CN105997432B - A kind of medical treatment device of aiding upright - Google Patents

A kind of medical treatment device of aiding upright Download PDF

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Publication number
CN105997432B
CN105997432B CN201610459691.0A CN201610459691A CN105997432B CN 105997432 B CN105997432 B CN 105997432B CN 201610459691 A CN201610459691 A CN 201610459691A CN 105997432 B CN105997432 B CN 105997432B
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CN
China
Prior art keywords
follower link
crank
medical treatment
rocker
bearing frame
Prior art date
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Active
Application number
CN201610459691.0A
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Chinese (zh)
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CN105997432A (en
Inventor
张萍
张良
杨矫云
金三人
张怡
汪睿
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Hefei University of Technology
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Hefei University of Technology
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Priority to CN201610459691.0A priority Critical patent/CN105997432B/en
Publication of CN105997432A publication Critical patent/CN105997432A/en
Priority claimed from US15/627,256 external-priority patent/US10085906B2/en
Application granted granted Critical
Publication of CN105997432B publication Critical patent/CN105997432B/en
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Classifications

    • 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
    • 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
    • A61G5/14Standing-up or sitting-down aids
    • 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
    • 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
    • A61G2200/00Information related to the kind of patient or his position
    • A61G2200/30Specific positions of the patient
    • A61G2200/34Specific positions of the patient sitting
    • 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
    • A61G2200/00Information related to the kind of patient or his position
    • A61G2200/30Specific positions of the patient
    • A61G2200/36Specific positions of the patient standing
    • 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
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • 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

A kind of medical treatment device of aiding upright, the medical treatment device of the aiding upright have the first crank and rocker mechanism for being distributed in backrest at least side, and first crank and rocker mechanism includes the first crank, triangle load-bearing frame and the first rocking bar;Angle be connected in the reciprocatory movement of the first crank handle turns load-bearing frame generally upwards or generally downward with the first crank and between the second follower link being contained in the triangle load-bearing frame and first crank is consistently less than 90 °, it is always layback state so as to cause the backrest being connected in the second follower link, the support force of diagonal upward direction can be additionally provided for human body, for user to be assisted to stand or completed to sit training.

Description

A kind of medical treatment device of aiding upright
Technical field
The present invention relates to a kind of rehabilitation mechanical device more particularly to a kind of medical treatment devices of aiding upright.
Background technology
Investigation shows that the whole world about generates 50,000,000 paralytics every year, only will increase one newly within Chinese every 21 seconds A paralytic.According to drug in some provinces part population investigation in 2012, China's headstroke illness rate was about 1.82%, and apoplexy is suffered from The possibility that person has 85% needs Physical rehabilitation to treat.In addition, due to living habit etc., headstroke morbidity is tending to year Lightization, 40-50 Sui crowd have been increasingly becoming principal pathogenetic crowd.Research of the whole world about apoplexy, always constantly into In row, these researchs are intended to go the fitness for restoring patient's script with maximum possibility.Although traditional rehabilitation service energy Certain effect is enough played, but because its is expensive, the high dependency to human resources, be not the optimal selection of people. Doctor can generally suggest that patient carries out the rehabilitation training of two hours daily, however, Most patients are only capable of obtaining at present weekly two The training of hour, far can not also meet the requirement of rehabilitation training.
The medical rehabilitation device in China, gets rapid development nearly ten years.In addition to original Industry Foundation, some enterprises have taken Joint form improves product quality and increases kind.As a whole, the medical rehabilitation device industry in China is weaker, in mechanism Complexity in flexibility with foreign countries compared certain gap, but China has developed technical indicator also according to self-character and connects The rehabilitation training system of nearly Foreign Advanced Lerel.It should say that the country has had rehabilitation wheelchair basic fundamental and research strength, it is first-class Universities and colleges and research unit have had been engaged on the research in terms of rehabilitation project for many years.As Tsinghua University take the lead in having developed at home it is horizontal Lower limb rehabilitation training system employs virtual reality technology in this achievement.In addition, Shanghai Communications University, Xi'an traffic are big The colleges and universities such as, Harbin Engineering University, Guangdong University of Technology have also carried out relevant research.Domestic and international modern age new product is analyzed, It is mainly characterized by:(1) traditional product is combined with computer technology, forms electromechanical integration or manual intelligent product.(2) By biomaterials art for human body recovery, man-machine integration product is formed.(3) according to the plasticity of bodily fuctions, design one A little devices, the recovery and regeneration of promotion functions.
