CN105943263B - Can tri-state regulation lower limb recovery wheelchair - Google Patents

Can tri-state regulation lower limb recovery wheelchair Download PDF

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Publication number
CN105943263B
CN105943263B CN201610177574.5A CN201610177574A CN105943263B CN 105943263 B CN105943263 B CN 105943263B CN 201610177574 A CN201610177574 A CN 201610177574A CN 105943263 B CN105943263 B CN 105943263B
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China
Prior art keywords
frame
leg
tri
push
rod
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CN201610177574.5A
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Chinese (zh)
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CN105943263A (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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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/006Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262Walking movement; Appliances for aiding disabled persons to walk
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0119Support for the device
    • A61H2201/0138Support for the device incorporated in furniture
    • A61H2201/0149Seat or chair
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg

Abstract

The invention discloses a kind of wheelchair device for helping patient to carry out lower limb rehabilitation training and tri-state regulation being realized, applied to medical rehabilitation apparatus field.The mechanism includes the soft readjustment mechanism being arranged on the chair back, is placed in the tri-state governor motion being connected on pedestal with the chair back, is fixed on the leg mechanism of tri-state regulation framework, a set of leg auxiliary shoring system.Carry out step funtion part to be driven by push rod, the bionics gait of human body natural's walking is simulated by preset program, reaches training effect.The leg auxiliary shoring system coordinates the support realized under sitting posture to leg by bevel gear, screw mandrel, supporting plate, and being automatically moved back under stance does not influence leg work.It has the function of the autonomous soft readjustment of various dimensions with the chair back governor motion, can be adjusted according to the demand of user.Tri-state governor motion can realize station, the three kinds of attitude regulations sat, lain, and the training method of many attitude is provided for patient.

Description

Can tri-state regulation lower limb recovery wheelchair
Technical field
The present invention relates to intelligent wheel chair field, specifically it is a kind of can tri-state regulation lower limb recovery wheelchair.
Background technology
Aging population, natural calamity and various accidents cause a large amount of disadvantaged group to need to nurse, the patient of lower limb inconvenience Resume treatment the treatment cycle for generally requiring to grow very much, recovery effects are also not ideal enough.Kinesiatrics is lower limb rehabilitation treatment Common method.Traditional rehabilitation training is to drive patient's lower limb to carry out training manually by therapist, and subjectivity is big, time-consuming takes Power, effect are not ideal enough.Lower limb rehabilitation mechanism is held as a kind of automation, precision, intelligentized Medical Devices in offer There is very strong advantage in terms of continuous, quantitative rehabilitation training, the deficiency of Traditional Rehabilitation treatment method can be effectively made up, in China In 3~400,000,000 families, the family of the disadvantaged group of nursing in need accounts for 1/10, i.e., 35,770,000 or so, with technology and life product The raising of matter, people increasingly pursue intelligent and hommization care product, and rehabilitation nursing product market potential is huge.
Most of rehabilitation product all bulkies and motion inconvenience in the market, similar to collection lower limb rehabilitation function Space state is still in the product of wheelchair and one, the collection recovery function of design one and the product of mobility and one are exactly to work as Business is anxious.
The content of the invention
It is an object of the invention to provide it is a kind of can tri-state regulation lower limb recovery wheelchair, the wheelchair collection lower limb rehabilitation function with Mobility is that patient can realize that lower limb rehabilitation moves on wheelchair while movement, simulates real motion feelings in one Shape, make the daily life of patient 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, the base is electric wheelchair base, electric wheelchair base Upper left and right side has arm-rest frame respectively, it is characterised in that:Also include tri-state governor motion, leg mechanism, leg Auxiliary support machine Structure, wherein:
The electric wheelchair base left and right side arm-rest frame top nose is respectively equipped with rotation connection seat;
The tri-state governor motion includes a pair and is horizontally disposed with and symmetrical side frame edge, stands to setting along the longitudinal direction Connection frame between two side frame edge posterior medials, two side frame edges one-to-one corresponding are parallel to be placed in electric wheelchair base left and right side At the top of arm-rest frame, each side frame edge front end is rotatablely connected by rotating shaft with rotation connection seat at the top of corresponding arm-rest frame respectively, institute Connection frame its top frame side is stated to be connected between two side frame edge rear insides and be molded as one, by connection arch frame side, Two side frame edges form bedframe, and the link one extended downwardly is also associated between two side frame edges inner sides, described electronic Push-rod electric machine one is hinged with wheel seat base, the push rod of push-rod electric machine one is be hinged with link one upwards, in addition to is erected by a pair The seat back frame formed to frame side, two vertical frame side lower ends correspond and are hinged with side frame edge rear end, two vertical frame side front sides Between chair back governor motion is installed, it is horizontal forward respectively on the outside of two vertical frame sides to be connected with adjustable handrail, on rear side of two vertical frame sides Between be connected with the link two to extend back, the connection frame bottom frame side is hinged with push-rod electric machine two, push-rod electric machine two Push rod is be hinged with link two upwards, and chair back limited block, chair back limited block are rotatably connected to respectively on the outside of each side frame edge rear end In be provided with the spacing edge-cut of arc, each vertical frame side lower end outside, which is respectively equipped with slip and is caught in respective side chair back limited block, to be limited Positive stop in the notch of position;
