CN109620657B - Multifunctional walking aid rehabilitation device for the disabled - Google Patents

Abstract

The present invention relates to the field of assistive devices for the disabled, and in particular to a multifunctional power-assisted walking rehabilitation device for the disabled. A multifunctional power-assisted walking rehabilitation device for the disabled comprises a chassis, a main rod support mechanism fixed on the chassis, an armrest mechanism connected to the main rod support mechanism, and an electric wheel device connected to the chassis, wherein the electric wheel device is used to move under the control of an operating rod and a single-chip microcomputer, and further comprises a rotating support device rotatably connected to the main rod support mechanism; one end of the rotating support device is fixedly connected to a hip fixing device for fixing the user's hips; a gas spring system device is connected between the rotating support device and the main rod support mechanism, and the rotating support device is used to support the user to realize the conversion of the user's arbitrary posture between sitting and standing under the action of the gas spring system device. The present invention has a delicate and compact structure and is easy to operate, and is very suitable for the daily life of the disabled.

Description

Multifunctional walking aid rehabilitation device for the disabled

Technical Field

The present invention relates to the field of assistive devices for disabled persons, and in particular to a multifunctional power-assisted walking rehabilitation device for disabled persons.

Background Art

For people with disabilities or lower body mobility problems, wheelchairs are often used to improve mobility. Although it is feasible, as people's quality of life improves, disabled people are no longer satisfied with the same wheelchairs on the market. They hope to be able to move upright like normal people. They need more humane, more convenient and more excellent means of transportation. In addition, disabled people need rehabilitation to maintain muscle activity. If they use traditional rehabilitation devices on the market, they need others to assist in training. Some disabled people are unwilling to undergo rehabilitation training because it will trouble others. In addition, traditional wheelchairs have several disadvantages:

(1) Because conventional wheelchairs are for sitting, the line of sight changes from looking straight ahead to looking upwards, which is quite different from that of ordinary people and can lead to a great sense of inferiority;

(2) Long-term use of traditional wheelchairs without rehabilitation training will lead to atrophy of leg muscles, completely eliminating the possibility of recovery;

(3) If a traditional wheelchair lacks the assistance of others, it is very dangerous for an individual to move the body to the wheelchair alone;

(4) Disabled people may need help from others, and sitting also deprives them of some convenience.

Therefore, our team designed a multifunctional device for assisting standing and rehabilitation based on real life, targeting people with disabilities or people with lower body mobility problems. This device enables people with disabilities or people with lower body mobility problems to independently conduct rehabilitation training, assist standing, and move upright in daily life. Disabled people can complete various daily tasks by themselves without the help of others, and the movement of this structure is controlled by a handle, which is very convenient; upright walking allows disabled people to become confident and no longer feel inferior due to the inconvenience of the lower body.

Summary of the invention

The technical problem to be solved by the present invention is to provide a multifunctional disabled person's power-assisted walking rehabilitation device which can assist disabled persons to stand up and walk on their own.

A multifunctional power-assisted walking rehabilitation device for the disabled, comprising a chassis, a main rod support mechanism fixed on the chassis, an armrest mechanism connected to the main rod support mechanism, and an electric wheel device connected to the chassis, wherein the electric wheel device is used to move under the control of an operating rod and a single-chip microcomputer, and further comprising a rotating support device rotatably connected to the main rod support mechanism;

One end of the rotating support device is fixedly connected to a hip fixing device for fixing the user's hips; a gas spring system device is connected between the rotating support device and the main rod support mechanism, and the rotating support device is used to support the user to achieve any posture conversion between sitting and standing under the action of the gas spring system device.

Preferably, the rotating support device includes a pair of connecting bases, one of which is fixedly mounted on the main rod support mechanism, a support rod assembly is rotatably mounted between the pair of connecting bases, and the other connecting base is fixedly connected to the hip fixing device.

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

Preferably, a waist protection device matching with the waist of a human body is fixedly connected to another connection base far away from the main rod support mechanism, and the waist protection device is connected to the hip fixing device.

Preferably, it also includes a display screen connected to the single chip microcomputer.

Preferably, it also includes a Bluetooth module connected to the single-chip microcomputer, and the Bluetooth module is used to remotely control the electric wheel device under the control of the mobile phone Bluetooth.

