Intelligent walking aid anti-falling system for postoperative rehabilitation training and training method

Abstract

The invention relates to the technical field of medical equipment, and particularly discloses an intelligent walking aid anti-falling system for postoperative rehabilitation training and a training method.The intelligent walking aid anti-falling system comprises a support and a supporting body which is arranged on the support and used for being held by a user to support the user; the bandage is used for being bound with the legs of the user; the winding drum is rotationally connected relative to the bracket and is connected with the end part of the bandage so as to be used for winding the bandage; the adjusting device is arranged on the support, connected with the winding drum and used for adjusting the rotating speed of the winding drum rotating relative to the support; wherein the adjusting device comprises a rotating speed detector, the rotating speed detector is used for obtaining rotating speed parameters of the winding drum, and the adjusting device adjusts the rotating speed of the winding drum according to the rotating speed parameters obtained by the rotating speed detector. By the adoption of the technical scheme, the adjusting device can dynamically adjust the length of the bandage in the walking process of the user, and the user can be prevented from falling down to cause further injury.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a walking aid and a control method thereof. Background Art

[0002] A walker is a medical assistive device used to help people with limited mobility or injuries walk and maintain balance. They are often used during rehabilitation, such as recovery after surgery, treatment of arthritis, or when walking becomes difficult due to an injury. Walkers can provide stable support and reduce the risk of injury.

[0003] Although the walkers in the prior art can provide stable support for users with limited mobility, the support of most walkers mainly relies on the upper limb strength of the user. When the upper limbs are exhausted or suddenly lose strength during use, the user may fall, increasing the risk of injury.

[0004] In order to avoid the above situation, the walker in the prior art is generally provided with straps for fixing the user's legs to prevent the user from falling. However, the length of the straps of the existing leg-binding type walker cannot be dynamically adjusted.

[0005] Therefore, how to make the straps of the walker prevent the user from falling and adjust the length of the straps dynamically according to the user's walking is an urgent problem to be solved. Summary of the invention

[0006] In order to improve the problem that the strap length of a leg-binding type walker in the related art cannot be dynamically adjusted, the present application provides a walker.

[0007] A walker provided in the present application includes a bracket for forming the outer contour of the walker; a support body, arranged on the bracket, for a user to hold to support the user; a strap, for binding with the user's legs; a reel, which is rotatably connected relative to the bracket and connected to the end of the strap for winding the strap; an adjusting device, which is arranged on the bracket and connected to the reel, and is used to adjust the rotation speed of the reel relative to the bracket; wherein the adjusting device includes: a rotation speed detector, the rotation speed detector is used to obtain a rotation speed parameter of the reel, and the adjusting device adjusts the rotation speed of the reel according to the rotation speed parameter obtained by the rotation speed detector.

[0008] By adopting the above technical solution, the adjusting device can dynamically adjust the length of the strap according to the user's walking process and can prevent the user from falling and causing further injuries.

[0009] Optionally, the adjusting device includes: a screw connected to the drum so as to rotate when the drum rotates; a screw sleeve threadedly connected to the screw; a first cylinder body forming a first liquid chamber for accommodating magnetorheological fluid, and the screw sleeve is at least partially slidably disposed in the first liquid chamber; a second cylinder body fixedly connected to the first cylinder body and forming a second liquid chamber connected to the first liquid chamber; a movable part slidably disposed in the second cylinder body; wherein the drum is sleeved on the screw sleeve and rotates with the reel, and the first and second liquid chambers are filled with magnetorheological fluid; an electromagnet is disposed on the movable part, and the electromagnet is used to change the state of the magnetorheological fluid; the screw sleeve has at least one sliding part embedded in a slide rail on the inner wall of the first cylinder body so that the screw sleeve moves along the slide rail direction when the screw rotates.

[0010] Optionally, the first cylinder body is provided with a plurality of through holes, which are arranged in sequence along the direction in which the screw sleeve slides relative to the first cylinder body, and the first liquid chamber is connected to the second liquid chamber through the through holes.

[0011] Optionally, in the direction in which the screw sleeve slides relative to the first cylinder body, the diameter of each through hole gradually decreases, and the diameter of the through hole close to the second cylinder body is smaller than the diameter of the through hole far from the second cylinder body.

