KR20230078516A - multi purpose wheel chair with standing up type - Google Patents

Abstract

The posted information relates to a standing-type multi-purpose wheelchair with a rehabilitation exercise function for a person with a paraplegia or a walking disabled person to board in a standing state indoors and move or perform rehabilitation exercise.
A standing multipurpose wheelchair having a rehabilitation exercise function according to an embodiment of the present specification
Left and right scaffolds are formed at arbitrary positions on the upper surface, and auxiliary wheels are mounted on both front and rear corners of the bottom surface and driving wheels for a minimum rotation radius are mounted on the left and right sides of the center;
a standing post having a lower end rotatably connected to the main body, a saddle for supporting a user's hip portion being formed on the upper end, and inducing a user to stand up when the standing cylinder is extended and driven;
a slide cylinder having one end connected to the saddle and the other end connected to the standing post, and adjusting the height of the saddle;
a spring shock absorber having one end connected to a side surface of the standing post and the other end connected to an upper surface of the body, and supporting a user's weight when the standing post is erected by driving the standing cylinder;
A control unit for calculating the distance and direction between the center of gravity of the wheelchair and controlling the maximum driving speed, acceleration and deceleration ratio, and emergency stop of the wheelchair according to the calculated value; A stand-up multipurpose wheelchair is provided.

Description

Standing multi-purpose wheelchair with rehabilitation exercise function {multi purpose wheel chair with standing up type}

The present specification relates to a wheelchair, and more specifically, to a standing-type multipurpose wheelchair having a rehabilitation exercise function for a paraplegic person or a user with a walking disability (user) to ride indoors in a standing state and move and perform rehabilitation exercises.

Unless otherwise indicated herein, material described in this section is not prior art to the claims in this application, and inclusion in this section is not an admission that it is prior art.

In general, in hospitals, muscle strengthening training, stretching, balance training, etc. are performed through assistive devices and the help of physical therapists for rehabilitation treatment for paraplegic patients and patients with weakened lower extremity muscle strength.

On the other hand, various types of lower extremity training exercise devices and devices that help lower extremity rehabilitation treatment have been made and widely used in lower extremity rehabilitation treatment of patients, and the use of these devices and devices has recently been further increased.

Conventional lower extremity rehabilitation treatment devices have a device that fixes the user's upper body to maintain an upright state and then allows the user to walk by the user's will. There are instruments and devices that train the lower extremities in parallel with forced walking.

Recently, among the devices that have improved various problems of the above-mentioned rehabilitation devices and treatment devices, the user can train the lower limbs while lying down, and the user can perform an exercise in which the user bends and straightens the knee in a position lying on a table and placing his feet on a footrest. Rehabilitation treatment apparatuses are being used that allow forcible lower extremity training to be performed regardless of the user's will by repeatedly performing the exercise.

In the conventional rehabilitation treatment apparatus, when a user loses his/her balance after boarding or malfunctions of the apparatus, the user may fall or the apparatus may overturn, resulting in poor safety. In addition, since the rotation radius of the device is large, it has a problem that it cannot be used in a narrow place indoors.

In addition, most of the conventional standing-type trains targeting paraplegics or users with walking disabilities are large in size, so they are difficult to use in a narrow indoor space.

Korean Registered Patent Publication Registration No. 10-1220612 (2013.01.21) has registered and announced a mobility aid capable of moving when sitting and standing.

Embodiments of the present specification relate to a standing multipurpose wheelchair having a rehabilitation exercise function, which is reduced in size and can greatly reduce the limitation of indoor use space.

Embodiments of the present specification are related to a standing multipurpose wheelchair having a rehabilitation exercise function that enables independent daily life in a stable standing posture indoors.

In an embodiment of the present specification, an exercise device having a rehabilitation exercise function is installed to improve the health of a user (a patient with lower limb paralysis), thereby improving the user's blood circulation and preventing osteoporosis. related to multipurpose wheelchairs.

In the embodiment of the present specification, in order to secure driving safety in a standing situation, the position of the center of load of the equipment is grasped, and the rehabilitation exercise function enables safe driving through acceleration/deceleration control and maximum speed limit or emergency stop. It is related to a standing multipurpose wheelchair with

An embodiment of the present specification relates to a standing multipurpose wheelchair having a rehabilitation exercise function, which can prevent a collision with a rear obstacle by means of an ultrasonic sensor for rear obstacle warning when reversing.

