CN111345973B

CN111345973B - Rehabilitation training system

Info

Publication number: CN111345973B
Application number: CN202010189929.9A
Authority: CN
Inventors: 李立峰; 王强
Original assignee: National Research Center for Rehabilitation Technical Aids
Current assignee: National Research Center for Rehabilitation Technical Aids
Priority date: 2017-11-24
Filing date: 2017-11-24
Publication date: 2022-04-22
Anticipated expiration: 2037-11-24
Also published as: CN111345974B; CN111345973A; CN107854278B; CN111345974A; CN107854278A

Abstract

The invention discloses a rehabilitation training system, which comprises a four-limb linkage multi-body-position rehabilitation training control system and a motor, wherein the four-limb linkage multi-body-position rehabilitation training control system comprises a main controller module, a power supply module, a discharge control circuit module and a motor driving module, and the power supply module is used for providing electric energy for the control system; the motor driving module is used for driving a motor; the discharge control circuit module is used for discharging overvoltage generated by the motor; the main controller module is used for controlling the work of the control system.

Description

Rehabilitation training system

The application is a divisional application of an invention patent application with the application number of ' 201711186593.5 ', the application date of ' 2017, 11 and 24, and the invention name of ' limb linkage multi-body position rehabilitation training control system '.

Technical Field

The invention relates to a rehabilitation training system, in particular to a four-limb linkage multi-body-position rehabilitation training control system, and belongs to the technical field of intelligent control.

Background

About 7000 million of the existing stroke patients in China and about 200 million of the newly released patients every year, about three fourths of the surviving stroke patients have disabilities of different degrees, the incidence of sports injury and fracture in China is increased year by year, so that the market demand on upper and lower limb joint rehabilitation equipment in rehabilitation clinic is gradually increased, and the annual purchase quantity of the rehabilitation equipment in downstream markets such as various medical units, various levels of residual unions, nursing homes, sports colleges and universities in China also shows an increasing trend year by year.

The four-limb linkage multi-position rehabilitation training system mainly aims at the rehabilitation requirements of the patient groups needing to be bedridden for a long time, such as paralysis, bone fracture and the like, effectively solves the exercise capacity and rehabilitation confidence of the body of the patient, and fills the blank of China in the aspect of intelligent upper and lower limb training system products. The system can realize rehabilitation training of upper and lower limbs in the conversion process from the horizontal position to the standing position, the rehabilitation training of the lower limbs adopts a bicycle training motion mode, and the rehabilitation training of the upper limbs is a circular motion training mode of the left side and the right side. The system is suitable for a four-limb linkage training mode, namely, the limb-strengthening side drives the affected limb side. The four-limb linkage training mode is a complete follow-up function, has the same speed and acceleration curves and is completely follow-up.

The four-limb linkage multi-body position rehabilitation training control system is used as the core of the four-limb linkage multi-body position rehabilitation training system, a hardware control circuit is provided for the system, the control system can monitor the states of active and passive movements of a hemiplegic patient, the active and passive movements can be switched better, the discharge circuit is simple in design, and the practicability is good.

Disclosure of Invention

The invention has the beneficial effects that:

(1) the invention provides a multi-body-position rehabilitation training control system with four limbs linked aiming at the rehabilitation training requirements of a hemiplegic patient;

(2) the control circuit has the advantages of simple discharge circuit design and good practicability, and the discharge circuit directly performs discharge through hardware comparison without MCU judgment, so that the load of the MCU is reduced.

In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:

the utility model provides a many body positions of four limbs linkage rehabilitation training control system, includes main controller module, power module, discharge control circuit module, motor drive module, wherein: the power supply module is used for supplying electric energy to the control system; the motor driving module is used for driving a motor; the discharge control circuit module is used for discharging overvoltage generated by the motor; the main controller module is used for controlling the work of the control system.

The control system described, wherein: the control system comprises a plurality of identical motor drive modules, each of which comprises a motor drive circuit and a current amplification circuit.

The control system described, wherein: the motor driving circuit comprises two driving chips U7 and U9 and four MOS tubes.