[0012] Optionally, the regulating device further includes: an elastic member, which is arranged in the second liquid chamber and located between the bottom of the second cylinder body and the movable member, one end of the elastic member is fixedly connected to the bottom of the second cylinder body, and the other end of the elastic member abuts against the movable member.

[0013] Optionally, the movable part is fitted with the cavity wall of the first liquid cavity to divide the second liquid cavity into a first sub-cavity and a second sub-cavity, the first sub-cavity is connected with the first liquid cavity through a through hole, and the elastic part is arranged in the second sub-cavity; a notch is provided on the movable part, the notch connects the first sub-cavity and the second sub-cavity, and the notch is arranged close to the electromagnet.

[0014] Optionally, the regulating device further comprises: a one-way valve, which is arranged between the first liquid chamber and the first sub-chamber and opens when the screw sleeve slides relative to the first cylinder body and moves away from the second cylinder body.

[0015] Optionally, the speed detector includes: a plurality of reflective sheets fixed on the drum in a circular distribution; a light sensor fixed on the adjusting device, and used to emit light to the reflective sheets and receive light reflected by the reflective sheets; wherein the adjusting device also includes: a first shell fixedly connected to the bracket; wherein the rotating shaft is rotatably arranged on the first shell; a dark chamber is formed on the first shell, and the light sensor is arranged in the dark chamber; a control device, wherein the control device is used to send a control signal to the electromagnet according to the speed parameter of the drum sent by the speed detector so that the electromagnet is energized after the speed parameter of the drum exceeds a set threshold.

[0016] Optionally, a coil spring is further provided on the screw rod, one end of the coil spring is fixedly connected to the bracket, and the other end of the coil spring is fixedly connected to the screw rod.

[0017] On the other hand, the present application provides a control method for a walker, the walker includes the above-mentioned walker, characterized in that: the walker also includes: a speed detector for obtaining a speed parameter of a reel; a pressure sensor for obtaining a pressure parameter provided by a support body to a bracket; an electromagnet for controlling the on and off of its own current according to a received control signal; a control device, the control device is used to send a control signal to the electromagnet according to the speed parameter of the reel sent by the speed detector so that the electromagnet is energized after the speed parameter of the reel exceeds a set threshold; the control method for the walker includes:

[0018] Acquiring a rotation speed parameter of the reel in response to the light reflected by the reflective sheet received by the light sensor;

[0019] Obtaining the pressure parameters provided by the support body to the bracket according to the control signal sent by the pressure sensor;

[0020] Determining whether the speed of the reel is greater than a set threshold value according to the received speed parameter;

[0021] Determining whether the pressure provided by the support body to the bracket is greater than a set threshold value according to the received pressure parameter;

[0022] When the speed parameter is greater than or equal to a set threshold value and / or the pressure parameter is greater than or equal to a set threshold value, a control signal is sent to the electromagnet to energize the electromagnet.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: the present application can dynamically adjust the length of the strap according to the user's walking process through the adjustment device and can prevent the user from falling and causing further injuries. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The illustrative embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application.

[0025] In addition, throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the components and elements are not necessarily drawn to scale.

[0026] Figure 1 is a schematic diagram of the overall structure of a walking aid according to an embodiment of the present application;

[0027] Figure 2 is a schematic cross-sectional structure diagram of an adjusting device of a walking aid on the walking aid according to an embodiment of the present application;

[0028] Figure 3 is a schematic structural diagram of an adjustment device for a walking aid according to an embodiment of the present application;

[0029] Reference numerals:

[0030] 100. Bracket;

[0031] 200, support body;

[0032] 300, straps;

[0033] 400, reel;

[0034] 500, adjusting device; 510, speed detector; 511, reflective sheet; 512, light sensor; 520, first housing; 530, screw; 540, screw sleeve; 550, first cylinder; 551, through hole; 552, first liquid chamber; 560, second cylinder; 561, second liquid chamber; 561a, first sub-chamber; 561b, second sub-chamber; 570, movable part; 571, electromagnet; 572, notch; 580, elastic part; 590, one-way valve;

[0035] 600, coil spring;

[0036] 700. Pressure sensor. DETAILED DESCRIPTION

[0037] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0038] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0039] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0040] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0041] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0042] The following is combined with Figures 1 to 3 This application is described in further detail.

