CN107583234B - A kind of intelligence active-passive rehabilitation robot - Google Patents
A kind of intelligence active-passive rehabilitation robot Download PDFInfo
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- CN107583234B CN107583234B CN201710982996.4A CN201710982996A CN107583234B CN 107583234 B CN107583234 B CN 107583234B CN 201710982996 A CN201710982996 A CN 201710982996A CN 107583234 B CN107583234 B CN 107583234B
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Abstract
The invention discloses a kind of intelligent active-passive rehabilitation robots, including body, the shaft that is rotationally connected with body, the motor rotated by transmission component drive shaft and the pedal assembly for being fixed on both ends of the shaft, motor is connected with intelligence system, intelligence system includes, velocity sensor, it is set in shaft, for detecting the first revolving speed of the preceding half-turn of shaft and the second revolving speed of rear half-turn, and exports the first tach signal and the second tach signal；The output end of velocity sensor is coupled with the data acquisition module for acquiring the first tach signal and the second tach signal；Data processing module, it is coupled to the output end of data acquisition module, and be coupled to the control terminal of motor, carry out analysis for the first tach signal and the second tach signal according to acquisition and send control signal to motor, it is rotated with controlling motor with the revolving speed for adapting at this stage.A kind of intelligent active-passive rehabilitation robot of the invention, adjust automatically motor is to adapt to the rotational speed of patient's present situation.
Description
Technical field
The present invention relates to the field of medical instrument technology, more specifically, it relates to a kind of intelligence active-passive rehabilitation robot.
Background technique
As China steps into aging society, the limb motion sexual dysfunction patient due to caused by various diseases significantly increases
Add.Clinical medicine proves: correct and scientific rehabilitation training has highly significant for the recovery and raising of extremity motor function
Effect.
Active-passive rehabilitation robot is then mainly used for comprehensive by spasm, apoplexy, multiple sclerosis, three one section of paralysiss, op parkinson's
Close limb movement disturbance caused by disease, osteoporosis diseases.Body can be enhanced by using smart motion training system in patient
The flexibility of body the state for reducing spasm, the ability for keeping walking, boosts metabolism, blood circulation and enterocinesia, restores
The remaining strength of muscle, enhances the Rehabilitation confidence of patient.
When patient can not oneself movement when, passive exercise mode can be tuned into, by motor drive patient carry out upper limb, under
Limb activity, to alleviate adverse consequences caused by shortage moves, such as anchylosis, muscular atrophy and contracture, osteoporosis, quiet
Arteries and veins thrombus etc.；When patient has biggish remaining muscular strength, active training mode can be tuned into, patient can with oneself strength into
Row active movement.
But patient needs gradually to adjust the motor speed in passive exercise mode, however passes through trouble in rehabilitation course
Person is intuitively adjusted manually, and revolving speed adjusted can not well adapt to the present situation of patient.
Therefore it needs to propose the new scheme of one kind to solve this problem.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of intelligent active-passive rehabilitation robot,
Adjust automatically motor is to adapt to the rotational speed of patient's present situation.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of intelligent active-passive rehabilitation machine
Device people, including body, the shaft that is rotationally connected with body, the motor rotated by transmission component drive shaft and being fixed on turn
The pedal assembly at axis both ends, the motor are connected with intelligence system, and the intelligence system includes velocity sensor, are set to and turn
On axis, for detecting the first revolving speed of the preceding half-turn of shaft and the second revolving speed of rear half-turn, and the first tach signal and second is exported
Tach signal；The output end of velocity sensor is coupled with the acquisition of the data for acquiring the first tach signal and the second tach signal
Module；Data processing module, is coupled to the output end of data acquisition module, and is coupled to the control terminal of motor, adopts for basis
The first tach signal and the second tach signal of collection carry out analysis and send control signal to motor, existing to adapt to control motor
The revolving speed in stage is rotated, and adapting to revolving speed at this stage indicates the first revolving speed of predetermined time interior acquisition and putting down for the second revolving speed
Mean value；The intelligence system further includes that wireless data transfer module is coupled to data processing module, for by rehabilitation data with
Mobile terminal carries out wireless data interaction, and the rehabilitation data include the first tach signal and the second tach signal；Mobile terminal,
For checking rehabilitation data；The data processing module is coupled with timer, when data processing module receives the first revolving speed letter
Number or when the second tach signal, data processing module control timer starts timing；The data processing module includes several phases
Mutual independent memory and the processor being connected with memory, the memory are connected with data acquisition module, are used for
Store personal rehabilitation data；And when in use, manually selecting the memory that respective stored has personal rehabilitation data, the place
Device is managed according to the revolving speed of the rehabilitation data control motor in memory.
