CN115569350A

CN115569350A - Motor control system of gait rehabilitation training instrument with rest chair

Info

Publication number: CN115569350A
Application number: CN202211185559.7A
Authority: CN
Inventors: 王海南; 陈伟; 张明
Original assignee: Xuzhou Medical University
Current assignee: Xuzhou Medical University
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-01-06
Anticipated expiration: 2042-09-27
Also published as: CN115569350B

Abstract

The invention discloses a motor control system of a gait rehabilitation training instrument with a rest chair, which relates to the technical field of motor control and has the advantage that a trainer can sit to have a rest conveniently in the training process, and the technical scheme is as follows: the safety support comprises two arc plates arranged on two sides of the fixing base and a connecting plate connected with the upper ends of the two arc plates, the hanging strip is arranged on the connecting plate, the upper ends of the arc plates are connected with a fixed plate through first telescopic pieces stretching along the vertical direction, a horizontal seat plate is connected to the fixed plate through second telescopic pieces stretching along the horizontal direction, and a control piece for controlling the telescopic length of the second telescopic pieces is arranged on the seat plate.

Description

Motor control system of gait rehabilitation training instrument with resting chair

Technical Field

The invention relates to the technical field of motor control, in particular to a motor control system of a gait rehabilitation training instrument with a rest chair.

Background

Many patients with stroke, brain trauma and spinal cord injury have the problems of slow walking, abnormal walking posture and easy tumbling, and the quality of life of the patients is seriously influenced. For these patients, the gait rehabilitation training instrument which is relatively universal in rehabilitation clinic at present, and in addition, some children cerebral palsy patients also need the gait rehabilitation training instrument.

Chinese patent No. CN212347558U discloses a gait rehabilitation training instrument, which comprises a gait training walking plane, a safety protection device, a projector, a computer and an image information collector, wherein the computer comprises a host and a touch display screen, the host is equipped with a gait training program, a data calculation module and a data analysis module, the touch display screen is used for operating and displaying the training content of the gait rehabilitation training instrument, the host controls the projector to project a virtual target and a virtual scene to the gait training walking plane according to the gait training program to guide a trainer to train according to the virtual target, and the image information collector is used for collecting the motion parameters and the walking posture data of the trainer in the gait training walking plane and transmitting the motion parameters and the walking posture data to the host. The gait training walking plane is the conveyer belt plane that the treadmill formed, or walking ground, the treadmill includes conveyer belt, internal frame, cylinder, bearing structure and walking motor, and the cylinder is rotationally installed respectively at the both ends of internal frame, and the conveyer belt is around locating on two cylinders, and the walking motor is used for driving the cylinder rotation, still includes unable adjustment base, and the treadmill is installed on unable adjustment base, and safety arrangement erects in unable adjustment base's both sides.

However, after the trainer walks and exercises on the conveyor belt for a period of time, when the trainer needs to have a rest in the middle, the protection of the safety protection device on the trainer needs to be removed, then the trainer walks down the conveyor belt to a place with a seat beside the conveyor belt for rest, and when the trainer is used again, the safety protection device needs to be bound again, so that the applicant considers that the existing gait rehabilitation training instrument has the defect that a rest position cannot be provided when the trainer needs to have a rest in the exercise process.

Disclosure of Invention

Aiming at the technical defects, the invention aims to provide the motor control system of the gait rehabilitation training instrument with the resting chair, which has the advantage that a trainer can sit to have a rest in the training process conveniently.

In order to solve the technical problems, the invention adopts the following technical scheme:

the invention provides a motor control system of a gait rehabilitation training instrument with a resting chair, which comprises an inner frame, wherein two ends of the inner frame are respectively and rotatably provided with a roller, a conveying belt is wound between the two rollers, the inner frame is provided with a first motor for driving one roller to rotate, a fixed base is arranged outside the inner frame, one end of the fixed base is provided with a safety support, the top of the safety support is connected with a strap sleeve through a strap, the inner frame is provided with support rods on two sides of the conveying belt, horizontal rods are arranged at the upper ends of the two support rods, the safety support comprises two arc-shaped plates arranged on two sides of the fixed base and a connecting plate for connecting the upper ends of the two arc-shaped plates, the strap is arranged on the connecting plate, the upper ends of the two arc-shaped plates are connected with a fixed plate through a first telescopic member which can be stretched in the vertical direction, the fixed plate is connected with a horizontal seat plate through a second telescopic member which can be stretched in the horizontal direction, and a control member for controlling the stretching length of the second telescopic member is arranged on the seat plate.

