CN105030442B - Lower limb rehabilitation wheelchair - Google Patents
Lower limb rehabilitation wheelchair Download PDFInfo
- Publication number
- CN105030442B CN105030442B CN201510558420.6A CN201510558420A CN105030442B CN 105030442 B CN105030442 B CN 105030442B CN 201510558420 A CN201510558420 A CN 201510558420A CN 105030442 B CN105030442 B CN 105030442B
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- China
- Prior art keywords
- grades
- driving switch
- swinging kick
- main body
- direction driving
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Abstract
The invention discloses a lower limb rehabilitation wheelchair. The lower limb rehabilitation wheelchair comprises a body, two rear wheels, two hub motors, a battery rack, a battery pack, a controller, two front wheels, two lifting motors, two transmission devices, two pedal brackets, two pedals, two lead screws, two leg stretching and retracting rods, two electric push rods, a leg swing motor, a leg swing motor installation rack, two rotary rods, a main swing rod and two driven swing rods. By arranging the multiple mechanisms, the lower limbs, including knee joints and hip joints, of the human body can be exercised in multiple ways. Meanwhile, a user can control the wheelchair to move conveniently.
Description
Technical field
The present invention relates to a kind of medical auxiliary equipment, and in particular to a kind of lower limb recovery wheelchair, belong to medical Aided Machine
Equipment technical field.
Background technology
Wheelchair is a kind of common Medical Devices for physical disabilities or the sick patient being in hospital, and it is in auxiliary people's life
Life aspect between stadium plays important role, with continuing to develop for modern science and technology, occurs in that more and more new
Wheelchair, develops into electronic etc. from original manual drive.But wheelchair also has its phase for some long-term sleeping patients for sitting
The drawbacks of answering, such as some patients are caused the problems such as can not walking due to the central nervous system pathological change of lower limb and taken turns for a long time
Chair, due to long-term sleeping seat, causes patient's lower limb muscles atrophy, anchylosis, or even loses upright walking function forever, therefore
One kind can meet the convenient walking of sufferer, while it is that existing market is badly in need of that patient is obtained certain training equipment.
The content of the invention
Regarding to the issue above, the present invention provides a kind of lower limb recovery wheelchair, and it uses various lower limb exercise modes, Yi Ji electricity
Dynamic walking, it is achieved thereby that the self-service walking of patient, while being capable of the purpose of self-service exercise.
The technical scheme that the present invention takes is：A kind of lower limb recovery wheelchair, including main body, two trailing wheels and two wheel hub electricity
Mechanical, electrical pond frame and battery pack, controller, two front-wheels, two lifting motors and two transmission devices, two pedal supports and two
Individual pedal, two leading screws and two leg expansion links, two electric pushrod, swinging kick motor and swinging kick motor mounting rack, two rotations
Bull stick, main swing arm and two are from swing arm, it is characterised in that：Middle part is provided with seat in described main body, and both sides are provided with
Two handles, rear portion is provided with two pushing hands, and two one or two are respectively arranged with control zone on hand, and body front part is provided with two rotations
Bar mounting bracket；Two described swingle mounting brackets are rotatablely equipped with two swingles by two thrust ball bearings respectively；Institute
The swinging kick motor mounting rack stated is fixedly mounted on body front part position, and described swinging kick motor is fixedly mounted on the installation of swinging kick motor
On frame, swinging kick electric machine main shaft is provided with main swing arm, and described main swing arm two ends are respectively symmetrically to be hinged and are provided with two from pendulum
Lever, described two are respectively articulated with installed in two swingle rear positions from swing arm；Two swingle forward positions point
It is not hinged and two leg expansion links is installed, the body of rod of two described electric pushrods is hingedly mounted on two rotation rod rear ends,
The piston hinge of electric pushrod is arranged on two leg expansion links；Two described lifting motors are fixedly mounted on two legs
The lower end of expansion link, two leading screws are rotatably installed in inside two leg expansion links, and two lower ends of leading screw pass through two respectively
Transmission device is connected with two lifting motors；Two described pedal supports are internally provided with the interior spiral shell being engaged with leading screw
Line, and be connected with two leading screws respectively, two outsides of pedal support are slidably mounted on two legs by movable pulley respectively
The outside of portion's expansion link, two described pedals are fixedly mounted on two pedal supports；Two described trailing wheels are arranged on master
The side position of body rear portion two, two wheel hub motors are separately mounted to two trailing wheel centers；Two described front-wheels are arranged on master
Body front part sides position；Described battery carrier is fixedly mounted on main body central lower position, and battery pack is provided with inside battery carrier,
Battery pack top is provided with controller, and controller is connected with the control zone in battery pack and main body.