Chinese patent (notification number CN201005940Y) discloses a kind of Intelligent control lower limb recovering exerciser.The practicality It is novel to be related to a kind of Intelligent control lower limb recovering exerciser, in particular to a kind of principle rehabilitation human body lower limbs using passive exercise Intelligent control legs recovery unit.The legs recovery unit includes the lower extremity movement component being mounted on wheelchair, control It makes the intelligent control unit of the lower extremity movement component operation and the supply unit of power is provided, which includes using In the timing controller for controlling the lower extremity movement component movement time and for adjusting the lower extremity movement component movement rate Speed control.The utility model has and can carry out rehabilitation to patient in any time of needs, and also be able to memory and suffer from The length for the time that person passively treats simultaneously sets the legs recovery unit in the treatment time and control therapeutic process to move The function of the speed of rate, while the legs recovery unit work noise is small, it is safe and reliable.
The Intelligent control lower limb recovering exerciser that the patent provides only is the function of realizing lower limb passive exercise, can only conduct A kind of simple mechanical rehabilitation exercise equipment.The equipment is only to complete user's lower limb exercise, does not have auxiliary user The function of standing, this power-assisted instrument for being based only on mechanical training mode can not realize the theory of human-computer interaction well, Can not user's lower limb rehabilitation process be understood by the information exchange with user, to adjust rehabilitation programme in time.It is right In the user with different degrees of disease, traditional rehabilitation exercise device is just difficult to be coordinated, and user trains daily Number and intensity vary with each individual, the process of rehabilitation is also constantly changing, and traditional rehabilitation exercise instrument obviously cannot expire Sufficient demand.
Invention content
For the deficiency of the prior art, the present invention provides a kind of medical treatment devices of aiding upright, which is characterized in that described The medical treatment device of aiding upright has the first crank and rocker mechanism for being distributed in backrest at least side, the first crank rocker machine Structure includes the first crank, triangle load-bearing frame and the first rocking bar;
In the reciprocatory movement of the first crank handle turns load-bearing frame generally upwards or generally downward with the first crank Angle between the second follower link that is connected and being contained in the triangle load-bearing frame and first crank is always Less than 90 °, it is always layback state so as to cause the backrest being connected in the second follower link, can be additionally provided for human body The support force of diagonal upward direction.
According to a preferred embodiment, first crank and rocker mechanism includes:First crank, by the first driven company Bar, the second follower link and being risen for Auxiliary support user for third follower link composition sit trained triangle load-bearing frame And first rocking bar;
The triangle load-bearing frame is acute triangle structure, wherein the folder of the first follower link and the second follower link Angle is 40 °;The angle of wherein the first follower link and third follower link is 60 °;Second follower link and third follower link Angle be 80 °.
According to a preferred embodiment, in first crank and rocker mechanism, the length of the first follower link is big In the length of the second follower link, the length of the second follower link is more than the length of the first rocking bar, and the length of the first rocking bar is more than The length of third follower link, the length of third follower link are more than the length of the first crank.
According to a preferred embodiment, the backrest is parallel to second follower link, and with described second from Dynamic connecting rod rigid connection, the backrest and two tie points that second follower link is connect are close to second follower link With the connecting pin of third follower link.
According to a preferred embodiment, the backrest both sides are respectively provided with to operate in crank and rocker mechanism mechanism The shoulder belt of pulling force is provided to shoulders of human body in the process, the backrest bottom end also has the waist for providing pulling force to human body waist Band.
According to a preferred embodiment, in the triangle load-bearing frame, described first follower link one end passes through Rigidly connected mode is connected with second follower link, and the first follower link other end passes through rigidly connected mode It is connected with third follower link;The second follower link other end passes through rigidly connected mode and third follower link phase Even.
According to a preferred embodiment, the triangle load-bearing frame is in the first follower link and the second follower link Rigid connection at be connected by hinged connection mode with the first crank;The triangle is into vertical frame in the first follower link It is connected at rigid connection with third follower link by hinged connection mode with the first rocking bar.
