CN209254035U - Automatic weight reduction training device and the bionical body weight support treadmill training device of rail-free - Google Patents
Automatic weight reduction training device and the bionical body weight support treadmill training device of rail-free Download PDFInfo
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- CN209254035U CN209254035U CN201821984539.5U CN201821984539U CN209254035U CN 209254035 U CN209254035 U CN 209254035U CN 201821984539 U CN201821984539 U CN 201821984539U CN 209254035 U CN209254035 U CN 209254035U
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Abstract
The utility model relates to a kind of automatic weight reduction training device and the bionical body weight support treadmill training device of rail-free, which includes vertical movement power mechanism, vertical movement link, rack connecting head, horizontal brace rod, human body suspension mechanism and human body fixed mechanism；Vertical movement link one end is movably arranged on inside vertical movement power mechanism, the vertical movement link other end is installed together with rack connecting head, rack connecting head is installed together by horizontal brace rod and human body suspension mechanism, and human body fixed mechanism is mounted on human body suspension mechanism.The bionical body weight support treadmill training device people of the rail-free includes automatic weight reduction training device, and automatic weight reduction training device is packed in chassis upper end, and the horizontal movement driving mechanism is packed in chassis lower end.The utility model is designed reasonably can both horizontally and vertically give patient's power-assisted, increase the confidence of user's training, and greatly reduce the help and intervention of staff, mitigate staff's working strength.
Description
Technical field
The utility model belongs to the field of medical instrument technology, and especially a kind of automatic weight reduction training device and rail-free are bionical
Body weight support treadmill training device.
Background technique
A variety of diseases can lead to mankind's lower limb disorder, as cerebrovascular disease, spinal cord disease, muscle and skeletal diseases,
The diseases such as Neuro-degenerative change.The functional training of lower limb is particularly important for the rehabilitation of these diseases.
Body weight support treadmill training (Body Weight Support Training, BWST) is improved for lower limb disorder
The new Rehabilitation Treatment Technique of one kind of walking ability.Major part automatic weight reduction training device is usually by weight reducing device at present
(Pattial Body Weight Support, PBWS) and electronic treadmill (Treadmill) composition, patient can only be in electricity
Original place activity on dynamic treadmill, this just largely effects on the initiative and the sense of reality of patient's walking.In addition, there are also some outstanding rail
Body weight support treadmill training system, but it is due to having a single function, the serious patient of some lower limb disorders or carries out early stage lower limb
The patient of functional training may be unable to control stride, the leg speed of lower limb in Walking, cause the gravity center instability of body, suffer from
Lack the sense of security and self-confidence in person's training, and staff is needed largely to help that rehabilitation training could be completed.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of automatic weight reduction training device and trackless are proposed
The bionical body weight support treadmill training device in road greatly improves the achievement and efficiency of user's training, increases the confidence of user's training,
And greatly reduce the help and intervention, mitigation staff's working strength of staff.
The utility model solves its technical problem and adopts the following technical solutions to achieve:
A kind of automatic weight reduction training device, including vertical movement power mechanism, vertical movement link, rack connecting head, water
Flushconnection bar, human body suspension mechanism and human body fixed mechanism；It is dynamic that described vertical movement link one end is movably arranged on vertical movement
Inside force mechanisms, the vertical movement link other end is installed together with rack connecting head, and the rack connecting head passes through water
Flushconnection bar is installed together with human body suspension mechanism, and the human body fixed mechanism is mounted on human body suspension mechanism.
Vertical weight sensor is installed, the level is even between vertical movement power mechanism, the vertical movement link
Horizontal Tension and tension sensor are installed between extension bar, human body suspension mechanism.
The vertical movement power mechanism is driven using hydraulic device or servo motor driving.
The human body suspension mechanism is made of multi link hanger, suspension strap；The human body fixed mechanism include from up to
Under the trunk fixing belt, fixing strap of waist and the huckle fixing belt that link together；The multi link hanger is mounted on level
Connecting rod one end, multiple suspension straps are mounted on each connecting rod of multi link hanger, which passes through suspension strap
With trunk fixing belt, fixing strap of waist Mulit-point Connection.
A kind of bionical body weight support treadmill training device of rail-free, including automatic weight reduction training device, chassis, horizontal movement driving
Mechanism and control device, the automatic weight reduction training device are packed in chassis upper end, and the horizontal movement driving mechanism is packed in
Chassis lower end, the control device is connected with automatic weight reduction training device and horizontal movement driving mechanism realizes loss of weight and level
The control function of movement.
The horizontal movement driving mechanism includes horizontal movement servomotor, gear reducer, kinetic damping controller, driving wheel
And directive wheel, the speed reducer of the horizontal movement servo motor and two sides are connected and fixed and output power to speed reducer, two
Output end of reducer passes through transmission axis connection kinetic damping controller and driving wheel respectively；The directive wheel is pacified by guiding mechanism
Mounted in chassis front end two sides.
