CN107485537A - Passive movement implementation method and pneumatic convalescence device - Google Patents
Passive movement implementation method and pneumatic convalescence device Download PDFInfo
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- CN107485537A CN107485537A CN201710825676.8A CN201710825676A CN107485537A CN 107485537 A CN107485537 A CN 107485537A CN 201710825676 A CN201710825676 A CN 201710825676A CN 107485537 A CN107485537 A CN 107485537A
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- cylinder
- servicing unit
- rehabilitation
- magnetic valve
- control device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5056—Control means thereof pneumatically controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Abstract
The invention provides a kind of passive movement implementation method and pneumatic convalescence device, it is related to rehabilitation technique field, methods described includes：The first information that first displacement transducer is sent is received, the first information is converted into positional information, the positional information is used for the position for characterizing the rehabilitation servicing unit；Judge the positional information of the first rehabilitation servicing unit whether in the position range prestored；If judged result is no, the first gas control device is controlled so that affiliated first cylinder is changed into the second intake operation from the first intake operation, so that the first rehabilitation servicing unit is changed into moving to second direction from moving to first direction, the first direction is opposite with the second direction.Used so that pneumatic convalescence device can also be the weaker patient of muscular strength.
Description
Technical field
The present invention relates to rehabilitation technique field, is filled in particular to a kind of passive movement implementation method and pneumatic rehabilitation
Put.
Background technology
With the rapid development of computer technology, the communication technology and other correlation techniques, medical technology especially rehabilitation skill
Art is more and more taken seriously, the intellectuality of rehabilitation technique, the information-based development trend for turning into certainty.
Rehabilitation equipment on the market has many kinds at present, and pneumatic rehabilitation equipment is as one of which, only active movement work(
Can, without the function of passive movement, being only applicable to the patient of sportsman or the higher slight physical handicaps of muscle strength level makes
With.For the weaker patient of muscular strength, it is difficult to realize active movement by pneumatic rehabilitation equipment.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of passive movement implementation method and pneumatic rehabilitation dress
Put, to solve the above problems.
In a first aspect, the present invention provides a kind of passive movement implementation method, applied to pneumatic convalescence device, the pneumatic health
Apparatus for coating includes the first rehabilitation servicing unit, the first displacement transducer, first gas control device and the first cylinder, the side
Method includes：The first information that first displacement transducer is sent is received, the first information is converted into positional information, it is described
Positional information is used for the position for characterizing the rehabilitation servicing unit；Judge the first rehabilitation servicing unit positional information whether
In the position range prestored；If judged result is no, the first gas control device is controlled to cause affiliated first
Cylinder is changed into the second intake operation from the first intake operation, so that the first rehabilitation servicing unit to first direction from moving change
To be moved to second direction, the first direction is opposite with the second direction.
Second aspect, a kind of pneumatic convalescence device, the pneumatic convalescence device include the first rehabilitation servicing unit, first
Displacement sensor, first gas control device, the first cylinder and control device, first displacement transducer are arranged at described
In one cylinder, first displacement transducer and first gas control couple with the control device respectively, and described the
One gas control equipment connects with first cylinder.The control device is used to receive what first displacement transducer was sent
The first information, the first information is converted into positional information；Judge the first rehabilitation servicing unit positional information whether
In the position range prestored；If judged result is no, the first gas control device is controlled to cause affiliated first
Cylinder is changed into the second intake operation from the first intake operation, so that the first rehabilitation servicing unit to first direction from moving change
To be moved to second direction, the first direction is opposite with the second direction.
The beneficial effects of the invention are as follows：
Passive movement implementation method provided by the invention and pneumatic convalescence device, are connect by the control device of pneumatic convalescence device
The first information of the first displacement transducer transmission is received, and the first information is converted into positional information, judges that positional information is
It is no in the position range prestored, when in the position range for being not at prestoring, control first rehabilitation auxiliary
Device is helped to be changed into moving to second direction from moving to first direction, passive movement implementation method of the invention is applied to pneumatic health
Apparatus for coating, patient is driven to be trained by the first rehabilitation servicing unit, rather than patient drives the motion of the first rehabilitation servicing unit,
Used so that pneumatic convalescence device can also be the weaker patient of muscular strength.
