CN111053675A - Mechanical arm traction type intelligent rehabilitation device and application method - Google Patents
Mechanical arm traction type intelligent rehabilitation device and application method Download PDFInfo
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- CN111053675A CN111053675A CN201911306442.8A CN201911306442A CN111053675A CN 111053675 A CN111053675 A CN 111053675A CN 201911306442 A CN201911306442 A CN 201911306442A CN 111053675 A CN111053675 A CN 111053675A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 230000008275 binding mechanism Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 38
- 230000009471 action Effects 0.000 claims description 15
- 238000011084 recovery Methods 0.000 claims description 15
- 230000009467 reduction Effects 0.000 claims description 4
- 230000015607 signal release Effects 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000007779 soft material Substances 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 17
- 210000001503 joint Anatomy 0.000 description 14
- 210000004247 hand Anatomy 0.000 description 12
- 210000003414 extremity Anatomy 0.000 description 11
- 230000000694 effects Effects 0.000 description 7
- 210000002310 elbow joint Anatomy 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
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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
- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic 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
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The mechanical arm traction type intelligent rehabilitation device comprises an upper computer, a switching power supply, a motor speed reducing mechanism and a shell, wherein the upper computer and the switching power supply are installed inside the shell; the rear side of the third set of motor reducing mechanism is provided with a front connecting arm, and the fourth set of motor reducing mechanism is arranged in the front connecting arm; the fifth set of motor is arranged at the right end of the power output shaft of the fourth set of motor speed reducing mechanism; the lower end of a power output shaft of the fifth motor speed reducing mechanism is provided with a third cylinder, the sixth motor speed reducing mechanism is arranged on the left side of the third cylinder, and the power output shaft of the sixth motor speed reducing mechanism is provided with a limb binding mechanism. The application method comprises three steps.
Description
Technical Field
The invention relates to the field of rehabilitation equipment and application methods, in particular to a mechanical arm traction type intelligent rehabilitation device and an application method.
Background
In clinical medicine, patients who are treated by being bedridden in a hospital for a long time, and various patients who can not get out of the bed due to family rest, such as patients who need to be rested after an operation, patients with lower-body paralysis and the like, can cause sequelae such as muscle atrophy, even joint deformation and the like due to the fact that the patients do not get out of the bed for a long time. Under the general condition, patient need carry out the rehabilitation exercise in order to keep healthy, but because patient can't get off the bed and take exercise, consequently the present main mode of taking exercise to patient is artificial massage, and this kind of mode can bring inconvenience for helping the exerciser owing to need other people to cooperate, also can not effectively guarantee the going on of taking exercise at every turn (for example help the exerciser because of the fact not on the spot), can not reach good exercise effect usually. The general exercise rehabilitation equipment obviously is not practical for the patient who is bedridden for a long time because the patient is required to take exercises on the spot.
The existing exercise rehabilitation equipment also has the defects of single repetition of the motion track for driving limb rehabilitation, insufficient freedom degree, insufficient flexibility, incapability of dynamically combining the rehabilitation state with the reciprocating motion track and incapability of reproducing the rehabilitation manipulation of doctors, so that a good rehabilitation exercise effect cannot be obtained.
