Multi-mode rehabilitation training robot for astronaut - Google Patents

Multi-mode rehabilitation training robot for astronaut Download PDF

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Publication number
CN202128852U
CN202128852U CN201120217240U CN201120217240U CN202128852U CN 202128852 U CN202128852 U CN 202128852U CN 201120217240 U CN201120217240 U CN 201120217240U CN 201120217240 U CN201120217240 U CN 201120217240U CN 202128852 U CN202128852 U CN 202128852U
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CN
China
Prior art keywords
gentle rope
driver element
astronaut
gentle
flexible rope
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Expired - Lifetime
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CN201120217240U
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Chinese (zh)
Inventor
张立勋
邹宇鹏
王克义
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Harbin Engineering University
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Harbin Engineering University
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Priority to CN201120217240U priority Critical patent/CN202128852U/en
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Abstract

The utility model aims to provide a multi-mode rehabilitation training robot for an astronaut, which comprises a rack, a flexible rope, a flexible rope driving unit and a tension sensor, wherein the flexible rope driving unit is fixed on the rack; the flexible rope is connected with the flexible rope driving unit; and the tension sensor is installed on the flexible rope. The rack of the multi-mode rehabilitation training robot is in a frame structure, and the flexible rope driving unit is modularized; the robot has a simple integral structure, light weight and small land occupation, is convenient to disassemble and assemble and is convenient for space transportation and the astronaut. For different training modes, the configuration and the control strategy of the robot are changed, and motion-assistant training equipment is replaced to meet the requirements of different training modes. The purpose of one machine with multiple functions is realized, and more comprehensive and effective training is provided for the astronaut. The flexible rope driving unit ensures that the flexible rope stably transmits in the working process and can be accurately wound on a traction wheel. Meanwhile, a flexible rope guide wheel reduces the transmission friction of the flexible rope, so that the working efficiency is improved.

