CN104905940B - A kind of multifunctional limb intelligent rehabilitation machine - Google Patents
A kind of multifunctional limb intelligent rehabilitation machine Download PDFInfo
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- CN104905940B CN104905940B CN201510313178.6A CN201510313178A CN104905940B CN 104905940 B CN104905940 B CN 104905940B CN 201510313178 A CN201510313178 A CN 201510313178A CN 104905940 B CN104905940 B CN 104905940B
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Abstract
The present invention relates to a kind of multifunctional limb intelligent rehabilitation machine and its computer-aided control method; squat down rehabilitation institution and induction type crawler belt walking machine are protected including upper limb healing mechanism, loss of weight; induction type crawler belt walking machine is located at below upper limb healing mechanism; loss of weight protection squats down rehabilitation institution above induction type crawler belt walking machine, and loss of weight protection squats down rehabilitation institution just to upper limb healing mechanism；Upper limb healing mechanism, induction type crawler belt walking machine and loss of weight protect rehabilitation institution of squatting down to be connected with computer; rehabilitation exercise motion is dominated using corresponding training institution; according to the remaining function of limbs of patient; rehabilitation training plans are generated using computer-aided control technology; and monitor vital sign patient and motion state, the operation amplitude of adjusting training mechanism and speed in real time in training, it is ensured that the security and validity of rehabilitation training.
Description
Technical field
The present invention relates to a kind of rehabilitation machines, more particularly to a kind of multi-functional limb for physical handicaps Rehabilitation training
Body intelligent rehabilitation machine.
Background technology
Mechanical assistance extremity motor function rehabilitation training technology is the study hotspot in limb rehabilitating field, and this technology can be
The patient for having limbs disturbance provides safety, high intensity and using task as the training being oriented to, and rehabilitation training can be improved comprehensively
Effect, and help to mitigate the burden of rehabilitation therapist, the hygienic cost of reduction.Physical handicaps patient can divide according to the specific state of an illness
It is limited for upper limb disorder, lower limb disorder and neck functional.Mainly have double for the rehabilitation training of upper limbs impaired patients
Arm swing is trained and lateral swing arm training；The rehabilitation training of lower limb obstacle includes squat down two kinds of training and Walking；
While carrying out above several training subjects, increase cervical traction correction can help patient to recover neck to a certain extent
Motion function.
The limb rehabilitating equipment used both at home and abroad at present mainly includes rehabilitation training type and the major class of supplemental training type two.Its
In, rehabilitation training type is mainly directed towards severe physical handicaps patient；And supplemental training type is mainly for there is certain autonomous actions ability
Patient, generally reach and seldom used in reconditioning purpose, system by the way of weight reducing device and trainer are engaged
Controlling unit, training process fully relies on nursing staff and carries out monitoring correction, and correction parameter not can determine that, patient and nursing staff
All work hard very much, training effect is very undesirable, and many patients miss the best period of rehabilitation.
The content of the invention
A variety of limbs disturbance patients, integrated a variety of training institutions and meter are directed to it is an object of the invention to provide one kind
The intelligent rehabilitation machine that calculation machine is automatically controlled.
For achieving the above object, the present invention is achieved by the following technical solutions：A kind of multifunctional limb intelligence
Rehabilitation machines, including upper limb healing mechanism, loss of weight protect squat down rehabilitation institution and induction type crawler belt walking machine, the induction type crawler belt
Walking machine is located at below the upper limb healing mechanism, and the loss of weight protection squats down rehabilitation institution positioned at the induction type crawler belt walking
Above machine, the loss of weight protection squats down rehabilitation institution just to the upper limb healing mechanism；The upper limb healing mechanism, the sensing
Formula crawler belt walking machine and the loss of weight protect rehabilitation institution of squatting down to be connected with computer, and the computer is used for controlling on described
The position of limb rehabilitation institution and upper limbs swing the amplitude of rehabilitation training；The computer is used for controlling the induction type crawler belt walking
The crawler belt speed of service of machine；The maximum that the computer is used for controlling loss of weight protection to squat down rehabilitation institution is squatted down amplitude.
In such scheme, in addition to frame, the frame includes top framework and Liang Gen branches bar, described branch's bar one end
It is fixedly connected with the top framework, two branch's bar other ends are connected with ground；The upper limb healing mechanism 1 includes position
Adjuster and annular training arm are put, the position regulator includes shell and rack, and the shell is arranged on the top framework
On, it can be slid back and forth on the top framework；First gear and second gear are installed, the rack is erected in the shell
Engaged simultaneously with the first gear and second gear after the excessively described shell of direct puncture, the end of the rack is connected with cantilever and led
Rail, the two ends of the cantilevered rail are separately installed with annular training arm；The annular training arm is provided with training handle；It is described outer
First motor is installed, first motor is connected with the computer on shell, first motor is that the first gear is carried
For power.
In such scheme, plumbing bar is installed between each annular training arm and the cantilevered rail, it is each described vertical
Bar is connected with the cantilevered rail sliding pair；It is connected between described two plumbing bars in the first wire lever, first wire lever
Portion is equipped with the second motor, and second motor is connected with computer, and second motor is used for providing for first leading screw and turned
Dynamic power, threads of lead screw of first leading screw in the second motor both sides is in opposite direction.
