A lower limb exerciser on bed and control method thereof

Abstract

The present invention provides a lower limb exerciser on a bed, comprising: a pair of support plates; a pair of support rods, which are symmetrically and vertically arranged in the middle of the corresponding support plates; a pair of sliding exercise devices, which are one-to-one corresponding and axially slidably arranged on the corresponding support rods; a support device, which is arranged between the sliding exercise devices, and the two ends are respectively fixedly connected to the connecting rods of the corresponding sliding exercise devices, for supporting the lower limbs. The sliding exercise device is driven to slide by the lower limbs, and the locking mechanism is adjusted according to the patient's exercise status to improve the lower limb exercise effect. The present invention also provides a control method for the lower limb exerciser on a bed, which can determine the ideal exercise force of the patient's lower limbs according to the patient's age, bed rest time, bone density and real-time exercise status, and improve the lower limb exercise effect.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to a bed lower limb exerciser and a control method thereof. Background Art

[0002] It is inconvenient for bedridden patients to exercise their limbs in bed, and they are very likely to develop venous thrombosis or muscle atrophy. In addition to drug prevention, ankle pump exercises are widely recommended, and some hospitals use ball-stepping exercises. However, it is found in clinical work that the amplitude and rhythm of ankle pump exercises are not easy for patients to master, and it is impossible to know whether the frequency is reached. Ball-stepping exercises require high space, manpower, and material resources, and cannot be widely used.

[0003] Chinese utility model patent 201710412068.4 discloses an activity instrument for preventing lower limb thrombosis, including a fixed seat, a placement slot, a first motor, a first rotating shaft, a first cam, an avoidance hole, a second motor, a second rotating shaft, a second cam, a limit slider, a slide rod, an adjustment seat, an air cushion, and an inflatable balloon. The activity instrument for preventing lower limb thrombosis can perform dorsiflexion exercises on the patient's feet to prevent foot drop, and can also massage the gastrocnemius muscles of the patient's lower limbs to promote blood circulation, reduce the occurrence of pressure sores, and raise the patient's knee joints.

[0004] Chinese invention patent 201811302257.7 discloses a lower limb rehabilitation exerciser, including a repeated flexion and extension structure on the base, which makes the legs arch upward at the knees and then fall down, and repeats the action to make the legs flex and extend, and repeatedly allows the legs to adapt to the action for auxiliary training. The repeated exercise is used to make the patient's lower limbs adapt to the action, effectively helping the patient to recover.

[0005] The above-mentioned comparative documents all have the following defects:

[0006] 1. The above structures can only perform passive activities on patients with set strength, that is, patients can only move passively under the drive of the structure, and cannot actively move, and the lower limbs of patients cannot be exercised well.

[0007] 2. The training intensity of the above structure cannot be changed, and cannot be adjusted accordingly according to the different leg strengths of different patients, so that patients cannot receive targeted and effective training. Summary of the invention

[0008] One purpose of the present invention is to design and develop a lower limb exerciser on a bed, which drives the sliding exercise device to slide by the lower limbs and adjusts the locking mechanism according to the patient's exercise status to improve the lower limb exercise effect.

[0009] Another object of the present invention is to design and develop a control method for a lower limb exerciser on bed, which can determine the ideal exercise force of the patient's lower limbs according to the patient's age, bed rest time, bone density and real-time exercise status, and improve the lower limb exercise effect.

[0010] The present invention can also control the distance between the locking plate and the rotating plate according to the locking coefficient of the locking mechanism, ensure that the elastic rubber gasket locks the rotating plate, and ensure that the patient can effectively complete the leg movement.

[0011] The technical solution provided by the present invention is:

[0012] A bed lower limb exerciser, comprising:

[0013] a pair of support plates, which are arranged in parallel and spaced apart;

[0014] A pair of support rods, which are symmetrically and vertically arranged at the middle of the corresponding support plates;

[0015] A pair of sliding exercise devices, which correspond to each other and are axially slidably arranged on the corresponding support rods;

[0016] The sliding exercise device comprises:

[0017] A pair of first slide grooves, which are symmetrically arranged on the side surfaces of the support rod and arranged axially along the support rod;

[0018] A pair of second slide grooves, which are symmetrically arranged on the side of the support rod and are arranged adjacent to the corresponding first slide grooves;

[0019] a pair of racks, each axially arranged in the corresponding first sliding groove;

[0020] a pair of gears, which are respectively arranged in the corresponding first slide grooves and meshed with the racks, and the gears can move axially along the first slide grooves;

