CN102600031B - Treatment and rehabilitation system - Google Patents
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- CN102600031B CN102600031B CN 201210077467 CN201210077467A CN102600031B CN 102600031 B CN102600031 B CN 102600031B CN 201210077467 CN201210077467 CN 201210077467 CN 201210077467 A CN201210077467 A CN 201210077467A CN 102600031 B CN102600031 B CN 102600031B
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Abstract
The invention provides a treatment and rehabilitation system, which comprises a main machine of the treatment and rehabilitation system for finishing treatment and rehabilitation training of a user, a work station for finishing applicable control and data analysis and storage of a plurality of terminal controllers, and a data cable for connecting the work station and two or more main machines of the treatment and rehabilitation system. The treatment and rehabilitation system has the advantages of being high in system integration degree, small in required site and high in automatic degree, andtraining requirements for various functions in one machine can be met to the maximal extent.
Description
Technical field
The present invention relates to medical instruments field, relate in particular to a kind of therapy rehabilitation system.
Background technology
In the prior art, adopt joint motion training aids to come Movable joint than the technology of low side, cycle ergometer is used for training the upper and lower extremities muscular strength, has following problem:
1, poor stability.In the time of passive exercise, when patient's muscle produced spasm, can not implementing effectively, protection caused unexpected injury.
2, function singleness will make up the equipment that comprehensive training mode needs a large amount of difference in functionalitys, and the occupied ground area is big, constant maintenance.
3, performance indications do not reach application requirements, because the amplification of range of motion, speed and micro displacement accumulate to finish accurately, and prior art is because cost factor and the high restriction of specification requirement, the power source of a lot of these series products adopts common reducing motor, belt pulley transmission power, the velocity location precision does not reach instructions for use far away.
4, the lack in training evaluation function of effect.
5, can not change training mode automatically according to patient's ability, such as passive transformation to the active training.
6, lack human-computer interaction, training content is uninteresting.
The technology of existing higher-end has constant speed evaluation equipment, high-end CPM range of motion exercise equipment, and above-mentioned range of motion exercise equipment has following defective, and is specific as follows described:
1, constant speed equipment biases toward evaluation function, high-end CPM range of motion exercise equipment function singleness.
2, constant speed equipment adopts the high technical scheme of price, so the price of complete machine height, can't popularize to township level hospital.
3, lack ADL viability training function.
4, can not work by many All-China Federation of Taiwan Compatriots machine, be not easy to on-the-spot many people training management.
In sum, existing therapy rehabilitation system can not satisfy that users' integrated level is low, the demand place is big, automaticity is low, can not satisfy the training demand of multi-functional machine.
Thereby, need the urgent technical problem that solves of those skilled in the art to be exactly at present: how to find a kind of novel therapeutic equipment system, this level of integrated system height, the demand place is little, automaticity is high, can satisfy the training need of multi-functional machine to greatest extent.
Summary of the invention
A technical problem to be solved by this invention provides a kind of therapy rehabilitation system, and this level of integrated system height, the demand place is little, automaticity is high, can satisfy the training need of multi-functional machine to greatest extent.
In order to address the above problem, the invention discloses a kind of therapy rehabilitation system, comprise the main frame of the above therapy rehabilitation of work station, data cable and system,
Described work station is connected by data cable with described main frame;
Described main frame is used for finishing user's therapy rehabilitation training and/or activity of daily living simulation training;
Described work station is used for finishing to the suitable control of an above institute main frame and/or to Operational Data Analysis, the storage of described main frame.
Preferably, described main frame comprises:
Mobile jib fixed mount, elevation and subsidence regulating device and training head, described elevation and subsidence regulating device are installed in the described mobile jib fixed mount, and described training head is fixedly mounted on the described elevation and subsidence regulating device, and described elevation and subsidence regulating device is used for adjusting the height of described training head.
Preferably, described mobile jib fixed mount comprises base and column, and described mobile jib fixed mount is used for supporting the stable of described main frame complete machine; Described column inside is provided with lifting motor and is connected the lifting that is used for regulating described training head with the lifting connecting plate.
