CN114367092B - Assisted chest expansion exercise cardiopulmonary rehabilitation training device - Google Patents

Abstract

The invention provides a cardiopulmonary rehabilitation training device for assisting chest expansion exercise. , the driving device drives the relative rotation between the first rotating part and the second rotating part of the first joint and the second joint, the first arm and the second arm are used to connect with the arm of the trainer, and the driving device and the second rotating part A friction transmission mechanism is arranged therebetween, so that the first arm and the second arm can swing together with the trainer's arm in an active or passive manner in a controllable torque manner. Through the set auxiliary mechanical arm, with the friction transmission mechanism of controllable torque, it can help trainers to perform active or passive chest expansion on the bed, so as to help the bedridden trainers to improve their cardiopulmonary function, thereby improving blood oxygen saturation, and reducing the weight of the trainers. The symptoms of chest tightness and shortness of breath can greatly slow down the process of heart failure.

Description

Assisted chest expansion exercise cardiopulmonary rehabilitation training device

technical field

The invention relates to the field of rehabilitation protective gear for medical equipment, in particular to a cardiopulmonary rehabilitation training device for assisting chest expansion exercise.

Background technique

At present, due to changes in life patterns, such as irregular diet, staying up late, and high psychological pressure, heart-related diseases are showing a younger trend, such as high blood pressure, arrhythmia, arrhythmia, myocardial infarction, sudden death and other diseases. Cardiopulmonary function can affect the blood oxygen saturation of the human body, and also has a greater impact on the human immune system. Patients complain of chest tightness and shortness of breath, and chest expansion exercises can effectively enhance cardiopulmonary function. However, some bedridden patients, such as stroke patients, have great difficulty in active chest expansion. Passive exercise is assisted by nursing staff, which leads to high workload of nursing staff. CN113786581A describes a device for cardiopulmonary function rehabilitation training, but the structure is relatively complicated, and it is not suitable for bedridden patients. CN109223441A records a human upper limb rehabilitation training and action assistance system based on Kinect sensor, records a sensor capable of recognizing human motion, and records an exoskeleton device, but does not record the specific structure of the corresponding exoskeleton device, only Functional description. Further, for bedridden patients, there are two modes of active motion and passive motion, that is, for some bedridden patients or a period of rehabilitation stage, auxiliary devices need to help bedridden patients to achieve corresponding passive chest expansion motion, while for other bedridden patients or In another stage of rehabilitation, the chest expansion exercise can be actively realized, but the auxiliary device needs to provide active adjustable damping to increase the intensity of the chest expansion exercise to further enhance the cardiopulmonary function. At present, there is no corresponding equipment that can realize this function. .

The driving of the human blood circulation system is the result of the overall movement including the heart and muscle movement. The muscle movement combined with the structure of the venous valve can effectively promote blood circulation. The lack of muscle movement in bedridden patients greatly increases the burden on the heart, and it is easy to increase the burden on the heart. ——Decrease in cardiopulmonary function——The vicious circle of further increase of heart burden. The fist-clenching action can effectively promote blood circulation, but there is no measure that can effectively guide the maximum effect of the fist-clenching action.

In the rehabilitation process of coronary atherosclerotic heart disease, it is necessary to perform remote ischemic adaptation training, that is, short, repeated, non-invasive ischemic training in the limbs can promote active substances in the blood, such as bradykinin, adrenal The production of glycosides and nitric oxide can increase the tolerance of the myocardium to ischemia and hypoxia, reduce the myocardial damage caused by ischemia and hypoxia for a long time, and improve myocardial blood supply by promoting the formation of collateral blood vessels in the heart. Perfusion injury can effectively reduce the recurrence rate and mortality of cardiovascular disease. The current measure is to block the blood of the limbs by means of airbags, which has the problems of large volume and inconvenient use, and it is difficult to combine with other training.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an auxiliary chest expansion exercise cardiopulmonary rehabilitation training device, which can provide active or passive auxiliary chest expansion exercise for trainers to improve the cardiopulmonary function of the training personnel. In the preferred scheme, it can guide training The staff can grasp the best time to make a fist, realize the synergy with the pumping function of the heart, further promote the blood circulation of the body, and at the same time assist the training staff to carry out the remote ischemia adaptation training.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: a cardiopulmonary rehabilitation training device for auxiliary chest expansion exercise, the base is hinged with the first arm through the first joint, the first arm is hinged with the second arm through the second joint, A driving device is provided on the first joint and the second joint, and the driving device drives the relative rotation between the first rotating part and the second rotating part of the first joint and the second joint, and the first arm and the second arm are used to communicate with the training personnel. The arm is connected, and a friction transmission mechanism is arranged between the driving device and the second rotating part, so that the first arm and the second arm can swing together with the trainer's arm in an active or passive manner in a controllable torque manner .