According to a preferred embodiment, the first crank is also connected with axis in first crank and rocker mechanism, In the first crank pass through axis receive motor provide kinetic energy;First crank using with axis tie point as the center of circle, with the first crank Length drives crank and rocker mechanism operating for radius;First crank under the drive of axis can be achieved around axis counterclockwise or It rotates clockwise, is moved upwardly or downwardly so as to fulfill entire load-bearing frame is driven.
According to a preferred embodiment, the medical treatment device of the aiding upright further includes to provide crank rocker machine The motor of structure power and the transmission mechanism for being used to implement motor kinetic energy transfer function;
The transmission mechanism includes:Level-one chain-drive mechanism, long axis, two level chain-drive mechanism and axis.
According to a preferred embodiment, the medical treatment device of the aiding upright can mutually be tied with data processing cloud terminal The Intelligent treatment for realizing data is closed, the Intelligent treatment of the data includes:Health is carried out using the expert knowledge library in cloud terminal Proposed recommendations are practiced in refreshment;Rehabilitation situation based on user completes the real-time adjustment of rehabilitation training plans;Utilize machine learning etc. Method carries out personalized rise and sits training update.
Medical treatment device provided by the invention at least has following advantage:
(1) in the first crank handle turns load-bearing frame rotation process, between the second follower link and first crank Angle is consistently less than 90 °.Its role is to be consistently less than 90 ° when the angle between the second follower link and first crank When, the second follower link is then the effect of a layback relative to its tie point with the first crank, so that being connected to the Backrest in two follower links is also in layback state in crank and rocker mechanism motion process.
So that user, in seat training process has been realized, backrest then not merely relies on shoulder belt and waistband pair thereon Human body provides upward pulling force, while the layback structure of backrest can also generate support force to human body, avoid and trained in a seat In journey because simple shoulder belt or waistband pulling force to human body caused by it is uncomfortable.
(2) load-bearing frame is connected to the second driven company in load-bearing frame during human body is driven to carry out sitting training The movement locus of the backrest of bar is obliquely or obliquely so that movement locus of the human body during standing or sitting down meets people Body engineering science motion track.Backrest not simply moves up and down, so as to be preferably that human body recovery sits trained carry For helping.
(3) present invention counts training data and assesses rehabilitation object during rehabilitation object carries out rehabilitation training Limb rehabilitating situation provides training suggestion and rehabilitation information to rehabilitation object, correct rehabilitation is actively carried out convenient for rehabilitation object Training.
Description of the drawings
Fig. 1 is the structure diagram of the present invention;
Fig. 2 is the crank and rocker mechanism kinematic sketch of the present invention;
Fig. 3 is the rack construction schematic diagram of the present invention;
Fig. 4 is the axis assembling schematic diagram of the present invention;With
Fig. 5 is the seat schematic diagram of the present invention.
Reference numerals list
1:Crank 1a:First crank 2:Follower link
2a:First follower link 2b:Second follower link 2c:Third follower link
3:Rocking bar 3a:First rocking bar 4:Backrest
5:Rack 6:Seat 7:Motor
8:Level-one chain-drive mechanism 9:Long axis 10:Two level chain-drive mechanism
11:Vertical tube 12:Transverse tube 13:Vertical shaft bearing
14:Motor mounting plate 15:Motor mount 16:Diamond shape bearing block
17:Pedal 18:Axis 19:Two level chain drive low speed wheel
20:Back cushion 21:Clamp system 22:Seat support
23:Cushion
Specific embodiment
It is described in detail with reference to the accompanying drawings and examples.