Preferably, it also includes a tracking control module connected to the single-chip microcomputer, which is used to enable the electric wheel device to automatically find a designated charging position for charging under the remote control of a mobile phone and the action of a magnetic navigation line.

Preferably, it also includes a power collection module connected to the single-chip microcomputer, which is used to control the electric wheel through the single-chip microcomputer to automatically find the designated charging position for charging under the action of the magnetic navigation line when it is detected that the battery of the motor is at low power.

Preferably, it also includes a box device, which is fixedly connected to the chassis and the main rod supporting mechanism.

Preferably, the box device is also equipped with a pair of leg guard structure devices for protecting the user's legs, and the shape of the leg guard structure devices is adapted to the shape of the user's legs in contact.

The main rod supporting mechanism is a rectangular parallelepiped structure.

Preferably, the armrest mechanism comprises a "T"-shaped armrest rod, the vertical portion of the armrest rod is mounted on the main rod support mechanism, and a handle is rotatably mounted at both ends of the horizontal portion of the armrest rod.

Preferably, the single chip microcomputer is a STM32F103ZET6 controller.

This design is mainly suitable for people with disabilities or lower body mobility problems, and mainly embodies the following functions:

(1) Rehabilitation function: The present invention helps disabled people to carry out rehabilitation training so that their muscles can be exercised and are less likely to suffer from diseases such as muscle atrophy. After the user uses the waist fixing device and the hip fixing device to fix the body, repeated standing movements can effectively stimulate the leg, waist, arm and foot muscles and restore their functions.

(2) Assisted standing function: By adding a chest protector and a hip fixation device, the product can keep a person in any posture from sitting to standing at will. The air cushion spring system is adjustable and can be used by people with different needs. It can help users stand up easily. What is important is that the user's hands are completely free at this time and can be used to do whatever they want.

(3) Walking-assist function: ① The product is equipped with electric wheels and controlled by a single-chip microcomputer, so that the user can easily operate the operating lever to allow the user to move forward, backward, and turn freely while standing; ② The user can easily complete daily tasks by relying on his own strength, breaking away from the constraints of traditional wheelchairs that cannot stand upright.

(4) Remote control function: Users can remotely control the product to perform various operations through the remote control.

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

This product can assist people with lower body paralysis or lower body mobility problems to walk upright; it can achieve rehabilitation function through repeated standing movements; the unique gas rod balance system, chest protection device and hip fixing device of this product can keep people in any posture from sitting to standing at will; this product can achieve forward, backward, left and right walking through the operating rod or wireless remote control, so that people with lower body paralysis or lower body mobility problems can live a worry-free life like normal people. And this product has an automatic tracking charging system. When the power is too low, it automatically finds a charging socket for charging. The present invention has a compact structure and is easy to operate, which is very suitable for the daily life of disabled people.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a structural perspective view 1 of an embodiment of the present invention.

FIG. 2 is a structural perspective view 2 of an embodiment of the present invention.

FIG. 3 is a right side view of FIG. 1 .

FIG. 4 is a front view of FIG. 1 .

FIG. 5 is a top view of FIG. 1 .

FIG. 6 is a left side view of FIG. 1 .

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

FIG. 8 is a schematic diagram of the armrest mechanism of FIG. 7 when it is separated from the main rod support mechanism.

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

FIG. 10 is a schematic diagram of the structure of the control system of the present invention.

FIG. 11 is a graph showing battery performance in Example 1 of the present invention.

Fig. 12 Schematic diagram of the center of gravity of the human body in sitting position.

FIG. 13 is a physical diagram of the present invention.

FIG. 14 is a diagram showing the center of gravity movement of the human body and the design in the present invention.