[0021] A pair of rotating shafts, one end of which is rotatably disposed at the center of the corresponding gear;

[0022] A connecting rod, the two axial ends of which are respectively and perpendicularly connected to the other end of the rotating shaft;

[0023] A pair of drive shafts, one end of which is fixedly disposed at the center of the corresponding gear;

[0024] A housing, two axial sides of which are correspondingly matched with the second sliding groove and can slide axially along the support rod;

[0025] A locking mechanism, which is symmetrically fixedly arranged on both axial sides of the housing, and whose output ends are respectively fixedly connected to the corresponding driving shafts;

[0026] The supporting device is arranged between the sliding exercise devices, and both ends are respectively fixedly connected to the connecting rods corresponding to the sliding exercise devices, so as to support the lower limbs.

[0027] Preferably, the locking mechanism comprises:

[0028] A locking shell having a hollow cylindrical structure;

[0029] A circular ring-shaped slide groove is coaxially arranged on the inner wall of the locking housing, and the notch is arranged toward the center of the circle;

[0030] A rotating plate, which is circular and rotatably disposed concentrically in the annular slide groove, wherein the center of the rotating plate is fixedly connected to the corresponding driving shaft;

[0031] A locking plate, which is circular and disposed in the locking housing and slidably connected to the inner wall of the locking housing in the circumferential direction;

[0032] An elastic rubber gasket, which is circular and coaxially fixedly arranged on one side of the locking plate close to the rotating plate;

[0033] The locking cylinder is fixedly arranged in the locking housing, and one end of the cylinder body is fixedly connected to the locking housing, and one end of the piston rod is fixedly connected to the locking plate, and is used to drive the locking plate to move axially along the locking housing.

[0034] Preferably, the supporting device comprises:

[0035] A first fixing plate, which is L-shaped, with one end of the long side arranged horizontally and one end of the short side arranged vertically;

[0036] a pair of first semi-cylindrical grooves, which are spaced apart and arranged on the top surface of one end of the long side of the first fixing plate;

[0037] The second fixing plate is L-shaped, with one end of the long side arranged horizontally and one end of the short side arranged vertically;

[0038] A pair of second semi-cylindrical grooves are arranged at intervals on the bottom surface of one end of the long side of the second fixing plate, and form cylindrical through holes corresponding to the positions of the first semi-cylindrical grooves;

[0039] A first rectangular groove, which is arranged at an upper portion of one end of a short side of the first fixing plate;

[0040] a first rectangular protrusion, which is arranged at one end of the long side of the second fixing plate close to the first fixing plate and has a shape corresponding to the first rectangular groove;

[0041] A second rectangular groove is provided at one end of the long side of the first fixing plate close to the second fixing plate;

[0042] A second rectangular protrusion, which is arranged at the lower part of one end of the short side of the second fixing plate and has a shape corresponding to the second rectangular groove;

[0043] A pair of power mechanisms are respectively vertically fixedly arranged at the middle of the corresponding connecting rods, and the output ends are respectively connected to the first fixing plate and the second fixing plate, and are used to drive the first fixing plate and the second fixing plate to move closer or farther.

[0044] Preferably, the housing comprises:

[0045] The main structure is a hollow rectangular parallelepiped structure with an open top surface;

[0046] Wherein, the width of the two axial side plates of the main structure along the radial direction of the support frame is greater than the width of the two radial side plates of the main structure along the radial direction of the support frame;

[0047] A pair of slide plates, which are parallel to the bottom surface of the main structure, one end of which is vertically connected to the two axial side plates of the main structure respectively, and the other end is arranged opposite to each other;

[0048] A pair of notches, which are rectangular and are respectively arranged in the middle of the slide plate, for accommodating the corresponding drive shafts;

[0049] A pair of sliding blocks are respectively arranged at the other end of the corresponding sliding plate and slide in cooperation with the corresponding second sliding groove.

[0050] Preferably, it also includes:

[0051] A connecting plate, two axial sides of which are respectively and vertically fixedly connected to the top surfaces of the corresponding support rods;

[0052] A plurality of fixing seats, which are symmetrically fixedly arranged on both sides of the support plate in an axial direction, and are used to fix the lower limb exerciser on the bed at the end of the bed;

[0053] A pair of support beams are respectively arranged between fixing seats on the same support plate, and the top surfaces are fixedly connected to the corresponding support plates, and the bottom surfaces are provided with semi-cylindrical grooves corresponding to the bed pipes.

