CN106924933A - A kind of intelligent walking rehabilitation nursing device - Google Patents
A kind of intelligent walking rehabilitation nursing device Download PDFInfo
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- CN106924933A CN106924933A CN201710292712.9A CN201710292712A CN106924933A CN 106924933 A CN106924933 A CN 106924933A CN 201710292712 A CN201710292712 A CN 201710292712A CN 106924933 A CN106924933 A CN 106924933A
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- rotating disk
- hinged seat
- control module
- nursing device
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/803—Motion sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
- A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of intelligent walking rehabilitation nursing device, belong to rehabilitation nursing technical field, including rotating disk, the rotating disk top sets Walking mechanism, the rotating disk bottom sets steering mechanism, the rotating disk top and the setting control module by the Walking mechanism, also include being worn on the MEMS sensor module with patient, the MEMS sensor module includes MEMS gyroscope, MEMS accelerometer and wireless signal transmitter, and the wireless signal transmitter is connected with the control module electric signal.The present invention can not only provide the simulation rehabilitation training environment of level land, ascents and descents for patient, and can realize changing the direct of travel of walking convalescence device according to the touch turn of patient, so as to eliminate uninteresting, the unhappy mood that patient is produced due to the limited view system when walking rehabilitation training is carried out, it is beneficial to the rehabilitation of patient.
Description
Technical field
The present invention relates to rehabilitation nursing technical field, more particularly, to a kind of intelligent walking rehabilitation nursing device.
Background technology
With developing rapidly for China's economy, the requirement that Medical treatment system makes moderate progress with people to health also increases,
People more pay close attention to the development of medical science of recovery therapy, and the rehabilitation medical training equipment that can be played a greater role in the Rehabilitation stage enjoys pass
Note, this also provides superior condition for the research and development of rehabilitation medical training equipment, but in the research and development species of China Rehabilitation equipment
Far can not meet with type and be currently needed for.
Walking is the basic capacity of people, but usually because of some diseases have impact on walking, thus walking rehabilitation training is past
Toward being also most basic or first demand of the patient in rehabilitation.Walking rehabilitation training equipment be during Rehabilitation,
Auxiliary completes Walking, to accelerate leg locomotor activity, or the device for recovering physiological function.With rehabilitation equipment concern
Improve, the product technology of rehabilitation equipment of walking also improves therewith, is also made moderate progress in terms of the treatment of patient, therefore set in medical treatment
The market of rehabilitation medicine equipment can be more and more wide in the middle of standby.However, or existing walking rehabilitation nursing equipment can only be put down
Ground Walking, otherwise using fixed direct of travel, patient in autonomous training process can only super fixed direction walked
Rehabilitation training, this rehabilitation mode limits the visual field of the patient in rehabilitation course of walking, and patient can not be according to the idea of oneself
Change direction, and then easily cause that patient produces uninteresting, unhappy sense, is unfavorable for the rehabilitation of patient.
Patent announcement number discloses a kind of Walking system, including electricity for the utility model patent of CN205515447U
Machine, disk, connecting rod, platform and foot hold；The motor is connected with the disk, drives the disk rotational, described
One end of connecting rod is hinged with the disk, and the platform is provided with slide rail, and the stage casing of the connecting rod is flat with described by the slide rail
Platform is slidably connected, and the other end of the platform is provided with mounting bracket, and the foot hold for meeting human body foot type is installed on the installation
On frame, make the foot hold that there are the active strokes of simulation true man's run trace.The Walking system that the utility model is provided
Meet base of principle of human engineering；Can simulate it is parallel, go up a slope, the training environment of descending, the guiding patient of active carry out science,
Effective Walking, makes the walking rehabilitation training of patient more intelligent, accelerates the rehabilitation of patient.However, the practicality is new
All using fixed direct of travel, patient can not change the training system to type in autonomous training process according to the idea of oneself
Direct of travel, because the limited view of patient easily causes that patient produces uninteresting, unhappy mood, is unfavorable for the rehabilitation of patient.
