CN111449924A - Intelligent rehabilitation moped - Google Patents
Intelligent rehabilitation moped Download PDFInfo
- Publication number
- CN111449924A CN111449924A CN202010401855.0A CN202010401855A CN111449924A CN 111449924 A CN111449924 A CN 111449924A CN 202010401855 A CN202010401855 A CN 202010401855A CN 111449924 A CN111449924 A CN 111449924A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- shaft
- stage
- wheel
- right connecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 16
- 230000006870 function Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
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 patients or 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 patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an intelligent rehabilitation moped, which comprises a rack, a sensor module, a control assembly, a leg supporting assembly and a link mechanism, wherein the sensor module and the control assembly are fixed on the rack; the structure can fit the motion track of the human body, and the user can use the device more comfortably, thereby having multiple rehabilitation auxiliary functions and being convenient for the user to use.
Description
Technical Field
The invention relates to the technical field of postoperative recovery, in particular to an intelligent rehabilitation moped.
Background
Traditional vehicle using motor, to the user of low limbs dysfunction, common supplementary and recovered product often only possesses the assistance user and stands up/sits down or in the low limbs rehabilitation training a certain item, and can not be fine combine both to often do not possess and possess intelligent perception, gesture regulation, environmental perception, autonomic navigation and cross the obstacle, keep away the function of riding instead of walk of obstacle, make it have very big use limitation. Moreover, most products still need other people to assist in operation, and the defects of poor portability, poor intellectualization, low efficiency, short service life, high quality, high cost and poor comfort level exist.
Disclosure of Invention
The invention aims to provide an intelligent rehabilitation moped which can fit the motion track of a human body, is convenient to reverse, has multiple rehabilitation auxiliary functions, is more comfortable and convenient for a user to use, and has higher practicability and reliability.
The embodiment of the invention is realized by the following steps:
an intelligent rehabilitation moped comprises a frame, a sensor module, a control assembly, a leg support assembly and a link mechanism, wherein the frame comprises a support, a bottom plate and a push rod motor mounting seat, the sensor module is arranged on the support or the bottom plate, the control assembly is fixed to the support, the link mechanism comprises a first-stage left connecting rod, a second-stage left connecting rod, a third-stage left connecting rod, a first-stage right connecting rod, a second-stage right connecting rod, a third-stage right connecting rod, a first shaft, a second shaft, a third shaft, a thrust shaft and a push rod motor, the push rod motor mounting seat is internally provided with the push rod motor and then fixed to the top of the bottom plate, the first-stage left connecting rod and the first-stage right connecting rod are arranged at intervals, are connected with two ends through the first shaft and the second shaft respectively, are connected with the middle part through the thrust shaft, two ends of the second-stage left connecting rod are connected with one end of the, the two ends of the first shaft are respectively fixed to one end of a second left connecting rod and one end of a second right connecting rod, the two ends of the third shaft respectively penetrate through the other end of the second left connecting rod to be fixed to a third left connecting rod and the other end of the second right connecting rod to be fixed to a third right connecting rod, the two sides of the leg supporting assembly are respectively connected to a third-stage left connecting rod and a third-stage right connecting rod, and the middle of the thrust shaft is hinged to the push rod motor.
In a preferred embodiment of the present invention, the link mechanism further includes a first pulley, a second pulley, a third pulley and a fourth pulley, the first pulley is fixed to one end of the first shaft, the second pulley and the third pulley are respectively fixed to two ends of the second shaft, and the fourth pulley is disposed at the right end of the third shaft.
In a preferred embodiment of the present invention, the first pulley and the second pulley are connected by a belt so that the first shaft and the second shaft rotate synchronously, and the third pulley and the fourth pulley are connected by a crossed belt so that the second shaft and the third shaft rotate synchronously.
In a preferred embodiment of the present invention, the thrust shaft drives the first-stage left connecting rod and the first-stage right connecting rod to rotate the second-stage left connecting rod and the second-stage right connecting rod relative to the base plate, and the first belt pulley, the second belt pulley, the third belt pulley, and the fourth belt pulley drive the first left connecting rod and the first right connecting rod to rotate relative to the base plate, and the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly to move.
