CN109106531B - Multi-joint auxiliary exercise bed - Google Patents
Multi-joint auxiliary exercise bed Download PDFInfo
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- CN109106531B CN109106531B CN201810921589.7A CN201810921589A CN109106531B CN 109106531 B CN109106531 B CN 109106531B CN 201810921589 A CN201810921589 A CN 201810921589A CN 109106531 B CN109106531 B CN 109106531B
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000003287 optical effect Effects 0.000 claims abstract description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 50
- 230000007306 turnover Effects 0.000 claims description 29
- 229910052742 iron Inorganic materials 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 46
- 210000002414 leg Anatomy 0.000 description 40
- 210000000323 shoulder joint Anatomy 0.000 description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a multi-joint auxiliary exercise bed. When a person who is inconvenient to move needs to use the existing auxiliary exercise equipment, the person needs to leave a sickbed to exercise, which is very inconvenient. The invention comprises a bedstead, a bed board component, a foot motion mechanism, a back board driving piece and a shoulder motion mechanism. The bed board assembly comprises a back board, a plug board, a hip board, a leg board and a foot board. The foot motion mechanism comprises a limiting inclined block, a first limiting electromagnet, a second limiting electromagnet, an electric push rod, a first hinge rod, a second hinge rod and a push rod frame. The shoulder motion mechanism comprises a shoulder plate, an optical axis, a sliding plate, a first driving assembly, a second driving assembly and an arm connecting assembly. The arm coupling assembling includes swing arm slide rail, swing arm slider, first piece, the second of revolving revolves the piece and ties up the arm spare. The leg plates of the invention are just positioned at the dead points of the parallelogram mechanism in the initial state, so that the force acting on the leg plates alone cannot drive the leg plates to move, and the load bearing capacity of the invention when being used as a common bed body is greatly enhanced.
Description
Technical Field
The invention belongs to the technical field of auxiliary sports equipment, and particularly relates to a multi-joint auxiliary sports bed.
Background
When a body may be in bed for a long time to rest due to diseases or accidental injuries, the hands and feet of the body are in free movement, so that muscles of all parts are atrophied and powerless. Therefore, medical personnel need often carry out the auxiliary exercise for the inconvenient person of activity, and this process has increased medical personnel's work load greatly, has reduced medical efficiency. In addition, some exercise assisting devices exist at present, but people who are inconvenient to move must be assisted to leave a sickbed for exercise when using the equipment, and the exercise also needs to consume large manpower. In addition, most of the conventional exercise assisting apparatuses can only perform assisting exercise of a single part.
Disclosure of Invention
The invention aims to provide a multi-joint auxiliary exercise bed.
The invention comprises a bedstead, a bed board component, a foot motion mechanism, a back board driving piece and a shoulder motion mechanism. The bed board assembly comprises a back board, a plug board, a hip board, a leg board and a foot board. The hip plate is fixed with the bed frame. The inner side edge of the back plate is hinged with one side edge of the hip plate. The back plate is driven by a back plate driving part. The inner ends of the two leg plates are hinged with the edge of the other side of the hip plate through a first hinge shaft. The outer ends of the two leg plates are hinged with the inner end edges of the two foot plates through second hinge shafts respectively. Two abdicating grooves are arranged on the back plate. The two insertion and extraction plates and the two abdicating grooves on the back plate respectively form a sliding pair.
The foot motion mechanism comprises a limiting inclined block, a first limiting electromagnet, a second limiting electromagnet, an electric push rod, a first hinge rod, a second hinge rod and a push rod frame. The two first hinge rods are respectively positioned at two sides of the bedstead, one end of each first hinge rod is hinged with the inner ends of the two leg plates through a third hinge shaft, and the other end of each first hinge rod is hinged with one end of each second hinge rod through a fourth hinge shaft. The other ends of the two second hinge rods are hinged with the outer ends of the two foot plates through fifth hinge shafts respectively. The axis of the first hinge shaft is collinear with the axis of the third hinge shaft. The two first limiting electromagnets are respectively fixed with the two sides of the bedstead and are respectively positioned below the two first hinge rods. First limiting iron blocks are fixed on the two first hinge rods. The limiting inclined block is fixed with the bed frame and is positioned below the hip plate. The working side surface of the limiting inclined block inclines upwards. Two second limiting electromagnets are embedded on the working side face of the limiting inclined block. And the bottom surfaces of the two leg plates are respectively fixed with a second limiting iron block. The outer shells of the two electric push rods and the tail end of the bed frame form a revolute pair. The push-out rods of the two electric push rods are hinged with the top surfaces of the two foot plates through sixth hinge shafts respectively.