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

DETAILED DESCRIPTION

The present invention will be further described below in conjunction with the accompanying drawings:

A multifunctional power-assisted walking rehabilitation device for the disabled comprises a box device 1, which is similar to a rectangular parallelepiped structure. The box device 1 is directly welded to one end of a chassis 2. A pair of openings are provided on the chassis 2 in the box device 1, and an electric wheel device 21 is installed on each of the openings. The front plate of the box device 1 is composed of an upper baffle plate 11 of the box, a door plate (not shown in the figure) and a lower baffle plate 12 of the box. The upper baffle plate 11 and the lower baffle plate 12 of the box are welded between left and right side plates 13 of the box. The door plate of the box serves as a switch door of the box device 1 and is installed on the left or right side plate 13 of the box by any known technology. The rear plate of the box device 1 comprises a pair of rear sealing plates 14 of the box, and a main rod support mechanism 3 fixedly connected to the chassis 2 is fixed between the rear sealing plates 14 of the box. Fixing strips 131 for fixing circuit boards are respectively welded on the inner sides of the left and right side plates 13 of the box, and wheel covers 211 are respectively provided on the two electric wheel devices 21 on the chassis 2. As shown in FIG. 1 , preferably, the front plate of the box device 1 can also be an integral structure and installed on the left side plate or the right side plate 13 of the box body by known technology to serve as the door of the box body device.

As shown in FIG4 , the main rod support mechanism 3 includes a main rod 31 welded between a pair of box rear sealing plates 14 and on the chassis 2, and the main rod 31 is fixedly connected with an armrest rotation support device for supporting the rotation of the armrest mechanism, and the armrest rotation support device includes a pair of rotation support plates 311 fixedly installed on the upper surface of the main rod 31 and a rotation support plate sealing plate 312 between the rotation support plates 311. The pair of rotation support plates 311 are respectively provided with a small hole and a slot, and the slot is located in front of the small hole; the rotation support plate sealing plate 312 is arranged near the upper baffle 11 of the box. As shown in FIG1 , a battery box 32 is installed on one side of the main rod 31 located in the box device, and a lower plate 33 is installed on the other side of the main rod 31 opposite to it; the front and rear sides of the battery box 32 are respectively provided with a plurality of circular holes, and these circular holes are used for convenient wiring; the rotation support device 4 is also installed on the other side of the main rod above the lower plate 33, and the lower plate 33 is provided with a plurality of positioning holes for adjusting the installation position of the gas spring 5.

As shown in Figure 9, the rotating support device 4 includes a pair of connecting bases 41, a rotating rod 42 and parallel rods 43 respectively arranged on both sides of the rotating rod; one of the connecting bases 41 is fixedly installed on the main rod 31 of the main rod support mechanism, and each of the connecting bases 41 is correspondingly installed with a pair of rotating small brackets 411 and a rotating block 412 located between the rotating small brackets 411; the rotating block 412 is rotatably connected to a pair of rotating small brackets 411 through a rotating axis; the two ends of the rotating rod 42 are respectively welded to the rotating block 412; the two ends of the pair of parallel rods 43 are respectively rotatably connected to the rotating small bracket support 431 welded on the connecting base 41.

A waist protection device 44 is fixed on the other connecting base 41 away from the main rod supporting mechanism. The waist protection device can be a waist protection plate. The shape of the waist protection plate matches the shape of the human waist and is perpendicular to the chassis. The waist protection plate 44 includes a flat plate 441 fixedly mounted on the connecting base and side plates 442 on both sides of the flat plate, and the side plates form a certain angle with the flat plate; preferably, the waist protection plate can also be configured in this way, that is, its cross-section is arc-shaped, and the two side plates 442 are connected to the flat plate 441 to form an arc.

The waist guard plate 44 is connected to a hip fixing device (not shown in the figure), and the hip fixing device includes an automatic tightening belt mechanism respectively installed on the two side plates 442 of the waist guard plate 44, and a seat cushion connected to the automatic tightening belt mechanism. A display screen bracket 413 is also fixedly installed on the connecting base connected to the waist guard plate for supporting the display screen. The automatic tightening belt mechanism and the seat cushion of the hip fixing device can be directly installed through existing purchases. As shown in Figure 4, a small bracket 331 and 421 are respectively installed on the lower plate 33 of the main rod support mechanism and the rotating rod 42 of the rotating support device at the opposite position thereto, and a gas spring system device is installed between the small brackets 331 and 421. The telescopic end of the gas spring in the gas spring system device is rotatably connected to the small bracket 421 on the rotating rod 42, and the bottom end of the gas spring is fixed on the small bracket 331 of the lower plate 33; the gas spring system device is equipped with a gas spring control switch for controlling the telescopic movement of the gas spring.

