CN104905940A - Multifunctional limb intelligent rehabilitation machine and computer auxiliary control method thereof - Google Patents
Multifunctional limb intelligent rehabilitation machine and computer auxiliary control method thereof Download PDFInfo
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- CN104905940A CN104905940A CN201510313178.6A CN201510313178A CN104905940A CN 104905940 A CN104905940 A CN 104905940A CN 201510313178 A CN201510313178 A CN 201510313178A CN 104905940 A CN104905940 A CN 104905940A
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Abstract
The invention relates to a multifunctional limb intelligent rehabilitation machine and a computer auxiliary control method thereof. The multifunctional limb intelligent rehabilitation machine comprises an upper limb rehabilitation mechanism, a weight reduction protection squatting rehabilitation mechanism and an induction type track walking machine. The induction type track walking machine is located below the upper limb rehabilitation mechanism, and the weight reduction protection squatting rehabilitation mechanism is located above the induction type track walking machine and is opposite to the upper limb rehabilitation mechanism. The upper limb rehabilitation mechanism, the induction type track walking machine and the weight reduction protection squatting rehabilitation mechanism are connected with a computer. The rehabilitation training motions can be led through corresponding training mechanisms; according to remaining functions of limbs of patients, a computer auxiliary control technology is utilized to generate a rehabilitation training plan, life signals and motion states of the patients are monitored in real time in training, the running amplitude and speed of the training mechanisms are adjusted, and the safety and effectiveness in rehabilitation training are guaranteed.
Description
Technical field
The present invention relates to a kind of rehabilitation machines and control method thereof, particularly relate to a kind of multifunctional limb intelligent rehabilitation machine for the training of physical handicaps Rehabilitation and computer-aided control method thereof.
Background technology
Mechanical assistance extremity motor function rehabilitation training technology is the study hotspot in limb rehabilitating field, the patient that this technology can be limbs disturbance provides safety, high strength and take task as the training of guiding, rehabilitation training effect can be improved comprehensively, and contribute to the burden alleviating rehabilitation therapist, reduce health cost.Physical handicaps patient can be divided into upper limb disorder, lower limb disorder and neck functional limited according to the concrete state of an illness.Rehabilitation training for upper limb impaired patients mainly contains both arms swing training and side direction swing arm training; The rehabilitation training of lower limb obstacle comprises squat down training and Walking two kinds; Carrying out above while several training subject, increasing cervical traction and correct, patient can be helped to a certain extent to recover neck movement function.
The limb rehabilitating equipment adopted both at home and abroad at present mainly comprises rehabilitation training type and the large class of supplemental training type two.Wherein, rehabilitation training type is mainly towards severe physical handicaps patient; And supplemental training type is mainly for the patient having certain autonomous actions ability, the mode generally adopting weight reducing device and training devices to match reaches reconditioning object, seldom controlling unit is adopted in system, training process relies on nursing staff to carry out monitoring completely and corrects, correction parameter be can not determine, patient and nursing staff are very arduous, and training effect is very undesirable, and many patients miss the best period of rehabilitation.
Summary of the invention
The object of the present invention is to provide a kind of intelligent rehabilitation machine for multiple limbs disturbance patient, integrated multiple training institution and computer controlled automatic and computer-aided control method thereof.
For achieving the above object, the present invention is achieved by the following technical solutions: a kind of multifunctional limb intelligent rehabilitation machine, comprise upper limb healing mechanism, rehabilitation institution and vicarious crawler belt pedipulator are squatted down in loss of weight protection, described vicarious crawler belt pedipulator is positioned at below described upper limb healing mechanism, described loss of weight protection rehabilitation institution of squatting down is positioned at above described vicarious crawler belt pedipulator, and described loss of weight protection squats down rehabilitation institution just to described upper limb healing mechanism; Described upper limb healing mechanism, described vicarious crawler belt pedipulator and the protection of described loss of weight rehabilitation institution of squatting down all is connected with computer, and described computer is used for controlling the amplitude that the position of described upper limb healing mechanism and upper limb swing rehabilitation training; Described computer is used for controlling the crawler belt speed of service of described vicarious crawler belt pedipulator; Described computer is used for controlling the protection of described loss of weight and squats down the maximum amplitude of squatting down of rehabilitation institution.
In such scheme, also comprise frame, described frame comprises top framework and two pieces points of poles, and described point of pole one end is fixedly connected with described top framework, and described in two, a point pole other end is connected with ground; Described upper limb healing mechanism 1 comprise position regulator and annular training arm, described position regulator comprises shell and tooth bar, and described shell is arranged on the framework of described top, can on the framework of described top slide anteroposterior; First gear and the second gear are installed in described shell, with described first gear and the second gears meshing while that described tooth bar passing vertically through after described shell, the end of described tooth bar is connected with cantilevered rail, and the two ends of described cantilevered rail are separately installed with annular training arm; Described annular training arm is provided with training hands handle; Described shell is provided with the first motor, described first motor is connected with described computer, and described first motor provides power for described first gear.