Description

Multi-mode astronaut's recovery exercising robot
Technical field
The utility model relates to a kind of rehabilitation mechanical device.
Background technology
At present, aerospace industry presents flourish new situation, and the effect of space industry in national overall development strategy becomes increasingly conspicuous.The human space that gets into will human body is exerted an adverse impact, but EFFECTS OF WEIGHTLESSNESS ON HUMAN BODY be unavoidable in the face of the challenge that brings such as harsh space environments such as weightlessness, vacuum, radiation.The result of aerospace medicine research shows: weightless physiological system and ability to work to the astronaut all has adverse influence; It possibly cause the problem of a series of physiology such as astronaut's angiocardiopathy, muscular atrophy, osteoporosis, space sport disease and mental dysfunction and psychological aspects, serious even life that possibly threaten the astronaut.Weightless influence to the astronaut has become one of principal element that influences the manned space flight development.
In the space station, the astronaut is used to resist physiology that weightlessness causes and the main method of mental disorder is to strengthen physical training.Being used the physical training method has: wear penguin suit, bicycle ergometer exercise, the exercise of resistive exercise device and the exercise of space fort etc.These methods can only be trained a certain function of astronaut, and functions of the equipments are single, consuming time and DeGrain.At present; Related patent U.S. Patent No. mainly contains following several kinds both at home and abroad: astronaut exercising apparatus (patent No. is 200710072348.1) provides a kind of through the training aids of gentle rope traction drive mechanism at microgravity environment counterdie pseudo gravity; But this training aids can only provide the training of running, and equipment is huge, function singleness; Training aids is applied to the human body waist with load, and is limited to the effect that exercises for the trunk; Lower body negative pressure training device (patent No. is 01240457.8) utilizes gas expansion generation negative pressure principle that human body is trained voluntarily, but this invention is limited with the effect of raising upper limbs force to improving the human body cardio-pulmonary function; Man power lower body negative pressure training cabin (patent No. is 02114423.0) utilization is discharged gas and is produced negative pressure principle, steps device through bicycle human body is taken exercise, and this invention is to providing upright potential energy power of human body and upper limbs ability effect limited.
Inch of land such as gold in the spacecraft, astronaut exercising apparatus should satisfy that light weight, volume are little, safety, low consumption, basic demand such as pollution-free.The gentle rope drive machines people of parallel connection have take up room little, compliance good, can realize complicated power/characteristics such as position control, so be suitable for the astronaut and realize multimodal rehabilitation training at small space.Load characteristic through control rope driving force simulated gravity environment is applied to corresponding load on the human body, and the training under the realization heavy burden condition is trained spacefarer's functions such as muscle, bone, cardiopulmonary reasonably and comprehensively.Through rehabilitation training, improve astronaut's psychology and physiological stability, guarantee astronaut's operating efficiency, this development for China's space industry has great importance.
Summary of the invention
The purpose of the utility model is to provide can provide the load that meets the gravity environment characteristic for the astronaut who is in weightlessness, running can be provided, crouching pushes away the multi-mode astronaut's recovery exercising robot with three kinds of training modes of squatting with weight.
The purpose of the utility model is achieved in that
The utility model multi-mode astronaut recovery exercising robot; It is characterized in that: comprise frame, gentle rope, gentle rope driver element, pulling force sensor; Described gentle rope driver element is fixed on the frame, and gentle rope connects gentle rope driver element, and pulling force sensor is installed on the gentle rope.
The utility model can also comprise:
1, described gentle rope driver element comprises driver element support, gentle rope guider, permanent magnet D.C. torque motor, gentle rope traction wheel, photoelectric encoder; Permanent magnet D.C. torque motor is installed in outside the driver element support; Gentle rope traction wheel is installed in the driver element support; The output shaft of permanent magnet D.C. torque motor connects gentle rope traction wheel; Gentle rope guider is installed in outside the driver element support, and gentle rope is wrapped on the gentle rope traction wheel and passes gentle rope guider, and photoelectric encoder is installed on the permanent magnet D.C. torque motor.
2, described gentle rope driver element also comprises fixing gentle rope guider; Gentle rope guider connects fixing gentle rope guider; Fixing gentle rope guider is fixed in the driver element support; Gentle rope guider is installed in outside the driver element support, and gentle rope is wrapped on the gentle rope traction wheel and passes fixing gentle rope guider, gentle rope guider.
3, described frame is annular and has chute.
4, described gentle rope driver element has six, gentle rope to have the six roots of sensation, pulling force sensor to have six, and first~the 6th gentle rope driver element is corresponding first~the 6th gentle rope respectively, respectively corresponding first~the 6th pulling force sensor of first~the 6th gentle rope.
5, also comprise treadmill and shoulder armour, the gentle Suo Xianglian of the shoulder armour and the six roots of sensation, treadmill places frame.
6, also comprise whippletree, the whippletree and the six roots of sensation Suo Xianglian that softens.
7, also comprise whippletree and press bench, the whippletree and the six roots of sensation Suo Xianglian that softens, press bench place frame, whippletree below.
