CN113749897A

CN113749897A - Bionic auxiliary system for postoperative recovery of gastric tumor

Info

Publication number: CN113749897A
Application number: CN202111069029.1A
Authority: CN
Inventors: 赵卫杰; 马一杰
Original assignee: Henan Cancer Hospital
Current assignee: Henan Cancer Hospital
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2021-12-07

Abstract

The invention relates to the field of medical devices, in particular to a bionic auxiliary system for postoperative recovery of patients with gastric tumors; the bionic auxiliary system involved in the invention mainly includes a reclining chair using a bionic design, a backrest of the reclining chair, and arm supports. The board, armrest, chair seat and leg support plate can all be adjusted with a high degree of freedom to meet the needs of the patient; a walker is also set up in conjunction with the reclining chair, and the leg support plate with bionic joints is used. Walking exercise while keeping the lying posture on the sanatorium satisfies the needs of patients to exercise after meals, and can simultaneously reduce the common complications of gastric cancer patients after surgery; And the visual console that gives instructions for recovery and recuperation can further help patients maintain a happy mood, and give patients correct recuperation guidance, which can effectively improve the postoperative survival rate and survival time of patients.

Description

Bionic auxiliary system for postoperative recovery of gastric tumor

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to a bionic auxiliary system for postoperative recovery of a patient with gastric tumor.

Background

Gastric tumors are common diseases of the digestive system and can be divided into malignant diseases and benign diseases; among them, benign tumors of the stomach account for only about two percent of the stomach tumors, and most of the stomach tumors are malignant tumors; malignant gastric tumors include gastric cancer, malignant lymphoma, malignant interstitial tumor, and the like, with gastric cancer being the most common; the gastric cancer is a malignant tumor with remarkable regional difference in incidence, often originates from gastric mucosal epithelium, has higher incidence rate in northwest and east coastal areas of China than in south areas, and occupies the first incidence rate in various malignant tumors of China; the good incidence age of the gastric cancer is more than 50 years old, and the incidence ratio of men to women is 2: 1; in recent years, the onset of gastric cancer tends to be younger due to the influence of factors such as the change in dietary structure, the increase in working pressure, and infection with helicobacter pylori.

Malignant tumor of stomach can occur in any part of stomach, more than half of which occur in antrum, and can be affected in greater curvature of stomach, lesser curvature of stomach, and front and back walls; most of gastric cancers belong to adenocarcinoma, have no obvious symptoms in the early stage, sometimes have nonspecific symptoms such as epigastric discomfort, warm air and the like, are similar to the symptoms of chronic gastric diseases such as gastritis, gastric ulcer and the like, and are easy to be ignored by patients, so that the early diagnosis rate of the gastric cancers in China is low, and the overall cure rate of the gastric cancer patients in China is always low; 45.6 ten thousand new cases of gastric cancer exist in 2018, and 39 ten thousand death cases exist in China; at present, the national early gastric cancer diagnosis rate is still lower than 20%, and the five-year survival rate of the patients is only 27.4%.

After stomach tumor operation, in order to promote patient's survival rate, need carry out meticulous management to patient's postoperative life, can only rely on patient's self consciousness to guarantee the life management of postoperative convalescence basically among the present medical technology, if do not rely on the guardian of register, the patient appears lax easily in the aspect of postoperative life management, influences the prognosis effect of self to produce various complications easily, influence patient's life health.

Gastric cancer patients are easy to cause symptoms such as dumping syndrome and the like because the stomach needs to be completely or partially resected; intestinal diseases such as intestinal obstruction are also easily caused because the patient can lie in bed for a long time after the operation; how the postoperative recovery effect of the gastric cancer patient depends on the living state and healthy behavior of the patient in the recovery period to a great extent, how to keep away from the health care supervision condition after discharge helps the patient keep a healthy life rest for a long time, avoids postoperative complications, guides the patient to correctly spend the recovery period, promotes the postoperative survival rate and the life quality of the patient, and is a problem that the current stomach tumor treatment is urgently needed to be solved in the postoperative recovery field.

Disclosure of Invention

The invention aims to provide a bionic auxiliary system for recovery, which can assist a gastric cancer patient to maintain a healthy living habit after a gastric tumor operation and avoid postoperative complications.

Based on the purpose, the invention adopts the following technical scheme:

a bionic auxiliary system for postoperative recovery of gastric tumor comprises a base, wherein the base comprises a supporting base and a control base, and the control base is arranged above the supporting base; the top of the control base is provided with a seat, one side of the seat is provided with a chair back connected with the control base, and the other side opposite to the chair back is provided with a pair of leg supporting plates connected with the control base; a pair of arm supporting plates are symmetrically arranged at two sides of the chair back; the pair of arm supporting plates are connected with the chair back through the supporting plate adjuster, the bottom end of the chair back is connected with the control base through the chair back adjuster, the leg supporting plates are connected with the control base through the leg supporting plate servo electric cylinder, and the bottom of the chair seat is connected with the control base through the buffer; one end of the supporting base matched with the leg supporting plate is connected with a walking device.

Preferably, the support plate adjuster comprises a servo electric cylinder group arranged on the back of the chair back, and the servo electric cylinder group comprises two pairs of servo electric cylinders which are symmetrically arranged; the tail ends of the piston push rods of the two pairs of servo electric cylinders are connected with arm support plate push rods through shaft holes, and the tail ends of the arm support plate push rods are connected to the back surfaces of the pair of arm support plates through the shaft holes; the back of the arm supporting plate is provided with a connecting table which is connected with the push rod of the arm supporting plate; an arm supporting plate connecting rod is fixedly arranged on the connecting table, and the tail end of the arm supporting plate connecting rod is connected to a connecting hole formed in the back of the chair through a shaft hole.

Preferably, the lower end of the chair back is connected with a sliding block, a sliding groove matched with the sliding block is arranged on the control base, and the sliding block is arranged in the sliding groove; the chair back lifting servo electric cylinder is arranged in the control base, the tail end of a piston rod of the chair back lifting servo electric cylinder is connected to the back of the chair back, a connecting table is arranged on the back of the chair back, and the connecting table is connected with the tail end of the piston rod of the chair back lifting servo electric cylinder through a shaft hole and matched with the back of the chair back lifting servo electric cylinder.

Preferably, the bottom of the chair seat is provided with a buffer, the buffer comprises a buffer piston, and a buffer spring is arranged between the base of the buffer piston and the top of the control base; the top of the buffer base is provided with a through hole matched with a piston rod of the buffer piston, and the piston rod of the buffer piston penetrates through the through hole at the top of the buffer base and is connected to the top of a pressure bearing device arranged in the buffer base; the pressure bearing device comprises a pressure bearing plate, a bearing support column is fixedly connected to the bottom surface of the pressure bearing plate, and a pressure sensor is arranged between the pressure bearing plate and the bearing support column.

Preferably, a pair of handrail lifters are symmetrically arranged on two sides of the pressure bearing device, and handrails are arranged on the pair of handrail lifters; the handrail is of a door-shaped structure and comprises a horizontal plate and two vertical plates which are vertically arranged on two sides of the horizontal plate, a through hole matched with the vertical plates of the handrail is formed in the top end of the control base, and the vertical plates of the handrail penetrate through the through hole to be connected with a handrail lifter arranged in the control base; the inner side of each vertical plate is provided with a handrail rack; a servo motor is arranged in the handrail lifter, a handrail lifting gear is connected to the servo motor, and the handrail lifting gear is meshed with the handrail rack; the top of the transverse plate of the handrail is provided with a visual operating platform.

Preferably, the visual operating platform comprises an operating panel and a touch panel, and the operating panel and the touch panel are respectively arranged at the top ends of the left handrail and the right handrail; the top of the operation panel is provided with a display screen, and one side of the display screen is provided with a plurality of control buttons; the top of the touch panel is provided with a touch screen, and the bottom of the touch panel is connected with the handrail through a mechanical arm; the mechanical arm comprises a base box, the base box is fixedly arranged at the bottom of the handrail transverse plate, a main mechanical arm motor is arranged in the base box, and the main mechanical arm motor is connected with the mechanical arm; the mechanical arm comprises an upper joint, a rotating joint, a lower joint and a connecting turntable which are sequentially connected, and the connecting turntable is fixedly connected with the back of the touch panel; the upper joint, the rotary joint and the lower joint are controlled by a servo motor to rotate.

