CN116636980B - An all-in-one machine for preventing falls and assisting walking and rehabilitation training - Google Patents

An all-in-one machine for preventing falls and assisting walking and rehabilitation training

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Publication number
CN116636980B
CN116636980B CN202310621033.7A CN202310621033A CN116636980B CN 116636980 B CN116636980 B CN 116636980B CN 202310621033 A CN202310621033 A CN 202310621033A CN 116636980 B CN116636980 B CN 116636980B
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CN
China
Prior art keywords
rehabilitation training
support arm
crank
rod
machine according
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Active
Application number
CN202310621033.7A
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Chinese (zh)
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CN116636980A (en
Inventor
于福杰
魏永利
张亚慧
徐文龙
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Rehabilitation University Preparatory
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Rehabilitation University Preparatory
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Priority to CN202310621033.7A priority Critical patent/CN116636980B/en
Publication of CN116636980A publication Critical patent/CN116636980A/en
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Publication of CN116636980B publication Critical patent/CN116636980B/en
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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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1043—Cushions specially adapted for wheelchairs
    • A61G5/1045—Cushions specially adapted for wheelchairs for the seat portion
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/0149—Seat or chair
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A61H2201/1626—Holding means therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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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)
  • Rehabilitation Tools (AREA)

Abstract

本发明涉及康复训练装置技术领域，尤其是一种防跌倒助行康复训练一体机，电动轮椅，包括可进行水平与竖直状态转换的坐垫；坐立转换机构包括竖直面内运动的曲柄滑块机构及其驱动件，坐垫作为所述曲柄滑块机构中曲柄部件；平衡辅助系统，包括背靠杆、支撑臂机构以及腰部连接器，背靠杆与坐垫转动连接，支撑臂机构一端与背靠杆滑动连接，另一端转动连接腰部连接器，支撑臂机构由两个支撑臂组成，每一支撑臂具有多个旋转关节且首端布置的旋转关节配置有串联弹性驱动器。通过改变整机形态，实现轮椅模式和辅助行走模式间的转换，在辅助行走模式下，通过调整旋转关节的输出力矩值及线性滑块的高度，随时适配当前使用者行走状态，并提供摔倒保护。

The present invention relates to the technical field of rehabilitation training devices, in particular to an anti-fall walking-aid rehabilitation training all-in-one machine, an electric wheelchair, comprising a seat cushion that can be converted between horizontal and vertical states; a sit-to-stand conversion mechanism comprising a crank slider mechanism and its driving member that moves in a vertical plane, with the seat cushion serving as a crank component in the crank slider mechanism; a balance assist system comprising a backrest rod, a support arm mechanism, and a waist connector, the backrest rod being rotatably connected to the seat cushion, one end of the support arm mechanism being slidably connected to the backrest rod, and the other end being rotatably connected to the waist connector, the support arm mechanism being composed of two support arms, each of which has a plurality of rotary joints, and the rotary joints arranged at the head end being configured with a series elastic driver. By changing the overall form of the machine, the conversion between the wheelchair mode and the assisted walking mode is achieved. In the assisted walking mode, by adjusting the output torque value of the rotary joint and the height of the linear slider, the current user's walking state can be adapted at any time, and fall protection can be provided.

Description

Fall-preventing walking-assisting rehabilitation training integrated machine
Technical Field
The invention relates to the technical field of rehabilitation training devices, in particular to an anti-falling walking-assisting rehabilitation training integrated machine.
Background
Physiological aging, nerve damage and musculoskeletal limitation are common causes of impaired balance, and balance control has a great influence on the independence of activities of daily living and gait because it is a basic motor skill and also a prerequisite for maintaining a variety of postures and activities. The result of impaired balance control is falls, wherein the elderly are high risk populations of falls, more than 90% of which are fracture caused by falls, and in addition, a significant portion of the population with disabled lower limbs due to congenital diseases, stroke, sports injuries and traffic accidents can recover walking ability through rehabilitation training, but the risk of falls is also significantly increased by high intensity training. The falling not only can aggravate the psychological burden of the patient with the impaired balance, but also can influence the life quality and physical and mental health of the patient and the family.