The leg mechanism includes a pair horizontally disposed along the longitudinal direction and big leg platform symmetrically, a pair of hip joints Connector, two hip joint connectors are separately mounted to connect left and right end, two thighs on front side of arch frame side in tri-state governor motion Platform one-to-one corresponding is parallel and close to side frame edge in tri-state governor motion, and horizontal connection has seat to each big leg platform respectively inwards Pad, safety belt is respectively equipped with cushion, two big leg platform rear ends, which correspond, to be hinged on hip joint connector, two big leg platforms Front end corresponds the leg support bar for being rotatably connected to and extending downwardly by knee joint connector, each leg support bar lower end Pedal is rotatably connected to respectively, and push-rod electric machine three, the push rod of each push-rod electric machine three are respectively fixed with the outside of each big leg platform It is hinged on backward on corresponding hip joint connector by hip joint connecting rod level respectively, each thigh mesa base is solid respectively Surely there is push-rod electric machine four, the push rod of each push-rod electric machine four is horizontal forward respectively to be closed by the knee of knee joint connecting rod and respective side Section connector is hinged;
The leg auxiliary support mechanism includes the base for being individually fixed in bottom surface at the top of the arm-rest frame of electric wheelchair base two Upper support bar, each base upper support bar bottom surface are rotatablely equipped with screw mandrel respectively, the central shaft of the screw mandrel water before and after Square to setting, the support slipper that feed screw nut pair is formed with screw mandrel, each support slipper bottom surface point are slidably fitted with screw mandrel Inwardly not horizontal-extending and be supported on thigh mesa base in respective side leg mechanism, the screw mandrel front end is installed with output End cone gear, each base upper support bar front end outer side are connected to pinion stand, the installation of pinion stand medial and lateral co-rotation There is gear, the gear wherein on the inside of pinion stand is input bevel gear, the input bevel gear and output end Bevel Gear Transmission Engagement, the gear on the outside of pinion stand be roller gear, and each side frame edge front end is with being rotatablely connected seat in the tri-state governor motion The rotating shaft outer end of rotation connection is installed with sector gear respectively, and the sector gear is nibbled with column gear transmission on pinion stand Close.
It is described can tri-state regulation lower limb recovery wheelchair, it is characterised in that:The chair back governor motion includes standing to setting The housing put, two vertical frame of housing leading flank in two vertical frame in corresponding the seat back frame installed in tri-state governor motion On, between the vertical frame side of housing two centre position horizontal connection have a motor platform, the vertical frame side of housing two of motor platform upper and lower it Between be horizontally disposed with have a lifting support frame respectively, left and right end is rotatablely equipped with ball screw respectively on the downside of the housing top frame side, The ball screw of housing top frame side installation is vertically extending to motor platform top respectively, the lifting support above motor platform Frame both ends are slidably mounted on the ball screw of respective side by tapped through hole respectively forms feed screw nut pair, positioned at ball screw The rotating shaft that central shaft is set along left and right horizontal direction is rotatablely equipped between the vertical frame side of housing two between lower end and motor platform, The left and right end of rotating shaft is connected by the ball screw lower end of bevel gear mechanism and respective side respectively, is installed in the motor platform There is stepper motor one, stepper motor one is connected by worm and gear with rotating shaft transmission, and peace is rotated on rear side of the lifting support frame of top Stepping is provided with to screw rod, the lifting support frame top of top along double reverse acting spirals that left and right horizontal direction is set equipped with central shaft Motor two, and stepper motor two is connected by double reverse acting spirals on rear side of worm and gear and top lifting support frame to screw drive Connect, the lifting support frame left and right side of top also distinguishes slip cap and adjusting slider is housed, and adjusting slider leading flank is connected with branch jointly Fagging, and multiple adjusting sliders are made up of double reverse acting spirals on rear side of tapped through hole and the lifting support of top to screw rod respectively Feed screw nut pair;The left and right end in motor platform bottom surface is also rotatablely equipped with the vertically arranged ball screw of central shaft respectively, is located at Lifting support frame both ends below motor platform are slidably mounted on the ball wire of motor platform bottom surface respective side by tapped through hole respectively Form feed screw nut pair on bar, the motor platform is provided with stepper motor three, the stepper motor three by bevel gear mechanism with One of ball screw upper end drive connection, the vertical frame side of housing two are rotatablely equipped with rotating shaft between lower end below motor platform, The ball screw lower end of motor platform connection is connected by bevel gear mechanism with the rotating shaft transmission of housing lower end respectively, the lifting of lower section Support frame left and right side also distinguishes slip cap and adjusting slider is housed, and adjusting slider leading flank is also connected with supporting plate jointly.