Fig. 1 shows the structure diagram of medical treatment device of the present invention.Fig. 2 is the crank and rocker mechanism kinematic sketch of the present invention. As depicted in figs. 1 and 2, medical treatment device of the invention includes being used to implement the crank and rocker mechanism of support human body seat training, use In provide back-supported power backrest 4, be used to support the medical treatment device rack 5, be used to implement human body sitting seat 6, For providing the motor 7 of crank and rocker mechanism power, the level-one chain-drive mechanism 8 for being used to implement 7 kinetic energy transfer function of motor, using Long axis 9 in the kinetic energy for receiving and transmitting the transmission of level-one chain-drive mechanism 8, the two-stage chain for transmitting the kinetic energy of the reception of long axis 9 Transmission mechanism 10.The crank and rocker mechanism is made of crank 1, follower link 2 and rocking bar 3.The crank thoughts mechanism is divided into Two sets, respectively positioned at rack both sides.The crank 1 includes the second crank and the first crank 1a that are distributed in stent both sides.It is described Follower link 2 includes being distributed in the first follower link 2a of rack side, the second follower link 2b, third follower link 2c and divide It is distributed in the 4th follower link, the 5th follower link, the 6th follower link of rack opposite side.The rocking bar 3 includes being distributed in machine Second rocking bar of frame both sides and the first rocking bar 3a.Wherein, it Fig. 2 shows being the first crank and rocker mechanism, actively has an effect including rising The first crank 1a and drive based on the first crank 1a and the first follower link 2a, the second follower link 2b that move and Third follower link 2c.First crank and rocker mechanism further includes the first rocking bar 3a.
Fig. 3 is the rack construction schematic diagram of the present invention.Stent 5 includes being used to support the vertical tube 11 of seat 6, for maintaining machine The transverse tube 12 of 5 stability of frame, for fix the vertical shaft bearing 13 of long axis 9, the motor mounting plate 14 for being used to support motor 7, use In the installation motor mount 15 of motor 7, diamond shape bearing block 16 and pedal 17 for placing human foot.
Fig. 4 shows the axis assembling schematic diagram of the present invention, including:It is used to implement the dynamic of two level chain drive low speed wheel 19 Power passes to the axis 18 of crank 1, the two level chain drive low speed wheel 19 for receiving the power of the transmission of two level chain-drive mechanism 10.
Fig. 5 shows the armchair structure of the present invention, and seat 6 includes back cushion 20, clamp system 21, seat support 22, cushion 23, clamp system 21 coordinates with the vertical tube 11 in rack 5, tightens bolt for fixing seat 6, unclamps bolt and be used for adjusting seat 6 height;Seat support 22 is equipped with two director's slots, for fixing cushion 23 and adjusting the front and back position of cushion 23.
According to preferred embodiment, crank 1 is connected with axis 18.Wherein crank 1 receives motor 7 by axis 18 and provides Kinetic energy.Crank 1 with 18 tie point of axis, as the center of circle, crank and rocker mechanism operating is driven by radius of 1 length of crank.It is driven Connecting rod 2 is connected with crank 1.Follower link 2 receives the kinetic energy that crank 1 provides, and the backrest 4 being connected in follower link 2 is driven to transport Dynamic, so as to realize that support human body is stood by the movement of backrest 4, auxiliary human body sit the function of training.It is excellent according to one The embodiment of choosing, 4 both sides of backrest are respectively provided with the shoulder for providing pulling force to shoulders of human body in mechanism operation process Band, 4 bottom end of backrest also have the waistband for providing pulling force to human body waist.Rocking bar 3 is connected with follower link 4.Rocking bar 3 For follower link 2 to be assisted to move, realize that backrest 4 can be to meet the movement of ergonomics track, so as to fulfill support human body station Vertical effect.Rocking bar 3 is also connected with rack 5 simultaneously, for fixed crank rocker device and rack, realizes crank and rocker mechanism Stable operation and sustainable operating.Seat 6 is connected with rack 5, is fixed on the vertical tube 11 in rack 5, and user can be according to certainly Body comfort level adjusts height of seat in the vertical direction along vertical tube 11.Motor 7 is installed on the motor mount 15 in rack 5 On.Motor mount 15 is used to implement motor 7 and is fixed on motor mounting plate 14.Motor 7 can be realized just according to user's demand Turn or invert.Meanwhile motor mount 15 has the function of damper, ensures entire medical treatment dress while for fixing motor 7 Putting has the characteristics of vibrations are small, and human body experience comfort level is high.Motor 7 is connected by level-one chain-drive mechanism 8 with long axis 9.Motor 7 Long axis 9 is driven to rotate by level-one chain-drive mechanism 8, realize that the kinetic energy of motor 7 is transferred to long axis 9.Long axis 9 is by being located at long axis The runner at 9 both ends is connected with two level chain-drive mechanism 10.Long axis 9 is by two level chain-drive mechanism 10 and two level chain drive low speed wheel 19 are connected.Long axis 9 is transferred to two level chain drive low speed by the kinetic energy that motor 7 is transferred to long axis 9 by two level chain-drive mechanism 10 Wheel 19.19 noose of two level chain drive low speed wheel drives axis 18 on axis 18 so as to fulfill by two level chain drive low speed wheel 19 Rotation, and kinetic energy is transferred to axis 18.
