CN209316977U - The system of limb assisting rehabilitation - Google Patents

Abstract

The utility model relates to a kind of systems of limb assisting rehabilitation, including controller, neuromuscular electric stimulation therapy circuit, electromyography signal detection circuit, body fixing rack and PC machine, the neuromuscular electric stimulation therapy circuit, electromyography signal detection circuit, body fixing rack are connect with the controller respectively, and the PC machine connects the controller；The controller drives body fixing rack movement by driving motor；Electromyography signal detection circuit includes sequentially connected input interface, integrated difference amplifier unit, operation amplifier unit and output interface, the input interface includes two signal ports, the integrated difference amplifier unit includes two signal input parts and a signal output end, and two signal ports of the input interface are separately connected two signal input parts of the integrated difference amplifier unit.The utility model can be realized the autonomous rehabilitation training of user.

Description

The system of limb assisting rehabilitation

Technical field

The utility model relates to rehabilitation equipment fields, more particularly to the system of limb assisting rehabilitation.

Background technique

The system of limb assisting rehabilitation generally connect use with PC, stimulates one by generating the pulse current of some strength Group or multiple groups muscle induce muscular movement or the normal autokinetic movement of simulation, to reach improvement or restore to be stimulated muscle or flesh The purpose of group's function.

The system of existing limb assisting rehabilitation can only carry out passive type training to user merely, realize in no user and participate in In the case where mechanical progress limbs flexion movement, autonomous driving can not be realized by user and realizes limb rehabilitation training.

Utility model content

Based on this, the utility model provides a kind of system of limb assisting rehabilitation, and autonomous realization limb can be realized by user Body rehabilitation training.

The utility model provides a kind of system of limb assisting rehabilitation, comprising: controller, neuromuscular electric stimulation therapy circuit, Electromyography signal detection circuit, body fixing rack and PC machine,

The neuromuscular electric stimulation therapy circuit, electromyography signal detection circuit, body fixing rack respectively with the controller Connection, the PC machine connect the controller；The controller drives body fixing rack movement by driving motor；

Wherein, the electromyography signal detection circuit, including sequentially connected input interface, integrated difference amplifier unit, fortune Amplifying unit and output interface are calculated, the input interface includes two signal ports, and the integrated difference amplifier unit includes two Signal input part and a signal output end, two signal ports of the input interface are separately connected the integrated difference amplifier list Two signal input parts of member；

Two electromyography signals inputted by the input interface first pass through the integrated difference amplifier unit progress difference and put Greatly, voltage amplification then is carried out by the operation amplifier unit, is exported finally by the output interface.

Above-mentioned technical proposal can either be passed through by setting electromyography signal detection circuit and neuromuscular electric stimulation therapy circuit Neuromuscular electric stimulation therapy circuit issues electric current excitation limb muscle and shrinks, and the electromyography signal that can effectively acquire limbs carries out actively Rehabilitation training, and then the active control with system formation closed loop, are achieved in and realize autonomous driving limb motion by user.

Detailed description of the invention

Fig. 1 is the schematic diagram of the system of the limb assisting rehabilitation of an embodiment；

Fig. 2 is the schematic diagram of the electromyography signal detection circuit of an embodiment；

Fig. 3 is the schematic diagram of the electromyography signal detection circuit of an alternative embodiment；

Fig. 4 is the schematic diagram of the electromyography signal detection circuit of another alternative embodiment；

Fig. 5 is the schematic diagram of the electromyography signal detection circuit of another alternative embodiment；

Fig. 6 is the schematic diagram of the electromyography signal detection circuit of another alternative embodiment；

Fig. 7 is the schematic diagram of the USB circuit of an embodiment；

Fig. 8 is the schematic diagram of the USB HUB module of an embodiment；

Fig. 9 is the schematic diagram of the USB RS 232 module of an embodiment；

Figure 10 is that the USB of an embodiment turns the schematic diagram of RS485 module；

Figure 11 is the schematic diagram of the reserved USB host interface module of an embodiment

Figure 12 is the schematic diagram of the power circuit of an embodiment；

Figure 13 is input module and the schematic diagram of the second management module in the power circuit of an embodiment；

Figure 14 is input module and the schematic diagram of the second management module in the power circuit of another embodiment；

Figure 15 is the schematic diagram of the first management module in the power circuit of an embodiment；

Figure 16 is the schematic diagram of the neuromuscular electric stimulation therapy circuit of an embodiment；

Figure 17 is the schematic diagram of electric signal adjustment module in the neuromuscular electric stimulation therapy circuit of an embodiment；

Figure 18 is the schematic diagram of electric signal adjustment module in the neuromuscular electric stimulation therapy circuit of another embodiment.

Specific embodiment

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain The utility model is not used to limit the utility model.

Referring to figs. 1 and 2, in one embodiment, the system of the limb assisting rehabilitation includes: controller, nerve Muscle electric stimulation circuit, electromyography signal detection circuit, body fixing rack and PC machine.The neuromuscular electric stimulation therapy circuit, Electromyography signal detection circuit, body fixing rack are connect with the controller respectively, and the PC machine connects the controller；It is described Controller drives body fixing rack movement by driving motor.

Wherein, the electromyography signal detection circuit, including sequentially connected input interface, integrated difference amplifier unit, fortune Amplifying unit and output interface are calculated, the input interface includes two signal ports, and the integrated difference amplifier unit includes two Signal input part and a signal output end, two signal ports of the input interface are separately connected the integrated difference amplifier list Two signal input parts of member；Two electromyography signals inputted by the input interface first pass through the integrated difference amplifier list Member carries out differential amplification, then carries out voltage amplification by the operation amplifier unit, exports finally by the output interface. The signal if electromyography signal of input interface input is interfered, two electromyography signals of input interface input include identical Interference, differential amplifications are carried out to two electromyography signals by integrated difference amplifier unit, so that effective input of interference signal It becomes zero, and since the stability for integrating difference amplifier unit is good, complete purpose resistant to common code interference can have been reached. By the electromyography signal detection circuit, put by setting including sequentially connected input interface, integrated difference amplifier unit, operation Big unit and output interface, the input interface include two signal ports, and the integrated difference amplifier unit includes two signals Input terminal and a signal output end, two signal ports of the input interface are separately connected the integrated difference amplifier unit Two signal input parts.Two electromyography signals inputted by the input interface, first pass through the integrated difference amplifier unit into Then row differential amplification carries out voltage amplification by the operation amplifier unit, finally by output interface output and outside The corresponding electromyography signal of the voltage rating of portion's processor circuit.The electromyography signal detection circuit of the utility model, compared to tradition Electromyography signal detection circuit, can completely anti-common mode interference, and circuit complexity is low, and stability is good.

