CN113262136A - Integrated intelligent heart rehabilitation auxiliary machine and intelligent heart rehabilitation auxiliary system - Google Patents
Integrated intelligent heart rehabilitation auxiliary machine and intelligent heart rehabilitation auxiliary system Download PDFInfo
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- CN113262136A CN113262136A CN202110471636.4A CN202110471636A CN113262136A CN 113262136 A CN113262136 A CN 113262136A CN 202110471636 A CN202110471636 A CN 202110471636A CN 113262136 A CN113262136 A CN 113262136A
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- 210000000078 claw Anatomy 0.000 claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000002554 cardiac rehabilitation Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 5
- 238000012549 training Methods 0.000 abstract description 43
- 230000010354 integration Effects 0.000 description 17
- 210000000707 wrist Anatomy 0.000 description 9
- 230000009471 action Effects 0.000 description 8
- 210000002683 foot Anatomy 0.000 description 8
- 210000003414 extremity Anatomy 0.000 description 6
- 210000003423 ankle Anatomy 0.000 description 5
- 230000036772 blood pressure Effects 0.000 description 5
- 208000007536 Thrombosis Diseases 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 230000036541 health Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000017531 blood circulation Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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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
- 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
Abstract
The invention discloses an integrated intelligent heart rehabilitation assisting machine and an intelligent heart rehabilitation assisting system, wherein the integrated intelligent heart rehabilitation assisting machine comprises: a base, wherein one side of the base is provided with a fixed plate; one end of the first rotating module is arranged on the fixing plate; the second rotating module is arranged at one end, far away from the fixed plate, of the first rotating module and is in rotating connection with the first rotating module; one end of the third rotating module is connected with one end of the second rotating module, which is far away from the first rotating module, and the first rotating module, the second rotating module and the third rotating module form a mechanical arm; and the mechanical claw comprises a claw driving piece, a connecting block and a grabbing part, the connecting block is arranged on the third rotating module, the grabbing part and the claw driving piece are arranged on the connecting block, and the claw driving piece drives the grabbing part to open and close. According to the technical scheme, the workload of artificial auxiliary rehabilitation training is reduced, and the working intensity of auxiliary personnel is further reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an integrated intelligent heart rehabilitation assisting machine and an intelligent heart rehabilitation assisting system.
Background
At present, an indoor integrated intelligent heart rehabilitation auxiliary machine usually takes resistance exercise as a main part, a patient needs to exert force to do exercise setting during rehabilitation training, but part of the patients are usually weak or cannot move and bounce, and training cannot be performed. Meanwhile, thrombus is easy to appear because the patient can not move and bounce when lying on the bed for a long time. When the manual training is assisted, the workload of the assistant staff is large due to the long-time manual training, and the hand of the assistant staff is easy to ache.
Disclosure of Invention
The invention mainly aims to provide an integrated intelligent heart rehabilitation assisting machine, and aims to reduce the workload of artificial assisted rehabilitation training so as to reduce the hand soreness of assisting personnel.
In order to achieve the above object, the present invention provides an integrated intelligent heart rehabilitation assisting machine, comprising:
the fixing plate is arranged on one side of the base;
one end of the first rotating module is arranged on the fixing plate, and the first rotating module is rotatably connected with the fixing plate;
the second rotating module is arranged at one end, away from the fixed plate, of the first rotating module and is in rotating connection with the first rotating module;
one end of the third rotating module is connected with one end of the second rotating module, which is far away from the first rotating module, the third rotating module is rotatably connected with the second rotating module, and the first rotating module, the second rotating module and the third rotating module form a mechanical arm;
the gripper, the gripper includes claw driving piece, connecting block and snatchs the portion, the connecting block sets up the third rotates the module and keeps away from second rotation module one end, the connecting block with the third rotates the module and rotates to be connected, the claw driving piece sets up the connecting block is kept away from third rotation module side, it is equipped with the position of snatching to snatch the portion, it deviates from to be equipped with the position one end of snatching and sets up on the connecting block to snatch the portion, snatch the portion with the connecting block is connected, snatch the portion with the claw driving piece rotates to be connected, so that claw driving piece drive snatchs the portion right it opens and shuts to snatch the position.
Optionally, the integrated intelligent heart rehabilitation assisting machine further comprises a camera assembly, the camera assembly is arranged on the third rotating module, and the shooting direction of a lens of the camera assembly is arranged in the same direction as the opening and closing direction of the grabbing position.