[0054] Preferably, the fixing seat comprises:

[0055] A first plywood and a second plywood that fit each other;

[0056] Wherein, one axial end of the first clamping plate is fixedly connected to the bottom of the support plate;

[0057] Semicircular grooves are respectively arranged on one side of the fitting surface of the first clamping plate and the second clamping plate; and through holes are formed at corresponding positions for accommodating and clamping the bed tube;

[0058] A plurality of bolt holes, which are respectively arranged at two axial ends of the first clamping plate and the second clamping plate and have corresponding positions;

[0059] A plurality of bolts, which pass through the bolt holes in a one-to-one correspondence;

[0060] A plurality of nuts are connected to the bolts in a one-to-one correspondence and are used to clamp the first clamping plate and the second clamping plate.

[0061] Preferably, it also includes:

[0062] A plurality of force sensors, which are respectively arranged in the first semi-cylindrical groove and the second semi-cylindrical groove, for detecting the descending force and the lifting force of the lower limbs;

[0063] A timer, which is arranged on the gear and is used to detect the time when the gear moves along the axial direction of the support rod;

[0064] The controller is connected with the force sensor, the timer and the locking mechanism, and is used for receiving the detection data of the force sensor and the timer, and controlling the operation of the locking mechanism.

[0065] A control method for a lower limb exerciser on a bed, comprising:

[0066] Input the patient's age, bed rest time, and bone density, and collect the time it takes for the gear to move from the bottom of the support rod to the top of the support rod and its corresponding lifting force, as well as the time it takes for the gear to move from the top of the support rod to the bottom of the support rod and its corresponding descending force, to determine whether the ideal exercise force for the patient's lower limbs meets the following requirements:

[0067]

[0068] Among them, F si is the ideal exercise force for the patient's lower limbs, SD is the patient's bone density, y is the patient's age, and y i is the patient's bed rest time, F u is the lower limb lifting force at the current moment, F d is the lower limb descending force at the current moment, t u is the time it takes for the gear to move from the bottom of the support rod to the top of the support rod at the current moment, t d It is the time taken for the gear to move from the top of the support rod to the bottom of the support rod at the current moment, and t0 is the reference time.

[0069] Preferably, a fuzzy controller is included:

[0070] Set the patient's ideal exercise force F for the lower limbs si and the actual exercise capacity at the current moment Input fuzzy controller, in which the ideal exercise force F of the patient's lower limbs is si and the actual exercise capacity at the current moment There are 7 levels;

[0071] The fuzzy controller outputs the locking coefficient S of the locking mechanism s , the output is divided into 7 levels;

[0072] The ideal exercise force F for the patient's lower limbs si The fuzzy domain is [0,1], and its quantization factor is 550; the actual exercise force at the current moment The fuzzy domain is [0,1], and the quantification factor is 550; the locking coefficient S of the locking mechanism is output. s The fuzzy domain of is [0,1], and the quantification factor is 1;

[0073] The fuzzy sets of input and output are {NB, NM, NS, 0, PS, PM, PB}.

[0074] Preferably, according to the locking coefficient S of the locking mechanism s Control the distance between the locking plate and the rotating plate to meet the following requirements:

[0075]

[0076] Wherein, D is the distance between the locking plate and the rotating plate, D0 is the initial thickness of the elastic rubber gasket when there is no elastic deformation, ξ is the friction coefficient between the rotating plate and the annular slide groove, e is the base of the natural logarithm, and k is the elastic coefficient of the elastic rubber gasket.

[0077] The beneficial effects of the present invention are:

[0078] (1) The bed lower limb exerciser designed and developed by the present invention drives the sliding exercise device to slide by the lower limbs, and adjusts the locking mechanism according to the patient's exercise status to improve the lower limb exercise effect.

[0079] (2) The control method of the lower limb exerciser designed and developed by the present invention can determine the ideal exercise force of the patient's lower limbs according to the patient's age, bed rest time, bone density and real-time exercise status, thereby improving the lower limb exercise effect. The present invention can also control the distance between the locking plate and the rotating plate according to the locking coefficient of the locking mechanism, ensure that the elastic rubber gasket locks the rotating plate, and ensure that the patient effectively completes the leg exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 It is a schematic structural diagram of the lower limb exerciser on bed according to the present invention.

[0081] Figure 2 It is a schematic structural diagram of the lower limb exerciser on bed according to the present invention.

[0082] Figure 3 It is a schematic structural diagram of the lower limb exerciser on bed according to the present invention.

[0083] Figure 4 It is a schematic structural diagram of the lower limb exerciser on bed according to the present invention.

[0084] Figure 5 It is a schematic diagram of the partial structure of the lower limb exerciser on bed according to the present invention.

