KR101277253B1 - Walking training apparatus - Google Patents

Walking training apparatus Download PDF

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KR101277253B1
KR101277253B1 KR1020110123518A KR20110123518A KR101277253B1 KR 101277253 B1 KR101277253 B1 KR 101277253B1 KR 1020110123518 A KR1020110123518 A KR 1020110123518A KR 20110123518 A KR20110123518 A KR 20110123518A KR 101277253 B1 KR101277253 B1 KR 101277253B1
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South Korea
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walking
robot
unit
load
weight
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KR1020110123518A
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Korean (ko)
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KR20130057659A (en
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김태윤
이동찬
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주식회사 피앤에스미캐닉스
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Priority to KR1020110123518A priority Critical patent/KR101277253B1/en
Priority to US13/682,726 priority patent/US20130137553A1/en
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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
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
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    • A63B21/062—User-manipulated weights including guide for vertical or non-vertical weights or array of weights to move against gravity forces
    • A63B21/0626—User-manipulated weights including guide for vertical or non-vertical weights or array of weights to move against gravity forces with substantially vertical guiding means
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    • A63B21/40—Interfaces with the user related to strength training; Details thereof
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    • A63B21/4007—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the chest region, e.g. to the back chest
    • A—HUMAN NECESSITIES
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    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
    • 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
    • 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
    • A63B22/0242—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 with speed variation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A61H2201/1621—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • 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
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
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    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/12—Characteristics or parameters related to the user or player specially adapted for children

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Abstract

본 발명은 보행 장애자의 보행 훈련을 위한 보행 훈련 장치에 관한 것으로서, 보행훈련자의 하체에 착용되는 보행보조로봇; 보행훈련자에게 지정 속도로 이동하는 바닥면을 제공하는 트레드밀; 보행훈련자의 몸체를 상향 지지하는 하중 견인기; 및 상기 보행보조로봇, 트레드밀 및 하중 견인기의 구동을 제어하는 컨트롤러를 포함하며, 상기 하중 견인기는, 보행훈련자의 몸체에 착용되는 견인슈트; 상기 견인슈트에 연결되는 메인 로프; 상기 메인 로프를 당기도록 구동하여 견인슈트를 상향 견인하는 구동모터; 및 보행훈련자에게 역하중을 인가하는 역하중 무게추 유닛을 포함하는 보행 훈련 장치를 제공한다. 본 발명에 따르면, 하중 견인기에서 환자를 견인하는 동시에 환자의 상태 또는 치료 목적에 따라 적절한 역하중을 설정할 수 있어 보행 훈련 중 환자의 낙상을 방지함은 물론 환자의 재활 훈련에 효과적으로 대응할 수 있는 효과가 있다.The present invention relates to a gait training apparatus for gait training of a gait disabled, walking aid robot worn on the lower body of the gait trainer; A treadmill providing a walking trainer a floor surface moving at a specified speed; A load retractor supporting the body of the walking trainer upward; And a controller for controlling driving of the walking assistance robot, the treadmill, and the load retractor, wherein the load retractor comprises: a towing suit worn on the body of the walking trainer; A main rope connected to the towing chute; A driving motor for driving the main rope to pull the towing chute upward; And a reverse load weight unit for applying a reverse load to the walking trainer. According to the present invention, it is possible to set the appropriate reverse load according to the patient's condition or treatment purpose while pulling the patient in the load retractor, thereby preventing the fall of the patient during gait training and effectively responding to the rehabilitation training of the patient. have.

Description

보행 훈련 장치 {Walking training apparatus}Walking training apparatus {Walking training apparatus}

본 발명은 보행 장애를 가진 사람들의 재활치료를 위한 보행 훈련 장치에 관한 것으로서, 보다 상세하게는 보행훈련자의 하중을 견인하는 동시에 보행훈련자의 상태 및 재활 치료 등의 목적에 따라 보행훈련자에게 적절한 역하중을 설정할 수 있는 보행 훈련 장치에 관한 것이다.
The present invention relates to a walking training apparatus for rehabilitation treatment of people with walking disorders, and more particularly, to reinforce the load of walking trainers and at the same time suitable for walking trainers according to the purpose of walking trainers and rehabilitation treatment. It relates to a gait training device that can be set.

일반적으로 보행 훈련 장치는 하반신 마비 증세가 있는 환자 또는 다리 관절과 근력에 이상이 있어 정상적인 보행이 곤란한 환자들의 재활을 위한 장치이다. 보행 훈련 장치는 통상 환자들의 고관절, 슬관절, 족관절 등과 같은 관절 부위에 장착되어 보행을 보조하는 보행보조로봇을 구비한다.In general, the gait training device is a device for rehabilitation of patients with paraplegia or patients with difficulty in walking because of abnormal leg joints and muscle strength. The walking training device is typically equipped with a walking aid robot that is attached to joint parts such as hip joints, knee joints, ankle joints, etc. of the patients to assist walking.

보행이 불편한 환자들은 대부분 자신의 체중을 지탱하기 어렵다. 따라서 보행 훈련 장치에는 환자를 상향 견인하기 위한 하중 견인기가 설치된다. 종래 하중 견인기는 보행훈련자의 몸체에 연결되는 하네스와, 이 하네스를 견인하기 위한 구동모터로 구성되었다.Most people with difficulty walking cannot support their weight. Therefore, the walking training device is provided with a load retractor for pulling up the patient. Conventional load retractors consist of a harness connected to the body of a walking trainer and a drive motor for towing the harness.

그런데, 보행훈련자의 장애 정도나 재활 치료의 목적에 따라 보행훈련자를 견인하는 견인력은 달라져야 하며, 보행훈련자가 재활 치료 도중 힘이 빠지거나 발을 헛디디는 경우 낙상 등의 안전사고가 발생할 우려가 있다. 따라서 하중 견인기는 단순히 구동모터로 보행훈련자를 견인하는 것 이외에 위와 같은 다양한 목적을 만족시킬 필요가 있다.
By the way, the traction force to pull the walker trainer according to the degree of disability or the purpose of rehabilitation treatment of the walker should be different, there is a risk of safety accidents such as falls if the walker loses strength or loses foot during rehabilitation treatment. Therefore, the load retractor needs to satisfy the above various purposes in addition to simply towing the walking trainer with the drive motor.

