CN106074088A - The numerical control auxiliary moving devices of human body attitude change and method - Google Patents
The numerical control auxiliary moving devices of human body attitude change and method Download PDFInfo
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- CN106074088A CN106074088A CN201610546323.XA CN201610546323A CN106074088A CN 106074088 A CN106074088 A CN 106074088A CN 201610546323 A CN201610546323 A CN 201610546323A CN 106074088 A CN106074088 A CN 106074088A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 206010034719 Personality change Diseases 0.000 title claims abstract description 17
- 230000009467 reduction Effects 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 claims description 22
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 210000003414 extremity Anatomy 0.000 claims description 16
- 210000003141 lower extremity Anatomy 0.000 claims description 16
- 230000007423 decrease Effects 0.000 claims description 15
- 210000003423 ankle Anatomy 0.000 claims description 13
- 210000003127 knee Anatomy 0.000 claims description 13
- 210000000707 wrist Anatomy 0.000 claims description 13
- 230000000630 rising effect Effects 0.000 claims description 11
- 230000036541 health Effects 0.000 claims description 7
- 210000001217 buttock Anatomy 0.000 claims description 6
- 210000004247 hand Anatomy 0.000 claims description 5
- 229920000728 polyester Polymers 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000009958 sewing Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 13
- 238000012549 training Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000000474 nursing effect Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000012546 transfer Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000036544 posture Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 210000001624 hip Anatomy 0.000 description 3
- 230000035882 stress Effects 0.000 description 3
- 208000034657 Convalescence Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000001769 paralizing effect Effects 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000009758 senescence Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of numerical control human body attitude change auxiliary moving devices and method, described numerical control human body attitude change auxiliary moving devices includes main control singlechip, apparatus main body with the plane lain low for people, the rectangular-shaped support being made up of plurality of rods part that can move reciprocatingly outside it being movably arranged at outside apparatus main body, relatively it is located at the servomotor on the rod member that the two of cradle top is parallel to each other, it is respectively cooperating with reduction box and the capstan winch of the governing speed that each servomotor is arranged, be wound in capstan winch plays heave hand, it is located at coordinating with the forced belt on the clothes on the person of lifting band bottom people to be sling or the hook of movement.The numerical control human body attitude change auxiliary moving devices efficiency that the present invention provides is high, easy to operate, simple in construction.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery, be specifically related to the numerical control assisted movement of a kind of human body attitude change
Device and method.
Background technology
When people be in serious disease old, raw, disable, injured situation time, much can lose or weaken control self limbs fortune
Dynamic or movable ability, daily routines and life usually need external force to assist, and traditional approach relies on nurse to enter aforementioned crowd
Row nursing, thus often have time-consuming, expend bodily strength and the more high problems of expense.
Along with the intensification of society's senescence trend, endowment is protected the related needs such as equipment and the apparatus of uneducated person pass and is got more and more,
But the most function singleness of such apparatus the most on the market, it is not the most preferable for causing practical effect.
Such as Chinese patent CN201510199323.2 convalescence training bed, discloses one and bed body edge is provided with activity
Traversing carriage, traversing carriage is provided with upper limb pivoted arm device, finger rotating disk, upper limb suppress the training device such as device, suspension ring, with side
The patient helping lower limb inconvenient performs physical exercise on one's sick bed.
Chinese patent CN201510452488.6 Intelligent lower limb rehabilitation training aids, disclose one include control module,
The training aids of power drive module, detection module, ectoskeleton and bascule, the lower limb of oneself are put into ectoskeleton by patient,
Allow limbs follow ectoskeletal movement and to bend and stretch, reach rehabilitation training purpose.