Preferably, the control base is internally provided with a mounting plate which is vertically arranged between the pressure bearing device and the chair back lifting servo electric cylinder; one surface of the mounting plate facing the pressure bearing device is provided with a pair of leg support plate servo electric cylinders which are symmetrically arranged relative to the pressure bearing device; the control base is provided with a through hole matched with the leg support plate servo electric cylinder, and the tail end of the piston end of each leg support plate servo electric cylinder is connected with a thigh support plate through a flexible hinge; the tail end of the thigh supporting plate is connected with a shank supporting plate through a flexible hinge; supporting pads are arranged at the top ends of the thigh supporting plate and the shank supporting plate; the inside of the servo electric cylinder piston rod of the leg supporting plate and the inside of the thigh supporting plate are both provided with a leg tightening motor, the leg tightening motor inside the thigh supporting plate is connected to the shank supporting plate through a tightening belt, and the leg tightening motor inside the servo electric cylinder piston rod of the leg supporting plate is connected to the thigh supporting plate through a tightening belt.

Preferably, the bottom surface of the control base is connected with the support base through a servo lifting electric cylinder, a telescopic motor set is arranged in the support base, the telescopic motor set comprises a pair of symmetrically arranged telescopic outer motors, a pair of telescopic inner motors are symmetrically arranged between the pair of telescopic outer motors, and a driving gear is arranged on each motor in the telescopic motor set; a pair of limiting rack bar sliding grooves are symmetrically arranged in the supporting base, the pair of limiting rack bar sliding grooves are respectively matched with the pair of telescopic outer motors, and openings are formed in the inner side surfaces of the pair of sliding grooves, which are opposite to each other; a pair of limiting rack rods are arranged in the pair of sliding grooves, limiting racks are arranged on the limiting rack rods, and the limiting racks are respectively meshed with driving gears on the pair of telescopic outer motors; the free ends of the pair of limiting rack rods are provided with limiting bosses which are connected with the walking device in a matching way; a pushing rack bar is arranged between the pair of telescopic inner motors, two rows of pushing racks are arranged on two sides of the pushing rack bar, and the pushing racks are respectively meshed with driving gears on the pair of telescopic inner motors; a pushing rack bar sliding groove is formed in the supporting base and matched with the pushing rack bar; the free end of the pushing rack rod is provided with a connecting shaft, and the connecting shaft is connected with the walking device in a matching way.

Preferably, the walking device comprises a plurality of supporting rollers which are arranged in parallel, and the outer edges of the supporting rollers are provided with anti-skid walking dispersing belts; the front end and the rear end of the supporting roll are both provided with a walking device shell, a walking device motor is arranged in the walking device shell, and the walking device motor is connected with the supporting roll; the two end faces of the walking device shell are respectively provided with a limiting sliding chute which is respectively matched with a corresponding limiting lug boss on the limiting rack rod; a connecting boss is arranged at one end of the walking device shell close to the supporting base, a pair of connecting rods is connected to the connecting boss, and the two connecting rods are respectively connected with two ends of the connecting shaft; the walking device is internally provided with a pressure sensor.

Preferably, the bottom of the handrail lifter is provided with a control box, and the control box is electrically connected with each servo electric cylinder and the servo motor; the visual operating platform is electrically connected with the control box; the pressure sensor and the pressure sensor are electrically connected to the control box; a control chip is arranged in the control box and dynamically adjusts the work of each servo motor and each servo electric cylinder according to data transmitted by the pressure sensor and the pressure sensor; and a power supply box is arranged on the side surface of the base and is electrically connected with the control box, the servo electric cylinders and the servo motor.

The invention has the following beneficial effects:

the invention relates to a bionic auxiliary system for postoperative recovery of gastric tumor, which mainly aims to assist a gastric tumor patient to carry out scientific and healthy postoperative recovery exercise, and simultaneously avoid postoperative complications of the gastric tumor patient from influencing the body health and reducing the life quality; due to the particularity of the gastric tumor resection operation, if a patient takes a walk after a meal, the patient is easy to induce a dumping syndrome and harms the body health of the patient, and if the patient does not take the walk in time, complications such as intestinal obstruction and the like are easy to occur, and how to keep balance between the movement and the rest is very difficult to grasp for the patient; the bionic recuperation chair uses the bionic recuperation chair as a main means, the bionic recuperation chair can enable a patient to freely move two legs when lying on the bionic recuperation chair, and the telescopic walking device is matched, so that the patient can lie on a bed and can exercise the body, the exercise after meals can be ensured, the intestinal obstruction caused by long-term lying in bed can be avoided, the risk of toppling syndrome caused by standing movement can be avoided, and the aim of killing two birds with one stone is achieved.

The invention adopts the telescopic walking device, the walking device is provided with the anti-skidding walking belt through the supporting roller, the walking belt can actively rotate under the driving of the motor, and the walking device can provide the function of continuous walking for patients like a running machine; the walking device moves and stretches through the matching of the limiting rack rods arranged at the two ends and the pushing rack rod arranged in the center, and when the limiting rack rods are not moved and push the rack rods to a position exceeding the limiting rack rods, the walking device can be lifted and is changed from horizontal arrangement to inclined arrangement; according to the chair back angle set by the patient, the control chip can control the relative positions of the limiting rack rod and the pushing rack rod so as to control the inclination angle of the walking device to be in the state most suitable for the sitting and lying angle of the patient and keep the proper motion posture for the patient.

According to the invention, the pressure sensor is adopted to collect pressure information between the foot of the patient and the walking device, the telescopic motor set is controlled to work through calculation of the control chip, so that the distance between the front and the back of the walking device is finely adjusted, the simulation gravity feeling is provided for the patient, the discomfort of the patient when walking in a prone position is reduced, the use comfort is improved, meanwhile, the leg muscles can be exercised for the patient by simulating the gravity effect, and the exercise effect which is two to the common walking effect is really achieved.

The chair back, the walking device, the control base, the leg support plate, the handrail, the arm support plate and the like are controlled by the servo electric cylinder; the servo electric cylinder can accurately control the movement distance of the piston rod, so that the movement of each component is accurately controlled, and each component is stopped at a proper position.

The bionic structure with two separated legs and large and small separated legs is adopted in the leg supporting plate structure, and the leg supporting plate structure which does not influence the lying posture movement of a patient is designed aiming at the structural characteristics of the legs of the human body; the thigh supporting plate and the shank supporting plate which are respectively and independently separated are connected through the flexible hinge, so that a certain support can be provided for a patient, the frictional resistance in normal walking can be simulated, and more realistic exercise experience is provided for the patient; the thigh supporting plate is also connected with a leg supporting plate servo electric cylinder through a flexible hinge, the servo electric cylinder can dynamically adjust the extension of the leg supporting plate, and the total length of the leg supporting plate structure is changed, so that the movement of the leg supporting plate can be closer to the state of normal walking of a human body; leg tightening motors are arranged between the thigh supporting plate and the piston rod of the leg supporting plate servo electric cylinder and between the thigh supporting plate and the shank supporting plate and are connected with the tightening belt, and the leg tightening motors are matched with the tightening belt to assist in adjusting the rigidity of the flexible hinge connection and provide resistance of different degrees; the adjustment is controlled by a control chip, and the control chip can adjust the rigidity of the flexible hinge according to the weight of the patient according to a pressure signal transmitted from a pressure sensor arranged in a pressure bearing device at the bottom of the chair seat so as to provide the resistance of the leg supporting plate closest to the real walking state; when not needing to walk to take exercise, control chip also can control the shank and tighten up the motor, makes the biggest inclination of shank supporting plate structure fixed, makes patient's shank can obtain effectual support, provides the experience of lying like ordinary recuperation chair is general for the patient.