Through adopting above-mentioned technical scheme, the training person passes through the bandage cover and ties up in training person's upper part of the body, first motor control conveyer belt begins the work after, the training person trains on the conveyer belt, after training a period, when training person needs the rest, first motor stop work, first extensible member moves the fixed plate to certain height downwards afterwards, second extensible member drive seat removes to training person direction afterwards, the flexible length of control second extensible member, be convenient for seat automatic movement to the position that the training person need stand, training person only need sit down this moment can, need not to untie the bandage cover this moment, when needs continue the training, the training person only need stand, second extensible member and first extensible member move the seat to training person's top afterwards, first motor drive conveyer belt continuation work this moment, be convenient for training person continues the training, reach the purpose that the training person can sit down the rest in training process.

Preferably, the second telescopic part comprises a threaded rod rotatably connected to a fixed plate, the threaded rod is driven by a second motor arranged on the fixed plate, the fixed plate is vertically arranged, the seat plate is horizontally arranged and perpendicular to the fixed plate, guide rods penetrating through two sides of the fixed plate are arranged at two ends of the seat plate, the two guide rods are positioned at two sides of the threaded rod and are parallel to the threaded rod, a sliding block is arranged at the bottom of the seat plate, and the sliding block is in threaded connection with the threaded rod;

the control piece comprises a first distance sensor arranged on one side of the seat plate facing the trainer, an adjusting module for adjusting the rotating speed of a second motor is arranged on the second motor, the first distance sensor acquires that the distance from one side of the seat plate to the surface of the trainer is D and transmits the acquired distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the second motor is used for outputting a corresponding rotating speed according to the control signal;

the control signal comprises a first signal and a second signal, when the distance D is smaller than a preset distance, the adjusting module generates the first signal according to the distance D, and when the distance D is larger than the preset distance, the adjusting module generates the second signal according to the distance D;

the rotating speed of the second motor in response to the first signal is 0, and the rotating speed of the second motor in response to the second signal is V1.

Preferably, first extensible member is including setting up the diaphragm between two arcs, the diaphragm is equipped with vertical first pole towards one side of even board, one side that first pole deviates from the diaphragm slides along vertical direction and is connected with the second pole, one side that the second pole deviates from first pole slides along vertical direction and is connected with the third pole, drive through the driving piece between first pole and second pole and the third pole.

Preferably, the driving part comprises a third motor arranged at the upper end of the second rod, one side of the second rod facing the third rod is provided with a sliding groove distributed along the length direction of the second rod, the sliding groove is connected with a screw rod in a rotating manner, the third rod is provided with a connecting block which slides in the sliding groove and is in threaded connection with the screw rod, the second rod is provided with a placing groove at one end provided with the third motor, one end of the screw rod extends into the placing groove, a rotating shaft of the third motor extends into the placing groove, a first bevel gear is coaxially and fixedly connected to the rotating shaft of the third motor, and a second bevel gear meshed with the first bevel gear is coaxially and fixedly arranged at one end of the screw rod extending into the placing groove;

the axis of rotation of third motor is worn out the second pole and is offered the shifting chute that supplies the axis of rotation to get into on one side of first pole and the first pole, the shifting chute distributes just along the length direction of first pole be equipped with the rack on one side cell wall of shifting chute, the coaxial fixed driving gear that is equipped with and rack toothing of one end that the third motor got into the shifting chute.

Preferably, the lower end of the first rod is provided with a U-shaped guide plate, two sides of the second rod are connected with two sides of the guide plate in a sliding mode respectively, and an opening of the guide plate faces the third rod.

Preferably, a second distance sensor is arranged at the lower end of the seat plate, an adjusting module for adjusting the rotating speed of a third motor is arranged on the third motor, the second distance sensor acquires that the distance from the lower end of the seat plate to the surface of the conveyor belt is D, and transmits the acquired distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the third motor is used for outputting a corresponding rotating speed according to the control signal;

the rotating speed of the third motor in response to the first signal is 0, and the rotating speed of the third motor in response to the second signal is V2.

