CN109620657A - Multi-functional disabled person's power-assisted walking aid rehabilitation device - Google Patents
Multi-functional disabled person's power-assisted walking aid rehabilitation device Download PDFInfo
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- CN109620657A CN109620657A CN201710928544.8A CN201710928544A CN109620657A CN 109620657 A CN109620657 A CN 109620657A CN 201710928544 A CN201710928544 A CN 201710928544A CN 109620657 A CN109620657 A CN 109620657A
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- disabled person
- power
- mobile jib
- walking aid
- supporting mechanism
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 210000002414 leg Anatomy 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 description 36
- 238000013461 design Methods 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 11
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- 238000000034 method Methods 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 238000012549 training Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 239000010960 cold rolled steel Substances 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 201000000585 muscular atrophy Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 238000012546 transfer Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010021925 Inferiority complex Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
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- 238000004220 aggregation Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
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- 230000002085 persistent effect Effects 0.000 description 1
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Classifications
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
Abstract
The present invention relates to disabled person's auxiliary device field more particularly to a kind of multi-functional disabled person's power-assisted walking aid rehabilitation devices.A kind of multi-functional disabled person's power-assisted walking aid rehabilitation device, including a chassis, the mobile jib supporting mechanism being fixed on chassis, the armrest mechanism being connect with mobile jib supporting mechanism and the electronic wheel apparatus being connect with the chassis, the electronic wheel apparatus is used under operating stick and single-chip microcontroller control be moved, and further includes the rotating supporting device with mobile jib supporting mechanism rotation connection；One end of the rotating supporting device is fixedly connected with the hip mount for regular user's buttocks；Gas spring system device is connected between the rotating supporting device and mobile jib supporting mechanism, the rotating supporting device is used to support the conversion that user realizes free position of the user between sitting posture and stance under the action of gas spring system device.Structure of the invention exquisiteness is compact, and it is convenient to operate, and is highly suitable for the daily life of disabled person.
Description
Technical field
The present invention relates to disabled person's auxiliary device field more particularly to a kind of multi-functional disabled person's power-assisted walking aid rehabilitation dresses
It sets.
Background technique
For the crowd handicapped for disabled person or the lower part of the body, wheelchair will use usually to improve ability to act, although
It is feasible, but with the raising of everybody quality of life, disabled person also starts to be not content with the wheelchair that a dirt is constant on the market, more uncommon
Prestige can uprightly be moved as normal person, need it is more humane, using the more brilliant walking-replacing tool of more convenient, performance,
And disabled person is the activity for needing to maintain muscle by rehabilitation, if just needed using Traditional Rehabilitation device on the market
Other people supplemental trainings are wanted, part disabled person is just unwilling to carry out rehabilitation training, and conventional wheel because can bother others in this way
Chair has several disadvantages:
(1) because conventional wheelchair is sitting posture, then sight will be become to look up by head-up, this has biggish with ordinary person
Difference generates very big inferiority complex；
(2) for a long time using traditional push chairs without rehabilitation training, it will lead to leg muscle atrophy, lose rehabilitation completely
A possibility that；
(3) if traditional push chairs lack other people auxiliary, it is breakneck that individual, which moves alone to wheelchair,；
(4) disabled person may need others' help, while being seated also makes disabled person lose a part convenience.
Therefore, we take in competition the team crowd handicapped for disabled person or the lower part of the body from real daily life, devise
The device of multi-functional aiding upright and recovery function, realizes disabled person or the handicapped crowd of the lower part of the body in daily life may be used
Rehabilitation training, aiding upright, upright movement are carried out with independent.Disabled person, which only leans on, itself can complete various daily matters, nothing
Others' help is needed, and the movement of this structure is controlled by handle, it is very convenient；It walks upright and disabled person can become
Confidence no longer feels oneself inferior because of the inconvenience of the lower part of the body.
Summary of the invention
Disabled person can be assisted voluntarily to stand the technical problem to be solved in the present invention is to provide a kind of, mobile one kind of walking is more
Functional disability people's power-assisted walking aid rehabilitation device.
A kind of multi-functional disabled person's power-assisted walking aid rehabilitation device, including a chassis, the mobile jib support being fixed on chassis
Mechanism, the armrest mechanism being connect with mobile jib supporting mechanism and the electronic wheel apparatus being connect with the chassis, the electronic wheel apparatus
It further include being supported with the rotation of mobile jib supporting mechanism rotation connection for being moved under operating stick and single-chip microcontroller control
Device；
One end of the rotating supporting device is fixedly connected with the hip mount for regular user's buttocks；The rotation
Turn to be connected with gas spring system device between support device and mobile jib supporting mechanism, the rotating supporting device is used to support use
Person realizes the conversion of free position of the user between sitting posture and stance under the action of gas spring system device.
