CN115463379A - Gait training-oriented sole hydraulic control type weight losing device - Google Patents

Abstract

The invention relates to a foot-sole hydraulic control type weight reducing device for gait training, which comprises a running platform unit, a foot-sole hydraulic control unit and a spring weight reducing unit, wherein the foot-sole hydraulic control unit is arranged on the running platform unit, the spring weight reducing unit is positioned on one side of the running platform unit, a shoe body in the foot-sole hydraulic control unit is arranged on a running platform plate, a forefoot hydraulic bag and a heel hydraulic bag are arranged at the position of a forefoot and the position of a heel at the bottom of the shoe body, a forefoot hydraulic pipe and a heel hydraulic pipe are arranged on one side of the shoe body, a forefoot hydraulic cylinder and a heel hydraulic cylinder are arranged on a weight reducing base of the spring weight reducing unit, the forefoot hydraulic bag is connected with the forefoot hydraulic cylinder through the forefoot hydraulic pipe, and the heel hydraulic bag is connected with the heel hydraulic cylinder through the heel hydraulic pipe. According to the invention, by controlling the contraction and expansion frequency of the hydraulic bag and the consistency of the gait training of the patient on the intelligent running table, the degree of vertical shaking of the gravity center of the human body of the patient during the gait rehabilitation training can be slowed down, so that the effect of constant weight reduction is achieved.

Description

Plantar fluid-controlled weight reduction device for gait training

technical field

The invention belongs to the technical field of medical devices, in particular to a plantar fluid-controlled weight loss device for gait training.

Background technique

In recent years, the cases of patients with lower limb paralysis due to spinal cord injury, neurological injury, muscle injury and other reasons have gradually increased, which not only brought huge psychological and physical harm to the patients, but also brought spiritual and economic harm to the families of the patients. burden. At present, the rehabilitation training in most hospitals relies on professional rehabilitation physicians to perform rehabilitation treatment for patients with bare hands, but the disadvantages of this training method are: the number of professional rehabilitation physicians is small; Continuously perform rehabilitation training for multiple patients; this rehabilitation training model relies on the subjective judgment of professional rehabilitation physicians, and cannot guarantee the strength and accuracy of rehabilitation. Therefore, active research and development of various lower limb rehabilitation robots has become an urgent need. The emergence of lower limb rehabilitation robots can help patients start gait rehabilitation training early, thereby helping patients recover lower limb muscle strength, avoid muscle atrophy, maintain and expand joint mobility, prevent spasticity, and promote the recovery of walking ability.

Therefore, a constant weight loss rehabilitation training device that can help patients perform lower limb rehabilitation training needs to be developed urgently.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides a foot hydraulic control weight-reducing device for gait training. There are hydraulic bladders at the forefoot and rear heel of the shoe body, which are driven by controlling electric push cylinders. The hydraulic cylinder can feed hydraulic oil into the hydraulic bladder, thereby causing the hydraulic bladder to shrink and expand. At the same time, by controlling the frequency of hydraulic bladder contraction and expansion to be consistent with the user's gait training on the smart treadmill, it can slow down the user's walking time. The degree to which the center of gravity of the human body shakes up and down during gait rehabilitation training, so as to achieve the effect of constant weight loss.

