Ceiling rail suspension gait training device

Abstract

The utility model relates to the technical field of rehabilitation training equipment, in particular to a sky rail suspension gait training device which comprises a crane and further comprises a moving assembly, the moving assembly comprises a driving roller and a driven roller, the crane is installed on a sky rail in a rolling mode through the driving roller and the driven roller, and a driving device used for driving the driving roller to roll is arranged on the crane; the weight reduction assembly comprises a safety belt, a reel assembly and a driving part, the reel assembly is rotationally installed in the crane, the driving part is installed on the crane, and the driving part is used for driving the reel assembly to rotate so that the reel assembly can wind the safety belt; a through hole for the safety belt to penetrate through is formed in the downward side of the crane; the tension detection device is used for detecting the tension applied to the reel assembly by the safety belt when the safety belt is tensioned by a patient in the use process. The device has the advantages that dynamic weight reduction can be provided for a patient, and the device can adapt to various training scenes such as flat ground, uphill and downhill or stairs.

Description

Technical Field

[0001] The present application relates to the technical field of rehabilitation training equipment, and in particular to an overhead rail suspension gait training device. Background Art

[0002] At present, with the increasing trend of population aging in my country, the number of patients suffering from stroke and other neurological diseases is increasing, and the demand for rehabilitation is growing, especially for the elderly. The concept of suspension exercise training has been applied to the treatment of musculoskeletal system diseases for a long time. By reducing part or all of the weight of the rehabilitation trainee through suspension, patients with insufficient lower limb muscle strength can maintain balance and perform gait training better. The traditional weight-reducing gait training device provides fixed weight reduction for patients by applying counterweights. Since the leg load of patients changes dynamically during walking training, this method of providing constant weight-reducing force is not flexible and optimal, especially in non-flat training scenarios such as going up and down stairs. The overhead rail suspension gait training device provides dynamic weight-reducing force for patients wearing weight-reducing vests through weight-reducing motors, helping patients to move along the fixed track above to achieve a wide range of weight-reducing gait training. In addition, the overhead rail suspension gait training device can also be combined with rehabilitation equipment such as overhead rail displacement systems, lower limb rehabilitation robots, training ladders, balance boards, etc. to provide more abundant professional rehabilitation methods. However, most of the current overhead suspension gait training systems have the following problems: First, they can only be used for training on flat ground, and few systems can provide deeper training such as going up and down slopes and stairs; second, in walking training, six-axis gyroscope signals are generally used as the basis for determining whether the patient has fallen, which can easily lead to misjudgment due to the shaking of the patient's body; third, there is a lack of load monitoring function, and the sling is allowed to rise when the equipment is not loaded, which poses a safety hazard; fourth, most of the current equipment uses flexible ropes as slings to provide weight-reducing support for patients. Patients with weak lower limb muscle strength are prone to body shaking during walking training, resulting in poor training effect.

[0003] Therefore, those skilled in the art provide a ceiling rail suspension gait training device to solve the above-mentioned problems. Utility Model Content

[0004] In order to solve the above technical problems, the present application provides a ceiling rail suspension gait training device.

[0005] The present application provides a suspended gait training device using the following technical solutions:

[0006] A gait training device suspended by a ceiling rail, comprising a crane and

[0007] A moving assembly, wherein the moving assembly comprises an active roller and a passive roller, the crane is installed on the ceiling rail by rolling through the active roller and the passive roller, and the crane is provided with a driving device for driving the active roller to roll;

[0008] A weight reduction component, the weight reduction component comprising a safety belt, a reel component and a driving member, the reel component being rotatably mounted in the crane, the driving member being mounted on the crane, the driving member being used to drive the reel component to rotate so that the reel component reels the safety belt; a through hole for the safety belt to pass through is provided on a side of the crane facing downward;

[0009] A tension detection device is used to detect the tension applied by the safety belt to the reel assembly when the patient tightens the safety belt during use.