The shoulder motion mechanism comprises a shoulder frame plate, an optical axis, a sliding plate, a first driving assembly, a second driving assembly and an arm connecting assembly. One end of the optical axis is fixed with the bed plate, and the other end of the optical axis is fixed with the shoulder frame plate. The sliding plate and the optical axis form a sliding pair. The sliding plate is driven by a first driving component. The arm connecting assembly comprises a swing arm slide rail, a swing arm slide block, a first rotary block, a second rotary block and a binding arm piece. The inner end of the swing arm slide rail and the sliding plate form a first rotating pair. The swing arm slide rail is driven by a second driving piece. The swing arm slide block and the swing arm slide rail form a sliding pair. The first rotary block and the swing arm sliding block form a second revolute pair. The second rotary block and the first rotary block form a third rotary pair. The arm-tying piece is fixed on the second rotary block. The number of the shoulder motion mechanisms is two. The two shoulder moving mechanisms are respectively positioned at the two abdicating grooves on the back plate.
Furthermore, the distance between the axis of the first hinge shaft and the working side surface of the limit inclined block is equal to the distance between the bottom surface of the leg plate and the axis of the first hinge shaft. And the distance from the axis of the third hinge shaft to the axis of the fourth hinge shaft is equal to the distance from the axis of the second hinge shaft to the axis of the fifth hinge shaft. The distance from the axis of the second hinge shaft to the axis of the third hinge shaft is equal to the distance from the axis of the fourth hinge shaft to the axis of the fifth hinge shaft. The working side surface of the limiting inclined block is inclined upwards and forms an angle of 60 degrees with the horizontal plane. The distance from the axis of the sixth hinge shaft to the second hinge shaft is less than the distance from the axis of the sixth hinge shaft to the fifth hinge shaft.
Further, the common axis of the first rotating pair and the second rotating pair is perpendicular to the back plate. The common axis of the second revolute pair is perpendicular to the common axis of the third revolute pair. The sliding direction of a sliding pair formed by the swing arm sliding block and the swing arm sliding rail is vertical to the common axis of the second revolute pair.
Furthermore, the foot motion mechanism also comprises a locking electromagnet. The two locking electromagnets are fixed at the tail end of the top of the bedstead. The outer ends of the top surfaces of the two foot plates are embedded with locking iron blocks. The two locking iron blocks correspond to the two locking electromagnets respectively in position.
Further, the back plate driving piece comprises a turnover motor, a turnover lead screw, a turnover connecting rod, a sliding frame and a turnover sliding block. The sliding frame is fixed with the bed frame. The turnover screw rod is supported on the sliding frame. The overturning motor is fixed on the sliding frame. An output shaft of the turnover motor is fixed with one end of the turnover screw rod. The overturning slide block and the sliding frame form a slide pair, and form a screw pair with the overturning lead screw. One end of the turnover connecting rod is hinged with the turnover sliding block, and the other end of the turnover connecting rod is hinged with the middle part of the back plate.
Further, the first driving assembly comprises a swing driving lead screw and a first swing driving motor. One end of the swing drive screw rod and the shoulder frame plate form a revolute pair, and the other end of the swing drive screw rod and the back plate form a revolute pair. The pendulum driving screw is driven by a first pendulum driving motor. The sliding plate and the swing drive screw form a screw pair.
The second driving assembly comprises a crank, a swing arm connecting rod and a second swing driving motor. The inner end of the crank is hinged with the sliding plate, and the outer end of the crank is hinged with one end of the swing arm connecting rod. The other end of the swing arm connecting rod is hinged with the middle part of the swing arm sliding rail. The second swing driving motor is fixed with the sliding plate. An output shaft of the second swing driving motor is fixed with the crank.
Furthermore, the two abdicating grooves are respectively communicated with the edges of the two ends of the back plate. The distance between the two abdicating grooves is equal to 350 mm. The edges of the two sides of the abdicating groove are provided with sliding grooves. The inserting and pulling plate is the same as the yielding groove in shape, and inserting and pulling convex strips are arranged at the edges of two sides of the inserting and pulling plate. The length of the leg plate is equal to 500 mm.
Further, the arm-tying piece consists of a tying plate and a tying belt. The binding plate is fixed on the second rotary block. The inner of two bandages all is fixed with the tie plate, is provided with the magic subsides on the outer end.
Further, the projections of the arm connecting assemblies in the two shoulder motion mechanisms on the top surface of the back plate are respectively and completely positioned inside the projections of the two abdicating grooves on the side surface of the back plate.
Further, in the initial state, the back plate, the hip plate, the leg plate and the foot plate are all horizontally arranged; the two locking electromagnets are respectively attracted with the locking iron blocks on the two foot plates; the first limiting electromagnet is respectively attracted with the first limiting iron blocks on the two first hinge rods.
