CN105943263A - Lower limb rehabilitation wheelchair capable of adjusting three postures - Google Patents

Lower limb rehabilitation wheelchair capable of adjusting three postures Download PDF

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Publication number
CN105943263A
CN105943263A CN201610177574.5A CN201610177574A CN105943263A CN 105943263 A CN105943263 A CN 105943263A CN 201610177574 A CN201610177574 A CN 201610177574A CN 105943263 A CN105943263 A CN 105943263A
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China
Prior art keywords
frame
leg
push
platform
tri
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Granted
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CN201610177574.5A
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Chinese (zh)
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CN105943263B (en
Inventor
张利
赵健韬
吴壮
刘恒
潘巧
陈建军
刘征宇
徐娟
毕翔
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Hefei University of Technology
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Hefei University of Technology
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Publication of CN105943263B publication Critical patent/CN105943263B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a wheelchair device which can help a patient to perform lower limb rehabilitation training, can achieve adjustment of three postures, and can be applied to the field of medical rehabilitation apparatuses. The lower limb rehabilitation wheelchair includes a flexible adjustment mechanism arranged on a chair back, a three-posture adjustment mechanism which is arranged on a base and is fixedly connected to the chair back, a leg mechanism which is fixedly connected to a three-posture adjustment frame, and a leg auxiliary support system. A step function section is driven by a push rod, and bionics steps of human body natural walking are simulated through a preset program to achieve a training effect. The leg auxiliary support system can support legs in a seat posture through coordination of bevel gears, screw rods and support plates, and can automatically move backward in a stand posture and will not affect the legs. The chair back adjustment mechanism has the function of multi-dimension automatic flexible adjustment, and can adjust the chair back according to the demands of a user. The three-posture adjustment mechanism can adjust a stand posture, a seat posture and a lie posture. The lower limb rehabilitation wheelchair can provide various posture training manners.

Description

Can tri-state regulation lower limb recovery wheelchair
Technical field
The present invention relates to intelligent wheel chair field, a kind of can the lower limb recovery wheelchair of tri-state regulation.
Background technology
Aged tendency of population, natural disaster and various accident cause a large amount of disadvantaged group to need nursing, the resuming treatment of patient of lower limb inconvenience to generally require the longest treatment cycle, and recovery effects is the most not ideal enough.Exercise therapy is the common method of lower limb rehabilitation treatment.Traditional rehabilitation training is manually to be driven patient's lower limb to carry out training by therapist, and subjectivity is big, waste time and energy, and effect is not ideal enough.Lower limb rehabilitation mechanism is as a kind of automatization, precision, intelligentized armarium, the strongest advantage is had in terms of lasting, quantitative rehabilitation training is provided, can effectively make up the deficiency of Traditional Rehabilitation Therapeutic Method, in 3～400,000,000 families of China, the family of the disadvantaged group that there is a need to nursing accounts for 1/10, and i.e. about 35,770,000, along with technology and the raising of quality of the life, people increasingly pursue the intelligent and care product of hommization, and rehabilitation nursing product market potential is huge.
The most most of rehabilitation product all bulky and motion inconvenience, the product being similar to collect lower limb rehabilitation function and wheelchair and one is still in space state, design one collection recovery function and mobility and the product task of top priority just of one.
Summary of the invention
It is an object of the invention to provide a kind of can tri-state regulation lower limb recovery wheelchair, this wheelchair integrates lower limb rehabilitation function and mobility, can realize lower limb rehabilitation motion for patient on wheelchair while movement, simulating real case of motion, the daily life making patient is more convenient.