Preferably, two all rotate on the horizon bar and be connected with the gag lever post, the one end of gag lever post all is equipped with the sleeve of cover at the horizon bar outer wall, is equipped with the embedded groove that supplies the embedding of the gag lever post other end on another horizon bar relative with having the sleeve, the quantity of embedded groove is established to a plurality of and is distributed along the length direction of horizon bar, and the gag lever post up end that is located the training person front end is equipped with rectangular shape table.

Preferably, the upper end of the transverse plate is rotatably connected with a driving shaft, the first telescopic piece is connected with the driving shaft through a power piece, and when the power piece works, the first telescopic piece moves towards a direction close to or far away from the transverse plate or parallel to the transverse plate.

Preferably, the drive shaft is vertical upwards, just the fixed cam that is equipped with of drive shaft outer wall, square frame has been placed to the diaphragm up end, the cam has three points all the time to contradict with square frame inner wall rotating the in-process, one side of square frame is equipped with the slide bar that extends the diaphragm towards even board one side, the upper end setting of first pole extends the one end of diaphragm at the slide bar, be equipped with the spacing frame of the shape of falling the U that moves square frame on the diaphragm, be equipped with two relative locating pieces, two on the diaphragm in one side of square frame wear to be equipped with the locating lever that the perpendicular to slide bar distributes between the locating piece, set up the hole of wearing that supplies the slide bar to wear out on the locating lever.

Preferably, a plurality of balls which are abutted against the upper end face of the transverse plate are embedded in one side, facing the transverse plate, of the square frame and the sliding rod.

The invention has the beneficial effects that: the training person passes through the bandage cover and ties up in training person's upper part of the body, first motor control conveyer belt begins the work back, training person trains on the conveyer belt, after training a period, when training person needs the rest, first motor stop work, first extensible member removes the fixed plate to certain height downwards afterwards, second extensible member drive seat removes to training person's direction afterwards, the flexible length of control second extensible member, be convenient for seat automatic movement to the position that training person need stand, training person only need sit down this moment can, need not to untie the bandage cover this moment, when needs continue the training, training person only need stand, second extensible member and first extensible member remove seat to training person's top afterwards, first motor drive conveyer belt continues the work this moment, be convenient for training person continues the training, reach the purpose that training person can sit down the rest at the training in-process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of the present embodiment;

fig. 2 is a schematic structural view for embodying the threaded rod of the present embodiment;

fig. 3 is a schematic structural diagram of a first distance sensor according to the present embodiment;

FIG. 4 is a schematic structural diagram of the present embodiment for embodying the first, second, and third bars;

fig. 5 is a schematic structural diagram for embodying a square frame in this embodiment;

fig. 6 is a schematic structural view of the horizontal bar according to the present embodiment.

Description of reference numerals:

in the figure: 1. an inner frame; 11. a conveyor belt; 12. a fixed base; 13. a sling; 131. a bandage sleeve; 14. a support bar; 141. a horizontal bar; 15. an arc-shaped plate; 151. connecting plates; 152. a fixing plate; 153. a seat plate; 154. a threaded rod; 155. a second motor; 156. a guide bar; 157. a slider; 158. a first distance sensor; 16. a transverse plate; 161. a first lever; 162. a second lever; 163. a third lever; 164. a third motor; 165. a chute; 1651. a screw rod; 1652. connecting blocks; 166. a placement groove; 1661. a first bevel gear; 1662. a second bevel gear; 167. a moving groove; 168. a rack; 169. a driving gear; 17. a guide plate; 18. a second distance sensor; 19. a limiting rod; 191. a sleeve; 192. a groove is embedded; 193. a table plate; 194. a drive shaft; 195. a cam; 196. a square frame; 197. a slide bar; 198. a limiting frame; 2. positioning blocks; 21. and (5) positioning the rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