The invention has the beneficial effects that:
1. the invention can be used as a common bed and can assist a user to sit up and perform auxiliary movement on shoulder joints, knee joints and ankle joints. Thereby enabling the mobility-handicapped person to do joint exercise without leaving the sickbed.
2. The leg plates of the invention are just positioned at the dead points of the parallelogram mechanism in the initial state, so that the force acting on the leg plates alone cannot drive the leg plates to move, and the load bearing capacity of the invention when being used as a common bed body is greatly enhanced.
3. The invention can complete two different leg actions by the same power source by changing the fixed rod of the parallelogram mechanism, thereby realizing the auxiliary motion of the knee joint and the ankle joint.
4. The invention utilizes the characteristic that the shoulder joint is similar to a spherical pair, and the motion of each power source is converted into the turnover of the arm sleeve around the shoulder of the user by setting three degrees of freedom, thereby meeting the requirements of users with different heights and body types.
Drawings
FIG. 1 is a perspective view of the present invention in an initial state;
FIG. 2 is a schematic top view of the present invention in an initial state;
FIG. 3 is a perspective view of the present invention in a state of performing an assist exercise;
FIG. 4 is a side view of the present invention in a state of performing an assist exercise;
fig. 5 is a schematic structural view of the shoulder moving mechanism of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a multi-joint auxiliary exercise bed includes a bed frame 1, a deck assembly 2, a foot moving mechanism 3, a back plate driving member 4, and a shoulder moving mechanism 5. The bed board assembly 2 comprises a back board 2-1, a plug board 2-2, a hip board 2-3, a leg board 2-4 and a foot board 2-5. The hip plate 2-3 is fixed with the middle part of the bed frame 1. The inner side edge of the back plate 2-1 is hinged with one side edge of the hip plate 2-3. The inner ends of the two leg plates 2-4 are hinged with the edge of the other side of the hip plate 2-3 through a first hinge shaft. The outer ends of the two leg plates 2-4 are hinged with the inner end edges of the two foot plates 2-5 through second hinge shafts respectively. The length of the leg plates 2-4 is equal to 500 mm. Two concentrative abdicating grooves are arranged on the back plate 2-1. The two abdicating grooves are respectively communicated with the edges of the two ends of the back plate 2-1, so that the back plate 2-1 is in an I shape. The distance between the two abdicating grooves is equal to 350 mm. The edges of the two sides of the abdicating groove are provided with sliding grooves. The edges of two sides of the plugging plate 2-2 with the same shape as the abdicating groove are provided with plugging convex strips. The two plug-pull plates 2-2 and the two abdicating grooves on the back plate 2-1 respectively form a sliding pair. The back plate 2-1, the plugging plate 2-2, the hip plate 2-3, the leg plate 2-4 and the foot plate 2-5 form a bed plate capable of assisting a user to sit up.
As shown in fig. 1, 2, 3 and 4, the foot motion mechanism 3 comprises a limit inclined block 3-1, a first limit electromagnet 3-2, a second limit electromagnet, an electric push rod 3-3, a locking electromagnet 3-4, a first hinge rod 3-5, a second hinge rod 3-6 and a push rod frame 3-7. The two first hinge rods 3-5 are respectively positioned at two sides of the top of the bedstead 1, one end of each first hinge rod is hinged with the inner ends of the two leg plates 2-4 through a third hinge shaft, and the other end of each first hinge rod is hinged with one end of each second hinge rod 3-6 through a fourth hinge shaft. The other ends of the two second hinge rods 3-6 are hinged with the outer ends of the two foot plates 2-5 through fifth hinge shafts respectively. The axis of the first hinge shaft is collinear with the axis of the third hinge shaft. The distance from the axis of the third hinge shaft to the axis of the fourth hinge shaft is equal to the distance from the axis of the second hinge shaft to the axis of the fifth hinge shaft. The distance from the axis of the second hinge shaft to the axis of the third hinge shaft is equal to the distance from the axis of the fourth hinge shaft to the axis of the fifth hinge shaft. So that the first hinge rod 3-5, the second hinge rod 3-6, the leg plate 2-4 and the foot plate 2-5 constitute a parallelogram mechanism.
The two first limit electromagnets 3-2 are respectively fixed with the two sides of the top of the bedstead 1 and are respectively positioned below the two first hinge rods 3-5. A first limiting iron block is embedded on the side surface of the first hinge rod 3-5, which is close to the corresponding first limiting electromagnet 3-2. The first hinge rod 3-5 can be fixed with the bedstead 1 through the attraction of the first limit electromagnet 3-2 and the first limit iron block, thereby becoming a fixed rod in the parallelogram mechanism.
