CN114795708A

CN114795708A - Auxiliary standing equipment

Info

Publication number: CN114795708A
Application number: CN202210471040.9A
Authority: CN
Inventors: 张延恒; 袁杰
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-07-29
Anticipated expiration: 2042-04-28
Also published as: CN114795708B

Abstract

The invention provides auxiliary standing equipment, and belongs to the field of rehabilitation training equipment research. The device has a mobile function and can assist users with lower limb dysfunction to stand. The device comprises a lifting base, a leg module, a cushion module and a backrest module, and can realize the knee bending and standing processes by means of an electric push rod, and meanwhile, the device can be used by users with different heights. The invention has simple structure, low cost and convenient use.

Description

Auxiliary standing equipment

Technical Field

The invention belongs to the field of rehabilitation training equipment research, and particularly relates to auxiliary equipment for helping a patient with lower limb disorder to stand.

Background

With the improvement of the aging degree of the society, more and more old people have the situation of difficult standing or even incapability of standing due to the reduction of body muscle strength; the patients with lower limb disorder and motor dysfunction caused by traffic accidents and various diseases are difficult to realize the standing process by themselves; however, since standing is the most important basic movement in daily life, which is the basis for completing other activities of daily life, the elderly or patients who are difficult to stand can only lie in bed or perform limited daily activities in a wheelchair, but lying in bed for a long time may cause pressure on body parts to generate bedsores, and may cause complications such as muscle atrophy. At present, most of patients needing standing rehabilitation adopt wheelchairs for daily activities, but nursing staff or family members are required to stand in an auxiliary mode when standing, so that the patients cannot finish the standing process by themselves, and the patients cannot finish the things such as walking and going to a toilet independently; therefore, the labor is consumed, and the psychological and physical health of the patient is not facilitated.

The standing process of the human body is mainly the process of gravity center change, standing can be divided into knee bending, waist bending and standing stages according to the change process of the gravity center, the knee bending and the waist bending are standing preparation processes, the motion of the gravity center of the human body in the horizontal direction is mainly realized, and the motion of the gravity center of the human body in the vertical direction is mainly realized in the standing stage. In order to solve the existing problems and realize the effect of assisting the patient to stand normally, the auxiliary standing equipment is provided, has two degrees of freedom, can assist the user to realize the processes of bending knees, bending waist and standing, and can reproduce the real standing process of the person to a certain extent.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the two-degree-of-freedom auxiliary standing equipment is provided, and can better realize the human body track in the standing process and help a user to more freely complete the standing process.

The technical scheme is as follows: an auxiliary standing device mainly comprises a leg module (1), a leg electric push rod (2), a cushion module (3), a cushion electric push rod (4), a backrest module (5) and a base module (6); one end of the leg module is hinged with the cushion (302), the other end of the leg module is hinged with one end of the leg electric push rod, and the other end of the leg electric push rod is hinged with a lower hinge seat (6031) of the backrest support rod (603); the cushion module mainly comprises a cushion and a cushion hanging arm (305), wherein one end of the cushion hanging arm is fixedly connected with the cushion, and the other end of the cushion hanging arm is in sliding connection with the curved chute (605) and can slide along a first rail (6051) and a second rail (6052) of the curved chute; the backrest module comprises a backrest (501) and a trunk directional arm (502), a cushion of the cushion module is hinged with the backrest of the backrest module, one end of the trunk directional arm of the backrest module is fixedly connected with the backrest of the backrest module, and the other end of the trunk directional arm of the backrest module is hinged with a movable connecting rod (604) of the base module;

the base module comprises a lifting base (601), an armrest (602), a backrest support rod, a curved chute, a cushion support rod (606) and a movable connecting rod, wherein the backrest support rod, the curved chute and the armrest are fixedly connected with an upper base (6017), the backrest support rod is provided with an upper hinge seat (6032) and a lower hinge seat, and the upper hinge seat is hinged with one end of the movable connecting rod; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion; a first rail and a second rail are arranged on the curved chute;

