CN211300959U - Active and passive rehabilitation device for upper and lower limbs - Google Patents
Active and passive rehabilitation device for upper and lower limbs Download PDFInfo
- Publication number
- CN211300959U CN211300959U CN201921529186.4U CN201921529186U CN211300959U CN 211300959 U CN211300959 U CN 211300959U CN 201921529186 U CN201921529186 U CN 201921529186U CN 211300959 U CN211300959 U CN 211300959U
- Authority
- CN
- China
- Prior art keywords
- limb
- controller
- brush motor
- upper limb
- lower limb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The application discloses an active and passive rehabilitation device for upper and lower limbs, which comprises an upper limb brush motor, a lower limb brush motor, an upper limb arm, a lower limb pedal, a power supply, a controller and a bracket; the upper limb brush motor is connected with the controller and the upper limb arm; the lower limb brush motor is connected with the controller and the lower limb pedal; the power supply is connected with the controller; the upper limbs arm is installed in the support top, and the low limbs footboard is installed in the support below. Compared with the prior art, the available controller of this application has brush motor control upper limbs arm motion through the upper limbs to and have brush motor control lower limbs footboard motion through the lower limbs, thereby the upper limbs and the lower limbs that drive the patient automatically carry out the rehabilitation training, realize the passive rehabilitation training of upper limbs, can also be through the mode of patient's initiative application of force in upper limbs arm and lower limbs footboard, thereby the limb initiative rehabilitation training about realizing, and then make later stage rehabilitation training can reach better training effect.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to an active and passive rehabilitation device for upper and lower limbs.
Background
The treatment of hemiplegia sequela patients adopts the rehabilitation training of later stage after the early stage of pathological treatment in hospitals at present. Traditional later-period rehabilitation training usually depends on manual massage, but the labor intensity of the mode is high, and a large amount of time is consumed for a massager. In order to solve the problems, in the prior art, a mechanical auxiliary training mode is utilized to carry out later-stage rehabilitation training on patients with hemiplegia sequelae. However, the existing rehabilitation equipment for mechanical auxiliary training has single function, only has upper limbs or lower limbs, and does not have an active and passive mode, so that the training effect of later-period rehabilitation training is not ideal.
Disclosure of Invention
The technical problem that this application embodiment will solve lies in providing one kind and going up passive rehabilitation device of limb owner, improves later stage rehabilitation training's training effect.
In order to solve the above problem, an embodiment of the present application provides an active and passive rehabilitation device for upper and lower limbs, including: the device comprises an upper limb brush motor, a lower limb brush motor, an upper limb arm with a first transmission connecting rod and armrests arranged at two ends of the first transmission connecting rod, a lower limb pedal with a second transmission connecting rod and pedals arranged at two ends of the second transmission connecting rod, a power supply, a controller and a bracket;
the input end of the upper limb brush motor is connected with the controller, and the output end of the upper limb brush direct current motor is connected with the upper limb arm;
the input end of the lower limb brush motor is connected with the controller, and the output end of the lower limb brush direct current motor is connected with the lower limb pedal;
the power supply is connected with the controller;
the upper limb arm is arranged above the bracket, and the lower limb pedal is arranged below the bracket.
Further, the upper limb brush motor is connected with the lower limb brush motor through an upper limb and lower limb switching circuit;
the upper and lower limb switching circuit is connected with the controller.
Furthermore, the upper limb arm is provided with a speed reducer;
the speed reducer is arranged on a first transmission connecting rod of the upper limb arm and connected with the upper limb brush motor.
Further, the device also comprises a current detection device;
the input end of the current detection device is connected with the upper limb brush motor and the lower limb brush motor, and the output end of the current detection device is connected with the controller.
Furthermore, the device also comprises an upper limb Hall detection unit and a lower limb Hall detection unit;
the upper limb Hall detection unit is arranged on any handrail of the upper limb arm, and the lower limb Hall detection unit is arranged on the bracket connected with the second transmission connecting rod;
the upper limb Hall detection unit and the lower limb Hall detection unit are electrically connected with the controller.
Further, the device also comprises a touch screen;
the touch screen is arranged above the support, is mechanically connected with the upper limb brush motor and is electrically connected with the controller.