The limit inclined block 3-1 is fixed with the bed frame 1 and is positioned below the hip plate 2-3. The working side surface of the limit inclined block 3-1 close to the tail end of the bedstead 1 inclines upwards and forms an angle of 60 degrees with the horizontal plane. The distance between the axis of the first hinge shaft and the working side surface of the limit inclined block 3-1 is equal to the distance between the bottom surface of the leg plate 2-4 and the axis of the first hinge shaft. The position-limiting sloping block 3-1 can enable the leg plate 2-4 to be limited at an angle of 60 degrees with the horizontal plane.
Two second limiting electromagnets are embedded on the working side surface of the limiting inclined block 3-1. The bottom surfaces of the two leg plates 2-4 are embedded with second limiting iron blocks. Two spacing electromagnets of second and two spacing iron plates of second align along the circumference of first articulated shaft respectively. The leg plates 2-4 can be fixed with the bedstead 1 through the attraction of the second limiting electromagnet and the second limiting iron block, so that the fixed rod in the parallelogram mechanism is formed.
The bottom ends of the two push rod frames 3-7 are fixed with the tail end of the top of the bedstead 1, and the top ends of the two push rod frames and the shells of the two electric push rods 3-3 form revolute pairs respectively. The push-out rods of the two electric push rods 3-3 are respectively hinged with the top surfaces of the two foot plates 2-5 through a sixth hinge shaft. The distance from the axis of the sixth hinge shaft to the second hinge shaft is less than the distance from the axis of the sixth hinge shaft to the fifth hinge shaft. When the first limiting electromagnet 3-2 is attracted with the first limiting iron block, the electric push rod 3-3 can drive the two leg plates 2-4 to keep horizontal movement by stretching, so that the sole of a foot can be horizontally supported after a user sits up. When the second limiting electromagnet is attracted with the second limiting iron block, the electric push rod 3-3 can drive the two leg plates 2-4 to turn over by stretching, so that auxiliary movement of the ankle joint of a user is realized.
Two locking electromagnets 3-4 are fixed at the tail end of the top of the bedstead 1. The outer ends of the top surfaces of the two foot plates 2-5 are all embedded with locking iron blocks. The two locking iron blocks correspond to the two locking electromagnets 3-4 in position respectively, namely, the locking iron blocks are in contact with the locking electromagnets 3-4 when the foot plates 2-5 and the leg plates 2-4 are in horizontal state.
As shown in fig. 1, 2 and 4, the back plate driving member 4 includes a turnover motor 4-1, a turnover screw, a turnover link 4-2, a carriage 4-3 and a turnover slider 4-4. A carriage 4-3 provided along the longitudinal direction of the frame 1 is fixed to the frame 1. The turnover screw rod is supported on the carriage 4-3 and is positioned right below the back plate 2-1. The overturning motor 4-1 is fixed on the sliding frame 4-3. An output shaft of the overturning motor 4-1 is fixed with one end of an overturning lead screw. The overturning slide block 4-4 and the sliding frame 4-3 form a sliding pair, and form a screw pair with the overturning lead screw. One end of the turnover connecting rod 4-2 is hinged with the turnover sliding block 4-4, and the other end is hinged with the middle part of the back plate 2-1. The backboard 2-1 can be driven to overturn through the rotation of the overturning motor 4-1.
As shown in fig. 1, 3, 4 and 5, the shoulder moving mechanism 5 includes a shoulder plate 5-1, an optical axis 5-2, a slide plate 5-3, a first driving assembly, a second driving assembly and an arm connecting assembly. One end of each of the two optical axes 5-2 is fixed with the bottom surface of the bed plate, and the other end is respectively fixed with two opposite angles of the shoulder support plate 5-1. The sliding plate 5-3 positioned between the back plate 2-1 and the shoulder frame plate 5-1 and the two optical axes 5-2 form a sliding pair. The first driving assembly comprises a pendulum driving screw 5-4 and a first pendulum driving motor 5-5. One end of each of the two swing driving screw rods 5-4 and the other two opposite angles of the shoulder frame plate 5-1 form a revolute pair respectively, and the other end of each of the two swing driving screw rods and the bottom surface of the back plate 2-1 form a revolute pair. The two first swing driving motors 5-5 are fixed on the shoulder frame plate 5-1. The output shafts of the two first swing driving motors 5-5 are respectively fixed with one ends of the two swing driving screw rods 5-4. Two nuts fixed on the sliding plate 5-3 and two swing drive screws 5-4 form a screw pair respectively.