Disclosure of Invention
In order to overcome the defects that the existing long-term bedridden patient rehabilitation exercise does not have an autonomous exercise device convenient to use, other people assist in exercise, inconvenience is brought to the assisted exercise personnel, the times of rehabilitation exercise cannot be effectively guaranteed, the rehabilitation device has the defects that the motion track is single in repetition, the freedom degree is not enough, the flexibility is not enough, the rehabilitation state cannot be dynamically combined with the reciprocating motion track, the rehabilitation manipulation of doctors cannot be reproduced and the like, the invention provides a device which is based on upper computer control, can control the joints driven by a plurality of motor speed reducing mechanisms to realize multi-angle and multi-dimensional motion, can be conveniently placed beside the patient in application, effectively carries out multi-angle and multi-dimensional rehabilitation exercise on the hand and foot joints of the patient, can reproduce the rehabilitation exercise of doctors and carries out rehabilitation exercise on the patient, and therefore, the purposes of assisting in exercise, exercising by other people are achieved, The mechanical arm traction type intelligent rehabilitation device is convenient to use and good in rehabilitation exercise effect and the application method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the mechanical arm traction type intelligent rehabilitation device comprises an upper computer, a switching power supply, motor speed reducing mechanisms and a shell, wherein a plurality of universal wheels are arranged on the periphery of the lower end of the shell, the upper computer and the switching power supply are arranged in the shell, control panel signal ports of six sets of motor speed reducing mechanisms are respectively connected with six signal ports of the upper computer through data lines, the switching power supply is connected with an input end of a control power supply of the upper computer through a lead, six output ends of the control power supply of the upper computer are respectively connected with two ends of a power supply input of the six sets of motor speed reducing mechanisms through leads, and the six sets of motor speed reducing mechanisms are respectively provided with an; the device is characterized in that a support column is fixedly arranged in the middle of the upper end of the shell, a first set of motor reducing mechanisms are vertically distributed and fixedly arranged on the upper portion of the support column, a first cylinder with the right end in an open structure is arranged on the upper side of a flange plate at the upper end of a power output shaft of the first set of motor reducing mechanisms, a second set of motor reducing mechanisms are transversely distributed and fixedly arranged on the flange plate at the upper end of the power output shaft of the first set of motor reducing mechanisms, and the power output shaft is positioned on the outer; a second cylinder is arranged on the right side of a flange plate at the right end of a power output shaft of the second set of motor reducing mechanism, a connecting arm is arranged on the upper side of a flange plate at the upper end of the second cylinder, the third set of motor reducing mechanism is longitudinally distributed and fixedly arranged on the front side of the connecting arm, and the power output shaft is positioned on the rear side of the connecting arm; a front connecting arm is arranged on the rear side of the rear end of a flange plate of a power output shaft of the third set of motor reducing mechanism, and a fourth set of motor reducing mechanism is transversely and fixedly arranged at the right part in the cylindrical front connecting arm; the left side of the fifth set of motor reducing mechanism is vertically and fixedly arranged on the right side of a flange plate at the right end of a power output shaft of the fourth set of motor reducing mechanism; and a third cylinder is transversely arranged on the lower side of a flange plate at the lower end of a power output shaft of the fifth motor speed reducing mechanism, the sixth motor speed reducing mechanism is transversely and fixedly arranged on the left side of the third cylinder, the flange plate at the right end of the power output shaft is positioned on the outer side of the right end of the third cylinder, and limb binding mechanisms are vertically distributed and installed at the right side end of the flange plate at the right part of the power output shaft of the sixth motor speed reducing mechanism.
Furthermore, a gap is reserved between the right side of the first cylinder and the left side of the second cylinder, and a gap is reserved between the front side and the rear side of the connecting arm and between the rear side end of the shell of the third set of motor reduction mechanism and the front left side end of the front connecting arm.
Further, the limb binding mechanism comprises a connecting plate and a fixing band, the fixing band is made of soft materials and is fixedly installed at the side end of the connecting plate.
The application method of the mechanical arm traction type intelligent rehabilitation device is characterized by comprising the following steps of 1: fixing the hands or legs of the patient in the fixing belts of the limb binding mechanisms; step 2: a rehabilitation doctor presses a traction guide button of an upper computer, six sets of motor reducing mechanisms are in a contracting brake release state, the six sets of motor reducing mechanisms and a cooperative multi-joint mechanical arm consisting of a first cylinder, a second cylinder, a connecting arm, a front connecting arm and a third cylinder can act along with the traction action of the hand of the doctor, TCP/IP ports of the six sets of motor reducing mechanisms respectively output signals such as motion track signals and motion force and the like to enter a control system of the upper computer, and the control system records the signals; and step 3: the rehabilitation doctor loosens the upper computer traction button to complete the setting of the multi-joint mechanical arm recovery track, in subsequent practical application, the doctor only needs to set the total time required by the recovery type treatment single time on an upper computer operation interface, a control system of the upper computer can transfer recorded traction control signals to the multi-joint mechanical arm, the control system controls the multi-joint mechanical arm to run according to the recorded doctor traction action steps and tracks, motion force, speed signals and the like, the doctor finishes the judgment of the patient recovery condition, and operates the cooperative multi-joint mechanical arm to carry out the same process of motion with different forces, different speeds and different tracks.
