CN210612486U - Rehabilitation device - Google Patents

Abstract

The utility model discloses a rehabilitation device, include: the left foot pedal and the right foot pedal are symmetrically arranged; the first driving mechanism and the second driving mechanism respectively drive the left foot pedal and the right foot pedal to rotate; the device comprises a first driving module, a second driving module and a control module, wherein the first driving module and the second driving module are connected with the control module; further comprising: the control switch is arranged between the control module and the control power supply of the control module and is used for controlling the control module to start or stop; the emergency stop switch comprises a contactor and a mechanical switch, wherein a contact in the contactor is arranged on a power supply bus, and a coil in the contactor is connected with a coil power supply through the mechanical switch; the first driving mechanism and the second driving mechanism are connected with a driving power supply through a power bus. Through implementing the utility model discloses, can realize promptly stopping first actuating mechanism and second actuating mechanism, prevent that the device out of control of rehabilitation operation from producing harmful effects to patient's rehabilitation process.

Description

Rehabilitation device

Technical Field

The utility model relates to a be good for nursing technical field again, especially relate to a be good for device again.

Background

The lower limbs of the human body support the parts above the lower limbs, and the lower limbs are main stress parts in the walking or running process. The ankle joint in the lower limb is the joint with the largest load of the human body, is also the key joint of the motion of the lower limb of the human body, is the part which is most easily damaged by fracture, and the leg part in the lower limb is also the part which is easily damaged by violent motion and the like. When the ankle joint is rehabilitated, force needs to be applied to the foot to realize foot movement; when the leg is rehabilitated, force needs to be applied to the leg to realize leg movement.

In the prior art, a rehabilitation device is disclosed, which includes a pair of pedals, a driving component for driving the pedals to rotate, and a control circuit of the driving component, wherein the control circuit generates a PWM signal to control the connection and disconnection of a motor and a power supply. However, when the control circuit is jammed or the motor body is abnormal in operation, the motor cannot be timely controlled to stop operating through the control circuit, the rehabilitation device is out of control, the rehabilitation treatment of a patient using the rehabilitation device cannot achieve the expected effect, and even the whole rehabilitation process may be influenced.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model provides a rehabilitation device, include: the pedal assembly comprises a left foot pedal and a right foot pedal which are symmetrically arranged; the driving assembly comprises a first driving mechanism and a second driving mechanism, the first driving mechanism drives the left foot pedal to rotate, and the second driving assembly drives the right foot pedal to rotate; the control module is used for respectively sending a first control signal and a second control signal to the first driving module and the second driving module according to preset parameters; the first driving module is used for controlling the first driving mechanism to drive the left foot pedal to rotate according to a first control signal, and the second driving module is used for controlling the second driving mechanism to drive the right foot pedal to rotate according to a second control signal; further comprising: the control switch is arranged between the control module and the control power supply of the control module and is used for controlling the control module to start or stop; the emergency stop switch comprises a contactor and a mechanical switch, wherein a contact in the contactor is arranged on a power supply bus, and a coil in the contactor is connected with a coil power supply through the mechanical switch; the first driving mechanism and the second driving mechanism are connected with a driving power supply through a power bus.

Optionally, the contacts include an a-phase contact, a B-phase contact and a C-phase contact, which are respectively disposed on a ground line, a live line and a zero line in the power bus, and the a-phase contact, the B-phase contact and the C-phase contact are linkage contacts; one end of the coil is connected to the live wire between the driving power supply and the B-phase contact through a mechanical switch, and the other end of the coil is connected to the zero wire between the driving power supply and the C-phase contact.

Optionally, the emergency stop switch further comprises: and the fuse is connected with the coil and the mechanical switch in series.

Optionally, the emergency stop switch further comprises: and the thermal relay is connected with the coil and the mechanical switch in series.

Optionally, the rehabilitation device further comprises: the first posture detection module and the second posture detection module are respectively arranged on the left foot pedal and the right foot pedal and are connected with the control module; the first posture detection module is used for detecting first posture information of the left foot pedal and sending the first posture information to the control module, and the second posture detection module is used for detecting second posture information of the right foot pedal and sending the second posture information to the control module.

