CN110201353A - Seat-is stood-seat leg muscle strength device for healing and training - Google Patents
Seat-is stood-seat leg muscle strength device for healing and training Download PDFInfo
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- CN110201353A CN110201353A CN201910603539.9A CN201910603539A CN110201353A CN 110201353 A CN110201353 A CN 110201353A CN 201910603539 A CN201910603539 A CN 201910603539A CN 110201353 A CN110201353 A CN 110201353A
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- right angle
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- angle rack
- stepper motor
- training
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- 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
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/02—Characteristics or parameters related to the user or player posture
- A63B2208/0204—Standing on the feet
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/02—Characteristics or parameters related to the user or player posture
- A63B2208/0228—Sitting on the buttocks
- A63B2208/0233—Sitting on the buttocks in 90/90 position, like on a chair
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- Rehabilitation Tools (AREA)
Abstract
Seat-of the present invention is stood-seat leg muscle strength device for healing and training, belong to leg rehabilitation medical instrument technical field, solve rehabilitation training higher cost existing in the prior art, wearing it is time-consuming, can not real-time monitoring patient rehabilitation effect the technical issues of；The present invention includes pedestal, power source and screw slide；The present invention can be realized patient be main robot supplemented by training method, by standardizing repeating motion, leg exercising muscle restores lower extremity movement function, it not only conforms with human body and sits station converting motion rule, and can smoothly assist patient to complete seat-and stand-the rehabilitation training of seat leg muscle strength.
Description
Technical field
The invention belongs to leg rehabilitation medical instrument technical fields, and in particular to a kind of seat-is stood-seat leg muscle strength health
Multiple training device provides auxiliary force to human buttock by mechanical structure and human body is helped to turn from sitting posture state to standing state
It changes, realizes the rehabilitation training of lower limb leg muscle strength.
Background technique
With the aggravation of Chinese society aging, lower limb caused by the contingencies such as stroke hemiplegia, traffic accident
Damage pain disease patient gradually increases, and the use value of rehabilitation equipment becomes increasing.Domestic majority convalescent homes still by means of
Artificial Traditional Rehabilitation method or simple rehabilitation medicine equipment carry out leg rehabilitation, not only rehabilitation inefficiency, but also
The large labor intensity of therapist limits the training time of patient, and device for healing and training is with its automation, precision and intelligence
The characteristics of change, starts gradually replacement therapy teacher and completes some rehabilitation training tasks, is becoming rehabilitation medical instrument research field
New hot spot.
But there are following technological deficiencies for the prior art:
(1) the Traditional Rehabilitation treatment of limbs disturbance patient depends on the one-to-one empty-handed training of therapist, difficult
To realize high-intensitive, targeted and repeated rehabilitation training requirement, and the higher cost of expert along training, Rehabilitation Assessment
Mostly subjective assessment, can not real-time monitoring patient rehabilitation effect.
(2) using the injured muscle of functional electrostimulation technology stimulation patient or the region of interest of the elderly, although can
Successfully auxiliary patient completes to stand, but needs to provide different stimulated current and pulsewidth for different patient and the elderly
And formulate personalized rehabilitation scheme.
(3) lower limb exoskeleton rehabilitation robot due to its cost, own wt and dresses the disadvantages of time-consuming, and can only be directed to
Particular patient is treated with recovering aid.
(4) part aiding upright system auxiliary patient's seat-stand-seat during need upper limb to provide necessary auxiliary force to protect
Body steadiness and balance are held, how the relationship between autonomous the provided auxiliary force of human body and the provided auxiliary force of robot is provided,
Currently without being well solved.
Summary of the invention
It stands-seat leg muscle strength device for healing and training, is solved in the prior art the object of the present invention is to provide a kind of seat-
Existing rehabilitation training higher cost, wearing it is time-consuming, can not real-time monitoring patient rehabilitation effect the technical issues of.
