An adaptive weight loss module and a sky rail suspension rehabilitation training system with the same

Abstract

An adaptive weight loss module and a sky rail suspension rehabilitation training system with the same, comprising a sky rail horizontal movement module, an adaptive weight loss module and a man-machine connection module, the sky rail horizontal movement module is responsible for the movement of the system in the horizontal direction, and can follow the direction and speed of the patient during training; the adaptive weight loss module is responsible for providing weight loss force, and can dynamically adjust the weight loss force according to different situations during the patient's training; the man-machine connection module is responsible for connecting the system with the patient. The compression spring in the adaptive weight loss module plays a role in buffering and providing stress data, the stretching spring is used for storing energy, plays a role in saving labor and reducing the volume of the module, cooperates with the weight loss motor to adjust the use of the sling, and can realize dynamic weight loss of the patient in the vertical direction; the angle measurement unit in the sky rail horizontal movement module can sense the angle change of the sling, cooperates with the walking motor to make the system follow the patient to move, and the combination of the two parts can meet the training requirements of walking, sitting and standing, and going up and down the stairs.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical rehabilitation equipment, in particular to a self-adaptive weight reduction module and a sky rail suspension rehabilitation training system with the same. BACKGROUND

[0002] Since lower limb motor dysfunction seriously affects the quality of life and work of patients and their families, timely and scientific rehabilitation treatment for these patients becomes very important. Current research has found that in addition to traditional surgical, drug and other treatment methods for these patients, using weight reduction gait training can also achieve good rehabilitation results for these patients. Weight reduction walking training is a training method that reduces the body weight of patients through external force, so that patients can perform walking training and gradually recover the ability to walk.

[0003] There are four main types of weight reduction support systems used at home and abroad: static balance systems, passive weight systems, passive elastic force weight reduction systems, and active force weight reduction systems. Static balance systems and passive weight systems use passive weight reduction, which uses a counterweight as a balance unit to provide a constant pulling force to the patient. However, in actual rehabilitation training, the load on the patient's legs changes with the change in the center of gravity when walking, and the required weight reduction force is not constant. In addition, the counterweight will move up and down at a non-uniform speed with the vertical movement of the patient, causing the weight reduction force provided to the patient to change greatly and resulting in distorted weight reduction effects, and even causing abnormal gait in patients. The passive elastic force weight reduction system adds a spring unit to achieve dynamic weight reduction, but due to the length of the spring, it cannot perform large amplitude center of gravity change training, such as sit-to-stand training. Moreover, the module volume is relatively large, and the weight reduction precision is insufficient. The active weight reduction force system uses a motor to provide a weight reduction force, which realizes closed-loop control through real-time return force sensor values, ultimately achieving constant and active weight reduction.

[0004] Invention patent CN111150615A discloses "a dynamic weight loss walking training instrument", including a double-spring buffer unit, a machine head, a track, a sling, a hanging rack, the machine head includes a walking assembly and a lower box, the walking assembly is used to generate power and walk along the track, the lower box below the walking assembly is provided with a sling, the other end of the sling is connected with the hanging rack, and the hanging rack is used for patient connection. This module can realize large range of vertical and horizontal movement, but the module volume is large, and the passive elastic weight loss method is adopted for small amplitude vertical movement, and the dynamic weight loss performance is not perfect. Invention patent CN111840949A discloses "a weight loss module for intelligent weight loss training device", including a drum motor, a screw drum, a screw shaft, a slide rail, a pull rope, a fixed pulley, a movable pulley, a steering wheel, a first mounting plate, a second mounting plate and a fixed plate. This invention can prevent the pull rope from slipping out of the pulley and reduce the volume of the module as a whole, but the design of the weight loss force determination is not reasonable, and the existence of the pull rope angle when the patient walks is ignored.

[0005] Therefore, in view of the deficiencies of the prior art, it is necessary to design a self-adaptive weight loss module and a sky rail suspension rehabilitation training system with the same to solve the above problems. SUMMARY

[0006] In order to overcome the deficiencies of the prior art, the purpose of the present application is to provide a self-adaptive weight loss module and a sky rail suspension rehabilitation training system with the same, which meets the various training requirements of patient walking, sitting and standing, and going up and down stairs, adopts complete active weight loss, adjusts the weight loss force according to the change of the body center of gravity, has reliable weight loss performance, simple structure, small module volume and high safety performance.