Preferably, described training head comprises servomotor, reduction box, and described training head is connected on the linear bearing by head fixed mount and training airplane brilliance degree controller, is used for the training to each joint part of human body; Described training head leading portion has also disposed electric slip ring, torque sensor, training bar fixedly locking device and training bar, thereby the described training bar of the dismountable insertion of the stiff end of described training bar fixedly is connected with described training head in the locking device; Described training bar comprises the multiple model at different joint parts, and the stiff end that is directed to the described training bar of different joint parts all is respectively arranged with the ID chip, be used for to indicate described training bar and be the training bar for which joint part; Described training bar fixedly is provided with spring in the locking device, is used for locked described training bar in case of necessity; Described training bar fixedly is equipped with the ID chip identifier in the locking device, be used for identification automatically insert described training bar fixedly the training bar in the locking device model and corresponding parameter is set, thereby control sequence enters the training mode that this model is trained the joint that pole pair answers automatically.
Preferably, be provided with torque limiter in each described training bar, can keep stopping operating for described training bar when the rotating speed of overload is arranged, and when motor dallies, the bar restore funcitons is fallen, trained to uniform velocity.
Preferably, also be provided with singlechip controller in the described main frame, described singlechip controller is connected with described servomotor with described torque sensor, described ID chip identifier, be used for the running state data of described servomotor and the data that described torque sensor is obtained are controlled and gathered to described servomotor, described singlechip controller also is connected with described work station, the transfer of data that is used for gathering is given described work station and is received the operating instruction of described work station, according to operating instruction described servomotor is controlled.
Preferably, described training head, the power, drag and the process reduction box that produce by servomotor reduce the rotating speed of servomotor and increase output torque, and by electric slip ring connection torque sensor signal line, provide the id information of moment of torsion and training bar, two and plural training airplane head member to be configured for providing active or the passive exercise frame head apparatus of described therapy rehabilitation system to main frame;
Described lifting motor drives the linear bearing rotation, and the linear bearing bearing sleeve is slided at line slideway, and described linear bearing lifting rail device is used for providing the elevating function of the training head of described therapy rehabilitation system;
Described training bar, Metallic rod by difformity and length is formed, the head of described training lever apparatus is made up of ID chip and the contact of pivot pin and described pivot pin, the middle part of described training lever apparatus is made up of limbs fixing band and the carriage that can rotate, and described training lever apparatus is for connecting the undergo training device of limbs of described fixedly locking device and immobilized patients;
Described fixedly locking device, lock described training lever apparatus by spring and pin, and control torsion by the torque limiter of described training lever apparatus, described fixedly locking device is the safety device for described training lever apparatus and the described training lever apparatus overload protection of control;
Training airplane brilliance degree controller is for twisting the device that nut is controlled the angle of described training airplane head unit by hands;
Described servomotor is the common servomotor of 1000W.
Preferably, also be equipped with the integral type touch display on the described main frame, be used for setting training parameter, shown training data information, control training airplane head unit and control and described work station carry out the device of exchanges data.
Preferably, described work station is the car-type structure.
The invention has the beneficial effects as follows:
1, native system is the combined unit rehabilitation training equipment to each position functional status of people with disability's whole body, it is fit to China disabled rehabilitation center at county level and uses, because integrated level height, the demand place is little, automaticity is high, can satisfy the training need of multi-functional machine to greatest extent, solve same category of device simultaneously from external import domestic market demand, solve clinical demand greatly, reduce the price of product.
2, range of motion training:
Can train at carry out many people simultaneously with hypozygal: shoulder joint, elbow joint, carpal joint, forearm, hip joint, knee joint;
Be configured by activity point of view, the speed of clinical demand to different joints, realize the passive exercise of range of motion;
Patient's defencive function in the passive exercise has muscle spasm Intelligent Recognition function;
Be configured by activity point of view, speed, the resistance of clinical demand to different joints, the realization range of motion is initiatively trained;
Identify master/passive transfer point of different patients, realize that passive exercise is to the initiatively seamless link of training.