Other features and advantages of the present invention will illustrate in subsequent specification, also, partly become from specification
It is clear that or by implementing understanding of the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying what is write
Specifically noted structure is realized and obtained in bright book, claims and accompanying drawing.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation for the electronic equipment that present pre-ferred embodiments provide；
Fig. 2 is a kind of structural representation for the pneumatic convalescence device that first embodiment of the invention provides；
Fig. 3 is another structural representation for the pneumatic convalescence device that first embodiment of the invention provides；
Fig. 4 is a kind of flow chart of steps for the passive movement implementation method that second embodiment of the invention provides；
Fig. 5 is another flow chart of steps for the passive movement implementation method that second embodiment of the invention provides.
Embodiment
Those skilled in the art are seeking a kind of instrument or method for improving the problem always for a long time.
In consideration of it, the designer of the present invention is by long-term exploration and trial, and multiple experiment and effort, constantly
Reform and innovation, draw the passive movement implementation method shown in this programme and pneumatic convalescence device.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 shows a kind of structured flowchart for the electronic equipment 200 that can be applied in the embodiment of the present application.The electronic equipment
200 can be as the control device 110 of pneumatic convalescence device.As shown in figure 1, electronic equipment 200 can include memory 202,
Storage control 203, processor 204 and mixed-media network modules mixed-media 205.
It is directly or indirectly electric between memory 202, storage control 203, processor 204,205 each element of mixed-media network modules mixed-media
Connection, to realize the transmission of data or interaction.The pneumatic movement realize include respectively it is at least one can be with software or firmware
(firmware) form is stored in the software function module in memory 202, for example, the pneumatic convalescence device include it is soft
Part functional module or computer program.
Memory 202 can store various software programs and module, and the passive movement as the embodiment of the present application provides is real
Programmed instruction/module corresponding to existing method and pneumatic convalescence device.Processor 204 is stored in memory 202 by operation
Software program and module, so as to perform various function application and data processing, that is, it is passive in the embodiment of the present application to realize
Move implementation method.Memory 202 can include but is not limited to random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Processor 204 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can be general
Processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hardware components.It can
To realize or perform disclosed each method, step and the logic diagram in the embodiment of the present application.General processor can be micro-
Processor or the processor can also be any conventional processors etc..
Mixed-media network modules mixed-media 205 is used to receiving and sending network signal.Above-mentioned network signal may include wireless signal or have
Line signal.
Electronic equipment 200 can also include display module, and the display module can be between pneumatic convalescence device and user
One interactive interface (such as user interface) is provided or referred to for display image data to user.
It should be noted that the active movement passes through independently firmly drive rehabilitation servicing unit progress for the limbs of patient
Motion；The passive movement is that patient need not exert oneself in itself, and the limb motion of patient is driven by the motion of rehabilitation servicing unit,
And then certain training effect.
Embodiment one
Fig. 2 and Fig. 3 is referred to, the structured flowchart of the pneumatic convalescence device 100 provided for present pre-ferred embodiments.Institute
Stating pneumatic convalescence device 100 includes the first rehabilitation servicing unit 110, the first displacement transducer 120, first gas control device
130th, the first cylinder and control device 140, first displacement transducer are arranged in first cylinder, described first
Displacement sensor and the first gas control device couple with the control device respectively, the first gas control device with
The first cylinder connection.
The pneumatic convalescence device is used to help patient and carries out limb rehabilitating, can be used for wrist portion, foot etc., when described
When pneumatic convalescence device is used for wrist portion, the structure chart of pneumatic convalescence device is as shown in Fig. 2 the first rehabilitation servicing unit figure
In 2 110 shown in.
The control device is used to receive the first information that first displacement transducer is sent, and the first information is turned
It is changed to positional information；Judge the positional information of the first rehabilitation servicing unit whether in the position range prestored；
If judged result is no, the first gas control device is controlled so that affiliated first cylinder is changed into second from the first intake operation
Intake operation, so that the first rehabilitation servicing unit is changed into moving to second direction from moving to first direction, described first
Direction is opposite with the second direction.
First cylinder includes cylinder shell and piston, and the piston is arranged in the cylinder shell, and described first
Cylinder connects with the first gas control device.For under the control of first gas control device, passing through first gas
Piston movement in cylinder so that the first rehabilitation servicing unit motion.
The first rehabilitation servicing unit is used to drive patient to need the position of rehabilitation to be trained, as a kind of embodiment party
Formula, the pneumatic convalescence device include rotating shaft, and described rotating shaft one end is connected with the piston of first cylinder, the other end with it is described
First rehabilitation servicing unit connects, and when the piston movement, drives the pivot, the rotating shaft drives first health
Multiple servicing unit motion, and then the first rehabilitation servicing unit drives patient to need the limb motion trained.