According to preferred embodiment, stent 5 includes being used to support the vertical tube 11 of seat 6, for maintaining 5 stability of rack Transverse tube 12, for fixing the vertical shaft bearing 13 of long axis 9, the motor mounting plate 14 for being used to support motor 7, for installing motor 7 motor mount 15, diamond shape bearing block 16 and the pedal 17 for placing human foot.Wherein described 11 one end of vertical tube and machine The top of frame 5 is connected, and one end is connected with the transverse tube 12.It is supported on both sides that rack 5 by screw is fixed in 12 both ends of transverse tube Guan Shang.There are two the vertical shaft bearing 13 is common, respectively positioned at the both sides of rack 5, the support tube of rack 5 is fixed on through screw On.The vertical shaft bearing 13 is used to support long axis 9.9 both ends of long axis are connected respectively with vertical shaft bearing 13, and can be in vertical shaft It is freely rotated in bearing 13.The motor mounting plate 14 is fixed on rack rear end bottom, and 14 both ends of motor mounting plate are through spiral shell Nail is fixed in rack 5.The motor mounting plate 14 is rectangular plate, and there is rectangle opening in plank center, and trepanning length is about Distance value for 5 left and right sides supporting rack of rack.The motor mount 15 is connected by screw with motor mounting plate 14.It is described Motor mount 15 can be moved left and right according to the size of motor on motor mounting plate 14, to facilitate the installation of motor, and Ensure that the center of gravity of motor 7 is located at the center of motor mounting plate 14 simultaneously, avoid that this medical treatment is caused to fill due to the centre-of gravity shift of motor 7 The centre-of gravity shift put, so as to avoid the accidents such as generating means rollover in use.There are two the diamond shape bearing block 16 is common, It is located at the left and right sides of rack 5 respectively, is fixed on through screw on the support tube of rack 5.The diamond shape bearing block 16 is used to support Axis 18.18 both ends of axis are connected respectively with diamond shape bearing block 16, and can be freely rotated in Upright Diamond bearing block 16.
According to preferred embodiment, axis assembling process of the invention includes:It is used to implement two level chain drive is low The power of speed wheel 19 passes to the axis 18 of crank 1, is passed for receiving the two-stage chain of the power of the transmission of two level chain-drive mechanism 10 Dynamic low speed wheel 19.As shown in the figure, it is used to carry for axis 18 on the support tube that diamond shape bearing block 16 is fixed on by screw in rack 5 For support force.Axis 18 can be freely rotated through diamond shape bearing block 16 in Upright Diamond bearing block 16.18 one end of axis with Two level chain drive low speed wheel 19 is connected, and one end is connected with crank 1.In being driven by the rotation of the two level chain drive low speed wheel 19 Axis 18 rotates that the crank 1 is driven to rotate.
According to preferred embodiment, seat 6 includes back cushion 20, clamp system 21, seat in armchair structure of the invention Stent 22, cushion 23, clamp system 21 coordinate with the vertical tube 11 in rack 5, tighten bolt for fixing seat 6, unclamp bolt For adjusting the height of seat 6;Seat support 22 is equipped with two director's slots, before fixing cushion 23 and adjustment cushion 23 Position afterwards.
Embodiment 1
With reference to Fig. 2, it is located in 4 both sides of backrest for the first crank and rocker mechanism by the present invention, illustrates crank and rocker mechanism Motion process.First crank and rocker mechanism has included the first crank 1a actively having an effect and based on the first crank 1a Drive and the first follower link 2a, the second follower link 2b and the third follower link 2c that move.First crank rocker Mechanism further includes the first rocking bar 3a.
In the crank and rocker mechanism, the length of the first follower link 2a is more than the length of the second follower link 2b.The The length of two follower link 2b is more than the length of the first rocking bar 3a.The length of first rocking bar 3a is more than the length of third follower link 2c Degree.The length of third follower link 2c is more than the length of the first crank 1a.