Further, in the step 2, the doctor operates the cooperative multi-joint mechanical arm to move with different forces, different speeds and different tracks according to the judgment of the recovery condition of the patient, the upper computer control system completely records the motion tracks, force changes and speed conditions of the cooperative multi-joint mechanical arm, and during subsequent application, the doctor can complete more rehabilitation motions with different postures by using the high degree of freedom of the cooperative multi-joint mechanical arm.
Further, in the step 2, the upper computer and the six sets of motor reducing mechanisms of the cooperative multi-joint mechanical arm are communicated by adopting a TCP/I protocol.
Further, in the step 3, after the doctor starts the traction signal, the cooperative multi-joint mechanical arm is in a contracting brake signal release state, and the multi-joint mechanical arm can reproduce the traction action steps of the doctor and corresponding tracks, motion force and speed under the action of the upper computer control system, so as to exercise and recover the hands and legs of the patient.
The invention has the beneficial effects that: in the application of the invention, the device can be conveniently pushed to the bedside of a patient for use, a rehabilitation doctor or a worker presses a traction guide button of an upper computer, and after the six sets of motor reducing mechanisms are in a contracting brake release state, the fixing bands can be close to the human body and can be used for respectively fixing the hands and the legs of the human body. The wrist of the patient can be rehabilitated and exercised after being sleeved in the cylindrical fixing belt, and the lower leg of the patient can be rehabilitated and exercised after being sleeved in the cylindrical fixing belt. Under the control of the upper computer, the upper computer respectively controls the working modes of the plurality of sets of motor reducing mechanisms, so that the elbow joints of the patients can be bent and exercised back and forth, the large arm joints can also be moved up and down for exercising, and the upper computer can move inwards and outwards for exercising; during the exercise, the leg joints of the patient can be bent up and down, the thigh joints can also be moved up and down, the patient can move inwards and outwards, and the like. According to the invention, a doctor or a worker operates the cooperative multi-joint mechanical arm to move with different forces, different speeds and different tracks according to the judgment of the recovery condition of a patient, and the upper computer control system completely records the motion tracks, force changes, speed and the like of the cooperative multi-joint mechanical arm. The invention can effectively carry out multi-angle and multi-dimensional rehabilitation exercise on the joints of the hands and the feet of a patient, and can reproduce the rehabilitation techniques of doctors, so that the rehabilitation is not limited by the number of professional doctors any more, and the rehabilitation effect is greatly improved because the rehabilitation techniques of the doctors are copied. Therefore, the rehabilitation training device has the characteristics of no need of assisting in training by other people, convenience in use and good rehabilitation training effect. Based on the above, the invention has good application prospect.
Drawings
The invention is further illustrated below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of a limb binding mechanism of the mechanical arm traction type intelligent rehabilitation device.
Fig. 2 is a schematic structural diagram of the mechanical arm traction type intelligent rehabilitation device.
Fig. 3 is a schematic structural diagram of the patient exercising hands on a patient bed.
Fig. 4 is a schematic view showing the structure of the patient exercising the feet on the patient bed according to the present invention.
Detailed Description
As shown in fig. 1, 2, 3 and 4, the mechanical arm traction type intelligent rehabilitation device comprises an upper computer 1 and a 48V switch power supply 2, a motor speed reducing mechanism 31, 32, 33, 34, 35 and 36 with a TCP/IP communication port on a control panel, a shell 4, a plurality of universal wheels 5 with brake mechanisms arranged on the periphery of the lower end of the rectangular shell 4, the upper computer 1 and the 48V switch power supply 2 are arranged in the rectangular shell 4, an operation panel of the upper computer 1 is positioned outside an opening at the front end of the shell 4, control panel signal ports of the six sets of motor speed reducing mechanisms 31, 32, 33, 34, 35 and 36 are respectively connected with six signal ports of the upper computer 1 through data lines, the 48V switch power supply 2 is connected with a control power supply input end of the upper computer 1 through a lead, six control power supply output ends of the upper computer 1 are respectively connected with two power supply input ends of the six sets of the motor speed reducing mechanisms 31, 32, 33, 34, 35 and, the six sets of motor reducing mechanisms 31, 32, 33, 34, 35 and 36 are respectively provided with an electromagnetic band-type brake mechanism; a cylindrical support column 6 is fixedly arranged in the middle of the upper end of the shell 4 through a screw nut, the lower end of a shell of the first motor speed reducing mechanism 31 is vertically distributed from top to bottom and is fixedly arranged on the upper portion of the support column 6 through the screw nut, a first barrel 7 with the right end in an open structure is welded on the upper side of a flange plate at the upper end of a power output shaft of the first motor speed reducing mechanism 31, a shell (positioned in the first barrel 7) of the second motor speed reducing mechanism 32 is transversely distributed and is arranged on the flange plate at the upper end of the power output shaft of the first motor speed reducing mechanism 31 through the screw nut, and the power output shaft is positioned on the outer side; a second cylinder 8 is welded on the right side of a flange plate at the right end of a power output shaft of the second motor speed reducing mechanism 32, a cylindrical connecting arm 9 is welded on the upper side of a flange plate at the upper end of the second cylinder 8, the upper part of the connecting arm 9 is flat and is provided with a through hole from front to back, a shell of a third motor 33 is longitudinally distributed and is installed on the front side of the connecting arm 9 through a screw nut, and the power output shaft is positioned on the back side of the connecting arm 9 through the hole; a cylindrical front connecting arm 10 is welded on the rear side of the rear end of a flange plate of a power output shaft of the third set of motor reducing mechanism 33, and a shell of the fourth set of motor reducing mechanism 34 is transversely installed at the right part in the cylindrical front connecting arm 10 through a screw nut; the left side of the shell of the fifth set of motor 35 is vertically installed on the right side of a flange plate at the right end of a power output shaft of the fourth set of motor reducing mechanism 34 through a screw nut; a third cylinder 11 with left and right ends of an open structure is transversely welded on the lower side of a flange plate at the lower end of a power output shaft of the fifth motor speed reducing mechanism 35, a shell of the sixth motor speed reducing mechanism 36 is transversely installed on the left side of the third cylinder 11 through a screw nut, the flange plate at the right end of the power output shaft is located on the outer side of the right end of the third cylinder 11, and a limb binding mechanism 12 is vertically distributed and installed at the right end of the flange plate at the right part of the power output shaft of the sixth motor speed reducing mechanism 36. There is a certain clearance between the right side of the first cylinder 7 and the left side of the second cylinder 8, and there is a certain clearance between the front side and the rear side of the connecting arm 9, the rear side end of the housing of the third set of motor reduction mechanism 33, and the front left side end of the front connecting arm 10. The limb binding mechanism 12 comprises a rectangular connecting plate 121 and a cylindrical fixing band 122, the fixing band 122 is made of soft materials (made of elastic bands), the left end of the fixing band 122 which is rolled into a cylindrical shape is fixed and mounted at the right end of the connecting plate 121 through a screw nut, the length of the fixing band 122 (with rubber cotton inside) is slightly shorter than that of the connecting plate 121, and the inner diameter of the fixing band 122 is slightly smaller than the outer diameter of a hand of a person. 123 is the flange of the limb binding mechanism 12 and 123 is the flange fixation pin of the limb binding mechanism 12.
