CN107736982A - A kind of active-passive rehabilitation robot - Google Patents
A kind of active-passive rehabilitation robot Download PDFInfo
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- CN107736982A CN107736982A CN201710997117.5A CN201710997117A CN107736982A CN 107736982 A CN107736982 A CN 107736982A CN 201710997117 A CN201710997117 A CN 201710997117A CN 107736982 A CN107736982 A CN 107736982A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 6
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- 238000001514 detection method Methods 0.000 claims description 27
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- 210000003205 muscle Anatomy 0.000 claims description 13
- 206010010904 Convulsion Diseases 0.000 claims 1
- 230000008602 contraction Effects 0.000 claims 1
- 230000036461 convulsion Effects 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 abstract description 28
- 210000001364 upper extremity Anatomy 0.000 abstract description 6
- 210000003141 lower extremity Anatomy 0.000 abstract description 5
- 230000006378 damage Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000007659 motor function Effects 0.000 description 3
- 208000001132 Osteoporosis Diseases 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 201000001880 Sexual dysfunction Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000007536 Thrombosis Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 201000006417 multiple sclerosis Diseases 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000872 sexual dysfunction Toxicity 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
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Classifications
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
-
- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
-
- 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
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/5007—Control means thereof computer controlled
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of active-passive rehabilitation robot, including body, the rotating shaft for being rotationally connected with body, the motor rotated by transmission component drive shaft and the pedal assembly for being fixed on rotating shaft both ends, active-passive rehabilitation robot also includes balance system, balance system includes, speech player, for playing the voice message of setting；Velocity sensor, for detecting the first rotating speed of the preceding half-turn of rotating shaft and the second rotating speed of rear half-turn, and export the first rotary speed detecting signal and the second rotary speed detecting signal；Controller, for receiving and responding to the first rotary speed detecting signal and the second rotary speed detecting signal, with the keying of control voice player；When the first rotary speed detecting signal is more than or less than the second rotary speed detecting signal, controller control voice player plays are prompted accordingly.A kind of active-passive rehabilitation robot of the present invention, supervises user to be giveed intensive training to applying hypodynamic side upper limbs or lower limb, is exerted oneself so as to progressively reach both limbs equilibrium.
Description
Technical field
The present invention relates to technical field of medical instruments, more specifically, it relates to a kind of active-passive rehabilitation robot.
Background technology
As China steps into aging society, the limb motion sexual dysfunction patient caused by various diseases significantly increases
Add.Clinical medicine proves：Recovery and raising of correct and science the rehabilitation training for extremity motor function have highly significant
Effect.
Active-passive rehabilitation robot is then mainly used in comprehensive by spasm, apoplexy, multiple sclerosis, three one section of paralysiss, op parkinson's
Limb movement disturbance caused by conjunction disease, osteoporosis diseases.Patient can strengthen body by using smart motion training system
The flexibility of body, the state for reducing spasm, the ability for keeping walking, enhance metabolism, blood circulation and enterocinesia, recover
The remaining strength of muscle, strengthen the Rehabilitation confidence of patient.
When patient can not oneself motion when, passive exercise pattern can be tuned into, by motor driven patient carry out upper limbs, under
Limb activity, lack adverse consequences caused by motion so as to alleviate, such as anchylosis, muscular atrophy and contracture, osteoporosis, quiet
Arteries and veins thrombus etc.；When patient has larger remaining muscular strength, active training pattern can be tuned into, patient can be entered with the strength of oneself
Row active movement.
But particularly when have the initiative training mode when, often casual left and right pin or right-hand man's patient exert oneself
Difference, so as to cause the right and left force different, finally cause left and right pin or right-hand man can not obtain identical rehabilitation efficacy.
Therefore need to propose a kind of new scheme to solve this problem.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide a kind of active-passive rehabilitation robot, supervise
And encourage user to be giveed intensive training to applying hypodynamic side upper limbs or lower limb, so as to progressively reach, both limbs are balanced to be used
Power.
The present invention above-mentioned technical purpose technical scheme is that：A kind of active-passive rehabilitation machine
People, including body, the rotating shaft for being rotationally connected with body, the motor rotated by transmission component drive shaft and it is fixed on rotating shaft
The pedal assembly at both ends, the active-passive rehabilitation robot also include balance system, and the balance system includes, speech play
Device, for playing the voice message of setting；Velocity sensor, it is arranged in rotating shaft, for detecting first turn of half-turn before rotating shaft
Second rotating speed of fast and rear half-turn, and export the first rotary speed detecting signal and the second rotary speed detecting signal；Controller, it is coupled to speed
Sensor is spent, for receiving and responding to first rotary speed detecting signal and the second rotary speed detecting signal, is broadcast with control voice
Put the keying of device；When the first rotary speed detecting signal is more than or less than the second rotary speed detecting signal, controller is to speech player
Play signal is sent, to play corresponding voice message.
By using above-mentioned technical proposal, by being exerted a force to the pedal assembly in relative eminence, then rotating shaft is driven
Half-turn is rotated, then the pedal assembly now with respect to eminence is exerted a force, then drives axis of rotation residue half-turn, and so on,
Rotating shaft is driven to be rotated, and it is bigger when exerting a force, the speed of rotation is then bigger；When left side exerts a force, velocity sensor detects
First rotating speed of half-turn before rotating shaft, when right side exerts a force, velocity sensor detects the second rotating speed of half-turn after rotating shaft, and when the
When one rotary speed detecting signal is more than or less than the second rotary speed detecting signal, controller sends play signal to speech player, with
Corresponding voice message is played, supervises and encourages user to be giveed intensive training to applying hypodynamic side upper limbs or lower limb, from
And progressively reach both limbs equilibrium and exert oneself, it is finally reached both sides limbs and obtains identical rehabilitation efficacy；On the other hand, inspection is passed through
The size for degree of testing the speed is converted to the size of force, that is, realizes the detection of velocity of rotation, realizes the size that exerted a force to both sides again
Comparison, reduce holistic cost.
The present invention is further arranged to：The body is provided with display screen, and the display screen is coupled to the output of controller
End, the controller sends to display screen according to the first rotary speed detecting signal and the second rotary speed detecting signal and shows signal, with control
Display screen processed shows the first rotating speed and the second rotating speed.
By using above-mentioned technical proposal, on reflection user that display screen can in real time, sensitive is double（Under）Limb activity feelings
Condition, therapist or user oneself can adjust therapeutic scheme or strengthening training accordingly, and recognize the difference between both limbs function
Away from playing and supervise user to give weaker side limbs intensive training, so as to progressively reach the balanced mesh firmly of both limbs
's.
The present invention is further arranged to：The input of the controller is coupled with spasm detector, for sensing user
Muscle tone, when user occur spasm when, spasm detector to controller send spasm detection signal, the controller root
It is gradually slack-off to stopping according to spasm detection signal controlled motor.
By using above-mentioned technical proposal, the muscle tone of the sustainable sensing user of spasm detector, automatic detection makes
Whether user occurs spasm, and when spasm occurs for user, controller controlled motor is gradually slack-off until stopping, preventing from continuing
Motion causes the damage in muscle and joint to user.
The present invention is further arranged to：The controller extremely stops according to spasm detection signal controlled motor is gradually slack-off,
And controlled motor counter motion.
By using above-mentioned technical proposal, controlled motor counter motion, to drive both sides limbs counter motion, with further
Alleviate spasm, locking muscle, avoid muscle, joint from sustaining damage, and after the use of certain time, it is possible to reduce patient's spasm
Generation.
The present invention is further arranged to：The controller is coupled with timer, when controller receives the first Rotating speed measring
When signal or second speed detection signal, controller control timer starts timing.
By using above-mentioned technical proposal so that the time of training can be recorded so that therapist or household can
User's extremity motor function, and adjusting training scheme in time are understood accordingly, are advantageous to therapist, user is effectively instructed
Practice, so as to increase the Rehabilitation confidence of user.
The present invention is further arranged to：When controller receives the first rotary speed detecting signal or second speed detection letter again
Number when, controller control timer starts accumulative timing.
By using above-mentioned technical proposal, when user's packet is trained, also can accurate recording user training
Time, the interval time of period will not also be counted, serve good accumulative effect so that user and therapist
The accumulative training burden of user can accurately be known.
The present invention is further arranged to：When the timer is cut off the electricity supply, timer resets timing.
By using above-mentioned technical proposal, user only needs to know total training time of a period of time in odd-numbered day or odd-numbered day,
Therefore after the training of a period of time terminates after the odd-numbered day, training terminated or in the odd-numbered day, the power supply i.e. refreshable training time only need to be closed,
During so that next time opening, restart timing.
The present invention is further arranged to：The input of the controller is coupled with the obliquity sensor for being arranged at body, uses
In the angle of inclination of detection body, and inclination angle detection signal is exported, the controller receives and responds to the inclination angle detection letter
Number, with the keying of controlled motor.
By using above-mentioned technical proposal, when side force is excessive, body may be caused integrally to topple over to side, if this
When motor be not closed, then can drive pedal assembly continue moved in a circle by the center of circle of rotating shaft topple over side so that acting on
Limbs on pedal assembly are on ground（Desktop）And friction is constantly produced between body, and limbs are caused with secondary injury, therefore set
Put obliquity sensor so that when detecting that body is more than predetermined value to side angle of inclination, controller controlled motor is closed, from
And avoid causing secondary injury to limbs.
In summary, the invention has the advantages that：It can supervise and encourage user to applying hypodynamic side
Upper limbs or lower limb give intensive training, are exerted oneself so as to progressively reach both limbs equilibrium, be finally reached both sides limbs obtain it is identical
Rehabilitation efficacy；And the size of force is converted to by the size of detection speed, that is, the detection of velocity of rotation is realized, but it is real
Show the comparison to both sides force size, reduce holistic cost.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the internal structure schematic diagram of the present invention；
Fig. 3 is the interior bottom portion structural representation of the present invention；
Fig. 4 is the transmission component structural representation of the present invention；
Fig. 5 is the system block diagram of the present invention.
In figure：1st, body；2nd, rotating shaft；3rd, motor；4th, pedal assembly；41st, rocking bar；42nd, pedal；42nd, safety belt；5th, speed
Sensor；6th, controller；7th, speech player；8th, display screen；10th, spasm detector；11st, timer；12nd, obliquity sensor；
13rd, master bevel gear；14th, secondary bevel gear.
Embodiment
With reference to the accompanying drawings and examples, the present invention will be described in detail.
A kind of active-passive rehabilitation robot, as shown in figure 1, including body 1, being rotationally connected with the rotating shaft 2 of body 1, passing through
The motor 3 and be fixed on the pedal assembly 4 at the both ends of rotating shaft 2 that transmission component drive shaft 2 rotates, the output shaft of the motor 3 with
Rotating shaft 2 is vertical setting.
Wherein, as shown in figure 4, transmission component includes the master bevel gear 13 being fixed on the output shaft of motor 3 and is fixed on
Secondary bevel gear 14 among rotating shaft 2, and master bevel gear 13 is meshed with time bevel gear 14, so that motor 3 drives 2 turns of rotating shaft
It is dynamic；It is socketed as shown in Fig. 2 pedal assembly 4 includes one end and the rocking bar 41 of the end of rotating shaft 2 and vertical is fixed on by steady pin
The pedal 42 of the other end of rocking bar 41 is rotationally connected with, and is fixed with the end face of pedal 42 and is collectively forming closed-loop with pedal 42
The safety belt 43 of shape, the both ends of pedal 42 are fixed in the both ends of safety belt 43 by nail respectively, for pin or hand to be limited in into pedal
On 42, prevent from coming off.Pedal 42 is moved in a circle with rotating shaft 2 for the center of circle, and by entering to the pedal 42 in relative peak
Row force, turns to minimum point, then drives rotating shaft 2 to rotate half-turn, then carried out to the opposite side pedal 42 now with respect to highest point
Force, then drive rotating shaft 2 to rotate remaining half-turn, and so on, drive rotating shaft 2 to be circled with rotating shaft 2 for the center of circle, and work as and apply
Power is bigger, and the speed of rotation is then bigger.
As shown in Figure 1, Figure 2, Figure 5, active-passive rehabilitation robot also includes balance system, and balance system includes, and voice is broadcast
Device 7 is put, is embedded in the side of body 1, and signal language is previously stored with speech player 7, the signal language can be：" left side
Need to refuel ", the similar signal language such as " right side needs to refuel ", for playing the voice message of setting, the voice according to controller 6
Player 7 is the loudspeaker for carrying internal memory；Velocity sensor 5, it is fixed in rotating shaft 2, for detecting first of half-turn before rotating shaft 2
Second rotating speed of rotating speed and rear half-turn, and export the first rotary speed detecting signal and the second rotary speed detecting signal；Controller 6, coupling
In velocity sensor 5, for receiving and responding to the first rotary speed detecting signal and the second rotary speed detecting signal, broadcast with control voice
Put the keying of device 7；And when the first rotary speed detecting signal is more than or less than the second rotary speed detecting signal, controller 6 is broadcast to voice
Put device 7 and send play signal, to play corresponding voice message.It by single-chip microcomputer is that core forms that controller 6 in the present invention, which is,
Control circuit.
When left side exerts a force, velocity sensor 5 detects the first rotating speed of half-turn before rotating shaft 2, when right side exerts a force, speed
Sensor 5 detects the second rotating speed of half-turn after rotating shaft 2, and when the first rotary speed detecting signal is more than or less than the second Rotating speed measring
During signal, controller 6 sends play signal to speech player 7, and corresponding voice message is played with control voice player 7,
Supervise and encourage user to be giveed intensive training to applying hypodynamic side upper limbs or lower limb, it is equal so as to progressively reach both limbs
Weighing apparatus is exerted oneself, and is finally reached both sides limbs and is obtained identical rehabilitation efficacy；On the other hand, be converted to by the size of detection speed
The size of force, that is, realize the detection of velocity of rotation, realizes the comparison to both sides force size again, reduces whole implementation
Cost.
As shown in Figure 1, shown in Figure 5, display screen 8 is embedded with the upper surface of body 1, the display screen 8 is coupled to the output of controller 6
End, controller 6 sends to display screen 8 according to the first rotary speed detecting signal and the second rotary speed detecting signal and shows signal, with control
Display screen 8 shows the first rotating speed and the second rotating speed；The display screen 8 shows the first rotating speed and with two articles of parallel post types
Two rotating speeds, to form a sharp contrast so that user can clearly know the size and gap of both sides force, so as to more preferable
Play supervision role.And display screen 8 can in real time, sensitive reflection user it is double on（Under）Limb active situation, therapist or
User oneself can adjust therapeutic scheme or strengthening training accordingly, and recognize the gap between both limbs function, play and supervise
User gives intensive training to weaker side limbs, so as to progressively reach the balanced purpose firmly of both limbs.
To prevent user from spasm occurs when carrying out rehabilitation training, as shown in Figure 4, Figure 5, in the input of controller 6
Spasm detector 10 is coupled with, for sensing the muscle tone of user, the spasm detector 10 is myoelectric sensor, is embedded simultaneously
Pedal 42 is protruded from towards the side of safety belt 43；When spasm occurs for user, muscle tone is more than predetermined value, spasm detector
10 send spasm detection signal to controller 6, and controller 6 extremely stops according to spasm detection signal controlled motor 3 is gradually slack-off, so
The counter motion of 6 controlled motor of controller 3 afterwards.The muscle tone of the sustainable sensing user of spasm detector 10, automatic detection make
Whether user occurs spasm, and when spasm occurs for user, and the controlled motor 3 of controller 6 is gradually slack-off until stop, preventing after
The dynamic damage that muscle and joint are caused to user of reforwarding；Then the counter motion of controlled motor 3 again, to drive both sides limbs reverse
Motion, further to alleviate spasm, locking muscle, avoids muscle, joint from sustaining damage, and after the use of certain time, can
To reduce the generation of patient's spasm.
For that can be better understood by training duration, as shown in Figure 1, shown in Figure 5, controller 6 of the invention is coupled with timer 11, when
When controller 6 receives the first rotary speed detecting signal or second speed detection signal, controller 6 controls timer 11 to start to count
When.Allowing to record the time of training so that therapist or household can understand user's extremity motor function accordingly,
And adjusting training scheme in time, be advantageous to therapist, user is effectively trained, so as to increase the Rehabilitation confidence of user.
