WO2018036369A1

WO2018036369A1 - Standing rehabilitation wheelchair

Info

Publication number: WO2018036369A1
Application number: PCT/CN2017/096021
Authority: WO
Inventors: 李建国; 李永强; 刘杰; 边智琦; 杨云程; 姜士伟; 刘伯锋
Original assignee: 上海邦邦机器人有限公司
Priority date: 2016-08-24
Filing date: 2017-08-04
Publication date: 2018-03-01

Abstract

The present invention relates to the field of wheelchairs. Provided is a standing rehabilitation wheelchair, comprising: a standing assistance mechanism (2), a hand rest mechanism (3), a frame (4), a supporting shaft (5), a base plate (12), a knee supporting mechanism (13), a strapping mechanism (14), a protecting mechanism (15), and wheels. The wheels are disposed at the bottom of the base plate (12). A front end of the base plate (12) is provided with the frame (4). The handle mechanism (3) and the standing assistance mechanism (2) are hingedly connected to an upper end of the frame (4). The protecting mechanism (15) is hingedly connected to an end portion of the standing assistance mechanism (2). The supporting shaft (5) is an extendable shaft. One end of the extendable shaft (5) is hingedly connected to a lower side of the standing assistance mechanism (2), and another end is hingedly connected to the frame (4). The frame (4) is further provided with the knee supporting mechanism (13). The knee supporting mechanism (13) is located under the standing assistance mechanism (2). The strapping mechanism (14) is further provided at two sides of the frame (4). The standing rehabilitation wheelchair allows a user to comfortably switch between a sitting position and a standing position, and to realize independence in activities of daily living. Also disclosed are a wearable device (110) and seat mechanism (80) used together with the standing rehabilitation wheelchair, and a lower limb rehabilitation training detecting system and a method of using same for detecting a squat training.

Description

Standing rehabilitation wheelchair

Technical field

The present invention relates to the field of wheelchairs, and more particularly to a standing rehabilitation wheelchair, a wearing device for the standing rehabilitation wheelchair, and a seat mechanism disposed on the standing rehabilitation wheelchair, and the present invention also relates to the standing rehabilitation wheelchair The lower limb rehabilitation training detection system on the vehicle and the method for detecting the training of the lower limb rehabilitation training detection system.

Background technique

Wheelchairs are used as a means of transport for physically handicapped persons and people with reduced mobility. They consist of a wheelchair frame, wheels, brakes and seating. Although the wheelchair brings convenience to the user, it also needs other people's help in life, including daily activities such as exercise, dining, washing and going to the toilet. On the other hand, the existing wheelchair is a sitting wheelchair and cannot be used as a user. Providing the function of lower limb exercise, it has little help for the rehabilitation of the user, and the sitting wheelchair causes the user's buttocks to be under pressure for a long time, which is prone to hemorrhoids and even causes the muscles of the legs to shrink.

In order to solve the above problems, the existing wheelchair uses a standing mechanism and a chair body mechanism to allow the user to stand. For example, the electric walking standing wheelchair disclosed in the Chinese patent (CN2009200172905) discloses that when the user sits on the chair body mechanism, The standing mechanism causes the chair body to stand up and the user is in a standing state. Although the wheelchair can help the user to change from sitting to standing, the user is unable to perform exercises such as reclining, turning, and turning while standing, and lacks the function of cushioning and rehabilitation training for the user.

Summary of the invention

The main object of the present invention is to provide a standing rehabilitation wheelchair that can be used for rehabilitation training.

In order to achieve the above object, the present invention provides a standing rehabilitation wheelchair, which comprises an auxiliary standing mechanism, an armrest mechanism, a frame, a support rod, a chassis, a knee support mechanism, a binding mechanism, a protection mechanism and a wheel, and the wheel is disposed at the bottom of the chassis. ;

The front end of the chassis is provided with a frame, and the upper end of the frame is respectively hinged with an armrest mechanism and an auxiliary standing mechanism, the auxiliary standing mechanism is located at the rear side of the armrest mechanism, and the auxiliary standing mechanism is hinged with a protection mechanism at the end;

The support rod is a telescopic support rod, one end of the support rod is hinged to the lower side of the auxiliary standing mechanism, and the other end is hinged to the frame; the frame is also provided with a knee support mechanism, and the knee support mechanism is located at the lower side of the auxiliary standing mechanism; Side is also set Bundle agency.

Preferably, the method further includes a control device and a first motor, wherein the first motor is coupled to the wheel, the first motor and the control device are electrically connected, and the control device is disposed on the protection mechanism.

Preferably, the armrest mechanism comprises two handles and two third poles, and the lower ends of the two third poles are respectively hinged on two sides of the frame, and the upper ends of each of the third poles are respectively connected with a handle, and the handlebars are vertically arranged On the outside of the third pole.

Preferably, the frame comprises a first strut and a second strut, the first strut is vertically disposed at the front end of the chassis, the second strut is connected to the first strut at one end, and the other end is connected to the chassis;

The armrest mechanism and the auxiliary standing mechanism are hinged at the upper end of the first pole, the two binding mechanisms are disposed on both sides of the first pole, the knee supporting mechanism is fixed on the second pole, the number of the supporting rods is two, and the two ends of the supporting rod They are hinged to the auxiliary standing mechanism and the second pole, respectively.

Preferably, the auxiliary standing mechanism comprises two fourth struts and two fifth struts, the front ends of the two fourth struts are respectively hinged on both sides of the first struts, and are located outside the third struts, two fourth The rear end hinge protection mechanism of the pole, the fifth pole is located at the lower side of the fourth pole, and is arranged parallel to each other, the front ends of the two fifth poles are respectively hinged on both sides of the second pole, and the rear ends of the two fifth poles Hinged protection mechanism.

Preferably, the binding mechanism comprises a second motor, a mounting seat, a reel and a ribbon, the second motor is electrically connected to the control device, and is connected to the reel drive, the reel is disposed in the mounting seat, and the ribbon is connected to the reel The end of the ribbon is attached to the underside of the protection mechanism.

Preferably, the cross section of the frame is a right angle trapezoid, and the bottom surface of the frame is provided with two mounting pieces;

The auxiliary standing mechanism is a telescopic arm, and the front end of the telescopic arm is hinged between the two mounting pieces, and the rear end of the telescopic arm is hingedly protected;

The third pole is a third pole that is retractable, and the lower ends of the two third poles are respectively hinged on the outside of the two mounting pieces;

The number of support rods is one, one end of the support rod is hinged with the telescopic arm, and the other end is hinged to the frame.

Preferably, the binding mechanism comprises a second motor, a winding pulley, a hook, a winding belt and a hook seat, the hook is disposed outside the protection mechanism, the hook seat is disposed outside the knee support mechanism, and the second motor and the control device are electrically connected, the second motor It is arranged on the inner side of the frame and is connected with the winding pulley, the winding pulley is arranged outside the frame, the winding belt is connected with the winding pulley, the end of the winding belt passes through the hook, and is suspended at the hook;

Also included is a wearable device having a portion attached to the wrapping tape and a portion coupled to the protective mechanism.

Preferably, the handle is U-shaped, and the end is provided with a button, and the button is drivingly connected with the support rod for controlling the telescopic length of the support rod.

Preferably, the third strut is a third strut that is telescopic.

Preferably, the knee support mechanism comprises two knee cushioning devices, a knee support connector and an adjustment plate, the knee cushioning device is C-shaped, an adjustment plate is arranged on the rear side of each knee cushioning device, and the knee support connector is fixed on the frame. And the two ends are respectively extended to connect the two adjustment plates.

Preferably, the rear end of the chassis extends rearward to form two connecting rods, and the two connecting rods are V-shaped;

The wheel comprises two driving wheels and two driven wheels, the driven wheel is arranged at the end of the connecting rod, the two driving wheels are respectively arranged on both sides of the chassis, and are located at the front end of the chassis, and each driving wheel is connected with a first motor, first The motor is disposed between the frame and the drive wheel and is electrically connected to the control device.

Preferably, each foot pedal is provided with a gravity sensor, and the gravity sensor is electrically connected to the control device, and the display device is provided with a display screen for displaying the gravity value detected by the gravity sensor.

Preferably, the frame comprises a first frame and a second frame, the bottom end of the first frame is fixedly connected with the chassis, and the first frame and the second frame are connected by a height adjustment mechanism having a telescopic function, the second frame The top end is hinged to the armrest mechanism and the auxiliary standing mechanism, and the second frame is hinged to the support rod by the support rod connection.

Preferably, the bottom of the first frame is fixedly connected with more than one sliding bar, and when the height adjusting mechanism is stretched, the second frame slides on the sliding bar.

According to a preferred embodiment, the standing rehabilitation wheelchair has the following advantages:

(1) The height can be adjusted by the knee cushioning device, the auxiliary standing mechanism and the protection mechanism to meet the needs of users of different heights;

(2) Allowing the user to easily switch between standing and sitting postures, the user can perform actions such as leaning back, turning and turning, realizing self-care and providing rehabilitation training for the user;

(3) Controlling the opening and closing and running direction by the control device, which brings convenience to the user;

(4) A gravity sensor is provided on the foot pedal, and the gravity value detected by the gravity sensor can be displayed through the display screen.

The present invention also provides a wearing device which is used in the above-mentioned standing rehabilitation wheelchair vehicle to help the elderly and the injured lower limbs (especially the hemiplegia and paralysis patients) to stand, transfer and go to the toilet for the elderly and Patients with impaired lower limbs are self-care.

The wearing device comprises a belt and a legging belt, the two ends of the belt are detachably connected, and the belt is wrapped around the waist of the user and detachably connected to the auxiliary standing mechanism of the standing rehabilitation wheelchair on both sides of the waist of the user; The leggings are attached to the left and right sides of the belt. The leggings wrap the user's legs from the outside of the thighs. The leggings are detachably attached to the auxiliary standing mechanism of the standing rehabilitation wheelchair. The belt and leggings expose the user's buttocks. space.

Preferably, the side of the belt is fixedly connected with a mounting member, the belt covers the waist of the user, the mounting member is located on both sides of the user's body, and the mounting member is detachably connected to the auxiliary standing mechanism of the standing rehabilitation wheelchair.

Preferably, the end of the leg protector is fixedly mounted with a connecting member, and the connecting member is detachably connected to the auxiliary standing mechanism.

Preferably, the end of the leg shield is provided with a connecting hole, and the connecting hole is detachably connected with the auxiliary standing mechanism.

