CN104382702B - A kind of Multifunction restoring wheelchair - Google Patents
A kind of Multifunction restoring wheelchair Download PDFInfo
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- CN104382702B CN104382702B CN201410605968.7A CN201410605968A CN104382702B CN 104382702 B CN104382702 B CN 104382702B CN 201410605968 A CN201410605968 A CN 201410605968A CN 104382702 B CN104382702 B CN 104382702B
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- push rod
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Abstract
The invention discloses a kind of Multifunction restoring wheelchair, include support, lifting mechanism, lathe bed mechanism and power set, it is integrated with intelligent walking, carries out the step multiple function such as rehabilitation, the regulation of many poses, under the effect of electricity push rod, seat, the switching of sleeping, vertical three kinds of attitudes can be realized and carry out step rehabilitation training.This Multifunction restoring wheelchair is multiple functional, easy to operate, compact conformation, can meet the different needs of different crowd, alleviates artificial physical therapy and nursing difficulty, promotes patient's early recovery, alleviate the burden of society and family.
Description
Technical field
The present invention relates to rehabilitation wheelchair field, specifically a kind of Multifunction restoring wheelchair.
Background technology
Huge physical disabilities crowd and increasingly serious social senilization's problem, create and expedited the emergence of limb rehabilitating medical treatment
Equipment new industry, mostly there is ability to act in various degree and loses, to its medical treatment with nursing in old people and disabled
Become the immense pressure of society.The most domestic high-end healing robot is based on foreign country's import, but it is expensive, general family
Front yard is difficult to bear, and the rehabilitation machines care appliances technology that domestic independent research produces is the most ripe, mechanization, automaticity
The highest, need extra artificial assistance.
For existing situation, the present invention devises a Multifunction restoring wheelchair, it is intended to replace the labor of people with robot
Dynamic, alleviate artificial physical therapy and nursing difficulty, to promote the rehabilitation of patient, thus alleviate the burden of society and family.
Summary of the invention it is an object of the invention to provide a kind of Multifunction restoring wheelchair, to overcome deficiency of the prior art,
It is devoted to solve rehabilitation and the nursing problem of the elderly and the disabled, alleviates rehabilitation nursing difficulty.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of Multifunction restoring wheelchair, it is characterised in that: include support, lifting mechanism, lathe bed mechanism, power set,
Wherein:
Described support includes the underframe U-tube keeping flat setting, each U-shaped arm of underframe U-tube is respectively welded and vertically sets
The bracing frame put, is constituted support by underframe U-tube, two bracing frames；
Described lifting mechanism includes keeping flat respectively and arranges and U-shaped fixed support, travel(l)ing rest are, and the electricity that hoists for a pair
Push rod, described fixed support be arranged in the middle part of two bracing frames between rear, and fixed support two U-shaped arm arm end one_to_one corresponding welding
At two bracing frame inside middle portion, described travel(l)ing rest is arranged on rear between two bracing frame tops, travel(l)ing rest two U-shaped arm arm end
Being connected to the connecting rod downwardly extended, and connecting rod bottom one_to_one corresponding is hinged on fixed support two U-shaped arm arm end, two hoist electricity
Push rod is symmetrical arranged, and the two fixing ends hoisting electricity push rod are respectively hinged on the U-shaped beam of underframe U-tube, and two hoist electricity push rod
Expansion link upwardly extends respectively, and two rod ends hoisting electricity push rod expansion link are respectively hinged on the U-shaped beam of travel(l)ing rest, by solid
Fixed rack, travel(l)ing rest, two hoist electricity push rod constitute lifting mechanism；
Described lathe bed mechanism is arranged between two bracing frames, and lathe bed mechanism includes vertically arranged back mechanism plate, fixing
It is connected to the head support board at back mechanism plate top, is arranged on bottom back mechanism plate by same axis of rotation for a pair
Big leg mechanism plate, it is rotatably installed in little leg mechanism plate bottom big leg mechanism plate respectively, is rotatably installed in little leg mechanism plate respectively
Bottom foot-operated, and the axis of rotation of back structures plate and the connection of two big leg mechanism plates is arranged in the U-shaped mouth of travel(l)ing rest；
Described power set include the most vertically arranged upper support electricity push rod, a centering support electricity push rod and a pair time
Supportting electricity push rod, described upper support electricity push rod is fixed end and is hinged on the U-shaped top surface of the beam of travel(l)ing rest in lifting mechanism, and upper support electricity pushes away
In bar, expansion link upwardly extends, and the upper expansion link rod end supporting electricity push rod is hinged in lathe bed mechanism on rear side of back mechanism plate,
In two, support electricity push rod is fixed end and is respectively hinged at the U-shaped soffit of travel(l)ing rest in lifting mechanism, supports in electricity push rod in two
Expansion link downwardly extends, and the expansion link rod end one_to_one corresponding supporting electricity push rod in two is hinged on two big leg mechanism in lathe bed mechanism
On rear side of plate, support electricity push rod for twice and lay respectively at support electricity push rod lower outer, the fixing end one that twice support electricity push rods in two
One correspondence is hinged in lathe bed mechanism on rear side of two big leg mechanism plates, supports expansion link in electricity push rod for twice and downwardly extends, and twice
The expansion link rod end one_to_one corresponding supporting electricity push rod is hinged in lathe bed mechanism on rear side of two little leg mechanism plates.