[0007] To achieve the above object and other related objects, the technical scheme provided by the present application is as follows: an adaptive weight loss module, which is composed of a casing, a guide shaft, a movable plate set, a tension spring, a compression spring, a grating ruler, a tension sensor, a fixed pulley, a weight loss motor, a winding drum, a sling and a steering wheel set, wherein the casing at least includes a bottom plate, a side plate a and a side plate b, the side plate a and the side plate b are fixedly arranged on two opposite sides of the bottom plate, the guide shaft is horizontally arranged between the side plate a and the side plate b and used for connecting the side plate a and the side plate b, the movable plate set includes a movable plate a and a movable plate b, the movable plate a and the movable plate b are both slidably arranged on the guide shaft through linear bearings and correspondingly arranged with the side plate a and the side plate b, the tension spring is arranged along the guide shaft in the axial direction and used for connecting the movable plate a and the side plate b, the compression spring is sleeved on the guide shaft, one end of the compression spring is fixedly connected with the movable plate a, and the other end of the compression spring is fixedly connected with the movable plate b, the grating ruler is fixedly arranged in the casing and used for detecting the displacement of the movable plate a and the movable plate b, the tension sensor is fixedly arranged on the movable plate b, the fixed pulley is installed on the detection end of the tension sensor, the weight loss motor is arranged outside the casing and used for driving the winding drum to rotate, the sling is wound on the winding drum and the end part thereof is inserted into the casing through the opening on the side plate a, and the steering wheel set is arranged in the casing and used for guiding the sling to be wound on the fixed pulley along the guide shaft in the axial direction and then to be pulled out of the casing through the opening on the bottom plate.

[0008] Preferably, the technical scheme is that the adaptive weight loss module further includes a buffer spring, the buffer spring is sleeved on the guide shaft and located between the movable plate b and the side plate b.

[0009] Preferably, the technical scheme is that the guide shaft has two and is arranged in parallel with each other, the tension spring, the compression spring and the buffer spring are all correspondingly arranged as two groups, and the stiffness coefficients of the tension spring and the compression spring are the same.

[0010] Preferably, the technical scheme is that the guide wheel set is composed of a guide wheel a, a guide wheel b and a guide wheel c, the guide wheel a is arranged on the bottom plate and correspondingly arranged with the opening on the side plate a, the bottom side of the guide wheel a is flush with the bottom side of the winding drum, the guide wheel b is arranged on the bottom plate, the top side of the guide wheel b is flush with the top side of the fixed pulley, and the guide wheel c is arranged on the bottom plate and correspondingly arranged with the opening on the bottom plate, the top side of the guide wheel c is flush with the bottom side of the fixed pulley.

[0011] The preferred technical scheme is that the mechanical protection unit is composed of a rotating shaft, a rotating disc, a ratchet wheel, a ratchet pawl, a ratchet wheel mounting seat, a supporting spring and a pin column, one end of the rotating shaft is coaxially fixedly connected with the winding drum, the other end of the rotating shaft is coaxially fixedly connected with the rotating disc, the ratchet wheel mounting seat is fixedly arranged on the side plate a, the ratchet wheel is fixedly arranged in the ratchet wheel mounting seat, the rotating disc is arranged in the ratchet wheel and coaxially arranged with the ratchet wheel, a plurality of ratchet pawls are arranged at equal angles at the edge of the rotating disc and one end of each ratchet pawl is rotationally connected with the rotating disc, a pin column is arranged at the other end of each ratchet pawl, a guide seat is arranged on the rotating disc, a pin hole is arranged on the guide seat, the pin column is arranged in the pin hole, the supporting spring is sleeved on the pin column, one end of the supporting spring abuts against the guide seat, and the other end of the supporting spring abuts against the end of the pin column.

[0012] The track suspension rehabilitation training system comprises a track horizontal movement module, a man-machine connection module and the adaptive weight reduction module.

[0013] The preferred technical scheme is that the track is composed of a square tube structure and is provided with a strip-shaped opening arranged in the axial direction at the middle position of the bottom side, the strip-shaped opening divides the bottom side of the track into two strip-shaped suspension platforms arranged in parallel with each other.