As a kind of embodiment, the first gas control device is used to control gas to enter in cylinder or cylinder
Gas is released.Specifically, the first gas control device include the first magnetic valve, second solenoid valve, the 3rd magnetic valve and
4th magnetic valve.First magnetic valve is used to control first cylinder to carry out intake operation, and the second solenoid valve is used for
First cylinder is controlled to carry out bleed air operation.3rd magnetic valve is used to control first cylinder to carry out the first air inlet behaviour
Make, when first cylinder carries out the first intake operation, the first rehabilitation servicing unit moves to first direction.Described
Four magnetic valves are used to control first cylinder to carry out the second intake operation, when first cylinder carries out the second intake operation
When, the first rehabilitation servicing unit moves to the second direction, and the first direction is opposite with the second direction.As
A kind of embodiment, the 3rd magnetic valve and the 4th magnetic valve can be single-pole double-throw switch (SPDT), when the 3rd electromagnetism
When valve is connected, the 4th magnetic valve disconnects, and the first rehabilitation servicing unit carries out the first intake operation；When the described 3rd electricity
When magnet valve disconnects, the 4th magnetic valve is connected, and the first rehabilitation servicing unit carries out the second intake operation.
It should be noted that only opened in first magnetic valve so that when first cylinder carries out intake operation,
First intake operation of the 3rd magnetic valve and the second intake operation of the 4th magnetic valve can just work.When second electromagnetism
Valve is opened, when first magnetic valve is not turned on, no matter the 3rd magnetic valve is connected or the 4th magnetic valve is connected,
First cylinder will not carry out intake operation, will not more carry out the first intake operation and the second intake operation.
Further, the pneumatic convalescence device also includes pressure sensor, and the pressure sensor is arranged at described the
In one cylinder, the pressure sensor couples with the control device, and the control device is used to receive the pressure sensor
Second information of transmission, and calculate according to second information thrust of the first rehabilitation servicing unit.
Second information is the information of voltage of output after pressure sensor collection.The control device will receive
The information of voltage of pressure sensor is converted to the thrust of the first rehabilitation servicing unit.Specifically transfer process is：
Sampled value is converted to the atmospheric pressure value in cylinder, according to formula：P=((V1/4095) -0.1)/0.8, wherein P are
Atmospheric pressure value in cylinder, unit MPa, V1 are the sampled voltage of pressure sensor；
The atmospheric pressure value of cylinder is converted into cylinder piston thrust, according to formula：F1=P*S, P be cylinder in atmospheric pressure value, S
For cylinder sectional area, the unit of atmospheric pressure value is Pa, and the unit of area is m2, and F1 unit is N (newton)；
Finally, piston thrust is converted to the thrust of the first rehabilitation servicing unit, according to formula：F2=(F1*L1)/L2,
L1 is piston mandril mount point to rotating shaft distance, and L2 is the first rehabilitation servicing unit to rotating shaft distance, and F2 is that the first rehabilitation aids in
The thrust of device.
Further, the pneumatic convalescence device also includes air accumulator, and the air accumulator is arranged at the first gas control
Between device processed and first cylinder, and connected respectively with the first gas device and first cylinder, for
The first gas device is inflated to first cylinder, bleed air operation when, enter row buffering, to control first cylinder
Air inlet, deflation speed.
Further, the pneumatic convalescence device also includes the second rehabilitation servicing unit, second displacement sensor, the second gas
Member control apparatus, the second cylinder, the second displacement sensor are arranged in second cylinder, the second rehabilitation auxiliary dress
Put and second gas control couples with the control device respectively, the second gas control device and first gas
Cylinder connects.
Likewise, the second gas control device includes the 5th magnetic valve, the 6th magnetic valve, the 7th magnetic valve and the
Eight magnetic valves.5th magnetic valve is used to control second cylinder to carry out intake operation, and the 6th magnetic valve is used to control
Make second cylinder and carry out bleed air operation.7th magnetic valve is used to control second cylinder to carry out the first air inlet behaviour
Make, when second cylinder carries out the first intake operation, the second rehabilitation servicing unit moves to first direction.Described
Eight magnetic valves are used to control second cylinder to carry out the second intake operation, when second cylinder carries out the second intake operation
When, the second rehabilitation servicing unit moves to the second direction.Embodiment as one kind, the 7th magnetic valve with
And the 8th magnetic valve is also single-pole double-throw switch (SPDT), when the 7th magnetic valve is connected, the 8th magnetic valve disconnects, institute
The second rehabilitation servicing unit is stated to move to first direction；When the 7th magnetic valve disconnects, when the 8th magnetic valve is connected,
The two rehabilitations servicing unit moves to second direction.
It should be noted that only opened in the 5th magnetic valve so that when second cylinder carries out intake operation,
First intake operation of the 7th magnetic valve and the second intake operation of the 8th magnetic valve can just work.When the 6th electromagnetism
Valve is opened, when the 5th magnetic valve disconnects, no matter the 7th magnetic valve is connected or the 8th magnetic valve is connected, and described second
Cylinder will not carry out intake operation, will not more carry out the first intake operation and the second intake operation.
Embodiment two
Refer to Fig. 4, a kind of step flow chart of passive movement implementation method 300 provided in an embodiment of the present invention, application
Pneumatic convalescence device described in first embodiment, methods described 300 include：
Step S310, judge whether the movement instruction that user sends is to move in the same direction.
Step S310 is specifically included：Receive user send movement instruction, the movement instruction include in the same direction motion and
Crisscross motion.
Pneumatic convalescence device is used to help patient and trains limbs, and the method described in the present embodiment is applied to first embodiment institute
The pneumatic convalescence device stated, including two sets of rehabilitation servicing units, left hand (left foot) and the right hand for being respectively acting on patient are (right
Pin), in some cases, two sets of rehabilitation servicing units need to do motion in the same direction, but also intersect under certain situation, it is necessary to do
Move (i.e. counter motion).Before motion, according to the selection of doctor or for independently selecting motion or crisscross motion in the same direction, concurrently
Deliver to pneumatic convalescence device.
Step S311, if the determination result is YES when, that is, the movement instruction that receives is motion in the same direction, controls first electromagnetism
Valve carries out intake operation, and controls the 3rd solenoid valve conduction, and the 4th magnetic valve disconnects, so that first cylinder carries out the
One intake operation, and then the first rehabilitation auxiliary dress is moved to the first direction.
Step S312, control the 5th magnetic valve to carry out intake operation, and control the 7th solenoid valve conduction, the 8th
Magnetic valve disconnects, so that second cylinder carries out the first intake operation, and then causes second convalescence device to described the
Move in one direction.
When the movement instruction that user sends to pneumatic convalescence device is moves in the same direction, the control device of pneumatic convalescence device
The first magnetic valve and the 5th magnetic valve is controlled to open first, so that the first cylinder and the second cylinder can carry out air inlet behaviour
Make.Only the first cylinder and the second cylinder are in intake operation, the first rehabilitation servicing unit and the second rehabilitation auxiliary
Device could realize passive movement.When carrying out intake operation, the pressure in cylinder is more than for first cylinder or the second cylinder
Pressure outside cylinder.During three solenoid valve conduction, first cylinder carries out the first intake operation, the 4th magnetic valve
During conducting, the intake operation of the first cylinder second；During seven solenoid valve conduction, second cylinder carries out first and entered
Gas operates, and during eight solenoid valve conduction, second cylinder carries out the second intake operation.First intake operation is used for
So that the first rehabilitation servicing unit or the second rehabilitation servicing unit move to first direction, second intake operation is used for
So that the first rehabilitation servicing unit or the second rehabilitation servicing unit move to second direction.The first direction can be disease
Top, front or right of people etc., the second direction can be lower section, rear or the seat side of patient.It should be noted that this
Embodiment does not do concrete restriction to first direction or second direction, as long as first direction is opposite with second direction.
When the movement instruction is moves in the same direction, the first rehabilitation servicing unit and the second rehabilitation servicing unit can
To be moved to first direction simultaneously, can also be moved simultaneously to second direction.
When the first rehabilitation servicing unit and the second rehabilitation servicing unit need to move to first direction simultaneously, institute
Stating control device controls the first magnetic valve and the 5th magnetic valve to open, meanwhile, control the 3rd solenoid valve conduction, described the
Four magnetic valves disconnect, so that first cylinder is in the first intake operation；Control the 7th solenoid valve conduction, the described 8th
Magnetic valve disconnects, so that second cylinder also carries out the first intake operation.
When the first rehabilitation servicing unit and the second rehabilitation servicing unit need to move to second direction simultaneously, institute
Stating control device controls the first magnetic valve and the 5th magnetic valve to open, meanwhile, control the 4th solenoid valve conduction, described the
Three magnetic valves disconnect, so that first cylinder is in the second intake operation；Control the 8th solenoid valve conduction, the described 7th
Magnetic valve disconnects, so that second cylinder also carries out the second intake operation.
Step S313, if judged result is no, the movement instruction of reception is crisscross motion, controls first magnetic valve to enter
Row intake operation, and the 3rd solenoid valve conduction is controlled, the 4th magnetic valve disconnects, and enters so that first cylinder carries out first
Gas operates, and then the first rehabilitation auxiliary dress is moved to the first direction；
Step S314, control the 5th magnetic valve to carry out intake operation, and control the 8th solenoid valve conduction, the 7th
Magnetic valve disconnects, so that second cylinder carries out the second intake operation, and then causes second convalescence device to described the
Move in two directions.
Can be that the first rehabilitation servicing unit moves to first direction when the movement instruction is crisscross motion,
The second rehabilitation servicing unit moves to second direction.Can also be that the first rehabilitation servicing unit is transported to second direction
Dynamic, the second rehabilitation servicing unit moves to first direction.
When the first rehabilitation servicing unit needs to move to first direction, the second rehabilitation servicing unit is needed to
When two directions are moved, the control device controls the first magnetic valve and the 5th magnetic valve to open, meanwhile, control the 3rd electricity
Magnet valve turns on, and the 4th magnetic valve disconnects, so that first cylinder is in the first intake operation；The 8th electricity is stated described in control
Magnet valve turns on, and the 7th magnetic valve disconnects, so that second cylinder also carries out the second intake operation.
When the first rehabilitation servicing unit needs to move to second direction, the second rehabilitation servicing unit is needed to
One direction is moved, and the control device controls the first magnetic valve and the 5th magnetic valve to open, meanwhile, control the 4th electromagnetism
Valve turns on so that the 3rd magnetic valve disconnects, so that first cylinder is in the second intake operation；Control the 7th electricity
Magnet valve turns on, and the 8th magnetic valve disconnects, so that second cylinder carries out the first intake operation.
Step S320, the first information that first displacement transducer is sent is received, the first information is converted into position
Confidence ceases, and the positional information is used for the position for characterizing the rehabilitation servicing unit.
First displacement transducer is arranged in cylinder, for detecting the displacement of the piston in cylinder, due to first
Displacement sensor sampled value is magnitude of voltage V2, the control device receive the magnitude of voltage V2 of the first displacement transducer sampling, it is necessary to
It is converted into positional information.
As a kind of embodiment, first displacement sensor measurement range is 400mm, and the work of institute's displacement sensors is electric
It is 3.3V to press as 3.3V, AD sampled voltages benchmark.
The magnitude of voltage V2 of sampling is first converted into the displacement of piston, according to formula：S1=400*V2/4095, S1 unit
For mm.
The piston displacement of acquisition is converted to the displacement of the first rehabilitation servicing unit again, according to formula：S2=S1*L2/L1
Calculate；Wherein, L1：For piston mandril mount point to rotating shaft distance, L2 is that handle fills to rotating shaft distance, S2 for the first rehabilitation auxiliary
The displacement put.
, can according to the last positional information of the displacement of the first rehabilitation servicing unit and the first rehabilitation servicing unit
To obtain the current positional information of the first rehabilitation servicing unit.
Step S330, judge the positional information of the first rehabilitation servicing unit whether in the position range prestored
It is interior.
Because the extent difference of each patient is, it is necessary to which the range of movement for the rehabilitation training done is also different, if patient does
The range of movement of rehabilitation training exceed the range of movement that can bear of patient, can run counter to desire, aggravate muscle damage degree；But
If the range of movement of rehabilitation training is too small, the good result of training can not be reached again, therefore, doctor can set according to different patients
Fixed different range of movement, i.e., the displacement of described first rehabilitation servicing unit.
Pneumatic convalescence device is before start-up operation, in the origin that is in of all directions, i.e., in the position that coordinate points are 0
Place is put, when motion starts training, the displacement information that is measured by institute's displacement sensors, i.e., described first rehabilitation servicing unit
Positional information, for example, the first rehabilitation servicing unit is to patient's forward, and it is auxiliary according to first rehabilitation is calculated
The displacement for helping device is 200mm, then its current position is in front of patient, and apart from patient 200mm.
The position range prestored includes the dominant bit that patient can move to first direction and second direction
Put.For example, the first direction is the front of patient, second direction is the rear of patient, and patient is in the maximum moved forwards
Position is 300mm, and the maximum position rearward moved is 250mm, and the original position of the first rehabilitation servicing unit (is not transported
Position when dynamic) it is denoted as 0, then and the position range prestored is 300mm to -250mm.The position prestored
Scope is set by doctor according to the concrete condition of patient, and is stored in the control device of the pneumatic convalescence device.
Step S331, if judged result is no, the first gas control device is controlled to cause first cylinder by
One intake operation is changed into the second intake operation, so that the first rehabilitation servicing unit is changed into second from being moved to first direction
Direction is moved, and the first direction is opposite with the second direction.
Specifically, start to move to first direction as when the first rehabilitation servicing unit, but the position moved exceedes doctor
Or patient oneself pre-set position when, control first magnetic valve to carry out intake operation, and control the 4th electromagnetism
Valve turns on, and the 3rd magnetic valve disconnects so that and first cylinder is changed into the second intake operation from the first intake operation, and described first
Rehabilitation servicing unit is changed into moving to second direction from moving to first direction.
For example, the first direction is the front of patient, second direction is the rear of patient, the position range prestored
For 300mm to -250mm when, when the first rehabilitation servicing unit drive patient move past 300mm forwards when, control dress
Putting will control the first rehabilitation servicing unit to change the direction of motion, i.e., rearward moves, when the first rehabilitation servicing unit
When drive patient is rearward moved to more than 250mm, control device will continue to control the first rehabilitation servicing unit to change fortune
Dynamic direction, i.e., move forwards.
Further, as another embodiment, Fig. 5 is referred to, the passive movement side of offer is provided for the present invention
Another flow chart of method, after step S320, methods described also includes：
Step S340, receive the temporal information of the first rehabilitation servicing unit.
As a kind of embodiment, the temporal information is the predetermined amount of time pre-set, for example, pre-set when
Between be 2S.
Step S350, according to the temporal information and institute's displacement information, calculate the first rehabilitation servicing unit
Speed.
According to the temporal information and displacement information calculating speed, the speed can be that instantaneous velocity can also be flat
Equal speed,
In one embodiment, a displacement information is obtained every the period pre-set, for example, being calculated every 5S
Speed.
Whether step S360, the speed for the first rehabilitation servicing unit for judging to calculate are more than first prestored
The speed of rehabilitation servicing unit.
Likewise, the extent difference of each patient is, it is necessary to which the movement velocity for the rehabilitation training done is also different.Doctor's root
According to the movement velocity of the first rehabilitation servicing unit of suitable patient, and it is pre-stored within the control dress of the pneumatic convalescence device
Put, by the speed of the first rehabilitation servicing unit calculated in real time and the speed of the first rehabilitation servicing unit prestored, and
When the speed of the first rehabilitation servicing unit calculated is too big, first cylinder is controlled to carry out bleed air operation to reduce first
The speed of rehabilitation servicing unit.
Step S371, if the determination result is YES, that is, the speed of the first rehabilitation servicing unit calculated is more than described
The speed of the first rehabilitation servicing unit prestored, controls the first gas control device to be carried out for first cylinder
Bleed air operation.
If the speed of the first rehabilitation servicing unit calculated is equal to the first rehabilitation auxiliary dress prestored
The speed put, control the first gas control device to stop first cylinder and be inflated operation.
Step S372, if judged result is no, that is, the speed of the first rehabilitation servicing unit calculated is less than described
The speed of the first rehabilitation servicing unit prestored, controls the first gas control device to fill first cylinder
Gas operates.
Specifically, the first gas control device includes the first magnetic valve and second solenoid valve, first electromagnetism
Valve is used to control the intake operation to the first cylinder, and the second solenoid valve is used to control the deflation of first cylinder to grasp
Make.Therefore, above-mentioned steps specifically include：
If the speed of the first rehabilitation servicing unit calculated is more than the first rehabilitation auxiliary dress prestored
The speed put, the second solenoid valve is controlled to carry out bleed air operation to first cylinder, to reduce the first rehabilitation servicing unit
Speed.
If the speed of the first rehabilitation servicing unit calculated is equal to the first rehabilitation auxiliary dress prestored
The speed put, control first magnetic valve to stop first cylinder and be inflated operation, when stopping inflation, first health
The speed of multiple servicing unit will no longer increase.
If the speed of the first rehabilitation servicing unit calculated is less than the first rehabilitation auxiliary dress prestored
The speed put, first magnetic valve is controlled to be inflated operation, the motion of the first rehabilitation servicing unit to first cylinder
Speed can also continue to increase.
In summary, passive movement implementation method provided by the invention and pneumatic convalescence device, by pneumatic convalescence device
Control device receives the first information that the first displacement transducer is sent, and the first information is converted into positional information, judges
Whether positional information is in the position range that prestores, when in the position range for being not at prestoring, described in control
First rehabilitation servicing unit is changed into moving to second direction from moving to first direction, and passive movement implementation method of the invention should
For pneumatic convalescence device, patient is driven to be trained by the first rehabilitation servicing unit, rather than patient drives the first rehabilitation auxiliary
Device is helped to move so that pneumatic convalescence device can also be that the weaker patient of muscular strength uses.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to realize holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, function or the special base of action as defined in performing can be used
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation any this reality be present
The relation or order on border.
Term " comprising ", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that bag
To include process, method, article or the equipment of a series of elements not only include those key elements, but also including being not expressly set out
Other element, or also include for this process, method, article or the intrinsic key element of equipment.Do not limiting more
In the case of, the key element that is limited by sentence "including a ...", it is not excluded that in the process including the key element, method, thing
Other identical element in product or equipment also be present.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Claims (10)
1. a kind of passive movement implementation method, it is characterised in that applied to pneumatic convalescence device, the pneumatic convalescence device includes
First rehabilitation servicing unit, the first displacement transducer, first gas control device and the first cylinder, methods described include：
The first information that first displacement transducer is sent is received, the first information is converted into positional information, institute's rheme
Confidence ceases the position for characterizing the rehabilitation servicing unit；
Judge the positional information of the first rehabilitation servicing unit whether in the position range prestored；
If judged result is no, the first gas control device is controlled so that affiliated first cylinder is changed into from the first intake operation
Second intake operation, so that the first rehabilitation servicing unit is changed into moving to second direction from moving to first direction, it is described
First direction is opposite with the second direction.
2. according to the method for claim 1, it is characterised in that described to receive the first of the first displacement transducer transmission
Information, after the step of first information is converted into positional information, methods described also includes：
The displacement information of the first rehabilitation auxiliary equipment according to the positional information calculation；
The temporal information of the first rehabilitation servicing unit is received, the temporal information is
According to the temporal information and institute's displacement information, the speed of calculating the first rehabilitation servicing unit；
Compare the speed of the first rehabilitation servicing unit calculated and the speed of the first rehabilitation servicing unit prestored
Size；
If the speed of the first rehabilitation servicing unit calculated is more than the first rehabilitation servicing unit prestored
Speed, the first gas control device is controlled to carry out bleed air operation for first cylinder；
If the speed of the first rehabilitation servicing unit calculated is equal to the first rehabilitation servicing unit prestored
Speed, control the first gas control device to stop first cylinder and be inflated operation；
If the speed of the first rehabilitation servicing unit calculated is less than the first rehabilitation servicing unit prestored
Speed, the first gas control device is controlled to be inflated operation to first cylinder.
3. according to the method for claim 2, it is characterised in that the first gas control device include the first magnetic valve with
And second solenoid valve, first magnetic valve are used to control the intake operation to first cylinder, the second solenoid valve is used
In the bleed air operation for controlling first cylinder, the speed for the first rehabilitation servicing unit that the comparison calculates with advance
After the step of size of the speed of first rehabilitation servicing unit of storage, methods described includes：
If the speed of the first rehabilitation servicing unit calculated is more than the first rehabilitation servicing unit prestored
Speed, the second solenoid valve is controlled to carry out bleed air operation to first cylinder；
If the speed of the first rehabilitation servicing unit calculated is equal to the first rehabilitation servicing unit prestored
Speed, control first magnetic valve to stop first cylinder and be inflated operation；
If the speed of the first rehabilitation servicing unit calculated is less than the first rehabilitation servicing unit prestored
Speed, first magnetic valve is controlled to be inflated operation to first cylinder.
4. according to the method for claim 3, it is characterised in that the first gas control device also includes the 3rd magnetic valve
And the 4th magnetic valve, the 3rd magnetic valve are used to control first cylinder to carry out the first intake operation, the 4th electricity
Magnet valve is used to control the cylinder to carry out the second intake operation, and the control first gas control device is grasped by the first air inlet
Work is changed into the second intake operation, so that the rehabilitation servicing unit is from moving the step for being changed into moving to second direction to first direction
Suddenly, including：
The 3rd magnetic valve is controlled to disconnect, the 4th solenoid valve conduction so that first cylinder is by the first intake operation
It is changed into the second intake operation, the first rehabilitation servicing unit is changed into moving to second direction from moving to first direction.
5. according to the method for claim 4, it is characterised in that the pneumatic convalescence device also includes the second rehabilitation auxiliary dress
Put, second gas control device and the second cylinder, the second gas control device include the magnetic valve of the 5th magnetic valve the 6th,
7th magnetic valve and the 8th magnetic valve, the first information for receiving institute's displacement sensors and sending, by the first information
Before the step of being converted to positional information, methods described also includes：
The movement instruction that user sends is received, the movement instruction includes motion and crisscross motion in the same direction；
If the movement instruction received is motion in the same direction, first magnetic valve is controlled to carry out intake operation, and control the described 3rd
Solenoid valve conduction, the 4th magnetic valve disconnect, so that first cylinder carries out the first intake operation, and then cause first health
Multiple auxiliary dress moves to the first direction；
Controlling the 5th magnetic valve to carry out intake operation, and control the 7th solenoid valve conduction, the 8th magnetic valve disconnects, with
Second cylinder is carried out the first intake operation, and then second convalescence device is moved to the first direction.
6. according to the method for claim 5, it is characterised in that the movement instruction for receiving user and sending, the motion
After instruction includes the step of motion in the same direction and crisscross motion, methods described also includes：
If the movement instruction received is crisscross motion, first magnetic valve is controlled to carry out intake operation, and control the described 3rd
Solenoid valve conduction, the 4th magnetic valve disconnect, so that first cylinder carries out the first intake operation, and then cause first health
Multiple auxiliary dress moves to the first direction；
Controlling the 5th magnetic valve to carry out intake operation, and control the 8th solenoid valve conduction, the 7th magnetic valve disconnects, with
Second cylinder is carried out the second intake operation, and then second convalescence device is moved to the second direction.
A kind of 7. pneumatic convalescence device, it is characterised in that the pneumatic convalescence device include the first rehabilitation servicing unit, first
Displacement sensor, first gas control device, the first cylinder and control device, first displacement transducer are arranged at described
In one cylinder, first displacement transducer and first gas control couple with the control device respectively, and described the
One gas control equipment connects with first cylinder；
The control device is used to receive the first information that first displacement transducer is sent, and the first information is converted to
Positional information；Judge the positional information of the first rehabilitation servicing unit whether in the position range prestored；If sentence
Disconnected result is no, controls the first gas control device so that affiliated first cylinder is changed into the second air inlet from the first intake operation
Operation, so that the first rehabilitation servicing unit is changed into moving to second direction from moving to first direction, the first direction
It is opposite with the second direction.
8. pneumatic convalescence device according to claim 7, it is characterised in that the pneumatic convalescence device also includes pressure and passed
Sensor, the pressure sensor are arranged in first cylinder, and the pressure sensor couples with the control device, described
Control device is used for the second information for receiving the pressure sensor transmission, and calculates described first according to second information
The thrust of rehabilitation servicing unit.
9. pneumatic convalescence device according to claim 7, it is characterised in that first cylinder includes cylinder shell and work
Plug, the piston are arranged in the cylinder shell, and the cylinder connects with the first gas control device.
10. pneumatic convalescence device according to claim 7, it is characterised in that the pneumatic convalescence device also includes gas storage
Tank, the air accumulator are arranged between the first gas control device and first cylinder, and respectively with first gas
Body device and first cylinder connection, for being inflated, deflating to first cylinder in the first gas device
During operation, enter row buffering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710825676.8A CN107485537A (en) | 2017-09-13 | 2017-09-13 | Passive movement implementation method and pneumatic convalescence device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710825676.8A CN107485537A (en) | 2017-09-13 | 2017-09-13 | Passive movement implementation method and pneumatic convalescence device |
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