Preferably, the rotating supporting device includes a pair of of connection pedestal, and one of connection pedestal is fixedly mounted on
On mobile jib supporting mechanism, a support rod component, another described connection are rotatably installed between the pair of connection pedestal
Pedestal is fixedly connected with the hip mount.
Preferably, the support rod component includes a swingle and the parallel bar for being distributed in swingle two sides.
Preferably, it is fixedly connected on another connection pedestal of the separate mobile jib supporting mechanism and matches with human body waist
The waist-protection device of conjunction, the waist-protection device are connect with hip mount.
It preferably, further include the display screen being connect with single-chip microcontroller.
It preferably, further include the bluetooth module being connect with the single-chip microcontroller, the bluetooth module is used in Bluetooth of mobile phone
Control electronic wheel apparatus described in lower remote control.
It preferably, further include the tracking control module being connect with single-chip microcontroller, for keeping electronic wheel apparatus distant in mobile phone remote
Control is lower and automatic seeking charges to specified charge position under the effect of magnetic conductance course line.
Preferably, further include the electric quantity acquisition module being connect with single-chip microcontroller, be used for when the battery for collecting motor
When in low battery, by single-chip microcontroller control Electric Motor Wheel under the effect of magnetic conductance course line automatic seeking to specified charge position charging.
It preferably, further include box body device, which is fixedly connected with chassis and mobile jib supporting mechanism.
Preferably, a pair of leg-protecting structure device for being used to protect user's both legs is also equipped on the box body device,
The shape of the leg-protecting structure device is adapted with the user's shape of leg contacted.
The mobile jib supporting mechanism is rectangular parallelepiped structure.
Preferably, the armrest mechanism includes a " T " shape handrail, the vertical portion installation of the handrail
On mobile jib supporting mechanism, the both ends of the horizontal component of handrail are rotatably equipped with leader respectively.
Preferably, the single-chip microcontroller is STM32F103ZET6 controller.
The design is primarily adapted for use in disabled person or the handicapped crowd of the lower part of the body, major embodiment some functions below:
(1) recovery function: the present invention helps disabled person to carry out rehabilitation training, tempers its muscle, it is not easy to cause
The diseases such as muscular atrophy pass through repetition after the fixed device of waist and the fixed body of hip mount can be used in user
Standing activities effective stimulus leg, waist, arm and foot muscles simultaneously restore its function.
(2) help energy of rendering meritorious service: product can arbitrarily be rested on people by installing chest protector device and hip mount additional
For sitting posture to any one posture of stance, pneumatic springs system power-assisted is adjustable, is applicable to different demands crowd, may help to
User is easily upright, it is important that the both hands of user are entirely free on his at this time, and any thing for wanting to do can be made of them
Feelings.
(3) walk help function: 1. product cooperates single-chip microcontroller control by installation Electric Motor Wheel, and user is easily grasped
User can freely advance on one's feet, retreat, turn for vertical operating stick；2. only day can be easily accomplished by the strength of itself
Ordinary affair are suitable, get rid of the constraint that traditional push chairs can not be upright.
(4) distant control function: user can carry out various operations by remote controler remote control product.
(5) Automatic Track Finding charge: product can after low battery or remote control on magnetic conductance course line can Automatic-searching to specify
Charge position charge.
This product can assist the people that the lower part of the body is paralysed or the lower part of the body is handicapped to walk upright；It is real by repeating standing activities
Existing recovery function；The distinctive gas bar balance system of this product, chest protector device and hip mount can arbitrarily stop people
In any one posture of sitting posture to stance；This product can all around be walked by realizing to operating stick or Digiplex,
So that the carefree life that the excessively upper normal person of the people that the lower part of the body is paralysed or the lower part of the body is handicapped is the same.And this product has certainly
The dynamic charging system that tracks.When low battery, Automatic-searching charging socket charges.Structure of the invention exquisiteness is compact, operation
It is convenient, it is highly suitable for the daily life of disabled person.
Detailed description of the invention
Fig. 1 is structural upright Fig. 1 of the embodiment of the present invention.
Fig. 2 is structural upright Fig. 2 of the embodiment of the present invention.
Fig. 3 is the right view of Fig. 1.
Fig. 4 is the main view of Fig. 1.
