Test tool for lower limb rehabilitation training device

Abstract

The utility model discloses a test tool for a lower limb rehabilitation training device, which relates to the field of medical instruments and comprises a bottom plate with a test hole, a leg test frame connected onto the bottom plate and an electromagnetic damper. The leg testing frame comprises a balance column supported on a leg fixing frame of the lower limb rehabilitation training device, supporting mechanisms connected to the two ends of the balance column, a sliding rail connected with the supporting mechanisms, a guiding traction rope connected with the supporting mechanisms on the two sides and a damping traction rope connected with the lifting mechanism on one side, and the other end of the damping traction rope is connected to an electromagnetic damper. The pressure sensor is used for detecting pressure between the leg fixing frame and the balance column, the rotary encoder is used for detecting dynamic operation information of the electromagnetic damper, the current sensor is used for detecting current signals of a motor of the lower limb rehabilitation training device, and the control mechanism is connected with the pressure sensor, the rotary encoder and the current sensor. According to the test tool, automatic and intelligent test is realized, and the test efficiency and the accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a testing tool for a lower limb rehabilitation trainer. Background Art

[0002] Lower limb rehabilitation training devices are an important means for patients with lower limb paralysis to restore lower limb motor perception functions and ultimately restore their ability to walk with their lower limbs, go up and down stairs and other daily activities. For example, an intelligent lower limb feedback rehabilitation training device in the prior art allows patients to do lower limb stepping training while standing training, which is used for corrective training of the patient's ankle joints; a lower limb rehabilitation training device includes a bed base and a bed frame for supporting the lower limb rehabilitation training device, and a pedal mechanism for driving the patient to perform stepping exercises. Lower limb rehabilitation training devices have multiple functions, such as gait training, balance training, strength training, etc., which can comprehensively improve the lower limb function of patients. These diverse functions can meet the needs of different patients and improve the rehabilitation effect. Therefore, testing lower limb rehabilitation training devices has also become a research hotspot.

[0003] The testing of lower limb rehabilitation trainers is a comprehensive process designed to ensure their safety, effectiveness and comfort, including bed load testing to evaluate the stability and durability of the bed under different loads; bed adjustment angle testing, which simulates the frequent angle adjustments during actual use with the participation of the human body, and tests the adjustment accuracy of the bed when reaching these angles, as well as the smoothness and noise control during the adjustment process; footrest load testing, which places loads of different masses (such as weights) on the footrest to test its load-bearing capacity and deformation; motor-driven leg testing, which verifies the driving effect of the motor drive system on leg movement, etc.

[0004] However, testing lower limb rehabilitation trainers typically requires experienced technicians to ensure accuracy and effectiveness. Due to the complexity and diversity of human leg movements, the motor-driven knee joint requires precise control of movement trajectory and speed to ensure effective rehabilitation. Testing motor-driven legs is a complex and rigorous process, often involving multiple tools, including dynamometers, velocimeters, and inclinometers. Current testing methods are primarily manual and lack automated or intelligent testing methods.

[0005] In summary, how to effectively solve the problems of poor automation and intelligence in testing of lower limb rehabilitation training devices is an issue that currently needs to be urgently addressed by those skilled in the art. Utility Model Content

[0006] The purpose of the utility model is to provide a testing tool for a lower limb rehabilitation trainer, which realizes automated intelligent testing and improves testing efficiency and accuracy.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A test fixture for a lower limb rehabilitation trainer, comprising a base plate with a test hole, a leg test frame connected to the base plate, and an electromagnetic damper. The leg test frame comprises a balance column supported on a leg fixing frame of the lower limb rehabilitation trainer, a support mechanism connected to both ends of the balance column, a slide rail connected to the support mechanism for lifting and lowering, a guide traction rope connecting the support mechanisms on both sides, and a damping traction rope connected to one of the support mechanisms, the other end of the damping traction rope being connected to the electromagnetic damper; the test fixture also comprises a pressure sensor for detecting the pressure between the leg fixing frame and the balance column, a rotary encoder for detecting dynamic operation information of the electromagnetic damper, a current sensor for detecting a current signal of a motor of the lower limb rehabilitation trainer, and a control mechanism connected to the pressure sensor, the rotary encoder, and the current sensor.

[0009] Optionally, the support mechanism includes a support plate, a slider connected to the support plate, and a linear bearing connecting the slider and the slide rail, and both ends of the balance column are respectively connected to the center of the left support plate and the right support plate.

[0010] Optionally, the guide traction rope includes a first guide traction rope and a second guide traction rope, one end of the first guide traction rope is connected to the upper half of the left support plate, and the other end passes through multiple guide pulleys in sequence and is connected to the lower half of the right support plate, and one end of the second guide traction rope is connected to the lower half of the left support plate, and the other end passes through multiple guide pulleys and is connected to the upper half of the right support plate.

[0011] Optionally, the damping traction rope includes a first damping traction rope and a second damping traction rope, one end of the first damping traction rope is connected to the upper half of the left support plate, and the other end passes through several guide pulleys to be connected to the electromagnetic damper, one end of the second damping traction rope is connected to the lower half of the left support plate, and the other end passes through the guide pulley to be connected to the electromagnetic damper, and the left support plate satisfies the torque balance condition.