When user's conscious driving limb muscle, the controller of the system is received by electromyography signal detection circuit Collect the electromyography signal (i.e. myoelectricity voltage signal) of limb muscle, controller will collect electromyography signal and carry out preliminary treatment, example Such as: noise suppressed, signal amplification, analog-to-digital conversion.Then electromyography signal is uploaded to PC machine, PC machine in the form of digital signal Whether identification electromyography signal is to be realized to generate by user, and identify that user's consciousness is still received for stretching and bend movement, sends phase The control signal answered drives body fixing rack fortune according to the speed and angle of setting to controller, then by controller driving motor Make, and then realizes and limb assisting movement is realized according to user；Intensity will be set by neuromuscular electric stimulation therapy circuit simultaneously Electro photoluminescence stimulation user musculature, cause user's contraction of muscle, restore the sense of user's muscle power.Whole process is completed The system has reached the process that user's limb function restores again to the active training process of the entire arm of user.

Further, in one embodiment, which further includes handle, and the handle connects PC machine.Since the system contains There is handle operating function, in conjunction with the function of user's active training, is able to carry out right-hand man's coorinated training, improves left and right hands movement Harmony.Under active training mode, operation mode is switched to by handle operation mode by PC machine, opens corresponding training trip Play, user can perfect relatively hand with another function and operate to handle, complete the target of game settings, realize to another The rehabilitation training of upper limb to rehabilitation.In handle operating process, handle sends operation information to PC machine, and PC machine is according to handle Operation signal sends corresponding control signal to controller, then by controller by signal decomposition, controls motor respectively to set Swing angle and swing speed drive body fixing rack running, assist user's arm motion, while piercing by neuromuscular electricity Excitation circuit stimulates the arm muscles of user to set the electro photoluminescence of intensity.Whole process completes the collaboration instruction of the right-hand man of user Practice, improves the harmony of user right-hand man's operation.

In conclusion the system of the limb assisting rehabilitation can be realized in conjunction with user, in conjunction with electromyography signal detection circuit Detection technique, motor-drive technique and neuromuscular electric stimulation therapy principle, thus, it is possible to execute corresponding auxiliary according to user's active consciousness Training, driving user's limbs carry out rehabilitation training.It is similar that the therapeutic process and people and the external world interact cognitive process, therefore energy Reach the incomparable rehabilitation efficacy of the system of traditional limb assisting rehabilitation.

In one embodiment, the operation amplifier unit includes four signal input parts and two signal output ends, wherein First signal input part, second signal input terminal and the first signal output end constitute the first amplifying circuit, the input of third signal End, fourth signal input terminal and second signal output end constitute the second amplifying circuit.First amplifying circuit and described The mutually independent electromyography signal to input of two amplifying circuits carries out voltage amplification, and mutually independent output voltage is amplified Electromyography signal gives corresponding output interface.The i.e. described operation amplifier unit may be selected to be to be total to by two integrated difference amplifier units With circuit complexity thus can be further simplified.

In one embodiment, refering to what is shown in Fig. 3, the integrated difference amplifier unit includes: the first differential amplifier chip U1 And resistance R1.

The first input pin (i.e. Vin+ pin), the second input pin (i.e. Vin- pin) of first differential amplifier chip U1 It is separately connected two signal input parts of the integrated difference amplifier unit where it, the power positive end of the first differential amplifier chip U1 (i.e. V+ pin) connects power supply end, and the power supply negative terminal (i.e. V- pin) of the first differential amplifier chip U1 connects GND, and first is poor The first RG pin of dynamic amplifier chip U1 passes through the 2nd RG pin of resistance R1 connection；The reference voltage of first differential amplifier chip U1 Hold (i.e. ref pin) connection with reference to ground；

Refering to what is shown in Fig. 3, the operation amplifier unit includes operational amplifier U4.The power positive end of operational amplifier U4 (i.e. V+ pin) connects power supply end, and the power supply negative terminal of operational amplifier U4 connects GND, the first input of operational amplifier U4 Pin (i.e. Ain- pin) connects the output pin (i.e. Vout pin) of the first differential amplifier chip U1, operational amplifier U4 The second input pin (i.e. Ain+ pin) connect the reference voltage end (i.e. ref pin) of the first differential amplifier chip U1, The first output pin (i.e. Aout pin) of operational amplifier U4 connects an output interface RB0.The third of operational amplifier U4 is defeated It is vacant to enter pin (i.e. Bin- pin), the 4th input pin (i.e. Bin+ pin), the second output pin (i.e. Bout pin).

Refering to what is shown in Fig. 6, in another embodiment, the third input pin connection second of the operational amplifier U4 is differential 4th input pin of the output pin (i.e. Vout pin) of amplifier chip U2, operational amplifier U4 connects the second differential amplifier core Second output pin of the reference voltage end of piece U2, operational amplifier U4 connects another output interface RB2.I.e. first differential amplifier The differential amplifier chip U2 of chip U1 and second shares the operational amplifier U4, thus can be further simplified circuit complexity.

Further, refering to what is shown in Fig. 4, in one embodiment, the integrated difference amplifier unit further include: capacitor C2, Capacitor C6, capacitor C11, magnetic bead L3, the power positive end of the first differential amplifier chip U1 also pass through capacitor C6 connection GND, the The power positive end of one differential amplifier chip U1 passes through magnetic bead L3 connection power supply end；The electricity of the first differential amplifier chip U1 Source anode also passes sequentially through magnetic bead L3, capacitor C2 connection with reference to ground；The reference voltage end of first differential amplifier chip U1 also passes through Capacitor C11 connection GND.

With continued reference to shown in Fig. 4, in one embodiment, the operation amplifier unit further includes capacitor C5 and magnetic bead L1, fortune The power positive end of amplifier U4 is calculated by magnetic bead L1 connection power supply end, the power positive end of operational amplifier U4 also passes through capacitor C5 connection GND.

In one embodiment, the electromyography signal detection circuit further includes filter circuit.The integrated difference amplifier unit The electromyography signal of output enters the operation amplifier unit after filter circuit processing and carries out voltage amplification.By electromyography signal Common mode noise remove, obtain purer useful differential mode electromyography signal, then enter back into operation amplifier unit.

With continued reference to shown in Fig. 4, in one embodiment, the filter circuit include capacitor C9, resistance R14, capacitor C4 and Resistance R4.One end of the output pin connection capacitor C9 of the first differential amplifier chip U1, the other end of capacitor C9 connect electricity Hinder the Ain- pin of the one end R14, the one end capacitor C4, the one end resistance R4 and operational amplifier U4；Resistance R14 other end connection the The ref pin of one differential amplifier chip U1, the Aout that the capacitor C4 other end, the resistance R4 other end are all connected with operational amplifier U4 draw Foot.The first differential amplifier chip U1, capacitor C9, resistance R14 constitute a high-pass filtering circuit；The operational amplifier U4, Capacitor C4 and resistance R4 constitutes a low-pass filter circuit.

Optionally, with reference to shown in Fig. 5, Fig. 6, the filter circuit further includes resistance R11；The other end of capacitor C9 passes through electricity Hinder the Ain- pin of the one end R11 connection capacitor C4, the one end resistance R4 and operational amplifier U4.

Optionally, in any of the above-described embodiment, power supply end can be 5V, and reference ground can be 2.5V.It is understood that , it can be also adjusted according to the actual situation to the power supply and with reference to the voltage value on ground.

