CN103932874B - Multifunctional lower limb rehabilitation vehicle using motor - Google Patents
Multifunctional lower limb rehabilitation vehicle using motor Download PDFInfo
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- CN103932874B CN103932874B CN201410181881.1A CN201410181881A CN103932874B CN 103932874 B CN103932874 B CN 103932874B CN 201410181881 A CN201410181881 A CN 201410181881A CN 103932874 B CN103932874 B CN 103932874B
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- lower limb
- elevating mechanism
- sprocket
- direct current
- limb rehabilitation
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Abstract
The present invention discloses a kind of Multifunctional lower limb rehabilitation vehicle using motor, belong to technical field of medical instruments, relate to and a kind ofly due to illness cause walking function obstacle person to provide the power assistive device of rehabilitation training for lower limb, comprise the bottom that scroll wheel is arranged on chassis, described frame is fixed on chassis; Arrange sprocket chain strip transmission mechanism in the both sides of frame, pair of sprocket and the power transmission shaft of sprocket chain strip transmission mechanism are fixedly linked, fixing suit worm type of reduction gearing on power transmission shaft; Above worm type of reduction gearing shell, be fixedly installed direct current generator, the clutch end of direct current generator is fixedly connected with the input of worm type of reduction gearing, and the chain of sprocket chain strip transmission mechanism is fixedly linked by connector and elevating mechanism; The crossbeam of elevating mechanism connects supporting mechanism, and when the present invention realizes the forwarding function of patient from wheelchair to healing robot, the supporting mechanism of patient oxter follows patient all the time, transfers on healing robot with patient.
Description
Technical field
The invention belongs to technical field of medical instruments, relate to and a kind ofly due to illness cause walking function obstacle person to provide the power assistive device of rehabilitation training for lower limb, particularly a kind of Multifunctional lower limb rehabilitation vehicle using motor.
Background technology
Current healing robot on the market has a common feature, need other people assisting in patient could be moved on healing robot and transfer to wheelchair from healing robot exactly, the mode of this artificial assistance is subject to the restriction of several factors, such as crew shortage, need to pay heavy muscle power etc., cause a lot of inconvenience.
Summary of the invention
For prior art Problems existing, the invention provides a kind of Multifunctional lower limb rehabilitation vehicle using motor, this vehicle using motor can realize the reciprocal transfer of patient from wheelchair to healing robot and assisting patients carries out walking practice.
To achieve these goals, the present invention adopts following technical scheme, and a kind of Multifunctional lower limb rehabilitation vehicle using motor, comprises scroll wheel, chassis, frame, chain, sprocket wheel, connector, elevating mechanism and supporting mechanism; Described scroll wheel is arranged on the bottom on chassis, and described frame is fixed on chassis; Arrange sprocket chain strip transmission mechanism in the both sides of frame, pair of sprocket and the power transmission shaft of sprocket chain strip transmission mechanism are fixedly linked, fixing suit worm type of reduction gearing on power transmission shaft; Above worm type of reduction gearing shell, be fixedly installed direct current generator, the clutch end of direct current generator is fixedly connected with the input of worm type of reduction gearing, and the chain of sprocket chain strip transmission mechanism is fixedly linked by connector and elevating mechanism; The crossbeam of elevating mechanism connects supporting mechanism.
The described sprocket chain strip transmission mechanism that often overlaps is made up of at least two sprocket wheels and a chain, and described sprocket wheel is meshed with chain.
Described supporting mechanism is made up of two support arms, each support arm is connected with elevating mechanism respectively by width adjustment mechanism, the front end of described width adjustment mechanism is provided with the hook of opening upwards, described support arm is provided with optical axis, hook matches with optical axis, and width adjustment mechanism and support arm can slide on the crossbeam of elevating mechanism.
Two described width adjustment mechanism respectively with walk around the upper soft rope that width adjusting takes turns and be connected with lower soft rope.
The rise and fall of described elevating mechanism are controlled by rising gauge tap and decline gauge tap, and described rising gauge tap is connected with the control end of direct current generator respectively with decline gauge tap.
The emergent stopping of described elevating mechanism is controlled by emergent stopping gauge tap, and described emergent stopping gauge tap is connected with the control end of direct current generator.
Arrange travel switch respectively in upper and lower two terminations of described elevating mechanism stroke, described travel switch is connected with the control end of direct current generator respectively.
