CN101642404B - Adjustable sitting up and standing assist device - Google Patents

Adjustable sitting up and standing assist device Download PDF

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Publication number
CN101642404B
CN101642404B CN2009100724178A CN200910072417A CN101642404B CN 101642404 B CN101642404 B CN 101642404B CN 2009100724178 A CN2009100724178 A CN 2009100724178A CN 200910072417 A CN200910072417 A CN 200910072417A CN 101642404 B CN101642404 B CN 101642404B
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CN
China
Prior art keywords
saddle
car
framework
lowering
hoisting gear
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Expired - Fee Related
Application number
CN2009100724178A
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Chinese (zh)
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CN101642404A (en
Inventor
张立勋
王康
伊蕾
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Harbin Engineering University
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Harbin Engineering University
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Priority to CN2009100724178A priority Critical patent/CN101642404B/en
Publication of CN101642404A publication Critical patent/CN101642404A/en
Application granted granted Critical
Publication of CN101642404B publication Critical patent/CN101642404B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention provides an adjustable sitting up and standing assist device. The device comprises a lifting control panel (7), a vehicle body (2), a driving wheel (4), a universal wheel (3), a motor (5) of the driving wheel, a seat (6) which can turn over and a lifting device (1), wherein, the lifting device comprises a framework (1-10) which is connected with the vehicle body by a connecting bolt (1-11), a worm wheel-worm speed reducer (1-8) arranged on the framework, a direct current motor (1-7) connected with the worm wheel-worm speed reducer, a screw rod (1-9) which penetrates the worm wheel-worm speed reducer, a scissor-fork mechanism (1-5) which is arranged on the framework and consists of a connecting rod and a pin shaft, the universal wheel (1-6) arranged at the bottom of the framework, a lifting platform (1-4) connected with the top end of the scissor-fork mechanism, a saddle shaft (1-3) and a saddle (1-2) arranged on the lifting platform and a belt (1-1) connected with a backrest of the saddle. The device can be regulated freely for assisting sitting up, standing, squatting and the like according to the height and the will of a user.