3, exercise for power:
Can carry out many people's training at the related muscles group with hypozygal simultaneously: shoulder joint, elbow joint, carpal joint, forearm, hip joint, knee joint, ankle joint;
Press clinical demand configuration speed, range of activity, to the related muscles group in different joints, carry out the active training;
Press clinical demand configuration resistance, range of activity, the related muscles group to different joints carries out passive exercise;
Identify master/passive transfer point of different patients, realize that passive exercise is to the initiatively seamless link of training;
Patient's defencive function in the passive exercise has muscle spasm Intelligent Recognition function.
4, coordination ability training:
By feedback patient's moment of torsion, speed, positional information, make the game interactive of patient and touch-control computer screen, the coordination ability that is used for training the patient.
5, activity of daily living training:
Intend corresponding resistance, acceleration, displacement by touch-control computer software control training airplane head mould, realize as twist key, twist door handle, carry thing, remove thing, daily use such as vehicle steering, make the patient obtain various activity of daily living training, and evaluative of training can be provided.
6, strengthened protection abilities, by the ID of recognition training bar, made the automatic recognition training content of system, avoided the human error to damage, increased mechanical safe torque limiter in addition, avoided that fault causes accident out of control beyond the equipment.
7, work station global administration, carry out information interaction at the training scene by work station networking and many training main frames, make the doctor carry out the parameter setting, specify training program, check the training progress, assess training result, to generate form file etc. many training main frames simultaneously.
In a word, the invention provides a kind of multifunctional treating rehabilitation system at the people with disability, this level of integrated system height, the demand place is little, automaticity is high, can satisfy the training need of multi-functional machine to greatest extent.
Description of drawings
Fig. 1 is the structural representation of therapy rehabilitation system embodiment of the present invention;
Fig. 2 is the structural representation of the main frame of therapy rehabilitation system among the present invention;
Fig. 3 is the fixing structural representation of locking device among the present invention;
Fig. 4 is the structural representation of training airplane brilliance degree actuator among the present invention;
Fig. 5 is the circuit diagram of the main frame of therapy rehabilitation system among the present invention.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
One of core concept of the present invention has provided a kind of therapy rehabilitation system, comprising: the main frame of therapy rehabilitation system is used for finishing user's therapy rehabilitation training; Work station is used for finishing the suitable control of many station terminals controller and data analysis, storage; Data cable be used for to connect the main frame of described work station and described two and plural described therapy rehabilitation system; This level of integrated system height, the demand place is little, automaticity is high, can satisfy the training need of multi-functional machine to greatest extent.
With reference to Fig. 1, show the structural representation of a kind of therapy rehabilitation system embodiment of the present invention, specifically can comprise:
The main frame 1 of therapy rehabilitation system is used for finishing user's therapy rehabilitation training.
Work station 2 is used for finishing the suitable control of many station terminals controller and data analysis, storage.
Wherein, described work station is the car-type structure.Work station is to control 4 machines simultaneously by a bench control system, avoids many people's controls, saves manpower, also can separate single operation.
The function of work station is specific as follows described:
1, case management;
2, many training aids identification and control, physical training condition monitor (progress, overload, promptly stop);
3, the mode of operation of training aids is set: active and passive, Zhang Xiangxin such as exercise for power constant speed are centrifugal;
4, gather training aids position, speed, torque signals, can assess the training effect;
5, adjust training strength according to the training effect automatically;
6, derivation function: recovery function evaluation and test;
7, generate the training assessment report.
Data cable 3 be used for to connect the main frame of described work station and described more than one described therapy rehabilitation system.
With reference to Fig. 2, show the structural representation of the main frame of therapy rehabilitation system among the present invention, specifically can comprise:
Base 1; Power supply 2; Driver 3; Controller 4; Lifting motor 5; Lifting connecting plate 6 parts; Column 7; Servomotor 8; Reduction box 9; Fixing locked parts 10; Training bar and handle component 11; Touch display 12; Display pressure pin 13; Linear bearing 14; Training airplane brilliance degree controller 15; Line slideway 16; Head fixed mount 17; Electric slip ring parts 18; Torque sensor 19.
Base 1 and column 2 are formed described mobile jib fixed mount; Described mobile jib fixed mount is used for supporting the main frame of therapy rehabilitation system.