[0085] Figure 6 It is a schematic diagram of the partial structure of the lower limb exerciser on bed according to the present invention.

[0086] Figure 7 It is a partial cross-sectional structural schematic diagram of the lower limb exerciser on bed according to the present invention.

[0087] Figure 8 It is a schematic structural diagram of the supporting device of the present invention.

[0088] Fig. 9 It is a structural schematic diagram of the locking mechanism of the present invention.

[0089] Fig.10 It is a schematic cross-sectional structural diagram of the locking mechanism of the present invention.

[0090] Fig.11 It is a schematic structural diagram of the fixing seat of the present invention.

[0091] Fig.12 The ideal exercise force F of the patient's lower limbs is input to the fuzzy controller of the present invention. si Membership function graph of .

[0092] Fig.13 is the actual exercise force at the current moment of the input of the fuzzy controller of the present invention Membership function graph of .

[0093] Fig.14 is the locking coefficient S of the output locking mechanism of the fuzzy controller of the present invention s Membership function graph of .

[0094] Description of Reference Numerals

[0095] 100. Support plate; 110. Support rod; 120. Sliding exercise device; 121. First slide groove; 122. Rack; 123. Gear; 124. Rotating shaft; 125. Connecting rod; 126. Driving shaft; 127. Locking mechanism; 1271. Locking housing; 1272. Circular slide groove; 1273. Rotating plate; 1274. Locking plate; 1275. Elastic rubber gasket; 1276. Locking cylinder; 1277. Slide groove; 1278. Sliding block; 128. Second slide groove; 130. Support device; 131. First fixed plate ; 132. First semi-cylindrical groove; 133. Second fixing plate; 134. Second semi-cylindrical groove; 135. First rectangular groove; 136. First rectangular protrusion; 137. Second rectangular groove; 138. Power mechanism; 139. Second rectangular protrusion; 140. Shell; 141. Main structure; 142. Slide plate; 143. Slider; 144. Notch; 150. Support beam; 160. Fixed seat; 161. First clamping plate; 162. Second clamping plate; 163. Semicircular groove; 164. Bolt; 170. Connecting plate. DETAILED DESCRIPTION

[0096] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0097] The present invention may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein, but rather, these embodiments are provided so that this disclosure will be thorough and complete. In the drawings, the size and relative sizes of structures and regions may be exaggerated for clarity.

[0098] like Figure 1-11 As shown, the present invention provides a lower limb exerciser on a bed, comprising a pair of support plates 100 arranged in parallel and spaced apart. Support rods 110 are respectively arranged vertically in the middle of the top surface of the support plates 100, and the support rods 110 are symmetrically arranged. Sliding exercise devices 120 are slidably arranged on the support rods 110, and support devices 130 are arranged between the sliding exercise devices 120 for supporting the lower limbs, so that the lower limbs drive the sliding exercise devices 120 to reciprocate along the axial direction of the support rods 110 to exercise the lower limbs.

[0099] The sliding exercise device 120 includes a pair of first slide grooves 121, which are symmetrically arranged on the side of the support rod 110 and axially arranged along the support rod 110. Racks 122 are axially arranged in the first slide grooves 121. Gears 123 are also arranged in the first slide grooves 121, which mesh with the racks 122 and can move axially along the first slide grooves 121. A rotating shaft 124 is rotatably arranged at the center of one side of the gear 123. The other end of the rotating shaft 124 is vertically connected by a connecting rod 125. When the gear 123 moves axially along the slide groove 121, the rotating shaft 124 and the connecting rod 125 are driven to move axially along the slide groove 121. A supporting device 130 is arranged in the middle of the connecting rod 125 for supporting the lower limbs.

[0100] A driving shaft 126 is fixedly disposed at the center of the other side of the gear 123. A housing 140 is slidably disposed on the outside of the support rod 110. Locking mechanisms 127 are symmetrically fixedly disposed on both sides of the axial direction inside the housing, and their output ends are fixedly connected to the corresponding driving shafts 126, respectively, for locking the driving shafts 126, so that the lower limbs use different driving forces when driving the sliding exercise device 120 to move, thereby performing targeted training on the lower limbs. In addition, the gears 123 on the same support rod 110 rotate in opposite directions, so that the gears 123 on the same support rod 110 move synchronously along the axial direction of the first slide slot 121.

[0101] A second sliding groove 128 is symmetrically arranged on the side of the support rod 110 and is arranged adjacent to the corresponding first sliding groove 121 , so that the axial sides of the housing 140 slide in cooperation with the second sliding groove 128 .