It can be tuned into active training mode when patient has biggish remaining muscular strength by using above-mentioned technical proposal, suffered from
Person can carry out active movement with the strength of oneself, to exert a force to pedal assembly, when the speed for the bigger shaft rotation that exerts a force
Then faster, data acquisition module is acquired the first tach signal that velocity sensor exports with the second tach signal at this time,
And it is sent to data processing module, data processing module calculates the revolving speed that patient at this time can adapt to according to built-in algorithm,
Then when patient is adjusted to Passive Mode, data processing module sends control signal to motor, to control motor to adapt to
The revolving speed of patient at this stage rotates, and more adapts to the training of patient, without patient oneself with feeling to regulate the speed, keeps away
It is excessive and damage to patient or speed is too small and do not have trained effect to exempt from speed；By the rehabilitation data of patient's training
It is sent on mobile terminal by wireless data transfer module, mobile terminal can be smart phone, carry in therapist or see
With shield person, the present situation of patient is understood in time convenient for therapist, make more reasonable therapeutic scheme；Allow to training
Time recorded so that therapist or household can understand limbs of patient motor function accordingly, and adjusting training scheme in time,
Be conducive to therapist, user carry out effectively train, to increase the Rehabilitation confidence of user；So that the active-passive rehabilitation machine
People uses for more people, everyone can possess the memory of oneself, and rehabilitation data when oneself is trained are stored in personal deposit
In reservoir, when in use, manually selecting corresponding memory, processor then controls motor according to the rehabilitation data in the memory
Revolving speed so that the healing robot is applicable to more people, and targetedly passive exercise can be carried out to everyone.
The present invention is further arranged to: the body is provided with display screen, and the display screen is coupled to data processing module
Output end, the data processing module sends display signal to display screen according to the first tach signal and the second tach signal,
The first revolving speed and the second revolving speed are shown to control display screen.
By using above-mentioned technical proposal, the double upper (lower) limb activity feelings of the reflection user that display screen can be real-time, sensitive
Condition, therapist or user oneself can adjust therapeutic scheme or strengthening training accordingly, and recognize the difference between both limbs function
Away from, play and user supervised to give weaker side limbs intensive training, thus progressively reach both limbs equilibrium exert oneself mesh
's.
The present invention is further arranged to: the body is provided with speech player, and the speech player is coupled to data
Processing module, the mobile terminal are used to send alerting signal to data processing module, and the data processing module is according to prompting
Signal controls speech player and plays.
By using above-mentioned technical proposal so that therapist or caregiver not patient at one's side when, mobile terminal can be passed through
Alerting signal is sent to data processing module, so that data processing module controls speech player play cuing signal, to press
When supervise patient carry out rehabilitation training, preferably play supervision role.
The present invention is further arranged to: the data acquisition module while being acquired trained duration, and is passed through wireless data and pass
Rehabilitation data are carried out wireless data with mobile terminal and interacted by defeated module, and the rehabilitation data include training duration, the first revolving speed
Signal and the second tach signal.
By using above-mentioned technical proposal, the rehabilitation data of patient's training are sent to shifting by wireless data transfer module
In dynamic terminal, understand the present situation of patient in time convenient for therapist, make more reasonable therapeutic scheme, at the same avoid patient because
Not up to regulation trains duration and extends rehabilitation duration.
The present invention is further arranged to: the processor is connected with RF Reader, and memory is associated with electronic tag；When
After RF Reader identifies electronic tag, processor transfers the rehabilitation data in memory associated with electronic tag, data
Acquisition module is to memory input rehabilitation data associated with electronic tag.
By using above-mentioned technical proposal, when carrying out manually selecting corresponding memory, it is possible that selection mistake
The case where, thus the trouble to bring inconvenience, or even user is damaged；Therefore each user carries and corresponding memory
Associated electronic tag, after using the preceding electronic tag for identifying individual by RF Reader, processor is transferred and electricity automatically
Rehabilitation data in the associated memory of subtab improve automation, avoid the situation for selecting wrong memory.
