CN103932871A - Elbow joint active-passive combined rehabilitation training system - Google Patents
Elbow joint active-passive combined rehabilitation training system Download PDFInfo
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- CN103932871A CN103932871A CN201410187502.XA CN201410187502A CN103932871A CN 103932871 A CN103932871 A CN 103932871A CN 201410187502 A CN201410187502 A CN 201410187502A CN 103932871 A CN103932871 A CN 103932871A
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- pneumatic muscles
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Abstract
The invention discloses an elbow joint active-passive combined rehabilitation training system. Pneumatic muscles serve as a power driving unit, the four pneumatic muscles are evenly distributed between an elbow sliding ring and a shoulder sliding ring in the peripheral direction, the upper ends and the lower ends of the pneumatic muscles are connected with the elbow sliding ring and the shoulder sliding ring through spherical hinges, and rehabilitation training that the sliding rings drive the elbow joint to rotate in multiple directions can be achieved by controlling single or more pneumatic muscles to be inflated and deflated according to certain rules. The rear segment of the shoulder and the front end of the elbow are sleeved with the elbow joint active-passive combined training rehabilitation system through an elastic sleeve, it is ensured that the arm can move along with movement of the elbow sliding ring, and therefore elbow joint passive rehabilitation training can be achieved. Due to the fact that the pneumatic muscles have good flexibility, when the pneumatic muscles are not inflated, the elbow joint can drive the elbow sliding ring to move, and elbow joint active rehabilitation training can be achieved. The elbow joint active-passive combined rehabilitation training system has the advantages of being compact in structure, clean and good in anti-explosion performance, and can be used for rehabilitation training for the elbow joint of a person.
Description
Technical field
The invention belongs to medical rehabilitation technical field, relate to the moving compound training rehabilitation system of a kind of elbow joint main quilt.
Background technology
There are millions of apoplexy patients in China at present, all disability in various degree, can't take care of oneself, simultaneously every year due to industrial injury, the newly-increased many between twenty and fifty a large amount of limbs impaireds of the reasons such as vehicle accident, cause very large psychology and otherwise impact to patient and family, society and family spend great cost these patients are treated, cause the great wasting of resources, therefore effective rehabilitation maneuver, can make to a certain extent patient's restore funcitons, not only improve patient's oneself quality of life, and alleviate the burden of family and entire society.
Medical research shows: people's brain has very strong plasticity, and people's cranial nerve atrophy depends on and can not effectively be taken exercise greatly, if can regularly perform physical exercise, most of paralytic at least can return to the degree of taking care of oneself.
Current rehabilitation training system both domestic and external is to complete under professional medical personnel accompany substantially, has the shortcomings such as inadequate such as training dynamics, the many healthcare givers of patient are few, makes rehabilitation training be difficult to obtain due effect.
Therefore necessary research and development auxiliary rehabilitation exercise, effectively to solve above-mentioned variety of problems, patent of the present invention, based on above demand, designs the moving compound training rehabilitation system of a kind of elbow joint main quilt.
Summary of the invention
The object of the invention is for above-mentioned existing technological deficiency, provide a kind of elbow joint main quilt to move compound training rehabilitation system, compact conformation of the present invention, clean, explosion-proof.