Description

Adjustable sitting up and standing assist device
(1) technical field
What the present invention relates to is a kind of patient of being specially adapted for or people with disability's auxiliary walking instrument, is a kind of sitting up and standing assist device, particularly a kind of can be according to the auxiliary device of the wish free adjustment sitting up and standing position of human body height and user.
(2) background technology
Along with the raising of scientific and technological progress and living standards of the people, China is stepping into aging with many countries are the same in the world.A large amount of cerebrovascular disease or patient with nervous system disease are arranged in aged crowd, and this class patient accompanies hemiplegia or paraplegia symptom more, causes the lower limb limb movement disturbance; In addition, also have the lower limb physical handicaps patient number that causes owing to other reasons such as vehicle accidents also in the majority.A kind of apparatus that can assist human body walking can satisfy this part crowd's demand, and sitting up and standing assist device is the key component of such apparatus.
The actual improvement for the belt servomechanism of the multi-functional robot that helps the disabled of patent applied for (200710071877.X) (auxiliary standing device) of this patent with replenish, former auxiliary device mainly is connected with belt by lifting rope, assists human body to play seat, stand by belt.By lower limb physical handicaps patient's practical application test, find that this device can bring discomfort to the patient, and in the process of auxiliary walking, can make the patient occur rolling, problems such as layback.
At present, at home and abroad in the prior art, auxiliary device of standing mainly is that the mode of lifting rope suspention realizes the human body function of standing.As foreign patent (patent No. WO03035184) CLOSED-LOOP FORCECONTROLLED BODY WEIGHT SUPPORT SYSTEM, and the auxiliary mechanism of standing that uses in conjunction with the dynamic movement plate of Chinese patent (application number 200580000667.0) etc. all belongs to the lifting rope sus-pension.So in the process that is applied to auxiliary people with disability patient's walking, all above-mentioned problem can occur.The present invention solves these problems effectively.
(3) summary of the invention
The object of the present invention is to provide a kind of can be according to the adjustable sitting up and standing assist device of the wish free adjustment sitting up and standing position of human body height and user.
The object of the present invention is achieved like this:
The driving wheel 4 that the composition of adjustable sitting up and standing assist device comprises lifting control panel 7 (can according to patient's practical situation configuration in place), car body 2, be installed in the car body bottom and universal wheel 3, be installed on the car body and the driving wheel motor 5 that links to each other with driving wheel, be installed in the turning seat 6 on the car body; Connect lowering or hoisting gear 1 in the middle of car body, described lowering or hoisting gear comprises the framework 1-10 that is connected with car body by connecting bolt 1-11, is installed in the worm type of reduction gearing 1-8 on the framework, the direct current generator 1-7 that is connected with worm type of reduction gearing, the leading screw 1-9 that passes worm type of reduction gearing, is installed in the scissors mechanism 1-5 that is made up of connecting rod and bearing pin on the framework, the universal wheel 1-6 that is installed in base of frame, the hoistable platform 1-4 that is connected with the scissors mechanism top, be installed in saddle axle 1-3 and the saddle 1-2 on the hoistable platform, the belt 1-1 that is connected with the saddle backrest.
The present invention can also comprise:
1, the suitable human body of the seat width of saddle 1-2 is sitting on the saddle in the mode of riding seat.
2, saddle 1-2 is connected with saddle axle 1-3 revolute pair, and saddle can rotate around the saddle axle, by car body 2 restriction slewing areas.
3, lowering or hoisting gear 1 integral body can be connected with car body by connecting bolt 1-11, also can separate separately.
4, turning seat 6 is connected with the car body revolute pair, can rotate and overturn about moving axis.
5, have mobile chute and circular hole on framework 1-10 and the hoistable platform 1-4, form corresponding revolute pair and moving sets with corresponding each connecting rod and bearing pin, the common scissors mechanism lowering or hoisting gear of forming can drive lead screw straight-line by worm type of reduction gearing 1-8 by direct current generator 1-7 and make the elevating movement of scissors mechanism lowering or hoisting gear.
When total system was in state shown in Figure 4, user was sitting on the seat, made human body upper body and saddle relative fixed by belt, and at this moment total system can be worked as the electric wheelchair use.When user is pressed the rising button of lifting control panel 7 (can dispose in place according to patient's practical situation), direct current generator drives the screw mandrel rectilinear motion, and then the driving scissors mechanism makes saddle rise, along with the rising user of saddle rides on the saddle, the position that user can be stood according to the height free adjustment of oneself, in the process that rises, user can be dug turning seat, is in state as shown in Figure 5.At this moment, if at car body both sides configuration six-lever apery gait power-assistant running mechanism (application number: 200810137092.2), can effectively get user walkings such as limb assisting obstacle person, old man.When user was pressed the decline button, lowering or hoisting gear descended automatically, can be adjusted to each position that human body plays seat, squats down, and user was played the effect of effective exercise.
(4) description of drawings
Fig. 1 is an integrally-built schematic three dimensional views of the present invention.
Fig. 2 is the schematic three dimensional views of lowering or hoisting gear of the present invention.
Fig. 3 is the schematic diagram of lowering or hoisting gear.
Fig. 4 is the graphics of the present invention when human body being in sit attitude.
Fig. 5 is the graphics of the present invention when making human body be in standing state.
Fig. 6 has shown when the present invention makes human body be in standing state, the slewing area of saddle.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Core apparatus of the present invention is a lowering or hoisting gear, and major function is assisted the user sitting up and standing.Based on car body movably, and both sides configuration six-lever apery gait power-assistant running mechanism (application number: 200810137092.2), user walkings such as limb assisting obstacle person, old man effectively.So the present invention also is to the improvement of the belt servomechanism of the multi-functional robot that helps the disabled of patent applied for (200710071877.X) (auxiliary standing device) and replenishes.
The present invention is based on car body 2 in conjunction with Fig. 1 realizes moving freely, in the car body bottom driving wheel 4 and universal wheel 3 are installed, driving wheel motor 5 links to each other with driving wheel, rotation by driving wheel and differential realize moving of car body and about turn, turning seat 6 also is installed on car body.
In conjunction with Fig. 1 and Fig. 2, middle at car body connects lowering or hoisting gear 1, and described lowering or hoisting gear comprises the framework 1-10 that is connected with car body by connecting bolt 1-11, be installed in the worm type of reduction gearing 1-8 on the framework, the direct current generator 1-7 that is connected with worm type of reduction gearing, pass the leading screw 1-9 of worm type of reduction gearing, be installed in the scissors mechanism 1-5 that forms by connecting rod and bearing pin on the framework, be installed in the universal wheel 1-6 of base of frame, the hoistable platform 1-4 that is connected with the scissors mechanism top, be installed in saddle axle 1-3 and saddle 1-2 on the hoistable platform, the belt 1-1 that is connected with the saddle backrest.
In conjunction with Fig. 2 and Fig. 3, the principle of lowering or hoisting gear is achieved in that when direct current generator 1-7 rotates, drive worm type of reduction gearing, rotating drive leading screw 1-9 by decelerator does rectilinear motion, the end of screw mandrel drives the low side bearing pin of scissors mechanism 1-5 and do rectilinear motion in chute, thereby makes the saddle 1-3 that is installed on the hoistable platform move up and down.
When total system was in state shown in Figure 4, user was sitting on the seat, made human body upper body and saddle relative fixed by belt, and at this moment total system can be worked as the electric wheelchair use.When user is pressed the rising button of lifting control panel 7 (can dispose in place according to patient's practical situation), direct current generator drives the screw mandrel rectilinear motion, and then the driving scissors mechanism rises saddle, along with the rising user of saddle rides on the saddle, the position that user can be stood according to the height free adjustment of oneself, in the process that rises, user can be dug turning seat, is in state as shown in Figure 5.
At this moment, if (application number: 200810137092.2), user such as limb assisting obstacle person, old man are walked effectively at car body both sides configuration six-lever apery gait power-assistant running mechanism.When user was pressed the decline button, lowering or hoisting gear descended automatically, can be adjusted to each position that human body plays seat, squats down, and user is played effective exercise effect.
In conjunction with Fig. 6, when user is in the state of standing, because saddle can be around the rotation of saddle axle, so user also can the rotation along with saddle make upper body shake around waist under the supporting role of hands in certain scope.