the motion process of the auxiliary standing device comprises the following steps: the auxiliary standing action process under the control of the control system (6016) is as follows: the first stage is as follows: the leg electric push rod contracts to drive the leg module to rotate for an angle, and then the leg electric push rod is locked; and a second stage: the cushion electric push rod extends, the matching end of the cushion vertical arm and the curved chute slides upwards along the first track of the curved chute, the cushion rotates around the hinge shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion vertical arm, the backrest rotates around the hinge shaft of the cushion and the backrest under the constraint of the trunk directional arm, the movable connecting rod and the backrest support rod, and the leg module is kept still; and a third stage: along with the extension of cushion electric putter, the cushion hangs down the arm and slides behind the second track of bent shape spout, the cushion continues to drive the shank module and rotate around the articulated shaft of shank electric putter under the combined action of cushion electric putter and cushion hang down the arm, the back continues to be rotary motion around the articulated shaft of cushion and back under the restraint of trunk orientation arm, movable connecting rod and back bracing piece, after the cushion hangs down the arm and slides the second track terminal point of bent shape spout, cushion electric putter locks, cushion, shank module and back module are in vertical state.

Preferably, the inboard fixedly connected with cushion layer board (6021) of handrail of base module, when the cushion level of cushion module was placed, its cushion layer board can realize the support to the cushion module.

Preferably, the lifting base comprises a lower base (6013) and an upper base, the lower base comprises a foot pedal (6011), a universal wheel (6012), a lifting mechanism (6014), a driving wheel (6015) and a control system, the upper base can move up and down relative to the lower base under the driving of the lifting mechanism, and the lifting base can move under the driving of the driving wheel.

Preferably, a pulley (306) is mounted at the mating end of the seat cushion drop arm and the curved chute.

Has the advantages that: through the design scheme, the invention has the following beneficial effects:

1. can realize the knee bending action. The angle of the leg module can be controlled by controlling the extension and retraction of the leg electric push rod, so that the knee bending action is completed.

2. Can realize the standing action. Through the flexible of control cushion electric putter, can control the motion track of pulley to realize the static and the backward movement of the articulated shaft of shank module and cushion, thereby realize the process of standing.

3. Can be used as a moving tool. The moving function can be realized through the driving wheel of the lifting base in the standing posture state or the sitting posture state.

4. Can be suitable for people with different heights. The distance between the lower base and the upper base can be controlled by the lifting mechanism so as to meet the requirements of people with different heights.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the auxiliary standing device.

Fig. 2 is a schematic view of the cushion module.

Fig. 3 is a schematic view of the upper base of the base module.

Fig. 4 is a schematic view of a lower base of the base module.

Fig. 5 is a view showing a standing process of the auxiliary standing apparatus.

Detailed Description

In order to make the technical solutions and structural features of the present invention clearer, the technical solutions in the embodiments of the present invention are completely and clearly described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

As shown in figure 1, the standing assistance device according to the embodiment of the invention mainly comprises six parts, namely a leg module (1), a leg electric push rod (2), a cushion module (3), a cushion electric push rod (4), a backrest module (5) and a base module (6), wherein the leg module comprises a left part and a right part which are symmetrically distributed relative to a cushion (302), the backrest module comprises a backrest (501) and a left and a right torso oriented arms (502) which are symmetrically distributed relative to the cushion, one ends of the left and the right torso oriented arms are symmetrically and fixedly connected with the backrest of the backrest module, the other ends of the left and the right torso oriented arms are hinged with a movable connecting rod (604) of the base module through a hinged shaft, so that the movable connecting rod can rotate relative to the axis of the hinged shaft, the base module comprises a lifting base (601), and the lifting base comprises a lower base (6013), an upper base (6017) and a lifting mechanism (6014), one end of the lifting mechanism is fixedly arranged on the lower base, the other end of the lifting mechanism is connected with the upper base through a lifting shaft, and the lifting mechanism can drive the upper base to move up and down relative to the lower base under the control of a manual or control system (6016).

The device of upper limbs rehabilitation training includes: the device comprises a movable chassis (1), a horizontal guide rail (2), a lifting upright post (3), a mechanical arm (4), a force sensor (5), an arm tray (6) and an angle sensor (7); the movable chassis (1) is provided with a brake device (1-1) which can realize the fixing of any position of the movable chassis; the lifting upright post (3) is fixedly connected with the horizontal guide rail (2) and can move along the horizontal guide rail; the mechanical arm (4) is fixedly connected with the lifting upright post (3) and can move up and down along the lifting upright post; one end of the force sensor (5) is fixedly connected with the tail end of the mechanical arm (4), and the other end of the force sensor is fixedly connected with the arm tray (6); the arm tray (6) is provided with a binding band to be connected with the wrist part of the human arm; the angle sensor (7) is respectively arranged at the shoulder joint and the elbow joint of the upper limb of the human body. As shown in fig. 2, the cushion module comprises a leg hinge seat (301), a cushion electric push rod hinge seat (303), a backrest hinge seat (304), a cushion vertical arm (305) and a pulley (306), the leg hinge seat, the cushion electric push rod hinge seat, the backrest hinge seat is fixedly mounted on the cushion, one end of the cushion is hinged to the leg hinge seat through a hinge shaft, the other end of the cushion is hinged to the backrest hinge seat through a hinge shaft, so that the leg module and the backrest module can rotate relative to the hinge shaft of the cushion module, one end of the cushion vertical arm is fixedly connected with the cushion, the other end of the cushion vertical arm is in sliding connection with the curved chute, and the pulley mounted on the curved chute can slide along a first rail (6051) and a second rail (6052) of the curved chute.