To achieve these goals, the technical scheme that the present invention takes is: a kind of elbow joint main quilt is moved compound training rehabilitation system, and it comprises: resilient sleeve, hexagon socket head cap screw, ancon slip ring, pneumatic muscles, stay-supported sensor, shoulder slip ring, air composition element, Pressure gauge, controller, touch screen, driving and amplifying circuit; Wherein, described resilient sleeve utilizes the flexible fastening of self on shoulder, and is connected on shoulder slip ring by hexagon socket head cap screw, and one end of four pneumatic muscles is all connected on the connection circumference of shoulder slip ring equably by ball pivot; The other end of four pneumatic muscles is all connected on the connection circumference of ancon slip ring equably by ball pivot; The connection circumference of shoulder slip ring is slightly larger than the connection radius of a circle of ancon slip ring; The two ends of every pneumatic muscles connect the two ends of a stay-supported sensor; Resilient sleeve utilizes the flexible fastening of self below ancon; The gas outlet of air composition element connects the air inlet of eight Pneumatic high-speed switch valves, the gas outlet of eight Pneumatic high-speed switch valves connects respectively the air inlet of four pneumatic muscles, the gas outlet of air composition element arranges Pressure gauge, the Electromagnetic Drive part of eight Pneumatic high-speed switch valves is all connected with the output interface of amplifying circuit with driving, drive and be connected with the input interface of amplifying circuit and the DO interface of controller, four stay-supported encoders are all connected with the A/D interface of controller; Controller is connected with touch screen.
Beneficial effect of the present invention is:
1. the present invention utilizes four pneumatic muscles to install at an angle on shoulder slip ring and ancon slip ring circumferencial direction, can realize the exercise of three directions of elbow joint.
2. the present invention utilizes pneumatic muscles to drive to have good compliance and can realize the moving comprehensive rehabilitation training of main quilt, have the features such as multi-functional.
3. the present invention utilizes the control strategy of touch screen and controller combination, simple and compact for structure.
Brief description of the drawings
Fig. 1 is the moving compound training rehabilitation system construction drawing of elbow joint main quilt;
Fig. 2 is the moving compound training rehabilitation system control sytsem schematic diagram of elbow joint main quilt;
Fig. 3 drives and amplifying circuit schematic diagram;
Fig. 4 is controller workflow diagram;
In figure: resilient sleeve 1 and 7, hexagon socket head cap screw 2, ancon slip ring 3, pneumatic muscles 4, stay-supported sensor 5, shoulder slip ring 6, air composition element 8, Pressure gauge 9, Pneumatic high-speed switch valve 10, controller 11, touch screen 12, driving and amplifying circuit 13.
Detailed description of the invention
As shown in Figure 1, 2, the moving compound training rehabilitation system of elbow joint main quilt of the present invention comprises: resilient sleeve 1 and 7, hexagon socket head cap screw 2, ancon slip ring 3, pneumatic muscles 4, stay-supported sensor 5, shoulder slip ring 6, air composition element 8, Pressure gauge 9, controller 11, touch screen 12, driving and amplifying circuit 13.Wherein, resilient sleeve 7 utilizes the flexible fastening of self on shoulder, and is connected on shoulder slip ring 6 by hexagon socket head cap screw 2, and one end of four pneumatic muscles 4 is all connected on the connection circumference of shoulder slip ring 6 equably by ball pivot; The other end of four pneumatic muscles 4 is all connected on the connection circumference of ancon slip ring 3 equably by ball pivot; The connection circumference of shoulder slip ring 6 is slightly larger than the connection radius of a circle of ancon slip ring 3; The two ends of every pneumatic muscles 4 connect the two ends of a stay-supported sensor 5; Resilient sleeve 1 utilizes the flexible fastening of self below ancon.
The gas outlet of air composition element 8 connects the air inlet of eight Pneumatic high-speed switch valves 10, the gas outlet of eight Pneumatic high-speed switch valves 10 connects respectively the air inlet of four pneumatic muscles 4, the gas outlet of air composition element 8 arranges Pressure gauge 9, the Electromagnetic Drive coil of eight Pneumatic high-speed switch valves 10 is all connected with the output interface of amplifying circuit 13 with driving, drive and be connected with the input interface of amplifying circuit 13 and the DO interface of controller 11, four stay-supported sensors 5 are all connected with the A/D interface of controller 11.Controller 11 is connected with touch screen 12.
