CN211382258U - Carry on multi-mode intelligence wheelchair lifting mechanism of flexible ectoskeleton clothes - Google Patents

Carry on multi-mode intelligence wheelchair lifting mechanism of flexible ectoskeleton clothes Download PDF

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Publication number
CN211382258U
CN211382258U CN201922168742.6U CN201922168742U CN211382258U CN 211382258 U CN211382258 U CN 211382258U CN 201922168742 U CN201922168742 U CN 201922168742U CN 211382258 U CN211382258 U CN 211382258U
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China
Prior art keywords
lifting
driving unit
mode
flexible
wheelchair
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CN201922168742.6U
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Chinese (zh)
Inventor
韩亚丽
朱松青
史传祺
孙翰
金壮壮
朱文亮
关鸿耀
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Nanjing Institute of Technology
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Nanjing Institute of Technology
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Priority to CN2019110100812 priority
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/006Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1056Arrangements for adjusting the seat
    • A61G5/1059Arrangements for adjusting the seat adjusting the height of the seat
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1056Arrangements for adjusting the seat
    • A61G5/1067Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125Rests specially adapted therefor, e.g. for the head or the feet for arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/127Rests specially adapted therefor, e.g. for the head or the feet for lower legs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/12Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128Rests specially adapted therefor, e.g. for the head or the feet for feet
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/14Standing-up or sitting-down aids
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262Walking movement; Appliances for aiding disabled persons to walk
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/723Impact absorbing means, e.g. bumpers or airbags
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • A61H2205/106Leg for the lower legs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • A61H2205/108Leg for the upper legs

Abstract

A multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit comprises an upper inclined driving unit, a lead screw, an H-shaped moving platform, a guide rail, an inclined small arm, a lifting large arm, a base driving unit, a lifting platform, a front driving unit, a sliding groove support sliding groove, a leg support and a telescopic pedal, and can be switched into a horizontal pose mode for a walking disorder patient to perform lying passive rehabilitation training in the early stage of muscle weakness rehabilitation; the wheelchair sitting posture mode can be switched to be normal, and the wheelchair is used for the patient to ride instead of walk, so that the convenient life of the patient is realized; the lifting height and the lifting angle of the chair surface can be adjusted to help a user to take and place high-place articles; the wheelchair can be switched to an auxiliary supporting standing posture mode, so that the chair surface is turned forwards to present a standing posture, a patient at the later stage of a rehabilitation stage is supported, and the wheelchair is separated from the wheelchair under the assistance of the sensitive walking stick and the flexible exoskeleton suit to perform landing rehabilitation training. Therefore, the multifunctional clothes hanger has the characteristics of comprehensive functions and convenience in use.

Description

Carry on multi-mode intelligence wheelchair lifting mechanism of flexible ectoskeleton clothes
Technical Field
The utility model relates to a towards the dyskinesia patient, collection rehabilitation training corollary equipment field especially relates to a carry on multi-mode intelligence wheelchair lifting mechanism of flexible ectoskeleton clothes.
Background
For the mobility-impaired patients, the classic tool of riding instead of walk is an intelligent wheelchair. At present a lot of intelligent wheelchairs have realized various road conditions such as going up and down stairs, climbing, and the patient can realize convenient comfortable life with the help of the wheelchair, but the wheelchair can not provide effectual motion rehabilitation training for the patient, and the patient can appear muscle atrophy after sitting for a long time, breed symptoms such as sore disease.
With the development of rehabilitation technology, the rehabilitation exoskeleton systems which are rapidly developed in recent years can perform effective rehabilitation training for patients with lower limb paralysis, spinal cord injury and apoplexy, so that the muscle strength of the patients is effectively recovered, but most of the rehabilitation exoskeleton systems are fixed equipment, the rehabilitation training scene is single, and the rehabilitation patients are easy to get a motion fatigue state.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides a multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit, aiming to realize passive rehabilitation training for patients with walking disorder in the early rehabilitation stage of muscle weakness; when passive rehabilitation training is not performed, the patient can be ridden instead of walk, so that the convenient life of the patient is realized; in the later stage of rehabilitation, the patient is assisted to stand, and the exercise-assisted walking of the patient is realized.