The advantage of the utility model is: multi-mode astronaut's recovery exercising robot robot frame is a frame structure; Gentle rope driver element modularization; The robot overall structure is simple, light weight, take up room for a short time, and dismounting is with easy for installation, is convenient to that space transports and astronaut's use.To different training modes, through changing the configuration and the control strategy of robot, change the motion aided training equipment, satisfy the needs of different training pattern.Realized a tractor serves several purposes, for the astronaut provides integrated and efficient training more.Gentle rope driver element can guarantee gentle in the course of the work rope stable drive, can be wrapped on the traction wheel accurately.Simultaneously, gentle rope directive wheel has reduced gentle rope gearing friction, has improved operating efficiency.
Description of drawings
Fig. 1 is the installation diagram of gentle rope driver element of frame and the embodiment 1 of the utility model;
Fig. 2 is the running training mode sketch map of the utility model embodiment 3;
Fig. 3 is the training mode sketch map that pushes away for sleeping in of the utility model embodiment 4;
Fig. 4 is the squatting with weight training mode sketch map of the utility model embodiment 5;
Fig. 5 is the overall installation diagram of gentle rope driver element of the utility model embodiment 2;
Fig. 6 is the gentle rope driver element mounted inside figure of the utility model embodiment 2.
The specific embodiment
For example the utility model is done description in more detail below in conjunction with accompanying drawing:
Embodiment 1:
In conjunction with Fig. 1, multi-mode astronaut's recovery exercising robot is modular, and its modular unit is as shown in Figure 1.The gentle rope driver element 3 of multi-mode astronaut's recovery exercising robot links to each other with frame 1 through bolt.Gentle rope driver element 3 mainly is to realize the flexible of gentle rope 4 through control permanent magnet D.C. torque motor 2.
This embodiment comprises frame 1, gentle rope 4, gentle rope driver element 3, pulling force sensor 6, and gentle rope driver element 3 is fixed on the frame 1, and gentle rope 4 connects gentle rope driver element 3, and pulling force sensor 6 is installed on the gentle rope 4.
Gentle rope driver element 3 comprises driver element support 12, gentle rope guider 13, permanent magnet D.C. torque motor 2, gentle rope traction wheel 15, photoelectric encoder 11; Permanent magnet D.C. torque motor 2 is installed in outside the driver element support 12; Gentle rope traction wheel 15 is installed in 12 li on driver element support; The output shaft of permanent magnet D.C. torque motor 2 connects gentle rope traction wheel 15; Gentle rope guider 13 is installed in that the driver element support is outer 12, and gentle rope 4 is wrapped on the gentle rope traction wheel 15 and passes gentle rope guider 13, and photoelectric encoder 11 is installed on the permanent magnet D.C. torque motor 2.
Described gentle rope driver element 3 has six, gentle rope 4 to have the six roots of sensation, pulling force sensor 6 to have six, and first~the 6th gentle rope driver element is corresponding first~the 6th gentle rope respectively, respectively corresponding first~the 6th pulling force sensor of first~the 6th gentle rope.
This embodiment has following characteristics: frame is foursquare frame structure, is formed by connecting the aluminium section bar that has chute; Accomplish the connection between the aluminium section bar through chute, be connected with ground with gentle rope driver element through chute.Gentle rope driver element is realized the flexible of gentle rope through the control permanent magnet D.C. torque motor.6 groups of gentle rope driver elements are arranged on the robot frame symmetrically; Gentle rope driver element links to each other with frame through bolt.Gentle rope is wrapped on the traction wheel, at last through directive wheel output.Retrain the direction of gentle rope output through gentle rope directive wheel, and reduce the friction of gentle rope and frame.Be connected to 6 groups of pulling force sensors respectively on 6 gentle ropes by gentle rope driver element output, be used to detect flexible rope tension.During training, control gentle Suo Changdu through the control motor and make gentle rope can follow the variation of people's posture and apply corresponding load to human body.To different training modes, adjustment robot configuration and control strategy thereof are changed the motion aided training equipment, reach training requirement.
Embodiment 2:
On the basis of embodiment 1; Gentle rope driver element 3 also comprises fixing gentle rope guider 14; Gentle rope guider 13 connects fixing gentle rope guider 14; Fixing gentle rope guider 14 is fixed on 12 li on driver element support, and gentle rope guider 13 is installed in outside the driver element support 12, and gentle rope 4 is wrapped on the gentle rope traction wheel 15 and passes fixing gentle rope guider 14, gentle rope guider 13.
Embodiment 3:
On the basis of embodiment 2, increase parts such as treadmill 5, shoulder armour 7, six gentle rope driver elements 3 are arranged on the robot frame 3 symmetrically, link to each other with frame 3 through bolt.Pulling force sensor 6 is connected on the gentle rope between astronaut and the gentle rope driver element 3, to detect the pulling force of gentle rope.
Under the running training mode, treadmill 5 is placed in the middle of the frame 1, the astronaut dresses and takes on armour 7, and 6 ropes 4 are divided on two groups of shoulder armours 7 that are connected to the astronaut respectively and worn.During running, robot applies corresponding load to two shoulders when following the variation of human body shoulder pose.
During work, astronaut's healing robot need be applied to the expectation load force on the human body according to astronaut's attitude and motion state, and the people does initiatively motion, and robot is in the passive movement state.Through the load characteristic of control rope driving force simulated gravity environment, realize the training under the heavy burden condition, spacefarer's functions such as muscle, bone, cardiopulmonary are trained reasonably and comprehensively, improve astronaut's under weightlessness rehabilitation training effect.
Embodiment 4:
On embodiment 2 bases, increase whippletree 8, under the squatting with weight training mode, the astronaut stands in the middle of the frame, 6 ropes 4 is divided into two groups is connected whippletree 8 two ends respectively.During the deep-knee-bend training, robot applies corresponding load on whippletree 8 when following whippletree 8 motions.
Embodiment 5:
On the basis of embodiment 4, increase press bench 9, push away under the training mode for sleeping in, place frame 1 middle press bench 9, the astronaut lies on the press bench 9,6 ropes 4 is divided into two groups is connected whippletree 8 two ends respectively.Crouch when pushing away, robot applies corresponding load on whippletree 8 when following whippletree 8 motions.

