CN106901944A - The portable device for healing and training that people stands can be helped - Google Patents
The portable device for healing and training that people stands can be helped Download PDFInfo
- Publication number
- CN106901944A CN106901944A CN201710177346.2A CN201710177346A CN106901944A CN 106901944 A CN106901944 A CN 106901944A CN 201710177346 A CN201710177346 A CN 201710177346A CN 106901944 A CN106901944 A CN 106901944A
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- power part
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- healing
- helped
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- 238000012549 training Methods 0.000 title claims description 22
- 230000035876 healing Effects 0.000 title claims description 16
- 238000005452 bending Methods 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000005021 gait Effects 0.000 abstract description 7
- 230000006872 improvement Effects 0.000 description 9
- 210000002414 leg Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 208000018982 Leg injury Diseases 0.000 description 3
- 206010061225 Limb injury Diseases 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000036473 myasthenia Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to medical instruments field, disclosing one kind can aid in people to stand up and carry out portable gait rehabilitation trainer, including：Body, bending component and power part, described bending component one end is articulated with the top of body, hinged place is the first articulated section, the bending component other end is hinged one end of power part, the other end of power part is articulated with the bottom of body, hinged place is the second articulated section, and the power part is used to drive the bending component to make arc elevating movement around the first articulated section.Apparatus of the present invention can also aid in user to be transformed to sitting posture from stance according to user can be aided in be transformed to stance from sitting posture, with low cost with small volume, facilitate the advantage used in family.
Description
Technical field
The present invention relates to a kind of medical instruments field, the portable device for healing and training that can more particularly to help people to stand.
Background technology
With the aggravation of astogeny, increasingly carry out many people due to skelasthenia or leg injury, it is impossible to carry out normal day
Often activity, thus their major parts can only step into wheelchair worse situation and can lie into sick bed.They can in the urgent need to one kind
Them are aided in walk and can carry out device for healing and training.Walking to improving the elderly or lower extremity motor function impaired patients
The research of ability convalescence device, is originating primarily from foreign countries.According to their functional structures and rehabilitation training mode, substantially can be by under
Limbs rehabilitation training robot is divided into following several classes：Unweighting walking formula recovery exercising robot, Active foot plate formula rehabilitation training machine
People, horizontal recovery exercising robot and portable recovery exercising robot.
Described first three robot device is mainly integrally fixed at certain place, and the motion of people is fixed on a certain specific
Position, therefore can not well be balanced training.And this several device volume is all very big, expensive, it has not been convenient to family
Front yard uses.For portable recovery exercising robot, by contrast, the range of movement of people becomes more wide and leg and keeps certainly
By state, this installations can greatly transfer the motion enthusiasm of patient, so as to improve rehabilitation training effect.Then for
For the patient of most of the elderly or leg injury, they are difficult themselves and independently stand up and use device.
The content of the invention
For disadvantage mentioned above, novelty of the present invention devise it is a kind of help due to myasthenia or the patient of leg injury
From sitting posture state to standing state, and the patient can be aided in carry out the mobile machine device of normal rehabilitation training.The present invention
The device that auxiliary people stands considers the characteristics of motion stood up of people, and overall structure is simple, and light weight, volume dot facilitates family
In use.
The present invention is achieved by the following technical solutions.
The portable device for healing and training that people stands can be helped, including：Body, bending component and power part, the bending
Component one end is articulated with the top of body, and hinged place is the first articulated section, and the bending component other end is hinged one end of power part,
The other end of power part is articulated with the bottom of body, and hinged place is the second articulated section, and the power part is described for driving
Bending component makees arc elevating movement around the first articulated section.
By above-mentioned technical proposal, bending component can make arc with one end that power part is hinged in the presence of power part
Shape is lifted, and user can be hand steered on bending component, and booster action is erected so as to bend component and user is arrived at a station from sitting posture, you can
Help people to stand, can also aid in user from standing to sitting down.Arc shape elevating movement meets the action rule that people stands up or sits down, can
Effectively laminating user stand up or process of sitting down gravity center shift, it is ensured that user stabilization stands up or sits down.It should be noted that this
Body can use frame-type or box-type, frame-type body to be spliced by each section bar.
As a further improvement on the present invention, first hinge point is in the top of body rear end, the second hinge point
In the bottom of body front end.It should be noted that, body front end is the one end for being close to user, and body rear end is away from user
End, by above-mentioned technical proposal, on the one hand reduces the original horizontal position of the lift side of bending component, is conducive to sitting posture state
User is held in the lift side of bending component, so that aid in user to stand up, wherein the liter end of bending component is itself and power part
It is hinged one end.
