CN104474668A - Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof - Google Patents

Abstract

The invention discloses a self-adaptive weight loss mechanism for lower limb gait rehabilitation training and a control method, comprising a bracket, a pedal module arranged on the horizontal plate of the bracket, a swing rod arranged on the vertical plate of the bracket, and the The fixed module connected to one end of the swing rod and the counterweight module connected to the other end; the present invention realizes the adjustment of the center of gravity of the counterweight module itself through the left and right movement of the counterweight, and realizes self-adaptive balance of the counterweight, thereby driving the swing rod to swing up and down to realize rehabilitation. The trainer moves up and down to ensure that the set posture of the rehabilitation trainer does not change with the adjustment of the adaptive control, so as to realize the adaptive weight loss rehabilitation training of the lower limbs.

Description

Self-adaptive weight loss mechanism and control method for lower limb gait rehabilitation training

technical field

The invention relates to a weight loss mechanism and a control method, in particular to a weight loss mechanism and a control method with an adaptive weight loss function for lower limb rehabilitation training.

Background technique

In daily life, patients with lower limb motor dysfunction diseases often encounter great obstacles in their lower limb rehabilitation training because they lose their body balance and are limited by the limited support capacity of their lower limbs. At present, lower limb rehabilitation training institutions, as automated medical instruments to assist patients in rehabilitation training, can provide patients with physical balance, and patients can actively carry out rehabilitation training with the support of rehabilitation training institutions. However, the limited support ability of the lower limbs of the rehabilitation trainer has not been fully and reasonably considered in the rehabilitation training. If the rehabilitation training is carried out only by the support strength of the arm, it will be too heavy, too difficult and not safe for the rehabilitation trainer. At this time, it is inseparable from the careful help of the nursing staff, and the requirements for the nursing staff will be very high.

Contents of the invention

The present invention fully considers the loss of body balance ability and limited support ability of lower limb rehabilitation trainers, and in order to safely and reliably solve the problem of independent rehabilitation training for lower limb rehabilitation trainers, a lower limb gait rehabilitation training that can realize self-adaptive weight loss is proposed Adaptive weight reduction mechanism and control method.

The present invention adopts following technical scheme:

An adaptive weight loss mechanism for gait rehabilitation training of lower limbs, comprising a bracket, a pedal module arranged on the horizontal plate of the bracket, a swing rod arranged on the vertical board of the bracket for rotation, and a fixing rod connected to one end of the swing rod. module and a counterweight module connected to the other end of the swing rod; the fixed module is used to fix the rehabilitation trainer; the pedal module measures the pressure exerted by the rehabilitation trainer on the pedal module; the counterweight module adjusts its center of gravity The swing bar can swing up and down, thereby adjusting the pressure of the rehabilitation trainer on the pedal module.

The fixing module includes a strap and a bearing plate.

The pedal module is composed of a pedal and a load cell group installed under the pedal.

The load cell group is composed of four load cells, and the four load cells are evenly distributed under the pedal near the four corners. The load cell group is communicatively connected with the computer.

The counterweight module includes a counterweight frame, a counterweight, a guide rail for the counterweight to slide, and a drive mechanism connected with the counterweight to drive the counterweight to slide; the drive mechanism includes a motor, a screw rod and a Nuts on the screw. During the design, the quality of the counterweight and the length of each part can be modified, such as the length of the guide rail and the screw rod, the length of the swing rod, etc., to suit people with different needs.

A safety baffle is also provided on the support, and the safety baffle is arranged under the swing rod, and is used to limit the swing angle of the swing rod up and down.

A method for controlling an adaptive weight loss mechanism for lower limb gait rehabilitation training, the specific steps are as follows:

Step 1: Preset the threshold z through the computer before use, z is the upper limit of the pressure value that the rehabilitation trainer expects to cause on the pedal, and the unit is N;

Step 2: Use the straps in the fixing module to fix the rehabilitation trainer's back against the load-bearing board;

Step 3: After the rehabilitation trainer is ready, turn on the power of each part, and the mechanism will start to work;

Step 4: The load cell group works to measure the pressure value of the rehabilitation trainer on the pedal, and sends the data to the computer through the communication connection. The data received by the computer is converted into a pressure value s, the unit is N, and the preset threshold value z In comparison, if s>z, the computer controls the motor to rotate, and the motor drives the screw to rotate through the coupling, and then through the cooperation of the screw and the nut, the cooperation of the through hole and the guide rail, it drives the counterweight to move away from the rehabilitation trainer until the desired When the test s satisfies s<=z, the motor stops rotating and waits for the next rotation command;

Step 5: Rehabilitation trainees carry out weight loss rehabilitation training;

Step 6: If the preset threshold needs to be changed during the training process, modify the threshold on the computer and return to step 4;

Step 7: After the lower limb rehabilitation training is over, the computer controls the motor to rotate, driving the counterweight to move to the top towards the rehabilitation trainer, and the nurse helps the rehabilitation trainer to safely remove the device and turn off the power of the device.

In step 6, the computer detects whether the preset threshold z changes every 5 seconds, and if there is no change, it continues to run at _the preset threshold z. Change the threshold z before weight loss control; in the next detection after 5 seconds, if the detected threshold z ₂ is equal to z ₁ , carry out weight loss control according to z ₁ ; if z ₂ is not equal to z ₁ , continue Control according to z, and record the threshold at this time. That is to say, the value detected twice after the change is the same, and then the control threshold is changed, and the change time of the control amount is between 5-10 seconds.

Compared with prior art, the present invention has following advantage:

(1) The present invention adopts a swing rod, which can swing up and down during the adaptive adjustment process without plane rotation, and can keep the posture of the rehabilitation trainer unchanged, and the adaptive adjustment process will not bring discomfort to the rehabilitation trainer;

(2) The present invention can fully consider the supporting capacity of the lower limbs according to the different weights of the rehabilitation trainers, and can adjust the counterweight adaptively, so that the rehabilitation trainers can realize the self-adaptive weight loss of the lower limbs when the pedal pressure is lower than the set threshold Rehabilitation.

(3) The present invention can carry out self-adaptive weight loss adjustment, is applicable to a wide range of people, and can achieve better crowd adaptability.

(4) The present invention adopts a simplified and effective control method, the control process is continuous, and the real-time performance is good. In the invention, a safety baffle device is added, so that the safety of use is better guaranteed.

Description of drawings

Fig. 1 is the concrete implementation flowchart of the present invention;

Fig. 2 is a schematic diagram of the distribution of four load cells in the pedal module of the present invention;

Fig. 3 is an example structural diagram of the present invention;

Fig. 4 is a schematic diagram of an example scene of the present invention;

The labels in the accompanying drawings are: 1. load-bearing plate and strap; 2. force sensor group; 3. pedal; 4. swing rod; 5. bracket; 6. safety baffle; 7. motor; 8. nut; 9. wire Rod; 10. Counterweight; 11. Guide rail; 12. Through hole; 13. Coupling; 14. Counterweight frame.

Detailed ways:

The following takes the example scenario schematic diagram of Fig. 3 as an example, and in conjunction with Fig. 1 and Fig. 2, the specific implementation steps of the present invention are described:

As shown in Figure 1 and Figure 3, the present invention discloses a lower limb gait rehabilitation training self-adaptive weight loss mechanism and a control method, the lower limb gait rehabilitation training self-adaptive weight loss mechanism comprises a bracket, which is arranged on the horizontal plate of the bracket on the pedal module, turn the swing lever set on the vertical plate of the bracket, the fixed module connected to one end of the swing lever and the counterweight module connected to the other end of the swing lever; the fixed module is fixed by the strap It is composed of a load-bearing plate 1 and is used for fixing a rehabilitation trainer. The pedal module is composed of a pedal 3 and a force sensor group 2 installed under the pedal. The force sensor group 2 is composed of four force sensors, and the four force sensors are evenly distributed under the pedal near four corners. Figure 2. The pedal module is used to measure the pressure exerted by the rehabilitation trainer on the pedal module; the counterweight module includes a counterweight frame 14, a counterweight 10, a guide rail 11 for sliding the counterweight 10 and a drive connected with the counterweight 10 mechanism, the driving mechanism is used to drive the counterweight 10 to slide. A through hole 12 is provided on the counterweight 10 for the guide rail 11 to pass through the counterweight 10 and make the counterweight 10 slide on the guide rail 11 . The drive mechanism includes a motor 7, a shaft coupling 13, a screw 9 and a nut 8 sleeved on the screw 9. The motor 7 is fixed on the counterweight frame 14 with four screws, and the motor 7 is connected to the shaft and the screw 9. Connected by the shaft coupling 13, the screw mandrel 9 can be driven to rotate. Also be provided with safety baffle 6 on support 5, safety baffle 6 is arranged on the bottom of swing bar 4, can limit the angle that swing bar 4 swings up and down, plays a safety role, guarantees that the rehabilitation trainer will not be lifted too high or pressed down. too low; force sensor group 2 is connected with computer communication, and motor 7 is connected with computer communication; as shown in Figure 4.

The force sensor 2 is used to measure the pressure exerted by the rehabilitation trainer on the pedal, and the computer obtains the measured data through a communication connection and compares it with the preset threshold z, and controls the rotation of the motor 7 according to the result of the comparison between the measured pressure s and the preset threshold z, The motor 7 drives the screw to rotate through the shaft coupling 13, and then through the cooperation of the nut 8 under the counterweight 10 and the screw 9, the cooperation of the through hole 12 on the counterweight 10 and the guide rail 11 drives the counterweight 10 to move left and right, realizing The center of gravity of the counterweight module changes, and the self-adaptive counterweight balance. By moving the counterweight 10 left and right to adjust the change of its own center of gravity, thereby driving the swing rod to swing up and down, thereby realizing the up and down movement of the rehabilitation trainer, and adjusting the pressure of the rehabilitation trainer on the pedal module. In the present invention, the up and down swing of the swing rod 4 is replaced by the in-plane rotation, so as to ensure that the set posture of the rehabilitation trainer does not change with the adjustment of the adaptive control, and realize the adaptive weight loss rehabilitation training of the lower limbs.

The specific steps are as follows:

Step 1: Preset the threshold z through the computer before use, z is the upper limit of the pressure value that the rehabilitation trainer expects to cause on the pedal 3, and the unit is N;

Step 2: Use the straps in the fixing module to fix the rehabilitation trainer's back against the load-bearing board 1;

Step 3: After the rehabilitation trainer is ready, turn on the power of each part, and the mechanism will start to work;

Step 4: The load cell group 2 works, measures the pressure value of the rehabilitation trainer on the pedal, and transmits the data to the computer, and the computer sums the data measured by the four load cell 2 and converts it into a pressure value s, and the unit is N , and compared with the preset threshold z, if s > z, the computer controls the rotation of the motor 7, the motor 7 drives the screw 9 to rotate through the coupling 13, and the screw 9 and the nut 8 cooperate, the through hole 12 and the guide rail 11 Cooperate, drive the counterweight 10 to move away from the rehabilitation trainer, until the measured s satisfies s<=z, the motor 7 stops rotating, and waits for the next rotation command;

Step 5: Rehabilitation trainees carry out weight loss rehabilitation training;

Step 6: If the preset threshold z needs to be changed during the training process, modify the threshold z on the computer and return to step 4; the computer detects whether the preset threshold z changes every 5 seconds, and if there is no change, continue to use the preset threshold z Run, if the threshold value change is detected, record the changed threshold value z ₁ , and still carry out weight loss control according to the threshold value z before the change; in the next detection after 5 seconds, if the detected threshold value z ₂ is equal to z ₁ , carry out weight reduction control according to z ₁ ; if z ₂ is not equal to z ₁ , continue to carry out control according to z, and record the threshold at this time. That is to say, the value detected twice after the change is the same, and then the control threshold is changed. The change time of the control amount is between 5-10 seconds, which plays the role of delaying the change of the threshold. Afterwards, the computer continuously monitors the threshold of the weight reduction mechanism.

Step 7: After the lower limb rehabilitation training is over, the computer controls the motor to rotate, driving the counterweight 10 to move towards the rehabilitation trainer to the top, and the nurse helps the rehabilitation trainer to safely unload the device and turn off the power of the device.

In the specific embodiment of the present invention, the mass of the counterweight and the length of each part can be modified during design, such as the length of the guide rail and the screw rod, the length of the swing rod, etc., so as to be suitable for people with different needs.

In the foregoing description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the above descriptions are only preferred embodiments of the present invention, and the present invention can be implemented in many other ways different from those described here, so the present invention is not limited by the specific implementations disclosed above. All the content that does not deviate from the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (8)

1. a lower limb gait rehabilitation training self adaptation loss of weight mechanism, is characterized in that: comprise support, the pedal module be arranged on described support transverse slat, rotate the counterweight module being arranged on the swing arm on described support riser, the stuck-module be connected with described swing arm one end and being connected with the described swing arm other end; Described stuck-module is used for fixing rehabilitation training person; Described pedal module measures rehabilitation training person to pedal module applied pressure; Described counterweight module realizes swing arm by self center of gravity of adjustment and swings up and down, thus adjustment rehabilitation training person is to the pressure of pedal module.

2. lower limb gait rehabilitation training self adaptation loss of weight mechanism according to claim 1, is characterized in that: described stuck-module comprises braces and bearing plate.

3. lower limb gait rehabilitation training self adaptation loss of weight mechanism according to claim 1, is characterized in that: described pedal module is made up of the force cell group be equipped with under pedal and pedal.

4. lower limb gait rehabilitation according to claim 3 training self adaptation loss of weight mechanism, is characterized in that: described force cell group is made up of four force cells, and four force cells are evenly distributed under described pedal close to four corners.

5. lower limb gait rehabilitation according to claim 1 training self adaptation loss of weight mechanism, is characterized in that: described counterweight module comprises counter-balanced carriage, counterweight, to carry out the guide rail that slides and be connected with counterweight and drive the driving mechanism that counterweight is slided for counterweight.

6. lower limb gait rehabilitation training self adaptation loss of weight mechanism according to claim 1, it is characterized in that: described support is also provided with safety screen, described safety screen is arranged on below described swing arm.

7. application rights requires the lower limb gait rehabilitation training self adaptation loss of weight mechanism control method described in 1, it is characterized in that: concrete steps are as follows:

Step 1: passing through computer predetermined threshold value z, z before using is the force value upper limit that rehabilitation training person expects to cause pedal, unit N;

Step 2: use the braces in stuck-module that rehabilitation training person is leaned against bearing plate and fix;

Step 3: open each several part power supply after rehabilitation training person is ready to, namely mechanism starts working;

Step 4: force cell group works, measure the force value that rehabilitation training person implements pedal, and data are sent to computer by communication connection, the data transformations that computer receives is force value s, unit is N, and compare with predetermined threshold value z, if s > is z, then computer controls electric machine rotation, and motor drives screw mandrel to rotate by shaft coupling, then by screw mandrel and nut screw connection, through hole coordinates with guide rail, drive counterweight dorsad rehabilitation training person moves, and swing arm swings, and drives rehabilitation training person to move up; Until survey s and meet s <=z, motor stalls, wait for and rotate order next time;

Step 5: rehabilitation training person carries out loss of weight rehabilitation training;

Step 6: if need in training process to change predetermined threshold value, then revise threshold value on computers, and return step 4;

Step 7: lower limb rehabilitation training terminates, computer controls motor and rotates, and drive counterweight to move to top towards rehabilitation training person, nursing staff helps rehabilitation training person to unload equipment safely, closing device power supply.

8. lower limb gait rehabilitation training self adaptation loss of weight mechanism control method according to claim 7, it is characterized in that: in step 6, whether computer detected predetermined threshold value z every 5 seconds changes, if unchanged, continue to run with predetermined threshold value z, if when detecting that threshold value changes, the threshold value after record changes is z ₁, now still carry out loss of weight control according to the threshold value z before change; In detection next time after 5 seconds, if the threshold value z detected ₂equal z ₁, then according to z ₁carry out loss of weight control; If z ₂be not equal to z ₁, then continue to control according to z, record threshold value now.