CN101828995A - Electrical walking aid wheel chair with sitting-up mechanism - Google Patents

Electrical walking aid wheel chair with sitting-up mechanism Download PDF

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Publication number
CN101828995A
CN101828995A CN201010148940A CN201010148940A CN101828995A CN 101828995 A CN101828995 A CN 101828995A CN 201010148940 A CN201010148940 A CN 201010148940A CN 201010148940 A CN201010148940 A CN 201010148940A CN 101828995 A CN101828995 A CN 101828995A
Authority
CN
China
Prior art keywords
fixed
wheel
slide block
slide rail
elevating
Prior art date
Application number
CN201010148940A
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Chinese (zh)
Other versions
CN101828995B (en
Inventor
张立勋
白大鹏
伊蕾
于彦春
彭锦波
Original Assignee
哈尔滨工程大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN2010101489407A priority Critical patent/CN101828995B/en
Publication of CN101828995A publication Critical patent/CN101828995A/en
Application granted granted Critical
Publication of CN101828995B publication Critical patent/CN101828995B/en

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Abstract

The invention aims at providing an electrical walking aid wheel chair with a sitting-up mechanism, comprising: a wheel chair frame, a driving wheel, a universal wheel, a driving motor, lifting mechanisms, a driving device of the lifting mechanisms and leg aid mechanisms, wherein the lifting mechanisms and the driving devices of the lifting mechanisms are mounted in the middle of the wheel chair frame, and the leg aid mechanisms are mounted on left and right sides of the wheel chair. The control of the lifting mechanisms can be realized only by a motor, thereby the legs of the patient is driven to carry out the sitting-up rehabilitation training. With the help of the leg aid mechanisms, the legs of the patient can also be driven to carry out the walking aid rehabilitation training; the lifting seat can be slightly adjusted forwards or backwards in the training process, and has certain smoothness with the patient, so that the discomfort of the patient is avoided. The invention has simple operation, so that the patient can carry out the independent rehabilitation training indoors or outdoors.