Fig. 5 is the top view of Fig. 1.
Fig. 6 is the left view of Fig. 1.
Fig. 7 is that (a is perspective view, and b is the left view of a, and c is a's for the structural schematic diagram of the armrest mechanism of the embodiment of the present invention
Main view, d are the top view of a).
Fig. 8 is schematic diagram of the armrest mechanism of Fig. 7 when being detached from mobile jib supporting mechanism.
Fig. 9 is that (e is perspective view, and f is the main view of e, g for the structural schematic diagram of the rotating supporting device of the embodiment of the present invention
For the left view of e, h is the bottom view of e, and i is the top view of e).
Figure 10 is the structural schematic diagram of control system of the present invention.
Figure 11 is the battery performance figure in the embodiment of the present invention 1.
Figure 12 human body sitting posture center of gravity schematic diagram.
Figure 13 is pictorial diagram of the invention.
Figure 14 is the gravity motion figure of the human body and design in the present invention.
Figure 15 is electric quantity acquisition module schematic diagram of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
A kind of multi-functional disabled person's power-assisted walking aid rehabilitation device, including box body device 1, the box body device 1 are similar to rectangular
Body structure, box body device 1 are directly welded on 2 one end of chassis, offer a pair of openings on the chassis 2 in box body device 1, often
One electronic wheel apparatus 21 is installed, the foreboard of the box body device 1 is by cabinet overhead gage 11, cabinet door-plate in a opening
(being not drawn into figure) and cabinet lower baffle plate 12 composition, cabinet overhead gage 11 and cabinet lower baffle plate 12 are welded on cabinet left and right side plates
Between 13, the cabinet door-plate is mounted on cabinet left plate or right side as the switch gate of box body device 1 with any well-known technique
On plate 13；The back plate of box body device 1 includes sealing plate 14 after a pair of of cabinet, 14 is fixed between sealing plate after cabinet and is fixedly connected on bottom
Mobile jib supporting mechanism 3 on disk 2；The inside of the cabinet left side plate 13 is respectively welded the fixed strip for fixing circuit board
131, car wheel cover 211 is each provided on two electronic wheel apparatus 21 on the chassis 2.As shown in Figure 1, it is preferred that box body device 1
Foreboard can also be an overall structure, and be mounted on cabinet left plate or cabinet right side plate 13 with well-known technique, as
The door of box body device.
As shown in figure 4, the mobile jib supporting mechanism 3 includes being welded on after a pair of of cabinet between sealing plate 14 and on chassis 2
Mobile jib 31, mobile jib 31 are fixedly connected with the handrail rotating supporting device for being used to support armrest mechanism rotation, the handrail rotation branch
Support arrangement includes the rotation being fixedly mounted between a pair of of rotational support plate 311 of 31 upper surface of mobile jib and rotational support plate 311
Support plate sealing plate 312.It is respectively corresponded on the pair of rotational support plate 311 and offers an aperture and a slot, which is located at
The front of the aperture；The rotational support plate sealing plate 312 is arranged close to 11 side of cabinet overhead gage.As shown in Figure 1, being located at cabinet
One battery case 32 is installed, the another side of mobile jib 31 on the other side is equipped on 31 one side of mobile jib in device
Plate 33；Former and later two sides of the battery case 32 offer several circular holes respectively, these circular holes are for facilitating wiring；It is described
Rotating supporting device 4 is also equipped on the mobile jib another side of 33 top position of lower plate, it is several fixed to offer in the lower plate 33
Position hole, to adjust the installation site of gas spring 5.
As shown in figure 9, the rotating supporting device 4 includes a pair of of connection pedestal 41, a swingle 42 and it is respectively set
Parallel bar 43 in swingle two sides；One of connection pedestal 41 is fixedly mounted on the mobile jib 31 of the mobile jib supporting mechanism
On, each described connect corresponds to a pair of of rotation small rack 411 of installation and positioned at one rotated between small rack 411 on pedestal 41
Spill spin block 412；The spill spin block 412 is rotatablely connected by a rotary shaft and a pair of of rotation small rack 411；42 liang of the swingle
End is respectively welded on spill spin block 412；The both ends of the pair of parallel bar 43 respectively be welded on the rotation connecting on pedestal 41
Ramuscule frame torr 431 is rotatablely connected.