Described a kind of Multifunction restoring wheelchair, it is characterised in that: in the underframe U-tube of support, two U of underframe U-tube
Arm arm end is rotatablely equipped with universal wheel respectively, and the U-shaped beam two ends of underframe U-tube are rotatablely equipped with driving wheel respectively.
Described a kind of Multifunction restoring wheelchair, it is characterised in that: described power set also include a pair motor, supporting confession
Electricity is separately positioned in the underframe U-tube outside every side stand component to the accumulator of motor, motor and supporting accumulator thereof, and two
Motor and two driving wheel one_to_one corresponding are in transmission connection, described accumulator supply power to the most respectively to hoist electricity push rod, upper support electricity push rod,
Middle support electricity push rod, lower support electricity push rod.
Described a kind of Multifunction restoring wheelchair, it is characterised in that: in support, two bracing frame tops are respectively fixed with handrail
Arm, each handrail arm front end is separately installed with handrail.
Compared with prior art, the invention have the advantage that 1) use modular design concept, there is multiple functional, behaviour
Make the features such as convenience, compact conformation, meet the different needs of different crowd；2) it is integrated with intelligent walking, carries out step rehabilitation, many poses
The multiple functions such as regulation, the work replacing people with robot, alleviate artificial physical therapy difficulty；3) Human Engineering Principle is met, body
The design concept of existing " people-oriented ".
Accompanying drawing explanation
Fig. 1 is the organization of human body five-rod principle schematic that a kind of Multifunction restoring wheelchair of the present invention sets.
Fig. 2 is the lifting mechanism structure principle chart of a kind of Multifunction restoring wheelchair of the present invention.
Fig. 3 is the sitting posture schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.
Fig. 4 is the prone position schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.
Fig. 5 is that the vertical of a kind of Multifunction restoring wheelchair of the present invention throws off restraint schematic diagram.
Fig. 6 is the shoe step rehabilitation training schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.
Detailed description of the invention
As shown in figures 3 to 6, a kind of Multifunction restoring wheelchair, include support A, lifting mechanism B, lathe bed mechanism C, power
Device D, wherein:
Support A includes underframe U-tube A1 keeping flat setting, each U-shaped arm of underframe U-tube A1 is respectively welded and vertically sets
The bracing frame A2 put, is constituted support A by underframe U-tube A1, two bracing frame A2；
Lifting mechanism B includes keeping flat setting and U-shaped fixed support B2, travel(l)ing rest B1 respectively, and hoists for a pair
Electricity push rod D6, D7, fixed support B2 be arranged in the middle part of two bracing frame A2 between rear, and fixed support B2 two U-shaped arm arm end one
One correspondence is welded on two bracing frame A2 inside middle portion, and travel(l)ing rest B1 is arranged on rear between two bracing frame A2 tops, activity
Frame B1 two U-shaped arm arm end is connected to the connecting rod downwardly extended, and connecting rod bottom one_to_one corresponding is hinged on fixed support B2 two U
Arm arm end, two hoist electricity push rod D6, D7 are symmetrical arranged, and two hoist, and to be respectively hinged at underframe U-shaped for the fixing ends of electricity push rod D6, D7
On the U-shaped beam of pipe A1, two hoist electricity push rod D6, D7 expansion links upwardly extend respectively, and two hoist electricity push rod D6, D7 expansion link
Rod end be respectively hinged on the U-shaped beam of travel(l)ing rest B1, by fixed support B2, travel(l)ing rest B1, two hoist electricity push rod D6, D7
Constitute lifting mechanism；
Lathe bed mechanism C is arranged between two bracing frame A2, and lathe bed mechanism C includes vertically arranged back mechanism plate C2, solid