Optionally, the posture information is angle information, and the rehabilitation device further includes: the warning module is connected with the control module; the control module is used for respectively calculating a first angular velocity and a second angular velocity according to the received first angular velocity and second angular velocity, and controlling the warning module to send warning information when the difference value between the first angular velocity and the first preset angular velocity is larger than a first threshold value and/or the difference value between the second angular velocity and the second preset angular velocity is larger than a second threshold value.

Optionally, the rehabilitation device further comprises: and the input module is connected with the control module and is used for inputting preset parameters.

Optionally, the control module is an STC8A8K64S4a12 chip, and both the first driving module and the second driving module are a4988 chips.

The technical scheme provided by the utility model, following advantage has:

1. the utility model provides a rehabilitation device, on the basis of setting up the control switch that is used for controlling the break-make of control module between control module and the control power, further set up the scram switch on the power bus that first actuating mechanism and second actuating mechanism are connected drive power, and set up the scram switch to include mechanical switch and contactor, and set up the contact in the contactor on the power bus, the coil of contactor is connected with the coil power after being established ties with mechanical switch, so that when the rehabilitation device appears that control module card is dead and can't normally send control signal to first actuating module and second actuating module, or first actuating mechanism appears the abnormal operation, or second actuating mechanism appears the abnormal operation, or the connection structure between first actuating mechanism and left foot footboard appears unusually, or the connection structure between second actuating mechanism and right foot footboard appears unusually, or under the condition that the patient is uncomfortable and needs to immediately stop rehabilitation, the magnetic field disappears due to power loss of the coil of the contactor by disconnecting the mechanical switch, and the contact of the contactor is disconnected, so that the connection between the first driving mechanism and the second driving mechanism and the driving power supply is interrupted urgently, the rehabilitation main body (the driving mechanism and the pedal) in the rehabilitation device stops running, and the adverse effect of the uncontrolled running of the rehabilitation device on the rehabilitation process of the patient under the fault condition can be prevented.

2. The utility model provides a device of becoming healthy again, pass through mechanical switch through the one end of the coil with the contactor and connect on the live wire between drive power supply and B looks contact, the other end is connected on the zero line between drive power supply and C looks contact, through regarding drive power supply as the coil power promptly, has simplified the circuit structure of scram switch, has reduced the circuit volume to can reduce the realization cost of this device of becoming healthy again.

3. The utility model provides a rehabilitative device, through setting up in the fuse of coil and mechanical switch looks series connection, promptly through setting up the fuse on the branch road at the contactor, make and produce the operation unusual at first actuating mechanism or second actuating mechanism, perhaps connection structure between first actuating mechanism and the left foot footboard appears unusually, perhaps connection structure between second actuating mechanism and the right foot footboard appears under the circumstances such as unusual, the unusual increase of electric current on live wire and the zero line in the power bus, the electric current that makes coil place branch road reaches the maximum threshold value, during the fuse disconnection, also can make the coil lose electricity, the last contact disconnection of power bus, thereby can make the rehabilitative main part bring to rest in the rehabilitative device automatically, prevent that it from producing harmful effects to patient's rehabilitative process under above-mentioned fault situation out of control.

4. The utility model provides a rehabilitation device, through setting up in the electrothermal relay of coil and mechanical switch looks series connection, set up electrothermal relay on the road through the contactor promptly, make and produce the operation unusual at first actuating mechanism or second actuating mechanism, perhaps connection structure between first actuating mechanism and the left foot footboard appears unusually, perhaps connection structure between second actuating mechanism and the right foot footboard appears under the circumstances such as unusual, first actuating mechanism or second actuating mechanism transship, during the electrothermal relay disconnection, also can make the coil lose the electricity, the last contact disconnection of power bus, thereby can make the rehabilitation main part bring to rest in the rehabilitation device automatically, prevent that it from producing harmful effects to patient's rehabilitation process under above-mentioned fault situation out of control operation.