As a further improvement on the present invention, also including walking mechanism, the walking mechanism is installed on the sheet of described device
The bottom of body, to drive described device to move, the walking mechanism includes driving wheel and universal wheel.By above-mentioned technical proposal,
To drive body to be moved with the movement therewith people, universal wheel plays Auxiliary support and migration to driving wheel, while being also used for this
The steering of body.
As a further improvement on the present invention, also including control unit, described control unit is electrically connected with the walking mechanism
Connect, described control unit include for user leg wearing wearable sensors, the wearable sensors be used for detect and
Calculate the speed of travel of user, user's speed of travel that described control unit is fed back according to wearable sensors drive body with
Identical speed movement.By above-mentioned technical proposal, the wearable sensors are worn on every thigh and shank of user, are used
Pin when detecting that user walks lands gait event, and measures user's thigh and shank in sagittal plane during standing phase
Attitude angle and angular speed, and the speed of travel of user is calculated, the speed of travel of user is fed back into control unit, the control
Unit processed is electrically connected with driving wheel, user's speed of travel that control unit is collected according to it, adjusts the rotating speed of driving wheel, the drive
Driving wheel is used to drive body to move, so that the translational speed of body is consistent with the speed of travel of user.Need explanation
That gait event refers to the significant instant in people's each gait cycle in the process of walking, including swing mid-term, pin landing,
Four gait events of midstance and less touch with the ground；Standing refers to mutually since pin landing event, to another legs and feet landing event
Terminate, swing phase refers to next legs and feet landing event time since standing phase finish time.Sagittal plane is perpendicular to water
Human body is simultaneously divided into the two-part face in left and right by plane.
As a further improvement on the present invention, the position of first articulated section, on the body and bending component
Bearing block is provided with, bearing is provided with the bearing block, polished rod is provided with the bearing.It is curved by above-mentioned technical proposal
In the presence of power part, bending component can be rotated folding component along polished rod, so that, bending component is hinged one end with power part
Realize lifting.
As a further improvement on the present invention, the position of second articulated section, is provided with hinge company on the body
Fishplate bar, sets hinge, the other end connection power part of the hinge on the hinge connecting plate.By above-mentioned technical proposal,
Power part in the presence of hinge, can opposing body make the rotation of small range, so as to avoid power part to bending component
Caton phenomenon is produced when lifting.
As a further improvement on the present invention, the position that the power part is hinged with bending component, in the bending structure
Hinge connecting plate is provided with part, hinge, the other end connection power part of the hinge are set on the hinge connecting plate.It is logical
Above-mentioned technical proposal is crossed, power part can make the rotation of small range, so as to avoid in the presence of hinge relative to bending component
Power part produces Caton phenomenon when being lifted to bending component.
As a further improvement on the present invention, the power part is linear electric motors or cylinder or lead screw assembly.By upper
Technical scheme is stated, linear electric motors or cylinder or lead screw assembly can drive bending component to be lifted with body around it.
As a further improvement on the present invention, the bending component is right angle component or for obtuse angle component or be arc component
Or be the component with least two bending places.By above-mentioned technical proposal, it is right angle component preferably to bend component, is being lifted
Cheng Zhong, right angle component and power part are hinged one end and can be adapted with the body of device, when dropping to lowest order, right angle component with
Body is fitted, and is taken up space small.
As a further improvement on the present invention, the one end for being hinged power part in the bending component is provided with handrail.It is logical
Cross above-mentioned technical proposal, user can both hands can help on handrail, the rotation lifting of bending component can drive the lifting of handrail, from
And aid in people to stand.
The beneficial effects of the invention are as follows, it is of the invention to help people to stand mechanism, meet the characteristics of motion that human body is stood up, operation letter
Single, device volume is small, facilitates and use in family.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present invention；
Fig. 2 is walking mechanism principle schematic；
Fig. 3-5 is power part operational diagram.
In figure：1- bendings component, 110- bodies, 2- handrails, 3- reinforcing members, 4- driving wheels, 5- motors, 6- slow down
Device, 7- motor fixing plates, 8- decelerators fixed plate, 9- universal wheels, 10- universal wheels fixed plate, 11- hinge connecting plates, 12- hinges
Chain, 13- power parts, 14- bearings, 15- bearings connecting plate, 16- polished rods, 17- angle connectors.
Specific embodiment
Further to illustrate that the present invention, to realize technological means and effect that predetermined goal of the invention is taken, is below fastened
Accompanying drawing and preferred embodiment, to according to specific embodiment of the invention, structure, feature and its effect, describing in detail as after.
Fig. 1 and Fig. 2 is referred to, the portable device for healing and training that people stands can be helped, including：Body 110, bending component 1
With power part 13, described to bend the top that the one end of component 1 is articulated with body 110, hinged place is the first articulated section, bends component
1 other end is hinged one end of power part 13, and the other end of power part 13 is articulated with the bottom of body 110, and hinged place is
Two articulated sections, the power part 13 is used to drive the bending component 1 to make arc elevating movement around the first articulated section.Described
, in the top of the rear end of body 110, the second hinge point is in the bottom of the front end of body 110 for one hinge point.Also include walking mechanism,
The walking mechanism is installed on the bottom of the body 110 of described device, and to drive described device to move, the walking mechanism includes
Driving wheel 4 and universal wheel 9.Also include control unit, described control unit is electrically connected with the walking mechanism, described control unit
Including the wearable sensors dressed for user leg, the wearable sensors are used to detect and calculate the walking of user
Speed, user's speed of travel that described control unit is fed back according to wearable sensors drives body to be moved with identical speed.Institute
The position that bending component 1 is hinged with body 110 is stated, bearing block 15, institute are provided with the body 110 and bending component 1
State to be provided with bearing block 15 in bearing 14, the bearing 14 and be provided with polished rod 16.The power part 13 is hinged with body 110
Position, hinge connecting plate 11 is provided with the body 110, on the hinge connecting plate set hinge 12, the hinge
12 other end connection power part.The position that the power part 13 is hinged with bending component 1, on the bending component 1
Hinge connecting plate is provided with, hinge, the other end connection power part of the hinge are set on the hinge connecting plate.It is described dynamic
Power part is linear electric motors or cylinder or lead screw assembly.The bending component is right angle component or for obtuse angle component or be arc structure
Part is the component with least two bending places.The one end for being hinged power part in the bending component is provided with handrail 2.
Shown in Fig. 1 and Fig. 2, driving wheel 4 is connected by decelerator 6 with motor 5 in walking mechanism, improves the torsion of motor
Square, enables devices to normal walking.Motor 5 is connected by motor fixing plate 7 with body 110, and decelerator 6 passes through decelerator
Fixed plate 8 is connected with body 110, and universal wheel 9 is connected by universal wheel fixed plate 10 with body 110.Body 110 uses frame-type
Or box-type, frame-type body is spliced by each section bar, and each model is connected and fix by angle connector 17 and reinforcing member 3
Section bar.
Specifically, Fig. 3-Fig. 5 please be read, first, patient's hand steered handrail 2 under sitting posture state, power part 13 uses straight line
Motor, opens linear electric motors, closes the motor 5 of driving wheel, and the strength of patient is concentrated on arm, and center of gravity is with straight-line electric
Machine rises and rises, and center of gravity travels forward, the position until adjusting patient satisfaction, closing linear electric motors, device it is specific
Working condition is as in Figure 3-5.Because motor 5 is to close, when people is from sitting posture to the working condition stood up, body is
Will not move.When patient completes once to train, the motor 5 of driving wheel is closed, open linear electric motors, patient can be with
It is sitting posture state that linear electric motors decline slowly adjusts patient by stance.If patient user wants walking, inertia is passed
Sensor is worn on leg, opens motor 5, and inertial sensor measures the attitude angle and acceleration of leg in real time, and draws
The real-time speed of travel of user, control unit is crossed by speed of travel data feedback, and control unit is according to the user's walking for being gathered
Speed data, the rotating speed of regulation motor 5, and then the gait of march of body is controlled, make the gait of march of body with user's
The speed of travel is consistent.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, simply this hair described in the above embodiments and specification
Bright principle, the outward appearance of apparatus of the present invention is a kind of scheme of the invention, but it is not intended to limiting the invention.Not
In the case of departing from the spirit and scope of the present invention, the outward appearance of apparatus of the present invention also has various changes and modifications.
Claims (10)
1. the portable device for healing and training that people can be helped to stand, it is characterised in that including：Body（110）, bending component（1）With
Power part（13）, the bending component（1）One end is articulated with body（110）Top, hinged place be the first articulated section, bending
Component（1）The other end is hinged power part near the position of the other end（13）One end, power part（13）The other end hinge
It is connected to body（110）Bottom, hinged place be the second articulated section, the power part（13）For driving the bending component
（1）Make arc elevating movement around the first articulated section.
