CN206434545U - A kind of device for healing and training - Google Patents
A kind of device for healing and training Download PDFInfo
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- CN206434545U CN206434545U CN201620946916.0U CN201620946916U CN206434545U CN 206434545 U CN206434545 U CN 206434545U CN 201620946916 U CN201620946916 U CN 201620946916U CN 206434545 U CN206434545 U CN 206434545U
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Abstract
A kind of device for healing and training disclosed in the utility model, including controller, controller is connected with motor, track travel device, electromagnetic lock, travel switch and encoder respectively by signal wire, controller is also connected by the transmission of wired or wireless signal with control device, and control device is connected by signal wire with tension measuring appliance.A kind of device for healing and training, its suspender stroke range can be set, and stable pulling force is kept in this stroke range, suspender is in the range of stroke, dipping and heaving of the people in walking can be imitated, and in fluctuating, lifting power remains to keep stable, the horizontal movement velocity for the device that can be set, is used more flexibly and safe.The device can easily control the lifting and decline of suspender by manual manipulation device, adjust spacing above and below suspender lifting force, setting suspender, up and down speed limit.
Description
Technical field
The utility model belongs to field of medical equipment technology, and in particular to a kind of device for healing and training.
Background technology
Many diseases can cause patient's walking disorder, such as：The nervous system disease, cerebrovascular disease, leg waist disease etc., with
And contingency injury is all likely to result in noneffectives' walking function obstacle, have impact on after the daily life of patient, stable disease,
Usually need to carry out Rehabilitation Training in Treating to help patient to recover limb function., can be effective by rehabilitation, rehabilitation training
Promote the restructuring of movement of patient nerve and the recovery of compensatory and muscle strength, bone and function of joint so that part or complete
Recover to portion the limb function of patient.It is more early that rehabilitation training and treatment start, and the effect finally recovered is better, but is opening
Stage beginning, patient tends to wrestling, and is difficult to bear the pain that the body weight of oneself is caused, in order that patient does sth. in advance to start limbs
Functional rehabilitation is taken exercise, and often uses body weight support treadmill training, and it is that one kind in extremity motor function rehabilitation training therapy is basic
Method.Assist in, lean on turn with walking in water be with being at most also most basic loss of weight walking therapies, but they all some limit to
Property.Therefore, someone has invented mechanical assistance running gear.
The existing lower limb of in the market walk rehabilitation training loss of weight frame using motor as power set, including column or framework with
And suspension rod thereon, suspension ring component is hung with suspension rod, column is provided with suspension ring lifting driver part, and suspension rod inner edge is provided with one
Steel wire rope is equipped with group fixed pulley, fixed pulley, above-mentioned suspension ring component is by steel wire rope and motor connection, and motor, which is rotated, drives steel
Cord moves along a straight line, and steel wire rope drives suspension ring component to move up and down, patient is moderately sling again by fixed pulley, mitigates under patient
The heavy burden of limb, it is ensured that patient carries out the safety in the progress and training of the locomitivity rehabilitation trainings such as walking, balance, standing.
This device is in use, still there is some shortcomings, and, gravity center of human body is not maintained at a level due to human body in the process of walking
On line, but in periodically changing up and down, under static state, suspender belt pulling force balances each other with the human body weight being lifted,
In rehabilitation Walking, motor be in stops rotary state, when gravity center of human body moves up, steel wire rope by the relative relaxation of change,
The pulling force acted on human body can reduce；When gravity center of human body moves down, steel wire rope can be tightened up, and its pulling force can tend to increase
Greatly.Ignore the elastic deformation of steel wire rope, human body is in walking, and steel wire rope does not have weight loss effect when center of gravity is upward, when center of gravity is downward
It can too lift again, destroy the normal gait of human body walking, so when this loss of weight frame can not be well adapted for human body walking
The requirement of gravity center shift, it is impossible to play good loss of weight effect.This kind of weight-losing device still can not apish actual walking
Training, and is strapped in rehabilitation training person in narrow range, and it is single that training path lacks posture, larger with true walking gap,
The interest lacked in training, easily produces trainer and is weary of sense.
