CN210991601U

CN210991601U - Electric posture correction weight-reduction walking training device

Info

Publication number: CN210991601U
Application number: CN201921119210.7U
Authority: CN
Inventors: 米沢硕玉; 王俊锋; 石碰; 宋北冬; 和食一男; 猪野真吾; 石田健司; 榎勇人
Original assignee: Guangdong Zhiai Robot Technology Co ltd
Current assignee: Guangdong Zhiai Robot Technology Co ltd
Priority date: 2019-07-16
Filing date: 2019-07-16
Publication date: 2020-07-14
Anticipated expiration: 2029-07-16

Abstract

The utility model belongs to the technical field of the recovered medical instrument technique and specifically relates to indicate an electronic posture correction subtracts heavy training device that walks, set up in a plurality of all direction movement parts, the activity of the bottom of support including support, rotation and suspend the undershirt in midair in the support and install in the top of support and suspend in midair four actuating mechanism that suspend that the undershirt drive is connected in midair, four output that suspend actuating mechanism in midair drive respectively the drive and suspend four positions of undershirt in midair go up and down, the support is provided with the walking space, it is located the top in walking space to suspend the undershirt in midair, the middle part of support is provided with the handrail, the support is provided with control device, and a plurality of. The utility model discloses can correct the truck posture and subtract heavy walking training in step, degree of automation is high, reduces the emergence that the accident of falling was perhaps moved down to the tumble of lying prone before the user.

Description

Electric posture correction weight-reduction walking training device

Technical Field

The utility model belongs to the technical field of the recovered medical instrument technique and specifically relates to indicate an electronic posture is corrected and is subtract heavy training device that walks.

Background

Human walking is a type of exercise that steps on the ground to obtain a ground reaction force that is a result of friction with the ground to move the center of gravity of the body. During normal walking, the vertical upward force-dividing curve of the ground reaction force shows two peaks, namely a bimodal curve, which is medically called as vertical reaction force bimodality during walking. The bimodality of the counterforce of the walking ground directly reflects the gait and is an important index for measuring normal walking. In walking with good bimodality, the valley between the two peaks of the bimodal curve of the ground vertical reaction force during walking is deep, that is, the body center of gravity can be moved relatively stably by the vertical reaction force during walking. Furthermore, it is known from medical clinical studies that, when the trunk posture is abnormal, the valley between the two peaks of the vertical upward component of the ground reaction force during walking becomes shallow, and a serious abnormality may cause the vertical reaction force during walking to disappear in bimodality. The average life of the human beings in the modern society is continuously prolonged, and the aging of the population is inevitable. The elderly people are often the elderly with severe body trunk posture abnormalities such as kyphosis, chest curvature, and lumbar lordosis which have poor sagittal plane stability due to aging, patients with posture lateral curvature which has poor coronal plane stability, and patients with trunk posture abnormalities of sagittal plane and coronal plane which are formed due to poor body movement of half side of diseases such as cerebral apoplexy. From the results of the above clinical medical studies, it was found that the walking stability of the trunk with abnormal posture in the sagittal plane and the coronal plane can be improved by the posture-correcting walking training.