In such scheme, be provided with plumbing bar between each described annular training arm and described cantilevered rail, each described plumbing bar is connected with described cantilevered rail slip good fortune; The first wire lever is connected with between described two plumbing bars, in the middle part of described first wire lever, the second motor is housed, described second motor is connected with computer, described second motor is used for as described first leading screw provides rotational power, and described first leading screw is contrary in the threads of lead screw direction of described second motor both sides.
In such scheme, reversing bar is connected with between each described annular training arm and each described plumbing bar, described each reversing bar is connected with described plumbing bar revolute pair, each described annular training arm can swing along each described reversing bar, and described annular training arm is mutually vertical with the rotation direction of the revolute pair that described plumbing bar is formed with described reversing bar along the direction that described reversing bar swings; The revolute pair that described reversing bar and described plumbing bar are formed also is provided with locking bolt.
In such scheme, each described reversing bar is installed with the first gear, each described annular training arm is provided with the second gear and the 3rd motor being used for driving described second gear to rotate, described first gear is connected with described second gear external toothing, and described 3rd motor is connected with described computer.
In such scheme, described annular training arm arranges arc-shaped guide rail, described training handle is positioned at described arc-shaped guide rail, described training handle is fixedly attached to by two wires to be carried on line capstan winch, wherein a wire be fixedly wrapped in described in carry on line capstan winch and organize on wrapping post, carry described in another one wire is fixedly wrapped on lower group of wrapping post of line capstan winch, and the direction of winding of wire on upper group of wrapping post and lower group wrapping post is contrary; Described line capstan winch of carrying is rotated by the 4th driven by motor, and described 4th motor is connected with described computer.
In such scheme, be also provided with stop above the arc-shaped guide rail of each described annular training arm, described stop is connected with described computer.
In such scheme, described loss of weight protection rehabilitation institution of squatting down comprises loss of weight shield jig, expansion link and casing, described loss of weight shield jig is connected by universal joint with described expansion link, described expansion link is positioned on the rail plate of described wall box, and be connected with the apparatus for automatically lifting of described box house, described apparatus for automatically lifting drives described expansion link to move up and down along described rail plate; Described casing is between described in two points of poles; Described rail plate is also provided with position sensor, and described position sensor is connected with described computer.
In such scheme, described apparatus for automatically lifting comprises leading screw and the 5th motor, and described expansion link is positioned on described leading screw, and described 5th motor is connected with described computer, and described 5th motor provides power for described leading screw.
In such scheme, described apparatus for automatically lifting comprises assembly pulley, the first counterweight, sprocket wheel and the 6th motor; Described assembly pulley is fixed on described casing, described expansion link upper end is connected with described first counterweight by assembly pulley described in steel wire penetrating, described expansion link lower end is also connected with described first counterweight by chain, and described sprocket wheel comprises interior wheel and foreign steamer, and described 6th motor is connected with described interior wheel, described foreign steamer is connected with chain interoperation, described sprocket wheel is one-way driving wheels, and when interior wheel speed is higher than foreign steamer, power exports to foreign steamer, when outer wheel speed is higher than interior wheel, unpowered output; Described 6th motor is connected with described computer.
In such scheme, described vicarious crawler belt pedipulator 3 comprises crawler attachment, the 7th motor and force transducer, described force transducer is arranged on expansion link, and described 7th motor drives described crawler attachment to move, and described 7th motor is all connected with described computer with described force transducer.
In such scheme, also comprise a traction apparatus for cervical vertebrae, described traction apparatus for cervical vertebrae comprises bracing frame, head traction device, first pulley, second pulley, 3rd pulley and the second counterweight, support frame as described above is fixed on described loss of weight shield jig, described first pulley is fixed on support frame as described above, intermediate bar is provided with between point pole described in two, described second pulley is fixed on described intermediate bar, described 3rd pulley is fixed on described casing, described head traction device passes described first pulley successively by steel wire rope, second pulley, link together with described second counterweight after 3rd pulley.
In such scheme, also comprise vital signs monitors and motion state detection instrument, described vital signs monitors is all connected with computer 5 with described motion state detection instrument, described vital signs monitors is used for the vital sign of monitored patient, and described motion state detection instrument is used for Real-time Collection patients body location and kinestate.
Present invention also offers a kind of computer-aided control method of multifunctional limb intelligent rehabilitation machine, the control system of computer is divided into host computer control system and next bit computer control system; The data that next bit computer control system is responsible for gathering vital signs monitors and motion state detection instrument send host computer control system to; Physiotherapist is by the remaining performance data of user interface input limbs of patient of host computer control system, and host computer control system independently formulates training program; Rehabilitation machines is in running, and host computer control system is responsible for monitoring the operating index of each mechanism of rehabilitation machines and patient status information, and processes corresponding data and be converted into performance graph or three-dimensional picture display on a user interface; Host computer control system realizes matching with the vital sign in Rehabilitation training process by each mechanism running state parameter adjusting rehabilitation machines.