Further, reducing motor is provided with described electric pushrod, decelerator is provided with described swinging kick motor.
Further, two described transmission devices are synchronous pulley and toothed belt transmission.
Further, described control zone is provided with direction driving switch, A grade, B grades, C grades, D grades, E grades, F grades, G grades, H
Shelves, described direction driving switch includes four direction, controls wheelchair to advance respectively, turns left, turns right, retreats, described A grade with
B grades is wheel hub motor locking switch, and when being kept off in A, direction driving switch can work, and not operate direction driving switch
When, two wheel hub motors cut off self-lock, and prevent the car slipping on slope；When being kept off in B, when not operating direction driving switch, two wheels
Hub motor powers off not self-locking, and now can hold two pushing hands by retinue promotes；When C gears are pressed, direction driving switch can
To control wheelchair advance, left-hand rotation, right-hand rotation, retrogressing；E grade is not pressed and at F grades, direction driving switch is for controlling when D gears are pressed
The rotation situation of swinging kick motor, the control swinging kick motor that turns left and turn right swings；When D grades and E grades is pressed, direction drives and opens
Close and be used for controlling two electric pushrods, turn left and turn right to be used for select two electric pushrods in left and right, move forward and backward for controlling
Two electric pushrods in left and right it is flexible；When D grades and F grades is pressed, direction driving switch is used for controlling two lifting motors, turns left
Two lifting motors are controlled respectively with turning right, and are moved forward and backward and are controlled two lifting motor rotatings respectively；G grades and H grades is used for
The motion mode of storage user oneself establishment.
Because present invention employs above-mentioned technical proposal, the present invention has advantages below：The present invention is various by being provided with
Mechanism, realizes various ways to temper human body lower limbs, including the purpose including knee joint, hip joint, while the present invention can be with
User is allowed easily to control the walking of wheelchair.
Brief description of the drawings
Fig. 1 is overall assembling dimensional structure diagram of the invention.
Fig. 2 integrally assembles dimensional structure diagram for another angle of the invention.
Fig. 3 is the dimensional structure diagram of main body in the present invention.
Fig. 4 is view of the present invention in the first exercising way.
Fig. 5 is the present invention in second view of exercising way.
Fig. 6 is view of the present invention in the third exercising way.
Fig. 7 is the present invention in the 4th kind of view of exercising way.
Drawing reference numeral：1- main bodys；2- trailing wheels；3- wheel hub motors；4- battery carriers；5- battery packs；6- controllers；7- front-wheels；
8- lifting motors；9- pedal supports；10- pedals；11- transmission devices；12- leading screws；13- electric pushrods；14- legs expansion link；
15- swinging kick motors；16- swinging kick motor mounting racks；17- thrust ball bearings；18- swingles；The main swing arms of 19-；20- is from swing
Bar；101- seats；102- control zones；103- handles；104- pushing hands；105- swingle mounting brackets.
Specific embodiment
With reference to specific embodiment, the invention will be further described, the illustrative examples invented herein and explanation
It is for explaining the present invention but not as a limitation of the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of lower limb recovery wheelchair, including 1, two and of trailing wheel 2 of main body
Two wheel hub motors 3, battery carrier 4 and battery packs 5,7, two, the front-wheel lifting motor 8 of controller 6, two and two transmission devices
11st, 14, two electric pushrods 13, swinging kick of two pedal supports 9 and two pedals, 10, two leading screws 12 and two leg expansion links
16, two swingles 18 of motor 15 and swinging kick motor mounting rack, main swing arm 19 and two are from swing arm 20.Middle part in main body 1
Seat 101 is provided with, both sides are provided with two handles 103, and rear portion is provided with two pushing hands 104, is set respectively on two handles 103
Control zone 102 is equipped with, the front portion of main body 1 is provided with two swingle mounting brackets 105.Two swingle mounting brackets 105 pass through respectively
Two thrust ball bearings 17 are rotatablely equipped with two swingles 18；Described swinging kick motor mounting rack 16 is fixedly mounted on main body 1
Forward position, swinging kick motor 15 is fixedly mounted on swinging kick motor mounting rack 16, and the main shaft of swinging kick motor 15 is provided with main swing arm
19, the two ends of main swing arm 19 are respectively symmetrically to be hinged and are provided with two from swing arm 20, and two are respectively articulated with installation from swing arm 20