Utility model content
The purpose of this utility model is to provide a kind of device for healing and training, solves existing device for healing and training and is imitated with loss of weight
It is really poor and with true walking gap it is larger the problem of.
The technical scheme that the utility model is used is：A kind of device for healing and training, including controller, controller respectively with
Motor, track travel device, electromagnetic lock, travel switch and encoder connection, controller by transmission of wireless signals also with control device
Connection, control device is connected by signal wire with tension measuring appliance, and controller includes power supply, microprocessor, Flash SRAM, PWM
Generator and motor driver.
The characteristics of the utility model, also resides in,
Track travel device includes being provided with traveling speed reducer on mobile holder, mobile holder, and traveling speed reducer passes through walking
Motor drives, in addition to roller.
Movable motor is direct current generator.
Movable motor is DC stepper motor.
Speed changer also includes the small synchronous pulley being connected with servo motor output shaft, and small synchronous pulley is by timing belt and greatly
Synchronous pulley is connected, in addition to the little gear coaxially connected with encoder.
Lifting device includes suspender, and suspender is connected by lifting rope with pulley, in addition to screw mandrel, and silk cylinder is provided with screw mandrel.
Metallic channel is provided with silk cylinder, the width of the metallic channel is identical with the pitch of screw mandrel.
Tension measuring appliance is connected with lifting rope.
Motor is DC servo motor or DC stepper motor.
The beneficial effects of the utility model are：A kind of device for healing and training of the present utility model, is rehabilitation clients by suspender
There is provided a stabilization upward pulling force, pulling force size can be set as needed, and the pulling force keeps steady in whole training process
It is fixed；The device can set its suspender stroke range, imitate dipping and heaving of the people in walking, and the level for the device that can be set is moved
Dynamic speed, is used more flexibly and safe.For example, the normal fluctuating in walking, then the upward pulling force that device is provided is all the time
In dynamic steady state, rehabilitation clients is mitigated heavy burden, improve smoothness, comfortableness when walking, if rehabilitation training person anticipates
Outer unstability, then the device, which can increase lifting power in time, makes trainer slow down, until stopping, it is to avoid tumble injury is damaged.The device can
Easily to control the lifting and decline of suspender by manual manipulation device, adjust above and below suspender lifting force, setting suspender
It is spacing, speed limit up and down.In addition, the apparatus structure is simple, cost is low, it is easy to promote.
Brief description of the drawings
Fig. 1 is a kind of system block diagram of device for healing and training of the present utility model；
Fig. 2 is a kind of structural representation of device for healing and training of the present utility model；
Fig. 3 is a kind of left view of device for healing and training of the present utility model；
Fig. 4 is a kind of schematic diagram of device for healing and training of the present utility model；
Fig. 5 is a kind of flow chart of data processing figure of device for healing and training of the present utility model.
In figure, 1. motors, 2. controllers, 3. track travel devices, 31. rollers, 32. movable motors, 33. traveling speed reducers,
34. mobile holder, 4. speed changers, 41. small synchronous pulleys, 42. timing belts, 43. big synchronous pulleys, 44. little gears, 5. electromagnetism
Lock, 6. travel switches, 7. encoders, 8. lifting devices, 81. lifting ropes, 82. suspenders, 83. pulleys, 84. screw mandrels, 85. cylinders, 9.
Tension measuring appliance, 10. control devices.
Embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
The utility model provides a kind of device for healing and training, as shown in figure 1, including controller 2, controller 2 respectively with
Motor 1, track travel device 3, electromagnetic lock 5, travel switch 6 and encoder 7 are connected, and controller 2 is passed by wired or wireless signal
Defeated to be also connected with control device 10, control device 10 is connected by signal wire with tension measuring appliance 9, tension measuring appliance 9 and lifting device 8
Connection, controller 2 includes power supply, microprocessor, Flash SRAM, PWM generator and motor driver；
As shown in Figures 2 and 3, track travel device 3 includes being provided with traveling speed reducer on mobile holder 34, mobile holder 34
33, traveling speed reducer 33 is driven by movable motor 32, in addition to roller 31, and movable motor 32 is stepper motor, and speed changer 4 is also
Including the small synchronous pulley 41 being connected with the output shaft of motor 1, small synchronous pulley 41 is connected by timing belt 42 with big synchronous pulley 43
Connect, in addition to the little gear 44 coaxially connected with encoder 7, lifting device 8 includes suspender 82, suspender 82 pass through lifting rope 81 with it is sliding
Wheel 83 is connected, in addition to screw mandrel 84, is provided with screw mandrel 84 on silk cylinder 85, silk cylinder 85 and is provided with metallic channel, the width of metallic channel
Identical with the groove width of screw mandrel 84, tension measuring appliance 9 is connected with lifting rope 81.
