CN104382702A - Multifunctional rehabilitation wheelchair - Google Patents
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- CN104382702A CN104382702A CN201410605968.7A CN201410605968A CN104382702A CN 104382702 A CN104382702 A CN 104382702A CN 201410605968 A CN201410605968 A CN 201410605968A CN 104382702 A CN104382702 A CN 104382702A
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- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 244000309466 calf Species 0.000 claims description 14
- 210000002414 leg Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 abstract description 8
- 230000000474 nursing effect Effects 0.000 abstract description 7
- 238000010213 manual physical therapy Methods 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
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- 206010013082 Discomfort Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
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Abstract
本发明公开了一种多功能康复轮椅,包括有支架、起升机构、床身机构及动力装置,集成了智能行走、履步康复、多位姿调节等多项功能,在电推杆的作用下,可实现坐、卧、立三种姿态的切换以及履步康复训练。该款多功能康复轮椅功能齐全、操作方便、结构紧凑,可满足不同人群的不同需要,减轻了人工理疗和护理难度,促进病人早日康复,缓解了社会和家庭的负担。
The invention discloses a multifunctional rehabilitation wheelchair, which includes a bracket, a lifting mechanism, a bed mechanism and a power device, and integrates multiple functions such as intelligent walking, walking rehabilitation, and multi-position adjustment. It can switch between three postures of sitting, lying and standing, as well as walking rehabilitation training. This multifunctional rehabilitation wheelchair has complete functions, convenient operation, and compact structure, which can meet the different needs of different groups of people, reduce the difficulty of manual physical therapy and nursing, promote the early recovery of patients, and relieve the burden on society and families.
Description
技术领域 technical field
本发明涉及康复轮椅领域,具体是一种多功能康复轮椅。 The invention relates to the field of rehabilitation wheelchairs, in particular to a multifunctional rehabilitation wheelchair.
背景技术 Background technique
庞大的肢体残疾人群和日益严峻的社会老龄化问题,创造和催生了肢体康复医疗装备新兴产业,老年人和残障人士大都存在不同程度的行动能力丧失,对其医疗和护理已成为社会的巨大压力。目前国内的高端康复机器人以外国进口为主,但其价格昂贵,一般家庭难以承受,而国内自主研发生产的康复机护理设备技术还不够成熟,机械化、自动化程度不高,需要额外的人工协助。 The huge number of physically disabled people and the increasingly serious problem of social aging have created and spawned a new industry of physical rehabilitation medical equipment. Most of the elderly and disabled people have different degrees of loss of mobility, and their medical care and nursing have become a huge pressure on society. . At present, domestic high-end rehabilitation robots are mainly imported from foreign countries, but they are expensive and unaffordable for ordinary families. However, the technology of domestic self-developed and produced rehabilitation machine nursing equipment is not mature enough, the degree of mechanization and automation is not high, and additional manual assistance is required.
针对现有的情况,本发明设计了一款多功能康复轮椅,旨在用机器人代替人的劳动,减轻人工理疗和护理难度,以促进病人的康复,从而缓解社会和家庭的负担。 Aiming at the existing situation, the present invention designs a multifunctional rehabilitation wheelchair, aiming at replacing human labor with robots, reducing the difficulty of manual physical therapy and nursing, so as to promote the rehabilitation of patients, thereby alleviating the burden on society and families.
发明内容 本发明的目的是提供一种多功能康复轮椅,以克服现有技术中的不足,致力于解决老年人和残疾人的康复及护理问题,减轻康复护理难度。 SUMMARY OF THE INVENTION The object of the present invention is to provide a multifunctional rehabilitation wheelchair to overcome the deficiencies in the prior art, to solve the rehabilitation and nursing problems of the elderly and the disabled, and to reduce the difficulty of rehabilitation nursing.