In two rear positions of swingle 18.Two forward positions of swingle 18 are respectively articulated with and are provided with two leg expansion links 14, two
The body of rod of individual electric pushrod 13 is hingedly mounted on two rear ends of swingle 18, and the piston hinge of electric pushrod 13 is arranged on two legs
On portion's expansion link 14.Two lifting motors 8 are fixedly mounted on two lower ends of leg expansion link 14, and two leading screws 12 are rotated to be installed
Inside two leg expansion links 14, two lower ends of leading screw 12 pass through two transmission devices 11 and two lifting motors 8 respectively
It is connected.Two pedal supports 9 are internally provided with the internal thread being engaged with leading screw 12, and coordinate with two leading screws 12 connect respectively
Connect, two outsides of pedal support 9 are slidably mounted on two outsides of leg expansion link 14, two pedals by movable pulley respectively
10 are fixedly mounted on two pedal supports 9.Two trailing wheels 2 are arranged on the side position of 1 rear portion of main body two, two 3 points of wheel hub motors
An Zhuan not two centers of trailing wheel 2.Two front-wheels 7 are arranged on the front part sides position of main body 1.Battery carrier 4 is fixedly mounted on
The central lower position of main body 1, is provided with battery pack 5 inside battery carrier 4, the top of battery pack 5 is provided with controller 6, controller 6 with
Battery pack 5 is connected with the control zone 102 in main body 1.
Reducing motor is provided with electric pushrod 13, decelerator is provided with swinging kick motor 15.Two transmission devices 11 are equal
It is synchronous pulley and toothed belt transmission.
Control zone 102 is provided with direction driving switch, A grade, B grades, C grades, D grades, E grades, F grades, G grades, H grades, described side
Include four direction to driving switch, control wheelchair to advance respectively, turn left, turn right, retreat, described A grades and B grades is wheel hub electricity
Machine locking switch, when being kept off in A, direction driving switch can work, and when not operating direction driving switch, two wheel hubs
Motor 3 cuts off self-lock, and prevents the car slipping on slope；When being kept off in B, when not operating direction driving switch, two wheel hub motors 3 are powered off
Not self-locking, now can hold two pushing hands and promote by retinue；When C gears are pressed, direction driving switch can control wheelchair
Advance, turn left, turn right, retreat；E grade is not pressed and at F grades, direction driving switch is for controlling swinging kick motor 15 when D gears are pressed
Rotation situation, the control swinging kick motor 15 that turns left and turn right swings；When D grades and E grades is pressed, direction driving switch is used for
Two electric pushrods 13 of control, turn left and turn right to be used for select two electric pushrods 13 in left and right, move forward and backward for controlling a left side
Right two electric pushrods 13 it is flexible；When D grades and F grades is pressed, direction driving switch is used for controlling two lifting motors 8, left
Turn and turn right to control two lifting motors 8 respectively, move forward and backward and control the rotating of two lifting motors 8 respectively；G grades and H grades
For storing the motion mode of user oneself establishment.
Operation principle of the invention is：When in use, the first exercising way is as follows first for the present invention：Two can be used
Electric pushrod 13, enables two leg expansion links 14 to move up and down, so that leg alternating bending, being laid flat, reaches motion knee and closes
The purpose of section；Wherein when the piston of electric pushrod 13 is fully extended, shank and the thigh of patient can reach one it is high
Degree plane, this functionality is also do not have in existing rehabilitation wheelchair, as shown in figure 4, bigger more diversified leg movements space
Patient leg is set faster to recover.
Second exercising way：Two lifting motors 8 can be used, by two transmission devices 11, so that two are stepped on
Plate 10 and leg move up and down, and reach the purpose of movable knee joint and hip joint, as shown in Figure 5.
The third exercising way：Swinging kick motor 15 can be used, main swing arm 19 and two are driven successively from swing arm 20,
So that two swingles 18 and two leg expansion links 14 swing, that is, two separate closures of leg left and right directions are controlled,
Reach the purpose of motion hip joint.
4th kind of exercising way：It is similar with the third exercising way, before use, two lifting motors 8 are first passed through by two
Individual leg expansion link 14 is raised to peak, i.e., now the shank and thigh of user can reach an elevation plane, next
With the third exercising way, i.e., using swinging kick motor 15, main swing arm 19 and two are driven successively from swing arm 20, so that two
Individual swingle 18 and two leg expansion links 14 swing, that is, control two separate closures of leg left and right directions, reach motion
The purpose of hip joint.