Optionally, the grabbing part comprises a first claw, a second claw, a first gear and a second gear, the first gear and the second gear are meshed and arranged on the connecting block away from one side of the claw driving part, the first gear and the second gear are rotationally connected with the claw driving part, the first claw and the second claw are respectively arranged on the first gear and the second gear which are meshed with each other, and the first claw and the second claw extend from one side of the third rotating module away from the first gear and the second gear, so that the grabbing driving part drives the first gear and the second gear to drive the first claw and the second claw to move oppositely.
Optionally, the first rotating module includes a first driving member rotatably connected to the fixed plate, and a first connecting frame disposed at an end of the first driving member away from the fixed plate.
Optionally, the second rotating module includes a second driving element and a second connecting frame, the second driving element is rotatably connected to the first connecting frame, and the second connecting frame is disposed at an end of the second driving element away from the first connecting frame.
Optionally, the third rotating module includes a third driving element and a fourth driving element, the third driving element is disposed at an end of the second driving frame away from the second driving element, the third driving element is rotatably connected to the second connecting frame, the fourth driving element is disposed at an end of the third driving element away from the second connecting frame, the connecting block is disposed at an end of the fourth driving element away from the third driving frame, and the connecting block is rotatably connected to the fourth driving block, so that the fourth driving block drives the connecting block to drive the first claw and the second claw to rotate;
the camera shooting assembly is arranged on one side of the third driving piece facing the grabbing part;
alternatively, the image pickup assembly is disposed on a side of the fourth driver facing the grip portion.
Optionally, recovered auxiliary machine of integration intelligence heart still includes carousel and carousel driving piece, the carousel driving piece sets up the base deviates from place face one side, the carousel sets up the carousel driving piece deviates from base one side, the carousel with the carousel driving piece rotates to be connected, the fixed plate sets up the carousel deviates from carousel driving piece one side.
For realizing the above-mentioned purpose, an intelligence heart rehabilitation auxiliary system, intelligence heart rehabilitation auxiliary system includes integration intelligence heart rehabilitation auxiliary machine, joint strength sensor, bracelet, master control chip and foretell integration intelligence heart rehabilitation auxiliary machine, the bracelet joint strength sensor first driving piece the second driving piece the third driving piece claw driving piece, integration intelligence heart rehabilitation auxiliary machine and camera shooting subassembly all with master control chip communication connection, master control chip is according to collecting the motion of data control integration intelligence heart rehabilitation auxiliary machine.
Optionally, the bracelet is worn on an arm of a patient, so that the bracelet collects physiological data of the patient and transmits the physiological data to the main control chip, and the main control chip adjusts the auxiliary exercise frequency of the integrated intelligent heart rehabilitation auxiliary machine according to the physiological data of the heart of the patient;
the force sensor is arranged at the joint of the patient, so that the force sensor collects joint force data and transmits the joint force data to the main control chip, and the main control chip adjusts the auxiliary exercise strength of the integrated intelligent heart rehabilitation auxiliary machine according to the joint force data of the patient.
Optionally, the intelligent heart rehabilitation assisting system includes a plurality of the integrated intelligent heart rehabilitation assisting machines, and the plurality of integrated intelligent heart rehabilitation assisting machines are respectively in communication connection with the main control chip.
According to the technical scheme, the first rotating module, the second rotating module and the third rotating module are sequentially arranged on the base, and form the mechanical arm. Because the first rotating module, the second rotating module and the third rotating module are connected in a rotating mode, the mechanical arm can rotate in different modes through the first rotating module, the second rotating module and the third rotating module, different actions of the mechanical arm can be achieved, and therefore the basis is made for heart rehabilitation training. Secondly, set up the connecting block on the third rotates the module, snatch portion and claw driving piece setting on the connecting block, snatch the portion and be connected with the claw driving piece for the claw driving piece can drive and snatch opening and shutting that the position was grabbed in the portion control of snatching, so that grasp patient's four limbs, carry out supplementary rehabilitation training. Meanwhile, the grabbing part and the claw driving part are arranged on the mechanical arm, so that the mechanical arm can drive the grabbing part to move at a set position. So that when doing heart rehabilitation training for the patient, cooperate with the portion of snatching through the arm jointly, do heart rehabilitation training with the patient according to setting for the action, so that improve patient's blood flow, thereby reach the recovered purpose in early days. Meanwhile, the heart rehabilitation training can avoid the occurrence of thrombus caused by long-time immobility of the patient, thereby influencing the health of the patient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an integrated intelligent heart rehabilitation assisting machine according to the present invention;
fig. 2 is a schematic structural view of a mechanical claw of the integrated intelligent heart rehabilitation assisting machine.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
41 | |
532 | |
| 2 | |
42 | |
533 | |
| 21 | |
5 | |
534 | |
| 22 | First connecting |
51 | |
6 | |
| 3 | |
52 | Connecting |
7 | |
| 31 | |
53 | Gripping |
71 | |
| 32 | Second connecting |
531 | |
8 | Rotary disc driving piece |
| 4 | Third rotating module |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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 only a part of the embodiments of the present invention, 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 invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an integrated intelligent heart rehabilitation assisting machine.