A kind of patent announcement number walking rehabilitation training intelligence system for the patent of invention of CN105476820A is disclosed, including
It is loss of weight system, Walking system, upper machine jacking system, electrocardiogram monitor system, muscle electric stimulation system, oxygen system, audio-visual
System, minute surface and control system.The walking rehabilitation training intelligence system that the invention is provided is mitigated by modes such as suspention, supports
The load of leg exercise during Walking, it is to avoid the discomfort that long-term, single loss in weight brings to patient, can also fit
For the patient of different healths；It is scientific and rational to devise Walking system, comply with base of principle of human engineering；
Parallel, upward slope, the training environment of descending can be simulated, the guiding patient of active carries out science, effective Walking.However,
Still using fixed direct of travel, patient can not change the training in autonomous training process according to the idea of oneself for the invention
The direct of travel of system, because the limited view of patient easily causes that patient produces uninteresting, unhappy mood, is unfavorable for the health of patient
It is multiple.
The content of the invention
In view of this, the purpose of the present invention is directed to the deficiencies in the prior art, there is provided a kind of intelligent walking rehabilitation nursing dress
Put, the simulation rehabilitation training environment of level land, ascents and descents can not only be provided for patient, and being capable of turning round according to patient
Action realizes changing the direct of travel of walking convalescence device such that it is able to eliminate patient due to being regarded when walking rehabilitation training is carried out
Uninteresting, the unhappy mood that open country is restricted and produces, is beneficial to the rehabilitation of patient.
To reach above-mentioned purpose, the present invention uses following technical scheme：
A kind of intelligent walking rehabilitation nursing device, including rotating disk, the rotating disk top set Walking mechanism, the rotation
Rotating disk bottom sets steering mechanism, the rotating disk top and the setting control module by the Walking mechanism, also wraps
The MEMS sensor module being worn on patient is included, the MEMS sensor module includes MEMS gyroscope, MEMS accelerometer
And wireless signal transmitter, the wireless signal transmitter is connected with the control module electric signal；
The Walking mechanism includes being symmetricly set on before and after the power box and transmission case body on the rotating disk top, institute
State the left and right sides between power box and the transmission case body and rotate setting left rotary shaft and right spindle, the left rotary shaft and institute respectively
State and treads are provided with by live-roller between right spindle；The left rotary shaft and the right spindle in the transmission case body
End be provided between the drive on the drive on drive, and the left rotary shaft and the right spindle set transmission
Chain；The end of the left rotary shaft in the power box is provided with petty action powershift gear, the power box inside left
Movable motor is set, the big power gear being engaged with the petty action powershift gear, institute are set on the output shaft of the movable motor
Movable motor is stated to be connected with the control module electric signal；
The steering mechanism includes being arranged on the left hinged seat group of the rotating disk bottom left, is arranged on the rotation tray bottom
The right hinged seat group on right side and the middle hinged seat being arranged in the middle of the rotation tray bottom, the left hinged seat group and the right hinge
Joint chair group include in before and after be symmetricly set on it is described rotation tray bottom preceding hinged seat and rear hinged seat, the preceding hinged seat and
The rear hinged seat bottom is hinged with automatic lifting bar by jointed shaft, and the middle hinged seat bottom is hinged with by jointed shaft
Upper pillar stand, the automatic lifting bar bottom and the upper pillar stand bottom are fixedly installed plummer, and the plummer bottom is along week
To several supporting legs are set, the supporting leg bottom is provided with universal wheel, the plummer bottom middle setting lower pillar stand, it is described under
Column lower end is arranged on base by pivoting support, and the universal wheel is located at the base upper surface, is set on the base
Steering motor, sets driving gear on the output shaft of the steering motor, set on the lower pillar stand and the driving gear phase
The driven gear of cooperation, the steering motor is connected with the control module electric signal.
