Crawling Assist Training System

Abstract

The present invention belongs to the field of exoskeleton technology, specifically a crawling auxiliary training system, including a frame and a control center, on which four auxiliary mobile units and a body flat support unit are distributed in a rectangular shape; the auxiliary mobile unit includes a mechanical arm unit I and a manipulator, and also includes a hard fixed ring fitted on the wrist and ankle of the user, wherein the mechanical arm unit I can control the manipulator to move in three-dimensional space; the body flat support unit can horizontally lift the chest and abdomen of the human body and make the human body suspended in the air; the control center can control the coordinated movement of the four auxiliary mobile units. By installing fixed rings on the wrists and ankles, the manipulators in the four auxiliary mobile units respectively identify and grab the fixed rings at the corresponding positions, and then under the coordinated action of the four mechanical arm units I, the auxiliary mobile units control the limbs to simulate the movements of normal people when learning to crawl, and with the help of this system, crawling auxiliary training can be carried out for children with cerebral palsy as early as possible.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeletons, and in particular to a crawling auxiliary training system. Background Art

[0002] There is a folk summary of infant growth: "lifting at three times, turning over at four times, sitting at six times, rolling at seven times, crawling at eight times, and walking at twelve times", which is used to remind parents to consciously train their infants at these stages. At the same time, these are also used as reference standards for judging whether the infant's growth and development are normal. Excluding individual differences, these summaries are indeed scientifically based. In the process of a baby's growth, turning over, sitting, crawling, rolling, and walking are all large movements. However, the average prevalence of cerebral palsy (cerebral palsy) in the world is about 2‰. Since cerebral palsy is a lifelong disease that cannot be completely cured, but after rehabilitation treatment, patients can be close to normal people, so timely rehabilitation treatment is very necessary. Among them, crawling is an action that requires comprehensive coordination of the whole body to complete. Patients with cerebral palsy cannot fully control their limbs, and their limbs are insufficient, so it is difficult for them to practice crawling like normal babies. Since rehabilitation exercises for patients with cerebral palsy should be done sooner rather than later, an exoskeleton system that can assist infants in simulating normal crawling movements is needed to help patients carry out crawling training as early as possible. Summary of the invention

[0003] The purpose of the present invention is to provide a crawling auxiliary training system that can comprehensively coordinate the limbs of children with cerebral palsy, and to intervene in the behavior of children with cerebral palsy early through the system to train their crawling awareness and crawling skills.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a crawling auxiliary training system, including a frame and a control center, four auxiliary mobile units are distributed in a rectangular shape on the frame, and a body flat supporting unit is arranged within the rectangular range surrounded by the four auxiliary mobile units, and the control center controls the auxiliary mobile units and the body flat supporting unit; the auxiliary mobile unit includes a mechanical arm unit I and a mechanical hand, and also includes a hard fixing ring fitted on the wrist and ankle of the user, wherein the mechanical hand can identify and grasp the fixing ring, and the mechanical arm unit I can control the mechanical hand to move in a three-dimensional Cartesian coordinate system; the body flat supporting unit includes a mechanical arm unit II and a flat supporting part, wherein the flat supporting part has a structure for horizontally lifting the chest and abdomen of the human body, and making the human body suspended in the air; the control center can control the coordinated movement of the four auxiliary mobile units, and drive the user's limbs to simulate the crawling action of the human body.

[0005] In the above technical solution, the body flat support unit can lift the user in a crawling posture. By installing fixed rings on the wrists and ankles, the manipulators in the four auxiliary mobile units respectively identify and grab the fixed rings at the corresponding positions, thereby achieving the purpose of controlling the limbs. Then, under the coordinated action of the four mechanical arm units I, the auxiliary mobile units control the limbs to simulate the movements of normal people when learning to crawl. With the help of this system, parents can carry out crawling auxiliary training for children with cerebral palsy as early as possible.

[0006] As a preferred embodiment, the robotic arm unit I includes a first azimuth rod and a horizontally arranged second azimuth rod, wherein the second azimuth rod is an electric telescopic rod, which is vertically connected to the first azimuth rod through a connecting sleeve assembly, and the second azimuth rod can reciprocate along the length direction of the first azimuth rod; the first azimuth rod is hingedly connected to the frame, and the hinge axis is parallel to the axis of the second azimuth rod; the robotic arm unit I also includes a first deflection adjustment mechanism, which controls the deflection of the first azimuth rod around its hinge axis; the robotic arm unit I also includes a connecting arm, the upper end of the connecting arm is connected to the telescopic rod of the second azimuth rod through a connecting head, and the manipulator is installed at the lower end of the connecting arm. The hinged first-position rod can swing up and down under the control of the first deflection adjustment mechanism, and at this time it will drive the second-position rod to move up and down, that is, to achieve movement in the Z-axis direction. Since the second-position rod can also move along the first-position rod, the second-position rod can move up and down at different positions of the first-position rod, that is, it can move in the plane determined by the Y-axis and Z-axis directions. In addition, the second-position rod used is an electric telescopic rod, so the manipulator can move laterally, that is, move in the X-axis direction. Combining the above-mentioned movement characteristics, the manipulator unit I can enable the manipulator to move in a three-dimensional coordinate system. The three-dimensional motion mechanism of this structure is simple in structure and can accurately drive the limbs to simulate crawling movements.

