CN102429786A - Angle controllable reclining and vertical electrical wheelchair with any sitting postures - Google Patents
Angle controllable reclining and vertical electrical wheelchair with any sitting postures Download PDFInfo
- Publication number
- CN102429786A CN102429786A CN2011103055106A CN201110305510A CN102429786A CN 102429786 A CN102429786 A CN 102429786A CN 2011103055106 A CN2011103055106 A CN 2011103055106A CN 201110305510 A CN201110305510 A CN 201110305510A CN 102429786 A CN102429786 A CN 102429786A
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Abstract
The invention relates to an angle controllable reclining and vertical electrical wheelchair with any sitting postures. A linear motor transmission module comprises a linear motor, a wheel frame and a sitting frame. The linear motor is connected between the wheel frame and the sitting frame. A sleeve of the linear motor is in transmission connected with a lower transverse rod of the wheel frame and a mandrill of the linear motor is in transmission connected with a middle transverse of the sitting frame. A servo motor transmission module comprises a servo motor, a reduction box, and a chain-chain wheel box, a self-locking mechanism installed in the servo motor, a leg rest and a backrest. The servo motor and the reduction box are fixed on the sitting frame and connected with a transmission shaft of the chain-chain wheel box close to the leg rest. One end of the transmission shaft of the chain-chain wheel box is connected with a rotating shaft of the leg rest and the rotating shaft of the leg rest is connected with a rotating shaft of the sitting frame. The other end of the transmission shaft of the chain-chain wheel box is connected with a rotating shaft of the backrest and the rotating shaft of the backrest is connected with the sitting frame through a bearing. With the adoption of the invention, the user can switch among the sitting position, the lying position and the standing position according to demand and the invention can be used for the user with moderate lower limb training according to demand.
Description
Technical field
The present invention relates to a kind of electric wheel-chair vehicle, especially a kind ofly can make patient's electric wheel-chair vehicle with lying status of realizing standing.
Background technology
Because old people or shank myasthenia or lower part of the body hemiplegia patient can not oneself stand, hope to come gauge tap through hands; Realize standing and lying status by wheelchair, this function can be that they can stand voluntarily and get thing, the rest that lies low, temper knee joint, improve mental status and be convenient to the transfer between a chair.
Have such wheelchair at present both at home and abroad; Such external wheelchair is owing to cost an arm and a leg, and practicality at home is not high, and such domestic wheelchair all is simple function mostly; Can only stand and maybe can only lie low; The wheelchair that has two functions simultaneously has only KFL58, but the inclination maximum angle during it stand is less, can not adapt to whole angle demands of standing.
Summary of the invention
But the present invention is the vertical electric wheel Wheel-chair of lying that will provide a kind of any posture seating angle controlled; This electric wheel-chair vehicle can be by user by demand; Seat, lie low the position and erect position between change; Can carry out appropriateness, an amount of leg training to using the patient by demand, and have simple in structure, characteristics such as price is low.
For realizing above-mentioned purpose; Technical scheme of the present invention is: but the controlled vertical electric wheel Wheel-chair of lying of a kind of any posture seating angle; Comprise backrest-seat-lower limb holder module, wheel-vehicle wheel frame module, linear electric motors transmission module and servomotor transmission module, be characterized in: backrest-seat-lower limb holder module comprises: backrest, handrail, seat, lower limb holder; The forward and backward two ends of seat are respectively with backrest with lower limb is pop-jump is dynamically connected, anti-tip wheel and pedal before being equipped with below the lower limb holder, and handrail is equipped with on the backrest both sides, and one of them handrail front end is equipped with controller; Wheel-vehicle wheel frame module comprises: vehicle wheel frame; Be installed in the front driven wheel and the rear drive sprocket of the forward and backward both sides of vehicle wheel frame; The rear drive sprocket motor case that is connected with rear drive sprocket is respectively equipped with back anti-dumping wheel support and the back anti-tip wheel that is fixed on the vehicle wheel frame two rear drive sprocket inboards; The vehicle wheel frame front is rotationally connected through bearing and seat; The linear electric motors transmission module comprises: linear electric motors, vehicle wheel frame and seat; Be connected with linear electric motors between vehicle wheel frame and the seat, wherein, linear electric motors sleeve and vehicle wheel frame sheer pole are rotationally connected, and the push rod of linear electric motors and seat middle transverse rod are rotationally connected; The servomotor transmission module comprises: servomotor and reduction box, chain-chain-wheel box, be installed in self-locking mechanism, lower limb holder and backrest in the servomotor; Servomotor and reduction box are fixed on the seat; And be connected with power transmission shaft near the chain-chain-wheel box of lower limb holder; Power transmission shaft one end of chain-chain-wheel box is connected with the rotating shaft of lower limb holder; The rotating shaft of lower limb holder is connected with the seat rotating shaft, and the power transmission shaft other end of chain-chain-wheel box is connected with the rotating shaft of backrest, and the rotating shaft of backrest is connected with seat through bearing.
