CN108938231B

CN108938231B - Rehabilitation training wheelchair and intelligent rehabilitation system thereof

Info

Publication number: CN108938231B
Application number: CN201810292733.5A
Authority: CN
Inventors: 赵萍; 卓威; 孙呈祥; 王孝雨; 陈凤阳; 吴亮
Original assignee: Hefei University of Technology
Current assignee: Beijing Heling Technology Co.,Ltd.; Beijing Yishi Technology Co ltd
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2020-02-14
Anticipated expiration: 2038-03-30
Also published as: CN108938231A

Abstract

The invention relates to a rehabilitation training wheelchair, which at least comprises a training mechanism, a driving mechanism and at least one energy storage mechanism, and is characterized in that the energy storage mechanism stores mechanical energy into electric energy based on power applied by the training mechanism, the driving mechanism comprises a gear mechanism and at least two pendulum assemblies connected with the gear mechanism, and the at least two pendulum assemblies swing according to a periodic alternate swinging mode based on the traction of the energy storage mechanism to drive the gear mechanism to drive at least one wheel to rotate. The rehabilitation wheelchair stores the energy input by the sitting person in advance through the energy storage mechanism, so that the rehabilitation wheelchair can continuously move forward while the sitting person performs rehabilitation training under the condition of alternate exercise and rest, and the sitting person is prevented from being too tired due to long-time exercise.

Description

Rehabilitation training wheelchair and intelligent rehabilitation system thereof

Technical Field

The invention relates to the field of rehabilitation training, in particular to a rehabilitation training wheelchair and an intelligent rehabilitation system thereof.

Background

At present, wheelchair products seen in the market of China mainly include a manual wheelchair and an electric wheelchair, wherein the manual wheelchair is favored by the market due to low price, but the use of the manual wheelchair is mainly concentrated in the youth and vigorous range of upper limbs, so that the use of old people and a part of disabled people is limited, and the electric wheelchair becomes the inevitable choice of the old people and the disabled people under the condition of permission of economic conditions. However, the electric wheelchairs sold in the market at present are only provided with a power source and a control unit on the basis of manual wheelchairs, and have single functions, so that the practical requirements of the old and the disabled cannot be fully met in the aspects of safety, reliability and functionality. In addition, no wheelchair capable of taking into consideration the actual requirement of auxiliary training of arms of the old and the disabled is available at present. Therefore, the intelligent wheelchair product with rich functions and moderate price is researched and developed, and the intelligent wheelchair provides superior walking tools and walking-assisting training tools for the old and the disabled, thereby improving the life quality of the crowd, promoting the harmonious development of the society, having important significance and generating great social benefits.

Chinese patent (CN 105796255) discloses an intelligent rehabilitation training electric wheelchair, which comprises two wheelchair side frames, a lifting chair back device, a wheelchair back frame, an electric push rod, a power supply control box, a front pedal, a damping universal wheel and a rear wheel driving system; the two wheelchair side frames are arranged on two sides of the lifting chair back device and are connected with the wheelchair back frame through frame connecting pieces, the electric push rod, the front foot pedal, the damping universal wheel and the rear wheel driving system are all mechanically connected with the wheelchair side frames, and the power supply control box is electrically connected with the lifting chair back device. Electric putter is connected with round back of the chair frame, back of the chair board respectively, and the connecting rod is connected with round back of the chair frame, cushion respectively, and electric putter's motion drives the cushion and realizes the change of level to vertical angle. The wheelchair can help a rider to stand, the rider can walk in the wheelchair frame when standing, and the system related to the wheelchair can increase information communication between the rider and family members of doctors. However, the electric wheelchair not only needs a large amount of power supply and cannot supply power temporarily when the power supply is insufficient, but also cannot perform arm rehabilitation training when a user uses the wheelchair, so that the arm and the waist are weak due to no effort for a long time, and the health of the user is affected.

Patent publication No. CN105078668A discloses a wheelchair for arm rehabilitation. The rehabilitation wheelchair comprises a wheelchair main body and an advancing device, wherein the advancing device is provided with a driving chain wheel, a toothed belt, a reset spring, a pull rope, a first pulley, a lower bracket, a second pulley, an upper bracket, a third pulley and a handle. The patient sits on the wheelchair, through pulling the handle downwards, under the effect of first, second and third pulley, the stay cord moves right, drives the cingulum and moves right, has just reached the purpose of advancing, when the arm moved extreme position, under reset spring's effect, the handle got back to the normal position, and so repetition has just reached and has carried out rehabilitation training's function to the arm strength. It has the following disadvantages: the wheelchair can only move forward, and the wheelchair can only move backward with the assistance of a caregiver. The time points of the advancing of the wheelchair and the pulling of the pull handle are matched, namely, a sitting person needs to continuously pull the pull handle to drive the wheelchair to move forwards, and when the sitting person has a rest due to fatigue, the wheelchair cannot continuously move.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a rehabilitation training wheelchair, which at least comprises a training mechanism, a driving mechanism and at least one energy storage mechanism, and is characterized in that the energy storage mechanism stores mechanical energy into electric energy based on power applied by the training mechanism, the driving mechanism comprises a gear mechanism and at least two pendulum assemblies connected with the gear mechanism, and the at least two pendulum assemblies swing according to a periodic alternate swinging mode based on the traction of the energy storage mechanism so as to drive the gear mechanism to drive at least one wheel to rotate.

According to a preferred embodiment, the energy storage means comprises at least one flywheel energy storage means which stores electrical energy based on the power applied by the training means and directs the training means to operate at a cycle frequency which matches the physical condition of the training subject. The flywheel energy storage mechanism pulls at least two hammer assemblies to drive an input shaft of the gear mechanism in a periodic alternating reverse swinging mode based on at least two pull bars so as to drive an output shaft connected with the wheel to rotate in a gear meshing mode and keep the output shaft in a working state of a fixed rotating direction.

According to a preferred embodiment, an intermediate shaft is arranged between an input shaft and an output shaft of the driving mechanism, and the intermediate shaft is respectively connected with the input shaft and the output shaft through a meshing transmission manner, wherein two ends of the input shaft are respectively provided with at least one first pendulum assembly and at least one second pendulum assembly in a rotatable manner, the first pendulum assembly drives the intermediate shaft to rotate in an external meshing transmission manner, the second pendulum assembly drives the intermediate shaft to rotate in a reverse direction in an internal meshing manner, and the intermediate shaft is in a working state of periodic forward and reverse rotation based on periodic alternate reverse swinging of the first pendulum assembly and the second pendulum assembly; the output shafts rotate in the same direction in a periodic rotation mode in a state that the intermediate shafts are driven in a mode that internal meshing transmission and external meshing transmission periodically and alternately fail.

According to a preferred embodiment, the bearing assembly comprises a rocker, a weight and a return spring, wherein the weight is movably inserted through the rocker and the return spring is confined between the weight and the trailing end of the rocker, so that during the pivoting of the weight on the basis of the action of the traction and/or the movement inertia of the energy storage mechanism, it changes the center of gravity in such a way that it compresses the return spring to balance at least one force of the trailing end.

According to a preferred embodiment, the training mechanism comprises at least one pull rod connected with the energy storage mechanism, the energy storage mechanism comprises at least one flywheel, at least two motors for power generation, an electronic power conversion device and an energy storage battery, the at least one pull rod is rotatably and mechanically connected with the at least one flywheel to drive the flywheel to rotate rapidly, the flywheel drives the first motor to rotate and outputs electric energy with preset frequency through the power electronic conversion device to drive the second motor to pull the pendulum assembly to swing in a periodic frequency mode.

