CN203694013U - Standing up and sitting down recovery device with gravity compensation - Google Patents
Standing up and sitting down recovery device with gravity compensation Download PDFInfo
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- CN203694013U CN203694013U CN201420075774.6U CN201420075774U CN203694013U CN 203694013 U CN203694013 U CN 203694013U CN 201420075774 U CN201420075774 U CN 201420075774U CN 203694013 U CN203694013 U CN 203694013U
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- standing
- sitting
- patient
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Abstract
The utility model discloses a standing up and sitting down recovery device with gravity compensation. Patients with stroke and cerebrovascular diseases are gradually increased currently. The standing up and sitting down recovery device with the gravity compensation comprises a supporting frame (19); a horizontal servo motor (11) which is installed on the supporting frame is connected with a ball screw (15) through a speed reducer and a coupler; a seating chair surface (5) of a gravity compensation device is provided with a constraint belt (27); the seating chair surface of the gravity compensation device is connected with the ball screw; the seating chair surface which is fixed through a four-rod mechanism and a supporting rod is connected with a seating chair servo motor; the upper end of the supporting rod is connected with a backrest (7); the backrest is connected with handrails; a lower end of the supporting rod is provided with casters. According to the standing up and sitting down recovery device with gravity compensation, for stroke and hemiplegic patients who are difficult in standing up and seating down, the function of a weight reduction hanging belt mechanism is equivalent to that a nurse assisting the patients to stand up and sit down and patient walking rehabilitation training can be well achieved and patient self-care ability of daily living is recovered as soon as possible when the device is used in combination with a walker.
Description
technical field:
this utility model relates to a kind of health care machinery, is specifically related to a kind of sitting up and standing convalescence device with gravity compensation.
background technology:
at present, with many countries are the same in the world, there are a large amount of apoplexy, cerebrovascular patients in China, occurs that hemiplegia and handicapped number be on the increase, and is rejuvenation trend.Medical research shows, the generation of cerebrovascular disease and self health care and living habit are closely related, also relevant with north and south regional climate.According to statistics, China increases every year the patient with nervous system disease such as cerebrovascular newly and exceedes 4,000,000 people, and along with social aging, obstacle of limb movement patient constantly increases, and has all brought white elephant to family and society.The practice of theory of medicine and clinical rehabilitation shows, exercise rehabilitation training is to recovering central nervous system function, prevents that limb muscle atrophy etc. from all having great importance.Walking function is the important symbol that characterizes human action ability, is also the necessary requirement that warrantor normally lives on one's own life.But traditional medical health apparatus is expensive, use inconvenience, these problems can not get solving always.
utility model content:
the purpose of this utility model is to provide a kind of health care machinery, is specifically related to a kind of sitting up and standing convalescence device with gravity compensation.
above-mentioned object realizes by following technical scheme:
a kind of sitting up and standing convalescence device with gravity compensation, its composition comprises: loss of weight suspender belt mechanism, described loss of weight suspender belt mechanism has bracing frame, horizontal servo motor is installed on described bracing frame, described horizontal servo motor is connected with ball-screw with shaft coupling by decelerator, described ball-screw is connected by nut and gravity-compensated device, described gravity-compensated device has restraining, described restraining is connected with cylinder by rope, described rope is wrapped on cylinder, described rope has obliquity sensor, described restraining is connected with a seat face by patient, the described seat face that rises passes through four-bar mechanism, support bar is fixed, described four-bar mechanism is connected with seat servomotor, described seat servomotor, encoder, decelerator is arranged on the inside of support bar framework by transverse slat, described post upper is connected with backrest, described backrest is connected with handrail, described support bar lower end has castor.
the described sitting up and standing convalescence device with gravity compensation, described horizontal servo motor has encoder, described ball-screw supports by left leading screw and right leading screw supports fixing, described restraining is connected with cylinder by rope, described rope is wrapped on cylinder, described rope has obliquity sensor, described cylinder is connected with gravity compensation servomotor by decelerator, described gravity compensation servomotor is connected with force transducer, nut, and described ball-screw is connected with nut.
a kind of sitting up and standing convalescence device with gravity compensation, the described sitting up and standing chair with gravity compensation has two kinds of mode of operations, mode of operation 1 is the four-bar mechanism described in described seat driven by servomotor, and described four-bar mechanism drives the described seat face that rises to provide and assisted recoil; Mode of operation 2 starts for described seat servomotor, described horizontal servo motor, described gravity compensation servomotor simultaneously, the described seat face that rises and described restraining provide has simultaneously assisted recoil, and loss of weight suspender belt mechanism is equivalent to nursing staff and assists patient's sitting up and standing in.