On the other hand, a new method in the field of walking rehabilitation in recent years is to stand a patient on an electric treadmill to perform weight-reducing walking training on a hemiplegic patient caused by a disease such as stroke. It can drive the patient to take a step subconsciously, activate the motor cortex and spinal cord rhythmic motor center, and exercise the joint function and muscle strength of the patient. However, the patient's body passively performs actions similar to walking, such as raising feet and moving joints of lower limbs, in accordance with the movement of the treadmill, and the center of gravity of the body is moved by a reaction force generated by friction with the ground without stepping on the ground. From the perspective of cognitive function, the speed of walking of a person in an actual environment can be reflected on the visual field of the person, the vision of the person is linked with the walking speed, and the movement speed of a patient on the electric treadmill is not linked with the vision. Namely, the weight-reducing walking training on the electric running table can not completely replace the standing walking training of a therapist for holding a patient by hands. Therefore, after the patient has certain recovery to the walking sensory function, joint function and muscle strength through the weight-reducing walking training on the electric treadmill and other devices, the patient needs to convert to the movable weight-reducing walking training to realize a complete walking training process. However, when the body of the patient leans forward and the feet of the patient cannot keep up with the center of gravity of the body, the conventional mobile walking trainer can cause the walker to slide forward with increased forward thrust, and the forward bending and falling accidents occur. Especially for the patients who have walking training with serious insufficient supporting force, the gravity center of the body is easy to move downwards due to insufficient muscle force of the two feet, so that the accidents of downward movement and falling are caused. And the electric control mobile walking training device can reduce the occurrence of the accidents of falling over caused by lying forward or moving down.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problem, an object of the present invention is to provide an electric posture correction weight reduction walking training device capable of correcting a trunk posture and performing weight reduction walking training in synchronization.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the electric posture correction weight-reduction walking training device comprises a support, a plurality of omnibearing moving parts rotatably arranged at the bottom of the support, a suspension vest movably arranged in the support and four suspension driving mechanisms which are arranged at the top of the support and are in driving connection with the suspension vest, wherein the output ends of the four suspension driving mechanisms respectively drive four parts of the suspension vest to lift, the support is provided with a walking space, the suspension vest is positioned above the walking space, the middle part of the support is provided with a handrail, the support is provided with a control device, and the omnibearing moving parts and the four suspension driving mechanisms are all electrically connected with the control device.

Furthermore, the suspension driving mechanism comprises an idler wheel, a pulley, a suspension belt and a belt take-up and pay-off driver for rolling the suspension belt, the idler wheel and the pulley are rotatably arranged at the top of the support, one end of the suspension belt is connected with the belt take-up and pay-off driver, and the other end of the suspension belt is connected with the suspension vest after passing around the idler wheel and the pulley.

Further, the winding and unwinding driver comprises a motor arranged at the top of the support and a winding and unwinding wheel arranged on an output shaft of the motor, one end of the suspension belt is wound on the winding and unwinding wheel, and the motor is electrically connected with the control device.

Furthermore, the pulley is provided with a load detector for detecting the load born by the suspension belt, and the load detector is electrically connected with the control device.

Furthermore, the pulley is provided with a rotary encoder for detecting the number of rotation turns of the pulley so as to detect the winding and unwinding length of the suspension belt, and the rotary encoder is electrically connected with the control device.

Furthermore, the output shaft of the motor is provided with a rotary potentiometer for limiting the rotation of the output shaft of the motor, and the rotary potentiometer is electrically connected with the control device.

Furthermore, the top of the support is provided with a plurality of omni-directional movement drivers and a microcomputer electrically connected with the control device, each omni-directional movement component is electrically connected with the control device through one omni-directional movement driver, the microcomputer comprises an instruction control unit, a walking control unit, a suspension control unit and an operation unit, the instruction control unit is used for acquiring a control instruction input by the control device, receiving detection information of the load detector and outputting a working instruction to the motor, the instruction control unit outputs a control instruction to the walking control unit, the walking control unit is used for controlling the operation of the omni-directional movement component, the instruction control unit outputs a control instruction to the suspension control unit, and the suspension control unit controls the operation of the corresponding suspension drive mechanism.

Furthermore, the top of the bracket is provided with a top plate and a protective cover, the four suspension driving mechanisms are arranged at the top of the top plate, the protective cover covers the four suspension driving mechanisms on the top plate, the top plate is provided with four through holes, and the output ends of the four suspension driving mechanisms are respectively connected with the four parts of the suspension vest through the four through holes.

Further, the support includes at least two sets of stands, and the bottom of every group stand all is connected with the foot pipe, the all direction movement part is installed in the foot pipe.

Furthermore, the support is provided with a battery module, and the control device, the all-directional moving part and the suspension driving mechanism are electrically connected with the battery module.

The utility model has the advantages that: the utility model has simple structure and smart and reasonable design, supports the weight of the user through the suspension vest, ensures that the pedal ground of the user obtains the reaction force of friction with the ground to move the gravity center of the body, and further realizes the walking training on the actual ground; the four suspension driving mechanisms are controlled through electric control operation of the control device, so that a user can realize trunk posture correction in a three-degree-of-freedom space and synchronously perform weight-reduction walking training; the four suspension driving mechanisms drive the suspension waistcoats to lift so that the user can move from the wheelchair or the bed to the utility model; the user can suspend actuating mechanism in midair to all direction movement part and four through controlling device and carry out automatically controlled operation control, and degree of automation is high, and convenient to use person is on three degree of freedom spaces body trunk posture correction control, reduces the emergence that the user was faced down and is tumbled or move down the accident of tumbleing, has improved the utility model discloses an use security performance.