为了达到上述目的,本发明所采用的技术方案为: In order to achieve the above object, the technical scheme adopted in the present invention is:
一种多功能康复轮椅,其特征在于:包括有支架、起升机构、床身机构、动力装置,其中: A multifunctional rehabilitation wheelchair is characterized in that it includes a bracket, a lifting mechanism, a bed mechanism, and a power device, wherein:
所述支架包括平放设置的底架U型管,底架U型管每个U型臂上分别焊接有竖向设置的支撑架,由底架U型管、两支撑架构成支架; Described support comprises the underframe U-shaped tube that lays flatly, and each U-shaped arm of underframe U-shaped tube is respectively welded with vertical support frame, is formed by underframe U-shaped tube, two support frames;
所述起升机构包括分别平放设置且呈U型的固定支架、活动支架,以及一对起升电推杆,所述固定支架设置在两支撑架中部之间后方,且固定支架两U型臂臂端一一对应焊接在两支撑架中部内侧,所述活动支架设置在两支撑架上部之间后方,活动支架两U型臂臂端分别连接有向下延伸的连杆,且连杆底端一一对应铰接在固定支架两U型臂臂端,两起升电推杆对称设置,两起升电推杆的固定端分别铰接在底架U型管的U型梁上,两起升电推杆的伸缩杆分别向上延伸,且两起升电推杆伸缩杆的杆端分别铰接在活动支架的U型梁上,由固定支架、活动支架、两起升电推杆构成起升机构; The lifting mechanism includes a U-shaped fixed bracket, a movable bracket, and a pair of lifting electric push rods that are placed horizontally respectively. The arm ends are welded one by one on the inner side of the middle of the two support frames. The movable support is arranged behind the upper parts of the two support frames. The two U-shaped arm ends of the movable support are respectively connected with connecting rods extending downward, and the bottom of the connecting rod One end is hinged to the two U-shaped arm ends of the fixed bracket, and the two lifting electric push rods are arranged symmetrically. The fixed ends of the two lifting electric push rods are respectively hinged on the U-shaped beam of the U-shaped tube of the chassis. The telescopic rods of the electric push rods extend upward respectively, and the rod ends of the telescopic rods of the two lifting electric push rods are respectively hinged on the U-shaped beams of the movable bracket, and the lifting mechanism is composed of a fixed bracket, a movable bracket, and two lifting electric push rods. ;
所述床身机构设置在两支撑架之间,床身机构包括竖向设置的背部机构板、固定连接在背部机构板顶部的头部支撑板、一对通过同一个转轴转动安装在背部机构板底部的大腿机构板、分别转动安装在大腿机构板底部的小腿机构板、分别转动安装在小腿机构板底部的脚踏,且背部结构板与两大腿机构板连接的转轴转动安装在活动支架U型口中; The bed mechanism is arranged between two support frames, and the bed mechanism includes a vertically arranged back mechanism plate, a head support plate fixedly connected to the top of the back mechanism plate, a pair of back mechanism plates mounted on the back mechanism plate through the same rotating shaft The thigh mechanism plate at the bottom, the calf mechanism plate installed at the bottom of the thigh mechanism plate, and the pedals installed at the bottom of the calf mechanism plate are rotated respectively, and the rotating shaft connecting the back structure plate and the two thigh mechanism plates is installed on the U-shaped movable bracket. mouth;
所述动力装置包括分别竖向设置的上支撑电推杆、一对中支撑电推杆及一对下支撑电推杆,所述上支撑电推杆固定端铰接在起升机构中活动支架的U型梁顶面,上支撑电推杆中伸缩杆向上延伸,且上支撑电推杆的伸缩杆杆端铰接在床身机构中背部机构板后侧,两中支撑电推杆固定端分别铰接在起升机构中活动支架的U型梁底面,两中支撑电推杆中伸缩杆向下延伸,且两中支撑电推杆的伸缩杆杆端一一对应铰接在床身机构中两大腿机构板后侧,两下支撑电推杆分别位于两中支撑电推杆下方外侧,两下支撑电推杆的固定端一一对应铰接在床身机构中两大腿机构板后侧,两下支撑电推杆中伸缩杆向下延伸,且两下支撑电推杆的伸缩杆杆端一一对应铰接在床身机构中两小腿机构板后侧。 The power device includes an upper support electric push rod, a pair of middle support electric push rods and a pair of lower support electric push rods respectively arranged vertically, and the fixed end of the upper support electric push rod is hinged to the movable bracket of the lifting mechanism. On the top surface of the U-shaped beam, the telescopic rod in the upper support electric push rod extends upwards, and the end of the telescopic rod of the upper support electric push rod is hinged on the rear side of the back mechanism plate in the bed mechanism, and the fixed ends of the two middle support electric push rods are respectively hinged On the bottom surface of the U-shaped beam of the movable bracket in the lifting mechanism, the telescopic rods of the two supporting electric push rods extend downward, and the ends of the telescopic rods of the two supporting electric push rods are hinged one by one to the two leg mechanisms in the bed mechanism On the rear side of the board, the two lower supporting electric push rods are respectively located on the outer side below the two middle supporting electric push rods. The telescopic rod in the push rod extends downwards, and the rod ends of the two telescopic rods supporting the electric push rod are hinged to the rear sides of the two shank mechanism plates in the bed mechanism one by one.