Surely it is connected to the head support board C1 at back mechanism plate C2 top, is arranged on back mechanism plate by same axis of rotation a pair
Big leg mechanism plate C3 bottom C2, it is rotatably installed in little leg mechanism plate C4 bottom big leg mechanism plate C3 respectively, rotates peace respectively
It is contained in the foot-operated C5 bottom little leg mechanism plate C4, and the axis of rotation that the big leg mechanism plate C3 of back structures plate C2 and two connects is installed
In the U-shaped mouth of travel(l)ing rest B1；
Power set D includes the most vertically arranged upper support electricity push rod D1, centering support electricity push rod D2, a D3 and a pair
Lower support electricity push rod D4, D5, upper support electricity push rod D1 fixes end and is hinged on the U-shaped top surface of the beam of travel(l)ing rest B1 in lifting mechanism B,
In upper support electricity push rod D1, expansion link upwardly extends, and the upper expansion link rod end supporting electricity push rod D1 is hinged in lathe bed mechanism C
On rear side of back mechanism plate C2, in two, support electricity push rod D2, D3 fix end and are respectively hinged at the U of travel(l)ing rest B1 in lifting mechanism B
Type soffit, supports expansion link in electricity push rod D2, D3 and downwardly extends, and support the expansion link bar of electricity push rod D2, D3 in two in two
End one_to_one corresponding is hinged in lathe bed mechanism C on rear side of two big leg mechanism plate C3, supports electricity push rod D4, D5 for twice and lays respectively in two
Supporting electricity push rod D2, D3 lower outer, the fixing end one_to_one corresponding supporting electricity push rod D4, D5 for twice is hinged in lathe bed mechanism C
On rear side of two big leg mechanism plate C3, support expansion link in electricity push rod D4, D5 for twice and downwardly extend, and support electricity push rod D4, D5 for twice
Expansion link rod end one_to_one corresponding be hinged in lathe bed mechanism C on rear side of two little leg mechanism plate C4.
In underframe U-tube A1 of support A, two U-shaped arm arm ends of underframe U-tube A1 are rotatablely equipped with universal wheel 4, the end respectively
The U-shaped beam two ends of frame U-tube A1 are rotatablely equipped with driving wheel 3 respectively.
Power set D also includes a pair motor D9, the supporting storage batteries D 8 supplying power to motor D9, motor D9 and supporting
Storage batteries D 8 is separately positioned in underframe U-tube A1 outside every side stand component A2, and two motor D9 and two driving wheel 3 one_to_one corresponding
Being in transmission connection, storage batteries D 8 supply power to the most respectively to hoist electricity push rod, upper support electricity push rod, middle support electricity push rod, lower support electricity pushes away
Bar.
In support A, two bracing frame A2 tops are respectively fixed with handrail arm 1, and each handrail arm 1 front end is separately installed with handrail
2。
In the present invention, in lathe bed mechanism, foot-operated, little leg mechanism plate, big leg mechanism plate are and are arranged in pairs, and each several part all divides
Not An Zhuan electricity push rod, each motor individually controls, it is possible to achieve the independently moving of back, thigh and shank；Push away at upper support electricity
Under the effect of bar D1, the regulation of back angle can be realized；Under the middle effect supporting electricity push rod D2, D3, big leg mechanism can be realized
The regulation of angle；Under the lower effect supporting electricity push rod D4, D5, the regulation of little leg mechanism angle can be realized.
In lifting mechanism, under the effect of electricity push rod D6, the D7 that hoist, travel(l)ing rest can rotate rising around fixed support, from
And make wheelchair integral lathe bed raise, become upright posture.
Multifunction restoring wheelchair, under the effect of different electricity push rods, acts not only as common electric wheelchair and uses, also may be used
Realize seat, the switching of sleeping, vertical three kinds of attitudes, and the rehabilitation training of shoe portion can be carried out.