In conclusion the invention has the following advantages:
First, data processing module sends control signal to motor, when patient is adjusted to Passive Mode to control motor
It is rotated with adapting to the revolving speed of patient at this stage, more adapts to the training of patient, adjusted without patient oneself with feeling
Speed avoids speed excessive and damages to patient or speed is too small and do not have trained effect；
Second, when in use, manually selecting corresponding memory, processor is then according to the rehabilitation data control in the memory
The revolving speed of motor processed so that the healing robot is applicable to more people, and can carry out targetedly passive instruction to everyone
Practice；
Third, processor is transferred automatically and electronics after using the preceding electronic tag for identifying individual by RF Reader
Rehabilitation data in the associated memory of label improve automation, avoid the situation for selecting wrong memory.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the present embodiment one；
Fig. 2 is the schematic diagram of internal structure of the present embodiment one；
Fig. 3 is the structural schematic diagram of transmission component；
Fig. 4 is the system block diagram of the present embodiment one；
Fig. 5 is the system block diagram of the present embodiment two.
In figure: 1, body；2, shaft；3, motor；4, pedal assembly；41, rocking bar；42, pedal；43, safety belt；5, speed
Sensor；6, data acquisition module；7, data processing module；71, memory；72, processor；8, display screen；9, wireless data
Transmission module；11, mobile terminal；12, speech player；13, timer；14, RF Reader；15, electronic tag；16, main
Bevel gear；17, secondary bevel gear.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention will be described in detail.
Embodiment one: a kind of intelligence active-passive rehabilitation robot, as shown in Figure 1, including body 1, being rotationally connected with body 1
Shaft 2, the motor 3 that rotates by transmission component drive shaft 2 and be fixed on the pedal assembly 4 at 2 both ends of shaft, the motor
3 output shaft is vertical setting with shaft 2.
Wherein, as shown in figure 3, transmission component includes the master bevel gear 16 being fixed on 3 output shaft of motor and is fixed on
Secondary bevel gear 17 among shaft 2, and master bevel gear 16 is meshed with time bevel gear 17, so that motor 3 drives 2 turns of shaft
It is dynamic；As shown in Fig. 2, pedal assembly 4 include one end be socketed and pass through fixed pin be fixed on 2 end of shaft rocking bar 41 and vertically
It is rotationally connected with the pedal 42 of 41 other end of rocking bar, and is fixed in 42 1 end face of pedal and closed-loop is collectively formed with pedal 42
The safety belt 43 of shape, 43 both ends of safety belt pass through nail respectively and are fixed on 42 both ends of pedal, for foot or hand to be limited in pedal
On 42, prevent from falling off.Pedal 42 is moved in a circle with shaft 2 for the center of circle, and by the pedal 42 in opposite highest point into
Row force, turns to minimum point, then drives shaft 2 to rotate half-turn, then at this time with respect to the progress of other side pedal 42 of highest point
Force, then drive shaft 2 to rotate remaining half-turn, and so on, shaft 2 is driven to circle with shaft 2 for the center of circle, and work as and apply
Power is bigger, and the speed of rotation is then bigger.
In the present invention, as shown in Figure 2, Figure 4 shows, motor 3 is connected with intelligence system, which includes velocity sensor
5, it is fixed in shaft 2, for detecting the first revolving speed of the preceding half-turn of shaft 2 and the second revolving speed of rear half-turn, and exports first turn
Fast signal and the second tach signal；The output end of velocity sensor 5 is coupled with for acquiring the first tach signal and the second revolving speed
The data acquisition module 6 of signal；Data processing module 7, is coupled to the output end of data acquisition module 6, and is coupled to motor 3
Control terminal carries out analysis for the first tach signal and the second tach signal according to acquisition and sends control signal to motor 3,
It is rotated with controlling motor 3 with the revolving speed for adapting at this stage, the revolving speed of the adaptation at this stage is the acquired in the predetermined time
The average value of one revolving speed and the second revolving speed.
When patient has biggish remaining muscular strength, active training mode can be tuned into, patient can with oneself strength into
Row active movement, to exert a force to pedal 42, when exerting a force, the speed that bigger shaft 2 rotates is then faster, at this time data acquisition module
Block 6 is acquired the first tach signal that velocity sensor 5 exports with the second tach signal, and is sent to data processing module
7, data processing module 7 calculates the revolving speed that patient at this time can adapt to according to built-in algorithm；Then it is adjusted to as patient
When Passive Mode, data processing module 7 sends control signal to motor 3, adapts to the revolving speed of patient at this stage to control motor 3
Rotated, more adapt to the training of patient, without patient oneself with feeling to regulate the speed, avoid speed excessive and to trouble
Person damages or speed is too small and do not have trained effect.