The three of the first follower link 2a, the second follower link 2b and third follower link 2c composition crank and rocker mechanisms Angular load-bearing frame.The triangle load-bearing frame is used to support the backrest 4 for driving and being connected on the second follower link 2b and moves. The training that sits up is realized so as to fulfill human body is driven.In all polygonized structures, the load-bearing frame of triangle is most rock-steady structure.
The first crank 1a is driven in the reciprocatory movement of load-bearing frame generally upwards or generally downward, with the first song Between the second follower link 2b that is that handle 1a is connected and being contained in the triangle load-bearing frame and the first crank 1a Angle is consistently less than 90 °, is always layback state so as to cause the backrest 4 being connected on the second follower link 2b, being capable of volume The outer support force that diagonal upward direction is provided for human body.
According to a preferred embodiment, the reciprocating motion of the load-bearing frame generally upwards or generally downward is described For load-bearing frame during human body is driven to carry out sitting training, the first crank 1a pushes load-bearing frame to transport obliquely or obliquely It is dynamic, so that being connected to the movement locus of the backrest 4 of the second follower link 2b in load-bearing frame obliquely or obliquely, to make It obtains movement locus of the human body during standing or sitting down and meets ergonomics motion track.
The backrest 4 is parallel to the second follower link 2b, and is rigidly connected with the second follower link 2b, described Backrest 4 and two tie points that the second follower link 2b is connect are close to the second follower link 2b and third follower link The connecting pin of 2c.
In the triangle load-bearing frame, the first follower link 2a is the triangle longest edge.First follower link 2a's Length is more than the second follower link length 2b.The length of first follower link 2a is more than third follower link length 2c.Second from The length of dynamic connecting rod 2b is more than third follower link 2c.
In the triangle load-bearing frame, first follower link 2a one end passes through rigidly connected mode and the second driven company Bar 2b is connected.The first follower link 2a other ends are connected by rigidly connected mode with third follower link 2c.Second is driven Connecting rod 2b one end is connected by rigidly connected mode with the first follower link 2a.The second follower link 2b other ends pass through rigidity The mode of connection is connected with third follower link 2c.Described third follower link 2c one end passes through rigidly connected mode and second Follower link 2b is connected, and the third follower link 2c other ends are connected by rigidly connected mode with the first follower link 2a.
The triangle load-bearing frame passes through hinge at the rigid connection of the first follower link 2a and the second follower link 2b The connection mode connect is connected with the first crank 1a.The triangle is into vertical frame in the first follower link 2a and third follower link It is connected at the rigid connection of 2c by hinged connection mode with the first rocking bar 3a.
The triangle load-bearing frame is acute triangle structure.Wherein the first follower link 2a and the second follower link 2b Angle be 40 °.The angle of wherein the first follower link 2a and third follower link 2c is 60 °.Second follower link 2b and The angle of three follower links is 80 °.
The first crank 1a is also connected with axis 18 in the crank and rocker mechanism.Wherein the first crank 1a is connect by axis 18 Receive the kinetic energy that motor 7 provides.First crank 1a with 18 tie point of axis by radius of the first crank 1a length, as the center of circle, to drive Crank and rocker mechanism operates.The first crank 1a can be achieved counterclockwise or clockwise to turn around axis 18 under the drive of axis 18 It is dynamic.It is moved upwardly or downwardly so as to fulfill entire load-bearing frame is driven.
Wherein in the first crank 1a drives load-bearing frame rotation process, second follower link and first crank Angle between 1a is consistently less than 90 °.Its role is to when the angle beginning between the second follower link and the first crank 1a When being less than 90 ° eventually, the second follower link 2b is then an effect swung back relative to its tie point with the first crank 1a, so as to So that the backrest 4 being connected on the second follower link 2b is also in layback state in crank and rocker mechanism motion process.Also So that user, in seat training process has been realized, backrest 4 then not merely relies on shoulder belt thereon and waistband carries human body For upward pulling force, while the layback structure of backrest 4 can also generate support force to human body, avoid rise sit in training process because Simple shoulder belt or the pulling force of waistband are to uncomfortable caused by human body.Meanwhile the load-bearing frame is driving human body to carry out sitting instruction In experienced process, the movement locus of the backrest 4 of the second follower link 2b in load-bearing frame is connected to obliquely or obliquely, to make It obtains movement locus of the human body during standing or sitting down and meets ergonomics motion track.Backrest 4 is not simple up and down It is mobile, provide help so as to preferably play seat training for human body recovery.