It is described can tri-state regulation lower limb recovery wheelchair, it is characterised in that:Described chair back governor motion is by ball wire Bar drives two lifting support frames to rise or fall, and changes chair back angularity, realizes longitudinally adjust, lifting support frame up Be provided with double reverse acting spirals makes double reverse acting spirals rotate screw rod screw rod, stepper motor two by worm and gear deceleration transmission, So as to drive four adjusting sliders above the lifting support frame of top opposite or mutually from realizing lateral adjustments.
It is described can tri-state regulation lower limb recovery wheelchair, it is characterised in that:In described leg mechanism, occupant is seated at greatly On cushion on leg platform, when carrying out leg exercise, pulled back push rod by push-rod electric machine three, one pulling force of effect connects in hip joint On part, hip joint connector produces a reaction force to big leg platform, and reaction force drives thigh to put down by hip joint connecting rod Platform lifting, on the contrary then big leg platform decline, and when being pushed away before push-rod electric machine four, caused thrust promotes shank via knee joint connecting rod Support bar protracts, otherwise the recovery of leg support bar, the linkage of push-rod electric machine three and push-rod electric machine four, realizes simulation human body natural's step State.
It is described can tri-state regulation lower limb recovery wheelchair, it is characterised in that:Link one on described bedframe L-shaped at both ends, recess is corresponding with the leg mechanism under stance, leaves surplus to thigh stage+module position, does not interfere leg Motion.
It is described can tri-state regulation lower limb recovery wheelchair, it is characterised in that:The leg support bar is two-part structure, Two are reserved with screwed hole, two it is intersegmental be bolted, lower-leg length is adjustable.
It is described can tri-state regulation lower limb recovery wheelchair, it is characterised in that:In the tri-state governor motion bedframe The spacing edge-cut of arc is provided with chair back limited block on the outside of side frame edge rear end, vertical frame side lower end positive stop in seat back frame It is slidably inserted into spacing edge-cut, the position of spacing edge-cut limitation positive stop makes cushion be not less than 90 ° with the chair back angle during sitting posture, Cushion and chair back angle are limited during lying posture and is not more than 180 °, for push-rod electric machine failure when occupant safety provide guarantee.
The beneficial effects of the present invention are:
(1)Pass through tri-state governor motion), leg mechanism design, realize and collect mobility and rehabilitation on the same device Function is in one.
(2)Pose adjustable, this equipment have many attitude such as crouch, sit, stand, and when in use, user can be according to oneself Demand by the positions such as backrest, leg regulation arrive desired position.
(3)Gait is vividly coordinated, and to train the trainer at initial stage to provide enough power, realizes close to human body natural's walking Bionics gait.
(4)The soft readjustment of the chair back, healing robot can be carried out adaptively according to the different of different people back bending dimension Property horizontal and vertical regulation, to reach the state of optimum reelability quality, and the optimal sitting posture information of different users can be recorded Enter storage system, recall use, it is convenient succinct;
(5)Lower limb shoe step action is synchronous with wheelchair operation, trainer is stayed in real walking scene.
Brief description of the drawings
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 positions embodiment of the present invention.
The stance schematic diagram of Fig. 7 positions embodiment of the present invention.
The lying posture schematic diagram of Fig. 8 positions embodiment of the present invention.