Description

Had the electronic walk help wheelchair of sitting mechanism
Technical field
What the present invention relates to is a kind of mechanical mechanism, specifically is applied to the mechanical mechanism in rehabilitation medical field.
Background technology
Along with the particularly degeneration of muscular strength of lower limb of decline of physiological function, most of old people often has locomotor activity and the ability of not standing, and many have the old people of ambulatory capabilities to be trapped in chair in default of the ability of standing.China is along with the process of aged tendency of population, and a lot of old peoples also ubiquity the problem of dysstasia.The main effect of recovery exercising robot is the limb motion that drives the patient by robot, the patient of limb movement disturbance is carried out the rehabilitation training of motion function.As a kind of automatization rehabilitation medicine equipment, it is foundation with the theory of medicine, helps the patient to carry out science and effectively rehabilitation training, and patient's motion function is better recovered.
At present, lack the research of rise sitting mechanism both at home and abroad to electronic walk help wheelchair.Relevant patent mainly contains following several both at home and abroad:
Number of patent application is that the patent name of 200520109170.X is the utility model complex structure of " type of standing rehabilitation wheelchair " and can not carries out rehabilitation walking training, and function is single relatively; Number of patent application is that 200520083191.9 patent name can not carry out rehabilitation walking training for the utility model of " a kind of multi-functional wheelchair of standing ".To be 03246351.0 patent name can not make the patient reach the state of standing for the utility model of " the liftable electric wheel-chair vehicle of seat " to number of patent application.
Summary of the invention
The object of the present invention is to provide and a kind ofly can assist the lower limb patient under the state of standing, to carry out walking aid rehabilitation training, also can work the electronic walk help wheelchair of sitting mechanism that had of sitting training separately.
The object of the present invention is achieved like this:
The electronic walk help wheelchair of sitting mechanism that had of the present invention, it comprises wheelchair frame, driving wheel, universal wheel and drive motors, it is characterized in that: the driving device that also comprises elevating mechanism and elevating mechanism; The driving device of elevating mechanism and elevating mechanism is installed in the centre position of wheelchair frame; Elevating mechanism comprises slide rail, slide block, backboard, back bracket, the lifting seat, seat, crossbeam, vertical beam, travel switch, seat belt, extension spring, the lifting seat is installed on first slide block, first slide block is installed on first slide rail, an extension spring respectively is installed between the first slide block two ends and limiting plate, seat belt is fixed on the backboard, backboard is installed on the back bracket, back bracket is fixed on second slide block on second slide rail, second slide rail is fixed on the slider bracket on the 3rd slide block, the 3rd slide block is installed on the 3rd slide rail, seat is fixed on the crossbeam, on the end stop of vertical beam upper end and the 3rd slide rail first travel switch and second travel switch is installed respectively; The driving device of elevating mechanism comprises drive motors, steel wire rope, third wheel, drive motors is installed on the vertical beam of seat board below, first steel wire rope is walked around first third wheel that is installed on the vertical beam, one end of first steel wire rope is fixed on second third wheel, the other end is fixed on the slider bracket on the 3rd slide block, the 3rd third wheel is installed on the slider bracket of the 3rd slide block, one end of second steel wire rope is fixed on the bearing pin of vertical beam, the other end is fixed on the suspension ring below the lifting seat, the 4th third wheel and five faults in diagnosis and treatment wheel is installed in respectively on the slide rail brace summer and slide rail floor below the lifting seat, and the 3rd steel wire rope one end is fixed on the bearing pin on the upright slide rail end stop, the other end is fixed on the suspension ring below the lifting seat.
The electronic walk help wheelchair of sitting mechanism that had of the present invention can also comprise:
The described electronic walk help wheelchair of sitting mechanism that had also comprises the shank servomechanism, and the shank servomechanism is installed in the wheelchair left and right sides; The shank servomechanism comprises drive motors, turbine and worm decelerator, crank, connecting rod, rocking bar, turning cylinder, axle sleeve, a turbine and worm decelerator respectively is installed on the channel-section steel of the wheelchair left and right sides, on two turbine and worm decelerators, drive motors is installed respectively, crank is installed on the output shaft of turbine and worm decelerator, rocking bar is installed in below the handrail, and an end of turning cylinder is installed in connecting rod inside, the other end is installed axle sleeve.
Advantage of the present invention is: only need a motor can finish control to elevating mechanism, thereby realize driving the rehabilitation training that the lower limb patient plays the seat function.Can also realize driving the lower limb patient and carry out the walking aid rehabilitation training under the assistance of shank servomechanism, the lifting seat can carry out the adjustment of a spot of front and back in training process, has certain compliance with cooperating between the people, in order to avoid the patient does not feel well.The patient can be at home or outdoorly carried out independent rehabilitation training, and is simple to operate.
Description of drawings
Fig. 1 is the whole mechanism of the electronic walk help wheelchair schematic three dimensional views of sitting mechanism that had of the present invention;