[0043] like Figures 1 to 3 As shown, a walker of the present embodiment includes: a bracket 100, which is used to form the outer contour of the walker; a support body 200, which is arranged on the bracket 100 and is used for the user to hold to support the user; a strap 300, which is used to bind to the user's legs; a reel 400, which is rotatably connected relative to the bracket 100 and is connected to the end of the strap 300 for winding the strap 300; an adjusting device 500, which is arranged on the bracket 100 and connected to the reel 400, and is used to adjust the rotation speed of the reel 400 relative to the bracket 100; wherein the adjusting device 500 includes: a rotation speed detector 510, the rotation speed detector 510 is used to obtain the rotation speed parameters of the reel 400, and the adjusting device 500 adjusts the rotation speed of the reel 400 according to the rotation speed parameters obtained by the rotation speed detector 510.

[0044] Specifically, the support frame 100 of the walker constitutes the outer contour of the walker. The bottom of the support frame 100 is provided with four universal wheels, which is convenient for the user to change the direction of movement at any time. The support frame 100 is provided with a support body 200, and the support body 200 is used for the user to hold the support body 200 in a "U" shape. The "U" shape of the support body 200 constitutes a support space. The user enters the support space from the end of the support body 200 with an opening. The user holds the support body 200 with the upper limbs in the support space, and the bottom of the support body 200 is fixedly connected to the support frame 100. In the support space, the support frame 100 is provided with a strap 300, and one end of the strap 300 is configured in an open shape that can bind the user's legs. In a feasible embodiment, the user's legs are tied tightly in the form of Velcro. The other end of the strap 300 is fixed on the reel 400, and the reel 400 is rotatably set on the bracket 100. The reel 400 can wind up the strap 300, that is, one end of the strap 300 is tied to the user's leg, and the other end is wound on the reel 400. The strap 300 can be adjusted according to the user's height to bind its position on the user's leg.

[0045] An adjusting device 500 is also provided on the bracket 100. The adjusting device 500 is used to dynamically adjust the strap 300 according to the height of the legs according to the intermittent forward and backward movement of the two legs of the user during actual use, i.e. walking. In other words, the adjusting device 500 enables the strap 300 to dynamically adjust the length of the strap 300 itself according to the walking action of the user.

[0046] More specifically, the adjusting device 500 includes: a screw 530, which is connected to the reel 400 so as to rotate when the reel 400 rotates; a screw sleeve 540, which is threadedly connected to the screw 530; a first cylinder body 550, which forms a first liquid chamber 552 for accommodating magnetorheological fluid, and the screw sleeve 540 is at least partially slidably arranged in the first liquid chamber 552; a second cylinder body 560, which is fixedly connected to the first cylinder body 550 and forms a second liquid chamber 561 that is connected to the first liquid chamber 552; a movable part 570, which is slidably arranged in the second cylinder body 560; wherein the reel 400 is sleeved on the screw sleeve 540 and rotates with the reel, and the first liquid chamber 552 and the second liquid chamber 561 are filled with magnetorheological fluid; an electromagnet 571 is arranged on the movable part 570, and the electromagnet 571 is used to change the state of the magnetorheological fluid.

[0047] The reel 400 is rotatably connected to the bracket 100. The bracket 100 is provided with a first housing 520. The first housing 520 has a storage space in the middle, which can accommodate the reel 400 and the strap 300. The reel 400 is rotatably connected to the first housing 520 via a rotating shaft. Specifically, a circular groove is provided on the inner wall of the first housing 520, and one end of the rotating shaft of the reel 400 is embedded in the circular groove via a bearing. The screw 530 is provided with a first spline groove, and the rotating shaft is provided with a second spline groove. The rotating shaft has a long groove into which one end of the screw 530 can extend. After one end of the screw 530 extends into the long groove, the first spline and the first spline groove are embedded, and the second spline and the second spline groove are embedded, so that the screw 530 and the rotating shaft form a non-rotating connection. One end of the screw rod 530 away from the rotating shaft is threadedly connected to the screw sleeve 540. When the screw rod 530 rotates driven by the rotating shaft, the screw sleeve 540 will move along the length direction of the screw rod 530 under the premise of being limited in the direction of rotation. Specifically, the screw sleeve 540 has at least one sliding member (not shown in the figure) embedded in the slide rail on the inner wall of the first cylinder body 550 so that the screw sleeve 540 moves along the direction of the slide rail when the screw rod 530 rotates. That is, the outer surface of the screw sleeve 540 has a sliding member, and the inner wall of the first cylinder body 550 has a limiting groove, i.e., the slide rail. The sliding member of the screw sleeve 540 is engaged in the limiting groove. When the screw rod 530 rotates, the screw sleeve 540 will move along the direction of the slide rail and will not rotate with the rotation of the screw rod 530.