The training airplane head unit, the power, drag and the process reduction box that produce by servomotor reduce the rotating speed of servomotor and increase output torque, and by electric slip ring connection torque sensor signal line, provide the id information of moment of torsion and training bar, two and plural training airplane head member to be configured for providing active or the passive exercise frame head apparatus of described therapy rehabilitation system to main frame.Wherein, the training airplane head unit, produce power or drag, reduce the rotating speed of servomotor and increase output torque through reduction box by servomotor, torque sensor is fixed on the output shaft of reduction box, utilize electric slip ring to connect the id information that torque sensor signal alignment main frame provides moment of torsion and training bar, several unit constructions are used for providing the active and passive training airplane head unit of described therapy rehabilitation system together.
Lifting motor 5 is connected by linear bearing 14 and line slideway 16, forms described linear bearing lifting rail device; Described linear bearing lifting rail device is used for providing linear bearing and the line slideway device of the main frame of described therapy rehabilitation system.Linear bearing lifting rail device drives the linear bearing rotation by the lifting drive motors, and the linear bearing bearing sleeve is slided at line slideway, and described linear bearing lifting rail device is used for providing the elevating function of the training head of described therapy rehabilitation system.Wherein, linear bearing lifting rail device drives the linear bearing rotation by the lifting drive motors, linear bearing is enclosed within on the line slideway slides, and is used for providing the elevating function of the training head of described therapy rehabilitation system.
Servomotor 8 and reduction box 9 formed described motor and the reduction box device of waiting for an opportunity, and described motor and the reduction box device of waiting for an opportunity waited for an opportunity motor and reduction box for what described therapy rehabilitation system was provided.The training lever apparatus, Metallic rod by difformity and length is formed, the head of described training lever apparatus is made up of ID chip and the contact of pivot pin and described pivot pin, the middle part of described training lever apparatus is made up of limbs fixing band and the carriage that can rotate, and described training lever apparatus is for connecting the undergo training device of limbs of described fixedly locking device and immobilized patients.Wherein, the training lever apparatus is made of the Metallic rod of difformity length, the training club head has pivot pin, be embedded with I D chip and contact on the pivot pin and be used for being connected and fixed locked assembling device, there are mobilizable limbs fixing band and carriage in training bar middle part, is used for the immobilized patients limbs of undergoing training.
Fixing locked parts 10 link to each other with training bar, torque limiter and handle component 11 by electric slip ring parts 18, form described fixedly locking device.Described fixedly locking device is used for locked training bar.Described fixedly locking device can conveniently be trained the replacement of bar, and the self-return function is arranged, and only need rotate during use and can pin the training bar, and is simple to operate practical and convenient.Training bar leading portion has been equipped with torque controller, and the training bar can stop operating when the rotating speed of overload is arranged, and motor idle running, uniform velocity is fallen, and training bar restore funcitons has been avoided the unnecessary injury that the people is caused because control is malfunctioning.Fixing locking device, lock described training lever apparatus by spring and whistle, and control torsion by the torque limiter of described training lever apparatus, described fixedly locking device is the safety device for described training lever apparatus and the described training lever apparatus overload protection of control; Wherein, fixing locking device, the cooperation by spring and pin locks the training bar, controls the out of control of excessive torsion and machine by the torque limiter on the training bar again, is used for the safety device that the bar overload protection is trained in locked training bar and control.
Lifting connecting plate parts 6, servomotor 8, reduction box 9, training airplane brilliance degree controller 15 and head fixed mount 17 are formed described training airplane brilliance degree actuator.Described training airplane brilliance degree actuator is twisted the angle that nut is controlled head by hands, and when tightening, head maintains static, and when unclamping, the training head can be transferred to suitable angle on request.Described training airplane brilliance degree actuator is used for twisting the angle that nut is controlled head by hands.Training airplane brilliance degree actuator is used for twisting the device that nut is controlled the angle of described training airplane head unit by hands.Wherein, servomotor, reduction box, electric slip ring, torque sensor link to each other with fixing locked parts, form described training head.The training head is twisted nut with lowering or hoisting gear and hands and is linked to each other, and forms described angle controller.