According to a preferred embodiment, the driving mechanism further comprises a third planet gear arranged on the intermediate shaft, a second sun gear connected with the third planet gear in an external meshing transmission manner and arranged on the output shaft, a second ring gear connected with the third planet gear in an internal meshing transmission manner, and an annular clutch disc fixedly connected with the intermediate shaft, wherein the annular clutch disc nests the second ring gear and is connected with the second ring gear through a first one-way electromagnetic clutch between the annular clutch disc and the intermediate shaft, and the annular clutch disc and the second ring gear are adsorbed together based on magnetic force generated by the first one-way electromagnetic clutch and form an operating mode of driving the annular clutch disc and the intermediate shaft to rotate based on rotation of the second ring gear; the second sun gear is used for nesting the output shaft and is connected with the output shaft through a second one-way electromagnetic clutch between the second sun gear and the output shaft, wherein the second sun gear and the output shaft are adsorbed together based on the magnetic force generated by the second one-way electromagnetic clutch and form a working state that the output shaft is driven to rotate based on the rotation of the second sun gear.

According to a preferred embodiment, in a mode in which the first one-way electromagnetic clutch generates a magnetic force based on the rotation of the second ring gear in the first direction and the second one-way electromagnetic clutch generates a magnetic force based on the rotation of the second sun gear in the second direction, the output shaft always keeps rotating in the first direction based on the periodic forward and reverse rotations of the intermediate shaft; in a mode in which the first one-way electromagnetic clutch is operated based on rotation of the second ring gear in the second direction and the second one-way electromagnetic clutch is operated based on rotation of the second sun gear in the first direction, the output shaft always keeps rotating in the second direction based on periodic forward and reverse rotation of the intermediate shaft; wherein the first direction and the second direction are opposite directions.

The invention provides an intelligent rehabilitation system, which comprises a rehabilitation training wheelchair, a control module, a physiological information acquisition device and a cloud server, and is characterized in that the rehabilitation training wheelchair at least comprises a training mechanism, a driving mechanism and at least one energy storage mechanism, the cloud server comprises a training frequency evaluation module and an activity suggestion module, the energy storage mechanism stores mechanical energy into electric energy based on power applied by the training mechanism, the driving mechanism comprises a gear mechanism and at least two pendulum assemblies connected with the gear mechanism, the at least two pendulum assemblies swing in a periodic alternating swinging mode based on the traction of the energy storage mechanism to drive the gear mechanism to drive at least one wheel to rotate, the training frequency evaluation module evaluates the predicted training cycle frequency matched with the body health condition of a training object based on the physiological information acquired by the physiological information acquisition device, the control module dynamically monitors and controls the actual training cycle frequency of the training object to approach the predicted training cycle frequency based on the predicted training cycle frequency, and the activity suggestion module sends activity suggestions to a display terminal of the rehabilitation training wheelchair or a mobile terminal which is related to the rehabilitation training wheelchair in a wired and/or wireless mode under the condition that the actual training cycle frequency of the training object exceeds the body load of the training object.

According to a preferred embodiment, the energy storage mechanism comprises at least one flywheel energy storage mechanism, the flywheel energy storage mechanism stores electric energy based on the power applied by the training mechanism, and under the control command of the control module based on the predicted training cycle frequency, the training mechanism is dynamically guided to operate at a cycle frequency matched with the physical condition of a training subject, the flywheel energy storage mechanism drives the input shaft of the gear mechanism to rotate and keep the working form of a fixed rotating direction by means of gear engagement based on at least two pull bars pulling at least two hammer pendulum assemblies to periodically and alternately swing in opposite directions, and the activity suggestion module analyzes the physical rehabilitation data of the training subject based on the actual training cycle frequency change and the motion duration change of the training subject in the phase time, and comprehensively evaluating and forming training advice and/or activity advice based on the physical rehabilitation data and the physiological information.

According to a preferred embodiment, the control module comprises a communication module electrically connected with a microprocessor, the microprocessor is electrically connected with both the first one-way electromagnetic clutch and the second one-way electromagnetic clutch, and the control module controls the microprocessor to change the working modes of the first one-way electromagnetic clutch and the second one-way electromagnetic clutch based on control information sent by the training object through the mobile terminal.

The invention has the beneficial technical effects that:

(1) the rehabilitation wheelchair stores the energy input by the sitting person in advance through the energy storage mechanism, so that the rehabilitation wheelchair can continuously move forward while the sitting person performs rehabilitation training under the condition of alternate exercise and rest, and the sitting person is prevented from being too tired due to long-time exercise.

(2) Intermittent continuous exercise generated by the alternation of exercise and rest can form better rehabilitation training effect.

(3) The rehabilitation wheelchair is driven by the swinging of the pendulum bob with the changeable gravity center, the energy storage mechanism is required to provide power in the return process of the pendulum bob, and the swinging can be realized only by the gravitational potential energy of the pendulum bob in the swinging process, so that the energy consumption can be more effectively saved.

Drawings

FIG. 1 is a side view of a rehabilitation training wheelchair of the present invention;

FIG. 2 is a side view block diagram of the rehabilitation training wheelchair of the present invention;

FIG. 3 is a schematic structural view of a driving mechanism in the rehabilitation training wheelchair of the present invention;

FIG. 4 is a schematic view of a partial connection of the drive mechanism of the present invention;

FIG. 5 is a schematic view of another partial connection of the drive mechanism of the present invention;

FIG. 6 is a schematic view of the pendulum assembly of the present invention;

FIG. 7 is a cross-sectional view of a preferred energy storage mechanism of the present invention, an

Fig. 8 is a logic diagram of the intelligent rehabilitation system of the present invention.

List of reference numerals

1: input shaft 2: intermediate shaft 3: output shaft

4: the fixed shaft 5: first fixing point 6: second fixing point

7: the first pendulum assembly 8: the second pendulum assembly 9: external gear ring rack

10: the mobile terminal 11: first sun gear 12: third fixing point

13: fourth fixing point 14: fifth fixing point 15: first gear ring

16: first planetary gear 17: second planetary gear 18: third planet wheel

19: second sun gear 20: second ring gear 21: annular clutch disc

22: closed end surface 23: first one-way electromagnetic clutch

24: second one-way electromagnetic clutch 25: first energy storage mechanism 26: first traction strip

27: second energy storage mechanism 28: second traction bar 29: first swing link

30: the second swing link 31: spring plate 32: outer frame

33: first wheel 34: second wheel 35: cushion pad

36: return spring 37: weight 38: microprocessor

39: the communication module 42: first brace 43: second brace

50: rehabilitation training wheelchair 60: the physiological information acquisition device 70: cloud server

71: training frequency evaluation module 72: activity suggestion module

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

Counterclockwise and clockwise: the clockwise direction and the counterclockwise direction are set based on the respective drawings. For simplifying the description, the clockwise direction and the anticlockwise direction are dynamically adjusted according to actual conditions based on different viewing angle conditions.

Left and right: left and right are set based on the corresponding drawings. Under different visual angle conditions, dynamic adjustment can be carried out according to actual conditions.

First and second rotational directions: for the purpose of distinguishing between the directions of rotation, it is indicated that the two directions of rotation are different.

Cycle frequency: including the pull frequency during training and the training period for one complete training phase.

Example 1

A rehabilitation training wheelchair as shown in fig. 1 and 2 comprises at least a training mechanism, a driving mechanism and at least one energy storage mechanism. The energy storage mechanism stores mechanical energy as electrical energy based on the power applied by the training mechanism. The driving mechanism comprises a gear mechanism and at least two pendulum assemblies connected with the gear mechanism, and the at least two pendulum assemblies swing in a periodic alternating swinging mode based on the traction of the energy storage mechanism so as to drive the gear mechanism to drive at least one wheel to rotate.