As shown in fig. 3, the upper base includes a lifting mechanism, a handrail (602), a backrest support rod (603), a movable connecting rod, a curved chute (605) and a cushion support rod (606), wherein the handrail, the backrest support rod, the movable connecting rod and the curved chute include two left and right parts and are symmetrically distributed on the upper base, the handrail, the backrest support rod and the curved chute are fixedly connected with the upper base, the curved chute is provided with a first track and a second track, the backrest support rod is provided with an upper hinge seat (6032) and a lower hinge seat (6031), the upper hinge seat is hinged with one end of the movable connecting rod, the lower hinge seat is hinged with one end of the electric leg push rod, and the other end of the electric leg push rod is hinged with the leg module; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion through a cushion electric push rod hinge seat; the inboard fixedly connected with cushion layer board (6021) of handrail, when the cushion level of cushion module was placed, its cushion layer board can realize the support to the cushion module.

As shown in fig. 4, the lower base comprises a foot pedal (6011), a universal wheel (6012), a lifting mechanism, a driving wheel (6015) and a control system, the foot pedal is fixedly arranged at the front end of the lower base, the left side and the right side of the lower base are symmetrically connected with the two universal wheels and the two driving wheels, the control system is connected at the rear end of the lower base, and the lifting base can move under the driving of the driving wheels.

As shown in fig. 5, a represents an initial state of the user when the user sits on the seat cushion and the feet are put on the foot pedals; the b figure shows a state diagram after the electric push rod of the leg part contracts to drive the leg part module to rotate for an angle, the c figure is a state diagram when the matched pulleys of the vertical arm and the curved chute of the cushion are positioned on a first track of the curved chute, and the d figure is a state diagram when the matched pulleys of the vertical arm and the curved chute of the cushion are positioned at the terminal point of a second track of the curved chute, and at the moment, the leg part module, the cushion and the backrest are all in a vertical state.

Auxiliary user standing process of auxiliary standing equipment:

the user can adjust the distance of the upper base and the lower base through the lifting mechanism to adapt to the height characteristic of the user, so that the user can sit on the cushion, the foot is placed on the foot pedal, the leg can be connected to the leg module through the elastic belt, and the user is assisted to stand under the control of the control system as shown in figure 5 a: the first stage is as follows: the leg electric push rod is contracted to drive the leg module to rotate for an angle, and then the leg electric push rod is locked, as shown in fig. 5 b; and a second stage: the cushion electric push rod extends, the matching end of the cushion vertical arm and the curved chute slides upwards along the first track of the curved chute, the cushion rotates around the hinge shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion vertical arm, the backrest rotates around the hinge shaft of the cushion and the backrest under the constraint of the trunk directional arm, the movable connecting rod and the backrest supporting rod, and the leg module is kept still as shown in fig. 5 c; and a third stage: following the extension of cushion electric putter, after the cushion hangs down the arm and slides to the second track of bent shape spout, the cushion continued the pivoted under the combined action of cushion electric putter and cushion hang down the arm and drives the shank module and rotate around the articulated shaft of shank module and shank electric putter, the back continues to be rotary motion around the articulated shaft of cushion and back (under the restraint of trunk directional arm, movable connecting rod and back bracing piece, after the cushion hangs down the arm and slides to the second track terminal point of bent shape spout, cushion electric putter locks, cushion, shank module and back module are in vertical state, as shown in fig. 5 d.

