CN202446736U

CN202446736U - Pedal linear mobile type lower limb exercise training device

Info

Publication number: CN202446736U
Application number: CN2012200286043U
Authority: CN
Inventors: 王洪波; 石立宏
Original assignee: WUXI YOUREN TECHNOLOGY CO LTD
Current assignee: WUXI YOUREN TECHNOLOGY CO LTD
Priority date: 2012-01-20
Filing date: 2012-01-20
Publication date: 2012-09-26
Anticipated expiration: 2022-01-20

Abstract

The utility model relates to a pedal linear mobile type lower limb exercise training device which is composed of a base, a seat, pedal plates, a guide rail, a power unit, a transmission unit and a control unit. By means of the design scheme that the pedal plates are used for moving and the seat is used for fixing, constant driving strength active training and self-adaptation active training which is based on driving strength to change resistance forces can be achieved, training loads are provided by means of the current control of a motor, an ARM9 single chip microcomputer is used in a main control microcomputer, and a human-computer interaction interface uses a touch screen for operating, so that the pedal linear mobile type lower limb exercise training device has the function of networking, and by means of the detected pressure of a pedal weighing sensor, training abilities of old people can be judged; by means of the detected speed of the motor, training states of the old people can be judged; and the safety of the old people during the training is given full consideration.

Description

Pedal rectilinearly-movable lower extremity movement trainer

Technical field:

The utility model relates to a kind of lower limb medical rehabilitation apparatus, and is particularly a kind of in order to help the old man to recover the pedal rectilinearly-movable lower extremity movement trainer of lower extremity movement locomotor activity.

Background technology:

According to statistics, the elderly of China more than 60 years old surpasses 1.7 hundred million, accounts for 13.26% of national population.The flexibility that tangible performance is exactly the elderly's four limbs in aging course constantly descends, and then daily life is produced all adverse influences.In this case, look after the old man and become a social concern that merits attention.Because each old man needs different nursing, medical personnel and support facility that society is difficult to provide sufficient are looked after all old men.For this reason, can train through effective limbs and keep the healthy of the elderly, make them have the ability of the own daily life of independent process, thereby minimizing needs old man's quantity of treatment, alleviates society and family burden.Scientific research proves that continual limbs training is very effective to the physically fit and quality of life of keeping the elderly, and most for this reason old men playground all provides some limb-training devices.Yet traditional limb-training device all adopts counterweight load regulative mode, and the following problem of ubiquity: most of trainers design for physically fit person, is uncomfortable neither being suitable for to the elderly; Load is regulated difficulty and discontinuous; Do not provide safety protection function to judge old man's Training Capability.

The utility model content:

The purpose of the utility model is to provide a kind of the elderly's of aiming at design, safe, comfortable, reliable pedal rectilinearly-movable lower extremity movement trainer.

To achieve these goals, the utility model proposes following technical scheme realization:

