CN106075811A - A kind of rehabilitation pedipulator - Google Patents
A kind of rehabilitation pedipulator Download PDFInfo
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- CN106075811A CN106075811A CN201610776668.4A CN201610776668A CN106075811A CN 106075811 A CN106075811 A CN 106075811A CN 201610776668 A CN201610776668 A CN 201610776668A CN 106075811 A CN106075811 A CN 106075811A
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- module
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- electric capacity
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6895—Sport equipment
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
Abstract
The present invention provides a kind of rehabilitation pedipulator, including: rehabilitation platform, two struts being connected with rehabilitation platform；The top of two struts is provided with operating platform, the horizontal handrail being connected with operating platform, and the vertical handrail being connected in bending with horizontal handrail, the bottom of vertical handrail is fixed on the tail end of rehabilitation platform；Horizontal handrail is provided with and buffer zone, the two ends of buffer zone horizontal handrail with rehabilitation platform both sides respectively is connected, the front end of rehabilitation platform is provided with cushion, the bottom of rehabilitation platform front end is provided with fixture, fixture upper end is connected with the bottom of strut, and fixture horizontal ends connects fixing bar, and the bottom of fixing bar is provided with glue class sucker, fixing bar is planted with motion bar and is connected, and fixing bar and motion bar are by the fixing locking of latch；Rehabilitation clients stands on rehabilitation platform, and buffer zone is entangled in waist, buckles buckle, and both hands can hold up horizontal handrail, and under the operation of rehabilitation platform, jogtrot moves, and plays the effect of exercise.
Description
Technical field
The present invention relates to rehabilitation machines field, particularly relate to a kind of rehabilitation pedipulator.
Background technology
The lower limb of people need to do rehabilitation exercise after surgery, or some cause lower limb action due to brain congestion or cerebral infarction match
Inconvenience, needs recovering aid to move.The equipment function doing rehabilitation exercise in prior art is the most single, and cannot be according to each
The rehabilitation exercise that human needs and doing adapts.Rehabilitation personnel so will be caused cannot to obtain active and effective rehabilitation exercise, enter
And affect the recovery of lower limb or action.
Summary of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the invention to, it is provided that a kind of rehabilitation pedipulator, bag
Include: rehabilitation platform, the motor driving rehabilitation platform to run, be connected with rehabilitation platform, and two extended to rehabilitation platform upper
Strut；The top of two struts is provided with operating platform, the horizontal handrail being connected with operating platform, is connected in bending with horizontal handrail
Vertical handrail, the bottom of vertical handrail is fixed on the tail end of rehabilitation platform；Horizontal handrail is provided with and buffer zone, buffer zone
Two ends horizontal handrail with rehabilitation platform both sides respectively is connected, and buffer zone is provided with the male bandage of adjustable-length and female bandage, public
Bandage and female bandage are by buckle clamping；The front end of rehabilitation platform is provided with cushion, and the bottom of rehabilitation platform front end is provided with fixing
Part, fixture upper end is connected with the bottom of strut, and fixture horizontal ends connects fixing bar, and the bottom of fixing bar is provided with glue class and inhales
Dish, fixing bar is planted with motion bar and is connected, and fixes bar with motion bar by the fixing locking of latch；Motion bar is provided with roller, health
The afterbody of multiple platform is provided with afterbody roller, and afterbody roller is provided with deadlocking member；
Operating platform is provided with control panel, panel computer and for measuring the heart rate measurement device of rehabilitation clients's heart rate；
Heart rate measurement device communicates to connect with panel computer, for the heart rate data of collection is transferred to panel computer；
Rehabilitation mesa base is provided with matrix form pressure transducer, and matrix form pressure transducer electrically connects with panel computer；
Panel computer embeds android system, or windows system；Panel computer includes: data acquisition module, motor control
Molding block, wireless communication module, identity characteristic module, data processing module, heart rate receiver module；
Identity characteristic module is for providing dialog box to rehabilitation clients, to input rehabilitation clients's identity characteristic and to arrange the walking of rehabilitation clients
Speed；Identity characteristic includes: sex, height, body weight, rehabilitation duration, current time；
Described matrix form pressure transducer is for detection rehabilitation clients's plantar nervous arch information in rehabilitation course, vola in real time
Pressure distribution information includes: cadence, stride, support force, when soaring and rear riding force；
Data acquisition module is for obtaining matrix form pressure transducer detection rehabilitation clients's data message in rehabilitation course, and passes
It is defeated by data processing module；
Heart rate receiver module heart rate before receiving rehabilitation clients's rehabilitation that heart rate measurement module obtains and the heart in rehabilitation course
Rate；
Data processing module is for according to obtaining rehabilitation clients's identity characteristic and arranging the walking speed of rehabilitation clients, drawing initial acceleration
Degree, is transferred to motor control module, makes motor control module control motor and performs initial acceleration operation, in running,
The plantar nervous arch information of associate(d) matrix formula pressure transducer sensing, according to arranging the walking speed of rehabilitation clients, passes through motor
Control module is controlled motor；
Motor control module is for driving motor to run according to the acceleration information information control of execution, and motor control module is real
Time receive data processing module send execution acceleration information information, control drive motor run, it is achieved dynamically regulate rehabilitation
Motor speed, to adapt to the speed of rehabilitation clients；
Motor control module includes: three-phase full wave rectifier circuit, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance
R6, resistance R7, electric capacity C1, electric capacity C2, isolation module, motor control chip, three-phase inverter；
Described three-phase full wave rectifier circuit input is connected with external power, and three-phase full wave rectifier circuit outfan one is by resistance R1 and three
The input one of phase inverter connects, and three-phase full wave rectifier circuit outfan two is by the input two of resistance R5 with three-phase inverter
Connecting, three-phase full wave rectifier circuit outfan three is connected with the input three of three-phase inverter by resistance R2；
Resistance R6 and resistance R7 forms series circuit one, and series circuit one forms parallel circuit one, parallel circuit one with electric capacity C2
One end be connected with the connection line of the input one of three-phase full wave rectifier circuit outfan one and three-phase inverter, parallel circuit one
The other end be connected with the connection line of the input two of three-phase full wave rectifier circuit outfan two and three-phase inverter；
Resistance R3, resistance R4 form series circuit two, and series circuit two forms parallel circuit two with electric capacity C2, parallel circuit two
One end is connected with the connection line of the input one of three-phase full wave rectifier circuit outfan one and three-phase inverter, parallel circuit two
The other end is connected with the connection line of the input three of three-phase full wave rectifier circuit outfan three and three-phase inverter；
The outfan of three-phase inverter is connected with motor；Electric capacity C1 and electric capacity C2 is respectively used to energy storage filtering；Resistance R1, resistance
R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7 are respectively used to current limliting, and when preventing circuit from powering on, electric current is excessive, and
And limit the charging current to electric capacity, when electric capacity discharges, limit discharge current excessive；
Motor control chip includes: data pulse width modulation module, velocity feedback module, serial external tapping, jerk module,
Dsp chip；
Being provided with scram button on horizontal handrail, described jerk module is connected with scram button, is used for controlling motor jerk；
Described Pulse width modulation module is connected with three-phase inverter, for the width by the output pulse of regulation three-phase inverter
The output speed of degree, frequency, amplitude regulation motor；
Described motor internal is provided with feedback module；
Feedback module includes: speed calculation unit, Hall sampling unit；
Hall sampling unit is for sampling to the rotating speed of motor；Speed calculation unit is for sampling according to Hall sampling unit
The rotating speed arrived, calculates velocity amplitude, and sends motor control chip to；
Described Hall sampling unit is arranged on the end of motor winding, and is ahead of the electrical angle of a motor wherein phase winding 90 °,
And it is provided with spacing distance with iron core and the winding of motor；
Described serial external tapping is connected with display, and serial external tapping shows for the duty of motor is exported panel computer
Show.
