CN212631187U

CN212631187U - Multifunctional disabled person power-assisted walking aid rehabilitation device

Info

Publication number: CN212631187U
Application number: CN201721290060.7U
Authority: CN
Inventors: 张忠伟
Original assignee: Hangzhou Polytechnic
Current assignee: Hangzhou Polytechnic
Priority date: 2017-10-09
Filing date: 2017-10-09
Publication date: 2021-03-02
Anticipated expiration: 2027-10-09

Abstract

The utility model relates to a disabled person auxiliary device field especially relates to a multi-functional disabled person helps capable rehabilitation device. A multifunctional disabled person power-assisted walking-aid rehabilitation device comprises a chassis, a main rod supporting mechanism fixed on the chassis, a handrail mechanism connected with the main rod supporting mechanism, and an electric wheel device connected with the chassis, wherein the electric wheel device is used for moving under the control of an operating rod and a single chip microcomputer, and further comprises a rotary supporting device rotationally connected with the main rod supporting mechanism; one end of the rotary supporting device is fixedly connected with a hip fixing device for fixing the hip of a user; and an air spring system device is connected between the rotary supporting device and the main rod supporting mechanism, and the rotary supporting device is used for supporting a user to realize the conversion of any posture of the user between a sitting posture and a standing posture under the action of the air spring system device. The utility model discloses the structure is exquisite compact, and the simple operation is applicable to disabled person's daily life very much.

Description

Multifunctional disabled person power-assisted walking aid rehabilitation device

Technical Field

The utility model relates to a disabled person auxiliary device field especially relates to a multi-functional disabled person helps capable rehabilitation device.

Background

For the disabled or the people with lower mobility disabilities, the wheelchair is often used to improve the mobility, although it is feasible, with the improvement of the life quality of people, the disabled also starts not to be satisfied with the wheelchair with unchanged dust on the market, and more hopefully can move upright like the normal people, a transportation tool with more humanization, more convenient use and more excellent performance is needed, and the disabled needs to maintain the activity of muscles through rehabilitation, if the traditional rehabilitation device on the market is used, other people are needed to assist training, and some disabled people are unwilling to do rehabilitation training because of the trouble of the disabled people, and the traditional wheelchair has several disadvantages:

(1) because the conventional wheelchair is sitting, the sight line is changed from head-up to head-up, which is greatly different from that of the ordinary people and generates great self-contrast

A inferior feeling;

(2) the rehabilitation training is not carried out when the traditional wheelchair is used for a long time, so that the leg muscle atrophy is caused, and the possibility of rehabilitation is completely lost;

(3) traditional wheelchairs are very dangerous if an individual moves his or her body to the wheelchair on their own, absent assistance from others;

(4) disabled persons may require assistance from others while sitting also depriving the disabled person of some convenience.

Therefore, a competition team designs a multifunctional standing assisting and rehabilitation function device aiming at the disabled or the people with lower body mobility disabilities from the practical life, and the disabled or the people with lower body mobility disabilities can independently perform rehabilitation training, stand assisting and vertical movement in daily life. The disabled can complete various daily matters by himself without help of others, and the movement of the structure is controlled by the handle, so that the multifunctional chair is very convenient; the standing walking makes the disabled feel self and no longer feels self due to the inconvenience of the lower body.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a multi-functional disabled person's helping hand helps capable rehabilitation device that can assist the disabled person to stand by oneself, walk and remove.

A multifunctional disabled person power-assisted walking-aid rehabilitation device comprises a chassis, a main rod supporting mechanism fixed on the chassis, a handrail mechanism connected with the main rod supporting mechanism, and an electric wheel device connected with the chassis, wherein the electric wheel device is used for moving under the control of an operating rod and a single chip microcomputer, and further comprises a rotary supporting device rotationally connected with the main rod supporting mechanism;

one end of the rotary supporting device is fixedly connected with a hip fixing device for fixing the hip of a user; and an air spring system device is connected between the rotary supporting device and the main rod supporting mechanism, and the rotary supporting device is used for supporting a user to realize the conversion of any posture of the user between a sitting posture and a standing posture under the action of the air spring system device.

Preferably, the rotary supporting device comprises a pair of connecting bases, one of the connecting bases is fixedly installed on the main rod supporting mechanism, a supporting rod assembly is rotatably installed between the pair of connecting bases, and the other connecting base is fixedly connected with the hip fixing device.