The driving mechanism in the rehabilitation training wheelchair, as shown in fig. 3, comprises an input shaft 1, an intermediate shaft 2 and an output shaft 3. Preferably, the input shaft 1 is an active rotation shaft, which is directly connected to a higher-level device such as a motor and a power device and then driven by the higher-level device to actively rotate. The intermediate shaft 2 and the output shaft 3 are driven rotating shafts. The input shaft 1, the intermediate shaft 2 and the output shaft 3 are connected by a mesh point therebetween and are formed to rotate the intermediate shaft 2 and the output shaft 3 by being driven by the active rotation of the input shaft 1. Preferably, the intermediate shaft 2 and the output shaft 3 can be maintained in the same or opposite operating configuration as the input shaft 1 by means of a suitable, for example, multi-stage, gear connection. Preferably, the intermediate shaft 2 is a power transmission member between the input shaft 1 and the output shaft 3. The output shaft 3 can form an operation mode such as unidirectional rotation or periodic alternate rotation based on the power transmission of the intermediate shaft 2. The output shaft 3 is used for connection to a lower device such as a wheel that requires power to drive and operates in a centrifugally rotating manner. The mode of operation by unidirectional rotation or periodic alternate rotation of the output shaft 3 can be adapted to different application environments. For example, the output shaft 3 may be connected to the wheels under the condition that it always keeps rotating in one direction, thereby driving the vehicle to continue forward or reverse. The output shaft 3, while maintaining the periodic alternate rotation, can be connected to the pendulum of the wall clock, thus driving the periodic oscillation of the pendulum of the wall clock.

As shown in fig. 1 to 3, the input shaft 1 includes a first fixing point 5 and a second fixing point 6. Preferably, the first fixing point 5 is located on one end of the input shaft 1. The first fastening point 5 is provided with an external toothed ring carrier 9 for fastening the first toothed ring 15 to the input shaft 1. The outer gear ring 9 has a geometric center, and three fixed claws extend outwards in a 360-degree uniform mode in a plane by taking the geometric center as a divergent point. The outer ring gear 9 is fixed to the end of the fixed jaw in a manner similar to a three-jaw chuck. Preferably, the first ring gear 15 is fixed to the input shaft 1 such that its geometric center coincides with the first fixed point 5, and is formed to maintain an operating state in the same rotational direction as the input shaft 1 at the time of rotation of the input shaft 1.

Preferably, the first ring gear 15 is an internal gear. The outer race 9 has an operating mode in which the outer race constantly rotates in the same direction as the input shaft 1. The intermediate shaft 2 has a third fastening point 12, a fourth fastening point 13 and a fifth fastening point 14. Wherein a first planet wheel 16 is arranged at the third fixing point 12. A second planet wheel 17 is arranged on the fourth fixed point 13. A third planet 18 is arranged at the fifth fixing point 14. The second fastening point 6 is provided with a first sun wheel 11. The first planetary gear 16, the second planetary gear 17, and the third planetary gear 18 are each an external gear. The first planetary gear 16 meshes with the first sun gear 11 and the first ring gear 15. The first ring gear 15 meshes with the second planet gears 17. Preferably, the first sun gear 11, the first ring gear 15, the first planet gears 16 and the second planet gears 17 form a first planetary gear set. Preferably, the first planet wheel 16 and the second planet wheel 17 are fixed to the intermediate shaft 2 through a fifth ratchet pair and a sixth ratchet pair respectively, and form an operating mode in which the fourth ratchet pair and the fifth ratchet pair do not operate simultaneously, so that the first planet wheel 16 and the second planet wheel 17 do not operate simultaneously.

Preferably, the outer carrier 9 and the first sun gear 11 are connected to the input shaft 1 in a manner of a ratchet pair to form an operating mode of rotating based on the rotation of the input shaft 1 in one direction. For example, when the input shaft 1 rotates clockwise, the external gear ring 9 meshes with the first ratchet pair between the input shaft 1 to form an operation mode in which the external gear ring also rotates clockwise. At the same time, the second ratchet wheel set between the first sun wheel 11 and the input shaft 1 is not engaged so that an operating mode is formed in which the first sun wheel 11 remains stationary.

Preferably, the drive mechanism further comprises a second planetary gear set consisting of a third planetary gear 18, a second sun gear 19 and a second ring gear 20. The third planetary gear 18 and the second sun gear 19 are external gears, and the second ring gear 20 is an internal gear. The third planet gear 18 meshes simultaneously with the second sun gear 19 and the second ring gear 20. Preferably, when the second sun gear 19 is fixed to the output shaft 3 by the third ratchet pair to form the third ratchet pair, the output shaft 3 is rotated in the first rotational direction simultaneously with the rotation of the second sun gear 19 in the first rotational direction, and when the third ratchet pair is not operated, the output shaft 3 is not rotated based on the rotation of the second sun gear 19 in the second rotational direction. Preferably, as shown in fig. 2, the second ring gear 20 is nested within an annular clutch plate 21. The annular clutch plate 21 has an open end face and a closed end face 22 in its axial direction. The output shaft 3 is fixed to the closed end face 22 in such a manner that the axial direction thereof is perpendicular to the surface of the closed end face 22. Under the condition that the second ring gear 20 is meshed with the annular clutch disc 21 through the fourth ratchet pair to form the fourth ratchet pair, the second ring gear 20 rotates in the first rotation direction to drive the annular clutch disc 21 and the output shaft 3 fixed on the annular clutch disc 21 to rotate in the first rotation direction. When the fourth ratchet pair does not operate, the output shaft 3 is kept stationary by the rotation of the second ring gear 20 in the second rotation direction.

For ease of understanding, the principle of operation of the drive mechanism is discussed below.

When the input shaft 1 is driven by a power device such as a motor or a belt pulley to rotate clockwise, the second ratchet pair between the first sun gear 11 and the input shaft 1 is not engaged, so that the first sun gear 11 is kept fixed, and meanwhile, the first ratchet pair between the first gear ring 15 and the input shaft 1 is engaged, so that the first gear ring 15 is driven to rotate clockwise. The first gear ring 15 is meshed with the second planetary gear 17, so that an operating mode that the second planetary gear 17 keeps rotating clockwise is formed based on the clockwise rotation of the first gear ring 15, and further, the intermediate shaft 2 is driven to operate in a clockwise rotation mode based on the sixth ratchet pair operation between the second planetary gear 17 and the intermediate shaft 2. Meanwhile, the fifth ratchet wheel pair between the intermediate shaft 2 and the first planetary wheel 16 is in a non-meshing working state, so that the first planetary wheel 16 is kept stationary. At this time, the clockwise rotation of the intermediate shaft 2 based on the clockwise rotation of the input shaft 1 is completed.

Similarly, when the input shaft 1 is driven by the power device to rotate counterclockwise, the second ratchet wheel pair between the first sun gear 11 and the input shaft 1 is engaged to work, so that the first sun gear 11 rotates clockwise. The first sun gear 11 meshes with the first planetary gear 16 so that the first planetary gear 16 rotates counterclockwise. At this time, the fifth ratchet pair between the first planetary gear 16 and the intermediate shaft 2 is in the meshing operation state so that the intermediate shaft 2 also rotates counterclockwise. At the same time, the first ratchet pair between the first ring gear 15 and the input shaft 1 is in a non-meshing operating state, so that the second planet gears 17, which mesh directly or indirectly with the first ring gear 15, remain stationary. At this time, the counterclockwise rotation of the intermediate shaft 2 based on the counterclockwise rotation of the input shaft 1 is completed.

Preferably, the power device provides power in a periodic alternating manner, so that the intermediate shaft 2 can form a periodic clockwise and counterclockwise alternating working mode.