The technical solution adopted by the present invention is a foot fluid control type weight loss device for gait training, which includes a treadmill unit, a foot fluid control unit and a spring weight reduction unit, and the foot fluid control unit is located at the On the treadmill unit, the spring weight reduction unit is located on one side of the treadmill unit, and the foot hydraulic control unit includes a shoe body, a forefoot hydraulic bag, a heel hydraulic bag, a forefoot hydraulic tube, a heel hydraulic Tube, forefoot electric drive liquid control box and heel electric drive liquid control box. There is a pressure sensor, the forefoot hydraulic bag and the heel hydraulic bag are respectively provided at the forefoot and the rear heel of the bottom of the shoe body, and the front tightening bag is provided under the forefoot hydraulic bag and the heel hydraulic bag respectively. The base plate and the rear tighten the base plate, and the circumferential direction of the forefoot hydraulic bag and the heel hydraulic bag are respectively equipped with a front tightening spring and a rear tightening spring, and the front tightening spring is located between the shoe body and the front Between the tightening base plates, the rear tightening spring is located between the shoe body and the rear tightening base plate, the forefoot electric drive hydraulic control box and the heel electric drive hydraulic control box are both located in the on the weight-reducing base in the spring weight-reducing unit, and the forefoot electric drive cylinder and the forefoot hydraulic cylinder are arranged in the forefoot electric drive hydraulic control box, and the forefoot electric push cylinder and the forefoot hydraulic cylinder pass through The thread conversion piece is connected, and the piston block at one end of the front palm electric push cylinder is slidably set in the front palm hydraulic cylinder, and the heel electric drive hydraulic control box is provided with a heel electric push cylinder and a heel hydraulic cylinder. The heel electric push cylinder is connected to the heel hydraulic cylinder through a thread conversion piece, and the piston block at one end of the heel electric push cylinder is slidably arranged in the heel hydraulic cylinder, and the front palm hydraulic pipe and the heel hydraulic pipe are located at One side of the shoe body, and the first end of the forefoot hydraulic pipe is connected with the forefoot hydraulic bladder, the second end of the forefoot hydraulic pipe is connected with the forefoot hydraulic cylinder, and the heel hydraulic pressure A first end of the tube is connected to the heel hydraulic bladder, and a second end of the heel hydraulic tube is connected to the heel hydraulic cylinder.

Further, the spring weight reduction unit includes a weight reduction base, a weight reduction bracket, a gear motor box, a weight reduction spring, a first rope, a suspension vest and a second rope, and the weight reduction base is located on the treadmill. rear side, and the bottom of the weight reduction base is provided with universal wheels, the weight reduction bracket is arranged on the weight reduction base, and the weight reduction bracket is provided with pulleys, and the suspension vest is arranged on the The front end of the weight reduction bracket, and the suspension vest is located above the shoe body, the reduction motor box is set on the weight reduction base, and the reduction motor box is provided with a reduction motor and a hoist , the output shaft of the geared motor is connected to the rotating shaft of the winch through a coupling, and the first end of the first rope is wound on the winch, and the second end of the first rope It is connected with the first end of the weight reduction spring, and the second end of the weight reduction spring is connected with the first end of the second rope, and the second end of the second rope passes through the pulley and the The suspension vest is connected, and a tension sensor is arranged above the suspension vest.

Preferably, the first end of the front tightening spring is fixed to the bottom of the shoe body through a clip, and the second end of the front tightening spring is fixed to the upper end surface of the front tightening bottom plate through a clip , the first end of the rear tightening spring is fixed to the bottom of the shoe body through a clamp, and the second end of the rear tightening spring is fixed to the upper end surface of the rear tightening bottom plate through a clamp.

Preferably, both the forefoot hydraulic pipe and the heel hydraulic pipe are provided with buckles for fixing.

Features and beneficial effects of the present invention are:

1. The present invention provides a foot hydraulic control type weight-reducing device for gait training. Hydraulic bladders are respectively provided at the forefoot and rear heel of the shoe body, and the hydraulic cylinder driven by the electric push cylinder can be used to The hydraulic oil is injected into the hydraulic bladder, thereby causing the hydraulic bladder to shrink and expand. At the same time, by controlling the frequency of hydraulic bladder contraction and expansion to be consistent with the user's gait training on the smart treadmill, it can slow down the user's gait rehabilitation training. The degree to which the center of gravity of the human body shakes up and down, so as to achieve the effect of constant weight reduction.