Described frame arranges power supply, and power supply is connected with direct current generator.
Described scroll wheel is Mecanum wheel.
Beneficial effect of the present invention: the present invention adopts the mode of artificial hand push to move, meanwhile, vehicle body is mounted with emergent stopping gauge tap and travel switch, ensures that elevating mechanism is at stroke range of motion.For bearing larger power, frame adopts rustless steel and aluminium profile; The use of direct current generator and worm type of reduction gearing makes output speed mild, then drives sprocket rotation by power transmission shaft, and the elevating mechanism that the drive patient be fixedly connected with chain is elevated realizes being elevated effect; The lifting of elevating mechanism is controlled by rising gauge tap and decline gauge tap.According to the difference of human body type, width adjustment mechanism uses centrosymmetric mode to regulate the width of support arm; In order to the mass motion of Multifunctional lower limb rehabilitation vehicle using motor is got up more convenient, direct current generator uses 24V lithium battery power supply, and without the need to external power supply, scroll wheel uses Mecanum wheel, can realize omnibearing traveling; When realizing the forwarding function of patient from wheelchair to healing robot, the supporting mechanism of patient oxter follows patient all the time, transfer on healing robot with patient, when completing the forwarding function of patient from healing robot to wheelchair, supporting mechanism is got back on Multifunctional lower limb rehabilitation vehicle using motor.
Accompanying drawing explanation
Fig. 1 is Multifunctional lower limb rehabilitation vehicle using motor structural representation of the present invention;
Fig. 2 is Fig. 1 rear structure schematic diagram;
Fig. 3 is the partial enlarged drawing of elevating mechanism of the present invention, width adjustment mechanism, optical axis and supporting mechanism junction;
Fig. 4 is the partial enlarged drawing of width adjustment mechanism of the present invention;
In figure, 1-scroll wheel, 2-brace, 3-chain, 4-connector, 5-elevating mechanism, 6-frame, 7-width adjustment mechanism, 8-supporting mechanism, 9-optical axis, 10-worm type of reduction gearing, 11-power transmission shaft, 12-sprocket wheel, 13-chassis, 14-direct current generator, 15-power supply, 16-rising gauge tap, 17-travel switch, 18-emergent stopping gauge tap, 19-decline gauge tap, 20-support arm, 21-width adjusting is taken turns, the upper soft rope of 22-, soft rope under 23-.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
As shown in Figure 1, a kind of Multifunctional lower limb rehabilitation vehicle using motor, realizes comprehensive traveling by scroll wheel 1, and described scroll wheel 1 selects Mecanum wheel, is linked together by rustless steel brace 2 and chassis 13, the top on chassis 13 is fixedly connected with frame 6 by welding, and is locked by screw and frame 6, direct current generator 14 uses power supply 15 to power, power acquisition 24V lithium battery, mild speed is exported by worm type of reduction gearing 10, sprocket wheel 12 is passed to by power transmission shaft 11, sprocket wheel 12 is rotated and drives chain 3 to move, chain 3 is fixedly connected with elevating mechanism 5 by connector 4, elevating mechanism 5 is made to realize elevating movement with the movement of chain 3, as shown in Figure 2, the rise and fall of elevating mechanism 5 are controlled by rising gauge tap 16 and decline gauge tap 19, the partial enlarged drawing of width adjustment mechanism 7 as shown in Figure 4, two width adjustment mechanism 7 respectively with walk around width adjusting take turns 21 upper soft rope 22 and lower soft rope 23 link together, by upper, the transmission of lower soft rope, width adjustment mechanism 7 can realize centrosymmetric width adjusting, emergent stopping gauge tap 18 controls the emergent stopping of elevating mechanism 5, is mounted with travel switch 17 at the end of travel of elevating mechanism 5, and elevating mechanism 5 is moved in safety range, described frame adopts rustless steel and aluminium profile.