Preferably, the support rod assembly comprises a rotating rod and parallel rods distributed on both sides of the rotating rod.

Preferably, another connecting base far away from the main rod supporting mechanism is fixedly connected with a waist protecting device matched with the waist of the human body, and the waist protecting device is connected with the hip fixing device.

Preferably, the device also comprises a display screen connected with the singlechip.

Preferably, the electric wheel device further comprises a Bluetooth module connected with the single chip microcomputer, and the Bluetooth module is used for remotely controlling the electric wheel device under the control of mobile phone Bluetooth.

Preferably, the tracking control module is connected with the single chip microcomputer and used for enabling the electric wheel device to automatically find the designated charging position to charge under the remote control of the mobile phone and the action of the magnetic navigation line.

Preferably, still include the electric quantity collection module of being connected with the singlechip, it is used for when gathering the battery of motor and being in low battery, through the automatic appointed position of charging that seeks under the effect of magnetic navigation line of electronic round of singlechip control.

Preferably, the mobile terminal further comprises a box body device, and the box body device is fixedly connected with the chassis and the main rod supporting mechanism.

Preferably, the box body device is also provided with a pair of leg protection structure devices for protecting the legs of the user, and the shape of the leg protection structure devices is matched with the shape of the legs of the user in contact with the leg protection structure devices.

The main rod supporting mechanism is of a cuboid structure.

Preferably, the armrest mechanism comprises a T-shaped armrest rod, the vertical part of the armrest rod is mounted on the main rod supporting mechanism, and two ends of the horizontal part of the armrest rod are respectively rotatably mounted with a handle.

Preferably, the single chip microcomputer is an STM32F103ZET6 controller.

The design is mainly suitable for the disabled or the crowd with inconvenient lower body movement, and mainly embodies the following functions:

(1) the rehabilitation function is as follows: the utility model discloses help disabled person carries out the rehabilitation training, makes its muscle obtain taking exercise, is difficult to lead to diseases such as muscle atrophy, and the user can use waist fixing device and buttock fixing device after fixing the health, through the effective amazing shank of repeated action of standing, waist, arm and foot muscle and resume its function.

(2) The standing-assisting function: the product can stop the arbitrary posture of position of sitting to the appearance of standing through installing chest protector and buttock fixing device additional at the people, and air cushion spring system helping hand is adjustable, and applicable in different demand crowds can help the user easily upright, and the user's both hands are completely free this moment, can use them to do anything that wants to do.

(3) The walking aid function: firstly, the product is provided with electric wheels and is matched with single chip microcomputer control, so that a user can easily operate an operating rod, and the user can freely move forwards, backwards and turn while standing; secondly, the daily matters can be easily finished only by the self-power, and the constraint that the traditional wheelchair cannot be upright is eliminated.

(4) Remote control function: the user can remotely control the product to carry out various operations through the remote controller.

(5) Automatic tracking charging: the product can automatically find the designated charging position on the magnetic navigation line for charging after low power or remote control.

The product can assist the paralyzed lower body or the people with lower body mobility disability to walk upright; the rehabilitation function is realized by repeating the standing action; the special air rod balance system, the chest protector and the hip fixing device of the product can enable a person to randomly stay in any posture from a sitting posture to a standing posture; the product can walk front, back, left and right through the operating rod or the wireless remote controller, so that people with lower body paralysis or lower body movement inconvenience live the same carefree life as normal people. And the product is provided with an automatic tracking charging system. When the electric quantity is too low, the charging socket is automatically searched for charging. The utility model discloses the structure is exquisite compact, and the simple operation is applicable to disabled person's daily life very much.

Drawings

Fig. 1 is a perspective view of the structure of the embodiment of the present invention 1.

Fig. 2 is a perspective view of the structure of the embodiment of the present invention 2.

Fig. 3 is a right side view of fig. 1.

Fig. 4 is a front view of fig. 1.

Fig. 5 is a top view of fig. 1.

Fig. 6 is a left side view of fig. 1.

Fig. 7 is a schematic structural diagram of an armrest mechanism according to an embodiment of the present invention (a is a perspective view, b is a left side view, c is a front view, and d is a top view).

Fig. 8 is a schematic view of the armrest mechanism of fig. 7, disengaged from the boom support mechanism.

