CN103932872B - Cerebral hemorrhage semiparalysis recovery machine - Google Patents
Cerebral hemorrhage semiparalysis recovery machine Download PDFInfo
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- CN103932872B CN103932872B CN201410140343.8A CN201410140343A CN103932872B CN 103932872 B CN103932872 B CN 103932872B CN 201410140343 A CN201410140343 A CN 201410140343A CN 103932872 B CN103932872 B CN 103932872B
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Abstract
The invention discloses a kind of cerebral hemorrhage semiparalysis recovery machine, comprise vest, first arm and the first pedipulator, vest is provided with by the vest back of the body at the braces of human body back and belt, first arm comprises the first upper arm and the first underarm, first upper arm and the first underarm are hinged, first upper arm is positioned at the junction of the first underarm is provided with joint shaft, the spring the first underarm being applied to power is provided with between the first upper arm and the first underarm, pin is provided with on the first underarm and near joint shaft place, pin is connected with driving cotton rope, the first motor is provided with in vest, the turning cylinder of the first motor is connected with moving runner, after driving cotton rope to enter vest, convolution is on moving runner, first upper arm is connected with the turning cylinder of the second motor, first pedipulator comprises the first moving cell and the second moving cell, and control system comprises single-chip microcomputer and motor driver.Beneficial effect of the present invention is: walking movement and the rehabilitation of having assisted hemiplegia lower limb and hemiplegic arm in rehabilitation course.
Description
Technical field
The present invention relates to a kind of rehabilitation machines, particularly relate to a kind of cerebral hemorrhage semiparalysis recovery machine.
Background technology
Cerebral hemorrhage disease is extremely common disease in the modern life, in cerebral hemorrhage disease, often occur hemorrhage of brain stem, cerebellar hemorrhage etc., usually can cause hemiplegia.After cerebral hemorrhage, if the vital sign of patient steadily, the state of an illness is no longer in progress, but patient due to meridians of flaccid muscles after falling ill unsceptered thus cause hemiplegia; So rehabilitation should be carried out as early as possible.Early stage patient does not also stick together and can to the function of nervous system of recovering patient, improve the quality of living useful by Comprehensive rehabilitation stage by stage.In hemiparalysis recovery, need to carry out certain limbs training, muscle recovery, meridians return only in this way just can be allowed to recover the life of normal person.But for hemiplegic patient, limbs training is quite difficult, and therefore cerebral hemorrhage semiparalysis recovery machine produces, to assist the rehabilitation exercise of hemiplegic patient.
Chinese patent discloses the walking aid for hemiplegia rehabilitation training that a kind of publication number is CN201823007U, it comprises casing and as the driving shaft in this casing and driven axle and the braces that lid casing can be carried on the back at human body back, the pinion on driving shaft and the gear wheel on driven axle pass through chain drive; Action bars is connected with in driving shaft one end; Be connected with drive rod in driven axle one end, this drive rod is connected with leg fixing frame and shank cuff by lacing wire, and this lacing wire inner core end is connected with tiptoe fixed mount by spring.Although this walking aid for hemiplegia rehabilitation training reaches the function of training and helping away, need manual actuation, make troubles to patient, exercise function be there is no for arm simultaneously.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of cerebral hemorrhage semiparalysis recovery machine, has assisted walking movement and the rehabilitation of hemiplegia lower limb and hemiplegic arm in rehabilitation course.