In a preferred solution, the first arm is provided with a first telescopic part, the second arm is provided with a second telescopic part, and the structures of the first telescopic part and the second telescopic part are: the first connecting part slides with the second connecting part In the socket connection, an electric push rod is arranged between the first connecting part and the second connecting part to drive the relative sliding between the first connecting part and the second connecting part.

In a preferred solution, a handle is provided at the free end of the second arm, and the handle extends laterally to facilitate the training personnel to hold;

The base is located at the shoulder and neck of the trainer in the sleeping position. The first joint is located above the shoulder and is roughly coaxial with the center of rotation of the trainer's shoulder. The second joint is located above the elbow when the trainer's arms are extended to both sides. The two joints are roughly coaxial with the rotation center of the trainer's elbow, and the handle is roughly coaxial with the axis of the palm of the trainer's stretched arm to naturally make a fist.

In a preferred solution, a binding tape is provided on the first arm and/or the second arm, the binding tape is used to bind the arms of the trainer, and a heart sensor is provided on the binding tape for collecting the heartbeat data of the trainer;

A vibrating device is arranged on the handle, and the vibrating device vibrates according to the frequency of the heartbeat, so as to guide the training staff to make a fist for training.

In a preferred solution, a button is provided at the end of the handle, and the button is used to control the action of the entire device;

An elastic layer is arranged on the outer wall of the handle, radially distributed elastic columns are arranged at the lower part of the elastic layer, and the vibration device is fixed on the elastic layer.

In a preferred solution, a binding tape is provided on the first arm and/or the second arm, one end of the binding tape is detachably and fixedly connected to the arm of the first arm or the second arm, and the other end of the binding tape is wound with the winding rod Connection, the winding rod is rotatably supported in the arm, the winding rod is connected with the winding motor through the transmission mechanism, the binding tape is used to tie the arm of the trainer for a period of time, and the winding motor works in a fixed torque mode.

In a preferred solution, the structure of the driving device is as follows: the first rotating part and the second rotating part are connected by a bearing socket, the reducer housing of the reducer is fixedly connected to the first rotating part, and the output part of the reducer is connected by friction The transmission mechanism is connected with the second rotating part, and the joint motor is connected with the input part of the reducer.

In a preferred solution, the reducer is a planetary reducer or a cycloidal pinwheel reducer, and the friction transmission mechanism is an electromagnetic friction transmission mechanism or a friction plate transmission mechanism.

In a preferred solution, the reducer is a planetary reducer or a cycloid reducer, and the joint motor, the reducer, the first rotating part and the second rotating part are hollow structures;

A tensioning motor is arranged in the motor output shaft of the joint motor, the tensioning motor is fixedly connected with the screw rod, and the screw rod extends into the hollow structure of the second rotating part;

The transmission sleeve is sleeved with the second rotating part, the transmission sleeve is located in the hollow structure of the first rotating part and the second rotating part, one end of the transmission sleeve is fixedly connected with the output part of the reducer, and the outer wall of the transmission sleeve is provided with The radially distributed through grooves are provided with sliding friction plates in the through grooves, and the outer edges of the friction plates are in contact with the inner wall of the transmission sleeve;

A conical nut is arranged in the transmission sleeve, the conical nut is in contact with the inner edge of the friction plate, the position where the friction plate is in contact with the conical nut is provided with an inclined surface, and the conical nut is connected with the screw thread.