Beneficial effect of the present invention: (1) this rehabilitation machines according to the concrete state of an illness of user and rehabilitation situation, independently can be formulated training program, carry out comprehensive rehabilitation training to extremity function; Simultaneously can in training real-time monitored patient vital sign and kinestate; the autonomous adjusting training mechanism speed of service and enforcement protection; (2) instant invention overcomes the shortcoming that Traditional Rehabilitation appliance function is single, intelligence degree is low; effectively can improve the effect of rehabilitation training; shorten the rehabilitation duration of patient; alleviate the misery of patient, recovering physiotherapy personnel are emancipated from hard work.
Accompanying drawing explanation
Fig. 1 is rehabilitation machines integral layout schematic diagram of the present invention.
Fig. 2 is the overall structure axonometric chart of upper limb healing mechanism of the present invention.
Fig. 3 is upper limb healing mechanism housing and rack position graph of a relation.
Fig. 4 is upper limb healing mechanism each parts composition schematic diagram.
Fig. 5 is the annular training arm configuration schematic diagram of upper limb healing mechanism.
Fig. 6 is the arc-shaped guide rail structural representation on annular training arm.
Fig. 7 is that loss of weight protection is squatted down the structural representation of embodiment one of rehabilitation institution.
Fig. 8 is that loss of weight protection is squatted down the structural representation of embodiment two of rehabilitation institution.
Fig. 9 is the structural representation of vicarious crawler belt pedipulator.
Figure 10 is the structural representation of traction apparatus for cervical vertebrae.
Figure 11 is the control system flow chart of apparatus of the present invention.
In figure: 1. upper limb healing mechanism; 1-1. shell; 1-2. tooth bar; 1-3. first gear; 1-4. second gear; 1-5. first motor; 1-6. cantilevered rail; 1-7. annular training arm; 1-8. trains hands handle; 1-9. plumbing bar; 1-10. the first wire lever; 1-11. the second motor; 1-12. reversing bar; 1-13. locking bolt; 1-14. the 3rd gear; 1-15. the 4th gear; 1-16. the 3rd motor; 1-17. the 4th motor; 1-18. stop; 1-19. arc-shaped guide rail; 2. loss of weight protection is squatted down rehabilitation institution; 2-1. loss of weight shield jig; 2-2. expansion link; 2-3. casing; 2-4. rail plate; 2-5. position sensor; 2-6. leading screw; 2-7. the 5th motor; 2-8. assembly pulley; 2-9. first counterweight; 2-10. sprocket wheel; 2-11. the 6th motor; 3. vicarious crawler belt pedipulator; 3-1. crawler attachment; 3-2. the 7th motor; 3-3. force transducer; 4. traction apparatus for cervical vertebrae; 4-1. bracing frame; 4-2. head traction device; 4-3. first pulley; 4-4. second pulley; 4-5. the 3rd pulley; 4-6. second counterweight; 5. computer; 6. frame; 6-1. top framework; 6-2. divides pole; 6-3. intermediate bar.
Detailed description of the invention
As shown in Figure 1, according to the primary demand in physical handicaps Rehabilitation treatment process, the major design of this rehabilitation equipment upper limb healing mechanism 1, vicarious crawler belt pedipulator 3, loss of weight protection are squatted down rehabilitation institution 2, traction apparatus for cervical vertebrae 4, computer 5 and frame 6; Described frame 6 comprises top framework 6-1 and two pieces points of pole 6-2, and described point of pole 6-2 one end is fixedly connected with described top framework 6-1, and the other end is connected with ground; Squat down rehabilitation institution 2, traction apparatus for cervical vertebrae 4 of upper limb healing mechanism 1, vicarious crawler belt pedipulator 3, loss of weight protection is all positioned at two pieces points of pole 6-2 sides of frame, and computer 5 is positioned at two pieces points of pole 6-2 opposite sides of frame; Described vicarious crawler belt pedipulator 3 is positioned at below described upper limb healing mechanism 1, and described loss of weight protection rehabilitation institution 2 of squatting down is positioned at above described vicarious crawler belt pedipulator 3, and described loss of weight protection squats down rehabilitation institution 2 just to described upper limb healing mechanism 1; Traction apparatus for cervical vertebrae 4 and described loss of weight protection rehabilitation institution 2 of squatting down link together, the squat down control system of rehabilitation institution 2 of upper limb healing mechanism 1, vicarious crawler belt pedipulator 3 and the protection of described loss of weight is all connected with computer 5, wherein, upper limb healing mechanism 1 can complete swing arm rehabilitation training and side direction swing arm training before and after upper limb; Vicarious crawler belt pedipulator 3 can carry out lower limb walking rehabilitation training; Loss of weight protection rehabilitation institution 2 of squatting down can complete leg and to squat down rehabilitation training, in other training subjects, also can be used as loss of weight shield jig; Traction apparatus for cervical vertebrae 4 can provide cervical traction to correct in rehabilitation training; Computer 5 can preset training plan, and realizes monitoring in real time to training process.Meanwhile, computer 5 can also be used to control the position of described upper limb healing mechanism 1 and upper limb swing rehabilitation training amplitude, be used for controlling described vicarious crawler belt pedipulator 3 the crawler belt speed of service, be used for controlling the protection of described loss of weight and squat down the maximum amplitude of squatting down of rehabilitation institution 2.