[0014] The preferred technical scheme is that the walking unit is composed of a driven mechanism, a connecting column and a driving mechanism; the driven mechanism is composed of a driven frame, a vertical support wheel group and a horizontal support wheel group, the driven frame is arranged in the track, the vertical support wheel group is rotatably arranged on the driven frame and supported on the top sides of the two strip-shaped suspension platforms, and the horizontal support wheel group is rotatably arranged on the driven frame and supported on the inner sides of the two side walls of the track; the connecting column is vertically fixedly arranged on the bottom side of the driven frame and extends out of the track through the strip-shaped opening; the driving unit is composed of a driving frame, a pre-tightening spring, a spring stopper, a driving wheel and a walking motor, the driving frame and the pre-tightening spring are sequentially sleeved on the connecting column from top to bottom, the spring stopper is fixedly arranged on the connecting column and located below the pre-tightening spring, one end of the pre-tightening spring abuts against the driving frame, the other end of the pre-tightening spring abuts against the spring stopper, the driving wheel is rotatably arranged on the top side of the driving frame and closely arranged on the bottom side of the strip-shaped suspension platform, and the walking motor is fixedly arranged on the outer side of the driving frame and used for driving the driving wheel to rotate.

[0015] Preferably, the technical scheme is: further comprising an angle measuring unit, the angle measuring unit is composed of a clamping wheel mounting base, clamping wheels, an arc-shaped steering plate, an angle sensor mounting base and an angle sensor, the clamping wheel mounting base is fixedly arranged on the bottom side of the bottom plate, two clamping wheels are arranged on the inner side of the clamping wheel mounting base in parallel with each other, a space for guiding the sling to pass through is formed between the two clamping wheels and is arranged corresponding to the opening on the bottom plate, the arc-shaped steering plate is rotatably arranged on the outer side of the clamping wheel mounting base through a rotating shaft, the arc-shaped steering plate is provided with a strip-shaped hole for the sling to pass through, the angle sensor mounting base is fixedly arranged on the bottom side of the bottom plate, and the angle sensor is fixedly arranged on the angle sensor mounting base, wherein the detection end of the angle sensor and the rotating shaft are coaxially arranged and fixedly connected with the arc-shaped steering plate.

[0016] Preferably, the technical scheme is: further comprising a control module, the control module is connected with the weight reduction motor, the tension sensor, the grating ruler, the angle sensor and the walking motor simultaneously.

[0017] Due to the use of the above technical scheme, the application has the beneficial effects that:

[0018] 1. The adaptive weight reduction module and the overhead track suspension rehabilitation training system having the same are provided, wherein the compression spring in the adaptive weight reduction module plays a role in buffering and providing stress data, the extension spring is used for storing energy and plays a role in saving labor and reducing the volume of the module; the sling is adjusted by the weight reduction motor to realize dynamic weight reduction of the patient in the vertical direction; the angle measuring unit can sense the angle change of the sling, and the walking motor is used to make the module follow the patient to move. The combination of the two parts can meet various training requirements of the patient, such as walking, sitting and standing, and going up and down stairs.

[0019] 2. The adaptive weight reduction module and the overhead track suspension rehabilitation training system having the same are provided, wherein the extension spring and the compression spring in the adaptive weight reduction module are selected from springs with the same stiffness coefficient, and the extension spring and the compression spring are combined to use half of the length to achieve the performance requirement of the original length, so that the volume of the module can be significantly reduced; the problem of too large stiffness coefficient of the heavy load spring is solved, and the control precision is improved; the compression spring can also play a role in storing energy, and is more labor-saving.

[0020] 3. The adaptive weight reduction module and the overhead track suspension rehabilitation training system having the same are provided, further comprising a mechanical protection unit, which can make the module stop by relying on the mechanical protection unit in the case of control error or motor brake failure, so as to better ensure the safety of the patient during training. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1The schematic diagram of the adaptive weight loss module structure involved in the present application.

[0022] Figure 2 The schematic diagram of the internal structure of the casing involved in the present application.

[0023] Figure 3 The schematic diagram of the sling transmission involved in the present application.

[0024] Figure 4 The schematic diagram of the winding drum structure involved in the present application.

[0025] Figure 5 The schematic diagram of the angle measurement unit structure involved in the present application.

[0026] Figure 6 The schematic diagram of the mechanical protection unit structure involved in the present application.

[0027] Figure 7 The schematic diagram of the overhead track suspension rehabilitation training system structure involved in the present application.

[0028] Figure 8 The schematic diagram of the walking unit structure involved in the present application.

[0029] Figure 9 The sectional view of the walking unit involved in the present application.