In an embodiment of the present invention, as shown in fig. 1 to 2, the integrated intelligent cardiac rehabilitation assisting machine includes:
the device comprises a base 1, wherein a fixing plate 71 is arranged on one side of the base 1;
a first rotating module 2, one end of the first rotating module 2 being disposed on the fixed plate 71, the first rotating module 2 being rotatably connected to the fixed plate 71;
the second rotating module 3 is arranged at one end, away from the fixed plate 71, of the first rotating module 2, and the second rotating module 3 is rotatably connected with the first rotating module 2;
one end of the third rotating module 4 is connected with one end of the second rotating module 3, which is far away from the first rotating module 2, the third rotating module is rotationally connected with the second rotating module 3, and the first rotating module 2, the second rotating module 3 and the third rotating module 4 form a mechanical arm;
In the present embodiment, one side of the base 1 is disposed on the placing surface, and the other side is disposed with the fixing plate 71, and the overall shape of the base 1 is various, such as a rectangular parallelepiped, a cube, a cylinder, etc., and the present invention is not limited in particular, and can be used as a support. The number of the fixing plates 71 may be one and how fast, and is not particularly limited herein, and may be used as a support, for example, the number of the fixing plates 71 is two, and the first rotating module 2 is disposed between the two fixing plates 71, so that the two fixing plates 71 support the first rotating module 2 together to increase the stability of the first rotating module 2.
The overall shape of the first rotating module 2 may be a rectangular parallelepiped, a cube, or the like that can be supported and fixed, and is not particularly limited herein. The first rotating module 2 is rotatably provided at one end of the fixed plate 71 remote from the base, and the first rotating module 2 is rotatably connected to the fixed plate 71, so that the first rotating module 2 can be rotated on the fixed plate 71 to adjust the angle of the first rotating module 2 to the fixed plate 71. The overall shape of the second rotating module 3 may be a rectangular parallelepiped, a cube, or the like, which can be used for both supporting and fixing, and is not particularly limited herein. The second rotating module 3 has a rotating end provided on the first rotating module 2 remote from the rotating end, and the second rotating module 3 is rotatably connected with the first rotating module 2 so that the second rotating module 3 can rotate on the first rotating module 2. The third rotating module 4 has a rotating end disposed at a far end of the second rotating module 3 from the rotating end, and the third rotating module 4 is rotatably connected to the second rotating module 3, so that the third rotating module 4 can rotate on the second rotating module 3. First rotation module 2, second rotate module 3 and third and rotate module 4 and once connect formation arm, and the arm rotates the different turned angle of module 3 and third through first rotation module 2, second, realizes the flexible and buckling of arm to realize different actions. The total length of the mechanical arm needs to be larger than the width of the double bed where the served patient is located after the mechanical arm is formed, so that the mechanical arm only needs to do auxiliary rehabilitation movement for both hands of the patient on one side, and the situation that the length of the mechanical arm is insufficient after bending and cannot meet the set requirement is avoided.