The structure of upper limb healing mechanism 1 can by Fig. 2---and Fig. 6 represents, as shown in Figure 2, mainly comprise position regulator and annular training arm 1-7, described position regulator comprises shell 1-1 and tooth bar 1-2, described shell 1-1 is arranged on described top framework 6-1, can on described top framework 6-1 slide anteroposterior, realize the adjustment of upper limb healing mechanism front and back position, train erect-position to adapt to different users, first gear 1-3 and the second gear 1-4 is installed in described shell 1-1, described shell 1-1 is provided with the first motor 1-5, described first motor 1-5 is connected with described computer 5, described first motor 1-5 provides power for described first gear 1-3, engage (as shown in Figure 3) with described first gear 1-3 and the second gear 1-4 after described tooth bar 1-2 passes vertically through described shell 1-1 simultaneously, position regulator adjustor drives driving first gear to rotate by the first motor 1-5, realize the upper-lower position adjustment that tooth bar 1-2 drives upper limb healing mechanism, to adapt to the height of different users.
As shown in Figure 4, the end of tooth bar 1-2 is connected with cantilevered rail 1-6, the two ends of described cantilevered rail 1-6 are separately installed with plumbing bar 1-9, each described plumbing bar 1-9 one end is connected with described cantilevered rail 1-6 slip good fortune, the other end trains arm 1-7 to be connected by reversing bar 1-12 with annular, wherein said each reversing bar 1-12 is connected with described plumbing bar 1-9 revolute pair, each described annular training arm 1-7 can swing along each described reversing bar 1-12, described annular training arm is mutually vertical with the rotation direction of the revolute pair that described plumbing bar is formed with described reversing bar along the direction that described reversing bar swings, the revolute pair that described reversing bar and described plumbing bar are formed also is provided with locking bolt 1-13, open the plan-position of locking bolt 1-13 and the training aids of adjustable collar shape, the training demand of swing arm motion before and after adapting to, during the swing arm training of front and back, annular training aids plane orthogonal is in paper, annular training arm 1-7 seesaws along reversing bar 1-12 transverse axis, wherein, the training of swing arm motion can independently be completed by patient or use motor assist to complete, the scheme using motor assist to complete is: on each described reversing bar 1-12, be installed with the 3rd gear 1-14, each described annular training arm 1-7 is provided with the 4th gear 1-15 and the 3rd motor 1-16 being used for driving described 4th gear 1-15 to rotate, described 3rd gear 1-14 is connected with described 4th gear 1-15 external toothing, described 3rd motor 1-16 is connected (as shown in Figure 5) with described computer 5.Detailed process is: the 3rd motor 1-16 drives the 4th gear 1-15 to rotate forward or backwards, thus traction annular trains arm 1-7 with reversing bar transverse axis for center of circle swing, swing arm motion before and after assisting patients.Before training, physiotherapist can test patient's upper limb remaining ability that seesaws, allow patient swing upper limb promotion annular as possible training arm 1-7 seesaw, annular training arm 1-7 drives the 3rd motor 1-16 to rotate, use the rotation number of turns of counter records the 3rd motor 1-16, patient's residual motion ability maximum can be obtained, by this data transfer to computer 5, as training range parameter, generate training program.Upper limb healing mechanism, except should possessing overall front and back throttle up/down capability, also should have the adjustment capability for different patient's shoulder breadth.Therefore, the first wire lever 1-10 is connected with between described two plumbing bar 1-9, in the middle part of described first wire lever 1-10, the second motor 1-11 is housed, described second motor 1-11 is connected with computer 5, described second motor 1-11 is used for as described first leading screw 10 provides rotational power, and described first leading screw 10 is contrary in the threads of lead screw direction of described second motor 1-11 both sides.Both sides annular training arm 1-7 entirety can be realized by the rotating of the second motor 1-11 and outwards or inwardly adjust spacing.
When annular training arm 1-7 is operated in side direction swing arm training mode, arm 1-7 position now annular is trained to turn over 90 degree around plumbing bar 1-9, as shown in Figure 6, by arranging arc-shaped guide rail 1-19 on described annular training arm 1-7, wherein train handle 1-8 to be positioned at described arc-shaped guide rail, training handle 1-8 can move up and down along camber line after unlocking in arc-shaped guide rail 1-19.Side direction swing arm training also can adopt motor assist pattern, major programme is: to be fixedly attached to by two wires at described training handle 1-8 and to carry on line capstan winch 1-16, wherein a wire be fixedly wrapped in described in carry on line capstan winch 1-16 and organizing on wrapping post, carry described in another one wire is fixedly wrapped on the lower group of wrapping post of line capstan winch 1-16, and the direction of winding of wire on upper group of wrapping post and lower group wrapping post is contrary; Carry line capstan winch 1-16 by the 4th motor 1-17 driven rotary, described 4th motor 1-17 is connected with described computer 5, and the rotation automatically controlling to carry line capstan winch 1-16 by the 4th motor 1-17 realizes the automatic swing arm training of side direction of patient; In order to adapt to the brachium of different patient, annular training aids freedom of motion laterally should be retained; Because personnel standing place is inner side, patient is hurt in order to anti-locking mechanism moves downward, also answer limiting mechanism motion to the inside, therefore above the arc-shaped guide rail of each described annular training arm 1-7, be also provided with stop 1-18, described stop 1-18 is connected with described computer 5.Wherein under side direction swing arm training mode, the aptitude tests of patient's residual motion are similar to the operational approach during swing arm training mode of front and back with training parameter setting, repeat no more.
