A medical assistance device based on artificial intelligence technology

Abstract

The present invention relates to the field of intelligent medical assistance technology, and in particular to a medical assistance device based on artificial intelligence technology. It comprises: a moving part, the moving part is provided with two driving wheels and two adaptive moving wheels, the moving part is fixedly connected with two driving modules, and the two driving modules are respectively connected to the rotating shafts of the two driving wheels of the moving part; two counterweights are both slidably connected to the moving part, the moving part is provided with two first fixed shells, a piston rod is sealed and slidably connected in the first fixed shell, and a first elastic part is fixedly connected between the two, and the telescopic end of the piston rod is fixedly connected to the adjacent counterweight. The present invention detects the turning direction of the moving part when it turns, and adjusts the center of gravity position of the moving part according to the direction of the turn, so as to improve the stability of the moving part during the turning process, and avoid the deviation of the center of gravity of the moving part during the turning process, thereby overturning and causing harm to the patient.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical assistance technology, and in particular to a medical assistance device based on artificial intelligence technology. Background Art

[0002] Medical assistive devices can be divided into motion assistive devices, nursing assistive devices, rehabilitation training assistive devices, etc. according to their functions. These devices are usually equipped with artificial intelligence chips. The smart chips can change the movement state of the medical assistive devices according to the patient's condition and historical data.

[0003] Rehabilitation training auxiliary devices include upper limb rehabilitation robots, lower limb rehabilitation robots, etc. Among them, lower limb rehabilitation robots are widely used in people with lower limb paralysis, leg muscle atrophy or other diseases who cannot stand and walk independently.

[0004] Some existing lower limb rehabilitation robots can not only provide rehabilitation exercises for patients but also replace the patient's legs to achieve the effect of moving. The principle of movement is that two independent front drive wheels provide power for the entire device, and the differential of the two front drive wheels is used to achieve the turning of the entire device, while the two adaptive moving wheels on the rear side ensure the stability of the entire device during movement. When the rehabilitation robot turns, the center of gravity of the entire device will be unstable due to the influence of centrifugal force, causing the patient to swing on the robot, which will further cause the robot to swing. In severe cases, the robot may roll over and cause injury to the patient. Summary of the invention

[0005] In order to overcome the disadvantage that the center of gravity of the rehabilitation robot may deviate during turning and may cause rollover, the present invention provides a medical assisting device based on artificial intelligence technology.

[0006] The technical implementation scheme of the present invention is: a medical assistance device based on artificial intelligence technology, comprising:

[0007] A moving member, the moving member is fixedly connected to a support member, the moving member is hinged to a first connecting rod, the first connecting rod is fixedly connected to a support plate, the moving member is hinged to a second connecting rod, the second connecting rod is hinged to an operating table, the first connecting rod is hinged to a rod that slides with the second connecting rod, the moving member is provided with two driving wheels and two adaptive moving wheels, the moving member is fixedly connected to two driving modules, and the two driving modules are respectively connected to the rotating shafts of the two driving wheels of the moving member in a transmission manner;

[0008] Two counterweight blocks are both slidably connected to the moving member, and the moving member is provided with two first fixed shells, a piston rod is sealingly and slidably connected in the first fixed shells, and a first elastic member is fixedly connected between the two, and the telescopic end of the piston rod is fixedly connected to the adjacent counterweight block;

[0009] A judgment component, disposed on the moving part, for judging the direction in which the moving part turns;

[0010] Two driving components are arranged on the moving member and are used for driving the adjacent counterweight blocks to move.

[0011] Furthermore, the judgment component includes:

[0012] A second fixed shell is disposed on the moving part, the second fixed shell is slidably connected to the transmission rod, and a second elastic member is fixedly connected between the two.

[0013] The two rotating blocks are both rotatably connected to the transmission rod, the output shafts of the two driving modules are fixedly connected with fixed blocks, a telescopic rod is fixedly connected between the fixed block and the adjacent rotating block, the fixed block is provided with a slide groove, a centrifugal block is slidably connected in the slide groove of the fixed block, and a pull rope is fixedly connected between the centrifugal block in the fixed block and the adjacent rotating block.

[0014] Furthermore, the centrifugal block in the fixed block is located in the middle of the fixed block slide groove.

[0015] Furthermore, the driving assembly includes:

[0016] A third fixed shell is arranged on the moving part, the third fixed shell is rotatably connected to a reciprocating screw, the third fixed shell is limitedly slidably connected to a sliding block, and the reciprocating screw passes through the sliding block;

[0017] The first elastic oil bag is arranged inside the third fixed shell, the first elastic oil bag is extruded and matched with the sliding block, the first elastic oil bag is fixedly connected and communicated with a first oil delivery pipe, and the first oil delivery pipe is communicated with the adjacent first fixed shell.

[0018] Furthermore, a cavity is provided in the sliding block, and a limit member is sealed and slidably connected in the cavity of the sliding block. The limit member cooperates with the thread groove of the reciprocating screw. The sliding block is fixedly connected with an oil guide pipe connected to its cavity, and the third fixed shell is provided with a power transmission component, and the power transmission component is used to control the position of the limit member.