5. The rehabilitation device provided by the utility model is provided with the warning module connected with the control module, and when the difference value between the first angular velocity calculated according to the first angle information of the left foot pedal and the first preset angular velocity is larger than a first threshold value, or when the difference value between the second angular velocity calculated according to the second angle information of the right foot pedal and the second preset angular velocity is larger than the second threshold value, or when the difference value between the first angular velocity and the first preset angular velocity is greater than a first threshold value and the difference value between the second angular velocity and the second preset angular velocity is greater than a second threshold value, controlling the warning module to send warning information, therefore, the patient or the guardian and other related personnel in the rehabilitation process are reminded that the rehabilitation device is abnormal in operation, so that the related personnel can promptly terminate the rehabilitation device through the emergency stop switch, and the incontrollable operation of the related personnel is prevented from generating adverse effects on the rehabilitation process of the patient.

6. The utility model provides a device of becoming healthy again through setting up the control module into STC8A8K64S4A12 chip to all set up first drive module and second drive module into the A4988 chip that can directly be connected with STC8A8K64S4A12 chip, can simplify the circuit mechanism of this device of becoming healthy again, reduce the circuit volume, thereby can reduce the realization cost of this device of becoming healthy again.

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 embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a rehabilitation device according to an embodiment of the present invention;

fig. 2 is a schematic block diagram of a rehabilitation device according to an embodiment of the present invention;

fig. 3A is a pin diagram of an STC8A8K64S4a12 chip according to an embodiment of the present invention;

fig. 3B is a pin diagram of an a4988 chip of the first driving module according to an embodiment of the present invention;

fig. 3C is a pin diagram of an a4988 chip of a second driving module according to an embodiment of the present invention;

fig. 3D is a pin diagram of an MPU9250 chip according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an emergency stop switch according to an embodiment of the present invention;

fig. 5 is another schematic structural diagram of the emergency stop switch according to the embodiment of the present invention;

fig. 6 is another schematic block diagram of a rehabilitation device according to an embodiment of the present invention;

description of reference numerals:

11-left foot pedal; 12-right foot pedal; 21-a first motor; 22-a second electric machine; 31-a first drive module; 32-a second drive module; 4-a control module; 5-control switch; 6-emergency stop switch; 61-a contactor; 62-a mechanical switch; 63-a fuse; 64-a thermal relay; 71-a first gesture detection module; 72-a second gesture detection module; 8-a warning module; 9-input module.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The present embodiment provides a rehabilitation device, as shown in fig. 1, which includes a pedal assembly and a driving assembly, wherein the pedal assembly includes a left pedal 11 and a right pedal 12 which are symmetrically arranged, and the driving assembly (in fig. 1, a first driving mechanism and a second driving mechanism of the driving assembly are both shown as an example of a motor, and hereinafter, the first driving mechanism is directly referred to as a first motor 21, and the second driving mechanism is referred to as a second motor 22) includes a first motor 21 which drives the left pedal 11 to rotate and a second motor 22 which drives the right pedal 12 to rotate. Here, the first motor 21 and the second motor 22 are both connected to a driving power supply, the driving power supply is configured to provide electric energy to the first motor 21 and the second motor 22, specifically, the driving power supply may be a commercial power, or may be other power supplies such as a generator, and the driving power supply may be set according to needs of a specific application scenario, so as to meet operating requirements of the first motor 21 and the second motor 22.

As shown in fig. 2, the rehabilitation apparatus further includes: a first drive module 31, a second drive module 32, a control module 4, a control switch 5, and an emergency stop switch 6.

