CN107019617B - A kind of seat balance rehabilitation training robot and its control method - Google Patents
A kind of seat balance rehabilitation training robot and its control method Download PDFInfo
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- CN107019617B CN107019617B CN201710206787.0A CN201710206787A CN107019617B CN 107019617 B CN107019617 B CN 107019617B CN 201710206787 A CN201710206787 A CN 201710206787A CN 107019617 B CN107019617 B CN 107019617B
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- 238000012549 training Methods 0.000 title claims abstract description 30
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- 230000005540 biological transmission Effects 0.000 claims abstract description 23
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- 208000008279 Dumping Syndrome Diseases 0.000 description 4
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- 208000006011 Stroke Diseases 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/40—Detecting, measuring or recording for evaluating the nervous system
- A61B5/4005—Detecting, measuring or recording for evaluating the nervous system for evaluating the sensory system
- A61B5/4023—Evaluating sense of balance
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Abstract
The invention discloses a kind of seat balance rehabilitation training robot and its control methods.Including armchair structure, sliding slot double leval jib drive mechanism, main shaft driving structure, spindle tilt sensor and crank angle sensor, armchair structure includes supporting armrests frame, headrest, backrest, support seat cushion etc., sliding slot double leval jib drive mechanism includes rocking bar, deceleration machine support, crank, sliding slot connecting rod, stepping speed reducer and stepper motor etc., and main shaft driving structure mainly includes transmission main shaft, spindle bearing, retaining ring, torsional spring, main shaft orientation block etc..Patient's tilt angle, real-time feedback control motor speed and steering are recorded and measured by spindle tilt sensor, are pushed patient by auxiliary systems such as backrest, handrails, are realized patient's righting；By angular transducer, real-time feedback control motor reversal resets, and is disengaged by rocking bar and sliding slot connecting rod, by motor crank involution dead-center position.
Description
Technical field
The invention belongs to human body recovery engineering fields, particularly, are related to a kind of seat balance with Flexible Transmission link
Recovery exercising robot, while also designing the control method of the image training robot.
Background technique
Stroke hemiplegia is because various factors lead to different neurological dysfunctions, to lose trunk control
Changeability and adaptability, and then there is stiff or even abnormal somatic movement mode, wherein there is 80% patient to will appear balance function
There is the symptom that the correction of body to the midline is rolled and resisted to hemiplegia, i.e. dumping syndrome in energy obstacle, 25% patient
(Pusher Syndrome).
Some researches show that dumping syndrome and patient's proprioception, muscle control ability etc. are closely related.Face at present
Patient and the one-to-one progress gravity motion of therapist and dynamic balance training are mostly used on bed, to enhance the power of patient's muscle of trunk
Amount and control ability allow it to tilt to two sides again, or patient are first passively moved close to unbalance point after patient being allowed to occupy stably
After allow and return again on neutral position, these treatment methods are chiefly used in falling ill the rehabilitation of early stage.
Above-mentioned treatment method the problem of there is also several respects:
, this process need therapist's moment to protect patient, but the movement gimmick repeatability for carrying out rehabilitation is higher, is also easy to produce
Fatigue；
, when helping patient to center position, need by therapist's naked eyes auxiliary transverse alignment, do not ensure that find accurately every time it is perpendicular
Straight position.
The hot spot of research dumping syndrome patient is evaluation, the proprioception (vertical sense) for restoring vertical direction at present, is led to
Often analyzing the effective ways felt vertically is to measure the position redirection error of patient and feel error vertically.But in the market not
The equipment for carrying out dynamic equilibrium assessment training specifically for acute stroke patients, especially inclination syndrome patient.
Summary of the invention
The purpose of the invention is to replace therapist to the manipulation of patient, gradually corrects dumping syndrome patient and exist
The proprioception error of vertical direction helps it to restore trunk balance ability；The proprioception of patient's vertical direction is determined
Amount is accurately recorded, is evaluated, and the clinical rehabilitation treatment for after provides reference.