Embodiment 2
Illustrate that apparatus of the present invention are combined the data processing of progress with data processing cloud terminal.Data processing includes three portions Point:First, carry out rehabilitation training plans recommendation using expert knowledge library.Data processing cloud terminal contains data preprocessing module.Number The monitoring data and personal information for the user that Data preprocess module transmits mobile terminal carry out data prediction, will monitor number According to personal information data standard turn to comprising user's height, weight, the basic physiological data at age and comprising user it is every The physical function data of the support force size of secondary process medical treatment device offer of standing up.The expert knowledge library root of data processing cloud terminal According to resuming training the stage residing for the different demarcation user of user's physiological data and physical function data, at the same to it is residing not User with Restoration stage provides different seat training recommendation plans.Wherein, it plays seat drill program and includes single seat instruction Experienced duration, medical treatment device provide support force size, daily needed for has completed to sit the number of training and to play seat every time trained It is spaced duration.Second is that the real-time adjustment of rehabilitation training plans.According to medical treatment device sensing module gathered data, monitoring user is extensive Multiple situation, if user itself persistently occur firmly increases situation, moderate reduction medical treatment device support force, and by medical treatment device Support force data update to user rise sit drill program.Using same method, data processing cloud terminal can play single Sit the data progress of trained duration, the number for having completed to sit training required daily or each interval duration for playing seat training more Newly.Third, sit training update using personalized rise is carried out the methods of machine learning.Data processing cloud terminal has each user Rehabilitation training state, after the rehabilitation training data of large-scale crowd are collected, for the rehabilitation training number of all users According to using machine learning algorithm to crowd's progress cluster analysis, wherein method for measuring similarity is mainly by suffering from used in cluster The variables such as height, weight, age, training burden, the percentage that training is exerted oneself every time of person are calculated.By by similitude Crowd clusters, and is formulated to carry out fine user's individual character rehabilitation training plans.Individual character rehabilitation training plans include single and play seat Trained duration, the size of medical treatment device offer support force, the number for having completed seat training required daily and each seat that rises is trained Interval duration.
Embodiment 3
Illustrate that the medical treatment device of the present invention is combined the drill program for realizing that data processing cloud terminal is recommended with mobile terminal. Mobile terminal can receive the recommendation drill program of the feedback of data processing cloud terminal, and pass through microcontroller according to the feedback data The motor 7 of medical treatment device is controlled, user's single acts the duration for sitting training, medical treatment device provides the big of support force so as to control Small, the required daily number for having completed to sit training and the number of days of each interval time and the stage-training for playing seat training.Make User is during training, and not only whether daily drill program good at managing is performed, and can monitor each mobile terminal Secondary training.After training terminates every time, mobile terminal can send message to data processing cloud terminal, and data processing cloud is whole End will analyze the training data of user and whole scoring provided to the training of today, and mobile terminal returns data processing cloud terminal The result returned is displayed on the screen.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention range and fall into this hair Within bright protection domain.It will be understood by those skilled in the art that description of the invention and its attached drawing are illustrative and are not Form limitations on claims.Protection scope of the present invention is limited by claim and its equivalent.

Claims (10)

1. a kind of medical treatment device of aiding upright, which is characterized in that the medical treatment device of the aiding upright, which has, is distributed in backrest (4) at least the first crank and rocker mechanism of side, first crank and rocker mechanism include the first crank (1a), triangle load Frame and the first rocking bar (3a);
First crank (1a) drive in the reciprocatory movement of load-bearing frame generally upwards or generally downward with the first crank (1a) connected and the second follower link (2b) for being contained in the triangle load-bearing frame and first crank (1a) it Between angle be consistently less than 90 °, be always layback shape so as to cause the backrest (4) being connected in the second follower link (2b) State can additionally provide the support force of diagonal upward direction for human body.