Embodiment
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 be Electric wheelchair base, left and right side has arm-rest frame 1-1-6 respectively on electric wheelchair base, and electric wheelchair base is by passing through motor The wheel chair motor 1-1-4 drivings of installing plate 1-1-3 installations, wheel chair motor 1-1-4 is powered by battery 1-1-5, in addition to 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 noses are respectively equipped with rotation connection seat 1-1-7;
As shown in figure 3, tri-state governor motion 1-3 includes a pair of horizontally disposed and symmetrical side frame edges along the longitudinal direction 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 to be put At the top of electric wheelchair base left and right side arm-rest frame 1-1-6, each side frame edge 3-8 front ends are helped by rotating shaft with corresponding respectively Rotation connection seat 1-1-7 rotation connections at the top of hand cradle 1-1-6, connection frame 3-9 its top frame side 3-7 are connected to two side frame edge 3- Between 8 rear insides and it is molded as one, bedframe 3- is formed by connection frame 3-9 top frames side 3-7, two side frame edge 3-8 The 3-10 of link one by extending downwardly, the rear side stress of electric wheelchair base are also connected between on the inside of 2, two side frame edge 3-8 The 3-4 of push-rod electric machine one is hinged with beam 1-1-2, the 3-4 of push-rod electric machine one push rod is hinged with the 3-10 of link one upwards, in addition to The seat back frame 3-1 being made up of a pair of vertical frame sides, two vertical frame side lower ends correspond and are hinged with side frame edge 3-8 rear ends, and two Chair back governor motion 1-2 is installed, two vertical frame sides outsides are horizontal forward respectively to be connected with adjustable help between on front side of vertical frame side Hand 3-6, on rear side of two vertical frame sides between be connected with the 3-11 of link two to extend back, connection frame 3-9 bottom frames side is hinged with The 3-3 of push-rod electric machine two, the 3-3 of push-rod electric machine two push rod are hinged with the 3-11 of link two upwards, on the outside of each side frame edge 3-8 rear ends Chair back limited block 3-5 is rotatably connected to respectively, the spacing edge-cut of arc is provided with chair back limited block 3-5, each under vertical frame side End outside is respectively equipped with the positive stop for sliding and being caught in respective side chair back limited block 3-5 in spacing edge-cut;
As shown in figure 4, leg mechanism 1-4 includes a pair of horizontally disposed along the longitudinal direction and big leg platform 4- symmetrically 9th, a pair of hip joint connectors 4-1, two hip joint connector 4-1 are separately mounted to connection frame 3-9 tops in tri-state governor motion 1-3 Left and right end on front side of portion frame side, two big leg platform 4-9 correspond parallel and close to side frame edge 3- in tri-state governor motion 1-3 Horizontal connection has cushion 4-2 respectively inwards by 8, each big leg platform 4-9, and safety belt 4-10, two thighs are respectively equipped with cushion 4-2 Platform 4-9 rear ends are corresponded and are hinged on hip joint connector 4-1, and two big leg platform 4-9 front ends correspond is closed by knee Section connector 4-3 is rotatably connected to the leg support bar 4-4 extended downwardly, each leg support bar 4-4 lower ends company of rotation respectively Pedal 4-11 is connected to, is respectively fixed with the 4-7 of push-rod electric machine three on the outside of each big leg platform 4-9, each 4-7's of push-rod electric machine three pushes away Bar is hinged on corresponding hip joint connector 4-1 backward by hip joint connecting rod 4-8 levels respectively, each big leg platform 4- 9 bottoms are respectively fixed with the 4-6 of push-rod electric machine four, and each 4-6 of push-rod electric machine four push rod is horizontal forward respectively to be connected by knee joint Extension bar 4-5 and the knee joint connector 4-3 of respective side are hinged;
As shown in figure 5, leg auxiliary support mechanism 1-5 includes being individually fixed in the arm-rest frame 1-1-6 of electric wheelchair base two The base upper support bar 1-1-1 of top bottom surface, each base upper support bar 1-1-1 bottom surfaces are rotatablely equipped with screw mandrel 5- respectively 5, screw mandrel 5-5 central shaft are set along anterior-posterior horizontal direction, are slidably fitted with screw mandrel 5-5 and are formed feed screw nut with screw mandrel 5-5 Secondary support slipper 5-6, each support slipper 5-6 bottom surfaces are horizontal-extending respectively inwards and are supported on respective side leg mechanism 1-4 In big leg platform 4-9 bottoms, screw mandrel 5-5 front ends are installed with output end bevel gear 5-4, each base upper support bar 1-1- 1 front end outer side is connected to pinion stand, and pinion stand medial and lateral co-rotation is provided with gear, the tooth wherein on the inside of pinion stand Take turns and engaged for input bevel gear 5-3, input bevel gear 5-3 and output end bevel gear 5-4 transmission, the gear on the outside of pinion stand For roller gear 5-2, each side frame edge front end and the rotating shaft of rotation connection seat 1-1-7 rotation connections in tri-state governor motion 1-3 Outer end is installed with sector gear 5-1 respectively, and sector gear 5-1 engages with roller gear 5-2 transmissions on pinion stand.