the described sitting up and standing convalescence device with gravity compensation, described horizontal servo motor drives described ball-screw, the nut of described ball-screw drives gravity-compensated device along the horizontal x of bracing frame to movement, cylinder described in driven by servomotor in described gravity-compensated device, described cylinder drives described rope and described restraining to compensate the gravity of human body, makes patient's sitting up and standing easier.
the described sitting up and standing convalescence device with gravity compensation, in four-bar mechanism described in described seat driven by servomotor, crank turns 360 °, the described auxiliary patient of the seat face that rises stands once, gravity-compensated device and patient's coordination exercise of described loss of weight suspender belt mechanism also compensates patient's gravity, realize patient's sitting up and standing process fast, in, slow three kinds of speed.
the described sitting up and standing rehabilitation system with gravity compensation, adopts modularized design, and when mode of operation 1, sitting up and standing chair can combine with walker, realizes auxiliary sitting up and standing and walking rehabilitation training; Sitting up and standing chair and loss of weight suspender belt Mechanism Combination when mode of operation 2, realize auxiliary sitting up and standing rehabilitation training.For the early stage patient of rehabilitation training, sitting up and standing difficulty, adopts mode of operation 2; For having certain seat ability that rises, but the patient of difficulty in walking adopts mode of operation 1 and walker combination, can realize better patient's sitting up and standing and walking rehabilitation training.
the beneficial effects of the utility model:
1, this utility model can be in order to help apoplexy, hemiplegia and handicapped patient to complete better sitting up and standing and walking rehabilitation training, according to patient's different rehabilitation stage demand, the sitting up and standing convalescence device of what this utility model provided have gravity compensation, whole system adopts modularized design, and its modularized sub-system comprises sitting up and standing chair, loss of weight suspender belt mechanism horizontal drive apparatus, gravity-compensated device.Early stage for rehabilitation training, patient's sitting up and standing difficulty, the mode of operation 2 of selective system, horizontal servo motor, gravity compensation servomotor, seat servomotor start simultaneously, playing seat face and restraining jointly provides and has assisted recoil, realizes patient's sitting up and standing rehabilitation training.Loss of weight suspender belt mechanism is equivalent to nursing staff and assists patient's sitting up and standing in.
2, this utility model, by tension force F ' and the inclination alpha of restraining rope, compensates weight in patients, makes patient's sitting up and standing easier.
3, its control system software and hardware of this utility model also adopts modularized design, and hardware is digital signal processor (DSP) based on PC and the open-type motion of field programmable gate array (FPGA).This control system has the advantages such as information processing capability is strong, reliability is high, favorable expandability.
4, the utlity model has the advantages such as simple in structure, reliability is high, adaptability good, working service is convenient.For apoplexy, the hemiplegic patient of sitting up and standing difficulty, loss of weight suspender belt mechanism is equivalent to nursing staff and assists patient's sitting up and standing in, can realize better patient's sitting up and standing rehabilitation training.
5, this utility model is to help apoplexy, hemiplegia and handicapped patient to complete the sitting up and standing system of rehabilitation training, can meet better different rehabilitation stage demands, recovers as soon as possible patient's self care ability.
6, the control system that the utlity model has the sitting up and standing convalescence device of gravity compensation also adopts modularized design, is digital signal processor (DSP) based on PC and the open-type motion of field programmable gate array (FPGA).As shown in Figure 7, its control system hardware comprises host computer PC, ethernet controller, DSP, FPGA, and this control system has the advantages such as information processing capability is strong, reliability is high, favorable expandability.
7, this utility model is for the early stage patient of rehabilitation training, and sitting up and standing difficulty, adopts mode of operation 2; For having certain seat ability that rises, but the patient of difficulty in walking adopts mode of operation 1 and walker combination, can realize better patient's sitting up and standing and walking rehabilitation training.
accompanying drawing explanation:
accompanying drawing 1: loss of weight suspender belt mechanism structure schematic diagram.
accompanying drawing 2: gravity-compensated device structural representation.
accompanying drawing 3: sitting up and standing chair schematic diagram.
accompanying drawing 4: sitting up and standing convalescence device control program.
accompanying drawing 5: human body sitting up and standing process schematic diagram.
accompanying drawing 6: trunk center of mass motion track when sitting up and standing.
accompanying drawing 7: play seat face corner change curve.