[0102] The shell 140 includes a main structure 141, which is a hollow rectangular parallelepiped structure with an open top surface, and the width of the two axial side plates of the main structure 141 along the radial direction of the support frame 100 is greater than the width of the two radial side plates of the main structure 141 along the radial direction of the support frame 100, and the locking mechanism 127 is fixedly arranged on the bottom surface of the main structure 141. A pair of slides 142 are arranged parallel to the bottom surface of the main structure 141, one end of which is vertically connected to the two axial side plates of the main structure 141, and the other end is arranged oppositely. A notch 144 is arranged in the middle of the slide 142, which is rectangular and is used to accommodate the corresponding drive shaft 126. A slider 143 is arranged at the other end of the slide 142, which slides in cooperation with the corresponding second slide groove 128.

[0103] The supporting device 130 includes: a first fixing plate 131, which is L-shaped, with one end of the long side arranged horizontally and one end of the short side arranged vertically; a pair of first semi-cylindrical grooves 132 are arranged at intervals on the top surface of one end of the long side of the first fixing plate 131. A second fixing plate 133, which is L-shaped, with one end of the long side arranged horizontally and one end of the short side arranged vertically. A pair of second semi-cylindrical grooves 134 are arranged at intervals on the bottom surface of one end of the long side of the second fixing plate 133. A first rectangular groove 135 is arranged on the upper part of one end of the short side of the first fixing plate 131, and a first rectangular protrusion 136 is arranged at one end of the long side of the second fixing plate 133 close to the first fixing plate 131, and its shape corresponds to the first rectangular groove 135. A second rectangular groove 137 is provided at one end of the long side of the first fixing plate 131 near the second fixing plate 133, and a second rectangular protrusion 139 is provided at the lower part of one end of the short side of the second fixing plate 133, and its shape corresponds to the second rectangular groove 137. A power mechanism 138 is provided horizontally and vertically in the middle of the corresponding connecting rod 125, preferably a cylinder, one end of which is fixedly connected to the connecting rod 125, and one end of the piston rod is connected to the corresponding first fixing plate 132 or the second fixing plate 133, and is used to drive the first fixing plate 131 and the second fixing plate 133 to move closer or farther. When the first fixing plate 131 and the second fixing plate 133 are close to each other, the first semi-cylindrical groove 132 and the second semi-cylindrical groove 134 correspond to each other to form a cylindrical through hole for supporting the lower limbs.

[0104] The locking mechanism 127 comprises: a locking shell 1271, which is a hollow cylindrical structure, and a circular groove 1272 is coaxially arranged on the inner wall of the locking shell 1271 near the driving shaft 126, and the notch is arranged toward the center of the circle. A rotating piece 1273 is coaxially arranged in the circular groove 1272, which is circular and the center is fixedly connected to the corresponding driving shaft 126. A locking piece 1274 is coaxially arranged in the locking shell 1271, which is circular and slidably connected to the inner wall of the locking shell 1271 in the circumferential direction. An elastic rubber gasket 1275 is coaxially arranged on one side of the locking piece 1274 near the rotating piece 1273, which is circular, has a certain elasticity, and can be extended and rebounded. The locking cylinder 1276 is fixedly arranged in the locking housing 1271, and one end of the cylinder body is fixedly connected to the locking housing 1271, and one end of the piston rod is fixedly connected to the locking plate 1274, and is used to drive the locking plate 1274 to move axially along the locking housing 1271. A plurality of rectangular slide grooves 1277 are evenly arranged on the inner wall of the locking housing 1271 in the circumferential direction, and are arranged axially along the locking housing 1271. A plurality of sliders 1278 are evenly arranged on the circumferential direction of the locking plate 1274, and they slide in cooperation with the slide grooves 1277 in a one-to-one correspondence. There are four locking cylinders 1276, and they are evenly arranged along the circumference of the locking plate 1274.

[0105] The locking plate 1274 is driven by the locking cylinder 1276 to move close to the rotating plate 1273, thereby compressing the elastic rubber gasket 1275. Under the rebound effect of the elastic rubber gasket 1275, the rotating plate 1273 is pressed, so that the resistance of the rotating plate 1273 during its rotation is greater, and a greater external force is required to drive the sliding exercise device 120 to move, thereby achieving the locking of the sliding exercise device 120. By adjusting the distance between the locking plate 1274 and the rotating plate 1273, the locking degree of the rotating plate 1273 can be adjusted, thereby adjusting the patient's leg strength training and making targeted and effective adjustments.