When controller 6 receives the first rotary speed detecting signal or second speed detection signal again, the control meter of controller 6
When device 11 start accumulative timing；When timer 11 is cut off the electricity supply, timer 11 resets timing.When user's packet is trained
When, also can accurate recording user in the time of training, the interval time of period will not also be counted, served good
Accumulative effect, after the training of a period of time terminates after the odd-numbered day, training terminated or in the odd-numbered day, only it need to close the i.e. refreshable instruction of power supply
Practice the time, next time restarts timing when opening so that user and therapist can accurately know the accumulative instruction of user
Practice amount.
To prevent body 1 from causing secondary injury to user after toppling over, as shown in Fig. 3, Fig. 5, in the input of controller 6
The obliquity sensor 12 that leveling screw is fixed on body 1 is coupled with, for detecting the angle of inclination of body 1, and exports inclination angle inspection
Signal is surveyed, controller 6 receives and responds to inclination angle detection signal, with the keying of controlled motor 3；When detecting body 1 to side
When angle of inclination is more than predetermined value, the controlled motor 3 of controller 6 is closed, so as to avoid causing secondary injury to limbs.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of active-passive rehabilitation robot, including body（1）, be rotationally connected with body（1）Rotating shaft（2）, pass through transmission group
Part drive shaft（2）The motor of rotation（3）And it is fixed on rotating shaft（2）The pedal assembly at both ends（4）, it is characterised in that：It is described
Active-passive rehabilitation robot also includes balance system, and the balance system includes,
Speech player（7）, for playing the voice message of setting；
Velocity sensor（5）, it is arranged at rotating shaft（2）On, for detecting rotating shaft（2）First rotating speed of preceding half-turn and the of rear half-turn
Two rotating speeds, and export the first rotary speed detecting signal and the second rotary speed detecting signal；
Controller（6）, it is coupled to velocity sensor（5）, for receiving and responding to first rotary speed detecting signal and second
Rotary speed detecting signal, with control voice player（7）Keying；
When the first rotary speed detecting signal is more than or less than the second rotary speed detecting signal, controller（6）To speech player（7）Hair
Play signal is sent, to play corresponding voice message.
A kind of 2. active-passive rehabilitation robot according to claim 1, it is characterised in that：The body（1）It is provided with aobvious
Display screen（8）, the display screen（8）It is coupled to controller（6）Output end, the controller（6）Believed according to the first Rotating speed measring
Number with the second rotary speed detecting signal to display screen（8）Send and show signal, with control display screen（8）Show the first rotating speed and second
Rotating speed.
A kind of 3. active-passive rehabilitation robot according to claim 1, it is characterised in that：The controller（6）Input
End is coupled with spasm detector（10）, for sensing the muscle tone of user, when spasm occurs for user, spasm detector
（10）To controller（6）Send spasm detection signal, the controller（6）According to spasm detection signal controlled motor（3）Gradually
It is slack-off extremely to stop.
A kind of 4. active-passive rehabilitation robot according to claim 3, it is characterised in that：The controller（6）According to convulsion
Contraction detection signal controlled motor（3）It is gradually slack-off extremely to stop, and controlled motor（3）Counter motion.
A kind of 5. active-passive rehabilitation robot according to claim 2, it is characterised in that：The controller（6）It is coupled with
Timer（11）, work as controller（6）When receiving the first rotary speed detecting signal or second speed detection signal, controller（6）Control
Timer processed（11）Start timing.
A kind of 6. active-passive rehabilitation robot according to claim 5, it is characterised in that：Work as controller（6）Receive again
During to the first rotary speed detecting signal or second speed detection signal, controller（6）Control timer（11）Start accumulative timing.
A kind of 7. active-passive rehabilitation robot according to claim 6, it is characterised in that：When the timer（11）Cut-out
During power supply, timer（11）Reset timing.
A kind of 8. active-passive rehabilitation robot according to claim 1-7 any one, it is characterised in that：The controller
（6）Input be coupled with and be arranged at body（1）Obliquity sensor（12）, for detecting body（1）Angle of inclination, it is and defeated
Go out inclination angle detection signal, the controller（6）The inclination angle detection signal is received and responded to, with controlled motor（3）Keying.
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