Preferably, the ends of the belt are detachably connected by a sticker or a snap or a buckle.

Preferably, a connecting buckle is provided on both sides of the belt.

Preferably, the mounting member is a safety buckle, and the safety buckle is detachably coupled to the auxiliary standing mechanism.

Preferably, the waist guard is detachably coupled to the waist guard.

The method of using the wearing device in combination with the standing rehabilitation wheelchair stroller: when the wearing device is used in combination with the standing rehabilitation wheelchair, the waist belt and the leg protector and the auxiliary standing mechanism form three or four pulling forces for pulling the user body forward Point, wherein the two tension points of the belt support the user's waist, the tension point on the leg belt is one or two, the pulling point on the leg belt supports the user's leg, and the pulling point is assisted with the above-mentioned standing rehabilitation wheelchair The user stands alone;

When the wearable device is used in conjunction with the above-mentioned standing rehabilitation wheelchair, the waist belt and the leg protector are connected with the auxiliary standing mechanism to form three or four oblique upward pulling points, wherein the two pulling points of the belt support the user's waist. The pulling point on the legging strap is one or two, and the pulling point of the legging strap supports the user's leg, and the pulling force of the pulling point is consistent with the effect of the seat supporting force.

A method of using the wearable device to go to the toilet, comprising the steps of: (1) removing the pants from the hip space exposed by the belt and the leg protector to the leggings; (2) using the auxiliary standing mechanism to assist the sitting on the toilet (3) Separating the connecting piece on the leggings from the auxiliary standing mechanism to completely remove the pants; (4) After putting the toilet on, put the pants over the leggings; (5) Connecting the leggings Connected to the auxiliary standing mechanism, and then stood up using the above-mentioned standing rehabilitation wheelchair; (6) After the standing, the pants are completely worn from the hip space exposed by the belt and the leg belt.

The wearable device has the advantages of ingenious design, compact structure, simple operation, safety and stability.

The present invention further provides a seat mechanism disposed on the standing rehabilitation wheelchair, comprising: a seat cushion and a rack mechanism, a telescopic rod, a first driving mechanism and a transmission assembly, and the rack mechanism is located at the seat The lower part of the pad is closely connected; the telescopic rod includes a fixing member and a telescopic member, the fixing member is connected with the bottom fixing device, the bottom end of the telescopic member is disposed inside the fixing member, and the transmission gear is disposed at the top end, and the meshing of the transmission gear and the rack mechanism The movable connection between the telescopic member and the seat cushion is realized, and the telescopic rod is arranged in an inclined manner as a whole; the first driving mechanism is located inside the telescopic rod, and one end is connected with the bottom of the fixing member, and the other end is connected with the top of the telescopic rod; the transmission component is set to be telescopic On the piece, when the telescopic rod is extended and contracted, the transmission assembly moves the seat cushion and the rack mechanism outward or inward.

Preferably, the transmission assembly is located at the side of the telescopic member, including a first power wheel disposed at the top of the reduction member and coaxially mounted with the transmission gear, and a second power wheel disposed at the bottom of the expansion member, and the first power wheel and the second power wheel A connected conveyor, a positioning device fixedly mounted to the top of the fixture and passing over the conveyor above it.

Preferably, the first power wheel and the second power wheel are sprocket wheels, the conveyor is a chain, the positioning device is a pin, and the pin passes through a chain link above it.

Preferably, the second power wheel and the conveyor are a combination of a pulley and a timing belt or a combination of a pulley and a wire rope, the positioning device holding the timing belt or the wire rope above it.

Preferably, the transmission assembly includes a transmission motor fixedly mounted to the top end of the telescopic member and the transmission gear is mounted on the output shaft of the transmission motor.

Preferably, further comprising a first blocking block disposed on the inner side of the top of the fixing member and a second blocking block disposed outside the bottom of the telescopic rod.

Preferably, the seat mechanism is located in the rear of the chassis.

Preferably, the controller controls the extension and contraction of the seat mechanism.

The seat mechanism has the advantages of ingenious design, compact structure, simple operation, safety and stability.

The invention also provides a lower limb rehabilitation training detection system and a method for detecting the lifting training of the lower limb rehabilitation training detection system. The lower limb rehabilitation training detection system is disposed in the above-mentioned standing rehabilitation wheelchair vehicle, including a data acquisition module, a data processing module, a display screen, a training instruction and/or a standing training instruction, a data processing module and a data acquisition module, and data processing The module is connected to the display screen, and the display screen is provided with a pick-up training command and/or a standing training command connected to the data processing module; wherein the data collecting module collects motion data, and the data processing module starts to calculate processing data when receiving the training command, The display shows the result.

Preferably, the data processing module comprises an instruction receiving unit, a pick-up training calculation unit, a count conversion unit, a data accumulation output unit, a standing training calculation unit and a standing training data output unit; wherein the instruction receiving unit receives, identifies and classifies the instruction And picking up the training calculation unit to determine whether the user is doing the pick-up training, the count conversion unit calculates the time and the number of times the user performs the training and interprets the waveform, and the data accumulation output unit superimposes the data of the user to pick up the training and The output is on the display screen, and the standing training calculation unit calculates data of the user's standing training, and the standing training data output unit interprets and outputs the data of the standing training to the display screen.

Preferably, the data acquisition module is a pressure detecting device or/and an angle sensor, and the pressure detecting device is in contact with a lower limb of a user who performs rehabilitation training, and the angle sensor is used to collect angle change data generated during the training process.

Preferably, the pressure detecting device is placed under the feet of the user.

Preferably, the pressure detecting device divides the user's feet into four quadrants; wherein the first quadrant detects the pressure of the front half of the patient's right foot, the second quadrant detects the pressure of the patient's right rear half, and the third quadrant detects the patient's left foot. The pressure in the first half and the fourth quadrant detect the pressure in the posterior half of the patient's left foot.

Preferably, the pressure detecting device is a pressure sensor or a data collector composed of a spring and a sensor.

Preferably, the display screen includes a pick-up training display area and a standing training display area, the training display area is displayed to display the data of the training, and the standing training display area displays the data of the standing training.

Preferably, the standing training display area includes a directional arrow that senses the user's physical tendency.

Preferably, the angle sensor is disposed on the auxiliary standing mechanism of the standing rehabilitation wheelchair, the pressure detecting device is disposed on the footrest of the standing rehabilitation wheelchair, and the data processing module and the display screen are disposed in the control device of the standing rehabilitation wheelchair.

The lower limb rehabilitation training detection system detects the lifting training method, and uses the lower limb rehabilitation training detection system including the pressure detecting device, the data processing module, the display screen, and the lifting training instruction to perform the lifting training test; the following steps are included: (1) issuing Lifting the training instruction, (2) the pressure detecting device detects the pressure of the user's feet and transmits the data to the data processing module; (3) the data processing module calculates the number of times the user performs the training and moves the user's exercise power Converted to a waveform diagram; (4) Display the number of times the user has picked up the training and the velocity waveform and time in the display.

Preferably, the data processing module uses the time and dynamic threshold combined with the analytical calculation method to calculate the number of times the user performs the training and converts the user's exercise power into a waveform diagram, and the time and dynamic threshold are combined with the analytical calculation method to refer to the experience. A complete waveform is acquired over a range of time values and the value of the peak is counted as a pick-up training within the range of empirical values.

Preferably, the empirical time value includes an initial time experience value t and an actual time experience value t1, the empirical force value includes an initial empirical force value D and an actual empirical force value D1, the empirical time value t is 8-12 seconds, and the initial empirical force value D For 250N, the actual time experience value t1 is the data obtained by calculating the actual time value t0 of the last pick-up training by calculating the formula t1=(1±0.2)*t0, and the actual empirical force value D1 is the last collected time. The actual force value D0 of the training is obtained by calculating the data obtained by the formula D1 = (1 ± 0.2) * D0.

Preferably, the user stands on the foot pedal by the wearing device and the auxiliary standing mechanism of the standing rehabilitation wheelchair and the armrest, grasps the armrest of the standing rehabilitation wheelchair, and performs the lifting training by the swing function of the auxiliary standing mechanism, and the lower limb rehabilitation training The detection system detects when and how many times the user does the training.

Preferably, the combination of the pressure detecting device and the angle sensor is used to detect the number and time of the user doing the pick-up training.

A lower limb rehabilitation training detection system for detecting a lifting training method comprises the following steps: (1) issuing a lifting training instruction; (2) a pressure detecting device detecting a pressure of a user's feet, and an angle sensor detecting an auxiliary standing mechanism swinging Angle; (3) the data processing module combines the time and dynamic threshold combined with the analytical calculation method and the angle deflection method to calculate the number of times the user performs the training and converts the user's exercise power into a waveform diagram; (5) the user is made The number of times and the strength waveform and time of the training are displayed in the display.

Preferably, the time and dynamic threshold combined analysis method refers to collecting a complete waveform within the empirical time value range and the peak value is within the empirical force value range, and the angle deflection method refers to assisting in the time of acquiring a complete waveform. Standing The mechanism swings back and forth by more than 50 degrees, and is counted as a pick-up training when the data in the data processing module satisfies the above two conditions.

The lower limb rehabilitation training detection system and the method for detecting the lifting training detect the data of the patient to perform the training and intuitively present the training data to the front of the patient, so that the rehabilitation training becomes active and interesting, practical, simple in structure and low in cost. , has a strong promotion and application value.

The invention is further illustrated by the following figures and examples.