As Figure 1 and Figure 4, it is embedded with display screen 8 in 1 front end face of body, which is coupled to data processing module 7
Output end, data processing module 7 sends display signal to display screen 8 according to the first tach signal and the second tach signal, with
It controls display screen 8 and shows the first revolving speed and the second revolving speed；The display screen 8 shows the first revolving speed with two parallel post types
The size and gap that clearly know two sides force are enabled a user to form a sharp contrast with the second revolving speed, thus
Preferably play supervision role；And display screen 8 can real-time, sensitive double upper and lower extremities activity conditions of reflection user, therapist
Or user oneself can adjust therapeutic scheme or strengthening training accordingly, and recognize the gap between both limbs function, play and superintend and direct
User is promoted to give weaker side limbs intensive training, to progressively reach the purpose that both limbs equilibrium is exerted oneself.
More preferably patient to be supervised to be trained, as Figure 1 and Figure 4, data processing module 7 is coupled with timer 13, and works as
When data processing module 7 receives the first tach signal or the second tach signal, data processing module 7 controls timer 13 and starts
Timing；Allow to record the trained time, so that therapist or household can understand limbs of patient motor function accordingly,
And adjusting training scheme in time, be conducive to therapist, user effectively train, to increase the Rehabilitation confidence of user.
As shown in figure 4, intelligence system of the invention further includes, wireless data transfer module 9 is coupled to data processing module
7, it is interacted for rehabilitation data to be carried out wireless data with mobile terminal 10, which includes the first tach signal, second
Tach signal and training duration；Mobile terminal 11, for checking rehabilitation data；So that the rehabilitation data of patient's training are passed through nothing
Line data transmission module 9 is sent on mobile terminal 11, and mobile terminal 11 can be smart phone, is carried in therapist or nurse
With person, the present situation of patient is understood in time convenient for therapist, make more reasonable therapeutic scheme, while avoiding patient because not
Reach regulation training duration and extends rehabilitation duration.Wireless data transfer module 9 and mobile terminal 11 in the present invention use
GPRS network carries out data transmission, and wireless data transfer module 9 is MGTC-3020 wireless data transfer module.
As Figure 1 and Figure 4, it is embedded in the side of body 1 and is fixed with speech player 12, speech player 12 is coupled to
The output end of data processing module 7, mobile terminal 11 are used to send alerting signal, data processing module 7 to data processing module 7
Speech player 12 is controlled according to alerting signal to play；So that therapist or caregiver not patient at one's side when, movement can be passed through
Terminal 11 sends alerting signal to data processing module 7, so that data processing module 7 controls 12 play cuing of speech player
Signal preferably plays supervision role to supervise patient to carry out rehabilitation training on time.
To adapt to more people while using, as shown in figure 4, data processing module 7 includes two mutually independent memories
71 and the processor 72 that is connected with memory 71, memory 71 be connected with data acquisition module 6, it is personal for storing
Rehabilitation data；And when in use, manually select the memory 71 that respective stored has personal rehabilitation data, processor 72 is according to depositing
The revolving speed of rehabilitation data control motor 3 in reservoir 71；So that the active-passive rehabilitation robot uses for more people, everyone can
Possess oneself independent memory 71, rehabilitation data when oneself is trained are stored in personal memory 71, when in use,
Corresponding memory 71 is manually selected, processor 72 then controls the revolving speed of motor 3 according to the rehabilitation data in the memory 71, with
So that the healing robot is applicable to more people, and targetedly passive exercise can be carried out to everyone.Place in the present invention
Reason device 72 be control circuit that core forms by single-chip microcontroller, memory 71 is memory chip.
Embodiment two: a kind of intelligence active-passive rehabilitation robot, as shown in figure 5, the difference from embodiment 1 is that: this
The processor 72 of invention is also connected with RF Reader 14, and each memory 71 is individually associated with electronic tag 15；When radio frequency is known
After other device 14 identifies electronic tag 15, processor 72 transfers the rehabilitation number in memory 71 associated with electronic tag 15 automatically
According to data acquisition module 6 inputs rehabilitation data to memory 71 associated with electronic tag 15.Electronic tag 15 of the invention
It can be bracelet, bracelet, chest card etc..