所述的一种多功能康复轮椅,其特征在于:支架的底架U型管中,底架U型管的两U型臂臂端分别转动安装有万向轮,底架U型管的U型梁两端分别转动安装有驱动轮。 The multifunctional rehabilitation wheelchair is characterized in that: in the U-shaped tube of the base frame, the two U-shaped arm ends of the U-shaped tube of the base frame are respectively rotated and installed with universal wheels, and the U-shaped tube of the U-shaped tube of the base frame The two ends of the profile beam are respectively rotatably provided with driving wheels.
所述的一种多功能康复轮椅,其特征在于:所述动力装置还包括一对电机、配套供电至电机的蓄电池,电机及其配套的蓄电池分别设置在每侧支撑架外的底架U型管上,且两电机与两驱动轮一一对应传动连接,所述蓄电池还分别供电至起升电推杆、上支撑电推杆、中支撑电推杆、下支撑电推杆。 The multifunctional rehabilitation wheelchair described above is characterized in that: the power device also includes a pair of motors, a supporting battery that supplies power to the motor, and the motor and its supporting battery are respectively arranged on a U-shaped bottom frame outside the support frame on each side. on the tube, and the two motors are connected to the two driving wheels in one-to-one corresponding transmission, and the battery also supplies power to the lifting electric push rod, the upper support electric push rod, the middle support electric push rod, and the lower support electric push rod respectively.
所述的一种多功能康复轮椅,其特征在于:支架中两支撑架顶部分别固定有扶手臂,每个扶手臂前端分别安装有扶手。 The multifunctional rehabilitation wheelchair is characterized in that armrests are respectively fixed on the tops of the two support frames in the bracket, and armrests are installed at the front ends of each armrest.
与现有技术相比,本发明的优点是:1)采用模块化的设计理念,具有功能齐全、操作方便、结构紧凑等特点,满足不同人群的不同需要;2)集成了智能行走、履步康复、多位姿调节等多项功能,用机器人代替人的劳动,减轻人工理疗难度;3)符合人机工程学原理,体现“以人为本”的设计理念。 Compared with the prior art, the advantages of the present invention are: 1) Adopting a modular design concept, it has the characteristics of complete functions, convenient operation, compact structure, etc., and meets the different needs of different groups of people; 2) It integrates intelligent walking, walking Rehabilitation, multi-posture adjustment and other functions, use robots to replace human labor, and reduce the difficulty of manual physical therapy; 3) It conforms to the principles of ergonomics and embodies the "people-oriented" design concept.
附图说明 Description of drawings
图1 是本发明一种多功能康复轮椅设定的人体结构五杆机构原理示意图。 Fig. 1 is a schematic diagram of the principle of the human body structure five-bar mechanism set by a multifunctional rehabilitation wheelchair of the present invention.
图2 是本发明一种多功能康复轮椅的起升机构结构原理图。 Fig. 2 is a structural schematic diagram of a lifting mechanism of a multifunctional rehabilitation wheelchair of the present invention.