DRAWINGS

1 is a schematic structural view of a standing rehabilitation wheelchair according to a first embodiment of the present invention;

2 is a schematic structural view of a rack and a chassis connection according to a first embodiment of the present invention;

3 is a schematic structural view of a protection mechanism and a chassis connection according to a first embodiment of the present invention;

4 is a schematic structural view of a knee support mechanism according to a first embodiment of the present invention;

Figure 5 is a perspective view of a binding mechanism in accordance with a first embodiment of the present invention;

Figure 6 is a plan view of a binding mechanism in accordance with a first embodiment of the present invention;

Figure 7 is a schematic structural view of a standing rehabilitation wheelchair according to a second embodiment of the present invention;

Figure 8 (a) is a schematic view showing the standing posture of a standing rehabilitation wheelchair vehicle according to a second embodiment of the present invention;

Figure 8 (b) is a schematic view showing the sitting posture of a standing rehabilitation wheelchair vehicle according to a second embodiment of the present invention;

Figure 9 (a) is a right side view showing an adjustable frame according to the present invention;

Figure 9 (b) is a front elevational view showing an adjustable frame according to the present invention; Figure 9 (c) is a rear view showing an adjustable frame according to the present invention;

Figure 10 is a plan development view of a wearing device in accordance with the present invention;

Figure 11 is a schematic view of a wearable device applied to a standing rehabilitation wheelchair according to the present invention;

Figure 12 is a rear elevational view of a wearable device applied to a standing rehabilitation wheelchair according to the present invention;

Figure 13 is a plan view showing the structure of a chain drive assembly of a seat mechanism according to the present invention;

Figure 14 is a cross-sectional view showing the chain drive assembly of the seat mechanism according to the present invention;

Figure 15 is a perspective view showing the structure of the chain drive assembly when the seat mechanism is extended according to the present invention;

Figure 16 is a perspective structural view showing the chain drive assembly when the seat mechanism is contracted according to the present invention;

Figure 17 is a schematic view showing the structure of a seat mechanism provided with a shutter according to the present invention;

Figure 18 is a plan view schematically showing a seat mechanism using a transmission motor according to the present invention;

Figure 19 is a schematic cross-sectional view schematically showing a seat mechanism using a transmission motor according to the present invention;

Figure 20 is a schematic perspective view showing the structure of a seat mechanism using a transmission motor according to the present invention when it is extended;

21 is a schematic perspective view showing a state in which a seat mechanism using a transmission motor is contracted according to the present invention;

Figure 22 is a schematic view showing the user standing on a standing rehabilitation wheelchair in accordance with the present invention;

Figure 23 is a schematic view showing the user sitting on a standing rehabilitation wheelchair in accordance with the present invention;

Figure 24 is a block diagram showing the structure of a lower limb rehabilitation training detecting system according to the present invention;

Figure 25 is a block diagram showing the structure of a data processing module according to the present invention;

26 is a flow chart of an angle sensor as a pick-up training data acquisition module in accordance with the present invention;

Figure 27 is a flow chart of the pressure detecting device as a pick-up training data collecting module according to the present invention;

28 is a flow chart of a combination of an angle sensor and a pressure detecting device as a pick-up training data acquisition module in accordance with the present invention;

29 is a flow chart of a pressure detecting device as a standing training data collecting module according to the present invention;

Figure 30 is a schematic illustration of a standing rehabilitation wheelchair vehicle provided with a lower limb rehabilitation training detection system in accordance with the present invention.

detailed description

The following description is presented to disclose the invention to enable those skilled in the art to practice the invention. The preferred embodiments in the following description are by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention as defined in the following description may be applied to other embodiments, modifications, improvements, equivalents, and other embodiments without departing from the spirit and scope of the invention.

Standing rehabilitation wheelchair

First embodiment

Referring to Figures 1 to 6, there is shown a standing rehabilitation wheelchair according to a preferred embodiment of the present invention, comprising two support bars 5, two foot pedals 10, two binding mechanisms 14, control means 1, auxiliary standing The mechanism 2, the armrest mechanism 3, the frame 4, the two first motors 7, the chassis 12, the knee support mechanism 13, the protection mechanism 15 and the wheel, the frame 4 includes a first strut 17 and a second strut 18, first The struts 17 are vertically disposed at the front end of the chassis 12, the second struts 18 are connected to the first struts 17, and the other end is connected to the chassis 12. The upper end of the first struts 17 is hinged with an armrest mechanism 3 and an auxiliary standing mechanism 2, the armrest The mechanism 3 includes two handlebars 20 and two third struts 19, and the lower ends of the two third struts 19 are respectively hinged on both sides of the first struts 17, and the upper ends of each of the third struts 19 are respectively connected with a handlebar 20 The handlebar 20 is vertically disposed outside the third pole 19. The auxiliary standing mechanism 2 is located at the rear side of the armrest mechanism 3, and includes two fourth struts 21 and two fifth struts 22, and the front ends of the two fourth struts 21 are respectively hinged on both sides of the first struts 17, and are located at the The outer side of the three poles 19, the rear ends of the two fourth poles 21 are hinged with a protection mechanism 15, and the fifth poles 22 are located on the lower side of the fourth poles 21 and are parallel to each other. The front ends of the two fifth struts 22 are respectively hinged on two sides of the second struts 18, the rear ends of the two fifth struts 22 are hinged with the protection mechanism 15, the protection mechanism 15 is C-shaped, and the protection mechanism 15 is provided with Control device 1.

In this embodiment, the two sides of the second strut 18 are respectively provided with support seats 26, each of which is provided with a rotating seat 25, and the rotating base 25 is provided with a rotating shaft 23, and the two supporting rods 5 are symmetrically The two sides of the support rod 5 are connected to the rotating shaft 23 through the connecting member 24, and the other end of the supporting rod 5 is hinged with the fourth rod 21 in the middle. The support rod 5 is a telescopic support rod for adjusting the height of the auxiliary standing mechanism 2 and the protection mechanism 15.

In this embodiment, the first strut 17 is provided with a binding mechanism 14 on both sides thereof, and the binding mechanism 14 is located outside the support rod 5, including the second motor 6, the mounting seat 32, the bearing 33, the reel shaft 34, the reel 35 and the silk The belt 36, the second motor 6 and the reel shaft 34 are drivingly connected. The two ends of the reel shaft 34 are disposed in the mounting seat 32 through the bearing 33. The reel wheel 35 is disposed outside the reel shaft 34, and the ribbon 36 is connected to the reel 35. The end of the belt 36 is connected to the lower side of the protection mechanism 15, and the second motor 6 is electrically connected to the control device 1 for controlling the length of the elastic band 36.

In the present embodiment, the rear end of the chassis 12 extends rearward to form two connecting rods 16, and the two connecting rods 16 are V-shaped.

Further, the wheel is disposed at the bottom of the chassis 12, and includes two driving wheels 9 and two driven wheels 11. The driven wheel 11 is disposed at the end of the connecting rod 16, and the two driving wheels 9 are respectively disposed on both sides of the chassis 12 and located at the chassis 12 front end, each driving wheel 9 is drivingly connected with a first motor 7, the first motor 7 is arranged between the first strut 17 and the driving wheel 9, and is electrically connected to the control device 1, and is controlled by the control device 1 The opening and closing of the motor 7 and the direction of movement of the wheelchair rehabilitation vehicle.

In the present embodiment, the knee support mechanism 13 is fixed to the second strut 18 and is located below the auxiliary standing mechanism 21, including two knee cushioning devices 29, a knee support connecting member 31 and an adjustment plate 30, and the knee cushioning device 29 The side is filled with rubber, foam and/or sponge, etc., and has a C-shaped cross section. Each knee cushioning device 29 is provided with an adjusting plate 30 on the rear side thereof, and the knee supporting connecting member 31 is fixed on the second strut 18 at both ends. The two adjustment plates 30 are respectively extended rearwardly, and the knee cushioning device 29 adjusts the position of the upper and lower positions by adjusting the position of the knee support connector 31 at the adjustment plate 30.

In the present embodiment, the two foot pedals 10 are directly fixed to the two sides of the chassis 12 by fasteners, or are fixed to both sides of the chassis 12 by the first connecting member 28, wherein the two foot pedals 10 and the first connection The member 28 can be regarded as a whole. The two foot pedals 10 are disposed on both sides of the first connecting member 28. The first connecting member 28 is C-shaped. When the first connecting member 28 is fastened to the chassis 12, the two pedals are The panel 10 is located on either side of the chassis 12 and is movable along the chassis 12 by the first connector 28 to adjust the forward and backward distance of the footrest 10.

Further, each foot pedal 10 is provided with a gravity sensor, and the gravity sensor is electrically connected to the control device 1. The control device 1 is provided with a display screen for displaying the gravity value, and when the gravity value exceeds 30 kg, the control device is installed. Set to 1 to control the first motor 7 to start.

The working principle is that the user's feet stand on the two foot pedals 10 respectively, the hands are placed on the handlebars 20, the knees are placed on the knee cushioning device 29, and the user's front chest rests on the protection mechanism 15, the ribbon The end of the 36 is tied to the user's buttocks, and the control device 1 controls the elastic expansion of the ribbon 36 to drive the user to switch between standing and sitting postures, and perform some simple exercises, including calves, knees, and arms.

Second embodiment

Referring to Figures 7 to 8(b), there is shown a standing rehabilitation wheelchair according to a preferred embodiment of the present invention, comprising a support rod 5, two foot pedals 10, two binding mechanisms 14, and a control device 1 The auxiliary standing mechanism 2, the armrest mechanism 3, the frame 4, the two first motors 7, the chassis 12, the knee support mechanism 13, the protection mechanism 15 and the wheel, the cross section of the frame 4 is trapezoidal at right angles, and is fixed to the chassis 12 At the front end, the bottom surface of the frame 4 is provided with two mounting pieces 44. The two mounting pieces 44 are hinged with an armrest mechanism 3 and an auxiliary standing mechanism 2, and the armrest mechanism 3 includes two handlebars 20 and two third poles 19, The third strut 19 is a telescopic third strut for adjusting the height thereof, and is a two-level rod or a multi-stage rod structure, and the lower ends of the two third rods 19 are respectively hinged on the outside of the two mounting pieces. A handlebar 20 is respectively connected to the upper end of each of the third poles 19, and the handlebar 20 is vertically disposed outside the third pole 19, and the handlebar 20 is U-shaped.

In this embodiment, the auxiliary standing mechanism 2 is a telescopic arm, and the telescopic arm is a secondary rod or a multi-stage rod structure. The front end of the telescopic arm is hinged between the two mounting pieces 44, and the rear end of the telescopic arm is hinged and protected. The mechanism 15 has a C-type protection mechanism 15, and the protection mechanism 15 is provided with a control device 1. The support rod 5 is a telescopic support rod, and is a two-stage rod or a multi-stage rod structure. One end of the support rod 5 is hinged with the telescopic arm at one end, and the other end is hinged with the frame 4, and the support rod 5 is connected with the button 37. A button 37 is provided at the end of the handlebar 20 for controlling the expansion and contraction of the support bar 5 to adjust the height of the telescopic arm and the protection mechanism 15.

In the present embodiment, the knee support mechanism 13 is fixed to the frame 4 and located below the telescopic arm, including two knee cushioning devices 29 and a knee support connector 31, and the front side of the knee cushioning device 29 is filled with rubber, foam and/or Or a sponge or the like, and the cross section is C-shaped, the knee support connector 31 is fixed on the frame 4, and the two ends respectively extend backward to connect two knee buffer devices 29, and the two knee buffer devices 29 are located on both sides of the support rod 5. . Wherein, the knee cushioning device 29 is adjusted at the position where the knee support connector 31 is mounted, and the level of the knee cushioning device 29 can be adjusted.