[0019] Furthermore, the power transmission assembly includes:

[0020] a fourth fixing shell, fixedly connected to one side of the third fixing shell;

[0021] A connecting member, slidably connected in the fourth fixed shell;

[0022] The second elastic oil bag is fixedly connected in the fourth fixed shell, the second elastic oil bag is extruded and matched with the connecting piece, and the second elastic oil bag is communicated with the oil guide pipe of the adjacent sliding block.

[0023] Furthermore, the connecting member is composed of a fixed ring and a rotating ring, the rotating ring is rotatably connected to the fixed ring, and the fixed ring is slidingly matched with the fourth fixed shell and fixedly connected to the second elastic oil bag.

[0024] Furthermore, a chamber is provided between the second elastic oil bag and the fourth fixed shell.

[0025] Furthermore, the driving component also includes:

[0026] A rotating shell is rotatably connected to the moving member, the rotating shell is fixedly connected to the reciprocating screw, a transmission member is provided between the rotating shell and the adjacent driving module, the rotating shell is slidably connected to a transfer rod, and one side of the transfer rod is rotatably matched with the transmission rod;

[0027] The first sliding plate is fixedly connected to the other side of the transmission rod. The first sliding plate is fixedly connected to a limiting rod. The limiting rod passes through the rotating shell and is extruded and matched with the rotating ring of the connecting member.

[0028] Furthermore, it also includes:

[0029] The delay components, the number of which is the same as the number of the rotating shells, are arranged in the rotating shell, and the delay components are used to delay the resetting of the first elastic oil bag, and the delay components include:

[0030] The second sliding plate is sealingly and slidably connected to the rotating shell, and a third sliding plate is sealingly and slidably connected to the rotating shell, and a side of the transmission rod away from the transmission rod passes through the first sliding plate, the third sliding plate, the rotating shell and the reciprocating screw and is located in the third fixed shell, and the transmission rod is rotationally matched with the rotating shell and the reciprocating screw, and the transmission rod is sealingly and slidably matched with the first sliding plate and the third sliding plate, the second sliding plate is fixedly connected to the transmission rod and is located between the first sliding plate and the third sliding plate, the first sliding plate is fixedly connected with a third elastic member, and the third elastic member of the first sliding plate is extruded and matched with the rotating shell, the second sliding plate is provided with an oil guide hole, and the side of the transmission rod away from the transmission rod is rotationally connected with an L-shaped rod through a connecting ring;

[0031] A connecting shell is fixedly connected to the inner circumference of the third fixed shell, the connecting shell is provided with a first guide hole, a sealing plate is slidably connected in the connecting shell, the sealing plate is fixedly connected to the L-shaped rod, the sealing plate is provided with a second guide hole, the sealing plate is sealed and matched with the first guide hole of the connecting shell, the second guide hole of the sealing plate is communicated and matched with the first guide hole of the connecting shell, the first guide hole of the connecting shell is communicated with the first elastic oil bag, a one-way valve is provided in the first oil pipeline, the first oil pipeline is fixedly connected and communicated with the second oil pipeline, the second oil pipeline passes through the third fixed shell and is communicated with the first guide hole of the connecting shell.

[0032] The beneficial effects of the present invention are as follows: the present invention detects the turning direction of the moving part when it turns, and adjusts the center of gravity position of the moving part according to the turning direction, thereby improving the stability of the moving part during the turning process and preventing the moving part from tilting its center of gravity during the turning process and thus tipping over to cause harm to the patient.

[0033] By directly controlling the movement of the counterweight block after converting the turning speed of the moving part, the adjustment speed of the counterweight block is proportional to the turning angle of the moving part, thereby accurately adjusting the center of gravity of the moving part to adapt to different turning angles and improving the balance of the moving part when turning.

[0034] By adjusting the counterweight to the optimal position and then stopping during the turning process of the moving part, the center of gravity of the moving part is always in a stable state when the turning range is large, thereby improving the stability of the moving part during the turning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0036] Figure 2 It is a three-dimensional structural cross-sectional view of the moving part of the present invention;

[0037] Figure 3 It is a schematic diagram of the three-dimensional structure of the second fixed shell and the third fixed shell of the present invention;

[0038] Figure 4 It is a schematic diagram of the three-dimensional structure of the transmission rod and the rotating shell of the present invention;

[0039] Figure 5 It is a schematic diagram of the three-dimensional structure of the first elastic oil bag and the first oil delivery pipe of the present invention;

[0040] Figure 6 It is a schematic diagram of the three-dimensional structure of the first fixed shell and the piston rod of the present invention;

[0041] Figure 7 It is a three-dimensional structural schematic diagram of the transmission rod and the fixing block of the present invention;

[0042] Figure 8 It is a three-dimensional structural cross-sectional view of the transmission rod and the fixing block of the present invention;

[0043] Fig. 9 It is a three-dimensional structural schematic diagram of the reciprocating screw and the L-shaped rod of the present invention;

[0044] Fig.10 It is a schematic diagram of the three-dimensional structure of the connecting piece and the second elastic oil bag of the present invention;

[0045] Fig.11 It is a three-dimensional structural schematic diagram of the sliding block and the limiting member of the present invention;

[0046] Fig.12 It is a schematic diagram of the three-dimensional structure of the limiting member of the present invention;

[0047] Fig.13 It is a schematic diagram of the three-dimensional structure of the first sliding plate and the second sliding plate of the present invention;

[0048] Fig.14 It is a schematic diagram of the three-dimensional structure of the connecting shell and the sealing plate of the present invention.