The clockwise rotation of the intermediate shaft 2 brings about a clockwise rotation of the third planetary gear 18 fixed thereto. The third planetary gear 18 meshes with both the second ring gear 20 and the second sun gear 19 to form an operating mode that the second ring gear 20 rotates clockwise and the second sun gear 19 rotates counterclockwise. At this time, the fourth ratchet pair between the annular clutch disk 21 and the second ring gear 20 is in the engaged operating mode, so that the annular clutch disk 21 is driven to rotate clockwise, and further, the output shaft 3 fixed on the closed end surface 22 rotates clockwise. At this time, the third ratchet wheel pair between the second sun gear 19 and the output shaft 3 is in the non-engagement operating state, so that the clockwise rotation of the output shaft 3 and the counterclockwise rotation of the second sun gear do not interfere with each other. Similarly, the third planetary gear 18 is driven to rotate counterclockwise based on the counterclockwise rotation of the intermediate shaft 2, and further the second ring gear 20 is driven to rotate counterclockwise, and the second sun gear 19 rotates clockwise. At this time, the third ratchet wheel pair is in the engaged working state, and the clockwise rotation of the second sun gear 19 drives the output shaft 3 to rotate clockwise, and further the clockwise rotation of the output shaft 3 drives the clockwise rotation of the annular clutch disc 21. Meanwhile, the fourth ratchet wheel pair is in a non-meshed working state, so that the clockwise rotation of the annular clutch plate 21 and the anticlockwise rotation of the second gear ring 20 do not interfere. At this time, the operation form in which the output shaft 3 is rotated clockwise based on both the clockwise rotation and the counterclockwise rotation of the intermediate shaft 2 is completed.

Preferably, the rehabilitation training wheelchair comprises a new energy source driving mechanism.

One end of the first swing link 29 is fixedly connected with the first sun gear 11 and then arranged on the input shaft 1. The first swing link 29 and/or the first sun gear 11 may be fixed to the input shaft 1 by a first rolling bearing pair to form an operation mode that only the first sun gear 11 fixed to the first swing link 29 is driven to rotate without changing the operation state of the input shaft 1 when the first swing link 29 swings around the second fixed point 6 as a swing center. Preferably, one end of the second swing link 30 is fixed to the outer race 9 and then is disposed on the input shaft 1. The second swing link 30 and/or the external gear ring 9 may be fixed to the input shaft 1 by a second rolling bearing pair to form a working mode that the second swing link 30 only drives the external gear ring 9 fixed to the second swing link to rotate without changing the working state of the input shaft 1 when swinging around the first fixed point 5 as a swinging center. Preferably, the input shaft 1 is always kept in a fixed form. Wherein the first fixing point 5 is one end of the input shaft 1. The second fixing point 6 may be provided at a midpoint position of the input shaft 1 in the axial direction thereof or at any other position depending on the actual situation.

Preferably, the first planet wheel 16 and the second planet wheel 17 are solidly connected to the intermediate shaft 2 to form an operating configuration in which both simultaneously maintain the same direction of rotation as the intermediate shaft 2. Wherein, the projections of the planes of the first swing link 29 and the second swing link 30 in the direction perpendicular to the axial direction of the input shaft 1 are in mirror symmetry with each other. Thereby forming an operating mode that the first swing link 29 and the second swing link 30 swing towards each other.

Preferably, the third planet-gear 18 is solidly connected to the intermediate shaft 2 to form an operating configuration that constantly maintains the same direction of rotation as the intermediate shaft 2. In order to dynamically adjust the rotation direction of the output shaft 3, the second ring gear 20 is connected to the annular clutch disc 21 through a first one-way electromagnetic clutch 23, and the second sun gear 19 is connected to the output shaft 3 through a second one-way electromagnetic clutch 24. Wherein the magnetic force is provided based on the operation of the one-way electromagnetic clutch so that the two connected, for example, the second ring gear and the annular one-way split member are attracted to be fixed together. The two units are separated from each other to form independent units based on the non-operation of the one-way electromagnetic clutch and the elimination of magnetic force.

For ease of understanding, the operating principle of the new energy drive mechanism is discussed below.

First, the operation modes of the first and second one-way

electromagnetic clutches

23, 24 are set based on the control apparatus. For example, when the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 is operated to connect the second ring gear 20 and the annular clutch plate 21 to each other by magnetic attraction, and the second one-way electromagnetic clutch 24 is not operated to disconnect the second sun gear 19 from the output shaft 3. When the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 does not operate and the second one-way electromagnetic clutch 24 operates. Preferably, the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 are always kept in the operation mode in which they are not operated simultaneously.

The following description will be given with an example of a mode setting in which the first electromagnetic unidirectional clutch 23 is operated and the second electromagnetic unidirectional clutch 24 is not operated under the condition that the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise.

As shown in FIG. 1, the first planetary gear train can be driven to work by manual shaking by directly and simultaneously holding the first swing link 29 and the second swing link 30 with two hands. Specifically, the first sun gear 11 is rotated clockwise based on the right-left swing of the first swing link 29 about the second fixed point 6, and at the same time, the first ring gear 15 is rotated counterclockwise based on the left-right swing of the second swing link 30 about the first fixed point 5. The clockwise rotation of the first sun gear 11 causes the first planetary gear 16 engaged therewith to rotate counterclockwise. The counterclockwise rotation of the first ring gear 15 drives the second planet gear 17 engaged with the first ring gear to rotate counterclockwise. The counter-clockwise rotation of the intermediate shaft 2 is brought about on the basis of the simultaneous counter-clockwise rotation of the first planet wheel 16 and the second planet wheel 17. Preferably, the first and second swing links 29 and 30 have the same swing amplitude and start and end swinging simultaneously so that the rotation speeds of the first ring gear 15 and the first sun gear 11 are the same. In order to avoid that the first planet wheel 16 and the second planet wheel 17 have different rotation speeds, so that the two interfere with each other based on the different rotation speeds, it is necessary to set the numbers of teeth of the second planet wheel 17 and the first planet wheel 16 corresponding to the numbers of teeth of the first ring gear 15 and the first sun gear 11 so that the second planet wheel 17 and the first planet wheel 16 have the same rotation speed. Preferably, the first planetary gear train has a transmission ratio of 1 by setting the number of teeth of the first ring gear 15, the first sun gear 11, the second planetary gear 17 and the first planetary gear 16. At this point, the counter-clockwise rotation of the intermediate shaft 2 is driven by the simultaneous swinging of the first swing link 29 and the second swing link 30.

Similarly, after the above steps are completed, the intermediate shaft 2 is driven to rotate clockwise based on the left-to-right swing of the first swing link 29 and the right-to-left swing of the second swing link 30. Thus, the intermediate shaft 2 is periodically rotated clockwise and counterclockwise based on the periodic reciprocal swing of the first and second swing links 29 and 30.