Further, the wheel is disposed at the bottom of the chassis 12, and includes two driving wheels 9 and two driven wheels 11, the driving wheel 9 and the driven wheel 11 are both damping wheels, and the driven wheel 11 is disposed at the end of the connecting rod 16, two active The wheels 9 are respectively disposed on the two sides of the frame 4 and are located at the front end of the chassis 12, and each of the driving wheels 9 is drivingly connected to a first motor 7. The first motor 7 is disposed in the frame 4 and electrically connected to the control device 1. Controlling the opening and closing and standing of the first motor 7 by the control device 1 The direction of movement of the rehabilitation wheelchair.

In the present embodiment, the two foot boards 10 are directly fixed to both sides of the chassis 12 by fasteners, and the front and rear ends of the foot board 10 respectively extend upward to form a shielding plate 8. Each foot pedal 10 is provided with a gravity sensor. The gravity sensor is electrically connected to the control device 1. The control device 1 is provided with a display screen for displaying the gravity value. The gravity sensor is also used to detect whether the user is correctly used on the wheelchair, such as whether the user's feet are placed on the footrest 10.

In the present embodiment, the binding mechanism 14 includes a second motor 6, a winding pulley 43, a hook 39, a winding belt 40, and a hook seat 38. The hook 39 is disposed outside the protection mechanism 15, and the hook seat 38 is disposed outside the knee cushioning device 29. The second motor 6 is disposed inside the mounting piece 44, and is drivingly connected to the winding pulley 43. The winding pulley 43 is disposed outside the mounting piece 44, and the winding tape 40 is connected to the winding pulley 43, and the end of the winding tape 40 passes through the hook 39. It is hung from the hook 39.

Further, a wearable device 41 is further included, and the ends of the wearable device 41 are respectively connected to the ends of the wrapping tape 40. Further, the aforementioned wearing device 41 is detachable.

The working principle is that the user's feet stand on the two foot pedals 10 respectively, the hands are placed on the handlebars 20, the knees are placed on the knee cushioning device 29, and the front chest of the user rests on the protection mechanism 15, the wearing device 41 protects the user's buttocks and waist, controls the elastic band 36 to expand and contract by the control device 1, and drives the user to switch between standing and sitting posture, and performs some simple exercises, including calves, knees and arms.

In order to increase the adjustable height of the overall height of the wheelchair, the height adjustment function of the frame 4 can also be increased.

As shown in FIG. 9(a), the frame 4 is divided into a first frame 4a and a second frame 4b, wherein the bottom end of the first frame 4a is fixedly connected to the chassis 12, and the rear portion of the first frame 4a is Connected to the knee support structure 13, the bottom end of the second frame 4b is disposed inside the first mechanism 4a, the second frame 4b can be moved in the first frame 4a, the top end of the second frame 4b and the armrest mechanism 3, the auxiliary stand The mechanism 2 is hinged, and one end of the support rod 5 is hinged to the auxiliary standing mechanism 2, and the other end is hinged to the second frame 4b.

As shown in FIG. 9(b), the first frame 4a and the second frame 4b are connected by a height adjustment mechanism, and the fixed end 421 of the height adjustment mechanism is disposed at the bottom end of the first frame 4a, and the telescopic end of the height adjustment mechanism is The 422 is connected to the first connecting member 423 fixed to the middle of the second frame 4b. As shown in FIG. 9(c), a second connecting member 424 is fixed to the lower rear portion of the second frame 4b, and a connecting lug 426 is mounted on the second connecting member 424, and the connecting lug 426 is hinged with the support rod 5. The working principle is as follows: the telescopic function of the height adjustment frame is realized by the elongation and shortening of the telescopic end 422 of the height adjustment mechanism.

The height adjustment mechanism can be a mature telescopic device on the market such as a push rod motor, a hydraulic component, and a pneumatic component.

In order to ensure that the telescopic connection of the first frame 4a and the second frame 4b is more secure, two sliding rods 425 are mounted on the second connecting member 424, and the end of the sliding rod 425 is fixedly connected with the bottom of the first frame 4a, and the working principle is When the height adjustment mechanism is stretched, the second frame 4b slides on the slide bar 425.

Wearable device

Referring to Figures 10 through 12, a wearable device 110 in accordance with the present invention is illustrated. The wearable device 110 includes a belt protector 111, a connecting buckle 112, a mounting member 113, a leg guard belt 114, a connecting member 115, and a waist guard 116. The use of the wearable device 110 in combination with the standing rehabilitation wheelchair cart 103 enables the user to perform self-care by standing, sitting, and going to the toilet autonomously, wherein the structure of the standing rehabilitation wheelchair 103 can be combined with the standing rehabilitation wheelchair 101 or the standing rehabilitation wheelchair. 102 is the same.

The belt 111 is a main part of the present invention for wrapping the waist of the user, and the ends of the belt 111 can be detachably connected by means of sticking or snapping or snapping.

The waistband 111 around the waist has an adjustable radius to accommodate the waist of different users.

The connecting buckle 112 is fixedly connected to the left and right sides of the waist belt 111. When the waist belt 111 is wrapped around the waist, the connecting buckle 112 is fastened, which is convenient and quick, and enhances the safety of use.

The mounting member 113 has a belt 111 around the waist of the user, and the mounting member 113 is located on both sides of the waist of the user. The mounting member 113 detachably connects the belt 111 to the auxiliary standing mechanism 132 of the standing rehabilitation wheelchair 103, and the belt is provided. 111 and the auxiliary standing mechanism 132 of the standing rehabilitation wheelchair 103 form two tension points.

Preferably, the mounting member 113 is a safety buckle, and the clip of the safety buckle is mounted on the standing rehabilitation wheelchair 103. As shown in FIG. 11, the mounting member 113 is mounted on both sides of the protection mechanism 133 of the standing rehabilitation wheelchair 103. The buckle is connected to the left and right sides of the belt protector 111, and the buckle and the clip are detachably connected, which is convenient and quick.

When the belt 111 is wrapped around the waist of the user, the buckle and the connecting buckle 112 are just on both sides of the user's body, and the buckle is fastened into the safety clip, and the connecting buckle 112 is fastened around the waist of the user.

Alternatively, the mounting member 113 can be a combination of a hook and a loop, or a combination of a hook and a harness.

The leg protectors 114 are attached to the left and right sides of the belt 1.1, and the leg shields 114 are wrapped around the outside of the thighs to wrap the legs of the user.

The belt 111 and the legging belt 114 wrap the user to expose the space in the buttocks position, and the user can complete the function of taking off pants and wearing pants in this space, and is convenient for going to the toilet.

The leg protectors 111 can be detachably connected to the auxiliary standing mechanism 132 to form two pulling points, or the left and right straps can be connected together and then detachably connected with the auxiliary standing mechanism 132 to form a pulling point.

Preferably, the leg shield belt 111 is detachably coupled to the auxiliary standing mechanism 132 to form two tension points.

A connector 115 is used to detachably attach the leg guard belt 114 to the auxiliary standing mechanism 132 of the standing rehabilitation wheelchair 103.

Preferably, the connecting member 115 is a tension ring, and a hook is arranged on the auxiliary standing mechanism 132, as shown in FIG. As shown, the head of the auxiliary standing mechanism 132 is provided with a hook 131 to which the connecting member 115 can be hooked or removed. Hang the tension ring into the hook, which is convenient and quick.

Optionally, a connecting hole is formed at the end of the leg protector belt 114, and a hook is arranged on the standing rehabilitation wheelchair 103, and the connecting hole is hung in the hook, which is convenient and quick.

The waist guard 116 is detachably attached to the middle of the waist belt 111, and is preferably attached by a Velcro.

When the user stands or sits down on the standing rehabilitation wheelchair 103 for a long time, the waist is prone to fatigue, especially the patient with a weak waist feels more obvious, and the waist guard 116 can provide comfortable and powerful support to the waist of the user.

When the wearing device 110 is in use, the waist belt 111 is fastened to the user's waist, the connecting buckle 112 is fastened, the mounting member 113 and the auxiliary standing mechanism are engaged with each other, and the legging belt 114 wraps the thigh from the outside to the inside and connects the connecting member 115. The auxiliary standing mechanism 132 is coupled to secure the user to the standing rehabilitation wheelchair 103.

The use of the wearable device 110 in conjunction with the standing rehabilitation wheelchair cart 103 allows the user to perform the functions of standing, sitting down and going to the toilet autonomously.

The method of achieving self-standing by using the wearing device 10 is that the user sits first and fixes himself to the standing rehabilitation wheelchair 103 by using the wearing device 110, and then pulls himself up by the force of the wearing device 132 by the auxiliary standing mechanism 132.

After the user stands up, the mounting member 113 and the connector 115 are tightened, and the legging strap 114 enables the user to stand in the correct posture.

Preferably, when the wearable device 110 is used in conjunction with the standing rehabilitation wheelchair 103, the mounting member 113 and the connecting member 115 and the auxiliary standing mechanism 132 form four pulling points for pulling the user's body forward, wherein the two on the belt 111 The pull point supports the user's waist, and the two pull points on the leg strap 114 support the user's legs. The four pull points and the standing rehabilitation wheelchair 103 help the user stand alone.

The method of autonomously sitting down by the wearing device 110 is to adjust the standing posture into a sitting posture using the standing rehabilitation wheelchair 103, and the mounting member 113 and the connecting member 115 form four oblique upward pulling points, wherein the two pulling forces on the waist belt 111 The point supports the user's waist, and the two tension points on the leg belt 114 support the user's leg. This supporting force is consistent with the supporting force of the seat, which makes the user feel comfortable.

The method of using the wearing device 110 to the toilet includes the following steps: (1) removing the pants from the hip space exposed by the belt 113 and the leg belt 114 to the leg belt 114; (2) assisting the sitting with the standing rehabilitation wheelchair 103 (3) separating the connector 115 from the standing rehabilitation wheelchair 103, completely removing the pants; (4) putting the pants over the leggings 114 after finishing the toilet; (5) placing the leggings 114 with The standing rehabilitation wheelchair 103 is connected and then stands up using the standing rehabilitation wheelchair 103; (6) is exposed from the belt 111 and the leg belt 114 after standing Put on the pants completely in the hip space.