the specific embodiment:
embodiment 1:
a kind of sitting up and standing convalescence device with gravity compensation, its composition comprises: loss of weight suspender belt mechanism, as shown in Figure 1, described loss of weight suspender belt mechanism has bracing frame 19, horizontal servo motor 11 is installed on described bracing frame, described horizontal servo motor is connected with ball-screw 15 with shaft coupling 14 by decelerator 13, described ball-screw is connected by nut and gravity-compensated device, as shown in Figure 2, described gravity-compensated device has restraining 27, described restraining is connected with cylinder 24 by rope 25, described rope is wrapped on cylinder, described rope has obliquity sensor 26, described restraining is connected with a seat face 5 by patient, as shown in Figure 3, the described seat face that rises is by four-bar mechanism 4, support bar 10 is fixing, described four-bar mechanism is connected with seat servomotor 1, described seat servomotor, encoder 2, decelerator 3 is arranged on the inside of support bar framework by transverse slat 8, described post upper is connected with backrest 7, described backrest is connected with handrail 6, described support bar lower end has castor 9.
embodiment 2:
there is the sitting up and standing convalescence device of gravity compensation according to embodiment 1, described horizontal servo motor has encoder 12, described ball-screw supports 17 by left leading screw support 18 and right leading screw and fixes, described restraining is connected with cylinder 24 by rope 25, described rope is wrapped on cylinder, described rope has obliquity sensor 26, described cylinder is connected with gravity compensation servomotor 21 by decelerator 23, described gravity compensation servomotor is connected with force transducer 22, nut 16, and described ball-screw is connected with nut.
embodiment 3:
utilize a kind of sitting up and standing convalescence device with gravity compensation described in embodiment 1 or 2, according to patient's different rehabilitation stage demand, the described sitting up and standing convalescence device with gravity compensation has two kinds of mode of operations, mode of operation 1 is the four-bar mechanism described in described seat driven by servomotor, and described four-bar mechanism drives the described seat face that rises to provide and assisted recoil; Mode of operation 2 starts for described seat servomotor, described horizontal servo motor, described gravity compensation servomotor simultaneously, the described seat face that rises and described restraining provide has simultaneously assisted recoil, and loss of weight suspender belt mechanism is equivalent to nursing staff and assists patient's sitting up and standing in.
embodiment 4:
according to the sitting up and standing convalescence device with gravity compensation described in embodiment 1 or 2 or 3, described horizontal servo motor drives described ball-screw, the nut of described ball-screw drives gravity-compensated device along the horizontal x of bracing frame to movement, cylinder described in driven by servomotor in described gravity-compensated device, described cylinder drives described rope and described restraining to compensate the gravity of human body.
embodiment 5:
according to the sitting up and standing convalescence device with gravity compensation described in embodiment 1 or 2 or 3 or 4, in four-bar mechanism described in described seat driven by servomotor, crank turns 360 °, the described auxiliary patient of the seat face that rises stands once, described loss of weight suspender belt mechanism, gravity-compensated device and patient's coordination exercise also compensates patient's gravity, realize patient's sitting up and standing process fast, in, slow three kinds of speed.
embodiment 6:
according to the sitting up and standing convalescence device with gravity compensation one of embodiment 1-5 Suo Shu, described patient's sitting up and standing process schematic diagram as shown in Figure 5, with male's height 1.70m, body weight 70kg, shank, thigh, torso length are got respectively
l
1
=0.42m,
l
2
=0.39m,
l
3
=0.51m, its centroidal moment is got respectively
l
c1
=0.22m,
l
c2
=0.2m,
l
c3
=0.25m; Restraining 27 and trunk barycenter c
3
approximate coincidence, trunk barycenter c when human body sitting up and standing
3
movement locus in Oxy coordinate system as shown in Figure 6, trunk barycenter c
3
range of movement x
c3
for [0.39,0.063], y
c3
for [0.67,1.06]; Can obtain thus the range of movement [0,0.453] of loss of weight suspender belt mechanism horizontal drive apparatus, the range of movement [0,0.39] of gravity-compensated device; With fast, in, when slow three kinds of speed sitting up and standing, Fig. 7 has been seat face rotational angle theta change curve schematic diagram.
embodiment 7:
according to the sitting up and standing rehabilitation system with gravity compensation one of embodiment 1-6 Suo Shu, its control system as shown in Figure 4, adopts digital signal processor (DSP) based on PC and the open-type motion of field programmable gate array (FPGA); Its control system hardware comprises host computer PC 20, ethernet controller 28, DSP 29, FPGA 30, and this control system has the advantages such as information processing capability is strong, reliability is high, favorable expandability.
Claims (7)
1. one kind has the sitting up and standing convalescence device of gravity compensation, its composition comprises: loss of weight suspender belt mechanism, it is characterized in that: described loss of weight suspender belt mechanism has bracing frame, horizontal servo motor is installed on described bracing frame, described horizontal servo motor is connected with ball-screw with shaft coupling by decelerator, described ball-screw is connected by nut and gravity-compensated device, described gravity-compensated device has restraining, described restraining is connected with cylinder by rope, described rope is wrapped on cylinder, described rope has obliquity sensor, described restraining is connected with a seat face by patient, the described seat face that rises passes through four-bar mechanism, support bar is fixed, described four-bar mechanism is connected with seat servomotor, described seat servomotor, encoder, decelerator is arranged on the inside of support bar framework by transverse slat, described post upper is connected with backrest, described backrest is connected with handrail, described support bar lower end has castor.