[0048] The regulating device 500 further includes a first cylinder body 550 and a second cylinder body 560, wherein a portion of the first cylinder body 550 is sleeved inside the second cylinder body 560 and the first cylinder body 550 and the second cylinder body 560 are fixedly connected. Inside the first cylinder body 550, the space from the screw sleeve 540 to the bottom of the first cylinder body 550 is defined as a first liquid chamber 552, and the space from the bottom of the second cylinder body 560 to the bottom of the first cylinder body 550 is defined as a second liquid chamber 561, and magnetorheological fluid is contained in both the first liquid chamber 552 and the second liquid chamber 561, and a channel is provided between the first liquid chamber 552 and the second liquid chamber 561 to enable the magnetorheological fluid in the first liquid chamber 552 to flow into the second liquid chamber 561, and the magnetorheological fluid in the second liquid chamber 561 can also flow into the first liquid chamber 552. In a specific embodiment, the first cylinder body 550 is provided with a plurality of through holes 551, which are sequentially arranged along the direction in which the screw sleeve 540 slides relative to the first cylinder body 550, and the first liquid chamber 552 is connected to the second liquid chamber 561 through the through holes 551. The through holes 551 are arranged on the side wall of the first cylinder body 550, and a gap is arranged between the side walls of the first cylinder body 550 and the second cylinder body 560 so that the magnetorheological fluid flowing out of the through holes 551 can enter the other cylinder body through the gap. A movable part 570 is also arranged in the second cylinder body 560, and an electromagnet 571 is arranged on the movable part 570. When the electromagnet 571 is energized, the state of the magnetorheological fluid will be changed, and the magnetorheological fluid will be changed from a Newtonian fluid with low viscosity to a Bingham fluid with high viscosity and low fluidity, and there is a corresponding relationship between the viscosity of the magnetorheological fluid and the magnetic flux.

[0049] In a specific embodiment, the regulating device 500 further includes: an elastic member 580, which is disposed in the second liquid chamber 561 and is located between the bottom of the second cylinder 560 and the movable member 570. One end of the elastic member 580 is fixedly connected to the bottom of the second cylinder 560, and the other end of the elastic member 580 abuts against the movable member 570. The movable member 570 is attached to the cavity wall of the first liquid chamber 552 to separate the second liquid chamber 561 into a first sub-chamber 561a and a second sub-chamber 561b. The first sub-chamber 561a is connected to the first liquid chamber 552 through the through hole 551, and the elastic member 580 is disposed in the second sub-chamber 561b.

[0050] Specifically, the elastic member 580 is a spring, one end of which is fixedly connected to the bottom of the second cylinder 560, and the other end of the elastic member 580 is in contact with the movable member 570. When the screw 530 rotates, the screw sleeve 540 moves along the length direction of the screw 530, and then pushes the magnetorheological fluid in the first liquid chamber 552 to between the bottom of the first cylinder 550 and the movable member 570, and then squeezes the elastic member 580. When the screw 530 rotates in the opposite direction, the screw sleeve 540 also moves in the opposite direction with the reverse rotation of the screw 530. At this time, the elastic member 580 releases elastic force to push the movable member 570 toward the first cylinder 550, and then the elastic member 580 pushes the magnetorheological fluid back from the through hole 551 to the first liquid chamber 552. Repeating the above actions can complete the extension and retraction of the strap 300 following the user's legs during normal walking. The strap 300 dynamically adjusts its own length following the user's movements, which increases the comfort of the user using the strap 300.