Claims (2)

1. adjustable sitting up and standing assist device, is installed on the car body and the driving wheel motor (5) that links to each other with driving wheel, is installed in the turning seat (6) on the car body driving wheel (4) that comprise lifting control panel (7), car body (2), is installed in the car body bottom and first universal wheel (3); It is characterized in that: the middle at car body connects lowering or hoisting gear (1), and described lowering or hoisting gear comprises the framework (1-10) that is connected with car body by connecting bolt (1-11), be installed in the worm type of reduction gearing (1-8) on the framework, the direct current generator that is connected with worm type of reduction gearing (1-7), pass the leading screw (1-9) of worm type of reduction gearing, be installed in the scissors mechanism of forming by connecting rod and bearing pin on the framework (1-5), be installed in second universal wheel (1-6) of base of frame, the hoistable platform (1-4) that is connected with the scissors mechanism top, be installed in saddle axle (1-3) and saddle (1-2) on the hoistable platform, the belt (1-1) that is connected with the saddle backrest; Have mobile chute and circular hole on framework (1-10) and the hoistable platform (1-4), form corresponding revolute pair and moving sets with corresponding each connecting rod and bearing pin, the common scissors mechanism lowering or hoisting gear of forming drives lead screw straight-line by direct current generator (1-7) by worm type of reduction gearing (1-8) and makes the elevating movement of scissors mechanism lowering or hoisting gear.
2. adjustable sitting up and standing assist device according to claim 1 is characterized in that: saddle (1-2) is connected with saddle axle (1-3) revolute pair, and saddle can rotate around the saddle axle, by car body (2) restriction slewing area.
CN2009100724178A 2009-07-01 2009-07-01 Adjustable sitting up and standing assist device Expired - Fee Related CN101642404B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100724178A CN101642404B (en) 2009-07-01 2009-07-01 Adjustable sitting up and standing assist device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100724178A CN101642404B (en) 2009-07-01 2009-07-01 Adjustable sitting up and standing assist device

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CN101642404A CN101642404A (en) 2010-02-10
CN101642404B true CN101642404B (en) 2011-08-03

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11337884B1 (en) 2020-11-17 2022-05-24 David R. Kovatch Apparatus allowing a user to make leaping strides while walking or running

Families Citing this family (13)

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CN102370550B (en) * 2010-08-05 2014-08-20 苏芳庆 Intelligent shifting and standing carrier
CN102429786A (en) * 2011-10-11 2012-05-02 上海理工大学 Angle controllable reclining and vertical electrical wheelchair with any sitting postures
CN102488604A (en) * 2011-11-11 2012-06-13 鲁亚非 Zipper type upper cross beam lifting device of door frame type walking aid
JP6052951B2 (en) * 2012-03-01 2016-12-27 Kyb株式会社 Walking assist device
CN104274283B (en) * 2013-07-12 2016-12-28 山东科技大学 A kind of chair having assisted seat
CN103519954A (en) * 2013-10-25 2014-01-22 罗晓君 Defecation mechanism on bed
CN104670388B (en) * 2014-12-25 2017-12-08 李陈 A kind of intelligent electric wheelbarrow
CN105287123B (en) * 2015-11-20 2017-03-22 合肥工业大学 Rehabilitation wheelchair
CN105769033B (en) * 2016-04-08 2018-10-02 高峰 A kind of toilet seat auxiliary lifting device
CN106264908B (en) * 2016-07-26 2018-02-06 尚东平 A kind of new patient's moving bearing device
CN107456361A (en) * 2017-09-26 2017-12-12 新泰市中医院 A kind of hemiplegia patients ' recovery walking aid device
CN108524185B (en) * 2018-01-11 2020-08-07 北京大学深圳医院(北京大学深圳临床医学院) Rehabilitation nursing device
CN113500628A (en) * 2021-07-07 2021-10-15 浙江齐步智能科技有限公司 Automatic standing mechanism for robot falling

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11337884B1 (en) 2020-11-17 2022-05-24 David R. Kovatch Apparatus allowing a user to make leaping strides while walking or running

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