As shown in FIG7 , an armrest mechanism 6 is provided on the rotating support plate 311 of the armrest rotating support device of the main rod support mechanism 3. Specifically, the armrest mechanism includes a "T"-shaped armrest rod and handles 65 respectively arranged at both ends of the horizontal part of the armrest rod and rotatably connected thereto. The vertical part of the armrest rod includes an outer sleeve 61, an inner sleeve 62 and a plug plate 63; the two opposite sides of the outer sleeve 61 are provided with a long strip hole 611 correspondingly along its length direction, and the inner sleeve 62 is provided with a round hole 622 above and below the two sides corresponding to the outer sleeve 61, a part of the inner sleeve 62 is inserted into the outer sleeve 61, and the outer sleeve 61 is connected to the inner sleeve 62 by a pin or a shaft, so that the outer sleeve 61 can slide up and down relative to the inner sleeve 62 within a certain range (i.e., the range where the long strip hole 611 is located).

A plug plate 63 is fixed on the outer sleeve 61, and the plug plate 63 on the outer sleeve is inserted into a pair of slots on the rotating support plate 311, and the circular hole 622 below the inner sleeve 62 is connected to the small hole on the rotating support plate 311 through an axis. The horizontal tube 64 of the horizontal part of the handrail is respectively fixed with a rotating ear 641 at both ends, and each of the rotating ears 641 is connected to the handle 65. When the handrail mechanism is not in use, the outer sleeve 61 is pulled upward to disengage the plug plate 63 on the outer sleeve from the slot on the rotating support plate 311, and then the handrail is rotated to a suitable position.

As shown in FIG2 , a pair of leg guard structure devices 7 are also installed on the rear cover plate 14 of the box body 1. The leg guard structure devices 7 are distributed on both sides of the lower plate 33 of the main rod support mechanism. The leg guard structure device 7 includes a leg guard column 71 fixedly connected to the rear cover plate 14 of the box body, and a leg guard plate 72 fixedly connected to the leg guard column 71. The cross section of the leg guard plate is an arc structure or a trapezoidal structure. The surface of the leg guard column 71 in contact with the rear cover plate 14 of the box body is provided with a plurality of fixing holes for adjusting the position of the leg guard structure device 7 according to the human body. The other end of the chassis 2 is also fixedly installed with a heel positioning device 8 for fixing the user's heel.

The control system consists of a controller, a motor controller, a power supply module, a display module, a direction module, a remote control module, a tracking control module and a power module, and the connection relationship is shown in Figure 10. The walking process is driven by a joystick to drive a potentiometer (the joystick is connected to a potentiometer, just like the remote control of a remote control car, there is a potentiometer under the handle, the specific model is: 2D rocker potentiometer JH-D202X-R2/R4 2D sealed pan-tilt controller for film and television photography, the potentiometer sends a signal to the controller, the controller receives the corresponding signal and then controls the motor controller to control the motor movement to complete the forward, backward, left turn and right turn.

Automatic charging is when the car is connected to the magnetic strip, and the tracking control module controls the location of the charger to complete automatic charging.

The control part of the electric wheel device in the present invention is a single chip microcomputer connected to the motor controller, and the power source of the electric wheel device in the present invention is a 24V battery device.

The control system in the present invention includes a single chip microcomputer, which is an STM32F103ZET6 single chip microcomputer; the single chip microcomputer is electrically connected to the motor controller of the electric wheel device, and the single chip microcomputer is also connected to the sensor of the operating rod, and the operating rod can be installed in a position suitable for user operation, for example, it can be installed on the cross pipe 64 of the armrest mechanism. The user operates the operating rod, so that the sensor of the operating rod sends a signal to the single chip microcomputer, and the single chip microcomputer controls the motor controller to move the motor, thereby realizing the forward, backward, turning and other movements of the electric wheel device.

As shown in Figure 10, the single-chip microcomputer is also connected to a remote control module (i.e., a Bluetooth module), a tracking control module, a liquid crystal display screen, and a power collection module. The power collection module is used to collect the power of the battery, the Bluetooth module is used to remotely control the movement of the electric wheel through the mobile phone Bluetooth; and the tracking control module is used to make the electric wheel device move along the magnetic navigation line laid on the ground.

The electric wheel device can automatically find the designated charging position for charging through the magnetic navigation line through the acquisition module when the electric wheel device is in low power. The device collects the battery power through the power acquisition module. When the battery power is low, the device is remotely controlled by a mobile phone to the tracking line and the tracking charging icon on the mobile phone is pressed. The car can run along the magnetic navigation line to the charging position for charging. The automatic charging device connected to the charging terminal of the present invention can be set as two contact pieces connected to the battery. The model of the motor controller is AQMD6020BLS DC inductive brushless motor control module driver.

The single chip microcomputer, the motor controller of the electric wheel device, the sensor, and the remote control module (Bluetooth module) in the present invention

The tracking control module, LCD display and power collection module are all purchased. Their connection principles and working principles with the single-chip microcomputer are well-known technical means in the prior art and will not be repeated here.

The working process of the present invention is as follows: after the user fixes the body with the hip fixing device, the gas spring control switch of the gas spring system is manipulated, and the gas spring pushes the rotating support device to make the user slowly change from a sitting position to a standing position; the operating rod is operated, and the sensor in the operating rod sends a signal to the single-chip microcomputer, and the single-chip microcomputer controls the motor controller to move the electric wheel device, so as to realize the movement, retreat, turning and other movements of the device of the present invention. When the battery of the motor is at low power, because the power acquisition module collects the power of the battery in real time, when the battery is collected to be at low power, the transmission signal is sent to the single-chip microcomputer, and the single-chip microcomputer controls the motor. After the device is remotely controlled by the mobile phone to the tracking line, press the tracking charging icon on the mobile phone, and the car can run along the magnetic navigation line to the charging position for charging. Under the coordinated action of the tracking control module, the electric wheel device runs along the magnetic navigation line (i.e., the magnetic strip laid on the ground) to the designated charging end for charging. In addition, after using the car of the present invention, the car can also be remotely controlled to run along the magnetic navigation line to the designated charging section for charging.

Remote control module of the present invention: Bluetooth module DIY A09HC-05 master-slave integrated Bluetooth module

Tracking control module: AGV car magnetic navigation sensor 8-bit industrial catering robot aluminum alloy shell D-MNSV3-X8 bipolar

The power collection module of the present invention is shown in FIG15

The relevant theoretical design calculations of the present invention:

1. Analysis of the center of gravity of human sitting posture

The center of gravity of the human body in a sitting position is shown in Figure 12. Calculated from the center of gravity of the human body in a sitting position, we know from the information that "the algebraic sum of the moments of each part of an object relative to a certain axis is equal to the moment of the total weight of the object on the axis." That is, moment = force * lever arm. Since the human body is a non-homogeneous object, the divided parts of the human body are considered to be homogeneous.

Therefore, the calculation of the center of gravity of the human body can also use the Varignon theorem, that is:

P(total center of gravity of the human body X) = ΣP(each link i) x (each link i) (1)

P(total center of gravity of the human body Y) = ΣP(each link i)y(each link i) (2)

(1) Establish a rectangular coordinate system

To calculate the center of gravity of the human body, two quantities (x, y) must be determined.

(2) Determine the location of the link

① Mark the positions of human body parts according to the positions of joints.

② Connect the joint marking points to form a human stick figure.

(3) Determine the location of the center of mass of each link

① Use measuring tools to measure the length of each link.

② Mark the centroid position of each link according to the percentage of the centroid of the link to the proximal segment.

③Determine the centroid (x, y) of each link.

(4) Final calculation

In step (3), each link (x, y) has been obtained. In this way, the torque of each link relative to the X-axis and Y-axis is obtained, that is:

Pxi＝G each link×Xi (3)

Pyi＝G each link×Yi (4)

For the convenience of calculation, the total weight of the human body is regarded as 1. In this way, the mass of each part of the human body is a relative quantity.

Then we can get the moment of the total center of gravity of the human body relative to the X-axis and Y-axis, that is;

P(total center of gravity of the human body X) = ΣP(each link i) x (each link i) (5)

P(total center of gravity of the human body Y) = ΣP(each link i)y(each link i) (6)

(5) Mark the center of gravity of the human body

Through the previous measurement and calculation, we get ΣPX and ΣPY. That is, the moment of the total center of gravity of the human body on the X-axis and Y-axis. Since the mass of the human body is simplified to 1, the sum of ΣPX and ΣPY is the center of gravity of the human body in the coordinate system (X, Y).