Claims (8)

1. multi-mode astronaut recovery exercising robot is characterized in that: comprise frame, gentle rope, gentle rope driver element, pulling force sensor, described gentle rope driver element is fixed on the frame, and gentle rope connects gentle rope driver element, and pulling force sensor is installed on the gentle rope.
2. multi-mode astronaut's recovery exercising robot according to claim 1; It is characterized in that: described gentle rope driver element comprises driver element support, gentle rope guider, permanent magnet D.C. torque motor, gentle rope traction wheel, photoelectric encoder; Permanent magnet D.C. torque motor is installed in outside the driver element support; Gentle rope traction wheel is installed in the driver element support, and the output shaft of permanent magnet D.C. torque motor connects gentle rope traction wheel, and gentle rope guider is installed in outside the driver element support; Gentle rope is wrapped on the gentle rope traction wheel and passes gentle rope guider, and photoelectric encoder is installed on the permanent magnet D.C. torque motor.
3. multi-mode astronaut's recovery exercising robot according to claim 2; It is characterized in that: described gentle rope driver element also comprises fixing gentle rope guider; Gentle rope guider connects fixing gentle rope guider; Fixing gentle rope guider is fixed in the driver element support, and gentle rope guider is installed in outside the driver element support, and gentle rope is wrapped on the gentle rope traction wheel and passes fixing gentle rope guider, gentle rope guider.
4. multi-mode astronaut's recovery exercising robot according to claim 3 is characterized in that: described frame is for annular and have chute.
5. according to claim 1,2,3 or 4 described multi-mode astronaut's recovery exercising robots; It is characterized in that: described gentle rope driver element has six, the rope that softens has the six roots of sensation, pulling force sensor to have six; First~the 6th gentle rope driver element is corresponding first~the 6th gentle rope respectively, respectively corresponding first~the 6th pulling force sensor of first~the 6th gentle rope.
6. multi-mode astronaut's recovery exercising robot according to claim 5 is characterized in that: also comprise treadmill and shoulder armour, and the gentle Suo Xianglian of the shoulder armour and the six roots of sensation, treadmill places frame.
7. multi-mode astronaut's recovery exercising robot according to claim 5 is characterized in that: also comprise whippletree, the whippletree and the six roots of sensation Suo Xianglian that softens.
8. multi-mode astronaut's recovery exercising robot according to claim 5 is characterized in that: also comprise whippletree and press bench, the whippletree and the six roots of sensation Suo Xianglian that softens, press bench place frame, whippletree below.
CN201120217240U 2011-06-24 2011-06-24 Multi-mode rehabilitation training robot for astronaut Expired - Lifetime CN202128852U (en)

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Application Number Priority Date Filing Date Title
CN201120217240U CN202128852U (en) 2011-06-24 2011-06-24 Multi-mode rehabilitation training robot for astronaut

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103610567A (en) * 2013-11-12 2014-03-05 北京理工大学 Assistive rehabilitation training robot for stroke hemiplegic patients
CN108621197A (en) * 2017-03-22 2018-10-09 中国科学院宁波材料技术与工程研究所 A kind of variable rigidity control device for robot driven by ropes people
CN109165419A (en) * 2018-07-31 2019-01-08 哈尔滨工程大学 A kind of the variable-quality simulator and method of motor performance
WO2020108717A1 (en) * 2018-11-28 2020-06-04 Danish Aerospace Company Aps A multifunctional exercise apparatus
CN111938990A (en) * 2020-07-20 2020-11-17 哈尔滨工程大学 Muscle-imitating driving rope for lower limb rehabilitation training

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103610567A (en) * 2013-11-12 2014-03-05 北京理工大学 Assistive rehabilitation training robot for stroke hemiplegic patients
CN108621197A (en) * 2017-03-22 2018-10-09 中国科学院宁波材料技术与工程研究所 A kind of variable rigidity control device for robot driven by ropes people
CN109165419A (en) * 2018-07-31 2019-01-08 哈尔滨工程大学 A kind of the variable-quality simulator and method of motor performance
CN109165419B (en) * 2018-07-31 2022-07-15 哈尔滨工程大学 Variable quality simulation device and method for motion operation
WO2020108717A1 (en) * 2018-11-28 2020-06-04 Danish Aerospace Company Aps A multifunctional exercise apparatus
CN111938990A (en) * 2020-07-20 2020-11-17 哈尔滨工程大学 Muscle-imitating driving rope for lower limb rehabilitation training
CN111938990B (en) * 2020-07-20 2022-05-20 哈尔滨工程大学 Muscle-imitating driving rope for lower limb rehabilitation training

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C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20120201

Effective date of abandoning: 20130703

RGAV Abandon patent right to avoid regrant