As shown in FIG. 11 and FIG. 12, the user sits first, and the waistband 111 is wrapped around the waist, and the two ends of the waistband 111 are adhered, the connecting buckle 112 is buckled, and then the buckle of the safety buckle is buckled into the clip. After the leg protector belt 114 is wound from the outer side of the thigh to the inner side of the thigh, the connecting member 115 is hung into the hook 131, and then stands up by the standing rehabilitation wheelchair 103 and the wearing device 110.

In summary, the combination of the wearing device 110 and the standing rehabilitation wheelchair 103 allows the patient with damaged lower limbs to complete daily life such as standing, sitting down, and going to the toilet to achieve self-care. When the user is standing, the wearing device 110 provides the user with a forward force to ensure that the user does not fall over; when the user sits down, the wearing device 110 provides the user with a supporting force point consistent with the seat, so that the user feels more Comfortable. During use, the wearable device 110 consistently provides the user with a larger amount of lumbar support and the user does not feel fatigued. The wearable device 110 is wound around the user to adjust the radius according to the user's waist circumference, and can be applied to people of different weights, and has the advantages of compact structure, simple manufacture, low cost and the like.

Seat mechanism

Referring to Figures 13 through 23, a seat mechanism 80 in accordance with the present invention is illustrated. The seat mechanism 80 mainly includes a seat cushion 803 and a rack mechanism 806, a telescopic rod, a transmission assembly, and a first drive mechanism 804.

The rack mechanism 806 is located at a lower portion of the seat cushion 803 and is closely connected.

The telescopic rod (including the fixing member 801 and the telescopic member 802) has one end connected to the bottom fixing device 805, and the other end is movably connected to the rack mechanism 806 through the transmission gear 807, and the telescopic rod is integrally arranged in an inclined manner.

The transmission assembly is preferably a combination of a chain and a sprocket as shown in Figures 13-17. The transmission assembly includes a first sprocket 808, a second sprocket 810, a chain 809, and a positioning device 815. As shown in Figure 13, the positioning device 815 is a pin.

The first sprocket 808 is disposed at the top of the telescopic member 802 and coaxially mounted with the transmission gear 807 through a shaft 811, the second sprocket 810 is disposed at the bottom of the telescopic member 802, and the chain 809 is coupled to the first sprocket 808 and the second sprocket 810. Between the positioning means 815 is fixed to the top of the fixing member 801 of the telescopic rod and passes through the chain link 816 above it.

Optionally, the transmission assembly includes a first pulley and a second pulley, a timing belt and a positioning device that operate in the same manner as the sprocket chain.

Still alternatively, the transmission assembly includes a first pulley and a second pulley, a wire rope and a positioning device that operates in the same manner as the sprocket chain.

The first driving mechanism 804 is located inside the telescopic rod and has one end connected to the bottom of the fixing member 801 and the other end connected to the top of the telescopic member 802.

The first drive mechanism 804 is linearly driven and preferably employs an electric push rod or a hydraulic push rod to further reduce the seat The volume of the mechanism 80 and the space it occupies.

The working principle of the preferred embodiment of the present invention is:

When the seat mechanism 80 is extended, the first drive mechanism 804 drives the telescoping member 802 to extend outwardly, causing the first sprocket 808 and the second sprocket 810 to move outward, and the link 816 is fixed by the positioning device 815, thus the chain 809 The first sprocket 808 and the second sprocket 810 are driven to rotate in the forward direction. Then, the first sprocket 808 drives the shaft 811 and the transmission gear 807 to rotate in the forward direction, and the rack 806 that meshes with the transmission gear 807 moves outward, so that the first driving mechanism 804 is extended while the seat cushion 803 is also stretched until the The seat cushion 803 is fully deployed.

When the seat mechanism 80 is retracted, the first drive mechanism 804 drives the telescoping member 802 to contract inwardly and drive the first sprocket 808 and the second sprocket 810 to move inwardly, the link 816 is fixed, so the chain 809 will drive the first The sprocket 808 and the second sprocket 810 rotate in opposite directions. Then, the first sprocket 808 drives the shaft 811 and the transmission gear 807 to rotate in the opposite direction, and the rack 806 meshing with the transmission gear 807 moves inward, thereby achieving the contraction of the first driving mechanism 804, and the seat cushion 803 is also contracting until the first A drive mechanism 804 and the seat cushion 803 are simultaneously shrunk.

Preferably, a first blocking block 812 is disposed on the inner side of the top of the fixing member 801, and a second blocking block 813 is disposed outside the bottom of the telescopic member 802. When the telescopic member 802 is extended to the extreme position, the first blocking block 812 and the second blocking block 813 come into contact, thereby preventing the telescopic member 802 from continuing to elongate, preventing the telescopic member 802 from coming off the fixing member 801.

In practical applications, a baffle 817 may also be disposed on both sides of the telescopic rod (including the fixing member 801 and the telescopic member 802). The baffle 817 functions as a support for fixing the telescopic rod on the one hand, and is also a safety measure for protecting the user from accidental injury. Further, after the seat mechanism 80 of the present invention is fully retracted, the seat cushion 803 should be located within the area occupied by the two baffles 817 or directly inside the two baffles 817. Therefore, it has the advantages of ingenious design, compact structure, small space occupation, simple operation, safety and stability.

Optionally, the transmission assembly includes a transmission motor 818, as shown in FIGS. 18-21, for ease of understanding, the transmission motor 818 is disposed outside of the telescoping member 802 in FIGS. 18-21. Alternatively, the transmission motor 818 can also be disposed inside the telescopic member 802.

As shown in FIG. 18, the transmission motor 818 is fixedly mounted to the top end of the telescopic member 802, and the transmission gear 807 is mounted on the output shaft 811 of the transmission motor 818.

At this time, the working principle of the transmission assembly is: when the first driving mechanism 804 drives the extension 802 to extend outward, the transmission motor 818 rotates forward to drive the transmission gear 807 to rotate forward, and the seat cushion 803 is extended. On the contrary, when the first driving mechanism 804 is shortened, the transmission motor 818 reversely drives the transmission gear 807 to reverse, and the seat cushion 803 is contracted.

The seat mechanism 80 of the present invention skillfully realizes the extension and contraction functions of the seat based on the telescopic rod and the transmission assembly, and has many advantages such as small footprint, simple and compact structure, and easy portability in practical applications.

22 and 23 respectively show a stance and sitting posture of a standing rehabilitation wheelchair vehicle 104 provided with the seat mechanism 80. The structure of the standing rehabilitation wheelchair 104 can be the same as that of the standing rehabilitation wheelchair 101 or the standing rehabilitation wheelchair 102, so the structure of the standing rehabilitation wheelchair 104 is simply shown.

The standing rehabilitation wheelchair vehicle 104 includes a chassis running mechanism 401, an armrest mechanism 403, an auxiliary standing mechanism 404, a wearing device 405, a rope pulley 461, a safety rope 463, a hook 465, a drive motor 462, and a rear portion of the chassis running mechanism 401. Seat mechanism 80.

The use of the standing rehabilitation wheelchair vehicle 104 of the present invention is mainly for persons with disabilities or the elderly, such as leg disability or lower body paralysis and hemiplegia patients.

The chassis travel mechanism 401 is located at the bottom of the standing rehabilitation wheelchair 104 and is primarily used to carry the user and drive the standing rehabilitation wheelchair 104 to travel forward.

The chassis running mechanism 401 of the standing rehabilitation wheelchair vehicle 104 includes a bottom plate 411, a front wheel assembly 412, a rear wheel assembly 413, and a foot pedal 414. The front wheel assembly 412 is a drive wheel, and the rear wheel assembly 413 is a driven wheel and preferably adopts a universal wheel structure.

A front wheel assembly 412 and a rear wheel assembly 413 are respectively disposed at the front and rear of the bottom plate 411, wherein the front wheel assembly 412 is a drive wheel, the rear wheel assembly 413 is a driven wheel, and a universal wheel assembly is preferably employed.

The footrest 414 is located on both sides of the bottom plate 411. The footrest 414 is provided with an annular blocking piece at the front and the rear to prevent the user's feet from sliding relatively large, thereby fixing the user's feet.

The armrest mechanism 403, as shown in FIG. 22, is rotatably connected to the upper portion of the chassis running mechanism 401. The main body portion of the armrest mechanism 3 is a double-pole or multi-stage rod structure, and can be freely stretched and self-locked, and can be used according to the The height of the user is adjusted.

The auxiliary standing mechanism 404, as shown in FIG. 22, is rotatably coupled to the front side of the chassis running mechanism 401 for supporting the user's waist or abdomen to prevent the user from leaning forward, helping the user to stand stably and to achieve long standing. .

The auxiliary standing mechanism 404 mainly includes a telescopic rod 441 and a head portion 442. One end of the telescopic rod 441 is rotatably connected to the upper portion of the chassis running mechanism 401, and the other end is rotatably connected to the head portion 442.

An upper portion of the head portion 442 is also provided with an integrated controller 443 for controlling the first drive mechanism 812, the drive motor 462, and the front wheel assembly 412.

The rope reel 461 is disposed above and below the chassis running mechanism 401 and is located below the armrest 403 and the auxiliary standing mechanism 404.

The safety cord 463 has one end fixed to the rope pulley 461, the other end passing through the middle of the telescopic rod 441 and fixed to the hook 465, and the safety rope 463 suspending the hook 465 in the middle of the telescopic rod 441.

The drive motor 462 drives the reel sheave 461 to be reversed, and the reversing of the reel sheave 461 can tighten and loosen the safety cord 463, thereby tightening and relaxing the hook 465.

The standing rehabilitation wheelchair vehicle 104 provided with the seat mechanism 80 further includes a rope guiding device 464 fixedly mounted to the rope exit of the rope pulley 461 for guiding and realizing the relaxation of the safety rope 463 and Tightening.

The wearing device 405 is configured to flexibly connect the user to the standing rehabilitation wheelchair 104 to prevent the user from standing unstable.

The wear device 405 primarily includes a belt 451 that wraps around the user's waist and a leg strap 452 that wraps the thigh.

The belt 451 is provided with a safety buckle 453, the safety buckle 453 is detachably connected with the head 442, and the leg belt 452 is provided with a tension ring 454, and the tension ring 454 can be hung in or taken out of the hook 465, thereby implementing the leg protection belt 452 and the auxiliary A detachable connection in the middle of the standing mechanism.

The user can adjust the belt 451 by adjusting the tightness of the connection between the safety buckle 453 and the head 442 to ensure the comfort and safety of the wearing device 405. The tension and relaxation of the safety cord 463 and the hook 465 are controlled by the integrated controller 443 to tension and relax the leg shield belt 452.