[0049] Marked in the figure: 1: moving part, 2: supporting part, 3: first connecting rod, 4: second connecting rod, 401: operating table, 5: driving module, 6: counterweight block, 7: first fixed shell, 8: piston rod, 11: second fixed shell, 12: transmission rod, 13: rotating block, 14: fixed block, 17: third fixed shell, 18: reciprocating screw, 19: sliding block, 20: first elastic oil bag, 21: first oil pipeline, 22: limiting part, 23: fourth fixed shell, 24: connecting part, 25: second elastic oil bag, 26: rotating shell, 27: transmission rod, 28: first sliding plate, 29: limiting rod, 30: second sliding plate, 31: third sliding plate, 32: L-shaped rod, 33: connecting shell, 34: blocking plate, 35: second oil pipeline. DETAILED DESCRIPTION

[0050] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

[0051] Example 1: A medical assistance device based on artificial intelligence technology, please refer to Figure 1-Figure 3 , Figure 5 and Figure 6, including: a moving member 1, the moving member 1 is fixedly connected to a support member 2, the moving member 1 is hinged with a first connecting rod 3, the first connecting rod 3 is fixedly connected to a support plate, the moving member 1 is hinged with a second connecting rod 4, the second connecting rod 4 is hinged with an operating table 401, the first connecting rod 3 is hinged with a rod that slides with the second connecting rod 4, the moving member 1 is provided with two driving wheels and two adaptive moving wheels, the moving member 1 is fixedly connected to two driving modules 5, and the two driving modules 5 are respectively connected to the rotating shafts of the two driving wheels of the moving member 1; two counterweights 6 are both slidably connected to the moving member 1, the moving member 1 is provided with two first fixed shells 7, the first fixed shells 7 are sealed and slidably connected with a piston rod 8, and a first elastic member is fixedly connected between the two, and the telescopic end of the piston rod 8 is fixedly connected to the adjacent counterweight 6; a judgment component is arranged on the moving member 1, and is used to judge the direction of the turning of the moving member 1; two driving components are arranged on the moving member 1, and are used to drive the adjacent counterweights 6 to move.

[0052] In the above scheme, the hinged parts of the movable part 1 and the second connecting rod 4 and the hinged parts of the second connecting rod 4 and the operating table 401 are all provided with electric drive parts, which are respectively used to drive the second connecting rod 4 to swing and maintain the horizontality of the operating table 401, and the hinged parts where the electric drive parts are located can swing freely when the electric drive parts are not powered on. A strap for fixing the patient's waist is provided on one side of the operating table 401, a handle is provided on the support part 2, the first connecting rod 3 is fixedly connected to a seat cushion, the movable part 1 is provided with a slot for fixing the foot, the driving module 5 has two output shafts, one output shaft in the driving module 5 is fixedly connected to the driving wheel, the first elastic part between the first fixed shell 7 and the piston rod 8 is set as a spring, which is used to drive the piston rod 8 to reset, and the first fixed shell 7 is filled with hydraulic oil.

[0053] Please refer to Figure 3 , Figure 4 , Figure 7 and Figure 8 The judging component includes: a second fixed shell 11, which is arranged on the moving part 1, and the second fixed shell 11 is slidably connected with a transmission rod 12, and a second elastic member is fixedly connected between the two; two rotating blocks 13, both of which are rotatably connected to the transmission rod 12, and the output shafts of the two driving modules 5 are fixedly connected with fixed blocks 14, and a telescopic rod is fixedly connected between the fixed block 14 and the adjacent rotating block 13, and the fixed block 14 is provided with a slide groove, and a centrifugal block is slidably connected in the slide groove of the fixed block 14, and a pull rope is fixedly connected between the centrifugal block in the fixed block 14 and the adjacent rotating block 13, and the centrifugal block in the fixed block 14 is located in the middle of the slide groove of the fixed block 14.

[0054] In the above scheme, an annular block is provided on one side of the transmission rod 12, and the two rotating blocks 13 rotate in the annular block of the transmission rod 12. The second elastic member between the second fixed shell 11 and the transmission rod 12 is set as a spring, which is used to drive the transmission rod 12 to reset. The fixed block 14 and the centrifugal block in the fixed block 14 are both set as cylinders. There are at least two telescopic rods between the fixed block 14 and the rotating block 13, and the distances from all the telescopic rods to the axis of the fixed block 14 are consistent, so that the fixed block 14 drives the rotating block 13 to rotate stably.

[0055] Please refer to Figure 3 , Figure 5 , Fig. 9 , Fig.11 and Fig.12 The driving component includes: a third fixed shell 17, which is arranged on the moving part 1. The third fixed shell 17 is rotatably connected to the reciprocating screw 18. The third fixed shell 17 is limitedly and slidably connected to the sliding block 19. The reciprocating screw 18 passes through the sliding block 19. A cavity is arranged in the sliding block 19. The cavity of the sliding block 19 is sealed and slidably connected to a limiting member 22. The limiting member 22 is limitedly matched with the thread groove of the reciprocating screw 18. The sliding block 19 is fixedly connected with an oil guide pipe connected with its cavity; a first elastic oil bag 20 is arranged inside the third fixed shell 17. The first elastic oil bag 20 is squeezed and matched with the sliding block 19. The first elastic oil bag 20 is fixedly connected and connected with a first oil pipeline 21. The first oil pipeline 21 is connected with the adjacent first fixed shell 7. The third fixed shell 17 is provided with a power transmission component, and the power transmission component is used to control the position of the limiting member 22.