The shape and size of the connecting block 52 are not particularly limited, and there is only a sufficient position for mounting the claw driving piece 51 and the grasping portion 53. The claw driving member 51 is disposed on one side of the connecting block 52, and may be any side of the connecting block 52 away from the third rotating module 4, and the claw driving member 51 may be mounted without any specific limitation. The overall shape of the grabbing position can be realized by only grabbing four limbs of a person. In order to adapt to different people, the maximum grabbing width of the grabbing position is equivalent to the distance from the wrist to the finger tip of an ordinary adult, and the minimum grabbing width is 3 cm. Because the recovered auxiliary machine of integration intelligence heart is when doing the training aid for the foot, only need the recovered auxiliary machine of integration intelligence heart snatch the ankle drive auxiliary motion can, when the recovered auxiliary machine of integration intelligence heart is auxiliary motion for patient's hand only need snatch the wrist and do auxiliary motion can, because the size of wrist and ankle is different alone, the patient that only needs to do auxiliary motion can both realize doing auxiliary motion for patient's hand and foot in above-mentioned within range. Thereby improving the application range of the integrated intelligent heart rehabilitation auxiliary machine. Grabbing portion 53 is kept away from grabbing position one end and is set up on connecting block 52, and grabbing portion 53 can be located connecting block 52 and keep away from any side of third rotation module 4, only need set up after the completion avoid with other parts interfere can. Grabbing portion 53 keeps away from and grabs position one end and be connected with claw driving piece 51, and the type of connection does not do specifically the restriction, only need for to grab the position provide power can to claw driving piece 51 controls opening and shutting of grabbing the position, thereby reaches the four limbs of grabbing different people and carries out training aiding's purpose.
During the use, can be with the setting of integration intelligence heart rehabilitation auxiliary machine patient bedside that needs are heart rehabilitation training, when using the patient for can't moving the bullet or for the patient of no strength, integration intelligence heart rehabilitation auxiliary machine can grasp patient's wrist or ankle through grabbing the position and do heart rehabilitation training according to setting for the action to improve blood and flow, thereby reach the recovered purpose in early days. Meanwhile, the heart rehabilitation training can avoid the occurrence of thrombus caused by long-time immobility of the patient, thereby influencing the health of the patient. When the patient can use strength, the patient pushes the mechanical arm to do impedance movement by grabbing the grabbing position, so that the aim of training in different stages is fulfilled, and the use range is expanded
The integrated intelligent heart rehabilitation assisting machine is characterized in that a first rotating module 2, a second rotating module 3 and a third rotating module 4 are sequentially arranged on a base 1, and the first rotating module 2, the second rotating module 3 and the third rotating module 4 form a mechanical arm. The total length of the formed mechanical arm needs to be larger than the width which is twice of the bed where the served patient is located, so that the mechanical arm can do auxiliary rehabilitation movement for both hands of the patient only by one side, and the situation that the length of the mechanical arm is insufficient after bending and cannot meet the set requirement is avoided. Because the first rotation module 2, the second rotation module 3 and the third rotation module 4 are connected in a rotating mode, the mechanical arm can rotate through the first rotation module 2, the second rotation module 3 and the third rotation module 4, different actions of the mechanical arm can be achieved, and therefore the heart rehabilitation training is based. Secondly, the connecting block 52 is arranged on the third rotating module 4, the grabbing part 53 and the claw driving part 51 are arranged on the connecting block 52, the grabbing part 53 is connected with the claw driving part 51, so that the claw driving part 51 can drive the grabbing part 53 to control the opening and closing of the grabbing position, in order to adapt to different people, the grabbing maximum width of the grabbing position is equivalent to the distance from the wrist to the fingertip of an ordinary adult, and the grabbing minimum width is 3 cm. Therefore, the auxiliary training device is convenient to adapt to different people for auxiliary training.
Meanwhile, since the grasping portion 53 and the claw drive 51 are provided on the robot arm, the robot arm can drive the grasping portion 53 to move at a set position. So that when doing heart rehabilitation training for the patient, cooperate with portion 53 through arm and snatching jointly, do heart rehabilitation training with the patient according to setting for the action, so that improve patient's blood flow, thereby reach the recovered purpose in early days. Meanwhile, the heart rehabilitation training can avoid the occurrence of thrombus caused by long-time immobility of the patient, thereby influencing the health of the patient. Secondly, when the patient can use strength, the patient pushes the mechanical arm to do impedance movement by grabbing the grabbing position, so that the aim of training in different stages is fulfilled, and the use range is enlarged.
Specifically, as shown in fig. 1, the integrated intelligent heart rehabilitation assisting machine further includes a camera assembly 6, the camera assembly 6 is disposed on the third rotating module 4, and a shooting direction of a lens of the camera assembly 6 is disposed in the same direction as an opening and closing direction of the grabbing position.