[0007] As a preferred solution, the connecting arm has a coaxially arranged inner shaft inside, which can only rotate around its own axis relative to the connecting arm, and its lower end is fixedly connected to the manipulator, and a meshing gear I is coaxially fixedly arranged at the lower part of the inner shaft; a motor assembly II is installed on the connecting arm through the auxiliary arm, and a meshing gear II meshing with the meshing gear I is arranged on the rotating shaft of the motor assembly II. The motor assembly II can control the deflection of the inner shaft around its own axis, that is, it can make the manipulator rotate in situ, which can not only facilitate the manipulator to quickly grab the fixing ring, but also enable the manipulator to adapt to the best ergonomic position of the limbs by fine-tuning the deflection direction, thereby reducing the discomfort caused to the user during the assisted crawling training process.

[0008] As a preferred solution, the manipulator includes a fixed part, the two sides of the fixed part are fixed fingers extending downward, the space between the two fixed fingers is a grasping space for clamping the fixed ring, and a belt movable opening that passes through the fixed part is symmetrically arranged above the grasping space; the manipulator has a belt assembly that is symmetrically arranged on the left and right, and the belt assembly includes an upper pulley arranged on the upper part of the fixed part and a lower pulley arranged at the lower end of the fixed finger, wherein the upper pulley is driven by a pulley motor; in addition, a belt is set on the upper pulley and the lower pulley, the belt passes through the belt movable opening, and one side of the belt fits the inner side of the fixed finger; a deformation structure is arranged on the surface of the belt, and the belts on both sides clamp the fixed ring through the compression of the deformation structure. Compared with the traditional manipulator, the overall space occupied by the manipulator in this technical solution will not change, and the fixed ring is squeezed into the grasping space by the synchronous movement of the belt assemblies on both sides. Since there is no obvious clamping action, the fixed ring will not be vibrated when grasping the fixed ring, which can avoid scaring the user, which is very important for cerebral palsy patients who are doing rehabilitation exercises. At the same time, it can also prevent the user from being accidentally injured in the process of grasping or putting down the fixed ring.

[0009] As a preferred solution, the crawling auxiliary training system also includes a correction sensor, the correction sensor probe of the correction sensor is arranged on the manipulator, and a correction color block is arranged on the fixed ring; after grabbing the fixed ring, the correction sensor probe obtains the orientation data of the fixed ring by identifying the correction color block, and the correction sensor transmits the orientation data to the control center, and the control center controls the operation of the belt assembly until the correction color block is in a preset orientation. For cerebral palsy users, they cannot fully control their limbs, so the limbs may not be in the best crawling posture, for example, the wrist is turned so that the palm faces up. After the manipulator grabs the fixed ring, the correction sensor probe can determine the deflection orientation of the fixed ring by identifying the correction color block on the fixed ring, and then use the belt assembly to correct the fixed ring, which is conducive to crawling training for cerebral palsy users in the correct posture, avoiding them from forming an incorrect forceful crawling posture after training. Therefore, the use of a correction sensor can more scientifically assist users in crawling training.

[0010] As a preferred solution, the fixed ring includes two half rings symmetrically assembled, and a filling pad is arranged on the inner wall of the half ring, and the correction color block is arranged on the outer surface of one of the half rings; the fixed ring also includes an arc-shaped magnetic metal pad and an arc-shaped magnet pad, wherein the magnetic metal pad is arranged on the arc-shaped end face of the half ring, and a magnet pad simultaneously adsorbs the magnetic metal pad on the adjacent half ring, and mutually matching positioning jacks and positioning plugs are respectively arranged on the side where the magnetic metal pad and the magnet pad are in contact; in addition, mutually matching positioning jacks and positioning plugs are also respectively arranged on the connecting surfaces of the two half rings. According to the use requirements of the fixed ring, it first has a hard shell structure to meet the purpose of stable grasping of the manipulator, and secondly needs to have a flexible lining to meet the user's comfort needs and the purpose of stable fixation of the limbs. In addition, it also needs to be able to be put on the wrist and ankle. In addition to meeting the above requirements, the fixed ring used in this solution is also easy to disassemble and assemble because the two half rings are assembled together by magnetic adsorption.

[0011] As a preferred solution, the mechanical arm unit II includes a transverse fixed rod horizontally arranged along the width direction of the frame, and the transverse fixed rod includes a deflection axis parallel to its axis, the front end of the deflection axis is fixedly connected to the flat support part, and the rear end is connected to the second deflection adjustment mechanism, and the second deflection adjustment mechanism can control the rotation of the deflection axis, so that the flat support part can switch between the horizontal position and the vertical position. When the flat support part is flipped to the vertical position, the assistant or the caregiver places the user vertically in the flat support part, and then the mechanical arm unit II controls the flat support part to flip to the horizontal position. Since the user is a cerebral palsy user, this automatically flippable flat support part can effectively reduce its difficulty of use.