As shown in Fig. 2 chair back governor motion 1-2 includes standing the housing 2-10 to setting, the vertical frame sides one of housing 2-10 two One corresponds on two vertical frame side leading flanks in tri-state governor motion 1-3 seat back frame 3-1, two vertical frames of housing 2-10 Centre position horizontal connection has motor platform 2-11 between side, distinguishes between the vertical frame side of housing two of motor platform 2-11 upper and lowers Horizontally disposed to have lifting support frame 2-5, the left and right end in housing 2-10 top frames side downside is rotatablely equipped with ball screw respectively, outside The ball screw of frame 2-10 top frames side installation is vertically extending to motor platform 2-11 tops respectively, above motor platform 2-11 Lifting support frame 2-5 both ends be slidably mounted on by tapped through hole on the ball screw of respective side form feed screw nut respectively Pair, central shaft is rotatablely equipped between the two vertical frame side of housing between ball screw lower end and motor platform 2-11 along left and right The left and right end of horizontally arranged rotating shaft 2-12, rotating shaft 2-12 passes through bevel gear mechanism 2-7 and the ball screw of respective side respectively Lower end is connected, and is provided with the 2-4 of stepper motor one on motor platform 2-11, the 2-4 of stepper motor one passes through worm and gear and rotating shaft 2-12 is connected, be rotatablely equipped with rear side of the lifting support frame 2-5 of top central shaft along left and right horizontal direction sets it is double instead The 2-15 of stepper motor two, and the 2-15 of stepper motor two are provided with to screw rod 2-14, the lifting support frame 2-5 tops of top to spiral Screw rod 2-14 is connected by double reverse acting spirals on rear side of worm and gear 2-8 and top lifting support frame 2-5, the liter of top Descending branch support 2-5 left and right sides also distinguish slip cap and adjusting slider 2-2 are housed, and adjusting slider 2-2 leading flanks are connected with support jointly Plate 2-3, and multiple adjusting slider 2-2 are respectively by double reverse acting spirals on rear side of tapped through hole and the lifting support of top to screw rod 2-14 forms feed screw nut pair;The left and right end in motor platform 2-11 bottom surfaces is also rotatablely equipped with the vertically arranged ball of central shaft respectively Screw mandrel 2-9, the lifting support frame both ends below motor platform 2-11 are slidably mounted on motor platform 2- by tapped through hole respectively Feed screw nut pair is formed on the ball screw 2-9 of 11 bottom surface respective sides, motor platform 2-11 is provided with the 2-16 of stepper motor three, stepping The 2-16 of motor three is connected by one of ball screw upper end below bevel gear mechanism and motor platform 2-11, housing 2-10 Rotating shaft 2-13 is rotatablely equipped between two vertical frame sides lower end, the ball screw 2-9 lower ends of motor platform 2-11 connections pass through respectively Bevel gear mechanism and the rotating shaft 2-13 of housing 2-10 lower ends are connected, and the lifting support frame left and right side of lower section also slides respectively Adjusting slider is set with, adjusting slider leading flank is also connected with supporting plate jointly.
The chair back governor motion of the present invention drives two lifting support frame 2-5 to rise or fall by ball screw 2-9, changes Chair back angularity, longitudinally adjust is realized, lifting support frame 2-5 up is provided with double reverse acting spirals to screw rod 2-14, stepping The 2-15 of motor two makes double reverse acting spirals rotate screw rod 2-14 by worm and gear 2-8 deceleration transmissions, so as to drive the liter of top The sliding 2-2 blocks of four above descending branch support 2-5 regulations are opposite or mutually from realizing lateral adjustments.
In leg mechanism of the present invention, occupant is seated on the cushion on big leg platform, when carrying out leg exercise, by push-rod electric machine Three 4-7 are pulled back push rod, and on hip joint connector 4-1, hip joint connector 4-1 is produced one pulling force of effect to big leg platform 4-9 A raw reaction force, reaction force drive big leg platform 4-9 liftings, on the contrary then big leg platform 4-9 by hip joint connecting rod 4-1 Declining, when being pushed away before the 4-6 of push-rod electric machine four, caused thrust promotes leg support bar 4-4 to protract via knee joint connecting rod 4-5, Otherwise leg support bar 4-4 recovery, the 4-7 of the push-rod electric machine three and 4-6 of push-rod electric machine four linkage, realize simulation human body natural's step State.
Link one on bedframe of the present invention is L-shaped at both ends, and recess is corresponding with the leg mechanism under stance, to big Leg platform installation site leaves surplus, does not interfere leg exercise.
Leg support bar 4-4 of the present invention is two-part structure, and two are reserved with screwed hole, two it is intersegmental be bolted, Lower-leg length is adjustable.
Provided with arc in chair back limited block 3-5 in tri-state governor motion bedframe of the present invention on the outside of side frame edge rear end Spacing edge-cut, vertical frame side lower end positive stop is slidably inserted into spacing edge-cut in seat back frame 3-1, and spacing edge-cut limits during sitting posture The position of positive stop processed makes cushion and chair back angle be not less than 90 °, and limit cushion during lying posture is not more than 180 ° with chair back angle, For push-rod electric machine failure when occupant safety provide guarantee.