As shown in figure 4, a kind of device for healing and training uses decentralized control, controller 2 is using microprocessor as control core
The heart, its task is signal and motor 1, track travel device 3, electromagnetic lock 5, travel switch 6 and the encoder 7 for receiving control device 10
Feedback signal, and signal is acted upon, generates control instruction, and then control driving lifting device 8；Controller 10 is with micro- place
Reason device is control core, and its task is to receive to handle end effector signal and pass to controller 2, controller 2 and control device 10
Between use RS232 serial ports；As shown in figure 5, the permanent lifting force control principle of lifting device 8 is the drawing using end
The lifting force that tension gauge detection lifting device applies to trainer, by the online real-time processing of controller 2, is timely responded to
The fluctuation of lifting force, adjusts motor driver in real time during the up and down action of operator, and dynamic in real time is carried out to lifting force and is adjusted；Draw
Tension gauge 9 detects the value of thrust of lifting rope 81 in real time, and the pulling force value signal after processing is passed into control by control device 10
Device 2, while avoiding control signal from being disturbed in transmittance process by other noise signals.
The composition of whole control system mainly has microprocessor, power amplifier module, communication module, filter circuit module etc.
Composition.Wherein microprocessor is mainly responsible for the calculating of control algolithm, and power amplifier module realizes amplification and the motor of pwm signal
Overcurrent protection, filter amplification circuit module realizes the processing to control device and pull force calculation instrument signal, and communication module is responsible for and control
Device processed is communicated.During system operation, produced with the timer of microprocessor internal in the time that the cycle is 5ms
It is disconnected, to make sampling time task enter running status by ready state, in sampling time task, counted by orthogonal coding
Device, by sensing, obtains motor present speed and position, and then being obtained by position and speed closed loop algorithm should be required defeated
The controlled quentity controlled variable gone out, i.e. PWM duty cycle, by power amplification, with motor.The current sample of drive module in this process
Link is detected that, when electric current exceedes setting, current cutting-off protection circuit can be produced accordingly to the electric current of motor in real time
Signal to close drive module to protect motor, microprocessor is detected by the order interrupted to end-effector,
To respond the various orders from end-effector in real time, and respond.
The present apparatus has three layers of spacing safeguard protection：Software limit protection, electric limiting protection, structural level position limitation protection, are protected
The safety of operator, trainer and equipment is demonstrate,proved；In the lifting process of suspender, the processor in controller 2 is according to people
The actual impression of body engineering and operator are controlled by lifting force and lifting speed, realize smooth starting and stopping.
Microcontroller computer obtains trainer's by being analyzed and processed to the data that pull force calculation instrument and encoder are gathered
Training data, such as speed, distance are actual, loss of weight lifting force etc., and carry out analysis judgement to the physical training condition of trainer, right
The rehabilitation state of trainer is analyzed.In the range of the normal fluctuating during trainer trains, it is ensured that lifting force is in operation
In the normal range (NR) of personnel setting, and keep stable；When displacement transducer detects displacement close to the limit, device can alarm and carry
Show；When displacement transducer detects displacement break bounds, device is while alarm, and microcontroller computer can be according to the feedback of sensor
Value, controlled motor electric current is increased or reduced the action accordingly such as motor lift force, emergency brake and set in operator
In the range of make suspender stop motion, it is ensured that the safety of trainer.
At work, if load weight is beyond the normal range (NR) of setting, pull force calculation instrument sends alarm, taken the device
Action, until interim hovering, personnel or trainer to be operated are done after respective handling, can starter resume work.