Claims (4)
1. a kind of lower limb recovery wheelchair, including main body（1）, two trailing wheels（2）With two wheel hub motors（3）, battery carrier（4）And electricity
Pond group（5）, controller（6）, two front-wheels（7）, two lifting motors（8）With two transmission devices（11）, two pedal supports
（9）With two pedals（10）, two leading screws（12）With two leg expansion links（14）, two electric pushrods（13）, swinging kick motor
（15）With swinging kick motor mounting rack（16）, two swingles（18）, main swing arm（19）With two from swing arm（20）, its feature
It is：Described main body（1）Upper middle part is provided with seat（101）, both sides are provided with two handles（103）, rear portion is provided with two
Individual pushing hands（104）, two handles（103）On be respectively arranged with control zone（102）, main body（1）Front portion is provided with two swingles
Mounting bracket（105）；Two described swingle mounting brackets（105）Pass through two thrust ball bearings respectively（17）It is rotatablely equipped with two
Individual swingle（18）；Described swinging kick motor mounting rack（16）It is fixedly mounted on main body（1）Forward position, described swinging kick motor
（15）It is fixedly mounted on swinging kick motor mounting rack（16）On, swinging kick motor（15）Main shaft is provided with main swing arm（19）, it is described
Main swing arm（19）Two ends are respectively symmetrically to be hinged and are provided with two from swing arm（20）, described two from swing arm（20）Respectively
It is hingedly mounted on two swingles（18）Rear positions；Two swingles（18）Forward position is respectively articulated with and is provided with two legs
Expansion link（14）, described two electric pushrods（13）The body of rod be hingedly mounted on two swingles（18）Rear end, electric pushrod
（13）Piston hinge be arranged on two leg expansion links（14）On；Two described lifting motors（8）It is fixedly mounted on two
Leg expansion link（14）Lower end, two leading screws（12）It is rotatably installed in two leg expansion links（14）Inside, two leading screws
（12）Lower end respectively pass through two transmission devices（11）With two lifting motors（8）It is connected；Two described pedal supports
（9）It is internally provided with and leading screw（12）The internal thread being engaged, and respectively with two leading screws（12）It is connected, two pedal branch
Frame（9）Outside two leg expansion links are slidably mounted on by movable pulley respectively（14）Outside, two described pedals
（10）It is fixedly mounted on two pedal supports（9）On；Two described trailing wheels（2）Installed in main body（1）The side position of rear portion two, two
Individual wheel hub motor（3）It is separately mounted to two trailing wheels（2）Center；Two described front-wheels（7）Installed in main body（1）It is anterior
Two side positions；Described battery carrier（4）It is fixedly mounted on main body（1）Central lower position, battery carrier（4）Inside is provided with battery
Group（5）, battery pack（5）Top is provided with controller（6）, controller（6）With battery pack（5）And main body（1）On control zone
（102）It is connected.
2. a kind of lower limb recovery wheelchair as claimed in claim 1, it is characterised in that：Described electric pushrod（13）On be provided with
Reducing motor, described swinging kick motor（15）On be provided with decelerator.
3. a kind of lower limb recovery wheelchair as claimed in claim 1, it is characterised in that：Two described transmission devices（11）It is
Synchronous pulley and toothed belt transmission.