[0012] As a preferred embodiment, the flat supporting part includes a mounting part connected to the deflection axis, and also includes a connecting plate, the upper part of the connecting plate is connected to the mounting part, and the lower part first extends downward to form a middle connecting plate, and then extends horizontally to the bottom of the mounting part to form a lower connecting plate; the structure for supporting the chest and abdomen of the human body is an arc-shaped abdominal supporting plate with the arc mouth facing upward, and is installed on the lower connecting plate, when the flat supporting part is flipped to a vertical position, the middle connecting plate can support the user's buttocks; the mounting part includes a connecting sleeve fixedly connected to the deflection axis, and a longitudinal mounting shaft movably mounted in the connecting sleeve, the longitudinal mounting shaft can only move axially relative to the connecting sleeve, and its lower end is connected to the upper part of the upper connecting plate; the mounting part also includes a spring mounted on the upper part of the longitudinal mounting shaft, the upper end of the spring touches the end of the longitudinal mounting shaft, and the lower end touches the connecting sleeve. Under the action of the spring, the distance between the belly support plate and the ground will change, which can firstly meet the needs of users of different heights. In addition, during the crawling exercise, if the user's limbs touch the ground or have other points of force, the spring will lift the entire flat support part upward, so that the user's body is in a dynamic state of change to relieve the discomfort during the crawling exercise. In addition, it is also possible not to use the auxiliary moving unit to drive the limbs to move, and the user only crawls flat under the support of the flat support part. Since the user does not need to use the limbs to support the body completely, he can practice autonomous crawling in this prone state, and it can play a role in slowly improving the strength of the limbs.

[0013] As a preferred solution, the upper part of the connecting plate is an upper connecting plate; the flat supporting part also includes a back plate arranged between the upper connecting plate and the abdominal supporting plate, the back plate is movably connected to the upper connecting plate through an elastic connecting structure, and the elastic connecting structure can push the back plate close to the abdominal supporting plate; an electromagnet is arranged on the back plate and the upper connecting plate, and the electromagnet can keep the back plate away from the abdominal supporting plate. The back plate approaches or contacts the user's back downward, which can assist in lying flat and prevent the user from leaving the abdominal supporting plate during training. In addition, when the flat supporting part is flipped from a horizontal position to a vertical position, the back plate can prevent the user from suddenly leaning back by supporting the user's back.

[0014] As a preferred solution, the crawling assistance training system also includes a treadmill mechanism controlled by a control center, the treadmill mechanism includes a treadmill horizontally located below four manipulators. When performing crawling assistance training, the user is located above the treadmill, and his hands and feet can touch the treadmill, and the rotation speed of the treadmill is the same as the movement speed of the manipulator along the treadmill; the treadmill mechanism has a deflection device, which can flip the treadmill into a slope in the crawling direction. During the crawling training process, the user's limbs touch the treadmill, which in turn simulates the actual crawling process more realistically. In addition, by flipping the treadmill, the user can also practice climbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A schematic diagram of the rear structure of an embodiment of the crawling auxiliary training system provided by the present invention;

[0017] Figure 2 A schematic diagram of a top view of an embodiment of a crawling auxiliary training system provided by the present invention;

[0018] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the crawling auxiliary training system shown;

[0019] Figure 4 for Figure 3 The structural schematic diagram of the auxiliary movement unit in the crawling auxiliary training system shown;

[0020] Figure 5 for Figure 4 A schematic structural diagram of a rod member in a first orientation in the auxiliary mobile unit shown;

[0021] Figure 6 for Figure 5 A schematic diagram of the cross-section structure of the rod member in the first orientation is shown;

[0022] Figure 7 for Figure 4 A schematic diagram of the installation structure of the manipulator in the auxiliary mobile unit shown;

[0023] Figure 8 for Figure 7 A schematic diagram of the local structure of the manipulator in the structure shown;

[0024] Fig. 9 for Figure 8 A schematic diagram of the inner structure of the manipulator shown;

[0025] Fig.10 for Figure 8 The schematic diagram of the structure of the manipulator grabbing the fixed ring is shown;

[0026] Fig.11 for Figure 1 A schematic structural diagram of a body flat-supporting device in a crawling auxiliary training system;

[0027] Fig.12 for Fig.11 The overall structural schematic diagram of the flat supporting part in the body flat supporting device shown;

[0028] Fig.13 It is a schematic diagram of the upper structure of the flat support part;

[0029] Fig.14 Schematic diagram of the lower structure of the flat support part

[0030] Fig.15 for Figure 1 A schematic diagram of the structure of a fixed ring cooperating with a manipulator in the crawling auxiliary training system shown;

[0031] Fig.16 for Fig.15 Schematic diagram of the split structure of the fixed ring shown.