In order to allow the grabbing part 53 to accurately grab the set position, the camera module 6 is arranged on the third rotating module 4, and meanwhile, the lens of the camera module is prevented from being shielded by foreign matters, so that the situation that the mechanical arm cannot move to the position needing to be grabbed to grab the camera module to cause incapability of working is avoided. When the grabbing part 53 works, the camera assembly 6 compares the set picture with the current picture, when the picture is compared to be the same as the set picture, the mechanical arm controls the mechanical claw 5 to the set height, and the grabbing part 53 is controlled by the claw driving part 51 to grab up the corresponding four limbs for assisting exercise. When carrying out heart rehabilitation training for the patient, the recovered auxiliary machine of integration intelligence heart judges that the patient can be crooked towards that direction through photographic assembly shooting picture, and the recovered auxiliary machine of integration intelligence heart judges the direction of motion through setting for the procedure, avoids causing the injury for the patient, simultaneously, is convenient for carry out heart rehabilitation training according to setting for the direction to reach the purpose of taking exercise according to setting for.
As shown in fig. 2, the grasping portion 53 includes a first claw 531, a second claw 532, a first gear 533 and a second gear 534, the first gear 533 and the second gear 534 are engaged with each other and disposed on a side of the connecting block 52 away from the claw driving member 51, the first gear 533 and the second gear 534 are rotatably connected to the claw driving member 51, the first claw 531 and the second claw 532 are disposed on the first gear 533 and the second gear 534 engaged with each other, respectively, the first claw 531 and the second claw 532 extend from a side of the first gear 533 and the second gear 534 away from the third rotating module 4, so that the claw driving member drives the first gear 533 and the second gear 534 to move the first claw 531 and the second claw 532 toward each other. The first gear 533 and the second gear 534 may be disposed on the side of the connecting block 52 opposite to the pawl driving member 51, or may be disposed on the same side, and the power is not particularly limited and may be transmitted to the first gear 533 and the second gear 534. The shape of the first claw 531 is various, for example, the whole body is in a rectangular plate shape or a cylinder, and there is no specific limitation here, and only the first claw 531 needs to be a gripper capable of gripping an object, and the length of the first claw 531 is equivalent to the distance from the wrist to the fingertip of an ordinary adult. Similarly, the shape of the second claw 532 is various, such as a rectangular plate or a cylinder, and the second claw is not limited herein, and only needs to be a claw capable of grabbing an object, and the length of the second claw 532 is equivalent to the distance from the wrist to the fingertip of an ordinary adult, so that the four limbs of different people can be grabbed to perform auxiliary movement when the first claw 531 and the second claw 532 form a grabbing position. The first claw 531 and the first gear 533 are fixedly connected, so as to increase the connection strength of the first claw 531 and the first gear 533. The second pawl 532 and the second gear 534 are fixedly coupled to increase the strength of the second to second gear 534 coupling. When the first claw 531 and the second claw 532 work, the grabbing driving element controls the first gear 533 and the second gear 534 to be meshed and rotated relatively, so that the first claw 531 and the second claw 532 can be opened and closed, the purpose of grasping the wrist and the ankle of a patient is achieved, and the heart rehabilitation training of the patient is facilitated.
As shown in fig. 1, the first rotating module 2 includes a first driving member 21 and a first connecting frame 22, the first driving member 21 is rotatably connected to the fixing plate 71, and the first connecting frame 22 is disposed at an end of the first driving member 21 away from the fixing plate 71. The second rotating module 3 comprises a second driving member 31 and a second connecting frame 32, the second driving member 31 is rotatably connected with the first connecting frame 22, and the second connecting frame 32 is arranged at one end of the second driving member 31 departing from the first connecting frame 22. The third rotating module 4 comprises a third driving element 41 and a fourth driving element 42, the third driving element 41 is disposed at an end of the second driving frame away from the second driving element 31, the third driving element 41 is rotatably connected to the second connecting frame 32, the fourth driving element 42 is disposed at an end of the third driving element 41 away from the second connecting frame 32, the connecting block 52 is disposed at an end of the fourth driving element 42 away from the third driving frame, and the connecting block 52 is rotatably connected to the fourth driving element, so that the fourth driving element drives the connecting block 52 to drive the first claw 531 and the second claw 532 to rotate; the camera assembly 6 is arranged on the side of the third driving piece 41 facing the grabbing part 53; alternatively, the camera module 6 is disposed on the side of the fourth driver 42 facing the grip portion 53.