[0030] Figure 10 The schematic diagram of the overhead track horizontal movement module installation side view involved in the present application. DETAILED DESCRIPTION

[0031] The embodiments of the present application will be described in detail by the specific embodiments, and the other advantages and effects of the present application can be easily understood by the person skilled in the art from the content disclosed in the specification.

[0032] Please refer to Figures 1-10 . It should be understood that, in the description of the present application, it is necessary to explain that the orientations or positional relationships indicated by the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships commonly placed when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the modules or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms “first”, “second”, “third” and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance. The terms “horizontal”, “vertical”, “overhanging” and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, “horizontal” only means that its direction is relatively more horizontal than “vertical”, and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0033] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] Example:

[0035] like Figures 1-2 As shown, this invention proposes an adaptive weight reduction module. The module comprises a housing, a guide shaft 1, a movable plate assembly, a tension spring 2, a compression spring 3, a grating ruler 4, a tension sensor 5, a fixed pulley 6, a weight reduction motor 7, a drum 8, a sling 9, and a steering wheel assembly. The housing includes at least a base plate 10, side plates a11 and b12, which are fixed to two opposite sides of the base plate 10. The guide shaft 1 is horizontally mounted between side plates a11 and b12 and connects them. The movable plate assembly includes movable plates a13 and b14, which are slidably mounted on the guide shaft 1 via linear bearings and correspond one-to-one with side plates a11 and b12. The tension spring... 2. Arranged axially along guide shaft 1 and used to connect movable plate a13 and side plate b12, compression spring 3 is sleeved on guide shaft 1, one end of compression spring 3 is fixedly connected to movable plate a13, and the other end of compression spring 3 is fixedly connected to movable plate b14, grating ruler 4 is fixed in the machine housing and used to detect the displacement of movable plate a13 and movable plate b14, tension sensor 5 is fixed on movable plate b14, fixed pulley 6 is installed on the detection end of tension sensor 5, weight reduction motor 7 is located outside the machine housing and used to drive drum 8 to rotate, sling 9 is wound around drum 8 and its end passes through the opening on side plate a11 and enters the machine housing, and steering wheel group is set in the machine housing and used to guide sling 9 axially along guide shaft 1, partially wound around fixed pulley 6 and then passing through the opening on bottom plate 10 and exiting the machine housing.

[0036] Specifically, the guide shaft 1 has two and is arranged in parallel, the tension spring 2 and the compression spring 3 are also arranged in two groups, the two guide shafts 1 have better stability. The stiffness coefficients of the tension spring 2 and the compression spring 3 are the same. The guide wheel group is composed of guide wheels a15, guide wheels b16 and guide wheels c17, the guide wheels a15 are arranged on the bottom plate 10 and correspondingly arranged with the holes on the side plate a11, the bottom side of the guide wheels a15 is flush with the bottom side of the winding drum 8; the guide wheels b16 are arranged on the bottom plate 10, the top side of the guide wheels b16 is flush with the top side of the fixed pulley 6; the guide wheels c17 are arranged on the bottom plate 10 and correspondingly arranged with the holes on the bottom plate 10, the top side of the guide wheels c17 is flush with the bottom side of the fixed pulley 6.

[0037] In addition, it also includes a buffer spring 18, the buffer spring 18 is sleeved on the guide shaft 1 and located between the movable plate b14 and the side plate b12; when the force on the sling 9 is rapidly reduced due to the patient falling down or being unable to support the body weight, etc., the buffer spring 18 can buffer the movable plate b14 when the movable plate b14 rebounds rapidly, preventing it from hitting the side plate b12 and damaging the shell.

[0038] The sling 9 is wound on the winding drum 8 for several turns and is fixed by the winding drum stopper 81. The sling 9 extends from the lower side of the winding drum 8, penetrates into the shell through the hole on the side plate a11, is connected with the guide wheels a15, the guide wheels b16, the fixed pulley 6 and the guide wheels c17 in sequence, and finally penetrates out of the shell through the hole on the bottom plate 10. During the winding and unwinding transmission of the sling 9, the guide wheels a15 play a role of pressing, the bottom side of the guide wheels a15 is flush with the bottom side of the winding drum 8, ensuring that the sling 9 is not hindered. The top side of the guide wheels b16 is flush with the top side of the fixed pulley 6, the guide wheels b16 change the direction of the sling 9, the sling 9 is turned by 180° through the fixed pulley 6 and reaches the guide wheels c17. The top side of the guide wheels c17 is flush with the bottom side of the fixed pulley 6, the sling 9 is turned by 90° through the guide wheels c17 and penetrates through the hole on the bottom plate 10. The fixed pulley 6 is connected with the tension sensor 5 fixedly installed on the movable plate b14, and the tension sensor 5 is used for detecting the force on the fixed pulley 6. The direction change of the guide wheel group ensures that the sling 9 is in a horizontal direction when entering and leaving the fixed pulley 6, ensuring the accuracy of detection of the tension sensor 5.

[0039] When the adaptive weight reduction module is in the stop state, the tensile spring 2, the compression spring 3 and the buffer spring 18 are all in the original length. When the patient starts training, the weight reduction motor 7 starts to work, and the set weight reduction force is applied to the sling 9 through the winding drum 8. The sling 9 is pulled tight under the action of the force, and the movable plate b14 moves with the sling 9. The movement of the movable plate b14 makes the compression spring 3 compress under the force, and the movable plate a13 moves in the same direction with the movable plate b14 under the action of the elastic force of the compression spring 3, and the movement of the movable plate a13 causes the tensile spring 2 to stretch under the force. Therefore, the weight reduction force provided by the weight reduction motor 7 is converted into the combined force of the compression spring 3 and the tensile spring 2, and because the stiffness coefficients of the compression spring 3 and the tensile spring 2 are the same, their respective elastic forces are also the same. Because the stiffness coefficient of the spring is related to the dynamic weight reduction performance of the module, the smaller the stiffness coefficient, the more accurate the control performance. The stiffness coefficient is related to the deformation of the spring and the maximum load, and the maximum load of the system has been set to 300 kg, so it can only be changed by changing the deformation, the longer the deformation, the smaller the stiffness coefficient, but at the same time, the original length of the spring is also longer, which will lead to the system volume is too large. Therefore, the compression spring 3 and the tensile spring 2 are used together, and in the case of ensuring that the stiffness coefficient does not change, compared with using the compression spring alone, the tensile spring 2 designed in the application shares half of the load, so it can reduce the length of the spring by half, and the structure can significantly reduce the volume of the module. In addition, after solving the disadvantage of too large volume, a spring with a smaller stiffness coefficient can be selected to achieve better control accuracy. Finally, the tensile spring 2 also plays the role of fixing the compression spring 3. When the sling 9 is pulled tight, the tensile spring 2 is stretched, and the energy is stored, and the elastic potential energy is increased. When the sling 9 is retracted, the stored elastic potential energy can assist the weight reduction motor 7 to recover the sling 9, effectively reducing the load of the weight reduction motor 7 and prolonging the service life of the weight reduction motor 7.

[0040] The operation mode of the adaptive weight reduction module is as follows: firstly, the adaptive weight reduction module is responsible for providing a weight reduction force, the value of the weight reduction force can be manually set by the user or intelligently selected by the system according to the patient's physical condition, the direction of the weight reduction force is consistent with the direction of the patient's lower limb support force, and the sum of the weight reduction force provided by the adaptive weight reduction module and the patient's own support force is the patient's body weight gravity. The patient is lifted by the tensioning of the hoist belt 9 driven by the weight reduction motor 7 to start the rehabilitation training, at this time, the tensile spring 2 and the compression spring 3 are in a deformed state. When the patient walks and the foot falls or squats, the center of gravity of the human body is downward, the tension of the hoist belt 9 is increased, the control weight reduction motor 7 broadcasts the hoist belt 9, so that the tension is restored to the set value; when the patient walks and the foot is lifted or from squatting to standing, the center of gravity of the human body is upward, the tension of the hoist belt 9 is increased, the control weight reduction motor 7 tightens the hoist belt 9, so that the tension is restored to the set value. The tension sensor 5 detects the tension of the hoist belt 9 in real time; the grating ruler 4 detects the displacement of the movable plate a13 and the movable plate b14, the displacement of the movable plate a13 and the movable plate b14 is subtracted to obtain the displacement of the compression spring 3, and the displacement of the spring can be converted into force through a mathematical model. According to the tension value measured by the tension sensor 5 and the force converted from the grating ruler 4, a double closed loop control is carried out to make the adaptive dynamic control of the weight reduction motor 7 keep the weight reduction force constant.

[0041] Further comprising a mechanical protection unit, the mechanical protection unit is composed of a rotating shaft 19, a rotating disc 20, a ratchet wheel 21, a ratchet pawl 22, a ratchet wheel mounting seat 23, a supporting spring 24 and a pin column 25, one end of the rotating shaft 19 is fixedly connected with the winding drum 8 in a same axis, the other end of the rotating shaft 19 is fixedly connected with the rotating disc 20 in a same axis, the ratchet wheel mounting seat 23 is fixedly arranged on the outside of the side plate a11, the ratchet wheel 21 is fixedly arranged in the ratchet wheel mounting seat 23, the rotating disc 20 is arranged in the ratchet wheel 21 and is arranged in a same axis with the ratchet wheel 21, a plurality of ratchet pawls 22 are arranged at equal angles at the edge of the rotating disc 20 and are rotatably connected with the rotating disc 20 at one end, the other end of the ratchet pawl 22 is internally provided with the pin column 25, the rotating disc 20 is provided with a guide seat 201, the guide seat 201 is provided with a pin hole, the pin column 25 is arranged in the pin hole, the supporting spring 24 is sleeved on the pin column 25, one end of the supporting spring 24 abuts against the guide seat 201, and the other end of the supporting spring 24 abuts against the end portion of the pin column 25.

[0042] In normal state, by identifying the measurement data of the tension sensor 5 and the grating ruler 4, when the patient accidentally falls or cannot support the body weight due to physical weakness, the sling 9 will be quickly stretched, and the tension on the sling 9 will also be instantaneously increased. The sudden change of the tension value or the displacement amount will immediately control the weight reduction motor 7 to stop running, so as to prevent the patient from being injured by falling to the ground. When the weight reduction motor 7 suddenly loses power, the motor brake will be immediately started to stop the operation of the weight reduction motor 7. The mechanical protection unit is used as the last emergency stop protection device. If a fault occurs and the motor cannot be controlled to stop in time, the winding drum 8 rotates too fast, the rotating disc 20 rotates faster, the centrifugal force is larger, the centrifugal force acting on the pawl 22 is larger than the elastic force of the supporting spring 24, the pawl 22 extends outward and is clamped with the ratchet wheel 21. The ratchet wheel 21 is fixed on the side plate a11 through the ratchet wheel mounting seat 23, so that the rotating disc 20 is also fixed and cannot rotate, and finally the winding drum 8 stops rotating and the sling 9 stops moving, thereby enhancing the safety of the module and better protecting the patient.

[0043] The application also relates to a suspended track rehabilitation training system, which comprises a suspended track horizontal movement module, a man-machine connection module and the adaptive weight reduction module.

[0044] The suspended track horizontal movement module comprises a track 26 and a walking unit. The track 26 is made of aluminum alloy profile and is composed of a square tube structure and a strip-shaped opening 261 arranged in the middle of the bottom side in the axial direction. The strip-shaped opening divides the bottom side of the track into two strip-shaped suspension platforms 262 arranged in parallel with each other. The track 26 is laid on the ceiling and comprises straight tracks and curved tracks. The track can be spliced into different lengths and shapes according to actual needs, so as to facilitate the rehabilitation training of the patient. The walking unit is used to generate power and walk along the track. The adaptive weight reduction module is fixedly connected to the bottom side of the walking unit. The man-machine connection module comprises a hanging rack 27 and a walking training clothes. The hanging rack 27 is connected with the sling 9 in the adaptive weight reduction module and is used to install the walking training clothes.

[0045] The track 26 is provided with a conductive contact assembly 28 on one side. When the system is returned to the original position after use, the conductive block on the walking unit will be in contact with the conductive contact assembly 28, so as to facilitate timely charging of the system.

[0046] The walking unit is composed of a driven mechanism, a connecting column 29 and a driving mechanism; the driven mechanism is composed of a driven frame 30, a vertical support wheel set 31 and a horizontal support wheel set 32, the driven frame 30 is arranged in the track 26, the vertical support wheel set 31 is rotatably arranged on the driven frame 30 and supported on the top side of the two strip-shaped suspension platforms 262, the horizontal support wheel set 32 is rotatably arranged on the driven frame 30 and supported on the inner sides of the two side walls of the track 26; the connecting column 29 is vertically and fixedly arranged on the bottom side of the driven frame 30 and extends out of the track 26 through the strip-shaped opening 261; the driving unit is composed of a driving frame 33, a pre-tightening spring 34, a spring block 35, a driving wheel 36 and a walking motor 37, the driving frame 33 and the pre-tightening spring 34 are sequentially sleeved on the connecting column 29 from top to bottom, the spring block 35 is fixedly arranged on the connecting column 29 and located below the pre-tightening spring 34, one end of the pre-tightening spring 34 abuts against the driving frame 33, and the other end of the pre-tightening spring 34 abuts against the spring block 35, the driving wheel 36 is rotatably arranged on the top side of the driving frame 33 and closely arranged on the bottom side of the strip-shaped suspension platform 262, and the walking motor 37 is fixedly arranged on the outer side of the driving frame 33 and used for driving the driving wheel 36 to rotate. In use, under the action of the pre-tightening spring 34, the driving frame 33 is lifted up and makes the driving wheel 36 press against the bottom side of the track 26, so that the slipping condition is avoided.