Drawings

Fig. 1 is a schematic view of the exploded structure of the present invention.

Fig. 2 is a schematic perspective view of the present invention.

Fig. 3 is a schematic structural view of the top plate, the protective cover and the suspension band of the present invention.

Fig. 4 is a schematic structural diagram of four suspension driving mechanisms according to the present invention.

Fig. 5 is a schematic view of the user in the weight-loss walking rehabilitation training of the present invention.

Fig. 6 is a schematic diagram of the walking rehabilitation training for correcting the posture of the user in the coronal plane to reduce the weight of the user.

Fig. 7 is a schematic diagram of another state of the user in the coronal posture correction weight loss walking rehabilitation training of the present invention.

Fig. 8 is a schematic diagram of the walking rehabilitation training for correcting weight loss by the posture of the user in the sagittal plane.

Description of reference numerals:

1. a support; 11. a walking space; 12. a top plate; 13. a protective cover; 14. a through hole; 15. a column; 16. a foot tube; 2. an omni-directional moving member; 3. suspending the vest; 4. a suspension drive mechanism; 41. an idler pulley; 42. a pulley; 43. a suspension strap; 44. a motor; 45. a retracting wheel; 5. a handrail; 6. an operating device; 7. a load detector; 8. a rotary encoder; 9. a rotary potentiometer; 10. a microcomputer; 20. a battery module; 30. an omni-directional movement driver.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

As shown in fig. 1 to 8, the utility model provides an electronic posture correction subtracts heavy training device that walks, it includes support 1, rotate a plurality of all direction movement parts 2 that set up in the bottom of support 1, the activity sets up in the undershirt 3 that suspends in midair of support 1 and installs in the top of support 1 and with four suspension drive mechanism 4 that suspend undershirt 3 drive connection in midair, four output that suspend drive mechanism 4 in midair drive mechanism 3 respectively drive four positions (front left position, back left position, front right position and back right position) that suspend undershirt 3 in midair go up and down, support 1 is provided with walking space 11, it is located walking space 11's top to suspend undershirt 3 in midair, the middle part of support 1 is provided with handrail 5, support 1 is provided with controlling device 6, a plurality of all direction movement parts 2 and four suspension drive mechanism 4 all with controlling device 6 electricity and be.

During the in-service use, when the user sits on the wheelchair or when bed, only need with the utility model discloses remove to user's body, then four suspend in midair actuating mechanism 4 synchro-driven and suspend undershirt 3 in midair and descend to the user wears to suspend undershirt 3 in midair, behind the handrail 5 is handed to the user, four suspend in midair actuating mechanism 4 synchro-driven and suspend undershirt 3 in midair and even take the user to rise, thereby support the user and stand, alleviateed the required load that bears self weight of user, be favorable to the user to subtract heavy walking rehabilitation training. As shown in fig. 8, when the user has poor stability in the sagittal plane and a body trunk posture abnormality such as a severe humpback, chest curvature, and waist curvature occurs, the state of the suspension vest 3 is controlled by the four suspension driving mechanisms 4 to correct the body trunk posture of the user in the sagittal plane and to perform a weight-reduction walking training, thereby improving the walking stability of the user. As shown in fig. 6 and 7, when the stability of the coronal plane of the user is poor and the trunk of the body is bent, the height of the front left part, the rear left part, the front right part and the rear right part of the suspension vest 3 is driven by the four suspension driving mechanisms 4 to be different according to the actual abnormality of the user, that is, the suspension vest 3 is in a tilted (unbalanced) state, and the trunk posture of the user is corrected on the coronal plane (left bending and right bending correction), and the weight-reducing walking training is performed, thereby improving the walking stability of the user. In addition, because a plurality of all direction movement parts 2 are by controlling device 6 is automatically controlled, so can reduce the user and lie prone to fall or move down the emergence of the accident of falling before, and all direction movement part 2 convenient to use person freely walks, can widen user's field of vision, and the mood of user is releived, is favorable to the improvement of the state of an illness. The utility model has simple structure and smart and reasonable design, supports the weight of the user through the suspension vest 3, ensures that the pedal ground of the user obtains the reaction force of friction with the ground to move the gravity center of the body, and further realizes the walking training on the actual ground; the four suspension driving mechanisms 4 are controlled by the electric control operation of the control device 6, so that a user can realize the trunk posture correction in a three-degree-of-freedom space and synchronously carry out weight-reducing walking training; the four suspension driving mechanisms 4 drive the suspension waistcoat 3 to ascend and descend so that a user can conveniently move from a wheelchair or a bed to the utility model; the user can suspend actuating mechanism 4 in midair to all direction movement part 2 and four through controlling device 6 and control, thereby realize the utility model discloses an automatically controlled operation, degree of automation is high, and convenient to use person subtracts heavy walking rehabilitation training and health truck dysmorphism correction rehabilitation on three freedoms spaces, lies prone before reducing the user and tumbles or move down the emergence of the accident of tumbleing, has improved the utility model discloses a safety in utilization performance.