In a preferred solution, the reducer is a planetary reducer or a cycloid reducer, and the joint motor, the reducer, the first rotating part and the second rotating part are hollow structures;

A tensioning motor is arranged in the motor output shaft of the joint motor, the tensioning motor is fixedly connected with the screw rod, and the screw rod extends into the hollow structure of the second rotating part;

The transmission sleeve is sleeved with the second rotating part, the transmission sleeve is located in the hollow structure of the first rotating part and the second rotating part, one end of the transmission sleeve is fixedly connected with the output part of the reducer, and the transmission sleeve part adopts elastic deformation The material or structure is provided with a tapered surface on the inner wall of the elastically deformed material or structure, and a tapered nut is provided at the position of the tapered surface, and the tapered nut is connected with the screw thread.

The invention provides a cardiopulmonary rehabilitation training device for assisting chest expansion exercise. The auxiliary mechanical arm is provided and cooperates with a friction transmission mechanism with controllable torque to help trainers perform active or passive chest expansion in bed, so as to help the training in bed The training personnel can improve the cardiopulmonary function, thereby increasing the blood oxygen saturation, reducing the symptoms of chest tightness and shortness of breath of the trainers, reducing the symptoms of cardiac enlargement caused by the self-compensating adjustment of the heart, and greatly slowing down the process of heart failure. In a preferred solution, the heart rate is collected and the heart rate is used to guide the timing of making a fist, so as to improve the effect of making a fist on blood circulation, increase the oxygen carrying capacity of the blood, and further improve the cardiopulmonary function. At the same time of training, the set automatic ligation device can carry out remote ischemia adaptive training according to the set program, so as to increase the tolerance of myocardium to ischemia and hypoxia. The invention can greatly reduce the work intensity of the nursing staff, greatly improve the cardiopulmonary function of the bedridden training staff, and promote the training staff to speed up the recovery, and has a simple structure and convenient use.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:

Figure 1 is a side view of the head of the bed when the present invention is in use.

Figure 2 is a side view of the head of the present invention.

Figure 3 is a top view of the present invention.

FIG. 4 is a partial cross-sectional view taken along line A-A of FIG. 3 .

FIG. 5 is a partial cross-sectional view taken along line B-B of FIG. 4 .

FIG. 6 is a schematic structural diagram of an automatic binding device.

FIG. 7 is a view from the direction C of FIG. 3 .

FIG. 8 is a schematic structural diagram of the first telescopic part and the second telescopic part of the present invention.

FIG. 9 is a schematic diagram of another optional structure of the first joint and the second joint of the present invention.

In the figure: base 1, first arm 2, second arm 3, handle 4, elastic layer 41, elastic column 42, button 43, vibration device 44, second joint 5, first joint 6, reducer 601, joint motor 602, tensioning motor 603, first rotating part 604, second rotating part 605, motor output shaft 606, reducer housing 607, transmission sleeve 608, bearing 609, friction plate 610, conical nut 611, screw 612, Friction layer 613, trainer 7, first telescopic part 8, first connecting part 81, second connecting part 82, electric push rod 83, automatic binding device 9, winding rod 91, transmission gear 92, winding motor 93, Binding belt 94 , winding gear 95 , heart sensor 96 , arm part 97 , second telescopic part 10 .

Detailed ways

Example 1:

As shown in Figures 1 to 3, a cardiopulmonary rehabilitation training device for assisting chest expansion exercise, both sides of the base 1 are hinged with the first arm 2 through the first joint 6, and the first arm 2 is hinged with the second arm 3 through the second joint 5 , a driving device is provided on the first joint 6 and the second joint 5, and the driving device drives the relative rotation between the first rotating part 604 and the second rotating part 605 of the first joint 6 and the second joint 5, and the first arm 2 and The second arm 3 is used to connect with the arm of the trainer 7 , and FIG. 1 shows a schematic diagram of the trainer 7 lying in the lying position, looking down from the top of the head. Preferably, the first arm 2 or the second arm 3 is provided with The binding device is bound on the arm of the trainer 7 , and the hand of the trainer 7 is held on the handle 4 . Preferably, for the training personnel 7 with poor physical strength, gloves are provided on the handle 4 for fixing the hands of the training personnel. A friction transmission mechanism is provided between the driving device and the second rotating part 605, so that the first arm 2 and the second arm 3 can swing together with the arm of the trainer 7 in an active or passive manner in a controllable torque manner . Due to the different states of the trainers 7, some trainers 7 have good physical strength and can actively do chest expansion exercises, but the amount of exercise is insufficient. At this time, when the first arm 2 and the second arm 3 are lifted, the first rotating part 604 and the The friction transmission mechanism between the two rotating parts 605 is loose fit, the driving device does not exert force, and the first arm 2 and the second arm 3 swing passively, thereby increasing the exercise amount of the trainer 7 . When the first arm 2 and the second arm 3 are put down, the friction transmission mechanism between the first rotating part 604 and the second rotating part 605 is a tight fit to buffer the impact when the first arm 2 and the second arm 3 are put down. For the trainer 7 with better upper limb strength, when lifting the first arm 2 and the second arm 3, the friction transmission mechanism between the first rotating part 604 and the second rotating part 605 is a tight fit, and the driving device provides a reverse torque , to further increase the amount of exercise. However, when the physical strength of the trainer 7 is not good, when the first arm 2 and the second arm 3 are raised and oriented, the friction transmission mechanism between the first rotating part 604 and the second rotating part 605 is a tight fit, and the driving device drives the The first arm 2 and the second arm 3 swing, and the arm of the trainer 7 swings with it, thereby assisting the trainer 7 to complete the chest expansion exercise, increasing the blood oxygen saturation through the chest expansion exercise, reducing the symptoms of chest tightness and shortness of breath, and slowing down the process of heart failure. .