[0056] In the above scheme, the sliding block 19 is located on one side of the reciprocating screw 18, the first elastic oil bag 20 is set as an annular oil bag, the reciprocating screw 18 passes through the middle of the first elastic oil bag 20, the first oil pipe 21 is located on the side of the third fixed shell 17 away from the adjacent sliding block 19, the first elastic oil bag 20 is fixedly connected to the third fixed shell 17 on the side close to the first oil pipe 21, the first elastic oil bag 20 and the first oil pipe 21 are both filled with hydraulic oil, the limiter 22 is composed of a piston plate and a T-shaped rod, the T-shaped rod is rotatably connected to the piston plate, the lower side of the T-shaped rod is provided with an arc surface that slides with the thread groove of the reciprocating screw 18, and a torsion spring is provided between the T-shaped rod and the sliding block 19, the torsion spring is used to reset the T-shaped rod after the thread groove of the reciprocating screw 18 swings.

[0057] Please refer to Figure 5 and Figure 9-12The power transmission assembly includes: a fourth fixed shell 23, fixedly connected to one side of the third fixed shell 17; a connecting member 24, slidably connected in the fourth fixed shell 23, the connecting member 24 is composed of a fixed ring and a rotating ring, the rotating ring is rotatably connected to the fixed ring, the fixed ring is slidably matched with the fourth fixed shell 23 and is fixedly connected to the second elastic oil bag 25; the second elastic oil bag 25 is fixed in the fourth fixed shell 23, the second elastic oil bag 25 is extruded and matched with the connecting member 24, the second elastic oil bag 25 is connected to the oil guide pipe of the adjacent sliding block 19, and a chamber is provided between the second elastic oil bag 25 and the fourth fixed shell 23.

[0058] In the above scheme, the fourth fixed shell 23 is an annular cylinder, the second elastic oil bag 25 is an annular oil bag, and the second elastic oil bag 25 is fixedly connected to the fourth fixed shell 23 at a position away from the connecting member 24 on the circumference thereof, so that when the second elastic oil bag 25 is squeezed, it can only expand by deforming on the side away from the connecting member 24, and the second elastic oil bag 25 and the oil guide pipe are both filled with hydraulic oil.

[0059] Please refer to Figure 3-Figure 5 and Fig.13 The driving assembly also includes: a rotating shell 26, which is rotatably connected to the moving part 1, the rotating shell 26 is fixedly connected to the reciprocating screw 18, a transmission part is arranged between the rotating shell 26 and the adjacent driving module 5, the rotating shell 26 is slidably connected to the transfer rod 27, one side of the transfer rod 27 is rotatably matched with the transmission rod 12; a first sliding plate 28, which is fixedly connected to the other side of the transfer rod 27, the first sliding plate 28 is fixedly connected to the limiting rod 29, and the limiting rod 29 passes through the rotating shell 26 and is squeezed and matched with the rotating ring of the connecting member 24.

[0060] In the above scheme, the rotating shell 26 is rotatably installed on the moving part 1 through the mounting part, the rotating shell 26 and the axis of the reciprocating screw 18 are on the same straight line, the transmission part between the rotating shell 26 and the driving module 5 is set as a belt and a pulley, the pulley on the driving module 5 is fixed to the side of the driving module 5 away from the driving wheel, and at least two limiting rods 29 are set to ensure that the connecting part 24 is evenly stressed when being squeezed.

[0061] When a patient who lacks independent movement ability needs to use this device to go out or perform rehabilitation exercises, the patient controls the second connecting rod 4 to swing downward through the operating table 401 (the operation is not limited to the patient himself, but can also be assisted by a caregiver. The patient's own operation is taken as an example below). The swing of the second connecting rod 4 drives the first connecting rod 3 to swing downward through the hinge rod until the first connecting rod 3 is in a horizontal state and then stops. During the rotation of the second connecting rod 4, the operating table 401 rotates synchronously to keep the operating table 401 in a horizontal state. After the second connecting rod 4 and the operating table 401 stop, the patient moves his feet to the two foot slots of the moving part 1, then holds the handles on the support part 2, uses the arm force to sit on the cushion, and then fixes the waist with a strap.

[0062] When the patient fixes his waist and needs to use the present device for passive exercise, the patient controls the second connecting rod 4 to swing upward through the operating platform 401, so that the operating platform 401 and the first connecting rod 3 are reset, thereby driving the upper body to move upward through the straps. While the upper body is moved by the straps, the seat cushion applies a supporting force to the patient's buttocks, so that the patient stands up, and then sits down through the operating platform 401 (the action here is consistent with the action of swinging the second connecting rod 4 and the first connecting rod 3 downward when the present device is used), and repeats this process. When the patient uses the present device for autonomous exercise, the patient holds the handles with both hands, uses the force of his arms to pull himself up, and then uses his arms to slowly sit down after standing up (the action here is consistent with the action of the present device for passive exercise), so as to perform autonomous exercise and repeat this process.