4. a kind of lower limb recovery wheelchair as claimed in claim 1, it is characterised in that：Described control zone（102）The side of being provided with
To driving switch, A grades, B grades, C grades, D grades, E grades, F grades, G grades, H grades, described direction driving switch includes four direction, point
Not Kong Zhi wheelchair advance, turn left, turn right, retreat, described A grade and B grades is wheel hub motor locking switch, when being kept off in A, direction
Driving switch can work, and when not operating direction driving switch, two wheel hub motors（3）Cut off self-lock, prevent on slope
Upper car slipping；When being kept off in B, when not operating direction driving switch, two wheel hub motors（3）Power-off not self-locking, now can be by accompanying
Personnel hold two pushing hands and promote；When C gears are pressed, direction driving switch can control wheelchair to advance, turns left, turns right, retreat；
E grade is not pressed and at F grades, direction driving switch is for controlling swinging kick motor when D gears are pressed（15）Rotation situation, turn left and right
Turn control swinging kick motor（15）Swing；When D grades and E grades is pressed, direction driving switch is used for controlling two electric pushrods
（13）, turn left and turn right to be used for select two electric pushrods in left and right（13）, moving forward and backward for controlling, left and right two is electronic to push away
Bar（13）It is flexible；When D grades and F grades is pressed, direction driving switch is used for controlling two lifting motors（8）, turn left and turn right
Two lifting motors are controlled respectively（8）, move forward and backward and control two lifting motors respectively（8）Rotating；G grades and H grades is used for
The motion mode of storage user oneself establishment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510558420.6A CN105030442B (en) | 2015-09-06 | 2015-09-06 | Lower limb rehabilitation wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510558420.6A CN105030442B (en) | 2015-09-06 | 2015-09-06 | Lower limb rehabilitation wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105030442A CN105030442A (en) | 2015-11-11 |
| CN105030442B true CN105030442B (en) | 2017-05-17 |
Family
ID=54437820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510558420.6A Expired - Fee Related CN105030442B (en) | 2015-09-06 | 2015-09-06 | Lower limb rehabilitation wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105030442B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105520811B (en) * | 2016-01-27 | 2019-06-07 | 浙江海洋学院 | A kind of wheelchair of recovering aid |
| US20190125600A1 (en) * | 2016-03-31 | 2019-05-02 | Young Bae YOU | Footrest device and safety device for wheelchair |
| CN107049623A (en) * | 2017-06-28 | 2017-08-18 | 姜盼盼 | A kind of new Medical wheelchair |
| CN107802457A (en) * | 2017-11-22 | 2018-03-16 | 长乐巧通工业设计有限公司 | Family expenses recover servicing unit |
| CN108095924A (en) * | 2017-12-20 | 2018-06-01 | 江阴市新盛医疗器材设备有限公司 | A kind of Novel pedal |
| CN108186295B (en) * | 2018-02-13 | 2023-10-24 | 中山市沃倍特智能医疗器械股份有限公司 | Lower limb structure assembly of exoskeleton robot conforming to human bionics design |
| CN109259984B (en) * | 2018-11-20 | 2020-07-17 | 上海市东方医院 | Lower limb joint rehabilitation device |
| CN110074925A (en) * | 2019-05-27 | 2019-08-02 | 北京理工华汇智能科技有限公司 | Lower limb recovery wheelchair |
| CN111329671B (en) * | 2020-03-03 | 2021-11-05 | 青岛市城阳区人民医院 | Department of neurology is with integrative device of hemiplegia treatment nursing |
| CN112690994A (en) * | 2020-12-15 | 2021-04-23 | 石门县疾病预防控制中心 | Be applied to children's prevention with inoculation bacterin syringe device |
| CN112870016B (en) * | 2021-01-13 | 2022-07-15 | 兰州大学 | Leg muscle exercising device and method for nursing old people |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07265360A (en) * | 1994-03-29 | 1995-10-17 | Asano Kitaoka | Chair for hemiplegic patient |
| CN2201150Y (en) * | 1994-08-05 | 1995-06-21 | 洪茂雄 | Comprehensive body-building apparatus |
| CN2482401Y (en) * | 2001-07-05 | 2002-03-20 | 焦集群 | Portable electric/hand operated wheeled chair with lower-limb exercise recovery apparatus |
| AU2002358213B2 (en) * | 2001-12-14 | 2007-07-12 | The Helping Hand Company (Ledbury) Limited | Improvements relating to torso support structures |
| JP2004195193A (en) * | 2002-10-22 | 2004-07-15 | Noritaka Kimura | Wheelchair with automatic brake |
| CN2676880Y (en) * | 2003-11-05 | 2005-02-09 | 白洁民 | Wheel chair |
| US8187156B2 (en) * | 2008-12-26 | 2012-05-29 | Hochberg Randall J | Wheelchair gym |
| JP5456447B2 (en) * | 2009-11-27 | 2014-03-26 | 弘 丹羽 | wheelchair |
| CN102973368B (en) * | 2012-11-14 | 2015-09-30 | 昆山库克自动化科技有限公司 | A kind of rehabilitation wheelchair |
-
2015
- 2015-09-06 CN CN201510558420.6A patent/CN105030442B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105030442A (en) | 2015-11-11 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Cuan Inventor after: Wang Xin Inventor after: Song Yinling Inventor before: Gao Peng |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170421 Address after: 130000 Chaoyang District Qianjin Street, Jilin, China, No. 2699, No. Applicant after: Jilin University Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Applicant before: Gao Peng |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170517 Termination date: 20180906 |