To achieve the goals above, the present invention adopts the following technical scheme that:
Seat-of the present invention stands-and seat leg muscle strength device for healing and training includes pedestal, power source and screw slide mechanism；
The pedestal includes four heel braces, metal plate, four diaphragm pressure sensors I, column and two handrails；Four heel braces
It being respectively fixedly connected on four angles of metal plate bottom, four diaphragm pressure sensors I are fixedly connected in the front side of metal plate, and four
A column is fixedly connected with metal plate respectively, and two handrails are respectively fixedly connected in the left and right sides of metal plate；
Power source includes stepper motor II, worm type of reduction gearing, right angle rack II, key, bearing block, ball bearing, rank
Terraced axis, flat key, two Z-type brackets, shaft coupling II, angular encoder, right angle rack IV, right angle rack V；
The output shaft of stepper motor II and the worm screw of worm type of reduction gearing are connected by key, the pedestal of stepper motor II with
The shell of worm type of reduction gearing is connected by bolt and nut, and worm type of reduction gearing is connected by key with multi-diameter shaft side, and
Worm type of reduction gearing is respectively to be bolted with the outside of two columns in left side by right angle rack II, and the multi-diameter shaft other side is logical
It crosses shaft coupling II and connects angular encoder, angular encoder is fixedly connected with right angle rack IV, right angle rack IV and right angle rack
V is fixedly connected, and right angle rack V is connect with two upstanding studs on right side respectively, and ball bearing is located inside bearing block, ladder
The bearing block of axis one end is connect with two, left side column respectively by bolt, and the bearing block of the multi-diameter shaft other end is distinguished by bolt
It is connect with two, right side column, two Z-type brackets are located at the two sides of the flat key of ladder axis center, each Z-type bracket and rank
Terraced axis is fixedly connected, and crossbeam is bolted with two Z-type brackets respectively；
Screw slide includes cushion, diaphragm pressure sensor II, mobile platform, ball-screw, shaft coupling III, stepper motor
III, stay-supported type displacement sensor, VI, two crossbeam of right angle rack and right angle rack VII；
The pedestal of stepper motor III is fixedly connected with crossbeam, and the output shaft of stepper motor III passes through shaft coupling III and ball wire
Thick stick connection, the two sides of ball-screw are bolted with crossbeam respectively, and screw is fixedly connected with mobile platform, cushion and movement
Platform is fixedly connected, and is set on cushion there are four diaphragm pressure sensor II, mobile platform passes through right angle rack VII and stay-supported position
The side of displacement sensor is bolted, and the stay-supported type displacement sensor other side is connect by right angle rack VI with transom bolt.
Further, the material of the column is aluminum profile.
Further, the material of the handrail is aluminium-alloy pipe.
Further, the rotation angle range of the crossbeam is 0 ° to 90 °.
Further, the invention also includes backrest rotating mechanism, the backrest rotating mechanism includes stepper motor I, right angle branch
Frame I, shaft coupling I, backrest, rotary shaft and right angle rack III；The right angle rack III is the same structure with right angle rack IV；
The output shaft of stepper motor I is fixedly connected by shaft coupling I and rotation axis connection, rotary shaft with backrest, stepping electricity
Machine I is fixedly connected with right angle rack I, and right angle rack I and right angle rack are fastened by bolt and nut, and right angle rack III and crossbeam are solid
Fixed connection.
Further, the invention also includes controller, controller respectively with stepper motor I, stepper motor II, angular coding
Device, diaphragm pressure sensor I, diaphragm pressure sensor II, stepper motor III, stay-supported type displacement sensor connection, are compiled by PLC
Journey or chip microcontroller controller control the operation of each electronic component.
Advantageous effects of the invention:
1, diaphragm pressure sensor is installed on the metal plate of pedestal, measurement patient's seat-stands-seat during foot pressure；
Diaphragm pressure sensor is installed on cushion, measurement patient's seat-stands-seat during buttocks pressure, pass through newton Euler's reserve motion
Mechanics algorithm calculate patient stand in seat-- seat conversion process in the leg muscle strength that lacks, accurately assisted using device offer
Power, while handrail is devised on pedestal, handrail can make patient stand in seat-- seat during prevent from toppling over, while hand can be had an effect
Auxiliary is stood up, and plays the active force of patient to the greatest extent；
2, in multi-diameter shaft side setting angle encoder, crossbeam can accurately be measured in the rotation angle of sagittal plane, into
One step obtains knee joint angle variation, and stay-supported type displacement sensor is installed on the outside of mobile platform, can accurately measure mobile flat
Platform displacement for linear motion, reach accurate compensation patient stand in seat-- seat during cushions support buttocks displacement；
3, backrest rotating mechanism is devised on the basis of cushion, which can stable Auxiliary support patient seat-- seat of standing
Back strength in the process, plays the role of overturning-preventing；
4, machine is passed through under the action of control system according to the principle that medical science of recovery therapy theory and healing robot combine
Tool structure, which provides suitable auxiliary force for patient, enables crossbeam to rotate in sagittal plane, the cushion in screw slide
Can be moved along crossbeam direction, enable lower limb disorder patient carry out sitting within the scope of 90 degree from initial sitting posture state-
Stand-seat rehabilitation training, at the same backrest with the seat-of patient stands-seat process also rotates therewith, play Auxiliary support patient
The effect at back, and then realize the function of leg muscle strength rehabilitation training；
The present invention can for a long time, steadily provide intensity rehabilitation training appropriate, and accurately detection and feedback training patient
The control of motion information real-time perfoming, stand in seat-- seat during patient can play itself active force and participate in it to greatest extent
In, realization patient is the training method supplemented by main robot；For the present invention by standardization repeating motion, leg exercising muscle is extensive
Multiple lower extremity movement function not only conforms with human body and sits station converting motion rule, and can smoothly assist patient to complete seat-and stand-seat
The rehabilitation training of leg muscle strength.