[0106] In this embodiment, it also includes: a connecting plate 170, whose two axial sides are respectively fixedly connected to the top surface of the corresponding support rod 110. The fixing seats 160 are symmetrically fixedly arranged on the two axial sides of the bottom surface of the support plate 100 for fixing the lower limb exerciser on the bed on the bed tube at the end of the bed. A support beam 150 is arranged between the fixing seats 160 located on the same support plate 100, whose top surface is fixedly connected to the corresponding support plate 100, and whose bottom surface is provided with a semi-cylindrical groove corresponding to the bed tube.

[0107] The fixing seat 160 includes: a first clamping plate 161 and a second clamping plate 162 that fit each other. One axial end of the first clamping plate 161 is fixedly connected to the bottom of the support plate 100. A semicircular groove 163 is provided on one side of the fitting surface of the first clamping plate 161 and the second clamping plate 162, and a through hole is formed at a corresponding position to accommodate the clamping of the bed pipe. Bolt holes are provided at the axial ends of the first clamping plate 161 and the second clamping plate 162 and at corresponding positions, and bolts 164 are provided through the bolt holes. A nut is provided in threaded connection with the bolt 164 to clamp the first clamping plate 161 and the second clamping plate 162.

[0108] In this embodiment, it also includes: a plurality of force sensors, which are respectively arranged in the first semi-cylindrical groove 132 and the second semi-cylindrical groove 134, for detecting the lower limb descending force and the lifting force. A timer, which is arranged on the gear 123, for detecting the time of the gear 123 moving along the axial direction of the support rod 110. A controller, which is connected to the force sensor, the timer and the locking mechanism 127, is used to receive the detection data of the force sensor and the timer, and control the locking mechanism 127 to work.

[0109] The bed lower limb exerciser designed and developed by the present invention drives the sliding exercise device to slide through the lower limbs, and adjusts the locking mechanism according to the exercise state of the patient, thereby improving the lower limb exercise effect.

[0110] The present invention also provides a control method for a lower limb exerciser on a bed, comprising:

[0111] Step 1: Input the patient's age, bed rest time, and bone density, and collect the time it takes for the gear to move from the bottom of the support rod to the top of the support rod and its corresponding lifting force, as well as the time it takes for the gear to move from the top of the support rod to the bottom of the support rod and its corresponding descending force, to determine whether the ideal exercise force for the patient's lower limbs meets the following requirements:

[0112]

[0113] Among them, F si is the ideal exercise force for the patient's lower limbs, SD is the patient's bone density, y is the patient's age, and y i is the patient's bed rest time, F u is the lower limb lifting force at the current moment, F d is the lower limb descending force at the current moment, t u is the time it takes for the gear to move from the bottom of the support rod to the top of the support rod at the current moment, t d It is the time taken for the gear to move from the top of the support rod to the bottom of the support rod at the current moment, and t0 is the reference time.

[0114] Step 2: The controller includes a fuzzy controller:

[0115] Set the patient's ideal exercise force F for the lower limbs si and the actual exercise capacity at the current moment And the locking factor S of the locking mechanism s Fuzzy processing; when there is no control, the ideal exercise force F of the patient's lower limbs si The fuzzy domain is [0,1], and its quantization factor is 550; the actual exercise power at the current moment The fuzzy domain is [0,1], and the quantification factor is 550; the locking coefficient S of the locking mechanism is output. s The fuzzy domain is [0,1], and the quantification factor is 1. In order to ensure the accuracy of control and achieve better control, experiments were repeated to determine the optimal input and output levels, among which the ideal exercise force F of the patient's lower limbs is si and the actual exercise capacity at the current moment Divided into 7 levels; output locking factor S of the locking mechanism s , the output is divided into 7 levels; the fuzzy sets of input and output are {NB, NM, NS, 0, PS, PM, PB}, and the membership functions of input and output are triangular membership functions, see Fig.12 , 13 and 14. The fuzzy control rule of the fuzzy controller is:

[0116] (1) Ideal exercise force F of the patient's lower limbs si Certainly, the actual exercise power at the current moment Increase, it is necessary to reduce the locking coefficient S of the locking mechanism s;

[0117] (2) Actual exercise capacity at the current moment The ideal exercise force F of the patient's lower limbs si Increase, it is necessary to increase the locking coefficient S of the locking mechanism s ;

[0118] The specific control rules of fuzzy control are shown in Table 1.