But said apparatus is only suitable for the patient of limbs energy autonomous, and for entirely without health capacity of will people,
For action must be completely dependent on the paralytic of extraneous strength and inapplicable, for look after above-mentioned paralytic nurse and
For family members, act on the least.Patient CN200920185374.X hangs a liter mobile device, includes lifting arm, lifting arm
Sleeve pipe, base, pulley etc., lifting arm is made up of laterally overarm and vertical support bar, and support bar is provided with driving rack also
Being connected with the travelling gear set in lifting arm sleeve pipe, travelling gear is provided with rocking arm, and driving rack is provided with and is made up of ratchet
Arm location automatically lock, lifting arm sleeve pipe maintenance vertical with base is connected, and base is provided with one group of pulley, is lifting arm
On be additionally provided with breast suspender belt and lower limb suspender belt；Utilizing the rocking arm shaking travelling gear to make to lift arm and realize lifting, arm location is certainly
Dynamic lock under spring force, blocks driving rack and makes arm stop at the height of needs.CN201220001458.5 then makes
With electric block, track, human body hanging basket human chest, leg vertically sling and move.
To sum up, a kind of laborsaving, patient of market in urgent need is comfortable on mobile device and convalescence device.
Summary of the invention
For overcoming the deficiency of human body assisted movement equipment in prior art, the present invention provide a kind of efficiency high, easy to operate,
The numerical control auxiliary moving devices of the human body attitude change of simple in construction and method.Concrete scheme is as follows:
The numerical control auxiliary moving devices of a kind of human body attitude change, including single-chip microcomputer, with the dress of the plane lain low for people
The rectangular-shaped support 2 being made up of plurality of rods part that put main body 1, is movably arranged at outside apparatus main body 1, it is located at support 2 top bar
The reduction box 4 of the governing speed that servomotor 3 on part is supporting with servomotor 3 and capstan winch 5, be wound in capstan winch 5 play heave hand
6 hooks 7 being connected with a heave hand 6, described hook 7 is connected with the forced belt 8 on human body clothes；
Described support 2 top rod member includes two cross bars and normal thereto two vertical poles, servo in same level
Motor 3 is arranged on two parallel with human body length direction piece vertical pole；
Each servomotor 3 is by playing heave hand 6 and the independent position controlling a forced belt of hook 7 and height.
Preferably, forced belt 8 is to sew the polyester belt in garment surface, reserves length and the extension of 5-10 centimetre at free end
Hook connects.
Preferably, after the forced belt on human body clothes is separately positioned on cervical region rear, thigh root rear and knee top
Side；When human body is sling by device, it is front, after connecting thigh root with the heave hand that rises of connecting neck portion rear forced belt
Side's forced belt rise during a heave hand is, rise after a heave hand is with connect knee upper back forced belt, front in after three groups play heave hand
Length ratio is 1:(1.8-3): (1.3-1.7).
Preferably, apparatus main body 1 guide frame reciprocating with support 2 is that cross section is T-shaped guide rail and joins with it
The groove closed, described guide rail and groove are separately positioned on the contact surface of apparatus main body 1 and support 2.
Preferably, the forced belt on human body clothes is separately positioned at back, waist rear, wrist after at rear and ankle
Side.
Preferably, described in be arranged on the forced belt at back, be provided with two shoulder belts.
Disclosed herein as well is the movement technique of the numerical control auxiliary moving devices utilizing above-mentioned a kind of human body attitude to change,
Comprise the steps:
S1, lifting band decline: servomotor 3 drops to forced belt 8 by hanging on the heave hand 6 that rises below its capstan winch 5 respectively
Near, the hook 7 playing heave hand 6 tail end is connected with forced belt 8；
S2, sitting: the heave hand 6 that plays of connecting neck portion rear forced belt stretches rising under the effect of corresponding servomotor 3, will
The upper body of people is stretched as erectility, and remaining to play heave hand 6 motionless, the most now people is in half sitting state；
S3, sling: connecting neck portion rear forced belt rise heave hand 6, connect thigh root rear forced belt rise heave hand 6,
The heave hand 6 that plays connecting knee upper back forced belt rises under the effect of corresponding servomotor 3；Make connection thigh root rear
The position playing heave hand 6 of forced belt is minimum, and take second place in the position playing heave hand 6 connecting position forced belt above the knee, connecting neck portion
Heave hand 6 position of rear forced belt is the highest, so that human comfort；
S4, removal: human body toward a lateral movement, is moved under the effect of power or manpower above device body 1 by support 2
Above wheelchair；
S5, storing: all heave hands 6 decline simultaneously, the heave hand 6 that rises connecting thigh root rear forced belt is first lowered down into
The buttocks of people presses close to the sat place of wheelchair, and when people's buttocks is adjacent to wheelchair, remaining plays heave hand 6 and also drops to correct position, now
People can hold wheelchair both sides, is departed from forced belt 8 by hook 7.