Preferably, also include: the solar power supply apparatus powered to rehabilitation pedipulator；
Solar power supply apparatus includes: for absorbing the solar panels of solar energy, be connected to turn solar energy with solar panels
It is changed to electric energy, and exports the controller for solar of electric energy, be connected to store the accumulator of electric energy with controller for solar；
Controller for solar includes: the lc circuit being connected with solar panels, and the compensator being connected with lc circuit is connected with compensator
Diode, the capacitor being connected with diode and accumulator；Described compensator includes: executor, former with executor's two pieces
Sideline is enclosed, the secondary coil suitable with primary coil；
Controller for solar also includes: electric energy integrating control output module；The input of electric energy integrating control output module and storage
The feeder ear of battery connects, the outfan of electric energy integrating control output module and rehabilitation pedipulator, and electric energy integrating control exports
Module is powered to motor after the electric energy that accumulator stores is carried out conversion process.
Preferably, motor control chip also includes: malfunctioning module；
Described motor control module also includes: voltage protection module, overcurrent protection module；
Described voltage protection module outfan is connected with malfunctioning module, voltage protection module input respectively with resistance R6 and resistance
R7 forms series circuit one and resistance R3, resistance R4 form series circuit two and connect；
Described overcurrent protection module outfan is connected with malfunctioning module, and overcurrent protection module input is defeated with three-phase full wave rectifier circuit
Go out end one and three-phase inverter input one connection line connect, or with three-phase full wave rectifier circuit outfan two and three-phase
The connection line of the input two of inverter connects, or with three-phase full wave rectifier circuit outfan three and the input of three-phase inverter
The connection line of end three connects.
Preferably, described motor control module also includes: filtration module；
Filtration module includes: filter capacitor Clb1, filter capacitor Clb2, filter capacitor Clb3, filter capacitor Clb4, filter coil
Group Llb, filter resistance RL；
Filter capacitor Clb1 two ends connect phase line and the center line of power supply, and filter coil group Llb input connects the phase of power supply respectively
Line and center line, filter coil group Llb outfan is sequentially connected with the two ends of filter capacitor Clb2, filter resistance R respectivelyLTwo ends with
And filter capacitor Clb3 connect with filter capacitor Clb4 after two ends, filter capacitor Clb3 and filter capacitor Clb4 indirectly；
Filter coil group Llb includes two coils, and two coil winding-directions are consistent, when source current flows through filter coil group Llb,
The sense of current in two coils is contrary, and filter capacitor Clb1, filter capacitor Clb2 are used for filtering series mode interference, filter capacitor
Clb3, filter capacitor Clb4 disturb for filtering common mode.
Preferably, Hall sampling unit includes: A phase resistance Rha1, A phase resistance Rha2, A phase electric capacity Cha1, A phase electric capacity
Cha2, A phase optocoupler GDha；
B phase resistance Rhb1, B phase resistance Rhb2, B phase electric capacity Chb1, B phase electric capacity Chb2, B phase optocoupler GDhb；
C phase resistance Rhc1, C phase resistance Rhc2, C phase electric capacity Chc1, C phase electric capacity Chc2, C phase optocoupler GDhc.
Preferably, feedback module also includes: current detection module；
Current detection module includes: power switch, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance
Rs, electric capacity C1, electric capacity C2, diode Dz, operational amplifier 7, operational amplifier 8, light Rhizoma Nelumbinis device 9；
The colelctor electrode of power switch connects current sampling point, and the emitter stage of power switch connects resistance R1 and resistance Rs, and passes through
Resistance Rs ground connection, the base stage of power switch connects motor control chip, and power switch is opened according to the control of motor control chip
Or close sampling；Resistance R1 connecting resistance R2, electric capacity C1 respectively, and by electric capacity C1 ground connection, resistance R3 mono-terminates operational amplifier 7
Input negative pole end and No. four feet of light Rhizoma Nelumbinis device 9, resistance R3 other end ground connection, resistance R2 connects the input positive pole of operational amplifier 7
Holding, the outfan connecting resistance R4, resistance R4 of operational amplifier 7 connect No. two feet of light Rhizoma Nelumbinis device 9, a foot ground connection of light Rhizoma Nelumbinis device 9, light
No. three feet of Rhizoma Nelumbinis device 9 connect power supply, No. five foot ground connection of light Rhizoma Nelumbinis device 9, and electric capacity C2 is in parallel with resistance R5, and two termination fortune after parallel connection
Calculate the input negative pole end of amplifier 8, outfan and resistance R6, the input positive pole termination power of operational amplifier 8, resistance R6, two
Pole pipe Dz negative pole end connects motor control chip, diode Dz positive terminal ground connection respectively.
Preferably, also include: with the vibrating device of panel computer communication connection；
Vibrating device is for reaching preset duration when the rehabilitation duration of rehabilitation clients, or rehabilitation distance reaches default distance, or health
When the heart rate of multiple person reaches early warning value, vibrating device produces vibration, points out rehabilitation clients；
Vibrating device includes: switch Q3, electric capacity C16, electric capacity C17, electric capacity C18, vibrating motor and voltage stabilizing chip U1, switchs Q3
Model be ES6U2T2R, the model of voltage stabilizing chip U1 is SGM2031, switch Q3 1 foot be connected with processor, switch Q3 2
Foot ground connection, 3 feet connect 5 feet, 6 feet and vibrating motor negative pole, and 4 feet meet one end of electric capacity C17, one end of electric capacity C18, voltage stabilizing chip U1
1 foot and vibrating motor positive pole, the other end of electric capacity C17, the other end ground connection of electric capacity C18,3 feet of voltage stabilizing chip U1 connect process
Device, 4 feet of voltage stabilizing chip U1 connect one end of electric capacity C16 and connect the outfan of supplying cell through insurance B1, the other end of electric capacity C16
Ground connection；
The stabilized input voltage that in vibration module, power module is provided by voltage stabilizing chip U1, at 3.0V, is powered for vibrating motor, is opened
Closing Q3 to electrically connect with processor, processor controls being turned on and off of switch Q3 by pulse width modulation, controls vibrating motor.
Preferably, identity characteristic module also includes: identity information authentication module；
Identity information authentication module includes: medical insurance card authentication module, fingerprint authentication module, voice authentication module, iris verification mould
Block, medical insurance card reader；
Medical insurance card reader is suitable with fingerprint capturer；
Medical insurance card reader is provided with formation-decoding module, and fingerprint capturer is connected with panel computer by fingerprint collecting program；Doctor
The identity data of Bao Kanei demonstrate,proves program transportation to the formation-decoding module in medical insurance card reader by brush；Formation-decoding module with
Panel computer is connected；
Panel computer is provided with medical insurance card information data interface, fingerprint sensor interface, fingerprint algorithm module, fingerprint algorithm protection mould
Block；
Panel computer is built-in with the close algoritic module of state, canonical algorithm module；The close algoritic module of state for support SM1, SM2, SM3,
The module of SMS4, SM6, SSF33, SCB2 state close algorithm fingerprint algorithm；Canonical algorithm module is for supporting RSA, ECC, AES, DES/
The module of 3DES, SHA international standard algorithm.
As can be seen from the above technical solutions, the invention have the advantages that
Rehabilitation clients stands on rehabilitation platform, and buffer zone is entangled in waist, buckles buckle, and both hands can hold up horizontal handrail, in rehabilitation
Under the operation of platform, jogtrot moves, and plays the effect of exercise, and the front end of rehabilitation platform is provided with cushion, when
When rehabilitation clients falls down, cushion plays the head protection effect to rehabilitation clients.
In order to make rehabilitation clients understand the intensity of rehabilitation exercise of oneself, by obtaining sex, height, body weight, rehabilitation duration,
Current time, cadence, stride, support force, when soaring, rear riding force and heart rate；Tentatively draw the intensity of the motion of rehabilitation clients.Rehabilitation
Rehabilitation duration and the distance of rehabilitation clients can be set according to rehabilitation programme with pedipulator.And in order to according to performing acceleration
Data message controls to drive motor to run, and the execution acceleration that motor control module real-time reception data processing module sends
Data message, controls to drive motor to run, it is achieved dynamically regulation rehabilitation machines speed, to adapt to the speed of rehabilitation clients；If prevented
Emergency situations occurs, or is short of physical strength, or lower limb occur extremely being easy for the situation that rhythm does not catches up with occur, it is easy to fall down.
Motor control module controls motor in real time and runs, and makes motor run the velocity adaptive with rehabilitation clients.But also combine heart rate prison
Survey the heart rate monitoring rehabilitation clients in real time, by omnidistance heart rate monitoring system regulation effective training strength scope and guarantee training
Movable full safety.
So heart rate combines the time of rehabilitation clients, duration of passage, distance, speed etc..By the tracking of gait, analyze health
The gesture actions of multiple person's rehabilitation, provides sentific training and effectively helps.Real-time speed detects, and feeds back to control module, controls mould
Block can adjust the speed of rehabilitation machines in real time, it is achieved that is passively controlled by rehabilitation machines in prior art, and be changed into and actively control speed
Degree.
Every rehabilitation machines sets up authentication by identity characteristic module.Rehabilitation can each instruction of relative analysis after terminating
Practice effect, the convenient rehabilitation programme with the science of formulation.
Accompanying drawing explanation
In order to be illustrated more clearly that technical scheme, will the accompanying drawing used required in describing be made simple below
Ground is introduced, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ordinary skill
From the point of view of personnel, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall schematic of rehabilitation pedipulator；
Fig. 2 is that motor controls schematic diagram；
Fig. 3 is solar power supply apparatus schematic diagram；
Fig. 4 is controller for solar schematic diagram；
Fig. 5 is filtration module circuit diagram；
Fig. 6 is Hall sampling unit circuit diagram；
Fig. 7 is current detection module circuit diagram；
Fig. 8 is vibrating device circuit diagram.
Detailed description of the invention
For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, concrete by using below
Embodiment and accompanying drawing, be clearly and completely described the technical scheme of present invention protection, it is clear that enforcement disclosed below
Example is only a part of embodiment of the present invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area
All other embodiments that art personnel are obtained under not making creative work premise, broadly fall into the model of this patent protection
Enclose.
The present embodiment provides a kind of rehabilitation pedipulator, if Fig. 1 is to shown in 8, including: rehabilitation platform 1, drive rehabilitation platform
1 motor run, is connected with rehabilitation platform 1, and two struts 2 extended to rehabilitation platform upper；The top of two struts 2 sets
There is operating platform 51, the horizontal handrail 3 being connected with operating platform 51, the vertical handrail 55 being connected in bending with horizontal handrail 3, perpendicular
The tail end of rehabilitation platform 1 it is fixed on to the bottom of handrail 55；Horizontal handrail 3 is provided with and buffer zone 53, the two ends of buffer zone 53
Horizontal handrail with rehabilitation platform both sides is connected respectively, and buffer zone is provided with the male bandage of adjustable-length and female bandage, public bandage
64 pass through buckle clamping with female bandage 54；The front end of rehabilitation platform 1 is provided with cushion 52, and the bottom of rehabilitation platform 1 front end is provided with
Fixture 61, fixture 61 upper end is connected with the bottom of strut 2, and fixture 61 horizontal ends connects fixing bar 56, fixing bar 56
Bottom be provided with glue class sucker 60, fixing bar 56 is planted with motion bar 57 and is connected, and fixing bar 56 and motion bar 57 pass through latch 62
Fixing locking；Motion bar 57 is provided with roller 58, and the afterbody of rehabilitation platform 1 is provided with afterbody roller 59, and afterbody roller 59 is provided with lock
Dead part；
Operating platform 51 is provided with control panel 4, panel computer 5 and for measuring the heart rate measurement device 43 of rehabilitation clients's heart rate；
Control panel 4 is connected with panel computer 5,；Control panel 4 and panel computer 5 can concurrently or separately control rehabilitation pedipulator
Run.
Heart rate measurement device 43 communicates to connect with panel computer 5, for the heart rate data of collection is transferred to panel computer
5；Being provided with matrix form pressure transducer 50 bottom rehabilitation platform 1, matrix form pressure transducer 50 electrically connects with panel computer 5；
Panel computer 5 embeds android system, or windows system；Panel computer 5 includes: data acquisition module, motor
Control module, wireless communication module, identity characteristic module, data processing module, heart rate receiver module；
Identity characteristic module is for providing dialog box to rehabilitation clients, to input rehabilitation clients's identity characteristic and to arrange the walking of rehabilitation clients
Speed；Identity characteristic includes: sex, height, body weight, rehabilitation duration, current time；
Matrix form pressure transducer is for detection rehabilitation clients's plantar nervous arch information in rehabilitation course, plantar pressure in real time
Distributed intelligence includes: cadence, stride, support force, when soaring and rear riding force；Data acquisition module is used for obtaining matrix form pressure and passes
Sensor detection rehabilitation clients's data message in rehabilitation course, and it is transferred to data processing module；Heart rate receiver module is used for connecing
Heart rate before rehabilitation clients's rehabilitation that rate of getting into the frame of mind for work measurement module obtains and the heart rate in rehabilitation course；
Data processing module is for according to obtaining rehabilitation clients's identity characteristic and arranging the walking speed of rehabilitation clients, drawing initial acceleration
Degree, is transferred to motor control module, makes motor control module control motor and performs initial acceleration operation, in running,
The plantar nervous arch information of associate(d) matrix formula pressure transducer sensing, according to arranging the walking speed of rehabilitation clients, passes through motor
Control module is controlled motor；Motor control module runs for controlling driving motor according to execution acceleration information information,
And the execution acceleration information information that motor control module real-time reception data processing module sends, controls to drive motor fortune
OK, it is achieved dynamically regulation rehabilitation machines speed, to adapt to the speed of rehabilitation clients；
In order to be able to make to control motor operation accurately, adapt to the speed of rehabilitation clients, it is ensured that rehabilitation machines runs the speed meeting rehabilitation clients
Degree.And it is uniform to make motor have certain speed governing, improve Consumer's Experience.
Motor control module includes: three-phase full wave rectifier circuit 21, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5,
Resistance R6, resistance R7, electric capacity C1, electric capacity C2, isolation module 26, motor control chip 24, three-phase inverter 22；
Described three-phase full wave rectifier circuit 21 input is connected with external power, three-phase full wave rectifier circuit outfan one by resistance R1 with
The input one of three-phase inverter connects, and three-phase full wave rectifier circuit outfan two is by the input of resistance R5 with three-phase inverter
Two connect, and three-phase full wave rectifier circuit outfan three is connected with the input three of three-phase inverter by resistance R2；
Resistance R6 and resistance R7 forms series circuit one, and series circuit one forms parallel circuit one, parallel circuit one with electric capacity C2
One end be connected with the connection line of the input one of three-phase full wave rectifier circuit outfan one and three-phase inverter, parallel circuit one
The other end be connected with the connection line of the input two of three-phase full wave rectifier circuit outfan two and three-phase inverter；
Resistance R3, resistance R4 form series circuit two, and series circuit two forms parallel circuit two with electric capacity C2, parallel circuit two
One end is connected with the connection line of the input one of three-phase full wave rectifier circuit outfan one and three-phase inverter, parallel circuit two
The other end is connected with the connection line of the input three of three-phase full wave rectifier circuit outfan three and three-phase inverter；
The outfan of three-phase inverter 22 is connected with motor；Electric capacity C1 and electric capacity C2 is respectively used to energy storage filtering；Resistance R1, resistance
R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7 are respectively used to current limliting, and when preventing circuit from powering on, electric current is excessive, and
And limit the charging current to electric capacity, when electric capacity discharges, limit discharge current excessive；Isolation module 26 realizes the unidirectional biography of signal
Defeated, input and outfan fully achieve electrical isolation, and output signal is on input without impact, and capacity of resisting disturbance is strong, work
Stable, contactless, service life is long, and efficiency of transmission is high, it is to avoid interference.
Motor control chip 24 includes: Pulse width modulation module 28, feedback module 29, serial external tapping 27, jerk mould
Block, dsp chip；
Being provided with scram button 63 on horizontal handrail, described jerk module is connected with scram button 63, is used for controlling motor jerk；
Pulse width modulation module is connected with three-phase inverter, for by regulation three-phase inverter output the width of pulse, frequency,
The output speed of amplitude regulation motor；Described motor internal is provided with feedback module；
Feedback module 29 includes: speed calculation unit, Hall sampling unit；Hall sampling unit is for carrying out the rotating speed of motor
Sampling；Speed calculation unit, for the rotating speed sampled according to Hall sampling unit, calculates velocity amplitude, and sends motor control to
Coremaking sheet；Hall sampling unit is arranged on the end of motor winding, and is ahead of the electrical angle of a motor wherein phase winding 90 °,
And it is provided with spacing distance with iron core and the winding of motor；Serial external tapping 27 is connected with panel computer, and serial external tapping is used for will
The duty output panel computer of motor shows.
Motor control chip 24 also includes: malfunctioning module；Motor control module also includes: voltage protection module, electric current are protected
Protect module；
Voltage protection module outfan is connected with malfunctioning module, voltage protection module input respectively with resistance R6 and resistance R7 shape
Become series circuit one and resistance R3, resistance R4 to form series circuit two to connect；
Overcurrent protection module outfan is connected with malfunctioning module, overcurrent protection module input and three-phase full wave rectifier circuit outfan
One and three-phase inverter input one connection line connect, or with three-phase full wave rectifier circuit outfan two and three-phase inversion
The connection line of the input two of device connects, or with the input three of three-phase full wave rectifier circuit outfan three and three-phase inverter
Connection line connect.
Overcurrent protection module uses resistance and current sensor.Current sensor can select Hall current sensor, inspection
Survey electric current.A sampling resistor is used to detect the electric current of each phase.Resistance value choose according to user need depending on, typically should
Make it can play the overcurrent protection of a power conversion circuit.Voltage detecting circuit phase basic with current detection circuit
With, voltage sample resistance is between dc bus and ground, and after electric resistance partial pressure, sampled voltage is delivered to testing circuit is
No overvoltage.
In the present embodiment, described motor control module also includes: filtration module；
Filtration module includes: filter capacitor Clb1, filter capacitor Clb2, filter capacitor Clb3, filter capacitor Clb4, filter coil
Group Llb, filter resistance RL；
Filter capacitor Clb1 two ends connect phase line and the center line of power supply, and filter coil group Llb input connects the phase of power supply respectively
Line and center line, filter coil group Llb outfan is sequentially connected with the two ends of filter capacitor Clb2, filter resistance R respectivelyLTwo ends with
And filter capacitor Clb3 connect with filter capacitor Clb4 after two ends, filter capacitor Clb3 and filter capacitor Clb4 indirectly；
Filter coil group Llb includes two coils, and two coil winding-directions are consistent, when source current flows through filter coil group Llb, and two
The sense of current in coil is contrary, and can cancel out each other in produced magnetic field, be equivalently employed without inductive effect.Filter capacitor
Clb1, filter capacitor Clb2 are used for filtering series mode interference, and filter capacitor Clb3, filter capacitor Clb4 disturb for filtering common mode.
Filter coil group Llb is the inductance of a very big inductance quantity, can effectively suppress common mode disturbances.In order to improve the suppression to interference
Ability, filter coil group Llb has the good Ferrite Material of high magnetic permeability, frequency characteristic as magnetic core, so can improve elimination
The effect of common mode disturbances.The size of filter coil group Llb, relevant with the rated current of filtration module, the biggest inductance of rated current
Measure the least.Because the increase of electric current, make the line footpath of coil increase, same magnet ring soil caned around coil turn inevitable subtract accordingly
Few.Two electric capacity Cx in circuit, are mainly used to filter series mode interference, typically select thin film capacitor, filter capacitor Clb1, filter
Ripple electric capacity Clb2 capacity is the biggest, then insertion loss is the biggest, and its value can be true according to the lower limit of noise voltage frequency to be suppressed
Fixed.Filter capacitor Clb3 and filter capacitor Clb4 is connected across two between power line and earth lead respectively, mainly filtering common mode
Interference, can be selected for ceramic condenser.
In the present embodiment, Hall sampling unit includes: A phase resistance Rha1, A phase resistance Rha2, A phase electric capacity Cha1, A phase are electric
Hold Cha2, A phase optocoupler GDha；B phase resistance Rhb1, B phase resistance Rhb2, B phase electric capacity Chb1, B phase electric capacity Chb2, B phase optocoupler
GDhb；C phase resistance Rhc1, C phase resistance Rhc2, C phase electric capacity Chc1, C phase electric capacity Chc2, C phase optocoupler GDhc.
In order to ensure that motor obtains constant torque capacity, it is necessary for constantly it being carried out commutation.Grasp appropriate
The commutation time, the fluctuation of torque can be reduced.Position signalling is that the hall position sensor carried by motor wood body is obtained
's.Position signalling is used not only for controlling commutation, and is used for calculating velocity feedback quantity.Owing to Hall element is that open collector is defeated
Going out, its output signal is through pull-up resistor (A phase resistance Rha1, A phase resistance Rha2, B phase resistance Rhb1, B phase resistance Rhb2, C phase
Resistance Rhc1, C phase resistance Rhc2) obtain position square-wave signal, this square-wave signal sends into motor control chip after light Rhizoma Nelumbinis isolates.
In the present embodiment, feedback module also includes: current detection module；Current detection module includes: power switch, resistance
R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance Rs, electric capacity C1, electric capacity C2, diode Dz, operation amplifier
Device 7, operational amplifier 8, light Rhizoma Nelumbinis device 9；
The colelctor electrode of power switch connects current sampling point, and the emitter stage of power switch connects resistance R1 and resistance Rs, and passes through
Resistance Rs ground connection, the base stage of power switch connects motor control chip, and power switch is opened according to the control of motor control chip
Or close sampling；Resistance R1 connecting resistance R2, electric capacity C1 respectively, and by electric capacity C1 ground connection, resistance R3 mono-terminates operational amplifier 7
Input negative pole end and No. four feet of light Rhizoma Nelumbinis device 9, resistance R3 other end ground connection, resistance R2 connects the input positive pole of operational amplifier 7
Holding, the outfan connecting resistance R4, resistance R4 of operational amplifier 7 connect No. two feet of light Rhizoma Nelumbinis device 9, a foot ground connection of light Rhizoma Nelumbinis device 9, light
No. three feet of Rhizoma Nelumbinis device 9 connect power supply, No. five foot ground connection of light Rhizoma Nelumbinis device 9, and electric capacity C2 is in parallel with resistance R5, and two termination fortune after parallel connection
Calculate the input negative pole end of amplifier 8, outfan and resistance R6, the input positive pole termination power of operational amplifier 8, resistance R6, two
Pole pipe Dz negative pole end connects motor control chip, diode Dz positive terminal ground connection respectively.
In order to improve the acceleration of motor and reduce torque pulsation, it is achieved that closed-loop current control, to detection motor
The electric current of winding detects.Additionally, motor runs when there is the fault such as short circuit, straight-through, overload, it may appear that electric current exceedes power
The situation of switching device permissible value scope, therefore feedback module can measure electrical fault electric current in time, accurately, and by electricity
Machine control module is fixed a breakdown.
Current detection module has the good linearity, high stability and repeatability in the range of whole service;At electric current
Feedback procedure should be taked corresponding quarantine measures, to ensure the electrical isolation between main circuit and control circuit.
By the accurate sample resistance Rs being serially connected between inverter bridge and ground, main circuit current signal is converted into voltage to believe
Number, the low pass filter that this voltage signal forms through R1, Cl filters and operational amplifier 7, operational amplifier 8, light Rhizoma Nelumbinis device 9
After conditioning, obtaining the analog voltage amount of 0-3.3V, this voltage signal, through Zener diode D, sends into motor control chip after amplitude limit
It is controlled motor.
In the present embodiment, also include: with the vibrating device 44 of panel computer 5 communication connection；
Vibrating device 44 is for reaching preset duration when the rehabilitation duration of rehabilitation clients, or rehabilitation distance reaches default distance, or
When the heart rate of rehabilitation clients reaches early warning value, vibrating device produces vibration, points out rehabilitation clients；
Vibrating device 44 includes: switch Q3, electric capacity C16, electric capacity C17, electric capacity C18, vibrating motor and voltage stabilizing chip U1, switchs Q3
Model be ES6U2T2R, the model of voltage stabilizing chip U1 is SGM2031, switch Q3 1 foot be connected with processor, switch Q3 2
Foot ground connection, 3 feet connect 5 feet, 6 feet and vibrating motor negative pole, and 4 feet meet one end of electric capacity C17, one end of electric capacity C18, voltage stabilizing chip U1
1 foot and vibrating motor 45 positive pole, the other end of electric capacity C17, the other end ground connection of electric capacity C18,3 feet of voltage stabilizing chip U1 meet place
Reason device, 4 feet of voltage stabilizing chip U1 connect one end of electric capacity C16 and connect the outfan of supplying cell through insurance B1, another of electric capacity C16
End ground connection；
The stabilized input voltage that in vibrating device, power module is provided by voltage stabilizing chip U1, at 3.0V, is powered for vibrating motor 45,
Switch Q3 electrically connects with processor, and processor controls being turned on and off of switch Q3 by pulse width modulation, controls vibration horse
Reach.
So, if when rehabilitation exercise, exceeded limit heart rate, just after be likely to occur life danger.At this moment dress is vibrated
Putting can be with vibrating alert rehabilitation clients
In the present embodiment, identity characteristic module also includes: identity information authentication module identity information authentication module includes: medical insurance card
Authentication module, fingerprint authentication module, voice authentication module, iris verification module, medical insurance card reader；So rehabilitation clients uses health
When answering a pager's call, the information of typing oneself.Use rehabilitation machines can pass through fingerprint authentication module, voice authentication module, rainbow the most every time
Film authentication module, medical insurance card reader obtain conventional information and data, and can keep current data message, for looking into later
Test.
Wherein, mode is that medical insurance card reader is suitable with fingerprint capturer the most easily；Medical insurance card reader is provided with
Formation-decoding module, fingerprint capturer is connected with panel computer by fingerprint collecting program；Identity data in medical insurance card passes through
Brush card program transportation is to the formation-decoding module in medical insurance card reader；Formation-decoding module is connected with panel computer；
Panel computer 5 is provided with medical insurance card information data interface, fingerprint sensor interface, fingerprint algorithm module, fingerprint algorithm protection
Module；Panel computer is built-in with the close algoritic module of state, canonical algorithm module；The close algoritic module of state for support SM1, SM2, SM3,
The module of SMS4, SM6, SSF33, SCB2 state close algorithm fingerprint algorithm；Canonical algorithm module is for supporting RSA, ECC, AES, DES/
The module of 3DES, SHA international standard algorithm.Herein for rehabilitation clients's privacy, also ensure the privacy of protection rehabilitation clients, arrange
Medical insurance card reader is suitable with fingerprint capturer to be identified.Information and the health and fitness information of avoiding rehabilitation clients leak outside.So when
During to some special populations such as relating to need that the personnel of rehabilitation clients's identity information secrecy are carried out rehabilitation, serve privacy functions.
In the present embodiment, also include: the solar power supply apparatus powered to rehabilitation pedipulator；Solar power supply apparatus bag
Include: for absorbing the solar panels 17 of solar energy, be connected to convert the solar into electric energy with solar panels 17, and export electricity
The controller for solar 18 of energy, is connected to store the accumulator 19 of electric energy with controller for solar 18；
Controller for solar 18 includes: the lc circuit 12 being connected with solar panels 17, the compensator 13 being connected with lc circuit 12, with
The diode 14 that compensator 13 connects, the capacitor C being connected with diode 14 and accumulator 19；Described compensator 13 includes: hold
Row device 42, with the primary coil 41 of executor 42 two pieces, the secondary coil 16 suitable with primary coil 41；
Lc circuit 12 effect is to prevent external disturbance from carrying out voltage.The effect of compensator 13 is when the input voltage of solar panels 17
During fluctuation or during electricity consumption load change, compensator 13 can keep the input and output voltage of accumulator stable.When input offset device
Voltage pulsation time, feedback voltage changes the most therewith, is adjusted the primary voltage of compensator here by executor 42 to overcome
The voltage pulsation impact on output voltage；Enter primary coil 21 by executor 42, sense that secondary coil 16 is through diode
14, send into accumulator 19, diode 14 simultaneously works as preventing the effect of reverse direction current flow, the effect of capacitor C from being stable electricity
Pressure.
Controller for solar also includes: electric energy integrating control output module 20；Electric energy integrating control output module 20 defeated
Enter end to be connected with the feeder ear of accumulator 19, the outfan of electric energy integrating control output module 20 and rehabilitation pedipulator, electric energy
Integrating control output module 20 is powered to motor after the electric energy that accumulator stores is carried out conversion process.Electric energy is integrated simultaneously
Controlling output module 20 and also have controller, rehabilitation clients uses solar powered according to present circumstances.During as run into power failure,
Can power with starting storage battery 19.Of course for energy-saving and cost-reducing, it is also possible to either have a power failure and still do not have a power failure, be all to use accumulator
19 power supplies.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, identical similar portion reference mutually between each embodiment.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (8)
1. a rehabilitation pedipulator, it is characterised in that including: rehabilitation platform, drives the motor that rehabilitation platform runs, with rehabilitation
Platform connects, and two struts extended to rehabilitation platform upper；The top of two struts is provided with operating platform, with operating platform
The horizontal handrail connected, the vertical handrail being connected in bending with horizontal handrail, the bottom of vertical handrail is fixed on rehabilitation platform
Tail end；Horizontal handrail is provided with and buffer zone, and the two ends of buffer zone horizontal handrail with rehabilitation platform both sides respectively is connected, protection
Band is provided with the male bandage of adjustable-length and female bandage, and male bandage and female bandage are by buckle clamping；The front end of rehabilitation platform sets
Flexible pad, the bottom of rehabilitation platform front end is provided with fixture, and fixture upper end is connected with the bottom of strut, fixture horizontal ends
Connecting and have fixing bar, the bottom of fixing bar is provided with glue class sucker, and fixing bar is planted with motion bar and is connected, and fixing bar leads to motion bar
Cross the fixing locking of latch；Motion bar is provided with roller, and the afterbody of rehabilitation platform is provided with afterbody roller, and afterbody roller is provided with locked
Part；
Operating platform is provided with control panel, panel computer and for measuring the heart rate measurement device of rehabilitation clients's heart rate；
Heart rate measurement device communicates to connect with panel computer, for the heart rate data of collection is transferred to panel computer；
Rehabilitation mesa base is provided with matrix form pressure transducer, and matrix form pressure transducer electrically connects with panel computer；
Panel computer embeds android system, or windows system；Panel computer includes: data acquisition module, motor control
Molding block, wireless communication module, identity characteristic module, data processing module, heart rate receiver module；
Identity characteristic module is for providing dialog box to rehabilitation clients, to input rehabilitation clients's identity characteristic and to arrange the walking of rehabilitation clients
Speed；Identity characteristic includes: sex, height, body weight, rehabilitation duration, current time；
Described matrix form pressure transducer is for detection rehabilitation clients's plantar nervous arch information in rehabilitation course, vola in real time
Pressure distribution information includes: cadence, stride, support force, when soaring and rear riding force；
Data acquisition module is for obtaining matrix form pressure transducer detection rehabilitation clients's data message in rehabilitation course, and passes
It is defeated by data processing module；
Heart rate receiver module heart rate before receiving rehabilitation clients's rehabilitation that heart rate measurement module obtains and the heart in rehabilitation course
Rate；
Data processing module is for according to obtaining rehabilitation clients's identity characteristic and arranging the walking speed of rehabilitation clients, drawing initial acceleration
Degree, is transferred to motor control module, makes motor control module control motor and performs initial acceleration operation, in running,
The plantar nervous arch information of associate(d) matrix formula pressure transducer sensing, according to arranging the walking speed of rehabilitation clients, passes through motor
Control module is controlled motor；
Motor control module is for driving motor to run according to the acceleration information information control of execution, and motor control module is real
Time receive data processing module send execution acceleration information information, control drive motor run, it is achieved dynamically regulate rehabilitation
Motor speed, to adapt to the speed of rehabilitation clients；
Motor control module includes: three-phase full wave rectifier circuit, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance
R6, resistance R7, electric capacity C1, electric capacity C2, isolation module, motor control chip, three-phase inverter；
Described three-phase full wave rectifier circuit input is connected with external power, and three-phase full wave rectifier circuit outfan one is by resistance R1 and three
The input one of phase inverter connects, and three-phase full wave rectifier circuit outfan two is by the input two of resistance R5 with three-phase inverter
Connecting, three-phase full wave rectifier circuit outfan three is connected with the input three of three-phase inverter by resistance R2；
Resistance R6 and resistance R7 forms series circuit one, and series circuit one forms parallel circuit one, parallel circuit one with electric capacity C2
One end be connected with the connection line of the input one of three-phase full wave rectifier circuit outfan one and three-phase inverter, parallel circuit one
The other end be connected with the connection line of the input two of three-phase full wave rectifier circuit outfan two and three-phase inverter；
Resistance R3, resistance R4 form series circuit two, and series circuit two forms parallel circuit two with electric capacity C2, parallel circuit two
One end is connected with the connection line of the input one of three-phase full wave rectifier circuit outfan one and three-phase inverter, parallel circuit two
The other end is connected with the connection line of the input three of three-phase full wave rectifier circuit outfan three and three-phase inverter；
The outfan of three-phase inverter is connected with motor；Electric capacity C1 and electric capacity C2 is respectively used to energy storage filtering；Resistance R1, resistance
R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7 are respectively used to current limliting, and when preventing circuit from powering on, electric current is excessive, and
And limit the charging current to electric capacity, when electric capacity discharges, limit discharge current excessive；
Motor control chip includes: data pulse width modulation module, velocity feedback module, serial external tapping, jerk module,
Dsp chip；
Being provided with scram button on horizontal handrail, described jerk module is connected with scram button, is used for controlling motor jerk；
Described Pulse width modulation module is connected with three-phase inverter, for the width by the output pulse of regulation three-phase inverter
The output speed of degree, frequency, amplitude regulation motor；
Described motor internal is provided with feedback module；
Feedback module includes: speed calculation unit, Hall sampling unit；
Hall sampling unit is for sampling to the rotating speed of motor；Speed calculation unit is for sampling according to Hall sampling unit
The rotating speed arrived, calculates velocity amplitude, and sends motor control chip to；
Described Hall sampling unit is arranged on the end of motor winding, and is ahead of the electrical angle of a motor wherein phase winding 90 °,
And it is provided with spacing distance with iron core and the winding of motor；
Described serial external tapping is connected with display, and serial external tapping shows for the duty of motor is exported panel computer
Show.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Also include: the solar power supply apparatus powered to rehabilitation pedipulator；
Solar power supply apparatus includes: for absorbing the solar panels of solar energy, be connected to turn solar energy with solar panels
It is changed to electric energy, and exports the controller for solar of electric energy, be connected to store the accumulator of electric energy with controller for solar；
Controller for solar includes: the lc circuit being connected with solar panels, and the compensator being connected with lc circuit is connected with compensator