Loss of weight protection rehabilitation institution 2 of squatting down is devices patient's lower limb harmony and strength being carried out to recovery training, and device should be able to complete and to squat down and the action, particularly standing activities of supported standing should arrange auxiliary body and use driven by motor to complete by assisting user.Present embodiments provide for two kinds of technical schemes at this; technical scheme one as shown in Figure 7; described loss of weight protection rehabilitation institution 2 of squatting down comprises loss of weight shield jig 2-1, expansion link 2-2 and casing 2-3; described loss of weight shield jig 2-1 is connected by universal joint with described expansion link 2-2, can provide the degree of freedom that in the process of squatting down, trunk moves for patient.Described casing 2-3 is between described in two points of pole 6-2, casing 2-3 sidewall is provided with rail plate 2-4, described casing 2-3 inside is provided with leading screw 2-6 and the 5th motor 2-7, described expansion link 2-2 is positioned on described leading screw 2-6, described 5th motor 2-7 is connected with described computer 5, described 5th motor 2-7 provides power for described leading screw 2-6, described expansion link 2-2 can move up and down along described rail plate 2-4 under the drive of leading screw 2-6, realizes the action driving patient to squat down and stand.Employing power-assisted is squatted down before training, physical therapy personnel answer test patient independently to squat down amplitude, in conjunction with patient stand's height, rail plate 2-4 goes back installation site sensor 2-5, described position sensor 2-5 is connected with described computer 5, and control the 5th motor 2-7 lead agency runs by computer 5 within the scope of the home of sensor settings.
Loss of weight protection squat down rehabilitation institution 2 technical scheme two as shown in Figure 8; loss of weight protection rehabilitation institution 2 of squatting down comprises loss of weight shield jig 2-1, expansion link 2-2 and casing 2-3; described loss of weight shield jig 2-1 is connected by universal joint with described expansion link 2-2, can provide the degree of freedom that in the process of squatting down, trunk moves for patient.Described casing 2-3 is between described in two points of pole 6-2, and casing 2-3 sidewall is provided with rail plate 2-4, and casing 2-3 inside is provided with assembly pulley 2-8, the first counterweight 2-9, sprocket wheel 2-10 and the 6th motor 2-11; Described assembly pulley 2-8 is fixed on described casing 2-3, described expansion link 2-2 upper end is connected with described first counterweight 2-9 by assembly pulley 2-8 described in steel wire penetrating, described expansion link 2-2 lower end is also connected with described first counterweight 2-9 by chain, described sprocket wheel 2-10 comprises interior wheel and foreign steamer, described 6th motor 2-11 is connected with described interior wheel, described foreign steamer is connected with chain interoperation, described sprocket wheel 2-10 is one-way driving wheels, when interior wheel speed is higher than foreign steamer, power exports to foreign steamer, when outer wheel speed is higher than interior wheel, unpowered output; Described 6th motor 2-11 is connected with described computer 5.For lower limb disorder patient, after fixing loss of weight shield jig 2-1, independently complete squatting motion difficulty little, the the first counterweight 2-9 increased in this programme can offset the deadweight of training institution, patient only needs the frictional force overcoming internal mechanism just easily can complete squatting motion, therefore move down action in mechanism and do not adopt power-assisted, but supported standing action is larger for difficulty patient, therefore the auxiliary upper shifting movement of the 6th motor 2-11 must be used in mechanism, in actuating unit, adopt sprocket wheel 2-10 to be one-way driving wheels, when interior wheel speed is higher than foreign steamer, power can export to foreign steamer, outer wheel speed is higher than unpowered output during interior wheel, start to squat down before training, physical therapy personnel need the safe distance of setting position sensor equally.When patient independently squats down low level distance, computer 5 sends operating instruction to the 6th motor 2-11, and the 6th motor 2-11 is with movable sprocket 2-10 to rotate, and make loss of weight shield jig 2-1 moves, assisting patients completes the action of supported standing.In the process, if patient makes autonomous standing activities, when making the outer wheel speed of sprocket wheel 2-10 exceed interior wheel speed, the 6th motor 2-11 also can not have an impact to upper shifting movement.