Example 2:

On the basis of Embodiment 1, the preferred solution is shown in Figures 1, 2, and 8. The first arm 2 is provided with a first telescopic portion 8, the second arm 3 is provided with a second telescopic portion 10, and the first telescopic portion 8 and the second telescopic part 10 are structured as follows: the first connecting part 81 and the second connecting part 82 are slidably connected, and the cross-section of the sliding sleeve structure is preferably a circle, optionally a rectangle. An electric push rod 83 is arranged between the second connection parts 82 , that is, one end of the electric push rod 83 is connected to the first connection part 81 , the other end of the electric push rod 83 is connected to the second connection part 82 , and the electric push rod 83 is a commercial The products sold are used to drive the relative sliding between the first connecting part 81 and the second connecting part 82 . With this structure, the lengths of the first arm 2 and the second arm 3 can be adjusted correspondingly according to the arm length of the trainer 7 .

Example 3:

On the basis of Embodiment 1 or 2, a preferred solution as shown in Figures 1 and 2, a handle 4 is provided at the free end of the second arm 3, and the handle 4 extends laterally. The laterally extending in this example refers to the handle The axis of 4 is substantially perpendicular to the axis of the second arm 3, so that it is convenient for the hand of the trainer 7 to hold;

The preferred solution is as shown in Figure 1, the base 1 is located at the shoulder and neck of the trainer 7 in the sleeping position, the first joint 6 is located above the shoulder and is approximately coaxial with the rotation center of the shoulder of the trainer 7, and the second joint 5 is located on the trainer 7. When the arm of 7 is stretched to both sides above the elbow, the second joint 5 is approximately coaxial with the rotation center of the elbow of the trainer 7, and the handle 4 is approximately coaxial with the axis of the palm of the trainer 7's stretched arm to naturally make a fist. With this structure, the stretching action of the trainer 7 is made natural. In particular, there is no relative sliding between the tied arm and the first arm 2 and the second arm 3 . To achieve this technical effect, the first arm 2 and the second arm 3 are both non-linear curved surface structures, so that the first arm 2 and the second arm 3 can better suit the movement of the arm. Above the shoulders refers to the position above the shoulders and close to the head when a person stands.

Example 4:

On the basis of any one of Embodiments 1 to 3, a preferred solution as shown in FIGS. 1 and 6 is that a binding tape 94 is provided on the first arm 2 and/or the second arm 3, and the binding tape 94 is used to bind the training personnel 7 The arm is provided with a heart sensor 96 on the binding belt 94 for collecting the heartbeat data of the training personnel 7; the heart sensor 96 is a commercially available product, and the heart sensor 96 is preferably an optical heart rate sensor, which is mainly used for collecting the training personnel. 7 heart rate, in addition to the heart rate, the heart sensor 96 can also collect blood oxygen saturation.