In a preferred embodiment of the present invention, the frame further includes a front wheel, a rear wheel, a wheel motor, and a wheel motor mounting seat, the front wheel and the rear wheel are respectively mounted at the front end and the rear end of the bottom plate, the front wheel is a universal wheel, the wheel motor mounting seat is fixed at the bottom of the bottom plate, the wheel motor is clamped into the wheel motor mounting seat for fixation, and a shaft of the wheel motor is connected with the rear wheel and drives the rear wheel to rotate.
In a preferred embodiment of the present invention, the control assembly includes a plate placing box and a control plate, the plate placing box is fixed to the frame, and the control plate is placed in the plate placing box.
In a preferred embodiment of the present invention, the leg support assembly includes a connecting plate, a leg supporter having a through groove for receiving a leg of a user, and a connecting shaft, the connecting plate is fixed to an outer side surface of the leg supporter, the connecting shaft is connected to an inner side of the leg supporter, and the two connecting shafts are respectively connected to the third-stage left connecting rod and the third-stage right connecting rod.
In a preferred embodiment of the present invention, the connecting plate is provided with a stop pin in a protruding manner, and when the connecting plate rotates along with the leg supporter, the stop pin blocks the connecting plate to limit the rotation angle.
In a preferred embodiment of the present invention, the inner sleeve of the connecting plate is provided with a first coil spring, the connecting shaft is provided with a second coil spring, the leg supporter is tilted forward and rotated by the first coil spring to realize the reset action, and the connecting shaft is folded and retracted in a direction perpendicular to the connecting shaft by the second coil spring.
In a preferred embodiment of the present invention, the sensor module includes an ultrasonic sensor and an optical sensor.
The invention has the beneficial effects that:
the intelligent rehabilitation moped is controlled by user operation through the control assembly, the leg support assembly provides a position for placing legs for a user, the leg support assembly provides rotating and movable force for the leg support assembly through the link mechanism, the first-stage left connecting rod and the first-stage right connecting rod are driven through the thrust shaft, so that the second-stage left connecting rod and the second-stage right connecting rod can rotate relative to the bottom plate, meanwhile, the first left connecting rod and the first right connecting rod can rotate relative to the bottom plate, the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, and the third left connecting rod and the third right connecting rod drive the leg support assembly to move; the structure can fit the motion track of a human body, facilitates reversing actions, has multiple rehabilitation auxiliary functions, is more comfortable for a user to use, is convenient for the user to use, and has higher practicability and reliability.
The invention has the following advantages:
1. the movement of the seat plate is matched with the movement track of the human body, so that the seat plate is more comfortable; the whole device has small structure and light weight, can realize the actions such as reversing and the like in a small range, and is convenient for indoor activities.
2. The invention has the advantages of high mechanism shrinkage ratio of the whole device at the initial position, low longitudinal height, portability and strong practicability in outdoor activities.
3. The invention adopts a purely mechanical belt connecting rod structure, provides safety protection for users by utilizing self-locking property of the structure, and has higher reliability, low cost and higher popularity; the device can realize independent operation in the true sense and realize self-care in life.
4. The invention adopts the modularization idea, modularizes the bottom of the sports device, sets the bottom of the sports device into different functional modules, can be designed into big wheels, tracks and the like with stronger outdoor capability according to the requirements of users, and is suitable for indoor small wheels.
5. The invention is convenient for personalized customization, and since the individual leg movement tracks are different, the personalized customization is realized by acquiring the movement track data of the user and regenerating the size of the actuating mechanism.
6. The system has the functions of multi-mode interaction and control, multi-posture adjustment, navigation and positioning, dynamic self-balancing of the ramp, active safety, obstacle crossing, cloud platform monitoring and the like.
7. The invention has stronger economical efficiency, practicability and reliability.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope.