After the user fixes himself to the standing rehabilitation wheelchair 104 by the wearing device 405, the position on the wheelchair can be adjusted by adjusting the safety buckle 453, and the driving motor 462 is controlled to be reversed by the integrated controller 443 to tighten the leg belt 452. Ensure that the user stands more comfortable and powerful.

Preferably, the structure of the device in contact with the human body such as the head portion 442, the wearing device 405 and the foot pedal 414 is designed to be ergonomic, and the part in contact with the user body is provided with a soft shock absorbing material, thereby improving the user's abdomen, Comfort in the waist, hips, soles and calves or knees.

The user first sits in a wheelchair or bed, so that the wheelchair is in front of himself, wrapping the belt 451 around the waist, and the leggings 452 are wrapped around the outside of the thigh from the outside of the thigh and then the tension ring 454 is hung into the hook 465, and the belt 51 is attached. The head portion 442 is connected to the safety buckle 453, and the auxiliary standing mechanism 404 is used to stand on the standing rehabilitation wheelchair unit 104, and then the integrated legging belt 452 is tightened by the integrated controller 443 to correct the standing posture.

When the user needs to switch from the standing posture to the sitting posture, firstly, the integrated controller 443 controls the first driving mechanism 804 to start the stretching of the seat mechanism 80, and then slowly releases the user to the user by the action of the auxiliary standing mechanism 404 and the wearing device 405. The hips sit on the seat cushion 803.

The seat mechanism 80 of the present invention has a controllable extension length and a self-locking fixing function, so that people of different heights can adjust the height of the seat cushion 803 according to their height.

Preferably, as shown in FIG. 23, when the user sits on the seat cushion 803, the drive motor 462 can be controlled to rotate forward by the integrated controller 443, and the take-up reel 461 is rotated to slightly loosen the safety cord 463 and the hook 465, and the legging strap is relaxed. 452, Let the user's thighs get the proper liberation and rest.

Conversely, when the user needs to switch from the sitting position to the standing position, the safety rope 463 tensioning hook 465 and the leg protector belt 452 are first appropriately adjusted by the integrated controller 443, and then the auxiliary standing mechanism 404 and the wearing device 405 are used to slowly rise. Up until the user is in the standing state, and then the integrated controller 443 is operated to control the safety cord 463 to fully tighten the hook 465 and the leg guard belt 452 to make the standing posture correct, and then operate the integrated controller 443 to control the first driving mechanism 812 to make the seat mechanism 80 begins to shrink until the telescopic is completed.

In summary, the user can drive the standing rehabilitation wheelchair 104 with the seat mechanism 80 and can easily switch between the sitting posture and the standing posture, and the user can complete daily routines such as cooking, dining, and going to the toilet. Activities to further realize self-care.

The user can repeatedly sit and stand on the standing rehabilitation wheelchair 104 by means of the auxiliary standing mechanism and the seat mechanism, and perform simple rehabilitation training for the legs. The user can sit and rest at any time and place according to his own needs. When the user drives the standing rehabilitation wheelchair 104 to the outdoors, the importance of the seat mechanism 80 of the present invention is fully reflected.

Moreover, the user does not need to be separated from the standing rehabilitation wheelchair, whether it is sitting down to eat or work, greatly increasing the convenience of using the standing rehabilitation wheelchair.

The user can choose to stand and walk the rehabilitation wheelchair, or choose to sit and walk the rehabilitation wheelchair, sit and stand alternately, and the blood is circulated, which is more beneficial to the user's body. The space occupied by the seat after contraction is small and will not affect the use of the standing rehabilitation wheelchair. Finally, the invention has the advantages of ingenious design, compact structure, simple operation, safety and stability.

Lower limb rehabilitation training system and method for detecting the lifting training

Lower limb rehabilitation training system

24 to FIG. 30 illustrate a lower limb rehabilitation training detecting system that can detect a patient with a lower limb injury and perform standing training and picking up training data and present it in front of the patient, as shown in FIG. The data acquisition module, the data processing module and the display screen are also included, and the training instruction and/or the standing training instruction are also included.

The lower limb rehabilitation training detection system is set on the standing rehabilitation wheelchair, allowing the user to perform rehabilitation training independently.

The data acquisition module is used to collect data of the user doing the training or standing training. The data acquisition module is an angle sensor or a pressure detecting device or a combination of a pressure detecting device and an angle sensor.

The data acquisition module for collecting the training is an angle sensor or/and a pressure detecting device, and the data collecting module for collecting the standing training is a pressure detecting device.

The angle sensor is used to collect the angle change data generated during the training process.

Preferably, the angle sensor is disposed on the auxiliary standing mechanism of the standing rehabilitation wheelchair 105, following the auxiliary standing machine The structure swings up and down, and the swing angle is recorded. When the reciprocating swing angle is greater than 50 degrees, it is counted as a pick-up training.

Optionally, the angle sensor may also be disposed on the user's thigh, follow the user's thigh to stand up and record the swing angle. When the reciprocating swing angle is greater than 50 degrees, it is counted as a pick-up training.

The pressure detecting device is disposed on the standing rehabilitation wheelchair and is in contact with the lower limb of the user, and is used for detecting change data of the muscles of the leg training by the user.

When the user performs rehabilitation training, the muscles of the lower limbs will contract and the force of the feet will change with the progress of the training. Therefore, the pressure detecting device is placed under the user's feet or tied to the user. The force of the rehabilitation training can be detected on the legs.

However, the change in the force of the feet is most obvious. Therefore, the present invention places the pressure detecting device under the feet of the user, that is, the pressure under the feet of the user is collected.

The pressure detecting device preferably uses a pressure sensor, and a data collector composed of a spring and a sensor can also be selected.

The display screen is provided with a pick-up training command and/or a standing training command, and the training command and the standing training command are connected to the data processing module.

The display screen preferably uses a mobile phone or an LED electronic screen disposed on a standing rehabilitation wheelchair, including a training display area and a standing training display area.

Preferably, the pick-up training display area displays the number and time of the user doing the pick-up training.

Optionally, in order to make the training more interesting, the user can see the exercise situation more clearly, and the training display area can also display the waveform of the force when the user performs the training. For patients who do not have the ability to sense the lower limbs, seeing the real-time situation of training themselves can increase their enthusiasm for exercise.

Preferably, in the standing training display area of the present invention, there is a directional arrow that senses the tendency of the user's body. Where the user's body is inclined, the corresponding arrow light is illuminated.

Optionally, the standing training display area displays the swaying trajectory of the body when the user is standing training, and the user can also control his body swaying trajectory to draw a simple graphic display in the standing training display area. For example, the user can control his body to shake and draw a rectangle or circle in the standing training area.

The data processing module is connected to the data collection device and is disposed on the standing rehabilitation wheelchair to describe, identify, classify and interpret the data collected by the pressure detecting device, and calculate the number and time of the user to perform the training. The output picks up the waveform of the training, or processes the data the user does for standing training.

As shown in FIG. 25, the data processing module includes an instruction receiving unit, a pick-up training calculation unit, a count conversion unit, a data accumulation output unit, a standing training calculation unit, and a standing training data output unit.

Optionally, the data processing module can use the mature single-chip microcomputer on the market to connect each unit in the data processing module. Integrated together.

The instruction receiving unit identifies and classifies the received instructions and assigns them to the corresponding computing unit.

The training calculation unit is set up to determine whether the user is performing the pick-up training. If the user is doing the pick-up training, the collected data is transmitted to the counting conversion unit.

The counting conversion unit interprets the data into a waveform and outputs it to the data accumulation output unit, and then calculates the time for the user to perform the training.

The data accumulation output unit superimposes the total number of times and time the user performs the training and outputs it to the display along with the training waveform.

The user does a pick-up training, which is a reciprocating motion from standing to half-turning to standing. Therefore, the user's foot force is maximum when he is half-turned, and the analysis of his dynamic force is similar to a continuous waveform. The peak is The force on the foot during a half-turn.

Therefore, the data of the force of the waveform of the user's leg or the data of the angle of reciprocation of the angle sensor greater than 50 degrees can be collected, and can be used to determine whether the user is performing the lifting training.

Optionally, the angle sensor is separately used as the data acquisition device for picking up the training. As shown in FIG. 26, only the data processing module needs to judge the amplitude of the collected reciprocating motion, and when the training calculation unit is calculated, the calculation amplitude is greater than 50. When it is used, it is counted as a training session.

Alternatively, when the pressure detecting device is used as the data collecting device, as shown in FIG. 27, the pressure detecting device transmits the data collected from the pick-up training to the pick-up training calculation unit, and picks up a waveform of the training computing unit. The peak value of the wave and the time of the waveform acquired are calculated, and the time and dynamic threshold are combined with the analysis method.

The principle of combining time and dynamic threshold analysis is:

In the first step, first set an initial empirical force value D for picking up the maximum force (ie, the peak) during training and an initial experience time t for doing a pick-up training (ie, acquiring a complete waveform), when the time t is When a complete waveform is acquired and the value of the peak is greater than D, it is counted as a pick-up training;

In the second step, the maximum force D0 collected for the first time and the time t0 collected to the complete waveform are used as the user's own experience value;

In the third step, a complete waveform is acquired during the actual experience time t1 and the value of the peak is D1, where t1=(1±0.2)*t0, D1=(1±0.2)*D0, it is counted as a pick-up training. ;

Among them: D is based on the average value of the maximum force of 50 people to do a training, and the coefficient is 0.8. According to the average time of 50 people to do a training, the average time is 0.8, and t=8~12 Seconds, D = 250N.

The use of time and dynamic threshold combined with analytical calculations can eliminate the exercise that is not set off and reduce the false positive rate.

Preferably, in order to make the judgment of the lifting training more precise, as shown in Fig. 28, the present invention uses the manner in which the pressure detecting device and the angle sensor simultaneously judge.

The auxiliary standing mechanism swings up and down to drive the user to perform the lifting training, the angle sensor detects the swinging angle of the auxiliary standing mechanism, and combines the time and the dynamic threshold combined with the analytical calculation method to determine whether the user completes a pick-up training.

As shown in FIG. 26, FIG. 27, and FIG. 28, when the pick-up training calculation unit calculates that the collected data belongs to the range of the training, the waveform and the data are input into the counting conversion unit, and the counting conversion unit performs the +1 calculation. .