Pedal rectilinearly-movable lower extremity movement trainer is made up of base, seat, pedal, guide rail, power unit, gear unit, control module; Seat bracing frame, bracing frame A, bracing frame B are installed on the base, and wherein the seat bracing frame is provided with seat, and bracing frame A is connected with bracing frame C, and bracing frame B and guide rail are connected; Base is equipped with four fixedly footing around the bottom, near seat one bottom outside of foot two rollers is housed, the liftoff 2～3mm of roller; Power unit is made up of DC servo motor, incremental encoder, decelerator, and DC servo motor, incremental encoder, decelerator link to each other successively, and decelerator is installed on the bracing frame C, fixes through screw; Gear unit is made up of shaft coupling, first power transmission shaft, first gear, second gear, second power transmission shaft, first synchronous pulley, second belt wheel, synchronous band; First power transmission shaft and second power transmission shaft are installed on the bracing frame C; Decelerator, shaft coupling, first gear are socketed in respectively on first power transmission shaft; Second gear and first belt wheel are socketed in the second power transmission shaft two ends, first gear and second gears engaged, and second belt wheel is socketed on the 3rd power transmission shaft; First belt wheel is connected through being with synchronously with second belt wheel, and the 3rd power transmission shaft is installed on the bracing frame B; Tensioning bolt is installed on the bracing frame C, and the tensioning bolt front end is mounted on the guide rail afterbody; Pedal is made up of pedal box, foot pedal cover; The pedal box is installed on the foot pedal support frame, and is fastening through screw, and pedal box internal fixation has LOAD CELLS; Be connected through screw a between pedal box and foot pedal cover; Foot pedal cover can be around screw a rotation, and foot pedal cover is pushed down pedal box inner load cell contact, and U type frame is installed on the foot pedal cover; Foot pedal support frame and slide block fixedly are connected as a single entity through screw, and slide block places on the guide rail and can on guide rail, slide, and band is pressed between foot pedal support frame and the slide block synchronously; Power unit and gear unit outside are encapsulated by shell; Control module is made up of human-computer interaction interface, ARM9 main control microcomputer, electric machine controller, motor driver; Human-computer interaction interface and ARM9 main control microcomputer carry out data interaction; The ARM9 main control microcomputer sends to electric machine controller through the RS232 serial communication with instruction; Electric machine controller drives the decelerator action through the DC servo motor that motor driver control has incremental encoder, and LOAD CELLS transmits back the ARM9 main control microcomputer with signal through the A/D conversion.

The soluble technical problem of the utility model is:

Can realize that the lower limb of two kinds of patterns initiatively train, a kind of is the constant moving training of advocating of pedaling, and promptly applies a permanent reaction force through DC servo motor to pedal, and user's resistance that will overcome in the process of stretching one's legs is invariable; Another kind is based on the self adaptation of pedaling power size change resistance and initiatively trains; Promptly through being installed in the power of pedaling that the inner LOAD CELLS of pedal detects in real time people's leg; And, control the initiatively loading force of training through force feedback signal with realization through the resistance that different feedback Numerical Control DC servo motors applies to pedal; Initiatively the generation of training resistance is through the Current Control of DC servo motor, and the user stretches one's legs in the process, and the direction of motion of motor and the control of motor are in the opposite direction, and the user overcomes the motor resistance; In user's rhaeboscelia process, the control direction of the direction of motion of motor and motor is identical, and the driven by motor pedal moves, and the user needn't apply any power; Main control microcomputer adopts the ARM9 single-chip microcomputer, and human-computer interaction interface adopts touch screen operation, has the function of networking; Can realize that the doctor instructs the rehabilitation training of user's one-to-many, can judge old man's Training Capability through detecting pedal inner load cell pressure; Through detecting the speed of DC servo motor, judge old man's physical training condition, no matter stretch one's legs and the rhaeboscelia process; As long as detect motor speed and is zero, explain that the user has and stop the training intention or because shank spasm reason causes shank not bend and stretch, then the Current Control value is automatically made zero; Pedal stops to move; Detect motor speed after stopping again when non-vanishing, predefined training mode begins automatically, has taken into full account the security in the elderly's training process.

Although this patent carries out the lower extremity movement training to the elderly and proposes, not only be confined to the elderly, equally also being suitable for lower extremity movement has other crowd of obstacle to carry out training.

Description of drawings:

Fig. 1 is the utility model general structure sketch map;

Fig. 2 is that the main running part A-A of the utility model is to structural representation;

Fig. 3 is the utility model pedal part-structure sketch map;

Fig. 4 is the utility model control structure theory diagram.