FIG. 1 is a schematic view of an intelligent rehabilitation electric bicycle of the present invention;
FIG. 2 is a schematic view of an intelligent rehabilitation electric bicycle of the present invention;
FIG. 3 is a schematic view of a linkage mechanism of the present invention;
FIG. 4 is a schematic view of a linkage mechanism of the present invention;
icon: 1-a frame; 11-a scaffold; 12-a base plate; 13-front wheels; 14-rear wheel; 15-wheel motor; 16-wheel motor mount; 17-a push rod motor mounting seat; 2-a sensor module; 3-a control component; 31-plate placing box; 32-control panel; 4-a leg support assembly; 41-connecting disc; 42-a leg support; 43-a connecting shaft; 5-a linkage mechanism; 51-first level left link; 52-second level left link; 53-third level left link; 54-first stage right link; 55-second level right link; 56-third stage right link; 71-a first shaft; 72-a second axis; 73-a third axis; 74-a thrust shaft; 75-a push rod motor; 81-a first pulley; 82-a second pulley; 83-a third pulley; 84-fourth pulley.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First embodiment
Referring to fig. 1, the present embodiment provides an intelligent rehabilitation moped, which includes a frame 1, a sensor module 2, a control module 3, a leg support module 4 and a link mechanism 5, the sensor module 2 and the control module 3 are fixed to the frame 1, the leg support module 4 is connected to the link mechanism 5, the link mechanism 5 is fixed to the frame 1, the frame 1 includes a bracket 11, a bottom plate 12, a front wheel 13, a rear wheel 14, a wheel motor 15, a wheel motor mounting seat 16 and a push rod motor mounting seat 17, the sensor module 2 includes an ultrasonic sensor and an optical sensor, the control module 3 includes a flat plate placing box 31 and a control flat plate 32, the leg support module 4 includes a connection plate 41, a leg support 42 and a connection shaft 43, the link mechanism 5 includes a first-stage left link 51, a second-stage left link 52, a third-stage left link 53, a first-stage right link 54, a second, A third-stage right connecting rod 56, a first shaft 71, a second shaft 72, a third shaft 73, a thrust shaft 74, a push rod motor 75, a first belt pulley 81, a second belt pulley 82, a third belt pulley 83 and a fourth belt pulley 84; this vehicle using motor can make rotation and reset motion to shank supporting component 4 through link mechanism 5, and convenience of customers conveniently operates in a flexible way when using.
Referring to fig. 2, the frame 1 includes a bracket 11, a bottom plate 12, a front wheel 13, a rear wheel 14, a wheel motor 15, a wheel motor mounting seat 16 and a push rod motor mounting seat 17, the bracket 11 has an arch structure for a user to hold when using, the bottom end of the arch structure is provided with a threaded hole, and the bracket 11 and the bottom plate 12 are fixed by using a screw to pass through the bottom plate 12; the push rod motor mounting seat 17 is fixedly connected to the top of the bottom plate 12 through a threaded hole and a screw; the wheel motor 15 is fixed on the wheel motor mounting seat 16 after penetrating through a threaded hole formed in the wheel motor 15 by using a screw; the wheel motor mounting base 16 is fixed at the bottom of the bottom plate 12 through a threaded hole by screw connection; the bottom of the bracket 11 is provided with wheel seats clamped into the front wheel 13 and the rear wheel 14, and a front pair of wheel seats and a rear pair of wheel seats are arranged together, the front wheel 13 and the rear wheel 14 are fixed at the bottom of the bracket 11 through the clamped wheel seats to provide support and facilitate advancing and retreating, the front wheel 13 is a universal wheel to facilitate direction adjustment, and can realize circumferential movement instead of being limited to movement in one direction in the process of pushing the moped to walk, a crankshaft of the wheel motor 15 is connected with the rear wheel 14 and drives the rear wheel 14 to rotate so as to drive the rear wheel 14 to advance or retreat, and the wheel motor 15 is a servo motor.
Optical sensor and ultrasonic sensor are built in sensor module 2, and recovered vehicle using motor can carry out analysis and feedback through sensor module 2 to the surrounding environment, can realize functions such as path planning navigation, obstacle crossing and obstacle avoidance, ramp developments self-balancing.
Referring to fig. 3 and 4, the link mechanism 5 includes a first-stage left link 51, a second-stage left link 52, a third-stage left link 53, a first-stage right link 54, a second-stage right link 55, a third-stage right link 56, a first shaft 71, a second shaft 72, a third shaft 73, a thrust shaft 74, a push rod motor 75, a first pulley 81, a second pulley 82, a third pulley 83, and a fourth pulley 84; the first-stage left connecting rod 51 and the first-stage right connecting rod 54 are connected through a first shaft 71, a second shaft 72 and a thrust shaft 74, the first-stage left connecting rod 51 and the first-stage right connecting rod 54 are arranged at intervals, connected with two ends through the first shaft 71 and the second shaft 72 respectively, and connected with the middle part through the thrust shaft 74; the two ends of the second-stage left connecting rod 52 and the two ends of the second-stage right connecting rod 55 are respectively connected through a second shaft 72 and a third shaft 73; one end of the third-stage left connecting rod 53 is connected with one end of the third-stage right connecting rod 56 through a third shaft 73, the other end of the third-stage left connecting rod 53 and the other end of the third-stage right connecting rod 56 are respectively connected with the leg supporting assembly 4, so that two sides of the leg supporting assembly 4 are respectively connected to the third-stage left connecting rod 53 and the third-stage right connecting rod 56, the middle part of the thrust shaft 74 is hinged with the push rod motor 75, the top end of the shaft of the push rod motor 75 is provided with a through hole communicated with the two sides, the middle part of the thrust shaft 74 is provided with an annular groove, the thrust shaft 74 is just clamped in the through hole, the top end of the shaft of the push rod motor 75 is clamped in the annular groove, the push rod; the end part of the first-stage left connecting rod 51 connected with the second shaft 72 is also connected with the second-stage left connecting rod 52; the end part of the first-stage right connecting rod 54 connected with the second-stage shaft is also connected with a second-stage right connecting rod 55; the end part of the second-stage left connecting rod 52 connected with the third shaft 73 is also connected with a third-stage left connecting rod 53, and the end part of the second-stage right connecting rod 55 connected with the third shaft 73 is also connected with a third-stage right connecting rod 56; a first belt wheel 81 is arranged at the left end of the first shaft 71, a second belt wheel 82 is arranged at the left end of the second shaft 72, a third belt wheel 83 is arranged at the right end of the second shaft 72, and a fourth belt wheel 84 is arranged at the right end of the third shaft 73; the first pulley 81 is connected with the second pulley 82 through a belt so that the first shaft 71 and the second shaft 72 rotate synchronously, and the third pulley 83 is connected with the fourth pulley 84 through a crossed belt so that the second shaft 72 and the third shaft 73 rotate synchronously; the push rod motor 75 drives the thrust shaft 74 to swing the first-stage left connecting rod 51 and the first-stage right connecting rod 54, and the first-stage left connecting rod 51 and the first-stage right connecting rod 54 drive the second-stage left connecting rod 52, the second-stage right connecting rod 55, the third-stage left connecting rod 53 and the third-stage right connecting rod 56 to move in the swinging process, so as to drive the leg support assembly 4 to move. Limiting holes in the first-stage left connecting rod 51 and the first-stage right connecting rod 54 are respectively superposed with limiting holes in the left end and the right end of the first shaft 71 and are fixed through limiting pins; limiting holes in the second-stage left connecting rod 52 and the second-stage right connecting rod 55 are respectively superposed with limiting holes in the left end and the right end of the first shaft 71 and are fixed through limiting pins; limiting holes in the third-stage left connecting rod 53 and the third-stage right connecting rod 56 are respectively fixed with limiting holes at the left end and the right end of the first shaft 71 through limiting pins; the thrust shaft 74 is connected to the first-stage left link 51 and the first-stage right link 54. The link mechanism 5 is used as follows: the push rod motor 75 moves back and forth by driving the push shaft 74, the push shaft 74 drives the first-stage left connecting rod 51 and the first-stage right connecting rod 54, so that the second-stage left connecting rod 52 and the second-stage right connecting rod 55 can rotate relative to the bottom plate 12, and simultaneously drives the third left connecting rod and the third right connecting rod to rotate by the first belt pulley 81, the second belt pulley 82, the third belt pulley 83 and the fourth belt pulley 84, so that the first left connecting rod and the first right connecting rod can rotate relative to the bottom plate 12, and simultaneously drives the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly 4 to move.
The leg supporting assembly 4 is two symmetrical structures for supporting two legs of a user, two sides of the leg supporting assembly 4 are respectively connected with the link mechanisms 5 arranged at the left side and the right side of the bracket 11, the leg supporting assembly 4 comprises a connecting disc 41, a connecting shaft 43 and a leg supporter 42, the leg supporter 42 is provided with a through groove for clamping the leg of the user so as to fix the leg of the user, the connecting disc 41 is fixed at the outer side surface of the leg supporter 42, the connecting shaft 43 is connected to the inner side of the leg supporter 42, namely the connecting shaft 43 is positioned at the inner side between the two leg supporters 42, the bottom ends of the two connecting shafts 43 are respectively connected to a third-stage left connecting rod 53 and a third-stage right connecting rod 56, the connecting positions of the connecting shaft 43 and the third-stage left connecting rod 53 and the third-stage right connecting rod 56 are provided with second coil springs and fixed, the, the connecting shaft 43 is mounted on a shaft sleeve on the inner side of the leg support 42, the connecting plate 41 is convexly provided with a limiting pin, the limiting pin is of a column-shaped structure protruding outwards, when the connecting plate 41 rotates along with the leg support 42, the connecting shaft 43 abuts against the limiting pin when rotating, the limiting pin clamps the connecting plate 41 to limit the rotating angle of the connecting plate 41, the connecting plate 41 of the embodiment is of a shaft sleeve structure, a first coil spring is mounted on an inner shaft sleeve of the connecting plate 41, after the connecting plate 41 rotates to a certain position, a force returning to an initial state is generated through the recovery deformation of the first coil spring, the leg support 42 rotates forwards to realize a reset action, a second coil spring is mounted at the bottom end connection position of the connecting shaft 43, the connecting shaft 43 can rotate relative to the bottom plate 12, and the connecting shaft 43 can be folded and retracted along the direction perpendicular.
The working process of the embodiment is as follows:
the leg support 42 is located the horizontal position, and the user moves to the leg support 42 from the chair etc. on, for standing up the stage preparation, the user controls the recovered vehicle using motor through controlling dull and stereotyped 32, and the user can select two kinds of modes of recovered vehicle using motor to self demand, including recovered mode and the mode of riding instead of walk.
A rehabilitation mode: the rehabilitation mode is started through the control panel 32, the user is helped to perform lower limb rehabilitation training, in order to ensure safety, the frame 1 of the intelligent rehabilitation moped is locked at the moment, the push rod motor 75 works, the push rod motor 75 drives the thrust shaft 74 to move, the leg supporting assembly 4 under the leg portion is driven by the connecting rod mechanism 5 to perform upward standing movement according to the movement track of the human body, and the push rod motor 75 stops until the preset end point, so that the user stands and acts. The user stops for a period of time after standing up, the control panel is continuously operated to control the push rod motor 75 to work, at the moment, the push rod motor 75 makes reverse motion, and the leg support assembly 4 under the leg is driven by the link mechanism 5 to downwards return to the initial sitting posture state according to the motion track of the human body. The number of sitting times is automatically adjusted by the user according to the self condition, and the user can take a very useful effect on the rehabilitation of the legs of the user after the sitting times are repeated.
A walking mode: the mode of riding instead of walk is started through the control panel 32, for ensuring safety, push rod motor 75 locks this moment, the user can freely control the motion of intelligent rehabilitation vehicle using motor through the control panel 32, when the place ahead has the barrier, sensor module 2 of rehabilitation vehicle using motor gathers the surrounding environment, carry out the analysis to the environment through current visual system technique, the place ahead barrier can be dodged automatically to rehabilitation vehicle using motor, the user can also select the planning route through control panel, set for the destination, rehabilitation vehicle using motor can navigate to the destination by oneself this moment.
In summary, the embodiment of the invention senses the external environment and makes a judgment through the sensor module, so as to avoid the barrier to advance, the control assembly provides the user to operate and control the intelligent rehabilitation moped, the leg support assembly provides the position for placing the leg for the user, the connecting rod mechanism provides the rotating and movable force for the leg support assembly, and the thrust shaft drives the first-stage left connecting rod and the first-stage right connecting rod, so that the second-stage left connecting rod and the second-stage right connecting rod can rotate relative to the bottom plate, meanwhile, the first left connecting rod and the first right connecting rod can rotate relative to the bottom plate, the second left connecting rod and the second right connecting rod drive the third left connecting rod and the third right connecting rod to rotate, and therefore, the third left connecting rod and the third right connecting rod drive the leg support assembly to move; the structure can fit the motion track of a human body, facilitates reversing actions, has multiple rehabilitation auxiliary functions, is more comfortable for a user to use, is convenient for the user to use, and has higher practicability and reliability.
This description describes examples of embodiments of the invention, and is not intended to illustrate and describe all possible forms of the invention. It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (10)
1. An intelligent rehabilitation moped is characterized by comprising a rack, a sensor module, a control assembly, a leg supporting assembly and a connecting rod mechanism, wherein the rack comprises a support, a bottom plate and a push rod motor mounting seat, the sensor module is arranged on the support or the bottom plate, the control assembly is fixed to the support, the connecting rod mechanism comprises a first-stage left connecting rod, a second-stage left connecting rod, a third-stage left connecting rod, a first-stage right connecting rod, a second-stage right connecting rod, a third-stage right connecting rod, a first shaft, a second shaft, a third shaft, a thrust shaft and a push rod motor, the push rod motor mounting seat is internally provided with the push rod motor and then is fixed to the top of the bottom plate, the first-stage left connecting rod and the first-stage right connecting rod are arranged at intervals and are connected with two ends respectively through the first shaft and the second shaft, the middle parts are connected through the thrust shaft, two ends, the both ends of second level right connecting rod are connected the one end of third level right connecting rod and first order right connecting rod respectively, the both ends of primary shaft are fixed respectively to second left connecting rod one end and second right connecting rod one end, the both ends of third shaft pass second left connecting rod other end respectively and fixed to third left connecting rod, pass second right connecting rod other end and fix to third right connecting rod, shank supporting component's both sides are connected to third level left connecting rod and third level right connecting rod respectively, the middle part and the push rod motor of thrust shaft are articulated.
2. The intelligent rehabilitation moped according to claim 1, wherein the linkage mechanism further comprises a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel, the first belt wheel is fixed at one end of the first shaft, the second belt wheel and the third belt wheel are respectively fixed at two ends of the second shaft, and the fourth belt wheel is arranged at the right end of the third shaft.
3. The intelligent rehabilitation moped according to claim 2, wherein the first belt wheel is connected with the second belt wheel through a belt, so that the first shaft and the second shaft rotate synchronously, and the third belt wheel is connected with the fourth belt wheel through a crossed belt, so that the second shaft and the third shaft rotate synchronously.
4. The intelligent rehabilitation moped according to claim 3, wherein the thrust shaft drives the first-stage left connecting rod and the first-stage right connecting rod to enable the second-stage left connecting rod and the second-stage right connecting rod to rotate relative to the bottom plate, and simultaneously drives the first belt pulley, the second belt pulley, the third belt pulley and the fourth belt pulley to enable the first left connecting rod and the first right connecting rod to rotate relative to the bottom plate, and simultaneously drives the third left connecting rod and the third right connecting rod to rotate, so that the third left connecting rod and the third right connecting rod drive the leg support assembly to move.