As shown in figures 1, 2, 3 and 4, in the application of the invention, the universal wheels 5 are arranged at the lower end of the shell 4, so that the universal wheels can be conveniently pushed to the bedside of a patient for use. The traction guide button of the upper computer 1 is pressed by a rehabilitation doctor or a worker, and after the six sets of motor reducing mechanisms are in a contracting brake release state, the fixing belt 122 can be close to the human body and can be used for fixing the hands and the legs of the human body respectively. The fixing belt 122 is vertically positioned at the side of the sickbed from top to bottom, and the wrist part of the patient can be sleeved in the cylindrical fixing belt 122 for hand rehabilitation exercise; the fixing belt 122 is horizontally arranged at the side of the sickbed from front to back, and the feet of the patient can be sleeved in the cylindrical fixing belt 122 for the rehabilitation exercise of the legs. After a doctor or a worker starts a traction signal, the six sets of motor reducing mechanisms and the cooperative multi-joint mechanical arm consisting of the first cylinder 7, the second cylinder 8, the connecting arm 9, the front connecting arm 10 and the third cylinder 11 are in a contracting brake signal release state, and the multi-joint mechanical arm can reproduce the traction action steps of the doctor or the worker and corresponding tracks, motion force and speed under the action of an upper computer control system to exercise and recover the hands and legs of the patient.
As shown in fig. 1, 2, 3 and 4, in the present invention, under the action of the control system of the upper computer 1, the upper computer 1 can respectively and sequentially control the working modes of the six sets of motor reduction mechanisms 31, 32, 33, 34, 35 and 36, so that the hand and leg joints of the patient 13 can be rehabilitated and exercised in multiple directions and multiple dimensions with different forces. In the rehabilitation exercise, the elbow joints of the patient 13 can be bent back and forth, the arm joints can also be moved up and down for exercise, and the arm joints can be moved inwards and outwards for exercise and the like; the leg joints of the patient 13 can be bent up and down, the thigh joints can also be moved up and down, the inside and outside movement exercises and the like. For example, if the upper computer 1 controls the power output shaft of the sixth motor reducing mechanism 36 to rotate forwards and backwards for a short time, the binding mechanism 12 will be controlled to move forwards and backwards for a short time, so that the forward and backward movement angles of the elbow joint of the patient will be a little bit larger, and conversely, the forward and backward movement angles of the elbow joint of the patient will be a little bit smaller (in the movement, the upper computer 1 will control the remaining motor reducing mechanisms to rotate correspondingly, so as to ensure the bending exercise of the elbow joint of the patient). For example, the upper computer 1 controls the power output shaft of the third motor reducing mechanism 33 to move upwards and downwards for a long time, so that the upper computer controls the binding mechanism 12 to move upwards and downwards for a long time, the up-and-down movement angle of the leg joint (or the big arm joint) of the patient is slightly larger, and the up-and-down movement angle of the leg joint (or the big arm joint) of the patient is slightly smaller (the upper computer controls the remaining motor reducing mechanisms to rotate correspondingly in the movement, and the leg joint or the big arm joint of the patient can be guaranteed to exercise up and down). For example, the upper computer 1 controls the first motor speed reducing mechanism 31 to move outwards and inwards for a long time, so that the binding mechanism 12 is controlled to move inwards and outwards for a long time, the outward and inward movement angles of the legs (or hands) of the patient are slightly larger, and the outward and inward movement angles of the legs (or hands) of the patient are slightly smaller (the upper computer controls the remaining motor speed reducing mechanisms to rotate correspondingly in the movement, and the legs or the arms of the patient are guaranteed to exercise left and right).