Then mark the obtained value on the picture, which is the total center of gravity of the human body.

From this we can see that the green point in the figure is the center of gravity (0.54, 4.56), so the center of gravity of the sitting human body is (0.54, 4.56).

At this time, if the mass of the human body is 1, then assuming that the person is 1.75m tall and weighs 65kg, his center of gravity is at (0.54, 55.43).

2. Car center of gravity

The center of gravity of the car is generated by the mass point in Solidworks, and the coordinates of the center of gravity of the car are as follows:

X＝251.25mm

Y＝250.00mm

Z＝341.56mm

Principal axis of inertia and main moment of inertia: (kg*mm2)

Determined by the center of gravity.

Ix=(1.000, 0.000, 0.005)Px=41741.665

Iy=(0.000, 1.000, 0.000)Py=83806.063

Iz＝(-0.005, 0.000, 1.000)Pz＝124373.183

Inertia tensor: (kg*mm2)

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

Lxx＝41743.940 Lxy＝0.000 Lxz＝433.572

Lyx＝0.000 Lyy＝83806.063 Lyz＝0.000

Lzx＝433.572 Lzy＝0.000 Lzz＝124370.908

Inertia tensor: (kg*mm2)

Determined by the output coordinate system.

Ixx＝135091.120 Ixy＝144104.664 Ixz＝33491.998

Iyx＝144104.664 Iyy＝322642.011 Iyz＝20343.742

Izx＝33491.998 Izy＝20343.742 Izz＝447220.097

3. Diagram of the change of the overall center of gravity when a person moves

The diagram of the center of gravity movement of the human body and the design is shown in Figure 14.

The i line in this figure represents the change of the center of gravity of the human body when it moves, from a sitting position to a standing position. At this time, the center of gravity of the person will slowly move in the positive direction of y. Since the force is concentrated on the feet, the center of gravity will slowly decrease toward the value of x. The ii line in the figure represents the center of gravity of the car. When a person gets on the car, the center of gravity slowly moves upward and keeps moving in the positive direction of x. Since the center of gravity of the car is always lower than the center of gravity of the person, but the value of x of the car is always greater than the value of x of the person, the center of gravity of the car is more stable than the center of gravity of the human body when the person moves. At this time, the car will not overturn and there will be no safety hazards.

Determine the weight of the waist protection structure. From the formula ρ＝M/V, we know that the mass is: M＝ρV (7) The density of cold-rolled steel plate is known to be ρ＝7.85g/cm3. Since the unit of density is gram per centimeter, we need to convert the volume into it for calculation. From the combination of the various parts of the waist protection structure, we can get the volume V＝1273.583cm3;

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

The mass of the waist protection structure is M = 9.997 kg

Because resistance arm x resistance = power arm x power:

F1xL1＝F2xL2 (9)

From the measurement, it is found that the resistance arm L1 = 350 mm and the power arm L2 = 57.3 mm.

It is known that the resistance on the resistance arm is the gravity on the waist protection structure. Take g = 9.8N/m.

Gravity G:

G＝Mg＝9.997×9.8＝97.97N (10)

Push rod thrust F2:

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

Therefore, the thrust of the selected gas spring should be greater than 598.4N, and the thrust of the selected gas spring should be 600N.

Calculation of motor wheel

The volume of each part is calculated from the length, width and height of each component of the trolley, and then the weight of the machine is derived using the formula ρ = M/V. (12)

It is known that the density of cold-rolled steel plate is 7.85g/cm3, since the unit of density is g/cm3.

From the volume of the entire car, we can find:

v = 8917.197 cm3.

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

It can be concluded that the entire weight of the car is 70kg.

At this time, assume that the weight of the person standing on it is m2 = 60kg.

At this time, the wheels are under a total weight

m=m1+m2=70+60=130kg. (14)

Since there is friction between the wheel and the ground, the friction coefficient is u = 0.3. Take g = 9.8 N/m.

All the weights on the car:

G＝mg＝130x9.8＝1274N (15)

Friction:

F＝uG＝0.3x1274＝382.2N (16)

Because the wheel radius is 4 inches, 1in=2.54cm, so R=4x 2.54=10.16cm=0.1016m.

Then the torque T1:

T1＝FR＝0.1016x382.2＝38.83N·M (17)

The torque T1 is obtained as 38.83 N·M.

In order to verify the correctness of this calculation, reverse calculation is performed.

It is known that the power of the wheel is 0.25kw and the speed v=1.8km/h=0.5m/s.

From the formula v = 2πRn, we can get the speed n = v/2πR

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

Torque T2:

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

We obtain T2 = 60.28 N·M.

It can be seen that T1 is less than T2. However, in order to realize the movement of the motor wheel, a motor wheel with a power of 250w and a speed of 0.66rad/s is selected.

Battery selection

1. Full speed motion time calculation

From the calculation of the motor wheel, we know that a 250w motor wheel is selected, but 250w is the rated power, not the exact power during operation. Therefore, we need to calculate the power during operation and find out how long the battery charge can provide for the work to run. It is known that there are two motor wheels and two batteries with the same specifications.

Measure the current I when the motor wheel moves at full speed.

The measured current I = 8 A. It is known that the voltage U = 24 V is provided to the motor wheel.

W＝UI＝24×8×2＝384w (20)

P＝QU/t. (21)

The selected 24V 20A·H battery has a power of W=UI.

W＝UI＝24×20×2＝960w/h (22)

Since the power consumed by the design during operation is W = 192w, and the power that the battery can provide is W = 960w, then the battery can be used for time h:

h＝W/W car＝960/384＝2.5h (23)

The battery used in this design has enough power to supply the motor at full speed for 2.5 hours without interruption.

2. Calculation of continuous exercise time.

The design is that the wheels generate dynamic friction with the ground when in motion, and the dynamic friction factor is u = 0.018. From the previous calculation, we know that the gravity when a person is on the car is:

G＝1274N (24)

From this we know the dynamic friction force:

F＝uG＝0.018x1274＝22.93N (25)

Radius of wheel:

R＝0.1016m (26)

Then the torque:

T＝FR＝22.93x0.1016＝2.3N.M (27)

Since T = 9549xp/n, we can deduce that p = Tn/9549, and n = 39.6rad/min

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

Power p = 10w

P＝QU/t (29)

The selected 24v 20AH battery, at this time the battery power W = UI.

W＝UI＝24*20＝480w/h (30)

Since the power consumed by the design during operation is p = 10w, and the battery can provide W = 480w, then the battery can be used for:

t＝W/p＝480/10＝48h(31)

The battery used in this design can power the motor to run at low speed for 48 hours and at full speed for 2.5 hours.

Sheet metal bending factor

The waist protection structure and leg protection structure of the device both involve the bending coefficient of the sheet metal.

Bending equation:

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

Given that the material thickness of the waist structure is s = 0.4, the bending radius is r = 4.5, the angle is b = 60°, and the factor is k = 0.5, calculate v:

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

The bending coefficient of the waist protection structure is 0.186.

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

Debugging process

In order to test the feasibility of the design, the present invention is debugged, mainly from the aspects of assisting standing and assisting walking. The assisting standing of the present invention is debugged, and after debugging, the present invention achieves the assisting standing goal, allowing people to change from a sitting position to a standing position.

The present invention utilizes the control of a single chip microcomputer and realizes the walking-assisting function after debugging is completed.

References

Guo Rensheng. Fundamentals of Mechanical Design. Beijing: Tsinghua University Press, 2006.

Zhao Jiagui. Electronic Circuit Design. Beijing: China Metrology Press, 2005.

Cui Aihong. Project-based Tutorial on Analog Electronic Technology. Qingdao: Ocean University of China Press, 2011.

Bai Yan, Zheng Wengang. Design of mechanical mechanism of the correction part of X/O type lower limb rehabilitation instrument. Heilongjiang Science and Technology Information, 2016(8): 46-46.

Zhang Hongwei. Design of balancing car based on STM32. Science and Technology Innovation and Application, 2016(2): 78-79.

Zhang Yongjun, Discussion on bending coefficient in sheet metal processing, Railway Technical Supervision, 2000(7): 35-37.