[0012] Optionally, a tying sleeve is connected to the leg fixing frame, the tying sleeve is arc-shaped, the balance column is connected to the tying sleeve, the tying sleeve is located at the center of the balance column, and the pressure sensor is connected to the inner side of the tying sleeve.

[0013] Optionally, the electromagnetic damper includes an E-shaped electromagnet, two wheels that are half-embedded in the E-shaped grooves of the electromagnet and rotate synchronously, the two damping traction ropes are respectively connected to the two wheels and the directions in which the two damping traction ropes are wound around the two wheels are opposite, and the rotary encoder is connected to one of the wheels.

[0014] Optionally, a semicircular groove is provided at the center of the disc of the rotating wheel, and the damping traction rope is embedded in the groove.

[0015] Optionally, the damping traction rope wound from a high position is connected to the support mechanism after passing through a lower guide pulley, and the line outlet height of the lower guide pulley is the same as the line outlet height of the rotating wheel wound from a low position.

[0016] Optionally, the control mechanism includes a motor testing component for testing the motor driving efficiency, and the motor testing component includes:

[0017] Used to sequentially detect the current data of the motor in the first X time period, the second X time period, ..., the Mth X time period 、 、……、 Motor current detection unit;

[0018] Used to sequentially detect the current data of the electromagnetic damper in the first X time period, the second X time period, ..., the Nth X time period 、 、……、 Damper current detection unit;

[0019] Used according to , determine whether A is within the preset numerical range. If A is within the preset numerical range, it is determined that the motor of the lower limb rehabilitation trainer has passed the test of normal mechanical structure driving efficiency and passed the judgment unit.

[0020] Optionally, the control mechanism includes an optimization unit for comparing the detected torque information, dynamic operation information, and current signal with corresponding preset target values, and adjusting the detected values ​​to be consistent with the target values.

[0021] The utility model provides a test fixture for a lower limb rehabilitation trainer, wherein a leg test frame, an electromagnetic damper, and a control mechanism are connected to a base plate, and a damping traction rope is provided between the leg test frame and the electromagnetic damper. Both ends of the balance column are connected to the support mechanism, and the slide rail is connected to the support mechanism for sliding and lifting to reduce external interference factors. The guide traction rope connects the support mechanisms on both sides to maintain the smooth operation of the leg test frame. One end of the damping traction rope is connected to the support mechanism on one side, and the other end of the damping traction rope is connected to the electromagnetic damper, thereby achieving a damping effect.

[0022] The leg test frame is equipped with a binding sleeve and a pressure sensor, and the electromagnetic damper is equipped with a rotary encoder. During testing, the leg fixture of the lower limb rehabilitation trainer is connected to the binding sleeve of the test fixture, driving the test fixture to perform resistance exercise testing. The pressure sensor is used to detect the pressure between the leg fixture and the balance column, the rotary encoder is used to detect the dynamic operation information of the electromagnetic damper, and the current sensor is used to detect the current signal of the lower limb rehabilitation trainer motor. The control mechanism collects data from the pressure sensor, rotary encoder, and current sensor to adjust the current output of the electromagnetic damper based on the detected torque data and dynamic operation information to dynamically adapt to changes in the lower limb rehabilitation trainer motor power. It controls the current of the electromagnetic damper to simulate the load of human leg movement. It can also detect the resistance information of the electromagnetic damper through the force sensor.

[0023] The test fixture for the lower limb rehabilitation trainer provided by the present invention has a control mechanism that controls the current of the electromagnetic damper to simulate the load of human leg movement based on the data detected by the pressure sensor, the rotary encoder, and the current sensor. During the test, the leg fixing frame of the lower limb rehabilitation trainer drives the fixture to perform a resistance exercise test to verify the driving effect of the motor drive system on the leg movement, realize automated intelligent testing, and improve the test efficiency and accuracy. It can help evaluate the performance of lower limb rehabilitation training equipment, identify potential problems, and make corresponding improvements. The electromagnetic damper is used to simulate the knee joint movement of people with different weights and body shapes. The fixture fully considers factors such as its maximum load capacity and adaptive design to ensure that patients can obtain the best rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a schematic structural diagram of a test fixture for a lower limb rehabilitation trainer provided in a specific embodiment of the present invention;

[0026] Figure 2 Another view of the test fixture for the lower limb rehabilitation trainer;

[0027] Figure 3 for Figure 2 Structural diagram of the mid-leg test frame;

[0028] Figure 4 Another view of the leg test frame;

[0029] Figure 5 is the structural diagram of the electromagnetic damper;

[0030] Figure 6 This is a block diagram of the control method for the test fixture used for lower limb rehabilitation training equipment;

[0031] Figure 7 The present invention is a flow chart of the control method of the test fixture for lower limb rehabilitation training device.