The arm connecting assembly comprises a swing arm slide rail 5-6, a swing arm slide block 5-7, a first rotating block 5-8, a second rotating block 5-9 and a binding arm piece 5-10. The inner end of the swing arm slide rail 5-6 and the sliding plate 5-3 form a first rotating pair. The swing arm slide block 5-7 and the swing arm slide rail 5-6 form a sliding pair. The first rotary block 5-8 and the swing arm slide block 5-7 form a second revolute pair. The second rotary block 5-9 and the first rotary block 5-8 form a third rotary pair. The binding arm pieces 5-10 are composed of binding plates and binding bands. The binding plate is fixed on the second rotary blocks 5-9. The inner of two bandages all is fixed with the tie plate, is provided with the magic subsides on the outer end. The common axis of the first revolute pair and the second revolute pair is perpendicular to the back plate 2-1. The common axis of the second revolute pair is perpendicular to the common axis of the third revolute pair. The sliding direction of a sliding pair formed by the swing arm sliding blocks 5-7 and the swing arm sliding rails 5-6 is vertical to the common axis of the second rotating pair.
The second drive assembly comprises a crank 5-11, a swing arm connecting rod 5-12 and a second swing drive motor 5-13. The inner end of the crank 5-11 is hinged with the sliding plate 5-3, and the outer end is hinged with one end of the swing arm connecting rod 5-12. The other end of the swing arm connecting rod 5-12 is hinged with the middle part of the swing arm sliding rail 5-6. The second swing driving motor 5-13 is fixed with the sliding plate 5-3. The output shaft of the second swing driving motor 5-13 is fixed with the crank 5-11.
The shoulder moving mechanisms 5 are two in total. The two shoulder moving mechanisms 5 are respectively positioned at the two abdicating grooves on the back plate 2-1. The projections of the arm connecting components in the two shoulder motion mechanisms 5 on the top surface of the back plate 2-1 are respectively and completely positioned inside the projections of the two abdicating grooves on the side surface of the back plate 2-1 (namely, after the plug-pull plate 2-2 is pulled out, the first driving component can drive the arm binding components 5-10 to pass through the corresponding abdicating grooves).
The arm connecting assembly has three degrees of freedom without power supply (sliding pairs of a swing arm sliding rail 5-6 and a swing arm sliding block 5-7, a rotating pair of the swing arm sliding block 5-7 and a first rotating block 5-8, and a sliding pair of the first rotating block 5-8 and a second rotating block 5-9). The human shoulder joint can be regarded as a spherical pair, and the spherical pair limits three rotational degrees of freedom. Therefore, when the user's large arm is fixed to the arm-tying member 5-10, the three degrees of freedom not providing a power source are just restricted by the spherical pair of the shoulder joint. This allows the arms of a person of whatever size to be fixed at a suitable angle to the cinching arms 5-10 and to be fully constrained (i.e. the number of degrees of freedom is equal to the number of power sources). And the motion of the first swing driving motor 5-5 and the second swing driving motor 5-13 can be converted into the rotation of the big arm around the shoulder joint, so that the auxiliary motion of the shoulder joint is realized.
In an initial state, the back plate 2-1, the hip plate 2-3, the leg plate 2-4 and the foot plate 2-5 are all horizontally arranged; the two locking electromagnets 3-4 are respectively attracted with the locking iron blocks on the two foot plates 2-5; the first limiting electromagnet 3-2 is respectively attracted with the first limiting iron blocks on the two first hinge rods 3-5; at the moment, the first hinge rod 3-5, the second hinge rod 3-6, the leg plate 2-4 and the foot plate 2-5 are connected into a straight line, the parallelogram mechanism reaches a dead point state, and the force acting on the leg plate 2-4 or the second hinge rod 3-6 alone cannot drive the parallelogram mechanism to move. When a user lies down, the feet of the user only contact with the leg plates 2-4, the force applied to the foot plates 2-5 is small, and the force acting on the leg plates 2-4 cannot drive the parallelogram to move, so that the dead point design of the parallelogram mechanism can greatly enhance the loading capacity of the invention in the initial state.
The working principle of the invention is as follows:
step one, the locking electromagnet 3-4 is powered off, the two electric push rods 3-3 are synchronously pushed out, so that the two leg plates 2-4 and the two second hinge rods 3-6 are turned over, and the two foot plates 2-5 keep moving horizontally. Meanwhile, the turnover motor 4-1 rotates, so that the back plate 2-1 is turned upwards. The user sits up gradually with the movement of the back plate 2-1, the leg plates 2-4 and the foot plates 2-5.
And step two, after the two leg plates 2-4 are both contacted with the limiting inclined block 3-1, the two electric push rods 3-3 stop moving, and the two second limiting electromagnets are electrified to be attracted with the second limiting iron blocks on the two leg plates 2-4. After the backboard 2-1 is turned to a state of forming an angle of 60 degrees with the horizontal plane, the turning motor 4-1 stops rotating. At this time, the user is in a fully seated state (back at an angle of 60 ° to the horizontal, lower leg at an angle of 60 ° to the horizontal).
And step three, the assistant personnel draws out the two plug-in plates 2-2, so that the two arm connecting components are not blocked from the shoulders of the user.