Preferably, the omni-directional moving member 2 is an omni-wheel (omni-wheel), and the omni-directional moving member 2 can move forward, move backward, move leftward, move rightward, move forward obliquely leftward, move forward obliquely rightward, move backward obliquely leftward, move backward obliquely rightward, turn leftward and rotate rightward.

In this embodiment, the suspension driving mechanism 4 includes an idler pulley 41, a pulley 42, a suspension belt 43, and a belt retracting driver installed at the top of the bracket 1 and used for retracting the suspension belt 43, the idler pulley 41 and the pulley 42 are both rotatably installed at the top of the bracket 1, one end of the suspension belt 43 is connected with the belt retracting driver, and the other end of the suspension belt 43 is connected with the suspension vest 3 after passing around the idler pulley 41 and the pulley 42; specifically, the tape retracting and releasing driver comprises a motor 44 mounted on the top of the bracket 1 and a retracting and releasing wheel 45 mounted on an output shaft of the motor 44, one end of the suspension tape 43 is wound on the retracting and releasing wheel 45, and the motor 44 is electrically connected with the control device 6.

When the suspension vest 3 is lifted, the motor 44 drives the retraction wheel 45 to rotate forwards or reversely, the retraction wheel 45 capable of rotating forwards and reversely retracts the suspension belt 43 according to the rotating direction, the retracted suspension belt 43 can drive the suspension vest 3 to lift, in the process, the idler wheel 41 can adjust the tightness of the suspension belt 43 to ensure the tension of the suspension belt 43, so that the suspension belt 43 is always in a tensioned state, the suspension vest 3 can be lifted normally by the suspension belt 43, a user can perform weight-reducing walking rehabilitation training and body trunk abnormal rehabilitation normally, and the pulley 42 enables the retraction of the suspension belt 43 to be smooth and stable. According to user's in-service use demand, four are suspended in midair actuating mechanism 4 and are highly can be unanimous in order to subtract heavy walking rehabilitation training to the lift of four positions of suspending in midair undershirt 3 respectively, also can be inconsistent in order to subtract heavy walking rehabilitation training and health truck dysmorphism correction rehabilitation in step, and the practicality is strong, and is nimble good, and application scope is wide.

In this embodiment, the pulley 42 is provided with a load detector 7 for detecting the load applied to the sling 43, and the load detector 7 is electrically connected to the control device 6; specifically, the load detector 7 is a pressure sensor. The load detector 7 detects the load borne by the suspension belt 43 on the pulley 42, so that the user can conveniently adjust the weight reduction value, the user can adjust the weight reduction value according to the weight reduction value required by the user instead of adjusting the weight reduction value by feeling, the user can carry out quantitative weight reduction according to the weight reduction value required by the user, the user can be more favorably subjected to weight reduction walking rehabilitation training, and the user can compare the weight reduction values required by the user at different time periods, so that the rehabilitation condition of the user can be judged.

