CN116869747A - A new type of wheelchair riding device - Google Patents

Abstract

The invention belongs to the field of sports rehabilitation equipment. It proposes a new type of wheelchair riding device. The front end is equipped with a wheelchair ramp design to facilitate the wheelchair to get on and off. At the same time, in order to meet the needs of multiple wheelchair models using the device, the design realizes the adjustment of the left and right distance of the rollers. In order to achieve versatility; in order to facilitate the use of the equipment in a home environment without taking up too much space, the equipment will also be disassembled and designed to facilitate installation when in use and disassembly when not in use; through the design of the transmission mechanism, the product can be Realize the adjustment of power and resistance driven by a small-power motor to assist participants in exercising; design a software control system to control the speed and resistance of the transmission mechanism to adjust the intensity of exercise; design data collection, Analysis and display system to realize real-time monitoring and display of exercise time, distance, heart rate and exercise intensity.

Description

A new type of wheelchair riding device

Technical field

The present invention relates to the technical field of sports rehabilitation equipment, and in particular to a new type of wheelchair rider.

Background technique

Among health-related exercise indicators, cardiorespiratory endurance indicators are the most important component. Research shows that good cardiorespiratory endurance has a positive role in the prevention and treatment of chronic diseases; however, disabled people are prone to related diseases due to reduced physical activity levels.

Therefore, it is particularly necessary to develop a wheelchair riding equipment that is suitable for disabled people and can effectively evaluate and exercise their cardiopulmonary endurance. This will help disabled people actively obtain health, live a better life and improve the quality of life. It is also of great significance.

Currently, the test method suitable for cardiorespiratory endurance of people with lower limb disabilities mainly uses the arm dynamometer method, such as "Davis GM, Kofsky P R, Kelsey J C, et al. Cardiorespiratory fitness and muscular strength of wheelchair users [J]. Canadian Medical Association Journal, 1981 , 125(12):1317-23." However, this testing method can often only be performed in the laboratory, and requires professional personnel to operate and guide, so it is not suitable for most disabled people in ordinary families. The cost of use is too high. The device is also too large to be used for home exercise. Therefore, taking into account the above factors, the only arm dynamometer measurement method suitable for people in wheelchairs is not popular in the application process.

The current product produced by Yanbian Boxin Sports Rehabilitation Equipment Factory, called "Baiduo Wheel Wheelchair Home Riding Station", has become the first domestic wheelchair riding machine suitable for wheelchair users. It can perform cardiopulmonary endurance exercises. However, due to the limitations of the equipment The structure is too simple and cannot realize the adjustment of power and the monitoring of exercise time and distance, so it is also impossible to quantitatively evaluate the effect of exercise.

Contents of the invention

The present invention proposes a new type of wheelchair rider to solve the problems raised in the above background technology.

The technical solution of the present invention is as follows: a new type of wheelchair rider, including a motor 7, a driven wheel 5, a driving wheel 6, a transmission shaft 8, two motor seats 9, a software control system, a display device and a computer; one side of the motor seat 9 Install the driving wheel 6, and install the driven wheel 5 on the other side. The wheelchair is located between the driving wheel 6 and the driven wheel 5; both sides of the driving wheel 6 and the driven wheel 5 are connected with a vertical seat bearing 12 through a cross bar 10; The vertical seat bearing 12 is fixed on the motor seat 9; the horizontal bar 10 on one side of the driving wheel 6 passes through the vertical seat bearing 12 and is connected to the motor 7 through the coupling 11. The two driving wheels 6 are connected through the transmission shaft 8 to transmit power; The parallel track groove 2 is fixed on the ground through the base 4, and the front roller baffle 3 is installed on it, which is used to limit the front wheel of the wheelchair; one end of the parallel track groove 2 is connected to the slope track groove 1, which is used to guide the movement of the front wheel of the wheelchair. The other end is fixed on the driven wheel 5 side of the motor base 9;

The software control system and the display device are both connected to the computer and the motor 7; program modules of multiple different modes are stored in the computer; the modes are divided into assist mode and resistance mode; difficulty modes are set for both the assist mode and the resistance mode, and the difficulty Modes are divided into simple mode, normal mode and difficult mode;

The software control system and display device control the torque of the motor 7 according to the computer program module to simulate the resistance of different modes; when the mode is the power-assisted mode, the two driving wheels 6 rotate in the opposite direction to the main wheels of the wheelchair, driving the main wheels of the wheelchair. Movement; when the mode is the resistance mode, the two driving wheels 6 rotate in the same direction as the main wheel of the wheelchair, hindering the rotation of the main wheel of the wheelchair and acting as a resistance.

The motor 7 is connected vertically.

The software control system is equipped with a self-starting function. When the user turns the wheelchair main wheel 6, the software control system detects that the motor 7 is rotated by friction, and the software control system program starts automatically; the display device includes a display screen, a WIFI module and a Raspberry Pi. Pi processor; the display screen is located in front of the user, and the display interface on it includes options for sports mode and difficulty mode, exercise duration, real-time speed of the wheelchair, average speed and riding distance; the display screen and the Raspberry Pi processor pass the WIFI module Passing information, the Raspberry Pi processor transmits it to the motor through a data line for real-time control.