[0032] Reference numerals:

[0033] Leg test frame 1, electromagnetic damper 2, base plate 3, fixing hole 4, electrical control box 5, middle support plate 6, front support plate 7, test hole 8, wire hole 9, first guide traction rope 10, left support plate 11, lashing sleeve 12, balance column 13, first guide pulley 14, right slider 15, right support plate 16, right slide rail 17, second guide pulley 18, third guide pulley 19, pressure sensor 20, second guide traction rope 21, fourth guide pulley 22, fifth guide pulley 23, sixth guide pulley 24, first damping traction rope 25, second damping traction rope 26, seventh guide pulley 27, left slide rail 28, left slider 29, eighth guide pulley 30, ninth guide pulley 31, electromagnet 101, right turning wheel 102, left turning wheel 103, left support plate 104, lower guide pulley 105, right support plate 106, rotary encoder 107. DETAILED DESCRIPTION

[0034] The core of the utility model is to provide a testing tool for a lower limb rehabilitation trainer, which realizes automated intelligent testing and improves testing efficiency and accuracy.

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] Please refer to Figures 1 to 5 , Figures 1 to 5The present invention provides a schematic structural diagram of a test fixture for a lower limb rehabilitation trainer provided in a specific embodiment of the present invention. The test fixture includes a base plate 3 having a test hole 8, a leg test frame 1 connected to the base plate 3, and an electromagnetic damper 2. The leg test frame 1 includes a balance column 13 supported on a leg fixing frame of the lower limb rehabilitation trainer, a support mechanism connected to both ends of the balance column 13, a slide rail connected to the support mechanism for lifting and lowering, a guide traction rope connecting the support mechanisms on both sides, and a damping traction rope connected to one of the support mechanisms, the other end of the damping traction rope being connected to the electromagnetic damper 2. The test fixture also includes a pressure sensor 20 for detecting the pressure between the leg fixing frame and the balance column 13, a rotary encoder 107 for detecting dynamic operating information of the electromagnetic damper 2, a current sensor for detecting the current signal of the motor of the lower limb rehabilitation trainer, and a control mechanism connected to the pressure sensor 20, the rotary encoder 107, and the current sensor.

[0037] In the above structure, the test tooling for the lower limb rehabilitation trainer includes a base plate 3, a leg test frame 1, an electromagnetic damper 2, a pressure sensor 20, a rotary encoder 107, a current sensor and a control mechanism, and the leg test frame 1, the electromagnetic damper 2 and the control mechanism are connected to the base plate 3.

[0038] The bottom plate 3 has test holes 8 and fixing holes 4. The fixing holes 4 are distributed around the bottom plate 33. The tooling is fixed to the bed board of the lower limb rehabilitation trainer by passing the straps through the fixing holes 4. The leg test frame 1 is symmetrically fixed on the bottom plate 3, and the electromagnetic damper 2 is symmetrically fixed on the bottom plate 3. The bottom plate 3 below the leg test frame 1 is provided with test holes 8. Preferably, the test holes 8 are two elliptical holes. The leg fixing frame of the lower limb rehabilitation trainer passes through the elliptical holes and is connected to the binding sleeve 12 of the leg test frame 1. The balance column 13 is supported on the leg fixing frame of the lower limb rehabilitation trainer. The balance column 13 is used to simulate the lower limbs. Preferably, the balance column 13 is a balance cylinder.

[0039] An intermediate support plate 6 and a front support plate 7 are provided on the bottom plate 3. A plurality of wire holes 9 are provided at the bottom of the intermediate support plate 6. Preferably, the wire holes 9 are round holes. A damping traction rope is provided between the leg test frame 1 and the electromagnetic damper 2. The damping traction rope passes through the round hole at the bottom of the intermediate support plate 6, and the leg test frame 1 is fixed between the front support plate 7 and the intermediate support plate 6. Specifically, both ends of the balance column 13 are connected to the support mechanism, and the slide rail is connected to the support mechanism for sliding and lifting to reduce external interference factors. The guide traction rope connects the support mechanisms on both sides to maintain the smooth operation of the leg test frame 1. One end of the damping traction rope is connected to the support mechanism on one side, and the other end of the damping traction rope is connected to the electromagnetic damper 2, thereby achieving a damping effect. In this way, the test can be simulated during normal walking knee joint movement, and the performance and effect of the lower limb rehabilitation trainer in actual use can be evaluated.

[0040] The leg test frame 1 is equipped with a lashing sleeve 12 and a pressure sensor 20, while the electromagnetic damper 2 is equipped with a rotary encoder 107. During testing, the leg mount of the lower limb rehabilitation trainer is connected to the lashing sleeve 12 of the test fixture, driving the test fixture to perform resistance exercise testing. The pressure sensor 20 is used to detect the pressure between the leg mount and the balance column 13, the rotary encoder 107 is used to detect the dynamic operation information of the electromagnetic damper 2, and the current sensor is used to detect the current signal of the lower limb rehabilitation trainer motor.

[0041] The control mechanism collects data from the pressure sensor 20, the rotary encoder 107, and the current sensor to adjust the current output of the electromagnetic damper 2 according to the detected torque data and dynamic operation information to dynamically adapt to the changes in the motor power of the lower limb rehabilitation trainer, control the current of the electromagnetic damper 2 to simulate the load of human leg movement, and can also detect the resistance information of the electromagnetic damper 2 through the force sensor.