In one embodiment, the system of the limb assisting rehabilitation further includes USB circuit, the USB circuit and the control Device connection processed.Refering to what is shown in Fig. 7, the USB circuit includes: including a USB HUB module, at least two USB functional modules； The USB HUB module connection is connect at least two USB functional module respectively, and the USB HUB module is also used to connect Connect the USB interface of exterior PC；At least two USB functional module includes: USB RS 232 module, USB turn RS485 module with And reserved USB host interface module.

After at least two USB functional module is connect with USB HUB module respectively, led to by USB HUB chip Believe the set of route, then related data is uploaded to PC by the USB interface of USB HUB module and is handled；Alternatively, PC is by phase The control signal of pass is inputted by USB HUB module, and the control signal is sent to corresponding USB function again by USB HUB module It can module.

The USB circuit of above-described embodiment carries out the communication line of at least two USB functional modules by USB HUB module Set, USB connection wire is reduced, while reducing and quantity is occupied to the USB interface of exterior PC, further, since using direct PCB The technique of wiring is directly connected to USB HUB module and at least two USB functional modules, avoids causing between interface because of poor contact Functional circuit communication failure.

In an alternative embodiment, refering to what is shown in Fig. 8, the USB HUB module includes: USB HUB chip U20, interface P24, capacitor C76, C77, C78, C82, C83, C84, C85, C86, C80, resistance R73, R82, R77, R79, R80, R105 shine Diode D20, inductance L40 and crystal oscillator Y2；Wherein, interface P24 is the USB interface phase of USB HUB chip U20 and exterior PC The interface of connection.

Three AVDD feet of USB HUB chip U20 pass through capacitor C76, capacitor C77, capacitor C82 connection GND, USB respectively The DVDD foot of HUB chip U20 is connected by the V33 foot of capacitor C85 connection GND, USB HUB chip U20 by inductance L40 The end 3.3VGL, the DVDD foot of USB HUB chip U20 are also respectively connected with the one end capacitor C86, the end 3.3VGL, the one end resistance R77, electricity The one end R79 is hindered, the capacitor C86 other end connects GND, and the resistance R77 other end connects the PGANG foot of USB HUB chip U20, resistance The R79 other end connects light emitting diode D20 anode, and light emitting diode D20 cathode connects the PGANG foot of USB HUB chip U20； The V5 foot of USB HUB chip U20 connects the first end USBV5, the one end capacitor C80, the one end resistance R80, the connection of the capacitor C80 other end GND, the resistance R80 other end are separately connected the PSELF foot of the one end resistance R105, USB HUB chip U20, the resistance R105 other end Connect GND；The X1 foot of USB HUB chip U20 connects the one end crystal oscillator Y2, the one end capacitor C78, and the X2 foot of USB HUB chip U20 connects The crystal oscillator Y2 other end, the one end capacitor C83 are connect, the capacitor C78 other end, the capacitor C83 other end are all connected with GND, USB HUB chip The RREF foot of U20 connects the one end capacitor C84, resistance R82 mono- by the RST foot of resistance R73 connection GND, USB HUB chip U20 End, the resistance R82 other end connect the first end USB5V, and the capacitor C84 other end connects GND；The DM0 foot of USB HUB chip U20, DP0 foot is separately connected the pin 2 of interface P24, pin 3, and DM1 foot, the DP1 foot of USB HUB chip U20 is separately connected USB and turns DM232 signal end, the DP232 signal end of RS232 module；DM2 foot, the DP2 foot of USB HUB chip U20 is separately connected USB and turns DM485 signal end, the DP485 signal end of RS485 module；DM3 foot, DP3 foot, DM4 foot, the DP4 foot of USB HUB chip U20 is equal Connect reserved USB host interface module.

Optionally, the USB HUB module further include: resistance R87, R86.Wherein, above-mentioned first end USB5V also successively leads to Cross resistance R87, resistance R86 connection GND.

In another embodiment, with continued reference to shown in Fig. 8, the USB HUB module further include: the first match circuit, Two match circuits, resistance R65, R67, inductance L36, capacitor C65, C66, diode D22, D23；

The pin 1 of interface P24 connects the one end inductance L36, and the inductance L36 other end is separately connected the one end capacitor C65, capacitor The one end C66, the first end USB5V, the capacitor C65 other end, the capacitor C66 other end are all connected with GND；The pin 2 of interface P24 passes through the One match circuit connects the DM0 foot of USB HUB chip U20, and the pin 3 of interface P24 connects USB HUB by the second match circuit The DP0 foot of chip U20；The pin 2 of interface P24 is also connected with diode D22 cathode, and diode D22 cathode connecting diode D23 is just Pole, the pin 3 of diode D23 cathode connecting interface P24, diode D22 anode are also connected with GND, and the pin 4 of interface P24 connects Pin 5, the pin 6 of GND, interface P24 are all connected with EGND.Wherein, GND is the ground wire of circuit board, and EGND is the earth.

Optionally, above-mentioned first match circuit includes resistance R65, and above-mentioned second match circuit includes resistance R67.That is interface The pin 2 of P24 passes through the DM0 foot of resistance R65 connection USB HUB chip U20, and the pin 3 of interface P24 is connected by resistance R67 The DP0 foot of USB HUB chip U20.

In one embodiment, refering to what is shown in Fig. 9, the USB RS 232 module includes: USB RS 232 chip U24, electricity Hold C101, C102, C105, C106, C107, C108, resistance R94, inductance L48, crystal oscillator Y3.

TXD foot, the RXD foot of USB RS 232 chip U24 is separately connected TX1 signal end, RX1 signal end, USB RS 232 OSC1 foot, the OSC2 foot of chip U24 is separately connected the one end crystal oscillator Y3, the crystal oscillator Y3 other end, the one end crystal oscillator Y3, the crystal oscillator Y3 other end Pass through capacitor C102, capacitor C101 connection GND respectively；The PLL_TEST foot of USB RS 232 chip U24 connects GND；USB turns The VDD_5 foot of RS232 chip U24 connects the one end capacitor C105, the one end inductance L48, and the capacitor C105 other end connects GND, inductance The L48 other end connects the 2nd end USB5V；The RESET_N foot of USB RS 232 chip U24 passes through the end resistance R94 connection 3.3VPL； The VO_33 foot of USB RS 232 chip U24 connects the end 3.3VPL；The end 3.3VPL also respectively by capacitor C106, capacitor C107, The end capacitor C108 connection GND；DM foot, the DP foot of USB RS 232 chip U24 is separately connected the USB RS 232 module DM232 signal end, DP232 signal end.

Optionally, the USB RS 232 module further includes inductance L43.Above-mentioned 2nd end USB5V is connected by inductance L43 5V power end.

Further, in one embodiment, the USB HUB module may also include that third match circuit and the 4th matching Circuit.DM1 foot, the DP1 foot of USB HUB chip U20 passes through third match circuit respectively, the 4th match circuit connection USB turns DM232 signal end, the DP232 signal end of RS232 module.

Optionally, above-mentioned third match circuit includes resistance R66, and above-mentioned 4th match circuit includes resistance R68.That is USB DM1 foot, the DP1 foot of HUB chip U20 passes through the DM232 signal of resistance R66, resistance R68 connection USB RS 232 module respectively End, DP232 signal end.