Fig. 2 has had the electronic walk help wheelchair overall structure master who sits mechanism and has looked intention for of the present invention;
Fig. 3 is the electronic walk help wheelchair overall structure left side sketch map of sitting mechanism that had of the present invention;
Fig. 4 is an elevating mechanism sketch map of the present invention;
Fig. 5 is elevating mechanism of the present invention sketch map after rising.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1~5, present embodiment comprises drive motors, the elevating mechanism of the driving wheel of wheelchair frame, wheelchair and universal wheel, driving wheel, the driving device and the shank servomechanism of elevating mechanism.
The driving device of elevating mechanism comprises drive motors 26, steel wire rope 21,28,32, third wheel 19,24,30,33,44.Drive motors 26 is installed on the vertical beam 20 of under-seat, one end of steel wire rope 28 is fixed on the third wheel 19 on the motor output shaft, walk around the third wheel 24 of crossing 23 li of wheel seats that is installed on the vertical beam 20, the other end is installed on the slider bracket 43 that is fixed on the upright slide block 42; A third wheel 44 is installed on the slider bracket 43 of upright slide block 42, and steel wire rope 21 is walked around on the bearing pin 22 that third wheel 44 1 ends are fixed to vertical beam 20, and the other end is fixed on the suspension ring 35 below the lifting seat 14; On slide rail brace summer 40 below the lifting seat 14 and the slide rail floor 31 third wheel 30 and 33 are installed respectively, steel wire rope 32 is walked around two third wheels 30 and 33, one end is fixed on the bearing pin 29 that is installed on upright slide rail 25 end stop 17, and the other end is fixed on the suspension ring 36 below the lifting seat 14.When drive motors 26 drives third wheel 19 rotations, steel wire rope 28 drives the 14 in the vertical directions motion of lifting seat, steel wire rope 32 drives lifting seat 14 motion in the horizontal direction, make lifting seat 14 along with ground between become on the direction of miter angle to move, thereby realized motor control to elevating mechanism.
Elevating mechanism comprises slide rail 25,34,37, slide block 39,41 ,-42, backboard 8, back bracket 38, lifting seat 14, seat 7, crossbeam 5, vertical beam 20, travel switch 18,27, seat belt 45, extension spring 47.Lifting seat 14 is installed on the slide block 39, between the limiting plate 46 at slide block 39 two ends and slide rail 37 two ends an extension spring 47 is installed respectively, makes lifting seat 14 can carry out the adjustment of a spot of front and back, and slide block 39 is installed on the slide rail 37 that is fixed on the back bracket 38; Seat belt 45 is fixed on the backboard 8, prevents lower limb patient forward lean when carrying out rehabilitation training, and backboard 8 is installed on the back bracket 38, and back bracket 38 is fixed on the slide block 41 that is installed on the horizontal main running rail 34; Laterally main running rail 34 is fixed on the slider bracket 43 that is installed on the upright slide block 42, and upright slide block 42 is installed on the upright slide rail 25; Seat 7 is welded on the crossbeam 5, and a travel switch 18 and 27 respectively are installed on the end stop 17 of vertical beam 20 upper ends and upright slide rail 25, and when upright slide block 42 was run into travel switch 18 and 27, drive motors 26 stopped operating.
The shank servomechanism comprises drive motors 9, turbine and worm decelerator 6, crank 16, connecting rod 15, rocking bar 11, turning cylinder 12, axle sleeve 13.The shank servomechanism adopts symmetrical manner to be installed in the both sides of wheelchair.Drive motors 9 and turbine and worm decelerator 6 cooperate to be installed, turbine and worm decelerator 6 is installed on the channel-section steel 2 of the wheelchair left and right sides, crank 16 is installed on the output shaft of turbine and worm decelerator 6, rocking bar 11 is installed in below the handrail 10, one end of turning cylinder 12 is installed in connecting rod inside, and the other end is installed axle sleeve 13.The movement locus of thigh when utilizing the trace simulation normal person of rocking bar end to walk, turning cylinder provides thrust to the patient, thus the promotion power-assisted when being implemented in the lower limb patient and carrying out the walking aid rehabilitation training.
The lower limb patient can independently operate in use, and the control panel on the wheelchair can be controlled each function of wheelchair.The patient is when carrying out the walking aid rehabilitation training, the patient is sat on lifting seat 14 and the seat 7, fasten seat belts 45, prevent lower limb patient forward lean when carrying out the walking aid rehabilitation training, hand steered on handrail 10, the drive motors 26 of controlling elevating mechanism by control panel makes the state of standing that oneself reaches then, elevating mechanism plays the support effect to health simultaneously, start the walk help function key at last and carry out the walking aid rehabilitation training, the walk help speed that the patient can select to be fit to oneself is carried out rehabilitation training.During the walk help training, lifting seat 14 can carry out the adjustment of a spot of front and back, has certain compliance with cooperating between the people, in order to avoid the patient does not feel well.After the rehabilitation training, the patient makes the state of oneself getting back to sitting posture at the drive motors 26 of controlling elevating mechanism by control panel.
The lower limb patient can also carry out independent rising and sit training.Under the state of sitting posture, at first locked the drive motors 3 of wheelchair driving wheel 4, thereby the driving wheel 4 of wheelchair and universal wheel 1 can't be moved guarantee the lower limb patient working the safety of sitting when training, hand steered on handrail 10, patient's drive motors 26 of controlling elevating mechanism by control panel rises and sits training then, and the patient can select to be fit to own rising or falling speed and play seat and train.

Claims (2)

1. had the electronic walk help wheelchair of sitting mechanism, it comprises wheelchair frame, driving wheel, universal wheel and drive motors, it is characterized in that: the driving device that also comprises elevating mechanism and elevating mechanism; The driving device of elevating mechanism and elevating mechanism is installed in the centre position of wheelchair frame; Elevating mechanism comprises slide rail, slide block, backboard, back bracket, the lifting seat, seat, crossbeam, vertical beam, travel switch, seat belt, extension spring, the lifting seat is installed on first slide block, first slide block is installed on first slide rail, an extension spring respectively is installed between the first slide block two ends and limiting plate, seat belt is fixed on the backboard, backboard is installed on the back bracket, back bracket is fixed on second slide block on second slide rail, second slide rail is fixed on the slider bracket on the 3rd slide block, the 3rd slide block is installed on the 3rd slide rail, seat is fixed on the crossbeam, on the end stop of vertical beam upper end and the 3rd slide rail first travel switch and second travel switch is installed respectively; The driving device of elevating mechanism comprises drive motors, steel wire rope, third wheel, drive motors is installed on the vertical beam of seat board below, first steel wire rope is walked around first third wheel that is installed on the vertical beam, one end of first steel wire rope is fixed on second third wheel, the other end is fixed on the slider bracket on the 3rd slide block, the 3rd third wheel is installed on the slider bracket of the 3rd slide block, one end of second steel wire rope is fixed on the bearing pin of vertical beam, the other end is fixed on the suspension ring below the lifting seat, the 4th third wheel and five faults in diagnosis and treatment wheel is installed in respectively on the slide rail brace summer and slide rail floor below the lifting seat, and the 3rd steel wire rope one end is fixed on the bearing pin on the upright slide rail end stop, the other end is fixed on the suspension ring below the lifting seat.
2. the electronic walk help wheelchair of sitting mechanism that had according to claim 1, it is characterized in that: also comprise the shank servomechanism, the shank servomechanism is installed in the wheelchair left and right sides; The shank servomechanism comprises drive motors, turbine and worm decelerator, crank, connecting rod, rocking bar, turning cylinder, axle sleeve, a turbine and worm decelerator respectively is installed on the channel-section steel of the wheelchair left and right sides, on two turbine and worm decelerators, drive motors is installed respectively, crank is installed on the output shaft of turbine and worm decelerator, rocking bar is installed in below the handrail, and an end of turning cylinder is installed in connecting rod inside, the other end is installed axle sleeve.
CN2010101489407A 2010-04-19 2010-04-19 Electrical walking aid wheel chair with sitting-up mechanism CN101828995B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN2010101489407A CN101828995B (en) 2010-04-19 2010-04-19 Electrical walking aid wheel chair with sitting-up mechanism

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CN101828995A true CN101828995A (en) 2010-09-15
CN101828995B CN101828995B (en) 2012-02-01

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102551969A (en) * 2010-12-31 2012-07-11 昆山市工业技术研究院有限责任公司 Control device for wheelchair
CN102743261A (en) * 2011-04-18 2012-10-24 天津科技大学 Multifunctional assistive device for lower limb rehabilitation training
CN102846440A (en) * 2012-09-28 2013-01-02 昆山市工业技术研究院有限责任公司 Multi-functional standing and sitting device for walker wheelchair
CN102973370A (en) * 2012-11-14 2013-03-20 昆山库克自动化科技有限公司 Rehabilitation wheelchair
CN102973368A (en) * 2012-11-14 2013-03-20 昆山库克自动化科技有限公司 Recovering wheelchair
CN102973369A (en) * 2012-11-14 2013-03-20 昆山库克自动化科技有限公司 Recovery wheel chair convenient for recovery practice of legs
CN103381116A (en) * 2013-07-19 2013-11-06 哈尔滨工程大学 Nursing wheelchair convenient for clearing excrement
CN103705353A (en) * 2013-12-26 2014-04-09 哈尔滨工程大学科技园发展有限公司 Electric rehabilitation wheelchair
CN103800141A (en) * 2012-11-14 2014-05-21 镇江艾康医疗器械有限公司 Leg lifting device for orthopaedics
CN104274283A (en) * 2013-07-12 2015-01-14 山东科技大学 Chair assisting in getting up and sitting
CN105326614A (en) * 2015-11-18 2016-02-17 谢凤香 Multifunctional wheelchair for old, weak, sick, disabled and pregnant people
CN105362046A (en) * 2014-08-15 2016-03-02 广东凯洋医疗科技集团有限公司 Rehabilitation weight loss gait training vehicle for children and adults
CN105559675A (en) * 2015-12-30 2016-05-11 江苏科凌医疗器械有限公司 Multifunctional toilet chair
CN106473872A (en) * 2016-11-18 2017-03-08 湖北文理学院 A kind of rehabilitation wheelchair and its leg rehabilitation mechanism
CN107595539A (en) * 2017-09-11 2018-01-19 王剑 The mute type pressure sensitive Electronic control dental chair that a kind of oral cavity section office use
CN109620567A (en) * 2018-12-21 2019-04-16 南通市第人民医院 A kind of walking-replacing tool gone out convenient for the elderly

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GB1424462A (en) * 1973-04-25 1976-02-11 Schwartz A Stand-up wheelchair
US4076304A (en) * 1976-01-30 1978-02-28 Valutec Ag Erecting seat structure to assist invalids from seated to standing, upright position, particularly erecting wheelchairs
CN2055033U (en) * 1989-02-27 1990-03-28 中国康复研究中心 Wheelchair for patient standing
CN2808102Y (en) * 2005-06-23 2006-08-23 黄振彰 Stand type rehabilitation wheelchair
JP2007007341A (en) * 2005-07-04 2007-01-18 Mutsumi Kuroda Electric drive unit for wheelchair and electric wheelchair
WO2007016907A1 (en) * 2005-08-08 2007-02-15 Otto Bock Healthcare Ip Gmbh & Co. Kg Stand-up wheelchair
CN1973805A (en) * 2006-12-07 2007-06-06 浙江大学 Wheel chair type robot for walking training of paraplegia patient
CN201379723Y (en) * 2009-01-08 2010-01-13 周德宝 Electric walking and standing wheelchair