[0010] Preferably, the reel assembly includes a reducer, a winding shaft for winding the safety belt, a reducer drum connecting flange, a reducer fixing plate, a reel rear fixing plate, a bearing end cover, a bearing and a shaft end pressure cover; the reducer is fixed on the reducer fixing plate, the reducer fixing plate is fixed on the crane, the reducer drum connecting flange is fixed on the output end of the reducer, and the end of the reducer drum connecting flange away from the reducer is connected to the winding shaft; the end of the winding shaft away from the reducer is sleeved with a bearing, the outer ring of the bearing is sleeved in the reel rear fixing plate, and the reel rear fixing plate is provided with a bearing end cover and a shaft end pressure cover for limiting the bearing; the reel rear fixing plate is fixed on the crane; the driving member is motor one, and motor one inputs power to the reducer, thereby driving the reducer to operate.

[0011] Preferably, the reel assembly also includes a lubrication limit plate and a limit baffle, there are two lubrication limit plates and they are sleeved on the winding shaft, and the two lubrication limit plates are respectively located on both sides of the width direction of the seat belt; the limit baffle is located between the lubrication limit plate away from the reducer and the rear fixed plate of the reel.

[0012] Preferably, the driving device includes a DC motor, a pair of equal-diameter bevel gears, a small spur gear, a pair of large spur gears, a double-row angular contact ball bearing, a deep groove ball bearing, an active sheet metal, a gear shaft, a motor sheet metal, a needle bearing, a left bracket, a right bracket, a bearing sleeve, a bearing pressure cover, a locking nut, a gear driving wheel, a driving shaft, a rubber-coated wheel, a driven shaft, a retaining spring, and a nylon wheel. The DC motor is fixed on the motor sheet metal, and the needle bearing is sleeved on the output shaft of the DC motor. One of the bevel gears is sleeved on the output shaft and pressed on the needle bearing and fixed on the output shaft of the DC motor. The motor sheet metal is fixed on the active sheet metal, and the left bracket and the right bracket are fixedly connected to the active sheet metal. The double-row angular contact ball bearing is embedded in the hole of the left bracket, and the double-row angular contact ball bearing is fixed through the bearing pressure cover. The angular contact ball bearing is pressed in the left bracket; one end of the gear shaft is sleeved in the double-row angular contact ball bearing, and the inner ring of the double-row angular contact ball bearing is locked by a locking nut, and the small spur gear is fixedly sleeved on the gear shaft; the other end of the gear shaft is sleeved with another bevel gear, and the two bevel gears are meshed with each other; the end of the gear shaft is sleeved in the inner ring of the deep groove ball bearing, the deep groove ball bearing is sleeved in the bearing sleeve, and the bearing sleeve is fixedly connected to the right bracket; a pair of large spur gears are rotatably connected to the active sheet metal; a pair of gear driving wheels are sleeved on the active shaft, and the active shaft is rotatably connected to the active sheet metal; a pair of rubber-coated wheels are sleeved on the driven shaft, and the driven shaft is rotatably connected to the active sheet metal; the large spur gear is meshed with the gear driving wheel; the small spur gear is meshed with the large spur gear; a nylon wheel is rotatably connected to the active sheet metal.

[0013] Preferably, the tension detection device is a tension sensor, there are two tension sensors, both are fixed on the crane frame, and the ends of the two tension sensors away from the crane direction are respectively connected to the reducer fixing plate and the drum rear fixing plate.

[0014] Preferably, a limit switch for controlling the retraction and extension stroke of the seat belt is installed in the through hole; the motor 1, the DC motor, the tension sensor and the limit switch are commonly connected to a controller, and a lithium battery for power supply is provided on the crane, and the lithium battery signal output is connected to the controller.

[0015] In summary, the present application includes at least one of the following beneficial technical effects:

[0016] This application has good following performance when patients are undergoing gait rehabilitation training, can provide dynamic weight loss for patients, can adapt to a variety of training scenarios such as flat ground, uphill or downhill or stairs, and the anti-fall design is sensitive and reliable, accompanied by emergency stop and limit safety protection measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an overhead rail suspension gait training device in an embodiment of the present application.

