CN110946735A - Active and passive rehabilitation device for upper and lower limbs - Google Patents
Active and passive rehabilitation device for upper and lower limbs Download PDFInfo
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- CN110946735A CN110946735A CN201911084886.1A CN201911084886A CN110946735A CN 110946735 A CN110946735 A CN 110946735A CN 201911084886 A CN201911084886 A CN 201911084886A CN 110946735 A CN110946735 A CN 110946735A
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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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
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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
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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
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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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
- 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
Abstract
The application discloses an active and passive rehabilitation device for upper and lower limbs, which comprises an upper limb driving device, a lower limb driving device, an upper limb arm with a first transmission connecting rod, a lower limb pedal with a second transmission connecting rod and pedals at two ends of the second transmission connecting rod, a controller and a bracket, wherein the upper limb driving device is connected with the upper limb driving device through a first transmission connecting rod; the input end of the upper limb driving device is connected with the controller, and the output end of the upper limb brush motor is connected with an upper limb arm; the input end of the lower limb brush motor is connected with the controller, and the output end of the lower limb brush motor is connected with the lower limb pedal; the upper limb arm is arranged above the bracket, and the lower limb pedal is arranged below the bracket; the controller is used for sending a first control signal to the upper limb brush motor to stop the control of the upper limb brush motor on the upper limb arm when detecting that the first rotating speed of the upper limb brush motor is greater than the preset rotating speed; and outputting a motor reversal signal to the upper limb brush motor when detecting that the first motor torque of the upper limb brush motor is greater than a preset value.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to an active and passive rehabilitation device for upper and lower limbs.
Background
The treatment of hemiplegia sequela patients adopts the rehabilitation training of later stage after the early stage of pathological treatment in hospitals at present. Traditional later-period rehabilitation training usually depends on manual massage, but the labor intensity of the mode is high, and a large amount of time is consumed for a massager. In order to solve the problems, in the prior art, a mechanical auxiliary training mode is utilized to carry out later-stage rehabilitation training on patients with hemiplegia sequelae. However, the existing rehabilitation equipment for mechanical auxiliary training has single function, only upper limbs or lower limbs can not perform corresponding function adjustment according to the muscle strength state of a patient, so that the training effect of later-stage rehabilitation training is not very ideal, and even certain potential safety hazards exist.
Disclosure of Invention
The technical problem that this application embodiment will solve lies in, provides the active and passive rehabilitation device of upper and lower limbs, improves the training effect and the security of later stage rehabilitation training.
In order to solve the above problem, an embodiment of the present application provides an active and passive rehabilitation device for upper and lower limbs, including: the device comprises an upper limb driving device, a lower limb driving device, an upper limb arm with a first transmission connecting rod, a lower limb pedal with a second transmission connecting rod and pedals, a controller and a bracket, wherein the upper limb arm is provided with handrails at two ends of the first transmission connecting rod;
the input end of the upper limb driving device is connected with the controller, and the output end of the upper limb brush motor is connected with the upper limb arm;
the input end of the lower limb brush motor is connected with the controller, and the output end of the lower limb brush motor is connected with the lower limb pedal;
the upper limb arm is arranged above the bracket, and the lower limb pedal is arranged below the bracket;
the controller is used for detecting a first rotating speed of the upper limb brush motor and sending a first control signal to the upper limb brush motor when the first rotating speed is detected to be greater than a preset rotating speed so as to stop the control of the upper limb brush motor on the upper limb arm;
and detecting a first motor torque of the upper limb brush motor, and outputting a motor reverse rotation signal to the upper limb brush motor when the first motor torque is detected to be larger than a preset value, so that the upper limb brush motor controls the upper limb arm to change the motion direction.
Further, the controller is further configured to detect a second rotation speed of the lower limb brush motor, and send a second control signal to the lower limb brush motor when the second rotation speed is detected to be greater than the preset rotation speed, so as to stop the control of the lower limb pedal by the upper limb brush motor;
and detecting a second motor torque of the lower limb brush motor, and outputting a motor reversal signal to the lower limb brush motor when the second motor torque is detected to be larger than a preset value, so that the lower limb brush motor controls the lower limb pedal to change the movement direction.