In order to achieve the above object, the technical solution adopted in the present invention is:
Can tri-state regulation lower limb recovery wheelchair, including base, described base is electric wheelchair base, and on electric wheelchair base, left and right side is respectively provided with arm-rest frame, it is characterised in that: also include tri-state governor motion, leg mechanism, leg auxiliary support mechanism, wherein:
Described electric wheelchair base left and right side arm-rest frame top nose is respectively equipped with and is rotationally connected seat；
nullDescribed tri-state governor motion includes a pair being horizontally disposed with along the longitudinal direction and symmetrical side frame edge、Stand to the connection frame being arranged between two side frame edge posterior medials，Two side frame edge one_to_one corresponding are parallel, and to be placed in electric wheelchair base left、Right armrest top of the trellis，Each side frame edge front end is rotationally connected seat by rotating shaft with corresponding arm-rest frame top respectively and is rotationally connected，Its top frame limit of described connection frame is connected between two side frame edge rear inside and is molded as one，By connecting arch frame limit、Two side frame edge constitute bedframe，The link one downwardly extended it is also associated with between inside two side frame edge，It is hinged with push-rod electric machine one on described electric wheelchair base，The push rod of push-rod electric machine one is upwards hinged with link one，Also include the seat back frame being made up of a pair vertical frame limit，Two lower end, vertical frame limit one_to_one corresponding are hinged with side frame edge rear end，Between on front side of two vertical frame limits, chair back governor motion is installed，Outside two vertical frame limits, the most horizontal forward connection has adjustable handrail，Connect between on rear side of two vertical frame limits and have the link two extended back，Described connection frame bottom frame limit is hinged with push-rod electric machine two，The push rod of push-rod electric machine two is upwards hinged with link two，Chair back limited block it is rotatably connected to respectively outside each side frame edge rear end，Chair back limited block is provided with the spacing edge-cut of arc，Each vertical frame limit lower end outside is respectively equipped with the positive stop snapped in respective side chair back limited block in spacing edge-cut that slides；
nullDescribed leg mechanism includes a pair being horizontally disposed with along the longitudinal direction and symmetrical big leg platform、A pair hip joint connector，Two hip joint connectors are separately mounted in tri-state governor motion connect on front side of arch frame limit left、Right-hand member，Two big leg platform one_to_one corresponding are parallel and close to side frame edge in tri-state governor motion，Each big leg platform level connection joint respectively inwards has medicated cushion，Seat belt it is respectively equipped with on medicated cushion，Two big leg platform rear end one_to_one corresponding are hinged on hip joint connector，Two big leg platform front end one_to_one corresponding are rotatably connected to the leg support bar downwardly extended by knee joint connector，Each leg support bar lower end is rotatably connected to pedal respectively，It is respectively fixed with push-rod electric machine three outside each big leg platform，The push rod of each push-rod electric machine three is hinged on by hip joint connecting rod level on the hip joint connector of correspondence respectively backward，Each thigh mesa base is respectively fixed with push-rod electric machine four，The push rod of each push-rod electric machine four is the most horizontal forward hinged with the knee joint connector of respective side by knee joint connecting rod；
nullDescribed leg auxiliary support mechanism includes the base upper support bar being individually fixed in bottom surface, electric wheelchair base two arm-rest frame top，Each base upper support bar bottom surface is rotatablely equipped with screw mandrel respectively，The central shaft of described screw mandrel is arranged along anterior-posterior horizontal direction，It is slidably fitted with on screw mandrel and the support slipper of screw mandrel composition feed screw nut pair，Each support slipper bottom surface is the most horizontal-extending and is supported on thigh mesa base in respective side leg mechanism，Described screw mandrel front end is installed with outfan bevel gear，Each base upper support bar front end outer side is connected to pinion stand，In pinion stand、Outside co-rotation is provided with gear，Wherein the gear inside pinion stand is input bevel gear，Described input bevel gear engages with outfan Bevel Gear Transmission，Gear outside pinion stand is roller gear，In described tri-state governor motion, each side frame edge front end is installed with sector gear respectively with being rotationally connected the rotating shaft outer end that seat is rotationally connected，Described sector gear engages with column gear transmission on pinion stand.
nullDescribed can the lower limb recovery wheelchair of tri-state regulation，It is characterized in that: described chair back governor motion includes founding the housing to arranging，Housing two vertical frame limit one_to_one corresponding is arranged in the seat back frame of tri-state governor motion on two vertical frame limit leading flanks，Between the vertical frame limit of housing two, centre position level connection joint has motor platform，On motor platform、Lifting support frame it has been horizontally disposed with respectively between the vertical frame limit of housing two of lower section，A left side on the downside of described housing top frame limit、Right-hand member is rotatablely equipped with ball screw respectively，The ball screw that housing top frame limit is installed is the most vertically extending to above motor platform，It is positioned at the lifting support frame two ends above motor platform and is slidably mounted on the ball screw of respective side composition feed screw nut pair by tapped through hole respectively，It is rotatablely equipped with, between the vertical frame limit of housing two between ball screw lower end and motor platform, the rotating shaft that central shaft is arranged along left and right horizontal direction，Rotating shaft is left、Right-hand member is in transmission connection by the ball screw lower end of bevel gear mechanism with respective side respectively，On described motor platform, motor one is installed，Motor one is connected with rotating shaft transmission by worm and gear，Double reverse acting spirals that central shaft arranges it are rotatablely equipped with along left and right horizontal direction to screw rod on rear side of the lifting support frame of top，The lifting support frame top of top is provided with motor two，And screw drive is connected with the double reverse acting spirals on rear side of the lifting support frame of top by motor two by worm and gear，The lifting support frame of top is left、Slip cap is also distinguished equipped with adjusting slider in right side，Adjusting slider leading flank connects jointly gripper shoe，And multiple adjusting slider constitutes feed screw nut pair by the double reverse acting spirals on rear side of the tapped through hole lifting support with top to screw rod respectively；Described motor platform bottom surface is left, right-hand member is rotatablely equipped with the ball screw that central shaft is vertically arranged the most respectively, it is positioned at the lifting support frame two ends below motor platform and is slidably mounted on the ball screw of motor platform bottom surface respective side composition feed screw nut pair respectively by tapped through hole, described motor platform is provided with motor three, described motor three is in transmission connection by one of them ball screw upper end below bevel gear mechanism and motor platform, housing two vertical frame limit is rotatablely equipped with rotating shaft between lower end, the ball screw lower end that motor platform connects is connected with the rotating shaft transmission of housing lower end by bevel gear mechanism respectively, the lifting support frame of lower section is left, slip cap is also distinguished equipped with adjusting slider in right side, adjusting slider leading flank connects the most jointly gripper shoe.