The specific embodiment:

As shown in the figure, pedal rectilinearly-movable lower extremity movement trainer, base 9, seat 5, pedal 4, guide rail 14, power unit, gear unit, control module are formed; Seat bracing frame 7, bracing frame A8, bracing frame B1 are installed on the base 9, and wherein seat bracing frame 7 is provided with seat 5, and bracing frame A8 is connected with bracing frame C6, and bracing frame B1 and guide rail 14 are connected; Around base 9 bottoms four fixedly footing 32 are housed, near seat 5 one bottom pin 32 outsides two rollers 33 are housed, roller 33 liftoff 2～3mm; Footing 32 lands, and uplifting device is near seat 5 one ends, footing 32 built on stilts; Roller 33 lands, and whole device can conveniently move; Power unit is made up of DC servo motor 20, incremental encoder 19, decelerator 21, and DC servo motor 20, incremental encoder 19, decelerator 21 link to each other successively, and decelerator 21 is installed on the bracing frame C6, fixes through screw; Gear unit is by shaft coupling 22, first power transmission shaft 23, first gear 24, second gear 25, second power transmission shaft 26, first belt wheel 17, second belt wheel 11, band is formed synchronously; First power transmission shaft 23 and second power transmission shaft 26 are installed on the bracing frame C6; Decelerator 21, shaft coupling 22, first gear 24 are socketed in respectively on first power transmission shaft 23; Second gear 25 and first belt wheel 17 are socketed in second power transmission shaft, 26 two ends,

first gear

24 and 25 engagements of second gear, and second belt wheel 11 is socketed on the 3rd power transmission shaft 10; First belt wheel 17 is connected through being with synchronously with second belt wheel 11, and the 3rd power transmission shaft 10 is installed on the bracing frame B1; Tensioning bolt 16 is installed on the bracing frame C6; Tensioning bolt 16 front ends are mounted on guide rail 14 afterbodys, and when rotation tensioning bolt 16, tensioning bolt 16 heads on guide rail 14 and moves forward; And guide rail 14 is connected with bracing frame B1; Thereby the two integral body moves forward on base 9, and the distance between such first belt wheel 17 and second belt wheel 11 becomes big, the tensioning of feasible band synchronously; Pedal 4 is made up of pedal box 28, foot pedal cover 29, and pedal box 28 is installed on the foot pedal support frame 12, and is fastening through screw; Pedal box 28 internal fixation have LOAD CELLS 27; 29 of pedal box 28 and foot pedal cover are connected through screw a30, and foot pedal cover 29 can be around screw a30 rotation, and foot pedal cover 29 is pushed down pedal box 28 inner load cells 27 contacts; U type frame 31 is installed on the foot pedal cover 29; The masterpiece of pin is used in 29 last times of foot pedal cover, through lever principle pressure is passed to the LOAD CELLS 27 device contacts in the pedal box 28, thereby detects the power of pedaling of pin; Foot pedal support frame 12 and slide block 13 fixedly are connected as a single entity through screw, and slide block 13 places on the guide rail 14 and can on guide rail 14, slide, and synchronous being with is pressed between foot pedal support frame 12 and the slide block 13; Power unit and gear unit outside are by shell 2,3 encapsulation; Control module is made up of man-machine interaction circle 15, ARM9 main control microcomputer 18, electric machine controller 34, motor driver 35; Human-computer interaction interface 15 carries out data interaction with ARM9 main control microcomputer 18; Set training and pedal power; ARM9 main control microcomputer 18 sends to electric machine controller 34 through the RS232 serial communication with instruction; Electric machine controller 34 drives decelerator 21 actions through the DC servo motor 20 that motor driver 35 controls have incremental encoder 19; The user will be pedaled power and act on the resistance that overcomes DC servo motor 20 on the slide block 13 through pedal 4 and realize the constant moving training of advocating of pedaling, and the size of the power of LOAD CELLS 27 detection effect on pedal is transmitted back ARM9 main control microcomputer 18 with signal through the A/D conversion; ARM9 main control microcomputer 18 automatic settings control electric current and people's motive force size adapts, thereby the self adaptation that realizes this device is initiatively trained.