[0051] Furthermore, a coil spring 600 is further provided on the screw rod 530, one end of the coil spring 600 is fixedly connected to the bracket 100, and the other end of the coil spring 600 is fixedly connected to the screw rod 530. The coil spring 600 cooperates with the elastic member 580 so that the strap 300 can more flexibly follow the extension and retraction of the user's legs, and the strap 300 dynamically adjusts its own length following the user's movements.

[0052] In a specific embodiment, in the direction in which the screw sleeve 540 slides relative to the first cylinder body 550, the diameter of each through hole 551 gradually decreases, and the diameter of the through hole 551 close to the second cylinder body 560 is smaller than the diameter of the through hole 551 away from the second cylinder body 560. A notch 572 is provided on the movable member 570, and the notch 572 connects the first sub-cavity 561a and the second sub-cavity 561b, and the notch 572 is arranged close to the electromagnet 571.

[0053] When the amount of magnetorheological fluid flowing through the through hole 551 is large, part of the magnetorheological fluid will flow from the notch 572 into the second sub-cavity 561b. When the reel 400 reverses, the magnetorheological fluid will flow from the notch 572 into the first sub-cavity 561a, increasing the path for the magnetorheological fluid to flow back, preventing the reel 400 from rotating too fast when reversing and affecting the user experience. The electromagnet 571 is set near the notch 572. When the user falls, the reel 400 rotates too fast, and then the electromagnet 571 is energized. After the electromagnet 571 is energized, the viscosity of the magnetorheological fluid increases, which is equivalent to changing from a liquid to a "solid". At this time, the magnetorheological fluid in the notch 572 will stop flowing instantly, so the circulation channel of the magnetorheological fluid is cut off, and the total amount of the magnetorheological fluid in the first liquid cavity 552 no longer changes, then the screw sleeve 540 cannot move, and then the screw 530 cannot rotate, then the strap 300 cannot be further lengthened, and the strap 300 plays a role in fixing the user to prevent the user from falling.

[0054] Furthermore, the regulating device 500 further includes: a one-way valve 590, which is disposed between the first liquid chamber 552 and the first sub-chamber 561a and is opened when the screw sleeve 540 slides relative to the first cylinder body 550 and moves away from the second cylinder body 560. In order to ensure that the magnetorheological fluid in the regulating device 500 flows smoothly without negative pressure, a one-way valve 590 is disposed between the first liquid chamber 552 and the first sub-chamber 561a, and the magnetorheological fluid can only flow from the first sub-chamber 561a through the one-way valve 590 to the first liquid chamber 552.

[0055] In a specific embodiment, the adjusting device 500 includes: a speed detector 510, the speed detector 510 is used to obtain the speed parameter of the reel 400, and the adjusting device 500 adjusts the speed of the reel 400 according to the speed parameter obtained by the speed detector 510. Specifically, the speed detector 510 includes: a plurality of reflective sheets 511, which are circumferentially distributed and fixed on the reel 400; a light sensor 512, which is fixed on the adjusting device 500, and is used to emit light to the reflective sheets 511 and receive light reflected by the reflective sheets 511; wherein the adjusting device 500 also includes: a first shell 520, which is fixedly connected to the bracket 100; wherein the rotating shaft is rotatably arranged on the first shell 520; a darkroom is formed on the first shell 520, and the light sensor 512 is arranged in the darkroom; and a control device, which is used to send a control signal to the electromagnet 571 according to the speed parameter of the reel 400 sent by the speed detector 510 so that the electromagnet 571 is energized after the speed parameter of the reel 400 exceeds the set threshold. A coil spring 600 is also provided on the screw rod 530 . One end of the coil spring 600 is fixedly connected to the bracket 100 , and the other end of the coil spring 600 is fixedly connected to the screw rod 530 .

[0056] Specifically, the speed detector 510 can infer the speed of the reel 400 at this time by receiving the light reflected by the reflective sheet 511. When the speed is too fast, it means that the user may be falling. The speed detector 510 sends an electrical signal to the control device. The control device infers whether the user is falling at this time based on the electrical signal, and further sends an electrical signal to the electromagnet 571. After the electromagnet 571 is energized, the viscosity of the magnetorheological fluid increases, and the magnetorheological fluid changes from liquid to "solid", and the magnetorheological fluid stops flowing. The total amount of magnetorheological fluid in the first liquid chamber 552 no longer changes. Under the action of atmospheric pressure, the sleeve 540 cannot move, and then the screw 530 cannot rotate, and the strap 300 cannot be further lengthened. The strap 300 plays a fixing role for the user to prevent the user from falling.