In one embodiment, refering to what is shown in Fig. 10, it includes: that USB turns RS485 chip U19 that the USB, which turns RS485 module, electricity Hold C62, C63, C70, C71, C72, C73, light emitting diode D18, D19, crystal oscillator Y1, inductance L38；

USB turns the VDD_325 foot connection end 3.3VFT of RS485 chip U19, and USB turns TXD foot, the RXD of RS485 chip U19 Foot is separately connected the end USBTX, the end USBRX1；USB turns the OSC1 foot of RS485 chip U19, OSC2 foot is separately connected crystal oscillator Y1 mono- End, the crystal oscillator Y1 other end, the one end crystal oscillator Y1, the crystal oscillator Y1 other end pass through capacitor C63, capacitor C62 connection GND respectively；USB turns The PLL_TEST foot of RS485 chip U19 connects GND, and the GND foot that USB turns RS485 chip U19 passes through capacitor C70 connection inductance The one end L38, USB turn VDD_5 foot connection one end inductance L38 of RS485 chip U19, and the inductance L38 other end connects the 3rd USB5V End；The RESET_N foot that USB turns RS485 chip U19 passes through the end resistance R69 connection 3.3VFT；USB turns the VO_ of RS485 chip U19 33 feet connect the end 3.3VFT；The end 3.3VFT also passes through capacitor C71, capacitor C72, the end capacitor C73 connection GND respectively；USB turns DM foot, the DP foot of RS485 chip U19 is separately connected the USB and turns the DM485 signal end of RS485 module, DP485 signal end； USB turns the CBUS0 foot of RS485 chip U19, CBUS1 foot is separately connected the end TX1LED, the end RX1LED.Wherein, the 3rd end USB5V Also by the end light emitting diode D18 connection TX1LED, the 3rd end USB5V also passes through the end light emitting diode D19 connection RX1LED.

Optionally, the USB turns RS485 module further include: resistance R61 and resistance R62.3rd end USB5V also successively leads to Resistance R61, the end light emitting diode D18 connection TX1LED are crossed, the 3rd end USB5V also passes through resistance R62, light emitting diode D19 company Connect the end RX1LED.

Further, in one embodiment, the USB HUB module further include: the 5th match circuit and the 6th matching electricity Road；DM2 foot, the DP2 foot of USB HUB chip U20 passes through the 5th match circuit respectively, the 6th match circuit connection USB turns RS485 DM485 signal end, the DP485 signal end of module.

Optionally, above-mentioned 5th match circuit includes resistance R63, and above-mentioned 6th match circuit includes resistance R64.That is USB DM2 foot, the DP2 foot of HUB chip U20 passes through resistance R63 respectively, resistance R64 connection USB turns the DM485 signal of RS485 module End, DP485 signal end.

In one embodiment, with reference to shown in Figure 11, the reserved USB host interface module includes: buffer U21, interface P29, resistance R75, R76, R78；

The Y1 foot of buffer U21 connects the end NC7W, and the Y2 foot of buffer U21 passes through the pin of resistance R78 connecting interface P29 The A1 foot of 2, buffer U21 pass through the pin 3 of resistance R76 connecting interface P29, and the A1 foot of buffer U21 also passes through resistance R75 and connects The pin 4 of connection interface P29, the A2 foot of buffer U21 connect the end USBTX1, and the VCC foot of buffer U21 connects the end 3.3VFT；The The pin 1 that four ends USB5V also pass through capacitor C79 connection GND, interface P29 connects GND.

Optionally, the reserved USB host interface module further includes capacitor C79, and the 4th end USB5V also passes through capacitor C79 Connect GND.

Optionally, the reserved USB host interface module further includes capacitor C81, is connect with the VCC foot of buffer U21 The end 3.3VFT also passes through capacitor C81 connection GND.

Based on the above embodiment and the exemplary USB circuit structure of Fig. 8~Figure 11, at least two USB functional modules pass through USB HUB module carries out the set of communication line to exterior PC using the circuit of USB function.Wherein, USB RS 232 module and USB turns RS485 module and is directly connected with HUS HUB module, reserves function electricity of the USB host interface as other USB interfaces Road spare interface when external circuit need to connect the USB interface of the system of limb assisting rehabilitation, is connected directly to the reserved USB After host interface module, multiple USB functional modules and USB HUB module are attached, led to by USB HUB module Believe the set of route, then related data is uploaded to PC machine by the USB interface of USB HUB module and is handled.Or PC machine Relevant control signal is inputted by the USB interface of USB HUB module, is again believed relevant control by USB HUB module Number it is sent respectively to corresponding USB functional module.Interface P24 is that USB HUB chip U20 connects with what the USB interface of PC was connected Mouthful, interface P24 pin 2 and 3 is connected with DM0 the and DP0 foot of USB HUB chip U20 respectively, USB RS 232 chip U24's DM and DP foot turns RS485 respectively at DM1 the and DP1 foot for being connected to USB HUB chip U20 by build-out resistor R66 and R68, USB DM the and DP foot of chip U19 respectively at DM2 the and DP2 foot for being connected to USB HUB chip U20 by build-out resistor R63 and R64, The DM3 and DP3 of USB HUB chip, DM4 and DP4 can be used as the connecting pin of reserved USB host interface.So far the auxiliary limb constituted The USB circuit communication line of the system of body rehabilitation builds connection, reaches communication objective between multiple USB functional modules.

USB circuit through the foregoing embodiment, has the advantage that

The set of the communication line of multiple USB functional modules is carried out by USB HUB module, reduces the USB to exterior PC The occupancy quantity of interface；

The set of the communication line of multiple USB functional modules is carried out by USB HUB module, circuit uses direct PCB cloth The technique of line is directly connected to the interface of USB HUB module, avoids between interface because poor contact leads to functional circuit communication failure；

And the set of the communication line of multiple USB functional modules is carried out by USB HUB module, reduce USB connecting line Material reduces the production cost of product.

In one embodiment, the system of the limb assisting rehabilitation further includes power circuit, the controller, neuromuscular Electrical stimulation circuit, electromyography signal detection circuit, body fixing rack are connect with the power circuit respectively.

As shown in figure 12, the power circuit includes: input module, the first management module and the second management module；It is described The input terminal of input module connects power supply, and the output end of the input module is separately connected the input terminal of the first management module, the The input terminal of two management modules.

Wherein, the first management module includes the first filter circuit and first voltage conversion circuit；First filter circuit it is defeated Enter the input terminal of the first management module of end connection, the input of the output end connection first voltage conversion circuit of the first filter circuit End, the output end of first filter circuit are also connected with the feeder ear of driving motor, and the output end of first voltage conversion circuit connects Connect first kind system loading.