As shown in Figure 7, the handle 4 is provided with a vibration device 44, the vibration device 44 adopts a vibration motor for a mobile phone, and the vibration device 44 sends out a vibration signal according to the frequency of the heartbeat to guide the training personnel 7 to make a fist for training timing. After analysis, the fist-clenching action helps to promote blood circulation, and when the heart contracts, the fist-clenching action has a better promoting effect. Therefore, using the vibration device 44 to remind the trainer 7 to make a fist can effectively improve the effect of fist-clenching training. Preferably, the heart sensor 96 converts the collected heart rate into waveform data, and uses an artificial intelligence algorithm to predict future waveform data according to the current data. The handle 4 is also provided with a pressure sensor. The pressure sensor is not shown in the figure. The pressure sensor is used to collect the fist-clenching action of the trainer 7. After the vibration signal is given by the vibration device 44, the moment of the fist-clenching action is collected and sent out as a vibration signal. Calculate the difference between the moment and the moment of the fist-clenching action, and obtain the reaction time difference of the trainer 7. The reaction time difference is brought into the predicted heart rate waveform data, and the vibration signal transmission time predicted in advance is obtained, that is, according to the predicted heart rate waveform data. vibrate signal. In this way, the auxiliary trainer 7 grasps the timing of fist-clenching training. That is to say, every time the trainer 7 makes a fist, the training time is just when the heart is contracting, and the back pressure in the arterial blood vessel is at the maximum value at this time, so as to maximize the effect of promoting blood circulation.

In a preferred solution, as shown in FIG. 7 , a button 43 is provided at the end of the handle 4 , and the button 43 is used to control the action of the whole device; The button 43 is a digital button, and its function is only to give a switch signal, and the specific operation is explained by the program in the main control device, such as PLC.

An elastic layer 41 is provided on the outer wall of the handle 4, and radially distributed elastic columns 42 are arranged at the lower part of the elastic layer 41. Preferably, a pressure sensor is arranged on one of the elastic columns 42, and the trainer 7 is measured by the deformation of the elastic column 42. The vibration device 44 is fixed on the elastic layer 41 in order to transmit the vibration to the trainer 7 for the fist-clenching action transmitted to the handle 4 .

Example 5:

On the basis of any one of Embodiments 1 to 4, in a preferred solution as shown in Figures 1, 2, and 6, a binding tape 94 is provided on the first arm 2 and/or the second arm 3, and one end of the binding tape 94 is connected to the arm portion. 97 Removable fixed connection, including screw connection or snap connection, the other end of the binding tape 94 is connected with the winding rod 91, and the winding rod 91 is rotatably supported on the arm of the first arm 2 or the second arm 3 In 97, the winding rod 91 is connected to the winding motor 93 through a transmission mechanism. The transmission mechanism in this example adopts a transmission gear 92 and a winding gear 95 that mesh with each other, wherein the winding gear 95 is connected to the winding rod 91, and the transmission gear 92 is connected with the output shaft of the winding motor 93, the binding belt 94 is used to fasten the arm of the trainer 7 for a period of time, and the winding motor 93 works in a constant torque mode. The winding motor 93 is a servo motor, and wraps the end of the binding tape 94 so that the binding tape 94 tightly binds the arm of the trainer 7 . Thereby, remote ischemia-adaptive training is realized. Each training time is 5 seconds and repeats 10 times. Then repeat again after a period of time.

Example 6:

On the basis of any one of Embodiments 1 to 5, the preferred solution is as shown in Figures 4 and 5. The structure of the driving device is as follows: the first rotating part 604 and the second rotating part 605 are connected by a sleeve through a bearing 609, and the first rotating part 604 and the second rotating part 605 The cross section of the second rotating part 605 is a "convex" shape, and part of the second rotating part 605 penetrates into the inner hole of the first rotating part 604, and the inner hole of the first rotating part 604 is provided with a bearing 609. In this example, a bearing 609 is used. Sliding bearing, the reducer housing 607 of the reducer 601 is fixedly connected to the first rotating part 604 , the output part of the reducer 601 is connected to the second rotating part 605 through a friction transmission mechanism, and the joint motor 602 is connected to the input part of the reducer 601 .

Example 7:

On the basis of Embodiment 6, the preferred solution is shown in Figures 4 and 5. In the figures, for the convenience of observation, the specific structures of the joint motor 602 and the reducer 601 are omitted to facilitate better observation of other innovative structures. In the example, the joint motor 602 and the speed reducer 601 are both commercially available products. The reducer 601 is preferably a planetary reducer or a cycloid reducer, the joint motor 602 adopts a servo motor, and the friction transmission mechanism is an electromagnetic friction transmission mechanism or a friction plate transmission mechanism.