For solving the problems of the technologies described above, technical scheme of the present invention is: provide a kind of cerebral hemorrhage semiparalysis recovery machine, comprise vest, first arm and the first pedipulator, first arm and the first pedipulator are provided with bandage, vest is provided with by the vest back of the body at the braces of human body back and belt, first arm comprises the first upper arm and the first underarm, first upper arm and the first underarm are hinged, first upper arm is positioned at the junction of the first underarm is provided with joint shaft, the spring the first underarm being applied to power is provided with between the first upper arm and the first underarm, pin is provided with on the first underarm and near joint shaft place, pin is connected with driving cotton rope, this driving cotton rope is for driving the first underarm around the rotation of joint shaft, first upper arm has the circular arc guiding groove coaxial with joint shaft, and on the first upper arm, be provided with the glade plane space tangent with circular arc guiding groove, circular arc guiding groove is entered after driving cotton rope and pin to fix, vest is entered into finally by glade plane space, the first motor is provided with in vest, the turning cylinder of the first motor is connected with moving runner, after driving cotton rope to enter vest, convolution is on moving runner, first upper arm is connected with the turning cylinder of the second motor, first pedipulator comprises the first moving cell and the second moving cell, first moving cell comprises the 3rd motor and the first thigh, one end of first thigh to be stretched in vest and is connected with the turning cylinder of the 3rd motor, second moving cell comprises the first shank be hinged with the first thigh, first screw body and the 4th motor be connected with the first screw body, first shank is connected with the first screw body by connecting rod, control system comprises single-chip microcomputer and four motor drivers, four motor drivers respectively with the first motor, second motor, 3rd motor and the 4th motor are connected.Vest being provided with braces makes vest and upper body fix, with arrange human body hemiplegia part and healthy part linked together, thus make whole body support under the support of the first screw body, the first shank and healthy part.In the process of walking, when needing hemiplegic arm to move, the first motor movement, tension drives cotton rope, and the first underarm rotates around the first upper arm, and spring is compressed, and hemiplegic arm is bent; Meanwhile, the second motor also moves, and the first upper-arm circumference is rotated around vest, and hemiplegic arm is around body swing.When needing hemiplegia lower limb to move, the 3rd electric machine rotation, the first thigh rotates around vest, and hemiplegia thigh circumference is stretched around body forward; Simultaneously, 4th motor running, first screw structure moves upward, pull the first shank motion, first shank and the first thigh are bent, under the effect of control system, the first shank rises along with the rotation of the first thigh or declines, thus completes the routing motion of the first shank and the first thigh in walking process, and hemiplegia thigh is walked forward.
Further, described cerebral hemorrhage semiparalysis recovery machine also comprises the second arm and the second pedipulator, and the second arm and the first arm are oppositely arranged, and the second arm comprises the second upper arm be hinged with vest and the second underarm be hinged with the second upper arm; Second pedipulator and the first pedipulator are oppositely arranged, and the second pedipulator comprises the second thigh be hinged with vest and the second shank be hinged with the second thigh.Second arm and the second pedipulator, for balancing the first arm and the first pedipulator, make the health of patient be in poised state.
Further, described cerebral hemorrhage semiparalysis recovery machine also comprises bracing or strutting arrangement, bracing or strutting arrangement comprises the telescopic band passed from vest bottom centre, 5th motor and the second screw body be connected with the 5th motor, the core of a circular ring structure is provided with in vest, a spring leaf is had in this core, one end of spring leaf is connected with the axle core in core, spring leaf convolution in core and the other end of spring leaf be fixedly connected with telescopic band, telescopic band convolution is on the surface of core, the free end of telescopic band stretches out vest and is connected with eye-splice, the center of braces and belt is provided with snap seats, this snap seats comprises seat body, spring, maintenance bolt and button handsetting, seat body is arranged at the jack matched with the size of eye-splice, seat body is provided with telescopic hole, spring is arranged in telescopic hole, one end of maintenance bolt enters telescopic hole and is connected with spring, the other end of maintenance bolt stretches in fixed hole, eye-splice is provided with the keyhole with the mating shapes of maintenance bolt, described control system also comprises the motor driver be connected with the 5th motor.Bracing or strutting arrangement is sat down for supporting user after having tired out for user motion.When user needs rest, the 5th motor running under the control of single-chip microcomputer, second screw body extends, at this moment the second screw structure, the first pedipulator and healthy leg form three strong points, at this moment just to vest and the supporting role of upper body device, pull telescopic band, the snap seats in the eye-splice of telescopic band and braces and belt fastened, user just can be had a rest.
