CN210158890U - Fall-prevention omnidirectional walking ability rehabilitation device - Google Patents
Fall-prevention omnidirectional walking ability rehabilitation device Download PDFInfo
- Publication number
- CN210158890U CN210158890U CN201821890013.0U CN201821890013U CN210158890U CN 210158890 U CN210158890 U CN 210158890U CN 201821890013 U CN201821890013 U CN 201821890013U CN 210158890 U CN210158890 U CN 210158890U
- Authority
- CN
- China
- Prior art keywords
- omnidirectional
- plate
- walking ability
- plates
- rehabilitation device
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model belongs to the rehabilitation device field, concretely relates to prevent tumble omnidirectional walking ability rehabilitation device. The technical scheme of the utility model as follows: the utility model provides an anti-falling omnidirectional walking ability rehabilitation device, includes omnidirectional chassis, omnidirectional wheel group, frame supporting mechanism, damping swing mechanism, driving motor, battery and control system, and the omnidirectional chassis is trilateral half-enclosure structure, and four omnidirectional wheel groups set up below the omnidirectional chassis, and frame supporting mechanism installs on the omnidirectional chassis through two sets of damping swing mechanisms, and four driving motor are used for driving four omnidirectional wheel groups and remove, and the battery provides the energy for the device, and control system is used for controlling the device. The utility model provides a prevent tumble omnidirectional walking ability rehabilitation device and working method thereof can carry out the controllable walking ability training of omnidirectional movement speed, and real time monitoring trains distance and effect simultaneously to guaranteed the function of stopping under the abnormal state, realized continuous controllable safety training.
Description
Technical Field
The utility model belongs to the rehabilitation device field, concretely relates to prevent tumble omnidirectional walking ability rehabilitation device.
Background
The disability rate caused by injury is increased compared with the past due to various factors such as the increase of the injury degree of accidents caused by the rapid development of vehicles and the promotion of road speed limit in China, the delay of the development of rehabilitation specialties and the like. However, with the development of medical conditions and the desire of disabled persons for living ability, and the increased care and attention of society for disabled persons in recent years, the imbalance between the development of rehabilitation equipment for disabled persons is contradictory, and people are forced to pay more attention to the rehabilitation field of disabled persons. How to improve the level of rehabilitation training of disabled people has become a problem of great attention in the field of rehabilitation.
In the development process of the rehabilitation field in China, more and more disabled people and rehabilitation patients, particularly the number of patients whose limb mobility needs to be recovered gradually rises. The lower limb rehabilitation has a certain window period, and rehabilitation training is carried out in the rehabilitation window period, so that the motor function of the lower limb can be effectively recovered, and the motor ability is recovered to the maximum extent.
At present, in many cases, disabled people and limb function restorers cannot get efficient scientific training, so that window periods are missed or theoretical rehabilitation effects are not achieved in rehabilitation periods. Once the window period of the rehabilitation training is missed or the training is not standard, the rehabilitation personnel cannot return to normal or best mobility for a long time, and the disabled and the limb function recovery personnel are affected for a long time. The limb damage caused by road traffic accidents and other serious accidents causes the damaged families to bear more expenses, and the life burden caused by the missed window time can disturb the lives of the families for a long time, further increase the burden, so that the situations of poverty caused by injuries and poverty caused by injuries occur occasionally.
Rehabilitation of limb mobility is a systematic and long-term process and requires scientific guidance. Internationally, there are rehabilitation devices that are beginning to systematically train handicapped people and lower limb rehabilitators, and relatively sophisticated systems have been developed. However, in China, a complete training system for lower limb rehabilitators and a relatively large-scale rehabilitation institution for systematic training are not formed, for example, in east China with a concentrated population, a widely recognized rehabilitation institution is not formed. Meanwhile, the existing rehabilitation training system in east China is not scientific in planning and relatively insufficient in personnel allocation, so that severe requirements are required to be provided for rehabilitation training institutions and rehabilitation training devices.
The walking assisting device and the rehabilitation device are available in the market, such as a hemiplegia rehabilitation bicycle, a vertical standing walking rehabilitation bicycle, a four-foot assisting walking device and the like. However, the lower limb mobility rehabilitation device and the walking assisting device which are transversely compared with the mainstream at home and abroad are mainly based on the frame design in the aspects of standing support and walking assistance, are almost used for or close to the walking assisting device, and have single structure and function. The traveling mode generally adopts the design of passive universal wheels, and the user pushes forward, and the walking auxiliary device only moves along with the user in the traveling process. This will reduce user's the efficiency of marcing, when the user takes place to fall down the unexpected condition such as, and a lot of rehabilitation device can't provide effectual support and safety guarantee, can aggravate the degree that the user received the injury even. Meanwhile, in the use process of the user, the whole-process monitoring of accompanying personnel is needed, the labor intensity of rehabilitation auxiliary personnel is increased, and the double waste of time resources and human resources is caused.
SUMMERY OF THE UTILITY MODEL
The utility model provides a prevent tumble omnidirectional walking ability rehabilitation device can carry out the controllable walking ability training of omnidirectional movement speed, and real time monitoring trains distance and effect simultaneously to guaranteed the function of stopping under the abnormal state, realized continuous controllable safety training.
The technical scheme of the utility model as follows:
the utility model provides an anti-falling omnidirectional walking ability rehabilitation device, includes omnidirectional chassis, omnidirectional wheel group, frame supporting mechanism, damping swing mechanism, driving motor, battery and control system, and the omnidirectional chassis is trilateral half-enclosure structure, and four omnidirectional wheel groups set up below the omnidirectional chassis, and frame supporting mechanism installs on the omnidirectional chassis through two sets of damping swing mechanisms, and four driving motor are used for driving four omnidirectional wheel groups and remove, and the battery provides the energy for the device, and control system is used for controlling the device.
Prevent tumble omnidirectional walking ability rehabilitation device, wherein the omnidirectional chassis includes two front plates and two curb plates, two front plates set up side by side, two curb plates fixed connection respectively are in the both ends of front plate.
The anti-falling omnidirectional walking ability rehabilitation device is characterized in that each omnidirectional wheel set comprises a wheel, a wheel shaft, an outer plate, an inner plate, a connecting frame and a connecting plate, the outer plate and the inner plate are respectively and fixedly connected with two sides of the connecting frame, the wheel shaft is connected with the inner plate and the outer plate through bearings, the wheel is fixedly installed in the middle of the wheel shaft, the connecting plate is fixedly connected to the upper surface of the connecting frame, and the connecting plate is fixedly installed below the side plate; and a brake device is arranged on the wheel shaft.
The anti-falling omnidirectional walking ability rehabilitation device is characterized in that the frame supporting mechanism comprises a front side frame, a longitudinal frame, a torsion limiting bearing, a tee joint, a height adjustable rod and a vertical connecting piece, and the damping swinging mechanism comprises a universal coupling, a swinging limiting spring, a limiting upper plate and a limiting lower plate; the two ends of the front side frame are respectively connected with the two longitudinal frames through torsion limiting bearings to form a semi-surrounding structure frame, the tee joint is sleeved on the longitudinal frames, the upper end of the height-adjustable rod is connected with the tee joint, and the lower end of the height-adjustable rod is fixedly connected with the vertical connecting piece; the swing limiting spring is sleeved on the universal coupling, two ends of the universal coupling are respectively and fixedly connected with the limiting upper plate and the limiting lower plate, and the swing limiting spring is assembled in spring grooves of the limiting upper plate and the limiting lower plate; the vertical connecting piece is fixedly connected with the limiting upper plate, and the limiting lower plate is fixedly arranged on the side plate.
The anti-falling omnidirectional walking ability rehabilitation device is characterized in that the height adjustable rod is formed by nesting two aluminum tubes together, and the relative height between the two aluminum tubes can be adjusted.
The anti-falling all-directional walking ability rehabilitation device is characterized in that a sliding groove is formed in the outer plate, the driving motor is fixedly installed on a tensioning adjusting plate, and the tensioning adjusting plate is arranged in the sliding groove and connected with the outer plate through a locknut; the output end of the driving motor is provided with a driving chain wheel, a driven chain wheel is fixedly arranged on the wheel shaft, and the driven chain wheel is connected with the driving chain wheel through a chain; the tensioning adjusting plate moves along the sliding groove in a slack state, and the chain is ensured to be in a tensioning state.
The anti-falling omnidirectional walking ability rehabilitation device is characterized in that the control system comprises a single chip microcomputer, a Bluetooth and wireless local area network module, a control panel, a motor speed regulator, an acceleration sensor, a gyroscope sensor, a distance sensor, a force sensor and a handheld terminal, the battery is installed on the front plate, the motor speed regulator is installed beside the omnidirectional wheel set and connected with the driving motor, the single chip microcomputer, the Bluetooth and wireless local area network module are arranged beside the battery, and the battery is connected with the single chip microcomputer, the driving motor and the motor speed regulator through wires; the control panel is installed on the front side frame, the acceleration sensor and the force sensor are installed on the vertical connecting piece, the gyroscope sensor is installed on the side plate, and the distance sensors are installed on the front plate and the two side plates; the single chip microcomputer is connected with the Bluetooth and wireless local area network module, the control panel, the motor speed regulator, the acceleration sensor, the gyroscope sensor, the distance sensor and the force sensor through signal lines.
The working method of the fall prevention omnidirectional walking ability rehabilitation device comprises the following steps:
step 1: the walking ability rehabilitation terminal or the portable mobile electronic device terminal establishes communication with the control system through the Bluetooth and the wireless local area network module, sends a control instruction to the control system, and sends a reset instruction; the hand-held terminal is in data communication with the Bluetooth module and the wireless local area network module to implement remote control;
step 2: the walking ability rehabilitation person enters the frame supporting mechanism, and the arms of the walking ability rehabilitation person are fixedly connected with the longitudinal frame to realize relative stillness to a certain degree;
and step 3: the control system reads the data of the motor speed regulator and sends a control instruction to the motor speed regulator;
and 4, step 4: the driving motor receives a command to drive the driving chain wheel to rotate, the driving chain wheel drives the driven chain wheel to rotate through the chain, the driven chain wheel drives the wheel to move, and the walking ability rehabilitation person follows the moving;
and 5: the motor speed regulator continuously reads the angular position and angular speed information of the driving motor to ensure uniform speed travel;
step 6: the control system continuously records the travelling distance and speed information, compares the information with preset information, and prompts to stop when the preset information is reached; the Bluetooth and wireless local area network module communicates data of the acceleration sensor and the gyroscope sensor with a walking ability rehabilitation terminal server host; the external rehabilitation assistant person observes the rehabilitation process data through the walking ability rehabilitation terminal, and controls or changes the advancing speed and the track of the rehabilitation device within a certain distance;
and 7: and the gyroscope sensor is used for measuring and calculating the advancing acceleration information, and when the advancing acceleration information exceeds a threshold value, the gyroscope sensor is used for feeding back the control system to stop the omnidirectional wheel set and trigger the brake device.
The utility model has the advantages that:
1. the utility model discloses a rehabilitation device, the walking ability training of walking ability rehabilitation personnel is assisted through continuous marcing in the during operation, and the omnidirectional wheel group provides the omnidirectional of direction from front to back, left and right direction and advances the mode, has the controllable walking ability training of omnidirectional movement speed, and real time monitoring training distance and effect simultaneously have guaranteed the function of stopping under the abnormal state, have realized the continuous controllable safety training, have prevented the abnormal handling of the training of walking ability rehabilitation personnel; the utility model discloses an omnidirectional walking ability rehabilitation device provides perfect walking function rehabilitation device design.
2. The semi-surrounding structure frame of the frame supporting mechanism is used for supporting the body weight of a rehabilitee and keeping the balance and the supporting function of the rehabilitee; the front torsion limiting bearing is matched with the swing limiting spring, synchronous rotation of partial angles can be achieved, and the rectangular swing device can swing in a small range. The swing limiting spring is assembled in the spring grooves in the limiting upper plate and the limiting lower plate, radial displacement does not exist, the swing limiting spring only generates unidirectional bending and does not generate axial compression, the swing limiting spring has high rigidity, when the universal coupling bends, the swing limiting spring cannot generate large deformation, the integral stability is ensured, and meanwhile the frame has certain impact tolerance.
3. The distance sensors are arranged in three directions of the omnidirectional chassis and used for avoiding obstacles; and a force sensor is fixed on the vertical connecting piece, and the direction of the pushing direction is controlled according to different pushing directions.
Drawings
Fig. 1 is a front view of a fall prevention omnidirectional walking ability rehabilitation device;
fig. 2 is a side view of the anti-falling omnidirectional walking ability rehabilitation device;
fig. 3 is a perspective view of the fall prevention omnidirectional walking ability rehabilitation device;
FIG. 4 is a block diagram of an omni-directional wheel set;
fig. 5 is a structural view of the damped oscillation mechanism.
In the figure: 1-omnidirectional chassis, 2-outer plate, 3-tension adjusting plate, 4-driving sprocket, 5-driven sprocket, 6-wheel, 7-connecting plate, 8-wheel shaft, 9-driving motor, 10-limit lower plate, 11-swing limit spring, 12-limit upper plate, 13-inner plate, 14-vertical connecting piece, 15-height adjustable rod, 16-tee joint, 17-torsion limit bearing, 18-longitudinal frame, 19-front side frame, 20-connecting frame, 21-chain, 23-universal coupling, 25-motor speed regulator, 26-single chip microcomputer, 27-Bluetooth and wireless local area network module, 28-battery, 30-acceleration sensor, 31-gyroscope sensor, 32-distance sensor, 33-force sensor.
Detailed Description
As shown in fig. 1-5, an anti-falling omnidirectional walking ability rehabilitation device comprises an omnidirectional chassis 1, omnidirectional wheel sets, a frame supporting mechanism, a damping swing mechanism, a driving motor 9, a battery 28 and a control system, wherein the omnidirectional chassis 1 is a three-surface and half-surrounding structure, the omnidirectional chassis 1 comprises two front plates and two side plates, the two front plates are arranged side by side, and the two side plates are respectively and fixedly connected to two ends of the front plates; the four omnidirectional wheel sets are arranged below the omnidirectional chassis 1, the frame supporting mechanism is arranged on the omnidirectional chassis 1 through two groups of damping swinging mechanisms, the four driving motors 9 are used for driving the four omnidirectional wheel sets to move, the battery 28 provides energy for the device, and the control system is used for controlling the device; the driving motor model is a direct current brushless speed reducing motor RM 3508.
The omnidirectional wheel set comprises wheels 6, a wheel shaft 8, an outer plate 2, an inner plate 13, a connecting frame 20 and a connecting plate 7, wherein the outer plate 2 and the inner plate 13 are respectively and fixedly connected with two sides of the connecting frame 20, the wheel shaft 8 is connected with the inner plate 2 and the outer plate 13 through bearings, the wheels 6 are fixedly installed in the middle of the wheel shaft 8, the connecting plate 7 is fixedly connected to the upper surface of the connecting frame 20, and the connecting plate 7 is fixedly installed below the side plate; a brake device is arranged on the wheel shaft 8; the wheels 6 are mecanum wheels.
The frame supporting mechanism comprises a front side frame 19, a longitudinal frame 18, a torsion limiting bearing 17, a tee joint 16, a height adjustable rod 15 and a vertical connecting piece 14, and the damping swinging mechanism comprises a universal coupling 23, a swinging limiting spring 11, a limiting upper plate 12 and a limiting lower plate 10; the two ends of the front side frame 19 are respectively connected with the two longitudinal frames 18 through torsion limiting bearings 17 to form a semi-enclosed structural frame; the tee joint 16 is sleeved on the longitudinal frame 18, the upper end of the height adjustable rod 15 is connected with the tee joint 16, and the lower end of the height adjustable rod 15 is fixedly connected with the vertical connecting piece 14; the swing limiting spring 11 is sleeved on the universal coupling 23, two ends of the universal coupling 23 are respectively fixedly connected with the limiting upper plate 12 and the limiting lower plate 10, and the swing limiting spring 11 is arranged in spring grooves of the limiting upper plate 12 and the limiting lower plate 10; the vertical connecting piece 14 is fixedly connected with the limiting upper plate 12, and the limiting lower plate 10 is fixedly arranged on the side plates; the type of the torsion restricting bearing 17 is a thrust bearing 51106; the height adjustable rod 15 is formed by nesting two aluminum tubes, and the relative height between the two aluminum tubes can be adjusted.
The outer plate 2 is provided with a sliding chute, the driving motor 9 is fixedly arranged on the tensioning adjusting plate 3, and the tensioning adjusting plate 3 is arranged in the sliding chute and is connected with the outer plate 2 by a locknut; a driving chain wheel 4 is arranged at the output end of the driving motor 9, a driven chain wheel 5 is fixedly arranged on the wheel shaft 8, and the driven chain wheel 5 is connected with the driving chain wheel 4 through a chain 21; the tensioning adjusting plate 3 moves along the sliding chute in a slack state to ensure that the chain 21 is in a tensioned state; the driving chain wheel 4 and the driven chain wheel 5 are twelve-tooth two-divided chain wheels, the center distance is fifty-six sections, the reduction ratio of the driving motor 9 is thirty-six, the driving chain wheel 4 is driven by the driving motor to realize one-to-one reduction ratio transmission, and the accuracy of a transmission part is guaranteed.
The control system comprises a single chip microcomputer 26, a Bluetooth and wireless local area network module 27, a control panel, a motor speed regulator 25, an acceleration sensor 30, a gyroscope sensor 31, a distance sensor 32, a force sensor 33 and a handheld terminal, wherein the battery 28 is installed on the front plate, the motor speed regulator 25 is installed beside the omnidirectional wheel set, the motor speed regulator 25 is connected with the driving motor 9, the single chip microcomputer 26, the Bluetooth and wireless local area network module 27 are arranged beside the battery 28, and the battery 28 is connected with the single chip microcomputer 26, the driving motor 9 and the motor speed regulator 25 through wires; the control panel is installed on the front side frame 19, the acceleration sensor 30 and the force sensor 33 are installed on the vertical connecting piece 14, the gyroscope sensor 31 is installed on the side plate, and the distance sensors 32 are respectively installed on the front plate and the two side plates; the single chip microcomputer 26 is connected with the Bluetooth and wireless local area network module 27, the control panel, the motor speed regulator 25, the acceleration sensor 30, the gyroscope sensor 31, the distance sensor 32 and the force sensor 33 through signal lines; the singlechip 26 is a stm32f427 development board.
The working method of the fall prevention omnidirectional walking ability rehabilitation device comprises the following steps:
step 1: the walking ability rehabilitation terminal or the portable mobile electronic device terminal establishes communication with the control system through the Bluetooth and the wireless local area network module 27, sends a control instruction to the control system, and sends a reset instruction; the hand-held terminal is in data communication with the Bluetooth and wireless local area network module 27 to implement remote control;
step 2: the walking ability rehabilitation person enters the frame supporting mechanism, and the arms of the walking ability rehabilitation person are fixedly connected with the longitudinal frame 18 to realize relative rest to a certain degree;
and step 3: the control system reads the data of the motor speed regulator 25 and sends a control instruction to the motor speed regulator 25;
and 4, step 4: the driving motor 9 receives a command to drive the driving chain wheel 4 to rotate, the driving chain wheel 4 drives the driven chain wheel 5 to rotate through the chain 21, the driven chain wheel 5 drives the wheel 6 to move, and a walking ability rehabilitation person follows the movement;
and 5: the motor speed regulator 25 continuously reads the angular position and angular speed information of the driving motor 9 to ensure uniform speed advance;
step 6: the control system continuously records the travelling distance and speed information, compares the information with preset information, and prompts to stop when the preset information is reached; the Bluetooth and wireless local area network module 27 communicates the data of the acceleration sensor 30 and the gyroscope sensor 31 with the walking ability rehabilitation terminal server host; the external rehabilitation assistant person observes the rehabilitation process data through the walking ability rehabilitation terminal, and controls or changes the advancing speed and the track of the rehabilitation device within a certain distance;
and 7: the gyroscope sensor 31 measures and calculates the acceleration information of the advancing, and feeds back the control system when the acceleration information exceeds a threshold value, so that the omnidirectional wheel set stops and a brake device is triggered.
The anti-falling all-directional walking ability rehabilitation device can be used in a smooth and wide training field or a long corridor of a rehabilitation mechanism or a medical mechanism, all-directional traveling is achieved, safety and continuity of a user in a training process are effectively guaranteed, usability is achieved, and training requirements of limb mobility in a window period are met.
The present invention has been described in detail with reference to the specific embodiments, but the present invention is by way of example only and is not limited to the specific embodiments described above. Any equivalent modifications and substitutions for those skilled in the art are also within the scope of the present invention. Accordingly, variations and modifications in equivalents may be made without departing from the spirit and scope of the invention, which is intended to be covered by the following claims.
Claims (7)
1. The utility model provides an anti-falling omnidirectional walking ability rehabilitation device, a serial communication port, including the chassis of qxcomm technology, the qxcomm technology wheelset, frame supporting mechanism, damping swing mechanism, driving motor, battery and control system, the chassis of qxcomm technology is trilateral half surrounding structure, four qxcomm technology wheelsets up below the chassis of qxcomm technology, frame supporting mechanism installs on the chassis of qxcomm technology through two sets of damping swing mechanisms, four driving motor are used for driving four qxcomm technology wheelsets to remove, the battery provides the energy for the device, control system is used for controlling.
2. The fall prevention omnidirectional walking ability rehabilitation device according to claim 1, wherein the omnidirectional chassis comprises two front plates and two side plates, the two front plates are arranged side by side, and the two side plates are fixedly connected to two ends of the front plates respectively.
3. The fall prevention omnidirectional walking ability rehabilitation device according to claim 2, wherein the omnidirectional wheel set comprises wheels, wheel shafts, outer plates, inner plates, connecting frames and connecting plates, the outer plates and the inner plates are respectively and fixedly connected with two sides of the connecting frames, the wheel shafts are connected with the inner plates and the outer plates through bearings, the wheels are fixedly installed in the middle of the wheel shafts, the connecting plates are fixedly connected to the upper surfaces of the connecting frames, and the connecting plates are fixedly installed below the side plates; and a brake device is arranged on the wheel shaft.
4. The fall prevention omnidirectional walking ability rehabilitation apparatus according to claim 2, wherein the frame support mechanism comprises a front side frame, a longitudinal frame, a torsion limit bearing, a tee joint, a height adjustable rod and a vertical connecting member, and the damped swinging mechanism comprises a universal coupling, a swinging limit spring, a limit upper plate and a limit lower plate; the two ends of the front side frame are respectively connected with the two longitudinal frames through torsion limiting bearings to form a semi-surrounding structure frame, the tee joint is sleeved on the longitudinal frames, the upper end of the height-adjustable rod is connected with the tee joint, and the lower end of the height-adjustable rod is fixedly connected with the vertical connecting piece; the swing limiting spring is sleeved on the universal coupling, two ends of the universal coupling are respectively and fixedly connected with the limiting upper plate and the limiting lower plate, and the swing limiting spring is assembled in spring grooves of the limiting upper plate and the limiting lower plate; the vertical connecting piece is fixedly connected with the limiting upper plate, and the limiting lower plate is fixedly arranged on the side plate.
5. The fall prevention omnidirectional walking ability rehabilitation device according to claim 4, wherein the height adjustable rod is formed by nesting two aluminum tubes, and the relative height between the two aluminum tubes can be adjusted.
6. The fall prevention omnidirectional walking ability rehabilitation device according to claim 3, wherein a sliding slot is provided on the outer plate, the driving motor is fixedly mounted on a tensioning adjustment plate, the tensioning adjustment plate is disposed in the sliding slot and connected with the outer plate by a locknut; the output end of the driving motor is provided with a driving chain wheel, a driven chain wheel is fixedly arranged on the wheel shaft, and the driven chain wheel is connected with the driving chain wheel through a chain; the tensioning adjusting plate moves along the sliding groove in a slack state, and the chain is ensured to be in a tensioning state.
7. The anti-falling omnidirectional walking ability rehabilitation device according to claim 4, wherein the control system comprises a single chip microcomputer, a Bluetooth and wireless local area network module, a control panel, a motor speed regulator, an acceleration sensor, a gyroscope sensor, a distance sensor, a force sensor and a handheld terminal, the battery is mounted on the front plate, the motor speed regulator is mounted beside the omnidirectional wheel set and connected with the driving motor, the single chip microcomputer, the Bluetooth and wireless local area network module are arranged beside the battery, and the battery is connected with the single chip microcomputer, the driving motor and the motor speed regulator through wires; the control panel is installed on the front side frame, the acceleration sensor and the force sensor are installed on the vertical connecting piece, the gyroscope sensor is installed on the side plate, and the distance sensors are installed on the front plate and the two side plates; the single chip microcomputer is connected with the Bluetooth and wireless local area network module, the control panel, the motor speed regulator, the acceleration sensor, the gyroscope sensor, the distance sensor and the force sensor through signal lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821890013.0U CN210158890U (en) | 2018-11-16 | 2018-11-16 | Fall-prevention omnidirectional walking ability rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821890013.0U CN210158890U (en) | 2018-11-16 | 2018-11-16 | Fall-prevention omnidirectional walking ability rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210158890U true CN210158890U (en) | 2020-03-20 |
Family
ID=69785978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821890013.0U Expired - Fee Related CN210158890U (en) | 2018-11-16 | 2018-11-16 | Fall-prevention omnidirectional walking ability rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210158890U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109350464A (en) * | 2018-11-16 | 2019-02-19 | 东北大学 | A kind of anti-tumble omnidirection walking ability convalescence device and its working method |
-
2018
- 2018-11-16 CN CN201821890013.0U patent/CN210158890U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109350464A (en) * | 2018-11-16 | 2019-02-19 | 东北大学 | A kind of anti-tumble omnidirection walking ability convalescence device and its working method |
| CN109350464B (en) * | 2018-11-16 | 2023-09-19 | 东北大学 | Fall-preventing omni-directional walking ability rehabilitation device and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101803988B (en) | Multifunctional intelligent rehabilitation robot for assisting stand and walk | |
| CN108338895B (en) | Planar walking following supporting power assisting device | |
| CN109350464B (en) | Fall-preventing omni-directional walking ability rehabilitation device and working method thereof | |
| CN108904229B (en) | Intelligent wheeled walking aid | |
| CN210158890U (en) | Fall-prevention omnidirectional walking ability rehabilitation device | |
| CN109172177A (en) | A kind of wheel-track combined climbing stairs wheelchair of steady comfort type | |
| CN108853898B (en) | Hemiplegia rehabilitation training device for neurology department | |
| CN110916987A (en) | Lower limb rehabilitation training robot capable of moving autonomously | |
| CN102988153A (en) | Structural type weight reduction system used for gait rehabilitation training | |
| CN209678897U (en) | A kind of wheel-track combined climbing stairs wheelchair | |
| CN203158114U (en) | Intelligent obstacle crossing robot based on Bluetooth control | |
| CN109199724B (en) | Omnidirectional movement intelligence wheelchair bed | |
| CN210612394U (en) | Combined wheelchair bed | |
| CN115158503B (en) | Multi-terrain applicable mobile robot based on intelligent optimization algorithm | |
| CN113116648A (en) | Bradyseism is climbed building and is walked over barrier device and wheelchair | |
| CN206675650U (en) | Self-propelled vehicle formula barrier free wheelchair | |
| CN113559458A (en) | Neurosurgery is with supplementary walking nursing device | |
| CN201972084U (en) | Self-lock hanging slide type operating platform for construction of viaduct overhanging arm | |
| CN205286732U (en) | From walking rescue apparatus | |
| CN202173535U (en) | Electric stair climbing wheelchair | |
| CN112172965A (en) | Automatic collision avoidance device of AGV dolly | |
| CN220833336U (en) | A helping hand system for medical transfer car (buggy) | |
| CN215922382U (en) | Climbing trolley | |
| CN110525537A (en) | One kind six takes turns obstacle detouring information acquisition vehicle device | |
| CN109512592A (en) | A kind of crawler type standing rehabilitation wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200320 Termination date: 20201116 |