The preferred solution is as shown in Figure 4, the reducer 601 is a planetary reducer or a cycloidal pinwheel reducer, and the joint motor 602, the reducer 601, the first rotating part 604 and the second rotating part 605 are hollow structures;

An angle sensor is provided between the first rotating part 604 and the second rotating part 605 . It is used to collect the rotation angle between the first rotating part 604 and the second rotating part 605 and adjust the tension motor 603 according to the rotation angle signal.

A tensioning motor 603 is fixed in the motor output shaft 606 of the joint motor 602, the tensioning motor 603 is fixedly connected with the screw rod 612, and the screw rod 612 extends into the hollow structure of the second rotating part 605;

As shown in FIG. 4 , the transmission sleeve 608 is sleeved with the second rotating part 605 , the transmission sleeve 608 is located in the hollow structure of the first rotating part 604 and the second rotating part 605 , and one end of the transmission sleeve 608 is connected with the speed reducer 601 . The output part is fixedly connected. In this example, a flange and a screw are used for connection. The outer wall of the transmission sleeve 608 is provided with a plurality of radially distributed through grooves. The outer edge is in contact with the inner wall of the transmission sleeve 608 ; the outer edge of the friction plate 610 refers to the circumscribed circle of the plurality of friction plates 610 , as shown in FIG. 5 .

A conical nut 611 is arranged in the transmission sleeve 608, and the conical nut 611 is in contact with the inner edge of the friction plate 610. Preferably, there is a rotation-stop groove on the outer wall of the conical nut 611. Roughly equivalent, the position where the friction plate 610 is in contact with the conical nut 611 is provided with an inclined surface, and the conical nut 611 is threadedly connected with the screw 612 . With this structure, by controlling the tensioning motor 603, it is possible to precisely control the connection between the friction plate 610 and the second rotating part 605 in a transmission or disengagement manner. Preferably, as shown in FIG. 4 , there are two conical nuts 611 , which are respectively located near both ends of the friction plate 610 . The threads of the conical nuts 611 are rotated in opposite directions, and the threads on the corresponding screw 612 are also rotated in the opposite direction. Conversely, the rotation of the screw 612 thus moves the two conical nuts 611 toward or away from each other. With this structure, the parallelism of the friction plate 610 is higher, the force transmission of the friction plate 610 is more stable, and the damping classification is clear.

Example 7:

On the basis of Embodiment 6, the preferred solution is as shown in FIG. 9 , the reducer 601 is a planetary reducer or a cycloid reducer, a joint motor 602 , a reducer 601 , a first rotating part 604 and a second rotating part 605 is a hollow structure;

A tensioning motor 603 is arranged in the motor output shaft 606 of the joint motor 602, and the tensioning motor 603 is fixedly connected with the screw 612, and the screw 612 extends into the hollow structure of the second rotating part 605; the tensioning motor 603 adopts a servo motor.

The transmission sleeve 608 is sleeved with the second rotating part 605, the transmission sleeve 608 is located in the hollow structure of the first rotating part 604 and the second rotating part 605, one end of the transmission sleeve 608 is fixedly connected with the output part of the reducer 601, The transmission sleeve 608 is partially made of elastically deformable material or structure. For example, the transmission sleeve 608 is partially made of rubber material, or a radial slit structure is used. The inner wall of the elastically deformed material or structure is provided with a tapered surface. The position of the tapered surface A conical nut 611 is provided, and the conical nut 611 is threadedly connected with the screw rod 612 . Through the axial movement of the conical nut 611, the transmission sleeve 608 is partially expanded or retracted. Thereby, the adjustable frictional transmission or disengagement between the transmission sleeve 608 and the second rotating part 605 is realized. This structure simplifies the mechanism complexity of the friction transmission.

