1283174 玖、發明說明： 【發明所屬之技術領域】 本發明係關於一種三維震動復健訓練機，尤指一種模 擬馬匹運動的復健訓練機，令復健者可獲得如同乘坐在馬 匹上行進的復健治療效果。 【先前技術】 腦性麻痒患者的肌肉張力異常是影響動作功能障礙因 素’目前腦性麻痒患者的復健方式係多採馬術治療。研究 顯示··馬匹緩慢行走時，三個平面的骨盆運動類似於人走 路時的三個平面骨盆運動，使患者騎乘於馬背i，可接受 震動與旋轉的刺激，對患者具有降低高肌肉張力、改善= 體上姿擺位的穩定度與增加動態功能性動作等效果。是以 ’藉由馬匹輔助以期達到腦性麻痺患者具成效之復健治療 成效。 ’' …、而’由於國内鮮少醫院或復健醫院會提供馬匹供腦 性麻痺患者進行復健用，此外，復健師並無法確切地掌握 馬匹乘坐位置、行進速度所帶給患者的治療成效，因此， :等復健師乃是靠經驗累積，才能面對不同患者控制馬匹 二坐的相關要領。是以’以馬匹進行復健固然有其醫學理 ’亡的支持’但畢竟馬匹是活體動物，並無法完全命令牠 進仃多大及穩定震幅的擺動，相對地亦對患者有治療程 不一的現象發生。 ’、壬又 、疋以，國内該等患者的復健歷程相當艱辛，亟待馬匹 代替方案的發現’才能真正的提供該腦性麻痒患者取得較 1283174 佳療效的方法。 【發明内容】 為此，本發明的主要目的係提供一種模擬馬匹緩慢行 進牯，其馬月上之二維震動的復健訓練機，藉以讓復健患 者可以獲得類似人在行走的三個平面骨盆運動，令復健2 效更為顯著。 7 欲達上述目的所使用之主要技術手段係 復健訓練機主要包含有： 一准震動 一電腦； 一控制電路 一復健機台 採坐姿坐於其上 係雙向連接至該電腦；及 係受控制電路控制呈三維震動，供患者 上述復健訓練機係主要由 機台的動作，並且藉由控制電 ，藉以供復健師設定出最適合 患者在復健機台係以坐姿坐於 二維刺激運動時，患者可感受 而確實具有復健的療效。 【實施方式】 電腦透過控制電路控制復健 路回報機台實際動作的狀況 患者的復健三維刺激運動。 其上’當機台開始動作擬模 到如同坐在馬匹上的震動， 本發明係為-種供腦性麻痒患者作為復健使用的三維 震^復健一練機，本發明的三維震動復健訓練機係主要由 ^ 口電細 控制電路及一台復健機台組成。首先請參閱 第一圖所示’係、為該復健機台（i Q )的外觀圖結構，盆 包含有： 基座（1 1 )，.其上設有複數滑軌（i i i )及一 1283174 力產生，是以，將該曲軸（2 4 )自由端樞設於水平或垂 直移動台（1 2 )( 1 3 )外側上，以推動水平或垂直移 動台（12) (13)於水平或垂直方向移動，而交流馬 達（2 1 )轉動愈快則水平或垂直移動台的往復移動更快 ’反之亦同；及 震幅控制單元（未標號），係主要由一伺服馬達（ 2 5 )、一滾珠螺桿（2 6 )及一連桿（2 7 )組成，該 連桿（27) —端分別再與該曲軸（24)及搖桿（23 1 )樞接，而另一端則連接至該滚珠螺桿（2 6 );該伺 服馬達（2 5 )係提供滾珠螺桿（2 6 ) |轉動力，以控 制:周整該連桿（2 7 ) -端的位置，#以提供震動頻率控 制單元的一支點，令該震動頻率控制單元作動時，該曲軸 (2 4 )自由知可提供該水平或垂直移動台不同大小震幅 C所示，係為上述復健機台（1 (12) (13)的動作示意圖 0 誠如第五圖A、B、 的水平及垂直移動台 、，第五圖A係為機台未作動的狀態圖，而第五圖b為該^ 平移動σ ( 1 2 )呈水平移動向前的動作狀態圖，至於負 五圖C則為該垂直移勤Α 杉動口（ 1 3 )呈垂直向上的動作狀薄 圖。請再配合第六圖A、r & β所示，由於該垂直移動台（1 樞設有一復健平台（14)，該復健平台（14) 一 °又有七…者騎乘的馬鞍台座（1 4 1 )，使患者名 復健平台（1 4 )上3 XU h 〇 λ 王丄安狀，當水平及垂直移動台（1 2) (13)分別或|^|1：1主4 A门時動作時，患者可獲得X軸、z勒 1283174 p々刺激力，至於患者γ軸方向的刺激力則可以人工將 ^建平台旋轉九十度，令患者連同馬鞍台座旋轉九十度， ®水平移動台移動日夺，患者即可獲軸的刺激力。藉此 本毛明確實可提供患者三維刺激力，以達到復健所 效果。 如第七圖所示，係為本發明的電腦（4 0 )及相關其 控制電路，其包含有·· 、一飼服馬達驅動電路（31)，係連接至上述飼服馬 達（2 5 )，控制伺服馬達（2 5 )的轉動、停止等動作 -極限檢測器組（32)，係包含有前極限、後極限 及原位點的檢測器’以分別檢測伺服馬達（2 5 )的極限 點，各極限檢測器係連接至該伺服馬達驅動電路（3 1 ) ，當到達極限點時，即輸出—電子信冑，由伺服馬達驅動 電路（3 1 )控制伺服馬達停止運轉； 第-轉接介面（3 3 )，係雙連接於該伺服馬達驅 動電路（3 1)盥電腦 丄m ( 4 〇 )之間’以啟動伺服馬達驅 動電路（3 1 )及接收各極限檢知器的輸出電子信號；嗜 第一轉接介面（33)係為一 814M轉接卡；β q -變頻0(34) ’係連接至該交流馬達（2工）， 以控制交流馬達（2 1 )的轉速；1283174 玖, invention description: [Technical Field] The present invention relates to a three-dimensional vibration rehabilitation training machine, and more particularly to a rehabilitation training machine for simulating horse movement, so that a rehabilitation person can obtain a ride on a horse. Rehabilitation treatment effect. [Prior Art] Muscle tone abnormality in patients with cerebral palsy is a factor affecting motor dysfunction. The current rehabilitation method for patients with cerebral palsy is multi-equestrian equestrian treatment. The study shows that when the horse is walking slowly, the three planes of the pelvis movement are similar to the three plane pelvic movements when the person walks, so that the patient can ride on the horseback i, can receive the vibration and rotation stimulation, and have the lower muscles for the patient. Tension, improvement = stability of body position and increase of dynamic functional movements. It is the result of rehabilitation therapy that is effective in achieving cerebral palsy patients with horses. ''...and' because domestic rare hospitals or rehabilitation hospitals provide horses for cerebral palsy patients for rehabilitation, in addition, the rehabilitation teacher cannot accurately grasp the treatment of the horse's riding position and speed. The results, therefore,: Rehabilitation teachers rely on experience to accumulate in order to face the relevant methods of controlling the two horses of different patients. It is because the 'rehabilitation of horses has its medical support 'death support', but after all, the horse is a living animal, and it is impossible to completely command it to enter and stabilize the amplitude of the swing, and relatively different treatment courses for patients. The phenomenon occurs. ', 壬 疋 疋 , , 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该SUMMARY OF THE INVENTION Accordingly, it is a primary object of the present invention to provide a rehabilitation training machine that simulates a two-dimensional vibration of a horse on a horse's slow march, so that the rehabilitation patient can obtain three planes similar to the person walking. The pelvic movement makes the rehabilitation 2 more effective. 7 The main technical means used to achieve the above purposes are the rehabilitation training machine, which mainly includes: a quasi-vibration computer; a control circuit; a rejuvenation machine sitting in a sitting position on the two-way connection to the computer; The control circuit controls the three-dimensional vibration, and the patient's rehabilitation training machine is mainly operated by the machine, and by controlling the electric power, the rehabilitation artist sets the most suitable patient to sit in the two-dimensional stimulation in the sitting posture of the rehabilitation machine. When exercising, the patient can feel and does have a healing effect. [Embodiment] The computer controls the rehabilitation circuit to report the actual operation of the machine through the control circuit. The patient's rehabilitation three-dimensional stimulation movement. On the other hand, when the machine starts to move into a vibration like sitting on a horse, the present invention is a three-dimensional earthquake-recovering exercise machine for cerebral itching patients, and the three-dimensional vibration complex of the present invention The training machine is mainly composed of a fine electric control circuit and a rehabilitation machine. First, please refer to the structure shown in the first figure, which is the appearance structure of the rehabilitation machine (i Q ). The basin includes: a base (1 1 ), which is provided with a plurality of slide rails (iii) and a 1283174 Force generation, that is, pivoting the free end of the crankshaft (2 4 ) to the outside of the horizontal or vertical moving table (1 2 ) ( 1 3 ) to push the horizontal or vertical moving table (12) (13) to the horizontal Or moving in the vertical direction, and the faster the AC motor (2 1 ) rotates, the faster the reciprocating movement of the horizontal or vertical moving table is, and vice versa; and the amplitude control unit (not labeled), which is mainly composed of a servo motor (2 5 a ball screw (2 6 ) and a connecting rod (27), the connecting end of the connecting rod (27) is respectively pivoted to the crankshaft (24) and the rocker (23 1 ), and the other end is connected To the ball screw (2 6 ); the servo motor (25) provides a ball screw (2 6 ) | rotational force to control: the position of the connecting rod (2 7 ) - end, # to provide vibration frequency control a point of the unit, when the vibration frequency control unit is actuated, the crankshaft (2 4 ) is freely available to provide different horizontal or vertical mobile stations As shown by the amplitude C, it is the operation diagram of the above-mentioned rehabilitation machine (1 (12) (13). The horizontal and vertical mobile stations are as shown in the fifth figure A and B, and the fifth figure is the machine. The unactuated state diagram, and the fifth graph b is the motion state diagram of the horizontal movement σ ( 1 2 ) moving horizontally forward, and the negative five graph C is the vertical shifting movement (1 3 ) Vertically upward action diagram. Please cooperate with Figure 6A, r & β, because the vertical mobile station (1 pivots a rehabilitation platform (14), the rehabilitation platform (14) one ° There are seven... riders on the saddle pedestal (1 4 1), so that the patient name rehabilitation platform (1 4) on the 3 XU h 〇 λ Wang Juan, when the horizontal and vertical mobile stations (1 2) (13) respectively or |^|1:1 When the main 4 A door is operated, the patient can obtain the X-axis and z-l 1283174 p々 stimulation force. As for the stimulation force in the γ-axis direction of the patient, the platform can be manually rotated by 90 degrees to make the patient Together with the saddle pedestal rotating 90 degrees, the horizontal mobile station moves the day, the patient can get the stimulation of the shaft. This hair can clearly provide the patient's three-dimensional stimulation to achieve the complex As shown in the seventh figure, the computer (40) of the present invention and related control circuit thereof include a motor drive circuit (31) for feeding to the feeding motor ( 2 5) Control the rotation, stop, etc. of the servo motor (2 5 ) - the limit detector group (32) is a detector including the front limit, the rear limit and the home position to detect the servo motor separately (2 5 a limit point, each limit detector is connected to the servo motor drive circuit (3 1 ), when the limit point is reached, that is, the output - the electronic signal, the servo motor drive circuit (3 1 ) controls the servo motor to stop running; The first transfer interface (3 3 ) is double-connected between the servo motor drive circuit (3 1) and the computer 丄m (4 〇) to start the servo motor drive circuit (3 1 ) and receive the limit detection The output electronic signal of the device; the first switching interface (33) is a 814M riser card; the β q -inverter 0 (34) ' is connected to the AC motor (2 work) to control the AC motor (2 1 Speed
，以 ;該 一第二轉接介面（3 5 )，係透過一光耦合器 )分別連接至一繼電器（3 7 )及該變頻器（3 4 控制交流馬達（2 1 )的電源及啟閉變頻器（3 4 1283174 第二轉接介面（3 5 )係為一 DO-20P轉接卡； 一電阻尺（3 8 )，係設於該復健平台（1 4 )上， 用以反應復健平台（1 4 )水平及垂直位移值，及 一第三轉接介面（39)，係設於該電阻尺（38) 及電腦（4 0 )之間，該電腦（4 0 )係透過第三轉接介 面（3 9 )取得電阻尺（3 8 )的輸出信號，以判斷復健 平台（1 4 )實際震幅大小；該第三轉接介面（3 9 )係 為一 D-37P轉接卡。 請參閱第八圖所示，電腦（4 0 )係提供有控制輸入 介面（4 1 )予復健師使用，其包含有： 一設定攔位，係提供有頻率高低、振幅大小、軸向選 擇、運轉模式及復健時間等運轉參數設定攔位； 一狀態攔位，係提供有目前機台運轉頻率、振幅、最 大G值及剩餘復健時間；及 複數功能完成圖示，係包含有X軸歸位完成、Z軸歸 位完成及測試完成狀態；及 複數功能鈕，係包含有一系統歸位鈕、系統啟動鈕、 系統暫停鈕、系統停止鈕及程式結束鈕。 請配合第九圖所示’係為電腦執行復健程序的流程圖 。當程式開始時’即-併檢查伺服馬達的狀態（50)，以 核對目前機台的整體系統是否正常，當系統正常時（51) ’即送出啟動信號至伺服馬達驅動電路（52)，令伺服 達開：啟動’令飼服馬達歸回純（53)，在歸位 )後即提供前揭控制輪入介面於顯示器h令復健師針 1283174 對患者身體狀態進行不同參數的 幻叹疋（55)，並且於按下 啟動紐’隨即啟動一組Z軸戋X產 罕A入軸動力組的伺服馬達驅動 電路及變頻器（56 )，令伺服民、去n ^ 7伺服馬達及交流馬達依照設定參 數開始轉動，直到所設定頻率參數為零為i (57)，即為 動作結束（58)。此時電腦會判斷程式是否關閉，若關閉 則結束程式（59 )，若並去關ps aT ^ 未關閉’則再回到控制伺服馬達The second switching interface (3 5 ) is respectively connected to a relay (37) through an optical coupler and the inverter (3 4 controls the power supply and opening and closing of the alternating current motor (2 1 ) The frequency converter (3 4 1283174 second switching interface (3 5 ) is a DO-20P riser card; a resistance ruler (3 8 ) is attached to the rehabilitation platform (1 4 ) for response The horizontal and vertical displacement values of the health platform (1 4) and a third switching interface (39) are provided between the resistance ruler (38) and the computer (40), and the computer (40) is transmitted through the The three switching interface (3 9 ) obtains the output signal of the resistance ruler (38) to determine the actual amplitude of the rehabilitation platform (14); the third switching interface (39) is a D-37P turn As shown in the eighth figure, the computer (40) is provided with a control input interface (4 1 ) for use by the rehabilitation engineer, which includes: a set stop, which provides frequency, amplitude, and axis Set the operation parameters to the operation parameters such as selection, operation mode and rehabilitation time; a state block provides the current machine operating frequency, amplitude, maximum G value and remaining The health time; and the plural function completion icon includes the X-axis homing completion, the Z-axis homing completion and the test completion state; and the plural function button, which includes a system home button, a system start button, a system pause button, System stop button and program end button. Please cooperate with the flowchart shown in Figure 9 for the computer to execute the rehabilitation program. When the program starts, ie, check the status of the servo motor (50) to check the current machine. Whether the overall system is normal, when the system is normal (51) 'Send the start signal to the servo motor drive circuit (52), so that the servo is turned on: start 'turn the feed motor back to pure (53), after the return) The front-opening control wheel-in interface on the display h causes the rehabilitation worker to pin 1283174 to perform different parameters of the patient's body state (55), and presses the start button' to immediately start a set of Z-axis 戋X-produced A-axis power The servo motor drive circuit and the inverter (56) of the group enable the servo, the n^7 servo motor and the AC motor to start rotating according to the set parameters until the set frequency parameter is zero (i), which is the action knot. (58). At this time, the computer determines whether the program is closed, closing the end of the program (59), and if not to close off ps aT ^ 'back to the servo motor control
復回原位的步驟（53 )，戎县笙仕弘& A ’ 袁疋專待啟動鈕再次被按下。若 疋啟4δ再度被按下’即亩接旧$丨丨4¾ /a h 1丨h (55) ’供復健師再度進行另一次的參數 丨且按口到挺供控制輸入介面的步驟 在 又 丽揭流程中控制輸入介面有按下系統緊急停止#(6〇)， 則系統立即鎖定（61) ’直到緊急狀態排除（62)，再回 到伺服馬達檢查步驟（50 )。 由上述說明可知，本發明係將原本僅能依賴活體馬匹 進行三維刺激的復健方式，以機電整合方式，提供一種量 化的運動刺激復健機台。復健師由顧示器上控制輸入介面 得知所設的參數令復健平台實際移動震幅大小，進而調整 出適當的參數，而隨時控制機台提供三軸不同的刺激力道 ，令不同麻痒程度的患者都獲得最佳的復健治療，再者， 本發明可置放於醫院中，完全無需照顧活體動物的問題。 是以，本發明確實符合產業上利用性，並符合發明專 利新穎性及進步性，爰依法具文提出申請。 【圖式簡單說明】 (一）圖式部分 第一圖：係本發明一較佳實施例的立體外觀圖。 10 1283174 第二 第三 第四 第五 作示意圖 第六 第七 第八 第九 (二 (1 (1 (1 (1 (1 (2 (2 (2 (2 (2 (3 (3 (3 (3 0 )復健機台 1 1 )滑執 2 1 )滑塊 3 )垂直移動台 4 )復健平台 0 ) X軸動力組 1 )交流馬達 3 )偏心輪 4 )曲軸 6 )滾珠螺桿 0 )控制電路 圖：係本發明X軸動力組的位置示意圖。 圖：係本發明Z軸動力組的位置示意圖。 圖：係本發明X軸動力組的結構示意圖。 圖A、B、C :係本發明垂直及水平移動台的動 圖A、B :係本發明復健平台旋轉移動示意圖 圖：係本發明電腦與控制電路的方塊圖。 圖：係本發明一控制輸入介面。 圖：係本發明電腦控制機台的流程圖。 )元件代表符號 (11)基座 (1 2 )水平移動台 (1 2 2 )滑執 (1 3 1 )滑塊 (1 4 1 )馬鞍台座 (2 0 a ) Z軸動力組 (2 2 )皮帶 (2 3 1 )搖桿 (2 5 )伺服馬達 (2 7 )連桿 (3 1 )伺服馬達驅動電路 2 )極限檢測器組（3 3 )第一轉接介面 4 )變頻器 （3 5 )第二轉接介面 6 )光耦合器 （3 7 )繼電器 11 1283174 (38)電阻尺 （39)第三轉接介面 (40)電腦 （41)控制輸入介面Steps to return to the original position (53), 戎县笙仕弘 & A ’ 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋If Qi Kai 4δ is pressed again, that is, the mu is connected to the old $丨丨43⁄4 /ah 1丨h (55) 'For the rehabilitation technician to perform another parameter again, and press the mouth to the control input interface step In the process of the control, if the system enters the system emergency stop # (6〇), the system immediately locks (61) 'until the emergency state is eliminated (62), and then returns to the servo motor check step (50). As apparent from the above description, the present invention provides a quantitative exercise stimulation rehabilitation machine in an electromechanical integration manner by a rehabilitation method which can only rely on living horses for three-dimensional stimulation. The rehabilitation teacher knows the parameters set by the control input interface on the indicator device, so that the rehabilitation platform actually moves the amplitude of the earthquake, and then adjusts the appropriate parameters. At any time, the control machine provides three different axes of stimulation force, which makes it different. The degree of patient receives the best rehabilitation treatment. Furthermore, the present invention can be placed in a hospital without any need to take care of living animals. Therefore, the present invention is indeed in line with the industrial applicability, and conforms to the novelty and progress of the invention patent, and submits an application according to law. BRIEF DESCRIPTION OF THE DRAWINGS (I) Schematic Part First FIG. is a perspective view of a preferred embodiment of the present invention. 10 1283174 Second, third, fourth, fifth, schematic, sixth, seventh, eighth, ninth (two (1 (1 (1 (1 (2 (2 (2 (2 (2 (2 (2 (2 (2 (2 0) rehabilitation machine 1 1) slipper 2 1) slider 3) vertical mobile station 4) rehabilitation platform 0) X-axis power group 1) AC motor 3) eccentric 4) crankshaft 6) ball screw 0) control Circuit diagram: Schematic diagram of the position of the X-axis power pack of the present invention. Fig.: Schematic diagram of the position of the Z-axis power pack of the present invention. Fig.: Schematic diagram of the structure of the X-axis power pack of the present invention. Figs. A, B, C: Vertical of the present invention And moving diagram of horizontal mobile station A, B: is a schematic diagram of rotational movement of the rehabilitation platform of the present invention: a block diagram of the computer and control circuit of the present invention. Fig.: A control input interface of the present invention. Flow chart of the machine.) Component symbol (11) Base (1 2) Horizontal moving table (1 2 2) Sliding (1 3 1 ) Slider (1 4 1 ) Saddle pedestal (2 0 a ) Z axis Power group (2 2 ) belt (2 3 1 ) rocker (2 5 ) servo motor (2 7 ) connecting rod (3 1 ) servo motor drive circuit 2 ) limit detector group (3 3 ) first transfer interface 4 ) Inverter (3 5 ) Second transfer interface 6) Optocoupler (3 7) Relay 11 1283174 (38) Resistance ruler (39) Third transfer interface (40) Computer (41) Control input interface
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