In the control system, pin 1 of a driving chip U7 receives a first pulse width modulation signal output by a main controller module; pin 2 is connected with a pin of a channel 1 of a timer 1 of the main controller module, and is connected with a 3.3V voltage source through a resistor R68; pin 3 is grounded and is connected with the negative electrode end of an electrolytic capacitor C28, and the positive electrode end of C28 is connected with a 12-volt voltage source; pin 5 is also connected to a 12 volt voltage source; the pin 4 is connected with the grid of a MOS tube Q6 through a resistor R72, the grid of Q6 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 4; pin 6 is connected with the drain of Q6; the pin 7 is connected with the grid of a MOS tube Q5 through a resistor R71, the grid of Q5 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 7; pin 8 is connected with the anode of the electrolytic capacitor C32, pin 8 is connected with the cathode of the diode D3, the anode of D3 is connected with a 12V voltage source, and the cathode of C32 is connected with pin 6; the drain electrode of the Q6 is connected with the source electrode of the Q5 and is connected with the positive electrode of the motor; the source of the Q5 is connected with a 24-volt voltage source and is also connected with the anode of an electrolytic capacitor C80, and the cathode of the C80 is grounded; pin 1 of the driving chip U9 receives a second pulse width modulation signal output by the main controller module; pin 2 is connected with a pin of a channel 2 of a timer 1 of the main controller module, and is connected with a 3.3V voltage source through a resistor R77; pin 3 is grounded and is connected with the negative electrode end of an electrolytic capacitor C36, and the positive electrode end of C36 is connected with a 12-volt voltage source; pin 5 is also connected to a 12 volt voltage source; the pin 4 is connected with the grid of a MOS tube Q10 through a resistor R94, the grid of Q10 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 4; pin 6 is connected with the drain of Q10; the pin 7 is connected with the grid of a MOS tube Q9 through a resistor R97, the grid of Q9 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 7; pin 8 is connected with the anode of the electrolytic capacitor C41, pin 8 is connected with the cathode of the diode D10, the anode of D10 is connected with a 12V voltage source, and the cathode of C41 is connected with pin 6; the drain electrode of the Q10 is connected with the source electrode of the Q9 and is connected with a MotorA-, which is the negative electrode of the motor; the source of the Q9 is connected with a 24-volt voltage source and is also connected with the anode of an electrolytic capacitor C81, and the cathode of the C81 is grounded; the source of Q6 and the source of Q10 are connected to a first terminal of resistor R86, and a second terminal of resistor R86 is grounded.

The control system comprises a current amplifying circuit and a control circuit, wherein the current amplifying circuit comprises operational amplifiers U10B and U10A, wherein a pin 5 of U10B is connected with a source electrode of Q6 and a source electrode of Q10 through a resistor R74, the pin 5 is grounded through a capacitor C35, and the pin 5 is connected with a 5-volt voltage source through a resistor R80; pin 6 is grounded through a resistor R82 and is connected with pin 7 through a resistor R85; the power supply + end (V +) is suspended, and the power supply-end (V-) is suspended; pin 7 passes through resistance R91 and is connected with pin 1 of U10A, pin 2 of U10A passes through resistance R92 ground connection, power + termination 5V voltage source, power-end ground connection, pin 2 passes through resistance R98 and is connected with pin 1, pin 1 is connected with resistance R100's first end, the R100 second end is connected with the one end of electric capacity C43, the other end ground connection of C43, the second end of R100 connects the ADC sampling pin of main control unit module as the sampling voltage output terminal.

The control system described, wherein: the discharge control circuit module comprises a first operational amplifier U1A, a second operational amplifier U1B and a control chip U2; the positive input end of U1A is connected with the first end of a resistor R1 and the first end of a resistor R2, the second end of R1 is connected with a motor power supply, the second end of R2 is grounded, and a capacitor C1 is connected between the first end and the second end of R2; the negative input end of the UA1 is connected with the first end of a resistor R3 and the first end of a resistor R4, the second end of the resistor R3 is connected with a +24V power supply, the second end of the resistor R4 is grounded, and the first end and the second end of a resistor R4 are respectively connected with the two ends of a capacitor C2; the 4 th end and the 8 th end of the U1A are suspended; the output end and the positive input end of the U1A are connected through a resistor R5.