The visual operation platform is also carried on the liftable handrails on the two sides and comprises an operation panel and a touch panel; the operation panel is provided with a display screen and a plurality of buttons for directly controlling each part of the invention, working modes can be set according to preset situations, including a common deck chair mode, a lying posture walking mode, a half lying walking mode and the like, and each part can be controlled to carry out corresponding adjustment according to different selected working modes; the touch panel is connected to the handrail on one side through the mechanical arm structure, and the touch panel can be arranged at a proper position through the mechanical arm and is suitable for being used in a lying posture; software for assisting postoperative nursing of a patient is arranged in the touch panel, the real-time weight of the patient can be recorded according to the pressure sensor at the bottom of the chair seat, the body information record is summarized, exercise advice is provided according to body changes, and the patient is assisted to select proper body exercise intensity; meanwhile, the touch panel can play audio and video according to the needs of the patient, help the patient to condition the mood during rest, maintain good mood, improve the immunity of the patient and be beneficial to prolonging the life cycle.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention from another perspective;

FIG. 3 is an enlarged view of a portion of the labeled area of FIG. 2;

FIG. 4 is a schematic view of the overall structure of the present invention with the base housing removed;

FIG. 5 is a schematic view of the overall structure of the present invention with the base housing and the walker removed;

FIG. 6 is an enlarged view of a portion of the area marked A in FIG. 5;

FIG. 7 is an enlarged view of a portion of the area marked B in FIG. 5;

FIG. 8 is an enlarged view of a portion of the labeled areas of FIG. 7:

FIG. 9 is an enlarged view of a portion of FIG. 5 with part removed in the area marked B;

FIG. 10 is a schematic structural view of the connection between the armrest and the touch pad via the mechanical arm structure according to the present invention;

FIG. 11 is a schematic structural view of a portion of the leg support plate of the present invention;

FIG. 12 is a side view of the leg support plate structure of the present invention;

FIG. 13 is a schematic view of the construction of the walking device of the present invention;

FIG. 14 is a schematic view of the engagement of the present invention's spreader with the internal components of the support base;

FIG. 15 is a schematic structural view of the present invention in a lying walking state;

fig. 16 is a schematic structural diagram of embodiment 4 of the present invention.

In the figure: a chair back 1; a headrest 11; an arm support plate 12; a servo cylinder group 13; a piston rod 14; an arm support plate push rod 15; a connecting table 16; an arm support plate connecting rod 17; a slide block 18; an electric cylinder connection table 19; a control base 2; a seat 21; a buffer 22; a buffer piston 221; a buffer spring 222; a pressure receiver 23; a pressure bearing plate 231; a load bearing strut 232; a chair back lifting servo electric cylinder 24; a handrail lifter 25; a handrail lifting gear 251; a handrail 26; an armrest rack 261; a leg support plate servo cylinder 27; a power supply box 28; a control box 29; a support base 3; a servo-lift cylinder 31; a telescoping outer motor 32; a telescopic inner motor 33; a restraining rack bar 34; a limit rack bar chute 341; a limit rack 342; a limit boss 343; pushing the rack bar 35; pushing the rack bar sliding groove 351; pushing the rack 352; a connecting shaft 36; a connecting rod 37; a traction cable 38; a traction motor 39; a leg support plate 4; a thigh support plate 41; a lower leg support plate 42; a flexible hinge 43; a tightening band 44; a leg-tightening motor 45; a support pad 46; a walking device 5; a walker housing 51; an anti-slip walking belt 52; a support roller 53; a pressure sensor 54; a limit chute 55; a connection boss 56; a visualization console 6; an operation plate 61; a display screen 611; a control button 612; a touch pad 62; a robot arm 63; a base case 631; an upper joint 632; a revolute joint 633; the lower joint 634; a turntable 635 is connected.

Detailed Description

Example 1

As shown in FIG. 1, the present embodiment is a bionic auxiliary system for postoperative recovery of a patient with gastric tumor, the bionic auxiliary system comprises a bionic recuperation chair; the bionic recuperation chair comprises a base, a chair back 1, a leg supporting plate 4 and a walking device 5, wherein the base is divided into a control base 2 and a supporting base 3, and the control base 2 is arranged above the supporting base 3; a servo lifting electric cylinder 31 is arranged in the supporting base 3, and a piston rod end of the servo lifting electric cylinder 31 is connected with the control base 2, so that the control base 2 can be lifted relative to the supporting base 3 under the control of the servo lifting electric cylinder 31; the chair back 1 is provided with a back cushion 11, and the back cushion 11 can slide on the chair back 1 to adjust the position.

The chair back 1 and the leg supporting plate 4 are both connected on the control base 2, and the walking device 5 is connected with the supporting base 3; the bottom of the chair back 1 is directly connected with one end of the top of the control base 2, and the other end of the control base 2 is connected with two leg supporting plates 4; one end of the supporting base 3, which is in the same direction as the leg supporting plate 4, is connected with the walking device 5; a seat 21 is arranged at the top end of the control base 2 and in the area between the chair back 1 and the leg supporting plate 4; a pair of arm support plates 12 are provided on the left and right sides of the seat back 1.

As shown in fig. 2 and fig. 3, a chair back lifting servo electric cylinder 24 is arranged in the control base 2, a piston rod 14 of the chair back lifting servo electric cylinder 24 is connected to an electric cylinder connecting platform 19 arranged on the back of the chair back 1, and the end of the piston rod 14 is connected with the electric cylinder connecting platform 19 through a shaft hole; the bottom end of the chair back 1 is provided with a slide block 18, and the top end of the control base 2 is provided with a slide groove matched with the slide block 18, so that the slide block 18 can slide back and forth in the slide groove but cannot leave the range limited by the slide groove; under the combined action of the chair back 1 lifting private electric cylinder and the slide block chute, the angle of the chair back 1 can be controlled by the chair back lifting servo electric cylinder 24; when the chair back lifting servo electric cylinder 24 is lifted, the inclination angle of the chair back 1 is increased, namely the chair back 1 begins to lift; when the seat back lifting servo electric cylinder 24 starts to descend, the tilt angle of the seat back 1 also starts to decrease, i.e. the seat back 1 starts to descend.

As shown in fig. 3, a servo electric cylinder group is arranged on the back of the chair back 1, four servo electric cylinders are arranged in the servo electric cylinder group, the four servo electric cylinders are divided into two groups, two servo electric cylinders in each group are arranged in parallel, the two servo electric cylinder groups are symmetrically arranged, and the directions of the piston rods 14 are opposite; the tail end of each piston rod 14 is connected with an arm supporting plate push rod 15 through a shaft hole, and the arm supporting plate push rods 15 are respectively connected to the back surfaces of arm supporting plates 12 arranged on the two sides of the chair back 1; the back of the arm supporting plate 12 is provided with a connecting table 16, and the connecting table 16 is connected with the arm supporting plate push rod 15 in a shaft hole connection mode; an arm supporting plate connecting rod 3717 is further arranged on the connecting table 16, the arm supporting plate connecting rod 3717 is fixedly connected with the connecting table 16, and the other end of the arm supporting plate connecting rod 3717 is connected to a connecting hole plate on the back of the chair back 1 in a shaft hole connection mode; under the connection of the above connection structure, the arm support plate 12 is controlled by the servo cylinder set 13, when the servo cylinder set 13 pushes the piston rod 14 to move outwards, the arm support plate push rod 15 is pushed, and the arm support plate 12 is further pushed; the arm supporting plate 12 rotates under the limitation of the arm supporting plate connecting rod 3717, so that the rotation angle of the arm supporting plate 12 can be changed; the rotation angle of the arm supporting plate 12 can be accurately controlled by controlling the movement distance of the piston rod 14 through the servo electric cylinder, so that the most comfortable arm supporting angle is provided for the patient.