The control device includes main control computer, multichannel sensor receiving module and multichannel motion controller mould
Block；The input terminal and output end of the main control computer respectively with multichannel sensor receiving module and multichannel motion controller
Module is connected, and the multichannel sensor receiving module receives Horizontal Tension and tension sensor, angular-rate sensor, vertical
The real time data of weight sensor, and numerical data is sent to main control computer, the multichannel motion controller module connects
The action command of main control computer is received, and controlled level motion servo motor, horizontal movement damping controller and vertical movement are dynamic
Force mechanisms movement.
The multichannel sensor receiving module is connected and composed by single board computer and its peripheral circuit, the multichannel movement control
Device module processed is connected and composed by single board computer and its peripheral circuit.
The advantages and positive effects of the utility model are as follows:
1, the automatic weight reduction training device of the utility model will vertical movement driving mechanism and human body suspension mechanism and human body
Fixed mechanism is combined together, and the support of vertical direction can be effectively supplied to for patient, helps the rehabilitation of patient's leg training,
Improve the achievement and efficiency of user's training.
2, the bionical body weight support treadmill training device of the rail-free of the utility model can be both horizontally and vertically to trouble
Person's power-assisted, increases the confidence of user's training, and greatly reduces the help and intervention of staff, and it is strong to mitigate staff's work
Degree.
3, the utility model installs vertical weight sensor, Horizontal Tension in the bionical body weight support treadmill training device of rail-free
And tension sensor and angular-rate sensor etc. and be connected with control device, control device can pass through multiple sensor senses
The motion change and motion intention of user horizontally and vertically are grasped in real time, provide horizontal direction for user and are hung down
Histogram and is made adjustment in time to the training mode of patient, support from training degree to movement and support, while be can recorde every
The training variation of one user and can intelligent evaluation patient's leg training rehabilitation degree, formulated for each user a
The rehabilitation programme of the next step of body simultaneously improves a variety of rehabilitation modalities according to user's lower limb disorder degree.
Detailed description of the invention
Fig. 1 is the structure chart of the automatic weight reduction training device of the utility model；
Fig. 2 is the human body suspension mechanism of the utility model and the connection structure diagram of human body fixed mechanism；
Fig. 3 is the three-dimensional structure diagram of the bionical body weight support treadmill training device of rail-free of the utility model；
Fig. 4 is the overlooking structure figure of the bionical body weight support treadmill training device of rail-free of the utility model；
Fig. 5 is the circuit block diagram of the control device of the utility model；
In figure, 1.1- vertical movement power mechanism, 1.2- vertical movement link, 1.3- rack connecting head, 1.4- are vertically weighed
Quantity sensor, 2- horizontal brace rod, 3- Horizontal Tension and tension sensor, the fixed machine of 4.1- human body suspension mechanism, 4.2- human body
Structure, 4.11- multi link hanger, 4.12- suspension strap, 4.21- trunk fixing belt, 4.22- fixing strap of waist, 4.23- huckle
Fixing belt, 5- pedestal, 6.1- horizontal movement servo motor, 6.2- speed reducer, 6.3- kinetic damping controller, 6.4- driving wheel,
6.5- directive wheel.
Specific embodiment
The utility model embodiment is further described below in conjunction with attached drawing.
A kind of automatic weight reduction training device, as shown in Figure 1, including vertical movement power mechanism 1.1, vertical movement link
1.2, rack connecting head 1.3, vertical weight sensor 1.4, horizontal brace rod 2, Horizontal Tension and tension sensor 3, human body it is outstanding
Suspension mechanism 4.1 and human body fixed mechanism 4.2.The various pieces in training device are illustrated respectively below:
Move vertically power mechanism 1.1: using hydraulic device driving or servo motor driving, passing through cable and control device
It is connected and receives control device control, under control device control, which drives mounted thereto
The lower movement in vertical direction of the vertical movement link 1.2 at end.
Vertical movement link 1.2: bottom is installed on the inside of vertical movement power mechanism 1.1, in vertical movement engine
It can vertically move up and down under the driving of structure 1.1；One end of vertical movement link 1.2 passes through vertical weight sensor 1.4
It is connected with rack connecting head 1.3.
Rack connecting head 1.3: lower end is connect by vertical weight sensor 1.4 with vertical movement link 1.2；Its outboard end
It is connected with horizontal brace rod 2.
Vertical weight sensor 1.4: it is mounted between vertical movement link 1.2 and rack connecting head 1.3.Real-time measurement its
The data of rear portion equipment (human body suspension mechanism and human body fixed mechanism) and the Gravity changer of user's human body, and in real time by data
By cable transmission to control device.