Further, described control system also comprises key circuit, described key circuit comprises the 3rd resistance and the 3rd switch, one end of 3rd resistance connects power supply, the other end of the 3rd resistance connects the 3rd input of single-chip microcomputer, one end of 3rd switch connects the node of the 3rd resistance and single-chip microcomputer, the other end ground connection of the 3rd switch.When the 3rd resistance is to single-chip microcomputer input low level, single-chip microcomputer just controls the first motor, the second motor, the 3rd motor and the 4th motor rotation speed, thus achieves user as required to the adjustment of the speed of travel.
Further, described control system also comprises monitoring system, the Hall element that monitoring system comprises permanent magnet and is oppositely arranged with permanent magnet, permanent magnet and Hall element all have four, and four Hall elements are connected with the 3rd input of single-chip microcomputer, four-input terminal, the 5th input and the 6th input respectively.Four Hall elements are arranged at the junction of vest and the second upper arm respectively, the junction of the second upper arm and the second underarm, the junction of the second thigh and vest and the junction of the second thigh and the second shank, be respectively used to the rotational angle of the junction detecting vest and the second upper arm, the rotational angle of the junction of the second upper arm and the second underarm, the rotational angle of the rotational angle of the junction of the second thigh and vest and the junction of the second thigh and the second shank, thus single-chip microcomputer can control rotational angle and the movement velocity of the first arm and the first pedipulator according to the rotational angle of healthy arm and healthy leg and movement velocity, thus make healthy hands arm, healthy leg, the cooperation of hemiplegic arm and hemiplegia lower limb is closer.
Further, be positioned at and drive the import department of cotton rope to be provided with pulley, the arm axle that the first arm comprises arm body and is connected with arm body in vest, arm axle enters vest after being connected with arm body and is connected with the turning cylinder of the second motor.
Further, described first upper arm, the first underarm, the second upper arm, the second underarm, the first shank, the first thigh, the second shank and the second thigh are stretching structure.The size of the first upper arm, the first underarm, the second upper arm, the second underarm, the first shank, the first thigh, the second shank and the second thigh can be regulated like this according to the length of the arm of hemiplegic patient and lower limb, thus realize large-scale industrial production.
Further, described stretching structure comprises outer loop bar and built-in rod, and described outer loop bar is a hollow structure, and described built-in rod to be arranged in outer loop bar and to be fixed by latch with outer loop bar.
Beneficial effect of the present invention: by the setting of the first arm and the first pedipulator, assisted the rehabilitation exercise of patient.Add, the setting of monitoring system in control system, normal lower limb is better with coordinating of paralysis lower limb in the process of walking, and patient also can control the overall speed of travel by the speed of travel controlling normal lower limb simultaneously
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is the structural representation of cerebral hemorrhage semiparalysis recovery machine of the present invention.
Fig. 2 is the cut-away view of joint shaft in Fig. 1.
Fig. 3 is the cut-away view of vest in Fig. 1.
Fig. 4 is the structured flowchart of this utility model control system.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment: is as shown in Figure 1 the better embodiment of this utility model cerebral hemorrhage semiparalysis recovery machine.This cerebral hemorrhage semiparalysis recovery machine, comprises vest 1, first arm 2, second arm 3, first pedipulator 4, second pedipulator 5, two footwear 6, bracing or strutting arrangement 7 and control system 8.First arm 2, second arm 3, first pedipulator 4 and the second pedipulator 5 are provided with bandage 9, and this bandage 9 is for fixing the first arm 2, second arm 3, first pedipulator 4 and the second pedipulator 5 with hemiplegic arm, healthy arm, hemiplegia lower limb and healthy leg respectively.
Particularly, vest 1 is provided with and is carried on the back by vest 1 at the braces 10 of human body back and belt, this vest 1 is the body structure of hollow.