As shown in fig. 2, the counterclockwise rotation of the intermediate shaft 2 rotates the third planetary gear 18 counterclockwise. Based on the counterclockwise rotation of the third planetary gear 18, the second ring gear 20 rotates counterclockwise, and at the same time, the second sun gear 19 rotates clockwise. At this time, the first unidirectional electromagnetic clutch 23 is operated and the second unidirectional electromagnetic clutch 24 is not operated, so that the annular clutch disc 21 rotates counterclockwise to drive the output shaft 3 fixed thereto to rotate counterclockwise, and meanwhile, the second sun gear 19 and the output shaft 3 are separated into two independent units without magnetic force adsorption, so that the clockwise rotation of the second sun gear 19 and the counterclockwise rotation of the output shaft 3 do not interfere with each other. Similarly, the clockwise rotation of the intermediate shaft 2 drives the third planetary gear 18 to rotate clockwise. Based on the clockwise rotation of the third planetary gear 18, the second ring gear 20 rotates clockwise, and at the same time, the second sun gear 19 rotates counterclockwise. At this time, the first one-way electromagnetic clutch 23 is not operated and the second one-way electromagnetic clutch 24 is operated. The second sun gear 19 and the output shaft 3 are attracted by magnetic force, so that the output shaft 3 rotates counterclockwise and drives the annular clutch disc 21 to rotate counterclockwise. Meanwhile, the lack of magnetic force between the second ring gear 20 and the annular clutch plate 21 disengages as two separate units so that the clockwise rotation of the second ring gear 20 and the counterclockwise rotation of the annular clutch plate 21 do not interfere with each other. Thereby, an operation form is realized in which the counterclockwise rotation of the output shaft 3 is formed based on both the clockwise rotation and the counterclockwise rotation of the intermediate shaft 2.

Preferably, the operation modes of the first and second one-way

electromagnetic clutches

23, 24 are switched based on the control apparatus. For example, switching from the counterclockwise rotation to the clockwise rotation of the output shaft 3 can be achieved by switching the mode in which the first one-way electromagnetic clutch 23 is operated when the second ring gear 20 rotates counterclockwise to the mode in which the second one-way electromagnetic clutch 20 is not operated when the second ring gear 20 rotates counterclockwise, and switching the mode in which the second one-way electromagnetic clutch 24 is not operated when the second sun gear 19 rotates clockwise to the mode in which the second sun gear 19 rotates clockwise. Preferably, the first and second one-way

electromagnetic clutches

23 and 24 may be dry one-piece electromagnetic clutches. The first and second one-way

electromagnetic clutches

23, 24 are put in an operating state by energization thereof and in an inoperative state by deenergization thereof.

Example 2

This embodiment is a further improvement of

embodiments

1 and 2, and repeated descriptions are omitted.

As shown in fig. 1, the drive mechanism further comprises a stationary shaft 4 and a first energy storing mechanism 25 and a second energy storing mechanism 27 for storing energy.

Preferably, the first energy storage mechanism 25 and the second energy storage mechanism 27 can store energy through manual or mechanical transmission. The core components of the first energy storage mechanism 25 and the second energy storage mechanism 27 are spring coils which are arranged in the shell of the first energy storage mechanism and fixed on the fixed shaft 4, and the spring coils are driven to contract and store energy through the rotation of the fixed shaft 4.

As shown in fig. 7, the rotor-type housings of the first and second

energy stocking mechanisms

25 and 27 are connected to the fixed shaft 4 via a spring plate 31, wherein both ends of the spring plate 31 are connected to the inner wall of the rotor-type housing and the fixed shaft 4, respectively. Wherein the fixed shaft 4 is fixedly connected with the outer frame 32 so that it always remains in a fixed form. Preferably, the initial operating states of the respective spring plates 31 of the first energy storage mechanism 25 and the second energy storage mechanism 27 are different. For example, the initial operating state of the spring plate 31 of the first energy accumulating mechanism 25 is the ready state. The initial operating state of the spring plate 31 of the second energy accumulating mechanism 27 is the accumulated force state.

Preferably, the first energy storage mechanism 25 and the second energy storage mechanism 27 are respectively connected with the first swing link 29 and the second swing link 30 through a first traction strip 26 and a second traction strip 28 to drive the first swing link 29 and the second swing link 30.

For ease of understanding, the principles of operation of first and second stored

energy mechanisms

25, 27 will be discussed.

The initial state of the corresponding spring plate 31 of the first energy storage mechanism 25 is the state to be stored. At this time, the user may apply an external force to the first bar 41 to drive the first energy storing mechanism 25 to rotate counterclockwise, and the spring plate 31 starts to store energy. At the same time, first traction bar 26 is pulled to move from left to right based on the counterclockwise rotation of first stored energy mechanism 25. When the external force of the first pulling strip 41 is removed, the first energy storage mechanism 25 is driven to rotate clockwise based on the energy stored by the spring plate 31, and the first traction strip 26 is further driven to move from right to left. Thereby completing one complete cycle of the back and forth oscillation of the first pendulum assembly 7.

The initial state of the corresponding spring plate 31 of the second energy stocking mechanism 27 is the power stocking state. At this time, the user may not apply an external force to the second brace 42, and based on the energy stored in the spring plate 31, the user drives the second energy storage mechanism 27 to rotate clockwise, thereby pushing the second traction bar 28 to move from right to left. After the above process is completed, the user applies an external force to the second brace 42 to drive the second energy storing mechanism 27 to rotate counterclockwise, so that the spring plate 31 starts to store energy. Meanwhile, the second traction bar 28 is pulled to move from left to right based on the counterclockwise rotation of the second energy storage mechanism 27. Thereby completing one complete cycle of the second pendulum assembly 8 back and forth oscillation.

Preferably, the first energy storage mechanism 25 and the second energy storage mechanism 27 are flywheel energy storage mechanisms. The flywheel energy storage means an energy storage mode that a motor drives a flywheel to rotate at a high speed and the flywheel drives a generator to generate electricity when needed. The technical characteristics are high power density and long service life. The flywheel body is a core component in a flywheel energy storage system, and has the functions of improving the limit angular speed of the rotor, reducing the weight of the rotor and increasing the energy storage capacity of the flywheel energy storage system to the maximum extent.

Preferably, the flywheel energy storage mechanism stores electrical energy based on the power applied by the training mechanism and directs the training mechanism to operate at a cycle frequency that matches the physical health of the training subject.

For example, a control device is included within the flywheel energy storage mechanism. The control device includes a periodic frequency sensor, a controller, and/or a processor. A control module or control device within the flywheel energy storage mechanism controls the pull frequency of the connected braces based on the received predicted training cycle frequency. The pulling frequency of the training mechanism approaches to the predicted training period frequency, so that the training subject is guided to maintain the safety of the body in the training process of recovering the health, and the body damage caused by over-training is prevented.

The flywheel energy storage mechanism pulls at least two hammer assemblies to drive an input shaft 1 of the gear mechanism in a periodic alternating reverse swinging mode based on at least two pull bars, so that an output shaft 3 connected with the wheel is driven to rotate in a gear meshing mode and keeps a working state of a fixed rotating direction.

Preferably, the exercise mechanism comprises at least one pull-strap connected to the stored energy mechanism. One end of the brace is provided with a handle which is convenient for exerting force. The flywheel energy storage mechanism comprises at least one flywheel, at least two motors for electric and/or power generation, an electronic power conversion device and an energy storage battery. The at least one brace is connected with the at least one flywheel in a rotatable mechanical mode to drive the flywheel to rotate rapidly, the flywheel drives the first motor to rotate and outputs electric energy with preset frequency through the power electronic conversion device to drive the second motor to pull the pendulum assembly to swing in a periodic frequency mode. Preferably, the energy storage structure further comprises a backup power supply. Under the condition of training, the standby power supply supplies electric energy to the motor in the energy storage mechanism.

Example 3

This embodiment is a further improvement of the foregoing embodiment, and repeated descriptions are omitted.