The power type of the first driving member 21 is various, and for example, the power type of the first driving member 21 is a first motor, and the first motor can rotate one side of the first motor to be rotatably connected to the fixing plate 71, so that the first motor can rotate on the fixing plate 71 to adjust the angle. The shape of the first connecting frame 22 is not particularly limited and can be used for supporting and fixing, and the first connecting frame 22 is disposed at one end of the first driving member 21 away from the rotation end so as to connect the first connecting frame 22 with the second driving member 31. Similarly, the overall shape of the second driving member 31 may be a rectangular parallelepiped, a square, or the like, which can be used for both supporting and fixing, and is not particularly limited herein. The power type of the second driving member 31 can be various, for example, the power type of the second driving member 31 is a second motor, and the second motor can rotate one side of the second motor to be rotatably connected to the first driving member 21, so that the second motor can rotate on the first driving member 21 to adjust the rotation angle. The shape of the second connecting frame 32 is not particularly limited and can be used for supporting and fixing, and the second connecting frame 32 is disposed at the end of the second driving member 31 away from the rotation end, so that the second connecting frame 32 is connected with the third driving member 41.
The overall shape of the third driving member 41 may be a rectangular parallelepiped, a square, or the like, which can be used for supporting and fixing, and is not particularly limited herein. The power type of the third driving element 41 is various, for example, the third driving element 41 is a third motor, and the third motor can rotate and is connected to the second driving element 31, so that the third motor can rotate on the second driving element 31 to adjust the rotation angle. The overall shape of the fourth driving member 42 may be a rectangular parallelepiped, a square, or the like, which can be used for both support and fixation, and is not particularly limited herein. There are various types of power of the fourth driver 42, and for example, the fourth motor, the fourth cylinder, or the fourth driver 42 may provide rotational power. The end of the fourth driving member deviated from the rotation end is disposed at the end of the third driving member 41 far from the second driving member 31, so that the third driving member 41 drives the fourth driving member 42 to move, and meanwhile, the connecting block is disposed on the fourth driving member 42, so that the fourth driving member 42 drives the connecting block to rotate. In order for the camera module 6 to be able to capture the set ankle or wrist, the camera module 6 may be disposed in the capturing direction of the third driving member 41 or the fourth driving member 42 toward the first claw 531 and the second claw 532, so that the camera module 6 can capture the picture for the heart rehabilitation training.
As shown in fig. 1, in order to enable the mechanical arm to rotate in the plane, the integrated intelligent heart rehabilitation assisting machine further comprises a turntable 7 and a turntable driving part 8, the turntable driving part 8 is arranged on one side of the base 1, which is away from the placing surface, the turntable 7 is arranged on one side of the turntable driving part 8, which is away from the base 1, the turntable 7 is rotatably connected with the turntable driving part 8, and the fixing plate 71 is arranged on one side of the turntable 7, which is away from the turntable driving part 8.
Further, in order to increase the flexibility of the device, the recovered auxiliary system of intelligence heart includes the recovered auxiliary system of intelligence heart, the recovered auxiliary system of intelligence heart includes the recovered auxiliary machine of integration intelligence heart, joint strength sensor, bracelet, main control chip and foretell recovered auxiliary machine of integration intelligence heart, the bracelet joint strength sensor first driving piece 21 the second driving piece 31 the third driving piece 41 claw driving piece 51, the recovered auxiliary machine of integration intelligence heart and camera shooting component 6 all with main control chip communication connection, main control chip is according to collecting the recovered auxiliary machine motion of data control integration intelligence heart. The bracelet is worn on the arm of a patient, so that the bracelet collects the physiological data of the human body of the patient and transmits the physiological data to the main control chip, and the main control chip adjusts the auxiliary exercise frequency of the integrated intelligent heart rehabilitation auxiliary machine according to the physiological data of the heart of the patient; the force sensor is arranged at the joint of the patient, so that the force sensor collects joint force data and transmits the joint force data to the main control chip, and the main control chip adjusts the auxiliary exercise strength of the integrated intelligent heart rehabilitation auxiliary machine according to the joint force data of the patient.