The first driving module 31 and the second driving module 32 are both connected to the control module 4, the control module 4 is configured to send a first control signal and a second control signal to the first driving module 31 and the second driving module 32 respectively according to preset parameters, the first driving module 31 is configured to control the first motor 21 to drive the left foot pedal 11 to rotate according to the first control signal, and the second driving module 32 is configured to control the second motor 22 to drive the right foot pedal 12 to rotate according to the second control signal. Specifically, the control module 4 may be an STC8A8K64S4a12 chip shown in fig. 3A, and of course, the control module 4 may also be other chips capable of implementing the functions of the control module 4, such as a TMS320F28335 chip. Specifically, for example, the control module 4 is an STC8A8K64S4a12 chip shown in fig. 3A, the first driving module 31 may be an a4988 chip shown in fig. 3B, the second driving module 32 may be an a4988 chip shown in fig. 3C, and the specific pin connection relationship among the chips can be directly obtained from fig. 3A, fig. 3B, and fig. 3C, which is not described herein again.

The control switch 5 is disposed between the control module 4 and the control power supply of the control module 4, and is used for connecting or disconnecting the control module 4 and the control power supply, so as to start or stop the control module 4. Specifically, taking the control module 4 as the STC8A8K64S4a12 chip shown in fig. 3A as an example, the mechanical switch 62 is disposed at the power pin: the AVCC pin (pin 12) and the VCC pin (pin 14) are connected to a control power supply (typically a 5V dc power supply) for controlling whether STC8A8K64S4a12 operates.

As shown in fig. 4, the emergency stop switch 6 includes a contactor 61 and a mechanical switch 62, wherein a contact of the contactor 61 is disposed on a power bus, the first motor 21 and the second motor 22 are both connected to a driving power source through the power bus, and a coil of the contactor 61 is connected to a coil power source through the mechanical switch 62. When the mechanical switch 62 is closed, the coil is electrified to generate a magnetic field, the contacts are closed, the driving power supply normally supplies power to the first motor 21 and the second motor 22, whether the first motor 21 and the second motor 22 operate or not, and the rotating speed, the rotating direction, the rotating angle and the like (namely preset parameters in the control module 4) of the first motor 21 and the second motor 22 during operation are controlled by the control module 4; when the mechanical switch 62 is turned off, the magnetic field disappears due to power loss of the coil, the contacts are opened, the driving power supply stops supplying power to the first motor 21 and the second motor 22, and the first motor 21 and the second motor 22 stop operating (the control module 4 cannot control the first motor 21 and the second motor 22, and the first motor 21 and the second motor 22 enter an emergency stop state).

The utility model provides a rehabilitation device, on the basis of setting up the control switch 5 that is used for controlling the break-make of control module 4 between control module 4 and the control power, further set up scram switch 6 on the power bus that first motor 21 and second motor 22 are connected drive power, and set up scram switch 6 as including mechanical switch 62 and contactor 61, and set up the contact in contactor 61 on the power bus, the coil of contactor 61 is connected with the coil power after establishing ties with mechanical switch 62, so that when the rehabilitation device appears that control module 4 blocks, can't normally send control signal to first drive module 31 and second drive module 32, or first motor 21 appears the abnormal operation, or second motor 22 appears the abnormal operation, or the connection structure between first motor 21 and left foot pedal 11 appears unusually, or the connection structure between second motor 22 and right foot pedal 12 appears unusually, or the patient is uncomfortable and needs to immediately stop the rehabilitation, the connection between the first motor 21 and the second motor 22 and the driving power supply can be interrupted urgently by disconnecting the mechanical switch 62, so that the rehabilitation main body (the motors and the pedals) in the rehabilitation device stops running, and the rehabilitation process of the patient can be prevented from being influenced by the uncontrolled running of the rehabilitation device.

As an optional implementation of the embodiment of the utility model provides an, use drive power supply for including ground wire G, live wire L and zero line N's commercial power as an example, as shown in fig. 5, the contact is including setting up the A phase contact on ground wire G, set up the B phase contact on live wire L and set up the C phase contact on zero line N, and A phase contact, B phase contact and C phase contact are the linkage contact, the one end of coil is passed through mechanical switch 62 and is connected on drive power supply and the live wire L between the B phase contact, the other end is connected on zero line N between drive power supply and the C phase contact. Through all setting up driving power supply and coil power supply to the commercial power, simplified scram switch 6's circuit structure, reduced the circuit volume to can reduce this device of having a good luck's realization cost.