Further, the upper limb brush motor is connected with the lower limb brush motor through an upper limb and lower limb switching circuit;
the upper and lower limb switching circuit is connected with the controller.
Furthermore, the upper limb arm is provided with a speed reducer;
the speed reducer is arranged on a first transmission connecting rod of the upper limb arm and connected with the upper limb brush motor.
Furthermore, the device also comprises an upper limb Hall detection unit and a lower limb Hall detection unit;
the upper limb Hall detection unit is arranged on any handrail of the upper limb arm, and the lower limb Hall detection unit is arranged on the bracket connected with the second transmission connecting rod;
the upper limb Hall detection unit and the lower limb Hall detection unit are electrically connected with the controller;
the upper limb Hall detection unit and the lower limb Hall detection unit are used for acquiring a first current value of the upper limb brush motor and a second current value of the lower limb brush motor and sending the first current value and the second current value to the controller;
the controller is further used for outputting the motor reversal signal to the upper limb brush motor when the first current value exceeds a preset current value, so that the upper limb brush motor controls the upper limb arm to change the movement direction, and outputting the motor reversal signal to the lower limb brush motor when the second current value exceeds the preset current value, so that the lower limb brush motor controls the lower limb pedal to change the movement direction.
Further, the device also comprises a touch screen;
the touch screen is arranged above the support, is mechanically connected with the upper limb brush motor and is electrically connected with the controller.
Further, the device also comprises an upper limb motor encoder and a lower limb motor encoder;
the upper limb motor encoder is mechanically connected between the touch screen and the upper limb brush motor, and the lower limb motor encoder is arranged below the bracket;
the input end of the upper limb motor encoder is connected with the upper limb brush motor, and the output end of the upper limb motor encoder is connected with the controller;
the input end of the lower limb motor encoder is connected with the lower limb brush motor, and the output end of the lower limb motor encoder is connected with the controller;
the controller is also used for, when receiving the first code numerical value of upper limbs motor encoder is greater than when predetermineeing the code numerical value, to the upper limbs have brush motor output motor reversal signal, so that the upper limbs have brush motor control the upper limbs arm changes the direction of motion, and when receiving the second code numerical value of low limbs motor encoder is greater than when predetermineeing the code numerical value, to the low limbs have brush motor output motor reversal signal, so that the low limbs have brush motor control the low limbs footboard changes the direction of motion.
Further, an emergency switch is also included;
the emergency switch is arranged on the bracket and is electrically connected with the controller.
Further, the power supply comprises a switching power supply and a filter;
the output end of the switching power supply is connected with the input end of the filter, and the output end of the filter is connected with the input end of the controller.
Furthermore, a base is arranged below the lower limb pedal and is mechanically connected with the support.
The embodiment of the application has the following beneficial effects:
this embodiment is through the rotational speed that detects there is the brush motor to the active control and the passive control of limb about switching according to its rotational speed, and through the parameter monitoring to there being the brush motor, thereby confirm the regulation that the patient's muscle power state corresponds the function according to the parameter of monitoring, and then when making later stage rehabilitation training can reach better training effect, improve equipment's security.
Drawings
Fig. 1 is a schematic structural diagram of an active and passive rehabilitation device for upper and lower limbs, provided by an embodiment of the application;
FIG. 2 is a schematic circuit diagram of a driving circuit of a brush motor for upper limbs;
FIG. 3 is a schematic circuit diagram of a drive circuit of a lower limb brush motor;
FIG. 4 is a schematic diagram of the circuit structure of the upper and lower limb switching circuit;
fig. 5 is a schematic circuit configuration diagram of the current detection unit.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a schematic structural diagram of an active and passive rehabilitation device for upper and lower limbs according to an embodiment of the present application is provided. As shown in fig. 1, includes:
the upper limb has brush motor 1, the lower limb has brush motor 2, have first transmission connecting rod and first transmission connecting rod both ends all are equipped with the upper limbs arm 3 of handrail, have second transmission connecting rod and second transmission connecting rod's both ends all are equipped with the lower limbs footboard 4 of footboard, power supply 5, controller 6 and support 7.