When realizing the forwarding function of patient from wheelchair to healing robot, control elevating mechanism 5 by decline gauge tap 19 and drop to proper height, adjustment width governor motion 7, under the support arm 20 of supporting mechanism 8 is reached the axil of patient, control elevating mechanism 5 by rising gauge tap 16 to rise, patient is lifted suitable height, patient is made to depart from wheelchair, transfer on Multifunctional lower limb rehabilitation vehicle using motor, the supporting mechanism 8 of rehabilitation vehicle using motor is moved by scroll wheel 1, the optical axis 9 of supporting mechanism 8 is docked on healing robot, control elevating mechanism 5 by decline gauge tap 19 to decline, supporting mechanism 8 is departed from the hook of the width adjustment mechanism 7 of Multifunctional lower limb rehabilitation vehicle using motor, complete transfer, otherwise, then patient can be transferred to wheelchair from healing robot.
When realizing assisting patients and carrying out rehabilitation Walking function, control elevating mechanism 5 by decline gauge tap 19 and drop to proper height, adjustment width governor motion 7, under making supporting mechanism 8 can reach the axil of patient, according to the difference of Patient height, control elevating mechanism 5 by rising gauge tap 16 and be elevated to applicable height, thus by the support of supporting mechanism 8, patient is lifted, artificial promotion assisting patients carries out rehabilitation Walking, or patient is by the support of supporting mechanism 8, drive Multifunctional lower limb rehabilitation vehicle using motor voluntarily, carry out rehabilitation Walking.
As shown in Figure 3, together with optical axis 9 is welded and fixed with supporting mechanism 8, width adjustment mechanism 7 is slided on the crossbeam of elevating mechanism 5; When width adjustment mechanism 7 horizontally slips on elevating mechanism 5, drive supporting mechanism 8 synchronizing moving, realize width adjusting.When patient being transferred to after healing robot, elevating mechanism 5 declines, and hook and the optical axis 9 of width adjustment mechanism 7 depart from, thus realizes supporting mechanism 8 and the disengaging of Multifunctional lower limb rehabilitation vehicle using motor, realizes the object of transfer patient; When assisting patients of the present invention carries out rehabilitation Walking, for the difference of Patient height, worm type of reduction gearing 10 can make elevating mechanism 5 in its stroke range, realize the self-locking of arbitrary height, thus carries out rehabilitation training.
Claims (7)
1. a Multifunctional lower limb rehabilitation vehicle using motor, is characterized in that: comprise scroll wheel, chassis, frame, chain, sprocket wheel, connector, elevating mechanism and supporting mechanism; Described scroll wheel is arranged on the bottom on chassis, and described frame is fixed on chassis; Arrange sprocket chain strip transmission mechanism in the both sides of frame, pair of sprocket and the power transmission shaft of sprocket chain strip transmission mechanism are fixedly linked, fixing suit worm type of reduction gearing on power transmission shaft; Above worm type of reduction gearing shell, be fixedly installed direct current generator, the clutch end of direct current generator is fixedly connected with the input of worm type of reduction gearing, and the chain of sprocket chain strip transmission mechanism is fixedly linked by connector and elevating mechanism; The crossbeam of elevating mechanism connects supporting mechanism; Described supporting mechanism is made up of two support arms, each support arm is connected with elevating mechanism respectively by width adjustment mechanism, the front end of described width adjustment mechanism is provided with the hook of opening upwards, described support arm is provided with optical axis, hook matches with optical axis, and width adjustment mechanism and support arm can slide on the crossbeam of elevating mechanism; Two described width adjustment mechanism respectively with walk around the upper soft rope that width adjusting takes turns and be connected with lower soft rope.
2. Multifunctional lower limb rehabilitation vehicle using motor according to claim 1, is characterized in that: the described sprocket chain strip transmission mechanism that often overlaps is made up of at least two sprocket wheels and a chain, and described sprocket wheel is meshed with chain.
3. Multifunctional lower limb rehabilitation vehicle using motor according to claim 1, it is characterized in that: the rise and fall of described elevating mechanism are controlled by rising gauge tap and decline gauge tap, and described rising gauge tap is connected with the control end of direct current generator respectively with decline gauge tap.
4. Multifunctional lower limb rehabilitation vehicle using motor according to claim 1, is characterized in that: the emergent stopping of described elevating mechanism is controlled by emergent stopping gauge tap, and described emergent stopping gauge tap is connected with the control end of direct current generator.
5. Multifunctional lower limb rehabilitation vehicle using motor according to claim 1, is characterized in that: arrange travel switch respectively in upper and lower two terminations of described elevating mechanism stroke, described travel switch is connected with the control end of direct current generator respectively.