To achieve the purpose, the utility model provides a multi-mode intelligent wheelchair lifting mechanism for carrying flexible exoskeleton clothes, which comprises an upper inclined driving unit at the bottom of a seat surface, an H-shaped moving platform, an inclined small arm, a lifting big arm, a chute bracket, a power base, a lifting component connected with the upper inclined driving unit, a base driving unit for leaning on the leg bracket and driving the lifting component to work and a front driving unit, wherein the upper inclined driving unit is rotatably connected with a lead screw, two sides of the H-shaped moving platform are slidably assembled with guide rails and rotatably connected with the lead screw, the upper inclined driving unit drives the lead screw to rotate forward and backward to control the H-shaped moving platform to translate back and forth along the lead screw and the guide rails at the two sides, the inclined small arm is hinged with the H-shaped moving platform and the lifting big arm, the lifting big arm is hinged with the bottom of the lower end of the seat surface, the lifting platform of the lifting component is rotatably connected with the, the T-shaped part comprises a screw rod part and a cross rod part, the T-shaped part is a combined body of the screw rod part and a cross bar in rotary connection, the screw rod part in the T-shaped part is a screw rod working part in a base driving unit, two ends of the cross rod part in the T-shaped part penetrate through sliding grooves in two sides of a sliding groove support and are hinged with the lower ends of corresponding lifting large arms, the sliding groove support is fixed on a power base, the base driving unit is arranged in the sliding groove support, the lower end of a seat is connected with a leg support through a rotating shaft, the lower part of the leg support is connected with a telescopic pedal through a pedal telescopic rod, the lower end of a front driving unit is arranged on the support at the front side of the power base, the upper end of the front driving unit is linked with a lifting platform of a lifting assembly, the front driving unit enables the lifting large arms to move upwards along with the lifting platform through directly jacking, the power base drives the wheelchair lifting mechanism to move through the internal movement driving unit.
As a further improvement of the utility model, the intelligent wheelchair is formed by the wheelchair lifting mechanism and the seat, the wheelchair lifting mechanism and the seat comprise a backrest, armrests and a cushion, the bottom of the backrest is rotatably connected with one side of the cushion and is adjustable in angle, the armrests with adjustable angles are fixed on two sides of the middle part of the backrest, the cushion is fixed on the seat surface of the wheelchair lifting mechanism, and the intelligent wheelchair comprises four modes, namely a lying mode, a normal sitting posture mode, a seat surface horizontal lifting mode and an auxiliary support standing posture mode in the working process;
the lying mode is used for passive rehabilitation of lower limbs of a patient, the front driving unit and the base driving unit work cooperatively to reduce the height of a chair surface, the backrest is placed backwards, the rod piece of the leg pedal extends and is lifted upwards, the backrest and the seat cushion form a certain angle, the armrests are placed horizontally, and the patient is in a comfortable lying state;
the normal sitting posture mode is used for daily walking assistance of a patient, the upward inclined driving unit, the front driving unit and the base driving unit are in an out-of-operation state, the seat surface and the leg rest bracket are in a vertical state, the backrest and the seat cushion are kept in a vertical state, the armrests and the seat cushion are in a horizontal state, and the patient sits on the seat surface;
the chair surface horizontal lifting mode is used for assisting a patient to take and place high-place articles, the upper inclined driving unit does not work, the patient controls the front driving unit through the controller, the base driving unit synchronously drives the respective rod pieces to horizontally lift the chair surface to any height, the chair surface is vertical to the leg rest bracket, the backrest is kept vertical to the seat cushion, and a user can be matched with the crutch to help the user to take and place the high-place articles;
the auxiliary supporting and standing posture mode is used for the landing rehabilitation training of a patient, the front driving unit and the base driving unit drive the push rod to horizontally lift the chair surface, the upper inclined driving unit drives the H-shaped moving platform to drive the inclined forearm to move forwards, so that the chair surface is turned forwards to present a standing posture, the backrest and the seat cushion present a certain angle, the leg support and the ground present a vertical state, and a user can be matched with the crutch to perform the landing rehabilitation training;
the utility model can switch into the horizontal pose mode by driving different mechanism components through the driving mechanism, and is used for the passive rehabilitation training of lying down of the walking disorder patient in the early rehabilitation stage of muscle weakness; the intelligent wheelchair lifting mechanism can be switched into a normal wheelchair sitting posture mode for the patient to walk instead of walk, so that the convenient life of the patient is realized; the intelligent wheelchair lifting mechanism can be switched into a chair surface horizontal lifting mode, and the angle and the height of the chair surface are adjusted to help a user to take and place high-position articles; the intelligent wheelchair lifting mechanism can be switched into an auxiliary supporting standing posture mode, so that the chair surface is turned forwards to present a standing posture, a patient at the later stage of a rehabilitation stage is supported, and the intelligent wheelchair lifting mechanism is separated from the wheelchair under the assistance of the sensitive walking stick and the flexible exoskeleton suit to perform landing rehabilitation training.
As a further improvement of the present invention, the power base employs a wheel-type drive, the power base includes a front support wheel, a front arm beam, a main wheel and a rear support wheel which are provided in pairs for the wheel-type drive, the front support wheel is mounted on the front arm beam and can rotate around the front end of the front arm beam by 360 degrees, the end of the front arm beam is rotatably connected to the front drive wheel shaft of the power base, the main wheel is disposed on the vertical axis which is the center of gravity of the wheelchair and is disposed on both sides of the power base and is rotatably connected to the main drive wheel shaft of the power base, the rear support wheel is rotatably mounted on the main wheel shaft side by a long rod member and is connected to the main wheel shaft by a clutch, the power base further includes a damping spring, and the damping spring is connected to the front arm beam;
the utility model discloses the front supporting wheel is installed on the forearm roof beam, can wind 360 rotatory turn of forearm roof beam front end, and the forearm roof beam end-to-end rotation is connected at the base front drive wheel epaxially, and damping spring is connected with the forearm roof beam and plays the front wheel cushioning effect. The main wheel is arranged on a vertical axis of the center of gravity of the wheelchair and is rotationally connected with a main driving wheel shaft of the base, and the damping spring is connected with the main wheel shaft, so that the stability of the whole system is ensured. The rear supporting wheel is rotatably arranged on the side of the main wheel shaft through a long rod piece and is connected with the main wheel shaft through a simple clutch. When the wheelchair needs to climb the road edge, the wheelchair turns back to the road edge, the long supporting wheel rods are placed downwards and pressed downwards when the main wheels are reversely contacted with the road edge, and the main wheels are assisted to back up and climb the road edge by the lever principle. The motor of the front supporting wheel continuously works in the obstacle crossing process to indirectly offset the vibration of the wheelchair in the working process.
As the utility model discloses the further improvement, wheelchair lifting mechanism is the recovered helping hand equipment of supporting low limbs still, the recovered helping hand equipment of low limbs is flexible recovered helping hand ectoskeleton clothes, flexible ectoskeleton clothes includes: the utility model discloses a leg muscle power assisting device, including upper part of the body elasticity ligature braces, the waist ligature waistband, flexible constraint trousers, the flexible legging of thigh, the flexible legging of shank and line driving motor, upper part of the body elasticity ligature braces bears drive battery, settles on backplate and waist frame, the waist ligature waistband is tied up and is tied up upper part elasticity ligature braces lower part and be fixed in user waist between, flexible constraint trousers are used for user's shank, the flexible legging of thigh and shank are fixed in user and correspond thigh and shank, the supporting a pair of line driving motor of waist behind the user both sides, line driving motor respectively emits two cables, and the cable passes buttock and shank connects thigh flexible legging and shank flexible legging to provide the helping hand as shank muscle when the patient walks the motor receive the paying out wire worker.
The utility model has the advantages that: the multi-mode intelligent wheelchair lifting mechanism carrying the flexible exoskeleton suit has movable characteristics, is different from the existing fixed rehabilitation training device, and can realize passive rehabilitation training anytime and anywhere; the utility model relates to an intelligent wheelchair system carrying light flexible exoskeleton suit, the large capacity battery of the intelligent wheelchair provides enough long endurance, wider range of motion and faster action speed, which makes up the short board of the current rehabilitation exoskeleton endurance; the utility model relates to an intelligent wheelchair system carrying light flexible exoskeleton clothes, which comprises a sensitive cane with a built-in pressure sensor and a gyroscope, can detect the posture of a patient in real time, and is used for controlling a driving system of the exoskeleton clothes to realize effective assisted walking of the patient; the utility model relates to an intelligent wheelchair system carrying light flexible exoskeleton suit, which is characterized in that an electric wheelchair sliding groove support can be internally provided with a driving system, a control system and the like of the flexible exoskeleton suit, is different from the existing exoskeleton system, greatly reduces the weight which should be loaded on a patient, so that the flexible exoskeleton suit has lighter weight and improves the wearing comfort; the utility model relates to a carry on intelligent wheelchair system of light-duty flexible ectoskeleton clothes dresses flexible ectoskeleton clothes helping hand walking in-process at the patient, and its intelligence wheelchair and patient are keeping like the state that the shadow is followed, for the supply of flexible ectoskeleton clothes provides energy and control signal, but can not lead to the fact to pull to the exoskeletal clothes again.