The control system described, wherein: the output end of the U1A is further connected with a first end of a resistor R6 and a first end of a resistor R7, a second end of the resistor R7 is connected with a 12V power supply, a second end of the resistor R6 is connected with a first end of a capacitor C3, and a second end of a capacitor C3 is connected with the ground; the second end of the resistor R6 is also connected with the negative input end of the U1B, the positive input end of the U1B is connected with the first end of the resistor R8, the first end of the resistor R9 and the first end of the capacitor C4, the second end of the capacitor C4 and the second end of the resistor R9 are grounded, and the second end of the resistor R8 is connected with a 12V power supply; the power supply end of U1B is connected with 12V power supply, and the grounding end is grounded; the output end of the U1B is connected with the collector of a triode Q1, the base of Q1 is connected with the first end of a resistor R10, and the second end of the resistor R10 is connected with the voltage output end of the main controller module so as to receive a voltage output signal; the output end of the U1B is also connected with the input end INA of the driving chip U2; the input terminal INA of U2 is connected with a 12V power supply through a resistor R11; the grounding end is grounded; the input end INB of the U2 is connected with a 12V power supply through a resistor R12; the VS end of the U2 is connected with the first end of a capacitor C5, the second end of a capacitor C5 is grounded, and the VS end is also connected with a 12V power supply; the output end OUTA of the U2 is connected with one end of a resistor R13, the other end of the resistor R13 is connected with the grid of a field effect transistor Q2, the drain of the Q2 is grounded, the source of the Q2 is connected with the anode of a diode D1, the cathode of the D1 is connected with a 24V power supply, and the two ends of the capacitor C6 and the two ends of the resistor R14 are respectively connected with the anode and the cathode of the diode D1.

The control system described, wherein: the sensor module comprises an operational amplifier U21A and an operational amplifier U21B, wherein a pin 2 of U21A is connected with the negative pole of the tension sensor through a resistor R46; pin 3 is connected with the positive pole of the tension sensor through a resistor R45; pin 2 is connected with pin 1 through a resistor R55, and pin 3 is grounded through a resistor R51; the + end of the power supply is connected with a 5V power supply, and the-end of the power supply is grounded; pin 1 is connected with pin 5 of U21B through a resistor R57, and pin 6 of U21B is connected with the ground through a resistor R59; pin 6 is connected with pin 7 through resistor R40; pin 7 is connected with a first end of a capacitor C84 through a resistor R61, a second end of C84 is grounded, and a first end of C84 is connected with an ADC pull value sampling pin of the main controller module.

A rehabilitation training system comprises the four-limb linkage multi-body-position rehabilitation training control system and a motor.

The motor includes left hand motor, right hand motor, foot motor and standby motor.

Drawings

FIG. 1 is a system hardware block diagram of a four-limb linkage multi-body position rehabilitation training control system of the present invention;

FIG. 2 is a hardware schematic diagram of a motor driving control system and a current amplifying circuit of the four-limb linkage multi-body position rehabilitation training control system of the invention;

FIG. 3 is a hardware schematic diagram of a discharge circuit of the limb-linkage multi-body position rehabilitation training control system of the present invention;

fig. 4 is a hardware schematic diagram of a sensor module of the four-limb linkage multi-body position rehabilitation training control system.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.

A four-limb linkage multi-body-position rehabilitation training control system is shown in figure 1 and mainly comprises a main controller module (such as a main control chip STM32F407), a power supply module, a discharge control circuit module and a motor driving module. Preferably, the control system further comprises an upper computer communication module and a sensor module, wherein the upper computer communication module is used for communicating with an upper computer.

The four-limb linkage multi-body-position rehabilitation training control system specifically comprises:

the power module adopts an LM2576hvs-12 chip, an MP1584EN buck chopper chip and an LM117-3.3 chip, and the LM2576 is a buck switching regulator, has very small voltage regulation rate and current regulation rate and has 3A load driving capability. LM117-3.3 output voltage: 3.267-3.333V.

The motor driving module comprises four identical motor driving modules which are respectively used for driving a left-hand motor, a right-hand motor and a foot motor for standby, and each driving module comprises a motor driving circuit and a current amplifying circuit. Wherein, the motor driving circuit adopts an IR2184 chip. The IR2184 is a half-bridge driving integrated chip, which integrates mutually independent control driving output circuits inside, can directly drive two medium power semiconductor devices such as MOSFET or IGBT, and has the advantages of fast dynamic response, strong driving capability, high working frequency and multiple protection functions. IR2184 is equipped with a large pulsed current buffer stage that minimizes cross conduction; meanwhile, a Schmitt trigger type input design with a pull-down function is adopted, so that noise can be effectively isolated, and accidental turn-on of a device can be prevented.