Example 8:

In order to facilitate a better understanding of the present invention, on the basis of the foregoing embodiments, the present invention is further described in conjunction with a specific control method. When in use, the trainer 7 is in a supine position, the base 1 is placed under the shoulder and neck of the trainer 7, the first telescopic part 8 and the second telescopic part 10 on the first arm 2 and the second arm 3 are adjusted by the electric push rod 83 To the length suitable for the trainer 7, the adjustment method can be adjusted through the control panel. The arm of the trainer 7 penetrates into the automatic binding device 9, the control panel input controls the PLC to drive the winding motor 93 to act, the winding motor 93 drives the winding rod 91 to rotate, and the binding tape 94 is wound on the winding rod 91. , until the arms of the trainer 7 are tied tightly, and then the winding motor 93 is reversed by an angle, for example, 180°, and the binding tape 94 is slightly loosened to complete the fixing operation of the binding tape 94 . The hand of the trainer 7 holds the handle 4, that is, the connection with the robotic arm is completed. If the trainer 7 is not physically strong enough to hold the handle 4 tightly, then use a glove to bind the hand to the handle 4. Press the button and cycle through the corresponding training modes. Or select training mode from panel input. For the trainer 7 with poor physical fitness, the passive training mode is selected, the tension motor 603 is actuated, the screw 612 is rotated, so that the conical nut 611 pushes the friction plate 610 up, and the motor output shaft 606 of the joint motor 602 and the second rotating part 605 are connected. A friction transmission is formed between them, and the joint motor 602 drives the first arm 2 and the second arm 3 to swing to complete the chest expansion movement until the preset number of times is completed. For the trainer 7 whose physical fitness gradually recovers, select a larger training intensity in the PLC control panel, the tensioning motor 603 operates, the screw 612 rotates, and the conical nut 611 loosens the friction plate 610, and the friction plate 610 leaves the second The rotating part 605 drives the first arm 2 and the second arm 3 to swing upward by the action of the trainer 7 . An angle sensor between the first rotating part 604 and the second rotating part 605, such as an absolute encoder, detects that the rotating angle reaches a preset value, and the tensioning motor 603 operates again. After the downward swing starts, even if the screw 612 rotates, the The conical nut 611 pushes the friction plate 610 tightly to realize friction transmission, and the joint motor 602 provides reverse torque, so that the first arm 2 and the second arm 3 fall slowly to avoid impact, and through the training of relaxation and relaxation, the heart and lungs are improved. function and the effect of promoting blood circulation. For the trainer 7 with better physical strength, the tension motor 603 drives the screw 612 and the conical nut 611, so that the friction plate 610 is always in a frictional transmission state. During the upward swing, the joint motor 602 provides an adjustable reverse torque to Increase training intensity. When putting down, the joint motor 602 provides a reverse torque, so that the first arm 2 and the second arm 3 fall down slowly to avoid impact.

When the timing of making a fist is needed, the heart sensor 96 collects the heart rate, and through the artificial intelligence prediction algorithm, the vibration device 44 of the handle 4 prompts the trainer 7 to make a fist at an appropriate time.

When remote ischemia adaptation training is required, the PLC controls the action of the winding motor 93 and tightens the binding band 94. Each training time is 5 seconds and is repeated 10 times. Then repeat again after a period of time.

With simple structure and precise control, the present invention realizes the exercise of cardiopulmonary function and promotes blood circulation with high efficiency. For the trainer 7 of myocardial ischemia, remote ischemia adaptation training can be performed.

The above-mentioned embodiments are only the preferred technical solutions of the present invention, and should not be regarded as limitations of the present invention. The embodiments and features in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention shall take the technical solutions described in the claims, including the equivalent alternatives of the technical features in the technical solutions described in the claims, as the protection scope. That is, equivalent replacements and improvements within this scope are also within the protection scope of the present invention.

Claims (6)