Wherein, the second management module includes the second filter circuit, second voltage conversion circuit and tertiary voltage conversion circuit； The input terminal of second filter circuit connects the input terminal of the second management module, and the output end of the second filter circuit is separately connected nerve The input terminal of the feeder ear of muscle electric stimulation unit, second voltage conversion circuit, the output end connection of second voltage conversion circuit The input terminal of tertiary voltage conversion circuit；The output end of the second voltage conversion circuit is also connected with the second class system loading, the The output end of three voltage conversion circuits connects third class system loading.Wherein, the output voltage of the second voltage conversion circuit It is different with the output voltage of tertiary voltage conversion circuit.First kind system loading, the second class system loading, third class system loading Refer to electronic device different in the system of limb assisting rehabilitation, the supply voltage that they are adapted to may be different, it is also possible to phase Together, it is determined by the output voltage of the first voltage conversion circuit, second voltage conversion circuit, tertiary voltage conversion circuit.

Optionally, in the system of limb assisting rehabilitation, the first voltage conversion circuit is the conversion of DC12V-DC5V Circuit, the second voltage conversion circuit are the conversion circuit of DC12V-DC5V, and the tertiary voltage conversion circuit is DC5V- The conversion circuit of DC2.5V.Accordingly, the first kind system loading of the output end connection of first voltage conversion circuit is DC5V's Electric elements, the second class system loading of the output end connection of second voltage conversion circuit are also the electric elements of DC5V, third The electric elements that the third class system loading of the output end connection of voltage conversion circuit is DC2.5V.It should be understood that described One voltage conversion circuit, second voltage conversion circuit, tertiary voltage conversion circuit can also be to select other turns according to actual scene Change circuit, such as conversion circuit, the conversion circuit of DC7.5V-DC2.5V of DC12V-DC7.5V etc..

Above-described embodiment power circuit, by the way that each built-up circuit in above-mentioned two management module and management module is arranged Matching relationship can either provide different voltage values to different electric elements, moreover it is possible to avoid between different electrical power management module Mutual crosstalk makes different electric elements that can use the voltage to higher quality；Simultaneously because only needing a power supply, therefore can The volume of power circuit is largely reduced, and reduces the cost of power circuit.

In one embodiment, with reference to shown in Figure 13, the input module includes: interface P4, TVS pipe D2 and varistor R16；The input terminal of interface P4 connects power supply, and the pin 2 of interface P4 connects the output end of the input module, the one end TVS pipe D2 With the one end varistor R16, the pin 1 of interface P4 is separately connected the TVS pipe D2 other end and the varistor R16 other end and electricity Source ground terminal；Wherein, the pin 1 of interface P4 and pin 2 are connected.In figure, it is assumed that the voltage of input module input is 12V, corresponding The output end of the input module, that is, end 12V, the power supply ground terminal, that is, end 12G.

In another alternative embodiment, with reference to shown in (a) in Figure 14, the input module further include: interface P3, P5. The pin 1 and pin 2 of interface P3 are connected, pin 1 and pin 2 conducting of interface P4, the pin 1 of interface P5, pin 2, in pin 3 It is not turned on two-by-two.The pin 2 of interface P3 is separately connected the output end of the input module, the one end TVS pipe D2 and varistor The one end R16；The input terminal of interface P4 connects power supply, and the pin 2 of interface P4 is separately connected the pipe of the pin 1 of interface P3, interface P5 Foot 2, the pin 1 of interface P4 are separately connected the pin 3 of the pin 1 of interface P5, interface P5, and the pin 1 of interface P5 is also respectively connected with The TVS pipe D2 other end and the varistor R16 other end and power supply ground terminal.Wherein, interface P3 is the switch socket of power supply circuit, Interface P5 is power supply power supply spare interface.

Optionally, it continues to refer to figure 1 shown in (a) in 4, the input module further include: resistance R17；The pipe of interface P4 Foot 1 passes through the resistance R17 connection TVS pipe D2 other end and the varistor R16 other end and power supply ground terminal.

In an alternative embodiment, with reference to shown in Figure 15, first filter circuit includes: common mode inductance L7, differential mode electricity Feel L5 and capacitor C20, C21.Two input terminals of common mode inductance L7 are separately connected the output end and power supply ground terminal of input module, An output end of common mode inductance L7 connects the one end differential mode inductance L5, and the differential mode inductance L5 other end is separately connected the one end capacitor C20, electricity Hold the output end (when input power is 12V, i.e. the end M12V) in Fig. 4 of the one end C21 and the first filter circuit；Common mode inductance Another output end connection capacitor C20 other end, the capacitor C21 other end and simulation ground terminal (MGND i.e. in figure) of L7.

In one embodiment, with reference to shown in Figure 15, the first voltage conversion circuit includes: voltage conversion chip U6, poor Mould inductance L6, capacitor C22, C23, resistance R19, light emitting diode D5；The ground connection simulation ground terminal of voltage conversion chip U6, voltage The input terminal of conversion chip U6 is the input terminal of the first voltage conversion circuit, and the output end connection of voltage conversion chip U6 is poor One end of mould inductance L6, differential mode inductance L6 the other end connection one end capacitor C22, the one end capacitor C23, the one end resistance R19 and The output end of first voltage conversion circuit, the resistance R19 other end connect the anode of light emitting diode D5, and light emitting diode D5's is negative Pole, the capacitor C22 other end, the capacitor C23 other end are all connected with simulation ground terminal.

In one embodiment, with reference to shown in (a) in Figure 14, second filter circuit includes: common mode inductance L3, differential mode Inductance L1 and capacitor C11, C12.Two input terminals of common mode inductance L3 are separately connected the output end of input module (i.e. in Figure 14 The end 12V) and power supply ground terminal (i.e. the end 12G in Figure 13), an output end of common mode inductance L3 connects the one end differential mode inductance L1, poor The mould inductance L1 other end is separately connected output end (i.e. Figure 14 of the one end capacitor C11, the one end capacitor C12 and the second filter circuit In the end VCC)；Another output end connection capacitor C11 other end, the capacitor C12 other end and the end GND of common mode inductance L3.

In an alternative embodiment, continue to refer to figure 1 shown in (a) in 4, the second voltage conversion circuit includes: electricity Press conversion chip U4, differential mode inductance L2, capacitor C12, C14, resistance R15, light emitting diode D3.The ground of voltage conversion chip U4 connects The end GND is connect, the input terminal of voltage conversion chip U4 is the input terminal of the second voltage conversion circuit, voltage conversion chip U4's Output end connects one end of differential mode inductance L2, and the other end of differential mode inductance L2 connects the one end capacitor C13, the one end capacitor C14, resistance The output end of the one end R15 and second voltage conversion circuit, the resistance R15 other end connect the anode of light emitting diode D3, shine Cathode, the capacitor C13 other end, the capacitor C14 other end of diode D3 is all connected with the end GND.

In an alternative embodiment, with reference to shown in (b) in Figure 14, the tertiary voltage conversion circuit includes: that voltage turns Change chip U5, differential mode inductance L4, capacitor C15, C16, the ground connection of resistance R18, light emitting diode D4. voltage conversion chip U5 The end GND, the input terminal of voltage conversion chip U5 are the input terminal of the tertiary voltage conversion circuit, and voltage conversion chip U5's is defeated Outlet connects one end of differential mode inductance L4, and the other end of differential mode inductance L4 connects the one end capacitor C15, the one end capacitor C16, resistance The output end of the one end R18 and tertiary voltage conversion circuit, the resistance R18 other end connect the anode of light emitting diode D4, shine Cathode, the capacitor C15 other end, the capacitor C16 other end of diode D4 is all connected with the end GND.