Movement process of auxiliary user from standing posture to sitting posture of auxiliary standing equipment: the first stage is as follows: initially, the cushion, the leg module and the backrest module are in a vertical state, the feet of a user stand on a foot pedal, the legs are connected with the leg module through elastic belts, as shown in fig. 5d, an electric push rod of the cushion is gradually shortened under the control of a control system, the electric push rod of the legs keeps a locked state, a vertical arm of the cushion gradually slides downwards from the end point of a second track of the curved chute, the cushion rotates under the combined action of the electric push rod of the cushion and the vertical arm of the cushion, and simultaneously drives the leg module to rotate around a hinge shaft of the leg module and the electric push rod of the legs, and the backrest rotates around a hinge shaft of the cushion and the backrest under the constraint of a trunk directional arm, a movable connecting rod and a backrest supporting rod until the vertical arm of the cushion moves to a first track of the curved chute, as shown in fig. 5 c; and a second stage: the cushion electric push rod continues to be shortened, the matching end of the cushion vertical arm and the curved chute slides downwards along the first track of the curved chute, the cushion rotates around the hinge shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion vertical arm, the backrest rotates around the hinge shaft of the cushion and the backrest under the constraint of the trunk directional arm, the movable connecting rod and the backrest supporting rod, the leg module is kept still, and after the cushion electric push rod moves to the starting point of the first track of the curved chute, the cushion electric push rod is locked, as shown in fig. 5 b; and a third stage: the electric leg push rod is gradually extended under the control of the control system to drive the leg module to rotate by an angle so that the user keeps a comfortable leg posture and then keeps locking, as shown in fig. 5 a.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An auxiliary standing device is characterized by comprising six parts, namely a leg module, a cushion module, a backrest module, a cushion electric push rod, a leg electric push rod and a base module;

one end of the leg module is hinged with the cushion, the other end of the leg module is hinged with one end of the leg electric push rod, and the other end of the leg electric push rod is hinged with the lower hinge seat of the backrest support rod;

the cushion module mainly comprises a cushion and a cushion hanging arm, wherein one end of the cushion hanging arm is fixedly connected with the cushion, and the other end of the cushion hanging arm is in sliding connection with the curved chute and can slide along a first rail and a second rail of the curved chute;

the backrest module comprises a backrest and a trunk directional arm, the backrest is hinged with the cushion, one end of the trunk directional arm is fixedly connected with the backrest, and the other end of the trunk directional arm is hinged with the movable connecting rod of the base module;

the base module comprises a lifting base, armrests, a backrest support rod, a curved chute, a cushion support rod and a movable connecting rod, the backrest support rod, the curved chute and the armrests are fixedly connected with the upper base of the lifting base, an upper hinge seat and a lower hinge seat are arranged on the backrest support rod, and the upper hinge seat is hinged with one end of the movable connecting rod; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion; a first rail and a second rail are arranged on the curved chute;

the auxiliary standing equipment is characterized in that the auxiliary standing action process under the control of the control system is as follows: the first stage is as follows: the leg electric push rod contracts to drive the leg module to rotate for an angle, and then the leg electric push rod is locked; and a second stage: the cushion electric push rod extends, the matching end of the cushion vertical arm and the curved chute slides upwards along the first track of the curved chute, the cushion rotates around the hinge shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion vertical arm, the backrest rotates around the hinge shaft of the cushion and the backrest under the constraint of the trunk directional arm, the movable connecting rod and the backrest support rod, and the leg module is kept still; and a third stage: along with the extension of cushion electric putter, the cushion hangs down the arm and slides behind the second track of bent shape spout, the cushion continues to drive the shank module and rotate around the articulated shaft of shank electric putter under the combined action of cushion electric putter and cushion hang down the arm, the back continues to be rotary motion around the articulated shaft of cushion and back under the restraint of trunk orientation arm, movable connecting rod and back bracing piece, after the cushion hangs down the arm and slides the second track terminal point of bent shape spout, cushion electric putter locks, cushion, shank module and back module are in vertical state.

2. A standing aid apparatus as claimed in claim 1, wherein: the inboard fixedly connected with cushion layer board of handrail of base module, when the cushion level of cushion module was placed, its cushion layer board can realize the support to the cushion module.

3. A standing aid apparatus as claimed in claim 1, wherein: the lifting base consists of an upper base, a lifting mechanism, a lower base, a foot pedal, a driving wheel, universal wheels and a control system, wherein the upper base can move up and down relative to the lower base under the driving of the lifting mechanism, and the lifting base can move under the driving of the driving wheel.

4. A standing aid apparatus as claimed in claim 1, wherein: the matching end of the cushion vertical arm and the curved chute is provided with a pulley.