[0057] An embodiment of the present application discloses a control method for a walker, the walker includes the above-mentioned walker, the walker includes: a speed detector 510, used to obtain the speed parameter of the reel 400; a pressure sensor 700, used to obtain the pressure parameter provided by the support body 200 to the bracket 100; an electromagnet 571, which controls the on and off of its own current according to the received control signal; a control device, the control device is used to send a control signal to the electromagnet 571 according to the speed parameter of the reel 400 sent by the speed detector 510, so that the electromagnet 571 is energized after the speed parameter of the reel 400 exceeds a set threshold; the control method of the walker includes:

[0058] S100: Acquiring a rotation speed parameter of the reel 400 in response to the light reflected by the reflective sheet 511 received by the light sensor 512;

[0059] S200: Obtaining the pressure parameter provided by the support body 200 to the bracket 100 according to the control signal sent by the pressure sensor 700;

[0060] S300: judging whether the rotation speed of the reel 400 is greater than a set threshold value according to the received rotation speed parameter;

[0061] S400: judging whether the pressure provided by the support body 200 to the bracket 100 is greater than a set threshold value according to the received pressure parameter;

[0062] S500: When the speed parameter is greater than or equal to the set threshold value and / or the pressure parameter is greater than or equal to the set threshold value, a control signal is sent to the electromagnet 571 to energize the electromagnet 571 .

[0063] Specifically, when the control device determines based on the parameters sent by the pressure sensor 700 and the rotation speed detector 510, when the rotation speed of the reel 400 is greater than or equal to the set threshold, it is determined that the user is about to fall;

[0064] When the pressure value of the support body 200 on the bracket 100 is greater than or equal to the set threshold, it is determined that the user is about to fall; or:

[0065] When the rotation speed of the reel 400 is greater than or equal to a set threshold and at the same time the pressure value of the support body 200 on the bracket 100 is greater than or equal to a set threshold, it is determined that the user is about to fall.

[0066] When the user is about to fall, the control device sends a control signal to the electromagnet 571, and the electromagnet 571 is energized. After the electromagnet 571 is energized, the viscosity of the magnetorheological fluid increases, and the magnetorheological fluid changes from liquid to "solid", and the magnetorheological fluid stops flowing. The total amount of magnetorheological fluid in the first liquid chamber 552 no longer changes. Under the action of atmospheric pressure, the screw sleeve 540 cannot move, and then the screw rod 530 cannot rotate, so the strap 300 cannot be further lengthened, and the strap 300 plays a role in fixing the user to prevent the user from falling.

[0067] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. An intelligent walker anti-fall system for postoperative rehabilitation training, characterized in that: include: A bracket, used to form the outer contour of the walking aid; A support body, disposed on the bracket, for being held by a user to support the user; A strap, used to bind to the user's legs; A reel, which is rotatably connected to the bracket and connected to the end of the strap for winding the strap; An adjusting device, disposed on the support and connected to the reel, for adjusting the rotation speed of the reel relative to the support; Wherein, the regulating device comprises: A rotation speed detector is used to obtain the rotation speed parameter of the reel, and the regulating device regulates the rotation speed of the reel according to the rotation speed parameter obtained by the rotation speed detector.

2. The intelligent walker anti-fall system for postoperative rehabilitation training according to claim 1, characterized in that: The regulating device includes: a screw connected to the drum to rotate when the drum rotates; A screw sleeve, threadedly connected with the screw rod; A first cylinder body forms a first liquid cavity for accommodating magnetorheological fluid, wherein the screw sleeve is at least partially slidably disposed in the first liquid cavity; a second cylinder body, fixedly connected to the first cylinder body and forming a second liquid cavity communicating with the first liquid cavity; A movable member, slidably disposed in the second cylinder body; Among them, the reel is arranged on the screw sleeve and rotates with the reel, and the first liquid chamber and the second liquid chamber are filled with magnetorheological fluid; an electromagnet is arranged on the movable part, and the electromagnet is used to change the state of the magnetorheological fluid; the screw sleeve has at least one sliding part embedded in the slide rail on the inner wall of the first cylinder body so that the screw sleeve moves along the slide rail direction when the screw rotates.