The input end of the upper limb brush motor 1 is connected with the controller 6, and the output end of the upper limb brush direct current motor 2 is connected with the upper limb arm 3. The input end of the lower limb brush motor 2 is connected with the controller 6, and the output end of the lower limb brush DC motor 2 is connected with the lower limb pedal 4. The power supply 5 is connected to the controller 6.
The upper limb arm 3 is mounted above the bracket 7, and the lower limb pedal 4 is mounted below the bracket 7.
The controller 6 is used for detecting a first rotating speed of the upper limb brush motor 1, sending a first control signal to the upper limb brush motor 1 when detecting that the first rotating speed is greater than a preset rotating speed, so as to stop the control of the upper limb brush motor 1 on the upper limb arm 3, detecting a first motor torque of the upper limb brush motor 1, and outputting a motor reversal signal to the upper limb brush motor 1 when detecting that the first motor torque is greater than a preset value, so that the upper limb brush motor 1 controls the upper limb arm 3 to change the movement direction.
The controller 6 is further configured to detect a second rotation speed of the lower limb brush motor 2, send a second control signal to the lower limb brush motor 2 to stop the control of the upper limb brush motor 1 on the lower limb pedal 4 when detecting that the second rotation speed is greater than the preset rotation speed, detect a second motor torque of the lower limb brush motor 2, and output a motor reversal signal to the lower limb brush motor 2 when detecting that the second motor torque is greater than the preset value, so that the lower limb brush motor 2 controls the lower limb pedal 4 to change the movement direction.
In this embodiment, when receiving an external control instruction, the controller 6 starts the upper limb brush motor 1 and the lower limb brush motor 2 to make the upper limb brush motor 1 and the lower limb brush motor 2 in an operating state, and at the same time, the controller 6 controls the upper limb brush motor 1 and the lower limb brush motor 2 to move at a constant speed, and at this time, the rehabilitation device is in a passive training mode. When the patient applies force, the rotating speed of the motor is increased because the direct current brush motor works in a power generation state, and at the moment, the controller 6 measures the rotating speed V1 of the motor in real time and calculates the error between the rotating speed V0 and the expected rotating speed V0. When V1> V0, the patient is instructed to apply force to the upper limb arm 3 or lower limb pedal 4. If the over-speed dc brushed motor is the upper limb brushed motor 1, the controller 6 sends a control signal to the upper limb brushed dc motor 1 to stop the brushed motor. Similarly, the control mode when the over-rotating direct current brush motor is the lower limb brush motor 2 can be known, so that the equipment is automatically switched to the active training mode.
In this embodiment, the controller 6 has a preset motor output torque, when the upper limb has the brush motor 1 and the lower limb has the brush motor 2 and is in an operating state, if the motor torque of the upper limb having the brush motor 1 is greater than the preset motor output torque, it is determined that the upper limb having the brush motor cannot drive the patient to move in one direction, and it is determined that the patient has spasm, and at this time, the controller 6 controls the upper limb direct current having the brush motor 1 to reverse, so that the spasm is alleviated. In the same way, the control mode when the direct current brush motor exceeding the preset motor output torque is the lower limb brush motor 2 can be known, so that the corresponding function adjustment can be performed according to the muscle strength state of the patient, and the safety is improved.
In this embodiment, the power supplier 5 is used to supply power to the controller 6. When the power supply device 5 supplies power to the controller 6, the controller 6 controls the upper limb arm 3 to move through the upper limb brush motor 1 and/or controls the lower limb pedal 4 to move through the lower limb brush motor 2, so that the upper limb and/or the lower limb of the patient are automatically driven to perform rehabilitation training, and passive rehabilitation training is realized. When the power supply device 5 does not supply power, the patient can actively apply force to the upper limb arm 3 and/or the lower limb pedal 4, so as to realize active rehabilitation training. The schematic circuit structure of the drive circuit of the upper limb brush motor 1 and the lower limb brush motor 2 is shown in fig. 3 and 4, and the drive circuit is a current feedback push-pull converter drive circuit formed by two half-bridge drivers (LM5109B) and four N-MOS transistors (NVMFD5875 NL).