[0018] Figure 2It is a rear view of the crane in this application.

[0019] Figure 3 It is a top view of the crane in this application.

[0020] Figure 4 It is a cross-sectional view of the reel assembly structure in this application.

[0021] Figure 5 It is a side view of the driving device in the application.

[0022] Figure 6 It is a front view of the driving device in the application.

[0023] Figure 7 It is a rear view of the drive device in the application.

[0024] Description of the reference numerals: 1. Active roller; 2. Passive roller; 3. Driving member; 4. Reel assembly; 5. Synchronous pulley assembly; 6. Safety belt; 7. Tension sensor; 8. Limit lock; 9. Lithium battery; 10. Reducer; 11. Reducer drum connecting flange; 12. Winding shaft; 13. Reducer fixing plate; 14. Lubricating limit plate; 15. Limit baffle; 16. Bearing end cover; 17. Bearing; 18. Shaft end pressure cover; 19. Reel rear fixing plate; 20. DC motor; 21. Bevel gear; 22. Small spur gear; 23. Large spur gear; 24. Double-row angular contact ball bearing; 25. Deep groove ball bearing; 26. Active sheet metal; 27. Gear shaft; 28. Motor sheet metal; 30. Left bracket; 31. Right bracket; 32. Bearing sleeve; 33. Bearing gland; 34. Locking nut; 35. Gear driving wheel; 36. Driving shaft; 37. Rubber-coated wheel; 38. Driven shaft; 39. Circlip; 40. Nylon wheel. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1-7 This application is described in further detail.

[0026] The present application embodiment discloses a gait training device suspended by a ceiling rail. Figure 1-Figure 7 , including crane, also includes

[0027] The mobile assembly includes an active roller 1 and a passive roller 2. The crane is installed on the ceiling rail by rolling through the active roller 1 and the passive roller 2. The crane is provided with a driving device for driving the active roller 1 to roll.

[0028] The weight reduction component includes a safety belt 6, a reel component 4 and a driving member 3. The reel component 4 is rotatably installed in the crane, and the driving member 3 is installed on the crane. The driving member 3 is used to drive the reel component 4 to rotate so that the reel component 4 reels the safety belt 6. A limited position lock buckle 8 is provided on the safety belt 6. A through hole for the safety belt 6 to pass through is provided on the side of the crane facing downward;

[0029] The reel assembly 4 includes a reducer 10, a winding shaft 12 for winding the safety belt 6, a reducer reel connection flange 11, a reducer fixing plate 13, a reel rear fixing plate 19, a bearing end cover 16, a bearing 17 and a shaft end pressure cover 18; the reducer 10 is fixed on the reducer fixing plate 13, the reducer fixing plate 13 is fixed on the crane, the reducer reel connection flange 11 is fixed on the output end of the reducer 10, and the end of the reducer reel connection flange 11 away from the reducer 10 is connected to the The winding shaft 12 is connected to the winding shaft 12; a bearing 17 is sleeved on one end of the winding shaft 12 away from the reducer 10, and the outer ring of the bearing 17 is sleeved in the reel rear fixing plate 19, and the reel rear fixing plate 19 is provided with a bearing end cover 16 and a shaft end pressure cover 18 for limiting the bearing 17; the reel rear fixing plate 19 is fixed on the crane; the driving member 3 is a motor 1, and the motor 1 is connected to the reducer through a synchronous pulley set 5, so that the motor 1 inputs power to the reducer 10, thereby driving the reducer 10 to operate;

[0030] The reel assembly 4 further includes a lubricating limit plate 14 and a limit stop plate 15. There are two lubricating limit plates 14 which are sleeved on the winding shaft 12, and the two lubricating limit plates 14 are respectively located on both sides of the width direction of the safety belt 6 to prevent the safety belt 6 from moving laterally. The limit stop plate 15 is located between the lubricating limit plate 14 away from the reducer 10 and the rear fixing plate 19 of the reel.