[0119] Table 1 Locking coefficient S of locking mechanism s Fuzzy control table

[0120]

[0121]

[0122] The input of the fuzzy controller is the ideal exercise force F of the patient's lower limbs. si and the actual exercise capacity at the current moment The locking coefficient S of the output locking mechanism of the fuzzy controller is obtained by using the fuzzy control rule table 1. s , the locking coefficient S of the locking mechanism s Defuzzification using the centroid method.

[0123] Step 3: According to the locking coefficient S of the locking mechanism s Control the distance between the locking plate and the rotating plate to meet the following requirements:

[0124]

[0125] Wherein, D is the distance between the locking plate and the rotating plate, D0 is the initial thickness of the elastic rubber gasket when there is no elastic deformation, ξ is the friction coefficient between the rotating plate and the annular slide groove, e is the base of the natural logarithm, and k is the elastic coefficient of the elastic rubber gasket.

[0126] The control method of the lower limb exerciser on bed designed and developed by the present invention can determine the ideal exercise force of the patient's lower limbs according to the patient's age, bed rest time, bone density and real-time exercise status, thereby improving the lower limb exercise effect. The present invention can also control the distance between the locking plate and the rotating plate according to the locking coefficient of the locking mechanism, ensure that the elastic rubber gasket locks the rotating plate, and ensure that the patient effectively completes the leg exercise.

[0127] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A bed lower limb exerciser, characterized in that: include: a pair of support plates, which are arranged in parallel and spaced apart; A pair of support rods, which are symmetrically and vertically arranged at the middle of the corresponding support plates; A pair of sliding exercise devices, which correspond to each other and are axially slidably arranged on the corresponding support rods; The sliding exercise device comprises: A pair of first slide grooves, which are symmetrically arranged on the side surfaces of the support rod and arranged axially along the support rod; A pair of second slide grooves, which are symmetrically arranged on the side of the support rod and are arranged adjacent to the corresponding first slide grooves; a pair of racks, each axially arranged in the corresponding first sliding groove; a pair of gears, which are respectively arranged in the corresponding first slide grooves and meshed with the racks, and the gears can move axially along the first slide grooves; A pair of rotating shafts, one end of which is rotatably disposed at the center of the corresponding gear; A connecting rod, the two axial ends of which are respectively and perpendicularly connected to the other end of the rotating shaft; A pair of drive shafts, one end of which is fixedly disposed at the center of the corresponding gear; A housing, two axial sides of which are correspondingly matched with the second sliding groove and can slide axially along the support rod; A locking mechanism, which is symmetrically fixedly arranged on both axial sides of the housing, and whose output ends are respectively fixedly connected to the corresponding driving shafts; A supporting device, which is arranged between the sliding exercise devices, and has two ends fixedly connected to the connecting rods corresponding to the sliding exercise devices, for supporting the lower limbs; The locking mechanism comprises: A locking shell having a hollow cylindrical structure; A circular ring-shaped slide groove is coaxially arranged on the inner wall of the locking housing, and the notch is arranged toward the center of the circle; A rotating plate, which is circular and rotatably disposed concentrically in the annular slide groove, wherein the center of the rotating plate is fixedly connected to the corresponding driving shaft; A locking plate, which is circular and disposed in the locking housing and slidably connected to the inner wall of the locking housing in the circumferential direction; An elastic rubber gasket, which is circular and coaxially fixedly arranged on one side of the locking plate close to the rotating plate; A locking cylinder, which is fixedly arranged in the locking housing, with one end of the cylinder body fixedly connected to the locking housing, and one end of the piston rod fixedly connected to the locking plate, for driving the locking plate to move axially along the locking housing; Also includes: A connecting plate, two axial sides of which are respectively and vertically fixedly connected to the top surfaces of the corresponding support rods; A plurality of fixing seats, which are symmetrically fixedly arranged on both sides of the support plate in an axial direction, and are used to fix the lower limb exerciser on the bed at the end of the bed; A pair of support beams, which are respectively arranged between fixing seats located on the same support plate, and the top surfaces are fixedly connected to the corresponding support plates, and the bottom surfaces are provided with semi-cylindrical grooves corresponding to the bed tubes; The supporting device comprises: A first fixing plate, which is L-shaped, with one end of the long side arranged horizontally and one end of the short side arranged vertically; a pair of first semi-cylindrical grooves, which are spaced apart and arranged on the top surface of one end of the long side of the first fixing plate; The second fixing plate is L-shaped, with one end of the long side arranged horizontally and one end of the short side arranged vertically; A pair of second semi-cylindrical grooves are arranged at intervals on the bottom surface of one end of the long side of the second fixing plate, and form cylindrical through holes corresponding to the positions of the first semi-cylindrical grooves; A first rectangular groove, which is arranged at an upper portion of one end of a short side of the first fixing plate; a first rectangular protrusion, which is arranged at one end of the long side of the second fixing plate close to the first fixing plate and has a shape corresponding to the first rectangular groove; A second rectangular groove is provided at one end of a long side of the first fixing plate close to the second fixing plate; A second rectangular protrusion, which is arranged at the lower part of one end of the short side of the second fixing plate and has a shape corresponding to the second rectangular groove; A pair of power mechanisms, which are respectively vertically fixedly arranged at the middle of the corresponding connecting rods, and whose output ends are respectively connected to the first fixing plate and the second fixing plate, and are used to drive the first fixing plate and the second fixing plate to move closer or farther; Also includes: A plurality of force sensors, which are respectively arranged in the first semi-cylindrical groove and the second semi-cylindrical groove, for detecting the descending force and the lifting force of the lower limbs; A timer, which is arranged on the gear and is used to detect the time when the gear moves along the axial direction of the support rod; The controller is connected with the force sensor, the timer and the locking mechanism, and is used for receiving the detection data of the force sensor and the timer, and controlling the operation of the locking mechanism.