Fig. 9 is a schematic structural diagram of a rotation support device according to an embodiment of the present invention (e is a perspective view, f is a front view of e, g is a left view of e, h is a bottom view of e, and i is a top view of e).

Fig. 10 is a schematic structural diagram of the control system of the present invention.

Fig. 11 is a battery performance diagram according to example 1 of the present invention.

Figure 12 is a schematic view of the center of gravity of a human sitting posture.

Fig. 13 is a diagram of the present invention.

Fig. 14 is a diagram showing the movement of the center of gravity of the human body and the design according to the present invention.

Fig. 15 is a schematic diagram of the power collection module of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

a multifunctional disabled person power-assisted walking aid rehabilitation device comprises a box body device 1, wherein the box body device 1 is similar to a cuboid structure, the box body device 1 is directly welded on one end of a chassis 2, a pair of openings are formed in the chassis 2 in the box body device 1, an electric wheel device 21 is installed on each opening, a front plate of the box body device 1 consists of a box body upper baffle 11, a box body door plate (not shown in the figure) and a box body lower baffle 12, the box body upper baffle 11 and the box body lower baffle 12 are welded between left and right side plates 13 of a box body, and the box body door plate is installed on a left side plate or a right side plate 13 of the box body as an opening and closing door of the box body device 1 by any known technology; the rear plate of the box body device 1 comprises a pair of box body rear sealing plates 14, and a main rod supporting mechanism 3 fixedly connected to the chassis 2 is fixed between the box body rear sealing plates 14; fixing strips 131 for fixing the circuit board are welded on the inner sides of the left and right side plates 13 of the box body respectively, and wheel covers 211 are arranged on the two electric wheel devices 21 on the chassis 2 respectively. As shown in fig. 1, the front panel of the case assembly 1 may preferably be a unitary structure and mounted on the case left or right side panel 13 as a door of the case assembly in a known manner.

As shown in fig. 4, the main rod supporting mechanism 3 includes a main rod 31 welded between a pair of case rear closing plates 14 and on the chassis 2, the main rod 31 is fixedly connected with a handrail rotation supporting device for supporting the handrail mechanism to rotate, and the handrail rotation supporting device includes a pair of rotation supporting plates 311 fixedly installed on the upper surface of the main rod 31 and a rotation supporting plate closing plate 312 between the rotation supporting plates 311. A small hole and a slot are correspondingly formed on the pair of rotating support plates 311 respectively, and the slot is positioned in front of the small hole; the rotary supporting plate closing plate 312 is arranged close to the side of the upper baffle plate 11 of the box body. As shown in fig. 1, a battery box 32 is installed on one side of the main rod 31 in the box device, and a lower plate 33 is installed on the other side of the main rod 31 opposite to the battery box; a plurality of round holes are respectively formed in the front side surface and the rear side surface of the battery box 32, and the round holes are used for facilitating wiring; the other side of the main rod above the lower plate 33 is also provided with a rotary supporting device 4, and the lower plate 33 is provided with a plurality of positioning holes for adjusting the installation position of the air spring 5.

As shown in fig. 9, the rotation supporting means 4 includes a pair of connection bases 41, a rotation lever 42 and parallel levers 43 respectively provided at both sides of the rotation lever; one of the connection bases 41 is fixedly installed on the main rod 31 of the main rod supporting mechanism, and a pair of small rotating brackets 411 and a rotating block 412 located between the small rotating brackets 411 are correspondingly installed on each connection base 41; the rotating block 412 is rotatably connected with a pair of small rotating brackets 411 through a rotating shaft; two ends of the rotating rod 42 are respectively welded on the rotating blocks 412; the two ends of the pair of parallel rods 43 are respectively rotatably connected with a small rotating bracket support 431 welded on the connecting base 41.

A waist support device 44 is fixed on the other connecting base 41 far away from the main rod supporting mechanism, the waist support device can be a waist support plate, the shape of the waist support plate is matched with the shape of the waist of a human body and is vertical to the chassis, the waist support plate 44 comprises a flat plate 441 fixedly arranged on the connecting base and side plates 442 at two sides of the flat plate, and the side plates and the flat plate form a certain angle; preferably, the waist support plate is formed in a circular arc shape in cross section, and both side plates 442 are connected to the flat plate 441 in a circular arc shape.