Drawings
Figure 1 is a view of the main elevation structure of the wheelchair.
Figure 2 is a diagram of the position of the wheelchair primary drive motor.
Figure 3 shows the flat-bed mode of the wheelchair.
Figure 4 shows a wheelchair in normal sitting position.
Figure 5 shows the wheelchair in horizontal elevation mode.
Figure 6 is a wheelchair standing mode.
Figure 7 is a mannequin wearing an exoskeleton.
Wherein:
1. an upward tilting drive unit; 2. a lead screw; an H-shaped mobile platform; 4. tilting the forearm; 5. lifting the big arm; a T-shaped part; 7. a chute support; 8. a power base; 9. a front support wheel; 10. a retractable pedal; 11. lifting the platform; 12. a guide rail; 13. a leg rest support; 14. a base drive unit; 15. a pedal telescopic rod; 16. a front drive unit; 17. a rear support wheel; 18. a main wheel; 19. a damping spring; 20. a front support wheel arm beam; 1' a backrest; 2' a handrail; 3' cushion.
Detailed Description
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
the utility model provides a multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit, aiming at realizing passive rehabilitation training of a walking disorder patient in the early rehabilitation stage of muscle weakness; when passive rehabilitation training is not performed, the patient can be ridden instead of walk, so that the convenient life of the patient is realized; in the later stage of rehabilitation, the patient is assisted to stand, and the exercise-assisted walking of the patient is realized.
As an embodiment of the utility model, the utility model provides a multi-mode intelligent wheelchair lifting mechanism for carrying flexible exoskeleton suit, as shown in figures 1 and 2, comprising an upper inclined driving unit 1 at the bottom of the seat surface, an H-shaped moving platform 3, an inclined small arm 4, a lifting big arm 5, a chute support 7, a power base 8, a lifting component connected with the upper inclined driving unit 1, a leg support 13, a base driving unit 14 for driving the lifting component to work and a front driving unit 16, which is characterized in that the upper inclined driving unit 1 is rotatably connected with a lead screw 2, two sides of the H-shaped moving platform 3 are slidably assembled with a guide rail 12 and rotatably connected with the lead screw 2, the upper inclined driving unit 1 drives the lead screw 2 to rotate forward and backward to control the H-shaped moving platform 3 to translate along the lead screw 2 and the guide rails 12 at two sides, the inclined small arm 4 is hinged with the H-shaped moving platform 3 and the lifting big arm 5, the lifting big arm 5 is hinged with the bottom of the lower end of the seat surface, a lifting platform 11 of the lifting assembly is rotatably connected with the middle parts of the lifting big arms 5 on two sides, the T-shaped part 6 comprises a screw rod part and a cross rod part, the T-shaped part 6 is a combined body of the screw rod part and a cross rod in rotary connection, the screw rod part in the T-shaped part 6 is a screw rod working part in a base driving unit 14, two ends of the cross rod part in the T-shaped part 6 penetrate through chutes on two sides of a chute support 7 and are hinged with the lower end of the corresponding lifting big arm 5, the chute support 7 is fixed on a power base 8, the base driving unit 14 is arranged in the chute support 7, the lower end of the seat is connected with a leg support 13 through a rotating shaft, the lower part of the leg support 13 is connected with a telescopic pedal 10 through a pedal telescopic rod 15, the lower end of a front driving unit 16 is arranged on a support on the front side of the, leading drive unit 16 makes the big arm of lifting 5 follow lifting platform 11 rebound through the lifting platform 11 of direct jacking lifting subassembly, thereby drives the action is followed to slope forearm 4 and T type spare 6, power base 8 drives wheelchair lifting mechanism through inside removal drive unit and moves, power base 8 adopts wheeled drive, power base 8 is wheeled drive including preceding supporting wheel 9, preceding roof beam 20, main wheel 18 and the back supporting wheel 17 that sets up in pairs, preceding supporting wheel 9 is installed on preceding roof beam 20, can turn to around 360 rotations in preceding roof beam 20 front end, preceding roof beam 20 end rotation is connected in power base 8 front driving wheel epaxially, main wheel 18 is settled on power base 8 both sides and for