[0063] When the patient needs to go out after standing on the device, the two driving modules 5 are controlled by the operating table 401 to drive the driving wheels to rotate so that the movable part 1 moves. While the two driving modules 5 drive the two front wheels to rotate, the two driving modules 5 respectively drive the two fixed blocks 14 to rotate. The two driving modules 5 also drive the two rotating shells 26 to rotate synchronously through the transmission parts. The rotation of the two rotating shells 26 respectively drives the two reciprocating screws 18 to rotate. The rotation of the two fixed blocks 14 drives the two rotating blocks 13 to rotate respectively through the telescopic rods thereon. At the same time, the centrifugal block inside the fixed block 14 is subjected to the centrifugal force and moves in the direction away from the axis of the fixed block 14. At this time, if the movable part 1 makes a linear motion, the rotation speed of the two driving modules 5 is consistent, and the centrifugal force exerted on the centrifugal blocks in the two fixed blocks 14 is consistent and transmitted to the two rotating blocks through the pull rope. The pulling force of 13 is consistent, so that the transmission rod 12 remains stationary. When the rotation speeds of the two fixed blocks 14 are different, it means that the movable part 1 is turning. The following text is based on the forward direction when the patient sits on the cushion of the first connecting rod 3. When the rotation speed of the right fixed block 14 is greater than the rotation speed of the left fixed block 14, it means that the movable part 1 is turning left. At this time, the centrifugal force exerted on the centrifugal block in the right fixed block 14 is greater than the centrifugal force exerted on the centrifugal block in the left fixed block 14. The right fixed block 14 will pull the transmission rod 12 to the right through the pull rope of the centrifugal block inside it and the rotating block 13, compressing the second elastic member between the transmission rod 12 and the second fixed shell 11, and the transmission rod 12 moves to the right through the rotating block 13 on the left and the pull rope on the left rotating block 13 to pull the centrifugal block in the left fixed block 14 toward the direction close to the axis of the fixed block 14.

[0064] During the process of the transmission rod 12 moving to the right, the transmission rod 12 drives the two transmission rods 27 to move to the right. At this time, the right transmission rod 27 drives the first sliding plate 28 to move in the direction close to the right third fixed shell 17. The movement of the first sliding plate 28 drives the two limit rods 29 thereon to move. During the movement of the limit rod 29, it contacts and squeezes the connecting member 24 to move. The connecting member 24 moves to squeeze the second elastic oil bag 25 so that the hydraulic oil inside it enters the cavity of the sliding block 19 through the oil guide pipe and pushes the limit member 22 downward. When the limit member 22 is blocked by the reciprocating screw 18, the connecting member 24 continues to squeeze the second elastic oil bag 25 to make it expand into the chamber of the fourth fixed shell 23 until the transmission rod 12 compresses the second elastic member between it and the second fixed shell 11 to the limit and stops.

[0065] After the transmission rod 12 stops moving, the second elastic oil bag 25 stops expanding. During this process, the reciprocating screw 18 continues to rotate. When the thread groove of the reciprocating screw 18 and the limiter 22 are in corresponding positions, the expanded second elastic oil bag 25 shrinks a part, so that the hydraulic oil in the second elastic oil bag 25 enters the cavity of the sliding block 19 through the oil guide pipe, so that the limiter 22 moves downward again and limits each other with the thread groove of the reciprocating screw 18. At this time, the reciprocating screw 18 can drive the sliding block 19 to move through the limiter 22, and the sliding block 19 moves to squeeze the first elastic oil bag 20 so that the hydraulic oil inside it enters the first fixed shell 7 through the first oil pipeline 21. The hydraulic oil entering the first fixed shell 7 pushes the piston rod 8 moves to the left and compresses the first elastic member between the piston rod 8 and the first fixed shell 7. The piston rod 8 moves to the left and synchronously drives the counterweight block 6 to move to the left, so that the center of gravity of the movable part 1 is shifted to the left when the movable part 1 turns left, avoiding the center of gravity shifting to the right when turning left and causing the movable part 1 to tip over to the right, thereby improving the safety of the patient when using the device for movement. The rotation speed of the drive module 5 is transmitted to the reciprocating screw 18 through the rotating shell 26 to control the squeezing speed of the sliding block 19 on the first elastic oil bag 20, so that the moving speed of the counterweight block 6 is proportional to the turning angle, so that the position of the center of gravity of the movable part 1 can be accurately adjusted according to the different turning angles of the movable part 1, thereby improving the stability of the movable part 1 when turning.