The waist support 44 is connected to a hip fixing device (not shown) including an automatic tightening belt mechanism respectively installed on both side plates 442 of the waist support 44, and a seat cushion connected to the automatic tightening belt mechanism. And a display screen support 413 is fixedly arranged on the connecting base connected with the waist support plate and is used for supporting a display screen. The automatic tightening belt mechanism and the seat cushion of the hip fixing device can be directly installed through the existing purchase. As shown in fig. 4, a

small bracket

331 and 421 is respectively installed on the lower plate 33 of the main rod supporting mechanism and the rotating rod 42 of the rotating supporting device at the opposite position, a gas spring system device is installed between the

small brackets

331 and 421, the telescopic end of a gas spring in the gas spring system device is rotatably connected with the small bracket 421 on the rotating rod 42, and the bottom end of the gas spring is fixed on the small bracket 331 of the lower plate 33; the gas spring system device is provided with a gas spring control switch for controlling the expansion and contraction of the gas spring.

As shown in fig. 7, the rotating support plate 311 of the armrest rotating support device of the main lever support mechanism 3 is provided with an armrest mechanism 6, which specifically includes a T-shaped armrest lever and handles 65 rotatably connected to the armrest lever and respectively disposed at two ends of a horizontal portion of the armrest lever. The vertical part of the grab bar comprises an outer sleeve 61, an inner sleeve 62 and an inserting plate 63; two opposite side surfaces of the outer sleeve 61 are correspondingly provided with a strip-shaped hole 611 along the length direction, the upper part and the lower part of the two opposite side surfaces of the inner sleeve 62 and the outer sleeve 61 are respectively provided with a round hole 622, a part of the inner sleeve 62 is inserted into the outer sleeve 61, and the outer sleeve 61 is connected with the inner sleeve 62 through a bolt or a shaft, so that the outer sleeve 61 can slide up and down (namely the range of the strip-shaped hole 611) relative to the inner sleeve 62 within a certain range.

An inserting plate 63 is fixed on the outer sleeve 61, the inserting plate 63 on the outer sleeve is inserted into the inserting grooves on the pair of rotating supporting plates 311, and a round hole 622 below the inner sleeve 62 is rotatably connected with the small hole on the rotating supporting plate 311 through a shaft. The two ends of the horizontal tube 64 of the horizontal part of the grab bar are respectively fixed with a rotary lug 641, and each rotary lug 641 is rotatably connected with the handle 65. When the handrail mechanism is not used, the inserting plate 63 on the outer sleeve is separated from the inserting groove on the rotating support plate 311 by pulling the outer sleeve 61 upwards, and then the handrail rod is rotated to a proper position.

As shown in fig. 2, a pair of leg protection structure devices 7 are further mounted on the box body rear closing plate 14 of the box body device 1, the leg protection structure devices 7 are distributed on both sides of the lower plate 33 of the main rod supporting mechanism, the leg protection structure devices 7 comprise leg protection columns 71 fixedly connected with the box body rear closing plate 14, and leg protection plates 72 fixedly connected with the leg protection columns 71, and the cross sections of the leg protection plates are circular arc structures or ladder-like structures. The surface of the leg protection column 71 contacting with the rear box closing plate 14 is provided with a plurality of fixing holes for adjusting the position of the leg protection structure device 7 according to the human body. The other end of the chassis 2 is also fixedly provided with a heel positioning device 8 for fixing the heel of a user.

The control system consists of a controller, a motor controller, a power supply module, a display module, a signal acquisition direction module, a remote control module, a tracking control module and an electric quantity signal acquisition module, and the connection relation is shown in figure 10. The walking process is that a potentiometer is driven by a joystick (the joystick is connected with the potentiometer, just like a remote controller of a remote control automobile, the potentiometer is arranged below a handle, the specific model is that a 2-dimensional joystick potentiometer JH-D202X-R2/R4 two-dimensional sealing pan-tilt controller is special for movie photography (Taobao website: https:// item. taobao. com/item. htmspm ═ a230r.1.14.27.5qovJ ═ 35506029925& ns:1 & abbucket:. 5# detail), the potentiometer sends a signal to the controller, and the controller receives the corresponding signal to control the motor controller to control the motor to move, thereby completing the front, back, left and right turn.

The automatic charging is realized by connecting the magnetic strip to the trolley and controlling the position of the trolley charger through the tracking control module.

The utility model provides an electronic round of device's control part is the singlechip of being connected with machine controller, the utility model discloses an electronic round of device's power source is 24V's battery device.