2. medical treatment device as described in claim 1, which is characterized in that first crank and rocker mechanism includes:First crank (1a) is used for Auxiliary support by what the first follower link (2a), the second follower link (2b) and third follower link (2c) formed User, which rises, sits the triangle load-bearing frame of training and the first rocking bar (3a);
The triangle load-bearing frame is acute triangle structure, wherein the first follower link (2a) and the second follower link (2b) Angle be 40 °;Wherein the first follower link (2a) and the angle of third follower link (2c) are 60 °;Second follower link (2b) and the angle of third follower link (2c) are 80 °.
3. medical treatment device as claimed in claim 2, which is characterized in that in first crank and rocker mechanism, first is driven The length of connecting rod (2a) is more than the length of the second follower link (2b), and the length of the second follower link (2b) is more than the first rocking bar The length of (3a), the length of the first rocking bar (3a) are more than the length of third follower link (2c), the length of third follower link (2c) Degree is more than the length of the first crank (1a).
4. medical treatment device as described in claim 1, which is characterized in that the backrest (4) is parallel to second follower link (2b), and be rigidly connected with second follower link (2b), the backrest (4) connect with second follower link (2b) Two tie points are close to the connecting pin of second follower link (2b) and third follower link (2c).
5. medical treatment device as claimed in claim 4, which is characterized in that backrest (4) both sides are respectively provided in crank The shoulder belt of pulling force is provided in rocker device mechanism operation process to shoulders of human body, backrest (4) bottom end also has for people Body waist provides the waistband of pulling force.
6. medical treatment device as claimed in claim 3, which is characterized in that in the triangle load-bearing frame, described first is driven Connecting rod (2a) one end is connected by rigidly connected mode with second follower link (2b), first follower link (2a) The other end is connected by rigidly connected mode with third follower link (2c);Second follower link (2b) other end passes through Rigidly connected mode is connected with third follower link (2c).
7. medical treatment device as claimed in claim 3, which is characterized in that the triangle load-bearing frame is in the first follower link (2a) is connected at the rigid connection of the second follower link (2b) by hinged connection mode with the first crank (1a);Described three Angle forms vertical frame and passes through hinged connection side at the rigid connection of the first follower link (2a) and third follower link (2c) Formula is connected with the first rocking bar (3a).
8. medical treatment device as described in claim 1, which is characterized in that the first crank (1a) in first crank and rocker mechanism Also it is connected with axis (18), wherein the first crank (1a) receives the kinetic energy of motor (7) offer by axis (18);First crank (1a) with axis (18) tie point, as the center of circle, crank and rocker mechanism operating is driven by radius of the first crank (1a) length;Institute State the first crank (1a) under the drive of axis (18) can be achieved around axis (18) counterclockwise or rotate clockwise, so as to fulfill band Entire load-bearing frame is moved to be moved upwardly or downwardly.
9. medical treatment device as described in claim 1, which is characterized in that the medical treatment device of the aiding upright further includes to carry Motor (7) for crank and rocker mechanism power and the transmission mechanism for being used to implement motor (7) kinetic energy transfer function;
The transmission mechanism includes:Level-one chain-drive mechanism (8), long axis (9), two level chain-drive mechanism (10) and axis (18).
10. medical treatment device as described in claim 1, which is characterized in that the medical treatment device of the aiding upright can be with data Processing cloud terminal is combined the Intelligent treatment for realizing data, and the Intelligent treatment of the data includes:Using in the special of cloud terminal Family's knowledge base carries out rehabilitation training plans recommendation;Rehabilitation situation based on user completes the real-time adjustment of rehabilitation training plans; Personalized rise, which is carried out, using machine learning method sits training update.
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CN201810216234.8A CN108309695B (en) 2016-06-21 2016-06-21 Rehabilitation training method and medical device for assisting standing for training method
CN201610459691.0A CN105997432B (en) 2016-06-21 2016-06-21 A kind of medical treatment device of aiding upright
US15/627,256 US10085906B2 (en) 2016-06-21 2017-06-19 Medical apparatus for standing aid
US16/118,181 US10874568B2 (en) 2016-06-21 2018-08-30 Method of using a medical apparatus with a crank mechanism for standing aid
US16/118,196 US10881569B2 (en) 2016-06-21 2018-08-30 Method of assisting a subject to stand using a medical apparatus
US16/118,188 US11116682B2 (en) 2016-06-21 2018-08-30 Apparatus for evaluating standing-aid training

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