As shown in fig. 1 and 2, the first planetary gear train, the second planetary gear train, the first energy storage mechanism 25 and the second energy storage mechanism 27 are respectively fixed on an outer frame 32 of the rehabilitation chair through an input shaft 1, an intermediate shaft 2, an output shaft 3 and a fixed shaft 4. Wherein, two ends of the output shaft 3 are respectively connected and fixed with the first wheel 33 and the second wheel 34, and the rotation of the output shaft 3 drives the rotation of the first wheel and the second wheel. In order to save space, the output shaft 1, the intermediate shaft 2, the output shaft 3 and the fixed shaft 4 are arranged on the same horizontal plane parallel to the ground, wherein the first energy storage mechanism 25 and the second energy storage mechanism 27 are both mounted on the fixed shaft 4. The plane defined by the first energy storage mechanism 25 and the second swing link 30 and the plane defined by the second energy storage mechanism 27 and the first swing link 29 are perpendicular to the axial direction of the output shaft 3.

Preferably, in order to keep the walking stability of the rehabilitation chair, at least two third wheels are further arranged. The first wheel and the second wheel are identical in size and structure, and the diameters of the first wheel and the third wheel are different. Preferably, in order to save the manufacturing cost, the third wheel is a driven wheel, and the diameter of the driven wheel is smaller than that of the first wheel. The outer frame 32 is also provided with a cushion 35 having a surface parallel to the ground for seating a user.

Preferably, in order to utilize the energy stored in the energy storage mechanism to the maximum extent to drive the rehabilitation chair to walk. The rehabilitation chair also comprises a return spring 36 and a weight 37. The weight is movably penetrated on the swing rod and limits the return spring between the weight and the traction end of the swing rod, so that the weight changes the gravity center in a mode of compressing the return spring to balance at least one acting force of the traction end in the process of swinging of the weight based on the action of the traction and/or movement inertia of the energy storage mechanism.

Wherein, a return spring 36 and a weight 37 are respectively arranged on the first swing link 29 and the second swing link 30. The first swing link 29 and the second swing link 30 are both mounted with a weight 37 through a sliding pair to form an operating mode in which the weight can move along the axial direction of the first swing link or the second swing link. The first swing link 29 and the second swing link 30 are also fixedly connected in a manner that one end of the first swing link passes through the return spring and is connected with one end of the return spring. Wherein, the return spring is located between the weight 37 and the traction end of the first swing link or the second swing link, so that the weight compresses the return spring to make the inertia center of the swing link move closer to the ground based on the increase of the swing speed of the first swing link or the second swing link.

Preferably, the rehabilitation chair further comprises a control module consisting of a microprocessor 38, a communication module 39 and a power supply. The communication module 39, the power supply, the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 are all electrically connected with the microprocessor 38. The microprocessor 38, communication module 39 and power supply may be integrally disposed in a convenient location for the occupant by being enclosed within the same housing. Preferably, the seated person can select the desired mode of operation by operating a key in the form of a button. Or, after the microprocessor 38 is remotely connected to the mobile terminal 10, such as a mobile phone, a tablet computer, an intelligent wearable device, etc., through the communication module 39, the rehabilitation chair is adjusted to a desired working mode through the intelligent mobile terminal. Preferably, the microprocessor 38 may be a smart chip, a CPU, an integrated circuit board integrated with an arithmetic processor.

Preferably, the first and second swing links 29 and 30 have the same swing amplitude and start and end swinging simultaneously so that the rotation speeds of the first ring gear 15 and the first sun gear 11 are the same. In order to avoid that the first planet wheel 16 and the second planet wheel 17 have different rotation speeds, so that the two interfere with each other based on the different rotation speeds, it is necessary to set the numbers of teeth of the second planet wheel 17 and the first planet wheel 16 corresponding to the numbers of teeth of the first ring gear 15 and the first sun gear 11 so that the second planet wheel 17 and the first planet wheel 16 have the same rotation speed. Preferably, the first planetary gear train has a transmission ratio of 1 by setting the number of teeth of the first ring gear 15, the first sun gear 11, the second planetary gear 17 and the first planetary gear 16. At this point, the counter-clockwise rotation of the intermediate shaft 2 is driven by the simultaneous swinging of the first swing link 29 and the second swing link 30.

Preferably, the second planet gears 17 and the first planet gears 16 have the same rotational speed. The transmission ratio I of the first rocker lever 29 to the intermediate shaft 2₁＝N₁₆/N₁₁＝Z₁₁/Z₁₆(ii) a The transmission ratio I of the second rocker 30 to the intermediate shaft 2₂＝N₁₇/N₁₅＝Z₁₅/Z₁₇. N is the same because the first rocker 29 and the second rocker have the same amplitude₁₁＝N₁₅And the first planet wheel 16 and the second planet wheel 17 have the same angular speed, i.e. N₁₆＝N₁₇So that I₁＝I₂. Namely Z₁₁/Z₁₆＝Z₁₅/Z₁₇I.e. Z₁₆*Z₁₅＝Z₁₁*Z₁₇. Preferably, the gear module of the second planetary gear 17, the first planetary gear 16, the first sun gear 11 and the first ring gear 15 is the same, and the diameter of the gear is proportional to the number of teeth. Defining a relationship D between the reference circle diameters of the second planet wheels 17, the first planet wheels 16, the first sun wheel 11 and the first ring gear 15₁₆*D₁₅＝D₁₁*D₁₇。

Preferably, the third planet gear 18 is in constant mesh with the second ring gear 20 and the second sun gear 19. Gear ratio I from third planetary gear 18 to second sun gear 19₃＝Z₁₈/Z₁₉Third planetary gear 18 to second ring gear 20 ratio I₄＝Z₁₈/Z₂₀. The gear module of the third planet gear 18, the second ring gear 20 and the second sun gear 19 is the same. The gear modules of the third planetary gear 18, the second ring gear 20 and the second sun gear 19 are thus identical, the respective number of teeth and the respective reference circle diameters thereof being proportional. Preferably, D₂₀Greater than D₁₉The absence of slip between the first unidirectional electromagnetic clutch 23 and the second unidirectional electromagnetic clutch 24 easily leads to a transmission ratio I₃Is not equal to I₄So that the output shaft 3 is unstably rotated. Thus, the coefficient a is set to D₁₉/D₂₀And adjusting the size of A to debug the two one-way clutches. For example, the engagement coefficient of the second electromagnetic one-way clutch 24 is set to A, and the engagement of the first electromagnetic one-way clutch 23 is set to AA factor of 1 the transmission ratio I to the output shaft 3 can be achieved in the manner described above₃＝I₄To make the output shaft 3 rotate stably.

Preferably, N₁₆、N₁₁、N₁₇And N₁₅Representing the angular velocities at which the first planet wheel 16, the first sun wheel 11, the second planet wheel 17 and the first ring gear 15 rotate, respectively. Z₁₁、Z₁₆、Z₁₅、Z₁₇、Z₁₈、Z₁₉And Z₂₀Representing the number of teeth of the first sun gear 11, the first planet gear 16, the first ring gear 15, the second planet gear 17, the third planet gear 18, the second sun gear 19 and the second ring gear 20, respectively. D₁₆、D₁₅、D₁₁、D₁₇、D₂₀And D₁₉Which represent the reference circle diameters of the first planet wheel 16, the first ring gear 15, the first sun wheel 11, the second planet wheel 17, the second ring gear 20 and the second sun wheel 19, respectively.

For ease of understanding, the specific use of the rehabilitation chair is discussed below.

First, the operation modes of the first and second electromagnetic

unidirectional clutches

23, 24 are set based on the control module. For example, when the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 is operated to connect the second ring gear 20 and the annular clutch plate 21 to each other by magnetic attraction, and the second one-way electromagnetic clutch 24 is not operated to disconnect the second sun gear 19 from the output shaft 3. When the second ring gear 20 rotates counterclockwise and the second sun gear 19 rotates clockwise, the first one-way electromagnetic clutch 23 does not operate and the second one-way electromagnetic clutch 24 operates.