During use; Device can be realized initiatively training mode of two kinds of lower limb: a kind of is the constant moving training mode of advocating of pedaling; Promptly apply a permanent reaction force for pedal 4 through control DC servo motor 20, user's resistance that will overcome in the process of stretching one's legs is invariable; Another kind is based on pedals the self adaptation active training mode that the power size changes resistance, promptly changes the resistance that DC servo motor 20 provides through the numerical value that detects pedal 4 inner LOAD CELLSs 27; Training load is that the Current Control through DC servo motor 20 provides, and the user stretches one's legs in the process, and the control of the direction of motion of DC servo motor 20 and DC servo motor 20 is in the opposite direction, and the user overcomes DC servo motor 20 resistances; In user's rhaeboscelia process, the control direction of the direction of motion of DC servo motor 20 and DC servo motor 20 is identical, and DC servo motor 20 drives pedal 4 and moves, and the user needn't apply any power; Under Current Control active training mode, can judge old man's physical training condition through detecting the speed of DC servo motor 20; No matter stretch one's legs and the rhaeboscelia process; As long as detect DC servo motor 20 speed and is zero, explain that the user has and stop the training intention or because shank spasm reason causes shank not bend and stretch, then the Current Control value is automatically made zero; Pedal 4 stops to move; Guarantee patient safety, detect DC servo motor 20 speed after stopping again when non-vanishing, predefined training mode begins automatically.

Claims

1. pedal rectilinearly-movable lower extremity movement trainer; Base, seat, pedal, guide rail, power unit, gear unit, control module are formed; It is characterized in that: seat bracing frame, bracing frame A, bracing frame B are installed on the base; Wherein the seat bracing frame is provided with seat, and bracing frame A is connected with bracing frame C, and bracing frame B and guide rail are connected; Base is equipped with four fixedly footing around the bottom, near seat one bottom outside of foot two rollers is housed, the liftoff 2～3mm of roller;

Power unit is made up of DC servo motor, incremental encoder, decelerator, and DC servo motor, incremental encoder, decelerator link to each other successively, and decelerator is installed on the bracing frame C, fixes through screw; Gear unit is made up of shaft coupling, first power transmission shaft, first gear, second gear, second power transmission shaft, first synchronous pulley, second belt wheel, synchronous band; First power transmission shaft and second power transmission shaft are installed on the bracing frame C; Decelerator, shaft coupling, first gear are socketed in respectively on first power transmission shaft; Second gear and first belt wheel are socketed in the second power transmission shaft two ends, first gear and second gears engaged, and second belt wheel is socketed on the 3rd power transmission shaft; First belt wheel is connected through being with synchronously with second belt wheel, and the 3rd power transmission shaft is installed on the bracing frame B; Tensioning bolt is installed on the bracing frame C, and the tensioning bolt front end is mounted on the guide rail afterbody; Pedal is made up of pedal box, foot pedal cover; The pedal box is installed on the foot pedal support frame, and is fastening through screw, and pedal box internal fixation has LOAD CELLS; Be connected through screw a between pedal box and foot pedal cover; Foot pedal cover can be around screw a rotation, and foot pedal cover is pushed down pedal box inner load cell contact, and U type frame is installed on the foot pedal cover; Foot pedal support frame and slide block fixedly are connected as a single entity through screw, and slide block places on the guide rail and can on guide rail, slide, and band is pressed between foot pedal support frame and the slide block synchronously; Power unit and gear unit outside are encapsulated by shell;

Control module is made up of human-computer interaction interface, ARM9 main control microcomputer, electric machine controller, motor driver; Human-computer interaction interface and ARM9 main control microcomputer carry out data interaction; The ARM9 main control microcomputer sends to electric machine controller through the RS232 serial communication with instruction; Electric machine controller drives the decelerator action through the DC servo motor that motor driver control has incremental encoder, and LOAD CELLS transmits back the ARM9 main control microcomputer with signal through the A/D conversion.