图3是本发明一种多功能康复轮椅的坐姿示意图。 Fig. 3 is a schematic diagram of a sitting posture of a multifunctional rehabilitation wheelchair of the present invention.
图4 是本发明一种多功能康复轮椅的卧姿示意图。 Fig. 4 is a schematic diagram of a prone position of a multifunctional rehabilitation wheelchair of the present invention.
图5 是本发明一种多功能康复轮椅的立恣示意图。 Fig. 5 is a vertical schematic diagram of a multifunctional rehabilitation wheelchair of the present invention.
图6 是本发明一种多功能康复轮椅的履步康复训练示意图。 Fig. 6 is a schematic diagram of walking rehabilitation training of a multifunctional rehabilitation wheelchair of the present invention.
具体实施方式 detailed description
如图3-图6所示,一种多功能康复轮椅,包括有支架A、起升机构B、床身机构C、动力装置D,其中: As shown in Figures 3-6, a multifunctional rehabilitation wheelchair includes a bracket A, a lifting mechanism B, a bed mechanism C, and a power device D, wherein:
支架A包括平放设置的底架U型管A1,底架U型管A1每个U型臂上分别焊接有竖向设置的支撑架A2,由底架U型管A1、两支撑架A2构成支架A; The support A includes the U-shaped tube A1 of the base frame laid flat, and each U-shaped arm of the U-shaped tube A1 of the base frame is respectively welded with a vertically arranged support frame A2, which is composed of the U-shaped tube A1 of the base frame and two support frames A2 Bracket A;
起升机构B包括分别平放设置且呈U型的固定支架B2、活动支架B1,以及一对起升电推杆D6、D7,固定支架B2设置在两支撑架A2中部之间后方,且固定支架B2两U型臂臂端一一对应焊接在两支撑架A2中部内侧,活动支架B1设置在两支撑架A2上部之间后方,活动支架B1两U型臂臂端分别连接有向下延伸的连杆,且连杆底端一一对应铰接在固定支架B2两U型臂臂端,两起升电推杆D6、D7对称设置,两起升电推杆D6、D7的固定端分别铰接在底架U型管A1的U型梁上,两起升电推杆D6、D7的伸缩杆分别向上延伸,且两起升电推杆D6、D7伸缩杆的杆端分别铰接在活动支架B1的U型梁上,由固定支架B2、活动支架B1、两起升电推杆D6、D7构成起升机构; The lifting mechanism B includes a U-shaped fixed bracket B2, a movable bracket B1, and a pair of lifting electric push rods D6 and D7. The fixed bracket B2 is set behind the middle of the two support frames A2 and fixed The two U-shaped arm ends of the bracket B2 are welded one by one on the inner side of the middle part of the two support frames A2, the movable support B1 is arranged behind the upper part of the two support frames A2, and the two U-shaped arm ends of the movable support B1 are respectively connected with downwardly extending Connecting rods, and the bottom ends of the connecting rods are hinged to the ends of the two U-shaped arms of the fixed bracket B2 one by one. The two lifting electric push rods D6 and D7 are arranged symmetrically. On the U-shaped beam of the U-shaped pipe A1 of the underframe, the telescopic rods of the two lifting electric push rods D6 and D7 extend upward respectively, and the rod ends of the two lifting electric push rods D6 and D7 are respectively hinged on the movable bracket B1. On the U-shaped beam, the lifting mechanism is composed of a fixed bracket B2, a movable bracket B1, and two lifting electric push rods D6 and D7;
床身机构C设置在两支撑架A2之间,床身机构C包括竖向设置的背部机构板C2、固定连接在背部机构板C2顶部的头部支撑板C1、一对通过同一个转轴转动安装在背部机构板C2底部的大腿机构板C3、分别转动安装在大腿机构板C3底部的小腿机构板C4、分别转动安装在小腿机构板C4底部的脚踏C5,且背部结构板C2与两大腿机构板C3连接的转轴转动安装在活动支架B1的U型口中; The bed mechanism C is arranged between the two support frames A2. The bed mechanism C includes a vertically arranged back mechanism plate C2, a head support plate C1 fixedly connected to the top of the back mechanism plate C2, and a pair of The thigh mechanism plate C3 at the bottom of the back mechanism plate C2, the calf mechanism plate C4 installed at the bottom of the thigh mechanism plate C3, respectively rotate the pedal C5 installed at the bottom of the calf mechanism plate C4, and the back structure plate C2 and the two leg mechanisms The rotating shaft connected to the plate C3 is installed in the U-shaped opening of the movable bracket B1 for rotation;