The control system of the utility model comprises a single chip microcomputer which is an STM32F103ZET6 single chip microcomputer; the single-chip is electrically connected to the motor controller of the electric wheel unit and to the sensor of the operating lever, which may be mounted in a position suitable for user operation, for example, on the cross tube 64 of the armrest mechanism. The user makes the sensor of action bars send a signal to the singlechip through operating the action bars, and this singlechip control machine controller and then make the motor move to realize the movements such as the gos forward, retreat, turn of electronic round device.

As shown in fig. 10, the single chip is further connected to a remote controller control module (i.e., a bluetooth module), a tracking control module, a liquid crystal display screen and an electric quantity acquisition module. The electric quantity acquisition module is used for acquiring the electric quantity of the storage battery, and the Bluetooth module is used for remotely controlling the motion of the electric wheel through mobile phone Bluetooth; the tracking control module is used for enabling the electric wheel device to move along a magnetic guidance route paved on the ground.

The electric wheel device enables the electric wheel device to automatically find a designated charging position for charging through the magnetic navigation line when the electric wheel device is in a low electric quantity through the acquisition module. This device adopts the battery power through the electric quantity collection module, and when the battery power was low, pressed the tracking icon that charges on the cell-phone behind on the tracking line through cell-phone remote control the device, the dolly just can move the position of charging along magnetic navigation line and charge. The utility model discloses an automatic charging device with end switch-on charges can set to two contact pieces of being connected with the battery. The motor controller is an AQMD6020BLS direct current inductive brushless motor control module driver.

The utility model provides a singlechip, electric wheel device's machine controller, sensor, remote controller control module (bluetooth module)

The tracking control module, the liquid crystal display screen and the electric quantity acquisition module are obtained by purchasing, and the connection principle and the working principle of the tracking control module, the liquid crystal display screen and the electric quantity acquisition module are known technical means in the prior art and are not repeated herein.

The utility model discloses a working process does: when a user fixes the body by the hip fixing device, a gas spring control switch of the gas spring system is controlled, and the gas spring pushes the rotary supporting device, so that the user slowly changes from a sitting posture to a standing posture; operating lever, sensor signals in the operating lever give the singlechip, and single chip microcomputer control machine controller and then make the motion of electronic round of device, realize the utility model discloses the removal of device moves back, motions such as turn. When the storage battery of motor is in low-power, because of the electric quantity of battery is gathered in real time to the electric quantity collection module, consequently when gathering the storage battery and be in low-power, give the singlechip with transmission signal, singlechip control motor presses the tracking icon that charges on the cell-phone after on tracking line through cell-phone remote control the device, and the dolly just can move the position of charging along the magnetic navigation line and charge. Under the synergistic action of the tracking control module, the electric wheel device runs to a designated charging end along a magnetic navigation line (namely a magnetic strip laid on the ground) to be charged. In addition, when having used up the utility model discloses behind the dolly, can also make the dolly move appointed section of charging along magnetic navigation line and charge through remote control.

The utility model discloses remote controller control module: bluetooth module DIY A09 HC-05 master-slave integrated Bluetooth module

Taobao website: https:// item, taobao.com/item, htmspm ═ a230r.1.14.16.24eh0 d3e6e7sJuW & id ═ 39311847057& ns ═ 1& abbucket [ # 5#

A tracking control module: AGV dolly magnetic navigation sensor 8-bit industrial catering robot aluminum alloy shell D-MNSV 3-X8 bipolar

Taobao website: https:// item.taobao.com/item.htmid ═ 541144582627& ns ═ 1& abbucket ═ 20# detail

The utility model discloses electric quantity collection module is as shown in figure 15

The utility model discloses a relevant theoretical design calculates:

1. human body sitting posture gravity center analysis

The gravity center of the human body in the sitting posture is calculated from the gravity center of the human body in the sitting posture as shown in fig. 12, and the algebraic sum of all parts of the object relative to a certain axis moment is known to be equal to the moment of the total weight of the object relative to the axis through data checking. "i.e. moment arm. Since the human body is a non-homogeneous object, each link of the divided human body is considered to be homogeneous.

Therefore, the calculation of the center of gravity of the human body can also use the theorem of Valrinon, namely:

p (human body total gravity X) ═ Σ P (links i) X (links i) (1)

P (human body total gravity Y) ═ Σ P (each link i) Y (each link i) (2)

(1) Establishing a rectangular coordinate system

The center of gravity of the human body must be determined by two quantities (x, y) to be calculated.

(2) Determining link location

Marking the positions of human body links according to the positions of the joints.

Secondly, connecting the joint marking points into a human body stick-shaped graph.

(3) Determining the position of the centroid of each link

Firstly, measuring the length of each link by using a measuring tool.

Secondly, marking the centroid position of each link according to the percentage from the centroid of the link to the near-side segment.

And determining the (x, y) of the mass center of each link.

(4) Final calculation

In step (3), links (x, y) have been obtained. Therefore, the moments of all the links relative to the X axis and the Y axis are obtained, namely:

pxi G links Xxi (3)

Pyi G links X Yi (4)

For the sake of calculation, the total weight of the human body is considered to be 1. Thus, the obtained quality of each link of the human body is a relative quantity.

Then the moment of the total center of gravity of the human body relative to the X axis and the Y axis can be obtained, namely;

p (human body total gravity X) ═ Σ P (links i) X (links i) (5)

P (human body total gravity Y) ═ Σ P (links i) Y (links i) (6)

(5) Marking the weight center of gravity of a person

From the previous measurements and calculations, Σ PX, Σ PY are obtained. I.e. the moment of the total center of gravity of the body to be obtained in the X-axis and the Y-axis. Since the human body mass is reduced to 1, the summed Σ PX, Σ PY is (X, Y) of the barycenter of the human body to be found in the coordinate system.

Then according to the obtained value, marking the image as the total gravity center of the human body.

Therefore, the green points in the figure are the gravity centers (0.54, 4.56), so the gravity centers (0.54, 4.56) of the human bodies are seated.

In the case where the mass of the human body at this time is 1, then assuming that the height of the human body is 1.75m and the body weight is 65kg, his center of gravity is (0.54, 55.43).

2. Gravity center of vehicle

The gravity center of the vehicle is generated by mass points in Solidworks, and the coordinates of the gravity center of the vehicle are obtained as follows:

X＝251.25mm

Y＝250.00mm

Z＝341.56mm

principal axis of inertia and principal moment of inertia (kg x mm2)

Determined by the center of gravity.

Ix＝(1.000,0.000,0.005) Px＝41741.665

Iy＝(0.000,1.000,0.000) Py＝83806.063

Iz＝(‐0.005,0.000,1.000) Pz＝124373.183

Inertia tensor (kg mm2)

Determined by the center of gravity and aligned with the output coordinate system.

Lxx＝41743.940 Lxy＝0.000 Lxz＝433.572

Lyx＝0.000 Lyy＝83806.063 Lyz＝0.000

Lzx＝433.572 Lzy＝0.000 Lzz＝124370.908

Inertia tensor (kg mm2)

Is determined from the output coordinate system.

Ixx＝135091.120 Ixy＝144104.664 Ixz＝33491.998

Iyx＝144104.664Iyy＝322642.011 Iyz＝20343.742

Izx＝33491.998 Izy＝20343.742 Izz＝447220.097

3. Figure of change of overall center of gravity when a person moves

The figure of the shift of the center of gravity of the human body and the design is shown in fig. 14.

In the figure, the line i indicates that the change of the center of gravity of the human body is from a sitting posture to a standing posture when the human body moves, the center of gravity of the human body slowly moves towards the positive direction of y at the moment, and the value of the center of gravity gradually decreases towards the value of x as the stressed object is concentrated on the foot. The line ii in the figure indicates the center of gravity of the vehicle, which moves slowly upward when a person gets on the vehicle and moves straight in the positive direction x. Because the gravity center of the vehicle is always lower than that of the person, but the value of the vehicle x is always larger than that of the person x, the gravity center of the vehicle is more stable than that of the person when the person moves, so that the vehicle cannot be overturned, and potential safety hazards cannot be generated.

The weight of the waist support structure is determined. As is known from the formula of ρ ═ M/V, the mass of M ═ ρ V (7) the density ρ of a cold-rolled steel sheet is 7.85g/cm3, and since the density unit is gram per centimeter, the volume is calculated as the inside. Obtaining the volume V of 1273.583cm3 from the combination of all parts of the waist support structure;

M＝ρV＝7.85x1273.583＝9997.626g＝9.997kg (8)

the weight of the obtained waist support structure is 9.997kg

Because resistance arm X resistance is power arm X power:

F1xL1＝F2xL2 (9)

from the measurements, resistance arm L1-350 mm and power arm L2-57.3 mm were obtained.

The resistance force on the resistance arms is known as the weight force on the waist support structure. And taking g as 9.8N/m.

Gravity G:

G＝Mg＝9.997×9.8＝97.97N (10)

push rod thrust F2:

F2＝F1xLI/L2＝97.97×350/57.3＝598.4N (11)

the thrust of the gas spring is therefore chosen to be greater than 598.4N and 600N.

Calculation of motor wheels

The volume of each part is calculated from the length, width and height of each part of the trolley, and the weight M of the machine is deduced by using the formula of rho M/V. (12)

It is known that the density of a cold rolled steel sheet is 7.85g/cm3 since the unit of density is g/cm 3.

From the volume of the entire vehicle:

v＝8917.197cm3。

m1＝pv＝7.85x8917.197＝69999.9964g＝70kg (13)

this gives a total weight of 70kg for the trolley.

At this time, the weight m2 of the person standing is 60 kg.

The wheels are weighted together

m＝m1+m2＝70+60＝130kg。 (14)

The friction coefficient u is 0.3 because of the friction between the wheel and the ground. And taking g as 9.8N/m.

All gravity on the car:

G＝mg＝130x9.8＝1274N (15)

friction force:

F＝uG＝0.3x1274＝382.2N (16)

since the wheel radius is 4 inches, and 1in 2.54cm, R4 x2.54 cm 10.16cm 0.1016 m.

Torque T1:

T1＝FR＝0.1016x382.2＝38.83N·M (17)

the torque T1 was 38.83N · M.

To verify that the statement is correct, a back calculation is performed.

The power of the wheels is known to be 0.25kw and the speed v 1.8km/h 0.5 m/s.

Obtaining the rotation speed n-v/2 pi R from the formula v-2 pi Rn

n＝0.5/2×3.14x0.1016＝0.66rad/s＝39.6rad/min(18)

Torque T2:

T2＝9550×p/n＝9550x0.25/39.6＝60.28N·M (19)

t2 was obtained as 60.28N · M.

Thus, T1 is less than T2. However, the movement of the motor wheel is realized, so that the motor wheel with the power of 250w and the rotating speed of 0.66rad/s is selected.

Battery selection

1. Full speed motion time calculation

The 250w motor wheel is selected from the calculation of the motor wheels, but the 250w is rated power and is not accurate power in working, so that the power in working needs to be calculated, the time for which the work runs can be provided by calculating the charge quantity of a battery, and the known motor wheels have two motors and two storage batteries with the same specification.

The current I is measured at full speed movement of the motor wheel.

The measured current I ═ 8A. It is known to provide the motor wheel with a voltage U of 24V.

W＝UI＝24×8×2＝384w (20)

P＝QU/t。 (21)

And 24v of 20 A.H storage batteries are selected, and the power W of the storage batteries is equal to UI.

W＝UI＝24×20×2＝960w/h (22)

The power consumed by the design in operation is 192W, while the storage battery can provide 960W. The battery can spend time h:

h-W/W-960/384-2.5 h (23)

The electric quantity of the storage battery selected by the design can supply power for the motor running at full speed for 2.5 hours without interruption.

2. And calculating the continuous movement time.

The wheel and the ground generate dynamic friction during movement, and the dynamic friction factor is found to be 0.018. From the previous calculation, the gravity when the person is on the car:

G＝1274N (24)

from this, the kinetic friction force is known:

F＝uG＝0.018x1274＝22.93N (25)

radius of the wheel:

R＝0.1016m (26)

then the torque:

T＝FR＝22.93x0.1016＝2.3N.M (27)

since T9549 xp/n, p is Tn/9549, n is 39.6rad/min

P＝Tn/9549＝2.3x39.6/9549＝0.01kw＝10w (28)

Power p 10w

P＝QU/t (29)

24v of 20AH, the power W of the battery is UI.

W＝UI＝24*20＝480w/h (30)

The power p consumed by the design in operation is 10W, and the storage battery can provide W480W. Time t available for the battery:

t＝W/p＝480/10＝48h (31)

the electric quantity of the storage battery selected by the design can be used for 48 hours of low-speed operation and 2.5 hours of full-speed operation of the motor.