Described can the lower limb recovery wheelchair of tri-state regulation, it is characterized in that: described chair back governor motion is driven two lifting support frames to rise or fall by ball screw, change chair back angularity, realize longitudinally regulation, lifting support frame up is provided with double reverse acting spiral to screw rod, motor two makes double reverse acting spiral rotate screw rod by worm and gear deceleration transmission, thus drives four adjusting sliders above the lifting support frame of top in opposite directions or from, it is achieved lateral adjustments.
Described can the lower limb recovery wheelchair of tri-state regulation, it is characterized in that: in described leg mechanism, occupant is seated on the medicated cushion on big leg platform, when carrying out leg exercise, pulled back push rod by push-rod electric machine three, act on a pulling force on hip joint connector, hip joint connector produces a counteracting force to big leg platform, counteracting force drives big leg platform lifting by hip joint connecting rod, otherwise the biggest leg platform declines, when pushing away before push-rod electric machine four, the thrust produced promotes leg support bar extension via knee joint connecting rod, otherwise leg support bar reclaims, push-rod electric machine three and the linkage of push-rod electric machine four, realize simulation human body natural's gait.
Described can the lower limb recovery wheelchair of tri-state regulation, it is characterised in that: the link one on described bedframe is L-shaped at two ends, and recess is corresponding with the leg mechanism under stance, leaves surplus to thigh stage+module position, does not interfere leg exercise.
Described can the lower limb recovery wheelchair of tri-state regulation, it is characterised in that: described leg support bar is two-part structure, and two are all reserved with screwed hole, and two intersegmental are bolted, and lower-leg length is adjustable.
Described can the lower limb recovery wheelchair of tri-state regulation, it is characterized in that: described tri-state governor motion bedframe is provided with in chair back limited block outside side frame edge rear end the spacing edge-cut of arc, in seat back frame, lower end, vertical frame limit positive stop is slidably inserted in spacing edge-cut, during sitting posture, the position of spacing edge-cut restriction positive stop makes medicated cushion and chair back angle not less than 90 °, lying posture limit medicated cushion and chair back angle are not more than 180 °, provide guarantee for occupant safety during push-rod electric machine fault.
The beneficial effects of the present invention is:
(1) by tri-state governor motion), the design of leg mechanism, it is achieved that integrate mobility and recovery function on the same device.
(2) pose adjustable, this equipment have sleeping, sit, the many attitude such as stand, in use, the position such as backrest, leg can be adjusted to desired position according to the demand of oneself by user.
(3) gait is vividly coordinated, and the trainer for the training initial stage provides enough power, it is achieved close to the bionics gait of human body natural's walking.
(4) soft readjustment of the chair back, healing robot can carry out the horizontal and vertical regulation of adaptivity according to the difference of different people back bending dimension, to reach the state of optimum reelability quality, and the optimal sitting posture Data Enter of different users can be stored system, recall use, convenient succinct；
(5) the step action of lower limb shoe runs Tong Bu with wheelchair, makes trainer stay in real walking sight.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention can tri-state regulation lower limb recovery wheelchair structure chart.
Fig. 2 is the chair back governor motion schematic diagram of the embodiment of the present invention.
Fig. 3 is the tri-state governor motion schematic diagram of the embodiment of the present invention.
Fig. 4 is the leg mechanism schematic diagram of the embodiment of the present invention.
Fig. 5 is the leg auxiliary support mechanism schematic diagram of the embodiment of the present invention.
The base mechanism schematic diagram of Fig. 6 position embodiment of the present invention.
The stance schematic diagram of Fig. 7 position embodiment of the present invention.
The lying posture schematic diagram of Fig. 8 position embodiment of the present invention.
Detailed description of the invention
As shown in Fig. 1, Fig. 6, Fig. 7, Fig. 8, can tri-state regulation lower limb recovery wheelchair, including base 1-1, base 1-1 is electric wheelchair base, on electric wheelchair base, left and right side is respectively provided with arm-rest frame 1-1-6, and electric wheelchair base is driven by the wheel chair motor 1-1-4 installed by motor mounting plate 1-1-3, and wheel chair motor 1-1-4 is powered by accumulator 1-1-5, also include tri-state governor motion 1-3, leg mechanism 1-4, leg auxiliary support mechanism 1-5, wherein:
Electric wheelchair base left and right side arm-rest frame 1-1-6 top nose is respectively equipped with and is rotationally connected a 1-1-7；
nullAs shown in Figure 3，Tri-state governor motion 1-3 includes a pair being horizontally disposed with along the longitudinal direction and symmetrical side frame edge 3-8、Stand to the connection frame 3-9 being arranged between two side frame edge 3-8 posterior medials，Two side frame edge 3-8 one_to_one corresponding are parallel, and to be placed in electric wheelchair base left、Right armrest frame 1-1-6 top，Each side frame edge 3-8 front end is rotationally connected a 1-1-7 by rotating shaft with corresponding arm-rest frame 1-1-6 top respectively and is rotationally connected，Connect its top frame limit of frame 3-9 3-7 be connected between two side frame edge 3-8 rear inside and be molded as one，By connecting frame 3-9 top frame limit 3-7、Two side frame edge 3-8 constitute bedframe 3-2，It is also connected with between inside two side frame edge 3-8 by link one 3-10 downwardly extended，It is hinged with push-rod electric machine one 3-4 on the rear side bearing beam 1-1-2 of electric wheelchair base，The push rod of push-rod electric machine one 3-4 is upwards hinged with link one 3-10，Also include the seat back frame 3-1 being made up of a pair vertical frame limit，Two lower end, vertical frame limit one_to_one corresponding are hinged with side frame edge 3-8 rear end，Between on front side of two vertical frame limits, chair back governor motion 1-2 is installed，Outside two vertical frame limits, the most horizontal forward connection has adjustable handrail 3-6，Connect between on rear side of two vertical frame limits and have link two 3-11 extended back，Connect frame 3-9 bottom frame limit and be hinged with push-rod electric machine two 3-3，The push rod of push-rod electric machine two 3-3 is upwards hinged with link two 3-11，Chair back limited block 3-5 it is rotatably connected to respectively outside each side frame edge 3-8 rear end，Chair back limited block 3-5 is provided with the spacing edge-cut of arc，Each vertical frame limit lower end outside is respectively equipped with the positive stop snapped in respective side chair back limited block 3-5 in spacing edge-cut that slides；
nullAs shown in Figure 4，Leg mechanism 1-4 includes a pair being horizontally disposed with along the longitudinal direction and symmetrical big leg platform 4-9、A pair hip joint connector 4-1，Two hip joint connector 4-1 are separately mounted in tri-state governor motion 1-3 connect on front side of frame 3-9 top frame limit left、Right-hand member，Two big leg platform 4-9 one_to_one corresponding are parallel and close to side frame edge 3-8 in tri-state governor motion 1-3，Each big leg platform 4-9 level connection joint respectively inwards has medicated cushion 4-2，Seat belt 4-10 it is respectively equipped with on medicated cushion 4-2，Two big leg platform 4-9 rear end one_to_one corresponding are hinged on hip joint connector 4-1，Two big leg platform 4-9 front end one_to_one corresponding are rotatably connected to the leg support bar 4-4 downwardly extended by knee joint connector 4-3，Each leg support bar 4-4 lower end is rotatably connected to pedal 4-11 respectively，It is respectively fixed with push-rod electric machine three 4-7 outside each big leg platform 4-9，The push rod of each push-rod electric machine three 4-7 is hinged on by hip joint connecting rod 4-8 level on the hip joint connector 4-1 of correspondence respectively backward，It is respectively fixed with push-rod electric machine four 4-6 bottom each big leg platform 4-9，The push rod of each push-rod electric machine four 4-6 is the most horizontal forward hinged with the knee joint connector 4-3 of respective side by knee joint connecting rod 4-5；
nullAs shown in Figure 5，Leg auxiliary support mechanism 1-5 includes the base upper support bar 1-1-1 being individually fixed in bottom surface, electric wheelchair base two arm-rest frame 1-1-6 top，Each base upper support bar 1-1-1 bottom surface is rotatablely equipped with screw mandrel 5-5 respectively，The central shaft of screw mandrel 5-5 is arranged along anterior-posterior horizontal direction，It is slidably fitted with on screw mandrel 5-5 and the support slipper 5-6 of screw mandrel 5-5 composition feed screw nut pair，Each support slipper 5-6 bottom surface is the most horizontal-extending and is supported in respective side leg mechanism 1-4 bottom big leg platform 4-9，Screw mandrel 5-5 front end is installed with outfan bevel gear 5-4，Each base upper support bar 1-1-1 front end outer side is connected to pinion stand，In pinion stand、Outside co-rotation is provided with gear，Wherein the gear inside pinion stand is input bevel gear 5-3，Input bevel gear 5-3 engages with outfan bevel gear 5-4 transmission，Gear outside pinion stand is roller gear 5-2，In tri-state governor motion 1-3, each side frame edge front end is installed with sector gear 5-1 respectively with being rotationally connected the rotating shaft outer end that a 1-1-7 is rotationally connected，Sector gear 5-1 engages with roller gear 5-2 transmission on pinion stand.