The fall prevention aid aims to help balance impaired patients not to fear falling, and to walk more confidently and independently in daily life. However, the existing fall-preventing auxiliary appliance is mainly used for medical institutions rather than families or communities, and has the problems of large equipment size and poor maneuverability. In addition, many fall prevention auxiliary devices do not have a sitting-standing conversion function, and cannot be deformed into an electric wheelchair when a user wants to sit down for rest or movement.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the fall-preventing walking-assisting rehabilitation training integrated machine which has a sitting-standing conversion function and can prevent falling when a user performs walking rehabilitation training, so that the machine is multipurpose and is suitable for families and communities. In order to achieve the above object, the present invention is realized by the following technical scheme:
the invention provides an anti-falling walking-assisting rehabilitation training integrated machine, which comprises:
the electric wheelchair comprises a cushion capable of converting horizontal and vertical states;
the sitting-standing conversion mechanism comprises a crank block mechanism moving in a vertical plane and a driving piece thereof, and the cushion is used as a crank part in the crank block mechanism;
The balance auxiliary system comprises a back rest rod, a support arm mechanism and a waist connector, wherein the back rest rod is rotationally connected with the cushion, one end of the support arm mechanism is in sliding connection with the back rest rod, the other end of the support arm mechanism is rotationally connected with the waist connector, the support arm mechanism consists of two support arms, each support arm is provided with a plurality of rotary joints, and the rotary joints arranged at the head end of each support arm are provided with serial elastic drivers.
As a further implementation mode, the sitting-standing conversion mechanism further comprises two double-rocker mechanisms which move in the horizontal plane and are symmetrically arranged, the double-rocker mechanisms are respectively connected with guide wheels of the electric wheelchair, and the double-rocker mechanisms and the crank block mechanisms are linked to realize that the distance between the two guide wheels is increased when the wheelchair is subjected to sitting-standing conversion.
As a further implementation mode, the crank slide block mechanism is linked with the double rocker mechanism through the double slide block mechanism.
As a further implementation manner, the driving piece is a linear actuator, so that the distance between the guide wheel and the driving wheel is increased when the wheelchair is driven to perform sitting-standing conversion.
As a further implementation mode, the crank slide block mechanism, the double rocker mechanism and the double slide block mechanism are in compound connection.
As a further implementation, the support arm mechanism and the backrest rod slide by providing a linear joint.
As a further implementation, adjacent rotary joints of the same support arm are connected by a lever.
As a further implementation, a rod member is disposed between the rotary joints at the ends of the support arms, and a rotary joint rotating around the rod member is disposed on the rod member.
As a further implementation manner, except for the rotary joints at the head end, the rotary joints are all freely movable joints and are provided with position encoders.
As a further implementation, each of the support arms is provided with three of the rotary joints.
The beneficial effects of the invention are as follows:
1. The invention changes the shape of the whole machine through the sitting-standing conversion mechanism, and realizes the conversion between the wheelchair mode and the auxiliary walking mode. In the auxiliary walking mode, the balance auxiliary mechanism is adapted to the current walking state of the user at any time by adjusting the output torque value of the rotary joint and the height of the linear sliding block, and can provide fall protection.
2. The sitting-standing conversion mechanism can change the shape of the whole machine through multiple mechanisms, and can assist a user in sitting posture to stand up. The sitting-standing conversion mechanism changes the distance between the guide wheels and the driving wheels when assisting a user to stand through the double rocker mechanism and the double sliding block mechanism, so that the walking space of the user can be ensured, the balance of the whole machine can be improved, and the user can be better protected.
3. The waist connector is compliant in nature, when the integrated machine is in a following state, the serial elastic driver is controlled in a zero-force mode, and the waist connector compensates pose errors caused by mismatching of the motion of the electric wheelchair and the motion of a user by freely adjusting the pose of the waist connector, so that a moving target of the following user is realized. When instability is detected, the tandem spring actuator will momentarily activate, based on the position encoder information and the predicted human gait characteristics, to output a moment to follow the human movement and then actuate the lumbar connector to resume its original position. The gravity center of the user can be kept in a safe area, so that the user can be ensured not to fall down, and the balance of the user can be restored conveniently.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of the overall structure of an all-in-one machine in an embodiment of the invention;
FIG. 2 is a schematic diagram of a balance assist mechanism in an embodiment of the invention;
FIG. 3 is a front view of a sit-to-stand transfer mechanism according to an embodiment of the present invention;
FIG. 4 is an isometric view of a seat-to-stand conversion mechanism in an embodiment of the invention;
FIG. 5 is a schematic diagram of a slider-crank mechanism in an embodiment of the invention;
FIG. 6 is a schematic diagram of a dual rocker mechanism in accordance with an embodiment of the present invention;
FIG. 7 is a schematic diagram of a dual slider mechanism in accordance with an embodiment of the present invention;
FIG. 8 is a top view of a change over mechanism in a wheelchair mode in accordance with an embodiment of the present invention;
FIG. 9 is a top view of a sit-to-stand transfer mechanism in an walk-assist mode in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of a wheelchair mode in accordance with an embodiment of the present invention;
FIG. 11 is a schematic view of an assisted walking mode in an embodiment of the present invention.