[0066] After the turn, the moving part 1 resumes straight-line travel, the rotation speeds of the left and right fixed blocks 14 resume consistency, the centrifugal forces on the centrifugal blocks in the two fixed blocks 14 are equal, the pulling forces exerted on the transmission rod 12 by the two fixed blocks 14 are balanced, and the transmission rod 12 is reset under the action of the second elastic member between it and the second fixed shell 11, and the centrifugal blocks in the right fixed block 14 are reset to the middle of the fixed block 14 slide groove, and the centrifugal blocks in the left fixed block 14 are reset to the middle of the fixed block 14 slide groove under the action of centrifugal force, the transmission rod 12 is reset and drives the first sliding plate 28 to reset through the transfer rod 27, and the first sliding plate 28 drives the two limit rods 29 to reset, so that the limit rod 29 releases the squeezing of the connecting member 24 and thereby releases the squeezing of the second elastic oil bag 25, and the second elastic oil bag 25 is reset under the action of its own elastic force and The hydraulic oil in the cavity of the sliding block 19 is pumped back into the second elastic oil bag 25 through the oil guide pipe. The hydraulic oil in the cavity of the sliding block 19 flows back and drives the limit piece 22 to reset, so that the limit piece 22 contacts the thread groove of the reciprocating screw 18 and limits the position. At this time, the sliding block 19 stops moving and the pressure on the first elastic oil bag 20 disappears. Then the elastic force of the first elastic piece between the first fixed shell 7 and the piston rod 8 is released and drives the piston rod 8 to reset. The piston rod 8 is reset and pushes the hydraulic oil in the first fixed shell 7 back into the first elastic oil bag 20 through the first oil delivery pipe 21. The hydraulic oil flowing back into the first elastic oil bag 20 causes the first elastic oil bag 20 to resume expansion and push the sliding block 19 to reset in the direction away from the fourth fixed shell 23 until the elastic force of the first elastic piece in the first fixed shell 7 is completely released and drives the counterweight 6 to reset to the right.

[0067] When the movable part 1 turns right, the rotation speed of the left fixed block 14 is greater than that of the right fixed block 14, so that the centrifugal force provided by the centrifugal block in the left fixed block 14 is larger, thereby pulling the transmission rod 12 to the left, so that the rotating shell 26 on the left squeezes the connecting piece 24 and the second elastic oil bag 25 in the left fourth fixed shell 23 through the limit rod 29, so that the reciprocating screw 18 on the left drives the sliding block 19 on the left to move, so that the hydraulic oil entering the left first fixed shell 7 pushes the piston rod 8 to move right, and moves the counterweight block 6 on the left to the right, thereby balancing the center of gravity of the movable part 1 turning right. After the turn is completed, the reset action of the left part is consistent with the reset action of the right part at the end of the left turn.

[0068] Example 2: Based on Example 1, please refer to Fig. 9 , Fig.13 and Fig.14, also includes: a delay component, the number of which is consistent with the number of the rotating shell 26, and is arranged in the rotating shell 26. The delay component is used to delay the resetting of the first elastic oil bag 20. The delay component includes: a second sliding plate 30, which is sealed and slidably connected to the rotating shell 26, and a third sliding plate 31 is sealed and slidably connected in the rotating shell 26. The side of the transmission rod 27 away from the transmission rod 12 passes through the first sliding plate 28, the third sliding plate 31, the rotating shell 26 and the reciprocating screw 18 and is located in the third fixed shell 17. The transmission rod 27 is rotatably matched with the rotating shell 26 and the reciprocating screw 18. The transmission rod 27 is sealed and slidably matched with the first sliding plate 28 and the third sliding plate 31. The second sliding plate 30 is fixedly connected to the transmission rod 27 and is located between the first sliding plate 28 and the third sliding plate 31. The first sliding plate 28 is fixedly connected with a third elastic member. The third elastic member of the first sliding plate 28 The parts are squeezed and matched with the rotating shell 26, the second sliding plate 30 is provided with an oil guide hole, and the side of the transmission rod 27 away from the transmission rod 12 is rotatably connected to the L-shaped rod 32 through a connecting ring; the connecting shell 33 is fixed to the inner circumference of the third fixed shell 17, the connecting shell 33 is provided with a first guide hole, and a sealing plate 34 is slidably connected in the connecting shell 33, the sealing plate 34 is fixed to the L-shaped rod 32, and the sealing plate 34 is provided with a second guide hole, the sealing plate 34 is sealed and matched with the first guide hole of the connecting shell 33, and the second guide hole of the sealing plate 34 is communicated and matched with the first guide hole of the connecting shell 33, and the first guide hole of the connecting shell 33 is communicated and matched with the first elastic oil bag 20, a one-way valve is provided in the first oil pipeline 21, the first oil pipeline 21 is fixedly connected and communicated with the second oil pipeline 35, and the second oil pipeline 35 passes through the third fixed shell 17 and is communicated with the first guide hole of the connecting shell 33.

[0069] In the above scheme, the axis of the transmission rod 27 is on the same straight line as the axis of the reciprocating screw 18, the first sliding plate 28 and the third sliding plate 31 and the rotating shell 26 together form a closed oil chamber, hydraulic oil is filled between the first sliding plate 28 and the third sliding plate 31, the third elastic member between the first sliding plate 28 and the rotating shell 26 is set as a spring, the connecting shell 33 is located between the third fixed shell 17 and the first elastic oil bag 20, the first guide hole of the connecting shell 33 and the second guide hole of the sealing plate 34 are initially connected, the side of the first oil pipe 21 close to the first elastic oil bag 20 is a hard pipe, the one-way valve in the first oil pipe 21 is located inside the hard pipe area of ​​the first oil pipe 21, the flow direction of the one-way valve in the first oil pipe 21 is from the side of the one-way valve close to the first elastic oil bag 20 to the side of the one-way valve away from the first elastic oil bag 20, and the second oil pipe 35 is filled with hydraulic oil.