Shown in Fig. 1, Fig. 2 and Fig. 3, the first arm 2 is for auxiliary for hemiparalysis arm motion.First arm 2 comprises the first upper arm 20 and the first underarm 21, first upper arm 20 and the first underarm 21 and is hinged.First upper arm 20 is positioned at the junction of the first underarm 21 is provided with joint shaft 22, and the first underarm 21 can be rotatable around joint shaft 22.The spring 23 the first underarm 21 being applied to power is provided with between the first upper arm 20 and the first underarm 21.On the first underarm 21 and near joint shaft 22 place, be provided with pin (not shown), pin is connected with and drives cotton rope 24, this driving cotton rope 24 is for driving the first underarm 21 around the rotation of joint shaft 22.First upper arm 20 there is the circular arc guiding groove 25 coaxial with joint shaft 22, and the glade plane space tangent with circular arc guiding groove 25 is provided with on the first upper arm 20, enter circular arc guiding groove 25 after driving cotton rope 24 and pin fixing, enter into vest 1 finally by glade plane space.The turning cylinder being provided with the first motor 27, first motor 27 in vest 1 is connected with moving runner 28, and after driving cotton rope 24 to enter vest 1, convolution is on moving runner 28.Be positioned at and drive the import department of cotton rope 24 to be provided with pulley 29 in vest 1, change the direction driving cotton rope 24, avoid driving cotton rope 24 to contact with vest 1, damage driving cotton rope 24.The arm axle 26 that first upper arm 20 comprises arm body 25 and is connected with arm body 25, arm axle 26 enters vest 1 after being connected with arm body 25 and is connected with the turning cylinder of the second motor 2a.
Second arm 3 and the first arm 2 are oppositely arranged, for balancing the first arm 2.Second arm 3 comprises the second upper arm 30 be hinged with vest 1 and the second underarm 31 be hinged with the second upper arm 30.
First pedipulator 4 is for the motion of auxiliary for hemiparalysis lower limb, and the first pedipulator 4 comprises the first moving cell and the second moving cell.One end that first moving cell comprises the 3rd motor 45 and the first thigh 40, first thigh 40 to be stretched in vest 1 and is connected with the turning cylinder of the 3rd motor 45.Second moving cell comprises the first shank 41, first screw body 42 be hinged with the first thigh 40 and the 4th motor 46 be connected with the first screw body 42, the sliding shoe of the first screw structure 42 is connected with connecting rod 43, first shank 41 is provided with projection 44 with the junction of the first thigh 40, and this projection 44 is connected with connecting rod 43.
Second pedipulator 5 and the first pedipulator 4 are oppositely arranged, for balancing the first pedipulator 4.Second pedipulator 5 comprises the second thigh 50 be hinged with vest 1 and the second shank 51 be hinged with the second thigh 50.
Described first upper arm 20, first underarm 21, second upper arm 30, second underarm 31, first shank 41, first thigh 40, second shank 51 and the second thigh 50 are stretching structure.The size of the first upper arm, the first underarm, the second upper arm, the second underarm, the first shank, the first thigh, the second shank and the second thigh can be regulated like this according to the length of the arm of hemiplegic patient and lower limb, thus realize large-scale industrial production.Described stretching structure comprises outer loop bar and built-in rod, and described outer loop bar is a hollow structure, and described built-in rod to be arranged in outer loop bar and to be fixed by latch with outer loop bar.
Two footwear 6 connect with the free end of the first shank 41 and the free hinge ending connection of the second shank 51 respectively.
Bracing or strutting arrangement 7 comprises the telescopic band 70, the 5th motor 72 and the second screw body 71 that is connected with the 5th motor 72 that pass from vest 1 bottom centre.Be provided with the core 73 of a circular ring structure in vest 1, have a spring leaf 74 in this core 73, one end of spring leaf 74 is connected with the axle core in core 73, spring leaf 74 convolution in core 73 and the other end of spring leaf 74 be fixedly connected with telescopic band 70.Telescopic band 70 convolution is on the surface of core 73, and the free end of telescopic band 70 stretches out vest 1 and is connected with eye-splice 75.The center of braces 10 is provided with snap seats, this snap seats comprises seat body, spring 23, maintenance bolt and button handsetting, seat body is arranged at the jack matched with the size of eye-splice 75, seat body is provided with telescopic hole simultaneously, spring 23 is arranged in telescopic hole, maintenance bolt one end enters telescopic hole and is connected with spring 23, and the other end of maintenance bolt stretches in fixed hole.Eye-splice 75 is provided with the keyhole with the mating shapes of maintenance bolt.