In this embodiment, the pulley 42 is provided with a rotary encoder 8 for detecting the number of turns of the pulley 42 to detect the winding and unwinding length of the sling 43, and the rotary encoder 8 is electrically connected to the control device 6. The length of the sling 43 is detected through the rotary encoder 8, the sling 43 can be conveniently controlled to be retracted, the accuracy of the retraction amount of the sling 43 is guaranteed, accurate weight-reducing walking training and body trunk posture correction are achieved, and weight-reducing walking rehabilitation training and body trunk abnormal rehabilitation of a user are facilitated.

In this embodiment, the output shaft of the motor 44 is provided with a rotary potentiometer 9 for limiting the rotation of the output shaft of the motor 44, and the rotary potentiometer 9 is electrically connected with the control device 6. When the length of the winding and unwinding wheel 45 for winding and unwinding the suspension belt 43 reaches a set value (limit value), the rotary potentiometer 9 limits the output shaft of the motor 44 to continue to drive the winding and unwinding wheel 45 to rotate, so that the winding and unwinding wheel 45 stops winding and unwinding the suspension belt 43, and the output shaft of the motor 44 is limited and protected. When the device is in actual use, when the winding and unwinding wheel 45 winds the suspension belt 43 too much to enable the distance between the suspension vest 3 and the top of the bracket 1 to be smaller than a set high point keeping distance value, the rotary potentiometer 9 works to enable the motor 44 to stop working, the winding and unwinding wheel 45 stops winding the suspension belt 43, and the safety performance of a user is improved; when receiving and releasing wheel 45 releases suspension belt 43 too much so that the distance between suspension vest 3 and ground or the bottom of support 1 is less than the set low point holding distance value, rotary potentiometer 9 works so that motor 44 stops working, receiving and releasing wheel 45 stops releasing suspension belt 43, and the safety performance of the utility model is improved. The problem that the electric suspension control is out of control due to misoperation and the like can be avoided by arranging the rotary potentiometer 9, so that the safety of a user in the using process can be ensured.

In this embodiment, the top of the support 1 is provided with a plurality of omnidirectional movement drivers 30 and a microcomputer 10 electrically connected to the control device 6, each omnidirectional movement part 2 is electrically connected to the control device 6 via one omnidirectional movement driver 30, the microcomputer 10 includes a command control unit, a walking control unit, a suspension control unit and an operation unit, the command control unit is used for acquiring a control command input by the control device 6, receiving detection information of the load detector 7 and outputting a working command to the motor 44, the command control unit outputs a control command to the walking control unit, the walking control unit is used for controlling the omnidirectional movement part 2 to work, the command control unit outputs a control command to the suspension control unit, and the suspension control unit controls the corresponding suspension drive mechanism 4 to work. The suspension driving mechanism 4, the omnibearing moving part 2 and the load detector 7 are all electrically connected with a microcomputer 10 through an operation and control device 6, the operation and control device 6 is provided with an operation and control panel, required parameters (such as a weight reduction value, a moving direction, a moving speed and the like) are adjusted through the operation and control panel, automatic control is achieved, and a user can conveniently perform weight reduction walking rehabilitation training and abnormal body trunk correction rehabilitation.

In this embodiment, the top plate 12 and the protective cover 13 are installed at the top of the support 1, the four suspension driving mechanisms 4 are installed at the top of the top plate 12, the protective cover 13 covers the four suspension driving mechanisms 4 on the top plate 12, so that the four suspension driving mechanisms 4 are located between the protective cover 13 and the top plate 12, thereby protecting the four suspension driving mechanisms 4, preventing the external environment from being damaged or influencing the normal operation of the four suspension driving mechanisms 4, and prolonging the service life of the four suspension driving mechanisms 4, the top plate 12 is provided with four through holes 14, and the output ends of the four suspension driving mechanisms 4 are respectively connected with four parts of the suspension vest 3 through the four through holes 14, so that the four suspension driving mechanisms 4 can drive the suspension vest 3 to ascend and descend.

In this embodiment, the support 1 includes at least two sets of upright posts 15, the bottom of each set of upright posts 15 is connected with a foot tube 16, the omni-directional moving component 2 is installed on the foot tube 16, the two ends of the foot tube 16 are provided with the omni-directional moving component 2, and the number of the omni-directional moving components 2 is four; specifically, support 1 includes two sets of stands 15 of parallel arrangement, and the both ends of handrail 5 are connected with the middle part of two sets of stands 15 respectively, and every group stand 15 includes the pole setting of two parallel and vertical settings. The support 1 of this structure has improved the utility model discloses an intensity and stability.