It is fixed with a waist-protection device 44 on another connection pedestal 41 of the separate mobile jib supporting mechanism, which can
Think a waist protecting board, which matches with the lumbar shape of human body and, the waist protecting board 44 perpendicular with chassis
It is fixedly mounted on the plate 441 on connection pedestal and the side plate 442 of plate two sides including one, the side plate and plate form certain
Angle；Preferably, it is also possible that setting, i.e. its cross section are circular arc type, both side plate 442 and plate 441 connect the waist protecting board
It is connected into radian.
The waist protecting board 44 connect with hip mount and (is not drawn into figure), which includes installing respectively
Automatic tightening on the both side plate 442 of waist protecting board 44 is with mechanism and the cushion connecting with the automatic tightening with mechanism.It is described
It is also fixedly installed with a display/panel bracket 413 on the connection pedestal connecting with waist protecting board, is used to support display screen.The buttocks is solid
The automatic tightening band mechanism and cushion for determining device can be installed directly by existing purchase.As shown in figure 4, the mobile jib supports machine
331 He of a small rack is separately installed in the lower plate 33 of structure and in contrast on the swingle 42 of the rotating supporting device of position
421, a gas spring system device, the gas spring in the gas spring system device are installed between the small rack 331 and 421
Telescopic end and swingle 42 on small rack 421 be rotatablely connected, the bottom end of gas spring is fixed on the small rack of the lower plate 33
On 331；The gas spring system device comes with for controlling the flexible gas spring control switch of gas spring.
As shown in fig. 7, the rotational support plate 311 of the handrail rotating supporting device of the mobile jib supporting mechanism 3 is equipped with one
Armrest mechanism 6, specifically, the armrest mechanism includes one in T-shaped handrail and the water for being separately positioned on handrail
Flat part both ends, rotationally connected handles 65.The vertical portion of the handrail includes outer tube 61,62 and of inner sleeve
One plate 63；The opposite two sides of the outer tube 61 correspond to offer an elongate holes 611 along its length, described interior
A circular hole 622,62 a part of inner sleeve are offered above and below the two sides corresponding with outer tube 61 of casing 62 respectively
Outer tube 61 is connect with inner sleeve 62 in insertion outer tube 61 and by bolt or axis, makes outer tube 61 can be relative to inner sleeve
(range i.e. where the elongate holes 611) sliding up and down in a certain range of pipe 62.
A plate 63 is fixed on the outer tube 61, the plate 63 on the outer tube is inserted on a pair of of rotational support plate 311
Slot in, and the aperture on the circular hole 622 of the lower section of inner sleeve 62 and rotational support plate 311 passes through axis rotation connection.Institute
64 both ends of transverse tube for stating the horizontal component of handrail are respectively fixed with transfer ear 641, and each transfer ear 641 is rotated with handle 65
Connection.The armrest mechanism makes the plate 63 on outer tube be detached from rotation branch when not in use, by lifting outer tube 61 upwards
After slot on fagging 311, handrail is turned into suitable position.
As shown in Fig. 2, a pair of of leg-protecting structure device 7 is also equipped with after the cabinet of the box body device 1 on sealing plate 14, it is described
Leg-protecting structure device 7 is distributed in 33 two sides of lower plate of mobile jib supporting mechanism, and the leg-protecting structure device 7 includes sealing with after cabinet
The legging column 71 that plate 14 is fixedly connected, and the leg guard 72 being fixedly connected with legging column 71, the cross section of the leg guard are circle
Arcuate structure or class trapezoidal shape structure.If the legging column 71 offers solid with the surface that sealing plate 14 is in contact after cabinet
Hole is determined, to adjust the position of leg-protecting structure device 7 according to human body.It is fixed that the other end on the chassis 2 is also fixedly installed with heel
Position device 8, to regular user's heel.
This control system by controller, electric machine controller, power supply module, display module, accept and believe direction module, remote control
Mould is pleased, trace follow control module and electricity accept and believe module composition, connection relationship such as Figure 10.Walking process is driven by control stick
Potentiometer (in succession a potentiometer, the same as the remote controler of remote-control car, there is a current potential below that handle by control stick
Meter, concrete model are as follows: 2 dimension rocker regulation resistance JH-D202X-R2/R4 two-dimensional seal cradle head controllor film and tv photographies are dedicated
(Taobao's network address: https: //item.taobao.com/item.htm? spm=a230r.1.14.27.5q2ovJ&id=
35506029925&ns=1&abbucket=5#detail), potentiometer gives signal to controller, and controller receives accordingly
Signal controls electric machine controller control motor movement again, completes row will that is forward and backward, turning left, turn right.
Automatic charging is that trolley is connected to magnetic stripe, controls trolley charger position by tracking control module, completes
Automatic charging.