In one embodiment, in conjunction with shown in (b) in Figure 14, the power circuit further include: auxiliary AM access module, institute The input terminal connection accessory power supply for stating auxiliary AM access module, assists the output end of AM access module to connect tertiary voltage conversion circuit Input terminal.Wherein, auxiliary AM access module includes: interface P6, capacitor C17, C18；The connection of pin 2 one end capacitor C17 of interface P6, The input terminal of the one end C18 and the tertiary voltage conversion circuit, the connection of the pin 1 capacitor C17 other end of the interface P6, The input terminal at the C18 other end and the end GND, the interface P6 connects accessory power supply, the voltage value of the accessory power supply and second The output voltage of voltage conversion circuit is equal.That is interface P6 both may be used as auxiliary power supply interface, the tertiary voltage conversion circuit Voltage conversion is carried out with the output voltage to second voltage conversion circuit, it can also be to the voltage of the interface P6 accessory power supply accessed Carry out voltage conversion.

Assuming that the power supply of the system of limb assisting rehabilitation is DC12V power supply, then pass through above-mentioned Figure 12~electricity shown in figure 15 Source circuit structure figure divides two-way to be filtered the power supply of input after DC12V power input, handles all the way through power filter After distribute to 12V driving motor, while being also sent in first voltage conversion circuit and 12V be converted into 5V (if replacing other If electric elements, circuit board wiring and corresponding voltage requirements can also change) for needing the electric elements of 5V power supply to use. Another way after being filtered for 12V neuromuscular electric stimulation therapy unit use, while be also sent to second voltage conversion circuit into The conversion of row voltage, wherein the 12V voltage of input can be converted to 5V voltage by second voltage conversion circuit, and for single-chip microcontroller etc., other are needed The electric elements of 5V power supply are wanted to use, while 5V voltage is converted to 2.5V voltage through tertiary voltage conversion circuit again, puts for operation Big circuit and other need the electric elements of 2.5V power supply to use.P6 is DC5V auxiliary power supply interface, and P7, P8 are the auxiliary of DC2.5V Help power supply interface.

Wherein, power supply is accessed through input interface P4, by electric elements TVS pipe D2 in a power in parallel and pressure-sensitive Resistance R16 carries out Anti-surging and lightning protection anti electrostatic processing, is then separately input to carry out common mode current in common mode inductance L3 and L7 Filtering processing, wherein common mode inductance L3 is conveyed to the differential mode inductance L1 at circuit rear portion, filter capacitor C11 and C12 after being disposed It is filtered, is used for DC12V electric elements, while also filtered power supply being transported to power supply in voltage conversion chip U4 Voltage is converted to DC5V voltage, uses for DC5V electric elements；Further, DC5V power supply is also delivered to voltage conversion chip DC5V is switched into DC2.5V in U5, so that the electric elements of 2.5V voltage use.Common mode inductance L7 be filtered after send to Differential mode inductance L5, the filter capacitor C20 and C21 at rear portion are filtered, for motor driven voltage output, while will also be electric Source, which is input in voltage conversion chip U6, switchs to DC5V for supply voltage, for the use of the electric elements of DC5V.By the electricity of input Source pass through respectively two common mode inductances be filtered export again give respective rear portion circuit use, can avoid between different circuits By the mutual crosstalk of power circuit, the road Shi Ge component can use the power supply to higher quality, while also guarantee each circuit Functional module can play maximum efficiency.

Power circuit through the foregoing embodiment, has the advantage that

Using multistage DC voltage conversion chip, plurality of voltages output is divided by power input all the way, for each not electricity consumption The electric elements of pressure demand, single power supply input, stay in grade, type selecting are simple.

Electrostatic, surge, thunder and lightning are protected using ESD pipe and varistor, protection internal circuit is not easily susceptible to it Damage.

And power noise processing is carried out using common mode inductance and differential mode inductance, avoid internal circuit functional module from passing through Power circuit influences each other, and makes each functional circuit that can use the power supply power supply of high-quality, reaches maximum effective utilization.

In one embodiment, with reference to shown in Figure 16, the neuromuscular electric stimulation therapy circuit include sequentially connected single-chip microcontroller, Electric signal adjustment module and output interface, the electric signal adjustment module includes current regulating circuit and voltage regulator circuit.

Wherein, the exportable pwm signal of the single-chip microcontroller and control signal, the current regulating circuit receive the PWM letter Number and control signal, according to the control signal to the pwm signal progress Current amplifier, by the pwm signal after Current amplifier It is delivered to voltage regulator circuit and carries out voltage amplification, meet limb rehabilitating neuromuscular electricity finally by output interface output The pwm signal of stimulation.It should all be by the current strength and voltage of the pwm signal of the neuromuscular electric stimulation therapy circuit output In the range of human muscle's progress electro photoluminescence.

By the single-chip microcontroller can flexible its output control signal, it is electric since the control signal is flexibly adjustable Stream adjust circuit based on the control signal can the current strength to pwm signal flexibly amplified, therefore its export PWM The current strength of signal is not only restricted to overcome the problems, such as that output current intensity jumps according to fixed change of gradient.

In one embodiment, with reference to shown in Figure 17, the current regulating circuit includes driving chip U0, and the voltage is adjusted Circuit includes the first adjustable transformer L4 and the second adjustable transformer L5.The input terminal of the driving chip U0 is electric current where it The input terminal of circuit is adjusted, the output end of driving chip U0 is the output end of the current regulating circuit where it.

With reference to shown in Figure 17, the first input pin IN1, the second input pin IN2 of the driving chip U0 is separately connected monolithic The first pwm signal output pin RA0, the second pwm signal output pin RA1 of machine；The third input pin IN3 of the driving chip U0, 4th input pin IN4 is separately connected third pwm signal output pin RA2, the 4th pwm signal output pin RA3 of single-chip microcontroller.In turn, The pwm signal inputted by the first input pin IN1 of the driving chip U0, the second input pin IN2 passes through the of driving chip U0 One output pin OUT1 and the second output pin OUT2 is exported to the first adjustable transformer L4；It is inputted by the third of the driving chip U0 The pwm signal of foot IN3, the 4th input pin IN4 input, passes through the third output pin OUT3 and the 4th output pin of driving chip U0 OUT4 is exported to the second adjustable transformer L5.

In addition, the first adjustable transformer L4, the second adjustable transformer L5 are connect with an output interface respectively.I.e. first can The secondary coil of voltage regulator/transformer L4 connects output interface P1, and the secondary coil of the second adjustable transformer L5 connects output interface P2. By changing the primary coil of adjustable transformer and the ratio of secondary coil, the voltage that the pwm signal of output can be adjusted flexibly is big It is small.

Meanwhile the public terminal GND of the driving chip U0 is all connected with the control signal output pin RE0 of single-chip microcontroller；The list The control signal of piece machine output adjusts driving chip for controlling the conduction time duty ratio of the driving chip with this The size of current of the pwm signal of output.So that the current strength of the pwm signal of output is not only restricted to become according to fixed gradient Change, can overcome the problems, such as that output current intensity jumps.

By the turn-on sequence control of the pwm signal output pin RA0 and pwm signal output pin RA1 of single-chip microcontroller, can be changed defeated Enter the current direction of the primary coil of adjustable transformer.Such as: when single-chip microcontroller pwm signal output pin RA0 output high level, When pwm signal output pin RA1 output is low level, the output pin OUT1 of driving chip U0 is high level, and OUT2 is low level, the Current direction in the primary coil of one adjustable transformer L4 flows to OUT2 from OUT1.Conversely, working as SCM PWM signal output pin RA0 output is low level, when pwm signal output pin RA1 output is high level, in the primary coil of the first adjustable transformer L4 Current direction flows to OUT1 from OUT2, thus generates alternating magnetic field.And then the first adjustable transformer is made by electromagnetic induction principle The secondary coil of L4 exports high pressure, and the voltage of the secondary coil output of the first adjustable transformer L4 is delivered to corresponding output and connects Mouthful, complete the output from the first adjustable transformer L4 signal of neuromuscular electric stimulation therapy all the way exported.Second adjustable transformer L5 The principle of output voltage is identical as the first adjustable transformer L4.Also, the public terminal GND connection of driving chip U0 passes through resistance R12 is connected to the control signal output pin RE0 of single-chip microcontroller.It is arranged by mcu programming, to control signal output pin RE0 output Control signal be adjusted, completing the control to the conduction time duty ratio of driving chip U0, Neuromuscular is completed with this The adjusting of the current strength of meat electrical stimulation signal.

In an alternative embodiment, the public terminal GND of the driving chip U0 also passes through the capacitor C8 connection list simultaneously The control signal output pin RE0 of piece machine.Capacitor C8 and resistance R12 are in parallel.

In addition, shown in Figure 17, the public terminal GND of the driving chip U0 also passes through resistance R8 connecting PCB board simultaneously The end GND.

Optionally, high-frequency step-up transformer can be selected in the first adjustable transformer L4, the second adjustable transformer L5.The drive The driving chip of model L293DD-AU can be selected in dynamic chip U0.It should be understood that it is based on same principle, it can also be according to reality Border situation, electronic device involved in the neuromuscular electric stimulation therapy circuit to above-described embodiment make some replacements.

Further, in one embodiment, with reference to shown in Figure 18, the current regulating circuit further includes the first isolation circuit With the second isolation circuit；The first power input foot, the first power input foot of the driving chip pass through the first isolation electricity respectively Road, the second isolation circuit connecting PCB board the end VCC.

Optionally, the first power input foot of the driving chip, the first power input foot pass through the first isolation electricity respectively Hinder the end VCC of L6, the second isolation resistance L2 connecting PCB board.

Further, in one embodiment, with reference to shown in Figure 18, the current regulating circuit further includes first capacitor C12 With the second capacitor C11；The first power input foot, the first power input foot of the driving chip pass through respectively first capacitor C12, The end GND of second capacitor C11 connecting PCB board.

Further, in one embodiment, with reference to shown in Figure 18, the current regulating circuit further include first resistor R5, Second resistance R15,3rd resistor R6 and the 4th resistance R16.First input pin IN1 of the driving chip passes through first resistor R5 Connect the first pwm signal output pin RA0 of single-chip microcontroller；Second input pin IN2 of the driving chip is connected by second resistance R15 Meet the second pwm signal output pin RA1 of single-chip microcontroller；The third input pin IN3 of the driving chip is connected by 3rd resistor R16 The third pwm signal output pin RA2 of single-chip microcontroller；4th input pin IN4 of the driving chip is single by the 4th resistance R16 connection 4th pwm signal output pin RA3 of piece machine.

Further, in one embodiment, with reference to shown in Figure 18, the current regulating circuit further includes the 5th resistance R12； The public terminal GND of the driving chip passes through the control signal output pin RE0 of the 5th resistance R12 connection single-chip microcontroller.

Further, in one embodiment, with reference to shown in Figure 18, the current regulating circuit further includes the 6th resistance R8； The public terminal GND of the driving chip also passes through the end GND of the 6th resistance R8 connecting PCB board.

Further, in an alternative embodiment, including at least two electric signal adjustment modules；And each electric signal is adjusted Module respectively corresponds two output interfaces, and the pwm signal of the corresponding two output interfaces output of each electric signal adjustment module is anti- Phase.For example, with reference to shown in Figure 18, including three electric signal adjustment modules, corresponding six output interfaces.It therefore can be with output multi-channel Neuromuscular electric stimulation therapy signal improves the effect of neuromuscular electric stimulation therapy.

In Figure 18, U2, U6, U9 respectively indicate three driving chips, and L4, L5, L11, L12, L18, L19 respectively indicate six High-frequency step-up transformer, P1, P2, P5, P6, P10, P11 respectively indicate six output interfaces, to be connected to neuromuscular electricity thorn Sharp electrode slice.Wherein input pin IN1 and the IN2 foot of driving chip U2 is connect with resistance R5 and R15 respectively, and is connected to monolithic Pwm signal the output pin RA0 and RA1 of machine, the output pin OUT1 and OUT2 of driving chip U2 are controlled by program, simultaneously respectively OUT1 and OUT2 is connected to the primary coil of high-frequency step-up transformer L4, completes circuit.

It is achievable right to be controlled by the turn-on sequence of the pwm signal output pin RA0 and pwm signal output pin RA1 of single-chip microcontroller The change of high-frequency step-up transformer current direction, when the pwm signal output pin RA0 output high level of single-chip microcontroller, pwm signal output When foot RA1 output is low level, the output pin OUT1 of driving chip U2 is high level, and OUT2 is low level, high frequency boosting transformation Current direction in the primary coil of device L4 flows to OUT2 from OUT1.Conversely, when SCM PWM signal output pin RA0 output is Low level, current direction when pwm signal output pin RA1 output is high level, in the primary coil of high-frequency step-up transformer L4 OUT1 is flowed to from OUT2, alternating magnetic field is generated, exports the secondary coil of high-frequency step-up transformer L4 by electromagnetic induction principle High pressure, the secondary coil of high-frequency step-up transformer L4 are connected to the output interface of neuromuscular electric stimulation therapy output by PCB layout, Complete the output of neuromuscular electric stimulation therapy signal all the way.The output of the neuromuscular electric stimulation therapy signal on other five tunnels is similarly.

Also, the public terminal GND connection of driving chip U2, U6, U9 are connected to the RE0 foot of single-chip microcontroller by resistance R12.It is logical Mcu programming setting is crossed, the control signal of control signal output pin RE0 output is adjusted, to complete to driving chip The control of the conduction time duty ratio of U2, U6, U9, the adjusting of the current strength of neuromuscular electric stimulation therapy signal is completed with this.

It should be understood that those skilled in the art should know, it is corresponding in at least two electric signals adjustment module The electronic device of position can select identical model and identical parameters, can also select different model or different parameters.

In one embodiment, the neuromuscular electric stimulation therapy circuit may also include electrode slice, and the output interface is by leading Line connects the electrode slice.Each output interface is separately connected corresponding electrode slice, and electrode slice is fitted in limbs surface, It is used for the pwm signal that the neuromuscular electric stimulation therapy circuit generates to carry out muscular irritation.Optionally, in order to improve neuromuscular Electrical stimulating effect, the electrode slice are also provided with paste section, and the electrode slice passes through the paste section and limbs surface mount, So that the more as far as possible muscle that is transmitted to of pwm signal carries out neuromuscular electric stimulation therapy.

Neuromuscular electric stimulation therapy circuit through the foregoing embodiment, has the advantage that

Have using adjustable transformer device, control circuit simplifies, and device used is less, therefore production cost is told somebody what one's real intentions are, production Finished product yields is high, and performance is stablized；

It, can be to the voltage strength for being easily reached human nerve muscle electric stimulation due to using adjustable transformer device；

Due to using adjustable transformer device, the high frequency neuromuscular electric stimulation therapy voltage and primary coil of secondary coil output Circuit forms electrical isolation without direct electrical connection, does not influence the work of circuit other function device；

And it due to the PWM duty cycle control technology using single-chip microcontroller to driving chip, completes to neuromuscular electric stimulation therapy Being continuously adjusted for current strength, overcomes current-jump problem.

It should be noted that in the above-described embodiments, illustrating only part relevant to the utility model embodiment, ability Field technique personnel are appreciated that the circuit construction of electric power of the system of limb assisting rehabilitation shown in the accompanying drawings is not constituted to this reality It may include perhaps combining certain devices than illustrating more or fewer devices or having different devices with novel restriction Location arrangements.

Preferred embodiments of the present invention above described embodiment only expresses should not be understood as to the utility model The limitation of the scope of the patents.It should be pointed out that for those of ordinary skill in the art, not departing from the utility model structure Under the premise of think of, various modifications and improvements can be made, and these are all within the protection scope of the present invention.Therefore, this reality With new patent, the scope of protection shall be subject to the appended claims.

Claims (6)

1. a kind of system of limb assisting rehabilitation characterized by comprising controller, neuromuscular electric stimulation therapy circuit, myoelectricity letter Number detection circuit, body fixing rack and PC machine,

The neuromuscular electric stimulation therapy circuit, electromyography signal detection circuit, body fixing rack are connect with the controller respectively, The PC machine connects the controller；The controller drives body fixing rack movement by driving motor；

Wherein, the electromyography signal detection circuit, including sequentially connected input interface, integrated difference amplifier unit, operation are put Big unit and output interface, the input interface include two signal ports, and the integrated difference amplifier unit includes two signals Input terminal and a signal output end, two signal ports of the input interface are separately connected the integrated difference amplifier unit Two signal input parts；

Two electromyography signals inputted by the input interface first pass through the integrated difference amplifier unit and carry out differential amplification, Then voltage amplification is carried out by the operation amplifier unit, is exported finally by the output interface.

2. the system of limb assisting rehabilitation as described in claim 1, which is characterized in that it further include handle, the handle connection PC machine.

3. the system of limb assisting rehabilitation as described in claim 1, which is characterized in that the operation amplifier unit includes four Signal input part and two signal output ends, wherein the first signal input part, second signal input terminal and the output of the first signal End constitutes the first amplifying circuit, and third signal input part, fourth signal input terminal and second signal output end constitute second and put Big circuit；

First amplifying circuit and the mutually independent electromyography signal to input of second amplifying circuit carry out voltage amplification, And the mutually independent amplified electromyography signal of output voltage gives corresponding output interface.

4. the system of limb assisting rehabilitation as described in claim 1, which is characterized in that it further include USB circuit, the USB electricity Road is connect with the controller,

The USB circuit includes: a USB HUB module and at least two USB functional modules；The USB HUB module connection It is connect respectively at least two USB functional module, the USB HUB module is also used to connect the USB interface of exterior PC；

Wherein, at least two USB functional module includes: USB RS 232 module, USB turn RS485 module and reserved USB Host interface module.

5. the system of the limb assisting rehabilitation as described in Claims 1-4 is any, which is characterized in that it further include power circuit, institute Controller, neuromuscular electric stimulation therapy circuit, electromyography signal detection circuit, body fixing rack is stated to connect with the power circuit respectively It connects；

The power circuit includes: input module, the first management module and the second management module；The input terminal of the input module Power supply is connected, the output end of the input module is separately connected the input of the input terminal of the first management module, the second management module End；

First management module includes the first filter circuit and first voltage conversion circuit；The input terminal connection the of first filter circuit The input terminal of one management module, the input terminal of the output end connection first voltage conversion circuit of the first filter circuit, described first The output end of filter circuit is also connected with the feeder ear of driving motor, and the output end of first voltage conversion circuit connects first kind system Load；

Second management module includes the second filter circuit, second voltage conversion circuit and tertiary voltage conversion circuit；Second filtering The input terminal of circuit connects the input terminal of the second management module, and the output end of the second filter circuit is separately connected neuromuscular electricity thorn The input terminal of the feeder ear VCC of excitation circuit, second voltage conversion circuit, the output end connection third electricity of second voltage conversion circuit The input terminal of voltage conversion circuit；The output end of the second voltage conversion circuit is also connected with the second class system loading, tertiary voltage The output end of conversion circuit connects third class system loading；Wherein, the output voltage and third of the second voltage conversion circuit The output voltage of voltage conversion circuit is different.

6. the system of limb assisting rehabilitation as claimed in claim 5, which is characterized in that the neuromuscular electric stimulation therapy circuit packet Sequentially connected single-chip microcontroller, electric signal adjustment module and output interface are included, the electric signal adjustment module includes current regulation electricity Road and voltage regulator circuit；

The single-chip microcontroller output pwm signal and control signal, the current regulating circuit receive the pwm signal and control letter Number, Current amplifier is carried out to the pwm signal, the pwm signal after Current amplifier is delivered to voltage regulator circuit and carries out voltage Amplification is exported finally by the output interface；

Wherein, the current regulating circuit includes driving chip, and the voltage regulator circuit includes the first adjustable transformer and the Two adjustable transformers；

The first input pin IN1, the second input pin IN2 of the driving chip are separately connected the first pwm signal output of single-chip microcontroller Foot RA0, the second pwm signal output pin RA1；Third input pin IN3, the 4th input pin IN4 of the driving chip are separately connected Third pwm signal output pin RA2, the 4th pwm signal output pin RA3 of single-chip microcontroller；

The pwm signal inputted by the first input pin IN1 of the driving chip, the second input pin IN2 passes through the of driving chip One output pin OUT1 and the second output pin OUT2 are exported to the first adjustable transformer；By the third input pin of the driving chip The pwm signal of IN3, the 4th input pin IN4 input, it is defeated by the third output pin OUT3 and the 4th output pin OUT4 of driving chip Out to the second adjustable transformer；First adjustable transformer, the second adjustable transformer are connect with an output interface respectively；

The public terminal GND of the driving chip is all connected with the control signal output pin RE0 of single-chip microcontroller；The control of the single-chip microcontroller output Signal processed is changed for controlling the conduction time duty ratio of the driving chip by the adjusting of conduction time duty ratio The size of current of the pwm signal of the driving chip output.