Please continue to refer to Fig. 4, control system 8 comprises single-chip microcomputer 80, five motor drivers 81, key circuit 82 and monitoring systems 83, five motor drivers 81 and is connected with the first motor 27, second motor 2a, the 3rd motor 45, the 4th motor 46 and the 5th motor 72 respectively.Key circuit 82 comprises the first resistance, the second resistance, the 3rd resistance, the first switch, second switch and the 3rd switch, one termination power of the first resistance, the other end of the first resistance connects the first input end of single-chip microcomputer, one end of first switch connects the node of the first resistance and single-chip microcomputer 80, the other end ground connection of the first switch; One end of second resistance connects power supply, and the other end of the second resistance connects the second input of single-chip microcomputer, and one end of second switch connects the node of the second resistance and single-chip microcomputer 80, the other end ground connection of second switch; One end of 3rd resistance connects power supply, and the other end of the 3rd resistance connects the 3rd input of single-chip microcomputer, and one end of the 3rd switch connects the node of the 3rd resistance and single-chip microcomputer 80, the other end ground connection of the 3rd switch.
The Hall element 84 that monitoring system 83 comprises permanent magnet 85 and is oppositely arranged with permanent magnet 85, permanent magnet 85 and Hall element 84 all have four, and four permanent magnets 85 are arranged at the hinged place of the second upper arm 30 and vest 1, the hinged place of the second underarm 31 and the second upper arm 30, the second thigh 50 and the hinged place of vest 1 and hinged place of the second shank 51 and the second thigh 50 respectively.Hall element 84 is for detecting the rotation of permanent magnet 85 and detecting the change in magnetic field, Hall element 84 position.Be hinged place for the second upper arm 30 with vest 1, permanent magnet 85 is arranged on the second upper arm 30, and Hall element 84 is arranged on vest 1.Along with the second upper arm 30 rotates around vest 1, the magnetic field that permanent magnet 85 on the second upper arm 30 produces in Hall element 84 position changes, the analog voltage that Hall element 84 exports changes, and analog voltage signal is converted into digital voltage signal and is calculated rotational angle and the rotation time of the second upper arm 30 by digital voltage signal by single-chip microcomputer 80.Be installed on the permanent magnet 85 of the hinged place of the second underarm 31 and the second upper arm 30 and Hall element 84 for detecting rotational angle and the rotation time of the second underarm 31; Be installed on the permanent magnet 85 of the second thigh 50 and the hinged place of vest 1 and Hall element 84 for detecting rotational angle and the rotation time of the second thigh 50; Be installed on the permanent magnet 85 of the hinged place of the second shank 51 and the second thigh 50 and Hall element 84 for detecting rotational angle and the rotation time of the second shank 51.Single-chip microcomputer 80 is by each second upper arm 30, second underarm 31, the real-time rotational angle of the second thigh 50 and the second shank 51 and rotation time respectively with the first upper arm 20, first underarm 21, rotational angle and the rotation time of the first thigh 40 and the first shank 41 compare, when unequal, single-chip microcomputer 80 controls the first motor 27 respectively by five motor drivers 81, second motor 2a, the rotational angle of the 3rd motor 45 and the 4th motor 46 and rotation time, the first arm 2 is made to simulate the motion of the second arm 3, first pedipulator 4 simulates the motion of the second pedipulator 5, finally realize the first arm 2 and the second arm 3, the balance exercise of the first pedipulator 4 and the second pedipulator 5.