3. The intelligent walker anti-fall system for postoperative rehabilitation training according to claim 2, characterized in that: The first cylinder body is provided with a plurality of through holes, which are arranged in sequence along the direction in which the screw sleeve slides relative to the first cylinder body, and the first liquid chamber is connected to the second liquid chamber through the through holes.

4. The intelligent walker anti-fall system for postoperative rehabilitation training according to claim 3, characterized in that: In the direction in which the screw sleeve slides relative to the first cylinder body, the diameter of each through hole gradually decreases, and the diameter of the through hole close to the second cylinder body is smaller than the diameter of the through hole far from the second cylinder body.

5. The intelligent walker anti-fall system for postoperative rehabilitation training according to claim 4, characterized in that: The adjusting device also includes: An elastic member is arranged in the second liquid chamber and is located between the bottom of the second cylinder body and the movable member. One end of the elastic member is fixedly connected to the bottom of the second cylinder body, and the other end of the elastic member abuts against the movable member.

6. The intelligent walking aid anti-fall system for postoperative rehabilitation training according to claim 5, characterized in that: The movable member is attached to the cavity wall of the first liquid cavity to divide the second liquid cavity into a first sub-cavity and a second sub-cavity, the first sub-cavity is connected to the first liquid cavity through a through hole, and the elastic member is arranged in the second sub-cavity; The movable part is provided with a notch, the notch connects the first sub-cavity and the second sub-cavity, and the notch is arranged close to the electromagnet.

7. The intelligent walking aid anti-fall system for postoperative rehabilitation training according to claim 6, characterized in that: The adjusting device also includes: The one-way valve is arranged between the first liquid chamber and the first sub-chamber and is opened when the screw sleeve slides relative to the first cylinder body and moves away from the second cylinder body.

8. The intelligent walking aid anti-fall system for postoperative rehabilitation training according to claim 7, characterized in that: The speed detector comprises: A number of reflective sheets are fixed on the drum in a circumferential distribution; a light sensor, fixed on the adjusting device, for emitting light to the reflective sheet and receiving light reflected by the reflective sheet; Wherein, the adjusting device further comprises: A first shell, fixedly connected to the bracket; Wherein, the rotating shaft is rotatably arranged on the first shell; A dark chamber is formed on the first housing, and the light sensor is arranged in the dark chamber; A control device is used to send a control signal to the electromagnet according to the rotation speed parameter of the reel sent by the rotation speed detector so that the electromagnet is energized after the rotation speed parameter of the reel exceeds a set threshold.

9. The intelligent walking aid anti-fall system for postoperative rehabilitation training according to claim 8, characterized in that: Also includes: The screw rod is also provided with a coil spring, one end of the coil spring is fixedly connected to the bracket, and the other end of the coil spring is fixedly connected to the screw rod.

10. A postoperative rehabilitation training method, characterized in that: The intelligent walker anti-fall system for postoperative rehabilitation training as described in any one of claims 1 to 9 is applicable. The anti-fall system also includes: A speed detector, used to obtain the speed parameter of the reel; A pressure sensor, used to obtain pressure parameters provided by the support body to the bracket; The electromagnet controls the on and off of its own current according to the control signal received; A control device, the control device is used to send a control signal to the electromagnet according to the speed parameter of the reel sent by the speed detector so that the electromagnet is energized after the speed parameter of the reel exceeds a set threshold; The postoperative rehabilitation training method comprises: Acquiring a rotation speed parameter of the reel in response to the light reflected by the reflective sheet received by the light sensor; Obtaining the pressure parameters provided by the support body to the bracket according to the control signal sent by the pressure sensor; Determining whether the speed of the reel is greater than a set threshold value according to the received speed parameter; Determining whether the pressure provided by the support body to the bracket is greater than a set threshold value according to the received pressure parameter; When the speed parameter is greater than or equal to a set threshold value and / or the pressure parameter is greater than or equal to a set threshold value, a control signal is sent to the electromagnet to energize the electromagnet.

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