Claims (5)

1. The utility model provides a multi-functional disabled person helping hand helps a rehabilitation device which characterized in that: the device comprises a chassis, a main rod supporting mechanism, a handrail mechanism, an electric wheel device and a rotary supporting device, wherein the main rod supporting mechanism is fixed on the chassis, the handrail mechanism is connected with the main rod supporting mechanism, the electric wheel device is connected with the chassis and used for moving under the control of an operating rod and a singlechip, and the rotary supporting device is rotationally connected with the main rod supporting mechanism;

One end of the rotary supporting device is fixedly connected with a hip fixing device for fixing the hip of a user; a gas spring system device is connected between the rotary supporting device and the main rod supporting mechanism, and the rotary supporting device is used for supporting a user to realize the conversion of any posture between sitting posture and standing posture under the action of the gas spring system device; the rotary supporting device comprises a pair of connecting bases, wherein one connecting base is fixedly arranged on the main rod supporting mechanism, a supporting rod component is rotatably arranged between the pair of connecting bases, and the other connecting base is fixedly connected with the hip fixing device; the waist support device is connected with the hip fixing device, the waist support device is a waist support plate, the waist support plate is matched with the waist shape of a human body and is perpendicular to the chassis, the waist support plate comprises a flat plate fixedly arranged on the connecting base and side plates on two sides of the flat plate, the side plates and the flat plate form a certain angle, the waist support plate is connected with the hip fixing device, and the hip fixing device comprises an automatic tightening belt mechanism and a cushion connected with the automatic tightening belt mechanism, wherein the automatic tightening belt mechanism is respectively arranged on the two side plates of the waist support plate;

The main rod supporting mechanism comprises a main rod welded between a pair of box body rear sealing plates and on the chassis, the main rod is fixedly connected with a handrail rotating supporting device for supporting the handrail mechanism to rotate, the handrail rotating supporting device comprises a pair of rotating supporting plates fixedly arranged on the upper surface of the main rod and a rotating supporting plate sealing plate arranged between the rotating supporting plates, a small hole and a slot are correspondingly formed in the pair of rotating supporting plates respectively, and the slot is positioned in front of the small hole; the rotary support plate sealing plate is arranged close to the side of the upper baffle of the box body;

The handrail rotating support device of the main rod support mechanism is provided with a handrail mechanism, and the handrail mechanism comprises a handrail rod in a T shape and handles which are respectively arranged at two ends of the horizontal part of the handrail rod and are rotationally connected with the handrail rod; the vertical part of the grab rail comprises an outer sleeve, an inner sleeve and an inserting plate; the two opposite side surfaces of the outer sleeve are correspondingly provided with a strip-shaped hole along the length direction, a round hole is respectively arranged above and below the two corresponding side surfaces of the inner sleeve and the outer sleeve, one part of the inner sleeve is inserted into the outer sleeve, and the outer sleeve is connected with the inner sleeve through a bolt or a shaft;

The Bluetooth module is used for remotely controlling the electric wheel device under the control of the Bluetooth of the mobile phone; the multifunctional disabled person power-assisted walking aid device is characterized by further comprising a tracking control module and an electric quantity acquisition module which are connected with the singlechip, wherein when the electric quantity acquisition module acquires that a storage battery of the motor is in low electric quantity, the multifunctional disabled person power-assisted walking aid device is remotely controlled by the mobile phone to a tracking line, and then a tracking charging icon on the mobile phone is pressed down, so that the multifunctional disabled person power-assisted walking aid device can be operated to a charging position along a magnetic navigation line to charge.

2. The multifunctional disabled person assisted walking aid rehabilitation device according to claim 1, wherein: the support rod assembly comprises a rotating rod and parallel rods distributed on two sides of the rotating rod.

3. The multifunctional disabled person assisted walking aid rehabilitation device according to claim 1, wherein: the display screen is connected with the singlechip.

4. A multi-functional disabled person assisted walking rehabilitation device according to any one of claims 1-3, characterized in that: the device also comprises a box body device which is fixedly connected with the chassis and the main rod supporting mechanism.

5. The multifunctional disabled person assisted walking aid rehabilitation device according to claim 4, wherein: the box body device is also provided with a pair of leg protection structure devices for protecting the legs of the user, and the shape of the leg protection structure devices is matched with the shape of the legs of the user in contact.