动力装置D包括分别竖向设置的上支撑电推杆D1、一对中支撑电推杆D2、D3及一对下支撑电推杆D4、D5,上支撑电推杆D1固定端铰接在起升机构B中活动支架B1的U型梁顶面,上支撑电推杆D1中伸缩杆向上延伸,且上支撑电推杆D1的伸缩杆杆端铰接在床身机构C中背部机构板C2后侧,两中支撑电推杆D2、D3固定端分别铰接在起升机构B中活动支架B1的U型梁底面,两中支撑电推杆D2、D3中伸缩杆向下延伸,且两中支撑电推杆D2、D3的伸缩杆杆端一一对应铰接在床身机构C中两大腿机构板C3后侧,两下支撑电推杆D4、D5分别位于两中支撑电推杆D2、D3下方外侧,两下支撑电推杆D4、D5的固定端一一对应铰接在床身机构C中两大腿机构板C3后侧,两下支撑电推杆D4、D5中伸缩杆向下延伸,且两下支撑电推杆D4、D5的伸缩杆杆端一一对应铰接在床身机构C中两小腿机构板C4后侧。 The power device D includes an upper support electric push rod D1, a pair of middle support electric push rods D2, D3 and a pair of lower support electric push rods D4, D5 respectively arranged vertically, and the fixed end of the upper support electric push rod D1 is hinged on the hoist On the top surface of the U-shaped beam of the movable bracket B1 in the mechanism B, the telescopic rod in the upper supporting electric push rod D1 extends upwards, and the end of the telescopic rod of the upper supporting electric push rod D1 is hinged on the rear side of the back mechanism plate C2 in the bed mechanism C The fixed ends of the two supporting electric push rods D2 and D3 are respectively hinged on the bottom surface of the U-shaped beam of the movable bracket B1 in the lifting mechanism B, the telescopic rods of the two supporting electric push rods D2 and D3 extend downward, and the two supporting electric push rods The telescopic rod ends of the push rods D2 and D3 are hinged one by one to the rear side of the two leg mechanism plates C3 in the bed mechanism C, and the two lower support electric push rods D4 and D5 are respectively located on the outer side below the two middle support electric push rods D2 and D3 , the fixed ends of the two supporting electric push rods D4 and D5 are hinged one by one to the rear side of the two leg mechanism plates C3 in the bed mechanism C, and the telescopic rods in the two supporting electric push rods D4 and D5 extend downward, and two The rod ends of the telescopic rods supporting the electric push rods D4 and D5 are hinged one by one to the rear side of the two shank mechanism plates C4 in the bed mechanism C.
支架A的底架U型管A1中,底架U型管A1的两U型臂臂端分别转动安装有万向轮4,底架U型管A1的U型梁两端分别转动安装有驱动轮3。 In the underframe U-shaped tube A1 of the bracket A, the two U-shaped arm ends of the underframe U-shaped tube A1 are respectively rotated and installed with universal wheels 4, and the two ends of the U-shaped beam of the underframe U-shaped tube A1 are respectively rotated and installed with driving wheels. round 3.
动力装置D还包括一对电机D9、配套供电至电机D9的蓄电池D8,电机D9及其配套的蓄电池D8分别设置在每侧支撑架A2外的底架U型管A1上,且两电机D9与两驱动轮3一一对应传动连接,蓄电池D8还分别供电至起升电推杆、上支撑电推杆、中支撑电推杆、下支撑电推杆。 The power unit D also includes a pair of motors D9, a battery D8 supporting power supply to the motor D9, the motor D9 and its supporting battery D8 are respectively arranged on the U-shaped tube A1 of the underframe outside the support frame A2 on each side, and the two motors D9 and The two drive wheels 3 are connected in one-to-one correspondence, and the battery D8 also supplies power to the lifting electric push rod, the upper support electric push rod, the middle support electric push rod, and the lower support electric push rod respectively.