In an alternative embodiment, as shown in fig. 5, a fuse 63 and a thermal relay 64 are further disposed on the branch where the coil is located, that is, after the fuse 63, the thermal relay 64, the mechanical switch 62 and the coil in the contactor 61 are connected in series, one end is connected to the live line L, and the other end is connected to the neutral line N. By arranging the fuse 63 and the thermal relay 64, when the first motor 21 or the second motor 22 is abnormal in operation, or the connection structure between the first motor 21 and the left foot pedal 11 is abnormal, or the connection structure between the second motor 22 and the right foot pedal 12 is abnormal, the current on the live wire and the zero wire in the power bus is abnormally increased, so that the current of the branch where the coil is located reaches the maximum threshold, when the fuse 63 is disconnected or the thermal relay 64 is disconnected, the coil can be powered off, the contact on the power bus is disconnected, the rehabilitation main body in the rehabilitation device can be automatically stopped from operating, and the phenomenon that the uncontrolled operation of the rehabilitation main body causes adverse effects on the rehabilitation process of a patient under the fault condition can be prevented.

In an alternative embodiment, as shown in fig. 6, the rehabilitation apparatus further comprises: a first posture detection module 71, a second posture detection module 72 and an alert module 8.

The first posture detection module 71 and the second posture detection module 72 are respectively disposed on the left foot pedal 11 and the right foot pedal 12 and are both connected to the control module 4, the first posture detection module 71 is configured to detect first posture information of the left foot pedal 11 and send the first posture information to the control module 4, and the second posture detection module 72 is configured to detect second posture information of the right foot pedal 12 and send the second posture information to the control module 4. Here, since the motions performed by the left foot pedal 11 and the right foot pedal 12 are both rotational, the information detected by the first posture detection module 71 and the second posture detection module 72 is the first angle information and the second angle information, respectively, that is, the first posture detection module 71 and the second posture detection module 72 are both angular velocity detection devices, specifically, the angular velocity detection devices may be MPU9250 chips shown in fig. 3D, and the specific pin connection relationship between the MPU9250 chips and the STC8A8K64S4a12 chips may be directly obtained from fig. 3A and fig. 3D, which is not repeated herein.

The warning module 8 is connected to the control module 4, the control module 4 is configured to calculate a first angular velocity and a second angular velocity according to the received first angle information and the received second angle information, and control the warning module 8 to send warning information when a difference between the first angular velocity and a first preset angular velocity is greater than a first threshold and/or a difference between the second angular velocity and a second preset angular velocity is greater than a second threshold. Here, the first threshold and the second threshold may be the same threshold, and certainly, may also be different thresholds, and the specific setting may be set according to preset parameters for the control module 4 to control the operation of the first motor 21 and the second motor 22, such as the rotation speed and the rotation direction of the motors (i.e. the first preset angular velocity and the second preset angular velocity) and the needs of specific application scenarios. Here, the warning module 8 may be a display screen, and the warning information may be corresponding to text warning information; the warning module 8 may also be a voice playing device such as a buzzer or a speaker, and the warning information may correspond to the voice warning information.

The rehabilitation device provided by the utility model is provided with the warning module 8 connected with the control module 4, and when the difference between the first angular velocity calculated from the first angle information of the left foot pedal 11 and the first preset angular velocity is greater than the first threshold value, or when the difference between the second angular velocity calculated according to the second angle information of the right foot pedal 12 and the second preset angular velocity is greater than the second threshold value, or when the difference between the first angular velocity and the first preset angular velocity is greater than the first threshold and the difference between the second angular velocity and the second preset angular velocity is greater than the second threshold, the warning module 8 is controlled to send warning information, therefore, the patient or the guardian and other related personnel in the rehabilitation process are reminded that the rehabilitation device is abnormal in operation, so that the related personnel can promptly terminate the rehabilitation device through the emergency stop switch 6, and the incontrollable operation of the related personnel is prevented from generating adverse effects on the rehabilitation process of the patient.