Sheet metal bending coefficient

The waist support structure and the leg support structure of the device both relate to the bending coefficient of a metal plate.

Bending equation:

v＝π×[(180‐b)/180]×[r+(s/2)×k]‐2×(r+s) (32)

the material thickness s of the known waist support structure is 0.4, the bending radius r is 4.5, the angle b is 60 °, the factor k is 0.5, v:

v＝π×[(180‐60)/180]×[4.5+(0.4/2)×0.5]‐2×(0.4+0.5)＝0.186 (33)

the bending modulus of the waist support structure is 0.186.

Since the parameters of the waist support structure are the same as those of the leg support structure, the bending coefficient of the leg support structure is 0.186.

Debugging process

In order to examine the feasibility of design, it is right the utility model discloses debug, mainly from helping of work stand, help aspects such as line and debug. Right the utility model discloses a help and stood and carried out the debugging, the utility model discloses realize helping the target of standing after the debugging, let the people become the appearance of standing from the position of sitting.

The utility model discloses utilized the control of singlechip, realized helping the line function after the debugging is accomplished.

Reference to the literature

Guo ren Sheng, mechanical design basis, Beijing, Qinghua university Press, 2006.

Zhao Jia Gui, electronic Circuit design, Beijing, Chinese metrology Press, 2005.

Red, a project course of analog electronic technology, Qingdao, China oceanic university Press, 2011.

Baiyan, Zheng Shang Bao, design of mechanical mechanism of correction part of X/O type lower limb rehabilitation instrument, Hill Longjiang science and technology information 2016(8): 46-46.

Zhang Hongwei, balance car design based on STM32, technological innovation and application 2016(2): 78-79.

Zhang Yong Jun, discussion of bending coefficient in sheet metal processing, supervision of railway technology, 2000(7): 35-37.

Claims

1. The utility model provides a multi-functional disabled person's helping hand helps capable rehabilitation device which characterized in that: the electric wheel device is used for moving under the control of an operating rod and a single chip microcomputer, wherein the single chip microcomputer is electrically connected with a motor controller of the electric wheel device, the single chip microcomputer is also electrically connected with a sensor of the operating rod, the sensor of the operating rod sends a signal to the single chip microcomputer by operating the operating rod, and the single chip microcomputer controls the motor controller to further move a motor, so that the forward, backward and turning movement of the electric wheel device is realized; the rotating support device is rotatably connected with the main rod support mechanism;

2. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 1, wherein: the rotary supporting device comprises a pair of connecting bases, wherein one connecting base is fixedly arranged on the main rod supporting mechanism, a supporting rod assembly is rotatably arranged between the pair of connecting bases, and the other connecting base is fixedly connected with the hip fixing device.

3. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 2, wherein: the supporting rod assembly comprises a rotating rod and parallel rods distributed on two sides of the rotating rod.

4. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 2, wherein: the other connecting base far away from the main rod supporting mechanism is fixedly connected with a waist protecting device matched with the waist of a human body, and the waist protecting device is connected with the hip fixing device.

5. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 1, wherein: and the display screen is connected with the singlechip.

6. The multifunctional disabled person assisted walking rehabilitation device as claimed in any one of claims 1-5, wherein: the Bluetooth module is used for remotely controlling the electric wheel device under the control of mobile phone Bluetooth.

7. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 6, wherein: the tracking control module is connected with the single chip microcomputer and used for enabling the electric wheel device to automatically find a designated charging position to charge under the remote control of the mobile phone and under the action of the magnetic navigation line.

8. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 7, wherein: the electric power charging device is characterized by further comprising an electric quantity acquisition module connected with the single chip microcomputer, and the electric quantity acquisition module is used for controlling the electric wheels to automatically find the designated charging position to charge under the action of the magnetic navigation line through the single chip microcomputer when the storage battery for acquiring the electric motor is in low electric quantity.

9. The multifunctional disabled person assisted walking rehabilitation device as claimed in any one of claims 1-5, wherein: the box body device is fixedly connected with the chassis and the main rod supporting mechanism.

10. The multifunctional disabled person assisted walking rehabilitation device as claimed in claim 9, wherein: the box body device is also provided with a pair of leg protection structure devices for protecting the legs of a user, and the shape of each leg protection structure device is matched with the shape of the leg of the user in contact with the leg protection structure device.