한국등록특허 제10-0976180호(2010.08.17.)Korea Patent Registration No. 10-0976180 (2010.08.17.) 미국등록특허 제6,666,831호(2003.12.23.)U.S. Patent No. 6,666,831 (2003.12.23.)

본 발명은 하중 견인기에서 보행훈련자를 상향으로 견인하는 기능을 수행하는 동시에 보행훈련자의 장애 정도 또는 재활 치료의 목적에 따라 적절하게 보행훈련자에게 역하중을 인가하도록 함으로써, 보행 훈련 중 예기치 못한 낙상 사고를 방지함은 물론 재활 치료를 효과적으로 수행할 수 있도록 한 보행 훈련 장치를 제공함에 그 목적이 있다.
The present invention performs the function of towing the walker trainer upward in the load retractor and at the same time appropriately apply the reverse load to the walker trainer according to the degree of disability of the walker or rehabilitation treatment, thereby making unexpected fall accident during pedestrian training The purpose of the present invention is to provide a gait training device that can effectively prevent and prevent rehabilitation.

본 발명의 일실시예에 따른 보행 훈련 장치는, 보행훈련자의 하체에 착용되는 보행보조로봇; 보행훈련자에게 지정 속도로 이동하는 바닥면을 제공하는 트레드밀; 보행훈련자의 몸체를 상향 지지하는 하중 견인기; 및 상기 보행보조로봇, 트레드밀 및 하중 견인기의 구동을 제어하는 컨트롤러를 포함하며, 상기 하중 견인기는, 보행훈련자의 몸체에 착용되는 견인슈트; 상기 견인슈트에 연결되는 메인 로프; 상기 메인 로프를 당기도록 구동하여 견인슈트를 상향 견인하는 구동모터; 및 보행훈련자에게 역하중을 인가하는 역하중 무게추 유닛을 포함한다.
Walking training apparatus according to an embodiment of the present invention, the walking aid robot worn on the lower body of the walking trainer; A treadmill providing a walking trainer a floor surface moving at a specified speed; A load retractor supporting the body of the walking trainer upward; And a controller for controlling driving of the walking assistance robot, the treadmill, and the load retractor, wherein the load retractor comprises: a towing suit worn on the body of the walking trainer; A main rope connected to the towing chute; A driving motor for driving the main rope to pull the towing chute upward; And a reverse load weight unit for applying a reverse load to the walking trainer.

본 발명의 다른 실시예에 따른 보행 훈련 장치는, 상기 하중 견인기는, 상기 메인 로프 상에 설치되며 메인 로프의 일방향 장력에만 클램핑 체결되는 스핀로크와, 일단은 상기 스핀로크에 고정되고 타단은 상기 역하중 무게추 유닛에 고정된 보조 로프를 더 포함한다.
In the walking training device according to another embodiment of the present invention, the load retractor is installed on the main rope and the clamping clamping only in one direction tension of the main rope, one end is fixed to the spin lock and the other end is the reverse It further comprises an auxiliary rope fixed to the load weight unit.

본 발명의 또 다른 실시예에 따른 보행 훈련 장치는, 상기 스핀로크는 메인 로프에 로크될 때 상기 견인슈트측으로 장력이 걸릴때만 클램핑되는 라쳇기어를 포함한다.
In the walking training device according to another embodiment of the present invention, the spin lock includes a ratchet gear that is clamped only when tension is applied to the towing chute side when locked to the main rope.

본 발명의 또 다른 실시예에 따른 보행 훈련 장치는, 상기 역하중 무게추 유닛은, 상기 메인 로프가 관통되는 중공의 로드; 상기 로드의 외주면에 적층되는 복수의 단위 무게추; 상기 단위 무게추를 상기 로드에 고정하는 고정핀; 및 최상부의 단위 무게추 상면에 고정 설치되며 중앙으로 상기 메인 로프가 관통되고 상기 보조 로프의 타단이 고정되는 고정 브라켓을 포함한다.
Walking training apparatus according to another embodiment of the present invention, the reverse load weight unit, the hollow rod through which the main rope; A plurality of unit weights stacked on an outer circumferential surface of the rod; A fixing pin for fixing the unit weight to the rod; And a fixing bracket fixedly installed on an upper surface of the upper portion of the unit weight and having the main rope penetrated to the center and the other end of the auxiliary rope fixed thereto.

본 발명의 또 다른 실시예에 따른 보행 훈련 장치는, 상기 역하중 무게추 유닛과 상기 구동모터의 사이에는 구동모터의 무부하시 상기 메인 로프의 처짐을 방지하도록 메인 로프를 임시 수용하는 로프처짐방지수단이 더 설치된다.
In the walking training device according to another embodiment of the present invention, a rope sag prevention means for temporarily receiving a main rope between the reverse load weight unit and the driving motor to prevent sagging of the main rope when the driving motor is unloaded. This is installed more.

본 발명의 또 다른 실시예에 따른 보행 훈련 장치는, 상기 보행보조로봇은 보행훈련자의 고관절에 착용되는 고관절 로봇, 보행훈련자의 슬관절에 착용되는 슬관절 로봇, 보행훈련자의 족관절에 착용되는 족관절 로봇 중 적어도 어느 하나를 포함한다.
In the walking training apparatus according to another embodiment of the present invention, the walking aid robot is at least one of the hip joint robot worn on the hip joint of the walking trainer, the knee joint robot worn on the knee joint of the walking trainer, the ankle robot worn on the ankle joint of the walking trainer It includes either.

본 발명의 또 다른 실시예에 따른 보행 훈련 장치는, 상기 보행보조로봇에 연결되며 보행보조로봇을 상향 지지하여 보행보조로봇의 무게 밸런스를 조절하는 로봇무게 밸런스 유닛을 더 포함한다.
The walking training apparatus according to another embodiment of the present invention further includes a robot weight balance unit connected to the walking assistance robot and upwardly supporting the walking assistance robot to adjust the weight balance of the walking assistance robot.

본 발명의 또 다른 실시예에 따른 보행 훈련 장치는, 상기 로봇무게 밸런스 유닛은 상기 보행보조로봇에 역하중을 인가하며 증감 가능한 복수의 단위 무게추를 포함한다.
In the walking training device according to another embodiment of the present invention, the robot weight balance unit includes a plurality of unit weights that can be increased and decreased by applying a reverse load to the walking aid robot.

본 발명의 보행 훈련 장치에 따르면, 하중 견인기의 구성에 보행훈련자를 강제로 상향 견인하는 구동모터와 더불어 보행훈련자에게 상시 역하중을 인가하는 역하중 무게추 유닛을 부가함으로써, 보행훈련자의 낙상 등과 같은 안전사고를 방지하며 환자의 장애 정도나 재활 치료의 목적에 따라 역하중의 무게를 적절하게 조절하여 훈련할 수 있는 효과가 있다.
According to the walking training device of the present invention, by adding a driving motor for forcibly pulling up the walking trainer to the configuration of the load retractor, by adding a reverse load weight unit for applying the constant reverse load to the walking trainer, such as a fall of the walking trainer. It is effective in preventing accidents and training by adjusting the weight of the reverse load appropriately according to the degree of disability of the patient or the purpose of rehabilitation treatment.

도 1은 본 발명에 따른 보행 훈련 장치를 예시한 장치 구성도,
도 2는 본 발명에서 하중 견인기의 구성을 예시한 사시도,
도 3은 본 발명에서 역하중 무게추 유닛을 예시한 정면도,
도 4a 및 4b는 하중 견인기의 작동상태를 예시한 측면 구성도, 및
도 5는 본 발명에서 로봇무게 밸런스 유닛의 예를 보인 사시도이다.1 is a device configuration diagram illustrating a walking training device according to the present invention,
Figure 2 is a perspective view illustrating the configuration of the load retractor in the present invention,
Figure 3 is a front view illustrating the reverse load weight unit in the present invention,
4a and 4b is a side configuration diagram illustrating an operating state of the load retractor, and
5 is a perspective view showing an example of the robot weight balance unit in the present invention.

본 발명은 다양한 변경을 가할 수 있고 여러 가지 실시예를 가질 수 있는 바, 특정 실시예들을 도면에 예시하고 상세한 설명에 상세하게 설명하고자 한다. 그러나, 이는 본 발명을 특정한 실시 형태에 대해 한정하려는 것이 아니며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다.While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

본 발명은 하중 견인기의 구성을 강화한 보행 훈련 장치에 관한 것으로서, 이하의 실시예에서는 보행 훈련 장치의 일반적인 구성에 대하여 간락하게 설명하고, 하중 견인기의 구성과 작용에 대하여 중점적으로 설명한다. 본 발명의 보행 훈련 장치에 대한 이해를 위해 본 출원인의 등록특허 제10-0976180호 “보행훈련용 로봇 및 그 운용방법”이 참조될 수 있다.The present invention relates to a walking training apparatus that has a reinforced configuration of a load retractor. In the following embodiment, the general configuration of the walking training apparatus will be briefly described, and the configuration and operation of the load retractor will be mainly described. For an understanding of the walking training apparatus of the present invention, the present applicant may refer to the registered patent No. 10-0976180, "Walk training robot and its operating method".

이하 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명하되, 도면 부호에 관계없이 동일하거나 대응하는 구성요소는 동일한 참조 번호를 부여하고 이에 대한 중복되는 설명은 생략하기로 한다.DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

도 1은 본 발명에 따른 보행 훈련 장치를 예시한 장치 구성도이다. 도 1을 참조하면, 본 발명의 보행 훈련 장치는 크게 보행보조로봇(100), 트레드밀(200), 하중 견인기(300), 컨트롤러(400)로 구성된다.1 is a block diagram illustrating a walking training apparatus according to the present invention. Referring to Figure 1, the walking training apparatus of the present invention is largely composed of a walking aid robot 100, the treadmill 200, the load retractor 300, the controller 400.

보행보조로봇(100)은 보행 훈련이 필요한 보행훈련자의 하체에 착용되는 형태를 갖는다. 일실시예로서, 보행보조로봇(100)은 보행훈련자의 하체 관절 중 고관절(hip joint)에 착용되는 고관절 로봇(100a), 슬관절(knee joint)에 착용되는 슬관절 로봇(100b), 족관절(ankle joint)에 착용되는 족관절 로봇(100c)을 포함하며, 환자의 장애 정도에 따라 어느 하나의 관절 로봇만을 선택적으로 사용할 수도 있다.The walking aid robot 100 has a form that is worn on the lower body of the walking trainer requiring walking training. In one embodiment, the walking aid robot 100 is a hip joint robot (100a) worn on the hip joint (hip joint) of the lower body joint of the walking trainer, knee joint robot (100b), knee joint (ankle joint) worn on the knee joint Ankle robot (100c) worn on the), and may be selectively used only one of the joint robot according to the degree of disability of the patient.

도 1에 상세하게 도시되지는 않았으나, 보행보조로봇(100)은 보행훈련자의 각 관절부 사이에서 분절의 길이를 조절 가능한 구조를 갖는다.Although not shown in detail in Figure 1, the walking aid robot 100 has a structure that can adjust the length of the segment between each joint of the walking trainer.

트레드밀(200)은 보행훈련자가 제자리에서 보행 훈련을 지속적으로 할 수 있도록, 보행훈련자에게 지정 속도로 이동하는 바닥면을 제공한다. 트레드밀(200)은 러닝머신 등과 같은 운동기구로 잘 알려진 공지의 기술이므로 자세한 설명을 생략하기로 한다.The treadmill 200 provides a walking surface to the walking trainer at a specified speed so that the walking trainer can continue the walking training in place. Since the treadmill 200 is a well known technique known as an exercise machine such as a treadmill, a detailed description thereof will be omitted.

하중 견인기(300)는 보행훈련자의 몸 전체를 지정 견인량으로 상향 견인한다. 도 1을 참조하면, 하중 견인기(300)는 보행훈련자의 상체에 착용되는 견인슈트(305)와, 견인슈트(305)에 연결되는 하네스(310)와, 도르레 등의 구성품들이 수용된 견인블록(320)을 포함한다. 견인블록(320) 후단의 구성에 대하여는 도 2 이하를 참조하여 후술하기로 한다.The load retractor 300 tow up the entire body of the walking trainer to a specified amount of towing. Referring to FIG. 1, the load retractor 300 includes a towing chute 305 worn on the upper body of the walking trainer, a harness 310 connected to the towing chute 305, and a towing block 320 in which components such as a pulley are accommodated. ). The structure of the rear end of the towing block 320 will be described later with reference to FIG.

컨트롤러(400)는 보행보조로봇(100), 트레드밀(200), 하중 견인기(300)의 구동 상태를 제어하고, 구동 정보를 생성 및 저장한다. 컨트롤러(400)는 크게 입력부(410), 정보 저장 수단 및 제어회로 등의 제어부를 내장한 본체(411), 제어상태를 화면 출력하는 모니터부(420)로 구성된다.The controller 400 controls driving states of the walking assistance robot 100, the treadmill 200, and the load retractor 300, and generates and stores driving information. The controller 400 is largely composed of an input unit 410, a main body 411 incorporating a control unit such as information storage means and a control circuit, and a monitor unit 420 for outputting a control state.

입력부(410)는 키보드 등과 같은 키 입력수단이나 TUI(Touch User Interface)를 지원하는 인터페이싱 장치 등을 포함할 수 있다. 또한 입력부(410)는 네트워크를 통해 연결된 다른 단말기로부터의 입력신호를 처리하는 장치를 포함할 수 있다.The input unit 410 may include a key input means such as a keyboard or an interfacing device that supports a touch user interface (TUI). In addition, the input unit 410 may include an apparatus for processing an input signal from another terminal connected through a network.

본체(411)에 내장된 정보 저장 수단은 입력부(410)를 통해 입력된 정보나 명령, 보행보조로봇(100), 트레드밀(200), 하중 견인기(300)의 구동과정에서 생성되는 정보들을 선택적으로 분류하여 저장한다. 그리고 제어부는 입력부를 통해 입력되거나 정보 저장 수단에 저장된 정보에 따라 보행보조로봇(100), 트레드밀(200), 하중 견인기(300)의 구동을 제어한다.The information storage means built in the main body 411 may selectively output information or commands inputted through the input unit 410, information generated during the driving of the walking assistance robot 100, the treadmill 200, and the load retractor 300. Sort and save. The controller controls driving of the walking assistance robot 100, the treadmill 200, and the load retractor 300 according to information input through the input unit or stored in the information storage means.

모니터부(420)는 입력부(410)를 통해 입력된 정보나 명령, 보행 보조 로봇(100) 등의 제어상태 등을 화면 출력하여 물리치료사 등의 관리자가 보행 훈련을 관리 감독할 수 있도록 한다.The monitor unit 420 outputs the information or command input through the input unit 410, the control state of the walking assistance robot 100, and the like so that an administrator such as a physiotherapist can supervise the walking training.

도 2는 하중 견인기의 구성을 예시한 사시도이다. 이를 참조하면, 상기 하중 견인기(300)는 도 1의 견인슈트(305), 하네스(310), 견인블록(320)에 부가하여 메인 로프(332), 보조 로프(334), 스핀로크(336), 역하중 무게추 유닛, 구동모터(354), 및 로프처짐방지수단(352)을 더 포함한다.2 is a perspective view illustrating the configuration of a load retractor. Referring to this, the load retractor 300 is the main rope 332, auxiliary rope 334, spin lock 336 in addition to the traction chute 305, harness 310, traction block 320 of Figure 1 It further comprises a reverse load weight unit, a drive motor 354, and rope sag prevention means 352.

도 2에서와 같이 역하중 무게추 유닛(330)은 무게추 체대(330) 내에 설치되고, 구동모터(354) 등의 구성품은 모터 수납용 체대(350) 내에 설치되며, 모터 수납용 체대(350)의 하부에는 이동을 위한 캐스터(358)가 장착된다.As shown in FIG. 2, the reverse load weight unit 330 is installed in the weight body 330, and components such as the driving motor 354 are installed in the motor housing body 350, and the motor housing body 350 At the bottom of the caster is mounted a caster 358 for movement.

메인 로프(332)는 하네스(310)에 연결되어 견인슈트(305)를 상향 견인하기 위한 로프이다. 실시예에서 메인 로프(332)의 일단은 하네스(310)에 연결되고, 견인블록(320) 내의 풀리를 경유하여 그 타단이 구동모터(354)의 회전축에 연결된다.The main rope 332 is connected to the harness 310 is a rope for pulling up the towing chute 305. In one embodiment, one end of the main rope 332 is connected to the harness 310, the other end of the main rope 332 is connected to the rotary shaft of the drive motor 354 via a pulley in the traction block 320.

구동모터(354)의 회전축에는 감속기어가 설치되며, 감속기어의 회전축에 권취롤(356)이 연결된다. 메인 로프(332)는 이 권취롤(356)에 권취된다. 따라서 구동모터(354)를 회전 구동하여 메인 로프(332)를 권취롤(356)에 대하여 감게 되면, 견인슈트(305)를 착용한 보행훈련자가 상향 견인된다. 그리고 구동모터(354)의 무부하 상태에서 보행훈련자가 자신의 체중에 의해 착지할 수 있다.A reduction gear is installed on the rotation shaft of the drive motor 354, and a winding roll 356 is connected to the rotation shaft of the reduction gear. The main rope 332 is wound around this winding roll 356. Therefore, when the main motor 354 is wound around the take-up roll 356 by rotating the driving motor 354, the walking trainer wearing the towing chute 305 is pulled upward. In addition, the walking trainer may land by his weight in the no-load state of the driving motor 354.

여기서 메인 로프(332)가 처져 타 구성에 영향을 주는 것을 방지하기 위하여, 모터 수납용 체대(350) 내에는 메인 로프(332)를 임시 수용하는 로프처짐방지수단(352)이 설치된다. 로프처짐방지수단(352)은 예컨대 권취롤(356)에 인접되며 바닥면에서 상향으로 이격된 박스 형태로 제공될 수 있다.Here, in order to prevent the main rope 332 from sagging and affecting other configurations, a rope sag prevention means 352 for temporarily receiving the main rope 332 is installed in the motor housing body 350. The rope deflection prevention means 352 may be provided in the form of a box adjacent to the take-up roll 356 and spaced upwardly from the bottom surface, for example.

역하중 무게추 유닛은 보행훈련자에게 역하중을 인가하여 보행훈련자가 재활치료 중 낙상하는 것을 방지하는 동시에, 재활 치료의 목적에 따라 도 2에 도시된 바와 같은 단위 무게추(344)의 개수를 적절하게 선택하여 보행훈련자가 자신의 힘을 이용하여 착지할 수 있도록 한다.The reverse load weight unit applies a reverse load to the walking trainer to prevent the walking trainer from falling during the rehabilitation treatment, and at the same time appropriately measures the number of unit weights 344 as shown in FIG. 2 according to the purpose of the rehabilitation treatment. Select this option so that the walker can land using his or her strength.

도 3은 역하중 무게추 유닛의 실시예를 보인 정면도이다. 이를 참조하여 역하중 무게추 유닛의 실시예에 대하여 구체적으로 설명한다.3 is a front view showing an embodiment of the reverse load weight unit. An embodiment of the reverse load weight unit will be described in detail with reference to this.

역하중 무게추 유닛은 메인 로프(332)가 관통되는 중공의 로드(346), 이 로드(346)의 외주면에 적층되는 복수의 단위 무게추(344a, 344b), 단위 무게추(344b)를 로드(346)에 고정시키기 위한 고정핀(345), 및 최상부의 단위 무게추(344a) 상면에 고정 설치되는 고정 브라켓(342)으로 구성된다.The reverse load weight unit loads a hollow rod 346 through which the main rope 332 passes, a plurality of unit weights 344a and 344b and a unit weight 344b stacked on the outer circumferential surface of the rod 346. The fixing pin 345 for fixing to the 346, and the fixing bracket 342 is fixed to the upper surface of the upper unit weight (344a).

도시한 바와 같이 메인 로프(332)는 고정 브라켓(342)의 상부에 형성된 장공을 통해 인입되어 로드(346)의 중공을 통해 관통하도록 지나간다. 따라서 역하중 무게추 유닛은 구동모터(354)가 메인 로프(332)를 감거나 푸는 과정에 영향을 미치지 않는다.As shown, the main rope 332 is introduced through the long hole formed in the upper portion of the fixing bracket 342 to pass through the hollow of the rod 346. Therefore, the reverse load weight unit does not affect the process in which the drive motor 354 winds or unwinds the main rope 332.

최상부의 단위 무게추(344a)와 로드(346)는 일체를 이루거나 최상부의 단위 무게추(344a)의 하부에 로드(346)의 상단이 고정 결합된다. 로드(346)는 도시한 바와 같이 외주면에 외측으로 돌출된 돌출턱(348)을 구비한다. 도시한 바와 같이 돌출턱(348)들의 사이에는 요부가 형성된다. 그리고 복수개로 적층된 하부의 단위 무게추(344b)에는 끼움공(344c)이 형성된다.The uppermost unit weight 344a and the rod 346 are integrally formed or the upper end of the rod 346 is fixedly coupled to the lower portion of the uppermost unit weight 344a. Rod 346 has a protruding jaw 348 protruding outward on the outer peripheral surface as shown. As shown, recesses are formed between the protruding jaws 348. In addition, fitting holes 344c are formed in the plurality of lower unit weights 344b.

도 3에 도시된 바와 같이, 보조 로프(334)의 단부는 고정 브라켓(342)에 고정된다. 따라서, 고정 브라켓(342), 최상부 단위 무게추(344a), 로드(346)는 보조 로프(334)에 연동하여 승강된다.As shown in FIG. 3, the end of the auxiliary rope 334 is fixed to the fixing bracket 342. Therefore, the fixing bracket 342, the uppermost unit weight 344a, the rod 346 is raised and lowered in conjunction with the auxiliary rope (334).

여기서 하부의 단위 무게추(344b)들을 선택적으로 로드(346) 상에 결합하기 위하여 고정핀(345)이 사용된다. 고정핀(345)은 단위 무게추(344b)의 끼움공(344c)에 끼우는 형태로서, 전방에는 상기 로드(346)의 상하 돌출턱(348) 사이에 끼워지도록 U자형의 끼움부(345a)가 형성된다.Here, the fixing pin 345 is used to selectively couple the lower unit weights 344b on the rod 346. The fixing pin 345 is inserted into the fitting hole 344c of the unit weight 344b. In the front, the U-shaped fitting portion 345a is fitted between the upper and lower projection jaws 348 of the rod 346. Is formed.

따라서 고정핀(345)을 원하는 단위 무게추(344b)에 끼우는 것으로 관리자가 원하는 역하중을 선택할 수 있다. 예를 들어, 각 단위 무게추(344a, 344b)들은 5kg이고, 고정핀(345)을 끼우는 위치에 따라 5kg 단위로 역하중을 선택할 수 있다.Therefore, by inserting the fixing pin 345 to the desired unit weight 344b, the administrator can select the desired reverse load. For example, each unit weight (344a, 344b) is 5kg, the reverse load may be selected in units of 5kg depending on the position of the fixing pin 345.

도 4a 및 4b는 하중 견인기의 작동상태를 예시한 측면 구성도이다. 이를 참조하여, 하중 견인기의 작동에 대하여 설명하면 다음과 같다.4A and 4B are side configuration diagrams illustrating an operating state of the load retractor. Referring to this, the operation of the load retractor will be described as follows.

도 4a 및 4b에서 메인 로프(332)가 구름 접촉되는 제1풀리(320a) 및 제2풀리(320b)는 도 1의 견인블록(320) 내에 수용되는 구성으로서, 도르레 역할을 한다.4A and 4B, the first pulley 320a and the second pulley 320b to which the main rope 332 is in rolling contact are accommodated in the towing block 320 of FIG. 1, and serve as pulleys.

도시한 바와 같이, 제2풀리(320b) 후단의 메인 로프(332) 상에는 스핀로크(336)가 설치된다. 메인 로프(332)는 스핀로크(336)를 관통하여 지나가며, 스핀로크(336)는 메인 로프(332)의 일방향 장력에 대해서만 클램핑 체결된다. 이를 위하여 스핀로크(336)에는 라쳇기어(336a)가 구비된다.As shown, the spin lock 336 is provided on the main rope 332 after the second pulley 320b. The main rope 332 passes through the spin lock 336, and the spin lock 336 is clamped only for the one-way tension of the main rope 332. To this end, the spin lock 336 is provided with a ratchet gear 336a.

스핀로크(336)의 배면에 구비된 고정플레이트(336b)에는 보조 로프(334)의 일단이 고정되며, 보조 로프(334)의 타단은 역하중 무게추 유닛의 고정 브라켓(342)에 고정된다.One end of the auxiliary rope 334 is fixed to the fixing plate 336b provided on the rear surface of the spin lock 336, and the other end of the auxiliary rope 334 is fixed to the fixing bracket 342 of the reverse load weight unit.

도 4a를 참조하면, 구동모터(354)의 구동에 의해 보행훈련자가 상향 견인될 때 메인 로프(332)는 화살표 방향으로 이동한다. 이때 스핀로크(336)는 ‘unlock’ 상태로서, 메인 로프(332)는 스핀로크(336)를 관통하여 지나간다. 즉, 보조 로프(334)에는 장력이 인가되지 않은 상태이고, 도 3을 참조하여 설명한 바와 같이 역하중 무게추 유닛은 보행훈련자의 상향 견인 동작에 영향을 미치지 않는다.Referring to FIG. 4A, when the walking trainer is pulled upward by the driving of the driving motor 354, the main rope 332 moves in the direction of the arrow. At this time, the spin lock 336 is in an 'unlock' state, and the main rope 332 passes through the spin lock 336. That is, the tension is not applied to the auxiliary rope 334, and the reverse load weight unit does not affect the upward traction operation of the walking trainer as described with reference to FIG.

도 4b를 참조하면, 보행훈련자가 착지하는 과정에서 메인 로프(332)는 화살표 방향으로 이동한다. 이때 스핀로크(336)의 라쳇기어(336a)에 의해 스핀로크(336)가 메인 로프(332)에 클램핑 체결되는 ‘lock’ 상태로 전환된다. 따라서 도시한 바와 같이 보조 로프(334)에 상향으로 장력이 인가되며, 역하중 무게추 유닛은 보행훈련자에게 역하중을 인가한다.Referring to FIG. 4B, the main rope 332 moves in the direction of the arrow in the process of landing by the walking trainer. At this time, by the ratchet gear 336a of the spin lock 336, the spin lock 336 is switched to the 'lock' state that is clamped to the main rope 332. Therefore, the tension is applied upward to the auxiliary rope 334 as shown, the reverse load weight unit applies a reverse load to the walking trainer.

이와 같은 하중 견인기의 동작에 따르면, 컨트롤러(400)에서 구동모터(354)의 견인력을 제어함에 따라 환자의 체중이나 장애 정도에 맞게 적절한 견인력으로 보행훈련자를 상향 견인한다. 따라서 하중 견인기는 보행훈련자가 보행을 위해 발을 떼어 들어올리는 동작을 조력할 수 있다.According to the operation of the load retractor as described above, the controller 400 controls the traction force of the drive motor 354 to pull up the walking trainer with the appropriate traction force in accordance with the weight or disability of the patient. Thus, the load retractor can assist the walking trainer to lift off the foot for walking.

이와 더불어서, 보행훈련자가 발을 착지하는 과정에서는 역하중 무게추 유닛이 보행훈련자에게 역하중을 인가함으로써, 보행훈련자가 자신의 체중에서 역하중 무게추 유닛의 역하중을 감한 중량 부하로 착지를 할 수 있도록 한다.In addition, when the walking trainer lands the foot, the reverse load weight unit applies the reverse load to the walking trainer so that the walking trainer can land with the weight load subtracted from the reverse load of the reverse load weight unit. To help.

예를 들어, 역하중 무게추 유닛이 보행훈련자의 체중 전부에 근사하게 설정된 경우, 보행훈련자는 자신의 힘을 매우 적게 들이고 착지할 수 있을 것이다. 다른 예로서, 역하중 무게추 유닛이 보행훈련자의 체중 절반 이하에 대응하여 설정된 경우, 보행훈련자는 자신의 힘을 많이 사용하여 착지해야 할 것이다. 즉, 재활 치료가 상당히 진행된 환자 또는 관절 부상의 정도가 경미한 환자들은 역하중 무게추 유닛의 역하중 설정치를 낮게 하여 재활 치료를 수행함으로써, 효과적인 재활 치료를 가능하게 한다.For example, if the reverse load weight unit is set to approximate the entire weight of the walking trainer, the walking trainer will be able to land with very little effort. As another example, if the reverse load weight unit is set to correspond to less than half the weight of the walking trainer, the walking trainer will have to land using a lot of his strength. That is, patients who have undergone significant rehabilitation treatment or those who have a slight degree of joint injury perform effective rehabilitation treatment by performing the rehabilitation treatment by lowering the reverse load set point of the reverse load weight unit.

한편, 본원발명의 보행 훈련 장치는 보행보조로봇(100)을 상향 지지하는 로봇무게 밸런스 유닛을 더 포함할 수 있다. 도 5는 로봇무게 밸련스 유닛의 일실시예를 보여준다.On the other hand, the walking training device of the present invention may further include a robot weight balance unit for supporting the walking aid robot 100 upward. Figure 5 shows one embodiment of the robot weight balance unit.

도 5를 참조하면, 보행보조로봇(100)에 도르레 유닛(미도시) 또는 링크기구를 통해 로봇무게 밸련스 유닛이 연결된다. 로봇무게 밸런스 유닛은 보행보조로봇(100)에 역하중을 인가하기 위한 유닛으로서, 역하중 무게추 유닛과 마찬가지로 증감 가능한 복수의 단위 무게추(376)를 포함한다.Referring to FIG. 5, the robot weight balance unit is connected to the walking assistance robot 100 through a pulley unit (not shown) or a link mechanism. The robot weight balance unit is a unit for applying a reverse load to the walking assistance robot 100, and includes a plurality of unit weights 376 that can be increased or decreased like the reverse load weight unit.

도 5의 실시예에서, 로봇무게 밸런스 유닛은 단위 무게추(376)를 수용하는 체대(370), 보행보조로봇(100)을 상향 견인하기 위한 로봇견인로프(372), 로봇견인로프(372)와 단위 무게추(376)를 연결하는 링크볼(374), 단위 무게추(376)의 역하중을 탄성 지지하는 제1 스프링(382), 보행 중 체간 높이의 변화에 따른 관성력을 보상하기 위한 제2 스프링(383)으로 구성된다.In the embodiment of Figure 5, the robot weight balance unit is a body towing 370 that accommodates the unit weight 376, the robot towing rope 372, the robot towing rope 372 for pulling up the walking aid robot 100 And a link ball 374 for connecting the unit weight 376, a first spring 382 elastically supporting the reverse load of the unit weight 376, and an agent for compensating the inertia force caused by the change in the height of the trunk during walking. It consists of two springs 383.

로봇무게 밸런스 유닛은 역하중 무게추 유닛에서와 유사한 구조로 고정핀(378)을 단위 무게추(376)에 끼워 보행보조로봇(100)에 대한 적절한 역하중을 선택할 수 있도록 한다. 예를 들어, 보행보조로봇(100) 중에서 족관절 로봇(100c)을 선택적으로 탈부착하거나, 성인용 보행보조로봇(100)을 제거하고 어린이용 보행보조로봇(100)으로 대체한 경우 등과 같이 보행보조로봇(100)의 전체 하중이 변경되는 경우, 관리자는 고정핀(378)을 끼움 위치를 이동하여 현재 보행보조로봇(100)의 하중에 맞는 적절한 역하중을 선택할 수 있다.The robot weight balance unit has a structure similar to that of the reverse load weight unit so that the fixed pin 378 can be fitted to the unit weight 376 to select an appropriate reverse load for the walking aid robot 100. For example, the walking assistant robot 100c can be selectively attached or detached from the walking assistant robot 100 or the walking assistant robot 100 is removed and replaced with a walking assistant robot 100 for a child. If the total load of 100) is changed, the manager may move the fixing pin 378 to a fitting position to select an appropriate reverse load that is suitable for the load of the current walking assistance robot 100.

제1 스프링(382)은 단위 무게추(376)가 갑자기 떨어지는 현상을 방지하기 위한 모멘트 보상을 위한 것으로, 단위 무게추(376)가 갑자기 떨어질 때 단위 무게추(376)를 탄성지지한다. 이때 제1 스프링(382)의 하단에는 스프링의 압축량을 조절하기 위한 스프링 조절 너트(384)가 설치된다. 제2 스프링(383)은 보행 훈련자가 보행중 체간 높이의 변화에 따른 관성력을 보상하기 위한 것으로, 단위 무게추(376)가 상향 이동할 때, 단위 무게추(376)를 탄성지지한다. 중간 지지판(385)는 제일 상단에 있는 단위 무게추(376)에 고정되어 같이 이동하면서, 제1 내지 제2 스프링(382, 383)의 탄성력을 지지하는 역할을 한다. The first spring 382 is for moment compensation to prevent a sudden drop of the unit weight 376, and elastically supports the unit weight 376 when the unit weight 376 suddenly falls. At this time, a spring adjustment nut 384 for adjusting the compression amount of the spring is installed at the lower end of the first spring 382. The second spring 383 compensates for the inertia force caused by the change in the height of the trunk during walking by the walking trainer, and elastically supports the unit weight 376 when the unit weight 376 moves upward. The intermediate support plate 385 is fixed to the unit weight 376 at the top thereof and moves together to support the elastic force of the first to second springs 382 and 383.

로봇무게 밸런스 유닛은 하중 견인기와는 별도로 장치되어, 보행보조로봇(100)에 대하여만 역하중을 인가한다. 이와 같이 로봇무게 밸런스 유닛을 별도로 구비하는 경우, 하중 견인기의 부하가 줄어들고 보행훈련자는 보행 훈련 도중 보행보조로봇(100)의 무게감을 느끼지 않게 된다. 따라서 보다 자연스러운 보행 훈련이 가능하다.The robot weight balance unit is provided separately from the load retractor and applies a reverse load only to the walking aid robot 100. As such, when the robot weight balance unit is separately provided, the load of the load retractor is reduced and the walking trainer does not feel the weight of the walking assistance robot 100 during the walking training. Therefore, more natural gait training is possible.

또한, 로봇무게 밸런스 유닛에서 보행보조로봇(100)의 무게에 따라 역하중 밸런스를 별도로 조절할 수 있어, 하중 견인기에서 보행보조로봇(100)의 무게 변동에 개별적으로 대응할 필요가 없어진다.In addition, the load balance can be separately adjusted according to the weight of the walking aid robot 100 in the robot weight balance unit, so that it is not necessary to individually correspond to the weight variation of the walking aid robot 100 in the load retractor.

이상 설명한 본 발명은 전술한 실시예 및 첨부된 도면에 의해 한정되는 것이 아니고, 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 여러 가지 치환, 변형 및 변경이 가능하다는 것이, 본 발명의 기술분야에서 통상의 지식을 가진 자에게 있어 명백할 것이다.The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is common in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

100 : 보행 보조 로봇 200 : 트레드밀
300 : 하중 견인기 305 : 견인슈트
310 : 하네스 320 : 견인블록
332 : 메인 로프 334 : 보조 로프
336 : 스핀로크 342 : 고정 브라켓
344 : 단위 무게추 345 : 고정핀
346 : 로드 348 : 돌출턱
372 : 로봇견인로프 374 : 링크볼
376 : 단위 무게추 378 : 고정핀
382 : 제1 스프링 383: 제2 스프링
384 : 스프링 조절 너트 385: 중간 지지판100: walking aid robot 200: treadmill
300: load retractor 305: towing chute
310: harness 320: towing block
332: main rope 334: auxiliary rope
336: spin lock 342: fixed bracket
344: unit weight 345: fixed pin
346: rod 348: protruding jaw
372: robot tow rope 374: link ball
376: unit weight 378: fixed pin
382: first spring 383: second spring
384: spring adjustment nut 385: intermediate support plate