[0031] The tension detection device is used to detect the tension applied by the safety belt 6 to the reel assembly 4 when the patient tightens the safety belt 6 during use; the tension detection device is a tension sensor 7, there are two tension sensors 7, both are fixed on the crane frame, and the ends of the two tension sensors 7 away from the crane direction are respectively connected to the reducer fixing plate 13 and the reel rear fixing plate 19.

[0032] Reference Figure 1-Figure 7The driving device includes a DC motor 20, a pair of equal diameter bevel gears 21, a small spur gear 22, a pair of large spur gears 23, a double-row angular contact ball bearing 24, a deep groove ball bearing 25, a driving sheet metal 26, a gear shaft 27, a motor sheet metal 28, a needle bearing, a left bracket 30, a right bracket 31, a bearing sleeve 32, a bearing cover 33, a locking nut 34, a gear driving wheel 35, a driving shaft 36, a rubber-coated wheel 37, a driven shaft 38, a retaining spring 39, a nylon wheel 40, and a DC motor 2 0 is fixed on the motor sheet metal 28, the needle bearing is sleeved on the output shaft of the DC motor 20, one of the bevel gears 21 is sleeved on the output shaft and pressed on the needle bearing and fixed on the output shaft of the DC motor 20; the motor sheet metal 28 is fixed on the active sheet metal 26, the left bracket 30 and the right bracket 31 are fixedly connected to the active sheet metal 26, the double-row angular contact ball bearing 24 is embedded in the hole of the left bracket 30, and the double-row angular contact ball bearing 24 is pressed on the bearing cover 33. The left bracket 30; one end of the gear shaft 27 is sleeved in the double-row angular contact ball bearing 24, and the inner ring of the double-row angular contact ball bearing 24 is locked by the locking nut 34; the small spur gear 22 is sleeved on the gear shaft 27 and locked with a set screw; the other end of the gear shaft 27 is sleeved with another bevel gear 21, and the two bevel gears 21 are meshed with each other; the end of the gear shaft 27 is sleeved on the inner ring of the deep groove ball bearing 25, the deep groove ball bearing 25 is sleeved in the bearing sleeve 32, and the bearing sleeve 32 is connected to the right bracket 3 1 is fixedly connected; a pair of large spur gears 23 are rotatably connected to the driving sheet metal 26 and locked by a retaining spring 39; a pair of gear driving wheels 35 are sleeved on the driving shaft 36, and the driving shaft 36 is rotatably connected to the driving sheet metal 26; a pair of rubber-coated wheels 37 are sleeved on the driven shaft 38, and the driven shaft 38 is rotatably connected to the driving sheet metal 26; the large spur gear 23 is meshed with the gear driving wheel 35; the small spur gear 22 is meshed with the large spur gear 23; and a nylon wheel 40 is rotatably connected to the driving sheet metal 26. In this way, the torque is transmitted from the motor 1 to the pair of equal diameter bevel gears 21, transmitted to the small spur gear 22 through the gear shaft 27, transmitted to the large spur gear 23 through gear meshing, and finally transmitted to the gear driving wheel 35 through gear meshing, and finally drives the crane forward. At the same time, a pair of nylon wheels 40 are rotatably connected to the driving sheet metal 26 to play a guiding role.

[0033] A limit switch for controlling the retraction and extension of the safety belt 6 is installed in the through hole; the motor 1, the DC motor 20, the tension sensor 7 and the limit switch are connected to a controller, which is preferably a PLC. The crane is provided with a lithium battery 9 for powering the motor 1, the DC motor 20, the tension sensor 7 and the limit switch, and the signal output of the lithium battery 9 is connected to the controller. An emergency stop rope is also installed at the bottom of the crane, and the emergency stop rope is pulled to trigger the emergency stop sensor, and the emergency stop sensor signal is connected to the controller. A reset button is also installed at the bottom of the crane, and the reset button signal is connected to the controller.