Further, the device also comprises an upper limb motor encoder and a lower limb motor encoder;
the upper limb motor encoder is mechanically connected between the touch screen and the upper limb brush motor, and the lower limb motor encoder is arranged below the bracket;
the input end of the upper limb motor encoder is connected with the upper limb brush motor, and the output end of the upper limb motor encoder is connected with the controller;
the input end of the lower limb motor encoder is connected with the lower limb brush motor, and the output end of the lower limb motor encoder is connected with the controller.
Further, an emergency switch is also included;
the emergency switch is arranged on the bracket and is electrically connected with the controller.
Further, the power supply comprises a switching power supply and a filter;
the output end of the switching power supply is connected with the input end of the filter, and the output end of the filter is connected with the input end of the controller.
Furthermore, a base is arranged below the lower limb pedal and is mechanically connected with the support.
The embodiment of the application has the following beneficial effects:
the usable controller of this embodiment has brush motor control upper limbs arm motion through the upper limbs to and have brush motor control lower limbs footboard motion through the lower limbs, thereby the upper limbs and the lower limbs that drive the patient automatically carry out the rehabilitation training, realize the passive rehabilitation training of upper limbs, can also be through the mode of patient's initiative application of force in upper limbs arm and lower limbs footboard, thereby the upper limbs initiative rehabilitation training about realizing, and then make later stage rehabilitation training can reach better training effect.
Drawings
Fig. 1 is a schematic structural diagram of an active and passive rehabilitation device for upper and lower limbs, provided by an embodiment of the application;
FIG. 2 is a schematic circuit diagram of a driving circuit of a brush motor for upper limbs;
FIG. 3 is a schematic circuit diagram of a drive circuit of a lower limb brush motor;
FIG. 4 is a schematic diagram of the circuit structure of the upper and lower limb switching circuit;
fig. 5 is a schematic circuit diagram of the current detection device.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Referring to fig. 1, a schematic structural diagram of an active and passive rehabilitation device for upper and lower limbs according to an embodiment of the present application is provided. As shown in fig. 1, includes:
the upper limb has brush motor 1, the lower limb has brush motor 2, have first transmission connecting rod and first transmission connecting rod both ends all are equipped with the upper limbs arm 3 of handrail, have second transmission connecting rod and second transmission connecting rod's both ends all are equipped with the lower limbs footboard 4 of footboard, power supply 5, controller 6 and support 7.
The input end of the upper limb brush motor 1 is connected with the controller 6, and the output end of the upper limb brush direct current motor 2 is connected with the upper limb arm 3. The input end of the lower limb brush motor 2 is connected with the controller 6, and the output end of the lower limb brush DC motor 2 is connected with the lower limb pedal 4. The power supply 5 is connected to the controller 6.
The upper limb arm 3 is mounted above the bracket 7, and the lower limb pedal 4 is mounted below the bracket 7.
In this embodiment, the power supplier 5 is used to supply power to the controller 6. When the power supply device 5 supplies power to the controller 6, the controller 6 controls the upper limb arm 3 to move through the upper limb brush motor 1 and/or controls the lower limb pedal 4 to move through the lower limb brush motor 2, so that the upper limb and/or the lower limb of the patient are automatically driven to perform rehabilitation training, and passive rehabilitation training is realized. When the power supply device 5 does not supply power, the patient can actively apply force to the upper limb arm 3 and/or the lower limb pedal 4, so as to realize active rehabilitation training. The schematic circuit structure of the drive circuit of the upper limb brush motor 1 and the lower limb brush motor 2 is shown in fig. 2 and fig. 3, and the drive circuit is a current feedback push-pull converter drive circuit formed by two half-bridge drivers (LM5109B) and four N-MOS transistors (NVMFD5875 NL).
In the present embodiment, the upper limb brush motor 1 and the lower limb brush motor 2 are connected by an upper limb switching circuit and a lower limb switching circuit (not shown), and the upper limb switching circuit and the lower limb switching circuit (not shown) are connected to the controller 6. When the upper and lower limb movement needs to be switched, the controller 6 sends a control level to the upper and lower limb switching circuit 8, so that the upper limb brush motor 1 in operation is stopped to start the lower limb brush motor 2, or the lower limb brush motor 2 in operation is stopped to start the upper limb brush motor 1. The schematic circuit structure of the upper and lower limb switching circuit (not shown) is shown in fig. 4, and it is mainly composed of a double-pole single-throw relay (G6B-2114P-US-12V).