[0042] The control mechanism is built into the electrical control box 5, which is located on one side of the base plate 3. The electrical control box 5 is provided with a display screen and buttons, which are convenient for the operator to monitor the test status and adjust the test parameters. The operator understands the current test status by viewing the information on the display screen, and adjusts the test parameters or performs other operations by inputting control commands through buttons.

[0043] The test fixture for the lower limb rehabilitation trainer provided by the present invention has a control mechanism that controls the current of the electromagnetic damper 2 to simulate the load of human leg movement based on the data detected by the pressure sensor 20, the rotary encoder 107, and the current sensor. During the test, the leg fixing frame of the lower limb rehabilitation trainer drives the fixture to perform a resistance exercise test to verify the driving effect of the motor drive system on the leg movement, realize automated intelligent testing, and improve test efficiency and accuracy. Since the motor drives the knee joint of the leg and needs to accurately control the motion trajectory and speed to ensure the rehabilitation effect, based on the stroke and time of the fixture rotary encoder 107, the upward and downward movement speeds and motion trajectory information in the leg fixing frame cycle of the lower limb rehabilitation training can be distinguished, the driving effect and comfort of the lower limb rehabilitation trainer's drive system on the human leg movement can be evaluated, and the pattern, abnormal value or long-term trend of the speed change can be found, which can help evaluate the performance of the lower limb rehabilitation training equipment, identify potential problems, and make corresponding improvements. Due to the complexity and diversity of human leg movements, an electromagnetic damper 2 is used to simulate knee joint movements of people with different weights and body shapes. The tooling fully considers factors such as its maximum load capacity and adaptive design to ensure that patients can obtain the best rehabilitation effect and achieve the best comfort and training effect during the training process.

[0044] Based on the above specific embodiments, the support mechanism includes a support plate, a slider connected to the support plate, and a linear bearing connecting the slider and the slide rail. The two ends of the balance column 13 are respectively connected to the center of the left support plate 11 and the right support plate 16.

[0045] In a specific embodiment, the leg test frame 1 is composed of a balance beam structure consisting of linear bearings, guide pulleys, and guide traction ropes. The left support plate 11 is connected to the left slider 29 of the left linear bearing using screws, and the right support plate 16 is connected to the right slider 15 of the right linear bearing using screws. The linear bearings provide low-friction support for up and down movement, ensuring that the slider on the slide rail can move smoothly. The guide pulley is used to change the direction of the traction rope. The two ends of the balance column 13 are respectively connected to the center of the left support plate 11 and the right support plate 16 to ensure that the two ends of the balance column 13 are evenly stressed to maintain the smooth operation of the leg test frame 1.

[0046] Based on the above-mentioned specific embodiments, the guide traction rope includes a first guide traction rope 10 and a second guide traction rope 21. One end of the first guide traction rope 10 is connected to the upper half of the left support plate 11, and the other end passes through the ninth guide pulley 31, the fourth guide pulley 22, and the second guide pulley 18 in sequence and is connected to the lower half of the right support plate 16. One end of the second guide traction rope 21 is connected to the lower half of the left support plate 11, and the other end passes through the fifth guide pulley 23, the third guide pulley 19, and the first guide pulley 14 and is connected to the upper half of the right support plate 16. A balance column 13 is provided between the left support plate 11 and the right support plate 16, and its two ends are respectively connected to the center of the left support plate 11 and the right support plate 16. When an upward or downward force is applied to the balance column 13, since the first guide traction rope 10 and the second guide traction rope 21 run in opposite directions, the balance column 1313 slides in the same direction and has the same displacement distance on the left slide rail 28 and the right slide rail 17 of the linear bearing, thereby maintaining the smooth operation of the leg test frame 1 and making the tooling and the lower limb rehabilitation trainer move synchronously.

[0047] Based on the above-mentioned specific embodiments, the damping traction rope includes a first damping traction rope 25 and a second damping traction rope 26. One end of the first damping traction rope 25 is connected to the upper half of the left support plate 11, and the other end passes through the eighth guide pulley 30 and the sixth guide pulley 24 to be connected to the electromagnetic damper 2. One end of the second damping traction rope 26 is connected to the lower half of the left support plate 11, and the other end passes through the seventh guide pulley 27 to be connected to the electromagnetic damper 2. The left support plate 11 meets the torque balance condition. That is, the sum of the torques on the upper and lower sides is zero. When the balance column 1313 generates a torque, the electromagnetic damper 2 generates an equal torque in the opposite direction to maintain the smooth operation of the leg test frame 1 and make the tooling and the lower limb rehabilitation trainer move synchronously.

[0048] Based on the above-mentioned specific embodiments, a tying sleeve 12 is connected to the leg fixing frame, the tying sleeve 12 is arc-shaped, the balance column 13 is connected to the tying sleeve 12, the tying sleeve 12 is located at the center of the balance column 13, and the pressure sensor 20 is connected to the inner side of the tying sleeve 12.