The counting conversion unit transmits the waveform and the data for picking up the training times and times to the data accumulation output unit for storage and accumulation, and the data accumulation output unit outputs the number and time of the training to the display screen.

The standing training calculation unit is configured to process the data of the standing training of the user, and use the pressure difference calculation method to determine the tendency of the user's body.

The standing training data output unit displays the data output of the standing training to the display screen.

As shown in FIG. 29, the pressure detecting device collects the pressure under the feet of the user, the data processing module receives the standing training command, and the command receiving unit identifies and classifies the command and transmits the command to the standing training computing unit, and the standing training calculating unit starts the calculating process. The user makes data on standing training.

The standing training calculation unit uses the pressure detecting device to detect the pressure between the user's feet to calculate the difference, and determines the center of gravity and balance of the user to perform the standing training. For example, when the user's body is tilted to the right, the force of the right foot is greater than the force of the left foot, and the center of gravity of the user is on the right side of the body. The standing training data output unit outputs the data result to the standing training display area in the display screen. The standing training display area has two left and right arrows. When the user's body is tilted right, the arrow on the right side lights up, and when the body leans left, the arrow on the left side lights up. The user can adjust the standing balance according to the display of the arrow.

Preferably, the pressure detecting device divides the user's feet into four force-receiving areas similar to the four quadrants. The first quadrant detects the pressure in the front half of the right foot, the second quadrant detects the pressure in the second half of the right foot, the third quadrant detects the pressure in the front half of the left foot, and the fourth quadrant detects the pressure in the second half of the left foot, which is better. Calculate standing training. The four force quadrants divide the user's standing training into eight directions: front, back, left, right, left front, left rear, right front, and right rear.

The standing training display area has arrows pointing to the front, rear, left, right, left front, left rear, right front, and right rear eight directions. The standing training calculation unit performs a difference calculation based on the force collected by the four force regions of the user's feet to further determine which direction the user's body is in. When the patient is standing training, the body is tilted to the right, the center of gravity is on the right leg, and the force of the right foot is greater than that of the left foot. When the patient leans forward to the right, the force of the front half of the right foot is greater than the force of the second half, and the force changes are utilized. The difference calculation method is displayed in the standing training display area to enable the patient to be clear I saw myself doing standing training. For example, when the user's body is tilted to the right, the right foot is most stressed, and the arrow in the display points to the right. For example, when the user leans forward, the front half of the feet is most stressed, and the arrow in the display points to the front. For example, when the user leans forward to the right, the front half of the right foot is most stressed, and the arrow in the display points to the right front. Through the change of the arrow in the display, the user can clearly see the behavior of his own standing training, let the user perceive his own rehabilitation and give him positive psychological hints.

As shown in FIG. 30, the present invention is placed on a standing rehabilitation wheelchair 105. The standing rehabilitation wheelchair 105 can be the same as the standing rehabilitation wheelchair 101 or the standing rehabilitation wheelchair 102 described above.

The pressure detecting device is disposed on the foot pedal 510 of the standing rehabilitation wheelchair 105. The data processing module is disposed in the control device 501 and connected to the pressure detecting device. The display screen is disposed on the control device 501 and connected to the pressure detecting device.

The user stands on the foot board 510 by the wearing device 541 and the auxiliary standing mechanism 502, the protection mechanism 515, and the armrest mechanism 503 of the standing rehabilitation wheelchair 105, grasps the armrest mechanism 503, and picks up by the swing function of the auxiliary standing mechanism 502. Training, using the lower limb rehabilitation training system to detect the time and number of times to do the training.

In order to better detect the lifting training, an angle sensor may be provided at the end of the auxiliary standing mechanism 502 to detect the swing angle of the auxiliary standing mechanism 502.

The pick-up training command is issued by using the pick-up training command, and the standing rehabilitation wheelchair 105 is used to start the pick-up training, and the pressure detecting device transmits the detected force to the data processing module, and the angle sensor transmits the collected data to the data processing module. The data processing module begins the data calculation process and transmits it to the display.

The user can see through the display the waveform changes in the time, number of times and force of the training.

The user can carry out the training by means of the standing rehabilitation wheelchair 105 without the help of others, which makes the training active and interesting, can bring positive psychological hints to the patient, and contribute to the rehabilitation of the lower limbs.

The standing training command is issued by the standing training command, and the pressure sensor transmits the collected force data to the data processing module, and the data processing module processes the data and displays it in the display screen.

The user can see his body balance through the arrow on the display screen, and can control his own body to change the center of gravity according to his own consciousness to achieve better training results.

And the user can also detect whether his standing posture is correct by the standing training detection method, and can let himself stand straight, at this time, all the arrows will be extinguished.

In summary, the invention has the function of detecting the patient's rehabilitation training, and can intuitively present the situation of the rehabilitation training in front of the patient, increase the interest of the patient in the rehabilitation training, and improve the enthusiasm of the patient for rehabilitation training.

Lower limb rehabilitation training system for detecting lifting training

A method of detecting the lift-up training of the lower limb rehabilitation training detection system will be described below. The test pick-up training method detects the data of the patient's pick-up training and visually presents it to the patient's eyes, making the rehabilitation training active and interesting.

The above-mentioned lower limb rehabilitation training detection system is a method for detecting the lifting training, and the lower limb rehabilitation training detection system including the pressure detecting device, the data processing module, the display screen, and the lifting training instruction is used to perform the training test, including the following steps:

(1) issuing a training instruction;

(2) The pressure detecting device detects the pressure of the user's feet and transmits the data to the data processing module;

(3) The data processing module uses the time and dynamic threshold combined with the analytical calculation method to calculate the number of times the user performs the training and converts the user's athletic power into a waveform diagram;

(4) Display the number and intensity waveforms and time of the user's pick-up training in the display.

In order to perform the training detection detection more accurately, the present invention provides a lower limb rehabilitation training detection system for detecting the lifting training method, preferably using the pressure detecting device, the data processing module, the display screen, the lifting training instruction and the lower limb of the angle sensor. The rehabilitation training system includes the following steps:

(1) Issue a training instruction for picking up;

(2) The pressure detecting device starts detecting the pressure of the user's feet, and the angle sensor detects the swinging angle of the auxiliary standing mechanism;

(3) The data processing module calculates the number of times the user performs the training by combining the time and dynamic threshold combined with the analysis calculation method and the angle deflection method, and converts the user's exercise power into a waveform diagram;

The pressure detecting device is disposed on the foot pedal 510 of the standing rehabilitation wheelchair 105. The data processing module is disposed in the control device 1 and electrically connected to the pressure detecting device. The display screen is disposed on the control device 501 and electrically connected to the pressure detecting device.

The pick-up training command is issued by using the pick-up training command button, and the pick-up training is started by the standing rehabilitation wheelchair 105, and the pressure detecting device transmits the detected force to the data processing module, and the angle sensor transmits the collected data to the data processing module. The data processing module starts the data calculation process and transmits it to the display.

The detection method of the lower limb rehabilitation training detection system can detect whether the patient is doing the lifting training, and count the number and time of the patient to perform the training, and actively guide the patient to actively perform the rehabilitation training and actively give the patient positively and interestingly. Upward mental state.

The embodiments described above are only for explaining the technical idea and the features of the present invention. The purpose of the present invention is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention. It is intended that the scope of the patents, that is, equivalent variations or modifications in the spirit of the invention, are still within the scope of the invention.

Claims

A standing rehabilitation wheelchair vehicle, comprising: an auxiliary standing mechanism, an armrest mechanism, a frame, a support rod, a chassis, a knee support mechanism, a binding mechanism, a protection mechanism and a wheel, the wheel being disposed at a bottom of the chassis;

The front end of the chassis is provided with the frame, the upper end of the frame is respectively hinged with the armrest mechanism and the auxiliary standing mechanism, the auxiliary standing mechanism is located at the rear side of the armrest mechanism, and the auxiliary standing mechanism end The protection mechanism is hinged;

The support rod is a telescopic support rod, the support rod end is hinged to the lower side of the auxiliary standing mechanism, and the other end is hinged with the frame; the rack is further provided with the knee support mechanism. The knee supporting mechanism is located at a lower side of the auxiliary standing mechanism; and the binding mechanism is further disposed at two sides of the rack.
A standing rehabilitation wheelchair according to claim 1, further comprising: a control device and a first motor, said first motor being in driving connection with said wheel, said first motor and said control device being electrically connected, The control device is disposed on the protection mechanism.
The standing rehabilitation wheelchair according to claim 2, wherein the armrest mechanism comprises two handles and two third struts, and the lower ends of the two third struts are respectively hinged to the frame. The handle is respectively connected to the upper end of each of the third poles, and the handlebar is vertically disposed outside the third pole.
A standing rehabilitation wheelchair according to claim 3, wherein said frame comprises a first strut and a second strut, said first strut being vertically disposed at a front end of said chassis, said second branch a rod end connected to the first rod and the other end connected to the chassis;

The armrest mechanism and the auxiliary standing mechanism are hinged at an upper end of the first strut, the two binding mechanisms are disposed on two sides of the first strut, and the knee supporting mechanism is fixed on the second strut The number of the support bars is two, and the two ends of the support bar are respectively hinged with the auxiliary standing mechanism and the second pole.
A standing rehabilitation wheelchair according to claim 4, wherein said auxiliary standing mechanism comprises two fourth struts and two fifth struts, and said front ends of said four struts are respectively hinged to said first branch Two sides of the rod and located outside the third rod, the rear ends of the two fourth rods are hinged to the protection mechanism, and the fifth rod is located under the fourth rod The front ends of the fifth struts are respectively hinged on two sides of the second struts, and the rear ends of the second struts are hinged to the protection mechanism.
A standing rehabilitation wheelchair according to claim 4, wherein said binding mechanism comprises a second motor, a mount, a reel and a ribbon, said second motor being electrically connected to said control device, and The reel drive is connected, the reel is disposed in the mount, the ribbon is connected to the reel, and the end of the ribbon is connected to the lower side of the protection mechanism.
The standing rehabilitation wheelchair according to claim 3, wherein the frame has a trapezoidal cross section, and the bottom surface of the frame is provided with two mounting pieces; the auxiliary standing mechanism is a telescopic arm. The front end of the telescopic arm is hinged between the two mounting pieces, and the rear end of the telescopic arm is hinged to the protection mechanism;

The third strut is a telescopic third strut, and the lower ends of the two third strut are respectively hinged on the outside of the two mounting pieces;