Touch display 12 and display pressure pin 13 are formed touch display and display bracket device, and described touch display and display bracket device are used for showing training data information.Touch-control computer and computer bracket system, by carriage the touch-control computer is connected to described fixedly locking device, described touch-control computer and computer bracket system are for setting training parameter, show training data information, control training airplane head unit and carry out the device of exchanges data with described work station.Wherein, touch-control computer and computer bracket system are connected to the touch-control computer fixedly by carriage and add, are used for setting training parameter, show training data information, control training head, with rehabilitation system work station swap data.
Power supply 2, driver 3 and controller 4 have been formed described circuit and control device.Described circuit and control device, be used for providing the therapy rehabilitation system main frame circuit arrangement and finish circuit control to the main frame of therapy rehabilitation system.Circuit and control device are used for providing the circuit control to the main frame of described therapy rehabilitation system of the circuit arrangement of main frame of described therapy rehabilitation system and evening show.
The mobile jib fixed mount that the main frame of therapy rehabilitation system is made up of base 1 and column 7 among the present invention supports the stable of complete machine; The inner lifting that is connected to regulate the training head with lifting motor 5 with lifting connecting plate 6, the training head is that servomotor 8 is connected on the linear bearing 14 by head fixed mount 17 and training airplane brilliance degree controller 15 with reduction box 9 combinations, thereby has realized that all kinds of crowds are to the training at each position; The combination of training head has realized the application of low-cost high-efficiency.Training head leading portion has also been joined spark ring 18 torque sensors 19 and has been trained fixedly locking device 10 of bar, electric slip ring 18 provinces have been arranged a lot of loaded down with trivial details circuits connect, also solve torque sensor 19 and connect the problem that electricity winds the line, and torque sensor 19 also makes the certainty of measurement when training reach ultimate attainment, improves training quality.
The training bar fixedly locking device 10 we are combined at the exquisiteness of product especially with the cooperation of training bar 11, the training bar fixedly utilize in the locking device 10 spring resilience we designed locked positioner, and electronics ID evaluator has been installed inside, whichever joint training bar inserts locking device 10 interior systems and identifies and arrange corresponding parameter automatically, thereby Automatic Program enters the training mode in this joint, hommization and the intellectuality of our products have more been embodied, we design again and have added torque limiter in each training bar 11, the training bar can keep stopping operating when the rotating speed of overload is arranged, and motor idle running, uniform velocity is fallen, training bar restore funcitons, also be equipped with the integral type touch display in addition on the product, in the inner space of having saved machine, more allowed the operator handy.Equipment also has been equipped with the pattern that work station has been realized people management, has embodied the practicality of product from the global design theory, and all turn to essence from human nature.
With reference to Fig. 3, show among the present invention the fixedly structural representation of locking device, specifically can comprise:
3, fixing locking device; 3-1, location-plate;
3-2, spring; 3-3, shell;
3-4, same core bar; 3-5, torque limiter;
3-6, spring pad; 3-7, training bar.
From Fig. 3, the fixing structure of locking device among the present invention as can be seen.
With reference to Fig. 4, show the structural representation of training airplane brilliance degree actuator among the present invention, specifically can comprise:
4, training airplane head frame; 4-1, hands are twisted nut;
4-2, outer tooth disk; 4-3, interior fluted disc.
From Fig. 4, the structure of training airplane brilliance degree actuator among the present invention as can be seen.
The training aids contour structures:
Constitute shell by aluminium alloy and plastics;
Liquid crystal display screen and control button are arranged;
Unified outward appearance is adopted in each joint training aids, and difference joint applying portion connects;
The joint is used to connect and is adopted the pull length adjusting mechanism, and aluminium alloy is main body, is aided with bandage and rubber handle etc.
The training aids main performance:
Max. output torque: 300NM;
Maximum angular rate: 180 degree/second;
Maximum rotation angle scope: arbitrarily;
The rotational angle setting means: mechanical position limitation and electron drag are spacing;
Angle precision :+-1 degree;
Velocity error when unloaded band carries: be not more than+-2%;
100 grades of angular velocity are adjustable;
Metering stops automatically;
100 grades of adjustable minimum drag 0.5N rice of active drag;
Display screen: 18.5 cun color screen bands touch;
Training aids can show and arrange training informations such as the serial number of training aids and current application function, display speed, position, moment of torsion, frequency of training, schedule; But animation shows the training angle initialization, finishes scope etc.
Initiatively the operation principle of training is described below:
Patient's the limbs of being trained are fixed in the training bar, the joint is in the axle center of rotating shaft, it is that back and forth train in the axle center with the joint that the patient drives the training bar voluntarily, because the training bar will drive decelerator, together turn round with motor, various resistances are sizable, the patient can't drive at all voluntarily, need motor logical one suitable electric current to assist patient moving, alleviate patient's resistance, being installed in the torque sensor of training behind the bar this moment measures the patient in real time and is applied to moment of torsion in the rotating shaft of training bar, pass to controller, controller by algorithm with the Current Control of motor to the numerical value that is fit to, pass to motor driver, make motor produce suitable moment of torsion offset resistance, accurately the different resistance demand of patient is satisfied in the resistance configuration in control training bar axle center.When initiatively training as the joint, the resistance of requirement is close to 0, and during exercise for power, the resistance of rotating shaft is wanted ascending according to the training stage and adjusted in proper order
The operation principle of passive exercise is described below:
Passive fairly simple, the immobilized patients method is the same, because the patient does not have initiative ability, must produce power by motor and produce big moment of torsion by decelerator, and speed and operating range that follow procedure arranges drive patient's limbs and move back and forth.Requirement speed from extremely slow 1 the degree/second to 150 the degree/second, the position be accurate to 1 the degree, these performance servomotors self are easy to finish.Whether spasm takes place and will detect patient's muscle in the process that difficult point is to turn round, to make a response immediately during generation, this needs the torque sensor feedback signal, extract this signal by the controller algorithm analysis, accurately identification, stop immediately, and determine according to analysis result whether adverse movement 5 is spent, to remove spasm.
The operation principle of main passive conversion is described below:
When patient's mobility is in main passive critical state, when passive exercise, as detecting the patient active drive consciousness is arranged by torque sensor, controller will be according to detecting the drive current that patient's driving force reduces motor, make the patient can initiatively drive the motion of training bar, but when patient's initiative ability descended, motor can increase electric current again, switches to passive state again.
The range of motion scope is measured: be strapped in training bar upper limb body by patient or medical care activity, position coder sends to controller with the full range of movement of limbs, in order to generate the parameter of training test report or conduct training.
The activity of daily living simulation training:
Realize by the various simulation algorithms of controller and various training bar adapter, such as stubborn key, revolving door handle, steering wheel, remove chest, mop floor etc.
The harmony training:
By game interactive, such as the patient by the obstacle recreation of driving to hide of steering wheel training bar adapter.
With reference to Fig. 5, show the circuit diagram of the main frame of therapy rehabilitation system among the present invention, specifically can comprise:
Training bar, torque sensor, reduction box, servomotor, position coder, motor driver, singlechip controller, touch-screen display and computer.
In a word, the invention provides a kind of therapy rehabilitation system, this level of integrated system height, the demand place is little, automaticity is high, can satisfy the training need of multi-functional machine to greatest extent.
More than a kind of therapy rehabilitation provided by the present invention system is described in detail, used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (6)
1. a therapy rehabilitation system is characterized in that, comprises the main frame of the above therapy rehabilitation of work station, data cable and system,
Described work station is connected by data cable with described main frame;
Described main frame is used for finishing user's therapy rehabilitation training and/or activity of daily living simulation training;
Described work station is used for finishing to the suitable control of the above main frame and/or to Operational Data Analysis, the storage of described main frame;
Described main frame comprises:
Mobile jib fixed mount, elevation and subsidence regulating device and training head, described elevation and subsidence regulating device are installed in the described mobile jib fixed mount, and described training head is fixedly mounted on the described elevation and subsidence regulating device, and described elevation and subsidence regulating device is used for adjusting the height of described training head;
Described mobile jib fixed mount comprises base and column, and described mobile jib fixed mount is used for supporting the stable of described main frame complete machine; Described column inside is provided with lifting motor, and described lifting motor is connected with the lifting connecting plate, is used for regulating the lifting of described training head;
Described training head comprises servomotor and reduction box, and described training head is connected on the linear bearing by head fixed mount and training airplane brilliance degree controller, is used for the training to each joint part of human body; Described training head leading portion has also disposed electric slip ring, torque sensor, training bar fixedly locking device and training bar, thereby the described training bar of the dismountable insertion of the stiff end of described training bar fixedly is connected with described training head in the locking device; Described training bar comprises the multiple model at different joint parts, and the stiff end that is directed to the described training bar of different joint parts all is respectively arranged with the ID chip, be used for to indicate described training bar and be the training bar for which joint part; Described training bar fixedly is provided with spring in the locking device, is used for locked described training bar in case of necessity; Described training bar fixedly is equipped with the ID chip identifier in the locking device, be used for identification automatically insert described training bar fixedly the training bar in the locking device model and corresponding parameter is set, thereby control sequence enters the training mode that this model is trained the joint that pole pair answers automatically.