The MOS tube is packaged by FR3710 and TO-252. Withstand pressure 100V and resist flow 42A. The switching speed of FR3710 is relatively fast and can operate at higher speeds because there is no charge storage effect. And without a secondary breakdown failure mechanism, it tends to be more robust at higher temperatures and less likely to suffer thermal breakdown, providing better performance over a wider temperature range.

The following describes the structure of each part of the four-limb linkage multi-body position rehabilitation training control system in detail with reference to the accompanying drawings 2-4:

as shown in FIG. 2, each motor drive module includes two dedicated driver chips U7 and U9 of IR 2184-MOSFETs. Taking U7 as an example, the pins are: pin 1(IN) is the logic input voltage; pin 2(SD) is a chip select terminal, and the low level is active; pin 3(COM) is a low voltage return; pin 4(LO) is a low voltage output; pin 5(VCC) is the power supply terminal; pin 6(VS) is the high-side floating compensation voltage supply; pin 7(HO) is the high voltage output; pin 8(VB) is the high side floating absolute voltage terminal.

Two pieces of IR2184 drive 4 MOS pipes and constitute an H bridge circuit, wherein: pin 1 of U7 receives the M _ PWMA + signal, M _ PWMA + and M _ PWMA-described below are a pair of square wave signals that are inverted with respect to each other, the sum of the effective values of the M _ PWMA + and M _ PWMA-signals is 0, M _ PWMA-is negative when M _ PWMA + is positive, and M _ PWMA + is negative when M _ PWMA-is negative. The M _ PWMA + signal is a pulse width modulation signal output by the TIM1_ CH1 pin of the main control chip; pin 2 is the enable terminal of the U7 chip, and is connected to the MotorA _ E _1 pin of the main control chip (TIM 1_ CH1N of the main control chip, i.e., channel 1 of timer 1), and the low level is active; meanwhile, the power supply is connected with a 3.3-volt voltage source through a resistor R68; pin 3 is grounded and is connected with the negative electrode end of an electrolytic capacitor C28, and the positive electrode end of C28 is connected with a 12-volt voltage source; pin 5 is also connected to a 12 volt voltage source; the pin 4 is connected with the grid of a MOS tube Q6 through a resistor R72, the grid of Q6 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 4; pin 6 is connected with the drain of Q6; the pin 7 is connected with the grid of a MOS tube Q5 through a resistor R71, the grid of Q5 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 7; pin 8 is connected with the anode of an electrolytic capacitor C32, pin 8 is a high-side floating absolute voltage end, pin 8 is connected with the cathode of a diode D3, the anode of D3 is connected with a 12V voltage source, and the cathode of C32 is connected with pin 6; the drain electrode of the Q6 is connected with the source electrode of the Q5 and is connected with MotorA +, and the MotorA + is the positive electrode of the motor; the source of the Q5 is connected with a 24-volt voltage source and is also connected with the anode of an electrolytic capacitor C80, and the cathode of the C80 is grounded; pin 1 of U9 receives M _ PWMA-signal, M _ PWMA-is pulse width modulation signal outputted by TIM1_ CH2 (timer 1 channel 2) pin of main control chip; pin 2 is connected to MotorA _ E _2 (TIM 1_ CH2N of the main control chip, channel 2 of the timer 1), and is connected to a 3.3 v voltage source through a resistor R77; pin 3 is grounded and is connected with the negative electrode end of an electrolytic capacitor C36, and the positive electrode end of C36 is connected with a 12-volt voltage source; pin 5 is also connected to a 12 volt voltage source; the pin 4 is connected with the grid of a MOS tube Q10 through a resistor R94, the grid of Q10 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 4; pin 6 is connected with the drain of Q10; the pin 7 is connected with the grid of a MOS tube Q9 through a resistor R97, the grid of Q9 is connected with the anode of a diode, and the cathode of the diode is connected with the pin 7; pin 8 is connected with the anode of the electrolytic capacitor C41, pin 8 is connected with the cathode of the diode D10, the anode of D10 is connected with a 12V voltage source, and the cathode of C41 is connected with pin 6; the drain electrode of the Q10 is connected with the source electrode of the Q9 and is connected with a MotorA-, which is the negative electrode of the motor; the source of the Q9 is connected with a 24-volt voltage source and is also connected with the anode of an electrolytic capacitor C81, and the cathode of the C81 is grounded; the source of Q6 and the source of Q10 are both grounded through resistor R86. When the pin 2 of the U7 chip and the U9 chip is at a low level, M _ PWMA + is a positive voltage, and M _ PWMA-is a negative voltage, the pin 7 of the U7 chip outputs a high level to turn on the Q5, the pin 4 of the U7 chip outputs a low level to turn off the Q6, the pin 4 of the U9 chip outputs a high level to turn on the Q10, and the pin 7 of the U9 chip outputs a low level to turn off the Q9.