Self-locking mechanism comprise the output shaft that has one section tooth, the bearing that is connected with output shaft, connection bearing and the boss dish, two and half of motor housing become tooth bars from locking plate, an end be connected the drive plate of other end insertion two in locking plate with motor output shaft, from the locking plate limit collar.
The push rod head of linear electric motors is connected with the outer ring of a bearing, and the inner ring of bearing is connected with the middle transverse rod of seat; The sleeve afterbody of linear electric motors is connected with the outer ring of a bearing, and inner ring is connected with the vehicle wheel frame sheer pole.
Headrest is housed above the backrest; Lower limb holder cushion is housed above the lower limb holder; Be fixed with battery above the vehicle wheel frame.
The present invention has the following advantages and beneficial effect:
1, uses sheerly frame for movement of technology such as quadric chain and chain drive, in the function of standing, lie low that realizes under the condition that guarantees product stability and safety on the frame for movement.2, electrical control wheelchair sitting posture, any conversion of standing and lying low are easy to operate, can under the situation that need not to help, be used voluntarily by the patient.3, Synchronization Control servomotor and linear electric motors reach the sitting posture-translation function of standing; Separately the private clothes of control motor reaches that sitting posture-translation function lies low; Substep control private clothes motor and linear electric motors reach the conversion of first sitting posture-lie low; After lie low-function of stance conversion, and can satisfy user optional position in movement locus according to the self-locking mechanism that motor carries and stop, accomplishing that really control follows one's bent.4, Synchronization Control private clothes motor and linear electric motors reach sitting posture-when standing translation function, can satisfy user optional position in movement locus according to the self-locking mechanism that motor carries and stop; The private clothes of independent then control motor, through the chain drive between back rest and the stand-off frame, the interlock of control back rest and stand-off frame is to reach the training effect of motion lower limb knee joint, exercise Calf muscle.Stand, lie low etc. the function except satisfying, the adjustable design of handrail make user can be conveniently under free position wheelchair up and down.
The present invention can be controlled by user voluntarily, and functions peculiar comprises: seat arrives erect position (reversible) to lie low (reversible), a seat to erect position (reversible), the position that lies low.Can improve the quality of life of user to a great extent, leg support rotates and to help knee joint and take exercise, but helps upright relieving psychological pressure, reduce acne, to a certain extent can the partner treatment myasthenia etc. disease.
Description of drawings
Fig. 1 is backrest-seat-lower limb holder module map;
Fig. 2 is wheel-vehicle wheel frame module map;
Fig. 3 is linear electric motors transmission module figure;
Fig. 4 is servomotor transmission module installation site figure;
Fig. 5 is the self-locking mechanism sketch map of servomotor;
Fig. 6 is servomotor transmission module figure;
Fig. 7 is that electronic the lying of Synchronization Control can be found wheelchair seat figure;
Fig. 8 is that electronic the lying of Synchronization Control can be found the wheelchair bitmap that lies low;
Fig. 9 is that electronic the lying of Synchronization Control can be found the wheelchair bitmap of standing.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done step explanation:
Extremely shown in Figure 9 like Fig. 1, but the controlled vertical electric wheel Wheel-chair of lying of any posture seating angle of the present invention comprises backrest-seat-lower limb holder module, wheel-vehicle wheel frame module, linear electric motors transmission module and servomotor transmission module.