[0049] In a specific embodiment, the pressure sensor 20 is located on the lower side of the center position of the balance column 1313, and a binding sleeve 12 is provided on the lower side of the pressure sensor 20. The binding sleeve 12 is used to connect to the leg fixing frame of the lower limb rehabilitation trainer to drive the leg test frame 1 to perform passive resistance exercise. In other words, a pressure sensor 20 is provided between the balance column 13 and the binding sleeve 12 of the tooling. One end of the pressure sensor 20 is fixed on the balance column 13, and the other end is fixed on the binding sleeve 12. When testing, the binding sleeve 12 of the tooling is connected to the leg fixing frame of the lower limb feedback rehabilitation trainer, and the motor of the lower limb feedback rehabilitation trainer generates a driving force, which is applied to the binding sleeve 12 of the tooling through the leg fixing frame of the lower limb feedback rehabilitation trainer and transmitted to the pressure sensor 20. The pressure sensor 20 transmits it to the balance column 13 of the tooling. In this way, the tooling has a torque signal for measuring the lower limb rehabilitation trainer.

[0050] Among them, the tying sleeve 12 is arc-shaped and has a clearance fit with the balance column 13. The tying sleeve 12 holds the balance column 13 tightly to prevent the balance column 13 from slipping off the tying sleeve 12; the tying sleeve 12 and the balance column 13 fit smoothly to reduce the wear of the tying sleeve 12 on the balance column 13; the pressure sensor 20 is fitly connected to the inner surface of the tying sleeve 12, and the pressure sensor 20 is in stable contact with the balance column 13 and the tying sleeve 12, and the pressure detection value is accurate.

[0051] Since the knee joint of the leg is placed on the leg fixing frame, in order to better fit the leg training state, the binding sleeve 12 is set at the center position of the balance column 13, which is equivalent to the placement position of the knee joint of the leg, in line with the actual leg training state, and the test is more realistic.

[0052] Based on the above-mentioned specific embodiments, the electromagnetic damper 2 includes an E-shaped electromagnet 101, two wheels that are half-embedded in the E-shaped grooves of the electromagnet 101 and rotate synchronously, two damping traction ropes are respectively connected to the two wheels and the directions in which the two damping traction ropes are wound on the two wheels are opposite, and a rotary encoder 107 is connected to one of the wheels.

[0053] In one specific embodiment, the electromagnetic damper 2 is a device that utilizes an electromagnetic field to generate a damping effect. It can be flexibly adjusted to suit different operating conditions and requirements, meeting the needs of a variety of application scenarios. The electromagnet 101 is E-shaped, and the left-hand wheel 103 and the right-hand wheel 102 are made of circular conductive material, each half-embedded within the E-shaped slot of the electromagnet 101. When current flows through the electromagnet 101, the left-hand wheel 103 and the right-hand wheel 102 cut through the magnetic flux lines, generating eddy currents. Due to the reaction force of the magnetic field, the movement of the conductors of the left-hand wheel 103 and the right-hand wheel 102 is hindered, thereby achieving a damping effect. The left-hand wheel 103 and the right-hand wheel 102 are equipped with synchronous pulleys fixed together by screws. The central cylinder and the left and right support plates 104 and 106 on either side form a pulley structure. The first damping traction rope 25 and the second damping traction rope 26 are wound around the left-hand wheel 103 and the right-hand wheel 102 in opposite directions, enabling the electromagnetic damper 2 to generate equal and opposite torques. The central cylinder of the right-turn wheel 102 is connected to the rotary encoder 107 , and the rotary encoder 107 rotates along with the right-turn wheel 102 to accurately monitor the speed and stroke information of the electromagnetic damper 2 .

[0054] Based on the above specific embodiments, a semicircular groove is provided at the center of the disc of the rotating wheel, and the damping traction rope is embedded in the groove. The groove has a limiting effect on the damping traction rope to prevent the damping traction rope from falling off the disc of the rotating wheel.

[0055] Based on the above-mentioned specific embodiments, the damping traction rope exiting from the high-position winding passes through the lower guide pulley 105 and is connected to the support mechanism. The outlet height of the lower guide pulley 105 is the same as the outlet height of the rotating pulley from the low-position winding. The lower guide pulley 105 has a limiting effect on the second damping traction rope 26. After passing through the lower guide pulley 105, the second damping traction rope 26 is at the same height as the first damping traction rope 25, matching the sixth guide pulley 24 and the seventh guide pulley 27 of the same height. This makes the connection more convenient. The first damping traction rope 25 and the second damping traction rope 26 connected to the left support plate 11 are consistent, making it easier to maintain the torque of the left support plate 11 in a balanced state.

[0056] Based on the above embodiments, the control mechanism includes a motor testing component for testing the motor driving efficiency, and the motor testing component includes:

[0057] Used to sequentially detect the current data of the motor in the first X time period, the second X time period, ..., the Mth X time period 、 、……、 Motor current detection unit;

[0058] To detect the current data of the electromagnetic damper 2 in the first X time period, the second X time period, ..., the Nth X time period in sequence 、 、……、 Damper current detection unit;

[0059] Used according to , determine whether A is within the preset value range. If A is within the preset value range, it is determined that the motor of the lower limb rehabilitation trainer has passed the test of normal mechanical structure driving efficiency and passed the judgment unit.