The utility model provides a motor control system of gait rehabilitation training appearance of area rest chair, as fig. 1 and fig. 6, including interior frame 1, the cylinder is rotationally installed respectively at the both ends of interior frame 1, the conveyer belt 11 has been twined between two cylinders, be equipped with the first motor of one of them cylinder pivoted of drive on the interior frame 1, be equipped with unable adjustment base 12 outside the interior frame 1, the one end of unable adjustment base 12 is equipped with the emergency support, the top of emergency support is connected with bandage cover 131 through suspender 13, interior frame 1 all is equipped with bracing piece 14 in the both sides of conveyer belt 11, two bracing piece 14 upper ends all are equipped with horizontally horizon bar 141, horizon bar 141 supplies when the training person walks on conveyer belt 11, horizontal bar 141 can be held to the hand, provide the auxiliary support power for the training person, the emergency support is including setting up two arc 15 and connecting plate 151 of connecting two arc 15 upper ends at unable adjustment base 12 both sides, control piece 15 is the first extensible member that begins the kickup and extends and make the other end of arc 15 be located conveyer belt 11 top from unable adjustment base 12, suspender 13 sets up on connecting plate 151, the upper end of two arc 15 is connected with fixed plate 152 through the first extensible member that stretches out and draws back along vertical direction, control piece is connected with the second extensible member 153 that the seat that the expansion plate is connected along the second extensible member that the second extensible member 153 is connected on the fixed plate that the fixed plate 153 is horizontal.

As shown in fig. 1 and 6, a trainer enters the conveyor belt 11 through the two arc-shaped plates 15, the binding belt sleeve 131 is bound on the upper body of the trainer, after the first motor controls the conveyor belt 11 to work, the trainer trains on the conveyor belt 11, and when the trainer needs to have a rest after a period of training, the trainer can pay attention to the fact that the rest is a short-time rest, such as rest for about 5-10 minutes, and if the trainer needs to have a rest for a long time, such as more than 1 hour, the trainer can directly choose not to use a gait rehabilitation training instrument, namely the trainer walks down the conveyor belt 11; when training person's rest time is short, first motor stop work, first extensible member moves fixed plate 152 to certain height downwards afterwards, second extensible member drive seat 153 removes to training person's direction afterwards, the flexible length of control second extensible member, be convenient for seat 153 automatic movement to the position that training person need stand, this moment training person only need sit down can, need not to untie bandage cover 131 this moment, when needs continue the training, training person only need stand, second extensible member and first extensible member move seat 153 to training person's top afterwards, first motor drive conveyer belt 11 continuation work this moment, be convenient for training person's continuation training, reach the purpose that training person can sit down the rest in training process.

As shown in fig. 1 and 2, the first telescopic member includes a transverse plate 16 disposed between the two arc plates 15, a vertical first rod 161 is disposed on one side of the transverse plate 16 facing the connecting plate 151, a second rod 162 is slidably connected to one side of the first rod 161 facing away from the transverse plate 16 along the vertical direction, a third rod 163 is slidably connected to one side of the second rod 162 facing away from the first rod 161 along the vertical direction, the first rod 161, the second rod 162 and the third rod 163 are driven by a driving member, and the fixing plate 152 is disposed at the lower end of the third rod 163. At this moment, the driving piece drives the second rod 162 to slide up and down on the first rod 161, the third rod 163 slides up and down on the second rod 162, and then the lower end of the third rod 163 gradually rises or falls, after the third rod 163 gradually falls to a certain height, the second extensible member starts to work again, or can work simultaneously, the third rod 163 is convenient for fall the seat plate 153 on the second extensible member to the height of the seat required by the trainer, when the seat plate 153 does not need to be used, the first extensible member can lift the seat plate 153 to the space above the head of the trainer, and the exercise of the trainer cannot be influenced.

As shown in fig. 2 and 3, the second telescopic member includes a threaded rod 154 rotatably connected to the fixing plate 152, the threaded rod 154 is driven by a second motor 155 disposed on the fixing plate 152, the fixing plate 152 is disposed vertically, the seat plate 153 is disposed horizontally and perpendicular to the fixing plate 152, guide rods 156 penetrating both sides of the fixing plate 152 are disposed at both ends of the seat plate 153, the two guide rods 156 are disposed at both sides of the threaded rod 154 and parallel to the threaded rod 154, a sliding block 157 is disposed at the bottom of the seat plate 153, and the sliding block 157 is in threaded connection with the threaded rod 154; at this time, when the second motor 155 starts to rotate in the forward and reverse directions, the threaded rod 154 drives the slider 157 to move back and forth on the threaded rod 154, and at this time, the seat plate 153 is driven to move in the horizontal direction, and the seat plate 153 and the fixing plate 152 are connected in a sliding manner under the action of the guide rod 156, and the seat plate 153 is convenient to move in the horizontal direction.