In such scheme, reversing bar is connected between each the annular training arm and each plumbing bar, it is described each
Reversing bar is connected with the plumbing bar revolute pair, and each annular training arm can be swung along each reversing bar, the ring
The rotation direction phase for the revolute pair that the direction and the reversing bar that shape training arm is swung along the reversing bar are constituted with the plumbing bar
It is mutually vertical；Locking bolt is additionally provided with the revolute pair that the reversing bar is constituted with the plumbing bar.
In such scheme, the 3rd gear is installed with each reversing bar, is pacified on each annular training arm
Equipped with the 4th gear and for driving outside the 3rd motor that the 4th gear rotates, the 3rd gear and the 4th gear
Engagement connection, the 3rd motor is connected with the computer.
In such scheme, arc-shaped guide rail is set on the annular training arm, the training handle is located at the arc-shaped guide rail
Interior, the training handle is fixedly attached to by two wires and carried on line capstan winch, wherein a wire fix be wrapped in it is described
Carry and being organized on line capstan winch on wrapping post, another wire fix be wrapped in it is described carry on the following group wrapping post of line capstan winch, and
The direction of winding of upper group of wrapping post and the wire on the following group wrapping post is opposite；The line capstan winch that carries drives rotation by the 4th motor
Turn, the 4th motor is connected with the computer.
In such scheme, is additionally provided with limiter above the arc-shaped guide rail of each annular training arm, the limiter with
The computer connection.
In such scheme, the loss of weight protects rehabilitation institution of squatting down to include loss of weight shield jig, expansion link and casing, described
Loss of weight shield jig is connected with the expansion link by universal joint, and the expansion link is located at the rail plate of the wall box
On, and be connected with the apparatus for automatically lifting of the box house, the apparatus for automatically lifting drives the expansion link along the cunning
Dynamic guide rail moves up and down；The casing is located between two branch's bars；Position sensing is also equipped with the rail plate
Device, the position sensor is connected with the computer.
In such scheme, the apparatus for automatically lifting includes leading screw and the 5th motor, and the expansion link is located at the leading screw
On, the 5th motor is connected with the computer, and the 5th motor provides power for the leading screw.
In such scheme, the apparatus for automatically lifting includes assembly pulley, the first counterweight, sprocket wheel and the 6th motor；The cunning
Wheel group is fixed on the casing, and the expansion link upper end is matched somebody with somebody by assembly pulley described in steel wire penetrating and described first to be reconnected
Connect, the expansion link lower end is by chain also with described first with reconnecting, and the sprocket wheel includes lubrication groove and foreign steamer, the described 6th
Motor is connected with the lubrication groove, and the foreign steamer is connected with chain interoperation, and the sprocket wheel is one-way driving wheels, when interior wheel speed is higher than
During foreign steamer, power is exported to foreign steamer, when outer wheel speed is higher than lubrication groove, unpowered output；6th motor is calculated with described
Machine is connected.
In such scheme, the induction type crawler belt walking machine 3 includes crawler attachment, the 7th motor and force snesor, described
Force snesor is arranged on expansion link, and the 7th motor drives the crawler attachment motion, the 7th motor and the power
Sensor is connected with the computer.
In such scheme, in addition to a traction apparatus for cervical vertebrae, the traction apparatus for cervical vertebrae includes support frame, head traction
Device, first pulley, second pulley, the 3rd pulley and the second counterweight, support frame as described above are fixed on the loss of weight shield jig, institute
State first pulley to be fixed on support frame as described above, intermediate bar is provided between two branch's bars, the second pulley is fixed on
On the intermediate bar, the 3rd pulley is fixed on the casing, and the head traction device sequentially passes through institute by steel wire rope
State after first pulley, second pulley, the 3rd pulley and to be linked together with second counterweight.
In such scheme, in addition to vital signs monitors and motion state detection instrument, the vital signs monitors and
The motion state detection instrument is connected with computer 5, and the vital signs monitors are used for monitoring the vital sign of patient, institute
State motion state detection instrument and be used for collection patients body location and motion state in real time.
Present invention also offers a kind of computer-aided control method of multifunctional limb intelligent rehabilitation machine, by computer
Control system is divided into host computer control system and next bit computer control system；Next bit computer control system is responsible for collection
The data of vital signs monitors and motion state detection instrument send host computer control system to；Physiatrist passes through upper
The remaining performance data of user interface input limbs of patient of computer control system, host computer control system independently formulates instruction
Practice scheme；Rehabilitation machines in the process of running, host computer control system be responsible for monitoring rehabilitation machines each mechanisms operating index and
Patient status information, and corresponding data is handled and performance graph is converted into or three-dimensional picture is shown on a user interface；
Host computer control system is realized and Rehabilitation training process by adjusting each mechanism running state parameter of rehabilitation machines
In vital sign match.
Beneficial effects of the present invention：(1) this rehabilitation machines can be autonomous to formulate according to the specific state of an illness and rehabilitation situation of user
Training program, comprehensive rehabilitation training is carried out to four limbs function；Simultaneously can in real time be monitored in training vital sign patient with
Motion state, the autonomous adjusting training mechanism speed of service and implementation are protected, and (2) instant invention overcomes Traditional Rehabilitation appliance function list
First, the low shortcoming of intelligence degree, can effectively improve the effect of rehabilitation training, shorten the rehabilitation duration of patient, mitigate and suffer from
The pain of person, is emancipated from hard work rehabilitation physical therapy personnel.