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings:
As it is shown in figure 1, be the organization of human body five-rod simplified, according to the skeletal structure of the person, by anthropometric dummy letter
Turning to five-rod model, for convenience, model ignores the head of people and the effect of arm, and upper half of human body is reduced to one
Individual rigid bar, every lower limb is reduced to two rigid bars being connected by the Hinge joint that sagittal plane is vertical, and omits
Foot affect part, normal gait can be simulated according to this Multifunction restoring wheelchair designed, the patient to lower limb disability
Rehabilitation training effect is provided,
As in figure 2 it is shown, be lifting mechanism structure principle chart.Lifting mechanism B include fixed support B1, travel(l)ing rest B2 and
Hoist electricity push rod D6, push rod D7, travel(l)ing rest B1 are hinged with fixed support B2 for the electricity that hoists, under the effect of electricity push rod, movable prop up
Frame B2 can rotate around fixed support B1 and raise, so that wheelchair integral lathe bed raises.
A kind of Multifunction restoring wheelchair as shown in Fig. 3 Fig. 6, include support A, lifting mechanism B, lathe bed mechanism C and
Power set D, its medium-height trestle A include that the bracing frame A2 of underframe U-tube A1 and both sides, bracing frame A2 are welded on underframe U-tube
A1 both sides, are respectively provided with universal wheel 4 and driving wheel 3 before and after underframe U-tube, handrail 2 is fixedly connected on the bracing frame A2 of both sides；
Lifting mechanism B includes fixed support B2, travel(l)ing rest B1 and the electricity push rod D6 that hoists, hoist electricity push rod D7, fixed support B2 two
End is welded on the bracing frame A2 of both sides, and travel(l)ing rest B1 is hinged with fixed support B2, and the electricity push rod D6 that hoists, hoist electric push rod D7
Expansion link be hinged on travel(l)ing rest B1, fixing end is hinged in underframe U-tube A1；Lathe bed mechanism C is hinged on lifting mechanism B
Travel(l)ing rest B1 on, including foot-operated C5, little leg mechanism plate C4, big leg mechanism plate C3, back mechanism plate C2 and head support board
C1, foot-operated close little leg mechanism plate end is connected with little leg mechanism board shaft, and little leg mechanism plate is near big leg mechanism plate end and thigh machine
Structure board shaft connects, and big leg mechanism plate is connected with back mechanism board shaft near back mechanism plate, back mechanism plate and head support board
Fixing connection；Power set include that storage batteries D 8, motor D9 and electricity push rod D1-D7, motor D9, storage batteries D 8 are installed in underframe
In U-tube A1, the upper expansion link supporting electricity push rod D1 is hinged on backboard C2, fixing end and the travel(l)ing rest B1 of lifting mechanism B
Hinged, middle support electricity push rod D2, middle support electricity push rod D3 expansion link are respectively hinged on left and right big leg mechanism plate C3, fixing end
Being hinged on the travel(l)ing rest B1 of lifting mechanism B, lower electricity push rod D4, the lower support electricity push rod D5 of supporting fixes end and is respectively hinged at a left side
On right thigh mechanism C3, telescopic end is hinged on left and right little leg mechanism plate C4.Under the effect of different push-rod electric machines, multi-functional
Rehabilitation wheelchair can realize seat, the switching of sleeping, vertical three kinds of attitudes, and can carry out shoe portion reconditioning.
As it is shown on figure 3, be the sitting posture schematic diagram of Multifunction restoring wheelchair, when the upper electricity push rod D1 expansion link that supports stretches out, its
When remaining electricity push rod is in original state, Multifunction restoring wheelchair presents chair state, can use as common electric wheelchair, at stick
Effect under, can realize advancing, fall back, turn left, the function such as right-hand rotation.
As shown in Figure 4, for the prone position schematic diagram of Multifunction restoring wheelchair, electricity push rod D4, lower support electricity push rod are instantly supported
D5 expansion link stretches out, and when remaining electricity push rod is in original state, little leg mechanism plate, big leg mechanism plate and back mechanism plate become one
Bar straight line, Multifunction restoring wheelchair can be changed into a state, takes a break for user.
It is tired and multiple uncomfortable that the sitting and lying of long-time constant posture can make wheelchair user produce, and the present invention designs
Multifunction restoring wheelchair, by the reciprocating motion of electricity push rod, back angle, little leg mechanism angle can arbitrarily regulate, and is using
Time according to the situation of user, wheelchair can be adjusted to best angle.By conversion health pose, leg, the back of the body to user
Portion serves certain nursing role, strengthens the activity of human body, reaches optimal recovering aid effect, improves physical rehabilitation speed
Degree.