[0060] In practical applications, such as Figure 6 As shown, the leg test frame 1 of the tooling is provided with a left pressure sensor 20 and a right pressure sensor 20. The sensitive element of the pressure sensor 20 is used to sense the torque signal of the leg fixing frame of the lower limb rehabilitation trainer, and convert the sensed pressure signal into an electrical signal and output it to the control mechanism. The control mechanism can be a microcontroller unit, that is, an MCU controller. The electromagnetic damper 2 is provided with a left rotary encoder 107 and a right rotary encoder 107, which convert the rotational motion into an electrical signal and output it to the MCU controller. The current sensor is a clamp-type current transformer, which is used to measure the current signal of the motor of the lower limb rehabilitation trainer equipment. The shape is similar to a clip. During measurement, the clamp-type current transformer is clamped on the power cord of the motor of the lower limb rehabilitation trainer. The left current sensor and the right current sensor are connected to the MCU controller. The buttons are used to input control commands and are used in conjunction with the display screen, allowing the user to select menus, adjust parameters, start / stop the device, etc. through buttons. The MCU controller collects the output value of the pressure sensor 20 and performs filtering and calibration to obtain accurate pressure data. The MCU controller reads the data from the rotary encoder 107 and builds an MCU-based closed-loop control system. The MCU collects data from the pressure sensor 20 and the rotary encoder 107 in real time and uses this data to precisely control the current output of the electromagnetic damper 2. This algorithm is a critical value to ensure the continuous operation of the electromagnetic damper 2 of the tooling. If the damper current is too high, the motor will be in an overloaded state. If the damper current is too low, the motor will not be at the rated current state. By collecting data from the rotary encoder 107, the speed of the electromagnetic damper 2 can be calculated. If the speed is below the critical speed, the current of the electromagnetic damper 2 is reduced. If the speed is above the critical speed, the current of the electromagnetic damper 2 is increased.

[0061] It should be noted that the above-mentioned filtering and calibration can be general methods that can improve data accuracy. For example, filtering uses an averaging and filtering algorithm, continuously collects N data for accumulation, and divides this accumulated number by N to obtain an average value; calibration is to connect the leg fixing frame of the lower limb rehabilitation trainer with the binding sleeve 12 of the tooling, measure an initial value at this time, and then subtract this initial value from each measured value to eliminate the mass of the strap and the equipment itself.

[0062] The rotary encoder 107 is connected to the central axis of the electromagnetic damping wheel. As the damping wheel rotates, the encoder generates a series of electrical signals that can be read and processed by the MCU controller. Since the electromagnetic damping wheel is connected to the test frame with a traction rope, the leg bracket of the lower limb rehabilitation training device is connected to the leg test frame 1 of the tooling, thereby calculating the speed, direction, and travel data of the leg bracket of the lower limb rehabilitation training device. Since the leg bracket of the lower limb rehabilitation training device is connected to the binding sleeve 12 of the tooling, the measurement data of the tooling is in a one-to-one correspondence with the data of the lower limb rehabilitation training device. The speed, direction, and travel calculation process of the tooling is as follows:

[0063] Direction determination: The direction of rotation is determined by analyzing the phase of the A-phase and B-phase signals of the rotary encoder 107 (which signal is leading).

[0064] Count: A counter is updated each time a pulse is detected from phase A or phase B of the rotary encoder 107. The value of the counter reflects the total amount of rotation of the encoder since the last reset (usually expressed in pulses).

[0065] Speed: Calculate the speed by measuring the number of pulses received in a fixed time interval. Speed ​​= Number of pulses / Time interval.

[0066] Distance calculation: The total distance traveled (angle or distance) can be calculated based on the number of pulses generated per encoder revolution (called PPR, pulses per revolution) and the counter value. Distance = counter value / PPR * 360° (or converted to the corresponding distance unit).

[0067] Speed ​​data chart: By collecting the damping wheel rotation data of the rotary encoder 107 in a specific cycle, the rotation direction of the electromagnetic damper 2 can be calculated. According to the one-to-one correspondence between the rotation direction and the movement direction of the leg fixation frame for lower limb rehabilitation training, the upward and downward movement speeds of the leg fixation frame in the cycle of lower limb rehabilitation training can be distinguished based on the stroke and time of the rotary encoder 107. If it is necessary to accumulate speed data over time, it can be used to analyze long-term trends or cumulative effects. For example, a table can be used to display speed data. The columns of the table include cycle number, instantaneous upward movement speed, instantaneous downward movement speed, average upward movement speed, average downward movement speed, cycle speed, etc. Visualizing data (such as using charts or graphs) can usually show trends more intuitively. Analyzing the data in the table or chart to find patterns, outliers or long-term trends in speed changes can help evaluate the performance of the lower limb rehabilitation training equipment, identify potential problems, and make corresponding improvements.