The type of the joint force sensor is not particularly limited, and only the joint force data within a set range can be tested, and the tested data is transmitted to the main control chip so that the main control chip can collect the data to perform the next action. The joint strength data includes impedance training force data, auxiliary exercise strength and the like, so that the main control chip can analyze the strength to adjust, for example,
when the auxiliary training is performed, the main control chip receives the force data of the joint force sensor, the force data is larger than or equal to a set value, the main control chip controls the mechanical arm to continue to apply pressure, and similarly, when the force data monitored by the main control chip through the force sensor is smaller than the set value, the main control chip controls the mechanical arm to continue to apply pressure until the set value is reached. The number of the joint sensors is not particularly limited, and the joint sensors are preferably arranged at all joints of four limbs in the embodiment, so that the integrated intelligent heart rehabilitation assisting machine can monitor during working, and the harm to a patient caused by overlarge strength of a certain part is avoided.
Similarly, when the resistance training is performed, the main control chip receives the force data of the joint force sensor, the force data is larger than or equal to the set value, the main control chip controls the mechanical arm to stop pressing continuously, and meanwhile, when the force data monitored by the main control chip through the force sensor is smaller than the set value, the main control chip controls the mechanical arm to continue pressing and operating until the set value is reached.
The type of bracelet does not do specific restriction, only need can test out data changes such as patient's heartbeat, blood pressure and rhythm of the heart to main control chip is passed to with patient's heart physiological data to the bracelet, and main control chip carries out heart rehabilitation training's frequency based on heart physiological data control integration intelligence heart rehabilitation auxiliary machinery. The heart rehabilitation training frequency is the speed of completing one action training, so that the main control chip can adjust and train according to the data received by the bracelet. For example, when the physiological data of the heart is blood pressure, when the blood pressure measured by the bracelet exceeds a set value (the set value is a blood pressure value of the age group of the patient), it indicates that the training intensity is too high, the training intensity should be reduced, and the frequency of the integrated intelligent heart rehabilitation assisting machine for performing the heart rehabilitation training is reduced to reduce the blood pressure. Similarly, the heart physiological data can also be heart rate, and the control flow and logic are basically the same. The bracelet test data can also be transmitted to a computer for the heartbeat data of the patient, so that the patient can monitor in real time during the heart rehabilitation training, and the latest physiological data under the condition can be known.
In order to enable the hands and the feet of the patient to perform the heart rehabilitation training at the same time, the number of the integrated intelligent heart rehabilitation auxiliary machines can be two, three or four, and the like, and the number is not limited specifically here. For example, the number of the integrated intelligent heart rehabilitation assisting machines is two, one is arranged at one end of the patient close to the foot, and the other is arranged at one side of the hand of the patient. The master control chip is respectively connected with an integrated intelligent heart rehabilitation assisting machine arranged at one end of the patient close to the foot and an integrated intelligent heart rehabilitation assisting machine arranged at one side of the hand of the patient. So that the master control chip simultaneously controls the frequency of the heart rehabilitation training of the integrated intelligent heart rehabilitation assisting machine arranged on one side of the hand of the patient and the integrated intelligent heart rehabilitation assisting machine arranged on one end, close to the foot, of the patient. Similarly, the main control chip respectively controls the corresponding integrated intelligent heart rehabilitation assisting machines to the force sensors at different parts, so that the corresponding integrated intelligent heart rehabilitation assisting machines can be adjusted according to the trained force, and accidents caused by too large force which cannot be sensed are avoided. When the heart rehabilitation assisting machine is used, two integrated intelligent heart rehabilitation assisting machines are arranged to perform heart rehabilitation training on hands and feet simultaneously, so that the training effect is improved, and the problems that the effect is poor when a single hand or a single foot is used for training are solved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An integrated intelligent cardiac rehabilitation assistance machine, comprising:
the fixing plate is arranged on one side of the base;
one end of the first rotating module is arranged on the fixing plate, and the first rotating module is rotatably connected with the fixing plate;
the second rotating module is arranged at one end, away from the fixed plate, of the first rotating module and is in rotating connection with the first rotating module;
a third rotation module, one end of the third rotation module is connected with the end of the second rotation module far away from the first rotation module, the third rotation module is rotatably connected with the second rotation module, and the first rotation module and the second rotation module
The block and the third rotating module form a mechanical arm;
the gripper, the gripper includes claw driving piece, connecting block and snatchs the portion, the connecting block sets up the third rotates the module and keeps away from second rotation module one end, the connecting block with the third rotates the module and rotates to be connected, the claw driving piece sets up the connecting block is kept away from third rotation module side, it is equipped with the position of snatching to snatch the portion, it deviates from to be equipped with the position one end of snatching and sets up on the connecting block to snatch the portion, snatch the portion with the connecting block is connected, snatch the portion with the claw driving piece rotates to be connected, so that claw driving piece drive snatchs the portion right it opens and shuts to snatch the position.
2. The integrated intelligent heart rehabilitation assisting machine according to claim 1, further comprising a camera assembly, wherein the camera assembly is arranged on the third rotating module, and a shooting direction of a lens of the camera assembly is arranged in the same direction as an opening and closing direction of the grabbing position.
3. The integrated intelligent heart rehabilitation assisting machine according to claim 1, wherein the grasping portion comprises a first jaw, a second jaw, a first gear and a second gear, the first gear and the second gear are engaged with each other and are disposed on a side of the connecting block away from the jaw driving member, the first gear and the second gear are rotatably connected to the jaw driving member, the first jaw and the second jaw are disposed on the first gear and the second gear which are engaged with each other, respectively, and the first jaw and the second jaw extend from a side of the first gear and the second gear which is away from the third rotating module, so that the jaw driving member drives the first gear and the second gear to drive the first jaw and the second jaw to move towards each other.
4. The integrated intelligent cardiac rehabilitation assisting machine according to claim 1, wherein the first rotating module comprises a first driving member and a first connecting frame, the first driving member is rotatably connected with the fixed plate, and the first connecting frame is arranged at one end of the first driving member, which is far away from the fixed plate.
5. The integrated intelligent cardiac rehabilitation assisting machine according to claim 4, wherein the second rotating module comprises a second driving member and a second connecting frame, the second driving member is rotatably connected with the first connecting frame, and the second connecting frame is arranged at one end of the second driving member, which is far away from the first connecting frame.
6. The integrated intelligent heart rehabilitation assisting machine according to claim 5, wherein the third rotating module comprises a third driving member and a fourth driving member, the third driving member is disposed at an end of the second driving frame opposite to the second driving member, the third driving member is rotatably connected to the second connecting frame, the fourth driving member is disposed at an end of the third driving member opposite to the second connecting frame, the connecting block is disposed at an end of the fourth driving member opposite to the third driving frame, and the connecting block is rotatably connected to the fourth driving block, so that the fourth driving block drives the connecting block to rotate the first jaw and the second jaw;
the camera shooting assembly is arranged on one side of the third driving piece facing the grabbing part;
alternatively, the image pickup assembly is disposed on a side of the fourth driver facing the grip portion.
7. The integrated intelligent heart rehabilitation assisting machine according to claim 1, further comprising a turntable and a turntable driving member, wherein the turntable driving member is disposed on a side of the base facing away from the placement surface, the turntable is disposed on a side of the turntable driving member facing away from the base, the turntable is rotatably connected to the turntable driving member, and the fixing plate is disposed on a side of the turntable facing away from the turntable driving member.
8. The utility model provides an intelligence heart rehabilitation auxiliary system, its characterized in that, intelligence heart rehabilitation auxiliary system include integrated intelligence heart rehabilitation auxiliary machine, joint strength sensor, bracelet, master control chip and any one in claims 1-7 integrated intelligence heart rehabilitation auxiliary machine, the bracelet the joint strength sensor the first driving piece the second driving piece the third driving piece claw driving piece, integrated intelligence heart rehabilitation auxiliary machine and camera shooting component all with master control chip communication connection, master control chip is according to collecting the motion of data control integrated intelligence heart rehabilitation auxiliary machine.
9. The intelligent cardiac rehabilitation assistance system according to claim 8, wherein the bracelet is worn on the arm of the patient, so that the bracelet collects the physiological data of the patient and transmits the physiological data to the main control chip, so that the main control chip can adjust the auxiliary exercise frequency of the integrated intelligent cardiac rehabilitation assistance machine according to the physiological data of the patient;
the force sensor is arranged at the joint of the patient, so that the force sensor collects joint force data and transmits the joint force data to the main control chip, and the main control chip adjusts the auxiliary exercise strength of the integrated intelligent heart rehabilitation auxiliary machine according to the joint force data of the patient.
10. The intelligent cardiac rehabilitation assistance system of claim 9, wherein the intelligent cardiac rehabilitation assistance system comprises a plurality of the integrated intelligent cardiac rehabilitation assistance machines, and the plurality of integrated intelligent cardiac rehabilitation assistance machines are respectively in communication connection with a main control chip.
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Application publication date: 20210817 |