[0047] The angle measuring unit is composed of a clamping wheel mounting seat 38, clamping wheels 39, an arc-shaped steering plate 40, an angle sensor mounting seat 41 and an angle sensor 42, the clamping wheel mounting seat 38 is fixedly arranged on the bottom side of the bottom plate 10, the two clamping wheels 39 are rotatably arranged on the inner side of the clamping wheel mounting seat 38 and parallel to each other, and a space for the guide sling 9 to pass through is formed between the two clamping wheels 39 and arranged in correspondence with the opening on the bottom plate 10. The arc-shaped steering plate 40 is rotatably arranged on the outer side of the clamping wheel mounting seat 38 through a rotating shaft, the arc-shaped steering plate 40 is provided with a strip-shaped hole 401 for the sling to pass through, the angle sensor mounting seat 41 is fixedly arranged on the bottom side of the bottom plate 40, the angle sensor 42 is fixedly arranged on the angle sensor mounting seat 41, and the detection end of the angle sensor 42 is coaxially arranged with the rotating shaft and fixedly connected with the arc-shaped steering plate 40. When the patient walks, the angle sensor 42 is driven to rotate, and according to the angle change measured by the angle sensor 42, the system can intelligently judge the walking direction and speed of the patient, so as to control the horizontal movement following the patient.

[0048] In addition, a photoelectric switch 43 is arranged on the front and back of the adaptive weight reduction module, which is used for detecting the obstacles in front of and behind the system, and a baffle is arranged at both ends of the track 26. When the rehabilitation training system approaches both ends of the track, the walking motor is controlled to slow down to prevent the system from colliding or even rushing out of the track.

[0049] The control module is connected with the weight reduction motor 7, the tension sensor 5, the grating ruler 4, the angle sensor 42 and the walking motor 37, and realizes the normal operation of the control system.

[0050] Therefore, the present application has the following advantages:

[0051] 1. The adaptive weight loss module and the overhead track suspension rehabilitation training system having the same are provided, wherein the compression spring in the adaptive weight loss module serves as a buffer and provides force data, the extension spring is used for energy storage, and serves as a labor-saving and volume-reducing function; the weight loss motor is used for adjusting the sling, and the dynamic weight loss of the patient in the vertical direction is realized; the angle measurement unit can sense the angle change of the sling, and the walking motor is used for moving the module with the patient. The combination of the two parts can meet the training requirements of the patient in walking, sitting, standing, and climbing stairs.

[0052] 2. The adaptive weight loss module and the overhead track suspension rehabilitation training system having the same are provided, wherein the extension spring and the compression spring in the adaptive weight loss module are selected from springs with the same stiffness coefficient, and the extension spring and the compression spring are used in combination, so that the length of the spring used for selection is halved to achieve the performance requirement of the original length, the module volume is significantly reduced, the problem of excessive stiffness coefficient of the heavy load spring is solved, and the control precision is improved; the compression spring can also serve as an energy storage function, and is more labor-saving.

[0053] 3. The adaptive weight loss module and the overhead track suspension rehabilitation training system having the same are provided, and further comprise a mechanical protection unit, which can stop the module in the case of control error or motor brake failure, and better ensures the safety of the patient during training.

[0054] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. An adaptive weight reduction module, characterized by: The adaptive weight loss module is composed of a shell, a guide shaft, a movable plate group, a tension spring, a compression spring, a grating ruler, a tension sensor, a fixed pulley, a weight loss motor, a winding drum, a sling and a guide wheel group.

2. A self-adapting weight loss module according to claim 1, characterized in that: A buffer spring is further included, which is sleeved on the guide shaft and located between the movable plate b and the side plate b.