In this embodiment, the bracket 1 is provided with a battery module 20, the operation device 6, the omni-directional moving component 2 and the suspension driving mechanism 4 are all electrically connected to the battery module 20, and the battery module 20 supplies power to the operation device 6, the omni-directional moving component 2 and the suspension driving mechanism 4, so as to ensure that the operation device 6, the omni-directional moving component 2 and the suspension driving mechanism 4 can normally operate.

Specifically, each motor 44 is electrically connected to a motor driver.

All the technical features in the embodiment can be freely combined according to actual needs.

The above-mentioned embodiment is the utility model discloses the implementation scheme of preferred, in addition, the utility model discloses can also realize by other modes, any obvious replacement is all within the protection scope of the utility model under the prerequisite that does not deviate from this technical scheme design.

Claims

1. Electronic posture correction subtracts heavy walking trainer, its characterized in that: the suspension vest comprises a support, a plurality of all-directional moving components, a suspension vest, four suspension driving mechanisms, a handrail and an operation and control device, wherein the all-directional moving components are rotatably arranged at the bottom of the support, the suspension vest is movably arranged in the support, the four suspension driving mechanisms are arranged at the top of the support and are in driving connection with the suspension vest, the output ends of the four suspension driving mechanisms respectively drive the four parts of the suspension vest to ascend and descend, the support is provided with a walking space, the suspension vest is located above the walking space, the middle of the support is provided with the handrail, the support is provided with the operation and control device, and.

2. The device according to claim 1, wherein: the suspension driving mechanism comprises an idler wheel, a pulley, a suspension belt and a belt take-up and pay-off driver for winding the suspension belt, the idler wheel and the pulley are both rotatably arranged at the top of the support, one end of the suspension belt is connected with the belt take-up and pay-off driver, and the other end of the suspension belt is connected with the suspension vest after passing around the idler wheel and the pulley.

3. The device according to claim 2, wherein: the winding and unwinding driver comprises a motor arranged at the top of the support and a winding and unwinding wheel arranged on an output shaft of the motor, one end of the suspension belt is wound on the winding and unwinding wheel, and the motor is electrically connected with the control device.

4. The device according to claim 3, wherein: the pulley is provided with a load detector for detecting the load born by the suspension belt, and the load detector is electrically connected with the control device.

5. The device according to claim 2, wherein: the pulley is provided with a rotary encoder used for detecting the number of turns of the pulley so as to detect the winding and unwinding length of the suspension belt, and the rotary encoder is electrically connected with the control device.

6. The device according to claim 3, wherein: the output shaft of the motor is provided with a rotary potentiometer for limiting the rotation of the output shaft of the motor, and the rotary potentiometer is electrically connected with the control device.

7. The device according to claim 4, wherein: the top of the support is provided with a plurality of omnibearing moving drivers and a microcomputer electrically connected with the control device, each omnibearing moving component is electrically connected with the control device through one omnibearing moving driver, the microcomputer comprises an instruction control unit, a walking control unit, a suspension control unit and an operation unit, the instruction control unit is used for acquiring a control instruction input by the control device, receiving detection information of the load detector and outputting a working instruction to the motor, the instruction control unit outputs the control instruction to the walking control unit, the walking control unit is used for controlling the omnibearing moving components to work, the instruction control unit outputs the control instruction to the suspension control unit, and the suspension control unit controls the corresponding suspension driving mechanism to work.

8. The device according to claim 1, wherein: the top of the support is provided with a top plate and a protective cover, the four suspension driving mechanisms are arranged at the top of the top plate, the protective cover covers the four suspension driving mechanisms on the top plate, the top plate is provided with four through holes, and the output ends of the four suspension driving mechanisms are respectively connected with four parts of the suspension vest through the four through holes.

9. The device according to claim 1, wherein: the support includes at least two sets of stands, and the bottom of every group stand all is connected with the foot pipe, the all direction movement part is installed in the foot pipe.

10. The device according to claim 1, wherein: the support is provided with a battery module, and the control device, the all-directional moving part and the suspension driving mechanism are all electrically connected with the battery module.