As shown in Figure 3, drive with amplifying circuit 13 and comprise Darlington transistor U1, light Rhizoma Nelumbinis pipe U2, four metal-oxide-semiconductor M1-M4, four diode D1-D4 and lead-out terminal U3, the signal input tube foot of Darlington transistor U1 connects the output interface of controller 11, the signal output pin of Darlington transistor U1 connects the signal input tube foot of light Rhizoma Nelumbinis pipe U2, the positive pole of four all connect+12V of Voltage-output pin power supplys of light Rhizoma Nelumbinis pipe U2, four signal output interfaces of light Rhizoma Nelumbinis pipe U2 connect respectively the grid of four metal-oxide-semiconductor M1-M4, the negative pole of all connect+24V of the drain electrode of four metal-oxide-semiconductor M1-M4 power supply, the source electrode of metal-oxide-semiconductor M1 connects the positive pole of diode D1 and the terminal pin 2 of lead-out terminal U3 simultaneously, the source electrode of metal-oxide-semiconductor M2 connects the positive pole of diode D2 and the terminal pin 4 of lead-out terminal U3 simultaneously, the source electrode of metal-oxide-semiconductor M3 connects the positive pole of diode D3 and the terminal pin 6 of lead-out terminal U3 simultaneously, the source electrode of metal-oxide-semiconductor M4 connects the positive pole of diode D4 and the terminal pin 8 of lead-out terminal U3 simultaneously, the positive pole of all connect+24V of the negative pole of four diode D1-D4 power supply, the positive pole of power supply connects the terminal pin 1 of the corresponding U3 of connection of output of four diode D1-D4, 3, 5, 7.
Drive and be connected respectively controller 11 and eight Pneumatic high-speed switch valves 10 with the two ends of amplifying circuit 13, realize the dutycycle of Pneumatic high-speed switch valve 10 is regulated according to the control signal of controller 11.
Controller 11 can be realized by PLC, and as selected mitsubishi FX2N-16MR, FX2N-4AD, touch screen 12 can be selected model: F940GOT-SWD-C.As shown in Figure 4, the work process of PLC is: after controller 11 energisings, selecting by touch screen 12 is single or many pneumatic muscles 4 are worked, then export control signal, the dutycycle of controlling Pneumatic high-speed switch valve 10 by driving and amplifying circuit 13 is that pneumatic muscles 4 is inflated, and pneumatic muscles 4 shrinks, realize ankle joint is trained, coaxial mounted stay-supported sensor 5 is measured its amount of contraction, feeds back to controller 11, arrives assigned address and quits work.
Work process of the present invention is as follows: user's arm by resilient sleeve 1 and 7 and shoulder slip ring and ancon slip ring be fixed together.The air inlet of air composition element 8 is connected to source of the gas, regulate the gas pressure of air composition element 8 gas outlets by observing Pressure gauge 9, controller 11, touch screen 12 is switched on, by the mode of operation of touch screen 12 selection controls 11, the PWM waveform that controller 11 is exported drives Pneumatic high-speed switch valve 10 with certain dutycycle, pneumatic muscles 4 to be inflated through overdriving with amplifying circuit 13, air enters pneumatic muscles 4, pneumatic muscles 4 starts to shrink, ancon slip ring 3 is by the moving elbow joint setting in motion of pneumatic muscles 4 aeration zones, meanwhile stay-supported sensor 5 measures the amount of contraction of pneumatic muscles 4, feed back to controller 11, controller 11 is controlled Pneumatic high-speed switch valve 10 and is inflated or exit, to realize elbow joint along with ancon slip ring 3 moves to the training of predetermined angular.
The present invention, by controlling single or many pneumatic muscles according to certain rule inflation and venting, realize the training of the unidirectional or multiple directions of elbow joint, can realize the active training of elbow joint while inflation, the present invention has the incomparable advantage of other healing and training elbow joint systems.
Above-described embodiment, the just more preferably one in detailed description of the invention of the present invention, the common variation that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.