2. The lower limb exerciser on bed as claimed in claim 1, characterized in that: The housing comprises: The main structure is a hollow rectangular parallelepiped structure with an open top surface; Wherein, the width of the two axial side plates of the main structure along the radial direction of the support plate is greater than the width of the two radial side plates of the main structure along the radial direction of the support plate; A pair of slide plates, which are parallel to the bottom surface of the main structure, one end of which is vertically connected to the two axial side plates of the main structure respectively, and the other end is arranged opposite to each other; A pair of notches, which are rectangular and are respectively arranged in the middle of the slide plate, for accommodating the corresponding drive shafts; A pair of sliding blocks are respectively arranged at the other end of the corresponding sliding plate and slide in cooperation with the corresponding second sliding groove.

3. The lower limb exerciser on bed as claimed in claim 2, characterized in that: The fixing seat comprises: A first plywood and a second plywood that fit each other; Wherein, one axial end of the first clamping plate is fixedly connected to the bottom of the support plate; Semicircular grooves are respectively arranged on one side of the fitting surface of the first clamping plate and the second clamping plate; and through holes are formed at corresponding positions for accommodating and clamping the bed tube; A plurality of bolt holes, which are respectively arranged at two axial ends of the first clamping plate and the second clamping plate and have corresponding positions; A plurality of bolts, which pass through the bolt holes in a one-to-one correspondence; A plurality of nuts are connected to the bolts in a one-to-one correspondence and are used to clamp the first clamping plate and the second clamping plate.

4. A control method for the lower limb exerciser on a bed according to any one of claims 1 to 3, characterized in that: include: Input the patient's age, bed rest time, and bone density, and collect the time it takes for the gear to move from the bottom of the support rod to the top of the support rod and its corresponding lifting force, as well as the time it takes for the gear to move from the top of the support rod to the bottom of the support rod and its corresponding descending force, to determine whether the ideal exercise force for the patient's lower limbs meets the following requirements: ； in, It is an ideal exercise for the patient's lower limbs. is the patient's bone density, is the patient's age, The patient's bed rest time, For the lower limb lifting force at the current moment, is the lower limb descending force at the current moment, is the time it takes for the gear to move from the bottom of the support rod to the top of the support rod at the current moment, is the time it takes for the gear to move from the top of the support rod to the bottom of the support rod at the current moment, is the base time; Includes fuzzy controller: Set the patient's ideal lower limb strength and the actual exercise capacity at the current moment Input fuzzy controller, in which the ideal exercise force of the patient's lower limbs and the actual exercise capacity at the current moment There are 7 levels; The fuzzy controller outputs the locking coefficient of the locking mechanism , the output is divided into 7 levels; The ideal exercise force for the patient's lower limbs The fuzzy domain is [0,1], and its quantization factor is 550; the actual exercise force at the current moment The fuzzy domain is [0,1], and the quantification factor is 550; the locking coefficient of the locking mechanism is output The fuzzy domain of is [0,1], and the quantification factor is 1; The fuzzy sets of input and output are {NB, NM, NS, 0, PS, PM, PB}; According to the locking factor of the locking mechanism Control the distance between the locking plate and the rotating plate to meet: ； in, is the distance between the locking plate and the rotating plate, is the initial thickness of the elastic rubber gasket without elastic deformation, is the friction coefficient between the rotating plate and the annular slideway, is the base of natural logarithms, is the elastic coefficient of the elastic rubber gasket.

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