[0032] In the figure, the frame 1, the side guardrail 2, the camera 3, the body flat support unit 4, the auxiliary moving unit 5, the treadmill 6, the control center 7, the flat support part 8, the manipulator I9, the manipulator II10, the manipulator III11, the manipulator IV12, the guard plate 13, the movable hole 14, the manipulator arm unit I15, the manipulator arm unit II16, the hinge 17, the electric telescopic mechanism 18, the first orientation rod 19, the fixed column I20, the meshing rack 21, the connecting rod 22, the motor assembly I23, the driving gear 24, the fixed plate 25, the motor assembly II26, the connecting sleeve assembly 27, the second orientation rod 28, the connecting head 29, the connecting arm 30, the avoidance 31, the screw 32, the bearing 33, the sleeve 34, the connecting block 35, the threaded sleeve 36, the fixing part 37, the fixing finger 38, the grasping space 39, the meshing gear I40, the motor assembly II41, the meshing gear II42, the auxiliary arm 43, inner shaft 44, belt assembly I 45, belt assembly II 46, belt assembly III 47, belt assembly IV 48, upper pulley 49, lower pulley 50, pulley motor 51, belt 52, belt movable opening 53, fixed ring limit column 54, deviation correction sensor probe 55, fixed ring 56, fixed rod II 57, lateral fixed rod 58, deflection shaft 59, deflection gear I 60, deflection motor 61, deflection gear II 6 2. Connecting sleeve 63, longitudinal mounting shaft 64, elastic shield 65, upper connecting plate 66, middle connecting plate 67, lower connecting plate 68, back plate 69, belly supporting plate 70, electromagnet 71, spring 72, bridge plate 73, telescopic column 74, coil spring 75, back panel 76, lower supporting plate 77, upper lining plate 78, half ring 79, deviation correction color block 80, magnetic metal pad 81, magnet pad 82, filling pad 83, positioning jack 84, positioning plug 85. DETAILED DESCRIPTION

[0033] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0034] Figure 1-16 This is an embodiment of the crawling auxiliary training system provided by the present invention. Figure 1As shown, the crawling auxiliary training system includes a frame 1 and a control center 7, wherein the left and right sides of the frame 1 are hollow side guardrails 2, and a camera 3 is respectively arranged in the middle of the upper part of the two side guardrails 2. The two cameras 3 serve as image acquisition terminals of the object recognition system, and are respectively used to identify the position of the opposite fixed ring 56, and transmit the position information to the control center 7, and the control center 7 controls the movement of the two opposite auxiliary mobile units 5. Specifically, as Figure 2 As shown, four auxiliary mobile units 5 which can be controlled by a control center 7 are distributed in a rectangular shape on the frame 1, and a body flat supporting unit 4 is arranged within the rectangular range surrounded by the four auxiliary mobile units 5, and the control center 7 controls the auxiliary mobile units 5 and the body flat supporting unit 4; the auxiliary mobile unit 5 includes a mechanical arm unit 115 and a mechanical hand, as shown in FIG. Figure 2 As shown, the four manipulators are marked as manipulator I9, manipulator II10, manipulator III11, and manipulator IV12. Each manipulator is responsible for grabbing a fixed ring 56, which is fitted on the wrist and ankle of the user and will not rotate relative to the wrist and ankle; the body flat support unit 4 includes a manipulator arm unit II16 and a flat support part 8, wherein the flat support part 8 has a structure for horizontally lifting the chest and abdomen of the human body and making the human body suspended in the air; after the manipulator grabs the fixed ring 56, the manipulator arm unit I15 can control the manipulator to move in the three-dimensional Cartesian coordinate system, that is, it can drive the fixed ring 56 to move in the X-axis, Y-axis and X-axis directions, thereby assisting the user in simulated crawling training.

[0035] Specifically, the robot arm unit 115 used in this embodiment includes a first azimuth rod 19 and a horizontally arranged second azimuth rod 28, wherein the second azimuth rod 28 is an electric telescopic rod, which is vertically connected to the first azimuth rod 19 through a connecting sleeve assembly 27, and the second azimuth rod 28 can reciprocate along the length direction of the first azimuth rod 19; Figure 5 and Figure 6 As shown, the first orientation rod 19 includes an outer hollow tube, a coaxial screw 32 is installed in the hollow tube through a bearing 33, and no avoidance opening 31 extending along the length direction is provided below the hollow tube. In addition, a motor assembly II26 is installed at the rear of the hollow tube, and the motor assembly II26 controls the screw 32 to rotate in situ; and as shown Figure 6 As shown, the connecting sleeve assembly 27 includes a sleeve 34 sleeved on the outer periphery of the hollow pipe, and also includes a threaded sleeve 36 installed on the screw rod 32, and the two are connected by a connecting block 35 passing through the avoidance opening 31. When the screw rod 32 rotates, the entire connecting sleeve assembly 27 can translate along the hollow pipe. Figure 3 As shown, the first position rod 19 is hidden in the side guardrail 2, and the second position rod 28 extends through the movable hole 14 on the side guardrail 2. Figure 4As shown, the first azimuth rod 19 is hinged to the upper end of the fixed column 120 vertically fixedly connected to the frame 1, and the hinge axis is parallel to the axis of the second azimuth rod 28; the mechanical arm unit 115 also includes a first deflection adjustment mechanism, which includes an arc-shaped meshing rack 21, which is fixedly installed behind the first azimuth rod 19 through a connecting rod 22, and the arc center of the arc-shaped meshing rack 21 is located on the hinge axis of the first azimuth rod 19. The first deflection adjustment mechanism also includes a motor assembly 123, which is installed on a fixed plate 25 set in the side guardrail 2, and a driving gear 24 meshing with the meshing rack 21 is installed on the rotating shaft of the motor assembly 123. Based on the above structure, the first deflection adjustment mechanism can control the deflection of the first azimuth rod 19 around its hinge axis. The robot arm unit I15 also includes a connecting arm 30, the upper end of which is connected to the telescopic rod of the second orientation rod 28 through a connecting head 29, and the robot is installed at the lower end of the connecting arm 30. In a free state, the connecting arm 30 will deflect around the axis of the telescopic rod to a vertical state.