The invention discloses a kind of seat balance rehabilitation training robots, including armchair structure, sliding slot double leval jib transmission knot
Structure and main shaft driving structure, the armchair structure include supporting armrests frame 2, headrest 3, backrest 6, band buckle bandage 9, chest bondage
Band 11, support rod 12, support seat cushion 14, base support 15 and wheel；The sliding slot double leval jib drive mechanism includes rocking bar 25, step
Into deceleration machine support 26, crank 27, sliding slot connecting rod 29, stepping speed reducer 30 and stepper motor 31；The main shaft driving structure packet
Include transmission main shaft 17, spindle bearing 18, retaining ring 19, torsional spring 20, main shaft orientation block 23；The image training robot further includes that main shaft inclines
Rake angle sensor 24 reflects the rotation angle of the main shaft orientation block 23, i.e., the deflection angle of the described support rod 12 in real time；Institute
Stating image training robot further includes crank angle sensor 28, reflects the rotation angle of the crank 27 in real time.
Preferably, in the armchair structure, supporting armrests frame 2 is symmetrical set, and passes through tight fixed bolt and support respectively
One end of handrail frame connector 10 is affixed, and the end of supporting armrests frame 2 passes through snak link respectively and supporting armrests frame handle 1 connects
It connects, supporting armrests frame connector 10 penetrates support rod 12, affixed by pin shaft and support rod 12；Headrest 3 passes through pin shaft and headrest
Connector 4 connects, and headrest connector 4 is affixed by pin shaft and support rod 12；Backrest 6 passes through matching hole and universal crossed joint 7
One end connection, backrest connector 8 are connect by matching hole with the other end of universal crossed joint 7.
Preferably, in the sliding slot double leval jib drive mechanism, stepper motor 31 and stepping speed reducer 30 are carried out by bolt
Affixed, stepping speed reducer 30 is fixed on stepping deceleration machine support 26 by bolt, and stepping deceleration machine support 26 is solid by bolt
It connects on support seat cushion 14；One end of crank 27 and the output shaft of stepping speed reducer 30 are connected by key, and the other end is by being placed in
Pin shaft in 29 one end sliding slot of sliding slot connecting rod forms sliding pair, output torque；The other end of sliding slot connecting rod 29 passes through pin shaft and shakes
One end of bar 25 connects, and forms revolute pair；25 other end of rocking bar is provided with lantern ring, is fixed in transmission main shaft 17 by holding screw
On.
Preferably, in the main shaft driving structure, spindle bearing 18 is symmetrical set, and passes through bolt and support seat cushion 14
It is affixed；Transmission main shaft 17 is placed on spindle bearing 18, and one end is carried out by bolt with support rod 12 affixed；Retaining ring 19 is symmetrical arranged
In the outside of two spindle bearings 18, it is provided with holding screw, prevents transmission main shaft 17 from axial float occurs；Torsional spring 20 is right
Claim that the insides of two spindle bearings 18 is arranged in, between be provided with main shaft orientation block 23, one end spring silk of torsional spring 20 passes through main shaft
The cooperation aperture of support 18, other end spring silk are wrapped on main shaft orientation block 23, to form the damping rotated to transmission main shaft 17
Link.
Preferably, the spindle tilt sensor 24 is arranged at the separate axle center of main shaft orientation block 23, is gyro
Instrument sensor；The crank angle sensor 28 is arranged on crank 27, is gyro sensor.
Preferably, the armchair structure further includes band buckle bandage 9 and chest binding strip 11, and band buckles bandage 9 and chest
Binding strip 11 is arranged to sew up fixation, and the buckle with buckle bandage 9 is placed in 6 rear side of backrest, and puller strap buckles bandage 9, and chest is tied up
Ligature 11 is located at 6 center position of backrest.
Preferably, 5 sets of nylon jacket on the universal crossed joint 7, internal diameter is identical as the outer diameter of universal crossed joint 7, use
In the universal crossed joint 7 of fixation, to realize being completely fixed relative to support rod 12 of backrest 6.
Preferably, the angle signal that the spindle tilt sensor 24 exports inputs control by the serial ports A of control panel
Making sheet card, the angle signal that the crank angle sensor 28 exports pass through the serial ports B input control board of control panel；The control
The movement velocity that a pulse signal is used to control stepper motor 31 is arranged in making sheet card, and a Digital Signals stepping electricity is arranged
The direction of motion of machine 31.