支架A中两支撑架A2顶部分别固定有扶手臂1,每个扶手臂1前端分别安装有扶手2。 Armrests 1 are respectively fixed on the tops of the two support frames A2 in the bracket A, and armrests 2 are respectively installed at the front ends of each armarm 1 .
本发明中,床身机构中,脚踏、小腿机构板、大腿机构板均为成对设置,各部分都分别安装电推杆,每个电机单独控制,可以实现背部、大腿及小腿的单独运动;在上支撑电推杆D1的作用下,可实现背部角度的调节;在中支撑电推杆D2、D3的作用下,可实现大腿机构角度的调节;在下支撑电推杆D4、D5的作用下,可实现小腿机构角度的调节。 In the present invention, in the bed mechanism, the pedals, the calf mechanism plate, and the thigh mechanism plate are all arranged in pairs, and electric push rods are installed on each part, and each motor is controlled independently, which can realize the independent movement of the back, thigh and calf ;Under the action of the upper support electric push rod D1, the adjustment of the back angle can be realized; under the action of the middle support electric push rod D2, D3, the adjustment of the angle of the thigh mechanism can be realized; under the action of the lower support electric push rod D4, D5 Next, the adjustment of the angle of the lower leg mechanism can be realized.
起升机构中,在起升电推杆D6、D7的作用下,活动支架可绕固定支架旋转升高,从而使轮椅整体床身升高,变成直立姿态。 In the lifting mechanism, under the action of the lifting electric push rods D6 and D7, the movable bracket can be rotated around the fixed bracket and raised, so that the whole bed of the wheelchair is raised and becomes an upright posture.
多功能康复轮椅,在不同电推杆的作用下,不仅可以作为普通电动轮椅使用,还可实现坐、卧、立三种姿态的切换,并可进行履部康复训练。 The multifunctional rehabilitation wheelchair, under the action of different electric push rods, can not only be used as an ordinary electric wheelchair, but also realize the switching of three postures of sitting, lying and standing, and can perform foot rehabilitation training.
下面结合附图与具体实施方式对本发明作进一步详细描述: Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
如图1所示,为简化的人体结构五杆机构,根据人身体的骨骼结构,将人体模型简化为五杆机构模型,为了方便,模型忽略人的头部以及手臂的作用,将人体上半身简化为一个刚性杆件,每条腿被简化为通过矢状面垂直的铰链关节相连接的两根刚性杆件,并略去了足部的影响部分,根据此设计的多功能康复轮椅可以模拟正常步态,对下肢残疾的病人提供康复训练效果, As shown in Figure 1, in order to simplify the five-bar mechanism of the human body structure, the human body model is simplified into a five-bar mechanism model according to the bone structure of the human body. For convenience, the model ignores the functions of the human head and arms and simplifies the upper body of the human body. As a rigid member, each leg is simplified as two rigid members connected by a hinge joint perpendicular to the sagittal plane, and the affected part of the foot is omitted. The multifunctional rehabilitation wheelchair designed according to this can simulate normal Gait, providing rehabilitation training effect for patients with lower limb disabilities,
如图2所示,为起升机构结构原理图。起升机构B包括固定支架B1、活动支架B2以及起升电推杆D6、起升电推杆D7,活动支架B1与固定支架B2铰接,在电推杆的作用下,活动支架B2可绕固定支架B1旋转升高,从而使轮椅整体床身升高。 As shown in Figure 2, it is a structural schematic diagram of the hoisting mechanism. The lifting mechanism B includes a fixed bracket B1, a movable bracket B2, a lifting electric push rod D6, and a lifting electric push rod D7. The movable bracket B1 is hinged with the fixed bracket B2. Under the action of the electric push rod, the movable bracket B2 can be fixed The bracket B1 rotates and rises, so that the whole bed of the wheelchair is raised. the