The control section of electronic wheel apparatus in the present invention is the single-chip microcontroller connecting with electric machine controller, and of the invention is electronic
The power resources of wheel apparatus are the accumulator plant of 24V.
Control system in the present invention includes single-chip microcontroller, and the single-chip microcontroller is STM32F103ZET6 single-chip microcontroller；The monolithic
Machine is electrically connected with the electric machine controller of electronic wheel apparatus, and the single-chip microcontroller is also connect with the sensor of operating stick, which can
To be mounted on a position of suitable user's operation, for example, mountable on the transverse tube 64 of armrest mechanism.User passes through behaviour
Bar is operated, the sensor of operating stick is made to send a signal to single-chip microcontroller, single-chip microcontroller control electric machine controller transports motor in turn
It is dynamic, to realize that the advance of electronic wheel apparatus, retrogressing, turning etc. move.
As shown in Figure 10, the single-chip microcontroller be also connected with remote control control module (i.e. bluetooth module), tracking control module,
Liquid crystal display and electric quantity acquisition module.The electric quantity acquisition module is used to acquire the electricity of battery, and the bluetooth module is used
It is moved in by Bluetooth of mobile phone remote control Electric Motor Wheel；The tracking control module is for making electronic wheel apparatus along being laid on ground
On magnetic conductance course line movement.
The electronic wheel apparatus can be automatic by magnetic conductance course line when so that electronic wheel apparatus is in low battery by acquisition module
Specified charge position is sought to charge.The present apparatus adopts accumulator electric-quantity by electric quantity acquisition module, when battery electricity
It when measuring low, is charged icon by clicking tracking on mobile phone after on mobile phone remote device to tracking line, trolley can be along
Magnetic conductance course line runs to charge position and charges.The of the invention automatic charge device connected with charging end can be set into
Two contact chips of battery connection.The model AQMD6020BLS direct current thoughts brushless motor of the electric machine controller controls
Module driver.
Single-chip microcontroller in the present invention, the electric machine controller of electronic wheel apparatus, sensor, remote control control module (bluetooth mould
Block)
, tracking control module, liquid crystal display and electric quantity acquisition module, which pass through, to be commercially available, the company of they and single-chip microcontroller
Connecing principle and working principle is the well-known technique means of the prior art, and details are not described herein.
The course of work of the invention are as follows: after user fixes body with hip mount, manipulate gas spring system
Gas spring control switch, gas spring push rotating supporting device, make user from sitting posture slowly become stance；Operation behaviour
Make bar, the sensor in operating stick sends a signal to single-chip microcontroller, and single-chip microcontroller control electric machine controller in turn transports electronic wheel apparatus
It is dynamic, it realizes the movement of apparatus of the present invention, retreats, the movement such as turning.When the battery of motor is in low battery, because of electric quantity acquisition
Module acquires the electricity of battery in real time, therefore when collecting battery and being in low battery, will transmit a signal to single-chip microcontroller, single
Piece machine controls motor, is charged icon by clicking tracking on mobile phone after on mobile phone remote device to tracking line, trolley can
It is charged with running to charge position along magnetic conductance course line.Under the synergistic effect of tracking control module, make electronic wheel apparatus
Specified charging end is run to along magnetic conductance course line (magnetic stripe being laid on the ground) to charge.In addition, when use
After invention trolley, trolley can also be made to run to specified charging section along magnetic conductance course line and charged by remote control.
Remote control control module of the present invention: bluetooth module DIY A09HC-05 slave one bluetooth module
Taobao's network address: https: //item.taobao.com/item.htm? spm=
A230r.1.14.16.24e0d3e6e7sJuW&id=39311847057&ns=1&abbucke t=5 #detail
Tracking control module: AGV trolley magnetic navigation sensor 8 industrial food and drink robot aluminum alloy casing D-MNSV3-X8
It is bipolar
Taobao's network address: https: //item.taobao.com/item.htm? id=541144582627&ns=1&
Abbucket=20#detail
Electric quantity acquisition module of the present invention such as Figure 15
Correlation theory of the invention, which designs, to be calculated:
1. human body sitting posture center of gravity is analyzed
Human body sitting posture center of gravity is as shown in figure 12, from human body be sitting posture when center of gravity to calculate, consult reference materials and know " each portion of object
Split-phase is equal to the object total weight to the torque of the axis to the algebraical sum of Mr. Yu's axle power square." i.e. torque=power * arm of force.Due to
Human body is a heterogeneous object, so each link of divided human body is considered as homogeneous.