Further, door type frame is set in the rotating disk, and the door type frame is crossed on the power box and the biography
Dynamic casing top, door type frame top bottom surface suspension is provided with reel stand, and rotating shaft is provided with two ends on the reel stand
Reel with shoulder, the rotating shaft left and right sides is provided with torque spring, and the torque spring one end be fixed on it is described
In rotating shaft, the other end of the torque spring is fixed on the reel stand inner side, and pull rope is wound with the reel, described to lead
The free end of messenger is provided with suspender belt for suspending patient in midair by pulling force sensor module, the pulling force sensor module with it is described
Control module electric signal is connected, and the side bottom of the reel stand one sets platform, is set on the platform and positioned at rotating shaft lower section
The automatic telescopic link being connected with the control module electric signal is put, the top of the automatic telescopic link sets upper bands deep-slotted chip breaker
Movable holddown, the reel stand lateral surface and positioned at the rotating shaft top set lower bands deep-slotted chip breaker fixed block.
Further, the automatic telescopic link is electric expansion bar or Pneumatic extension bar.
Further, the automatic lifting bar is electric lifting rod or Pneumatic lifting arm.
Further, it is respectively provided with wearing layer in the deep-slotted chip breaker of the movable holddown and the fixed block.
Further, the quantity of the MEMS sensor module is three, is separately positioned on both legs front side and the chest of patient
Front position.
Further, power box top and transmission case body top be respectively provided with along its length preceding handrail and
Back bar.
Further, the control module is PLC control modules or computer.
Further, it is respectively provided with wedge-shaped pin positioned at the two ends of the treads in the rotating disk and steps on block.
The beneficial effects of the invention are as follows：
Either the present invention can only carry out level walking training for current walking rehabilitation nursing device, or advanced using fixed
Direction, patient in autonomous training process can only super fixed direction carry out walking rehabilitation training, this rehabilitation mode is limited
The visual field of the patient in rehabilitation course of walking, patient can not change direction according to the idea of oneself, and then easily cause that patient produces
Uninteresting, the unhappy sense of life, is unfavorable for the problem of the rehabilitation of patient, there is provided a kind of intelligent walking rehabilitation nursing device, including rotating disk,
Portion sets Walking mechanism on the rotating pan, and steering mechanism is set in rotating disk bottom, and portion and positioned at row on the rotating pan
Walk training institution side and control module is set, also including the MEMS sensor module being worn on patient, wherein, MEMS sensor
Module includes MEMS gyroscope, MEMS accelerometer and wireless signal transmitter, and wireless signal transmitter and control module telecommunications
Number connection, so can be by not being in the mood for letter when the MEMS sensor module being worn on patient detects patient's touch turn
The directional information of touch turn is sent to control module by number transmitter, and then control module control steering mechanism realizes turning to.
In addition, Walking mechanism includes being symmetricly set on before and after the power box and transmission case body on rotating disk top,
The left and right sides rotates setting left rotary shaft and right spindle respectively between power box and transmission case body, left rotary shaft and right spindle it
Between treads are provided with by live-roller；Transmission is provided with the left rotary shaft in transmission case body and the end of right spindle
Driving-chain, such left rotary shaft and right spindle energy are set between drive on wheel, and drive and right spindle in left rotary shaft
It is enough to realize synchronous axial system by way of drive-driving-chain；It is provided with the end of the left rotary shaft in power box small
Power gear, movable motor is set in power box inside left, is set and petty action powershift gear on the output shaft of movable motor
The big power gear being engaged, and movable motor is connected with control module electric signal.
In addition, steering mechanism includes being arranged on the left hinged seat group of rotating disk bottom left, is arranged on rotating disk bottom, right
The right hinged seat group of side includes with the middle hinged seat being arranged in the middle of rotation tray bottom, and left hinged seat group and right hinged seat group
In the front and rear preceding hinged seat and rear hinged seat for being symmetricly set on rotation tray bottom, pass through in preceding hinged seat and rear hinged seat bottom
Jointed shaft is hinged with automatic lifting bar, and the lifting so by adjusting automatic lifting bar can realize that the angle of inclination of treads is adjusted
It is whole, so as to simulate ascents and descents training environment.Upper pillar stand is hinged with by jointed shaft in middle hinged seat bottom, in automatic lifting
Bar bottom and upper pillar stand bottom are fixedly installed plummer, so on the one hand can provide branch for automatic lifting bar and upper pillar stand
Support, on the other hand can link together so as to increase bulk strength automatic lifting bar and upper pillar stand.
In addition, the steering in order to realize plummer, in circumferentially arranged several supporting legs in plummer bottom, in supporting leg bottom
Universal wheel is provided with, is arranged on base by pivoting support in plummer bottom middle setting lower pillar stand, and lower pillar stand lower end,
Universal wheel is located at base upper surface, and steering motor is set on base, and driving gear is set on the output shaft of steering motor,
The driven gear being engaged with driving gear is set on lower pillar stand, and steering motor is connected with control module electric signal, such energy
Enough steering motor is controlled to work to drive lower pillar stand to rotate by control module, so as to drive the walking for setting on the rotating pan to instruct
Practice mechanism to turn to.The present invention can not only provide the simulation rehabilitation training environment of level land, ascents and descents for patient, and can
Touch turn according to patient realizes changing the direct of travel of walking convalescence device such that it is able to eliminate patient due to entering every trade
Limited view system when walking rehabilitation training and uninteresting, the unhappy mood that produces, are beneficial to the rehabilitation of patient.
Brief description of the drawings
Fig. 1 is the structure schematic front view of the first implementation method of the invention；
Fig. 2 is that the structure of the first implementation method of the invention is right regarding schematic diagram；
Fig. 3 is the structure schematic top plan view of the first implementation method of the invention
Fig. 4 is that the structure of second implementation method of the invention is right regarding schematic diagram；
Fig. 5 is the structure schematic front view of the third implementation method of the invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing 1 to 5, the technical scheme to the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is
A part of embodiment of the invention, rather than whole embodiments.Based on described embodiments of the invention, this area is common
The every other embodiment that technical staff is obtained, belongs to the scope of protection of the invention.
Embodiment 1：
As shown in Figure 1, Figure 2 and Figure 3, a kind of intelligent walking rehabilitation nursing device, including rotating disk 1, the top of the rotating disk 1 sets
Put Walking mechanism, the bottom of the rotating disk 1 sets steering mechanism, the top of the rotating disk 1 and positioned at the Walking
Mechanism side sets control module 2, also including the MEMS sensor module being worn on patient, the MEMS sensor module bag
Include MEMS gyroscope, MEMS accelerometer and wireless signal transmitter, the wireless signal transmitter and the telecommunications of the control module 2
Number connection.
The Walking mechanism includes being symmetricly set on before and after power box 3 and the transmission on the top of the rotating disk 1
Casing 4, the left and right sides rotates setting left rotary shaft 5 and right spindle 6, institute respectively between the power box 3 and the transmission case body 4
State and treads 7 are provided with by live-roller between left rotary shaft 5 and the right spindle 6；The left side in the transmission case body 4
The end of rotating shaft 5 and the right spindle 6 is provided with drive 8 and the right spindle 6 on drive 8, and the left rotary shaft 5
On drive 8 between set driving-chain 9；The end of the left rotary shaft 5 in the power box 3 is provided with low-power
Gear 10, the inside left of the power box 3 set movable motor 11, set on the output shaft of the movable motor 11 with it is described
The big power gear 12 that petty action powershift gear 10 is engaged, the movable motor 11 is connected with the electric signal of the control module 2.
The steering mechanism includes being arranged on the left hinged seat group 13 of the bottom left of the rotating disk 1, is arranged on the rotation
The right hinged seat group 14 of the bottom right of rotating disk 1 and the middle hinged seat 15 being arranged in the middle of the bottom of the rotating disk 1, the left side is hinged
Seat group 13 and the right hinged seat group 14 include in before and after be symmetricly set on the preceding hinged seat 16 of the bottom of the rotating disk 1 and after
Hinged seat 17, the preceding hinged seat 16 and the bottom of rear hinged seat 17 are hinged with automatic lifting bar 18, institute by jointed shaft
State the bottom of middle hinged seat 15 and upper pillar stand 19, the bottom of automatic lifting bar 18 and the bottom of the upper pillar stand 19 are hinged with by jointed shaft
Portion is fixedly installed plummer 20, circumferentially arranged several supporting legs 21 in the bottom of the plummer 20, and the bottom of the supporting leg 21 sets
It is equipped with universal wheel 22, the bottom middle setting lower pillar stand 23 of the plummer 20, the lower end of the lower pillar stand 23 passes through pivoting support 24
It is arranged on base 25, the universal wheel 22 is located at the upper surface of the base 25, steering motor 26, institute is set on the base 25
Setting driving gear 27 on the output shaft of steering motor 26 is stated, is set on the lower pillar stand 23 and is engaged with the driving gear 27
Driven gear 28, the steering motor 26 is connected with the electric signal of the control module 2.
The automatic telescopic link 38 is electric expansion bar, it is clear that the automatic telescopic link 38 is same using Pneumatic extension bar
Phase same-action can be played.
The automatic lifting bar 18 is electric lifting rod, it is clear that the automatic lifting bar 18 is same using Pneumatic lifting arm
Same effect can be played.
The control module 2 is PLC control modules, it is clear that the control module 2 can equally be played using computer
The purpose of Based Intelligent Control.
In the embodiment, there is provided a kind of intelligent walking rehabilitation nursing device, including rotating disk, portion sets row on the rotating pan
Training institution is walked, steering mechanism, and portion and the setting control by Walking mechanism on the rotating pan are set in rotating disk bottom
Molding block, also including the MEMS sensor module being worn on patient, wherein, MEMS sensor module includes MEMS gyro
Instrument, MEMS accelerometer and wireless signal transmitter, and wireless signal transmitter is connected with control module electric signal, so works as wearing
MEMS sensor module with patient can will turn round dynamic when detecting patient's touch turn by not being in the mood for signal projector
The directional information of work is sent to control module, and then control module control steering mechanism realizes turning to.
In addition, Walking mechanism includes being symmetricly set on before and after the power box and transmission case body on rotating disk top,
The left and right sides rotates setting left rotary shaft and right spindle respectively between power box and transmission case body, left rotary shaft and right spindle it
Between treads are provided with by live-roller；Transmission is provided with the left rotary shaft in transmission case body and the end of right spindle
Driving-chain, such left rotary shaft and right spindle energy are set between drive on wheel, and drive and right spindle in left rotary shaft
It is enough to realize synchronous axial system by way of drive-driving-chain；It is provided with the end of the left rotary shaft in power box small
Power gear, movable motor is set in power box inside left, is set and petty action powershift gear on the output shaft of movable motor
The big power gear being engaged, and movable motor is connected with control module electric signal.
In addition, steering mechanism includes being arranged on the left hinged seat group of rotating disk bottom left, is arranged on rotating disk bottom, right
The right hinged seat group of side includes with the middle hinged seat being arranged in the middle of rotation tray bottom, and left hinged seat group and right hinged seat group
In the front and rear preceding hinged seat and rear hinged seat for being symmetricly set on rotation tray bottom, pass through in preceding hinged seat and rear hinged seat bottom
Jointed shaft is hinged with automatic lifting bar, and the lifting so by adjusting automatic lifting bar can realize that the angle of inclination of treads is adjusted
It is whole, so as to simulate ascents and descents training environment.Upper pillar stand is hinged with by jointed shaft in middle hinged seat bottom, in automatic lifting
Bar bottom and upper pillar stand bottom are fixedly installed plummer, so on the one hand can provide branch for automatic lifting bar and upper pillar stand
Support, on the other hand can link together so as to increase bulk strength automatic lifting bar and upper pillar stand.In addition, in order to realize holding
The steering of microscope carrier, in circumferentially arranged several supporting legs in plummer bottom, is provided with universal wheel, at plummer bottom in supporting leg bottom
Portion's middle setting lower pillar stand, and lower pillar stand lower end is arranged on base by pivoting support, universal wheel is located at base upper surface,
Steering motor is set on base, driving gear is set on the output shaft of steering motor, set and driving gear on lower pillar stand
The driven gear being engaged, and steering motor is connected with control module electric signal, can so control to turn to by control module
Motor work is to drive lower pillar stand to rotate, so as to drive the Walking mechanism for setting on the rotating pan to turn to.