Invention additionally discloses the control methods of seat balance rehabilitation training robot, and process is as follows,
After movement starts, the control pulse frequency modulated and direction controlling current potential of stepper motor 31 are set, allows stepper motor
31 enter standby mode, and the amplitude for controlling pulse is low level, and motor is motionless, and the serial ports A of control panel is opened at this time, record main shaft
The tilt angle for the support rod 12 that gradient sensor 24 acquires, serial ports B are closed；
Patient carries out the free inclination of left and right directions, and deviation vertical position is remoter, bigger more the impedance for being damped link,
When patient is close to side, rocking bar 25 can resist sliding slot one end of sliding slot connecting rod 29, what spindle tilt sensor 24 recorded
Inclination angle reaches n ° of thresholding of setting, waits k1 second, and when detecting inclination angle again and reaching n ° of thresholding of setting, control pulse is set high electric
Flat, stepper motor 31 rotates forward, and stepper motor 31 turns support rod 12 reversely by driving sliding slot connecting rod 29 to push or pull on rocking bar 25
It is dynamic, gradually reset to vertical position；
During the motion, Control card can miss motor according to the tilt angle of support rod 12 and the angle of vertical direction
Difference carries out PFM calculating with the error rate controller P in PID control, realizes that support rod 12 gradually slows down in reseting procedure；
When the tilt angle of support rod 12 is less than t ° of error threshold, the amplitude of the control pulse of stepper motor 31 is set to low
Level, stepper motor 31 stall, and wait k2 seconds, and stepper motor 31 inverts, and rocking bar 25 is contacted with the disengagement of sliding slot connecting rod 29, serial ports A
It closes, serial ports B is opened；
The collected angle signal of crank angle sensor 28 is sent to Control card, also according to angle signal and song
The error of the initial zero setting position of handle 27 carries out PFM calculating with the error rate controller P in PID control, realizes crank 27 multiple
Gradually slow down during position；
When the error of the inclination angle of crank 27 and zero position is less than t ° of error threshold, the width of the control pulse of stepper motor 31
Value is set to low level, and stepper motor 31 stalls, and closes serial ports B, is again turned on serial ports A, completes the entire control period.
The present invention can be realized it is below the utility model has the advantages that
(1) rationally distributed, structure is terse easy, and control is reliable, easy to use, fully considers the safety of early stage patient.
(2) it can be more advantageous to patient's use, in use according to the installation of the specific stature adjustment ancillary equipment of patient
It allows patient to be gradually recovered trunk control ability, enhances the proprioception of trunk.
(3) patient's tilt angle limit can be adjusted according to patient profiles, to realize the adjustment of trained difficulty.
Detailed description of the invention
Fig. 1 is a kind of the left front to perspective view of seat balance rehabilitation training robot of the invention；
Fig. 2 is the backward perspective view in the right side of image training robot of the invention；
Fig. 3 is the double leval jib drive mechanism schematic diagram of image training robot of the invention；
Fig. 4 is the main shaft driving structure schematic diagram of image training robot of the invention；
Fig. 5 is the electromechanical closed-loop system control flow chart of image training robot of the invention；
The reference numerals are as follows:
1-supporting armrests frame handle, 2-supporting armrests framves, 3-headrests, 4-headrest connectors, 5-nylon jackets, 6-lean on
Back, 7-universal crossed joints, 8-backrest connectors, 9-band buckle bandages, 10-support frame connectors, 11-chest binding strips,
12-support rods, 13-rear side deflecting rollers, 14-support seat cushions, 15-base supports, 16-front side directional wheels, 17-transmission masters
Axis, 18-spindle bearings, 19-retaining rings, 20-torsional springs, 21-DC power supplies, 22-stepper motor drivers, 23-main shafts are fixed
Position block, 24-spindle tilt sensors, 25-rocking bars, 26-stepping deceleration machine supports, 27-cranks, 28-crank angles
Sensor, 29-sliding slot connecting rods, 30-stepping speed reducers, 31-stepper motors.