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1424462A (en) * 1973-04-25 1976-02-11 Schwartz A Stand-up wheelchair
US4076304A (en) * 1976-01-30 1978-02-28 Valutec Ag Erecting seat structure to assist invalids from seated to standing, upright position, particularly erecting wheelchairs
CN2055033U (en) * 1989-02-27 1990-03-28 中国康复研究中心 Wheelchair for patient standing
CN2808102Y (en) * 2005-06-23 2006-08-23 黄振彰 Stand type rehabilitation wheelchair
JP2007007341A (en) * 2005-07-04 2007-01-18 Mutsumi Kuroda Electric drive unit for wheelchair and electric wheelchair
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Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102551969A (en) * 2010-12-31 2012-07-11 昆山市工业技术研究院有限责任公司 Control device for wheelchair
CN102743261A (en) * 2011-04-18 2012-10-24 天津科技大学 Multifunctional assistive device for lower limb rehabilitation training
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
CN102846440A (en) * 2012-09-28 2013-01-02 昆山市工业技术研究院有限责任公司 Multi-functional standing and sitting device for walker wheelchair
CN102973369B (en) * 2012-11-14 2015-08-05 昆山库克自动化科技有限公司 A kind of rehabilitation wheelchair being convenient to leg rehabilitation training
CN102973370A (en) * 2012-11-14 2013-03-20 昆山库克自动化科技有限公司 Rehabilitation wheelchair
CN102973368A (en) * 2012-11-14 2013-03-20 昆山库克自动化科技有限公司 Recovering wheelchair
CN102973369A (en) * 2012-11-14 2013-03-20 昆山库克自动化科技有限公司 Recovery wheel chair convenient for recovery practice of legs
CN102973370B (en) * 2012-11-14 2015-08-12 昆山库克自动化科技有限公司 Rehabilitation wheelchair
CN103800141A (en) * 2012-11-14 2014-05-21 镇江艾康医疗器械有限公司 Leg lifting device for orthopaedics
CN102973368B (en) * 2012-11-14 2015-09-30 昆山库克自动化科技有限公司 A kind of rehabilitation wheelchair
CN104274283B (en) * 2013-07-12 2016-12-28 山东科技大学 A kind of chair having assisted seat
CN104274283A (en) * 2013-07-12 2015-01-14 山东科技大学 Chair assisting in getting up and sitting
CN103381116A (en) * 2013-07-19 2013-11-06 哈尔滨工程大学 Nursing wheelchair convenient for clearing excrement
CN103381116B (en) * 2013-07-19 2015-12-16 哈尔滨工程大学 A kind of nursing wheelchair being convenient to clear up after an action of the bowels
CN103705353A (en) * 2013-12-26 2014-04-09 哈尔滨工程大学科技园发展有限公司 Electric rehabilitation wheelchair
CN105362046A (en) * 2014-08-15 2016-03-02 广东凯洋医疗科技集团有限公司 Rehabilitation weight loss gait training vehicle for children and adults
CN105326614A (en) * 2015-11-18 2016-02-17 谢凤香 Multifunctional wheelchair for old, weak, sick, disabled and pregnant people
CN106214363B (en) * 2015-11-18 2017-11-14 赵淑娟 A kind of multifunctional health wheelchair
CN106214363A (en) * 2015-11-18 2016-12-14 陈旭 A kind of multifunctional health wheelchair
CN105559675A (en) * 2015-12-30 2016-05-11 江苏科凌医疗器械有限公司 Multifunctional toilet chair
CN106473872A (en) * 2016-11-18 2017-03-08 湖北文理学院 A kind of rehabilitation wheelchair and its leg rehabilitation mechanism
CN106473872B (en) * 2016-11-18 2017-11-14 湖北文理学院 A kind of rehabilitation wheelchair and its leg rehabilitation mechanism
CN107595539A (en) * 2017-09-11 2018-01-19 王剑 The mute type pressure sensitive Electronic control dental chair that a kind of oral cavity section office use
CN107595539B (en) * 2017-09-11 2018-11-02 吉林大学 A kind of mute type pressure sensitive Electronic control dental chair that oral cavity section office use
CN109620567A (en) * 2018-12-21 2019-04-16 南通市第人民医院 A kind of walking-replacing tool gone out convenient for the elderly

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