2. The plantar fluid-controlled weight-reducing device for gait training provided by the present invention is provided with a suspension vest above the running board, and the patient can wear the suspension vest and shoe body during rehabilitation training. Standing on the running platform, the suspension vest is connected to the deceleration motor through the rope and the weight reduction spring, and then the weight reduction spring is stretched by controlling the deceleration motor, so as to achieve the weight loss effect of adjusting the human body's gait rehabilitation training.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of treadmill unit of the present invention;

Fig. 3 is a schematic structural view of the plantar fluid control unit of the present invention;

Fig. 4 is a schematic structural view of the shoe body in the foot hydraulic control unit of the present invention;

Fig. 5 is a sectional view of the shoe body in the foot hydraulic control unit of the present invention;

Fig. 6 is a schematic structural view of the spring weight reducing unit of the present invention;

Fig. 7 is a schematic diagram of the automatic control system of the present invention;

Fig. 8 is a schematic diagram of the control mode of the present invention.

Main reference signs:

Treadmill unit 001; man-machine interface 101; storage table 102; contact insert switch 103; armrest 104; base bracket 105; treadmill board 106; foot hydraulic control unit 002; 202; Heel hydraulic bag 203; Front tightening spring 204; Front tightening base plate 205; Front palm hydraulic pipe 206; Heel hydraulic pipe 207; Front palm electric drive hydraulic control box 208; Push cylinder 210; heel electric push cylinder 211; front palm hydraulic cylinder 212; heel hydraulic cylinder 213; pressure sensor 214; rear tightening spring 215; rear tightening bottom plate 216; spring weight reduction unit 003; Base 302; deceleration motor 303; weight reduction bracket 304; reduction motor box 305; weight reduction spring 306; pulley 307; first rope 308; suspension vest 309; second rope 310; tension sensor 311.

detailed description

In order to detail the technical content, structural features, achieved goals and effects of the present invention, the following will be described in detail in conjunction with the accompanying drawings.

The present invention provides a foot fluid control type weight loss device for gait training, as shown in Figure 1, it includes a treadmill unit 001, a foot fluid control unit 002 and a spring weight reduction unit 003, the foot fluid control unit 002 is set on the treadmill unit 001, and the spring weight reduction unit 003 is located on one side of the treadmill unit 001.

As shown in Figure 2, the treadmill unit 001 includes a human-computer interaction interface 101, a storage table 102, a contact type insert switch 103, an armrest 104, a base bracket 105 and a treadmill board 106, and the human-computer interaction interface 101 is located in the treadmill unit. The front end of 001 can adjust the weight loss value and the running speed of the treadmill 106 through the touch screen. The storage table 102 is connected to the human-computer interface 101, which can realize the placement of mobile phones and water cups. The contact type insert switch 103 is located on the storage table 102 On the inner side, in case of an emergency, the operation of the running platform 106 can be stopped. The handrails 104 are located on both sides of the storage platform 102, and are fixedly connected to the storage platform 102 by bolts, which can provide support for the patient during rehabilitation training. And the angle and height can be adjusted. The base support 105 is placed horizontally on the ground and is fixedly connected with the handrail 104 to provide support for the above-mentioned components. The running platform 106 is located in the middle of the base support 105 and can provide a suitable running speed for the patient.

