阅读说明：本技术 一种保护方法及装置 (Protection method and device ) 是由 田东林 田开江 王启超 李青 于 2021-02-08 设计创作，主要内容包括：本发明涉及一种保护方法,包括：控制设备接收拉力传感器发送的拉力值,与预设的设定拉力值进行比较；当拉力值大于设定拉力值时,根据拉力值和设定拉力值计算得到第一速度；控制电机以第一速度正向转动,带动吊架向下移动；当拉力值小于设定拉力值时,计算得到第二速度；控制电机以第二速度反向转动,带动吊架向上移动；监测第一速度,当第一速度大于预设的第一限速时,控制电机停止转动,启动第一计时；当第一计时达到预设的第一设定时长时,接收位移传感器发送的第一位移值,控制电机以预设的第一设定速度反向转动,从而带动吊架向上移动第一位移值。本发明还涉及一种保护装置,包括：控制设备、电机、位移传感器、吊架、拉力传感器和吊带。(The invention relates to a protection method, which comprises the following steps: the control equipment receives a tension value sent by the tension sensor and compares the tension value with a preset tension value; when the tension value is larger than the set tension value, calculating to obtain a first speed according to the tension value and the set tension value; controlling a motor to rotate positively at a first speed to drive a hanger to move downwards; when the tension value is smaller than the set tension value, calculating to obtain a second speed; controlling the motor to reversely rotate at a second speed to drive the hanging bracket to move upwards; monitoring a first speed, controlling the motor to stop rotating and starting a first timer when the first speed is greater than a preset first speed limit; when the first timing reaches a preset first set time length, a first displacement value sent by the displacement sensor is received, and the motor is controlled to rotate reversely at a preset first set speed, so that the hanging bracket is driven to move upwards by the first displacement value. The invention also relates to a protection device comprising: control device, motor, displacement sensor, gallows, force sensor and suspender.)

1. A protection method, characterized in that the protection method comprises:

the control equipment receives a tension value sent by the tension sensor and compares the tension value with a preset tension value;

when the tension value is larger than the set tension value, the control equipment calculates according to the tension value and the set tension value to obtain a first speed;

the control equipment controls the motor to rotate positively at the first speed so as to drive the hanger to move downwards;

when the tension value is smaller than the set tension value, the control equipment calculates according to the tension value and the set tension value to obtain a second speed;

the control device controls the motor to reversely rotate at the second speed so as to drive the hanging bracket to move upwards;

the control equipment monitors the first speed, and when the first speed is greater than a preset first speed limit, the control equipment controls the motor to stop rotating and starts first timing;

when the first timing reaches a preset first set time length, the control device receives a first displacement value sent by a displacement sensor, and the control device controls the motor to reversely rotate at a preset first set speed, so that the hanger is driven to upwards move the first displacement value.

2. The protection method according to claim 1, characterized in that the method further comprises:

and when the pulling force value is equal to the set pulling force value, the control equipment controls the motor to stop rotating.

3. The protection method according to claim 1, characterized in that the method further comprises:

the control equipment receives a displacement value sent by the displacement sensor;

the control equipment monitors the displacement value, and when the displacement value is larger than a preset first limit value, the control equipment controls the motor to stop rotating and starts second timing;

when the second timing reaches the first set timing length, the control device receives a second displacement value sent by the displacement sensor, and the control device controls the motor to reversely rotate at the first set speed, so that the hanging bracket is driven to upwards move the second displacement value.

4. A protective device, comprising:

the control equipment is used for processing data and sending a control instruction;

the motor is electrically connected with the control equipment and receives the control instruction sent by the control equipment;

the hanging bracket is connected with the motor through a hanging belt, and when the motor rotates, the motor drives the hanging bracket through the hanging belt, so that the hanging bracket can move up and down;

the tension sensor is connected with the hanging strip and used for detecting the tension value borne by the hanging strip; the tension sensor is electrically connected with the control equipment and sends the tension value to the control equipment.

5. The protection device of claim 4, further comprising:

the displacement sensor is connected with the motor and is used for measuring a displacement value of the rotation of the motor; the displacement sensor is electrically connected with the control equipment and sends the displacement value to the control equipment.

6. The protection device of claim 4, wherein the control command comprises a rotational direction and a rotational speed.

Technical Field

The invention relates to the technical field of medical treatment, in particular to a protection method and a protection device.