As shown in fig. 1, the swinging of the first swing link 29 from right to left about the second fixed point 6 based on the driving of the second energy storage mechanism 27 causes the first sun gear 11 to rotate clockwise, and at the same time, the swinging of the second swing link 30 from left to right about the first fixed point 5 based on the driving of the first energy storage mechanism 25 causes the first internal gear 15 to rotate counterclockwise. The clockwise rotation of the first sun gear 11 causes the first planetary gear 16 engaged therewith to rotate counterclockwise. The counterclockwise rotation of the first ring gear 15 drives the second planet gear 17 engaged with the first ring gear to rotate counterclockwise. The counter-clockwise rotation of the intermediate shaft 2 is brought about on the basis of the simultaneous counter-clockwise rotation of the first planet wheel 16 and the second planet wheel 17. Thereby completing the counterclockwise rotation of the intermediate shaft 2 based on the simultaneous swing of the first swing link 29 and the second swing link 30. Then, the intermediate shaft 2 is driven to rotate clockwise by the left-to-right swinging of the first swing link 29 and the right-to-left swinging of the second swing link 30. Similarly, the counter-clockwise rotation of the intermediate shaft 2 is then driven on the basis of the left-to-right pivoting of the first pivot lever 29 about the second fastening point 6 and the right-to-left pivoting of the second pivot lever 30 about the first fastening point 5. The intermediate shaft 2 is periodically rotated clockwise and counterclockwise based on the periodic reciprocal swing of the first swing link 29 and the second swing link 30.

As shown in fig. 2, the counterclockwise rotation of the intermediate shaft 2 rotates the third planetary gear 18 counterclockwise. Based on the counterclockwise rotation of the third planetary gear 18, the second ring gear 20 rotates counterclockwise, and at the same time, the second sun gear 19 rotates clockwise. At this time, the first unidirectional electromagnetic clutch 23 is operated and the second unidirectional electromagnetic clutch 24 is not operated, so that the annular clutch disc 21 rotates counterclockwise to drive the output shaft 3 fixed thereto to rotate counterclockwise, and meanwhile, the second sun gear 19 and the output shaft 3 are separated into two independent units without magnetic force adsorption, so that the clockwise rotation of the second sun gear 19 and the counterclockwise rotation of the output shaft 3 do not interfere with each other. Similarly, the clockwise rotation of the intermediate shaft 2 drives the third planetary gear 18 to rotate clockwise. Based on the clockwise rotation of the third planetary gear 18, the second ring gear 20 rotates clockwise, and at the same time, the second sun gear 19 rotates counterclockwise. At this time, the first one-way electromagnetic clutch 23 is not operated and the second one-way electromagnetic clutch 24 is operated. The second sun gear 19 and the output shaft 3 are attracted by magnetic force, so that the output shaft 3 rotates counterclockwise and drives the annular clutch disc 21 to rotate counterclockwise. Meanwhile, the lack of magnetic force between the second ring gear 20 and the annular clutch plate 21 disengages as two separate units so that the clockwise rotation of the second ring gear 20 and the counterclockwise rotation of the annular clutch plate 21 do not interfere with each other. Thereby, an operation form is realized in which the counterclockwise rotation of the output shaft 3 is formed based on both the clockwise rotation and the counterclockwise rotation of the intermediate shaft 2. As shown in fig. 5 and 6, first and second wheels are connected to both ends of the output shaft 3, respectively, so that the rehabilitation chair can be moved forward by the clockwise rotation of the output shaft 3. In order to realize that the rehabilitation chair moves towards the rear direction, the working modes of the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 can be switched based on a control module or an external device, so that the output shaft 3 rotates clockwise.

Example 4

This embodiment is a further improvement on

embodiments

1, 2 or 3 and their combinations, and repeated details are not repeated.

The embodiment provides an intelligent rehabilitation system, as shown in fig. 8, which includes a rehabilitation training wheelchair, a control module, a physiological information acquisition device and a cloud server. The rehabilitation training wheelchair is the rehabilitation training wheelchair described in one of embodiments 1 to 3, and at least comprises a training mechanism, a driving mechanism and at least one energy storage mechanism. The cloud server comprises a training frequency evaluation module and an activity suggestion module.

The energy storage mechanism stores mechanical energy as electrical energy based on the power applied by the training mechanism. The driving mechanism comprises a gear mechanism and at least two pendulum assemblies connected with the gear mechanism, and the at least two pendulum assemblies swing in a periodic alternating swinging mode based on the traction of the energy storage mechanism so as to drive the gear mechanism to drive at least one wheel to rotate.

Preferably, the physiological information acquisition device comprises a plurality of sensors for acquiring physiological information of the training subject. For example, a blood pressure sensor, a heartbeat sensor, a pulse sensor, a force sensor, a temperature sensor, etc.

The cloud server comprises one or more of a server cluster, a CPU, a special integrated chip and a microprocessor. The training frequency evaluation module comprises one or more of a server, a CPU, a special integrated chip and a microprocessor. The activity suggestion module comprises one or more of a server, a CPU, an application specific integrated chip and a microprocessor. The cloud server is in signal connection with the control module and the physiological information acquisition device in a wired and/or wireless mode so as to send information.

The training frequency evaluation module evaluates a predicted training cycle frequency matched with the physical health condition of a training subject based on the physiological information acquired by the physiological information acquisition device. For example, if the physiological information parameters acquired by the physiological information acquisition device determine that the physical health of the training subject is poor and the strength of the arm is small, the training frequency evaluation module evaluates the predicted training cycle frequency of the training subject to be 60 times/second.

The control module dynamically monitors and controls the actual training cycle frequency of the training subject to approach the predicted training cycle frequency based on the predicted training cycle frequency.

Preferably, the energy storage mechanism comprises at least one flywheel energy storage mechanism. The flywheel energy storage mechanism stores electric energy based on power applied by the training mechanism, and the control module dynamically guides the training mechanism to operate at a cycle frequency matched with the physical health condition of a training object under the control command sent by the control module based on the predicted training cycle frequency.

For example, the control module includes a training frequency sensor. The actual training cycle frequency of the training object monitored by the control module is far greater than the predicted training cycle frequency, the control module controls the pulling frequency of the pull strip to reduce or increase the force required by the pulling strip of the training object each time, and at the moment, the training object can spend effort in training, and the training frequency can be reduced. On the contrary, the control module controls to reduce the force required by the training object to pull the pull strip every time, and the actual period training frequency is improved.

And under the condition that the actual training period frequency of the training subject exceeds the body load of the training subject, the activity suggestion module sends an activity suggestion to a display terminal of the rehabilitation training wheelchair or a mobile terminal which is associated with the rehabilitation training wheelchair in a wired and/or wireless mode.

The training frequency evaluation module evaluates a periodic frequency range of training of the training subject based on physiological information of the training subject and sends the periodic frequency range to the activity suggestion module so as to correspond to the body load of the training subject. And under the condition that one of the acquired physiological parameters is abnormal or the actual training period frequency is greater than the period frequency range, the activity suggestion module sends an activity suggestion to the display terminal or the mobile terminal to remind the training subject to stop or slow down the training. Preferably, the activity suggestion module sends out an early warning to the display terminal or the mobile terminal, and the training of the training object is stopped in advance.

The activity suggestion module analyzes physical rehabilitation data of the training subject based on actual training cycle frequency change and movement duration change of the training subject in phase time, and comprehensively evaluates and forms training suggestions and/or activity suggestions based on the physical rehabilitation data and physiological information.