[0034] The present application also discloses a method for dynamic weight loss training using an overhead rail, using the above-mentioned overhead rail suspension gait training device, the training method is as follows:

[0035] A: Flat ground training: The patient performs weight loss gait training on a flat ground indoors with no height difference or a small height difference. The weight loss vest worn by the patient is connected to the safety belt 6. The safety belt 6 is tightened by a motor to provide the patient with the desired weight loss. When walking, the crane moves synchronously with the patient under the drive of the active roller 1;

[0036] B: Uphill or stair training: When in an uphill or stair training scenario, the weight loss vest worn by the patient is connected to the safety belt 6, and the safety belt 6 is tightened by the motor 1 to provide the patient with the desired weight loss. When walking, the crane moves synchronously with the patient under the drive of the active roller 1; when the patient moves upward, the tension between the human body and the suspension belt decreases, the suspension belt loosens, and the value of the tension sensor 7 changes. The controller controls the motor 1 to rotate at different accelerations according to the change in the tension value to recycle the safety belt 6. The recycle length is obtained according to the change in the difference of the tension sensor 7, and the length is equivalent to the height of the rising slope or the height of the stairs;

[0037] C: Downhill or downstairs training: When in a downhill or downstairs training scenario, the weight loss vest worn by the patient is connected to the safety belt 6, and the safety belt 6 is tightened by the motor 1 to provide the patient with the desired weight loss. When walking, the crane moves synchronously with the patient under the drive of the active roller 1; when the patient moves downward, the tension between the human body and the suspension safety belt 6 increases, the safety belt 6 is tightened, and the force value detected by the tension sensor 7 increases. The controller controls the motor 1 to rotate at different accelerations according to the change of the tension value to lower the safety belt 6. The lowered length is obtained according to the change of the difference value of the tension sensor 7, and the length is equivalent to the height of the descending slope or the height of the stairs;

[0038] In addition, in any of the training scenarios A, B, and C, if the force value of the tension sensor 7 detected has a sudden change exceeding the set threshold, it is determined that the patient has fallen, and after the patient has fallen, the controller controls the motor to lower the patient at a certain speed;

[0039] In any of the training scenarios A, B, and C, if the emergency stop button is pulled down, the emergency stop state is entered, and the DC motor 20 and the motor 1 are braked at the same time to remain stationary;

[0040] If the emergency stop button is pulled again in the emergency stop state, the vehicle will enter the slow-down state, and the motor will release the safety belt 6 at a certain speed to put the patient down steadily.

[0041] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A gait training device with overhead rail suspension, comprising a crane, characterized in that: It also includes a moving assembly, the moving assembly including an active roller (1) and a passive roller (2), the crane is rollingly mounted on the ceiling rail via the active roller (1) and the passive roller (2), and the crane is provided with a driving device for driving the active roller (1) to roll; A weight reduction component, the weight reduction component comprising a safety belt (6), a reel component (4) and a driving member (3), the reel component (4) being rotatably mounted in a crane, the driving member (3) being mounted on the crane, the driving member (3) being used to drive the reel component (4) to rotate so that the reel component (4) reels the safety belt (6); a through hole for the safety belt (6) to pass through is provided on a side of the crane facing downward; A tension detection device is used to detect the tension applied by the safety belt (6) to the reel assembly (4) when a patient tightens the safety belt (6) during use.

2. The overhead rail suspension gait training device according to claim 1, characterized in that: The reel assembly (4) comprises a reducer (10), a winding shaft (12) for winding the safety belt (6), a reducer reel connection flange (11), a reducer fixing plate (13), a reel rear fixing plate (19), a bearing end cover (16), a bearing (17) and a shaft end pressure cover (18); the reducer (10) is fixed on the reducer fixing plate (13), the reducer fixing plate (13) is fixed on the crane, the reducer reel connection flange (11) is fixed on the output end of the reducer (10), and the reducer reel connection flange (11) is away from the reducer One end of the winding shaft (12) in the direction of the reducer (10) is connected to the winding shaft (12); the end of the winding shaft (12) away from the reducer (10) is sleeved with a bearing (17), the outer ring of the bearing (17) is sleeved in the reel rear fixing plate (19), and the reel rear fixing plate (19) is provided with a bearing end cover (16) and a shaft end pressure cover (18) for limiting the bearing (17); the reel rear fixing plate (19) is fixed on the crane; the driving member (3) is a motor one, and the motor one inputs power to the reducer (10), thereby driving the reducer (10) to operate.