Brief description of the drawings
Fig. 1 is rehabilitation machines integral layout schematic diagram of the invention.
Fig. 2 is the overall structure stereogram of upper limb healing mechanism of the present invention.
Fig. 3 is upper limb healing mechanism China and foreign countries' shell and rack position graph of a relation.
Fig. 4 is each part composition schematic diagram of upper limb healing mechanism.
Fig. 5 trains arm configuration schematic diagram for the annular of upper limb healing mechanism.
Fig. 6 is the arc-shaped guide rail structural representation on annular training arm.
Fig. 7 is the structural representation for the embodiment one that loss of weight protects rehabilitation institution of squatting down.
Fig. 8 is the structural representation for the embodiment two that loss of weight protects rehabilitation institution of squatting down.
Fig. 9 is the structural representation of induction type crawler belt walking machine.
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. rack；1-3. first gear；1-4. second gear；1-5.
First motor；1-6. cantilevered rail；1-7. annular training arms；1-8. trains handle；1-9. plumbing bar；1-10. the first wire lever；
1-11. the second motor；1-12. reversing bar；1-13. locking bolt；The gears of 1-14. the 3rd；The gears of 1-15. the 4th；1-16. the 3rd
Motor；The motors of 1-17. the 4th；1-18. limiter；1-19. arc-shaped guide rail；The rehabilitation institution 2. loss of weight protection is squatted down；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；The electricity of 2-7. the 5th
Machine；2-8. assembly pulley；The counterweights of 2-9. first；2-10. sprocket wheel；The motors of 2-11. the 6th；3. induction type crawler belt walking machine；3-1. carry out
Belting；The motors of 3-2. the 7th；3-3. force snesor；4. traction apparatus for cervical vertebrae；4-1. support frame；4-2. head traction devices；4-
3. first pulley；4-4. second pulley；The pulleys of 4-5. the 3rd；The counterweights of 4-6. second；5. computer；6. frame；6-1. tops frame
Frame；6-2. branches bar.
Embodiment
As shown in figure 1, the primary demand in physical handicaps Rehabilitation treatment process, the main of this rehabilitation equipment is set
Upper limb healing mechanism 1, induction type crawler belt walking machine 3, loss of weight has been counted to protect rehabilitation institution 2 of squatting down, traction apparatus for cervical vertebrae 4, calculate
Machine 5 and frame 6；The frame 6 includes top framework 6-1 and Liang Gen branches bar 6-2, described branch's bar 6-2 one end and the top
End frame 6-1 is fixedly connected, and the other end is connected with ground；Under upper limb healing mechanism 1, induction type crawler belt walking machine 3, loss of weight protection
Crouching rehabilitation institution 2, traction apparatus for cervical vertebrae 4 are respectively positioned on the Liang Gen branches bar 6-2 sides of frame, and computer 5 is located at two of frame
Branch's bar 6-2 opposite sides；The induction type crawler belt walking machine 3 is located at the lower section of upper limb healing mechanism 1, under the loss of weight protection
Crouching rehabilitation institution 2 is located at the top of the induction type crawler belt walking machine 3, and the loss of weight protection squats down rehabilitation institution 2 just on described
Limb rehabilitation institution 1；Traction apparatus for cervical vertebrae 4 and the loss of weight protect rehabilitation institution 2 of squatting down to link together, upper limb healing mechanism 1,
Induction type crawler belt walking machine 3 and the loss of weight protect the control system for rehabilitation institution 2 of squatting down to be connected with computer 5, wherein,
Upper limb healing mechanism 1 can complete swing arm rehabilitation training and lateral swing arm training before and after upper limbs；Induction type crawler belt walking machine 3 can be carried out
Lower limb walking rehabilitation training；Loss of weight protection rehabilitation institution 2 of squatting down can complete leg and squat down rehabilitation training, in other training subjects
It also is used as loss of weight shield jig；Traction apparatus for cervical vertebrae 4 can provide cervical traction correction in rehabilitation training；Computer 5 can be with
Default drill program, and real-time monitoring is realized to training process.Meanwhile, computer 5 can also be used to control the upper limb healing
The position of mechanism 1 and upper limbs swing the amplitude of rehabilitation training, for controlling the crawler belt of the induction type crawler belt walking machine 3 to run
Speed, for controlling the squat down maximum of rehabilitation institution 2 of loss of weight protection to squat down amplitude.
The structure of upper limb healing mechanism 1 can pass through Fig. 2 --- and Fig. 6 is represented, is adjusted as shown in Fig. 2 mainly including position
Whole device and annular training arm 1-7, the position regulator includes shell 1-1 and rack 1-2, the shell 1-1 are arranged on described
On the framework 6-1 of top, it can be slid back and forth on the top framework 6-1, realize the adjustment of upper limb healing mechanism front and back position,
To adapt to different users' training erect-position；First gear 1-3 and second gear 1-4, the shell are installed in the shell 1-1
First motor 1-5 is installed, the first motor 1-5 is connected with the computer 5, and the first motor 1-5 is described on 1-1
First gear 1-3 provides power, the rack 1-2 pass vertically through after the shell 1-1 simultaneously with the first gear 1-3 and the
Two gear 1-4 engage (as shown in Figure 3), and position regulator drives driving first gear to rotate by the first motor 1-5, realizes tooth
Bar 1-2 drives the upper-lower position adjustment of upper limb healing mechanism, to adapt to the height of different users.