As shown in Figures 3 to 5, the sole hydraulic control unit 002 includes a shoe body 201, a forefoot hydraulic bladder 202, a heel hydraulic bladder 203, a fore palm hydraulic tube 206, a heel hydraulic tube 207, and a fore palm electric drive hydraulic control box 208. And the heel electric drive hydraulic control box 209, the shoe body 201 is arranged on the running platform 106 of the treadmill unit 001, and the forefoot and the rear heel of the shoe body 201 are equipped with pressure sensors 214, which can play a role in collecting pressure. The role of the signal, the forefoot hydraulic bag 202 and the heel hydraulic bag 203 are respectively provided at the forefoot and the rear heel at the bottom of the shoe body 201. When the center of gravity of the human body changes, the front palm hydraulic bag 202 and the heel hydraulic bag 203 are respectively provided with a front tightening bottom plate 205 and a rear tightening bottom plate 216, and the circumferential directions of the front palm hydraulic bag 202 and the heel hydraulic bag 203 are respectively arranged. There is a front tightening spring 204 and a rear tightening spring 215, and the front tightening spring 204 is located between the shoe body 201 and the front tightening base plate 205, and the rear tightening spring 215 is located between the shoe body 201 and the rear tightening base plate 216, The front tightening spring 204 and the rear tightening spring 215 can jointly play the role of preventing the shoe body 201 from sideways during gait training. On the weight-reducing base 302 in the weight-reducing unit 003, the fore-foot electric push cylinder 210 and the fore-foot hydraulic cylinder 212 are arranged in the fore-foot electric drive hydraulic control box 208, and the fore-foot electric push cylinder 210 and the fore-foot hydraulic cylinder 212 pass through The thread conversion piece is connected, and the piston block at one end of the front palm electric push cylinder 210 is slidably arranged in the front palm hydraulic cylinder 212. There is a heel electric push cylinder 211 and a heel hydraulic cylinder 213, and the heel electric push cylinder 211 is connected with the heel hydraulic cylinder 213 through a thread conversion piece, and the piston block at one end of the heel electric push cylinder 211 is slidably arranged in the heel hydraulic cylinder 213, and the heel electric push cylinder 213 is slidably arranged in the heel hydraulic cylinder 213. The push cylinder 211 can provide power to the heel hydraulic cylinder 213. The front palm hydraulic pipe 206 and the heel hydraulic pipe 207 are located on one side of the shoe body 201, and the front palm hydraulic pipe 206 and the heel hydraulic pipe 207 are provided with buckles for fixing. Realize the fixation with the patient's calf, and the first end of the front palm hydraulic tube 206 is connected with the front palm hydraulic bag 202, and the second end of the front palm hydraulic tube 206 is connected with the front palm hydraulic cylinder 212, and the front palm hydraulic tube 206 can be connected to the front palm hydraulic tube 206. The front palm hydraulic bag 202 is filled with hydraulic oil, the first end of the heel hydraulic pipe 207 is connected with the heel hydraulic bag 203, and the second end of the heel hydraulic pipe 207 is connected with the heel hydraulic cylinder 213, through which the heel hydraulic pipe 207 can be used to hydraulically press the heel. The bladder 203 is filled with hydraulic oil.

In a preferred manner, the first end of the front tightening spring 204 is fixed to the bottom of the shoe body 201 through a clamp, and the second end of the front tightening spring 204 is fixed to the upper end surface of the front tightening bottom plate 205 through a clamp. , the first end of the rear tightening spring 215 is fixed to the bottom of the shoe body 201 through a clamp, and the second end of the rear tightening spring 215 is fixed to the upper end surface of the rear tightening bottom plate 216 through a clamp.

As shown in Figure 6, the spring weight reduction unit 003 includes a weight reduction base 302, a weight reduction bracket 304, a reduction motor box 305, a weight reduction spring 306, a first rope 308, a suspension vest 309 and a second rope 310, and the weight reduction base 302 is located at the rear side of the treadmill 106, and the bottom of the weight-reducing base 302 is provided with universal wheels 301, which is convenient for moving the spring weight-reducing unit 003. The weight-reducing bracket 304 is located on the weight-reducing base 302, and Pulley 307 is provided, suspension vest 309 is located at the front end of weight reduction bracket 304, and suspension vest 309 is positioned at the top of shoe body 201, reduction motor box 305 is located on weight reduction base 302, and reduction motor case 305 is provided with The reduction motor 303 and the winch, the output shaft of the reduction motor 303 is connected with the rotating shaft of the winch through a coupling, and the first end of the first rope 308 is wound on the winch, the second end of the first rope 308 It is connected with the first end of the weight reduction spring 306, and the second end of the weight reduction spring 306 is connected with the first end of the second rope 310, and the second end of the second rope 310 passes through the pulley 307 and is connected with the suspension vest 309, In addition, a tension sensor 311 is arranged above the suspension vest 309, and the patient can reduce weight by wearing the suspension vest 309.

As shown in Figure 7, when the plantar fluid-controlled weight loss device performs rehabilitation training, the output signal of the force sensor is connected to the acquisition card, the acquisition card is connected to the industrial control computer, and the industrial control computer is connected to the man-machine interface 101 and the human-machine interface 101 respectively. The controllers communicate with each other, and the servo motor driver is connected with the controller; the reduction motor 303, the front palm electric push cylinder 210 and the heel electric push cylinder 211 are controlled to move by the servo motor driver.

As shown in Figure 8, the foot hydraulic control weight loss device adopts a torque control method to control the motor, wherein the torque control method is: input the given weight loss value for each training into the controller, and the controller converts the force signal The corresponding analog voltage signal is sent to the servo motor driver, and the servo motor driver converts the analog voltage signal into a corresponding torque signal and sends it to the servo motor to drive the servo motor to rotate according to the specified torque; the servo motor acts on the servo motor through the transmission mechanism The weight reduction force is kept constant on the actuator; while the tension sensor 311 and the pressure sensor 214 feed back the actual weight reduction force to the controller to form a closed-loop control loop.

Concrete operation steps of the present invention are as follows:

As shown in Figures 1 to 8, a plantar fluid control weight loss device for gait training of the present invention includes a treadmill unit 001, a plantar fluid control unit 002, and a spring weight reduction unit 003. The hydraulic control unit 002 is arranged on the treadmill unit 001 , and the spring weight reducing unit 003 is located on one side of the treadmill unit 001 .

In specific use, the patient puts on the suspension vest 309 and the shoe body 201 and stands on the running platform 106, the first end of the first rope 308 is wound on the winch, the second end of the first rope 308 is connected with the weight reducing The first end of the spring 306 is connected, and the second end of the weight-reducing spring 306 is connected with the first end of the second rope 310, and the second end of the second rope 310 passes through the pulley 307 and is connected with the suspension vest 309, and the reduction motor is started 303 starts to operate, the tension sensor 311 outputs the actual magnitude of the degravity force, and transmits the degravity signal to the data acquisition card, and the data acquisition card finally feeds back the signal to the controller, and the controller generates a feedback signal through calculation to adjust the geared motor in real time The output torque of 303 is controlled to stretch the weight-reducing spring 306 to adjust the degree of weight loss of the human body, so as to ensure that the weight-reducing force remains constant within a certain error range. Simultaneously start the treadmill 106 through the man-machine interface 101, and adjust it to a suitable speed. During the gait rehabilitation training, the forefoot electric push cylinder 210 acts on the forefoot hydraulic cylinder 212, and the heel electric push cylinder 211 acts on the forefoot hydraulic cylinder 212. On the heel hydraulic cylinder 213, the liquid enters the fore palm hydraulic bag 202 and the heel hydraulic bag 203 through the front palm hydraulic tube 206 and the heel hydraulic tube 207 respectively, and then controls the expansion and contraction of the hydraulic bag to slow down the recovery process during gait recovery. The center of gravity floats during training to achieve the purpose of weight loss.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. All such modifications and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (4)

1. A plantar fluid-controlled weight-reducing device for gait training, characterized in that it comprises a treadmill unit, a plantar fluid-controlled unit and a spring weight-reducing unit, The sole hydraulic control unit is arranged on the treadmill unit, the spring weight reduction unit is located on one side of the treadmill unit, and the sole hydraulic control unit includes a shoe body, a forefoot hydraulic bag, a heel hydraulic bladder, forefoot hydraulic tube, heel hydraulic tube, forefoot electric drive hydraulic control box and heel electric drive hydraulic control box, the shoe body is set on the running platform of the treadmill unit, and the inside of the shoe body Pressure sensors are provided at the forefoot and the rear heel of the shoe body, the forefoot hydraulic bladder and the heel hydraulic bladder are respectively provided at the forefoot and the rear heel of the bottom of the shoe body, and the forefoot hydraulic bladder and the heel hydraulic bladder are respectively provided with pressure sensors. A front tightening base plate and a rear tightening base plate are respectively provided under the hydraulic bag, and a front tightening spring and a rear tightening spring are evenly distributed in the circumferential direction of the fore palm hydraulic bag and the heel hydraulic bag respectively, and the front tightening spring The spring is located between the shoe body and the front tightening base plate, the rear tightening spring is located between the shoe body and the rear tightening base plate, the electric drive liquid control box of the forefoot and the heel The electric drive hydraulic control boxes are all arranged on the weight reduction base in the spring weight reduction unit, and the front palm electric drive hydraulic control box is provided with a front palm electric push cylinder and a front palm hydraulic cylinder. The push cylinder is connected with the forefoot hydraulic cylinder through a thread conversion piece, and the piston block at one end of the forefoot electric push cylinder is slidably set in the forefoot hydraulic cylinder, and the heel electric drive hydraulic control box is provided with a heel An electric push cylinder and a heel hydraulic cylinder, the heel electric push cylinder is connected with the heel hydraulic cylinder through a thread conversion piece, and the piston block at one end of the heel electric push cylinder is slidably arranged in the heel hydraulic cylinder, the front The palm hydraulic pipe and the heel hydraulic pipe are located on one side of the shoe body, and the first end of the fore palm hydraulic pipe is connected with the fore palm hydraulic bag, and the second end of the fore palm hydraulic pipe is connected with the The forefoot hydraulic cylinder is connected, the first end of the heel hydraulic pipe is connected with the heel hydraulic bag, and the second end of the heel hydraulic pipe is connected with the heel hydraulic cylinder. 2. The plantar fluid-controlled weight-reducing device facing gait training according to claim 1, wherein the spring weight-reducing unit comprises a weight-reducing base, a weight-reducing bracket, a reduction motor box, a weight-reducing spring, The first rope, the suspension vest and the second rope, the weight-reducing base is located on the rear side of the running platform, and the bottom of the weight-reducing base is provided with universal wheels, and the weight-reducing bracket is arranged on the on the weight-reducing base, and a pulley is provided on the weight-reducing bracket, the suspension vest is arranged at the front end of the weight-reducing bracket, and the suspension vest is located above the shoe body, and the geared motor box It is arranged on the weight-reducing base, and the geared motor box is provided with a geared motor and a winch, the output shaft of the geared motor is connected with the rotating shaft of the winch through a coupling, and the first The first end of a rope is wound on the winch, the second end of the first rope is connected to the first end of the weight reduction spring, and the second end of the weight reduction spring is connected to the first end of the weight reduction spring. The first ends of the two ropes are connected, the second end of the second rope passes through the pulley and is connected with the suspension vest, and a tension sensor is arranged above the suspension vest. 3. The plantar fluid-controlled weight-reducing device for gait training according to claim 1, wherein the first end of the front tightening spring is fixed to the bottom of the shoe body through a clip, and The second end of the front tightening spring is fixed on the upper end surface of the front tightening bottom plate through a clamp, the first end of the rear tightening spring is fixed on the bottom of the shoe body through a clamp, and the The second end of the rear tightening spring is fixed on the upper end surface of the rear tightening bottom plate through a clip. 4 . The plantar hydraulically controlled weight loss device for gait training according to claim 1 , wherein the forefoot hydraulic tube and the heel hydraulic tube are both provided with buckles for fixing.

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