In the drawings, the mutual spacing or size is exaggerated for showing the positions of the parts, and the schematic drawings are only schematic.
The device comprises 101, a control button, 102, a cushion, 103, a mobile control rocker, 104, a wheelchair pedal, 105, a guide wheel, 106, a driving wheel, 107, a battery, 201, a linear actuator, 202, a double rocker mechanism, 203, a crank sliding block mechanism, 2031, a connecting rod, 2032, a rack, 2033, a sliding rod, 204, a double sliding block mechanism, 301, a leaning rod, 302, a linear sliding block base, 303, a support arm mechanism, 304, a waist connector, R1, a first rotary joint, R2, a second rotary joint, R3, a third rotary joint, R4, a fourth rotary joint, R5, a fifth rotary joint, R6, a sixth rotary joint, R7, a seventh rotary joint, P1, a linear joint, L1, a guide wheel interval, L2 and a guide wheel interval with the driving wheel.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
In an exemplary embodiment of the present invention, referring to fig. 1-11, an anti-fall walker rehabilitation training device comprises an electric wheelchair, a sitting-to-standing conversion mechanism and a balance assist system.
As shown in fig. 1, the electric wheelchair is composed of a control button 101, a movement control rocker 103, a wheelchair pedal 104, a seat cushion 102, a guide wheel 105, a driving wheel 106, and a battery 107. The electric wheelchair is used as a movable base, the driving wheel 106 is provided with an in-wheel motor and is arranged on two sides of the wheelchair, and the battery 107 is arranged between the two wheels to provide power for the whole wheelchair. The guide wheels 105 are arranged on two sides of the front part of the electric wheelchair, and a wheelchair pedal 104 is arranged between the two wheels. The control buttons 101 and the movement control rocking bars 103 are arranged at the positions of armrests at two sides of the wheelchair, the cushion 102 is arranged in the middle of the wheelchair, and the cushion 102 can rotate to realize horizontal and vertical state conversion.
As shown in fig. 1, the sitting-standing conversion mechanism is composed of a linear actuator 201 and a triple combination mechanism, wherein the linear actuator 201 is installed below the seat cushion 102 and can drive the triple combination mechanism to deform. The triple compound mechanism consists of a crank-slider mechanism 203 moving in a vertical plane, a double rocker mechanism 202 and a double slider mechanism 204 in a horizontal plane.
As shown in fig. 3, the slider-crank mechanism 203 moving in a vertical plane and a driving member thereof, in this embodiment, the driving member is a linear actuator 201, the seat cushion 102 is used as a crank component in the slider-crank mechanism 203, the slider-crank mechanism 203 further comprises a connecting rod 2031, a frame 2032 and a slide rod 2033, wherein the frame 2032 has a vertical section and a horizontal section, the horizontal section thereof is used as a sliding path of the slide rod 2033, the slide rod 2033 is used as a slide component in the slider-crank mechanism 203, and the top of the vertical section of the frame 2032 is rotatably connected with the seat cushion. The linear actuator 201 is screwed with the slide rod 2033, and the slide rod 2033 is driven to move by rotation.
As shown in fig. 4, the sitting-standing conversion mechanism includes two rocker mechanisms 202 moving in a horizontal plane and symmetrically arranged, the number of the two rocker mechanisms 202 is two, the two rocker mechanisms 202 are respectively connected with the guide wheels 105 of the electric wheelchair, and the two rocker mechanisms 202 and the crank block mechanism 203 are linked to realize the sitting-standing conversion of the wheelchair and increase the distance between the two guide wheels 105.
The crank block mechanism 203 and the double rocker mechanism 202 are linked by the double block mechanism 204. As the linear actuator 201 is adopted for driving, the space between the guide wheel 105 and the driving wheel 106 is increased while the chair with the driving wheel 106 performs sitting and standing conversion.
It will be appreciated that, for the sake of compact structure, the crank slider mechanism 203, the double rocker mechanism 202 and the double slider mechanism 204 are combined, and simplified mechanism diagrams thereof are shown in fig. 5, 6 and 7, respectively. Specifically, as shown in fig. 4, the vertical section of the sliding rod 2033 is used as a component of the crank slider mechanism 203, two horizontal sections symmetrically arranged at the bottom of the vertical section are used as components of the double slider mechanism 204, and the rod of the horizontal section is slidingly and rotatably connected with the rocker in the double rocker mechanism 202.