As shown in figure 4, rack 1-2 end is connected with cantilevered rail 1-6, the two ends of the cantilevered rail 1-6 are pacified respectively
Equipped with plumbing bar 1-9, each described plumbing bar 1-9 one end is connected with the cantilevered rail 1-6 sliding pairs, and the other end passes through reversing bar 1-
12 are connected with annular training arm 1-7, wherein each reversing bar 1-12 is connected with the plumbing bar 1-9 revolute pairs, it is each described
Annular training arm 1-7 can be swung along each reversing bar 1-12, the side that the annular training arm is swung along the reversing bar
It is mutually perpendicular to the rotation direction of the revolute pair constituted with the reversing bar with the plumbing bar；The reversing bar and the plumbing bar structure
Into revolute pair on be additionally provided with locking bolt 1-13, open the plan-position that locking bolt 1-13 is adjustable collar shape training aids, fit
The training demand of swing arm motion before and after answering, annular training aids plane is perpendicular to paper during front and rear swing arm training, and annular trains arm 1-7
Moved forward and backward along reversing bar 1-12 transverse axis, wherein the training of front and rear swing arm motion can be completed independently or auxiliary using motor by patient
Completion is helped, the scheme completed using motor assist is：The 3rd gear 1-14 is installed with each reversing bar 1-12,
Be provided with each annular training arm 1-7 the 4th gear 1-15 and for driving the 4th gear 1-15 rotations the 3rd
Motor 1-16, the 3rd gear 1-14 are connected with the 4th gear 1-15 external toothings, the 3rd motor 1-16 with it is described
Computer 5 is connected (as shown in Figure 5).Detailed process is：3rd motor 1-16 drives the 4th gear 1-15 to rotate forward or backwards,
So as to draw annular training arm 1-7 using reversing bar transverse axis as center of circle swing, swing arm motion before and after auxiliary patient.In training
Before, physiatrist can move forward and backward remaining ability to patient's upper limbs and test, and allow patient's swing upper limbs to do the best and promote annular instruction
Practice arm 1-7 to move forward and backward, annular training arm 1-7 drives the 3rd motor 1-16 rotations, uses the motor 1-16 of counter records the 3rd
The rotation number of turns, you can obtain patient's residual motion ability maximum, by the data transfer to computer 5, be used as training amplitude
Parameter, generates training program.In addition to the upper limb healing mechanism front and rear throttle up/down capability overall except that should possess, should also have
There is the adjustment capability for different patient's shoulder breadths.Therefore, the first wire lever 1-10, institute are connected between described two plumbing bar 1-9
State equipped with the second motor 1-11 in the middle part of the first wire lever 1-10, the second motor 1-11 is connected with computer 5, and described second is electric
Machine 1-11 is used for providing rotational power for the first leading screw 1- 10, and the first leading screw 1- 10 is in the second motor 1-11
The threads of lead screw of both sides is in opposite direction.It can realize that both sides annular training arm 1-7 is overall by the second motor 1-11 rotating
Inwardly or outwardly adjust spacing.
When annular training arm 1-7 is operated in lateral swing arm training mode, now by annular training arm 1-7 positions around plumbing bar 1-9
90 degree are turned over, as shown in fig. 6, by setting arc-shaped guide rail 1-19 on the annular training arm 1-7, wherein training handle 1-8
In the arc-shaped guide rail, training handle 1-8 can move up and down after unlocking in arc-shaped guide rail 1-19 along camber line.Side
Motor assist pattern can also be used to swing arm training, major programme is：Fixed in the training handle 1-8 by two wires
It is connected to and carries on line capstan winch 1-16, wherein a wire, which is fixed, is wrapped in described carry on line capstan winch 1-16 on group wrapping post, separately
Outer wire fixation is carried on line capstan winch 1-16 the following group wrapping post described in being wrapped in, and upper group of wrapping post and the following group coiling
The direction of winding of wire on post is opposite；Carry line capstan winch 1-16 and driven by the 4th motor 1-17 and rotated, the 4th motor 1-
17 are connected with the computer 5, are automatically controlled by the 4th motor 1-17 and propose line capstan winch 1-16 rotation to realize the side of patient
Trained to automatic swing arm；In order to adapt to the brachium of different patients, the freedom of motion of annular training aids laterally should be retained；Due to
Personnel standing place is inner side, hurts patient in order to which anti-locking mechanism is moved downward, also answers motion of the limiting mechanism to inner side, because
This be additionally provided with above each annular training arm 1-7 arc-shaped guide rail limiter 1-18, the limiter 1-18 with it is described
Computer 5 is connected.The aptitude tests of patient's residual motion and training parameter setting and front and rear pendulum under wherein lateral swing arm training mode
Operating method during arm training mode is similar, repeats no more.
Loss of weight protects rehabilitation institution 2 of squatting down to be the device for carrying out recovery training to patient's lower limb harmony and strength, dress
Put should be able to assisting user complete the action squatted down with supported standing, particularly standing activities auxiliary body should be set to use electricity
Machine, which drives, to be completed.Herein present embodiments provide for two kinds of technical schemes, technical scheme one as shown in fig. 7, the loss of weight is protected
Rehabilitation institution 2 squat down including loss of weight shield jig 2-1, expansion link 2-2 and casing 2-3, the loss of weight shield jig 2-1 and institute
State expansion link 2-2 to connect by universal joint, the free degree that trunk is moved during squatting down can be provided for patient.The casing 2-
3 are located between two branch's bar 6-2, and casing 2-3 sides wall is installed provided with rail plate 2-4, the casing 2-3 inside
There are leading screw 2-6 and the 5th motor 2-7, the expansion link 2-2 is located on the leading screw 2-6, the 5th motor 2-7 and the meter
Calculation machine 5 is connected, and the 5th motor 2-7 provides power for the leading screw 2-6, the expansion link 2-2 can be leading screw 2-6's
Drive rail plate 2-4 described in lower edge to move up and down, realize the action for driving patient to squat down and stand.Squatted down using power-assisted
Before training, physiotherapy personnel should test patient and independently squat down amplitude, with reference to patient stand's height, also be installed on rail plate 2-4
Position sensor 2-5, the position sensor 2-5 are connected with the computer 5, and computer 5 will control the 5th motor 2-7 to drive
Mechanism is run in the range of the home of sensor settings.
Loss of weight protects the technical scheme two for rehabilitation institution 2 of squatting down, and as shown in figure 8, loss of weight protection is squatted down, rehabilitation institution 2 includes
Loss of weight shield jig 2-1, expansion link 2-2 and casing 2-3, the loss of weight shield jig 2-1 and the expansion link 2-2 pass through universal
Section connection, can provide the free degree that trunk is moved during squatting down for patient.The casing 2-3 is located at two branch's bars
Between 6-2, casing 2-3 sides wall is provided with rail plate 2-4, be provided with inside casing 2-3 assembly pulley 2-8, the first counterweight 2-9,
Sprocket wheel 2-10 and the 6th motor 2-11；The assembly pulley 2-8 is fixed on the casing 2-3, and the expansion link 2-2 upper ends pass through
Assembly pulley 2-8 described in steel wire penetrating and the first counterweight 2-9 connections, the expansion link 2-2 lower ends by chain also with institute
The first counterweight 2-9 connections are stated, the sprocket wheel 2-10 includes lubrication groove and foreign steamer, and the 6th motor 2-11 is connected with the lubrication groove,
The foreign steamer is connected with chain interoperation, and the sprocket wheel 2-10 is one-way driving wheels, and when interior wheel speed is higher than foreign steamer, power is outside
Wheel output, when outer wheel speed is higher than lubrication groove, unpowered output；The 6th motor 2-11 is connected with the computer 5.For
Lower limb disorder patient, after fixed loss of weight shield jig 2-1, the autonomous squatting motion that completes is difficult less, increases in this programme
Plus the first counterweight 2-9 can offset the deadweight of training institution, patient only needs to overcome the frictional force of internal mechanism just can be light
Pine, which completes to move down in squatting motion, therefore mechanism to act, does not use power-assisted, but supported standing action is for patient
For difficulty it is larger, therefore shifting movement in the 6th motor 2-11 auxiliary must be used in mechanism, sprocket wheel is used in actuating unit
2-10 is one-way driving wheels, interior wheel speed be higher than foreign steamer when, power can be exported to foreign steamer, outer wheel speed be higher than lubrication groove when without
Power output, before the training that starts to squat down, physiotherapy personnel need also exist for the safe distance of set location sensor.Under patient is autonomous
Squat to low level apart from when, computer 5 sends operating instruction to the 6th motor 2-11, the 6th motor 2-11 band movable sprocket 2-10 rotations
Turn, move up loss of weight shield jig 2-1, auxiliary patient completes the action of supported standing.In the process, come from if patient does
Main standing activities, when making the outer wheel speeds of sprocket wheel 2-10 more than interior wheel speed, the 6th motor 2-11 will not also be produced to upper shifting movement
Influence.
Traditional crawler type walking machine can only typically be run under setting speed, it is impossible to according to the motion state of user certainly
Main regulation rotating speed.For physical handicaps patient, larger potential safety hazard is there is using this pedestrian apparatus, if patient
Situations such as being short of physical strength, it is difficult to complete adjustment operation alone in time, it is easily right if now walking machine still runs well
Patient causes secondary injury.Therefore the crawler belt walking machine employed in present embodiment is sensed using force snesor, by calculating
Machine aided control technology, disclosure satisfy that the adaptive requirement of patient's lower limb rehabilitation training, concrete scheme as shown in figure 9, including carrying out
Belting 3-1, the 7th motor 3-2 and force snesor 3-3, the force snesor 3-3 are arranged on expansion link 2-2, and the described 7th
Motor 3-2 drives crawler attachment 3-1 motion, the 7th motor 3-2 and force snesor 3-3 with the computer
5 connections.When human body is in ambulatory status, its body kinematics is main to be vacillated now to the left, now to the right (y-axis) by motion (x-axis) forward, body
With the motion for moving up and down (z-axis) the three directions composition at center, in order to maintain the normal gait posture of patient, suffer from while protecting
Person by secondary injury, loss of weight shield jig 2-1, loss of weight protective folder will not typically be fixed when using induction type crawler belt walking machine 3
Tool 2-1 is connected with rear portion rigid link part using universal knot, and the freedom of motion of y-axis and part z-axis can be provided for patient,
Other loss of weight shield jig 2-1 can also integrally move up and down (the z-axis free degree) along guide rail.During Walking, x-axis direction
Move and offset by the counter motion of crawler belt.Patient is not made before walking action, and human body remains static, and crawler attachment 3-1 is not
Operating, force snesor 3-3 institutes stress F=0, the 7th motor 3-2 is in dead ship condition；When patient starts to walk forward, crawler belt is anti-
Apply a frictional force to motion and along x-axis to patient, the frictional force is offset by expansion link 2-2 pulling force, now force snesor
3-3 stress F>0, force snesor 3-3 transmits the signal to computer 5, from computer 5 to the 7th motor 3-2 after being handled
Assisted instruction is assigned, the 7th motor 3-2 drives crawler attachment 3-1 accelerated services；Until the crawler attachment 3-1 speeds of service and patient
When walking speed reaches dynamic equilibrium, force snesor stress F=0, computer 5 controls the 7th motor 3-2 to stop accelerating, into even
Fast operating condition；When being short of physical strength occurs in patient or other slow down the situation of walking speed, the crawler attachment 3-1 speed of service
Patient's walking speed will be exceeded, F occurs in force snesor 3-3 stress<0 situation, computer 5 is received after this signal, will be controlled
Make the 7th motor 3-2 to run slowly, until crawler track speeds restore balance again with patient's walking speed.
Figure 10 is the structural representation of traction apparatus for cervical vertebrae, including support frame 4-1, head traction device 4-2, first pulley 4-
3rd, second pulley 4-4, the 3rd pulley 4-5 and the second counterweight 4-6, support frame as described above 4-1 are fixed on the loss of weight shield jig 2-1
On, the first pulley 4-3 is fixed on support frame as described above 4-1, and intermediate bar is provided between two branch's bar 6-2, described
Second pulley 4-4 is fixed on the intermediate bar, and the 3rd pulley 4-5 is fixed on the casing 2-3, the head traction
Device 4-2 is sequentially passed through after the first pulley 4-3, second pulley 4-4, the 3rd pulley 4-5 by steel wire rope to be matched somebody with somebody with described second
Weight 4-6 links together.This device can provide neck traction correction while patient carries out sundry item rehabilitation training.No matter
How the erect-position of patient changes, or what kind of motion state body is in training, as long as body is fixed on loss of weight protective folder
On tool, first pulley 4-3 is maintained at patient's overhead invariant position.Second pulley 4-4 is by being fixed on the intermediate bar
On be adapted to height and the different motion position of different patients.3rd pulley 4-5, which is fixed on the casing 2-3, to be used for drawing
The second counterweight 4-6 is oriented to, every piece of balancing weight is set to 0.5 kilogram, can freely adjust balancing weight according to different tractive force demands
Quantity.
In addition, the present invention will use vital signs monitors to ensure the security and validity of Rehabilitation training
Data acquisition, wherein vital signs monitors master are carried out to the basic status of patient in training with the device such as motion state detection instrument
The signs such as patients' blood, heart rate and blood oxygen concentration are monitored, existing more ripe product is available for type selecting at present.Motion state detection
Instrument includes acceleration detection instrument, location detector etc., mainly gathers patients body location and motion state in real time in training, can
Using external detection type device or wearable type instrument, data above information submits to computer 5 by port, quickly to have
What is imitated makes corresponding adjustment to training institution.Figure 11 provides the system control process sketch under the pattern, the control of computer 5
System is divided into host computer control system and next bit computer control system；Next bit computer control system is responsible for gathering life
The data of physical sign monitor and motion state detection instrument send host computer control system to；Physiatrist is calculated by upper
The remaining performance data of user interface input limbs of patient of machine control system, host computer control system independently formulates training side
Case；In the process of running, host computer control system is responsible for monitoring operating index and the patient of each mechanism of rehabilitation machines to rehabilitation machines
Status information, and corresponding data is handled and performance graph is converted into or three-dimensional picture is shown on a user interface；It is upper
Computer control system realized by adjusting each mechanism running state parameter of rehabilitation machines with Rehabilitation training process
Vital sign matches.
Claims (12)
1. a kind of multifunctional limb intelligent rehabilitation machine, it is characterised in that including upper limb healing mechanism（1）, loss of weight protection squats down health
Answer a pager's call structure（2）With induction type crawler belt walking machine（3）, the induction type crawler belt walking machine（3）Positioned at the upper limb healing mechanism（1）
Lower section, the loss of weight protects rehabilitation institution of squatting down（2）Positioned at the induction type crawler belt walking machine（3）Top, the loss of weight protection
Squat down rehabilitation institution（2）Just to the upper limb healing mechanism（1）；The upper limb healing mechanism（1）, the induction type crawler belt walking
Machine（3）Rehabilitation institution of squatting down is protected with the loss of weight（2）And computer（5）It is connected, the computer（5）It is described for controlling
Upper limb healing mechanism（1）Position and upper limbs swing the amplitude of rehabilitation training, the induction type crawler belt walking machine（3）Crawler belt fortune
Scanning frequency degree and the loss of weight protect rehabilitation institution of squatting down（2）Amplitude of squatting down；Also include frame（6）, the frame（6）Including top
End frame（6-1）With Liang Gen branches bar（6-2）, branch's bar（6-2）One end and the top framework（6-1）It is fixedly connected,
Two branch's bars（6-2）The other end is connected with ground；The upper limb healing mechanism（1）Instructed including position regulator and annular
Practice arm（1-7）, the position regulator include shell（1-1）And rack（1-2）, the shell（1-1）Installed in the top
Framework（6-1）On, can be in the top framework（6-1）On slide back and forth；The shell（1-1）First gear is inside installed
（1-3）And second gear（1-4）, the rack（1-2）Pass vertically through the shell（1-1）Afterwards simultaneously with the first gear
（1-3）And second gear（1-4）Engagement, the rack（1-2）End be connected with cantilevered rail（1-6）, the cantilevered rail
（1-6）Two ends be separately installed with annular training arm（1-7）；The annular training arm（1-7）Provided with training handle（1-8）；
The shell（1-1）On the first motor is installed（1-5）, first motor（1-5）With the computer（5）Connection, it is described
First motor（1-5）For the first gear（1-3）Power is provided.
2. a kind of multifunctional limb intelligent rehabilitation machine according to claim 1, it is characterised in that each annular training
Arm（1-7）With the cantilevered rail（1-6）Between plumbing bar is installed（1-9）, each plumbing bar（1-9）With the cantilevered rail
（1-6）Sliding pair is connected；Two plumbing bars（1-9）Between be connected with the first wire lever（1-10）, first wire lever（1-
10）Middle part is equipped with the second motor（1-11）, second motor（1-11）With computer（5）Connection, second motor（1-
11）For for first leading screw（1- 10）Rotational power, first wire lever are provided（1-10）In second motor
（1-11）The threads of lead screw of both sides is in opposite direction.
3. a kind of multifunctional limb intelligent rehabilitation machine according to claim 2, it is characterised in that each annular training
Arm（1-7）With each plumbing bar（1-9）Between be connected with reversing bar（1-12）, each reversing bar（1-12）Hung down with described
Bar（1-9）Revolute pair is connected, each annular training arm（1-7）Can be along each reversing bar（1-12）Swing, it is described
The rotation direction for the revolute pair that the direction and the reversing bar that annular training arm is swung along the reversing bar are constituted with the plumbing bar
It is mutually perpendicular to；Locking bolt is additionally provided with the revolute pair that the reversing bar is constituted with the plumbing bar（1-13）.
4. a kind of multifunctional limb intelligent rehabilitation machine according to claim 3, it is characterised in that each reversing bar
（1-12）On be installed with the 3rd gear（1-14）, each annular training arm（1-7）On the 4th gear is installed（1-
15）With for driving the 4th gear（1-15）3rd motor of rotation（1-16）, the 3rd gear（1-14）With it is described
4th gear（1-15）External toothing is connected, the 3rd motor（1-16）With the computer（5）Connection.
5. a kind of multifunctional limb intelligent rehabilitation machine according to claim 4, it is characterised in that the annular training arm
（1-7）Upper setting arc-shaped guide rail（1-19）, the training handle（1-8）In the arc-shaped guide rail, the training handle（1-
8）It is fixedly attached to by two wires and carries line capstan winch（1-16）On, wherein wire, which is fixed to be wrapped in, described carries line capstan winch
（1-16）On upper group of wrapping post, another wire, which is fixed to be wrapped in, described carries line capstan winch（1-16）The following group wrapping post on,
And the direction of winding of upper group of wrapping post and the wire on the following group wrapping post is opposite；It is described to carry line capstan winch（1-16）By the 4th electricity
Machine（1-17）Drive rotation, the 4th motor（1-17）With the computer（5）Connection.
6. a kind of multifunctional limb intelligent rehabilitation machine according to claim 5, it is characterised in that each annular training
Arm（1-7）Arc-shaped guide rail above be additionally provided with limiter（1-18）, the limiter（1-18）With the computer（5）Connection.
7. a kind of multifunctional limb intelligent rehabilitation machine according to claim 1, it is characterised in that the loss of weight protection is squatted down
Rehabilitation institution（2）Including loss of weight shield jig（2-1）, expansion link（2-2）And casing（2-3）, the loss of weight shield jig（2-1）
With the expansion link（2-2）Connected by universal joint, the expansion link（2-2）Positioned at the casing（2-3）The slip of side wall is led
Rail（2-4）On, and with the casing（2-3）Internal apparatus for automatically lifting is connected, and is stretched described in the apparatus for automatically lifting drive
Contracting bar（2-2）Along the rail plate（2-4）Move up and down；The casing（2-3）Positioned at two branch's bars（6-2）It
Between；The rail plate（2-4）On be also equipped with position sensor（2-5）, the position sensor（2-5）With the computer
（5）Connection.
8. a kind of multifunctional limb intelligent rehabilitation machine according to claim 7, it is characterised in that the apparatus for automatically lifting
Including leading screw（2-6）With the 5th motor（2-7）, the expansion link（2-2）Positioned at the leading screw（2-6）On, the 5th motor
（2-7）With the computer（5）Connection, the 5th motor（2-7）For the leading screw（2-6）Power is provided.
9. a kind of multifunctional limb intelligent rehabilitation machine according to claim 7, it is characterised in that the apparatus for automatically lifting
Including assembly pulley（2-8）, the first counterweight（2-9）, sprocket wheel（2-10）With the 6th motor（2-11）；The assembly pulley（2-8）It is fixed
In the casing（2-3）On, the expansion link（2-2）Upper end passes through assembly pulley described in steel wire penetrating（2-8）With described first
Counterweight（2-9）Connection, the expansion link（2-2）Lower end by chain also with first counterweight（2-9）Connection, the sprocket wheel
（2-10）Including lubrication groove and foreign steamer, the 6th motor（2-11）It is connected with the lubrication groove, the foreign steamer is connected with chain interoperation,
The sprocket wheel（2-10）For one-way driving wheels, when interior wheel speed is higher than foreign steamer, power is exported to foreign steamer, when outer wheel speed is higher than
During lubrication groove, unpowered output；6th motor（2-11）With the computer（5）Connection.
10. a kind of multifunctional limb intelligent rehabilitation machine according to claim 7, it is characterised in that the induction type crawler belt
Walking machine（3）Including crawler attachment（3-1）, the 7th motor（3-2）And force snesor（3-3）, the force snesor（3-3）Install
In expansion link（2-2）On, the 7th motor（3-2）Drive the crawler attachment（3-1）Motion, the 7th motor（3-2）
With the force snesor（3-3）With the computer（5）Connection.
11. a kind of multifunctional limb intelligent rehabilitation machine according to claim 7, it is characterised in that also including a cervical vertebra
Draw-gear（4）, the traction apparatus for cervical vertebrae（4）Including support frame（4-1）, head traction device（4-2）, first pulley（4-3）、
Second pulley（4-4）, the 3rd pulley（4-5）With the second counterweight（4-6）, support frame as described above（4-1）It is fixed on the loss of weight protection
Fixture（2-1）On, the first pulley（4-3）It is fixed on support frame as described above（4-1）On, between two branch's bars (6-2)
Provided with intermediate bar, the second pulley（4-4）It is fixed on the intermediate bar, the 3rd pulley（4-5）It is fixed on the case
Body（2-3）On, the head traction device（4-2）The first pulley is sequentially passed through by steel wire rope（4-3）, second pulley（4-
4）, the 3rd pulley（4-5）Afterwards with second counterweight（4-6）Link together.
12. a kind of multifunctional limb intelligent rehabilitation machine according to any one of claim 1 to 11, it is characterised in that also wrap
Include vital signs monitors and motion state detection instrument, the vital signs monitors and the motion state detection instrument with meter
Calculation machine（5）Connection, the vital signs monitors are used for monitoring the vital sign of patient, and the motion state detection instrument is used for real
When collection patients body location and motion state.
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| CN105287167A (en) * | 2015-12-03 | 2016-02-03 | 常州信息职业技术学院 | Intelligent upper limb rehabilitation training device |
| CN105796312B (en) * | 2016-05-22 | 2017-10-31 | 汕头大学医学院第一附属医院 | A kind of wide adjustable mechanical hand of medical arm-massage of arm |
| US11160715B2 (en) | 2016-07-18 | 2021-11-02 | Chunbao WANG | Support rehabilitation training robot and operation method thereof |
| CN106074090B (en) * | 2016-07-18 | 2018-08-31 | 王春宝 | Multi-functional double support recovery exercising robots and its operating method |
| CN106109183B (en) * | 2016-07-18 | 2018-10-19 | 王春宝 | Both arms help recovery exercising robot and its operating method |
| CN108853898B (en) * | 2018-06-26 | 2020-05-26 | 王桂兰 | Hemiplegia rehabilitation training device for neurology department |
| CN111150975B (en) * | 2020-02-26 | 2021-02-05 | 陕西科技大学 | Leg muscle rehabilitation training device and control method thereof |
| CN112690999B (en) * | 2021-01-12 | 2022-04-26 | 中国人民解放军陆军军医大学第一附属医院 | Rehabilitation device after mammary gland operation |
| CN114768196A (en) * | 2022-05-05 | 2022-07-22 | 济南市章丘区人民医院 | Rehabilitation and nursing training device for elderly patients |
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| CN2707315Y (en) * | 2004-06-25 | 2005-07-06 | 英达科技有限公司 | Automatic changing speed treadmill |
| CN1795839A (en) * | 2004-12-29 | 2006-07-05 | 广东工业大学 | Air-operated recovery set for lower limbs |
| CN2805737Y (en) * | 2004-12-29 | 2006-08-16 | 广东工业大学 | Air-actuated lower limb rehabilitation device |
| CN101589984B (en) * | 2009-07-03 | 2011-05-11 | 北京理工大学 | Rehabilitation robot |
| CN101623547B (en) * | 2009-08-05 | 2011-05-11 | 燕山大学 | Lower limb rehabilitation medical robot used for paralytic patient |
| CN201500119U (en) * | 2009-09-28 | 2010-06-09 | 上海理工大学 | Squatting and standing type lower limb functional assessment and training system |
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| KR101317817B1 (en) * | 2011-09-29 | 2013-10-15 | 연세대학교 원주산학협력단 | EMG feedback-based active training system for rehabilitation exercise |
| CN203694013U (en) * | 2014-02-21 | 2014-07-09 | 哈尔滨理工大学 | Standing up and sitting down recovery device with gravity compensation |
| CN204734691U (en) * | 2015-06-08 | 2015-11-04 | 江苏龙昌智能科技有限公司 | Recovered machine of multi -functional limbs intelligence |
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