Traditional crawler type pedipulator generally can only run under setting speed, can not according to the autonomous adjusting rotary speed of the kinestate of user.For physical handicaps patient, use this pedestrian apparatus to there is larger potential safety hazard, if situations such as being short of physical strength appears in patient, be difficult to complete alone adjustment operation in time, if now pedipulator still runs well, easily secondary injury is caused to patient.Therefore the crawler belt pedipulator adopted in present embodiment adopts force transducer induction, rely on computer-aided control technology, the self adaptation requirement of patient's lower limb rehabilitation training can be met, concrete scheme as shown in Figure 9, comprise crawler attachment 3-1, the 7th motor 3-2 and force transducer 3-3, described force transducer 3-3 is arranged on expansion link 2-2, and described 7th motor 3-2 drives described crawler attachment 3-1 to move, and described 7th motor 3-2 is all connected with described computer 5 with described force transducer 3-3.When human body is in ambulatory status, its body kinematics is primarily of motion (x-axis) forward, health vacillate now to the left, now to the right (y-axis) and center move up and down (z-axis) three directions motion composition, in order to maintain the normal gait attitude of patient, protect patient not by secondary injury simultaneously, loss of weight shield jig 2-1 generally will be fixed when using vicarious crawler belt pedipulator 3, loss of weight shield jig 2-1 and rear portion rigid link part adopt universal knot to be connected, the freedom of motion of y-axis and part z-axis can be provided for patient, loss of weight shield jig 2-1 entirety can also move up and down (z-axis degree of freedom) along guide rail in addition.During Walking, the motion in x-axis direction is offset by the adverse movement of crawler belt.Before patient does not make walking action, human body remains static, and crawler attachment 3-1 does not operate, the stressed F=0 of force transducer 3-3, and the 7th motor 3-2 is in dead ship condition; When patient starts to walk forward, crawler belt adverse movement also applies a frictional force along x-axis to patient, this frictional force relies on expansion link 2-2 pulling force to offset, the now stressed F>0 of force transducer 3-3, force transducer 3-3 by this Signal transmissions to computer 5, assign assisted instruction by computer 5 to the 7th motor 3-2 after processing, the 7th motor 3-2 drives crawler attachment 3-1 accelerated service; Until when the crawler attachment 3-1 speed of service and patient's walking speed reach dynamic equilibrium, the stressed F=0 of force transducer, computer 5 controls the 7th motor 3-2 to be stopped accelerating, and enters at the uniform velocity operating condition; When being short of physical strength appears in patient or other slow down the situation of walking speed, the speed of service of crawler attachment 3-1 will exceed patient's walking speed, the stressed situation occurring F<0 of force transducer 3-3, after computer 5 receives this signal, control the 7th motor 3-2 is run slowly, until crawler track speeds and patient's walking speed restore balance again.
Figure 10 is the structural representation of traction apparatus for cervical vertebrae, comprise bracing frame 4-1, head traction device 4-2, first pulley 4-3, second pulley 4-4, 3rd pulley 4-5 and the second counterweight 4-6, support frame as described above 4-1 is fixed on described loss of weight shield jig 2-1, described first pulley 4-3 is fixed on support frame as described above 4-1, intermediate bar 6-3 is provided with between point pole 6-2 described in two, described second pulley 4-4 is fixed on described intermediate bar 6-3, described 3rd pulley 4-5 is fixed on described casing 2-3, described head traction device 4-2 passes described first pulley 4-3 successively by steel wire rope, second pulley 4-4, link together with described second counterweight 4-6 after 3rd pulley 4-5.This device can provide neck traction to correct while patient carries out sundry item rehabilitation training.No matter how the erect-position of patient changes, or in training, what kind of kinestate health is in, as long as health is fixed on loss of weight shield jig, the first pulley 4-3 just can remain on patient's head invariant position.Second pulley 4-4 is by being fixed on the height and different motion position that described intermediate bar 6-3 can adapt to different patient.3rd pulley 4-5 is fixed on described casing 2-3 and is used for drawing guiding second counterweight 4-6, and every block balancing weight is set to 0.5 kilogram, freely can adjust the quantity of balancing weight according to different pull strength demand.
In addition, the present invention is in order to ensure the safety that Rehabilitation is trained and effectiveness, by adopting the device such as vital signs monitors and motion state detection instrument, data acquisition is carried out to the basic status of patient in training, the wherein sign such as the main monitored patient blood pressure of vital signs monitors, heart rate and blood oxygen concentration, existing more ripe product can supply type selecting at present.Motion state detection instrument comprises acceleration detection instrument, location detector etc., mainly Real-time Collection patients body location and kinestate in training, external detection type device or wearable type instrument can be adopted, above data message all submits to computer 5 by port, to make corresponding adjustment to training institution fast and effectively.Figure 11 provides the system control process sketch under this pattern, and the control system of computer 5 is divided into host computer control system and next bit computer control system; The data that next bit computer control system is responsible for gathering vital signs monitors and motion state detection instrument send host computer control system to; Physiotherapist is by the remaining performance data of user interface input limbs of patient of host computer control system, and host computer control system independently formulates training program; Rehabilitation machines is in running, and host computer control system is responsible for monitoring the operating index of each mechanism of rehabilitation machines and patient status information, and processes corresponding data and be converted into performance graph or three-dimensional picture display on a user interface; Host computer control system realizes matching with the vital sign in Rehabilitation training process by each mechanism running state parameter adjusting rehabilitation machines.