When the training integrated machine is switched from the wheelchair mode to the auxiliary walking mode, the linear actuator 201 rotates to drive the double-rocker mechanism 202 and the double-slider mechanism 204 to be unfolded, and the crank-slider mechanism 203 also lifts the seat cushion 102 from the horizontal direction to the vertical direction. After the double rocker mechanism 202 and the double slider mechanism 204 are unfolded, the distance L1 between the two guide wheels and the distance L2 between the guide wheels and the driving wheel increases (as center distance) relative to the wheelchair mode, as shown in fig. 8 and 9, and the overall stability in the auxiliary walking mode is improved. When the exercise machine is shifted to wheelchair mode, the slider-crank mechanism 203 retracts the seat cushion 102 to a horizontal position to provide a seat for the user, and the dual rocker mechanism 202 and the dual slider mechanism 204 retract to a reasonable distance to provide a wheelchair mobility aid for the user. Fig. 10 and 11 show schematic views of a wheelchair mode and an assisted walking mode.
As shown in fig. 1 and 2, the balance assist system includes a back lever 301, a support arm mechanism 303, and a lumbar connector 304, the back lever 301 is connected to and rotates around the seat cushion 102, one end of the support arm mechanism 303 is slidably connected to the back lever 301, the other end is connected to the lumbar connector 304, the support arm mechanism 303 is composed of two support arms provided correspondingly, each support arm has a plurality of rotary joints, and the rotary joints arranged at the head end are configured with tandem elastic drivers.
In the present embodiment, the support arm mechanism 303 and the backrest 301 slide by providing a linear joint P1, and a linear slide base 302 is provided here, and the linear slide base 302 is provided with the linear joint P1.
Adjacent rotary joints of the same support arm are connected by a rod, each support arm is provided with three rotary joints, and the rotation axes of the six rotary joints are parallel to the backrest rod 301. The rotary joints of the two support arms are symmetrically arranged, wherein the rotary joint of one support arm comprises a first rotary joint R1, a third rotary joint R3 and a fifth rotary joint R5, and the rotary joint of the other support arm comprises a second rotary joint R2, a fourth rotary joint R4 and a sixth rotary joint R6.
A rod piece is arranged between the rotary joints at the tail ends of the support arms, and a rotary joint rotating around the rod piece is arranged on the rod piece, wherein the rotary joint is a seventh rotary joint R7, the rotation axis of the rotary joint is perpendicular to the rotation axes of other rotary joints, and the waist connector 304 is connected with the seventh rotary joint R7, so that the waist connector 304 can be turned up and down.
Except the rotary joints at the head end, the rest rotary joints are all freely movable joints and are provided with position encoders. Namely, the first rotary joint R1 and the second rotary joint R2 are provided with serial elastic drivers, the rest rotary joints are free passive driving joints, and a position encoder is arranged to measure the joint position.
One end of the waist connector 304 is mounted on the linear joint P1, and the other end is connected to the waist of the user's body through a seat belt bracket. The waist region is selected as the contact point because the waist is close to the center of gravity of the human body, and the auxiliary force can be transmitted more effectively.
The support arm mechanism 303 can be adjusted up and down on the backrest 301 through the linear joint P1 to adapt to users with different heights. Inertial Sensors (IMUs) and force sensors to be mounted on the lumbar connector are used to measure upper body posture and contact force information of the user, respectively, while 2D laser sensors mounted on the wheelchair base and IMUs worn at the leg joints of the human body are used to acquire movement state information of the left and right legs.
Unlike other gait-assisted devices that use a rigid connection interface and force sensors, and track the user's movements through feedback control, the lumbar connector 304 of the fall-prevention walker rehabilitation training device is compliant in nature. When the fall-preventing walking-assisting rehabilitation training integrated machine is in a following state, the series elastic driver is controlled in a zero-force mode, at the moment, the first rotary joint R1 and the second rotary joint R2 can freely move, and the waist connector 304 can compensate pose errors caused by mismatching of the motion of the electric wheelchair and the motion of a user by freely adjusting the poses, so that a moving target of following the user is realized.