2. the portable device for healing and training that people can be helped to stand as claimed in claim 1, it is characterised in that described first is hinged
Portion is located at body（110）The top of rear end, the second hinge point is in body（110）The bottom of front end.
3. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that also including row
Mechanism is walked, the walking mechanism is installed on the body of described device（110）Bottom, to drive described device to move, the row
Walking mechanism includes driving wheel（4）And universal wheel（9）.
4. the portable device for healing and training that people can be helped to stand as claimed in claim 3, it is characterised in that also single including control
Unit, described control unit is electrically connected with the walking mechanism, and described control unit is included for the wearable of user leg wearing
Sensor, the wearable sensors are used to detect and calculate the speed of travel of user, and described control unit is according to wearable
User's speed of travel of sensor feedback drives body to be moved with identical speed.
5. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that described first
The position of articulated section, in the body（110）With bending component（1）On be provided with bearing block（15）, the bearing block（15）
Inside it is provided with bearing（14）, the bearing（14）Inside it is provided with polished rod（16）.
6. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that described second
The position of articulated section, in the body（110）On be provided with hinge connecting plate（11）, hinge is set on the hinge connecting plate
（12）, the hinge（12）The other end connection power part.
7. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that the power
Part（13）With bending component（1）The position being hinged, in the bending component（1）On be provided with hinge connecting plate, the hinge
Hinge, the other end connection power part of the hinge are set on connecting plate.
8. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that the power
Part is linear electric motors or cylinder or lead screw assembly.
9. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that the bending
Component is right angle component or for obtuse angle component or is arc component or is the component with least two bending places.
10. the portable device for healing and training that people can be helped to stand as claimed in claim 1 or 2, it is characterised in that described curved
One end that folding component is hinged power part is provided with handrail（2）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177346.2A CN106901944A (en) | 2017-03-23 | 2017-03-23 | The portable device for healing and training that people stands can be helped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177346.2A CN106901944A (en) | 2017-03-23 | 2017-03-23 | The portable device for healing and training that people stands can be helped |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106901944A true CN106901944A (en) | 2017-06-30 |
Family
ID=59194497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710177346.2A Pending CN106901944A (en) | 2017-03-23 | 2017-03-23 | The portable device for healing and training that people stands can be helped |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106901944A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108524185A (en) * | 2018-01-11 | 2018-09-14 | 北京大学深圳医院（北京大学深圳临床医学院） | A kind of rehabilitation nursing device |
| CN108938333A (en) * | 2018-08-27 | 2018-12-07 | 江苏苏云医疗器材有限公司 | A kind of seat station conversion rehabilitation training equipment |
| CN111056507A (en) * | 2019-12-30 | 2020-04-24 | 天津丰宁机电制品有限公司 | Wheelchair lifting platform protection arm and wheelchair lifting platform |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480370A (en) * | 2009-02-11 | 2009-07-15 | 清华大学 | Device for rehabilitation training |
| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN104606028A (en) * | 2015-02-10 | 2015-05-13 | 吉林大学 | Arm type lower limb exercise rehabilitation training robot |
-
2017
- 2017-03-23 CN CN201710177346.2A patent/CN106901944A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480370A (en) * | 2009-02-11 | 2009-07-15 | 清华大学 | Device for rehabilitation training |
| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN104606028A (en) * | 2015-02-10 | 2015-05-13 | 吉林大学 | Arm type lower limb exercise rehabilitation training robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108524185A (en) * | 2018-01-11 | 2018-09-14 | 北京大学深圳医院（北京大学深圳临床医学院） | A kind of rehabilitation nursing device |
| CN108524185B (en) * | 2018-01-11 | 2020-08-07 | 北京大学深圳医院（北京大学深圳临床医学院） | Rehabilitation nursing device |
| CN108938333A (en) * | 2018-08-27 | 2018-12-07 | 江苏苏云医疗器材有限公司 | A kind of seat station conversion rehabilitation training equipment |
| CN111056507A (en) * | 2019-12-30 | 2020-04-24 | 天津丰宁机电制品有限公司 | Wheelchair lifting platform protection arm and wheelchair lifting platform |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Tao Inventor after: Chen Zhongxian Inventor after: Dong Tianyun Inventor after: Wang Lei Inventor after: Han Meimei Inventor after: Han Yi Inventor before: Liu Tao Inventor before: Chen Zhongxian Inventor before: Dong Tianyun Inventor before: Wang Lei Inventor before: Han Meimei |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170630 |
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| RJ01 | Rejection of invention patent application after publication |