[0068] Maximum load testing and simulation of different human bodies: The tooling design and functionality include maximum load testing and the ability to simulate the application of different human weights to ensure that the equipment can continue to function properly even when subjected to the maximum design load, without structural damage or performance degradation. During operation, the equipment simulates load changes in actual use scenarios to verify the stability and durability of the equipment. After the maximum load test, the lower limb rehabilitation training equipment is inspected for mechanical deformation, loss of structure, loose screws, and abnormal motor heating.

[0069] Based on the test results, the device's structural design, material selection, and manufacturing process can be adjusted and optimized to ensure it meets operational requirements and provides adequate safety margins. The tooling also features adjustable features to accommodate patients of varying weights and body shapes, ensuring optimal comfort and training outcomes. The design and implementation of these features ensures the device maintains sufficient stability and safety while meeting patients' rehabilitation needs.

[0070] Motor drive efficiency test: In the MCU controller, the rotary encoder 107 detects the rotation of the electromagnetic damper 2. Based on the data from the pressure sensor 20, it calculates the required adjustment amount for the electromagnetic damper 2 and adjusts the current output of the electromagnetic damper 2. This current is adjusted in real time to enable the electromagnetic damper 2 to rotate continuously, dynamically adapting to changes in the motor power of the lower limb rehabilitation training equipment and achieving dynamic tracking. The system continuously reads the data from the pressure sensor 20 and the rotary encoder 107, and compares them with the preset target value to form a closed-loop control. This system implements a dynamic tracking system for the electromagnetic damper 2 based on the detection of the rotary encoder 107. The system can adjust the current output of the electromagnetic damper 2 in real time based on the data from the test pressure sensor 20 to achieve the purpose of dynamic control.

[0071] In the first x seconds, record the motor current data of the lower limb rehabilitation trainer , and so on, we can get the second x seconds The value of the third x seconds The motor current data of the lower limb rehabilitation trainer may include: M and Correspondingly, the period and frequency of the electromagnetic damper 2 current data are the same. In the first x seconds, the electromagnetic damper 2 current data is recorded. , and so on, we can get the second x seconds The value of the third x seconds The value of, etc., the current data of the electromagnetic damper 2 may include: N and .

[0072] , determine whether A is within the preset value range. If A is within the preset value range, the motor of the lower limb rehabilitation trainer is driven normally through the mechanical structure and the test passes.

[0073] In practical applications, such as Figure 7 As shown, the test fixture for the lower limb rehabilitation trainer may include the following steps when used:

[0074] Preparation stage: Adjust the angle of the bed board of the lower limb rehabilitation trainer to a flat position, place the tooling at the designated position on the bed board of the upper limb rehabilitation trainer, pass the leg fixing frame of the lower limb rehabilitation trainer through the two elliptical holes of the tooling bottom plate 3, align with the binding sleeve 12 of the tooling, use the binding strap to pass through the fixing hole on the tooling, and effectively fix the tooling on the bed board of the lower limb rehabilitation trainer equipment.

[0075] Connection stage: adjust the tooling binding sleeve 12 to the appropriate position, connect the leg fixing frame of the lower limb rehabilitation trainer with the binding sleeve 12 of the tooling, and check whether it is firmly fixed on the binding sleeve 12.

[0076] Setting stage: According to the preset parameters and conditions of the lower limb rehabilitation trainer, set the operating mode of the tooling. First, set whether it is a single-leg leg lifting mode, a double-leg stepping mode, or a jumping mode. If it is a double-leg stepping mode, you can choose the sine wave (leg muscle tension during fast running), square wave (leg muscle tension during slow walking), and straight line (maximum leg force) waveform output in the damping type, and then set the damping force data of the tooling.

[0077] Operation phase: Start the lower limb rehabilitation trainer and tooling control system, check whether the display interface of the lower limb rehabilitation trainer is consistent with the test data output by the tooling display screen. When testing the equipment threshold, check the status and alarm information of the lower limb rehabilitation trainer to ensure that the lower limb rehabilitation trainer and tooling can operate normally.

[0078] Monitoring Phase: After the equipment is assembled, the lower limb rehabilitation trainer undergoes a burn-in test. Test data is monitored and recorded in real time, displayed on the tooling display, and presented in charts, reports, and dashboards to assess the device's performance in actual use. Burn-in testing allows for analysis of key data points over the burn-in period. If the data for one device deviates significantly from that of the others, this device is considered to be performing poorly.

[0079] Optimization stage: Optimize the lower limb rehabilitation trainer based on the monitoring results. After the device is optimized, compare the data with the original device to see whether the data indicators have improved or decreased.

[0080] Specifically, the control mechanism may include an optimization unit for comparing the torque information, dynamic operation information, current signal, and resistance information detected by the detection mechanism with corresponding preset target values, and adjusting the detection values ​​to be consistent with the target values.

[0081] Optimize the performance bottlenecks and easily damaged accessories during the production and installation of the equipment, thereby improving its performance, safety and user experience, and providing patients with better rehabilitation treatment equipment.