According to one embodiment of the present specification in order to achieve the above and other objects of the present specification,

Left and right scaffolds are formed at arbitrary positions on the upper surface, and auxiliary wheels are mounted on both front and rear corners of the bottom surface and driving wheels for a minimum rotation radius are mounted on the left and right sides of the center;

a standing post having a lower end rotatably connected to the main body, a saddle for supporting a user's hip portion being formed on the upper end, and inducing a user to stand up when the standing cylinder is extended and driven;

a slide cylinder having one end connected to the saddle and the other end connected to the standing post, and adjusting the height of the saddle;

a spring shock absorber having one end connected to a side surface of the standing post and the other end connected to an upper surface of the body, and supporting a user's weight when the standing post is erected by driving the standing cylinder;

A control unit for calculating the distance and direction between the center of gravity of the wheelchair and controlling the maximum driving speed, acceleration and deceleration ratio, and emergency stop of the wheelchair according to the calculated value; A stand-up multipurpose wheelchair is provided.

A standing multipurpose wheelchair having a rehabilitation exercise function according to an embodiment of the present specification having the above configuration has the following advantages.

Even in a small indoor space such as a home, the degree of freedom is high, so the usable space is reduced, and it is possible to access the living environment by riding in a stable standing posture and rotating in a minimum radius, so it is excellent in mobility and enables independent daily life, so it is possible for a family member or family caring for a patient Professional help can be minimized.

In addition, in order to improve the health of paraplegic patients, etc., a dorsiflexion exercise device having a rehabilitation exercise function is installed on the lower part of the footrest to maintain a standing posture while riding and improve the user's blood circulation by dorsiflexion exercise, and to prevent pressure sores and Osteoporosis can be prevented.

In addition, as the position of the center of gravity of the equipment is grasped in real time using the position of the standing cylinder and the inclination sensor, it is possible to secure driving stability in the standing situation through acceleration and deceleration control and limiting or emergency stop of the maximum driving speed. do.

In addition, when reversing, a collision with a rear obstacle can be prevented by an ultrasonic sensor for rear obstacle warning, so that the occupant can be protected from the obstacle.

1 is a front perspective view of a standing multipurpose wheelchair having a rehabilitation exercise function according to a preferred embodiment of the present specification;
Figure 2 is a rear perspective view of the wheelchair shown in Figure 1;
Figure 3 is a side view of the wheelchair shown in Figure 1;
Figure 4 is a front view of the wheelchair shown in Figure 1;
Figure 5 is a bottom view of the wheelchair shown in Figure 1;
6 is a diagram of a driving unit for performing dorsiflexion motion of a user's foot in the wheelchair shown in FIG. 1;
Figure 7 is an enlarged view of "A" in the wheelchair shown in Figure 1;
Figure 8 is an enlarged view of "B" in the wheelchair shown in Figure 1;
FIG. 9 is a diagram for explaining a rollover prevention function of the wheelchair shown in FIG. 1 using the inclination and standing position of the equipment in real time.

Hereinafter, a standing multipurpose wheelchair having a rehabilitation exercise function according to a preferred embodiment of the present specification will be described in detail with reference to the accompanying drawings.

1 to 9, a standing multipurpose wheelchair having a rehabilitation exercise function according to an embodiment of the present specification

Left and right scaffolds 10 are formed at arbitrary positions on the upper surface, and auxiliary wheels 11 (casters) are mounted on both front and rear corners of the bottom surface and driving wheels 12 for a minimum rotation radius are mounted on the left and right sides of the center body 13;

The lower end is rotatably connected to the main body 13, the saddle 16 supporting the user's hip is formed on the upper end, and one end is mounted on the main body 13 and the other end is mounted on the floor Cylinder 17 for standing A standing post (18) that induces a user to stand when the extension is driven;

A control unit 19 for calculating the distance and direction between the center of gravity and the center of gravity of the wheelchair 14 and controlling the maximum traveling speed, acceleration and deceleration ratio, and emergency stop of the wheelchair 14 according to the calculated value characterized by

According to a more preferred embodiment, as shown in FIG. 6, one end of the left and right scaffolds 10 described above is formed to be rotatable on the upper surface of the main body 13, and the drive motor 20 (for example, speed controllable) A BLDC motor can be used) and the rotation of the eccentric wheel 21, which is cammed, rotates the footrest 10 to take a dorsiflexion motion, and when the driving motor 20 is stopped, the left and right footsteps by the user's load It is characterized by having; a typical dorsiflexion exercise device 22 that converts (10) to an initial horizontal state.

In detail, the movement of the upper end of the scaffold 10 in contact with the eccentric wheel 21 and the bearing 70 upward from the horizontal state is possible according to the rotation of the drive motor 20 in one direction. .

At this time, at the bottom of the eccentric, the footrest 10 is horizontal on both sides so that when the user's weight is applied to the footrest 10 when the dorsiflexion exercise is not performed, it naturally becomes level with the bottom of the main body 13.