the vertical axis of wheelchair focus, is connected with power base 8 main driving wheel hub rotation, back supporting wheel 17 rotates through the long member and installs in main wheel 18 axial side, the power base 8 is connected with a main wheel shaft through a clutch, and a damping spring 19 is further arranged on the power base, and the damping spring 19 is connected with a front arm beam 20 and the main wheel shaft; the utility model discloses the front supporting wheel is installed on the forearm roof beam, can wind 360 rotatory turn of forearm roof beam front end, and the forearm roof beam end-to-end rotation is connected at the base front drive wheel epaxially, and damping spring is connected with the forearm roof beam and plays the front wheel cushioning effect. The main wheel is arranged on a vertical axis of the center of gravity of the wheelchair and is rotationally connected with a main driving wheel shaft of the base, and the damping spring is connected with the main wheel shaft, so that the stability of the whole system is ensured. The rear supporting wheel is rotatably arranged on the side of the main wheel shaft through a long rod piece and is connected with the main wheel shaft through a simple clutch. When the wheelchair needs to climb the road edge, the wheelchair turns back to the road edge, the long supporting wheel rods are placed downwards and pressed downwards when the main wheels are reversely contacted with the road edge, and the main wheels are assisted to back up and climb the road edge by the lever principle. The motor of the front supporting wheel continuously works in the obstacle crossing process to indirectly offset the vibration of the wheelchair in the working process.
The utility model discloses constitute intelligent wheelchair behind the supporting seat of wheelchair lifting mechanism, the supporting seat of wheelchair lifting mechanism includes back 1 ', handrail 2 ' and cushion 3 ', back 1 ' bottom and cushion 3 ' one side swivelling joint and angularly adjustable, back 1 ' middle part both sides respectively are fixed with an angularly adjustable handrail, cushion 3 ' is fixed on the seat face of wheelchair lifting mechanism, the working process intelligent wheelchair includes four kinds of modes, the mode of lying down, normal position of sitting mode, seat level lifting mode and auxiliary stay standing posture mode;
the lying mode is used for passive rehabilitation of lower limbs of a patient as shown in fig. 3, the front drive unit 16 and the base drive unit 14 work cooperatively to reduce the height of a chair surface, the backrest is put down backwards, a rod of the leg pedal 10 extends and is lifted upwards, the backrest 1 ' and the seat cushion 3 ' form a certain angle, the armrests 2 ' are horizontally placed, and the patient is in a comfortable lying state;
the normal sitting posture mode is used for daily walking replacement of a patient as shown in fig. 4, the upward inclined driving unit 1, the front driving unit 16 and the base driving unit 14 are in a non-working state, the seat surface is vertical to the leg rest bracket 13, the backrest 1 'is kept vertical to the seat cushion 3', the armrests 2 'are horizontal to the seat cushion 3', and the patient sits on the seat surface;
the chair surface horizontal lifting mode is used for assisting a patient to take and place high articles as shown in fig. 5, the upper inclined driving unit 1 does not work, the patient controls the front driving unit 16 through the controller, the base driving unit 14 synchronously drives the respective rod pieces to horizontally lift the chair surface to any height, the chair surface is vertical to the leg rest support 13, the backrest 1 'and the seat cushion 3' are kept vertical, and a user can be matched with a crutch to help the user to take and place the high articles;
the auxiliary supporting standing posture mode is used for the landing rehabilitation training of a patient as shown in fig. 6, the front driving unit 16 and the base driving unit 14 drive the push rod to horizontally lift the chair surface, the upper inclined driving unit 1 drives the H-shaped moving platform 3 to drive the inclined small arm 4 to move forwards, so that the chair surface is turned forwards to present a standing posture, the backrest 1 'and the seat cushion 3' form a certain angle, the leg support 13 and the ground are in a vertical state, and a user can be matched with the crutch to perform the landing rehabilitation training.
The utility model can switch into the horizontal pose mode by driving different mechanism components through the driving mechanism, and is used for the passive rehabilitation training of lying down of the walking disorder patient in the early rehabilitation stage of muscle weakness; the intelligent wheelchair lifting mechanism can be switched into a normal wheelchair sitting posture mode for the patient to walk instead of walk, so that the convenient life of the patient is realized; the intelligent wheelchair lifting mechanism can be switched into a chair surface horizontal lifting mode, and the angle and the height of the chair surface are adjusted to help a user to take and place high-position articles; the intelligent wheelchair lifting mechanism can be switched into an auxiliary supporting standing posture mode, so that the chair surface is turned forwards to present a standing posture, a patient at the later stage of a rehabilitation stage is supported, and the intelligent wheelchair lifting mechanism is separated from the wheelchair under the assistance of the sensitive walking stick and the flexible exoskeleton suit to perform landing rehabilitation training.
Wheelchair lifting mechanism is still supporting recovered helping hand equipment of low limbs, recovered helping hand equipment of low limbs is the recovered helping hand ectoskeleton clothes of the flexibility shown in figure 7, flexible ectoskeleton clothes include: the utility model discloses a leg muscle power assisting device, including upper part of the body elasticity ligature braces, the waist ligature waistband, flexible constraint trousers, the flexible legging of thigh, the flexible legging of shank and line driving motor, upper part of the body elasticity ligature braces bears drive battery, settles on backplate and waist frame, the waist ligature waistband is tied up and is tied up upper part elasticity ligature braces lower part and be fixed in user waist between, flexible constraint trousers are used for user's shank, the flexible legging of thigh and shank are fixed in user and correspond thigh and shank, the supporting a pair of line driving motor of waist behind the user both sides, line driving motor respectively emits two cables, and the cable passes buttock and shank connects thigh flexible legging and shank flexible legging to provide the helping hand as shank muscle when the patient walks the motor receive the paying out wire worker.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but also to cover any modifications or equivalent changes made in the technical spirit of the present invention, which fall within the scope of the present invention.

Claims (7)

1. The utility model provides a carry on multi-mode intelligence wheelchair lifting mechanism of flexible ectoskeleton clothes, includes drive unit (1) to one side of going up of seat face bottom, H type moving platform (3), slope forearm (4), big arm of lifting (5), spout support (7), power base (8), the lifting subassembly that links to each other with last drive unit (1) to one side, lean on leg support (13), base drive unit (14) and leading drive unit (16) of drive lifting subassembly work, its characterized in that: go up oblique drive unit (1) and lead screw (2) and rotate and be connected, H type moving platform (3) both sides and guide rail (12) slip assembly just rotate with lead screw (2) and be connected, go up oblique drive unit (1) drive lead screw (2) just reverse rotation control H type moving platform (3) and translate around lead screw (2) and both sides guide rail (12), slope forearm (4) are articulated with H type moving platform (3), lifting forearm (5) are articulated with seat face lower extreme bottom, lifting platform (11) and both sides lifting forearm (5) middle part of lifting subassembly rotate and are connected, and T type spare (6) include lead screw part and horizontal pole part, T type spare (6) are the combination of lead screw part and horizontal pole swivelling joint, lead screw part divide into base drive unit (14) well silk thick stick work portion in T type spare (6), the two ends of the transverse rod part in the T-shaped part (6) penetrate through sliding grooves on two sides of a sliding groove support (7) and are hinged to the lower end of a corresponding lifting large arm (5), the sliding groove support (7) is fixed on a power base (8), a base driving unit (14) is arranged in the sliding groove support (7), the lower end of a seat is connected with a leg support (13) through a rotating shaft, the lower side of the leg support (13) is connected with a telescopic pedal (10) through a pedal telescopic rod (15), the lower end of a front driving unit (16) is arranged on the front side support of the power base (8), the upper end of the front driving unit (16) is linked with a lifting platform (11) of a lifting assembly, the front driving unit (16) enables the lifting large arm (5) to move upwards along with the lifting platform (11) through the lifting platform (11) of the direct lifting assembly, and therefore the inclined small arm (4) and the T-shaped part (6) are driven to follow the action, the power base (8) drives the wheelchair lifting mechanism to move through the internal movement driving unit.
2. The multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit of claim 1, wherein: the intelligent wheelchair comprises four modes, namely a lying mode, a normal sitting posture mode, a chair surface horizontal lifting mode and an auxiliary supporting standing posture mode;
the lying mode is used for passive rehabilitation of lower limbs of a patient, the front driving unit (16) and the base driving unit (14) work cooperatively to reduce the height of a chair surface, the backrest is put down backwards, the rod piece of the telescopic pedal (10) extends and is lifted upwards, the backrest (1 ') and the seat cushion (3 ') form a certain angle, the handrail (2 ') is horizontally placed, and the patient is in a comfortable lying state;
the normal sitting posture mode is used for daily walking replacement of a patient, the upper inclined driving unit (1), the front driving unit (16) and the base driving unit (14) are in an inoperative state, the seat surface and the leg rest bracket (13) are in a vertical state, the backrest (1 ') and the cushion (3') are kept in a vertical state, the handrail (2 ') and the cushion (3') are in a horizontal state, and the patient sits on the seat surface;
the chair surface horizontal lifting mode is used for assisting a patient to take and place high-place articles, the upper inclined driving unit (1) does not work, the patient controls the front driving unit (16) through the controller, the base driving unit (14) synchronously drives the respective rod pieces to horizontally lift the chair surface to any height, the chair surface is vertical to the leg rest support (13), the backrest (1 ') and the seat cushion (3') are kept to be vertical, and a user can be matched with the crutch to help the user to take and place the high-place articles;
the auxiliary supporting standing posture mode is used for the floor rehabilitation training of a patient, the front driving unit (16) and the base driving unit (14) drive the push rod to horizontally lift the chair surface, the upper inclined driving unit (1) drives the H-shaped moving platform (3) to drive the inclined small arm (4) to move forwards, so that the chair surface is turned forwards to present a standing posture, the backrest (1 ') and the cushion (3') form a certain angle, the leg support (13) and the ground are in a vertical state, and a user can be matched with the crutch to perform the floor rehabilitation training.
3. The multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit of claim 1 or 2, wherein: the power base (8) is driven by wheels.
4. The multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit of claim 3, wherein: power base (8) are preceding supporting wheel (9), forearm roof beam (20), main wheel (18) and back supporting wheel (17) that set up in pairs for wheeled drive, preceding supporting wheel (9) are installed on forearm roof beam (20), can wind 360 rotatory turns to of forearm roof beam (20) front end, forearm roof beam (20) end is rotated and is connected at power base (8) front driving wheel epaxial, main wheel (18) are settled on power base (8) both sides and for wheelchair centrobaric vertical axis, are connected with power base (8) main driving wheel rotation, back supporting wheel (17) are rotated through long member and are installed in main wheel (18) axial side, link to each other with the main wheel axle through the clutch.
5. The multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit of claim 4, wherein: the power base (8) is also provided with a damping spring (19), and the damping spring (19) is connected with a front arm beam (20) and a main wheel shaft.
6. The multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit of claim 1 or 2, wherein: the wheelchair lifting mechanism is also matched with lower limb rehabilitation power assisting equipment.
7. The multi-mode intelligent wheelchair lifting mechanism carrying a flexible exoskeleton suit of claim 6, wherein: recovered helping hand equipment of lower limbs is flexible recovered helping hand ectoskeleton clothes, flexible ectoskeleton clothes includes: the utility model discloses a leg muscle power assisting device, including upper part of the body elasticity ligature braces, the waist ligature waistband, flexible constraint trousers, the flexible legging of thigh, the flexible legging of shank and line driving motor, upper part of the body elasticity ligature braces bears drive battery, settles on backplate and waist frame, the waist ligature waistband is tied up and is tied up upper part elasticity ligature braces lower part and be fixed in user waist between, flexible constraint trousers are used for user's shank, the flexible legging of thigh and shank are fixed in user and correspond thigh and shank, the supporting a pair of line driving motor of waist behind the user both sides, line driving motor respectively emits two cables, and the cable passes buttock and shank connects thigh flexible legging and shank flexible legging to provide the helping hand as shank muscle when the patient walks the motor receive the paying out wire worker.
CN201922168742.6U 2019-10-23 2019-12-06 Carry on multi-mode intelligence wheelchair lifting mechanism of flexible ectoskeleton clothes Active CN211382258U (en)

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CN111529236A (en) * 2020-05-26 2020-08-14 郑州大学第一附属医院 Rehabilitation device for nursing stroke patient in interventional department
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