The compliant nature of the present embodiment decouples the dynamics of the mobile base from the user, thereby reducing the inertial effects of the mobile platform on the user. When instability is detected, the fall-preventing walking-assisting rehabilitation training integrated machine can enter a fall intervention state. In this state, the electric wheelchair will stop moving, and the tandem spring actuator connected to the first and second rotational joints R1 and R2 will be momentarily activated based on the position encoder information and the predicted human gait characteristics to output a moment to conform to the human movement and then drive the lumbar connector 304 to resume the initial position. This can keep the user's focus in safe area, ensures that the user can not fall, and the user of being convenient for resumes the equilibrium. After the user regains balance, the series elastic drive returns to zero force control mode and the lumbar connector 304 resumes its compliance.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1.一种防跌倒助行康复训练一体机，其特征在于，包括：1. An all-in-one machine for preventing falls and assisting walking and rehabilitation training, comprising: 电动轮椅，包括可进行水平与竖直状态转换的坐垫；An electric wheelchair, including a seat cushion capable of switching between a horizontal and a vertical position; 坐立转换机构，包括竖直面内运动的曲柄滑块机构及其驱动件，坐垫作为所述曲柄滑块机构中曲柄部件；A sit-to-stand conversion mechanism includes a slider-crank mechanism and a driving member that moves in a vertical plane, wherein the seat cushion serves as a crank member in the slider-crank mechanism; 平衡辅助系统，包括背靠杆、支撑臂机构以及腰部连接器，所述背靠杆与所述坐垫转动连接，支撑臂机构一端与背靠杆滑动连接，另一端转动连接腰部连接器，支撑臂机构由两个支撑臂组成，每一支撑臂具有多个旋转关节且首端布置的旋转关节配置有串联弹性驱动器；A balance assist system comprising a backrest rod, a support arm mechanism, and a waist connector. The backrest rod is rotatably connected to the seat cushion. One end of the support arm mechanism is slidably connected to the backrest rod and the other end is rotatably connected to the waist connector. The support arm mechanism comprises two support arms, each of which has multiple rotational joints, and the rotational joint arranged at the head end is configured with a series elastic drive. 所述坐立转换机构还包括水平面内运动且对称布置的两个双摇杆机构，分别与所述电动轮椅的导向轮连接，所述双摇杆机构与所述曲柄滑块机构联动以实现在轮椅进行坐立转换的同时增大两导向轮间距。The sit-to-stand conversion mechanism also includes two double rocker mechanisms that move in a horizontal plane and are symmetrically arranged, and are respectively connected to the guide wheels of the electric wheelchair. The double rocker mechanisms are linked with the crank slider mechanism to increase the distance between the two guide wheels while the wheelchair is performing a sit-to-stand conversion. 2.根据权利要求1所述的一种防跌倒助行康复训练一体机，其特征在于，所述曲柄滑块机构与所述双摇杆机构间通过设置双滑块机构联动。2. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 1, characterized in that the crank slider mechanism and the double rocker mechanism are linked by setting a double slider mechanism. 3.根据权利要求2所述的一种防跌倒助行康复训练一体机，其特征在于，所述驱动件为线性执行器，其驱动轮椅进行坐立转换的同时增大导向轮与驱动轮间距。3. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 2 is characterized in that the driving component is a linear actuator, which drives the wheelchair to sit-to-stand conversion while increasing the distance between the guide wheel and the driving wheel. 4.根据权利要求3所述的一种防跌倒助行康复训练一体机，其特征在于，所述曲柄滑块机构、所述双摇杆机构和所述双滑块机构复合连接。4. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 3, characterized in that the crank slider mechanism, the double rocker mechanism and the double slider mechanism are compositely connected. 5.根据权利要求1-4任一项所述的一种防跌倒助行康复训练一体机，其特征在于，所述支撑臂机构与所述背靠杆通过设置线性关节以实现滑动。5. The anti-fall walking aid rehabilitation training all-in-one machine according to any one of claims 1 to 4, characterized in that the support arm mechanism and the backrest rod are provided with a linear joint to achieve sliding. 6.根据权利要求5所述的一种防跌倒助行康复训练一体机，其特征在于，同一所述支撑臂的相邻所述旋转关节通过杆件连接。6. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 5, characterized in that adjacent rotation joints of the same support arm are connected by a rod. 7.根据权利要求6所述的一种防跌倒助行康复训练一体机，其特征在于，各所述支撑臂末端的所述旋转关节间设有杆件并在此杆件上设有绕其旋转的旋转关节。7. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 6, characterized in that a rod is provided between the rotary joints at the ends of the support arms and a rotary joint rotating around the rod is provided on the rod. 8.根据权利要求7所述的一种防跌倒助行康复训练一体机，其特征在于，除首端的所述旋转关节外，其余所述旋转关节均为自由活动的关节且安装有位置编码器。8. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 7, characterized in that, except for the rotary joint at the head end, the other rotary joints are all freely movable joints and are equipped with position encoders. 9.根据权利要求6所述的一种防跌倒助行康复训练一体机，其特征在于，各所述支撑臂设有三个所述旋转关节。9. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 6, characterized in that each of the support arms is provided with three of the rotation joints.
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