So the calculating of gravity center of human body can also use --- Varignon theorem, it may be assumed that
P (human body total centre of gravity X)=Σ P (each link i) x (each link i) (1)
P (human body total centre of gravity Y)=Σ P (each link i) y (each link i) (2)
(1) rectangular coordinate system is established
Calculating gravity center of human body must be determined by (x, y) two amounts.
(2) link's position is determined
1. marking body segment position according to the position in joint.
2. joint is marked the point connection stick-like figure of adult body.
(3) position of each segment mass centre is determined
1. measuring the length of each link with measuring tool.
2. marking the centroid position of each link according to the percentage of segment mass centre to proximal section.
3. determining (x, y) of each segment mass centre.
(4) it finally calculates
In step (3), each link (x, y) has been obtained.Thus obtain power of each link relative to X-axis and Y-axis
Square, it may be assumed that
Each link × Xi (3) of Pxi=G
Each link × Yi (4) of Pyi=G
For ease of calculation, regard human total weight as 1.In this way, the quality of each link of obtained human body is one opposite
Amount.
Torque of the human body total centre of gravity relative to X-axis and Y-axis can be so obtained, i.e.,；
P (human body total centre of gravity X)=Σ P (each link i) x (each link i) (5)
P (human body total centre of gravity Y)=Σ P (each link i) y (each link i) (6)
(5) the heavy heart of human body is marked
By the measurement of front and Σ PX is calculated, Σ PY.The human body total centre of gravity to be obtained is in X-axis and Y-axis
Torque.Since body mass is reduced to 1, then Σ PX, the Σ PY after aggregation, the gravity center of human body for seeking to look for is in coordinate system
In (X, Y).
It so according to obtained value, is marked in picture, as the total centre of gravity of human body.
It can thus be appreciated that the point of figure Green, as center of gravity (0.54,4.56), so center of gravity that human body is seated (0.54,
4.56)。
The quality of human body is in the case where being 1 at this time, it is assumed that people a height of 1.75m, weight 65kg, his weight at this time
The heart is in (0.54,55.43).
2. car center of gravity
The center of gravity of car is generated by the particle in Solidworks, and the barycentric coodinates for having obtained car are as follows:
X=251.25mm
Y=250.00mm
Z=341.56mm
The principal axis of inertia and inertia main force square: (kg*mm2)
It is determined by center of gravity.
Ix=(1.000,0.000,0.005) Px=41741.665
Iy=(0.000,1.000,0.000) Py=83806.063
Iz=(- 0.005,0.000,1.000) Pz=124373.183
Inertial tensor: (kg*mm2)
It is determined by center of gravity, and is aligned the coordinate system of output.
Lxx=41743.940 Lxy=0.000 Lxz=433.572
Lyx=0.000 Lyy=83806.063 Lyz=0.000
Lzx=433.572 Lzy=0.000 Lzz=124370.908
Inertial tensor: (kg*mm2)
It is determined by output coordinate system.
Ixx=135091.120 Ixy=144104.664 Ixz=33491.998
Iyx=144104.664 Iyy=322642.011 Iyz=20343.742
Izx=33491.998 Izy=20343.742 Izz=447220.097
The variation diagram of entirety center of gravity when 3. people is mobile
Human body and the gravity motion figure of design are as shown in figure 14.
In this figure i line be represented human body when moving, the variation of center of gravity is from sitting posture to stance, then at this time
The center of gravity of people will be moved up slowly to the pros of y, and since target tightening on foot for stress, then center of gravity can be to the value of x
Can slowly it reduce.What ii line indicated is the center of gravity of car in figure, when people gets on the bus, center of gravity moving up slowly, and
It is mobile to the positive direction of x always.Since the center of gravity of car is lower than the center of gravity of people always, but the value of the car x value than people x always
Greatly, so the center of gravity of people's car when moving would not generate peace then car would not overturn at this time than the stable gravity center of human body
Full hidden danger.
Determine the weight of waist support structure.Know from the formula of ρ=M/V, quality: cold-rolled steel sheet density p known to M=ρ V (7)
=7.85g/cm3, since density unit is gram per cm, so to calculate volume chemical conversion the inside.From each of waist support structure
A part combination acquires volume V=1273.583cm3；
M=ρ V=7.85x1273.583=9997.626g=9.997kg (8)
The quality for obtaining waist support structure is M=9.997kg
Because of resistance arm X resistance=power arm X power:
F1xL1=F2xL2 (9)
Resistance arm L1=350mm, power arm L2=57.3mm are obtained from measurement.