And fourthly, the first swing driving motor 5-5 rotates forwards, so that the binding arm piece 5-10 is flush with the top surface of the back plate. Thereafter, the first swing driving motor 5-5 is stopped, and the assistant person binds the two arms of the user with the bands of the two band members 5-10, respectively.
And step five, synchronously performing foot auxiliary movement and shoulder joint auxiliary movement.
The specific principle of the foot auxiliary movement is as follows:
(1) the two first limiting electromagnets 3-2 are powered off, the two second limiting electromagnets are powered on, at the moment, the fixed rod in the parallelogram mechanism consisting of the first hinge rod 3-5, the second hinge rod 3-6, the leg plate 2-4 and the foot plate 2-5 is changed into the leg plate 2-4 from the first hinge rod 3-5, and the motion mode of the foot plate 2-5 is changed into turnover motion from horizontal state maintaining motion. One of the two electric push rods 3-3 is used as a first electric push rod 3-3, and the other is used as a second electric push rod 3-3.
(2) The first electric push rod 3-3 retracts until the foot plate 2-5 corresponding to the first electric push rod 3-3 forms an angle of 30 degrees with the horizontal plane.
(3) The second electric push rod 3-3 retracts until the foot plate 2-5 corresponding to the second electric push rod 3-3 forms an angle of 30 degrees with the horizontal plane. Meanwhile, the first electric push rod 3-3 is pushed out until the foot plate 2-5 corresponding to the first electric push rod 3-3 returns to the horizontal state.
(4) The first electric push rod 3-3 retracts until the foot plate 2-5 corresponding to the first electric push rod 3-3 forms an angle of 30 degrees with the horizontal plane. Meanwhile, the second electric push rod 3-3 is pushed out until the foot plate 2-5 corresponding to the second electric push rod 3-3 returns to the horizontal state.
(5) After repeating the steps (3) and (4) for ten times, entering the step (6)
(6) The first electric push rod 3-3 is pushed out, so that the foot plate 2-5 corresponding to the first electric push rod 3-3 returns to the horizontal state.
(7) The two first limiting electromagnets 3-2 are powered on, and the two second limiting electromagnets are powered off, so that the fixed rod in the parallelogram mechanism consisting of the first hinge rod 3-5, the second hinge rod 3-6, the leg plate 2-4 and the foot plate 2-5 is changed from the leg plate 2-4 to the first hinge rod 3-5, and the motion mode of the foot plate 2-5 is changed from turning motion to horizontal state keeping motion.
(8) The first electric push rod 3-3 retracts until the leg plate 2-4 corresponding to the first electric push rod 3-3 forms an angle of 30 degrees with the horizontal plane.
(9) The second electric push rod 3-3 retracts until the foot plate 2-5 corresponding to the second electric push rod 3-3 forms an angle of 30 degrees with the horizontal plane. Meanwhile, the first electric push rod 3-3 is pushed out until the foot plate 2-5 corresponding to the first electric push rod 3-3 is contacted with the working side surface of the limiting inclined block 3-1.
(10) The first electric push rod 3-3 retracts until the foot plate 2-5 corresponding to the first electric push rod 3-3 forms an angle of 30 degrees with the horizontal plane. Meanwhile, the second electric push rod 3-3 is pushed out until the foot plate 2-5 corresponding to the second electric push rod 3-3 is contacted with the working side surface of the limiting inclined block 3-1.
(11) After repeating the steps (9) and (10) ten times, the process proceeds to step (12).
(12) The first electric push rod 3-3 is pushed out until the foot plate 2-5 corresponding to the first electric push rod 3-3 is contacted with the working side surface of the limiting inclined block 3-1. Then entering step (13)
(13) And (5) repeatedly executing the steps (2) to (12).
The specific principle of the shoulder assisting movement is as follows:
(1) the second swing drive motor 5-13 rotates, so that the user's large arm is turned over to be flush with the shoulder along with the swing arm slide rail 5-6.
(2) The first pendulum drives motor 5-5 forward, flipping the user's large arm forward to an angular position of 45 ° to back plate 2-1.
(3) The first swing driving motor 5-5 rotates forwards, and the second swing driving motor 5-13 rotates, so that the large arm of the user is restored to a state of being attached to the side part of the body. And (4) entering the step.
(4) And (4) repeatedly executing the steps (1) to (3).