The present invention can not only provide the simulation rehabilitation training environment of level land, ascents and descents for patient, and being capable of root
Realize changing the direct of travel of walking convalescence device according to the touch turn of patient such that it is able to eliminate patient due to being walked
Limited view system during rehabilitation training and uninteresting, the unhappy mood that produces, are beneficial to the rehabilitation of patient.
Embodiment 2：
As shown in figure 4, it is with the difference of embodiment 1：In the rotating disk 1 set door type frame 29, the door type frame 29 across
The power box 3 and the top of the transmission case body 4 are located at, the suspension of the top bottom surface of the door type frame 29 is provided with reel stand 30,
Reel 32 of the two ends with shoulder is provided with by rotating shaft 31 on the reel stand 30, the left and right sides of the rotating shaft 31 is provided with torsion
Power spring 33, and one end of the torque spring 33 is fixed in the rotating shaft 31, the other end of the torque spring 33 is fixed
In the inner side of the reel stand 30, pull rope 34 is wound with the reel 32, the free end of the pull rope 34 is passed by pulling force
Sensor module 35 is provided with suspender belt 36 for suspending patient, the pulling force sensor module 35 and the electric signal of the control module 2 in midair
Connection, the side bottom of the reel stand 30 1 sets platform 37, is set and institute on the platform 37 and positioned at the lower section of the rotating shaft 31
The automatic telescopic link 38 of the electric signal of control module 2 connection is stated, the top of the automatic telescopic link 38 sets upper bands deep-slotted chip breaker
Movable holddown 39, the lateral surface of the reel stand 30 and sets the fixed block of lower bands deep-slotted chip breaker positioned at the top of the rotating shaft 31
40。
The top of the power box 3 and the top of the transmission case body 4 are respectively provided with preceding handrail 41 and are helped with after along its length
Hand 42.
In the embodiment, when patient carries out walking rehabilitation in order to prevent patient from falling down, door type frame is set on the rotating pan,
And door type frame is crossed on power box and transmission case body top, bottom surface suspension is provided with reel stand, and reel at the top of door type frame
Reel of the two ends with shoulder is provided with by rotating shaft on frame, and torque spring, and torsion bullet are provided with the rotating shaft left and right sides
One end of spring is fixed in rotating shaft, and the other end of torque spring is fixed on reel stand inner side, and pull rope is wound with reel,
The free end of pull rope is provided with suspender belt for suspending patient, and pulling force sensor module and control in midair by pulling force sensor module
Modular telecommunications number are connected, while setting platform in the side bottom of reel stand one, are set on platform and below rotating shaft and control
The automatic telescopic link of modular telecommunications number connection, the movable holddown of upper bands deep-slotted chip breaker is set at the top of automatic telescopic link, in volume
The fixed block of tub lateral surface and the top setting lower bands deep-slotted chip breaker positioned at rotating shaft, using such structure, on the one hand leads
The length that messenger can fall according to the location of patient adjust automatically pull rope, when patient is near door type frame, reel is being turned round
Pull rope is wound automatically in the presence of power spring, when patient is away from door type frame, reel enables to the length of pull rope to become
Long, on the other hand when patient falls down suddenly, pulling force sensor module detects pulling force and increases suddenly and by this signal transmission to control
Molding block, and then control module controls automatic telescopic link to protrude upward and be tightly pressed against in the rotating shaft of reel to rise by movable holddown
To braking effect, thus prevent pull rope continuation fall with play avoid patient fall completely cause damage.In addition, in order to just
Patient Yu can have hand steered place in rehabilitation course of walking, at the top of power box and at the top of transmission case body along its length
It is respectively arranged with preceding handrail and back bar.
Embodiment 3：
It is with the difference of embodiment 2：Wearing layer is respectively provided with the deep-slotted chip breaker of the movable holddown 39 and the fixed block 40.
The quantity of the MEMS sensor module is three, is separately positioned on the both legs front side and front position of patient.