The upper resistance of known resistance arm is the gravity in waist support structure.Take g=9.8N/m.
Gravity G:
G=Mg=9.997 × 9.8=97.97N (10)
Push rod thrust F2:
F2=F1xLI/L2=97.97 × 350/57.3=598.4N (11)
Therefore the gas spring thrust of selection is greater than 598.4N, selects the thrust of gas spring for 600N.
The calculating of motor wheel
The volume of various pieces is calculated from the length of each components of trolley, the formula for reusing ρ=M/V pushes away
Export carrys out the weight M=ρ V of machine. (12)
The density of known cold-rolled steel sheet is 7.85g/cm3, since density unit is g/cm3.
It is acquired from the volume of entire car:
V=8917.197cm3.
M1=pv=7.85x8917.197=69999.9964g=70kg (13)
Thus show that the entire weight of trolley is 70kg.
It is assumed that the human body weight m2=60kg of station up.
Wheel is altogether by weight at this time
M=m1+m2=70+60=130kg. (14)
Due to there is the presence of frictional force between wheel and ground, coefficient of friction u=0.3 is looked into.Take g=9.8N/m.
All gravity on car:
G=mg=130x9.8=1274N (15)
Frictional force:
F=uG=0.3x1274=382.2N (16)
Because wheel radius is 4 inches, 1in=2.54cm, therefore R=4x 2.54=10.16cm=0.1016m are looked into.
So torque T1:
T1=FR=0.1016x382.2=38.83NM (17)
Obtain torque T1=38.83NM.
The correct of words is calculated in order to verify this, is reversely calculated.
The power of known wheel is 0.25kw, speed v=1.8km/h=0.5m/s.
Revolving speed n=v/2 π R is obtained from formula v=2 π Rn
N=0.5/2 × 3.14x0.1016=0.66rad/s=39.6rad/min (18)
Torque T2:
T2=9550 × p/n=9550x0.25/39.6=60.28NM (19)
Obtain T2=60.28NM.
It can thus be appreciated that T1 is less than T2.But the movement of real motor wheel, therefore select power for 250w, revolving speed is
The motor wheel of 0.66rad/s.
The selection of battery
1. full speed run duration calculates
The motor wheel for having chosen 250w is known from the calculating of motor wheel, but 250w is rated power, when being not work
Exact power, power when so needing to calculate work, need to find out battery the quantity of electric charge can provide works operation how long
Time, it is known that motor wheel have altogether there are two, the identical battery of specification two.
Measure electric current I when motor wheel moves at full speed.
The electric current I=8A measured.It is known that the voltage U=24V of motor wheel is provided.
W=UI=24 × 8 × 2=384w (20)
P=QU/t. (21)
The battery of the 20AH of selected 24v, the power W=UI of this battery.
W=UI=24 × 20 × 2=960w/h (22)
Due to designing in the consumed power W vehicle=192w for being that works, and the W=960w that battery can provide.That
Battery can use time h:
H=W/W vehicle=960/384=2.5h (23)
The electricity for the battery that the design selects free of discontinuities can power 2.5 hours of motor of full speed running.
2. the persistent movement time calculates.
What design wheel and ground when movement generated is dynamic friction, and checking in dynamic friction factor is u=0.018.From
A upper calculating learns, when people onboard when gravity:
G=1274N (24)
It follows that kinetic force of friction:
F=uG=0.018x1274=22.93N (25)
The radius of wheel:
R=0.1016m (26)
So torque:
T=FR=22.93x0.1016=2.3N.M (27)
Again because of T=9549xp/n, p=Tn/9549 is released, it is known that n=39.6rad/min
P=Tn/9549=2.3x39.6/9549=0.01kw=10w (28)
Power p=10w
P=QU/t (29)
The battery of the 20AH of selected 24v, at this time the power W=UI of battery.
W=UI=24*20=480w/h (30)
Due to designing in the consumed power p=10w for being that works, and the W=480w that battery can provide.So store
The available time t of battery:
T=W/p=480/10=48h (31)
The design select battery electricity can with power supply machine low speed run 48 hours, full speed running 2.5 hours.
Metal plate bending coefficient
The waist support structure of the present apparatus, leg-protecting structure have been directed to the bending coefficient of metal plate.