In addition, when the rotation of the driving motor 20 is stopped, an initialization sensor (for example, a photo or proximity sensor can be used) is operated in a horizontal state of the scaffold 10 so that it can be stopped in a horizontal state to know the initial point. made it possible

As described above, in order to implement the user's blood pressure pumping function (blood circulation) with dorsiflexion motion, a BLDC motor control system capable of speed control was applied. It was implemented about 1.5 to 2 times faster, and it was implemented to operate with plantar flexion after maintaining it for about 1 to 3 seconds at the point of maximum dorsi flexion.

In addition, during the dorsiflexion operation, the control unit 19 measures the current of the driving motor 20 in real time, stops the operation at a current (SPASM) above a certain level, and generates an alarm to prevent user's body damage due to stiffness made it possible

As shown in FIGS. 1, 2, 3, and 9, when the above-described wheelchair 14 passes through a concave-convex obstacle while driving, the driving wheel 12 is grounded on the floor in order to maintain a continuous driving force. It is characterized by having a; pressing part 23 for elastically biasing what is pressed by the compression coil spring to an initial state.

At this time, the tension of the compression coil spring of the pressing device 23 may be set and used to such an extent that the weight of the equipment itself is not lifted.

Hereinafter, a standing multipurpose wheelchair having a rehabilitation exercise function according to an embodiment of the present specification will be described according to the accompanying drawings.

As shown in FIGS. 1 to 9, a paraplegic patient or a user with a walking disability can move by himself in a wheelchair in an indoor space of a nursing facility such as a home, a public health center, or a welfare center, and can stand up. You can easily access your daily living environment.

In addition, it has the effect of preventing bedsores or osteoporosis by maintaining a standing posture and promoting blood circulation due to foot dorsiflexion exercise.

The user's feet are seated on the left and right footrests 10 described above, and the user's short legs or thighs are fixed to the clamp 24 formed on the standing frame 25 in front of the main body 13 by a belt, and the standing post 18 The user's hip is fixed to the saddle 16 formed at the top by a belt, and the user's chest is fixed to the clamp 26 formed at the top of the standing frame 25 by the belt.

Therefore, since the elongation drive of the above-described standing cylinder 17 rotates the standing post 18 toward the standing frame 25 (meaning that the wheel chair 14 is rotated forward), the seated on the footrest 10 In this state, as the saddle 16 to which the user's hip is fixed rises, it helps the user to stand up.

As described above, when the standing cylinder 17 is driven by extension, the slide cylinder 50 inside the standing post 18 connected to the saddle 16 (the upper end is connected to the saddle 16 and the lower end is the standing post) (Connected to (18)) is also elongated, so that the height of the saddle 16 is raised to match the user's hip, so that an appropriate standing exercise can be implemented.

At this time, as an example, the above-described standing cylinder 17 may be a linear cylinder using a BLDC motor instead of a general DC linear cylinder to enable continuous squat motion for about 5 minutes or longer.

In addition, a pulse output type cylinder capable of detecting a position may be used as the above-described standing cylinder 17 . As a result, it is possible to check the boarding height of the user (passenger) according to the position of the standing cylinder 17, and as the standing height increases, the maximum driving speed of the wheelchair 14 is controlled to be limited, thereby minimizing the risk of overturning. .

To explain this in detail, as shown in FIG. 9, C.O.M is the center of mass (center of gravity of equipment including occupants),

M is the total weight of (equipment + occupant),

Roll (Φ) is the slope in the left and right directions,

Pitch (θ) is the slope in the forward and backward directions,

Conditions for overturning forward: Lh × sin(θ) >Ly,

Conditions for overturning to the side: Lh × sin(Φ) >Ly,

As a result, it can be seen that the condition for equipment overturning is that the greater the total center of gravity Lh and the greater the inclination angles (θ, Φ), the greater the possibility of overturning in proportion.

In addition, the possibility of overturning due to the increase in centrifugal force increases dynamically when the acceleration/deceleration is large or the rotational angular speed is high. It is possible to prevent the equipment from overturning by applying an algorithm that limits the maximum travel speed in inverse proportion to the operating angle of the rotation direction of (28).

That is, the maximum travel speed (Vmax) of the equipment is inversely proportional to the boarding angle (α), the inclination angle (θ, Φ), and the rotation direction angle of the joystick (28).

In addition, when the standing post 18 is rotated by driving the standing cylinder 17 to make the user seated on the footrest 10 stand up, the weight in the direction of gravity can be partially compensated for (mass balance). A spring shock bar 27 having one end rotatably connected to the post 18 and the other end rotatably connected to the bracket on the upper surface of the main body 13 may be used.