3. A self-adapting weight loss module according to claim 2, characterized in that: The guide shaft has two parallel guide shafts, and the tension spring, the compression spring and the buffer spring are correspondingly arranged in two groups.

4. The self-adapting weight loss module of claim 1, wherein: The guide wheel group is composed of a guide wheel a, a guide wheel b and a guide wheel c. The guide wheel a is arranged on the bottom plate and corresponds to the opening on the side plate a, and the bottom side of the guide wheel a is flush with the bottom side of the winding drum. The guide wheel b is arranged on the bottom plate, and the top side of the guide wheel b is flush with the top side of the fixed pulley. The guide wheel c is arranged on the bottom plate and corresponds to the opening on the bottom plate, and the top side of the guide wheel c is flush with the bottom side of the fixed pulley.

5. The self-adapting weight loss module of claim 1, wherein: Further comprising a mechanical protection unit, which is composed of a rotating shaft, a rotating disc, a ratchet wheel, a ratchet pawl, a ratchet wheel mounting seat, a supporting spring and a pin column, one end of the rotating shaft is coaxially fixedly connected with the winding drum, the other end of the rotating shaft is coaxially fixedly connected with the rotating disc, the ratchet wheel mounting seat is fixedly arranged on the side plate a, the ratchet wheel is fixedly arranged in the ratchet wheel mounting seat, the rotating disc is arranged in the ratchet wheel and coaxially arranged with the ratchet wheel, a plurality of ratchet pawls are arranged at equal angles at the edge of the rotating disc and one end thereof is rotationally connected with the rotating disc, the other end of the ratchet pawl is internally provided with a pin column, a guide seat is arranged on the rotating disc, a pin hole is arranged on the guide seat, the pin column is arranged in the pin hole, the supporting spring is sleeved on the pin column, one end of the supporting spring abuts against the guide seat, and the other end of the supporting spring abuts against the end of the pin column.

6. A ceiling track suspended rehabilitation training system characterized by: The device comprises a ceiling track horizontal moving module, a man-machine connection module and the adaptive weight loss module of any one of claims 1-5, the ceiling track horizontal moving module is composed of a track and a walking unit, the man-machine connection module is composed of a hanging rack and a walking training clothes, the track is laid on the ceiling, the walking unit is used to generate power and walk along the track, the adaptive weight loss module is fixedly connected to the bottom side of the walking unit, the hanging rack is connected with the sling in the adaptive weight loss module and used to install the walking training clothes.

7. The overhead track suspension rehabilitation training system according to claim 6, characterized in that: The track is composed of a square tube structure and is provided with an axial strip-shaped opening in the middle of the bottom side, the strip-shaped opening separates the track bottom side into two strip-shaped suspension platforms arranged in parallel with each other.

8. The overhead track suspension rehabilitation training system according to claim 7, characterized in that: The walking unit is composed of a driven mechanism, a connecting column and a driving mechanism; the driven mechanism is composed of a driven frame, a vertical support wheel group and a horizontal support wheel group, the driven frame is arranged in the track, the vertical support wheel group is rotatably arranged on the driven frame and supported on the top sides of the two strip-shaped suspension platforms, and the horizontal support wheel group is rotatably arranged on the driven frame and supported on the inner sides of the two side walls of the track; the connecting column is vertically fixedly arranged on the bottom side of the driven frame and extends out of the track through the strip-shaped opening; the driving mechanism is composed of a driving frame, a pre-tightening spring, a spring stopper, a driving wheel and a walking motor, the driving frame and the pre-tightening spring are sequentially sleeved on the connecting column from top to bottom, the spring stopper is fixedly arranged on the connecting column and located below the pre-tightening spring, one end of the pre-tightening spring abuts against the driving frame, the other end of the pre-tightening spring abuts against the spring stopper, the driving wheel is rotatably arranged on the top side of the driving frame and closely arranged on the bottom side of the strip-shaped suspension platform, and the walking motor is fixedly arranged on the outer side of the driving frame and used to drive the driving wheel to rotate.

9. The overhead track suspension rehabilitation training system according to claim 8, characterized in that: The angle measuring unit is composed of a clamping wheel mounting base, clamping wheels, an arc-shaped turning plate, an angle sensor mounting base and an angle sensor.

10. The overhead track suspension rehabilitation training system according to claim 9, characterized in that: The control module is connected with the weight-reducing motor, the tension sensor, the grating ruler, the angle sensor and the walking motor simultaneously.

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