As shown in fig. 4, after the control base 2 and the housing of the support base 3 are removed, the internal component structures thereof can be directly observed; a pair of chair back lifting servo electric cylinders 24 are arranged in the control base 2 and used for controlling the inclination angle of the chair back 1; a leg support plate servo electric cylinder 27 is also arranged in the control base 2 and used for controlling the outward extending distance of the leg support plate 4; handrail lifters 25 are arranged on two sides in the control base 2, and door-shaped handrails 26 are arranged on the handrail lifters 25; four servo lifting electric cylinders 31 are arranged in the supporting base 3 and used for controlling the height of the control base 2 and further controlling the height of the chair seat 21; a pair of telescopic inner motors 33 and a pair of telescopic outer motors 32 are further arranged in the supporting base 3, the pair of telescopic inner motors 33 and the pair of telescopic outer motors 32 are symmetrically arranged along the central line of the supporting base 3, and the two telescopic inner motors 33 are arranged on the inner sides of the two telescopic outer motors 32.

As shown in fig. 4 and 6, the two telescopic outer motors 32 are respectively provided with a limit rack bar 34, and a pushing rack bar 35 is arranged between the two telescopic inner motors 33; a limiting rack 342 is arranged on one side of the limiting rack bar 34 facing the telescopic outer motor 32, an outer motor gear matched with the limiting rack 342 is arranged on the telescopic outer motor 32, and the outer motor gear is meshed with the limiting rack 342; both sides of the pushing rack bar 35 are provided with pushing racks 352, and one sides of the two telescopic inner motors 33 facing the pushing rack bar 35 are provided with inner motor gears which are meshed with the pushing racks 352; under the drive of the telescopic inner motor 33, when the gear of the inner motor rotates, the pushing rack bar 35 can be driven to push forwards or backwards; similarly, under the driving of the telescopic outer motor 32, when the outer motor gear rotates, the limiting rack bar 34 can be driven to perform telescopic motion; the two limiting rack rods 34 are both provided with limiting rack rod sliding grooves 341, the pushing rack rod 35 is provided with pushing rack rod sliding grooves 351, and the sliding grooves are used for limiting the movement direction of each rack rod; the tail end of the limiting rack bar 34 is connected with the walking device 5, and the tail end of the pushing rack bar 35 is connected with the connecting shaft 36; both ends of the connecting shaft 36 are connected with connecting rods 37, and the two connecting rods 37 are respectively connected with both ends of the walking device 5.

As shown in fig. 5 and 9, four dampers 22 are disposed below the seat 21, each damper 22 includes a damping piston 221, a damping spring 222 is sleeved on the damping piston 221, and the damping spring 222 is specifically disposed at a piston end of the damping piston 221 and an upper surface of the control base 2; the buffer 22 is arranged to buffer the seat 21, so as to increase the comfort of the patient; the tail end of the piston rod of the buffer piston 221 is arranged on the pressure bearing device 23, the pressure bearing device 23 comprises a bearing support post 232, a pressure bearing plate 231 is arranged on the bearing support post 232, and the pressure bearing plate 231 is directly connected with the buffer 22; pressure sensors are arranged in the quality inspection chambers of the pressure bearing plate 231 and the load bearing support column 232, and weight information of a patient can be collected.

As shown in fig. 7, inside the control base 2, armrest lifters 25 are provided on both sides of the seat 21, and a gate-shaped armrest 26 is provided on the armrest lifters 25; the handrail 26 comprises two vertical plates which are vertically arranged in parallel, and a horizontal plate which is horizontally arranged is arranged between the tops of the two vertical plates; a visual operating platform 6 is arranged above the transverse plate; as shown in fig. 8, two ends of the handrail lifter 25 are respectively provided with two handrail lifting gears 251, two ends of the insides of two vertical plates of the handrail 26 are respectively provided with a handrail rack 261, the handrail lifting gears 251 and the handrail racks 261 are engaged with each other, and when the handrail lifting gears 251 are rotated by the driving of a motor, the handrail racks 261 are driven to move up and down, that is, the handrail 26 is driven to move up and down; the height of the handrail 26 can be adjusted by moving up and down, so that patients with different body types can conveniently find the most suitable height of the handrail 26.

The top ends of the two handrails 26 on the two sides are provided with the visual operation platforms 6, the visual operation platforms 6 are divided into two types, namely an operation flat plate 61 and a touch flat plate 62 which are respectively arranged on the left handrail 26 and the right handrail 26; the operation panel 61 is a flat operation table, a display screen 611 is arranged on the top surface of the operation panel 61, and a plurality of control buttons 612 are arranged on one side of the display screen 611; visual human-computer interaction is realized on the operation panel 61 through the display screen 611 and the operation buttons, the patient can adjust and switch the working mode of the bionic recuperation chair through the operation panel 61, and can manually finely adjust each parameter, so that each parameter of the bionic recuperation chair is more suitable for the body condition of the patient; the control box 29 is arranged below the handrail lifter 25, a control chip is arranged inside the control box 29, the control chip is in electric signal connection with the visual operating platform and is electrically connected with each electric cylinder and the motor, a control signal sent out on the visual operating platform 6 can be processed into an electric signal which can be recognized by a machine through the control chip, and the electric cylinders and the motor are driven to work so as to control each part of the bionic recuperation chair to work.

The touch panel 62 also has a visual human-computer interaction function, and compared with the operation panel 61, the touch panel 62 adopts a voltage touch screen, so that a patient can input an instruction in a touch manner; meanwhile, the touch panel 62 also has an audio/video playing function, and can receive and play audio/video contents through a wireless network or an external memory card; for patients after gastric tumor operation, the maintenance of the optimistic mood is also an important recovery means, the maintenance of the optimistic upward mood is favorable for stimulating the immunity of the human body, the survival rate of the human body is improved, and the postoperative life cycle is prolonged; the touch panel 62 is arranged, so that the patient can get entertainment when doing lying exercise, and the mood of the patient can be maintained; in order to be conveniently used by the patient in the lying position, the back of the touch panel 62 is also provided with a mechanical arm 63 connected with the handrail 26.

As shown in fig. 10, the touch pad 62 is disposed on the other side of the armrest 26 by the mechanical arm structure; the robot 63 includes a base box 631, the base box 631 is disposed at the bottom of the cross beam of the handrail 26, and the robot 63 is disposed in the base box 631; the top of the base box 631 and the cross beam of the handrail 26 are provided with matched through holes for the mechanical arm 63 to pass through; the mechanical arm 63 comprises an upper joint 632, a rotating joint 633, a lower joint 634 and a connecting turntable 635 which are sequentially connected, wherein the connecting turntable 635 is directly connected with the back of the touch panel 62; a main mechanical arm motor is arranged in the base box 631, is a servo motor, is directly connected with the upper joint 632, and can control the rotation of the upper joint 632; a rotation servo motor is arranged in the rotation joint 633 and can control the rotation of the rotation joint 633; the rotary joint 633 is connected with a lower joint 634, and the lower joint 634 is controlled by a servo motor of the lower joint 634 to rotate; the connection between the lower joint 634 and the connection turntable 635 is also controlled by a servo motor, and the rotation angle of the turntable on the connection turntable 635 can be controlled by the servo motor, so as to directly control the rotation angle of the touch panel 62; the whole structure of the mechanical arm 63 is controlled by a servo motor, and the mechanical arm can automatically work under the control of a signal sent by a control chip, so that the touch panel 62 is moved to a proper position, and the touch panel 62 can be manually moved by utilizing the good stopping performance of the servo motor; after the touch panel 62 is manually moved, the servo motor has good stopping performance, so that the position of the touch panel 62 can be kept unchanged; when the touch pad 62 is not needed, the robotic arm 63 can be fully collapsed and retracted to be placed within the base box 631 while the touch pad 62 rests on top of the armrest 26 as a control pad.

As shown in fig. 1, 11 and 12, two leg support plates 4 are provided on the control base 2, each of the two leg support plates 4 including a thigh support plate 41 and a shank support plate 42; the thigh support plate 41 and the calf support plate 42 are connected with each other through a flexible hinge 43, and a support pad 46 is arranged on each of the thigh support plate 41 and the calf support plate 42; the thigh supporting plate 41 is matched and connected with the leg supporting plate servo electric cylinder 27 arranged in the control base 2 through a flexible hinge 43, and one end of the flexible hinge 43 is fixedly arranged at the tail end of a piston rod of the leg supporting plate servo electric cylinder 27; a through hole matched with the piston rod is arranged on the side surface corresponding to the control base 2 and is used for the piston rod to pass through; a leg tightening motor 45 is arranged in the piston rod, a tightening belt 44 is arranged on the leg tightening motor 45, and one end of the tightening belt 44 is fixedly arranged on the thigh supporting plate 41; similarly, a leg tightening motor 45 is also provided in the thigh support plate 41, and a tightening belt 44 provided on the leg tightening motor 45 is fixedly connected to the shank support plate 42; the bionic joint structure is formed by the combination of the flexible hinge 43 and the tightening belt 44, and can simulate the movement of the human leg joint to move by a method of fitting the human leg joint; the leg supporting plate using the joint connecting structure can enable the patient to carry out walking movement in a state of being closest to natural walking.

As shown in fig. 13, the walking device 5 is a crawler-type structure, and comprises a supporting transmission structure consisting of a plurality of supporting rollers 53, a layer of anti-skid walking belt 52 is coated on the outer surface of the supporting rollers 53, and the anti-skid walking belt 52 can rotate autonomously under the driving of the supporting rollers 53; the two ends of the supporting roller 53 are provided with the walking device shell 51, the walking device shell 51 is internally provided with the motor of the walking device 5, and the supporting roller 53 can be controlled to rotate so as to drive the anti-skid walking device belt 52 to rotate; two symmetrical limiting sliding grooves 55 are formed in the outer side of the walking device shell 51, a connecting boss 56 is arranged at one end, close to the bionic recuperation chair, of the walking device shell 51, and a connecting hole is formed in the connecting boss 56; a pressure sensor 54 is arranged at the central position between the supporting rollers 53, and the pressure sensor 54 is matched with the anti-slip belt 52, so that the pressure applied to the anti-slip belt 52 by the patient can be sensitively sensed.

As shown in fig. 5 and 14, wherein fig. 14 is a schematic view showing a connection structure of the step spreader 5 and the internal components of the support base 3; a pair of telescopic outer motors 32 and telescopic inner motors 33 are arranged in the supporting base 3, the telescopic outer motors 32 are arranged on the outer sides of the telescopic inner motors 33, and the four telescopic motors are symmetrically arranged along the central line of the supporting base 3; two limiting rack rods 34 are arranged on the outer sides of the two telescopic outer motors 32 in a matched manner, and a pushing rack rod 35 is arranged on the inner sides of the two telescopic inner motors 33 in a matched manner; through holes are provided in the support base 3 to be fitted with the restraining rack bar 34 and the pushing rack bar 35, so that the restraining rack bar 34 and the pushing rack bar 35 pass through.

The telescopic outer motor 32 is provided with driving gears which are arranged at the outer side of the telescopic outer motor 32; the inner sides of the two limiting rack rods 34 are respectively provided with a limiting rack 342, and the limiting racks 342 are mutually meshed with the driving gear and driven by the driving gear; similarly, the inner sides of the two telescopic inner motors 33 are also provided with driving gears, and both sides of the pushing rack bar 35 are provided with pushing racks 352; the pushing rack 352 is respectively meshed with the driving gears at the two sides and is driven by the driving gears at the two sides together; two limiting rack bar sliding grooves 341 and one pushing rack bar sliding groove 351 are further arranged in the supporting base 3 and are respectively matched with the two limiting rack bars 34 and the one pushing rack bar 35, so that the limiting rack bars 34 and the pushing rack bars 35 can only move in a telescopic mode in the direction limited by the sliding grooves; under the limitation of the sliding groove and the drive control of the telescopic motor set, the limiting rack bar 34 and the pushing rack bar 35 can be stretched back and forth; the motors in the telescopic motor set are all servo motors, and the telescopic quantity of each rack rod can be controlled.

As shown in fig. 5, a limit boss is provided on the inner side of the end of the limit rack bar 34, and the limit boss can be engaged with limit chutes 55 provided on both sides of the walker housing 51, so that the walker 5 can slide under the engagement restriction of the both; the end of the pushing rack bar 35 is provided with a through hole in which a connecting shaft 36 is provided; both ends of the connecting shaft 36 are symmetrically arranged relative to the center line of the supporting base 3, as shown in fig. 14, both ends of the connecting shaft 36 are connected with two connecting rods 37, and the two connecting rods 37 are respectively connected with the end of the connecting shaft 36 and a connecting boss 56 on the walking device shell 51; the pushing rack bar 35 is also connected to the spreader housing 51 by the connection of the connecting shaft 36 and the connecting rod 37; the pushing rack bar 35 can push the walker 5 forward or pull the walker 5 backward to slide, and according to the cooperation of the limiting rack bar 34 and the pushing rack bar 35, the walker 5 can change the inclination angle to stand up, as shown in fig. 15; the walking device 5 erected at a certain angle can provide a walking exercise function for a lying patient, and when the limiting rack bar 34 and the pushing rack bar 35 contract inwards synchronously, the walking device 5 can keep the angle unchanged state to apply pressure to the legs of the patient so as to play a role in simulating gravity.

Each electrical component in the present embodiment is connected to a power supply box 28 provided on one side surface of the control base 2 through a wire; the power box 28 is provided therein with a power line and a main power switch, the power line is used to connect to an external power source to provide power for the present embodiment, and the main power switch can control the main power supply of all the electrical components of the present embodiment, and the electrical components can be powered only when the main power switch is turned on.

In practical use, the embodiment mainly provides the functions of resting and exercising for patients after meals; because of gastric tumor surgery, patients are prone to toppling syndrome if moving after meals, and are prone to cause intestinal obstruction if lying in bed, a method capable of exercising in a prone position is needed; when a patient uses the embodiment after meals, the power cord is ensured to be connected correctly, after the main power switch is turned on, the embodiment can be controlled by the control button 612 on the control panel firstly, so that the patient enters the posture of the common rehabilitation chair, namely the chair back 1 is controlled by the chair back lifting servo electric cylinder 24 to lift, and the leg support plate 4 is controlled by the tightening belt 44 to be in a tightening state; at the moment, the servo lifting electric cylinder 31 contracts, so that the control base 2 descends to the height convenient for the patient to sit; at this time, the armrests 26 are still in the lowest point original state, the arm support plates 12 are in a state of being horizontal to the chair back 1, so that the patient can sit on the chair conveniently, and the walking device 5 is in a contracted state.

After the patient sits on the chair, the state of the present embodiment can be adjusted by controlling the buttons on the flat panel, such as adjusting the angle of the chair back 1 by adjusting the height of the chair back lifting servo electric cylinder 24, adjusting the height of the chair seat 21 by adjusting the servo lifting electric cylinder 31, adjusting the height of the armrest 26 by adjusting the armrest lifter 25, etc.; after the parameters are adjusted to appropriate values or directly adjusted to the proper values by using the preset parameters, the user can continue to enter the walking exercise mode by controlling the control buttons 612 on the tablet computer.