6. Multifunctional lower limb rehabilitation vehicle using motor according to claim 1, is characterized in that: in described frame, arrange power supply, power supply is connected with direct current generator.
7. Multifunctional lower limb rehabilitation vehicle using motor according to claim 1, is characterized in that: described scroll wheel is Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410181881.1A CN103932874B (en) | 2014-04-30 | 2014-04-30 | Multifunctional lower limb rehabilitation vehicle using motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410181881.1A CN103932874B (en) | 2014-04-30 | 2014-04-30 | Multifunctional lower limb rehabilitation vehicle using motor |
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| Publication Number | Publication Date |
|---|---|
| CN103932874A CN103932874A (en) | 2014-07-23 |
| CN103932874B true CN103932874B (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410181881.1A Expired - Fee Related CN103932874B (en) | 2014-04-30 | 2014-04-30 | Multifunctional lower limb rehabilitation vehicle using motor |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108524202A (en) * | 2018-04-28 | 2018-09-14 | 天津科技大学 | Liftable multifunction walking-aid device |
| CN110882133B (en) * | 2018-09-07 | 2022-06-17 | 北京大艾机器人科技有限公司 | Balance assisting device and method for exoskeleton robot |
| CN109316299A (en) * | 2018-11-08 | 2019-02-12 | 山东大学 | A kind of multifunctional wheelchair nursing bed |
| CN109350464B (en) * | 2018-11-16 | 2023-09-19 | 东北大学 | Fall-preventing omni-directional walking ability rehabilitation device and working method thereof |
| CN109846669A (en) * | 2019-02-01 | 2019-06-07 | 山东科技大学 | A kind of leg training recovery device |
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| CN2086603U (en) * | 1990-08-03 | 1991-10-16 | 谢志刚 | Walking aid for hemiplegia patient |
| JPH09299418A (en) * | 1996-05-15 | 1997-11-25 | Hitachi Chem Co Ltd | Self-walking aid device |
| JP2000210353A (en) * | 1999-01-22 | 2000-08-02 | Hitachi Chem Co Ltd | Standing-up assisting device |
| CN200970324Y (en) * | 2006-09-20 | 2007-11-07 | 王国臻 | Recovery walking aid |
| CN201923819U (en) * | 2010-11-25 | 2011-08-10 | 横店集团东磁股份有限公司 | Automatic lifter |
| CN201996799U (en) * | 2011-01-21 | 2011-10-05 | 青岛市骨伤科医院 | Adjustable walking aid |
| CN103445932A (en) * | 2013-09-13 | 2013-12-18 | 南京理工大学 | Lower limit rehabilitation walking aid capable of imitating human gait |
| CN103622796A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Wearable lower limb rehabilitation training device |
| CN103690340A (en) * | 2013-12-30 | 2014-04-02 | 宁波市鄞州科启动漫工业技术有限公司 | Multifunctional medical walking aid |
| CN203915400U (en) * | 2014-04-30 | 2014-11-05 | 东北大学 | Multifunctional lower limb rehabilitation vehicle using motor |
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2014
- 2014-04-30 CN CN201410181881.1A patent/CN103932874B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2086603U (en) * | 1990-08-03 | 1991-10-16 | 谢志刚 | Walking aid for hemiplegia patient |
| JPH09299418A (en) * | 1996-05-15 | 1997-11-25 | Hitachi Chem Co Ltd | Self-walking aid device |
| JP2000210353A (en) * | 1999-01-22 | 2000-08-02 | Hitachi Chem Co Ltd | Standing-up assisting device |
| CN200970324Y (en) * | 2006-09-20 | 2007-11-07 | 王国臻 | Recovery walking aid |
| CN201923819U (en) * | 2010-11-25 | 2011-08-10 | 横店集团东磁股份有限公司 | Automatic lifter |
| CN201996799U (en) * | 2011-01-21 | 2011-10-05 | 青岛市骨伤科医院 | Adjustable walking aid |
| CN103445932A (en) * | 2013-09-13 | 2013-12-18 | 南京理工大学 | Lower limit rehabilitation walking aid capable of imitating human gait |
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| CN203915400U (en) * | 2014-04-30 | 2014-11-05 | 东北大学 | Multifunctional lower limb rehabilitation vehicle using motor |
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| CN103932874A (en) | 2014-07-23 |
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Granted publication date: 20151118 Termination date: 20160430 |