In this embodiment, the upper limb arm 3 is provided with a speed reducer 8, and the speed reducer 8 is provided on the first transmission link of the upper limb arm 3 and connected to the upper limb brush motor 1. Wherein the whole control operation process of the upper limb passive rehabilitation training is as follows: the controller 6 drives the upper limb brush motor 1 to work, the upper limb brush motor 1 drives the speed reducer 8 to rotate, and the speed reducer 8 drives the upper limb arm 3 to do reciprocating motion through the first transmission connecting rod, so that the passive rehabilitation training of the upper limb is realized. At the moment, the equipment drives the upper limbs of the person to do rotary reciprocating motion.
In this embodiment, the second transmission link of the lower limb pedal 4 is provided with a belt for driving the pulley to rotate and a driven pulley. Wherein the whole control operation process of the upper limb passive rehabilitation training is as follows:
the controller 6 drives the lower limb brush motor 2 to work, the lower limb brush motor 2 drives the driven pulley to rotate through a belt, the driven pulley drives the lower limb pedal to rotate and reciprocate through the second transmission connecting rod, passive training is achieved, and at the moment, the lower limb of a person is driven by the equipment to rotate and reciprocate.
In the present embodiment, the upper arm 3 and the lower pedal 4 can perform forward movement and directional movement. Under the condition of passive rehabilitation training, when the output torque of the upper limb brush motor 1 or the lower limb brush motor 2 cannot drive the upper limb arm 3 or the lower limb pedal 4 to move towards the current direction, the patient is considered to have spasm, and at the moment, the upper limb brush motor 1 or the lower limb brush motor 2 can drive the upper limb arm 3 or the lower limb pedal 4 to move towards the direction opposite to the current direction. In this way, spasticity can be alleviated, muscles can be relaxed, and muscles and joints are not damaged.
In this embodiment, the controller 6 is disposed below the support 7, and may be but not limited to an STM32F303CCT6 chip, which may be used to burn more control programs later, so that the active and passive modes of rehabilitation training can be automatically switched later according to the control instruction, and the upper and lower limb switching circuit (not shown) can be automatically controlled.
In the present embodiment, the upper limb brush motor 1 and the lower limb brush motor 2 may be, but not limited to, dc brush motors.
In this embodiment, a current detection device (not shown) is further included. The input end of the current detection device is connected with the upper limb brush motor 1 and the lower limb brush motor 2, and the output end of the current detection device is connected with the controller 6. A schematic circuit structure diagram of the current detection device can be shown in fig. 5.
The upper limb Hall detection unit 9 is arranged on any handrail of the upper limb arm 1, and the lower limb Hall detection unit 10 is arranged on the bracket 7 connected with the second transmission connecting rod.
The upper limb Hall detection unit 9 and the lower limb Hall detection unit 10 are electrically connected with the controller 6.
The current detection device, the upper limb hall detection unit 9 and the lower limb hall detection unit 10 are used for acquiring current values of the upper limb brush motor 1 and the lower limb brush motor 2 and sending the acquired current values to the controller 6. When the received current value is larger than the set current threshold value, the controller 6 sends a level signal to the upper limb brush motor 1 or the lower limb brush motor 2, so that the upper limb brush motor 1 or the lower limb brush motor 2 drives the upper limb arm 3 or the lower limb pedal 4 to move in the direction opposite to the current direction.
In the present embodiment, the upper and lower hall detecting units 9 and 10 may be, but are not limited to, hall sensors.
In this embodiment, still include touch-sensitive screen 11, the touch-sensitive screen is located the support top, has brush motor mechanical connection with the upper limbs, is connected with the controller electricity.
In this embodiment, the touch screen 11 is an intelligent terminal, and is connected to the controller 6 to display data related to the controller. After the corresponding program is subsequently entered into the controller 6, the controller 6 can directly select the training mode, set parameters such as the training speed, the resistance, the spasm grade and the like through the touch screen 11, select the corresponding training mode, and issue a corresponding control instruction to the controller 6, so that the controller 6 controls the equipment to execute the corresponding operation.