nullAs shown in Figure 2，Chair back governor motion 1-2 includes founding the housing 2-10 to arranging，Housing 2-10 two vertical frame limit one_to_one corresponding is arranged in the seat back frame 3-1 of tri-state governor motion 1-3 on two vertical frame limit leading flanks，Between the vertical frame limit of housing 2-10 two, centre position level connection joint has motor platform 2-11，On motor platform 2-11、Lifting support frame 2-5 it has been horizontally disposed with respectively between the vertical frame limit of housing two of lower section，A left side on the downside of housing 2-10 top frame limit、Right-hand member is rotatablely equipped with ball screw respectively，The ball screw that housing 2-10 top frame limit is installed is the most vertically extending to above motor platform 2-11，It is positioned at the lifting support frame 2-5 two ends above motor platform 2-11 and is slidably mounted on the ball screw of respective side composition feed screw nut pair by tapped through hole respectively，It is rotatablely equipped with, between the vertical frame limit of housing two between ball screw lower end and motor platform 2-11, the rotating shaft 2-12 that central shaft is arranged along left and right horizontal direction，Rotating shaft 2-12 is left、Right-hand member is in transmission connection by the ball screw lower end of bevel gear mechanism 2-7 with respective side respectively，Motor one 2-4 is installed on motor platform 2-11，Motor one 2-4 is in transmission connection with rotating shaft 2-12 by worm and gear，Double reverse acting spirals that central shaft arranges it are rotatablely equipped with along left and right horizontal direction to screw rod 2-14 on rear side of the lifting support frame 2-5 of top，The lifting support frame 2-5 top of top is provided with motor two 2-15，And screw rod 2-14 is in transmission connection by motor two 2-15 by the double reverse acting spirals on rear side of worm and gear 2-8 and top lifting support frame 2-5，The lifting support frame 2-5 of top is left、Slip cap is also distinguished equipped with adjusting slider 2-2 in right side，Adjusting slider 2-2 leading flank connects jointly gripper shoe 2-3，And multiple adjusting slider 2-2 respectively by the double reverse acting spirals on rear side of the tapped through hole lifting support with top to screw rod 2-14 composition feed screw nut pair；nullMotor platform 2-11 bottom surface is left、Right-hand member is rotatablely equipped with the ball screw 2-9 that central shaft is vertically arranged the most respectively，It is positioned at the lifting support frame two ends below motor platform 2-11 to be slidably mounted on by tapped through hole respectively on the ball screw 2-9 of motor platform 2-11 bottom surface respective side and constitute feed screw nut pair，Motor platform 2-11 is provided with motor three 2-16，Motor three 2-16 is in transmission connection by one of them ball screw upper end below bevel gear mechanism and motor platform 2-11，Housing 2-10 two vertical frame limit is rotatablely equipped with rotating shaft 2-13 between lower end，The ball screw 2-9 lower end that motor platform 2-11 connects is in transmission connection by the rotating shaft 2-13 of bevel gear mechanism with housing 2-10 lower end respectively，The lifting support frame of lower section is left、Slip cap is also distinguished equipped with adjusting slider in right side，Adjusting slider leading flank connects the most jointly gripper shoe.
The chair back governor motion of the present invention is driven two lifting support frame 2-5 to rise or fall by ball screw 2-9, change chair back angularity, realize longitudinally regulation, lifting support frame 2-5 up is provided with double reverse acting spiral to screw rod 2-14, motor two 2-15 makes double reverse acting spiral rotate screw rod 2-14 by worm and gear 2-8 deceleration transmission, thus drive four sliding 2-2 blocks of regulation above the lifting support frame 2-5 of top in opposite directions or from, it is achieved lateral adjustments.
In leg mechanism of the present invention, occupant is seated on the medicated cushion on big leg platform, when carrying out leg exercise, pulled back push rod by push-rod electric machine three 4-7, act on a pulling force on hip joint connector 4-1, hip joint connector 4-1 produces a counteracting force to big leg platform 4-2, counteracting force drives big leg platform 4-2 lifting by hip joint connecting rod 4-1, otherwise the biggest leg platform 4-2 declines, when pushing away before push-rod electric machine four 4-6, the thrust produced promotes leg support bar 4-4 extension via knee joint connecting rod 4-5, otherwise leg support bar 4-4 reclaims, the linkage of push-rod electric machine three 4-7 and push-rod electric machine four 4-6, realize simulation human body natural's gait.
Link one on bedframe of the present invention is L-shaped at two ends, and recess is corresponding with the leg mechanism under stance, leaves surplus to thigh stage+module position, does not interfere leg exercise.
Leg support bar 4-4 of the present invention is two-part structure, and two are all reserved with screwed hole, and two intersegmental are bolted, and lower-leg length is adjustable.
Tri-state governor motion bedframe of the present invention is provided with in chair back limited block 3-5 outside side frame edge rear end the spacing edge-cut of arc, in seat back frame 3-1, lower end, vertical frame limit positive stop is slidably inserted in spacing edge-cut, during sitting posture, the position of spacing edge-cut restriction positive stop makes medicated cushion and chair back angle not less than 90 °, lying posture limit medicated cushion and chair back angle are not more than 180 °, provide guarantee for occupant safety during push-rod electric machine fault.
In the present invention, as it is shown in figure 1, can tri-state regulation lower limb recovery wheelchair mainly include base, chair back governor motion 1-2, tri-state governor motion 1-3, leg mechanism 1-4, tetra-modules of leg auxiliary support mechanism 1-5.As shown in Figure 6, base is electric wheelchair base, is used for supporting top mechanism and drive and passengers weight, base skeleton is mounted with tri-state governor motion 1-3, leg auxiliary support mechanism 1-5.Rear side bearing beam is installed and is mounted with push-rod electric machine one 3-4, is used for raising bedframe.