Preferably, the motion of servomotor 3 is by Single-chip Controlling, and single-chip microcomputer records the movement locus of servomotor 3 automatically,
Save as operation program, when reusing, the most directly transfer program.
Preferably, movement technique can comprise the steps:
A1, lifting band decline: servomotor 3 drops to forced belt 8 by hanging on the heave hand 6 that rises below its capstan winch 5 respectively
Near, the hook 7 playing heave hand 6 tail end is connected with forced belt 8；
A2, rehabilitation exercise: connect wrist forced belt rise heave hand 6, connect ankle forced belt rise heave hand 6 in corresponding servo
Stretch rising under the effect of motor 3, the extremity of people are pulled away from apparatus main body surface；
Extremity are in different level heights；
A3, catcher wrist forced belt play heave hand 6, connection ankle forced belt play the heave hand 6 effect at corresponding servomotor 3
The extremity of people are returned to apparatus main body surface by lower decline；
A4, repetition A2 and A3, until quantity of motion reaches requirement.
Preferably, movement technique can comprise the steps:
B1, lifting band decline: servomotor 3 drops to forced belt 8 by hanging on the heave hand 6 that rises below its capstan winch 5 respectively
Near, the hook 7 playing heave hand 6 tail end is connected with forced belt 8；
B2, lift side health: connect playing heave hand 6, connecting rising of the same side ankle forced belt of side wrist forced belt
Heave hand 6 stretches rising under the effect of corresponding servomotor 3, and left for the left hand of people lower limb or the right lower limb of the right hand are pulled away from apparatus main body
Surface；
B3, stand up: the side shifting that the corresponding servomotor 3 described in step B2 is not lifted to health, drive is lifted
The left lower limb of left hand or the right lower limb of the right hand move to opposite side, until the limbs being lifted fall again on apparatus main body surface.
The technical scheme that the present invention provides has the advantages that
The numerical control auxiliary moving devices that the technical program provides, including single-chip microcomputer, apparatus main body, fixing servomotor and
What the forced belt on human body connected plays heave hand and moveable support, and each servomotor can be independent by playing heave hand and hook
Control position and the height of a forced belt, then relative position and the phase of each forced belt according to the actual requirements, can be changed flexibly
To height so that without autonomic movement ability human body press changes in demand posture and position, reach rehabilitation training, stand up, sitting, shifting
The purpose such as dynamic.
Such as moving process, the rising of human body, movement, puts down and has been drawn heave hand by corresponding servomotor and complete, whole
Individual process is controlled by the program (possessing teaching fine adjustment function) pre-entered in single-chip microcomputer, and only need to play heave hand by human body with half
After lying posture state is sling, people or powered support, make support move to above wheelchair, then human body is put down；Correspondingly, people
Body needs opposite direction to promote support, the whole process of reverse operating when returning on device body, and extremely convenient is laborsaving, and is moved
Dynamic human body sensory safety and comfort.
The numerical control human body attitude change auxiliary moving devices that the technical program provides, whole process is by Single-chip Controlling servo
Motor completes, and with little need for participation and the control of personnel, Serve Motor Control is accurate, speed is fast, and whole process is rapidly and efficiently.
It addition, support and apparatus main body form with guide rail and the corresponding groove in T-shaped cross section, whole apparatus structure is simple,
Material therefor is less, escapable cost.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is further detailed explanation.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, drawings discussed below is only some embodiments of the present invention, for this
From the point of view of the those of ordinary skill of field, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
The front view of the numerical control human body auxiliary moving devices that Fig. 1 provides for the present invention；
Fig. 2 is the top view of the numerical control human body auxiliary moving devices in Fig. 1；
Fig. 3 changes the auxiliary moving devices lifting when transfer is by nursing staff for the numerical control human body attitude that the present invention provides
Band declines step schematic diagram；
Fig. 4 is the sitting step when transfer is by nursing staff of the numerical control human body attitude change auxiliary moving devices in Fig. 3
Schematic diagram；
Fig. 5 is the step of slinging when transfer is by nursing staff of the numerical control human body attitude change auxiliary moving devices in Fig. 3
Schematic diagram；
Fig. 6 is the removal step when transfer is by nursing staff of the numerical control human body attitude change auxiliary moving devices in Fig. 3
Schematic diagram；
Fig. 7 is the placement step when transfer is by nursing staff of the numerical control human body attitude change auxiliary moving devices in Fig. 3
Schematic diagram；
The numerical control human body attitude change auxiliary moving devices that Fig. 8 provides for the present invention carries out rehabilitation training to by nursing staff
Schematic diagram；
In figure: 1, apparatus main body, 2, support, 3, servomotor, 4, reduction box, 5, capstan winch, 6, play heave hand, 7, hook, 8,
Forced belt.
Detailed description of the invention
Below in conjunction with the accompanying drawing of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete description, aobvious
So, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.
Referring to Fig. 1～Fig. 7, the numerical control auxiliary moving devices of a kind of human body attitude change, including single-chip microcomputer, with for people
The apparatus main body 1 of the plane lain low, be movably arranged at outside apparatus main body 1 can move reciprocatingly outside it by plurality of rods part group
The rectangular-shaped support 2 become, six servomotors 3 being relatively located on two rod members being parallel to each other at support 2 top, difference
Coordinate the reduction box 4 of the governing speed that each servomotor 3 arranges and capstan winch 5, be wound in playing heave hand 6, being located at lifting of capstan winch 5
People is sling or the hook 7 of movement with coordinating with the forced belt 8 on the clothes on the person of 6 bottoms.
Described support 2 top rod member includes two cross bars and normal thereto two vertical poles, servo in same level
Motor 3 is arranged on two parallel with human body length direction piece vertical pole.Cross bar can semi-active with vertical pole be connected, i.e. vertical pole can be at horizontal stroke
Move on bar, thus the relative position that conversion is positioned between the servomotor on two vertical poles, adapt to varying environment and demand.
Servomotor 3 also can move back and forth on vertical pole, thus converts the relative position between the servomotor on same vertical pole, suitable
Position that should be various needs.
Each servomotor 3 is by playing heave hand 6 and the independent position controlling a forced belt of hook 7 and height.Namely
Saying, the three-dimensional concrete coordinate points of every forced belt can change the most flexibly so that many forced belts can combine
Go out human body change postures much more very, it is provided that sitting, sling, stand up, the function such as rehabilitation training.
Concrete, seeing Fig. 3 to Fig. 7, two servomotors 3 of the leftmost side can be to play heave hand 6 by the two of the leftmost side
Tangling the motor of the forced belt 8 of the knee upper back of people, the junction point playing heave hand and forced belt is on front side of human body, then stress
Band is peripheral around the most whole leg, and stress more equalizes, and safety is high, and human body sensory is comfortable.
Two middle servomotors 3 can be that two heave hands 6 by centre tangle being subject to of the thigh root rear of people
Power band 8 both sides the motor with both of the aforesaid motor synergy movement；Rise before the junction point of heave hand and forced belt is similarly in thigh
Side position.
Two servomotors 3 of the rightmost side can be to play heave hands 6 by the two of the rightmost side to tangle being subject to of cervical region rear of people
Power band 8 both sides the motor with aforementioned four motor synergy movements.
People is put by support 2 for playing to move from right to left under power or manpower effect after human body is sling by heave hand 6 at six
It is put on wheelchair or from left to right people is from the wheelchair transferred to the structure on apparatus main body 1.
Forced belt 8 is to sew the polyester belt in garment surface, and reserves length convenience and the extension of 5-10 centimetre at free end
Hook connects.Hook 7 can be existing outdoor activity 8 word buttons, convenient firm, it is ensured that to be lifted the safety of human body.
Further, apparatus main body 1 and the reciprocating guide frame of support 2 be cross section be T-shaped guide rail and and its
The groove coordinated, described guide rail and groove be separately positioned on apparatus main body 1 with on the contact surface of support 2, stiffening device main body with
The intensity of support connection and the degree of stability of motion.Strap brake castor can be set bottom support 2, it is simple in hospital ward or family
Move flexibly in the small space in bedroom.
Forced belt 8 on human body clothes can be separately positioned on cervical region rear, thigh root rear and knee upper back；?
Under the state that human body is sling by the application device, it is front with the heave hand that rises of connecting neck portion rear forced belt, to connect thigh root
Rear forced belt rise during a heave hand is, rise after a heave hand is with connect knee upper back forced belt, front in after three groups play heave hand
Human body is sling with semi-lying attitude.After in before, three groups of length ratios playing heave hand are 1:(1.8-3): (1.3-1.7), meet human body
Basic ratio during semi-lying.
According to posture and the needs of motion mode, after the forced belt 8 on human body clothes may be provided at back, waist the most respectively
Side, rear at rear and ankle at wrist, exert a force one by one to back, waist, wrist and ankle respectively, and flexible motion is each
Place.
For strengthen back forced belt by force intensity, be arranged on the forced belt at back, also can be provided with two shoulders simultaneously
Band, to disperse stress.
Refer to Fig. 3～Fig. 7, the numerical control assisted movement method of a kind of human body attitude change, comprise the steps:
S1, lifting band decline: six servomotors 3 drop to the person by hanging on the heave hand 6 that rises below its capstan winch 5 respectively
At the forced belt 8 of upper correspondence, the hook 7 playing heave hand 6 tail end is connected with forced belt 8；
S2, sitting: the heave hand 6 that plays of connecting neck portion rear forced belt rises, by people's under the effect of corresponding servomotor 3
Upper body is stretched as erectility, and four additional to play heave hand 6 motionless, the most now people is in sitting state；
S3, sling: connecting neck portion rear forced belt rise heave hand 6, connect thigh root rear forced belt rise heave hand 6,
The heave hand 6 that plays connecting knee upper back forced belt all rises, after making connection thigh root under the effect of corresponding servomotor 3
The position playing heave hand 6 of side's forced belt is minimum, and taking second place in the position playing heave hand 6 connecting position forced belt above the knee, connects neck
Heave hand 6 position of rear, portion forced belt is the highest, so that slinging with semi-lying attitude in human comfort ground；
S4, removal: human body toward a lateral movement, is moved under the effect of power or manpower above device body 1 by support 2
Above wheelchair；
S5, storing: all heave hands 6 decline simultaneously, the heave hand 6 that rises connecting thigh root rear forced belt is first lowered down into
The buttocks of people presses close to the sat place of wheelchair, and when people's buttocks is adjacent to wheelchair, four additional plays heave hand 6 and also have decreased to suitable position
Putting, now people can hold wheelchair both sides, is departed from forced belt 8 by hook 7, and wheelchair oneself can be promoted to carry out respective activity.
Further, the motion of servomotor 3 is controlled according to program set in advance by single-chip microcomputer.Single-chip Controlling
The motion of servomotor, and possess teaching function, because using the respective differences such as the height of crowd's height, body weight, bed, before using
Open teaching function, by button Non-follow control or Voice command, finely tune the required optimal respective height of lifting, and from
Dynamic record movement locus, saves as operation program, the most directly transfers operation program when reusing, convenient and swift.
Referring to Fig. 8, this figure is the schematic diagram that patient carries out rehabilitation training, and patient can apply it to carry out the various of extremity
Rehabilitation training.
Such as following steps:
A1, lifting band decline: servomotor (3) will hang on the heave hand (6) that rises of its capstan winch (5) lower section respectively and drop to be subject to
Near power band (8), the hook (7) of heave hand (6) tail end is connected with forced belt (8)；
A2, rehabilitation exercise: connect wrist forced belt rise heave hand (6), connect ankle forced belt rise heave hand (6) accordingly
Stretch rising under the effect of servomotor (3), the extremity of people are pulled away from apparatus main body surface；
Extremity are in different level heights.
A3, connect wrist forced belt rise heave hand (6), connect ankle forced belt rise heave hand (6) at corresponding servomotor
(3) decline under effect, the extremity of people are returned to apparatus main body surface.
A4, repetition A2 and A3 action, until quantity of motion reaches requirement.
Movement technique can also be following steps:
B1, lifting band decline: servomotor (3) will hang on the heave hand (6) that rises of its capstan winch (5) lower section respectively and drop to be subject to
Near power band (8), the hook (7) of heave hand (6) tail end is connected with forced belt (8)；
B2, lift side health: connect playing heave hand (6), connecting the same side ankle forced belt of side wrist forced belt
Play heave hand (6) and stretch rising under the effect of corresponding servomotor (3), left for the left hand of people lower limb or the right lower limb of the right hand are pulled away from dress
Put body surfaces；
B3, stand up: the side shifting that the corresponding servomotor (3) described in step B2 is not lifted to health, drive and lifted
The left lower limb of left hand or the right lower limb of the right hand that rise move to opposite side, until the limbs being lifted fall again on apparatus main body surface.
The foregoing is only embodiments of the invention, not thereby limit the scope of patent protection of the present invention, every utilization
Equivalent structure or equivalence flow process that description of the invention and accompanying drawing content are made convert, and are directly or indirectly used in what other was correlated with
Technical field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. the numerical control auxiliary moving devices of a human body attitude change, it is characterised in that include single-chip microcomputer, with lie low for people
The apparatus main body (1) of plane, it is movably arranged at the outer rectangular-shaped support (2) being made up of plurality of rods part of apparatus main body (1), sets
Servomotor (3) on the rod member of support (2) top and the reduction box (4) of the supporting governing speed of servomotor (3) and capstan winch
(5) playing heave hand (6) and rising on the hook (7) that heave hand (6) is connected, described hook (7) and human body clothes of capstan winch (5), it is wound in
Forced belt (8) connect；
Described support (2) top rod member includes two cross bars and normal thereto two vertical poles, servo electricity in same level
Machine (3) is arranged on two parallel with human body length direction piece vertical pole；
Each servomotor (3) is by playing heave hand (6) and the independent position controlling a forced belt of hook (7) and height.
Numerical control auxiliary moving devices the most according to claim 1, it is characterised in that forced belt (8) is for sewing at clothes table
The polyester belt in face, the length reserving 5-10 centimetre at free end is connected with hook.
Numerical control auxiliary moving devices the most according to claim 1, it is characterised in that
Forced belt on human body clothes is separately positioned on cervical region rear, thigh root rear and knee upper back；Will at device
Under the state that human body is sling, it is front with the heave hand that rises of connecting neck portion rear forced belt, to connect thigh root rear forced belt
Rise during heave hand is, rise after a heave hand is with connect knee upper back forced belt, front in after three groups of length ratios playing heave hand be
1:(1.8-3): (1.3-1.7).
Numerical control auxiliary moving devices the most according to claim 1, it is characterised in that apparatus main body (1) is reciprocal with support (2)
Motion guide frame be cross section be T-shaped guide rail and the groove coordinated with it, described guide rail and groove are separately positioned on dress
Put on the contact surface of main body (1) and support (2).
Numerical control auxiliary moving devices the most according to claim 1, it is characterised in that the forced belt on human body clothes sets respectively
Put at back, waist rear, wrist that at rear and ankle rear.
Numerical control auxiliary moving devices the most according to claim 5, it is characterised in that described in be arranged on the forced belt at back
On, it is provided with two shoulder belts.
7. utilize the motion side of the numerical control auxiliary moving devices that a kind of human body attitude described in any one of claim 1-6 changes
Method, it is characterised in that comprise the steps:
S1, lifting band decline: servomotor (3) will hang on the heave hand (6) that rises of its capstan winch (5) lower section respectively and drop to forced belt
(8), near, the hook (7) of heave hand (6) tail end is connected with forced belt (8)；
S2, sitting: the heave hand (6) that plays of connecting neck portion rear forced belt stretches rising under the effect of corresponding servomotor (3), will
The upper body of people is stretched as erectility, and remaining to play heave hand (6) motionless, the most now people is in half sitting state；
S3, sling: connecting neck portion rear forced belt rise heave hand (6), connect thigh root rear forced belt rise heave hand (6),
The heave hand (6) that plays connecting knee upper back forced belt rises under the effect of corresponding servomotor (3)；Make connection thigh root
The position playing heave hand (6) of rear forced belt is minimum, takes second place in the position playing heave hand (6) connecting position forced belt above the knee,
Heave hand (6) position of connecting neck portion rear forced belt is the highest, so that human comfort；
S4, removal: human body toward a lateral movement, is moved under the effect of power or manpower by support (2) from device body (1) top
Above wheelchair；
S5, storing: all heave hands (6) decline simultaneously, the heave hand (6) that rises connecting thigh root rear forced belt is first lowered down into
The buttocks of people presses close to the sat place of wheelchair, and when people's buttocks is adjacent to wheelchair, remaining plays heave hand (6) and also drops to correct position, this
Time people can hold wheelchair both sides, hook (7) is departed from forced belt (8).
Movement technique the most according to claim 5, it is characterised in that the motion of servomotor (3) is by Single-chip Controlling, single
Sheet machine records the movement locus of servomotor (3) automatically, saves as operation program, the most directly transfers program when reusing.
9. utilize the motion side of the numerical control auxiliary moving devices that a kind of human body attitude described in any one of claim 1-6 changes
Method, it is characterised in that comprise the steps:
A1, lifting band decline: servomotor (3) will hang on the heave hand (6) that rises of its capstan winch (5) lower section respectively and drop to forced belt
(8), near, the hook (7) of heave hand (6) tail end is connected with forced belt (8)；
A2, rehabilitation exercise: connect wrist forced belt rise heave hand (6), connect ankle forced belt rise heave hand (6) in corresponding servo
Stretch rising under the effect of motor (3), the extremity of people are pulled away from apparatus main body surface；
Extremity are in different level heights；
A3, a heave hand (6) of catcher wrist forced belt, the heave hand (6) work in corresponding servomotor (3) of connection ankle forced belt
Use decline, the extremity of people are returned to apparatus main body surface；
A4, repetition A2 and A3, until quantity of motion reaches requirement.
10. utilize the motion side of the numerical control auxiliary moving devices that a kind of human body attitude described in any one of claim 1-6 changes
Method, it is characterised in that comprise the steps:
B1, lifting band decline: servomotor (3) will hang on the heave hand (6) that rises of its capstan winch (5) lower section respectively and drop to forced belt
(8), near, the hook (7) of heave hand (6) tail end is connected with forced belt (8)；
B2, lift side health: connect playing heave hand (6), connecting the lifting of the same side ankle forced belt of side wrist forced belt
Band (6) stretches rising under the effect of corresponding servomotor (3), and left for the left hand of people lower limb or the right lower limb of the right hand are pulled away from device master
Surface；
B3, stand up: the side shifting that the corresponding servomotor (3) described in step B2 is not lifted to health, drive and to be lifted
The left lower limb of left hand or the right lower limb of the right hand move to opposite side, until the limbs being lifted fall again on apparatus main body surface.
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| CN201610546323.XA CN106074088A (en) | 2016-07-12 | 2016-07-12 | The numerical control auxiliary moving devices of human body attitude change and method |
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| CN201610546323.XA CN106074088A (en) | 2016-07-12 | 2016-07-12 | The numerical control auxiliary moving devices of human body attitude change and method |
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| CN108498260A (en) * | 2018-04-02 | 2018-09-07 | 泉州市正骨医院 | A kind of whole body suspension apparatus |
| CN109143898A (en) * | 2018-07-02 | 2019-01-04 | 公安部南京警犬研究所 | A kind of anti-system of intelligent remote dog |
| CN111494156A (en) * | 2020-04-20 | 2020-08-07 | 安徽医科大学第一附属医院 | Meniscus repair postoperative rehabilitation instrument |
| CN111615375A (en) * | 2018-01-31 | 2020-09-01 | 反应机器人技术有限公司 | Load reduction system for at least partially reducing the weight load of a person |
| EP3799850A1 (en) * | 2019-10-04 | 2021-04-07 | Akademia Gorniczo-Hutnicza im. Stanislawa Staszica w Krakowie | Device for spine rehabilitation and method of spine rehabilitation using said device for spine rehabilitation |
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Application publication date: 20161109 |