Diode, the capacitor being connected with diode and accumulator；Described compensator includes: executor, former with executor's two pieces
Sideline is enclosed, the secondary coil suitable with primary coil；
Controller for solar also includes: electric energy integrating control output module；The input of electric energy integrating control output module and storage
The feeder ear of battery connects, the outfan of electric energy integrating control output module and rehabilitation pedipulator, and electric energy integrating control exports
Module is powered to motor after the electric energy that accumulator stores is carried out conversion process.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Motor control chip also includes: malfunctioning module；
Described motor control module also includes: voltage protection module, overcurrent protection module；
Described voltage protection module outfan is connected with malfunctioning module, voltage protection module input respectively with resistance R6 and resistance
R7 forms series circuit one and resistance R3, resistance R4 form series circuit two and connect；
Described overcurrent protection module outfan is connected with malfunctioning module, and overcurrent protection module input is defeated with three-phase full wave rectifier circuit
Go out end one and three-phase inverter input one connection line connect, or with three-phase full wave rectifier circuit outfan two and three-phase
The connection line of the input two of inverter connects, or with three-phase full wave rectifier circuit outfan three and the input of three-phase inverter
The connection line of end three connects.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Described motor control module also includes: filtration module；
Filtration module includes: filter capacitor Clb1, filter capacitor Clb2, filter capacitor Clb3, filter capacitor Clb4, filter coil
Group Llb, filter resistance RL；
Filter capacitor Clb1 two ends connect phase line and the center line of power supply, and filter coil group Llb input connects the phase of power supply respectively
Line and center line, filter coil group Llb outfan is sequentially connected with the two ends of filter capacitor Clb2, filter resistance R respectivelyLTwo ends with
And filter capacitor Clb3 connect with filter capacitor Clb4 after two ends, filter capacitor Clb3 and filter capacitor Clb4 indirectly；
Filter coil group Llb includes two coils, and two coil winding-directions are consistent, when source current flows through filter coil group Llb,
The sense of current in two coils is contrary, and filter capacitor Clb1, filter capacitor Clb2 are used for filtering series mode interference, filter capacitor
Clb3, filter capacitor Clb4 disturb for filtering common mode.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Hall sampling unit includes: A phase resistance Rha1, A phase resistance Rha2, A phase electric capacity Cha1, A phase electric capacity Cha2, A phase optocoupler
GDha；
B phase resistance Rhb1, B phase resistance Rhb2, B phase electric capacity Chb1, B phase electric capacity Chb2, B phase optocoupler GDhb；
C phase resistance Rhc1, C phase resistance Rhc2, C phase electric capacity Chc1, C phase electric capacity Chc2, C phase optocoupler GDhc.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Feedback module also includes: current detection module；
Current detection module includes: power switch, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance
Rs, electric capacity C1, electric capacity C2, diode Dz, operational amplifier 7, operational amplifier 8, light Rhizoma Nelumbinis device 9；
The colelctor electrode of power switch connects current sampling point, and the emitter stage of power switch connects resistance R1 and resistance Rs, and passes through
Resistance Rs ground connection, the base stage of power switch connects motor control chip, and power switch is opened according to the control of motor control chip
Or close sampling；Resistance R1 connecting resistance R2, electric capacity C1 respectively, and by electric capacity C1 ground connection, resistance R3 mono-terminates operational amplifier 7
Input negative pole end and No. four feet of light Rhizoma Nelumbinis device 9, resistance R3 other end ground connection, resistance R2 connects the input positive pole of operational amplifier 7
Holding, the outfan connecting resistance R4, resistance R4 of operational amplifier 7 connect No. two feet of light Rhizoma Nelumbinis device 9, a foot ground connection of light Rhizoma Nelumbinis device 9, light
No. three feet of Rhizoma Nelumbinis device 9 connect power supply, No. five foot ground connection of light Rhizoma Nelumbinis device 9, and electric capacity C2 is in parallel with resistance R5, and two termination fortune after parallel connection
Calculate the input negative pole end of amplifier 8, outfan and resistance R6, the input positive pole termination power of operational amplifier 8, resistance R6, two
Pole pipe Dz negative pole end connects motor control chip, diode Dz positive terminal ground connection respectively.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Also include: with the vibrating device of panel computer communication connection；
Vibrating device is for reaching preset duration when the rehabilitation duration of rehabilitation clients, or rehabilitation distance reaches default distance, or health
When the heart rate of multiple person reaches early warning value, vibrating device produces vibration, points out rehabilitation clients；
Vibrating device includes: switch Q3, electric capacity C16, electric capacity C17, electric capacity C18, vibrating motor and voltage stabilizing chip U1, switchs Q3
Model be ES6U2T2R, the model of voltage stabilizing chip U1 is SGM2031, switch Q3 1 foot be connected with processor, switch Q3 2
Foot ground connection, 3 feet connect 5 feet, 6 feet and vibrating motor negative pole, and 4 feet meet one end of electric capacity C17, one end of electric capacity C18, voltage stabilizing chip U1
1 foot and vibrating motor positive pole, the other end of electric capacity C17, the other end ground connection of electric capacity C18,3 feet of voltage stabilizing chip U1 connect process
Device, 4 feet of voltage stabilizing chip U1 connect one end of electric capacity C16 and connect the outfan of supplying cell through insurance B1, the other end of electric capacity C16
Ground connection；
The stabilized input voltage that in vibration module, power module is provided by voltage stabilizing chip U1, at 3.0V, is powered for vibrating motor, is opened
Closing Q3 to electrically connect with processor, processor controls being turned on and off of switch Q3 by pulse width modulation, controls vibrating motor.
Rehabilitation pedipulator the most according to claim 1, it is characterised in that
Identity characteristic module also includes: identity information authentication module；
Identity information authentication module includes: medical insurance card authentication module, fingerprint authentication module, voice authentication module, iris verification mould
Block, medical insurance card reader；
Medical insurance card reader is suitable with fingerprint capturer；
Medical insurance card reader is provided with formation-decoding module, and fingerprint capturer is connected with panel computer by fingerprint collecting program；Doctor
The identity data of Bao Kanei demonstrate,proves program transportation to the formation-decoding module in medical insurance card reader by brush；Formation-decoding module with
Panel computer is connected；
Panel computer is provided with medical insurance card information data interface, fingerprint sensor interface, fingerprint algorithm module, fingerprint algorithm protection mould
Block；
Panel computer is built-in with the close algoritic module of state, canonical algorithm module；The close algoritic module of state for support SM1, SM2, SM3,
The module of SMS4, SM6, SSF33, SCB2 state close algorithm fingerprint algorithm；Canonical algorithm module is for supporting RSA, ECC, AES, DES/
The module of 3DES, SHA international standard algorithm.
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| CN108261722A (en) * | 2018-03-22 | 2018-07-10 | 昆山优博特运动器材有限公司 | Light and thin type treadmill |
| CN108785974A (en) * | 2017-05-04 | 2018-11-13 | 乔山健身器材（上海）有限公司 | sports equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109568899A (en) * | 2018-12-27 | 2019-04-05 | 沈强 | Self counterpulsation recovery and healthy method |
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Effective date of registration: 20181026 Address after: 264200 -128 -C02108, Qingdao Middle Road, Weihai economic and Technological Development Zone, Shandong Applicant after: Food for the emperor mill, Weihai bio tech ltd Address before: 272100 Shandong Jining Yanzhou Jining hi tech Zone 327 National Road 666 East first. Applicant before: Yingkelai Group Co., Ltd., Shandong Prov. |
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