Background

The weight-reducing walking training is a method applied to lower limb rehabilitation training, namely, on the premise of removing the self weight or partial self weight of a patient and keeping the self balance, the walking ability of the patient is recovered by helping the patient to carry out gait training through manual or automatic equipment.

In the current common sky rail system, a tension sensor directly detects the tension value of equipment to a patient, a set weight reduction value is used as a judgment basis, the up-and-down movement of a hanger where the patient is located is controlled through the rotation of a motor until the tension value is equal to the set weight reduction value, the motor stops working, and then the patient starts training. After the patient begins to train, the hanger for fixing the patient cannot move up and down, so the equipment manufactured by the prior art can only perform some simple walking training and displacement functions, and cannot realize more gait training. Meanwhile, in training, a therapist needs to protect the patient beside the patient, so that the patient is prevented from falling down, and the equipment cannot be automatically protected.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a protection method and a protection device, wherein a control device receives a tension value of a tension sensor and a displacement value of a displacement sensor in real time, the current state of a patient is judged through the tension value, the displacement value, a preset set tension value and a preset limit value, the rotation of a motor is controlled to control the up-and-down movement of a hanging bracket so as to realize more gait training modes of the patient and realize the protection of the patient about to fall down, and the patient can independently and safely carry out more gait training without the nursing of a therapist.

In order to achieve the above object, in a first aspect, the present invention provides a protection method, including:

the control equipment receives a tension value sent by the tension sensor and compares the tension value with a preset tension value;

when the tension value is larger than the set tension value, the control equipment calculates according to the tension value and the set tension value to obtain a first speed;

the control equipment controls the motor to rotate positively at the first speed so as to drive the hanger to move downwards;

when the tension value is smaller than the set tension value, the control equipment calculates according to the tension value and the set tension value to obtain a second speed;

the control device controls the motor to reversely rotate at the second speed so as to drive the hanging bracket to move upwards;

the control equipment monitors the first speed, and when the first speed is greater than a preset first speed limit, the control equipment controls the motor to stop rotating and starts first timing;

when the first timing reaches a preset first set time length, the control device receives a first displacement value sent by a displacement sensor, and the control device controls the motor to reversely rotate at a preset first set speed, so that the hanger is driven to upwards move the first displacement value.

Preferably, the method further comprises:

and when the pulling force value is equal to the set pulling force value, the control equipment controls the motor to stop rotating.

Preferably, the method further comprises:

the control equipment receives a displacement value sent by the displacement sensor;

the control equipment monitors the displacement value, and when the displacement value is larger than a preset first limit value, the control equipment controls the motor to stop rotating and starts second timing;

when the second timing reaches the first set timing length, the control device receives a second displacement value sent by the displacement sensor, and the control device controls the motor to reversely rotate at the first set speed, so that the hanging bracket is driven to upwards move the second displacement value.

In a second aspect, the present invention provides a protection device comprising:

the control equipment is used for processing data and sending a control instruction;

the motor is electrically connected with the control equipment and receives the control instruction sent by the control equipment;

the hanging bracket is connected with the motor through a hanging belt, and when the motor rotates, the motor drives the hanging bracket through the hanging belt, so that the hanging bracket can move up and down;

the tension sensor is connected with the hanging strip and used for detecting the tension value borne by the hanging strip; the tension sensor is electrically connected with the control equipment and sends the tension value to the control equipment.

Preferably, the apparatus further comprises:

the displacement sensor is connected with the motor and is used for measuring a displacement value of the rotation of the motor; the displacement sensor is electrically connected with the control equipment and sends the displacement value to the control equipment.

Preferably, the control command includes a rotation direction and a rotation speed.

The embodiment of the invention provides a protection method and a protection device, wherein a control device receives a tension value of a tension sensor and a displacement value of a displacement sensor in real time, judges the current state of a patient according to the tension value, the displacement value, a preset set tension value and a preset limit value, controls the vertical movement of a hanging bracket by controlling the rotation of a motor to realize more gait training modes of the patient and realize the protection of the patient about to fall down, and enables the patient to independently and safely carry out more gait training without a therapist.

Drawings

Fig. 1 is a flowchart of a protection method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a protection device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention firstly provides a protection method, the tension value of a tension sensor and the displacement value of a displacement sensor are received in real time by a control device, the current state of a patient is judged by the tension value, the displacement value, a preset set tension value and a preset limit value, the vertical movement of a hanging frame is controlled by controlling the rotation of a motor, so that more gait training modes of the patient and the protection of the patient about to fall are realized, and the patient can independently and safely carry out more gait training without the care of a therapist.

The embodiment of the invention also provides a protection device, and the protection method provided by the embodiment of the invention is applied to the protection device provided by the embodiment of the invention.

Fig. 1 is a flowchart of a protection method according to an embodiment of the present invention, and as shown in fig. 1, the protection method according to the embodiment of the present invention specifically includes the following steps:

step 100, the control equipment receives a tension value sent by a tension sensor and compares the tension value with a preset tension value;

the control equipment is used for receiving data sent by other sensors and processing the data to judge the current state of the trainer so as to send corresponding instructions to adjust the training of the trainer. In particular, the control device may be a computer.

The control equipment receives a tension value sent by the tension sensor, the tension value is the tension value borne by a hanging strip connected between a hanging bracket bound on a trainer body and the training device when the trainer trains, and the tension value can be acquired by the tension sensor and is transmitted to the control equipment by the tension sensor.

And after receiving the tension value sent by the tension sensor, the control equipment compares the tension value with a preset set tension value. Wherein, the set tension value is the tension value that the sling on the body of the trainer is subjected to when the trainer reaches the standing balance before the trainer starts training. The tension value that the suspender receives when the trainer reaches the standing balance through the suspender before starting the training is preset as the set tension value in the control equipment.

After the trainer starts training, the control equipment receives the tension value of the sling on the body of the trainer in real time and compares the tension value with a preset set tension value.

Step 101, when the pulling force value is larger than the set pulling force value, the control equipment calculates according to the pulling force value and the set pulling force value to obtain a first speed; the control equipment controls the motor to rotate positively at a first speed so as to drive the hanger to move downwards;

the control equipment controls the hanging bracket connected with the motor through the hanging belt to move up and down by controlling the rotation of the motor, thereby not only protecting the balance state of a trainer, but also preventing the trainer from being limited by the hanging bracket on the body. Wherein, the forward rotation is carried out by controlling the motor, so that the downward movement of the hanger is realized to adapt to the downward movement of the trainer; the lifting frame is controlled to rotate reversely, upward movement of the lifting frame is achieved to adapt to upward movement of a trainer, and the tension value of the lifting belt always tends to be set to maintain the balance state of the trainer.

Specifically, when the pulling force value is greater than the set pulling force value, it indicates that the trainer is doing the downward action this moment, therefore the pulling force value that acts on the suspender increases and is greater than the set pulling force value, at this moment, when controlgear received the pulling force value that is greater than the set pulling force value, calculate according to the pulling force value that receives at present and set pulling force value, obtain first speed, controlgear control motor carries out forward rotation with first speed, thereby drive gallows downstream, make the pulling force value reduce gradually and tend to set for the pulling force value until the pulling force value equals set pulling force value in order to reach balanced state. And when the tension value is equal to the set tension value and reaches a balanced state, the control equipment controls the motor to stop rotating.

102, when the pulling force value is smaller than the set pulling force value, the control equipment calculates according to the pulling force value and the set pulling force value to obtain a second speed; the control equipment controls the motor to reversely rotate at a second speed so as to drive the hanging bracket to move upwards;

when the pulling force value is smaller than the set pulling force value, the trainer performs upward movement at the moment, so that the pulling force value acting on the hanging strip is reduced and smaller than the set pulling force value, at the moment, when the control device receives the pulling force value smaller than the set pulling force value, the control device calculates the set pulling force value according to the currently received pulling force value to obtain a second speed, and the control device controls the motor to perform reverse movement at the second speed so as to drive the hanging bracket to move upwards, so that the pulling force value is gradually increased and tends to be the set pulling force value until the pulling force value is equal to the set pulling force value to achieve a balanced state. And when the tension value is equal to the set tension value and reaches a balanced state, the control equipment controls the motor to stop rotating.

103, monitoring a first speed by the control equipment, controlling the motor to stop rotating and starting a first timer when the first speed is greater than a preset first speed limit;

when the pulling force value that controlgear received is greater than the settlement pulling force value, except that the training person initiative is made decurrent action pulling suspender and is made the pulling force value increase, also probably because the training person loses balance, health dead weight pulling suspender makes the pulling force value increase, and in order to prevent that the condition that the training person appears losing balance and falls takes place, need controlgear to monitor first speed to ensure that the training person protects the training person when losing balance. Specifically, the control device monitors whether the first speed reaches a first speed limit, the first speed limit is a preset safety value of the first speed, and when the first speed is greater than the preset first speed limit, the tension value is suddenly increased, that is, the trainer possibly loses balance at the moment, and the trainer needs to be protected immediately. At this time, the control device controls the motor to stop rotating so as to protect the trainer, and simultaneously starts a first timing so as to calculate the time when the trainer is in the current unbalance state.

104, when the first timing reaches a preset first set time length, the control equipment receives a first displacement value sent by the displacement sensor, and the control equipment controls the motor to reversely rotate at a preset first set speed so as to drive the hanger to move upwards by the first displacement value;

when the control equipment monitors that the trainer loses balance, the control motor stops rotating to protect the trainer, and at the moment, if the trainer cannot automatically recover the balance state within a period of time, the control equipment is required to actively help the trainer to recover to the balance state.

Specifically, whether controlgear monitoring first timing reaches the first predetermined length of time of setting for, if the training person can resume to balanced state by oneself, at this moment, the pulling force value can change, if when first timing reaches the first predetermined length of time, the pulling force value of suspender has not yet reduced, explain that the training person can't resume to balanced state by oneself, at this moment, controlgear receives the first displacement value that displacement sensor sent, controlgear control motor is with the first predetermined speed of setting for with ground antiport at the uniform velocity, thereby drive the distance of gallows rebound first displacement value, resume to initial balanced state with help the training person.

In order to protect the trainee from falling down due to losing balance, the displacement value of the downward movement of the hanger should be monitored in addition to the first speed, because sometimes the falling is slow, so that the first speed is not always greater than the preset first speed limit, and at this time, whether the downward movement distance of the hanger exceeds the preset first limit value should be monitored.

Specifically, the control equipment receives the displacement value that displacement sensor sent in real time to monitor the displacement value, judge whether the displacement value is greater than predetermined first limit value, first limit value is the maximum value that allows the gallows to move down, surpass this maximum value and explain promptly that the training person is in under the unbalance state and be about to fall down.

When the displacement value is larger than the first limit value, the trainer is in an unbalanced state, at the moment, the control equipment controls the motor to stop rotating so as to protect the trainer, and simultaneously, the second timing is started so as to calculate the time when the trainer is in the current unbalanced state.

The control device monitors the second timing, when the second timing reaches the preset first timing, the tension value of the sling is not reduced, and the situation that a trainer cannot restore to the balance state by himself is shown.

Fig. 2 is a schematic structural diagram of a protection device according to an embodiment of the present invention, and as shown in fig. 2, the protection device includes: the device comprises a control device 1, a motor 2, a displacement sensor 3, a hanger 4, a tension sensor 5 and a hanging strip 6.

The control device 1 is used to process data and send control instructions.

The motor 2 is electrically connected with the control device 1, receives a control instruction sent by the control device 1, and rotates according to the control instruction.

The hanging bracket 4 is connected with the motor 2 through the hanging belt 6, when the motor 2 rotates, the motor 2 drives the hanging bracket 4 to move through the hanging belt 6, and the hanging bracket 4 is moved up and down by controlling the rotating direction of the motor 2.

The tension sensor 5 is connected with the hanging strip 6 and used for detecting the tension value of the hanging strip 6, the tension sensor 5 is also electrically connected with the control device 1, and the detected tension value of the hanging strip 6 is sent to the control device 1.

The displacement sensor 3 is connected with the motor 2 and used for measuring a displacement value of the rotation of the motor 2, and the displacement sensor 3 is also electrically connected with the control device 1 and sends the measured displacement value to the control device 1.

The control device 1 calculates according to the received tension value, displacement value and the like, generates a corresponding control instruction and sends the control instruction to the motor 2, and controls the motor 2 to rotate, wherein the control instruction comprises a rotation direction and a rotation speed.

The specific working process of the protection device provided by the embodiment of the present invention corresponds to the protection method provided by the embodiment of the present invention, and details are not described here.

Compared with the prior art, the embodiment of the invention provides a protection method and a protection device, the tension value of the tension sensor and the displacement value of the displacement sensor are received in real time through the control device, the current state of a patient is judged through the tension value, the displacement value, the preset set tension value and the preset limit value, the vertical movement of the hanging frame is controlled through the rotation of the motor, so that more gait training modes of the patient and the protection of the patient about to fall are realized, and the patient can independently and safely carry out more gait training without the nursing of a therapist.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.