As in figure 2 it is shown, chair back governor motion 1-2 includes adjusting slider 2-2, gripper shoe 2-3, motor 2-4, lifting support frame 2-5, bevel gear mechanism 2-7, worm and gear 2-8.Provide chair back soft readjustment function.Driven two lifting support frame 2-5 to rise or fall by ball screw 2-9, change chair back angularity, it is achieved longitudinally regulation.Two lifting support frame 2-5 are respectively arranged with double reverse acting spirals screw rod, motor are passed through worm and gear 2-8 deceleration transmission so that it is rotate, thus drive four adjusting slider 2-2 above lifting support frame 2-5 in opposite directions or from, it is achieved lateral adjustments.
As it is shown on figure 3, tri-state governor motion 1-3 includes seat back frame 3-1, bedframe 3-2, two push-rod electric machine 3-3,3-4, chair back limited block 3-5, adjustable handrail 3-6.Being in tri-state governor motion 1-3 sitting posture state in Fig. 1, seat back frame 3-1 is connected with chair back governor motion 1-2 bolt by installing hole, and seat back frame 3-1 positive stop inserts in spacing edge-cut 3-5.Bottom is hinged with side frame edge 3-8 both sides.Push-rod electric machine one 3-4 and seat back frame 3-1, connects frame 3-9 top frame limit 3-7 and constitutes chair back angle adjustment mechanism, adjustable chair-back angle of inclination.When regulation training bed is in level, it is provided that the rehabilitation training of prone position, now push rod two 3-3 and chair back limited block 3-5 provides back support power；When regulation training bed is in heeling condition, for overcoming the rehabilitation training of postural hypotension；When regulation training bed is in erectility, it is provided that gait training, the rehabilitation training of the stances such as training of marking time.
As shown in Figure 4, leg mechanism 1-4 includes hip joint connector 4-1, big leg platform 4-9, knee joint connector 4-3, knee joint connecting rod 4-5, leg support bar 4-4, pedal 4-11, push-rod electric machine 4-6,4-7, medicated cushion 4-2, safety (4-10.During training, trainer's two legs divides on corresponding leg mechanism 1-4, the hip of trainer, SCID Mice and the hip of leg mechanism 1-4, SCID Mice one_to_one corresponding respectively, the thigh and calf of trainer and described leg mechanism 1-4 thigh and calf mechanism one_to_one corresponding, when carrying out leg exercise, pulled back push rod by push-rod electric machine three 4-7, act on a pulling force on hip joint connector 4-1, hip joint connector 4-1 produces a counteracting force to big leg platform 4-2, counteracting force drives big leg platform 4-2 lifting by hip joint connecting rod 4-8, otherwise the biggest leg platform 4-2 declines.When pushing away before push-rod electric machine four 4-6, the thrust of generation promotes leg support bar 4-4 extension via knee joint connecting rod 4-5, otherwise leg support bar 4-4 reclaims, and push-rod electric machine four 4-6 and push-rod electric machine three 4-7 links, it is achieved simulation human body natural's gait.
As it is shown in figure 5, thigh support auxiliary body includes gear teeth plate wheel system, screw mandrel 5-5, support slipper 5-6.Gear teeth plate wheel system includes an input and an outfan.Sector gear 5-1 is fixed on outside bedframe by bolt symmetry, and gear train is matched.Roller gear 5-2 and input bevel gear 5-3 is fixed on same connecting rod, and connecting rod passes base support bar mounting platform front end installing hole, and input bevel gear 5-3 is positioned at inner side, and roller gear 5-2 is positioned at outside.Inner side input bevel gear 5-3 coordinates with outfan bevel gear 5-4, and outfan bevel gear 5-4 is fixed on screw mandrel 5-5 one end.Screw mandrel 5-5 is installed on base upper support bar 1-1-1.During sitting posture, slide block is positioned at below big leg platform 4-9 provides support for trainer.The input fluted disc being connected with bedframe when being adjusted to stance drives roller gear 5-2 input bevel gear 5-3 pair to rotate, and outfan bevel gear 5-4 drives screw mandrel 5-5 to move therewith, and screw mandrel 5-5 rotates, and drives the support slipper 5-6 rearward movement coordinated with it.
Be illustrated in figure 8 described can the lower limb recovery wheelchair lying posture signal of tri-state regulation.When being switched to lying posture by sitting posture, push rod 1 is pulled back push rod, and by length adjustment chair back inclination angle of pulling back, meanwhile, leg mechanism 1-4 push rod 2 promotes shank 4-4 to protract, and completes lying posture during to 90 °.
Be illustrated in figure 7 can tri-state regulation lower limb recovery wheelchair stance signal, when being switched to stance by sitting posture, must first be switched to lying posture, when being switched to stance by lying posture, push-rod electric machine one 3-4 promotes gravity center of human body to rise until upright, and the fluted disc driven gear train risen with bedframe 3-2 is moved, and the outfan bevel gear 5-4 in train drives screw mandrel 5-) rotate, the rotation of screw mandrel 5-5 moves after driving support slipper 5-6, it is simple to upright leg mechanism 1-4 motion.While carrying out upright leg training, control wheelchair by the controller in adjustable handrail and move, simulate real walking sight.
The above; it is only the detailed description of the invention in the present invention; but protection scope of the present invention is not limited thereto; any it is familiar with the people of this technology in the technical scope that disclosed herein; it is appreciated that the conversion or replacement expected; all should contain invention comprise within the scope of, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (7)

1. can tri-state regulation lower limb recovery wheelchair, including base, described base is electric wheelchair base, and on electric wheelchair base, left and right side is respectively provided with arm-rest frame, it is characterized in that: also include tri-state governor motion, leg mechanism, leg auxiliary support mechanism, wherein:
Described electric wheelchair base left and right side arm-rest frame top nose is respectively equipped with and is rotationally connected seat；
nullDescribed tri-state governor motion includes a pair being horizontally disposed with along the longitudinal direction and symmetrical side frame edge、Stand to the connection frame being arranged between two side frame edge posterior medials，Two side frame edge one_to_one corresponding are parallel, and to be placed in electric wheelchair base left、Right armrest top of the trellis，Each side frame edge front end is rotationally connected seat by rotating shaft with corresponding arm-rest frame top respectively and is rotationally connected，Its top frame limit of described connection frame is connected between two side frame edge rear inside and is molded as one，By connecting arch frame limit、Two side frame edge constitute bedframe，The link one downwardly extended it is also associated with between inside two side frame edge，It is hinged with push-rod electric machine one on described electric wheelchair base，The push rod of push-rod electric machine one is upwards hinged with link one，Also include the seat back frame being made up of a pair vertical frame limit，Two lower end, vertical frame limit one_to_one corresponding are hinged with side frame edge rear end，Between on front side of two vertical frame limits, chair back governor motion is installed，Outside two vertical frame limits, the most horizontal forward connection has adjustable handrail，Connect between on rear side of two vertical frame limits and have the link two extended back，Described connection frame bottom frame limit is hinged with push-rod electric machine two，The push rod of push-rod electric machine two is upwards hinged with link two，Chair back limited block it is rotatably connected to respectively outside each side frame edge rear end，Chair back limited block is provided with the spacing edge-cut of arc，Each vertical frame limit lower end outside is respectively equipped with the positive stop snapped in respective side chair back limited block in spacing edge-cut that slides；
nullDescribed leg mechanism includes a pair being horizontally disposed with along the longitudinal direction and symmetrical big leg platform、A pair hip joint connector，Two hip joint connectors are separately mounted in tri-state governor motion connect on front side of arch frame limit left、Right-hand member，Two big leg platform one_to_one corresponding are parallel and close to side frame edge in tri-state governor motion，Each big leg platform level connection joint respectively inwards has medicated cushion，Seat belt it is respectively equipped with on medicated cushion，Two big leg platform rear end one_to_one corresponding are hinged on hip joint connector，Two big leg platform front end one_to_one corresponding are rotatably connected to the leg support bar downwardly extended by knee joint connector，Each leg support bar lower end is rotatably connected to pedal respectively，It is respectively fixed with push-rod electric machine three outside each big leg platform，The push rod of each push-rod electric machine three is hinged on by hip joint connecting rod level on the hip joint connector of correspondence respectively backward，Each thigh mesa base is respectively fixed with push-rod electric machine four，The push rod of each push-rod electric machine four is the most horizontal forward hinged with the knee joint connector of respective side by knee joint connecting rod；
nullDescribed leg auxiliary support mechanism includes the base upper support bar being individually fixed in bottom surface, electric wheelchair base two arm-rest frame top，Each base upper support bar bottom surface is rotatablely equipped with screw mandrel respectively，The central shaft of described screw mandrel is arranged along anterior-posterior horizontal direction，It is slidably fitted with on screw mandrel and the support slipper of screw mandrel composition feed screw nut pair，Each support slipper bottom surface is the most horizontal-extending and is supported on thigh mesa base in respective side leg mechanism，Described screw mandrel front end is installed with outfan bevel gear，Each base upper support bar front end outer side is connected to pinion stand，In pinion stand、Outside co-rotation is provided with gear，Wherein the gear inside pinion stand is input bevel gear，Described input bevel gear engages with outfan Bevel Gear Transmission，Gear outside pinion stand is roller gear，In described tri-state governor motion, each side frame edge front end is installed with sector gear respectively with being rotationally connected the rotating shaft outer end that seat is rotationally connected，Described sector gear engages with column gear transmission on pinion stand.