Claims (1)
1. the moving compound training rehabilitation system of elbow joint main quilt, it is characterized in that, it comprises: resilient sleeve (1) and (7), hexagon socket head cap screw (2), ancon slip ring (3), pneumatic muscles (4), stay-supported sensor (5), shoulder slip ring (6), air composition element (8), Pressure gauge (9), controller (11), touch screen (12), driving and amplifying circuit (13), wherein, described resilient sleeve (7) utilizes the flexible fastening of self on shoulder, and it is upper to be connected to shoulder slip ring (6) by hexagon socket head cap screw (2), one end of four pneumatic muscles (4) is all connected on the connection circumference of shoulder slip ring (6) equably by ball pivot, the other end of four pneumatic muscles (4) is all connected on the connection circumference of ancon slip ring (3) equably by ball pivot, the connection circumference of shoulder slip ring (6) is slightly larger than the connection radius of a circle of ancon slip ring (3), the two ends of every pneumatic muscles (4) connect the two ends of a stay-supported sensor (5), resilient sleeve (1) utilizes the flexible fastening of self below ancon, the gas outlet of air composition element (8) connects the air inlet of eight Pneumatic high-speed switch valves (10), the gas outlet of eight Pneumatic high-speed switch valves (10) connects respectively the air inlet of four pneumatic muscles (4), the gas outlet of air composition element (8) arranges Pressure gauge (9), the Electromagnetic Drive part of eight Pneumatic high-speed switch valves (10) is all connected with the output interface of amplifying circuit (13) with driving, drive and be connected with the DO interface of controller (11) with the input interface of amplifying circuit (13), four stay-supported sensors (5) are all connected with the A/D interface of controller (11), controller (11) is connected with touch screen (12).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410187502.XA CN103932871A (en) | 2014-05-05 | 2014-05-05 | Elbow joint active-passive combined rehabilitation training system |
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| CN201410187502.XA CN103932871A (en) | 2014-05-05 | 2014-05-05 | Elbow joint active-passive combined rehabilitation training system |
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| CN103932871A true CN103932871A (en) | 2014-07-23 |
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| CN201410187502.XA Pending CN103932871A (en) | 2014-05-05 | 2014-05-05 | Elbow joint active-passive combined rehabilitation training system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104983546A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Stewart type wearable wrist rehabilitation robot |
| CN105030480A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Novel six-freedom-degree wrist rehabilitation robot therapeutic apparatus |
| CN105030487A (en) * | 2015-09-10 | 2015-11-11 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| CN105364941A (en) * | 2015-12-08 | 2016-03-02 | 中国计量学院 | Two-freedom-degree pneumatic muscle bionic elbow joint |
| CN107595550A (en) * | 2017-10-12 | 2018-01-19 | 嘉兴学院 | Based on pneumatic muscles whole body exoskeleton rehabilitation system |
| CN108992304A (en) * | 2018-06-21 | 2018-12-14 | 洛阳师范学院 | A kind of Straight pull old age finger joint recovery training device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104983546A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Stewart type wearable wrist rehabilitation robot |
| CN105030480A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Novel six-freedom-degree wrist rehabilitation robot therapeutic apparatus |
| CN104983546B (en) * | 2015-07-10 | 2017-10-10 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of wearable wrist healing robot of Stewart types |
| CN105030487A (en) * | 2015-09-10 | 2015-11-11 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| CN105364941A (en) * | 2015-12-08 | 2016-03-02 | 中国计量学院 | Two-freedom-degree pneumatic muscle bionic elbow joint |
| CN105364941B (en) * | 2015-12-08 | 2017-05-10 | 中国计量学院 | Two-freedom-degree pneumatic muscle bionic elbow joint |
| CN107595550A (en) * | 2017-10-12 | 2018-01-19 | 嘉兴学院 | Based on pneumatic muscles whole body exoskeleton rehabilitation system |
| CN108992304A (en) * | 2018-06-21 | 2018-12-14 | 洛阳师范学院 | A kind of Straight pull old age finger joint recovery training device |
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Application publication date: 20140723 |