Claims (14)
1. a multifunctional limb intelligent rehabilitation machine, it is characterized in that, comprise upper limb healing mechanism (1), rehabilitation institution (2) and vicarious crawler belt pedipulator (3) are squatted down in loss of weight protection, described vicarious crawler belt pedipulator (3) is positioned at described upper limb healing mechanism (1) below, described loss of weight protection rehabilitation institution (2) of squatting down is positioned at described vicarious crawler belt pedipulator (3) top, and described loss of weight protection squats down rehabilitation institution (2) just to described upper limb healing mechanism (1); Described upper limb healing mechanism (1), described vicarious crawler belt pedipulator (3) and the protection of described loss of weight rehabilitation institution (2) of squatting down all is connected with computer (5), and described computer (5) is used for controlling the amplitude of squatting down that the position of described upper limb healing mechanism (1) and upper limb the swing amplitude of rehabilitation training, the crawler belt speed of service of described vicarious crawler belt pedipulator (3) and described loss of weight protect rehabilitation institution (2) of squatting down.
2. a kind of multifunctional limb intelligent rehabilitation machine according to claim 1, it is characterized in that, also comprise frame (6), described frame (6) comprises top framework (6-1) and two pieces points of poles (6-2), described point of pole (6-2) one end is fixedly connected with described top framework (6-1), and described in two, point pole (6-2) other end is connected with ground; Described upper limb healing mechanism (1) comprises position regulator and annular training arm (1-7), described position regulator comprises shell (1-1) and tooth bar (1-2), described shell (1-1) is arranged on described top framework (6-1), can go up slide anteroposterior on described top framework (6-1); First gear (1-3) and the second gear (1-4) are installed in described shell (1-1), described tooth bar (1-2) passes vertically through described shell (1-1) and engages with described first gear (1-3) and the second gear (1-4) afterwards simultaneously, the end of described tooth bar (1-2) is connected with cantilevered rail (1-6), and the two ends of described cantilevered rail (1-6) are separately installed with annular training arm (1-7); Described annular training arm (1-7) is provided with training handle (1-8); Described shell (1-1) is provided with the first motor (1-5), described first motor (1-5) is connected with described computer (5), and described first motor (1-5) provides power for described first gear (1-3).
3. a kind of multifunctional limb intelligent rehabilitation machine according to claim 2, it is characterized in that, be provided with plumbing bar (1-9) between each described annular training arm (1-7) and described cantilevered rail (1-6), each described plumbing bar (1-9) is connected with described cantilevered rail (1-6) slip good fortune; The first wire lever (1-10) is connected with between described two plumbing bars (1-9), the second motor (1-11) is equipped with at described first wire lever (1-10) middle part, described second motor (1-11) is connected with computer (5), described second motor (1-11) is used for as described first leading screw (10) provides rotational power, and described first leading screw (10) is contrary in the threads of lead screw direction of described second motor (1-11) both sides.
4. a kind of multifunctional limb intelligent rehabilitation machine according to claim 3, it is characterized in that, reversing bar (1-12) is connected with between each described annular training arm (1-7) and each described plumbing bar (1-9), described each reversing bar (1-12) is connected with described plumbing bar (1-9) revolute pair, each described annular training arm (1-7) can swing along each described reversing bar (1-12), and described annular training arm is mutually vertical with the rotation direction of the revolute pair that described plumbing bar is formed with described reversing bar along the direction that described reversing bar swings; The revolute pair that described reversing bar and described plumbing bar are formed also is provided with locking bolt (1-13).
5. a kind of multifunctional limb intelligent rehabilitation machine according to claim 4, it is characterized in that, each described reversing bar (1-12) is installed with the first gear (1-14), each described annular training arm (1-7) is provided with the second gear (1-15) and is used for the 3rd motor (1-16) that described second gear (1-15) of drive rotates, described first gear (1-14) is connected with the external toothing of described second gear (1-15), and described 3rd motor (1-16) is connected with described computer (5).
6. a kind of multifunctional limb intelligent rehabilitation machine according to claim 5, it is characterized in that, described annular training arm (1-7) arranges arc-shaped guide rail (1-19), described training handle (1-8) is positioned at described arc-shaped guide rail, described training handle (1-8) is fixedly attached to by two wires to be carried on line capstan winch (1-16), wherein a wire be fixedly wrapped in described in carry on line capstan winch (1-16) upper group wrapping post, carry on lower group of wrapping post of line capstan winch (1-16) described in another one wire is fixedly wrapped in, and the direction of winding of the wire on upper group of wrapping post and lower group wrapping post is contrary, described line capstan winch (1-16) of carrying is by the 4th motor (1-17) driven rotary, and described 4th motor (1-17) is connected with described computer (5).
7. a kind of multifunctional limb intelligent rehabilitation machine according to claim 6, is characterized in that, be also provided with stop (1-18) above the arc-shaped guide rail of each described annular training arm (1-7), described stop (1-18) is connected with described computer (5).