When carrying out manually selecting corresponding memory 71, it is possible that the situation of selection mistake, to bring inconvenience
Trouble, or even user is damaged；Therefore each user carry with the associated electronic tag 15 of corresponding memory 71,
After using the preceding electronic tag 15 for identifying individual by RF Reader 14, processor 72 is transferred and 15 phase of electronic tag automatically
Rehabilitation data in associated memory 71 improve automation, avoid the situation for selecting wrong memory 71.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of intelligence active-passive rehabilitation robot, including body (1), the shaft (2) that is rotationally connected with body (1), pass through biography
The motor (3) of dynamic Component driver shaft (2) rotation and the pedal assembly (4) for being fixed on shaft (2) both ends, it is characterised in that:
The motor (3) is connected with intelligence system, and the intelligence system includes,
Velocity sensor (5) is set on shaft (2), for detect shaft (2) preceding half-turn the first revolving speed and rear half-turn
Two revolving speeds, and export the first tach signal and the second tach signal；
The output end of velocity sensor (5) is coupled with the data acquisition module for acquiring the first tach signal and the second tach signal
Block (6)；
Data processing module (7), is coupled to the output end of data acquisition module (6), and is coupled to the control terminal of motor (3), uses
Analysis is carried out in the first tach signal and the second tach signal according to acquisition and sends control signal to motor (3), with control
Motor (3) is rotated with the revolving speed for adapting at this stage, and the revolving speed adapted at this stage indicates first turn acquired in the predetermined time
The average value of speed and the second revolving speed；
Wireless data transfer module (9) is coupled to data processing module (7), for by rehabilitation data and mobile terminal (11) into
The interaction of row wireless data, the rehabilitation data include the first tach signal and the second tach signal；
Mobile terminal (11), for checking rehabilitation data；
The data processing module (7) is coupled with timer (13), when data processing module (7) receive the first tach signal or
When the second tach signal, data processing module (7) controls timer (13) and starts timing；
The data processing module (7) includes several mutually independent memories (71) and the place that is connected with memory (71)
It manages device (72), the memory (71) is connected with data acquisition module (6), for storing personal rehabilitation data；And it ought make
Used time manually selects the memory (71) that respective stored has personal rehabilitation data, and the processor (72) is according to memory
(71) revolving speed of rehabilitation data control motor (3) in.
2. a kind of intelligent active-passive rehabilitation robot according to claim 1, it is characterised in that: body (1) setting
Have display screen (8), the display screen (8) is coupled to the output end of data processing module (7), data processing module (7) root
Display signal is sent to display screen (8) according to the first tach signal and the second tach signal, shows first turn to control display screen (8)
Speed and the second revolving speed.
3. a kind of intelligent active-passive rehabilitation robot according to claim 1, it is characterised in that: body (1) setting
Have speech player (12), the speech player (12) is coupled to data processing module (7), and the mobile terminal (11) is used for
Alerting signal is sent to data processing module (7), the data processing module (7) controls speech player according to alerting signal
(12) it plays.
4. a kind of intelligent active-passive rehabilitation robot according to claim 1, it is characterised in that: the data acquisition module
(6) trained duration is acquired simultaneously, and is carried out rehabilitation data and mobile terminal (11) wirelessly by wireless data transfer module (9)
Data interaction, the rehabilitation data include training duration, the first tach signal and the second tach signal.
5. a kind of intelligent active-passive rehabilitation robot according to claim 1, it is characterised in that: the processor (72) is even
It is connected to RF Reader (14), memory (71) is associated with electronic tag (15)；When RF Reader (14) identify electronic tag
(15) after, processor (72) transfers the rehabilitation data in memory (71) associated with electronic tag (15), data acquisition module
Block (6) inputs rehabilitation data to memory (71) associated with electronic tag (15).
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| CN112370735A (en) * | 2020-11-16 | 2021-02-19 | 吉林大学 | Efficient leg rehabilitation training device for neurology nursing |
| CN115463384A (en) * | 2021-06-11 | 2022-12-13 | 广东博方众济医疗科技有限公司 | Rehabilitation training machine and using method thereof |
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| DE19549723B4 (en) * | 1995-08-12 | 2010-11-04 | Reck, Anton | Exercise training device with a crank |
| CN200954348Y (en) * | 2006-10-11 | 2007-10-03 | 韩德第 | Body-building vehicle with passive body-building and active body-building function |
| CN102695490B (en) * | 2009-12-10 | 2015-09-16 | 克利夫兰临床医学基金会 | Utilize auxiliary exercise to improve the system and method for motor function |
| CN101816609B (en) * | 2009-12-15 | 2012-03-14 | 河海大学常州校区 | Intelligent limb rehabilitation training device and training method |
| CN105726258B (en) * | 2016-02-03 | 2018-08-17 | 苏州经贸职业技术学院 | A kind of intelligence is help the disabled rehabilitation system |
| CN106267694B (en) * | 2016-07-29 | 2018-04-24 | 河北大学附属医院 | Fracture of lower limb rehabilitation system and its control method |
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