3. The overhead rail suspension gait training device according to claim 2, characterized in that: The reel assembly (4) further comprises a lubricating limit plate (14) and a limit baffle (15); the lubricating limit plates (14) are provided in two pieces and are sleeved on the winding shaft (12); the two lubricating limit plates (14) are respectively located on both sides of the width direction of the safety belt (6); and the limit baffle (15) is located between the lubricating limit plate (14) in a direction away from the reducer (10) and the reel rear fixing plate (19).

4. The overhead rail suspension gait training device according to claim 3, characterized in that: The driving device comprises a DC motor (20), a pair of equal diameter bevel gears (21), a small spur gear (22), a pair of large spur gears (23), a double row angular contact ball bearing (24), a deep groove ball bearing (25), a driving sheet metal (26), a gear shaft (27), a motor sheet metal (28), a needle bearing, a left bracket (30), a right bracket (31), a bearing sleeve (32), a bearing cover (33), a locking nut (34), a gear driving wheel (35), a driving shaft (36), a rubber-coated wheel (37), a driven shaft (38), a retaining spring (39), and a nylon wheel. (40), the DC motor (20) is fixed on the motor sheet metal (28), the needle bearing is sleeved on the output shaft of the DC motor (20), one of the bevel gears (21) is sleeved on the output shaft and pressed on the needle bearing and fixed on the output shaft of the DC motor (20); the motor sheet metal (28) is fixed on the active sheet metal (26), the left bracket (30) and the right bracket (31) are fixedly connected to the active sheet metal (26), the double-row angular contact ball bearing (24) is embedded in the hole of the left bracket (30), and the double-row angular contact ball bearing (24) is fixed to the active sheet metal (26) through the bearing cover (33). The ball bearing (24) is pressed into the left bracket (30); one end of the gear shaft (27) is sleeved in the double-row angular contact ball bearing (24), and the inner ring of the double-row angular contact ball bearing (24) is locked by a locking nut (34); the small spur gear (22) is fixedly sleeved on the gear shaft (27); the other end of the gear shaft (27) is sleeved with another bevel gear (21), and the two bevel gears (21) are meshed with each other; the end of the gear shaft (27) is sleeved on the inner ring of the deep groove ball bearing (25), the deep groove ball bearing (25) is sleeved in the bearing sleeve (32), and the bearing sleeve (32) is fixedly sleeved with the right bracket (30). The invention relates to a motor vehicle frame (31) and a driving plate (26). The motor vehicle frame (31) is fixedly connected to the driving plate (26); a pair of large spur gears (23) are rotatably connected to the driving plate (26); a pair of gear driving wheels (35) are sleeved on the driving shaft (36), and the driving shaft (36) is rotatably connected to the driving plate (26); a pair of rubber-coated wheels (37) are sleeved on the driven shaft (38), and the driven shaft (38) is rotatably connected to the driving plate (26); the large spur gear (23) is meshed with the gear driving wheel (35); the small spur gear (22) is meshed with the large spur gear (23); and a nylon wheel (40) is rotatably connected to the driving plate (26).

5. The overhead rail suspension gait training device according to claim 4, characterized in that: The tension detection device is a tension sensor (7). There are two tension sensors (7), both of which are fixed on the crane frame. The ends of the two tension sensors (7) away from the crane are respectively connected to the reducer fixing plate (13) and the reel rear fixing plate (19).

6. The overhead rail suspension gait training device according to claim 5, characterized in that: A limit switch for controlling the retraction and extension stroke of the safety belt (6) is installed in the through hole; the motor 1, the DC motor (20), the tension sensor (7) and the limit switch are connected to a controller; a lithium battery (9) for power supply is provided on the crane, and a signal output of the lithium battery (9) is connected to the controller.

Images