[0070] When the turning amplitude of the movable part 1 is too large, the transmission rod 27 drives the second sliding plate 30 to move. Since the flow volume of the oil guide hole on the second sliding plate 30 is small, the second sliding plate 30 pushes the first sliding plate 28 to move through the hydraulic oil, thereby driving the limit rod 29 to move, and squeezing the third elastic member between the first sliding plate 28 and the rotating shell 26. During the movement of the first sliding plate 28, the first sliding plate 28 moves and synchronously drives the third sliding plate 31 to move through the hydraulic oil. The movement of the transmission rod 27 will also synchronously drive the L-shaped rod 32 to move in the direction away from the fourth fixed shell 23. The movement of the L-shaped rod 32 drives the blocking plate 34 to move, so that the blocking plate 34 blocks the first guide hole of the connecting shell 33. The subsequent actions of the limit rod 29 squeezing the connecting part 24 and the second elastic oil bag 25 are consistent with the above actions, and finally the hydraulic oil in the first elastic oil bag 20 enters the first fixed shell 7 through the one-way valve in the first oil pipeline 21, so that the counterweight block 6 adjusts to adapt to the center of gravity of the movable part 1 when turning.

[0071] In the process of the reciprocating screw 18 driving the sliding block 19 to move, the elastic force of the third elastic member between the first sliding plate 28 and the rotating shell 26 is gradually released and pushes the first sliding plate 28 to move in the direction close to the second sliding plate 30. At this time, the position of the second sliding plate 30 remains unchanged, and the hydraulic oil between the first sliding plate 28 and the second sliding plate 30 enters between the second sliding plate 30 and the third sliding plate 31 through the oil guide hole of the second sliding plate 30 and pushes the third sliding plate 31 to move until the elastic force of the spring between the first sliding plate 28 and the rotating shell 26 is completely released to drive the first sliding plate 28 and the third sliding plate 31 to reset. At this time, the squeezing of the connecting member 24 by the limit rod 29 disappears, so that the reciprocating screw 18 no longer drives the sliding block 19 to move, and the sliding block 19 stops squeezing the first elastic oil bag 20, thereby stopping the movement of the counterweight block 6. At this time, due to the action of the one-way valve in the first oil delivery pipe 21, the hydraulic oil entering the first fixed shell 7 will not flow back, thereby maintaining the current position of the piston rod 8 until the moving member 1 ends turning.

[0072] After the moving part 1 finishes turning, the transmission rod 12 drives the transmission rod 27 to reset, thereby driving the second sliding plate 30 to reset. The reset of the transmission rod 27 drives the L-shaped rod 32 to reset, and the L-shaped rod 32 drives the blocking plate 34 to move, so that the second guide hole of the blocking plate 34 is connected to the first guide hole of the connecting shell 33. At this time, the hydraulic oil entering the first fixed shell 7 flows back to the first elastic oil bag 20 through the first oil pipe 21 and the second oil pipe 35 thereon, so that the first elastic oil bag 20 expands and drives the sliding block 19 to reset, and the first sliding plate 28 is reset during the turning process through the oil guide hole of the second sliding plate 30, so that the counterweight block 6 stops moving after adapting to the turning angle and adjusting the center of gravity to the optimal position, and keeps the current position unchanged, so that the moving part 1 always maintains the optimal center of gravity position when the turning amplitude is large, thereby improving the stability of the moving part 1 during the turning process.