Operation principle of the present invention: press the first switch, single-chip microcomputer 80 controls whole device setting in motion, by the 3rd switch-mode regulation movement velocity, the velocity of rotation controlled motion speed by control first motor 27, second motor 2a, the 3rd motor 45 and the 4th motor 46 of single-chip microcomputer 80.In the process of walking, first, when healthy leg and hemiplegic arm motion, the first motor 27 moves, and tension drives cotton rope 24, first underarm 21 to rotate around the first upper arm 20, and spring 23 is compressed, and hemiplegic arm is bent; Meanwhile, the second motor 2a also moves, and the first upper arm 20 is rotated, healthy leg forward stride around vest 1, and hemiplegic arm cooperation healthy leg is around body swing.Then, when healthy arm and the motion of hemiplegia lower limb, the 3rd motor 45 rotates, and the first thigh 40 rotates around vest 1, and hemiplegia thigh circumference is stretched around body forward; Simultaneously, 4th motor 46 operates, first screw structure 42 moves upward, the first shank 41 is pulled to move, first shank 41 and the first thigh 40 are bent, under the effect of control system 8, the first shank 41 rises along with the rotation of the first thigh 40 or declines, thus completes the routing motion of the first shank 41 and the first thigh 40 in walking process, and hemiplegia thigh is walked forward.Simultaneously in the process of moving, coordinate closer in order to make healthy leg with hemiplegia lower limb, monitoring system 83 carries out Real-Time Monitoring to healthy arm and healthy leg, then the angle that monitors of single-chip microcomputer 80 identification monitoring system 83 and velocity of rotation, regulates velocity of rotation and the rotational angle of the first motor 27, second motor 2a, the 3rd motor 45 and the 4th motor 46 automatically.Need adhere to using this cerebral hemorrhage semiparalysis recovery machine every day for slight cerebral hemorrhage patient, adhere to use 1 year, can ten to nine 18 percent rehabilitation; Moderate cerebral hemorrhage patient need adhere to using this cerebral hemorrhage semiparalysis recovery machine every day, adheres to use 2 years, can ten to eight 17 percent rehabilitation; Severe cerebral hemorrhage patient need adhere to using this cerebral hemorrhage semiparalysis recovery machine every day, adheres to use 3 years, can ten to seven 16 percent rehabilitations.So the principle of this cerebral hemorrhage semiparalysis recovery machine is in the motion by assisting hemiplegia lower limb and hemiplegic arm, make health not occur adhesion, muscular recuperation, meridians get back to original position.Substantially can be the same with normal person, do not note not seeing to be cerebral hemorrhage paralytic.Under the indication of rehabilitation doctor, use this invention, effect is better.
These are only embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the present invention and accompanying drawing content to do, is directly or indirectly used in the technical field that other are relevant, all in like manner within scope of patent protection of the present invention.
Claims (8)
1. a cerebral hemorrhage semiparalysis recovery machine, comprise vest, first arm, first pedipulator and control system, first arm and the first pedipulator are provided with bandage, vest is provided with by the vest back of the body at the braces of human body back and belt, first arm comprises the first upper arm and the first underarm, first upper arm and the first underarm are hinged, first upper arm is positioned at the junction of the first underarm is provided with joint shaft, the spring the first underarm being applied to power is provided with between the first upper arm and the first underarm, pin is provided with on the first underarm and near joint shaft place, pin is connected with driving cotton rope, first upper arm has the circular arc guiding groove coaxial with joint shaft, and on the first upper arm, be provided with the glade plane space tangent with circular arc guiding groove, circular arc guiding groove is entered after driving cotton rope and pin to fix, vest is entered into finally by glade plane space, the first motor is provided with in vest, the turning cylinder of the first motor is connected with moving runner, after driving cotton rope to enter vest, convolution is on moving runner, first upper arm is connected with the turning cylinder of the second motor, first pedipulator comprises the first moving cell and the second moving cell, first moving cell comprises the 3rd motor and the first thigh, one end of first thigh to be stretched in vest and is connected with the turning cylinder of the 3rd motor, second moving cell comprises the first shank be hinged with the first thigh, first screw body and the 4th motor be connected with the first screw body, first shank is connected with the first screw body by connecting rod, control system comprises single-chip microcomputer and four motor drivers, four motor drivers respectively with the first motor, second motor, 3rd motor and the 4th motor are connected.