Claims (9)

보행훈련자의 하체에 착용되는 보행보조로봇;
보행훈련자에게 지정 속도로 이동하는 바닥면을 제공하는 트레드밀;
보행훈련자의 몸체를 상향 지지하는 하중 견인기; 및
상기 보행보조로봇, 트레드밀 및 하중 견인기의 구동을 제어하는 컨트롤러를 포함하며,
상기 하중 견인기는,
보행훈련자의 몸체에 착용되는 견인슈트;
상기 견인슈트에 연결되는 메인 로프;
상기 메인 로프를 당기도록 구동하여 견인슈트를 상향 견인하는 구동모터;
보행훈련자에게 역하중을 인가하는 역하중 무게추 유닛;
상기 메인 로프 상에 설치되며 메인 로프의 일방향 장력에만 클램핑 체결되는 스핀로크; 및
일단은 상기 스핀로크에 고정되고 타단은 상기 역하중 무게추 유닛에 고정된 보조 로프를 포함하는 보행 훈련 장치.
Walking assistant robot worn on the lower body of the walking trainer;
A treadmill providing a walking trainer a floor surface moving at a specified speed;
A load retractor supporting the body of the walking trainer upward; And
It includes a controller for controlling the drive of the walking aid robot, treadmill and load retractor,
The load retractor,
Towing suit worn on the body of the walking trainer;
A main rope connected to the towing chute;
A driving motor for driving the main rope to pull the towing chute upward;
A reverse load weight unit for applying a reverse load to the walking trainer;
A spin lock installed on the main rope and clamped only in one direction of the main rope; And
A walking training device, wherein one end is fixed to the spin lock and the other end includes an auxiliary rope fixed to the counterweight weight unit.
삭제delete 제1항에 있어서,
상기 스핀로크는 메인 로프에 로크될 때 상기 견인슈트측으로 장력이 걸릴때만 클램핑되는 라쳇기어를 포함하는 보행 훈련 장치.
The method of claim 1,
And the spin lock includes a ratchet gear that is clamped only when tension is applied to the towing chute side when locked to the main rope.
제1항에 있어서,
상기 역하중 무게추 유닛은,
상기 메인 로프가 관통되는 중공의 로드;
상기 로드의 외주면에 적층되는 복수의 단위 무게추;
상기 단위 무게추를 상기 로드에 고정하는 고정핀; 및
최상부의 단위 무게추 상면에 고정 설치되며 중앙으로 상기 메인 로프가 관통되고 상기 보조 로프의 타단이 고정되는 고정 브라켓을 포함하는 보행 훈련 장치.
The method of claim 1,
The reverse load weight unit,
A hollow rod through which the main rope passes;
A plurality of unit weights stacked on an outer circumferential surface of the rod;
A fixing pin for fixing the unit weight to the rod; And
And a fixing bracket fixedly installed on an upper surface of the upper portion of the unit weight and having a main bracket penetrated to the center and the other end of the auxiliary rope fixed thereto.
제1항, 제3항 또는 제4항 중 어느 한 항에 있어서,
상기 역하중 무게추 유닛과 상기 구동모터의 사이에는 상기 메인 로프의 처짐을 방지하도록 메인 로프를 임시 수용하는 로프처짐방지수단이 더 설치되는 보행 훈련 장치.
The method according to any one of claims 1, 3, and 4,
Gait training device is further provided between the reverse load weight unit and the drive motor is rope sagging prevention means for temporarily receiving the main rope to prevent sagging of the main rope.
제1항에 있어서,
상기 보행보조로봇은 보행훈련자의 고관절에 착용되는 고관절 로봇, 보행훈련자의 슬관절에 착용되는 슬관절 로봇, 보행훈련자의 족관절에 착용되는 족관절 로봇 중 적어도 어느 하나를 포함하는 보행 훈련 장치.
The method of claim 1,
The walking aid robot includes a walking training apparatus including at least one of a hip joint robot worn on a hip joint of a walking trainer, a knee joint robot worn on a knee joint of a walking trainer, and an ankle joint robot worn on a foot joint of a walking trainer.
제1항, 제3항, 제4항, 또는 제6항 중 어느 한 항에 있어서,
상기 보행보조로봇에 연결되며 보행보조로봇을 상향 지지하여 보행보조로봇의 무게 밸런스를 조절하는 로봇무게 밸런스 유닛을 더 포함하는 보행 훈련 장치.
The method according to any one of claims 1, 3, 4 or 6,
A walking training device further comprising a robot weight balance unit connected to the walking assistance robot and upwardly supporting the walking assistance robot to adjust the weight balance of the walking assistance robot.
제7항에 있어서,
상기 로봇무게 밸런스 유닛은 상기 보행보조로봇에 역하중을 인가하며 증감 가능한 복수의 단위 무게추를 포함하는 보행 훈련 장치.
The method of claim 7, wherein
The robot weight balance unit is a gait training device that applies a reverse load to the walking aid robot and includes a plurality of unit weights that can be increased or decreased.
제8항에 있어서,
상기 로봇무게 밸런스 유닛은 상기 단위 무게추를 탄성지지하는 스프링을 더 포함하는 보행 훈련 장치.9. The method of claim 8,
The robot weight balance unit further comprises a spring for elastically supporting the unit weight.
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Publication number Priority date Publication date Assignee Title
KR101562328B1 (en) 2014-07-07 2015-10-22 주식회사 피앤에스미캐닉스 Unweighting System and Walking Practice Apparatus having the same
WO2016006760A1 (en) * 2014-07-07 2016-01-14 주식회사 피앤에스미캐닉스 Reverse load system and walking training apparatus having same
CN113226487A (en) * 2019-07-01 2021-08-06 株式会社海科识 Weight-reducing support system utilizing winch to compensate traction device and operation method thereof
CN113226487B (en) * 2019-07-01 2022-07-26 株式会社海科识 Weight-reducing support system utilizing winch to compensate traction device and operation method thereof

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