Backrest-seat-lower limb holder module (Fig. 1) comprising: headrest 1, backrest 2, handrail 3, seat 4, lower limb holder 5, lower limb holder cushion 6.The forward and backward two ends of seat 4 are rotationally connected with backrest 2 and lower limb holder 5 respectively, and headrest 1 is housed above the backrest 2; Lower limb holder cushion 6 is housed above the lower limb holder 5; Anti-tip wheel 8 and pedal 7 before being equipped with below the lower limb holder 5, handrail 3 is equipped with on backrest 2 both sides, and one of them handrail 3 front end is equipped with controller 9.
Wheel-vehicle wheel frame module (Fig. 2) comprising: vehicle wheel frame 15; Be installed in the front driven wheel 16 and rear drive sprocket 12 of vehicle wheel frame 15 forward and backward both sides; The rear drive sprocket motor case 13 that is connected with rear drive sprocket 12 is respectively equipped with back anti-dumping wheel support 11 and the back anti-tip wheel 10 that is fixed on the vehicle wheel frame 15 two rear drive sprocket 12 inboards; Vehicle wheel frame 15 fronts are rotationally connected through bearing and seat 4; Be fixed with battery 14 above the vehicle wheel frame 15.
The linear electric motors transmission module is by vehicle wheel frame 15, seat 4 and hinge linkage (Fig. 3) that lasting thrust >=1200N linear electric motors 18 are formed.The push rod head of linear electric motors 18 is connected with the outer ring of a bearing, and the inner ring of bearing is connected with the middle transverse rod of seat 4.The sleeve afterbody of linear electric motors 18 is connected with the outer ring of a bearing, and inner ring is connected with the vehicle wheel frame sheer pole.The elongation of linear electric motors 18 is shunk and is driven seat 4 and can make seat 4 planes become a dynamic angle with vehicle wheel frame 15 planes around the hinge through of itself and vehicle wheel frame 15.Can realize taking turns the mutual conversion of seat (or the position that lies low) with the erect position of Wheel-chair like this.
Servomotor transmission module (Fig. 4) is by seat 4, leg support 5, backrest 2, chain-chain-wheel box 20 and 400w, 1500rpm servomotor and 100:1 reduction box 19.Chain-chain-wheel box 20 is fixed on the seat 4, and 400w, 1500rpm servomotor and 100:1 reduction box 19 are connected with power transmission shaft near the chain-chain-wheel box 20 of leg support 5 and motor housing is fixed on the seat.Power transmission shaft one end of chain-chain-wheel box 20 is connected with the rotating shaft of leg support 5; The turning cylinder of leg support 5 is connected with seat 4 through bearing; The power transmission shaft other end of chain-chain-wheel box 20 is connected with the rotating shaft of backrest 2; The rotating shaft of backrest 2 is connected with seat 4 through bearing, and the rotation of servomotor output shaft drives leg support 5 and rotates with the rotating shaft that is connected of seat 4 around it, drives backrest 2 simultaneously and rotates with the rotating shaft that is connected of seat 4 around it.
The self-locking mechanism of servomotor (Fig. 5), comprise in the mechanism output shaft 21 that has one section tooth, the bearing 22 that is connected with output shaft 21, connection bearing 22 and the boss dish 23, two and half of motor housing become tooth bars from locking plate 24, an end be connected the drive plate 25 of other end insertion two in locking plate with motor output shaft, from locking plate limit collar 26.Self-lock mechanism is: during normally by driven by motor, and driven by motor drive plate 25, drive plate 25 drives from locking plate 24, can rotation be passed to from locking plate 24 through inserting two drive plate 25 bipods from locking plate.Owing to be limited in locking plate limit collar 26 from locking plate 24, can rotation be passed to the output shaft 21 that has one section tooth from locking plate 24; On the contrary; If output shaft 21 rotates, its rotation will drive the tooth bar radial alignment motion with its engagement, but owing to the periphery from locking plate 24 of two and half change tooth bars withstands on the internal ring of locking plate limit collar 26; So output shaft 21 can only be rotated by driven by motor, can not backwards rotation.