In the present invention, as shown in figure 1, can tri-state regulation lower limb recovery wheelchair mainly include base, chair back governor motion Tetra- 1-2, tri-state governor motion 1-3, leg mechanism 1-4, leg auxiliary support mechanism 1-5 modules.As shown in fig. 6, base is Electric wheelchair base, for supporting top mechanism and drive and passengers weight, tri-state governor motion 1-3, leg are mounted with base skeleton Auxiliary support mechanism 1-5.Rear side bearing beam, which is installed, is mounted with the 3-4 of push-rod electric machine one, for raising bedframe.
As shown in Fig. 2 chair back governor motion 1-2 includes adjusting slider 2-2, supporting plate 2-3, stepper motor 2-4, lifting branch Support 2-5, bevel gear mechanism 2-7, worm and gear 2-8.Provide chair back soft readjustment function.Two are driven by ball screw 2-9 Individual lifting support frame 2-5 rises or falls, and changes chair back angularity, realizes longitudinally adjust.It is each on two lifting support frame 2-5 There are a double reverse acting spirals to make its rotation, by worm and gear 2-8 deceleration transmissions so as to drive lifting to screw rod, stepper motor Four adjusting slider 2-2 above support frame 2-5 are opposite or mutually from realizing lateral adjustments.
As shown in figure 3, tri-state governor motion 1-3 include seat back frame 3-1, bedframe 3-2, two push-rod electric machine 3-3, 3-4, the chair back limited block 3-5, adjustable handrail 3-6.Tri-state governor motion 1-3 sitting posture states are in Fig. 1, seat back frame 3-1 leads to Cross mounting hole to be connected with bolt with chair back governor motion 1-2, in seat back frame 3-1 positive stops insertion spacing edge-cut 3-5.Bottom It is hinged with side frame edge 3-8 both sides.The 3-4 of push-rod electric machine one and seat back frame 3-1, connection frame 3-9 top frames side 3-7 constitute the chair back Angle adjusting mechanism, adjustable chair-back angle of inclination.When regulation training bed is in horizontality, there is provided the rehabilitation training of prone position, Now the 3-3 of push rod two and chair back limited block 3-5 provides back-supported power;When regulation training bed is in heeling condition, for overcoming The rehabilitation training of postural hypotension;When regulation training bed is in erectility, there is provided gait training, the stances such as training of marking time Rehabilitation training.
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, cushion 4-2, safety belt 4-10.Instruction When practicing, on the corresponding leg mechanism 1-4 of trainer two legs point, the hip of trainer, the hip of SCID Mice and leg mechanism 1-4, SCID Mice corresponds respectively, and the thigh and calf of trainer corresponds with the leg mechanism 1-4 sizes leg mechanism, carries out During leg exercise, pulled back push rod by the 4-7 of push-rod electric machine three, one pulling force of effect is on hip joint connector 4-1, hip joint connection Part 4-1 produces a reaction force to big leg platform 4-9, and reaction force drives big leg platform 4-9 to lift by hip joint connecting rod 4-8 Rise, on the contrary then big leg platform 4-9 declines.When being pushed away before the 4-6 of push-rod electric machine four, caused thrust pushes away via knee joint connecting rod 4-5 Dynamic leg support bar 4-4 extensions, on the contrary leg support bar 4-4 recovery, the 4-6 of the push-rod electric machine four and 4-7 of push-rod electric machine three link, it is real Now simulate human body natural's gait.
As 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 output end.Sector gear 5-1 is symmetrically fixed on by bolt on the outside of bedframe, tooth Train is matched.Roller gear 5-2 and input bevel gear 5-3 is fixed on same connecting rod, and connecting rod is pacified through base support bar Assembling platform front end mounting hole, input bevel gear 5-3 are located at inner side, and roller gear 5-2 is located at outside.Inner side input bevel gear 5-3 and output end bevel gear 5-4 coordinates, and output end bevel gear 5-4 is fixed on screw mandrel 5-5 one end.Screw mandrel 5-5 is installed on base Portion support bar 1-1-1.Sliding block is located at below big leg platform 4-9 during sitting posture provides support for trainer.When being adjusted to stance and bottom The connected input end-toothed disc of seat frame drives roller gear 5-2 --- and input bevel gear 5-3 is secondary to be rotated, output end bevel gear 5- 4 drive screw mandrel 5-5 motions therewith, and screw mandrel 5-5 is rotated, and drives the support slipper 5-6 coordinated with it to move backward.