8. a kind of multifunctional limb intelligent rehabilitation machine according to claim 2, it is characterized in that, described loss of weight protection rehabilitation institution (2) of squatting down comprises loss of weight shield jig (2-1), expansion link (2-2) and casing (2-3), described loss of weight shield jig (2-1) is connected by universal joint with described expansion link (2-2), described expansion link (2-2) is positioned on the rail plate (2-4) of described casing (2-3) sidewall, and the apparatus for automatically lifting inner with described casing (2-3) is connected, described apparatus for automatically lifting drives described expansion link (2-2) to move up and down along described rail plate (2-4), described casing (2-3) is positioned at described in two and divides between pole (6-2), described rail plate (2-4) is also provided with position sensor (2-5), described position sensor (2-5) is connected with described computer (5).
9. a kind of multifunctional limb intelligent rehabilitation machine according to claim 8, it is characterized in that, described apparatus for automatically lifting comprises leading screw (2-6) and the 5th motor (2-7), described expansion link (2-2) is positioned on described leading screw (2-6), described 5th motor (2-7) is connected with described computer (5), and described 5th motor (2-7) provides power for described leading screw (2-6).
10. a kind of multifunctional limb intelligent rehabilitation machine according to claim 8, is characterized in that, described apparatus for automatically lifting comprises assembly pulley (2-8), the first counterweight (2-9), sprocket wheel (2-10) and the 6th motor (2-11), described assembly pulley (2-8) is fixed on described casing (2-3), described expansion link (2-2) upper end is connected with described first counterweight (2-9) by assembly pulley (2-8) described in steel wire penetrating, described expansion link (2-2) lower end is also connected with described first counterweight (2-9) by chain, described sprocket wheel (2-10) comprises interior wheel and foreign steamer, described 6th motor (2-11) is connected with described interior wheel, described foreign steamer is connected with chain interoperation, described sprocket wheel (2-10) is one-way driving wheels, when interior wheel speed is higher than foreign steamer, power exports to foreign steamer, when outer wheel speed is higher than interior wheel, unpowered output, described 6th motor (2-11) is connected with described computer (5).
11. a kind of multifunctional limb intelligent rehabilitation machines according to claim 8, it is characterized in that, described vicarious crawler belt pedipulator (3) comprises crawler attachment (3-1), the 7th motor (3-2) and force transducer (3-3), described force transducer (3-3) is arranged on expansion link (2-2), described 7th motor (3-2) drives described crawler attachment (3-1) to move, and described 7th motor (3-2) is all connected with described computer (5) with described force transducer (3-3).
12. a kind of multifunctional limb intelligent rehabilitation machines according to claim 8, it is characterized in that, also comprise a traction apparatus for cervical vertebrae (4), described traction apparatus for cervical vertebrae (4) comprises bracing frame (4-1), head traction device (4-2), first pulley (4-3), second pulley (4-4), 3rd pulley (4-5) and the second counterweight (4-6), support frame as described above (4-1) is fixed on described loss of weight shield jig (2-1), described first pulley (4-3) is fixed on support frame as described above (4-1), intermediate bar (6-3) is provided with between point pole (6-2) described in two, described second pulley (4-4) is fixed on described intermediate bar (6-3), described 3rd pulley (4-5) is fixed on described casing (2-3), described head traction device (4-2) passes described first pulley (4-3) successively by steel wire rope, second pulley (4-4), 3rd pulley (4-5) links together with described second counterweight (4-6) afterwards.
13. according to any one multifunctional limb intelligent rehabilitation machine described in claim 1 to 12, it is characterized in that, also comprise vital signs monitors and motion state detection instrument, described vital signs monitors is all connected with computer 5 with described motion state detection instrument, described vital signs monitors is used for the vital sign of monitored patient, and described motion state detection instrument is used for Real-time Collection patients body location and kinestate.
The computer-aided control method of 14. 1 kinds of multifunctional limb intelligent rehabilitation machines as claimed in claim 13, is divided into host computer control system and next bit computer control system by the control system of computer; The data that next bit computer control system is responsible for gathering vital signs monitors and motion state detection instrument send host computer control system to; Physiotherapist is by the remaining performance data of user interface input limbs of patient of host computer control system, and host computer control system independently formulates training program; Rehabilitation machines is in running, and host computer control system is responsible for monitoring the operating index of each mechanism of rehabilitation machines and patient status information, and processes corresponding data and be converted into performance graph or three-dimensional picture display on a user interface; Host computer control system realizes matching with the vital sign in Rehabilitation training process by each mechanism running state parameter adjusting rehabilitation machines.
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| CN105796312A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Arm-width-adjustable medical arm massaging manipulator |
| CN106074090A (en) * | 2016-07-18 | 2016-11-09 | 广西盈锐智能机械有限公司 | Multi-functional double support recovery exercising robot and operational approach thereof |
| CN106109183A (en) * | 2016-07-18 | 2016-11-16 | 广西盈锐智能机械有限公司 | Both arms help recovery exercising robot and operational approach thereof |
| CN108853898A (en) * | 2018-06-26 | 2018-11-23 | 王桂兰 | A kind of Neurology hemiparalysis recovery training device |
| CN109512592A (en) * | 2018-11-28 | 2019-03-26 | 长春大学 | A kind of crawler type standing rehabilitation wheelchair |
| CN111150975A (en) * | 2020-02-26 | 2020-05-15 | 陕西科技大学 | Leg muscle rehabilitation training device and control method thereof |
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