M _24V is a power supply of the Motor, is generally 24V voltage (when a patient actively moves, the Motor generates back electromotive force, M _24V is higher than 24V), and the voltage is applied between the positive and negative terminals of the Motor, namely Motor _ A + and Motor _ A-; when the pin 1 input of the U7 chip is positive, and the pin 1 input of the U9 chip is negative, Q5 is turned on, Q6 is turned off, Q9 is turned off, and Q10 is turned on, at this time, M _24V voltage is applied to the Motor _ A + end of the Motor, the Motor _ A-is connected to the ground, current passes through the Motor from the Motor _ A + to the Motor _ A-in the positive direction, and the Motor rotates in the positive direction;

when the pin 1 input of the U7 chip is negative, the pin 1 input of the U9 chip is positive, Q5 is turned off, Q6 is turned on, Q9 is turned on, and Q10 is turned off, at the moment, M _24V voltage is applied to the Motor _ A-end of the Motor, the Motor _ A + is connected to the ground, current reversely passes through the Motor from the Motor _ A-to the Motor _ A +, and the Motor reversely rotates.

R86 is used as a current sampling resistor for sampling the current flowing through the H-bridge circuit, and the current can be calculated through ohm's law by collecting the terminal voltage of the R86 resistor.

The voltage of R86 is amplified by a voltage amplifying circuit and then output to an ADC sampling pin of a main control chip, the current amplifying circuit comprises an operational amplifier U10B and U10A, wherein a pin 5 (non-inverting input end) of U10B is connected with a source electrode of Q6 and a source electrode of Q10 through a resistor R74, the pin 5 is grounded through a capacitor C35, and the pin 5 is connected with a 5V voltage source through a resistor R80; pin 6 (inverting input terminal) is grounded through a resistor R82 and is connected with pin 7 (output terminal) through a resistor R85; the power supply + end (V +) is suspended, and the power supply-end (V-) is suspended; pin 7 is connected with pin 1 (normal phase input end) of U10A through resistance R91, pin 2 (reverse phase input end) of U10A is grounded through resistance R92, the power + termination is 5V voltage source, the power-termination is grounded, pin 2 is connected with pin 1 through resistance R98, pin 1 is connected with the first end of resistance R100, the second end of R100 is connected with one end of electric capacity C43, the other end of C43 is grounded, the second end of R100 is used as Current a (sampling voltage output end), the sampling voltage output end is connected with the ADC sampling pin of the main control chip, and the Current sampling value is calculated by the main control chip. In the current amplifying circuit, R74 is used as a current limiting resistor to ensure the safety of current entering an amplifier, R80 is pulled up weakly, U10B plays an amplifying role, the amplification factor is (R85+ R82)/R82, U10A is also a forward proportional amplifier, the amplification factor is (R98+ R92)/R92, R91 and R100 are both current limiting resistors, and C43 is used as a filter capacitor, because current sampling is influenced by the positive and negative rotation of a motor and the back electromotive force, a sampling value fluctuates, and filtering is required.