Detailed description of the invention
Fig. 1 is that seat-of the present invention is stood the-structural schematic diagram of seat leg muscle strength device for healing and training；
Fig. 2 is that seat-of the present invention is stood the-axonometric drawing of seat leg muscle strength device for healing and training；
Fig. 3 is that seat-of the present invention is stood-another structural schematic diagram of seat leg muscle strength device for healing and training；
Wherein, 1, heel brace, 2, metal plate, 3, diaphragm pressure sensor I, 4, column, 5, handrail, 6, stepper motor I, 7, right angle
Bracket I, 8, shaft coupling I, 9, backrest, 10, rotary shaft, 11, stepper motor II, 12, worm type of reduction gearing, 13, right angle rack
II, 14, key, 15, bearing block, 16, ball bearing, 17, multi-diameter shaft, 18, flat key, 19, Z-type bracket, 20, shaft coupling II, 21, straight
Angle support III, 22, angular encoder, 23, right angle rack IV, 24, right angle rack V, 25, screw slide, 26, cushion, 27, thin
Membrane pressure sensor II, 28, mobile platform, 29, ball-screw, 30, shaft coupling III, 31, stepper motor III, 32, stay-supported position
Displacement sensor, 33, right angle rack VI, 34, crossbeam, 35, right angle rack VII.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawing.
Referring to attached drawing 1-3, seat-of the present invention stands-and seat leg muscle strength device for healing and training includes pedestal, power source and silk
Thick stick slipway mechanism 25；
The pedestal includes four heel braces 1,2, four diaphragm pressure sensors I 3 of metal plate, column 4 and two handrails 5；Four
A heel brace 1 is respectively fixedly connected on four angles of 2 bottom of metal plate, and four diaphragm pressure sensors I 3 are fixedly connected in metal plate
2 front side, four columns 4 are fixedly connected with metal plate 2 respectively, and two handrails 5 are respectively fixedly connected in the left and right sides of metal plate 2；
Power source includes stepper motor II 11, worm type of reduction gearing 12, right angle rack II 13, key 14, bearing block 15, rolling
Pearl bearing 16, multi-diameter shaft 17,18, two Z-type brackets 19 of flat key, shaft coupling II 20, angular encoder 22, right angle rack IV 23,
Right angle rack V 24；
The output shaft of stepper motor II 11 and the worm screw of worm type of reduction gearing are connected by key, the pedestal of stepper motor II
It is connect with the shell of worm type of reduction gearing by bolt and nut, worm type of reduction gearing 12 and 17 side of multi-diameter shaft pass through key 14
Connection, and worm type of reduction gearing 12 is respectively to be bolted with the outside of two columns 4 in left side by right angle rack II 13, rank
Terraced 17 other side of axis connects angular encoder 22, angular encoder 22 and the fixed company of right angle rack IV 23 by shaft coupling II 20
It connects, right angle rack IV 23 is fixedly connected with right angle rack V 24, and right angle rack V 24 connects with two 4 bolts of column on right side respectively
Connect, ball bearing 16 is located inside bearing block 15, the bearing block of 17 one end of multi-diameter shaft by bolt respectively with two, left side column 4
The bearing block of connection, 17 other end of multi-diameter shaft is connect with two, right side column 4 respectively by bolt, and two Z-type brackets 19 are distinguished
Positioned at the two sides of the flat key 18 at 17 center of multi-diameter shaft, each Z-type bracket 19 is fixedly connected with multi-diameter shaft, crossbeam 34 with respectively with two
A Z-type bracket is to be bolted；
Screw slide 25 includes cushion 26, diaphragm pressure sensor II 27, mobile platform 28, ball-screw 29, shaft coupling
III 30, stepper motor III 31, stay-supported type displacement sensor 32, VI 33, two crossbeams 34 of right angle rack and right angle rack VII 35；
The pedestal of stepper motor III 31 is fixedly connected with crossbeam 34, and the output shaft of stepper motor III 31 passes through shaft coupling III 30
It is connect with ball-screw 29, the two sides of ball-screw 29 are bolted with crossbeam 34 respectively, and screw and mobile platform 28 are solid
Fixed connection, cushion 26 are fixedly connected with mobile platform 28, set on cushion 26 there are four diaphragm pressure sensor II 27, mobile platform
28 are bolted by right angle rack VII 35 and the side of stay-supported type displacement sensor 32,32 other side of stay-supported type displacement sensor
It is bolted by right angle rack VI 33 and crossbeam 34.
The material of the column 4 is aluminum profile.
The material of the handrail 5 is aluminium-alloy pipe.
Further, the rotation angle range of the crossbeam 34 is 0 ° -90 °.
Further, the invention also includes backrest rotating mechanism, the backrest rotating mechanism includes stepper motor I 6, right angle branch
Frame I 7, shaft coupling I 8, backrest 9, rotary shaft 10 and right angle rack III 21；The right angle rack III 21 and right angle rack IV 23 are same
One structure；
The output shaft of stepper motor I 6 is fixedly connected by shaft coupling I 8 and rotation axis connection, rotary shaft 10 with backrest 9, is walked
It is fixedly connected into motor I 6 with right angle rack I 7, right angle rack I 7 and right angle rack 21 are fastened by bolt and nut, right angle rack
III 21 are fixedly connected with crossbeam 34.
Further, the invention also includes controller, controller respectively with stepper motor I 6, stepper motor II 11, compile by angle
Code device 22, diaphragm pressure sensor I 3, diaphragm pressure sensor II 27, stepper motor III 31, stay-supported type displacement sensor 32 connect
It connects, the operation of each electronic component is controlled by PLC programming or chip microcontroller controller.
The course of work of the invention is as follows:
Original state lower limb disorder patient is smoothly sitting on cushion 26, and sole is trampled in diaphragm pressure sensor I 3
On, stepper motor II 11 starts work, power is transmitted through worm type of reduction gearing 12, so that crossbeam 34 rotates, patient
As crossbeam 34 is slowly stood in sagittal plane, the stepper motor III 31 of 34 upper leading screw slide unit 25 of crossbeam, which drives, at the same time is moved
Moving platform 28 drives cushion 26 along direction support patient's buttocks for linear motion of crossbeam 34, and leaning on backrest rotating mechanism
Back 9 stands with patient in seat-under the driving of stepper motor I 6-seat during support patient back, in this way in three stepping electricity
Make under the coordinated control of machine motion profile and patient at cushion 26 stand in seat-- seat during buttocks hip joint motion profile
Approximation is overlapped, and has achieved the purpose that lower limb disorder patient is assisted to carry out the rehabilitation training of leg muscle strength；Controller difference
With stepper motor I 6, stepper motor II 11, angular encoder 22, diaphragm pressure sensor I 3, diaphragm pressure sensor II 27, step
It is connected into motor III 31, stay-supported type displacement sensor 32, controller is used to control the operation of each electronic component.
Claims (6)
- - seat leg muscle strength the device for healing and training 1. seat-is stood, which is characterized in that including pedestal, power source and screw slide Mechanism (25)；The pedestal includes four heel braces (1), metal plate (2), four diaphragm pressure sensors I (3), column (4) and two handrails (5)；Four heel braces (1) are respectively fixedly connected on four angles of metal plate (2) bottom, and four diaphragm pressure sensors I (3) are solid Surely it is connected to the front side of metal plate (2), four columns (4) are fixedly connected with metal plate (2) respectively, and two handrails (5) are fixed respectively to be connected Connect the left and right sides in metal plate (2)；Power source includes stepper motor II (11), worm type of reduction gearing (12), right angle rack II (13), key (14), bearing block (15), ball bearing (16), multi-diameter shaft (17), flat key (18), two Z-type brackets (19), shaft couplings II (20), angular encoder (22), right angle rack IV (23) and right angle rack V (24)；The output shaft of stepper motor II (11) and the worm screw of worm type of reduction gearing are connected by key, worm type of reduction gearing (12) Connect with multi-diameter shaft (17) side by key (14), and worm type of reduction gearing (12) pass through right angle rack II (13) respectively with a left side The outside of two columns (4) in side is to be bolted, and multi-diameter shaft (17) other side connects angular encoder by shaft coupling II (20) (22), angular encoder (22) is fixedly connected with right angle rack IV (23), and right angle rack IV (23) and right angle rack V (24) are solid Fixed connection, right angle rack V (24) are bolted with two columns (4) on right side respectively, and ball bearing (16) is located at bearing block (15) internal, the bearing block of multi-diameter shaft (17) one end is connect with two, left side column (4) respectively by bolt, and multi-diameter shaft (17) is another The bearing block of one end is connect with two, right side column (4) respectively by bolt, and two Z-type brackets (19) are located at multi-diameter shaft (17) two sides of the flat key (18) at center, each Z-type bracket (19) are fixedly connected with multi-diameter shaft, crossbeam (34) with respectively with two Z-type bracket is to be bolted；Screw slide mechanism (25) includes cushion (26), diaphragm pressure sensor II (27), mobile platform (28), ball-screw (29), shaft coupling III (30), stepper motor III (31), stay-supported type displacement sensor (32), right angle rack VI (33), two crossbeams (34) and right angle rack VII (35)；The pedestal of stepper motor III (31) is fixedly connected with crossbeam (34), and the output shaft of stepper motor III (31) passes through shaft coupling III (30) it is connect with ball-screw (29), the two sides of ball-screw (29) are bolted with crossbeam (34) respectively, screw and shifting Moving platform (28) is fixedly connected, and cushion (26) is fixedly connected with mobile platform (28), is set on cushion (26) there are four diaphragm pressure Sensor II (27), mobile platform (28) are connected by right angle rack VII (35) and the side bolt of stay-supported type displacement sensor (32) It connects, stay-supported type displacement sensor (32) other side is bolted by right angle rack VI (33) with crossbeam (34).
- - seat leg muscle strength the device for healing and training 2. seat-according to claim 1 is stood, which is characterized in that the column (4) material is aluminum profile.
- - seat leg muscle strength the device for healing and training 3. seat-according to claim 1 is stood, which is characterized in that the handrail (5) material is aluminium-alloy pipe.
- - seat leg muscle strength the device for healing and training 4. seat-according to claim 1 is stood, which is characterized in that further, 0 ° to 90 ° of rotation angle range of the crossbeam (34).
- - seat leg muscle strength the device for healing and training 5. seat-according to claim 1 is stood, which is characterized in that further include leaning on Carry on the back rotating mechanism, the backrest rotating mechanism include stepper motor I (6), right angle rack I (7), shaft coupling I (8), backrest (9), Rotary shaft (10) and right angle rack III (21)；The right angle rack III (21) and right angle rack IV (23) are the same structure；The output shaft of stepper motor I (6) is fixed and is connected by shaft coupling I (8) and rotation axis connection, rotary shaft (10) and backrest (9) It connects, stepper motor I (6) is fixedly connected with right angle rack I (7), and right angle rack I (7) and right angle rack (21) pass through bolt and nut Fastening, right angle rack III (21) are fixedly connected with crossbeam (34).
- - seat leg muscle strength the device for healing and training 6. seat-according to claim 1 is stood, which is characterized in that further include control Device processed, controller respectively with stepper motor I (6), stepper motor II (11), angular encoder (22), diaphragm pressure sensor I (3), diaphragm pressure sensor II (27), stepper motor III (31), stay-supported type displacement sensor (32) connection, is programmed by PLC Or chip microcontroller controller controls the operation of each electronic component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910603539.9A CN110201353A (en) | 2019-07-05 | 2019-07-05 | Seat-is stood-seat leg muscle strength device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910603539.9A CN110201353A (en) | 2019-07-05 | 2019-07-05 | Seat-is stood-seat leg muscle strength device for healing and training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110201353A true CN110201353A (en) | 2019-09-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910603539.9A Pending CN110201353A (en) | 2019-07-05 | 2019-07-05 | Seat-is stood-seat leg muscle strength device for healing and training |
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| CN (1) | CN110201353A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112807190A (en) * | 2020-12-28 | 2021-05-18 | 四川大学华西医院 | Recovered intelligent auxiliary system of using of spinal cord injury |
| CN114404894A (en) * | 2021-12-16 | 2022-04-29 | 西安大兴医院 | Neurosurgery hemiplegia patient suffers from limb rehabilitation and tempers device |
-
2019
- 2019-07-05 CN CN201910603539.9A patent/CN110201353A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112807190A (en) * | 2020-12-28 | 2021-05-18 | 四川大学华西医院 | Recovered intelligent auxiliary system of using of spinal cord injury |
| CN114404894A (en) * | 2021-12-16 | 2022-04-29 | 西安大兴医院 | Neurosurgery hemiplegia patient suffers from limb rehabilitation and tempers device |
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