In the present embodiment, the upper limb brush motor 1 and the lower limb brush motor 2 are connected by an upper limb switching circuit and a lower limb switching circuit (not shown in fig. 1), and the upper limb switching circuit and the lower limb switching circuit (not shown in fig. 1) are connected to the controller 6. When the controller 6 receives an external switching command, such as a switching command input by a user, the controller 6 sends a control level to an upper and lower limb switching circuit (not shown in fig. 1), so that the upper limb brush motor 1 in operation is stopped and the lower limb brush motor 2 is started, or the lower limb brush motor 2 in operation is stopped and the upper limb brush motor 1 is started. The schematic circuit structure of the upper and lower limb switching circuit (not shown in fig. 1) is shown in fig. 5, which is mainly composed of a double-pole single-throw relay (G6B-2114P-US-12V).
In this embodiment, the upper limb arm 3 is provided with a speed reducer 8, and the speed reducer 8 is provided on the first transmission link of the upper limb arm 3 and connected to the upper limb brush motor 1. Wherein the whole control operation process of the upper limb passive rehabilitation training is as follows: the controller 6 drives the upper limb brush motor 1 to work, the upper limb brush motor 1 drives the speed reducer 8 to rotate, and the speed reducer 8 drives the upper limb arm 3 to do reciprocating motion through the first transmission connecting rod, so that the passive rehabilitation training of the upper limb is realized. At the moment, the equipment drives the upper limbs of the person to do rotary reciprocating motion.
In this embodiment, the second transmission link of the lower limb pedal 4 is provided with a belt for driving the pulley to rotate and a driven pulley. Wherein the whole control operation process of the upper limb passive rehabilitation training is as follows:
the controller 6 drives the lower limb brush motor 2 to work, the lower limb brush motor 2 drives the driven pulley to rotate through a belt, the driven pulley drives the lower limb pedal to rotate and reciprocate through the second transmission connecting rod, passive training is achieved, and at the moment, the lower limb of a person is driven by the equipment to rotate and reciprocate.
In the present embodiment, the upper limb brush motor 1 and the lower limb brush motor 2 may be, but not limited to, dc brush motors.
In this embodiment, an upper limb hall detection unit 9 and a lower limb hall detection unit 10 are further included. The upper limb Hall detection unit 9 is arranged on any handrail of the upper limb arm 3, and the lower limb Hall detection unit 10 is arranged on the bracket 7 connected with the second transmission connecting rod.
The upper limb Hall detection unit 9 and the lower limb Hall detection unit 10 are electrically connected with the controller 6.
The upper limb hall detection unit 9 and the lower limb hall detection unit 10 are used for acquiring a first current value of the upper limb brush motor 1 and a second current value of the lower limb brush motor 2, and sending the acquired current values to the controller 6. The controller 6 is used for outputting a motor reversal signal to the upper limb brush motor 1 when the first current value exceeds a preset current value so that the upper limb brush motor 1 controls the upper limb arm 3 to change the movement direction, and outputting a motor reversal signal to the lower limb brush motor 2 when the second current value exceeds a preset current value so that the lower limb brush motor 2 controls the lower limb pedal 4 to change the movement direction.
In this embodiment, the controller 6 has a preset current value, and when the upper limb brush motor 1 and the lower limb brush motor 2 are in an operating state, the controller 6 detects the currents of the upper limb brush motor 1 and the lower limb brush motor 2 through the hall detection unit. When the current which is fed back by the upper limb Hall detection unit 9 and is related to the upper limb brush motor 1 is larger than the preset current value, the upper limb brush motor 1 is judged to drive the patient to move along one direction more difficultly or cannot drive the patient to move along one direction, so that the patient is determined to have at least slight spasm, and the controller 6 controls the upper limb direct current to rotate the brush motor 1 reversely, so that the spasm is relieved. In the same way, the control mode when the output current exceeds the preset current value and the direct current brush motor is the lower limb brush motor 2 can be known, so that the corresponding function adjustment can be carried out according to the muscle strength state of the patient, and the safety is further improved.
In the present embodiment, the upper and lower hall detecting units 9 and 10 may be, but are not limited to, hall sensors.
In this embodiment, still include touch-sensitive screen 11, the touch-sensitive screen is located the support top, has brush motor mechanical connection with the upper limbs, is connected with the controller electricity.
In this embodiment, the touch screen 11 is an intelligent terminal, and is connected to the controller 6 to display data related to the controller. After the corresponding program is subsequently entered into the controller 6, the controller 6 can directly select the training mode, set parameters such as the training speed, the resistance, the spasm grade and the like through the touch screen 11, select the corresponding training mode, and issue a corresponding control instruction to the controller 6, so that the controller 6 controls the equipment to execute the corresponding operation.
In this embodiment, an upper limb motor encoder 12 and a lower limb motor encoder 13 are further included.
The upper limb motor encoder 12 is mechanically connected between the touch screen 11 and the upper limb brush motor 1, and the lower limb motor encoder 13 is arranged below the bracket 7.
The input end of the upper limb motor encoder 12 is connected with the upper limb brush motor 1, and the output end of the upper limb motor encoder 12 is connected with the controller 6. The input end of the lower limb motor encoder 13 is connected with the lower limb brush motor 2, and the output end of the lower limb motor encoder 13 is connected with the controller 6.
The controller 6 is further configured to output a motor reversal signal to the upper limb brush motor 1 when the received first code value of the upper limb motor encoder 12 is greater than the preset code value, and output a motor reversal signal to the lower limb brush motor 2 when the received second code value of the lower limb motor encoder 13 is greater than the preset code value, so that the lower limb brush motor 2 controls the lower limb pedal 4 to change the moving direction.
In this embodiment, the controller 6 has a preset code value, and when the upper limb brush motor 1 and the lower limb brush motor 2 are in operation, the controller 6 receives the code values of the upper limb motor encoder 12 and the lower limb motor encoder 13. When receiving the coding numerical value of upper limbs motor encoder 12 feedback and being greater than preset the code value, then judge that the upper limbs has brush motor 1 this moment to drive the patient and move comparatively difficultly or can't drive the patient and move towards one relieved, consequently the affirmation patient has appeared slight spasm at least, and controller 6 control upper limbs direct current has brush motor 1 reversal this moment to alleviate the spasm. In a similar way, the control mode when the coding numerical value of the lower limb motor encoder 13 exceeds the preset coding numerical value can be known, so that the corresponding function adjustment can be carried out according to the muscle strength state of the patient, and the safety is further improved.
In this embodiment, an emergency switch 14 is further included, and the emergency switch is disposed on the bracket and electrically connected to the controller. In the event of an emergency, the passive rehabilitation training can be stopped by pressing the emergency switch 14, thereby turning off the controller 6.
In the present embodiment, the power supply includes a switching power supply 15 and a filter 16.
The output of the switching power supply 15 is connected to the input of a filter 16, and the output of the filter 16 is connected to the input of the controller 6.
In this embodiment, a base 17 is provided below the lower limb pedal 4, and the base 17 is mechanically connected to the support 7 and functions as a stabilizer.
Compared with the prior art, this embodiment is through the rotational speed that detects there is the brush motor to the active control and the passive control of limb about switching according to its rotational speed, and through the parameter monitoring to there being the brush motor, thereby confirm the regulation that patient's muscle power state corresponds the function according to the parameter of monitoring, and then when making later stage rehabilitation training can reach better training effect, improve equipment's security.
The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations are also regarded as the protection scope of the present application.
Claims (10)
1. An active and passive rehabilitation device for upper and lower limbs, characterized by comprising: the device comprises an upper limb driving device, a lower limb driving device, an upper limb arm with a first transmission connecting rod, a lower limb pedal with a second transmission connecting rod and pedals, a controller and a bracket, wherein the upper limb arm is provided with handrails at two ends of the first transmission connecting rod;
the input end of the upper limb driving device is connected with the controller, and the output end of the upper limb brush motor is connected with the upper limb arm;
the input end of the lower limb brush motor is connected with the controller, and the output end of the lower limb brush motor is connected with the lower limb pedal;
the upper limb arm is arranged above the bracket, and the lower limb pedal is arranged below the bracket;
the controller is used for detecting a first rotating speed of the upper limb brush motor and sending a first control signal to the upper limb brush motor when the first rotating speed is detected to be greater than a preset rotating speed so as to stop the control of the upper limb brush motor on the upper limb arm;
and detecting a first motor torque of the upper limb brush motor, and outputting a motor reverse rotation signal to the upper limb brush motor when the first motor torque is detected to be larger than a preset value, so that the upper limb brush motor controls the upper limb arm to change the motion direction.
2. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the controller is further configured to detect a second rotation speed of the lower limb brush motor, and send a second control signal to the lower limb brush motor to stop the control of the lower limb pedal by the upper limb brush motor when the second rotation speed is detected to be greater than the preset rotation speed;
and detecting a second motor torque of the lower limb brush motor, and outputting a motor reversal signal to the lower limb brush motor when the second motor torque is detected to be larger than a preset value, so that the lower limb brush motor controls the lower limb pedal to change the movement direction.
3. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the upper limb brush motor and the lower limb brush motor are connected through an upper and lower limb switching circuit;
the upper and lower limb switching circuit is connected with the controller.
4. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the arm of the upper limb is provided with a speed reducer;
the speed reducer is arranged on a first transmission connecting rod of the upper limb arm and connected with the upper limb brush motor.
5. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising an upper limb hall detection unit and a lower limb hall detection unit;
the upper limb Hall detection unit is arranged on any handrail of the upper limb arm, and the lower limb Hall detection unit is arranged on the bracket connected with the second transmission connecting rod;
the upper limb Hall detection unit and the lower limb Hall detection unit are electrically connected with the controller;
the upper limb Hall detection unit and the lower limb Hall detection unit are used for acquiring a first current value of the upper limb brush motor and a second current value of the lower limb brush motor and sending the first current value and the second current value to the controller;
the controller is further used for outputting the motor reversal signal to the upper limb brush motor when the first current value exceeds a preset current value, so that the upper limb brush motor controls the upper limb arm to change the movement direction, and outputting the motor reversal signal to the lower limb brush motor when the second current value exceeds the preset current value, so that the lower limb brush motor controls the lower limb pedal to change the movement direction.
6. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising a touch screen;
the touch screen is arranged above the support, is mechanically connected with the upper limb brush motor and is electrically connected with the controller.
7. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising an upper limb motor encoder and a lower limb motor encoder;
the upper limb motor encoder is mechanically connected between the touch screen and the upper limb brush motor, and the lower limb motor encoder is arranged below the bracket;
the input end of the upper limb motor encoder is connected with the upper limb brush motor, and the output end of the upper limb motor encoder is connected with the controller;
the input end of the lower limb motor encoder is connected with the lower limb brush motor, and the output end of the lower limb motor encoder is connected with the controller;
the controller is also used for, when receiving the first code numerical value of upper limbs motor encoder is greater than when predetermineeing the code numerical value, to the upper limbs have brush motor output motor reversal signal, so that the upper limbs have brush motor control the upper limbs arm changes the direction of motion, and when receiving the second code numerical value of low limbs motor encoder is greater than when predetermineeing the code numerical value, to the low limbs have brush motor output motor reversal signal, so that the low limbs have brush motor control the low limbs footboard changes the direction of motion.
8. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising an emergency switch;
the emergency switch is arranged on the bracket and is electrically connected with the controller.
9. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the power supply comprises a switching power supply and a filter;
the output end of the switching power supply is connected with the input end of the filter, and the output end of the filter is connected with the input end of the controller.
10. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein a base is provided under the lower limb pedal, and the base is mechanically connected with the support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911084886.1A CN110946735A (en) | 2019-11-07 | 2019-11-07 | Active and passive rehabilitation device for upper and lower limbs |
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| CN201911084886.1A CN110946735A (en) | 2019-11-07 | 2019-11-07 | Active and passive rehabilitation device for upper and lower limbs |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112353646A (en) * | 2020-12-03 | 2021-02-12 | 南京伟思医疗科技股份有限公司 | Upper and lower limb cooperative training control method and control system of active and passive rehabilitation training system |
| TWI730726B (en) * | 2020-04-17 | 2021-06-11 | 基赫科技股份有限公司 | Hand-foot cooperative exercise machine and control method thereof |
| CN114452607A (en) * | 2020-11-10 | 2022-05-10 | 基赫科技股份有限公司 | Hand and foot cooperative exercise machine and control method thereof |
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