In this embodiment, an upper limb motor encoder 12 and a lower limb motor encoder 13 are further included.
The upper limb motor encoder 12 is mechanically connected between the touch screen 11 and the upper limb brush motor 1, and the lower limb motor encoder 13 is arranged below the bracket 7.
The input end of the upper limb motor encoder 12 is connected with the upper limb brush motor 1, and the output end of the upper limb motor encoder 12 is connected with the controller 6. The input end of the lower limb motor encoder 13 is connected with the lower limb brush motor 2, and the output end of the lower limb motor encoder 13 is connected with the controller 6.
In this embodiment, an emergency switch 14 is further included, and the emergency switch is disposed on the bracket and electrically connected to the controller. In the event of an emergency, the passive rehabilitation training can be stopped by pressing the emergency switch 14, thereby turning off the controller 6.
In the present embodiment, the power supply includes a switching power supply 15 and a filter 16.
The output of the switching power supply 15 is connected to the input of a filter 16, and the output of the filter 16 is connected to the input of the controller 6.
In this embodiment, a base 17 is provided below the lower limb pedal 4, and the base 17 is mechanically connected to the support 7 and functions as a stabilizer.
Compared with the prior art, the usable controller of this embodiment has brush motor control upper limbs arm motion through the upper limbs to and have brush motor control lower limbs footboard motion through the lower limbs, thereby the automatic upper limbs and the lower limbs that drive the patient carry out the rehabilitation training, realize the passive rehabilitation training of upper limbs, can also be through the mode of patient's initiative application of force in upper limbs arm and lower limbs footboard, thereby the limb initiative rehabilitation training about realizing, and then make later stage rehabilitation training can reach better training effect.
The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations are also regarded as the protection scope of the present application.
Claims (10)
1. An active and passive rehabilitation device for upper and lower limbs, characterized by comprising: the device comprises an upper limb brush motor, a lower limb brush motor, an upper limb arm with a first transmission connecting rod and armrests arranged at two ends of the first transmission connecting rod, a lower limb pedal with a second transmission connecting rod and pedals arranged at two ends of the second transmission connecting rod, a power supply, a controller and a bracket;
the input end of the upper limb brush motor is connected with the controller, and the output end of the upper limb brush direct current motor is connected with the upper limb arm;
the input end of the lower limb brush motor is connected with the controller, and the output end of the lower limb brush direct current motor is connected with the lower limb pedal;
the power supply is connected with the controller;
the upper limb arm is arranged above the bracket, and the lower limb pedal is arranged below the bracket.
2. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the upper limb brush motor and the lower limb brush motor are connected through an upper and lower limb switching circuit;
the upper and lower limb switching circuit is connected with the controller.
3. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the arm of the upper limb is provided with a speed reducer;
the speed reducer is arranged on a first transmission connecting rod of the upper limb arm and connected with the upper limb brush motor.
4. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising a current detection device;
the input end of the current detection device is connected with the upper limb brush motor and the lower limb brush motor, and the output end of the current detection device is connected with the controller.
5. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising an upper limb hall detection unit and a lower limb hall detection unit;
the upper limb Hall detection unit is arranged on any handrail of the upper limb arm, and the lower limb Hall detection unit is arranged on the bracket connected with the second transmission connecting rod;
the upper limb Hall detection unit and the lower limb Hall detection unit are electrically connected with the controller.
6. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising a touch screen;
the touch screen is arranged above the support, is mechanically connected with the upper limb brush motor and is electrically connected with the controller.
7. The active and passive rehabilitation device for upper and lower limbs according to claim 6, further comprising an upper limb motor encoder and a lower limb motor encoder;
the upper limb motor encoder is mechanically connected between the touch screen and the upper limb brush motor, and the lower limb motor encoder is arranged below the bracket;
the input end of the upper limb motor encoder is connected with the upper limb brush motor, and the output end of the upper limb motor encoder is connected with the controller;
the input end of the lower limb motor encoder is connected with the lower limb brush motor, and the output end of the lower limb motor encoder is connected with the controller.