[0036] According to the robot arm unit I15 of the above structure, the hinged first orientation rod 19 can swing in the plane determined by XZ under the control of the first deflection adjustment mechanism, and at this time it will drive the second orientation rod 28 to move up and down, that is, to realize movement in the Z-axis direction. Since the second orientation rod 28 can also move along the first orientation rod 19, the second orientation rod 28 (or the robot) can move up and down at different positions of the first orientation rod 19, that is, it can move in the plane determined by the Y-axis and Z-axis directions. In addition, the second orientation rod 28 used is an electric telescopic rod, so the robot can move laterally, that is, move in the X-axis direction. Combining the above movement characteristics, the robot arm unit I15 can enable the robot to move in a three-dimensional coordinate system, and when a person crawls, the movement decomposition direction of the limbs is also in the three-dimensional coordinate system. Therefore, the control center 7 can coordinate and control the four auxiliary mobile units 5 by executing a fixed program, and thereby drive the limbs to simulate crawling movements.

[0037] In addition, if Figure 6-8As shown, the interior of the connecting arm 30 has a coaxially arranged inner shaft 44, which can only rotate around its own axis relative to the connecting arm 30, and its lower end is fixedly connected to the manipulator, and a meshing gear I40 is coaxially fixedly arranged at the lower part of the inner shaft 44; a motor assembly II41 is installed on the connecting arm 30 through the auxiliary arm 43, and a meshing gear II42 meshing with the meshing gear I40 is arranged on the rotating shaft of the motor assembly II41. According to the above structure, the motor assembly II41 can control the deflection of the inner shaft 44 around its own axis, that is, it can make the manipulator rotate in situ. After the control center 7 receives the position information of the four fixed rings 56, the control center 7 will comprehensively control the movement of the auxiliary mobile unit 5, so that the manipulator can accurately and quickly grasp the fixed rings 56. In addition, the manipulator can also adapt to the best ergonomic position of the limbs by fine-tuning the deflection direction, thereby reducing the discomfort brought to the user during the auxiliary crawling training process.

[0038] According to the usage scenario and the individual situation of the user, this embodiment adopts a manipulator without clamping action. Figure 7-10 As shown, the manipulator includes a fixing portion 37, and the fixing fingers 38 extending downward in parallel on both sides of the fixing portion 37, and the space between the two fixing fingers 38 is a grasping space 39 for grasping the fixing ring 56, and a belt movable opening 53 passing through the fixing portion 37 is symmetrically arranged above the grasping space 39. The manipulator grasps the fixing ring 56 by four belt assemblies arranged symmetrically on the left and right. Figure 8 The four belt assemblies are respectively marked as belt assembly I45, belt assembly II46, belt assembly III47, and belt assembly IV48. Specifically, the belt assembly includes an upper pulley 49 arranged at the upper part of the fixing portion 37 and a lower pulley 50 arranged at the lower end of the fixing finger 38, wherein each upper pulley 49 is driven by a pulley motor 51; in addition, a belt 52 is mounted on the upper pulley 49 and the lower pulley 50, and the belt 52 passes through the belt movable opening 53, and one side thereof is in contact with the inner side surface of the fixing finger 38. In addition, a deformation structure is arranged on the surface of the belt 52, and the belts 52 on both sides clamp the fixing ring 56 through the compression of the deformation structure. The fixing ring 56 is squeezed into the grasping space 39 by the synchronous movement of the belt assemblies on both sides. Since there is no obvious clamping action, the fixing ring 56 will not be vibrated when grasping the fixing ring, which can avoid scaring the user. At the same time, it can also prevent the user from being accidentally injured in the process of grasping or putting down the fixing ring.

[0039] In addition, the crawling auxiliary training system also includes a correction sensor, the correction sensor probe 55 of the correction sensor is arranged at the top of the grasping space 39, and a correction color block 80 is arranged on the fixed ring 56, and the correction color block 80 is marked upward as a standard preset position. After the fixed ring 56 is grasped, the correction sensor probe 55 obtains the position data of the fixed ring 56 by identifying the correction color block 80, and the correction sensor transmits the position data to the control center 7, and the control center 7 controls the operation of the belt assembly until the correction color block 80 is located at the preset position. For users with cerebral palsy, they cannot fully control their limbs, so their limbs may not be in the best crawling posture, for example, the wrist is turned over to the palm facing up. After the manipulator grabs the fixed ring 56, the correction sensor probe 55 can determine the deflection direction of the fixed ring 56 by identifying the correction color block 80 on the fixed ring 56, and then use the belt assembly to correct the fixed ring 56. This is conducive to crawling training for users with cerebral palsy in the correct posture, avoiding them from forming an incorrect forceful crawling posture after training. Therefore, the use of correction sensors can assist users in crawling training more scientifically. In addition, four fixed ring limit posts 54 are symmetrically arranged at the top of the grasping space 39. When the belt 52 drives the fixed ring 56 to move upward to contact the fixed ring limit posts 54, the fixed ring 56 reaches the highest position. In addition, the inclination angle of the fixed ring can be set according to the comfortable inclination position of the hands and feet when crawling in ergonomics. After the fixed ring 56 reaches the highest position, the belt component I45 and the belt component IV48 are controlled simultaneously, or the belt component II46 and the belt component III47 are controlled simultaneously, so that one end of the fixed ring 56 is lowered, so that the fixed ring 56 is tilted to adapt to the posture of the legs and arms.

[0040] In addition, this embodiment also provides a fixing ring 56 suitable for the above-mentioned manipulator and capable of being turned over and disassembled. Fig.15 and 16As shown, the fixing ring 56 is divided into two upper and lower symmetrical half rings 79, and a filling pad 83 is arranged on the inner wall of the half ring 79, and the correction color block 80 is arranged in the middle of the outer surface of the upper half ring 79; the fixing ring 56 also includes an arc-shaped magnetic metal pad 81 and two arc-shaped magnet pads 82, wherein two non-contacting magnetic metal pads 81 are arranged on the arc-shaped end face of each half ring 79, and one magnet pad 82 simultaneously adsorbs the magnetic metal pad 81 on the adjacent half ring 79, and a gap is reserved between the two magnet pads 82. In order to further improve the assembly stability of the fixing ring, mutually matching positioning sockets 84 and positioning plugs 85 are respectively arranged on the side where the magnetic metal pad 81 and the magnet pad 82 are attached, and mutually matching positioning sockets 84 and positioning plugs 85 are also respectively arranged on the connecting surfaces of the two half rings 79. According to the use requirements of the fixing ring 56, it first has a hard shell structure to meet the purpose of stable grasping of the manipulator, and secondly needs to have a flexible lining to meet the user's comfort needs and the purpose of stable fixation of the limbs. In addition, it needs to be able to be put on the wrist and ankle. In addition to meeting the above requirements, the fixing ring 56 used in this solution is also easy to disassemble and assemble because the two half rings 79 are assembled together by magnetic adsorption.

[0041] like Fig.11 As shown, the mechanical arm unit II16 used in this embodiment includes a transverse fixed rod 58 horizontally arranged along the width direction of the frame 1, and the fixed rod 58 is fixed to the top of the fixed rod II57 vertically connected to the frame 1, and the transverse fixed rod 58 has a coaxially mounted deflection shaft 59 inside, the front end of the deflection shaft 59 is fixedly connected to the flat support part 8, and the rear end is connected to the second deflection adjustment mechanism. As shown in the figure, the second deflection adjustment mechanism includes a deflection gear I60 coaxially mounted at the end of the deflection shaft 59, and also includes a deflection motor 61 mounted on the fixed rod II57, and a deflection gear II62 meshing with the deflection gear I60 is arranged on the rotating shaft of the deflection motor 61. The second deflection adjustment mechanism can control the rotation of the deflection shaft 59, so that the flat support part 8 can switch between the horizontal position and the vertical position. When the flat supporting part 8 is flipped to the vertical position, the assistant or caregiver places the user vertically in the flat supporting part 8, and then the robotic arm unit II16 controls the flat supporting part 8 to flip to the horizontal position. Since the user suffers from cerebral palsy, this automatically flippable flat supporting part 8 can effectively reduce the difficulty of use.

[0042] Regarding the flat support portion 8, its specific structure can be referred to Figure 12-14, including a mounting portion connected to the deflection shaft 59, and also including a connecting plate roughly in a C row, including an upper connecting plate 66 at the top, a middle connecting plate 67 at the middle, and a lower connecting plate 68 at the bottom, and the upper connecting plate 66 is parallel to the lower connecting plate 68, and the mounting portion is connected through the upper connecting plate 66; the structure for supporting the chest and abdomen of the human body is an arc-shaped abdominal supporting plate 70 with an arc mouth facing upward, and is installed on the lower connecting plate 68. Specifically, the abdominal supporting plate 70 includes a hard lower supporting plate 77, which is Fig.14 The middle connecting plate 67 is arc-shaped and is mounted on the lower connecting plate 68 by bolts, and also includes an upper lining plate 78 lining the arc-shaped surface of the lower supporting plate 77. When the flat supporting portion 8 is flipped to the vertical position, the middle connecting plate 67 can support the user's buttocks.

[0043] The flat supporting part 8 also includes a back plate 69 arranged between the upper connecting plate 66 and the belly supporting plate 70, and the back of the back plate 69 is rectangular and vertically distributed with four telescopic columns 74, and the telescopic columns 74 are movable through the through holes on the upper connecting plate 66, and there is a coil spring 75 between the upper connecting plate 66 and the back plate 69, which is sleeved on the telescopic columns 74. In addition, the back of the upper connecting plate 66 is fixedly connected to the four telescopic columns 74 by a bridge plate 73. And as shown in the figure, the side of the back plate 69 pointing to the belly supporting plate 70 is a soft back panel 76 with an arc. In addition, an electromagnet 71 is also placed on the adjacent surface of the back plate 69 and the upper connecting plate 66. According to the above structure, the coil spring 75 can push the back plate 69 close to the belly supporting plate 70, and the electromagnet 71 can make the back plate 69 away from the belly supporting plate 70, and the back plate 69 is downwardly close to or in contact with the back of the user, which can assist in lying flat and prevent the user from leaving the belly supporting plate 70 during training. In addition, when the flat supporting portion 8 is flipped from the horizontal position to the vertical position, the back plate 69 can prevent the user from leaning back suddenly by supporting the user's back.

[0044] In addition, if Fig.12 and 13As shown, the mounting part includes a connecting sleeve 63 fixedly connected to the deflection shaft 59, and a longitudinal mounting shaft 64 is movably mounted in the connecting sleeve, and the longitudinal mounting shaft 64 can only move axially relative to the connecting sleeve 63, and its lower end is connected to the upper part of the upper connecting plate 66; the mounting part also includes a spring 72 mounted on the upper part of the longitudinal mounting shaft 64, the upper end of the spring 72 touches the end of the longitudinal mounting shaft 64, and the lower end touches the connecting sleeve 63, and the spring 72 is wrapped with an elastic shield 65. Under the action of the spring 72, the distance between the belly support plate 70 and the ground will float and change, which can firstly meet the needs of users of different heights. In addition, during the crawling exercise, if the user's limbs touch the ground or have other points of force, the spring 72 will lift the entire flat support part 8 upward, so that the user's body is in a dynamic state of change to alleviate the discomfort during the crawling exercise. In addition, the auxiliary moving unit 5 may not be used to drive the movement of the limbs. The user can just crawl flatly under the support of the flat supporting part 8. Since the user does not need to fully use the limbs to support the body, the user can practice autonomous crawling in this prone position, and can slowly improve the strength of the limbs.

[0045] The above content introduces a crawling assistance training system that can actively intervene in the behavior of children with cerebral palsy during the crawling stage and assist them in practicing crawling, wherein the body flat support unit 4 can lift the user in a crawling posture, and by installing fixed rings 56 on the wrists and ankles, the manipulators in the four auxiliary mobile units 5 respectively identify and grab the fixed rings 56 at the corresponding positions, thereby achieving the purpose of controlling the limbs. Then, under the coordinated action of the four mechanical arm units 115, the auxiliary mobile unit 5 controls the limbs to simulate the movements of normal people when learning to crawl. This crawling practice process can be performed with the limbs suspended in the air, or with the limbs touching the ground, or the frame 1 can be constructed into an electric moving structure so that the entire system moves synchronously with the crawling action. Of course, it can also be as follows Figure 3 As shown, a treadmill mechanism controlled by a control center 7 is installed under the frame, and the treadmill mechanism includes a treadmill 6 horizontally located under four manipulators. To prevent people or objects from accidentally touching the treadmill 6, guard plates 13 are respectively provided on the front and rear sides of the frame 1 to protect the treadmill 6. When performing crawling auxiliary training, the user is located above the treadmill, and his hands and feet can touch the treadmill 6, and the rotation speed of the treadmill 6 is the same as the movement speed of the manipulator along the treadmill. As shown in the figure, the middle part of the treadmill 6 is connected to the frame 1 through a hinge 17, and an electric telescopic mechanism 18 is provided under the treadmill 6, and one end of the treadmill 6 is raised by the electric telescopic mechanism 18, so that the treadmill 6 is in a slope shape. According to the above structure, during the crawling training process, the user's limbs touch the treadmill 6, which can simulate the actual crawling process more realistically. In addition, by turning over the treadmill, the user can also perform climbing exercises.

[0046] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0047] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0048] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. Changes and variations made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. Crawling assistance training system, It is characterized in that The invention comprises a frame and a control center, four auxiliary mobile units are distributed in a rectangular shape on the frame, a body flat supporting unit is arranged in a rectangular range surrounded by the four auxiliary mobile units, and the control center controls the auxiliary mobile units and the body flat supporting unit; the auxiliary mobile unit comprises a robot arm unit I and a robot, and also comprises a hard fixing ring fitted on the wrist and ankle of the user, wherein the robot can identify and grasp the fixing ring, and the robot arm unit I can control the robot to move in a three-dimensional Cartesian coordinate system; the body flat supporting unit comprises a robot arm unit II and a flat supporting part, wherein the flat supporting part has a structure for horizontally supporting the chest and abdomen of the human body, and makes the human body suspended in the air; the control center can control the coordinated movement of the four auxiliary mobile units, and The user's limbs are driven to simulate human crawling action; the robotic arm unit I includes a first azimuth rod and a horizontally arranged second azimuth rod, wherein the second azimuth rod is an electric telescopic rod, which is vertically connected to the first azimuth rod through a connecting sleeve assembly, and the second azimuth rod can reciprocate along the length direction of the first azimuth rod; the first azimuth rod is hingedly connected to the frame, and the hinge axis is parallel to the axis of the second azimuth rod; the robotic arm unit I also includes a first deflection adjustment mechanism, which controls the deflection of the first azimuth rod around its hinge axis; the robotic arm unit I also includes a connecting arm, the upper end of the connecting arm is connected to the telescopic rod of the second azimuth rod through a connecting head, and the manipulator is installed at the lower end of the connecting arm.