As shown in fig. 2 and 3, the control member includes a first distance sensor 158 disposed on a side of the seat plate 153 facing the trainer, an adjusting module for adjusting the rotation speed of the second motor 155 is disposed on the second motor 155, the first distance sensor 158 collects a distance D from the side of the seat plate 153 to the surface of the trainer, and transmits the collected distance D to the adjusting module, the adjusting module is configured to generate a control signal according to the distance D, and the second motor 155 is configured to output a corresponding rotation speed according to the control signal;

the second motor 155 outputs a rotation speed of 0 in response to the first signal, and the second motor 155 outputs a rotation speed of V1 in response to the second signal.

At this time, the second motor 155 drives the threaded rod 154 to rotate, so that when the seat plate 153 is gradually close to the trainer, the first distance sensor 158 acquires the distance from one side of the seat plate 153 to the surface of the trainer, at this time, the seat plate 153 is positioned behind the trainer, when the preset distance is 10cm, when the distance D acquired by the first distance sensor 158 is less than 10cm, the adjusting module generates a first signal according to the distance D, at this time, the second motor 155 outputs a rotating speed of 0 in response to the first signal, namely, the second motor 155 stops rotating, even if the seat plate 153 is fixed in position, the trainer can sit on the seat plate 153 conveniently, and at this time, the feet of the trainer can be placed on the conveyor belt 11 or a gap exists between the feet of the trainer and the conveyor belt 11.

As shown in fig. 1 and 4, the driving member includes a third motor 164 disposed at an upper end of the second rod 162, one side of the second rod 162 facing the third rod 163 is provided with a sliding slot 165 distributed along a length direction of the second rod 162, the sliding slot 165 is rotatably connected with a screw rod 1651, at this time, the screw rod 1651 is also distributed along a vertical direction, the third rod 163 is provided with a connecting block 1652 sliding in the sliding slot 165 and in threaded connection with the screw rod 1651, one end of the second rod 162 provided with the third motor 164 is provided with a placing slot 166, one end of the screw rod 1651 extends into the placing slot 166, a rotating shaft of the third motor 164 extends into the placing slot 166, a first bevel gear 1661 is coaxially and fixedly connected to the rotating shaft of the third motor 164, and one end of the screw rod 1651 extending into the placing slot 166 is coaxially and fixedly provided with a second bevel gear 1662 engaged with the first bevel gear 1661; at this time, the third motor 164 is fixed on the outer wall of the upper end of the second rod 162, and the rotating shaft of the third motor 164 rotates into the placing groove 166, so as to drive the second bevel gear 1662 on the screw rod 1651 to rotate.

As shown in fig. 1 and 4, a rotation shaft of the third motor 164 penetrates through one side of the second rod 162 facing the first rod 161, a moving groove 167 into which the rotation shaft enters is formed in the first rod 161, the moving groove 167 is distributed along the length direction of the first rod 161, a rack 168 is arranged on a groove wall on one side of the moving groove 167, and a driving gear 169 meshed with the rack 168 is coaxially and fixedly arranged at one end of the third motor 164 entering the moving groove 167.

As shown in fig. 1 and 4, when it is required to slide the second rod 162 and the third rod 163 downwards, the third motor 164 is operated, so that the third motor 164 drives the screw 1651 to rotate through the engagement of the first bevel gear 1661 and the second bevel gear 1662, and further drives the connecting block 1652 to slide downwards in the sliding slot 165, at this time, the third rod 163 moves downwards along the second rod 162, and simultaneously the driving gear 169 on the third motor 164 is engaged with the rack 168, so that the second rod 162 moves downwards along the rack 168, and further the descending speed and descending height of the third rod 163 are increased, so as to lower the seat 153 to a desired position, when the descending height position of the seat 153 is fixed, for example, the seat 153 is 50cm away from the conveyor belt 11, at this time, an L-shaped blocking rod extending to the outer wall of the first rod 161 is provided on the outer wall of the second rod 162, and when the seat 153 descends to 50cm away from the conveyor belt 11, the third motor 164 stops rotating, and the blocking rod 161 is supported by the blocking rod 162.

As shown in fig. 1 and 4, the lower end of the first rod 161 is provided with a U-shaped guide plate 17, two sides of the second rod 162 are slidably connected to two sides of the guide plate 17, respectively, and the opening of the guide plate 17 faces the third rod 163. The action of the guide plate 17 at this time facilitates the sliding movement of the second lever 162 on the first lever 161.

As shown in fig. 3, a second distance sensor 18 is disposed at the lower end of the seat plate 153, an adjusting module for adjusting the rotation speed of the third motor 164 is disposed on the third motor 164, the second distance sensor 18 collects a distance D from the lower end of the seat plate 153 to the surface of the conveyor belt 11, and transmits the collected distance D to the adjusting module, the adjusting module is configured to generate a control signal according to the distance D, and the third motor 164 is configured to output a corresponding rotation speed according to the control signal;

the third motor 164 outputs a rotational speed of 0 in response to the first signal and the third motor 164 outputs a rotational speed of V2 in response to the second signal.

That is, when the seat plate 153 descends to a desired height, the second distance sensor 18 collects a distance D from the lower end of the seat plate 153 to the surface of the conveyor belt 11, when the preset distance is 50cm, and when the distance D is smaller than the preset distance, the adjusting module generates a first signal according to the distance D, the rotating speed of the third motor 164 in response to the first signal is 0, that is, the third motor 164 stops working, and when the distance D is greater than the preset distance, it indicates that the seat plate 153 does not descend to the desired height, the rotating speed of the third motor 164 in response to the second signal is V2, that is, the seat plate 153 descends at a certain speed.

As shown in fig. 6, after the trainer sits on the seat board 153, the two horizontal rods 141 are rotatably connected with the limiting rods 19, one ends of the limiting rods 19 are respectively provided with a sleeve 191 sleeved on the outer wall of the horizontal rod 141, another horizontal rod 141 opposite to the sleeve 191 is provided with an embedded groove 192 for embedding the other end of the limiting rod 19, the embedded grooves 192 are distributed in a plurality along the length direction of the horizontal rods 141, and the upper end face of the limiting rod 19 at the front end of the trainer is provided with a strip-shaped table board 193. Remove gag lever post 19 this moment for two gag lever posts 19 are located training person's front and back both sides respectively, and the other end embedding embedded groove 192 of keeping away from sleeve 191 with gag lever post 19 this moment in, and then realize gag lever post 19's fixed, two gag lever posts 19 realization are to training person's protection around this moment, and are convenient for training person to hold gag lever post 19 and stand up, and the design of table 193 is convenient for training person's hand and is placed, reaches the purpose of being convenient for training person to have a rest.

Referring to fig. 1 and 5, when the trainer stands out of the position opposite to the seat board 153, the position of the seat board 153 needs to be adjusted, so that the upper end of the transverse board 16 is rotatably connected with the driving shaft 194, the first telescopic member is connected with the driving shaft 194 through the power member, and when the power member works, the first telescopic member moves towards or away from the transverse board 16 or moves parallel to the transverse board 16. At this time, the position of the seat plate 153 is adjusted, and the use range is enlarged.

As shown in fig. 1 and 5, the driving shaft 194 is vertically upward, a cam 195 is fixedly arranged on the outer wall of the driving shaft 194, the cam 195 is formed by three arc-shaped side arcs in transitional connection, the center of the cam 195 is eccentrically connected with the axis of the driving shaft 194, a square frame 196 is placed on the upper end surface of the horizontal plate 16, the cam 195 always has three points to be in contact with the inner wall of the square frame 196 in the rotating process, one side of the square frame 196 is provided with a sliding rod 197 extending out of the horizontal plate 16 towards one side of the connecting plate 151, the upper end of the first rod 161 is arranged at one end of the sliding rod 197 extending out of the horizontal plate 16, the horizontal plate 16 is provided with an inverted U-shaped limiting frame 198 limiting the square frame 196 to move on the horizontal plate 16, the horizontal plate 16 is provided with two opposite positioning blocks 2 on one side of the square frame 196, positioning rods 21 perpendicular to the sliding rods 197 are arranged between the two positioning blocks 2 in a penetrating manner, two ends of the positioning rods 21 all penetrate out of the two positioning blocks 2 and deviate from each other side of the two positioning blocks 2, the positioning rods 21 are provided with holes for the sliding rods 197 to penetrate out, and the positioning blocks 2 and the positioning rods 21 are also located in the limiting frame 198. The drive shaft 194 is coaxially driven by a fourth motor fixed to the lower end surface of the cross plate 16.

As shown in fig. 1 and 5, when the fourth motor works, the driving shaft 194 is driven to rotate, at this time, the driving shaft 194 drives the cam 195 to rotate, so that the edge of the cam 195 drives the square frame 196 to move on the horizontal plate 16, the square frame 196 drives the sliding rod 197 to also move on the horizontal plate 16, at this time, the sliding rod 197 drives the positioning rod 21 to move back and forth between the two positioning blocks 2, and the moving track of the sliding rod 197 away from one end of the square frame 196 is rectangular, so that the sliding rod 197 drives the first rod 161 to generate displacement, so that the first rod 161 drives the seat plate 153 through the second rod 162 and the third rod 163, and moves in the space towards or away from the horizontal plate 16 or in a direction parallel to the horizontal plate 16, so as to change the position of the seat plate 153, and further meet the use requirements of a trainer.

As shown in fig. 1 and 5, a plurality of balls (not shown) abutting against the upper end surface of the transverse plate 16 are embedded in the side of the square frame 196 and the sliding rod 197 facing the transverse plate 16, the arrangement of the rollers facilitates the sliding of the square frame 196 and the sliding rod 197 on the upper end surface of the transverse plate 16, and the end of the sliding rod 197 extending out of the transverse plate 16 is not provided with the balls.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The utility model provides a motor control system of gait rehabilitation training appearance of area rest chair, includes inner frame (1), the cylinder is rotationally installed respectively at the both ends of inner frame (1), two the winding has conveyer belt (11) between the cylinder, be equipped with the first motor of one of them cylinder pivoted of drive on inner frame (1), inner frame (1) is equipped with unable adjustment base (12) outward, the one end of unable adjustment base (12) is equipped with safety support, and safety support's top is connected with bandage cover (131) through suspender (13), inner frame (1) all is equipped with bracing piece (14), two in the both sides of conveyer belt (11) bracing piece (14) upper end all is equipped with horizontally horizon bar (141), its characterized in that, safety support is including setting up in two arc (15) of unable adjustment base (12) both sides and connecting link (151) of two arc (15) upper ends, suspender (13) set up on link (151), two arc (15) upper end are connected with fixed plate (152) through the flexible first extensible member along vertical direction, go up through the flexible second control piece (153) of flexible along horizontal direction on fixed plate (152), be equipped with the second control link (153) of second extensible member.

2. The motor control system of the gait rehabilitation training device with the resting chair is characterized in that the second telescopic part comprises a threaded rod (154) rotatably connected to the fixing plate (152), the threaded rod (154) is driven by a second motor (155) arranged on the fixing plate (152), the fixing plate (152) is vertically arranged, the seat plate (153) is horizontally arranged and perpendicular to the fixing plate (152), two ends of the seat plate (153) are respectively provided with a guide rod (156) penetrating through two sides of the fixing plate (152), the two guide rods (156) are positioned on two sides of the threaded rod (154) and are parallel to the threaded rod (154), the bottom of the seat plate (153) is provided with a sliding block (157), and the sliding block (157) is in threaded connection with the threaded rod (154);

the control element comprises a first distance sensor (158) arranged on one side, facing the trainer, of the seat plate (153), an adjusting module for adjusting the rotating speed of the second motor (155) is arranged on the second motor (155), the first distance sensor (158) collects the distance D from one side of the seat plate (153) to the surface of the trainer, and transmits the collected distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the second motor (155) is used for outputting a corresponding rotating speed according to the control signal;

the rotating speed of the second motor (155) responding to the first signal output is 0, and the rotating speed of the second motor (155) responding to the second signal output is V1.

3. The motor control system of a gait rehabilitation training device with resting chair as claimed in claim 1 or 2, characterized in that the first telescopic element comprises a transverse plate (16) arranged between the two arc-shaped plates (15), a vertical first rod (161) is arranged on the side of the transverse plate (16) facing the connecting plate (151), a second rod (162) is connected to the side of the first rod (161) facing away from the transverse plate (16) in a sliding manner in the vertical direction, a third rod (163) is connected to the side of the second rod (162) facing away from the first rod (161) in a sliding manner in the vertical direction, and the first rod (161), the second rod (162) and the third rod (163) are driven by a driving element.

4. The motor control system of the gait rehabilitation training instrument with the resting chair as claimed in claim 3, characterized in that the driving member comprises a third motor (164) arranged at the upper end of the second rod (162), one side of the second rod (162) facing the third rod (163) is provided with a sliding slot (165) distributed along the length direction of the second rod (162), the sliding slot (165) is connected with a screw rod (1651) in a rotating manner, the third rod (163) is provided with a connecting block (1652) sliding in the sliding slot (165) and in threaded connection with the screw rod (1651), the second rod (162) is provided with a placing slot (166) at the end provided with the third motor (164), one end of the screw rod (1651) extends into the placing slot (166), the rotating shaft of the third motor (164) is fixedly connected with a first bevel gear (1661) in a coaxial manner, and one end of the third motor (1651) extending into the placing slot (166) is fixedly provided with a second bevel gear (1662) meshed with the first bevel gear (1662);

the rotating shaft of the third motor (164) penetrates through one side of the second rod (162) facing the first rod (161), a moving groove (167) for the rotating shaft to enter is formed in the first rod (161), the moving groove (167) is distributed along the length direction of the first rod (161), a rack (168) is arranged on the groove wall of one side of the moving groove (167), and a driving gear (169) meshed with the rack (168) is coaxially and fixedly arranged at one end, entering the moving groove (167), of the third motor (164).

5. The motor control system of the gait rehabilitation training device with resting chair as claimed in claim 4, characterized in that the lower end of the first rod (161) is provided with a U-shaped guide plate (17), the two sides of the second rod (162) are respectively connected with the two sides of the guide plate (17) in a sliding way, and the opening of the guide plate (17) faces to the third rod (163).

6. The motor control system of the gait rehabilitation training device with resting chair as claimed in claim 5, characterized in that the lower end of the seat plate (153) is provided with a second distance sensor (18), the third motor (164) is provided with an adjusting module for adjusting the rotation speed of the third motor (164), the second distance sensor (18) acquires the distance D from the lower end of the seat plate (153) to the surface of the conveyor belt (11) and transmits the acquired distance D to the adjusting module, the adjusting module is used for generating a control signal according to the distance D, and the third motor (164) is used for outputting a corresponding rotation speed according to the control signal;

the rotating speed of the third motor (164) responding to the first signal is 0, and the rotating speed of the third motor (164) responding to the second signal is V2.

7. The motor control system of the gait rehabilitation training instrument with the resting chair as claimed in claim 4, characterized in that two horizontal rods (141) are rotatably connected with a limiting rod (19), one end of the limiting rod (19) is provided with a sleeve (191) sleeved on the outer wall of the horizontal rod (141), the other horizontal rod (141) opposite to the sleeve (191) is provided with an embedded groove (192) for embedding the other end of the limiting rod (19), the embedded grooves (192) are provided in a plurality and distributed along the length direction of the horizontal rod (141), and the upper end face of the limiting rod (19) at the front end of the trainer is provided with a long strip-shaped table plate (193).

8. The motor control system of a gait rehabilitation training device with resting chair as claimed in claim 7, characterized in that the upper end of the transverse plate (16) is rotatably connected with a driving shaft (194), the first telescopic member is connected with the driving shaft (194) through a power member, and when the power member works, the first telescopic member moves towards or away from the transverse plate (16) or parallel to the transverse plate (16).

9. The motor control system of the gait rehabilitation training instrument with the resting chair as claimed in claim 8, characterized in that the driving shaft (194) is vertically upward, a cam (195) is fixedly arranged on the outer wall of the driving shaft (194), a square frame (196) is placed on the upper end face of the transverse plate (16), three points of the cam (195) always abut against the inner wall of the square frame (196) in the rotating process, a sliding rod (197) extending out of the transverse plate (16) and facing one side of the connecting plate (151) is arranged on one side of the square frame (196), the upper end of the first rod (161) is arranged at one end of the sliding rod (197) extending out of the transverse plate (16), an inverted U-shaped limiting frame (198) for limiting the square frame (196) on the transverse plate (16) to move is arranged on the transverse plate (16), two opposite positioning blocks (2) are arranged on one side of the square frame (196) on the transverse plate (16), a positioning rod (21) is provided with a positioning hole for the sliding rod (197) to pass through.

10. The motor control system of a gait rehabilitation training device with resting chair as claimed in claim 9, characterized in that the square frame (196) and the side of the sliding rod (197) facing the transverse plate (16) are embedded with a plurality of balls which are abutted against the upper end surface of the transverse plate (16).