The control chip can select a proper angle of the walking device 5 and a proper leg inclination angle according to the set angle of the chair back 1, and then signals are transmitted to the telescopic motor set, the leg support plate servo electric cylinder 27 and the leg tightening motor 45; the leg tightening motor 45 relaxes the tightening strap 44, the leg support plate 4 structure can be inclined downwards under the influence of the leg gravity of the patient, but the maximum inclination angle is still limited by the tightening strap 44; the leg support plate servo electric cylinder 27 can extend or retract the leg support plate 4 structure outwards or inwards according to the leg structure of the patient, so that the leg support plate can be matched with the leg of the patient; under the action of a control signal of the control chip, the telescopic outer motor 32 controls the limiting rack bar 34, the telescopic inner motor 33 controls the pushing rack bar 35, and the two motors jointly push the spreader 5 to move outwards to the maximum distance; the limiting rack bar 34 stops after reaching the maximum distance, the pushing rack bar 35 can still continue to push forwards, the walking device 5 continues to be pushed forwards, the limiting boss slides to the tail end of the limiting sliding groove 55, the pushing rack bar 35 continues to push, the far end of the walking device 5 is lifted by taking the limiting boss as a fulcrum according to the lever principle, and the change of the inclination angle of the walking device 5 is realized; after the walking device 5 reaches a preset inclination angle, the limiting rack bar 34 and the pushing rack bar 35 synchronously contract, so that the walking device 5 can be inwards retracted with the inclination angle kept until contacting the sole of the foot of the patient; promote rack bar 35 and spacing rack bar 34 after contacting the patient sole and continue to keep the microtpeed shrink, for the sole application pressure of patient is in order to simulate normal gravity, whether the dull and stereotyped suggestion patient of control confirms the gravity size is suitable simultaneously, can confirm manually when the patient thinks the gravity size is suitable, the parameter and the control shrink motor group that the control chip can take notes this moment for the in-process developments of ware 5 of walking and taking exercise of patient keep this simulation gravity size unchangeable.

After finishing each setting, the patient can confirm the starting exercise mode through the control panel; the walking device 5 drives the supporting roller 53 according to the mode selected by the patient to drive the anti-skid walking belt 52 to rotate; it is also possible to set a free-walking mode, in which the support rollers 53 are switched off from the active drive and the anti-slip belt 52 is put into a passive mode of operation in accordance with the movement of the patient's foot.

When in use, the touch panel 62 can be exhaled through the control panel at any time, the control chip transmits a control signal to the mechanical arm 63 during automatic exhalation, and the movement of the mechanical arm 63 is controlled according to the inclination angle of the chair back 1, so that the touch panel 62 moves to a proper position; if the patient feels that the automatic exhalation position of the touch pad 62 is not appropriate, the position of the touch pad 62 can be manually moved, and the mechanical arm 63 can correspondingly adjust and keep fixed; different from the control panel which is mainly responsible for controlling the work of each component, the touch panel 62 mainly provides entertainment and adjustment for the patient during rest and exercise, including playing audio and video and the like; the touch panel 62 can access the internet in a wireless connection manner, and can also acquire a play file in a memory card access manner; software which is helpful for postoperative rehabilitation of gastric tumors is also arranged in the control panel, and reasonable motion amount suggestions and motion mode suggestions after meals can be provided according to weight information and the like of patients obtained by a pressure sensor at the bottom of the chair seat 21; when the patient reaches the suggested amount of exercise, the patient can be reminded that the amount of exercise reaches the standard, and if the patient fails to insist on completing the amount of exercise, the patient can be reminded of not completing the amount of exercise, so that the patient is encouraged to continue exercising or continue after having a rest.

Example 2

The embodiment aims to further explain the specific working principle of the bionic structure of the leg supporting plate 4; as shown in fig. 11 and 12, the bionic structure of the leg supporting plate 4 includes two identical leg supporting plates 4 corresponding to two legs of the human body, respectively; each of the leg support plates 4 has an identical structure including a thigh support plate 41 and a shank support plate 42 connected to each other; the thigh supporting plate 41 and the shank supporting plate 42 are similar in structure and are both provided with rectangular supporting plates, and a connecting box is arranged below the supporting plates; supporting pads 46 are provided on both the thigh supporting plate 41 and the shank supporting plate 42 for improving the comfort of the patient when putting the legs on the leg supporting plate 4; the two thigh supporting plates 41 are respectively connected with the tail ends of the piston rods of the two leg supporting plate servo electric cylinders 27 arranged in the control base 2; the connection between the thigh support plate 41 and the piston rod, and the connection between the shank support plate 42 and the thigh support plate 41 use a bionic joint, specifically, the bionic joint includes a flexible hinge 43 and a tightening band 44.

A groove is arranged at the tail end of the piston rod of the leg support plate servo electric cylinder 27, a matched groove is also arranged on the connecting box of the thigh support plate 41, and the two grooves are fixedly connected with a flexible hinge 43, so that the thigh support plate 41 is connected with the piston rod of the leg support plate servo electric cylinder 27 through the flexible hinge 43; the other end of the connecting box at the bottom of the thigh supporting plate 41 is also provided with a corresponding groove, the connecting box of the shank supporting plate 42 is also provided with a matched groove, and the thigh supporting plate 41 and the shank supporting plate 42 are also connected with each other through a flexible hinge 43 arranged in the groove; the flexible hinge 43 connection can make the thigh support plate 41 and the shank support plate 42 rotate around the flexible hinge 43 in one degree of freedom, and compared with a common hinge, the flexible hinge 43 can provide reverse lifting force while rotating, so that the effect of offsetting part of leg gravity can be achieved, backward gravity borne by two legs in the lying posture can be offset, and the feeling in normal walking exercise can be better simulated.

The two bionic joints are connected only by a flexible hinge 43 and are also connected by a tightening belt 44; one end of the tightening belt 44 is fixedly arranged at the corresponding position on the shank support plate 42 and the thigh support plate 41, and the other end is connected with the leg tightening motor 45; the leg tightening motor 45 can lengthen or contract the tightening belt 44 to adjust the overall stiffness of the flexible spring in a matching manner; considering that different patients can not be well adapted to patients with different body types by using the flexible spring alone, the tightening belt 44 is arranged to assist in adjusting the joint stiffness at the bionic joint; meanwhile, when the chair is not required to be used as a common reclining chair, each thigh support plate 41 and each shank support plate 42 are required to be straight to form a unified shank support plate, and at the moment, the tightening belt 44 can be tightened to enable the thigh support plate 41 and the shank support plate 42 to be in a straight line, and the support plates can bear the load of the legs of the human body without falling.

As shown in fig. 12, the structure of the biomimetic joint can be clearly embodied in fig. 12; the bionic joint simulates the matching mode of human joint muscles, and uses the working principle that the flexible hinge 43 and the tightening belt 44 simulate two muscles at the human joint; the flexible hinge 43 is a passive force application element and can provide upward recovery force when being compressed downwards, and the tightening belt 44 is an active force application element under the driving of the leg tightening motor 45 and can simulate the action of quadriceps in the knee joint of a human body to actively pull up the joint; make under above-mentioned bionical articular effect can follow patient's shank motion and carry out the complex motion together between thigh backup pad 41 and the shank backup pad 42, supporting pad 46 can laminate patient's shank always to the pulling force through the resilience force of flexible hinge 43 self and tightening belt 44 offsets the gravity that patient's shank receives, in order to reach and offset the effect that the simulation of shank gravity was upright walked.

Example 3

This embodiment is intended to further illustrate the setup and use of the walker 5; as shown in FIG. 13, the walker 5 is of a crawler-type construction, using a plurality of support rollers 53 to support an anti-slip walking belt 52; the two ends of the supporting roller 53 are connected by the walking device shell 51, and the motor of the walking device 5 is arranged in the walking device shell 51; the electric motor of the walking device 5 is connected to the supporting roller 53 and can drive the supporting roller 53 to rotate; a pressure sensor 54 is provided on the inner side of the anti-slip belt 52 in parallel with the support roller 53 for recording the pressure value between the transfer walker 5 and the sole of the patient's foot in real time.

Two identical limiting sliding grooves 55 are arranged on the end faces of the two sides of the walking device shell 51, as shown in fig. 14, the limiting sliding grooves 55 can be matched with limiting bosses at the tail ends of the limiting rack rods 34, so that the limiting bosses can only slide in the limiting sliding grooves 55, namely, the walking device 5 is limited to only slide in the range limited by the limiting bosses; a connecting boss 56 is arranged at one end of the walking device shell 51 close to the bionic recuperation chair, and a through hole is arranged on the connecting boss 56; the through hole can be connected with the connecting rod 37 in a matching way, two connecting rods 37 at two ends can be connected with two ends of the connecting shaft 36 in a matching way, and the connecting rod 37 is arranged at the tail end of the pushing rack rod 35; under the condition of keeping the limiting rack bar 34 immovable, the walking device 5 can slide forwards by continuously pushing and pushing the rack bar 35 forwards; when the step spreader 5 slides to the farthest distance under the matching of the limit sliding groove 55 and the limit boss, the pushing rack bar 35 is pushed continuously, and the pushing rack bar 35 continuously applies forward pushing force to the connecting boss 56 on the step spreader housing 51 through the connecting shaft 36 and the connecting rod 37.

Because the height difference exists between the limiting boss at the tail end of the limiting rack bar 34 and the through hole in the connecting boss 56 arranged at the tail end of the walking device shell 51, specifically, the height of the through hole in the connecting boss 56 is lower than the height of the central axis of the limiting boss, a moment is formed around the central axis of the limiting boss at the moment, so that the far end of the walking device 5 is lifted, namely, the walking device 5 is erected, as shown in fig. 15; in the process of lifting the walking device 5, since the heights of the pushing rack bar 35 and the connecting shaft 36 connected thereto cannot be adjusted, a connecting rod 37 is provided between the connecting shaft 36 and a connecting boss on the walking device case 51; the connecting rod 37 is a transition mechanism between the connecting shaft 36 and the walking device shell 51, when the rack bar 35 is pushed outwards, the connecting rod 37 can turn clockwise because the height of the axis of the connecting shaft 36 is lower than that of the limiting boss 343, so that the position of the connecting shaft 36 exceeds the position of the through hole in the connecting boss 56; at this time, the connecting shaft 36 is positioned outside the through hole of the connecting boss 56, and the connecting rod 37 converts the pushing force for pushing the rack bar 35 into the pulling force for the walking device 5; the step spreader 5 continues to slide outwards along the direction of the limiting sliding groove 55 under the pulling force until the limiting boss 343 moves to the tail end of the limiting sliding groove 55; at this time, the limiting boss 343, the through hole of the connecting boss 56 on the step spreader shell 51 and the connecting shaft 36 form a lever structure, the limiting boss 343 is taken as a fulcrum, the short rod of the lever is taken from the position of the limiting boss 343 to the through hole of the connecting boss 56, the rest part of the step spreader 5 is a long rod, and the connecting shaft 36 provides outward pulling force for the short rod through the connecting rod 37; at this time, the connecting rod 37 applies work to other parts of the walking device 5, and is a lever which is hard to work, and the pulling force provided outwards can enable the walking device 5 to turn clockwise by taking the limiting lug boss 343 as a fulcrum, namely, the rest parts of the walking device 5 serving as a long rod turn upwards, so that the walking device 5 is integrally erected.

The inclined angle of the walking device 5 after being erected is limited by the position relation of the pushing rack bar 35 and the limiting rack bar 34, when the sole of the patient applies an outward pushing force to the walking device 5, namely the long rod end of the lever structure, the outward pulling force is transmitted to the connecting rod 37 from the pushing rack bar 35 and the connecting shaft 36 and applied to the short rod part of the lever, namely the through hole of the connecting lug boss 56; the two forces are balanced, so that the inclination angle of the walking device 5 can be kept unchanged; the lever structure is in a stable stress state, and the inclination angle of the walking device 5 cannot be easily changed due to the action of external force; on the basis, the inclination angle of the walking device 5 can be accurately adjusted only by adjusting the position relation between the pushing rack bar 35 and the limiting rack bar 34; the positional relationship between the two rack bars and the inclination angle of the walker 5 are in one-to-one correspondence, and can be accurately controlled by the control chip.

The relative distance between the limiting rack bar 34 and the pushing rack bar 35 is kept unchanged, and when the pushing rack bar moves synchronously inwards or outwards, the inclination angle of the walking device 5 is kept unchanged and the walking device 5 is driven to slide forwards and backwards; a simulated gravity can be applied to the sole of the foot of the patient by finely adjusting the front-back distance of the walking device 5; the simulated gravity can be determined by the weight of the patient obtained by the pressure sensor at the bottom of the chair seat 21, or can be adjusted manually by the patient to reduce or increase the simulated gravity; the actual simulated gravity level is recorded in real time by the pressure sensor 54 disposed inside the walker 5 and transmitted to the control chip, helping it to dynamically adjust the value of the simulated gravity.

Example 4

As shown in fig. 16, the present embodiment is substantially the same as the above embodiment in terms of technical solutions, and mainly differs therefrom in that a pair of traction motors 39 are provided on both side surfaces of the supporting base 3 at one end close to the step spreader 5; the traction motor 39 is connected with a traction cable 38, and the other end of the traction cable 38 is fixedly connected with the side surface of one end of the walking device 5 far away from the supporting base 3.

The traction cable 38 mainly provides an auxiliary reinforcement effect after the step spreader 5 is erected, and prevents the structural damage of the supporting structure of the step spreader 5 caused by excessive pressure; since the pushing rack bar 35 providing the pushing force is located at one end of the laborious lever in the lever structure, it is subjected to a large pressure, and thus the servo motor is easily caused. Damage of the transmission gear rack or the transmission rod piece; for this purpose, the traction cable 38 is connected with the supporting base 3 and two lateral sides of the walking device 5 and is fixedly arranged at one end of the walking device 5 far away from the supporting base 3; when the patient's sole exerts an outward force on the spreader 5, the traction cable 38 may exert an inward pulling force on the topmost end of the spreader 5; because of the lever structure at the bottom of the walking device 5, the force application point of the traction cable 38 for applying the pulling force belongs to a labor-saving lever for outward pressure, so that the walking device can easily bear larger pressure, the inclination angle of the walking device 5 is kept not to be changed due to the pressure, and simultaneously the stress borne by the lever structure at the bottom of the walking device 5 can be greatly reduced, and the structure is protected from being damaged.

One end of the traction cable 38 close to the support base 3 is arranged in a traction motor 39, and the traction motor 39 can control the length of the traction cable 38 extending out through the rotation of the motor, so that the walking device is suitable for walking devices 5 with different distances; meanwhile, the traction motor 39 is controlled by the control chip and can work cooperatively with the limiting rack bar 34 and the pushing rack bar 35; when the pushing rack bar 35 and the limiting rack bar 34 are synchronously pushed forwards, the traction motor 39 stops working, so that the traction cable 38 is driven by the displacement of the walking device 5 to extend; when the limiting rack bar 34 is fixed and the pushing rack bar 35 continues to move, and the walking device 5 is erected to a specified angle, namely the setting of the walking device 5 is finished, the traction motor 39 starts to work, and the traction cable 38 is recovered together with the recovery steps of the limiting rack bar 34 and the pushing rack bar 35; when the walking device 5 is contacted with the sole of the foot of the patient, the walking device 5 stops recovering and starts to bear the pressure simulating gravity, the traction motor 39 recovers the traction cable 38 to a stretched state, so that the traction cable 38 starts to transmit the pulling force to the tail end of the walking device 5; when the operation of the spreader 5 is finished, the traction motor 39 stops operating, and the traction cable 38 is stretched again along with the recovery action of the spreader 5; when the step spreader 5 returns to the horizontal position and starts to retract inward, the traction motor 39 is restarted, and the traction rope 38 is retracted to return to the original state.

The present invention is described in detail with reference to the specific embodiments, but the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the scope of the present invention disclosed in the present application should be covered by the protection scope of the present application, and therefore, the protection scope of the present invention should be subject to the protection scope described in the claims.

Claims

1. A bionic auxiliary system for postoperative recovery of gastric tumor, comprising a base, characterized in that: the base comprises a support base and a control base, and the control base is arranged above the support base; the top of the control base is provided with a a seat, one side of the seat is provided with a seat back connected with the control base, and the other side opposite to the seat back is provided with a pair of leg support plates connected with the control base; symmetrical on both sides of the seat back A pair of arm support plates are provided; a pair of the arm support plates are connected with the seat back through a support plate adjuster, the bottom end of the seat back is connected with the control base through the seat back adjuster, and the leg support plates are connected by The leg support plate servo electric cylinder is connected with the control base, and the bottom of the seat is connected with the control base through a buffer; a walker is connected to one end of the support base that is matched with the leg support plate.

2 . The bionic auxiliary system for postoperative recovery of gastric tumors according to claim 1 , wherein the support plate adjuster comprises a servo electric cylinder group arranged on the back of the chair back, and the servo electric cylinder group includes a symmetrical electric cylinder group. 3 . Two pairs of servo electric cylinders are provided; the ends of the piston push rods of the two pairs of the servo electric cylinders are connected with the arm support plate push rods through the shaft holes, and the ends of the arm support plate push rods are connected to a pair of all the push rods through the shaft holes. the back of the arm support plate; the back of the arm support plate is provided with a connection table, and the connection table is connected with the push rod of the arm support plate; the arm support plate connecting rod is fixedly arranged on the connection table, and the arm supports The end of the connecting rod of the support plate is connected to the connecting hole provided on the back of the seat back through the shaft hole.

3. The bionic auxiliary system for postoperative recovery of gastric tumors according to claim 2, wherein a slider is connected to the lower end of the seat back, and a slider is arranged on the control base to cooperate with the slider. The slider is arranged in the chute; the control base is provided with a seat back lift servo electric cylinder, and the end of the piston rod of the seat back lift servo electric cylinder is connected to the back of the seat back, so The back of the seat back is provided with an electric cylinder connection platform, and the electric cylinder connection platform is connected with the end of the piston rod of the seat back lift servo electric cylinder through the shaft hole connection.

4 . The bionic auxiliary system for postoperative recovery of gastric tumor according to claim 3 , wherein the bottom of the seat is provided with a buffer, the buffer comprises a buffer piston, and the base of the buffer piston is connected to the control system. 5 . A buffer spring is arranged between the top of the base; the top of the buffer base is provided with a through hole that is matched with the piston rod of the buffer piston, and the piston rod of the buffer piston passes through the through hole on the top of the buffer base to connect to the top of the pressure-bearing device arranged inside the buffer base; the pressure-bearing device includes a pressure-bearing plate, the bottom surface of the pressure-bearing plate is fixedly connected with a load-bearing pillar, and a pressure sensor is arranged between the pressure-bearing plate and the load-bearing pillar .

5 . The bionic auxiliary system for postoperative recovery of gastric tumor according to claim 4 , wherein a pair of armrest lifters are arranged symmetrically on both sides of the pressure receiver, and a pair of armrest lifters are provided on both sides. 6 . There is a handrail; the handrail is a door-type structure, including a horizontal plate and two vertical plates vertically arranged on both sides of the horizontal plate, and the top of the control base is provided with a through hole matched with the vertical plate of the handrail, The vertical plate of the handrail is connected with the handrail lifter arranged in the control base through the through hole; the inner side of each vertical plate is provided with a handrail rack; the handrail lifter is provided with a servo motor, so A handrail lifting gear is connected to the servo motor, and the handrail lifting gear and the handrail rack are meshed with each other; a visual operating table is arranged on the top of the horizontal plate of the handrail.

6 . The bionic auxiliary system for postoperative recovery of gastric tumors according to claim 5 , wherein the visual console comprises an operation panel and a touch panel, and the operation panel and the touch panel are respectively arranged on the On the top of the left and right armrests; a display screen is arranged on the top of the operation panel, and a plurality of control buttons are arranged on one side of the display screen; a touch screen is arranged on the top of the touch panel, and the bottom of the touch panel passes through The robotic arm is connected to the armrest; the robotic arm includes a base box, the base box is fixedly arranged at the bottom of the armrest horizontal plate, the base box is provided with a main motor of the robotic arm, and the main motor of the robotic arm is connected and arranged There is a mechanical arm; the mechanical arm includes an upper joint, a rotating joint, a lower joint and a connecting turntable which are connected in sequence, and the connecting turntable is fixedly connected with the back of the touch panel; the upper joint, the rotating joint and the lower joint are Both are controlled by servo motors to rotate.

7 . The bionic auxiliary system for postoperative recovery of gastric tumor according to claim 6 , wherein a mounting plate is arranged inside the control base, and the mounting plate is vertically arranged on the pressure receiver and the chair back. 8 . between the lift servo cylinders; a pair of leg support plate servo cylinders are arranged on the side of the mounting plate facing the pressure receiver, and a pair of the leg support plate servo cylinders are symmetrically arranged relative to the pressure bearer; The control base is provided with a through hole matched with the leg support plate servo electric cylinder, and the end of the piston end of each leg support plate servo electric cylinder is connected with a thigh support plate through a flexible hinge; The end of the thigh support plate is connected with a calf support plate through a flexible hinge; the top of the thigh support plate and the calf support plate are provided with support pads; the inner part of the piston rod of the servo electric cylinder of the leg support plate and the inner part of the thigh support plate Both are provided with a leg tightening motor, the leg tightening motor inside the thigh support plate is connected to the calf support plate through a tightening strap, and the leg tightening motor inside the leg support plate servo electric cylinder piston rod is tightened The motor is connected to the thigh support plate by a tightening strap.

8 . The bionic auxiliary system for postoperative recovery of gastric tumor according to claim 7 , wherein the bottom surface of the control base is connected to the support base through a servo lifting electric cylinder, and a telescopic motor unit is arranged in the support base. 9 . The telescopic motor group includes a pair of telescopic outer motors symmetrically arranged along the center line of the support base, and a pair of telescopic inner motors is symmetrically arranged between a pair of the telescopic outer motors. Both are provided with driving gears; a pair of limit rack rod chutes are symmetrically arranged in the support base, and a pair of limit rack rod chutes are respectively matched with a pair of the telescopic external motors, and a pair of the Openings are provided on the mutually opposite inner surfaces of the chute; a pair of limit rack bars are arranged in a pair of the chute, and limit racks are arranged on the limit rack bars, and the limit racks are respectively It meshes with the driving gears on a pair of the telescopic external motors; the free ends of the pair of limit rack rods are provided with limit bosses, and the limit bosses are matched and connected with the spreader; A pushing rack rod is arranged between the telescopic inner motors, two rows of pushing racks are arranged on both sides of the pushing rack rod, and the pushing racks are respectively meshed with the driving gears on a pair of the telescopic inner motors; The support base is provided with a push rack rod chute, and the push rack rod chute is matched with the push rack rod; the free end of the push rack rod is provided with a connecting shaft, and the connecting shaft is connected with the The said diffuser is connected.

9 . The bionic auxiliary system for postoperative recovery of gastric tumors according to claim 8 , wherein the spreader comprises a plurality of support rollers arranged in parallel, and an anti-skid spreading belt is provided on the outer edge of the support rollers; The front and rear ends of the support roller are provided with a spreader casing, a spreader motor is arranged in the spreader casing, and the spreader motor is connected with the support roller; the two ends of the spreader casing are provided with limited A pair of connecting bosses is provided on one end of the diffuser shell close to the support base, and the connecting bosses A pair of connecting rods are connected on the stage, and the pair of connecting rods are respectively connected with both ends of the connecting shaft; a pressure sensor is arranged in the spreader.

10 . The bionic auxiliary system for postoperative recovery of gastric tumors according to claim 9 , wherein: the bottom of the armrest lifter is provided with a control box, and the control box is electrically connected to each servo electric cylinder and servo motor; 11 . The visualization console is electrically connected to the control box; the pressure sensor and the pressure sensor are electrically connected to the control box; The data transmitted by the sensor dynamically adjusts the work of each servo motor and servo electric cylinder; a power supply box is provided on the side of the base, and the power supply box is electrically connected with the control box, each servo electric cylinder and the servo motor.