Specific embodiment
Seat balance rehabilitation training robot of the invention, it is impaired for acute stroke patients trunk proprioceptive system
Seriously, cannot keep sitting balance stablize etc. symptoms, creative carry out seat balance training, its working principles are as follows:
Torsional spring damping system can prevent patient excessively rapid when swinging to side, avoid damaging；Pass through three shaft spaces
Gyro sensor records patient's tilt angle, measures the error of tilt of its relative vertical position, after patient swings to side, this
One signal real-time feedback control motor speed turns to, and the four-bar mechanism of sliding slot connecting rod and motor crank formation single-direction transmission passes through
The auxiliary systems such as backrest, handrail push patient, realize patient's righting；The angular transducer on crank, feedback control are utilized later
Motor reversal processed resets, and the rocking bar and sliding slot connecting rod on transmission main shaft disengage, and stepper motor crank involution dead-center position is completed
One period of motion.Patient's energy active movement again, but still be limited in original setting range of tilt angles, patient can be again to two
Topple in direction.It further include height-adjustable handrail, backrest, from the binding strip of shoulder immobilized patients.The size of sliding slot connecting rod is set
It in respect of a variety of, can be selected for patient demand, increase or reduce patient institute can inclined angle limit.
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the description to whole attached drawings, identical appended drawing reference indicates identical element.It will also be appreciated that as herein
Term "and/or" used includes one or more relevant any and all combinations for listing item.
It will further be appreciated that when component or unit referred to as " connect " or when " coupled " to another component or unit, it can
To be directly connected or coupled to other component or unit, or there may also be intermediate member or units.In addition, being used to describe portion
Other words of relationship should understand in the same fashion between part or unit.
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
Seat balance rehabilitation training robot of the invention includes mechanical part and control section.Wherein, Machinery Ministry subpackage
Include armchair structure, sliding slot double leval jib drive mechanism and main shaft driving structure；Control section is closed-loop control system.
As illustrated in fig. 1 and 2, armchair structure mainly includes supporting armrests frame 2, headrest 3, backrest 6, band buckle bandage 9, chest
Binding strip 11, support rod 12, support seat cushion 14, base support 15 and wheel.Wherein, the symmetrical setting of supporting armrests frame 2,
Affixed by one end of tight fixed bolt and supporting armrests frame connector 10 respectively, the end of supporting armrests frame 2 passes through spring respectively
Button is connect with supporting armrests frame handle 1, and supporting armrests frame connector 10 penetrates support rod 12, solid by pin shaft and support rod 12
It connects；Headrest 3 is connect by pin shaft with headrest connector 4, and to guarantee that headrest 3 rotates, headrest connector 4 passes through pin shaft and support rod
12 is affixed；Backrest 6 is connect by matching hole with one end of universal crossed joint 7, and backrest connector 8 passes through matching hole and universal cross
Section 7 the other end connection, 5 sets of nylon jacket on universal crossed joint 7, internal diameter is identical as the outer diameter of universal crossed joint 7, therefore ten thousand
It is completely fixed to crossed joint 7, to realize being completely fixed relative to support rod 12 of backrest 6；Band buckle bandage 9 is tied up with chest
Ligature 11 is arranged to sew up fixation, and the buckle with buckle bandage 9 is placed in 6 rear side of backrest, and puller strap buckles bandage 9, chest bondage
Band 11 is located at 6 center position of backrest；Support rod 12 is provided with uniformly distributed location hole, and adjustable support arm-rest frame 2, leans on headrest 3
The height of the devices such as back 6；Wheel is divided into front and rear sides, and front side is directional wheel 16, and rear side is deflecting roller 13, facilitates image training robot
It is mobile.Backrest 6 and 14 bottom of cushion are steel plate, and top is that leather wraps up elastoplastic foam.
As shown in figure 3, sliding slot double leval jib drive mechanism mainly includes rocking bar 25, stepping deceleration machine support 26, crank 27, slides
Slot connecting rod 29, stepping speed reducer 30 and stepper motor 31.Wherein, stepper motor 31 and stepping speed reducer 30 are consolidated by bolt
It connects, stepping speed reducer 30 is fixed on stepping deceleration machine support 26 by bolt, and stepping deceleration machine support 26 is affixed by bolt
On support seat cushion 14；One end of crank 27 and the output shaft of stepping speed reducer 30 are connected by key, and the other end is by being placed in cunning
Pin shaft in 29 one end sliding slot of slot connecting rod forms sliding pair, output torque；The other end of sliding slot connecting rod 29 passes through pin shaft and rocking bar
25 one end connection, forms revolute pair；25 other end of rocking bar is provided with lantern ring, is fixed in transmission main shaft 17 by holding screw
On.The power of stepper motor 31 can be transmitted on transmission main shaft 17 by the drive mechanism.