如图3—图6所示的一种多功能康复轮椅,包括有支架A、起升机构B、床身机构C及动力装置D,其中支架A包括底架U型管A1以及两侧的支撑架A2,支撑架A2焊接在底架U型管A1两侧,底架U型管前后分别装有万向轮4和驱动轮3,扶手2固定连接在两侧的支撑架A2上;起升机构B包括固定支架B2、活动支架B1以及起升电推杆D6、起升电推杆D7,固定支架B2两端焊接在两侧的支撑架A2上,活动支架B1与固定支架B2铰接,起升电推杆D6、起升电推杆D7的伸缩杆铰接在活动支架B1上,固定端铰接在底架U型管A1上;床身机构C铰接在起升机构B的活动支架B1上,包括脚踏C5、小腿机构板C4、大腿机构板C3、背部机构板C2及头部支撑板C1,脚踏靠近小腿机构板端与小腿机构板轴连接,小腿机构板靠近大腿机构板端与大腿机构板轴连接,大腿机构板靠近背部机构板与背部机构板轴连接,背部机构板与头部支撑板固定连接;动力装置包括蓄电池D8、电机D9及电推杆D1-D7,电机D9、蓄电池D8均安装在底架U型管A1上,上支撑电推杆D1的伸缩杆铰接在背板C2上,固定端与起升机构B的活动支架B1铰接,中支撑电推杆D2、中支撑电推杆D3伸缩杆分别铰接在左、右大腿机构板C3上,固定端铰接在起升机构B的活动支架B1上,下支撑电推杆D4、下支撑电推杆D5固定端分别铰接在左右大腿机构C3上,伸缩端铰接在左、右小腿机构板C4上。在不同推杆电机的作用下,多功能康复轮椅可实现坐、卧、立三种姿态的切换,并可进行履部康复锻炼。 A multifunctional rehabilitation wheelchair as shown in Figures 3-6 includes a bracket A, a lifting mechanism B, a bed mechanism C and a power device D, wherein the bracket A includes a U-shaped tube A1 of the underframe and supports on both sides Frame A2, the supporting frame A2 is welded on both sides of the U-shaped tube A1 of the bottom frame, the universal wheel 4 and the driving wheel 3 are installed on the front and rear of the U-shaped tube of the bottom frame, and the handrail 2 is fixedly connected to the supporting frame A2 on both sides; Mechanism B includes a fixed bracket B2, a movable bracket B1, a lifting electric push rod D6, and a lifting electric push rod D7. The telescopic rods of the lifting electric push rod D6 and the lifting electric push rod D7 are hinged on the movable bracket B1, and the fixed end is hinged on the U-shaped tube A1 of the bottom frame; the bed mechanism C is hinged on the movable bracket B1 of the lifting mechanism B, Including pedal C5, calf mechanism plate C4, thigh mechanism plate C3, back mechanism plate C2 and head support plate C1, the foot pedal is connected to the shaft of the calf mechanism plate close to the calf mechanism plate end, and the calf mechanism plate is close to the thigh mechanism plate end and the thigh Mechanism plate axis connection, thigh mechanism plate close to the back mechanism plate and the back mechanism plate shaft, the back mechanism plate is fixedly connected to the head support plate; the power unit includes battery D8, motor D9 and electric push rods D1-D7, motor D9, battery D8 are all installed on the U-shaped tube A1 of the underframe, the telescopic rod of the upper support electric push rod D1 is hinged on the back plate C2, the fixed end is hinged with the movable bracket B1 of the lifting mechanism B, the middle support electric push rod D2, the middle support The telescopic rods of the electric push rod D3 are respectively hinged on the left and right thigh mechanism plates C3, the fixed ends are hinged on the movable bracket B1 of the lifting mechanism B, the lower support electric push rod D4, and the fixed ends of the lower support electric push rod D5 are respectively hinged on On the left and right thigh mechanisms C3, the telescopic ends are hinged on the left and right shank mechanism plates C4. Under the action of different push rod motors, the multi-functional rehabilitation wheelchair can switch between sitting, lying and standing postures, and can perform foot rehabilitation exercises.