It is the mill in avoiding the rotating shaft in movable holddown and fixed briquetting to reel from carrying out braking procedure in the embodiment
Damage, wearing layer is provided with the deep-slotted chip breaker of movable holddown and fixed block.In addition, in order that obtaining the detection of MEMS sensor module
To the accuracy for turning round signal, it is to avoid the normal body of patient is rocked and is erroneously interpreted as turning round signal, in the embodiment
The quantity of MEMS sensor module is three, and is separately positioned on the both legs front side and front position of patient, so only when three
Individual MEMS sensor module is all detected and will can just be turned round when turning round signal signal transmission to control module.
Embodiment 4：
As shown in figure 5, it is with the difference of embodiment 1 to embodiment 3：Positioned at the two of the treads in the rotating disk 1
End is respectively provided with wedge-shaped pin and steps on block 43.
In the embodiment, climb up treads for the ease of patient and got off from treads, on the rotating pan and be located at
The two ends of treads are provided with wedge-shaped pin and step on block.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, this area is common
Other modifications or equivalent that technical staff is made to technical scheme, without departing from technical solution of the present invention
Spirit and scope, all should cover in the middle of scope of the presently claimed invention.
Claims (9)
1. a kind of intelligent walking rehabilitation nursing device, it is characterised in that：Including rotating disk, the rotating disk top sets walking instruction
Practice mechanism, the rotating disk bottom sets steering mechanism, the rotating disk top and the setting by the Walking mechanism
Control module, also including the MEMS sensor module being worn on patient, the MEMS sensor module includes MEMS gyro
Instrument, MEMS accelerometer and wireless signal transmitter, the wireless signal transmitter are connected with the control module electric signal；
The Walking mechanism includes being symmetricly set on before and after the power box and transmission case body on the rotating disk top, institute
State the left and right sides between power box and the transmission case body and rotate setting left rotary shaft and right spindle, the left rotary shaft and institute respectively
State and treads are provided with by live-roller between right spindle；The left rotary shaft and the right spindle in the transmission case body
End be provided between the drive on the drive on drive, and the left rotary shaft and the right spindle set transmission
Chain；The end of the left rotary shaft in the power box is provided with petty action powershift gear, the power box inside left
Movable motor is set, the big power gear being engaged with the petty action powershift gear, institute are set on the output shaft of the movable motor
Movable motor is stated to be connected with the control module electric signal；
The steering mechanism includes being arranged on the left hinged seat group of the rotating disk bottom left, is arranged on the rotation tray bottom
The right hinged seat group on right side and the middle hinged seat being arranged in the middle of the rotation tray bottom, the left hinged seat group and the right hinge
Joint chair group include in before and after be symmetricly set on it is described rotation tray bottom preceding hinged seat and rear hinged seat, the preceding hinged seat and
The rear hinged seat bottom is hinged with automatic lifting bar by jointed shaft, and the middle hinged seat bottom is hinged with by jointed shaft
Upper pillar stand, the automatic lifting bar bottom and the upper pillar stand bottom are fixedly installed plummer, and the plummer bottom is along week
To several supporting legs are set, the supporting leg bottom is provided with universal wheel, the plummer bottom middle setting lower pillar stand, it is described under
Column lower end is arranged on base by pivoting support, and the universal wheel is located at the base upper surface, is set on the base
Steering motor, sets driving gear on the output shaft of the steering motor, set on the lower pillar stand and the driving gear phase
The driven gear of cooperation, the steering motor is connected with the control module electric signal.
2. a kind of intelligent walking rehabilitation nursing device according to claim 1, it is characterised in that：Set in the rotating disk
Door type frame, the door type frame is crossed on the power box and transmission case body top, door type frame top bottom surface suspension
Reel stand is provided with, reel of the two ends with shoulder is provided with by rotating shaft on the reel stand, the rotating shaft left and right sides is all provided with
Torque spring is equipped with, and one end of the torque spring is fixed in the rotating shaft, the other end of the torque spring is fixed on
The reel stand inner side, is wound with pull rope on the reel, the free end of the pull rope is set by pulling force sensor module
Suspender belt is equipped with for suspending patient in midair, the pulling force sensor module is connected with the control module electric signal, the reel stand one
Side bottom sets platform, sets automatic with what the control module electric signal was connected on the platform and positioned at rotating shaft lower section
Expansion link, the top of the automatic telescopic link sets the movable holddown of upper bands deep-slotted chip breaker, the reel stand lateral surface and is located at
The rotating shaft top sets the fixed block of lower bands deep-slotted chip breaker.