As shown in figure 4, main shaft driving structure mainly includes transmission main shaft 17, spindle bearing 18, retaining ring 19, torsional spring 20, master
Axis locating piece 23.Wherein, spindle bearing 18 is symmetrical set, affixed by bolt and support seat cushion 14；Transmission main shaft 17 is set
In on spindle bearing 18, one end is carried out by bolt with support rod 12 affixed；Retaining ring 19 is symmetricly set on two spindle bearings 18
Outside, be provided with holding screw, with prevent transmission main shaft 17 occur axial float, i.e., holding screw is in transmission main shaft 17
After turning to certain angle, spindle bearing 18 can be withstood, realizes mechanical position limitation；Torsional spring 20 is symmetricly set on two spindle bearings 18
Inside, between be provided with main shaft orientation block 23, one end spring silk of torsional spring 20 passes through the cooperation aperture of spindle bearing 18, the other end
Spring silk is wrapped on main shaft orientation block 23, to form the damping link rotated to transmission main shaft 17.
Spindle tilt sensor 24 is arranged at the separate axle center of main shaft orientation block 23, is gyro sensor, excellent
Selection of land is MPU6050 three-axis gyroscope sensor, reflects the rotation angle of main shaft orientation block 23 in real time, also just reflects support rod
12 deflection angle；Crank angle sensor 28 is arranged on crank 27, is similarly gyro sensor, is preferably similarly
MPU6050 three-axis gyroscope sensor can reflect the rotation angle of crank 27 in real time.
The angle signal that spindle tilt sensor 24 exports passes through the serial ports A input control board of control panel, crank
The angle signal that rotary angle transmitter 28 exports passes through the serial ports B input control board of control panel；A pulse is arranged in Control card
Signal is used to control the movement velocity of stepper motor 31, and the direction of motion of a digital signal controling stepping motor 31 is arranged.
Gyro sensor is calibrated before work.When support rod 12 is placed in vertical position, by spindle tilt sensor
24 along 17 direction of transmission main shaft rotation angle zero setting；Controlling 31 cranking lever 27 of stepper motor can when it turns to certain position
To allow support rod 12 to swing equal angular, at this time by the crank angle sensor 28 on crank 27 along 31 output shaft side of motor
To rotation angle zero setting.
As shown in figure 5, closed-loop control system control flow of the invention is as follows:
After movement starts, the control pulse frequency modulated and direction controlling current potential of stepper motor 31 are set, allows stepper motor
31 enter standby mode, and the amplitude for controlling pulse is low level, and motor is motionless, and the serial ports A of control panel is opened at this time, record main shaft
The serial ports B of the tilt angle for the support rod 12 that gradient sensor 24 acquires, control panel is closed；
Patient carries out the free inclination of left and right directions, and deviation vertical position is remoter, bigger more the impedance for being damped link,
When patient is close to side, rocking bar 25 can resist sliding slot one end of sliding slot connecting rod 29, what spindle tilt sensor 24 recorded
Inclination angle reaches n ° of thresholding of setting, waits k1 second, and when detecting inclination angle again and reaching n ° of thresholding of setting, control pulse is set high electric
Flat, stepper motor 31 rotates forward, and stepper motor 31 turns support rod 12 reversely by driving sliding slot connecting rod 29 to push or pull on rocking bar 25
It is dynamic, gradually reset to vertical position；
During the motion, Control card can miss motor according to the tilt angle of support rod 12 and the angle of vertical direction
Difference carries out PFM calculating with the error rate controller P in PID control, realizes that support rod 12 gradually slows down in reseting procedure；
When the tilt angle of support rod 12 is less than t ° of error threshold, the amplitude of the control pulse of stepper motor 31 is set to low
Level, stepper motor 31 stall, and wait k2 seconds, and stepper motor 31 inverts, and rocking bar 25 is contacted with the disengagement of sliding slot connecting rod 29, serial ports A
It closes, serial ports B is opened；
The collected angle signal of crank angle sensor 28 is sent to Control card, also according to angle signal and song
The error of the initial zero setting position of handle 27 carries out PFM calculating with the error rate controller P in PID control, realizes crank 27 multiple
Gradually slow down during position；
When the error of the inclination angle of crank 27 and zero position is less than t ° of error threshold, the width of the control pulse of stepper motor 31
Value is set to low level, and stepper motor 31 stalls, and closes serial ports B, is again turned on serial ports A, completes the entire control period.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, the essence for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
Claims (9)
1. a kind of seat balance rehabilitation training robot, including armchair structure, sliding slot double leval jib drive mechanism and spindle drive knot
Structure, which is characterized in that
The armchair structure includes supporting armrests frame (2), headrest (3), backrest (6), support rod (12), support seat cushion (14), bottom
Seat support (15) and wheel；
The sliding slot double leval jib drive mechanism includes rocking bar (25), stepping deceleration machine support (26), crank (27), sliding slot connecting rod
(29), stepping speed reducer (30) and stepper motor (31)；
The main shaft driving structure includes transmission main shaft (17), spindle bearing (18), retaining ring (19), torsional spring (20), main shaft orientation
Block (23)；
The supporting armrests frame (2) of the armchair structure is symmetrical set, and is connect respectively by tight fixed bolt with supporting armrests frame
One end of part (10) is affixed, and supporting armrests frame connector (10) penetrates support rod (12), affixed by pin shaft and support rod (12),
Headrest (3) is connect by pin shaft with headrest connector (4), and headrest connector (4) is affixed by pin shaft and support rod (12)；
One end of the crank (27) of the sliding slot double leval jib drive mechanism and the output shaft of stepping speed reducer (30) are connected by key,
The other end forms sliding pair, output torque by the pin shaft being placed in the sliding slot of sliding slot connecting rod (29) one end；Sliding slot connecting rod (29)
The other end is connect by pin shaft with one end of rocking bar (25), and revolute pair is formed；Rocking bar (25) other end is provided with lantern ring, by tight
Determine screw to be fixed on transmission main shaft (17)；
The spindle bearing (18) of the main shaft driving structure is symmetrical set；Transmission main shaft (17) is placed in spindle bearing (18)
On, one end is carried out by bolt with support rod (12) affixed；Torsional spring (20) is symmetricly set on the inside of two spindle bearings (18),
Between be provided with main shaft orientation block (23), one end spring silk of torsional spring (20) passes through the cooperation aperture of spindle bearing (18), the other end
Spring silk is wrapped on main shaft orientation block (23), to form the damping link rotated to transmission main shaft (17)；
The image training robot further includes spindle tilt sensor (24), reflects the rotation of the main shaft orientation block (23) in real time
Gyration, i.e., the deflection angle of the described support rod (12)；
The image training robot further includes crank angle sensor (28), reflects the rotation angle of the crank (27) in real time.
2. image training robot according to claim 1, which is characterized in that in the armchair structure, the supporting armrests frame
(2) end is connect by snak link with supporting armrests frame handle (1)；Backrest (6) passes through matching hole and universal crossed joint (7)
One end connection, backrest connector (8) are connect by matching hole with the other end of universal crossed joint (7).
3. image training robot according to claim 1, which is characterized in that in the sliding slot double leval jib drive mechanism, stepping
Motor (31) carried out with stepping speed reducer (30) by bolt it is affixed, stepping speed reducer (30) by bolt be fixed in stepping slow down
On machine support (26), stepping deceleration machine support (26) is fixed on support seat cushion (14) by bolt.
4. image training robot according to claim 1, which is characterized in that in the main shaft driving structure, spindle bearing
(18) affixed by bolt and support seat cushion (14), retaining ring (19) is symmetricly set on the outside of two spindle bearings (18), thereon
It is provided with holding screw, prevents transmission main shaft (17) from axial float occurs.
5. image training robot according to claim 1, which is characterized in that spindle tilt sensor (24) setting
It is gyro sensor at the separate axle center of main shaft orientation block (23)；The crank angle sensor (28) is arranged in crank
It (27) is gyro sensor on.
6. image training robot according to claim 1, which is characterized in that the armchair structure further includes band buckle bandage
(9) and chest binding strip (11), band buckle bandage (9) and chest binding strip (11) are arranged to sew up fixation, band buckle bandage (9)
Buckle be placed on rear side of backrest (6), puller strap buckles bandage (9), and chest binding strip (11) is i.e. positioned at backrest (6) center position.
7. image training robot according to claim 2, which is characterized in that nylon jacket (5) is covered in the universal crossed joint (7)
On, internal diameter is identical as the outer diameter of universal crossed joint (7), for fixing universal crossed joint (7), to realize that backrest (6) is opposite
In being completely fixed for support rod (12).
8. image training robot according to claim 5, which is characterized in that spindle tilt sensor (24) output
Angle signal pass through the serial ports A input control board of control panel, the angle signal of crank angle sensor (28) output
Pass through the serial ports B input control board of control panel；A pulse signal is arranged for controlling stepper motor in the Control card
(31) direction of motion of a digital signal controling stepping motor (31) is arranged in movement velocity.
9. the control method of any one of -8 seat balance rehabilitation training robots according to claim 1, which is characterized in that stream
Journey is as follows,
After movement starts, the control pulse frequency modulated and direction controlling current potential of stepper motor (31) are set, allows stepper motor
(31) enter standby mode, the amplitude for controlling pulse is low level, and motor is motionless, and the serial ports A of control panel is opened at this time, record master
The serial ports B of the tilt angle of the support rod (12) of axis gradient sensor (24) acquisition, control panel is closed；
Patient carries out the free inclination of left and right directions, and deviation vertical position is remoter, bigger more the impedance for being damped link, works as trouble
When person is close to side, rocking bar (25) can resist sliding slot one end of sliding slot connecting rod (29), spindle tilt sensor (24) record
Inclination angle reach n ° of thresholding of setting, wait k1 second, when detecting inclination angle again and reaching n ° of thresholding of setting, control pulse and set height
Level, stepper motor (31) rotate forward, and stepper motor (31) makes support rod by driving sliding slot connecting rod (29) to push or pull on rocking bar (25)
(12) it rotates backward, gradually resets to vertical position；
Motor during the motion, Control card can according to the tilt angle of support rod (12) and the angular error of vertical direction,
PFM calculating is carried out with the error rate controller P in PID control, realizes that support rod (12) gradually slow down in reseting procedure；
When the tilt angle of support rod (12) is less than t ° of error threshold, the amplitude of the control pulse of stepper motor (31) is set to low
Level, stepper motor (31) stalling, waits k2 seconds, and stepper motor (31) reversion, rocking bar (25) is disengaged with sliding slot connecting rod (29) and connect
Touching, serial ports A are closed, and serial ports B is opened；
Crank angle sensor (28) collected angle signal is sent to Control card, also according to angle signal and crank
(27) error of initial zero setting position carries out PFM calculating with the error rate controller P in PID control, realizes that crank (27) exist
Gradually slow down in reseting procedure；
When the error of the inclination angle of crank (27) and zero position is less than t ° of error threshold, the width of the control pulse of stepper motor (31)
Value is set to low level, and stepper motor (31) stalling closes serial ports B, is again turned on serial ports A, completes the entire control period.
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| CN107692970A (en) * | 2017-10-11 | 2018-02-16 | 青岛大学 | A kind of total balance of the body detection and rehabilitation training equipment |
| CN107671844A (en) * | 2017-11-09 | 2018-02-09 | 杭州程天科技发展有限公司 | A kind of assistant robot chest supporting structure |
| CN109674478B (en) * | 2018-12-25 | 2021-06-18 | 沈阳体育学院 | Human balance quality test training instrument |
| CN111150604B (en) * | 2020-01-06 | 2021-11-16 | 河南牛帕力学工程研究院 | Rehabilitation training device and rehabilitation training support |
| CN113844344B (en) * | 2020-06-27 | 2023-07-28 | 孔祥仁 | Health-care sitting device for overcoming C-shaped spinal deformation and eliminating waist soreness and back pain and fatigue and hypodynamia |
| CN114668948B (en) * | 2022-03-24 | 2023-06-02 | 江苏省人民医院（南京医科大学第一附属医院） | Integrated vertical perception training instrument |
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| JP3144405U (en) * | 2008-06-17 | 2008-08-28 | 俊勝 田▲崎▼ | Balance training chair |
| KR101425558B1 (en) * | 2012-10-26 | 2014-08-04 | (주)맨엔텔 | a Rehabilitation Motion Device of Seat Type |
| CN203989701U (en) * | 2013-12-30 | 2014-12-10 | 杨冰 | A kind of sitting balance function training instrument |
| CN204219108U (en) * | 2014-10-17 | 2015-03-25 | 常州市钱璟康复器材有限公司 | Rehabilitation hand-car |
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