As it is shown in figure 5, be the vertical schematic diagram of throwing off restraint of Multifunction restoring wheelchair, instantly support electricity push rod D4, lower support electricity push rod
D5, the electricity push rod D6 that hoists, the electricity push rod D7 expansion link that hoists stretch out, and when remaining electricity push rod is in original state, multifunctional recovery is taken turns
Chair can become erectility, and being available for users to take exceeds article or viewing landscape at a distance.
As shown in Figure 6, when Multifunction restoring wheelchair is in erectility, by control in support electricity push rod D2, in
Support electricity push rod D3, lower support electricity push away D4, the motion of lower support electricity push rod D5 expansion link, control left and right thigh, the swing of shank, can
Single lower limb swings, it is possible to both legs swing simultaneously, it is achieved carry out step rehabilitation training.
Claims (4)
1. a Multifunction restoring wheelchair, it is characterised in that: include support, lifting mechanism, lathe bed mechanism, power set, its
In:
Described support includes the underframe U-tube keeping flat setting, each U-shaped arm of underframe U-tube is respectively welded vertically arranged
Bracing frame, is constituted support by underframe U-tube, two bracing frames；
Described lifting mechanism include keeping flat respectively arrange and U-shaped fixed support, travel(l)ing rest, and the electricity that hoists for a pair push away
Bar, described fixed support be arranged in the middle part of two bracing frames between rear, and fixed support two U-shaped arm arm end one_to_one corresponding is welded on
Two bracing frame inside middle portion, described travel(l)ing rest is arranged on rear between two bracing frame tops, and travel(l)ing rest two U-shaped arm arm end divides
Lian Jie not have a connecting rod downwardly extended, and connecting rod bottom one_to_one corresponding is hinged on fixed support two U-shaped arm arm end, two electricity that hoist push away
Bar is symmetrical arranged, and the two fixing ends hoisting electricity push rod are respectively hinged on the U-shaped beam of underframe U-tube, and two hoist electricity the stretching of push rod
Contracting bar upwardly extends respectively, and two rod ends hoisting electricity push rod expansion link are respectively hinged on the U-shaped beam of travel(l)ing rest, by fixing
Support, travel(l)ing rest, two hoist electricity push rod constitute lifting mechanism；
Described lathe bed mechanism is arranged between two bracing frames, and lathe bed mechanism includes vertically arranged back mechanism plate, fixing connection
Head support board at back mechanism plate top, it is arranged on the thigh bottom back mechanism plate for a pair by same axis of rotation
Mechanism's plate, it is rotatably installed in little leg mechanism plate bottom big leg mechanism plate respectively, is rotatably installed in bottom little leg mechanism plate respectively
Foot-operated, and the axis of rotation of back structures plate and the connection of two big leg mechanism plates is arranged in the U-shaped mouth of travel(l)ing rest；
Described power set include the most vertically arranged upper support electricity push rod, a centering support electricity push rod and support electricity a pair time
Push rod, described upper support electricity push rod is fixed end and is hinged on the U-shaped top surface of the beam of travel(l)ing rest in lifting mechanism, in upper support electricity push rod
Expansion link upwardly extends, and the upper expansion link rod end supporting electricity push rod is hinged in lathe bed mechanism on rear side of back mechanism plate, in two
Support electricity push rod is fixed end and is respectively hinged at the U-shaped soffit of travel(l)ing rest in lifting mechanism, supports in electricity push rod and stretch in two
Bar downwardly extends, and the expansion link rod end one_to_one corresponding supporting electricity push rod in two is hinged in lathe bed mechanism after two big leg mechanism plates
Side, supports electricity push rods for twice and lays respectively at and support electricity push rod lower outer in two, supports the fixing end one a pair of electricity push rods for twice
Should be hinged in lathe bed mechanism on rear side of two big leg mechanism plates, support expansion link in electricity push rod for twice and downwardly extend, and twice support
The expansion link rod end one_to_one corresponding of electricity push rod is hinged in lathe bed mechanism on rear side of two little leg mechanism plates.
A kind of Multifunction restoring wheelchair the most according to claim 1, it is characterised in that: in the underframe U-tube of support, underframe
Two U-shaped arm arm ends of U-tube are rotatablely equipped with universal wheel respectively, and the U-shaped beam two ends of underframe U-tube are rotatablely equipped with driving respectively
Wheel.