Be illustrated in figure 8 it is described can tri-state regulation the signal of lower limb recovery wheelchair lying posture.When switching to lying posture by sitting posture, push away Bar 1 is pulled back push rod, by length adjustment chair back inclination angle of pulling back, meanwhile, leg mechanism 1-4 push rods 2 promote shank 4-4 extensions, extremely Lying posture is completed at 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 cut Lying posture is changed to, when switching to stance by lying posture, the 3-4 of push-rod electric machine one promotes gravity center of human body to rise up to upright, with bedframe The fluted disc that 3-2 rises drives gear wheel-train to move, and the output end bevel gear 5-4 in train drives screw mandrel 5-5 to rotate, screw mandrel 5-5 Rotation drive support slipper 5-6 after move, be easy to upright leg mechanism 1-4 to move.While upright leg training is carried out, Moved by the controller controling wheelchair in adjustable handrail, simulate real walking scene.
It is described above, it is only the embodiment in the present invention, but protection scope of the present invention is not limited thereto, and is appointed What be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the conversion or replacement expected, should all cover Within the scope of invention, therefore, protection scope of the present invention should be defined by the protection domain of claims.

Claims (7)

1. can tri-state regulation lower limb recovery wheelchair, including base, the base is electric wheelchair base, on electric wheelchair base Left and right side has arm-rest frame respectively, it is characterised in that:Also include tri-state governor motion, leg mechanism, leg Auxiliary support machine Structure, wherein:
The electric wheelchair base left and right side arm-rest frame top nose is respectively equipped with rotation connection seat;
The tri-state governor motion includes being horizontally disposed with along the longitudinal direction for a pair and symmetrical side frame edge, stands to being arranged on two Connection frame between side frame edge posterior medial, two side frame edges one-to-one corresponding are parallel to be placed in electric wheelchair base left and right side handrail Top of the trellis, each side frame edge front end are rotatablely connected by rotating shaft with rotation connection seat at the top of corresponding arm-rest frame respectively, the company Its top frame side of frame is connect to be connected between two side frame edge rear insides and be molded as one, by connection arch frame side, two Side frame edge forms bedframe, and the link one extended downwardly, the electric wheelchair are also associated between two side frame edges inner sides Push-rod electric machine one is hinged with base, the push rod of push-rod electric machine one is be hinged with link one upwards, in addition to by a pair of vertical frames The seat back frame that side is formed, two vertical frame side lower ends correspond and are hinged with side frame edge rear end, pacify between two vertical frame sides front sides It is horizontal forward respectively on the outside of two vertical frame sides to be connected with adjustable handrail equipped with chair back governor motion, on rear side of two vertical frame sides between The link two to extend back is connected with, the connection frame bottom frame side is hinged with push-rod electric machine two, the push rod of push-rod electric machine two It is be hinged with link two upwards, chair back limited block is rotatably connected to respectively on the outside of each side frame edge rear end, is set in chair back limited block There is the spacing edge-cut of arc, each vertical frame side lower end outside is respectively equipped with slip and is caught in stopper slot in respective side chair back limited block Intraoral positive stop;
The leg mechanism includes a pair horizontally disposed along the longitudinal direction and big leg platform symmetrically, a pair of hip joints connections Part, two hip joint connectors are separately mounted to connect left and right end, two big leg platforms on front side of arch frame side in tri-state governor motion Correspond parallel and close to side frame edge in tri-state governor motion, horizontal connection has cushion to each big leg platform respectively inwards, Safety belt is respectively equipped with cushion, two big leg platform rear ends, which correspond, to be hinged on hip joint connector, before two big leg platforms End corresponds the leg support bar for being rotatably connected to and extending downwardly by knee joint connector, each leg support bar lower end point Pedal is not rotatably connected to, push-rod electric machine three, the push rod point of each push-rod electric machine three are respectively fixed with the outside of each big leg platform It is not hinged on backward on corresponding hip joint connector by hip joint connecting rod level, each thigh mesa base is fixed respectively There is a push-rod electric machine four, the push rod of each push-rod electric machine four horizontal forward knee joint by knee joint connecting rod and respective side respectively Connector is hinged;
The leg auxiliary support mechanism includes being individually fixed in the base top of bottom surface at the top of the arm-rest frame of electric wheelchair base two Support bar, each base upper support bar bottom surface are rotatablely equipped with screw mandrel respectively, and the central shaft of the screw mandrel is along anterior-posterior horizontal side To setting, be slidably fitted with screw mandrel with screw mandrel form feed screw nut pair support slipper, each support slipper bottom surface respectively to Interior horizontal-extending and be supported on thigh mesa base in respective side leg mechanism, the screw mandrel front end is installed with output end cone Gear, each base upper support bar front end outer side are connected to pinion stand, and co-rotation installation in pinion stand medial and lateral is with teeth Wheel, the gear wherein on the inside of pinion stand is input bevel gear, and the input bevel gear engages with output end Bevel Gear Transmission, Gear on the outside of pinion stand is roller gear, and each side frame edge front end rotates with rotation connection seat and connected in the tri-state governor motion The rotating shaft outer end connect is installed with sector gear respectively, and the sector gear engages with column gear transmission on pinion stand.
2. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that:The chair back governor motion Including founding the housing to setting, it is vertical that the vertical frame side of housing two corresponds in the seat back frame of tri-state governor motion two On the leading flank of frame side, personal harness is installed on seat back frame both sides, centre position horizontal connection between the vertical frame side of housing two There is motor platform, being horizontally disposed with respectively between the vertical frame side of housing two of motor platform upper and lower has lifting support frame, the housing top Left and right end is rotatablely equipped with ball screw respectively on the downside of portion frame side, and the ball screw difference of housing top frame side installation is vertically Extend to above motor platform, the lifting support frame both ends above motor platform are slidably mounted on correspondingly by tapped through hole respectively Feed screw nut pair is formed on the ball screw of side, between the vertical frame side of the housing two between ball screw lower end and motor platform Be rotatablely equipped with the rotating shaft that central shaft is set along left and right horizontal direction, the left and right end of rotating shaft respectively by bevel gear mechanism with it is corresponding The ball screw lower end of side is connected, and is provided with stepper motor one in the motor platform, stepper motor one passes through worm and gear Be connected with rotating shaft transmission, be rotatablely equipped with rear side of the lifting support frame of top central shaft is set along left and right horizontal direction it is double reverse Spiral is provided with stepper motor two to screw rod at the top of the lifting support frame of top, and stepper motor two by worm and gear with it is upper Double reverse acting spirals on rear side of square lifting support frame connect to screw drive, and the lifting support frame left and right side of top also slides respectively Adjusting slider is set with, adjusting slider leading flank is connected with supporting plate jointly, and multiple adjusting sliders pass through tapped through hole respectively Feed screw nut pair is formed to screw rod with double reverse acting spirals on rear side of the lifting support of top;The left and right end in motor platform bottom surface is also The vertically arranged ball screw of central shaft is rotatablely equipped with respectively, and the lifting support frame both ends below motor platform pass through respectively Tapped through hole, which is slidably mounted on the ball screw of motor platform bottom surface respective side, forms feed screw nut pair, and the motor platform is provided with Stepper motor three, the stepper motor three are connected by one of ball screw upper end transmission below bevel gear mechanism and motor platform Connect, rotating shaft is rotatablely equipped between the lower end of the vertical frame side of housing two, the ball screw lower end of motor platform connection is respectively by boring tooth Wheel mechanism is connected with the rotating shaft transmission of housing lower end, and the lifting support frame left and right side of lower section also distinguishes slip cap equipped with regulation cunning Block, adjusting slider leading flank are also connected with supporting plate jointly.
3. it is according to claim 2 can tri-state regulation lower limb recovery wheelchair, it is characterised in that:Described chair back regulation machine Structure drives two lifting support frames to rise or fall by ball screw, changes chair back angularity, realizes longitudinally adjust, up Lifting support frame is provided with double reverse acting spirals makes double reverse acting spirals pair to screw rod, stepper motor two by worm and gear deceleration transmission Screw rod rotates, so as to drive four adjusting sliders above the lifting support frame of top opposite or mutually from realizing lateral adjustments.
4. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that:Described leg mechanism In, occupant is seated on the cushion on big leg platform, when carrying out leg exercise, is pulled back push rod by push-rod electric machine three, acts on a drawing For power on hip joint connector, hip joint connector produces a reaction force to big leg platform, and reaction force is connected by hip joint Extension bar drives big leg platform lifting, and on the contrary then big leg platform declines, and when being pushed away before push-rod electric machine four, caused thrust is via knee joint Connecting rod promotes leg support bar extension, otherwise leg support bar reclaims, and the linkage of push-rod electric machine three and push-rod electric machine four, realizes Simulate human body natural's gait.
5. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that:On described bedframe Link one it is L-shaped at both ends, recess is corresponding with the leg mechanism under stance, and surplus is left to thigh stage+module position, Do not interfere leg exercise.
6. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that:The leg support bar is Two-part structure, two are reserved with screwed hole, two it is intersegmental be bolted, lower-leg length is adjustable.
7. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that:The tri-state governor motion The spacing edge-cut of arc is provided with chair back limited block in bedframe on the outside of side frame edge rear end, in seat back frame under vertical frame side End positive stop is slidably inserted into spacing edge-cut, and the position of spacing edge-cut limitation positive stop makes cushion and the chair back angle during sitting posture Cushion is limited not less than 90 °, during lying posture and is not more than 180 ° with chair back angle, for push-rod electric machine failure when occupant safety provide Ensure.
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