Waling stripe 2: one end is installed on rack connecting head 1.3, the other end by Horizontal Tension and tension sensor 3 with
The multi link hanger 4.11 of human body suspension mechanism 4.1 connects.
Horizontal Tension and tension sensor 3: being mounted between waling stripe 2 and human body suspension mechanism 4.1, can survey in real time
Amount extends the Horizontal Tension and tension variations data between connecting rod 2 and multi link hanger 4.11, and data are passed through cable reality
When send control device to.
Human body suspension mechanism 4.1: being made of the small material of hard deformation coefficient, by multi link hanger 4.11, suspension
Band 4.12 is constituted.The multi link hanger 4.11 is multi link hanger and is mounted on horizontal brace rod 2, multiple suspension straps
4.12 are mounted on each connecting rod of multi link hanger 4.11, and multi link hanger 4.11 passes through multiple suspension straps 4.12 and people
The trunk fixing belt 4.21 of body fixed mechanism 4.2,4.22 Mulit-point Connection of fixing strap of waist.
Human body fixed mechanism 4.2: it is used for fixing human trunk and waist-leg portion, including the trunk to link together from top to bottom
Fixing belt 4.21, fixing strap of waist 4.22 and huckle fixing belt 4.23.
Above-mentioned human body suspension mechanism 4.1 and human body fixed mechanism 4.2 can provide human body intelligent, stable, instant hang down
Histogram to loss of weight power support, the unstable situation of loss of weight power for avoiding rope connection from generating, and intelligence can be generated to user
The dynamically controllable help for moving horizontally power is suitable for preliminary weight-losing and the serious user of lower limb disorder.
The bionical body weight support treadmill training device of rail-free based on above-mentioned automatic weight reduction training device, as shown in Figures 3 and 4,
Including automatic weight reduction training device, chassis 5 and horizontal movement driving mechanism, the horizontal movement driving mechanism is by horizontal movement servo
Motor 6.1, speed reducer 6.2, kinetic damping controller 6.3, driving wheel 6.4 and directive wheel 6.5 are constituted.The bionical loss of weight step of rail-free
Row training device can provide the fortune of the dynamic loss of weight support of vertical direction and horizontal direction for lower extremity motor function obstacle crowd
Dynamic auxiliary supports that applicable situation is more extensive, can not be limited by track, and user can more move freely.It is right below
The various pieces of chassis 5 and horizontal movement driving mechanism are illustrated respectively:
Chassis 5: for installing horizontal movement driving mechanism and automatic weight reduction training device, the upper end and automatic weight reduction training
The vertical movement power mechanism 1.1 of device is solidly installed, and lower end links together with horizontal movement driving mechanism.
Horizontal movement servo motor 6.1: being connected and fixed with speed reducer 6.2, and outputs power to speed reducer 6.2；And lead to
Cable is crossed to be connected with control device and controlled its revolving speed and rotation direction by control device；Angular-rate sensor is housed thereon, it can
The angular speed of machine shaft operating and direction are sent to control device.
Speed reducer 6.2: being connected and fixed with one end of horizontal movement servo motor 6.1, receives horizontal movement servo motor 6.1
The power of output, and the power that horizontal movement servo motor 6.1 exports is increased into torsion and is passed after reducing speed by transmission shaft
It send to driving wheel 6.4.
Kinetic damping controller 6.3 (brake deceleration device): the transmission shaft being mounted between speed reducer 6.2 and directive wheel 6.5
Outside, bearing shell is installed inside, increases the frictional force between bearing shell and transmission shaft by way of electromagnetic drive or hydraulic-driven,
Horizontal movement is even stalled to play the role of adjusting horizontal movement damping.Kinetic damping controller 2.3 passes through cable and control
Device processed is connected and receives control device control.
Driving wheel 6.4: driving wheel 6.4, which is connected by transmission shaft with speed reducer 2.2 and receives speed reducer 2.2, to be driven, and two
A driving wheel 6.4 is mounted on 5 rear end sides of chassis by transmission shaft, can make chassis and thereon equipment under control of the control means
It is moved forward and backward in the horizontal direction.
Directive wheel 6.5: 5 front end two sides of chassis are mounted on by guiding mechanism, the turn direction of user can be followed to change
Become the direction of motion.
As shown in figure 5, control device includes main control computer, multichannel sensor receiving module, multichannel motion control
Device module.
Main control computer: it is connected with multichannel sensor receiving module and receives the data of each sensor and to multichannel
Motion controller module is controlled.
The multichannel sensor receiving module: being connected and composed by single board computer and its peripheral circuit, receives horizontal respectively
The real time data of power and tension sensor, angular-rate sensor, vertical weight sensor, and numerical data is sent to master control meter
Calculation machine.