3. a kind of intelligent walking rehabilitation nursing device according to claim 2, it is characterised in that：The automatic telescopic link is
Electric expansion bar or Pneumatic extension bar.
4. a kind of intelligent walking rehabilitation nursing device according to claim 1, it is characterised in that：The automatic lifting bar is
Electric lifting rod or Pneumatic lifting arm.
5. a kind of intelligent walking rehabilitation nursing device according to claim 2, it is characterised in that：The movable holddown and institute
State and wearing layer is respectively provided with the deep-slotted chip breaker of fixed block.
6. a kind of intelligent walking rehabilitation nursing device according to any one of claim 1 to 5, it is characterised in that：It is described
The quantity of MEMS sensor module is three, is separately positioned on the both legs front side and front position of patient.
7. a kind of intelligent walking rehabilitation nursing device according to any one of claim 1 to 5, it is characterised in that：It is described dynamic
Power casing top and transmission case body top are respectively provided with preceding handrail and back bar along its length.
8. a kind of intelligent walking rehabilitation nursing device according to any one of claim 1 to 5, it is characterised in that：The control
Molding block is PLC control modules or computer.
9. a kind of intelligent walking rehabilitation nursing device according to any one of claim 1 to 5, it is characterised in that：The rotation
Wedge-shaped pin is respectively provided with positioned at the two ends of the treads step on block on rotating disk.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710292712.9A CN106924933B (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent walking rehabilitation nursing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710292712.9A CN106924933B (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent walking rehabilitation nursing device |
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| CN106924933A true CN106924933A (en) | 2017-07-07 |
| CN106924933B CN106924933B (en) | 2019-02-22 |
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| CN201710292712.9A Active CN106924933B (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent walking rehabilitation nursing device |
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| CN107998597A (en) * | 2018-01-10 | 2018-05-08 | 侯仕彩 | A kind of intelligent walking rehabilitation nursing device |
| CN109621092A (en) * | 2018-11-23 | 2019-04-16 | 王学亮 | A kind of dedicated anaesthetic rifle of children |
| CN110123590A (en) * | 2019-05-31 | 2019-08-16 | 武汉轻工大学 | Convalescence device |
| CN111358670A (en) * | 2020-03-13 | 2020-07-03 | 上海电气集团股份有限公司 | Safety rope winding device for rehabilitation robot |
| CN111904802A (en) * | 2020-07-31 | 2020-11-10 | 曼纽科健康产业(广州)有限公司 | Balancer and control method thereof |
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| CN105476820A (en) * | 2016-01-14 | 2016-04-13 | 广东义晟实业有限公司 | Intelligent system for walking rehabilitation training |
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| CN1352925A (en) * | 2000-11-08 | 2002-06-12 | 王映松 | Walking appliance for paraplegia patient |
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| CN107998597A (en) * | 2018-01-10 | 2018-05-08 | 侯仕彩 | A kind of intelligent walking rehabilitation nursing device |
| CN109621092A (en) * | 2018-11-23 | 2019-04-16 | 王学亮 | A kind of dedicated anaesthetic rifle of children |
| CN110123590A (en) * | 2019-05-31 | 2019-08-16 | 武汉轻工大学 | Convalescence device |
| CN111358670A (en) * | 2020-03-13 | 2020-07-03 | 上海电气集团股份有限公司 | Safety rope winding device for rehabilitation robot |
| CN111358670B (en) * | 2020-03-13 | 2022-08-19 | 上海电气集团股份有限公司 | Safety rope winding device for rehabilitation robot |
| CN111904802A (en) * | 2020-07-31 | 2020-11-10 | 曼纽科健康产业(广州)有限公司 | Balancer and control method thereof |
| CN111904802B (en) * | 2020-07-31 | 2022-04-22 | 曼纽科医疗器械(湖南)有限公司 | Balancer and control method thereof |
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|---|---|
| CN106924933B (en) | 2019-02-22 |
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