As shown in fig. 1, 2, 3 and 4, the application method of the arm traction type intelligent rehabilitation device comprises the following steps, step 1: the patient's hand or leg is secured within the securing straps 122 of the limb binding mechanism. Step 2: a rehabilitation doctor presses a traction guide button of the upper computer 1, six sets of motor reducing mechanisms 31, 32, 33, 34, 35 and 36 are in a contracting brake release state, a cooperative multi-joint mechanical arm consisting of the six sets of motor reducing mechanisms 31, 32, 33, 34, 35 and 36, a first cylinder 7, a second cylinder 8, a connecting arm 9, a front connecting arm 10 and a third cylinder 11 can act along with the traction action of the hands of the doctor, TCP/IP ports of the six sets of motor reducing mechanisms 31, 32, 33, 34, 35 and 36 respectively output signals such as motion track signals, motion force and the like to enter a control system of the upper computer 1, and the control system records the signals; in the step 2, a doctor operates the cooperative multi-joint mechanical arm to move with different forces, different speeds and different tracks according to the judgment of the recovery condition of the patient, the upper computer 1 controls the system to completely record the motion tracks, force changes and speed conditions of the cooperative multi-joint mechanical arm, and during subsequent application, the high degree of freedom of the cooperative multi-joint mechanical arm is utilized to complete more recovery motions with different postures; in the step 2, the upper computer 1 and the six sets of motor reducing mechanisms 31, 32, 33, 34, 35 and 36 of the cooperative multi-joint mechanical arm adopt TCP/I protocol communication. And step 3: the recovery doctor releases the traction button of the upper computer 1 to complete the setting of the multi-joint mechanical arm recovery track, in the subsequent practical application, the doctor only needs to set the total time required by the recovery type treatment for a single time on the operation interface of the upper computer 1, the control system of the upper computer 1 can transfer the recorded traction control signal to the multi-joint mechanical arm, the control system controls the multi-joint mechanical arm to run according to the recorded doctor traction action steps, track, movement force, speed signal and the like, the judgment of the patient recovery condition by the doctor is completed, and the cooperative multi-joint mechanical arm is operated to carry out the same process of movement (the patient limb follows up) with different force, different speed and different tracks; in the step 3, after a doctor starts a traction signal, the cooperative multi-joint mechanical arm is in a contracting brake signal release state, and the multi-joint mechanical arm can reproduce the traction action steps of the doctor and corresponding tracks, movement force and speed under the action of the control system of the upper computer 1 to exercise and recover the hands and legs of a patient. The invention can effectively carry out multi-angle and multi-dimensional rehabilitation exercise on the joints of the hands and the feet of a patient, and can reproduce the rehabilitation techniques of doctors, so that the rehabilitation is not limited by the number of professional doctors any more, and the rehabilitation effect is greatly improved because the rehabilitation techniques of the doctors can be copied. Therefore, the rehabilitation training device has the characteristics of no need of assisting in training by other people, convenience in use and good rehabilitation training effect.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The mechanical arm traction type intelligent rehabilitation device comprises an upper computer, a switching power supply, motor speed reducing mechanisms and a shell, wherein a plurality of universal wheels are arranged on the periphery of the lower end of the shell, the upper computer and the switching power supply are arranged in the shell, control panel signal ports of six sets of motor speed reducing mechanisms are respectively connected with six signal ports of the upper computer through data lines, the switching power supply is connected with an input end of a control power supply of the upper computer through a lead, six output ends of the control power supply of the upper computer are respectively connected with two ends of a power supply input of the six sets of motor speed reducing mechanisms through leads, and the six sets of motor speed reducing mechanisms are respectively provided with an; the device is characterized in that a support column is fixedly arranged in the middle of the upper end of the shell, a first set of motor reducing mechanisms are vertically distributed and fixedly arranged on the upper portion of the support column, a first cylinder with the right end in an open structure is arranged on the upper side of a flange plate at the upper end of a power output shaft of the first set of motor reducing mechanisms, a second set of motor reducing mechanisms are transversely distributed and fixedly arranged on the flange plate at the upper end of the power output shaft of the first set of motor reducing mechanisms, and the power output shaft is positioned on the outer; a second cylinder is arranged on the right side of a flange plate at the right end of a power output shaft of the second set of motor reducing mechanism, a connecting arm is arranged on the upper side of a flange plate at the upper end of the second cylinder, the third set of motor reducing mechanism is longitudinally distributed and fixedly arranged on the front side of the connecting arm, and the power output shaft is positioned on the rear side of the connecting arm; a front connecting arm is arranged on the rear side of the rear end of a flange plate of a power output shaft of the third set of motor reducing mechanism, and a fourth set of motor reducing mechanism is transversely and fixedly arranged at the right part in the cylindrical front connecting arm; the left side of the fifth set of motor reducing mechanism is vertically and fixedly arranged on the right side of a flange plate at the right end of a power output shaft of the fourth set of motor reducing mechanism; and a third cylinder is transversely arranged on the lower side of a flange plate at the lower end of a power output shaft of the fifth motor speed reducing mechanism, the sixth motor speed reducing mechanism is transversely and fixedly arranged on the left side of the third cylinder, the flange plate at the right end of the power output shaft is positioned on the outer side of the right end of the third cylinder, and limb binding mechanisms are vertically distributed and installed at the right side end of the flange plate at the right part of the power output shaft of the sixth motor speed reducing mechanism.