Chain-chain-wheel box 20 (Fig. 6) comprising: chain-chain-wheel box 20 shells, chain, sprocket wheel, bearing, sprocket wheel connecting axle and end cap.Servomotor 19 is connected with a power transmission shaft of chain-chain-wheel box 20, under the connection of chain, realizes the synchronous rotation of two power transmission shafts, drives leg support 5 simultaneously and rotates with backrest 2.When realizing lying low function, linear electric motors 18 are in original state and do not work.Servomotor 19 work this moment; If chain is pressed the direction transmission of arrow shown in the figure six, then backrest lands downwards around its rotating shaft m, finally reaches and 4 one-tenth 180 ° of seats; Simultaneously foot carriage 5 around the shaft n upwards lift, finally reach and 4 one-tenth 180 ° of completion of seat function that lies low.
The function that the present invention can be lain and can be stood by isochronous controller control linear electric motors and servomotor realization.Linear electric motors and wheelchair frame wheelchair seat support form quadric chain can realize the rotation of seat support around fixed rotating shaft.Servomotor is connected with backrest with the foot carriage through sprocket wheel, and its rotation can drive foot carriage and backrest around separately fixed rotating shaft rotation.
During Synchronization Control, push away lower limb holder 5 planes and become 75 ° (these adjustable angle joints) with seat 4 planes, backrest 3 planes become 90 ° (Fig. 7) with seat 4 planes.The function that lies low is the isolated operation of servomotor, and its rotation is rotated lower limb holder 5 and backrest 3 synchronously, makes lower limb holder 5 planes become 180 ° with seat 4 planes, and backrest 3 planes become 180 ° (Fig. 8) with seat 4 planes simultaneously, realize lying low function; The function of standing be the function that lies low synchronously in the motion of adding linear electric motors.The conversion with seat of standing of the Synchronization Control motion realization of two motors.At linear electric motors 18 with seat 4 jack-up; When making its plane become 75 ° with horizontal plane, servomotor 19 also in running, makes lower limb holder 5 planes become 180 ° with seat 4 planes; Driving chain-sprocket wheel simultaneously makes backrest 3 planes become 180 ° with seat 4 planes; This moment lower limb holder plane, seat plane and back rest plane in one plane, and this plane becomes 75 ° (Fig. 9) with ground, the realization function of standing.
Claims (4)
1. but the controlled vertical electric of lying of any posture seating angle is taken turns Wheel-chair; Comprise backrest-seat-lower limb holder module, wheel-vehicle wheel frame module, linear electric motors transmission module and servomotor transmission module, it is characterized in that: said backrest-seat-lower limb holder module comprises: backrest (2), handrail (3), seat (4), lower limb holder (5); The forward and backward two ends of seat (4) are rotationally connected with backrest (2) and lower limb holder (5) respectively; Preceding anti-tip wheel (8) and pedal (7) are housed below the lower limb holder (5); Handrail (3) is equipped with on backrest (2) both sides, and one of them handrail (3) front end is equipped with controller (9); Said wheel-vehicle wheel frame module comprises: vehicle wheel frame (15); Be installed in the front driven wheel (16) and the rear drive sprocket (12) of the forward and backward both sides of vehicle wheel frame (15); The rear drive sprocket motor case (13) that is connected with rear drive sprocket (12) is respectively equipped with back anti-dumping wheel support (11) and the back anti-tip wheel (10) that is fixed on the vehicle wheel frame (15) in two rear drive sprockets (12) inboard; Vehicle wheel frame (15) front is rotationally connected through bearing and seat (4); Said linear electric motors transmission module comprises: linear electric motors (18), vehicle wheel frame (15) and seat (4); Be connected with linear electric motors (18) between vehicle wheel frame (15) and the seat (4), wherein, linear electric motors (18) sleeve and vehicle wheel frame (15) sheer pole are rotationally connected, and the push rod of linear electric motors (18) and seat (4) middle transverse rod are rotationally connected; Said servomotor transmission module comprises: servomotor and reduction box (19), chain-chain-wheel box (20), be installed in self-locking mechanism, lower limb holder (5) and backrest (2) in the servomotor; Servomotor and reduction box (19) are fixed on the seat (4); And be connected with power transmission shaft near the chain-chain-wheel box (20) of lower limb holder (5); Power transmission shaft one end of chain-chain-wheel box (20) is connected with the rotating shaft of lower limb holder (5); The rotating shaft of lower limb holder (5) is connected with seat (4) rotating shaft, and the power transmission shaft other end of chain-chain-wheel box (20) is connected with the rotating shaft of backrest (2), and the rotating shaft of backrest (2) is connected with seat (4) through bearing.