A kind of Multifunction restoring wheelchair the most according to claim 2, it is characterised in that: described power set also include a pair
Motor, the supporting accumulator supplying power to motor, motor and supporting accumulator thereof are separately positioned on the underframe U outside every side stand component
On type pipe, and two motors and two driving wheel one_to_one corresponding are in transmission connection, described accumulator supply power to the most respectively to hoist electricity push rod, on
Support electricity push rod, middle support electricity push rod, lower support electricity push rod.
A kind of Multifunction restoring wheelchair the most according to claim 1, it is characterised in that: in support, two bracing frame tops are respectively
Being fixed with handrail arm, each handrail arm front end is separately installed with handrail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410605968.7A CN104382702B (en) | 2014-10-30 | 2014-10-30 | A kind of Multifunction restoring wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410605968.7A CN104382702B (en) | 2014-10-30 | 2014-10-30 | A kind of Multifunction restoring wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104382702A CN104382702A (en) | 2015-03-04 |
| CN104382702B true CN104382702B (en) | 2016-08-17 |
Family
ID=52600737
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410605968.7A Expired - Fee Related CN104382702B (en) | 2014-10-30 | 2014-10-30 | A kind of Multifunction restoring wheelchair |
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| Country | Link |
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| CN (1) | CN104382702B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104814840B (en) * | 2015-04-08 | 2021-05-11 | 合肥工业大学 | Lower limb rehabilitation robot mechanism |
| CN105476815B (en) * | 2015-12-28 | 2017-11-14 | 芜湖天人智能机械有限公司 | The portable balance standing bed of lower limb |
| CN105945993A (en) * | 2016-03-23 | 2016-09-21 | 合肥工业大学 | Leg mechanical support rod mechanism capable of automatically moving |
| CN105943263B (en) * | 2016-03-23 | 2018-03-13 | 合肥工业大学 | Can tri-state regulation lower limb recovery wheelchair |
| CN106176143B (en) * | 2016-08-30 | 2019-03-19 | 合肥工业大学 | A kind of healthy plint of multi-pose lower limb |
| CN106236508B (en) * | 2016-08-30 | 2019-03-19 | 合肥工业大学 | One kind is sleeping, sits, the vertical three healthy training devices of posture lower limb |
| CN106389065B (en) * | 2016-08-30 | 2019-03-15 | 合肥工业大学 | One kind is sleeping, sits, the vertical healthy trained equipment of three posture lower limb |
| FR3063008B1 (en) | 2017-02-21 | 2022-03-18 | Marc Bardgett | WALKING AID WHEELCHAIR |
| CN110063846A (en) * | 2018-01-22 | 2019-07-30 | 广州市易控自动化工程有限公司 | It can change wheelbase and realize aiding upright and the wheel-chair to lie down |
| CN109758340B (en) * | 2019-03-01 | 2021-05-04 | 湖南文理学院 | Human body movement simulating rehabilitation device for lower limb movement rehabilitation |
| CN111515929A (en) * | 2020-04-15 | 2020-08-11 | 深圳航天科技创新研究院 | Human motion state estimation method, device, terminal and computer readable storage medium |
| CN112089538B (en) * | 2020-10-09 | 2022-05-27 | 王予安 | Wheelchair with rehabilitation assisting walking function |
| CN112976048A (en) * | 2021-04-27 | 2021-06-18 | 宿州赛尔沃德物联网科技有限公司 | Nursing robot |
| CN116138973A (en) * | 2022-12-30 | 2023-05-23 | 燕山大学 | Integrated intelligent composite rehabilitation bed |
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| CN202459172U (en) * | 2011-12-30 | 2012-10-03 | 太仓市康辉科技发展有限公司 | Wrist rehabilitation training mechanism |
| CN202568663U (en) * | 2011-08-12 | 2012-12-05 | 高慧生 | A relaxation wheelchair allowing one to sit down and lie down |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080266744A1 (en) * | 2007-04-24 | 2008-10-30 | Li-Lan Yan | Electricity conducting wheel structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4431076A (en) * | 1981-06-24 | 1984-02-14 | Simpson Robert C | Adjustable collapsible wheelchair |
| CN202568663U (en) * | 2011-08-12 | 2012-12-05 | 高慧生 | A relaxation wheelchair allowing one to sit down and lie down |
| CN202459172U (en) * | 2011-12-30 | 2012-10-03 | 太仓市康辉科技发展有限公司 | Wrist rehabilitation training mechanism |
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| Publication number | Publication date |
|---|---|
| CN104382702A (en) | 2015-03-04 |
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