In an alternative embodiment, as shown in fig. 6, the rehabilitation device further comprises an input module 9, and the input module 9 is connected with the control module 4 and used for inputting preset parameters. Here, the input module 9 may also be configured to input the first threshold value and the second threshold value. It should be noted that the preset parameter, the first threshold and the second threshold input here may be specific numerical values, and meanwhile, when a plurality of operation modes (such as a primary difficulty mode, a medium difficulty mode, a high difficulty mode, and the like) are preset in the control module 4, the preset parameter, the first threshold and the second threshold may be input through mode selection (such as selection of the primary difficulty mode), and the specific input mode is not limited herein. Here, the input module 9 may be a touch screen directly connected to the control module 4, or may be a user terminal connected to the control module 4 through serial communication protocols such as RS232, RS422, or RS 485. Here, when the input module 9 may be a touch screen, the display screen for outputting the text warning information in the above embodiment may also be the touch screen.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims (8)

1. A rehabilitation device comprising:

the pedal assembly comprises a left foot pedal and a right foot pedal which are symmetrically arranged;

the driving assembly comprises a first driving mechanism and a second driving mechanism, the first driving mechanism drives the left foot pedal to rotate, and the second driving assembly drives the right foot pedal to rotate;

the control module is used for respectively sending a first control signal and a second control signal to the first driving module and the second driving module according to preset parameters; the first driving module is used for controlling the first driving mechanism to drive the left foot pedal to rotate according to the first control signal, and the second driving module is used for controlling the second driving mechanism to drive the right foot pedal to rotate according to the second control signal;

it is characterized by also comprising:

the control switch is arranged between the control module and a control power supply of the control module and is used for controlling the control module to start or stop;

the emergency stop switch comprises a contactor and a mechanical switch, wherein a contact in the contactor is arranged on a power bus, and a coil in the contactor is connected with a coil power supply through the mechanical switch; the first driving mechanism and the second driving mechanism are connected with a driving power supply through the power bus.

2. The rehabilitation device according to claim 1, wherein the contacts include an a-phase contact, a B-phase contact and a C-phase contact, which are respectively disposed on a ground line, a live line and a neutral line of the power bus, the a-phase contact, the B-phase contact and the C-phase contact being linkage contacts; one end of the coil is connected to the live wire between the driving power supply and the B-phase contact through the mechanical switch, and the other end of the coil is connected to the zero line between the driving power supply and the C-phase contact.

3. The rehabilitation device according to claim 2, wherein the emergency stop switch further comprises:

a fuse connected in series with the coil and the mechanical switch.

4. The rehabilitation device according to claim 2, wherein the emergency stop switch further comprises:

a thermal relay in series with the coil and the mechanical switch.

5. A rehabilitation device according to any of claims 1-4, further comprising:

the first posture detection module and the second posture detection module are respectively arranged on the left foot pedal and the right foot pedal and are connected with the control module; the first posture detection module is used for detecting first posture information of the left foot pedal and sending the first posture information to the control module, and the second posture detection module is used for detecting second posture information of the right foot pedal and sending the second posture information to the control module.

6. The rehabilitation device according to claim 5, wherein the posture information is angle information, the rehabilitation device further comprising:

the warning module is connected with the control module;

the control module is used for respectively calculating a first angular velocity and a second angular velocity according to the received first angular velocity and second angular velocity, and controlling the warning module to send warning information when the difference value between the first angular velocity and a first preset angular velocity is larger than a first threshold value and/or the difference value between the second angular velocity and a second preset angular velocity is larger than a second threshold value.

7. A rehabilitation device according to any of claims 1-4, further comprising:

and the input module is connected with the control module and is used for inputting the preset parameters.

8. The rehabilitation device according to any one of claims 1-4, wherein the control module is an STC8A8K64S4A12 chip, and the first drive module and the second drive module are both A4988 chips.

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