如图3所示,为多功能康复轮椅的坐姿示意图,当上支撑电推杆D1伸缩杆伸出,其余电推杆处于初始状态时,多功能康复轮椅呈现椅态,可作为普通电动轮椅使用,在操纵杆的作用下,可实现前进、倒退、左转、右转等功能。 As shown in Figure 3, it is a schematic diagram of the sitting posture of the multifunctional rehabilitation wheelchair. When the telescopic rod of the upper supporting electric push rod D1 is stretched out, and the rest of the electric push rods are in the initial state, the multifunctional rehabilitation wheelchair presents a chair state and can be used as an ordinary electric wheelchair. , under the action of the joystick, functions such as forward, reverse, left turn, right turn can be realized.
如图4所示,为多功能康复轮椅的卧姿示意图,当下支撑电推杆D4、下支撑电推杆D5伸缩杆伸出,其余电推杆处于初始状态时,小腿机构板、大腿机构板以及背部机构板成一条直线,多功能康复轮椅可变为床态,供使用者短暂休息使用。 As shown in Figure 4, it is a schematic diagram of the reclining position of the multifunctional rehabilitation wheelchair. The lower support electric push rod D4 and the lower support electric push rod D5 stretch out. And the back mechanism board is in a straight line, and the multifunctional rehabilitation wheelchair can be turned into a bed state for the user to take a short rest.
长时间不变姿势的坐卧会使轮椅使用者产生疲劳以及多种身体不适,本发明设计的多功能康复轮椅,通过电推杆的往复运动,背部角度、小腿机构角度可任意调节,在使用时可根据使用者的情况,将轮椅调整到最佳角度。通过变换身体位姿,对使用者的腿部、背部起到了一定的护理作用,增强肌体的活性,达到最佳的辅助康复效果,提高身体康复速度。 Sitting and lying in the same posture for a long time will cause fatigue and various physical discomforts to the wheelchair user. The multifunctional rehabilitation wheelchair designed by the present invention can adjust the angle of the back and the angle of the calf mechanism arbitrarily through the reciprocating movement of the electric push rod. According to the situation of the user, the wheelchair can be adjusted to the best angle. By changing the body posture, it plays a certain role in nursing the user's legs and back, enhances the activity of the body, achieves the best auxiliary rehabilitation effect, and improves the speed of physical rehabilitation.
如图5所示,为多功能康复轮椅的立恣示意图,当下支撑电推杆D4、下支撑电推杆D5、起升电推杆D6、起升电推杆D7伸缩杆伸出,其余电推杆处于初始状态时,多功能康复轮椅可以变为直立状态,可供使用者拿取高出物品或观看远处风景。 As shown in Figure 5, it is a vertical schematic diagram of a multifunctional rehabilitation wheelchair. The current support electric push rod D4, the lower support electric push rod D5, the lifting electric push rod D6, and the lifting electric push rod D7 stretch out. When the push rod is in the initial state, the multi-functional rehabilitation wheelchair can be turned into an upright state, allowing the user to pick up elevated objects or watch distant scenery.
如图6所示,当多功能康复轮椅处于直立状态时,通过控制中支撑电推杆D2、中支撑电推杆D3、下支撑电推D4、下支撑电推杆D5伸缩杆的运动,控制左右大腿、小腿的摆动,可单腿摆动,也可双腿同时摆动,实现履步康复训练。 As shown in Figure 6, when the multifunctional rehabilitation wheelchair is in an upright state, by controlling the movement of the middle support electric push rod D2, the middle support electric push rod D3, the lower support electric push rod D4, and the lower support electric push rod D5 telescopic rod, the control The swing of the left and right thighs and calves can be performed with one leg or with both legs at the same time to achieve walking rehabilitation training.
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CN106176143A (en) * | 2016-08-30 | 2016-12-07 | 合肥工业大学 | A kind of healthy plint of multi-pose lower limb |
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CN109758340A (en) * | 2019-03-01 | 2019-05-17 | 湖南文理学院 | A human-like sports rehabilitation device for lower limb sports rehabilitation |
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