As the wheelchair 14 has a minimum turning radius when moving in an indoor space such as a home, the main body 13 allows the user to easily access the daily living environment by the wheelchair 14 while standing on the left and right footrests 10 ), drive wheels 12 for realizing a minimum rotation radius are mounted on the left and right sides of the center, and auxiliary wheels 11 (referring to casters) are mounted on both sides of the front and rear of the main body 13.

In addition, when the paraplegic patient moves or changes direction by manipulating the joystick 28 after boarding the wheelchair 14, the center of gravity of the wheelchair 14 is detected in real time, but the weight detected from the center of the wheelchair 14 Safe drivability can be ensured by controlling the maximum traveling speed, acceleration/deceleration ratio, and emergency stop of the wheelchair 14 by the control unit 19 according to the distance and direction between the centers.

In addition, the blood pressure pumping function is implemented by the dorsiflexion exercise device 22 mounted on the left and right footrests 10, and the user such as a paralyzed patient is maintained in a standing posture by rotating the standing post 18 By improving bowel movements and blood circulation, it is possible to prevent pressure sores and osteoporosis.

As described above, this specification has been described with reference to preferred technical ideas, but those skilled in the art can make various modifications and equivalent other embodiments without departing from the essential characteristics of the specification. It will be possible.

Therefore, the embodiments disclosed in this specification are intended to explain rather than limit the technical idea, and the protection scope of the specification should be interpreted in accordance with the technical idea of the claims, and all technical ideas within the equivalent scope are the rights of this specification. should be construed as being within the scope.

10; Scaffolding
11; auxiliary wheel
12; driving wheel
13; main body
14; bathchair
16; saddle
17; standing cylinder
18; standing post
19; control unit
20; driving motor
21; eccentric wheel
22; Dorsiflexion exercise equipment
23; pressurization
50; slide cylinder
60; ultrasonic sensor

Claims (6)

Left and right scaffolds are formed at arbitrary positions on the upper surface, and auxiliary wheels are mounted on both front and rear corners of the bottom surface and driving wheels for a minimum rotation radius are mounted on the left and right sides of the center;
a standing post having a lower end rotatably connected to the main body, a saddle for supporting a user's hip portion being formed on the upper end, and inducing a user to stand up when the standing cylinder is extended and driven;
a slide cylinder having one end connected to the saddle and the other end connected to the standing post, and adjusting the height of the saddle;
a spring shock absorber having one end connected to a side surface of the standing post and the other end connected to an upper surface of the body, and supporting a user's weight when the standing post is erected by driving the standing cylinder;
A control unit for calculating the distance and direction between the center of gravity of the wheelchair and controlling the maximum driving speed, acceleration and deceleration ratio, and emergency stop of the wheelchair according to the calculated value; Standing multipurpose wheelchair. According to claim 1,
One end of the left and right footrests is formed to be rotatable on the upper surface of the main body, and the left and right footrests are rotated to take a dorsiflexion motion by rotation of an eccentric wheel connected to a drive motor and driven by a cam, and the user's load when the driving motor is stopped A standing-type multipurpose wheelchair with a rehabilitation exercise function, characterized in that it further comprises; a dorsiflexion exercise device by which the footrest is converted to an initial horizontal state. According to claim 1,
And a pressing part for elastically biasing the coil spring to an initial state so that the drive wheel is always in contact with the floor in order to maintain a continuous driving force when the wheelchair passes through a concave-convex obstacle while driving. A standing-type multi-purpose wheelchair with rehabilitation exercise function. According to claim 1,
An ultrasonic sensor mounted on the rear of the main body and detecting a rear obstacle to prevent a collision with a rear obstacle when the wheelchair moves backward and transmitting a detection signal to the control unit; rehabilitation exercise characterized in that it is further provided A stand-up multipurpose wheelchair with features. According to claim 1,
The slide cylinder is a multi-purpose standing type having a rehabilitation exercise function characterized in that it interlocks in proportion to the elevation of the standing type post by driving the standing cylinder to enable a squat exercise for osteoporosis and blood flow improvement in paraplegic patients. bathchair. According to claim 1,
The control unit
In inverse proportion to the height of the entire center of gravity by the tilt sensor capable of measuring the angle in the rolling and pitching directions in real time and the position of the standing cylinder, and the input size of the left and right joysticks that control the rotational motion of the wheelchair, the maximum driving speed is limited, A stand-up multipurpose wheelchair with a rehabilitation exercise function that controls to avoid overturning by emergency stop when a certain threshold value is exceeded.

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