8. The active and passive rehabilitation device for upper and lower limbs according to claim 1, further comprising an emergency switch;
the emergency switch is arranged on the bracket and is electrically connected with the controller.
9. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein the power supply comprises a switching power supply and a filter;
the output end of the switching power supply is connected with the input end of the filter, and the output end of the filter is connected with the input end of the controller.
10. The active and passive rehabilitation device for upper and lower limbs according to claim 1, wherein a base is provided under the lower limb pedal, and the base is mechanically connected with the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921529186.4U CN211300959U (en) | 2019-09-12 | 2019-09-12 | Active and passive rehabilitation device for upper and lower limbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921529186.4U CN211300959U (en) | 2019-09-12 | 2019-09-12 | Active and passive rehabilitation device for upper and lower limbs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211300959U true CN211300959U (en) | 2020-08-21 |
Family
ID=72066482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921529186.4U Active CN211300959U (en) | 2019-09-12 | 2019-09-12 | Active and passive rehabilitation device for upper and lower limbs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211300959U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114618122A (en) * | 2022-04-08 | 2022-06-14 | 常州市钱璟康复股份有限公司 | Upper and lower limb rehabilitation training system |
| CN115054868A (en) * | 2022-04-08 | 2022-09-16 | 常州市钱璟康复股份有限公司 | Upper and lower limb rehabilitation training device and rehabilitation training management system thereof |
| WO2022253358A1 (en) * | 2021-06-01 | 2022-12-08 | 广东省第二中医院（广东省中医药工程技术研究院） | Mobile device for improving respiratory muscles of patient |
-
2019
- 2019-09-12 CN CN201921529186.4U patent/CN211300959U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022253358A1 (en) * | 2021-06-01 | 2022-12-08 | 广东省第二中医院（广东省中医药工程技术研究院） | Mobile device for improving respiratory muscles of patient |
| CN114618122A (en) * | 2022-04-08 | 2022-06-14 | 常州市钱璟康复股份有限公司 | Upper and lower limb rehabilitation training system |
| CN115054868A (en) * | 2022-04-08 | 2022-09-16 | 常州市钱璟康复股份有限公司 | Upper and lower limb rehabilitation training device and rehabilitation training management system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211300959U (en) | Active and passive rehabilitation device for upper and lower limbs | |
| CN110946735A (en) | Active and passive rehabilitation device for upper and lower limbs | |
| US4798197A (en) | Safety features for continuous motion therapy system | |
| CN102614053B (en) | Electric bed chair | |
| EP1608065A3 (en) | Control apparatus of semiconductor switch | |
| CN201223524Y (en) | Intelligent upper and lower limbs trainer | |
| CN108888469A (en) | A kind of the elderly's limb function rehabilitation training device | |
| CN1559371A (en) | Multi-functional nursing bed, and its controlling system | |
| CN111941413B (en) | Electromagnetic controllable flexible driving device and control method thereof | |
| CN207788965U (en) | A kind of monomer multifunctional life self-care auxiliary robot | |
| CN2569795Y (en) | Intelligent arm recovery exerciser | |
| CN202128669U (en) | Bedside-type intelligent upper limb rehabilitation trainer | |
| CN108371589A (en) | A kind of clinic turning body function sick bed and its implementation | |
| CN107643766A (en) | The control system and control method of a kind of Multifunction bathing chair | |
| CN203852494U (en) | Multifunctional examination bed | |
| CN206896502U (en) | Recovery training appliance for recovery and its upper and lower extremities switching circuit | |
| CN106618951A (en) | Intelligent rehabilitation nursing device | |
| CN2286049Y (en) | Radio digital remote-control multi-function simulation health massager of genital | |
| CN106581945A (en) | Four-limb linkage rehabilitation training device | |
| CN205094940U (en) | Recovered robot of interactive upper limbs | |
| CN217118844U (en) | Joint active and passive rehabilitation training control system | |
| CN1915705A (en) | Control device in constant speed for electric wheel chair | |
| CN208865115U (en) | A kind of rehabilitation sports equipment | |
| CN208081412U (en) | A kind of new automatic sick bed | |
| CN206214354U (en) | A kind of electric blood taking chair controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |