KR100762528B1 - Load Controller and the Lumbar Extention Exercise Apparatus Using the Load Controller - Google Patents

Abstract

The present invention relates to a motion control device and a lumbar joint rehabilitation exercise device using the same, and in particular, a motion control device and a motion control device for combining torque-free DC motors, powder clutches and amplifiers to perform torque generation, braking and control. Rehabilitation exercise device configured to enable the rehabilitation exercise around the lumbar joint.

According to the present invention, the motion control device is configured to amplify the intrinsic torque of the rated capacity of the brushless DC motor and the basic braking force of the powder clutch at an interlocking magnification of the chain gear and the chain gear as an amplifier, and the pelvic thigh support and the scaffold support. By using a brushless DC motor having a sub function and a fixed support controller to control the waist fixing method, the controller can be controlled with a precise control force suitable for the physical situation and the exercise intensity of the user. By adopting motion controller to control, it can be automatically adjusted according to the change of user's real-time exercise intensity by feedback, or it can be configured to be adjusted by the operator according to the situation so that exercise load based on user's exercise angle range, muscle strength, etc. Maximizes exercise efficiency by allowing variable response Allow them to talk.

Exercise, Control, Rehabilitation, Lumbar Joint, Brushless DC Motor, Powder Clutch, Amplifier

Description

Load Controller and the Lumbar Extention Exercise Apparatus Using the Load Controller}

1 is a partially omitted perspective view showing a preferred example of the present inventors rehabilitation exercise device,

Figure 2 is a perspective view of the main portion showing the separated state of the preferred example of the present inventors motion control device assembled;

3 is a perspective view of the motion control device illustrated in FIG. 2 viewed from another direction;

Figure 4 is a perspective view of the main assembly state shown separately from the center of the pelvic thigh support that is employed in the present inventors rehabilitation exercise device,

5 is an exploded perspective view of FIG. 4;

Figure 6 is a partially omitted exploded perspective view showing the back plate to be employed in the present invention,

Figure 7 is a schematic diagram showing a preferred example of the integrated controller employed in the present invention.

<Explanation of symbols for main parts of the drawings>

1: motion controller, 2: seat,

3: pelvic thigh support, 4: scaffold support,

5: pelvic posterior fixation, 6: back,

7: counterweight mechanism, 8: integrated controller,

10,30,40,50,60,70: motor

The present invention relates to a motion control device and a lumbar joint rehabilitation exercise device using the same, and in particular, a motion control device and a motion control device for combining torque-free DC motors, powder clutches and amplifiers to perform torque generation, braking and control. Rehabilitation exercise device configured to enable the rehabilitation exercise around the lumbar joint.

Recently, degenerative diseases caused by lack of exercise, which is a serious social problem, are spreading in various forms such as osteoporosis, low back pain, incontinence, and hernia regardless of age.

Unlike most infectious diseases whose causes have been identified and developed for treatment, degenerative diseases have yet to be known for their exact causes, processes, and outcomes. Rehabilitation is known to work to some extent.

Therefore, in the past, Korean Patent Application No. 10-2003-44201, which is a prior application of the present inventor, has been filed as a lumbar joint rehabilitation exercise device.

However, the above prior art is configured to enable the rehabilitation exercise using the gravity weight, it is possible to exercise only in the direction of gravity, the movement is limited in both directions including the opposite direction and gravity weight as the exercise load Since the movement is performed after the setting is made by selecting the changed weight by displacing the position of, the constant velocity motion method that changes the load under a constant speed condition cannot be applied, and the force of the muscles that move the lumbar joint of the waist Not only depends on the angular displacement, but in the case of the patient, the force is limited in the area where the pain is induced, and thus, the exercise with only the selected exercise load causes significant problems in terms of efficiency and stability.

In addition, since the pelvis that is the basis of the movement is shorter than that of the pelvic posterior joint and the spinal axis, the pelvic fixation pressure must be so large that it is not only a problem to stabilize the pelvis and stabilize the movement base. Is the most important problem in the lumbar joint movement around the lumbar joint, but the operator's manual manipulation of the thigh and pelvic area is fixed, so when loosely tightened, the movement base shakes and tightly tightens the pain. This causes the disadvantage of exercise because it is difficult to choose the right medically appropriate conditions.

The present invention has been researched and developed with the following object in order to solve such a conventional problem.

The main purpose of the present invention is to utilize the inherent power torque of the rated capacity generated from the brushless DC motor and the basic braking force of the powder clutch so that it can be amplified and used as an amplifier so that power and motion loads are properly balanced to have stability and efficiency. It can be applied to various rehabilitation exercise devices, and when it is used as exercise fixing means, it controls according to electric and electronic change trends such as real-time current, voltage, power amount or resistance, and automatically adjusts fixed pressure and exercise control power by feedback. It is intended to maximize the exercise efficiency by allowing the operator to adjust according to the situation and to flexibly respond to the exercise load based on flexibility and muscle strength indicating the range of the user's exercise angle.

Another object of the present invention is to control the control method of the pelvic thigh support, scaffold support, pelvic posterior fixation of a brushless DC motor having a sub-function and precise control to match the user's physical situation and exercise intensity The purpose is to enable stable and efficient exercise.

The present invention is achieved by installing a basic control mechanism having a basic braking force, an amplifier for amplifying the basic braking force, and a power motor to assist movement in addition to the basic control mechanism and the amplifier. The basic control mechanism adopts a powder clutch having a basic braking force as a frictional resistance, and the amplifier is configured to amplify the chain gear and the chain gear at an interlocking magnification, and the power motor has an inherent torque of rated capacity. It provides a motion control device made using a brushless DC motor having a.

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In addition, the rehabilitation exercise device configured by using the exercise control device is a seat plate on which the user sits, a pelvic thigh support for fixing the user's pelvis and thighs, scaffold support for placing the user's feet, and the user's pelvis Pelvic posterior brace for fixing the rear part, a back plate installed to be interlocked with the amplifier shaft provided in the amplifier among the motion control device consisting of a brushless DC motor, powder clutch and amplifier, and interlocked with the amplifier shaft. The pelvic thigh holder, the scaffold support, the pelvic posterior fixation stand, the back plate, the counterweight mechanism and the motion control device are integrated to control the brushless DC motor with sub functions. It is characterized by providing a lumbar joint rehabilitation exercise device made by installing and using a controller.

In addition, the integrated controller is a sensor for receiving a signal from the encoder for detecting the diffraction angle of the back plate, the load cell for detecting the magnitude of the force applied to the back plate and the generator for converting the force generated by the momentum through the back plate into electricity A motor, a motion motor drive for driving the motion motor based on the signal received from the sensor part CPU, a pelvic posterior stator motor drive for driving the pelvic posterior stator motor, a backrest motor drive for driving the backrest motor, and a scaffold motor. Provides and integrates the main CPU controlling the operation of the scaffold motor drive, the counterweight motor drive driving the counterweight motor and the knee support motor drive driving the knee restraint motor, and the communication lines between the sensor unit CPU and the main CPU Consists of main box that stores controller setting and user information It is possible to control with precise control power according to the user's physical situation and exercise intensity, and can be automatically adjusted according to the change of user's real-time exercise intensity by feedback or configured to be adjusted by the operator according to the user's exercise angle range. It provides a lumbar joint rehabilitation exercise device to variably cope with the exercise load based on muscle strength, and the like.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As shown, the motion control apparatus according to the present invention includes a basic control mechanism 11 having a basic braking force and an amplifier 14 for amplifying the basic braking force.

In addition, in addition to the basic control mechanism 11 and the amplifier 14, a separate power motor 10 may be installed to assist the movement so that the configuration may be achieved.

In this case, the basic control mechanism 11 may be configured by selectively using a mechanical control mechanism including an electronic brake or an electric brake including a powder clutch or a friction disk, an interlocking controller, and the like.

In addition, the power motor 10 uses a brushless direct current motor having an inherent torque of rated capacity, the basic control mechanism 11 adopts a powder clutch having a basic braking force as a frictional resistance, and the amplifier (14) can be made using an amplifier configured to amplify at the interlocking magnification of the chain gear 12 and the chain gear 14.

The power motor 10 having an intrinsic torque of rated capacity, the basic control mechanism 11 having a basic braking force as a frictional resistance, and the chain gear 12 and the chain gear 13 can be amplified at an interlocking magnification. Including the amplifier 14 is configured.

At this time, the timing gears 15, 16 and 17 are provided on the shaft of the power motor 10, the shaft of the basic control mechanism 11 and the shaft of the amplifier 14, respectively. , 17) to be interlocked by the timing belt 18 so that a uniform operation is achieved.

In addition, the lumbar joint rehabilitation exercise device according to the present invention is the seat plate 2, the pelvis and thigh support for fixing the user's pelvis and thighs, and the footrest support for placing the user's foot (4) And, to the amplifier 14 of the motion control device (1) consisting of a pelvic posterior fixation table (5) for fixing the user's pelvic posterior part, the power motor 10, the basic control mechanism 11 and the amplifier (14) The back plate 6 is provided to be interlocked with the amplifier shaft 19 is provided, and the counterweight mechanism 7 is installed to be interlocked with the amplifier shaft 19, the pelvic thigh support (3), the scaffold support (4), pelvic posterior fixation (5), back plate (6), counterweight mechanism (7) and the motion control device (1) each brushless direct current motor (30) having a sub-function , 40, 50, 60, 70, 10 and the integrated controller (8) for controlling them is made by utilizing the installation.

The pelvic thigh support (3) is provided with a pressure pad 32 on one side of the lower side of the T bar 31, the other side is a screw rod driven by the drive motor 30 located in the lower portion as a link structure 33 ( 34) is installed on the support 35 so that forward and backward can be made.

The scaffold support 4 is installed on both sides of the support 35 to be displaceable by the drive motor 40.

The pelvic posterior fixation stand 5 is configured to be in close contact with the waist by the driving motor 50, and the back plate 6 is the upper member 62 by the driving motor 60 to the lower member 64. It is constructed to be able to adjust the height and the length from the rising and falling from.

The counterweight mechanism (7) is an opposing side of the motion control device (1) is provided with an arm (71) to be interlocked with the amplifier shaft (19) and the slider (72) coupled to the arm (71). Installing a guider (73) and installing a counterweight (75) on a screw rod (74) driven by the motor (70). The counterweight (75) is coupled to the slider (72) at the bottom of the motor (70). As the rotation of the screw rod 74 is performed by the driving of the counterweight 75, the counterweight 75 is configured to be displaceable in the upper portion of the arm 71 together with the slider 72.

At this time, the integrated controller 8 is the encoder 124 for detecting the diffraction angle of the back plate 6 and the momentum through the load cell 122 and the back plate 6 for detecting the magnitude of the force applied to the back plate (6) The sensor unit CPU 120 for receiving a signal from the generator 126 for converting the force generated by the electric power and the motion to drive the exercise motor 10 based on the signal received from the sensor unit CPU 120 The pelvic posterior stator motor drive 133 for driving the motor drive 132, the pelvic posterior stator motor 50, the backrest motor drive 134 for driving the backrest motor 60, and the scaffold motor for driving the scaffold motor 40. A main CPU 130 for controlling the operation of the drive 135, the counterweight motor drive 136 for driving the counterweight motor 70, and the knee holder motor drive 137 for driving the knee holder motor 30; And, the communication line between the sensor unit CPU 120 and the main CPU 130 It consists of a main box 110 to provide and store the settings and user information of the integrated controller (8).

The load cell 122 continuously detects the magnitude of the force applied to the back plate 6 and transmits it to the sensor unit CPU 120. As a result, the sensor unit CPU 120 may check the muscle strength of the user.

The encoder 124 continuously detects the diffraction angle of the backplate 6 and transmits it to the sensor unit CPU 120. As a result, the sensor unit CPU 120 can check the operation state of the rehabilitation exercise device.

The generator 126 produces electricity by the magnitude of the force applied to the backplate 6 and the moving speed of the backplate 6, and continuously transmits the generated electric quantity information to the sensor unit CPU 120.

The sensor unit CPU 120 continuously receives an operating state of the rehabilitation exercise device from the load cell 122, the encoder 124, and the generator 126. Thereby, the rotation angle of the back plate 6, the magnitude of the user's force applied to each rotation angle, and the operation speed of the back plate 6 can be confirmed in real time.

The main box 110 is a communication function for transmitting the operation state of the back plate 6 confirmed by the sensor unit CPU 120 to the main CPU 130 and the PC computer 114, and the control operation of the main CPU 130. It is responsible for the storage function for storing necessary user information and exercise amount.
Reference numeral 112 is an emergency SW is responsible for stopping the operation of the rehabilitation exercise device in an emergency situation.

The PC computer 114 transmits the user information and the like inputted by the operator and the firmware necessary for the main CPU operation of the rehabilitation exercise device to the main BOX 110, and stores the operation state of the rehabilitation exercise device and the like.

The main CPU 130 is the pelvic posterior fixation motor drive 133, the backrest motor drive 134 based on user information entered or stored by the PC computer 114, the main BOX 110, and / or the manual keypad 131. The footrest motor drive 135 and the knee support motor drive 137 are operated. Thereby, each component is adjusted to fit the user's body shape. In addition, the exercise motor drive 132 and the powder clutch 138 are operated in accordance with exercise information input from the sensor unit CPU 120, a user exercise program stored in the PC computer 114 or the main BOX 110. As a result, the exercise load is automatically adjusted according to the user's situation.

That is, the integrated controller 8 can be controlled by the precise control force suitable for the user's physical situation and exercise intensity, and is automatically selected according to the change of the user's real-time exercise intensity by the feedback or adjusted by the operator according to the situation. It can be configured to respond to the exercise load based on the user's exercise angle range, muscle strength, and the like.

Next will be described in detail with reference to the integrated controller (8) the process that the operation is made for the lumbar joint rehabilitation exercise device is made as described above.

First, in the first step, the user sits on the rehabilitation apparatus.

In the second step, the operation of the manual keypad 131 of the operator or the user body information stored in the main BOX 110 or the PC computer 114, the main CPU 130 causes the pelvic posterior motor drive 133 and the backrest motor. The drive 134, the footrest motor drive 135 and the knee support motor drive 137 are operated so that the user's body can be stably fixed to the rehabilitation exercise device.

Based on the third step, the operator's manual keypad 131 operation or user movement information stored in the main BOX 110 or the PC computer 114, the main CPU 130 moves the exercise motor drive 132 and the counterweight motor. The drive 136 and the powder clutch 138 are operated to generate an exercise load according to the user's situation.

In the fourth step, the user exercises according to the exercise load according to the third step.

In a fifth step, the sensor unit CPU 120 receives the user's exercise intensity from the load cell 122, the encoder 124, and the generator 126 in real time.

The sixth step, the main CPU 130 is based on the exercise intensity of the user received from the sensor unit CPU 120, etc., in real time according to the set program motor motor drive 132, counterweight motor drive 136 and / Or adjust the powder clutch to change your workout intensity from time to time. As a result, a rehabilitation exercise according to a rehabilitation program required by the user is possible, and the exercise intensity and the like can be analyzed, stored, and adjusted in real time.

As described above, according to the present invention, the motion control device 1 utilizes the inherent torque of the rated capacity of the power motor 10 and the basic braking force of the basic control mechanism 11 to amplify it as an amplifier 14. It can be applied to a variety of exercise devices that require exercise load, and when applied to the lumbar joint rehabilitation exercise device of the present invention by controlling it to be automatically adjusted according to the change of the user's real-time exercise intensity by feedback In addition, it is possible to maximize the exercise efficiency by allowing the operator to adjust according to the situation and to variably cope with the exercise load based on the user's exercise angle range and muscle strength.

In addition, the present invention serves as a control function of the exercise control device (1), pelvic thigh support (3), scaffold support (4), pelvic posterior fixation (5), back plate (6) and counterweight mechanism (7) Brushless DC motors (10,30,40,50,60,70) and control them to enable accurate control according to the physical situation and exercise intensity of the user, enabling more stable and efficient exercise, etc. Will have an excellent effect.

Claims (5)

It is made by installing a basic control mechanism having a basic braking force, an amplifier for amplifying the basic braking force, and a separate power motor for assisting movement in addition to the basic control mechanism and the amplifier, The basic control mechanism adopts a powder clutch having a basic braking force as a frictional resistance, The amplifier is configured to amplify the chain gear and the chain gear at a magnification, and The power motor is a motion control device characterized in that using a brushless direct current motor having a specific torque of a rated capacity. delete delete The seat on which the user sits, Pelvic thigh support for fixing the user's pelvis and thighs, Scaffold support for placing the user's feet, Pelvic posterior brace for fixing the user's pelvic posterior part, A back plate installed to be interlocked with an amplifier shaft provided in the amplifier among the motion control devices including a brushless DC motor, powder clutch and amplifier, and It comprises a counterweight mechanism is installed to be interlocked with the amplifier shaft, The pelvic thigh support, the scaffold support, the pelvic posterior fixation, the back plate, the counterweight mechanism and the motion control device is made by using a brushless DC motor having a sub-function and an integrated controller for controlling it. Lumbar joint rehabilitation exercise device. The method of claim 4, wherein The integrated controller, A sensor unit CPU which receives a signal from an encoder for detecting the diffraction angle of the backplate, a load cell for sensing the magnitude of the force applied to the backplate, and a generator for converting the force generated by the momentum through the backplate into electricity; An exercise motor drive for driving an exercise motor based on the signal received from the sensor unit CPU, a pelvic posterior stand motor drive for driving the pelvic posterior stand motor, a backrest motor drive for driving the backrest motor, and a scaffold motor drive for driving the scaffold motor A main CPU for controlling the operation of the counterweight motor drive for driving the counterweight motor and the knee support motor drive for driving the knee support motor, and It provides a communication line between the sensor unit CPU and the main CPU and consists of a main box for storing the settings and user information of the integrated controller, It is possible to control with precise control power according to the user's physical situation and exercise intensity, and can be automatically adjusted according to the change of user's real-time exercise intensity by feedback or configured to be adjusted by the operator according to the user's exercise angle range. Lumbar joint rehabilitation apparatus, characterized in that to be able to respond variably to the exercise load based on muscle strength.

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