Bending equation:
V=π × [(180-b)/180] × [r+ (s/2) × k] -2 × (r+s) (32)
The material thickness s=0.4 of known waist support structure, radius bend r=4.5, b=60 ° of angle, factor k=0.5 is asked
V:
V=π × [(180-60)/180] × [4.5+ (0.4/2) × 0.5] -2 × (0.4+0.5)=0.186 (33)
The bending coefficient of waist support structure is 0.186.
Since the parameter of waist support structure is as the parameter of leg-protecting structure, so the bending coefficient of leg-protecting structure is 0.186.
Debugging process
For the feasibility of test design, the present invention is debugged, mainly from helping for works, vertical, walk help etc. is carried out
Debugging.Of the invention helping is stood and is debugged, the present invention realizes after having debugged helps vertical target, and people is allowed to become standing from sitting posture
Appearance.
Present invention utilizes the controls of single-chip microcontroller, and walk help function is realized after the completion of debugging.
Bibliography
The Beijing Guo Rensheng Fundamentals of Machine Design: publishing house, Tsinghua University, 2006.
The Beijing Zhao Jiagui design of electronic circuits: China Measuring Press, 2005.
The Qingdao Aihong CUI's analog electronics technique project-based study course: publishing house, Chinese Marine University, 2011.
The Heilungkiang the design scientific and technological information of Bai Yan, Zheng Wengang .X/O type instrument for rehabilitation of lower limbs correction position mechanical mechanism, 2016
(8):46‐46。
Balance car design scientific and technical innovation and application of the Zhang Hongwei based on STM32,2016 (2): 78-79.
Zhang Yongjun, the discussion of bending coefficient in panel beating, railway technology supervision, 2000 (7): 35-37.
Claims (10)
1. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device, it is characterised in that: including a chassis, be fixed on chassis
Mobile jib supporting mechanism, the armrest mechanism being connect with mobile jib supporting mechanism and the electronic wheel apparatus being connect with the chassis, the electricity
Driving wheel device is used under operating stick and single-chip microcontroller control be moved, and further includes being rotatablely connected with the mobile jib supporting mechanism
Rotating supporting device；
One end of the rotating supporting device is fixedly connected with the hip mount for regular user's buttocks；The rotation branch
Gas spring system device is connected between support arrangement and mobile jib supporting mechanism, the rotating supporting device is used to support user and exists
The conversion of free position of the user between sitting posture and stance is realized under the action of gas spring system device.
2. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 1, it is characterised in that: the rotation
Turning support device includes a pair of of connection pedestal, and one of connection pedestal is fixedly mounted on mobile jib supporting mechanism, the pair of
One support rod component is rotatably installed, another described connection pedestal is fixedly connected with the buttocks and fixes between connection pedestal
Device.
3. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 2, it is characterised in that: the branch
Strut component includes a swingle and the parallel bar for being distributed in swingle two sides.
4. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 2, it is characterised in that: described separate
The waist-protection device matched with human body waist, the waist support dress are fixedly connected on another connection pedestal of mobile jib supporting mechanism
It sets and is connect with hip mount.
5. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 1, it is characterised in that: further include one
A display screen being connect with single-chip microcontroller.
6. -5 any a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 1, it is characterised in that: also
Including the bluetooth module connecting with the single-chip microcontroller, the bluetooth module is used under the control of Bluetooth of mobile phone described in remote control
Electronic wheel apparatus.
7. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 6, it is characterised in that: further include with
Single-chip microcontroller connection tracking control module, for make electronic wheel apparatus mobile phone remote remote control under and magnetic conductance course line effect under from
It is dynamic to seek specified charge position charging.
8. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 7, it is characterised in that: further include with
The electric quantity acquisition module of single-chip microcontroller connection, is used to pass through single-chip microcontroller when the battery for collecting motor is in low battery
Electric Motor Wheel automatic seeking under the effect of magnetic conductance course line is controlled to charge to specified charge position.
9. -5 any a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 1, it is characterised in that: also
Including box body device, which is fixedly connected with chassis and mobile jib supporting mechanism.
10. a kind of multi-functional disabled person's power-assisted walking aid rehabilitation device according to claim 9, it is characterised in that: described
It is also equipped on box body device a pair of for protecting the leg-protecting structure device of user's both legs, the shape of the leg-protecting structure device
It is adapted with the user's shape of leg contacted.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113662818A (en) * | 2021-09-22 | 2021-11-19 | 杭州科技职业技术学院 | Multifunctional power-assisted walking aid rehabilitation device for disabled |
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| CN113662818A (en) * | 2021-09-22 | 2021-11-19 | 杭州科技职业技术学院 | Multifunctional power-assisted walking aid rehabilitation device for disabled |
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