1. A cardiopulmonary rehabilitation training device for assisting chest expansion, wherein a base (1) is hinged with a first arm (2) through a first joint (6), and the first arm (2) is connected with a second arm through a second joint (5) (3) Articulation, a driving device is provided on the first joint (6) and the second joint (5), and the driving device drives the first rotating part (604) and the first rotating part (604) of the first joint (6) and the second joint (5). The relative rotation between the two rotating parts (605) is characterized in that: the first arm (2) and the second arm (3) are used to connect with the arms of the trainer (7), and the driving device is connected to the second rotating part (605). ) is provided with a friction transmission mechanism, so that the first arm (2) and the second arm (3) can swing together with the arm of the trainer (7) in an active or passive manner in a controllable torque manner; The structure of the driving device is as follows: the first rotating part (604) and the second rotating part (605) are sleeved and connected through a bearing (609), and the reducer housing (607) of the reducer (601) is connected to the first rotating part (604) Fixed connection, the output part of the reducer (601) is connected with the second rotating part (605) through a friction transmission mechanism, and the joint motor (602) is connected with the input part of the reducer (601); The reducer (601) is a planetary reducer or a cycloid reducer, and the friction transmission mechanism is a friction plate transmission mechanism; The joint motor (602), the reducer (601), the first rotating part (604) and the second rotating part (605) are hollow structures; A tensioning motor (603) is arranged in the motor output shaft (606) of the joint motor (602), the tensioning motor (603) is fixedly connected with the screw (612), and the screw (612) extends into the second rotating part (605). ) of the hollow structure; The transmission sleeve (608) is sleeved with the second rotating part (605), the transmission sleeve (608) is located in the hollow structure of the first rotating part (604) and the second rotating part (605), and the transmission sleeve (608) One end is fixedly connected with the output part of the reducer (601), the outer wall of the transmission sleeve (608) is provided with radially distributed through grooves, and a sliding friction plate (610) is arranged in the through groove. The outer edge is in contact with the inner wall of the transmission sleeve (608); a conical nut (611) is arranged in the transmission sleeve (608), and the conical nut (611) is in contact with the inner edge of the friction plate (610), and the friction plate ( 610) is provided with a slope at the position where it contacts the conical nut (611), and the conical nut (611) is threadedly connected with the screw rod (612). 2. A cardiopulmonary rehabilitation training device for auxiliary chest expansion exercise according to claim 1, characterized in that: the first arm (2) is provided with a first telescopic part (8), and the second arm (3) is provided with The structure of the second telescopic part (10), the first telescopic part (8) and the second telescopic part (10) is: the first connecting part (81) is slidingly sleeved with the second connecting part (82), An electric push rod (83) is arranged between the part (81) and the second connecting part (82) to drive the relative sliding between the first connecting part (81) and the second connecting part (82). 3. A cardiopulmonary rehabilitation training device for auxiliary chest expansion exercise according to claim 1, characterized in that: a handle (4) is provided at the free end of the second arm (3), and the handle (4) extends laterally, so that the held by the trainer (7); The base (1) is located at the position of the shoulder and neck of the trainer (7) in the sleeping position, the first joint (6) is located above the shoulder and is approximately coaxial with the rotation center of the shoulder of the trainer (7), and the second joint (5) is located at the top of the shoulder. Above the elbow when the arm of the trainer (7) is extended to both sides, the second joint (5) is approximately coaxial with the rotation center of the elbow of the trainer (7), and the handle (4) extends the arm with the trainer (7). The axes of the palms of the natural fist are roughly coaxial. 4. A cardiopulmonary rehabilitation training device for auxiliary chest expansion exercise according to claim 3, characterized in that: a binding strap (94) is provided on the first arm (2) and/or the second arm (3), and the binding strap (94) for tying the arms of the training personnel (7), and a heart sensor (96) is provided on the binding belt (94) for collecting the heartbeat data of the training personnel (7); A vibrating device (44) is provided on the handle (4), and the vibrating device (44) vibrates according to the frequency of the heartbeat, so as to guide the training personnel (7) to make a fist for training timing. 5. A cardiopulmonary rehabilitation training device for auxiliary chest expansion exercise according to claim 4, characterized in that: a button (43) is provided at the end of the handle (4), and the button (43) is used to control the action of the entire device ; An elastic layer (41) is arranged on the outer wall of the handle (4), radially distributed elastic columns (42) are arranged at the lower part of the elastic layer (41), and the vibration device (44) is fixed on the elastic layer (41). 6. A cardiopulmonary rehabilitation training device for auxiliary chest expansion exercise according to claim 1 or 3, characterized in that: a binding band (94) is provided on the first arm (2) and/or the second arm (3), One end of the binding tape (94) is detachably and fixedly connected to the arm (97) of the first arm (2) or the second arm (3), and the other end of the binding tape (94) is wound and connected to the winding rod (91), The winding rod (91) is rotatably supported in the arm (97), the winding rod (91) is connected with the winding motor (93) through a transmission mechanism, and the binding belt (94) is used for the training personnel (7). The arm is fastened for a period of time, and the winding motor (93) works in a constant torque mode.

Images