As shown in fig. 3, the discharge circuit includes a first operational amplifier U1A (e.g., LM393AH), a second operational amplifier U1B (e.g., LM393AH), a control chip U2 (e.g., IR4427) and related components; the U1A positive input end (third end) is connected with the first end of a resistor R1 and the first end of R2, the second end of R1 is connected with a motor power supply (M _24V), the second end of R2 is grounded, a capacitor C1 is connected between the first end and the second end of R2, and the capacitor C1 is used for filtering the M _24V voltage and filtering interference; the negative input end of the UA1 is connected with the first end of a resistor R3 and the first end of a resistor R4, the second end of the resistor R3 is connected with a +24V power supply, the second end of the resistor R4 is grounded, the first end and the second end of a resistor R4 are respectively connected with the two ends of a capacitor C2, and the capacitor C2 is used for filtering 24V voltage and filtering interference; the 4 th end and the 8 th end of the U1A are suspended; the output end (the 1 st end) of the U1A is connected with the positive input end through a resistor R5, and the resistor R5 is used for hysteresis comparison and provides a feedback voltage for the positive input end of the U1A; in the above description, the resistor R5 is a positive feedback resistor, +24V is a reference voltage (threshold voltage), and the two voltages to be compared are M _24V and + 24V.

The output end of the U1A is further connected with a first end of a resistor R6 and a first end of a resistor R7, a second end of the resistor R7 is connected with a 12V power supply, a second end of the resistor R6 is connected with a first end of a capacitor C3, a second end of a capacitor C3 is grounded, and the capacitor C3 is a filter capacitor and a decoupling capacitor and is used for reducing high-frequency internal resistance in the circuit; the second end of the resistor R6 is also connected with the negative input end of the U1B, the positive input end of the U1B is connected with the first end of the resistor R8, the first end of the resistor R9 and the first end of the capacitor C4, the second end of the capacitor C4 and the second end of the resistor R9 are grounded, and the second end of the resistor R8 is connected with a 12V power supply; the power supply end (pin 8) of U1B is connected with a 12V power supply, and the grounding end (pin 4) is grounded; the output end of U1B is connected with the collector of triode Q1, the base of Q1 is connected with the first end of resistor R10, the second end of resistor R10 is connected with the voltage output end of the main control chip to receive the voltage output signal (Current PWM); the Current PWM signal is output by a TIM9_ CH1 (timer 9 channel 1) pin of the main control chip; the output terminal of U1B is also connected to the input terminal INA of the driver chip U2 (e.g., model IR4427), and IR4427 is a dual low voltage driver chip, and when INA (pin 2) of IR4427 is high, the corresponding output terminal OUTA (pin 7) outputs low, whereas when INA (pin 2) of IR4427 is high, the corresponding output terminal OUTA (pin 7) outputs high.

An input end INA (pin 2) of the U2 is connected with a 12V power supply through a resistor R11; the grounding end (pin 3) is grounded; an input end INB (pin 4) of the U2 is connected with a 12V power supply through a resistor R12; a VS (pin 6) of the U2 is connected with a first end of a capacitor C5, a second end of the capacitor C5 is grounded, and the VS end is also connected with a 12V power supply; an output end OUTA (pin 7) of the U2 is connected with one end of a resistor R13, the other end of the resistor R13 is connected with the grid of a field effect transistor Q2, the drain of the Q2 is grounded, the source of the Q2 is connected with the anode of a diode D1, the cathode of the D1 is connected with a 24V power supply, and two ends of a capacitor C6 and two ends of a resistor R14 are respectively connected with the anode and the cathode of the diode D1. The withstand voltage of the C6 capacitor is higher, so that overvoltage is prevented.

In the discharge circuit, R1 and R2 form a voltage division circuit, a high voltage of 24V is divided into a low voltage convenient to use, R3 and R4 are also voltage division circuits, two capacitors C1 and C2 connected to two ends of resistors R2 and R4 in parallel are used for filtering, U1A forms a hysteresis comparator, and the reference voltage is the divided voltage of R1 and R2; r7 is pulled up, R6 is limited in current, C3 is filtered, and U1B forms a comparator, wherein the comparison reference is the partial voltage of R8 and R9; when the system works and rehabilitation training is started for a patient, a Current PWM end (a TIM9_ CH1 pin and a timer 9 channel 1) of the main control chip outputs high level to enable the triode Q1 to be conducted, the high level pulled up by an INA (a pin 2) of the U2 (the IR4427) is reduced to be low level, an OUTA (a pin 7) outputs high level, the high level enables the MOS tube Q2 to be conducted, the M _24V, D1, the Q2, the C6 and the R14 form a loop, the Current of the circuit starts to work through a discharge resistor R14, and the purpose of discharging is achieved.

When the training system is set to be in a patient active training mode, the motor can generate reverse electromotive force through active training movement of a patient, the generated voltage is fed back to the circuit, the voltage of M _24V can be increased, in order to enable the voltage of M _24V to be within a normal range, the Current PWM end (the second end of the resistor R10) of the discharge circuit can receive a signal sent by the main control chip in the active training mode of the training system, the discharge circuit starts to work, and the M _24V voltage is stabilized within the normal range through automatic comparison of the M _24V and the +24V power supply voltage through the discharge circuit.

As shown in fig. 4, the sensor module includes an operational amplifier U21A and an operational amplifier U21B, wherein pin 2 (inverting input terminal) of U21A is connected to the negative terminal of the tension sensor through a resistor R46; pin 3 (positive phase input end) is connected with the positive electrode of the tension sensor through a resistor R45; pin 2 is connected with pin 1 (output end) through a resistor R55, and pin 3 is grounded through a resistor R51; the + end of the power supply is connected with a 5V power supply, and the-end of the power supply is grounded; pin 1 is connected with pin 5 (non-inverting input terminal) of U21B through a resistor R57, and pin 6 (inverting input terminal) of U21B is connected with the ground through a resistor R59; pin 6 connects to pin 7 (output terminal) through resistor R40; the pin 7 is connected with a first end of a capacitor C84 through a resistor R61, a second end of the capacitor C84 is grounded, a first end of the capacitor C84 is connected with an ADC (analog to digital converter) pulling force value sampling pin of a main control chip, in the sensor module, a U21A forms an inverse proportional amplifier, the amplifier can be subjected to zero setting operation through a + pole of an operational amplifier, the amplification factor is (R55+ R46)/R46, the U21B is an inverse proportional amplifier, the amplification factor is (R40+ R59)/R59, R57 and R61 are current-limiting resistors, and the C84 is used for filtering. The circuit has the function that the main control chip calculates the tensile force according to the sampling numerical value of the ADC tensile force numerical value sampling pin and feeds the tensile force back to the control system.

With reference to fig. 1-4, the working principle of the present invention is: the power input is supplied to 3 motors by a 24V power module, the voltage of the power module is compared with the feedback voltage of the motors in the circuit, when the set threshold value is reached, the discharge circuit discharges, and the feedback voltage in the circuit is released through a discharge resistor; the motor can provide assistance training, namely the motor drives the limbs of the patient to move; the tension sensor is a sensor for measuring tension of a patient when the patient loses weight by a suspension system of the four-limb linkage training system, and the condition of losing weight of the patient is monitored in real time to provide assistance for training; the upper computer interface is an interface for connecting the training system with the human-computer interaction touch screen.

The invention relates to a rehabilitation training system which comprises a four-limb linkage multi-body-position rehabilitation training control system and a motor. The motor includes left hand motor, right hand motor, foot motor and standby motor.

Claims

1. The utility model provides a rehabilitation training system, includes many body positions of four limbs linkage rehabilitation training control system and motor, its characterized in that: the four-limb linkage multi-body-position rehabilitation training control system comprises a main controller module, a power supply module, a discharge control circuit module and a motor driving module, wherein the power supply module is used for supplying electric energy to the control system; the motor driving module is used for driving a motor; the discharge control circuit module is used for discharging overvoltage generated by the motor; the main controller module is used for controlling the work of the control system, and the discharge control circuit module comprises a first operational amplifier U1A, a second operational amplifier U1B and a control chip U2; the positive input end of U1A is connected with the first end of a resistor R1 and the first end of a resistor R2, the second end of R1 is connected with a motor power supply, the second end of R2 is grounded, and a capacitor C1 is connected between the first end and the second end of R2; the negative input end of the UA1 is connected with the first end of a resistor R3 and the first end of a resistor R4, the second end of the resistor R3 is connected with a +24V power supply, the second end of the resistor R4 is grounded, and the first end and the second end of a resistor R4 are respectively connected with the two ends of a capacitor C2; the 4 th end and the 8 th end of the U1A are suspended; the output end of the U1A is connected with the positive input end through a resistor R5;

2. The rehabilitation training system of claim 1, wherein: the rehabilitation training system comprises a plurality of identical motor driving modules, wherein each driving module comprises a motor driving circuit and a current amplifying circuit; the motor driving circuit comprises two driving chips U7 and U9 and four MOS tubes.