nullThe most according to claim 1 can tri-state regulation lower limb recovery wheelchair，It is characterized in that: described chair back governor motion includes founding the housing to arranging，Housing two vertical frame limit one_to_one corresponding is arranged in the seat back frame of tri-state governor motion on two vertical frame limit leading flanks，Personal harness is installed on seat back frame both sides，Between the vertical frame limit of housing two, centre position level connection joint has motor platform，On motor platform、Lifting support frame it has been horizontally disposed with respectively between the vertical frame limit of housing two of lower section，A left side on the downside of described housing top frame limit、Right-hand member is rotatablely equipped with ball screw respectively，The ball screw that housing top frame limit is installed is the most vertically extending to above motor platform，It is positioned at the lifting support frame two ends above motor platform and is slidably mounted on the ball screw of respective side composition feed screw nut pair by tapped through hole respectively，It is rotatablely equipped with, between the vertical frame limit of housing two between ball screw lower end and motor platform, the rotating shaft that central shaft is arranged along left and right horizontal direction，Rotating shaft is left、Right-hand member is in transmission connection by the ball screw lower end of bevel gear mechanism with respective side respectively，On described motor platform, motor one is installed，Motor one is connected with rotating shaft transmission by worm and gear，Double reverse acting spirals that central shaft arranges it are rotatablely equipped with along left and right horizontal direction to screw rod on rear side of the lifting support frame of top，The lifting support frame top of top is provided with motor two，And screw drive is connected with the double reverse acting spirals on rear side of the lifting support frame of top by motor two by worm and gear，The lifting support frame of top is left、Slip cap is also distinguished equipped with adjusting slider in right side，Adjusting slider leading flank connects jointly gripper shoe，And multiple adjusting slider constitutes feed screw nut pair by the double reverse acting spirals on rear side of the tapped through hole lifting support with top to screw rod respectively；Described motor platform bottom surface is left, right-hand member is rotatablely equipped with the ball screw that central shaft is vertically arranged the most respectively, it is positioned at the lifting support frame two ends below motor platform and is slidably mounted on the ball screw of motor platform bottom surface respective side composition feed screw nut pair respectively by tapped through hole, described motor platform is provided with motor three, described motor three is in transmission connection by one of them ball screw upper end below bevel gear mechanism and motor platform, housing two vertical frame limit is rotatablely equipped with rotating shaft between lower end, the ball screw lower end that motor platform connects is connected with the rotating shaft transmission of housing lower end by bevel gear mechanism respectively, the lifting support frame of lower section is left, slip cap is also distinguished equipped with adjusting slider in right side, adjusting slider leading flank connects the most jointly gripper shoe.
The most according to claim 2 can tri-state regulation lower limb recovery wheelchair, it is characterized in that: described chair back governor motion is driven two lifting support frames to rise or fall by ball screw, change chair back angularity, realize longitudinally regulation, lifting support frame up is provided with double reverse acting spiral to screw rod, motor two makes double reverse acting spiral rotate screw rod by worm and gear deceleration transmission, thus drive four adjusting sliders above the lifting support frame of top in opposite directions or from, it is achieved lateral adjustments.
The most according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterized in that: in described leg mechanism, occupant is seated on the medicated cushion on big leg platform, when carrying out leg exercise, pulled back push rod by push-rod electric machine three, act on a pulling force on hip joint connector, hip joint connector produces a counteracting force to big leg platform, counteracting force drives big leg platform lifting by hip joint connecting rod, otherwise the biggest leg platform declines, when pushing away before push-rod electric machine four, the thrust produced promotes leg support bar extension via knee joint connecting rod, otherwise leg support bar reclaims, push-rod electric machine three and the linkage of push-rod electric machine four, realize simulation human body natural's gait.
The most according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterized in that: the link one on described bedframe is L-shaped at two ends, recess is corresponding with the leg mechanism under stance, leaves surplus to thigh stage+module position, does not interfere leg exercise.
The most according to claim 1 can the lower limb recovery wheelchair of tri-state regulation, it is characterised in that: described leg support bar is two-part structure, and two are all reserved with screwed hole, and two intersegmental are bolted, and lower-leg length is adjustable.
The most according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterized in that: described tri-state governor motion bedframe is provided with in chair back limited block outside side frame edge rear end the spacing edge-cut of arc, in seat back frame, lower end, vertical frame limit positive stop is slidably inserted in spacing edge-cut, during sitting posture, the position of spacing edge-cut restriction positive stop makes medicated cushion and chair back angle not less than 90 °, lying posture limit medicated cushion and chair back angle are not more than 180 °, provide guarantee for occupant safety during push-rod electric machine fault.
CN201610177574.5A 2016-03-23 2016-03-23 Can tri-state regulation lower limb recovery wheelchair Expired - Fee Related CN105943263B (en)

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CN114159262B (en) * 2021-11-11 2022-10-14 燕山大学 Closed-loop linkage multi-posture medical rehabilitation bed with adjustable seat height
CN114159262A (en) * 2021-11-11 2022-03-11 燕山大学 Closed-loop linkage multi-posture medical rehabilitation bed with adjustable seat height
CN114028090A (en) * 2021-12-20 2022-02-11 国家康复辅具研究中心 Wheelchair armrest device and wheelchair
CN114028090B (en) * 2021-12-20 2024-02-27 国家康复辅具研究中心 Wheelchair armrest device and wheelchair

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