2. cerebral hemorrhage semiparalysis recovery machine according to claim 1, it is characterized in that, described cerebral hemorrhage semiparalysis recovery machine also comprises the second arm and the second pedipulator, second arm and the first arm are oppositely arranged, and the second arm comprises the second upper arm be hinged with vest and the second underarm be hinged with the second upper arm; Second pedipulator and the first pedipulator are oppositely arranged, and the second pedipulator comprises the second thigh be hinged with vest and the second shank be hinged with the second thigh.
3. cerebral hemorrhage semiparalysis recovery machine according to claim 1, it is characterized in that, described cerebral hemorrhage semiparalysis recovery machine also comprises bracing or strutting arrangement, bracing or strutting arrangement comprises the telescopic band passed from vest bottom centre, 5th motor and the second screw body be connected with the 5th motor, the core of a circular ring structure is provided with in vest, a spring leaf is had in this core, one end of spring leaf is connected with the axle core in core, spring leaf convolution in core and the other end of spring leaf be fixedly connected with telescopic band, telescopic band convolution is on the surface of core, the free end of telescopic band stretches out vest and is connected with eye-splice, the center of braces is provided with snap seats, this snap seats comprises seat body, spring, maintenance bolt and button handsetting, seat body is arranged at the jack matched with the size of eye-splice, seat body is provided with telescopic hole, spring is arranged in telescopic hole, one end of maintenance bolt enters telescopic hole and is connected with spring, the other end of maintenance bolt stretches in fixed hole, eye-splice is provided with the keyhole with the mating shapes of maintenance bolt, described control system also comprises the motor driver be connected with the 5th motor.
4. cerebral hemorrhage semiparalysis recovery machine according to claim 1, it is characterized in that, described control system also comprises key circuit, described key circuit comprises the 3rd resistance and the 3rd switch, one end of 3rd resistance connects power supply, the other end of the 3rd resistance connects the 3rd input of single-chip microcomputer, and one end of the 3rd switch connects the node of the 3rd resistance and single-chip microcomputer, the other end ground connection of the 3rd switch.
5. cerebral hemorrhage semiparalysis recovery machine according to claim 2, it is characterized in that, described control system also comprises monitoring system, the Hall element that monitoring system comprises permanent magnet and is oppositely arranged with permanent magnet, permanent magnet and Hall element all have four, four Hall elements respectively with the 3rd input of single-chip microcomputer, four-input terminal, 5th input and the 6th input are connected, four permanent magnets are arranged at the hinged place of the second upper arm and vest respectively, the hinged place of the second underarm and the second upper arm, the hinged place of the second thigh and vest and the hinged place of the second shank and the second thigh.
6. cerebral hemorrhage semiparalysis recovery machine according to claim 1, it is characterized in that, be positioned at and drive the import department of cotton rope to be provided with pulley in vest, the arm axle that first arm comprises arm body and is connected with arm body, arm axle enters vest after being connected with arm body and is connected with the turning cylinder of the second motor.
7. cerebral hemorrhage semiparalysis recovery machine according to claim 1, is characterized in that, described first upper arm, the first underarm, the second upper arm, the second underarm, the first shank, the first thigh, the second shank and the second thigh are stretching structure.
8. cerebral hemorrhage semiparalysis recovery machine according to claim 7, is characterized in that, described stretching structure comprises outer loop bar and built-in rod, and described outer loop bar is a hollow structure, and described built-in rod to be arranged in outer loop bar and to be fixed by latch with outer loop bar.
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| CN105213156B (en) | 2015-11-05 | 2018-07-27 | 京东方科技集团股份有限公司 | A kind of power exoskeleton and its control method |
| CN110604671A (en) * | 2019-07-10 | 2019-12-24 | 邬剑娜 | Intelligent following rehabilitation instrument for limb joints |
| CN111803329B (en) * | 2020-07-17 | 2022-05-24 | 哈尔滨工业大学 | Elbow exoskeleton for rehabilitation robot |
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Effective date of registration: 20170712 Address after: 400010 Chongqing District of Yuzhong City Jia No. 253, 30-8 Patentee after: Chongqing Rayong myopia prevention health consulting Ltd. Address before: 400015 No. 2, unit 69, people's branch, Yuzhong District, Chongqing, 2-1 Patentee before: Luo Yong |