Compared with the prior art, the beneficial effects of the present invention are:

The invention provides a new type of wheelchair riding device, which is safer, more convenient, and more intelligent, and is suitable for cardiopulmonary endurance exercises for physically disabled people of various wheelchair models. This new type of wheelchair rider can not only effectively exercise cardiopulmonary endurance, but also select the corresponding mode according to the user's ability and needs to perform the most suitable training method. At the same time, the training effect and intensity can be visualized, and the software interface can display it in real time. The current speed and riding distance of the wheelchair facilitate the user to judge whether the training is up to standard. In the future, on this basis, virtual reality sports scene functions will be added through display screens or VR glasses, allowing practitioners to have an immersive sports experience and increasing the fun of home exercise for disabled people.

Description of the drawings

Figure 1 is a perspective view of a new wheelchair rider according to an embodiment of the present invention.

Figure 2 is a front view of the new wheelchair rider according to the embodiment of the present invention.

Figure 3 is a top view of the new wheelchair rider according to the embodiment of the present invention.

Figure 4 is a schematic diagram of the combined function of the new wheelchair rider and the wheelchair according to the embodiment of the present invention.

Figure 5 is a schematic diagram of the connection relationship between the software control system and the display device according to the embodiment of the present invention.

In the picture: 1. Incline track groove, 2. Parallel track groove, 3. Front roller baffle, 4. Base, 5. Driven wheel, 6. Driving wheel, 7. Motor, 8. Transmission shaft, 9. Motor base , 10. Cross bar, 11. Coupling, 12. With vertical seat bearing.

Detailed ways

The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments described below are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without any creative work fall within the scope of protection of the present invention.

In order to improve the convenience of use by disabled people, a wheelchair ramp design is installed on the front end of the wheelchair rider to facilitate the entry and exit of wheelchairs; at the same time, in order to meet the needs of multiple wheelchair models, the front wheels are fixed and the rear wheels use open rubber. The roller fixed design realizes the umbrella structure design and realizes the adjustment of the left and right distance of the transmission shaft 8, which meets the use requirements of different types of wheelchairs. In order to facilitate the use of this device in a home environment without taking up too much space, the new wheelchair rider will also be disassembled and designed to facilitate installation when in use and disassembly when not in use; through the design of the transmission mechanism, the product can be Realize the adjustment of power and resistance driven by a low-power motor to assist participants in exercising; design a software control system to control the size of the motor torque to adjust the intensity of exercise; design data collection, analysis and display system to realize real-time display of exercise duration, distance, current speed and average speed.

The wheelchair can roll to the parallel track groove 2 through the ramp track groove 1 and be fixed manually.

After the user places the wheelchair on the transmission shaft 8 of the new wheelchair rider that drives the wheelchair to rotate, the front wheel is fixed in the parallel track groove 2 through the front roller baffle 3 to ensure the stability and safety of the wheelchair when the user exercises. Then start the switch of motor 7, and adjust it to the required exercise mode and difficulty mode through the human-computer interaction interface of the host computer or the mobile APP according to your own physical level. The WIFI module transmits the data to the Raspberry Pi, and the Raspberry Pi After processing, it is converted into a motor torque control command, and the torque of the motor 7 is adjusted to the target value to change the movement mode of the wheelchair. The user continues to push the wheelchair with both hands to achieve the purpose of exercise, as shown in Figure 4.

Specifically, the function of the present invention is divided into three parts. The first part is a wheelchair rider structure. Four vertical seat bearings 12, parallel track grooves 2 and motor 7 are fixed on the motor base 9 with screws. This method saves The equipment occupies space, and then connects two opposite driving wheels 6 through a transmission shaft 8. The wheelchair can roll to the parallel track groove 2 through the slope track groove 1 and be fixed manually.

The second part is the power drive device of the wheelchair. After the motor 7 receives the command transmitted by the data line, the torque control command adjusts the torque of the motor 7 to the target value to change the riding mode of the wheelchair. If it is a power-assisted mode, the user's upper limb strength Not good, the driving wheel 6 drives the main wheel of the wheelchair to move, playing the role of auxiliary movement; if it is in the resistance mode, that is, the user's upper limb strength is normal or at a good level, the driving wheel 6 rotates in the opposite direction (assuming that the user's rotation direction is the positive direction) , which plays the role of exercising the upper limbs.

The third part is the software control system, human-computer interaction interface and mobile APP. The human-computer interaction interface is similar to the mobile APP and will display buttons and stop buttons for two working modes. The working modes are sports mode and difficulty mode. The sports mode is divided into assist mode and resistance mode. The difficulty mode is divided into three types: simple, normal and difficult. a pattern. The user needs to first select whether the exercise mode is power-assisted or resistance, and then select the required difficulty mode. There is no need for software to control the system to start. As long as the user turns the wheelchair, it will start automatically. According to the direction in which the user turns the wheelchair (exercises in different turning directions Different muscle groups) automatically match the corresponding mode. After training, press the stop button to stop the motor. Adjust the mode at any time according to the current intensity and physical condition to achieve the purpose of exercise. The set difficulty mode corresponds to different torque sizes and is transmitted to the Raspberry Pi computer for processing through WIFI signals, which are converted into motor signals and then transmitted to the motor through the data cable. , to achieve real-time control of the motor. Use Qt software to develop and design human-computer interaction interfaces and mobile APPs, design controls with different functions, such as push buttons, radio buttons and labels, use signal and slot mechanisms to design custom controls that meet needs, and realize the selection and control of motion modes. Function to display speed and distance data. Users can train under the guidance of others and operate on the human-computer interaction interface of the host computer. When the user is alone, he or she can operate the device using a mobile phone while sitting in a wheelchair.