2. the sitting up and standing convalescence device with gravity compensation according to claim 1, it is characterized in that: described horizontal servo motor has encoder, described ball-screw supports by left leading screw and right leading screw supports fixing, described restraining is connected with cylinder by rope, described rope is wrapped on cylinder, described rope has obliquity sensor, described cylinder is connected with gravity compensation servomotor by decelerator, described gravity compensation servomotor is connected with force transducer, nut, and described ball-screw is connected with nut.
3. utilize a kind of sitting up and standing convalescence device with gravity compensation described in claim 1 or 2, it is characterized in that: according to patient's different rehabilitation stage demand, the described sitting up and standing chair with gravity compensation has two kinds of mode of operations, mode of operation 1 is the four-bar mechanism described in described seat driven by servomotor, and described four-bar mechanism drives the described seat face that rises to provide and assisted recoil; Mode of operation 2 starts for described seat servomotor, described horizontal servo motor, described gravity compensation servomotor simultaneously, the described seat face that rises and described restraining provide has simultaneously assisted recoil, and loss of weight suspender belt mechanism is equivalent to nursing staff and assists patient's sitting up and standing in.
4. the sitting up and standing convalescence device with gravity compensation according to claim 1 and 2, it is characterized in that: described horizontal servo motor drives described ball-screw, the nut of described ball-screw drives gravity-compensated device along the horizontal x of bracing frame to movement, cylinder described in driven by servomotor in described gravity-compensated device, described cylinder drives described rope and described restraining to compensate the gravity of human body, makes patient's sitting up and standing easier.
5. the sitting up and standing convalescence device with gravity compensation according to claim 1 and 2, it is characterized in that: in the four-bar mechanism described in described seat driven by servomotor, crank turns 360 °, the described auxiliary patient of the seat face that rises stands once, gravity-compensated device and patient's coordination exercise of described loss of weight suspender belt mechanism also compensates patient's gravity, realize patient's sitting up and standing process fast, in, slow three kinds of speed.
6. the sitting up and standing rehabilitation system with gravity compensation according to claim 1 and 2, it is characterized in that: whole system adopts modularized design, when mode of operation 1, sitting up and standing chair can combine with walker, realizes auxiliary sitting up and standing and walking rehabilitation training; Sitting up and standing chair and loss of weight suspender belt Mechanism Combination when mode of operation 2, realize auxiliary sitting up and standing rehabilitation training.
7. the sitting up and standing rehabilitation system with gravity compensation according to claim 1 and 2, is characterized in that: for the early stage patient of rehabilitation training, sitting up and standing difficulty, adopts mode of operation 2; For having certain seat ability that rises, but the patient of difficulty in walking adopts mode of operation 1 and walker combination, can realize better patient's sitting up and standing and walking rehabilitation training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420075774.6U CN203694013U (en) | 2014-02-21 | 2014-02-21 | Standing up and sitting down recovery device with gravity compensation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420075774.6U CN203694013U (en) | 2014-02-21 | 2014-02-21 | Standing up and sitting down recovery device with gravity compensation |
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| Publication Number | Publication Date |
|---|---|
| CN203694013U true CN203694013U (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420075774.6U Expired - Fee Related CN203694013U (en) | 2014-02-21 | 2014-02-21 | Standing up and sitting down recovery device with gravity compensation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103767855A (en) * | 2014-02-21 | 2014-05-07 | 哈尔滨理工大学 | Sitting and standing rehabilitation system having gravity compensating function |
| CN104905940A (en) * | 2015-06-08 | 2015-09-16 | 江苏龙昌智能科技有限公司 | Multifunctional limb intelligent rehabilitation machine and computer auxiliary control method thereof |
| CN106880466A (en) * | 2015-10-06 | 2017-06-23 | 松下知识产权经营株式会社 | Stand up action auxiliary implement |
-
2014
- 2014-02-21 CN CN201420075774.6U patent/CN203694013U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103767855A (en) * | 2014-02-21 | 2014-05-07 | 哈尔滨理工大学 | Sitting and standing rehabilitation system having gravity compensating function |
| CN104905940A (en) * | 2015-06-08 | 2015-09-16 | 江苏龙昌智能科技有限公司 | Multifunctional limb intelligent rehabilitation machine and computer auxiliary control method thereof |
| CN106880466A (en) * | 2015-10-06 | 2017-06-23 | 松下知识产权经营株式会社 | Stand up action auxiliary implement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20150221 |
|
| EXPY | Termination of patent right or utility model |