2. The crawling assistance training system according to claim 1, Features: The interior of the connecting arm has a coaxially arranged inner shaft, which can only rotate around its own axis relative to the connecting arm, and its lower end is fixedly connected to the robot, and a meshing gear I is coaxially fixedly arranged at the lower part of the inner shaft; a motor assembly II is installed on the connecting arm through the auxiliary arm, and a meshing gear II meshing with the meshing gear I is arranged on the rotating shaft of the motor assembly II.

3. The crawling assistance training system according to claim 1, Features: The manipulator includes a fixed part, with fixed fingers extending downward on both sides of the fixed part, the space between the two fixed fingers is a grasping space for clamping a fixed ring, and a belt movable opening that passes through the fixed part is symmetrically arranged above the grasping space; the manipulator has a belt assembly that is symmetrically arranged on the left and right, and the belt assembly includes an upper pulley arranged on the upper part of the fixed part and a lower pulley arranged at the lower end of the fixed finger, wherein the upper pulley is driven by a pulley motor; in addition, a belt is mounted on the upper pulley and the lower pulley, the belt passes through the belt movable opening, and one side of the belt fits the inner side surface of the fixed finger; a deformation structure is arranged on the surface of the belt, and the belts on both sides clamp the fixed ring through compression of the deformation structure.

4. The crawling assistance training system according to claim 3, Features: The crawling auxiliary training system also includes a correction sensor, a correction sensor probe of which is arranged on the manipulator, and a correction color block is arranged on the fixed ring; after grabbing the fixed ring, the correction sensor probe obtains the orientation data of the fixed ring by identifying the correction color block, and the correction sensor transmits the orientation data to the control center, and the control center controls the operation of the belt assembly until the correction color block is located at a preset position.

5. The crawling assistance training system according to claim 4, Features: The fixed ring includes two half rings that are symmetrically assembled, and a filling pad is arranged on the inner wall of the half ring, and the correction color block is arranged on the outer surface of one of the half rings; the fixed ring also includes an arc-shaped magnetic metal pad and an arc-shaped magnet pad, wherein the magnetic metal pad is arranged on the arc-shaped end face of the half ring, and a magnet pad simultaneously absorbs the magnetic metal pads on the adjacent half rings, and mutually matching positioning sockets and positioning plugs are respectively arranged on the side where the magnetic metal pad and the magnet pad are in contact; in addition, mutually matching positioning sockets and positioning plugs are also respectively arranged on the connecting surfaces of the two half rings.

6. The crawling assistance training system according to claim 1, Features: The robotic arm unit II includes a transverse fixed rod horizontally arranged along the width direction of the frame, and the transverse fixed rod includes a deflection axis parallel to its axis. The front end of the deflection axis is fixedly connected to the flat supporting part, and the rear end is connected to the second deflection adjustment mechanism. The second deflection adjustment mechanism can control the rotation of the deflection axis, so that the flat supporting part can switch between the horizontal position and the vertical position.

7. The crawling assistance training system according to claim 6, Features: The flat supporting part includes a mounting part connected to the deflection axis, and also includes a connecting plate, the upper part of the connecting plate is connected to the mounting part, and the lower part first extends downward to form a middle connecting plate, and then extends horizontally to the bottom of the mounting part to form a lower connecting plate; the structure for supporting the chest and abdomen of the human body is an arc-shaped abdominal supporting plate with the arc mouth facing upward, and is installed on the lower connecting plate, when the flat supporting part is flipped to a vertical position, the middle connecting plate can support the user's buttocks; the mounting part includes a connecting sleeve fixedly connected to the deflection axis, and a longitudinal mounting shaft movably mounted in the connecting sleeve, the longitudinal mounting shaft can only move axially relative to the connecting sleeve, and its lower end is connected to the upper part of the upper connecting plate; the mounting part also includes a spring mounted on the upper part of the longitudinal mounting shaft, the upper end of the spring touches the end of the longitudinal mounting shaft, and the lower end touches the connecting sleeve.

8. The crawling assistance training system according to claim 7, Features: The upper part of the connecting plate is the upper connecting plate; the flat supporting part also includes a back plate arranged between the upper connecting plate and the belly supporting plate, and the back plate is movably connected to the upper connecting plate through an elastic connecting structure, and the elastic connecting structure can push the back plate close to the belly supporting plate; an electromagnet is arranged on the back plate and the upper connecting plate, and the electromagnet can make the back plate stay away from the belly supporting plate.

9. The crawling assistance training system according to any one of claims 1 to 8, Features: The crawling assistance training system also includes a treadmill mechanism controlled by a control center, and the treadmill mechanism includes a treadmill horizontally located below four manipulators. When performing crawling assistance training, the user is located above the treadmill, and his hands and feet can touch the treadmill, and the rotation speed of the treadmill is the same as the movement speed of the manipulator along the treadmill direction; the treadmill mechanism has a deflection device, which can cause the treadmill to flip into a slope in the crawling direction.

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