The multichannel motion controller module: being connected and composed by single board computer and its peripheral circuit, receives main control computer
The action command of sending, and horizontal movement servo motor in horizontal movement driving mechanism, horizontal movement resistance are driven respectively, in real time
The movement of vertical movement power mechanism in Buddhist nun's controller and vertical movement driving mechanism.
It is emphasized that embodiment described in the utility model be it is illustrative, without being restrictive, therefore this reality
With it is novel include being not limited to embodiment described in specific embodiment, according to usage scenario difference, in equipment it is expansible its
Its sensor, the relative program in main control computer is scalable and extension, all practical new according to this by those skilled in the art
The other embodiments that the technical solution of type obtains also belong to the range of the utility model protection.
Claims (8)
1. a kind of automatic weight reduction training device, it is characterised in that: including the power mechanism, vertical movement link, hanger of moving vertically
Connector, horizontal brace rod, human body suspension mechanism and human body fixed mechanism；Described vertical movement link one end is movably arranged on vertical
Straight motion-promotion force is in-house, and the vertical movement link other end is installed together with rack connecting head, the hanger connection
Head is installed together by horizontal brace rod and human body suspension mechanism, and the human body fixed mechanism is mounted on human body suspension mechanism
On.
2. automatic weight reduction training device according to claim 1, it is characterised in that: the vertical movement power mechanism hangs down
Vertical weight sensor is installed between straight movable connecting rod, level is installed between the horizontal brace rod, human body suspension mechanism
Tension and tension sensor.
3. automatic weight reduction training device according to claim 1 or 2, it is characterised in that: the vertical movement power mechanism
Using hydraulic device driving or servo motor driving.
4. automatic weight reduction training device according to claim 1 or 2, it is characterised in that: the human body suspension mechanism is by more
Connecting rod hanger, suspension strap are constituted；The human body fixed mechanism includes the trunk fixing belt to link together from top to bottom, waist
Fixing belt and huckle fixing belt；The multi link hanger is mounted on horizontal brace rod one end, and multiple suspension straps are mounted on more
On each connecting rod of connecting rod hanger, which is connected by suspension strap and trunk fixing belt, fixing strap of waist multiple spot
It connects.
5. a kind of bionical body weight support treadmill training of rail-free based on any one of Claims 1-4 automatic weight reduction training device
Device, it is characterised in that: described automatic including automatic weight reduction training device, chassis, horizontal movement driving mechanism and control device
Weight-losing device is packed in chassis upper end, and the horizontal movement driving mechanism is packed in chassis lower end, the control device with
Automatic weight reduction training device and horizontal movement driving mechanism, which are connected, realizes the control function of loss of weight and horizontal movement.
6. the bionical body weight support treadmill training device of rail-free according to claim 5, it is characterised in that: the horizontal movement is driven
Motivation structure includes horizontal movement servomotor, gear reducer, kinetic damping controller, driving wheel and directive wheel, the horizontal movement
Servo motor and the speed reducer of two sides are connected and fixed and output power to speed reducer, and two output end of reducer pass through biography respectively
Moving axis connects kinetic damping controller and driving wheel；The directive wheel is mounted on chassis front end two sides by guiding mechanism.
7. the bionical body weight support treadmill training device of rail-free according to claim 5, it is characterised in that: the control device packet
Include main control computer, multichannel sensor receiving module and multichannel motion controller module；The input of the main control computer
End and output end are connected with multichannel sensor receiving module and multichannel motion controller module respectively, and the multichannel passes
Sensor receiving module receives the real time data of Horizontal Tension and tension sensor, angular-rate sensor, vertical weight sensor, and
Numerical data is sent to main control computer, the multichannel motion controller module receives the action command of main control computer,
And controlled level motion servo motor, horizontal movement damping controller and vertical movement power mechanism movement.
8. the bionical body weight support treadmill training device of rail-free according to claim 7, it is characterised in that: the multichannel sensing
Device receiving module is connected and composed by single board computer and its peripheral circuit, and the multichannel motion controller module is by single board computer and its outside
Enclose circuit connection composition.
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| CN201821984539.5U CN209254035U (en) | 2018-11-29 | 2018-11-29 | Automatic weight reduction training device and the bionical body weight support treadmill training device of rail-free |
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| CN201821984539.5U CN209254035U (en) | 2018-11-29 | 2018-11-29 | Automatic weight reduction training device and the bionical body weight support treadmill training device of rail-free |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109529271A (en) * | 2018-11-29 | 2019-03-29 | 臧大维 | Bionical weight-losing device and rail-free intelligence body weight support treadmill training robot |
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- 2018-11-29 CN CN201821984539.5U patent/CN209254035U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109529271A (en) * | 2018-11-29 | 2019-03-29 | 臧大维 | Bionical weight-losing device and rail-free intelligence body weight support treadmill training robot |
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