2. therapy rehabilitation according to claim 1 system is characterized in that, is provided with torque limiter in each described training bar, can keep stopping operating for described training bar when the rotating speed of overload is arranged, and motor idle running, uniform velocity is fallen, training bar restore funcitons.
3. therapy rehabilitation according to claim 1 system, it is characterized in that, also be provided with singlechip controller in the described main frame, described singlechip controller respectively with described torque sensor, described ID chip identifier is connected with described servomotor, be used for the running state data of described servomotor and the data that described torque sensor is obtained are controlled and gathered to described servomotor, described singlechip controller also is connected with described work station, the transfer of data that is used for gathering is given described work station and is received the operating instruction of described work station, according to operating instruction described servomotor is controlled.
4. therapy rehabilitation according to claim 1 system is characterized in that,
Described training head, the power, drag and the process reduction box that produce by servomotor reduce the rotating speed of servomotor and increase output torque, and by electric slip ring connection torque sensor signal line, provide the id information of moment of torsion and training bar, more than one training head to be configured for providing active or the passive exercise frame head apparatus of described therapy rehabilitation system to main frame;
Described elevation and subsidence regulating device comprises, described lifting motor, linear bearing and line slideway; Described lifting motor drives the linear bearing rotation, linear bearing is enclosed within on the line slideway slides, and described elevation and subsidence regulating device is used for providing the elevating function of the training head of described therapy rehabilitation system;
Described training bar, Metallic rod by difformity and length is formed, the head of described training lever apparatus is made up of ID chip and the contact of pivot pin and described pivot pin, the middle part of described training lever apparatus is made up of limbs fixing band and the carriage that can rotate, and described training lever apparatus is for connecting the undergo training device of limbs of described fixedly locking device and immobilized patients;
Described fixedly locking device, lock described training lever apparatus by spring and pin, and control torsion by the torque limiter of described training lever apparatus, described fixedly locking device is the safety device for described training lever apparatus and the described training lever apparatus overload protection of control;
Training airplane brilliance degree controller is for twisting the device that nut is controlled the angle of described training airplane head unit by hands;
Described servomotor is the common servomotor of 1000W.
5. therapy rehabilitation according to claim 1 system, it is characterized in that, also be equipped with the integral type touch display on the described main frame, be used for setting training parameter, show training data information, control training airplane head unit and control and described work station carry out the device of exchanges data.
6. therapy rehabilitation according to claim 1 system is characterized in that described work station is the car-type structure.
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| CN 201210077467 CN102600031B (en) | 2012-03-22 | 2012-03-22 | Treatment and rehabilitation system |
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|---|---|---|---|
| CN 201210077467 CN102600031B (en) | 2012-03-22 | 2012-03-22 | Treatment and rehabilitation system |
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| CN102600031B true CN102600031B (en) | 2013-09-25 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105411812A (en) * | 2015-12-22 | 2016-03-23 | 天津市唐邦科技有限公司 | Mechanical power assisting device of limb rehabilitative apparatus |
| CN105362038A (en) * | 2015-12-23 | 2016-03-02 | 天津市唐邦科技有限公司 | Multi-media knee joint rehabilitation apparatus |
| CN105362039A (en) * | 2015-12-23 | 2016-03-02 | 天津市唐邦科技有限公司 | Multi-media upper limb rehabilitation apparatus |
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