5. The intelligent rehabilitation moped according to claim 4, wherein the frame further comprises a front wheel, a rear wheel, a wheel motor and a wheel motor mounting seat, the front wheel and the rear wheel are respectively mounted at the front end and the rear end of the bottom plate, the front wheel is provided with a universal wheel, the wheel motor mounting seat is fixed at the bottom of the bottom plate, the wheel motor is clamped into the wheel motor mounting seat for fixation, and a crankshaft of the wheel motor is connected with the rear wheel and drives the rear wheel to rotate.
6. The intelligent rehabilitation moped according to claim 4, wherein the control assembly comprises a tablet placement box and a control tablet, the tablet placement box is fixed to the frame, and the control tablet is placed in the tablet placement box.
7. The intelligent rehabilitation moped according to claim 4, wherein the leg supporting assembly comprises a connecting disc, a leg supporter and a connecting shaft, the leg supporter is provided with a through groove for clamping the leg of the user, the connecting disc is fixed on the outer side surface of the leg supporter, the connecting shaft is connected to the inner side of the leg supporter, and the two connecting shafts are respectively connected to the third-stage left connecting rod and the third-stage right connecting rod.
8. The intelligent rehabilitation moped as claimed in claim 7, wherein the connecting disc is convexly provided with a limiting pin, and when the connecting disc rotates along with the leg supporter, the limiting pin clamps the connecting disc to limit the rotation angle.
9. The intelligent rehabilitation moped according to claim 7, wherein a first coil spring is mounted on an inner bushing of the connecting plate, a second coil spring is mounted on the connecting shaft, the leg supporter achieves a reset action after being tilted forwards and rotated through the first coil spring, and the connecting shaft is folded and retracted in a direction perpendicular to the connecting shaft through the second coil spring.
10. The intelligent rehabilitation moped according to claim 3, wherein the sensor module comprises an ultrasonic sensor and an optical sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010401855.0A CN111449924A (en) | 2020-05-13 | 2020-05-13 | Intelligent rehabilitation moped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010401855.0A CN111449924A (en) | 2020-05-13 | 2020-05-13 | Intelligent rehabilitation moped |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111449924A true CN111449924A (en) | 2020-07-28 |
Family
ID=71672255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010401855.0A Pending CN111449924A (en) | 2020-05-13 | 2020-05-13 | Intelligent rehabilitation moped |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111449924A (en) |
-
2020
- 2020-05-13 CN CN202010401855.0A patent/CN111449924A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5445233A (en) | Multi-directional motorized wheelchair | |
| KR101738062B1 (en) | Structure of leg-rest | |
| US8870289B2 (en) | Foldable leg rest | |
| JP2013039908A (en) | Foldable leg rest | |
| US5224562A (en) | Motorized walking aid | |
| CN106667729B (en) | Multifunctional limb power assisting device | |
| EP3912612B1 (en) | Rollable user-support device | |
| CN107374486A (en) | A kind of moveable toilet seat robot of intelligent posture adjustment | |
| CN112043515B (en) | Gravity self-balancing wheelchair | |
| CN112120857A (en) | Foldable toilet device for helping old people | |
| KR102053779B1 (en) | manual leg-rest for vehicle | |
| CN207804508U (en) | Manned robot | |
| CN111449924A (en) | Intelligent rehabilitation moped | |
| CN212282111U (en) | Intelligent rehabilitation moped | |
| CN111714302B (en) | Multi-plane-use stair-climbing wheelchair | |
| US4437537A (en) | Vehicle for supporting handicapped occupants | |
| KR20200061722A (en) | Assistant power apparatus for wheelchair and connection assembly between assistant power apparatus and wheelchair | |
| CN210284008U (en) | Leg-raising support mechanism and vehicle seat using same | |
| JP2009119215A (en) | Standing-sitting assist apparatus | |
| CN213406846U (en) | Lower limb rehabilitation moped | |
| KR101885121B1 (en) | Wheel chair and caster device for wheel chair | |
| KR101447550B1 (en) | Folding type electric wheelchair | |
| CN113509328B (en) | Multi-pose rehabilitation four-foot robot adaptable to various complex pavements | |
| JPH07108857A (en) | Seat structure | |
| CN106726374B (en) | Novel multi-functional limbs helping hand device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |