CN211610406U

CN211610406U - Eye-moving type intelligent rehabilitation wheelchair

Info

Publication number: CN211610406U
Application number: CN201920877594.2U
Authority: CN
Inventors: 汤玄
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-06-12
Filing date: 2019-06-12
Publication date: 2020-10-02
Anticipated expiration: 2029-06-12

Abstract

The utility model relates to a recovered wheelchair of eye-moving type intelligence, including electronic wheelchair body, electronic wheelchair body both sides are equipped with wheelchair guardrail (107), and one side wheelchair guardrail (107) side is equipped with the arm structure that is used for snatching the object, and opposite side wheelchair guardrail (107) top is fixed with the eye that is used for controlling the arm structure motion and moves control structure, arm structure slide through linear guide slider structure and set up in wheelchair guardrail (107) side, electronic wheelchair body, arm structure and linear guide slider structure all be connected to the eye and move control structure. Compared with the prior art, the utility model discloses the recovered wheelchair of intelligence can realize the eye movement control, and the function is various, and it is extensive to be suitable for the crowd.

Description

Eye-moving type intelligent rehabilitation wheelchair

Technical Field

The utility model relates to the field of medical equipment technology and intelligent control, especially, relate to an eye-moving type intelligence rehabilitation wheelchair.

Background

At present, rehabilitation assisting robots have become a research object of fire and heat in recent years, and comprise wearable exoskeletons, intelligent artificial limbs, intelligent wheelchairs and the like.

At present, a great deal of research is carried out on intelligent wheelchairs, but most of the intelligent wheelchairs have limited functions and few degrees of freedom and can only meet specific single requirements, and most of the intelligent wheelchairs are controlled by remote rods and keys and can only be used for patients with inconvenient movement of lower limbs and are not suitable for disabled people with upper and lower limbs losing self-help ability.

For example, the intelligent wheelchair disclosed in chinese patent CN107773357A manually controls the operation of the wheelchair through a direction rocker, and is not suitable for disabled people whose upper limbs lose the ability to make themselves, and the wheelchair can only be used for patients to travel instead of walk, and has a single function.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an eye-moving type intelligent rehabilitation wheelchair in order to overcome the defects of the prior art.

The purpose of the utility model can be realized through the following technical scheme:

the utility model provides a recovered wheelchair of eye-moving type intelligence, includes electronic wheelchair body, and electronic wheelchair body both sides are equipped with the wheelchair guardrail, and one side wheelchair guardrail side is equipped with the arm structure that is used for snatching the object, and opposite side wheelchair guardrail top is fixed with the eye control structure that is used for controlling the arm structure motion, the arm structure slide through linear guide slider structure and set up in wheelchair guardrail side, electronic wheelchair body, arm structure and linear guide slider structure all be connected to eye control structure.

Preferably, the mechanical arm structure comprises a chassis, a mechanical arm body and a clamp, the chassis is arranged on the linear guide rail sliding block structure in a sliding mode, the tail of the mechanical arm body is fixed to the chassis, the clamp is fixed to the head of the mechanical arm body, the clamp is connected with a steering engine, and the mechanical arm body and the steering engine are both connected to the eye movement control structure.

Preferably, the mechanical arm body is a six-degree-of-freedom mechanical arm.

Preferably, the linear guide rail sliding block structure comprises a hinge connecting plate, a guide rail sliding block platform and a sliding assembly, the hinge connecting plate is fixed on the side face of the wheelchair guardrail, the guide rail sliding block platform is fixed above the hinge connecting plate, the sliding assembly is arranged on the guide rail sliding block platform, the mechanical arm structure is connected with the sliding assembly, and the sliding assembly is connected with the eye movement control structure.

Preferably, the hinge connecting plate comprises a first connecting plate and a second connecting plate which are hinged through a 0-90-degree hinge, the first connecting plate is arranged on the side close to the wheelchair guardrail and fixedly connected with the wheelchair guardrail, the second connecting plate is arranged on the side far away from the wheelchair guardrail, and the guide rail sliding block platform is fixed on the second connecting plate.

Preferably, the sliding assembly comprises a stepping motor, a ball screw and a sliding block, the ball screw is horizontally fixed on the guide rail sliding block table, the stepping motor is connected with a screw rod of the ball screw, the sliding block is fixed on a nut of the ball screw, the mechanical arm structure is fixed on the sliding block, and the stepping motor is connected with the eye movement control structure.

Preferably, the eye movement control structure comprises a tablet computer support which is arranged on a wheelchair guardrail and used for placing a tablet computer, an eye movement instrument is embedded in the tablet computer, and the tablet computer is connected with the mechanical arm structure and the linear guide rail sliding block structure.

Preferably, the tablet computer support comprises an L-shaped pipe, a tablet computer placing table and an L-shaped pipe clamp, the L-shaped pipe clamp is fixed on the wheelchair guardrail, one end of the L-shaped pipe is fixed in the L-shaped pipe clamp, the other end of the L-shaped pipe is rotatably connected with the tablet computer placing table, the tablet computer placing table is horizontally arranged and supported by a triangular fixing plate, and the tablet computer is supported by a supporting frame and arranged on the tablet computer placing table.

Preferably, the electronic wheelchair body include the wheelchair support, wheelchair support below be equipped with the drive wheel and the directive wheel that are used for the walking, the wheelchair guardrail setting in wheelchair support top both sides, wheelchair support rear be equipped with wheelchair back and wheelchair handle, the drive wheel be connected with driving motor, driving motor be connected to eye movement control structure.

Compared with the prior art, the utility model has the advantages of as follows:

(1) the utility model discloses recovered wheelchair of intelligence includes electronic wheelchair body, arm structure and eye movement control structure, carries out eye movement control electronic wheelchair body and arm structure through eye movement control structure, realizes the automatic form of electronic wheelchair body, and arm structure snatchs the object, and the function is various, applicable in the disabled that upper and lower limbs lose the autonomous ability;

(2) the utility model discloses the arm structure is fixed in the wheelchair guardrail side through the hinge connecting plate, and the hinge connecting plate is realized through first connecting plate and second connecting plate, and two connecting plates can rotate 90 degrees each other, and when using the arm structure, the angle of two connecting plates is 0 degree, and one of them connecting plate rotates 90 degrees and packs up when not using, can reduce occupation space;

(3) the utility model discloses set up the panel computer that the embedded eye moved the appearance that the panel computer support placed, wherein, the panel computer is placed the platform and is set to for the rotatable form of L type pipe, has made things convenient for the disease like this and has left the wheelchair, improves practicality.

Drawings

Fig. 1 is a schematic view of the overall structure of the eye-moving type intelligent rehabilitation wheelchair;

fig. 2 is a schematic structural view of the linear guide rail slider structure and the mechanical arm structure of the present invention;

fig. 3 is a schematic structural view of the eye movement control structure of the present invention;

fig. 4 is a control block diagram of the eye movement control of the present invention for grabbing an object.

In the figure, 101 is a driving wheel; 102 is a steering wheel; 103 is a driving motor; 104 is a wheelchair bracket; 105 is a wheelchair handle; 106 is a wheelchair pedal; 107 is a wheelchair guardrail; 108 is a wheelchair backrest; 201 is a chassis; 202 is a steering engine; 203 is a rudder frame; 204 is a clamp; 205 is a clamp connecting rod; 206 is a clamp half-gear; 207 is a bearing; 301 is a hinge connection plate; 302 is a stepping motor; 303 is a guide rail slide block table; 304 is a ball screw; 305 is a slide block; 401 is an L-shaped pipe; 402 is a tablet computer placing table; 403 is a tablet computer; 404 is a support frame; 405 is a triangular fixing plate; 406 is an L-shaped clamp tube.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the following description of the embodiments is merely an example of the nature, and the present invention is not intended to limit the application or the use thereof, and the present invention is not limited to the following embodiments.

Examples

As shown in fig. 1-3, an eye-moving type intelligent rehabilitation wheelchair comprises an electric wheelchair body, wheelchair guardrails 107 are arranged on two sides of the electric wheelchair body, a mechanical arm structure used for grabbing an object is arranged on the side surface of one wheelchair guardrail 107, an eye-moving control structure used for controlling the movement of the mechanical arm structure is fixed above the other wheelchair guardrail 107, the mechanical arm structure is arranged on the side surface of the wheelchair guardrail 107 in a sliding mode through a linear guide rail slider structure, and the electric wheelchair body, the mechanical arm structure and the linear guide rail slider structure are all connected to the eye-moving control structure.

The electric wheelchair body comprises a wheelchair support 104, a driving wheel 101 and a steering wheel 102 for walking are arranged below the wheelchair support 104, wheelchair guardrails 107 are arranged on two sides above the wheelchair support 104, a wheelchair backrest 108 and a wheelchair handle 105 are arranged behind the wheelchair support 104, a wheelchair pedal 106 is arranged on the lower portion in front of the wheelchair support 104, the driving wheel 101 is connected with a driving motor 103, and the driving motor 103 is connected to an eye movement control structure. The electric wheelchair body is driven by a driving motor 103 to drive a driving wheel 101 on the electric wheelchair body to move, and can be provided with the functions of advancing, retreating, steering, speed and the like, wherein the steering is determined by the differential speed of the driving wheel 101 and the change of the direction of a steering wheel 102. The electric wheelchair body is designed with structures such as a wheelchair guard 107, a wheelchair footboard 106, and a wheelchair handle 105, and is designed to improve comfort of a patient.

The mechanical arm structure comprises a chassis 201, a mechanical arm body and a clamp 204, wherein the chassis 201 is arranged on a linear guide rail sliding block structure in a sliding mode, the tail of the mechanical arm body is fixed to the chassis 201, the clamp 204 is fixed to the head of the mechanical arm body, the clamp 204 is connected with a steering engine 202, the steering engine 202 is fixed through a steering engine rack 203, and the mechanical arm body and the steering engine 202 are both connected to an eye movement control structure. The mechanical arm body is a six-degree-of-freedom mechanical arm.

The linear guide rail sliding block structure comprises a hinge connecting plate 301, a guide rail sliding block platform 303 and a sliding assembly, wherein the hinge connecting plate 301 is fixed on the side face of the wheelchair guardrail 107, the guide rail sliding block platform 303 is fixed above the hinge connecting plate 301, the sliding assembly is arranged on the guide rail sliding block platform 303, the mechanical arm structure is connected with the sliding assembly, and the sliding assembly is connected with the eye movement control structure. The hinge connecting plate 301 comprises a first connecting plate and a second connecting plate which are hinged through a 0-90-degree hinge, the first connecting plate is arranged on the side close to the wheelchair guardrail 107 and fixedly connected with the wheelchair guardrail 107, the second connecting plate is arranged on the side far away from the wheelchair guardrail 107, and the guide rail slider table 303 is fixed on the second connecting plate. Two connecting plates can rotate 90 degrees each other, and when using mechanical arm structure, two connecting plate angles are 0 degree, and when not using mechanical arm structure, one of them connecting plate rotates 90 degrees and packs up, can reduce occupation space.

The sliding assembly comprises a stepping motor 302, a ball screw 304 and a sliding block 305, the ball screw 304 is horizontally fixed on the guide rail sliding block platform 303, the stepping motor 302 is connected with a screw rod of the ball screw 304, the sliding block 305 is fixed on a nut of the ball screw 304, a mechanical arm structure is fixed on the sliding block 305, and the stepping motor 302 is connected with an eye movement control structure.

The hinge connecting plate 301 is fixedly connected with the sliding assembly, a sliding block 305 in the sliding assembly is fixedly connected with the chassis 201 of the mechanical arm structure, and the sliding block 305 can linearly move on the ball screw 304, so that the mechanical arm is driven to horizontally advance or retreat to grab an object.

The eye movement control structure comprises a tablet computer support which is arranged on the wheelchair guardrail 107 and used for placing a tablet computer 403, an eye movement instrument is embedded in the tablet computer 403, and the tablet computer 403 is connected with a mechanical arm structure and a linear guide rail sliding block structure. The tablet personal computer support comprises an L-shaped pipe 401, a tablet personal computer placing table 402 and an L-shaped pipe clamp 406, the L-shaped pipe clamp 406 is fixed on the wheelchair guardrail 107, one end of the L-shaped pipe 401 is fixed in the L-shaped pipe clamp 406, and the other end of the L-shaped pipe 401 is rotatably connected with the tablet personal computer placing table 402, so that the patient can conveniently leave the wheelchair. The tablet computer placing table 402 is horizontally arranged and supported by a triangular fixing plate 405, the tablet computer 403 is supported by a supporting frame 404 and arranged on the tablet computer placing table 402, and different positions of the tablet computer 403 can be adjusted by the supporting frame 404 according to different differences of patients in different aspects such as height. When the wheelchair is used, the eye tracker embedded in the tablet personal computer 403 and eyeballs are on a parallel plane, objects can be identified through a model trained by a neural network algorithm for patients who lose lower limb movement ability and have limited upper limb movement, then eye movement information is collected through the eye tracker, the mechanical arm structure is controlled to grab, and meanwhile, the driving of the electric wheelchair body can be controlled through the eye movement information of the patients, so that the automatic driving of the electric wheelchair body is realized.

Fig. 4 is the utility model discloses eye movement control snatchs the control block diagram of object, and panel computer 403 sends control command to STM32F103C8T6, and then through the direct function of STM32F103C8T6 arm structure and linear guide slider structure. STM32F103C8T6 receives the motor motion parameter that the host computer sent at first, data such as speed, distance, then realizes the control to the motor through control circuit. The upper computer software is compiled by a WPF framework, receives eye movement data collected by an eye movement instrument, and obtains a corresponding watching area through data analysis so as to start a corresponding button to start a corresponding event. STM32F103C8T6 realizes serial port communication and receives the control command that host computer software sent and the control to the motor at control system. When the control chip is in serial port communication with an external sensor, the control chip needs to be connected with VCC, GND, TX and RX four wires, RXD is used for receiving data signals sent by DCE, TXD is used for sending signals of DTE, GND is used for balancing ground potentials of two sides of equipment, and VCC is used for supplying power for the sensor. The control of the electrodes is realized by Pulse Width Modulation (PWM) peripheral equipment of the chip, a working mode is set by a control register, a power control register sets power, a period register sets a period, and a clock control register sets a clock.

The rotation angle of the steering engine is realized by adjusting the duty ratio of a PWM (pulse width modulation) signal, the period of a standard PWM (pulse width modulation) signal is fixed to be 20ms (50Hz), the pulse width distribution should be between 1ms and 2ms theoretically, but in fact, the pulse width can be between 0.5ms and 2.5ms, and the pulse width corresponds to the rotation angle of the steering engine of 0-180 degrees.

The peak value of the output PWM waveform of the STM32F103C8T6 chip is 3.3V, the peak value of 5V is adopted for driving the linear guide rail sliding block mechanism stepping motor, and the VNH5019 chip is used for realizing the conversion of the port level. Meanwhile, in order to enhance the anti-interference capability of the circuit board, a pull-down resistor is connected to the input end. The drive capability of PWM is enhanced using a VNH5019 chip, the motor direction is determined by the state of the INA and INB pins, and the motor speed is controlled by the duty cycle of the PWM signal supplied to the driver PWM pin.

The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.

Claims

1. An eye-moving type intelligent rehabilitation wheelchair comprises an electric wheelchair body, wherein wheelchair guardrails (107) are arranged on two sides of the electric wheelchair body, and the wheelchair is characterized in that a mechanical arm structure for grabbing an object is arranged on the side surface of one wheelchair guardrail (107), an eye movement control structure for controlling the mechanical arm structure to move is fixed above the other wheelchair guardrail (107), the mechanical arm structure is arranged on the side surface of the wheelchair guardrail (107) in a sliding mode through a linear guide rail slider structure, and the electric wheelchair body, the mechanical arm structure and the linear guide rail slider structure are all connected to the eye movement control structure;

the eye movement control structure comprises a tablet computer support which is arranged on a wheelchair guardrail (107) and used for placing a tablet computer (403), an eye movement instrument is embedded in the tablet computer (403), and the tablet computer (403) is connected with the mechanical arm structure and the linear guide rail sliding block structure;

the tablet computer support comprises an L-shaped pipe (401), a tablet computer placing table (402) and an L-shaped pipe clamp (406), the L-shaped pipe clamp (406) is fixed on a wheelchair guardrail (107), one end of the L-shaped pipe (401) is fixed in the L-shaped pipe clamp (406), the other end of the L-shaped pipe clamp is rotatably connected with the tablet computer placing table (402), the tablet computer placing table (402) is horizontally arranged and supported through a triangular fixing plate (405), and the tablet computer (403) is supported and arranged on the tablet computer placing table (402) through a supporting frame (404).

2. The intelligent rehabilitation wheelchair with the eye movement type according to claim 1, characterized in that the mechanical arm structure comprises a chassis (201), a mechanical arm body and a clamp (204), the chassis (201) is arranged on a linear guide rail sliding block structure in a sliding mode, the tail of the mechanical arm body is fixed to the chassis (201), the clamp (204) is fixed to the head of the mechanical arm body, the clamp (204) is connected with a steering engine (202), and the mechanical arm body and the steering engine (202) are both connected to an eye movement control structure.

3. The intelligent rehabilitation wheelchair as claimed in claim 2, wherein said robot arm body is a six-degree-of-freedom robot arm.

4. The intelligent rehabilitation wheelchair of claim 1, wherein the linear guide rail slider structure comprises a hinge connection plate (301), a guide rail slider table (303) and a sliding assembly, the hinge connection plate (301) is fixed on the side surface of the wheelchair guardrail (107), the guide rail slider table (303) is fixed above the hinge connection plate (301), the sliding assembly is arranged on the guide rail slider table (303), the mechanical arm structure is connected with the sliding assembly, and the sliding assembly is connected with the eye movement control structure.

5. The intelligent rehabilitation wheelchair of claim 4, wherein the hinge plate (301) comprises a first connecting plate and a second connecting plate hinged by a hinge of 0-90 degrees, the first connecting plate is arranged at the side close to the wheelchair guardrail (107) and fixedly connected with the wheelchair guardrail (107), the second connecting plate is arranged at the side far from the wheelchair guardrail (107), and the rail slider table (303) is fixed on the second connecting plate.

6. The intelligent rehabilitation wheelchair as claimed in claim 4, wherein the sliding assembly comprises a stepping motor (302), a ball screw (304) and a slider (305), the ball screw (304) is horizontally fixed on the guide rail slider table (303), the stepping motor (302) is connected with a screw of the ball screw (304), the slider (305) is fixed on a nut of the ball screw (304), the mechanical arm structure is fixed on the slider (305), and the stepping motor (302) is connected with the eye movement control structure.

7. The intelligent rehabilitation wheelchair with the eyesight-moving type according to claim 1, wherein the electric wheelchair body comprises a wheelchair support (104), a driving wheel (101) and a steering wheel (102) for walking are arranged below the wheelchair support (104), wheelchair guardrails (107) are arranged on two sides above the wheelchair support (104), a wheelchair backrest (108) and a wheelchair handle (105) are arranged behind the wheelchair support (104), the driving wheel (101) is connected with a driving motor (103), and the driving motor (103) is connected to an eyesight-moving control structure.