[0073] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A medical assistance device based on artificial intelligence technology, characterized in that: include: A moving member (1), the moving member (1) being fixedly connected to a support member (2), the moving member (1) being hingedly connected to a first connecting rod (3), the first connecting rod (3) being fixedly connected to a support plate, the moving member (1) being hingedly connected to a second connecting rod (4), the second connecting rod (4) being hingedly connected to an operating table (401), the first connecting rod (3) being hingedly connected to a rod that slidably cooperates with the second connecting rod (4), the moving member (1) being provided with two driving wheels and two adaptive moving wheels, the moving member (1) being fixedly connected to two driving modules (5), the two driving modules (5) being respectively drivingly connected to the rotating shafts of the two driving wheels of the moving member (1); Two counterweight blocks (6) are both slidably connected to the moving member (1), the moving member (1) is provided with two first fixed shells (7), a piston rod (8) is sealingly and slidably connected inside the first fixed shells (7), and a first elastic member is fixedly connected between the two, and the telescopic end of the piston rod (8) is fixedly connected to the adjacent counterweight block (6); A judgment component, arranged on the moving part (1), and used for judging the turning direction of the moving part (1); Two driving assemblies, arranged on the moving member (1), and used for driving the adjacent counterweight blocks (6) to move; The judgment component includes: A second fixed shell (11) is arranged on the movable member (1), the second fixed shell (11) is slidably connected to a transmission rod (12), and a second elastic member is fixedly connected between the second fixed shell (11); Two rotating blocks (13) are both rotatably connected to the transmission rod (12); the output shafts of the two driving modules (5) are both fixedly connected to fixed blocks (14); a telescopic rod is fixedly connected between the fixed block (14) and the adjacent rotating block (13); the fixed block (14) is provided with a slide groove; a centrifugal block is slidably connected in the slide groove of the fixed block (14); and a pull rope is fixedly connected between the centrifugal block in the fixed block (14) and the adjacent rotating block (13); The drive assembly comprises: A third fixed shell (17) is arranged on the moving member (1), the third fixed shell (17) is rotatably connected to a reciprocating screw (18), the third fixed shell (17) is limitedly slidably connected to a sliding block (19), and the reciprocating screw (18) passes through the sliding block (19); a first elastic oil bag (20) disposed inside the third fixed shell (17), the first elastic oil bag (20) being pressed and matched with the sliding block (19), the first elastic oil bag (20) being fixedly connected to and in communication with a first oil delivery pipe (21), the first oil delivery pipe (21) being in communication with the adjacent first fixed shell (7); The sliding block (19) is provided with a cavity, the cavity of the sliding block (19) is sealed and slidably connected with a limit member (22), the limit member (22) is limitedly matched with the thread groove of the reciprocating screw (18), the sliding block (19) is fixedly connected with an oil guide pipe communicating with the cavity, the third fixed shell (17) is provided with a power transmission component, and the power transmission component is used to control the position of the limit member (22); The power transmission assembly comprises: A fourth fixed shell (23) fixedly connected to one side of the third fixed shell (17); A connecting member (24) slidably connected to the fourth fixed shell (23); A second elastic oil bag (25) is fixedly connected to the fourth fixed shell (23), the second elastic oil bag (25) is pressed and matched with the connecting piece (24), and the second elastic oil bag (25) is connected to the oil guide pipe of the adjacent sliding block (19); The drive assembly also includes: a rotating shell (26) rotatably connected to the moving member (1), the rotating shell (26) being fixedly connected to the reciprocating screw (18), a transmission member being provided between the rotating shell (26) and the adjacent driving module (5), the rotating shell (26) being slidably connected to a transmission rod (27), one side of the transmission rod (27) being rotatably matched with the transmission rod (12); The first sliding plate (28) is fixedly connected to the other side of the transmission rod (27), and the first sliding plate (28) is fixedly connected to a limiting rod (29). The limiting rod (29) passes through the rotating shell (26) and is extruded and fitted with the rotating ring of the connecting member (24).

2. According to claim 1, a medical assistance device based on artificial intelligence technology is characterized in that: The centrifugal block in the fixed block (14) is located in the middle of the sliding groove of the fixed block (14).

3. The medical assistance device based on artificial intelligence technology according to claim 1, characterized in that: The connecting member (24) is composed of a fixed ring and a rotating ring, the rotating ring is rotatably connected to the fixed ring, and the fixed ring is slidably matched with the fourth fixed shell (23) and is fixedly connected to the second elastic oil bag (25).

4. The medical assistance device based on artificial intelligence technology according to claim 3, characterized in that: A chamber is provided between the second elastic oil bag (25) and the fourth fixed shell (23).

5. The medical assistance device based on artificial intelligence technology according to claim 1, characterized in that: Also includes: Delay components, the number of which is the same as the number of the rotating shells (26), are arranged in the rotating shell (26), and the delay components are used to delay the resetting of the first elastic oil bag (20). The delay components include: The second sliding plate (30) is sealingly and slidably connected to the rotating shell (26), and the rotating shell (26) is sealingly and slidably connected to the third sliding plate (31). The side of the transmission rod (27) away from the transmission rod (12) passes through the first sliding plate (28), the third sliding plate (31), the rotating shell (26) and the reciprocating screw (18) and is located in the third fixed shell (17). The transmission rod (27) is rotatably matched with the rotating shell (26) and the reciprocating screw (18). A sliding plate (28) and the third sliding plate (31) are sealingly slidably matched, the second sliding plate (30) is fixedly connected to the transmission rod (27) and is located between the first sliding plate (28) and the third sliding plate (31), the first sliding plate (28) is fixedly connected to a third elastic member, the third elastic member of the first sliding plate (28) is pressed and matched with the rotating shell (26), the second sliding plate (30) is provided with an oil guide hole, and the side of the transmission rod (27) away from the transmission rod (12) is rotatably connected to an L-shaped rod (32) through a connecting ring; A connecting shell (33) is fixedly connected to the inner peripheral side of the third fixed shell (17), the connecting shell (33) is provided with a first flow guide hole, a sealing plate (34) is slidably connected in the connecting shell (33), the sealing plate (34) is fixedly connected to the L-shaped rod (32), the sealing plate (34) is provided with a second flow guide hole, the sealing plate (34) is in sealing cooperation with the first flow guide hole of the connecting shell (33), the second flow guide hole of the sealing plate (34) is in communication and cooperation with the first flow guide hole of the connecting shell (33), the first flow guide hole of the connecting shell (33) is in communication with the first elastic oil bag (20), a one-way valve is provided in the first oil delivery pipe (21), the first oil delivery pipe (21) is fixedly connected to and in communication with a second oil delivery pipe (35), the second oil delivery pipe (35) passes through the third fixed shell (17) and is in communication with the first flow guide hole of the connecting shell (33).

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