For example, in a month time, the activity suggestion module analyzes that the physical rehabilitation of the training subject is good based on the fact that the actual training period frequency of the training subject in the period time is increased, the exercise duration is prolonged, and the physiological information data is not abnormal. The physical rehabilitation data comprises actual training cycle frequency, exercise duration and tension in the training process which are set in a classified mode. The activity suggestion module comprehensively evaluates and forms training suggestions and/or activity suggestions based on the physical rehabilitation data and the physiological information. The training recommendations are for example to increase the training frequency, or to adjust the training time, etc.

Preferably, the training advice and/or the activity advice are preset and mapped based on the combination of the physical rehabilitation data.

Preferably, the control module includes a communication module 39 electrically connected to the microprocessor 38. The microprocessor 38 is electrically connected with the first unidirectional electromagnetic clutch 23 and the second unidirectional electromagnetic clutch 24. The control module controls the microprocessor to change the working modes of the first one-way electromagnetic clutch 23 and the second one-way electromagnetic clutch 24 based on the control information sent by the training object through the mobile terminal.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A rehabilitation training wheelchair at least comprises a training mechanism, a driving mechanism and at least one energy storage mechanism, and is characterized in that,

the energy storage mechanism stores mechanical energy as electrical energy based on the power applied by the exercise mechanism,

the driving mechanism comprises a gear mechanism and at least two pendulum assemblies connected with the gear mechanism, the at least two pendulum assemblies swing in a periodic alternating swinging mode based on the traction of the energy storage mechanism so as to drive the gear mechanism to drive at least one wheel to rotate,

the energy storage mechanism comprises at least one flywheel energy storage mechanism,

the flywheel energy storage mechanism stores electric energy based on the power applied by the training mechanism and guides the training mechanism to operate at a cycle frequency matched with the physical health condition of a training subject,

the flywheel energy storage mechanism pulls at least two hammer assemblies to drive an input shaft (1) of the gear mechanism in a periodic alternating reverse swinging mode based on at least two pull bars so as to drive an output shaft (3) connected with the wheel to rotate in a gear meshing mode and keep the working state of the output shaft in a fixed rotating direction.

2. Rehabilitation training wheelchair according to claim 1, characterised in that an intermediate shaft (2) is arranged between the input shaft (1) and the output shaft (3) of the drive mechanism, which intermediate shaft is connected to the drive mechanism in a meshing transmission manner,

two ends of the input shaft (1) are respectively provided with at least one first pendulum hammer assembly and at least one second pendulum hammer assembly in a rotatable manner,

the first pendulum assembly drives the intermediate shaft (2) to rotate in an external meshing transmission mode, the second pendulum assembly drives the intermediate shaft (2) to rotate in the reverse direction in an internal meshing mode, and the intermediate shaft (2) is in a working state of periodic forward and reverse rotation based on periodic alternate reverse swinging of the first pendulum assembly and the second pendulum assembly;

the output shafts (3) rotate in the same direction in a periodic rotation mode in a state that the intermediate shaft (2) is driven in a mode that the internal meshing transmission and the external meshing transmission are periodically and alternately disabled.

3. The rehabilitation training wheelchair of claim 1, wherein the pendulum assembly comprises a pendulum rod, a weight, and a return spring, wherein,

the weight is movably penetrated on the swing rod and limits the return spring between the weight and the traction end of the swing rod, so that the weight changes the gravity center in a mode of compressing the return spring to balance at least one acting force of the traction end in the process of swinging of the weight based on the action of the traction and/or movement inertia of the energy storage mechanism.

4. The rehabilitation training wheelchair of claim 1, wherein the training mechanism comprises at least one brace connected to the energy storage mechanism,

the energy storage mechanism comprises at least one flywheel, at least two motors for electric driving and/or power generation, an electronic power conversion device and an energy storage battery, wherein at least one brace is connected with the at least one flywheel in a rotatable mechanical mode to drive the flywheel to rotate rapidly, the flywheel drives the first motor to rotate and outputs electric energy with preset frequency through the electronic power conversion device so as to drive the second motor to drive the pendulum assembly to swing in a periodic frequency mode.

5. Rehabilitation training wheelchair according to claim 4, characterised in that the drive mechanism further comprises a third planet wheel (18) arranged on the intermediate shaft (2), a second sun wheel (19) arranged on the output shaft (3) and connected with the third planet wheel (18) in an external gearing, a second ring gear (20) connected with the third planet wheel (18) in an internal gearing and an annular clutch plate (21) fixed with the intermediate shaft (2),

the annular clutch disc (21) is used for nesting the second gear ring (20) and is connected with the second gear ring through a first one-way electromagnetic clutch (23) between the annular clutch disc (21) and the second gear ring (20), the annular clutch disc (21) and the second gear ring (20) are adsorbed together based on magnetic force generated by the first one-way electromagnetic clutch (23) and form a working form that the annular clutch disc (21) and the intermediate shaft (2) are driven to rotate based on rotation of the second gear ring (20);

the second sun gear (19) is used for nesting the output shaft (3) and is connected with the output shaft through a second one-way electromagnetic clutch (24) between the output shaft and the second sun gear, wherein the second sun gear (19) and the output shaft (3) are adsorbed together based on the magnetic force generated by the second one-way electromagnetic clutch (24) and form a working state that the output shaft (3) is driven to rotate based on the rotation of the second sun gear (19).

6. The rehabilitation training wheelchair according to claim 5, wherein the output shaft (3) always maintains the rotation in the first direction based on the periodic forward and reverse rotations of the intermediate shaft (2) in a mode in which the first one-way electromagnetic clutch (23) generates the magnetic force based on the rotation in the first direction of the second ring gear (20) and the second one-way electromagnetic clutch (24) generates the magnetic force based on the rotation in the second direction of the second sun gear (19);

in a mode in which the first one-way electromagnetic clutch (23) is operated based on rotation of the second ring gear (20) in the second direction and the second one-way electromagnetic clutch (24) is operated based on rotation of the second sun gear (19) in the first direction, the output shaft (3) always keeps rotating in the second direction based on periodic forward and reverse rotations of the intermediate shaft (2); wherein the content of the first and second substances,

the first direction and the second direction are opposite directions.

7. An intelligent rehabilitation system comprises a rehabilitation training wheelchair, a control module, a physiological information acquisition device and a cloud server, and is characterized in that the rehabilitation training wheelchair at least comprises a training mechanism, a driving mechanism and at least one energy storage mechanism, the cloud server comprises a training frequency evaluation module and an activity suggestion module,

the training frequency evaluation module evaluates a predicted training cycle frequency matched with the physical health condition of a training subject based on the physiological information acquired by the physiological information acquisition device,

the control module dynamically monitors and controls an actual training cycle frequency of the training subject to approach the predicted training cycle frequency based on the predicted training cycle frequency,

8. The intelligent rehabilitation system according to claim 7, wherein the energy storage mechanism includes at least one flywheel energy storage mechanism,

the flywheel energy storage mechanism stores electric energy based on the power applied by the training mechanism, and dynamically guides the training mechanism to operate at a cycle frequency matched with the physical health condition of a training subject under the control command of the control module based on the predicted training cycle frequency,

the flywheel energy storage mechanism pulls at least two hammer assemblies to drive an input shaft (1) of the gear mechanism in a periodic alternating reverse swinging mode based on at least two pull bars so as to drive an output shaft (3) connected with the wheel to rotate in a gear meshing mode and keep the working state of the output shaft in a fixed rotating direction,

9. The intelligent rehabilitation system according to claim 7 or 8, wherein the control module comprises a communication module (39) electrically connected to the microprocessor (38),

the microprocessor (38) is electrically connected with the first one-way electromagnetic clutch (23) and the second one-way electromagnetic clutch (24),

the control module controls the microprocessor to change the working modes of the first one-way electromagnetic clutch (23) and the second one-way electromagnetic clutch (24) based on the control information sent by the training object through the mobile terminal.