A kind of device for healing and training, a upward pulling force of stabilization is provided by suspender for rehabilitation clients, and pulling force size can be with
Setting as needed, the pulling force keeps stable in whole training process；The device can set its suspender stroke range, imitate
Dipping and heaving of the people in walking, the horizontal movement velocity for the device that can be set is used more flexibly and safe.For example,
Normal fluctuating in walking, the then upward pulling force that device is provided is in dynamic steady state all the time, rehabilitation clients is mitigated heavy burden, carries
Smoothness, comfortableness during height walking, if rehabilitation training person's accident unstability, the device, which can increase lifting power in time, makes instruction
White silk person is slowed down, until stopping, it is to avoid tumble injury is damaged.The device easily can control carrying for suspender by manual manipulation device
Rise and decline, adjust spacing above and below suspender lifting force, setting suspender, up and down speed limit.In addition, the apparatus structure is simple, cost
It is low, it is easy to promote.
Claims (9)
1. a kind of device for healing and training, it is characterised in that including controller (2), controller (2) respectively with motor (1), track row
Device (3), electromagnetic lock (5), travel switch (6) and encoder (7) connection are walked, the controller (2) passes through wired or wireless signal
Transmission is also connected with control device (10), and control device (10) is connected by signal wire with tension measuring appliance (9), the tension measuring appliance
(9) it is connected with lifting device (8), the controller (2) includes power supply, microprocessor, Flash SRAM, PWM generator and electricity
Machine driver.
2. a kind of device for healing and training according to claim 1, it is characterised in that the track travel device (3) includes row
Walk and be provided with traveling speed reducer (33) on support (34), the mobile holder (34), traveling speed reducer (33) passes through movable motor
(32) drive, in addition to roller (31).
3. a kind of device for healing and training according to claim 2, it is characterised in that the movable motor (32) is direct current
Machine.
4. a kind of device for healing and training according to claim 2, it is characterised in that the movable motor (32) walks for direct current
Stepper motor.
5. a kind of device for healing and training according to claim 1, it is characterised in that also including speed changer (4), speed changer
(4) it is connected with motor (1), the speed changer (4) includes the small synchronous pulley (41) being connected with motor (1) output shaft, small synchronization
Belt wheel (41) is connected by timing belt (42) with big synchronous pulley (43), and big synchronous pulley (43) and oval stud wheel (44) are coaxial
Fixed, roller gear (44) drives silk cylinder gear (46) to rotate, so as to drive silk cylinder rotation, suspender (82) is moved up and down.
6. a kind of device for healing and training according to claim 1, it is characterised in that the lifting device (8) includes suspender
(82), suspender (82) is connected by lifting rope (81) with pulley (83), in addition to screw mandrel (84), and silk is provided with the screw mandrel (84)
Cylinder (85).
7. a kind of device for healing and training according to claim 6, it is characterised in that be provided with wire on the silk cylinder (85)
Groove, the width of the metallic channel is identical with the pitch of screw mandrel (84).
8. a kind of device for healing and training according to claim 7, it is characterised in that the tension measuring appliance (9) and lifting rope
(81) connect.
9. device for healing and training according to claim 1, it is characterised in that the motor (1) be DC servo motor or
Person's DC stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620946916.0U CN206434545U (en) | 2016-08-25 | 2016-08-25 | A kind of device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620946916.0U CN206434545U (en) | 2016-08-25 | 2016-08-25 | A kind of device for healing and training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206434545U true CN206434545U (en) | 2017-08-25 |
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ID=59645470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620946916.0U Active CN206434545U (en) | 2016-08-25 | 2016-08-25 | A kind of device for healing and training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206434545U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176148A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Device for healing and training |
-
2016
- 2016-08-25 CN CN201620946916.0U patent/CN206434545U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176148A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Device for healing and training |
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Address after: 201 B-2 building 81, East Yongshun Avenue, Luogang District, Guangdong, Guangzhou 510663, China Patentee after: Guangzhou spruce Health Industry Co., Ltd Address before: 201 B-2 building 81, East Yongshun Avenue, Luogang District, Guangdong, Guangzhou 510663, China Patentee before: GUANGZHOU LONGEST SCIENCE & TECHNOLOGY Co.,Ltd. |