Claims (10)
1. A multi-joint auxiliary exercise bed comprises a bed frame, a bed board assembly, a foot exercise mechanism, a back board driving piece and a shoulder exercise mechanism; the method is characterized in that: the bed board assembly comprises a back board, a plug board, a hip board, a leg board and a foot board; the hip plate is fixed with the bed frame; the inner side edge of the back plate is hinged with one side edge of the hip plate; the back plate is driven by a back plate driving part; the inner ends of the two leg plates are hinged with the edge of the other side of the hip plate through a first hinge shaft; the outer ends of the two leg plates are hinged with the inner end edges of the two foot plates through second hinge shafts respectively; two abdicating grooves are arranged on the back plate; the two insertion and extraction plates and the two abdicating grooves on the back plate respectively form sliding pairs;
the foot motion mechanism comprises a limit inclined block, a first limit electromagnet, a second limit electromagnet, an electric push rod, a first hinge rod, a second hinge rod and a push rod frame; the two first hinge rods are respectively positioned at two sides of the bedstead, one end of each first hinge rod is hinged with the inner ends of the two leg plates through a third hinge shaft, and the other end of each first hinge rod is hinged with one end of each second hinge rod through a fourth hinge shaft; the other ends of the two second hinge rods are hinged with the outer ends of the two foot plates through fifth hinge shafts respectively; the axis of the first hinge shaft is collinear with the axis of the third hinge shaft; the two first limiting electromagnets are respectively fixed with the two sides of the bedstead and are respectively positioned below the two first hinge rods; first limiting iron blocks are fixed on the two first hinge rods; the limit inclined block is fixed with the bed frame and is positioned below the hip plate; the working side surface of the limiting inclined block is inclined upwards; two second limiting electromagnets are embedded on the working side surface of the limiting inclined block; the bottom surfaces of the two leg plates are respectively fixed with a second limiting iron block; the shells of the two electric push rods and the tail end of the bed frame form a revolute pair; the push-out rods of the two electric push rods are hinged with the top surfaces of the two foot plates through sixth hinge shafts respectively;
the first hinge rod, the second hinge rod, the leg plate and the foot plate form a parallelogram mechanism; when the first limiting electromagnet is powered off and the second limiting electromagnet is powered on, the leg plate becomes a fixed rod in the parallelogram mechanism, and the motion mode of the foot plate is turning motion; under the condition that the first limiting electromagnet is electrified and the second limiting electromagnet is powered off, the first hinge rod becomes a fixed rod in the parallelogram mechanism, and the foot plate moves in a mode of keeping a horizontal state;
the shoulder motion mechanism comprises a shoulder frame plate, an optical axis, a sliding plate, a first driving assembly, a second driving assembly and an arm connecting assembly; one end of the optical axis is fixed with the bed plate, and the other end of the optical axis is fixed with the shoulder frame plate; the sliding plate and the optical axis form a sliding pair; the sliding plate is driven by a first driving component; the arm connecting assembly comprises a swing arm slide rail, a swing arm slide block, a first rotary block, a second rotary block and a binding arm piece; the inner end of the swing arm slide rail and the sliding plate form a first rotating pair; the swing arm slide rail is driven by a second driving piece; the swing arm sliding block and the swing arm sliding rail form a sliding pair; the first rotary block and the swing arm sliding block form a second revolute pair; the second rotary block and the first rotary block form a third revolute pair; the arm binding piece is fixed on the second rotary block; the number of the shoulder motion mechanisms is two; the two shoulder moving mechanisms are respectively positioned at the two abdicating grooves on the back plate.
2. The multi-joint assisted exercise bed of claim 1, wherein: the distance between the axis of the first hinge shaft and the working side surface of the limiting inclined block is equal to the distance between the bottom surface of the leg plate and the axis of the first hinge shaft; the distance from the axis of the third hinge shaft to the axis of the fourth hinge shaft is equal to the distance from the axis of the second hinge shaft to the axis of the fifth hinge shaft; the distance from the axis of the second hinge shaft to the axis of the third hinge shaft is equal to the distance from the axis of the fourth hinge shaft to the axis of the fifth hinge shaft; the working side surface of the limiting inclined block is inclined upwards and forms an angle of 60 degrees with the horizontal plane; the distance from the axis of the sixth hinge shaft to the second hinge shaft is less than the distance from the axis of the sixth hinge shaft to the fifth hinge shaft.
3. The multi-joint assisted exercise bed of claim 1, wherein: the common axis of the first revolute pair and the second revolute pair is perpendicular to the back plate; the common axis of the second rotating pair is vertical to the common axis of the third rotating pair; the sliding direction of a sliding pair formed by the swing arm sliding block and the swing arm sliding rail is vertical to the common axis of the second revolute pair.
4. The multi-joint assisted exercise bed of claim 1, wherein: the foot motion mechanism also comprises a locking electromagnet; the two locking electromagnets are fixed at the tail end of the top of the bedstead; the outer ends of the top surfaces of the two foot plates are embedded with locking iron blocks; the two locking iron blocks correspond to the two locking electromagnets respectively in position.