2. but any posture seating angle according to claim 1 the is controlled vertical electric wheel Wheel-chair of lying is characterized in that: said self-locking mechanism comprise the output shaft (21) that has one section tooth, the bearing (22) that is connected with output shaft (21), connection bearing (22) and motor housing boss dish (23), two and half change tooth bars from locking plate (24), an end be connected the drive plate (25) of other end insertion two in locking plate with motor output shaft, from locking plate limit collar (26).
But 3. the vertical electric wheel Wheel-chair of lying that any posture seating angle according to claim 1 is controlled, it is characterized in that: the push rod head of said linear electric motors (18) is connected with the outer ring of a bearing, and the inner ring of bearing is connected with the middle transverse rod of seat (4); The sleeve afterbody of linear electric motors (18) is connected with the outer ring of a bearing, and inner ring is connected with vehicle wheel frame (15) sheer pole.
4. but the vertical electric wheel Wheel-chair of lying that any posture seating angle according to claim 1 is controlled is characterized in that: headrest (1) is housed above the said backrest (2); Lower limb holder cushion (6) is housed above the said lower limb holder (5); Be fixed with battery (14) above the said vehicle wheel frame (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103055106A CN102429786A (en) | 2011-10-11 | 2011-10-11 | Angle controllable reclining and vertical electrical wheelchair with any sitting postures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103055106A CN102429786A (en) | 2011-10-11 | 2011-10-11 | Angle controllable reclining and vertical electrical wheelchair with any sitting postures |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102429786A true CN102429786A (en) | 2012-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103055106A Pending CN102429786A (en) | 2011-10-11 | 2011-10-11 | Angle controllable reclining and vertical electrical wheelchair with any sitting postures |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102688124A (en) * | 2012-05-11 | 2012-09-26 | 上海理工大学 | Linked-control electric reclining wheelchair |
| CN103054674A (en) * | 2012-12-06 | 2013-04-24 | 国家康复辅具研究中心 | Three-posture position conversion wheelchair |
| CN103417343A (en) * | 2012-11-30 | 2013-12-04 | 上海理工大学 | Electrically propelled wheelchair with functions of nursing bed |
| CN103783863A (en) * | 2012-10-29 | 2014-05-14 | 海门黄海创业园服务有限公司 | Safety chair |
| CN104095736A (en) * | 2014-08-04 | 2014-10-15 | 上海理工大学 | Lower limb rehabilitation training system based on multi-position electric wheelchair |
| CN104825284A (en) * | 2015-05-12 | 2015-08-12 | 上海理工大学 | Standing and lying type wheelchair with turnover function |
| CN106038102A (en) * | 2016-07-12 | 2016-10-26 | 张艳艳 | Extremity injury auxiliary rehabilitation wheelchair |
| CN106075746A (en) * | 2016-06-16 | 2016-11-09 | 国家康复辅具研究中心 | The electric wheelchair vehicle control that multi-pose adjusts |
| CN106389029A (en) * | 2016-08-31 | 2017-02-15 | 河南纵横精工机械科技有限公司 | Multifunctional wheelchair seat |
| CN106726202A (en) * | 2017-02-27 | 2017-05-31 | 东莞产权交易中心 | A kind of folding electric wheelchair |
| CN107080623A (en) * | 2017-06-10 | 2017-08-22 | 刘开南 | A kind of mobile walker is helped just self-cleaning helps stand stretcher chair with flexible inner and outer pipes formation |
| WO2018145667A1 (en) * | 2017-02-08 | 2018-08-16 | 邓长江 | Multi-function wheelchair |
| CN109998813A (en) * | 2019-05-06 | 2019-07-12 | 天津科技大学 | A kind of Multifunctional rehabilitation exercise bed for paralytic |
| CN111588565A (en) * | 2020-05-15 | 2020-08-28 | 燕山大学 | Medical rehabilitation bed with three postures of sitting, lying and standing |
| CN112652211A (en) * | 2020-12-07 | 2021-04-13 | 南京亭上雪科技有限公司 | Auxiliary training device for electric wheelchair |
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| CN202288667U (en) * | 2011-10-11 | 2012-07-04 | 上海理工大学 | Standing and vertical type electric wheelchair with flat reclining function |
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| CN101019795A (en) * | 2007-03-14 | 2007-08-22 | 哈尔滨工程大学 | Multifunctional the disabled aiding robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102688124A (en) * | 2012-05-11 | 2012-09-26 | 上海理工大学 | Linked-control electric reclining wheelchair |
| CN102688124B (en) * | 2012-05-11 | 2014-06-18 | 上海理工大学 | Linked-control electric reclining wheelchair |
| CN103783863A (en) * | 2012-10-29 | 2014-05-14 | 海门黄海创业园服务有限公司 | Safety chair |
| CN103417343A (en) * | 2012-11-30 | 2013-12-04 | 上海理工大学 | Electrically propelled wheelchair with functions of nursing bed |
| CN103054674A (en) * | 2012-12-06 | 2013-04-24 | 国家康复辅具研究中心 | Three-posture position conversion wheelchair |
| CN104095736A (en) * | 2014-08-04 | 2014-10-15 | 上海理工大学 | Lower limb rehabilitation training system based on multi-position electric wheelchair |
| CN104825284A (en) * | 2015-05-12 | 2015-08-12 | 上海理工大学 | Standing and lying type wheelchair with turnover function |
| CN106075746A (en) * | 2016-06-16 | 2016-11-09 | 国家康复辅具研究中心 | The electric wheelchair vehicle control that multi-pose adjusts |
| CN106038102A (en) * | 2016-07-12 | 2016-10-26 | 张艳艳 | Extremity injury auxiliary rehabilitation wheelchair |
| CN106389029A (en) * | 2016-08-31 | 2017-02-15 | 河南纵横精工机械科技有限公司 | Multifunctional wheelchair seat |
| WO2018145667A1 (en) * | 2017-02-08 | 2018-08-16 | 邓长江 | Multi-function wheelchair |
| CN106726202A (en) * | 2017-02-27 | 2017-05-31 | 东莞产权交易中心 | A kind of folding electric wheelchair |
| CN107080623A (en) * | 2017-06-10 | 2017-08-22 | 刘开南 | A kind of mobile walker is helped just self-cleaning helps stand stretcher chair with flexible inner and outer pipes formation |
| CN109998813A (en) * | 2019-05-06 | 2019-07-12 | 天津科技大学 | A kind of Multifunctional rehabilitation exercise bed for paralytic |
| CN111588565A (en) * | 2020-05-15 | 2020-08-28 | 燕山大学 | Medical rehabilitation bed with three postures of sitting, lying and standing |
| CN111588565B (en) * | 2020-05-15 | 2021-03-19 | 燕山大学 | Medical rehabilitation bed with three postures of sitting, lying and standing |
| CN112652211A (en) * | 2020-12-07 | 2021-04-13 | 南京亭上雪科技有限公司 | Auxiliary training device for electric wheelchair |
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Application publication date: 20120502 |