[0082] Completion stage: Complete the entire testing process and record relevant data, as well as establish product tracking files to provide strong support for continuous improvement and optimization of the product.

[0083] The test fixture for lower limb rehabilitation trainers can simulate the test of normal walking knee joint movement, and can evaluate the performance and effect of lower limb rehabilitation trainers in actual use.

[0084] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0085] The above is a detailed introduction to the test tooling for the lower limb rehabilitation trainer provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this article, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A test tool for a lower limb rehabilitation trainer, characterized in that: The invention comprises a base plate (3) having a test hole (8), a leg test frame (1) connected to the base plate (3), and an electromagnetic damper (2), wherein the leg test frame (1) comprises a balance column (13) supported on a leg fixing frame of a lower limb rehabilitation trainer, a support mechanism connected to both ends of the balance column (13), a slide rail connected to the support mechanism for lifting and lowering, a guide traction rope connecting the support mechanisms on both sides, a damping traction rope connected to one of the support mechanisms, and the other end of the damping traction rope is connected to the electromagnetic damper (2); the invention also comprises a pressure sensor (20) for detecting the pressure between the leg fixing frame and the balance column (13), a rotary encoder (107) for detecting dynamic operation information of the electromagnetic damper (2), a current sensor for detecting a current signal of a motor of the lower limb rehabilitation trainer, and a control mechanism connected to the pressure sensor (20), the rotary encoder (107), and the current sensor.

2. The test fixture for the lower limb rehabilitation training device according to claim 1, characterized in that: The support mechanism comprises a support plate, a slider connected to the support plate, and a linear bearing connecting the slider and the slide rail. The two ends of the balance column (13) are respectively connected to the center of the left support plate (11) and the center of the right support plate (16).

3. The test fixture for the lower limb rehabilitation training device according to claim 2, characterized in that: The guide traction rope comprises a first guide traction rope (10) and a second guide traction rope (21), wherein one end of the first guide traction rope (10) is connected to the upper half of the left support plate (11), and the other end passes through a plurality of guide pulleys in sequence and is connected to the lower half of the right support plate (16); and one end of the second guide traction rope (21) is connected to the lower half of the left support plate (11), and the other end passes through a plurality of guide pulleys and is connected to the upper half of the right support plate (16).

4. The test fixture for the lower limb rehabilitation training device according to claim 2, characterized in that: The damping traction rope comprises a first damping traction rope (25) and a second damping traction rope (26), wherein one end of the first damping traction rope (25) is connected to the upper half of the left support plate (11), and the other end passes through a plurality of guide pulleys to be connected to the electromagnetic damper (2); one end of the second damping traction rope (26) is connected to the lower half of the left support plate (11), and the other end passes through the guide pulley to be connected to the electromagnetic damper (2), and the left support plate (11) satisfies the torque balance condition.

5. The test fixture for the lower limb rehabilitation training device according to claim 1, characterized in that: The leg fixing frame is connected to a binding sleeve (12), the binding sleeve (12) is in an arc shape, the balancing column (13) is connected to the binding sleeve (12), the binding sleeve (12) is located at the center of the balancing column (13), and the pressure sensor (20) is connected to the inner side of the binding sleeve (12).

6. The test fixture for the lower limb rehabilitation training device according to claim 1, characterized in that: The electromagnetic damper (2) comprises an E-shaped electromagnet (101), two rotating wheels which are respectively half-embedded in the E-shaped slot of the electromagnet (101) and rotate synchronously, two damping traction ropes are respectively connected to the two rotating wheels and the directions in which the two damping traction ropes are wound around the two rotating wheels are opposite, and the rotary encoder (107) is connected to one of the rotating wheels.

7. The test fixture for the lower limb rehabilitation training device according to claim 6, characterized in that: A semicircular groove is provided at the center of the disc of the rotating wheel, and the damping traction rope is embedded in the groove.

8. The test fixture for the lower limb rehabilitation training device according to claim 6, characterized in that: The damping traction rope wound from a high position passes through a lower guide pulley (105) and is connected to the support mechanism. The outlet height of the lower guide pulley (105) is the same as the outlet height of the rotating wheel wound from a low position.

9. The test fixture for a lower limb rehabilitation trainer according to any one of claims 1 to 8, characterized in that: The control mechanism includes a motor testing component for testing the motor driving efficiency, and the motor testing component includes: Used to sequentially detect the current data of the motor in the first X time period, the second X time period, ..., the Mth X time period 、 、……、 Motor current detection unit; To detect the current data of the electromagnetic damper (2) in the first X time period, the second X time period, ..., the Nth X time period in sequence 、 、……、 Damper current detection unit; Used according to , determine whether A is within the preset numerical range. If A is within the preset numerical range, it is determined that the motor of the lower limb rehabilitation trainer has passed the test of normal mechanical structure driving efficiency and passed the judgment unit.

10. The test fixture for a lower limb rehabilitation trainer according to any one of claims 1 to 8, characterized in that: The control mechanism includes an optimization unit for comparing the detected torque information, dynamic operation information, and current signal with corresponding preset target values, and adjusting the detected values ​​to be consistent with the target values.

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