5. The multi-joint assisted exercise bed of claim 1, wherein: the back plate driving piece comprises a turnover motor, a turnover lead screw, a turnover connecting rod, a sliding frame and a turnover sliding block; the sliding frame is fixed with the bed frame; the turnover screw rod is supported on the sliding frame; the overturning motor is fixed on the sliding frame; an output shaft of the turning motor is fixed with one end of the turning screw rod; the overturning slide block and the sliding frame form a slide pair, and form a screw pair with the overturning lead screw; one end of the turnover connecting rod is hinged with the turnover sliding block, and the other end of the turnover connecting rod is hinged with the middle part of the back plate.
6. The multi-joint assisted exercise bed of claim 1, wherein: the first driving assembly comprises a swing driving lead screw and a first swing driving motor; one end of the swing drive screw rod and the shoulder frame plate form a revolute pair, and the other end of the swing drive screw rod and the back plate form a revolute pair; the swing drive screw is driven by a first swing drive motor; the sliding plate and the swing drive screw form a screw pair;
the second driving assembly comprises a crank, a swing arm connecting rod and a second swing driving motor; the inner end of the crank is hinged with the sliding plate, and the outer end of the crank is hinged with one end of the swing arm connecting rod; the other end of the swing arm connecting rod is hinged with the middle part of the swing arm sliding rail; the second swing driving motor is fixed with the sliding plate; an output shaft of the second swing driving motor is fixed with the crank.
7. The multi-joint assisted exercise bed of claim 1, wherein: the two abdicating grooves are respectively communicated with the edges of the two ends of the back plate; the distance between the two abdicating grooves is equal to 350 mm; the edges of the two sides of the abdicating groove are provided with sliding grooves; the inserting and pulling plate has the same shape as the abdicating groove, and inserting and pulling convex strips are arranged at the edges of two sides; the length of the leg plate is equal to 500 mm.
8. The multi-joint assisted exercise bed of claim 1, wherein: the binding arm piece consists of a binding plate and a binding band; the binding plate is fixed on the second rotary block; the inner of two bandages all is fixed with the tie plate, is provided with the magic subsides on the outer end.
9. The multi-joint assisted exercise bed of claim 1, wherein: the projections of the arm connecting components in the two shoulder motion mechanisms on the top surface of the back plate are respectively and completely positioned in the projections of the two abdicating grooves on the side surface of the back plate.
10. The multi-joint assisted exercise bed of claim 1, wherein: in an initial state, the back plate, the hip plate, the leg plate and the foot plate are all horizontally arranged; the two locking electromagnets are respectively attracted with the locking iron blocks on the two foot plates; the first limiting electromagnet is respectively attracted with the first limiting iron blocks on the two first hinge rods.
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| CN201810921589.7A CN109106531B (en) | 2018-08-14 | 2018-08-14 | Multi-joint auxiliary exercise bed |
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| CN201810921589.7A CN109106531B (en) | 2018-08-14 | 2018-08-14 | Multi-joint auxiliary exercise bed |
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| CN109875840B (en) * | 2019-03-22 | 2020-02-11 | 中南大学湘雅二医院 | Leg joint rehabilitation device |
| CN110251329B (en) * | 2019-07-16 | 2024-04-26 | 中南大学湘雅医院 | Multi-joint auxiliary exercise bed |
| CN111904789B (en) * | 2020-08-10 | 2022-02-18 | 河北省胸科医院 | Clinical regulation formula four limbs rehabilitation device of using |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES1016765U (en) * | 1991-02-11 | 1991-12-01 | Serra Rovirosa Luis | Vehicle lifting jack. |
| CN102697622B (en) * | 2012-06-12 | 2013-12-11 | 燕山大学 | Sitting and lying lower limb rehabilitation robot |
| CN105055096B (en) * | 2015-07-07 | 2024-02-27 | 周学蒙 | Intelligent health care bed for old people |
| CN104997600A (en) * | 2015-08-06 | 2015-10-28 | 江南大学 | Omni-directional electric medical care bed chair |
| CN204814710U (en) * | 2015-08-07 | 2015-12-02 | 杨慧 | Recovered motion chair of paralysed patient's low limbs |
| CN105963102B (en) * | 2016-04-12 | 2018-01-16 | 南京航空航天大学 | Parallel link lower limb rehabilitation robot |
| CN106420261B (en) * | 2016-10-20 | 2020-07-14 | 上海交通大学 | Semi-exoskeleton upper limb rehabilitation instrument |
| CN107625589B (en) * | 2017-08-28 | 2023-10-27 | 天津大学 | Foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot |
| CN107997928B (en) * | 2017-12-22 | 2020-06-09 | 北京精密机电控制设备研究所 | Modularized sitting and lying type lower limb rehabilitation exoskeleton robot |
| CN108324544B (en) * | 2018-02-20 | 2020-02-28 | 吉林大学第一医院 | Massage equipment for leg rehabilitation |
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