The software control system changes the torque of the motor 7 through torque control to simulate different resistances in different scenarios, and is designed with a self-starting function; a human-computer interaction interface is designed on the host computer as a display, so that the user can interact with the motor through the human-computer interaction interface. System interaction. The user realizes the different operating modes of the controller through the human-computer interaction interface. The modes of the control system include sports mode and difficulty mode; sports modes are divided into assist mode and resistance mode. When the movement mode is the power-assist mode, the two driving wheels 6 rotate in the opposite direction to the main wheel of the wheelchair, driving the movement of the main wheel of the wheelchair to assist; when the movement mode is the resistance mode, the two driving wheels 6 rotate in the same direction as the main wheel of the wheelchair. It blocks the rotation of the wheelchair's main wheels and acts as a resistance. The difficulty mode is divided into three modes: simple, normal and difficult. Each mode corresponds to different sizes of torque set in the program, and plays the role of adjusting the amount of assistance and resistance. At the same time, a mobile APP is designed to facilitate users to operate alone, which solves the inconvenient problem of using the host computer. The overall workflow diagram is shown in Figure 1.

The software control system also includes a Raspberry Pi computer equipped with ROS (Robot Operating System) system; the self-starting function is that when the user turns the main wheel 6 of the wheelchair, the system detects that the motor 7 is rotated by friction, and the control program starts automatically; The human-computer interaction interface of the computer is developed based on the ROS and Qt (application development framework) platforms. The display interface includes options for exercise mode and difficulty mode, exercise duration, wheelchair real-time speed, average speed and riding distance. ;The interface of the mobile APP includes stop button, exercise mode and difficulty mode selection.

The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can, within the technical scope disclosed in the present invention, use the technology of the present invention. Any equivalent substitution or change of the scheme and its inventive concept shall be covered by the protection scope of the present invention.

Claims (3)

1. The novel wheelchair riding device is characterized by comprising a motor (7), a driven wheel (5), a driving wheel (6), a transmission shaft (8), two motor seats (9), a software control system, display equipment and a computer; one side of the motor seat (9) is provided with a driving wheel (6), the other side is provided with a driven wheel (5), and the wheelchair is positioned between the driving wheel (6) and the driven wheel (5); both sides of the driving wheel (6) and both sides of the driven wheel (5) are connected with a vertical seat bearing (12) through a cross rod (10), and the vertical seat bearing (12) is fixed on the motor seat (9); a cross bar (10) at one side of a driving wheel (6) passes through a vertical seat bearing (12) and is connected with a motor (7) through a coupler (11), and the two driving wheels (6) are connected with each other through a transmission shaft (8) to transmit power; the parallel track groove (2) is fixed on the ground through a base (4), and a front roller baffle (3) is arranged on the parallel track groove and used for limiting the front wheel of the wheelchair; one end of the parallel track groove (2) is connected with the slope track groove (1) and is used for guiding the front wheel of the wheelchair to move, and the other end of the parallel track groove is fixed on the driven wheel (5) side of the motor seat (9);

the software control system and the display device are both connected with a computer and a motor (7); program modules in different modes are stored in the computer; the modes are divided into a power-assisted mode and a resistance mode; the power-assisted mode and the resistance mode are both provided with a difficulty mode, and the difficulty mode is divided into a simple mode, a common mode and a difficulty mode; the software control system and the display equipment control the torque of the motor (7) according to the program module of the computer and are used for simulating the resistance of different modes; when the mode is a power-assisted mode, the two driving wheels (6) and the main wheel of the wheelchair rotate in opposite directions, so as to drive the main wheel of the wheelchair to move for power assistance; when the mode is the resistance mode, the two driving wheels (6) and the main wheel of the wheelchair rotate in the same direction, and the main wheel of the wheelchair is prevented from rotating to play a role in resistance.

2. A new wheelchair rider according to claim 1, characterised in that the motor (7) is connected vertically.

3. The novel wheelchair rider of claim 1 or 2, wherein the software control system is provided with a self-starting function, and when a user rotates the wheelchair main wheel (6), the software control system detects that the motor (7) is subjected to friction rotation, and the software control system program is started automatically; the display device comprises a display screen, a WIFI module and a raspberry group processor; the display screen is positioned in front of the user, and the display interface on the display screen comprises options of a movement mode and a difficulty mode, movement duration, wheelchair real-time speed, average speed and riding distance; the display screen and the raspberry group processor transmit information through the WIFI module, and the raspberry group processor transmits the information to the motor through a data line for real-time control.