2. The mechanical arm traction type intelligent rehabilitation device according to claim 1, wherein a gap is formed between the right side of the first cylinder and the left side of the second cylinder, and a gap is respectively formed between the front side and the rear side of the connecting arm and the rear side end of the housing of the third set of motor reduction mechanism and the front left side end of the front connecting arm.
3. The mechanical arm traction type intelligent rehabilitation device according to claim 1, wherein the limb binding mechanism comprises a connecting plate and a fixing band, the fixing band is made of soft material, and the fixing band is fixedly arranged at the side end of the connecting plate.
4. The mechanical arm traction type intelligent rehabilitation device according to claim 1, wherein the application method comprises the following steps, step 1: fixing the hands or legs of the patient in the fixing belts of the limb binding mechanisms; step 2: a rehabilitation doctor presses a traction guide button of an upper computer, six sets of motor reducing mechanisms are in a contracting brake release state, the six sets of motor reducing mechanisms and a cooperative multi-joint mechanical arm consisting of a first cylinder, a second cylinder, a connecting arm, a front connecting arm and a third cylinder can act along with the traction action of the hand of the doctor, TCP/IP ports of the six sets of motor reducing mechanisms respectively output signals such as motion track signals and motion force and the like to enter a control system of the upper computer, and the control system records the signals; and step 3: the rehabilitation doctor loosens the upper computer traction button to complete the setting of the multi-joint mechanical arm recovery track, in subsequent practical application, the doctor only needs to set the total time required by the recovery type treatment single time on an upper computer operation interface, a control system of the upper computer can transfer recorded traction control signals to the multi-joint mechanical arm, the control system controls the multi-joint mechanical arm to run according to the recorded doctor traction action steps and tracks, motion force, speed signals and the like, the doctor finishes the judgment of the patient recovery condition, and operates the cooperative multi-joint mechanical arm to carry out the same process of motion with different forces, different speeds and different tracks.
5. The application method of the mechanical arm traction type intelligent rehabilitation device according to claim 4, characterized in that in the step 2, a doctor operates the cooperative type multi-joint mechanical arm to move at different forces, different speeds and different tracks according to the judgment of the recovery condition of the patient, the upper computer control system completely records the motion tracks, force changes and speed conditions of the cooperative type multi-joint mechanical arm, and during subsequent application, the rehabilitation motion at different postures can be completed more by using the high degree of freedom of the cooperative type multi-joint mechanical arm.
6. The application method of the mechanical arm traction type intelligent rehabilitation device according to claim 4, wherein in the step 2, the upper computer and the six sets of motor speed reducing mechanisms of the cooperative multi-joint mechanical arm are communicated by a TCP/I protocol.
7. The application method of the mechanical arm traction type intelligent rehabilitation device according to claim 4, characterized in that in the step 3, after a doctor starts a traction signal, the cooperative multi-joint mechanical arm is in a brake signal release state, and the multi-joint mechanical arm can reproduce the traction action steps of the doctor and corresponding tracks, motion force and speed under the action of the upper computer control system to exercise and rehabilitate the hands and the legs of the patient.
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| CN201911306442.8A CN111053675A (en) | 2019-12-18 | 2019-12-18 | Mechanical arm traction type intelligent rehabilitation device and application method |
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| CN201911306442.8A CN111053675A (en) | 2019-12-18 | 2019-12-18 | Mechanical arm traction type intelligent rehabilitation device and application method |
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Cited By (1)
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| CN113262136A (en) * | 2021-04-29 | 2021-08-17 | 宋银枝 | Integrated intelligent heart rehabilitation auxiliary machine and intelligent heart rehabilitation auxiliary system |
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