The number of the support rods is one, the support rod end is hinged with the telescopic arm, and the other end is hinged with the frame.
A standing rehabilitation wheelchair according to claim 7, wherein said binding mechanism comprises a second motor, a winding pulley, a hook, a winding tape and a hook seat, said hook being disposed outside said protection mechanism, said hook a hook seat is disposed outside the knee support mechanism, the second motor is electrically connected to the control device, and the second motor is disposed inside the frame, and is connected to the winding pulley, and the winding pulley is disposed On the outside of the frame, the wrapping tape is connected to the winding pulley, and the end of the winding tape passes through the hook and is suspended at the hook;

Also included is a wearable device that is partially connected to the wrapping tape and a portion that is coupled to the protective mechanism.
The standing rehabilitation wheelchair according to claim 7, wherein the handle is U-shaped, and the button is provided at the end, and the button is drivingly connected with the support rod for controlling the length of the support rod .
A standing rehabilitation wheelchair according to claim 7, wherein said third strut is a retractable third strut.
A standing rehabilitation wheelchair according to any one of claims 4 or 7, wherein said knee support mechanism comprises two knee cushioning devices, a knee support connector and an adjustment plate, said knee cushioning device being C-shaped, each The adjusting device is disposed on the rear side of the knee cushioning device, and the knee supporting connector is fixed on the frame, and the two ends are respectively extended to connect the two adjusting plates.
The standing rehabilitation wheelchair according to any one of claims 4 or 7, wherein the rear end of the chassis extends rearward to form two connecting rods, and the two connecting rods are V-shaped;

The wheel includes two driving wheels and two driven wheels, the driven wheel is disposed at an end of the connecting rod, and the two driving wheels are respectively disposed on two sides of the chassis, and are located at the front end of the chassis, and each of the wheels The driving wheel is drivingly connected to a first motor, and the first motor is disposed between the frame and the driving wheel and is electrically connected to the control device.
A standing rehabilitation wheelchair according to claim 12, wherein said chassis is connected with two foot pedals, each of which is provided with a gravity sensor, said gravity sensor and said control The device is electrically connected, and the display device is provided with a display screen for displaying the gravity value detected by the gravity sensor.
The standing rehabilitation wheelchair according to claim 1, wherein the frame comprises a first frame and a second frame, and the bottom end of the first frame is fixedly coupled to the chassis, the first The frame and the second frame are connected by an adjustment mechanism having a telescopic function, the second frame top is hinged with the armrest mechanism and the auxiliary standing mechanism, and the second frame is connected by a support rod The piece is hinged to the support rod.
A wearable device for use in a standing rehabilitation wheelchair according to any one of claims 1 to 14, wherein the wearing device comprises:

a waistband, the waistbands are detachably connected at both ends, and the waistband wraps around the waist of the user and is detachably connected to the auxiliary standing mechanism of the standing rehabilitation wheelchair on both sides of the user's waist;

a leg protector strap attached to the left and right sides of the belt protector, the leg guard strap wrapping the user's leg from the outside of the thigh, the leg guard strap being detachably coupled to the standing rehabilitation wheelchair In the auxiliary standing mechanism, the belt and the leg guard strip expose the hip space of the user.
The wearing device according to claim 15, wherein a mounting member is fixedly coupled to both sides of the waistband, the waistband wrapping the waist of the user, the mounting member being located on both sides of the user's body. The mounting member is detachably coupled to the auxiliary standing mechanism of the standing rehabilitation wheelchair.
The wearing device according to claim 15, wherein the end of the leg guard belt is provided with a connecting member, and the connecting member is detachably coupled to the auxiliary standing mechanism.
The wearing device according to claim 15, wherein the waist guard is detachably coupled to the waist guard at an intermediate position.
A method of standing or sitting down using a wearable device according to any one of claims 15-18, characterized in that:

When the wearing device is used in conjunction with the auxiliary standing mechanism, the waist belt and the leg protector and the auxiliary standing mechanism form three or four pulling points for pulling the user's body forward, wherein the guard Two tension points of the belt support the waist of the user, the tension points on the leg belt are one or two, and the pulling point on the leg belt supports the leg of the user, and the pulling point and the standing rehabilitation The wheelchair helps the user stand alone;

When the wearing device is used in conjunction with the auxiliary standing mechanism, the waist belt and the leg guard belt are coupled to the auxiliary standing mechanism to form three or four oblique upward pulling points, wherein the two belts are The tension points support the waist of the user, and the tension points on the leg belt are one or two, and the pulling point of the leg belt supports the leg of the user, and the pulling force of the pulling point and the effect of the seat supporting force Consistent.
A method of using a wearing device for a toilet according to any one of claims 15 to 18, comprising the steps of: (1) removing the pants from the hip belt and the hip space exposed by the leg shield (2) using the auxiliary standing mechanism to assist himself to sit on the toilet; (3) separating the connecting member on the leg protector from the auxiliary standing mechanism, and completely removing the pants; (4) After the toilet is finished, the trousers are worn over the leggings; (5) connecting the connecting members on the leggings with the auxiliary standing mechanism, and then standing up using the standing rehabilitation wheelchair; (6) After standing, the pants are completely worn from the hip belt and the hip space exposed by the leg shield.
A seat mechanism, the seat mechanism being provided in the standing rehabilitation wheelchair according to any one of claims 1 to 14, wherein the seat mechanism comprises:

a seat cushion and a rack mechanism, the rack mechanism being located at a lower portion of the seat cushion and closely connected;

a telescopic rod comprising a fixing member and a telescopic member, wherein the fixing member is connected to the bottom fixing device, the bottom end of the telescopic member is disposed inside the fixing member, and a driving gear is disposed on the top end, and the gear is transmitted through the transmission gear Engagement of the strip mechanism realizes active connection of the telescopic member with the seat cushion, and the telescopic rod is integrally arranged in an inclined manner;

a first driving mechanism is located inside the telescopic rod, and one end is connected to the bottom of the fixing member, and the other end is connected to the top of the telescopic rod;

The transmission assembly is disposed on the telescopic member, and the transmission assembly moves the seat cushion and the rack mechanism outward or inward when the telescopic rod is extended and contracted.
A seat mechanism according to claim 21, wherein said transmission assembly is located at a side of said telescopic member, and includes a first power wheel disposed at a top of said telescopic member and coaxially mounted with said transmission gear and disposed at a second power wheel at the bottom of the telescopic member, a conveying device coupled to the first power wheel and the second power wheel, and a positioning device fixedly mounted on the top of the fixing member and passing through the upper conveying device.
A seat mechanism according to claim 22, wherein said first and second power wheels are sprocket, said conveying means is a chain, said positioning means is a pin, said pin is worn Pass the chain link above it.
The seat mechanism according to claim 21, further comprising a first blocking block disposed inside the top of the fixing member and a second blocking block disposed outside the bottom of the telescopic rod.
A lower limb rehabilitation training detecting system, wherein the lower limb rehabilitation training detecting system is provided in the standing rehabilitation wheelchair according to any one of claims 1 to 14, characterized in that the lower limb rehabilitation training detecting system comprises data collecting a module, a data processing module connected to the data acquisition module, and a display screen connected to the data processing module, wherein the display screen is provided with a pick-up training instruction and/or connected to the data processing module Standing training instructions; wherein the data acquisition module collects motion data, the data processing module begins to calculate processing data when receiving the training instruction, and the display screen displays the result.
The lower limb rehabilitation training detecting system according to claim 25, wherein said data processing module comprises an instruction receiving unit, a pick-up training calculation unit, a count conversion unit, a data accumulation output unit, a standing training calculation unit, and standing training data. An output unit; wherein the instruction receiving unit receives, identifies, and classifies the instruction, the pick-up training calculation unit determines whether the user is doing the pick-up training, and the count conversion unit calculates the time for the user to pick up the training And the number of times and interpreted as a waveform, the data accumulation output unit superimposes and outputs the data of the user's training to the display screen, and the standing training calculation unit calculates data of the user's standing training, the standing training data output The unit interprets the data from the standing training and outputs it to the display.
The lower limb rehabilitation training detecting system according to claim 25, wherein the data acquisition module is a pressure detecting device or/and an angle sensor, and the pressure detecting device is in contact with a lower limb of a user who performs rehabilitation training, The angle sensor is used to collect the angle change data generated during the training process.
The lower limb rehabilitation training detecting system according to claim 27, wherein said pressure detecting device is placed under the feet of the user.
The lower limb rehabilitation training detecting system according to claim 28, wherein said pressure detecting device divides the user's feet into four quadrants; wherein the first quadrant detects the pressure of the front half of the patient's right foot, and the second quadrant detects The pressure in the posterior half of the patient's right foot, the third quadrant to detect the pressure in the front half of the patient's left foot, and the fourth quadrant to detect the pressure in the posterior half of the patient's left foot.
The lower limb rehabilitation training detecting system according to claim 25, wherein the display screen includes a pick-up training display area and a standing training display area, and the pick-up training display area displays data for picking up training, The standing training display area displays data for standing training.
The lower limb rehabilitation training detecting system according to claim 30, wherein said standing training display area includes a directional arrow that senses a tendency of the user's body.
The lower limb rehabilitation training detecting system according to any one of claims 25 to 31, wherein the angle sensor is disposed on the auxiliary standing mechanism of the standing rehabilitation wheelchair, and the pressure detecting device is disposed at Place On the foot pedal of the standing rehabilitation wheelchair, the data processing module and the display screen are disposed on the control device of the standing rehabilitation wheelchair.
A method of detecting a pick-up training, the method of detecting a pick-up training using a lower limb rehabilitation training detection system according to any one of claims 25-32 for detecting a pick-up training; characterized in that the method comprises The following steps: (1) issuing a training instruction, (2) detecting the pressure of the user's feet as the pressure detecting device of the data acquisition module and transmitting the data to the data processing module; (3) calculating the use of the data processing module The number of times the training is performed is carried out and the user's athletic power is converted into a waveform diagram; (4) the number of times the user performs the training and the velocity waveform and time are displayed on the display screen.
The method for detecting a pick-up training according to claim 33, wherein the data processing module uses a combination of time and dynamic thresholds to calculate the number of times the user performs the training and converts the user's athletic power. For the waveform diagram, the time and dynamic threshold combined analysis method means that the complete waveform is acquired within the empirical time value range and the value of the peak is counted as a pick-up training within the empirical force value range.
A method of detecting lift-up training according to claim 34, wherein said empirical time value comprises an initial time experience value t and an actual time experience value t1, said empirical force value including an initial empirical force value D and actual experience The force value D1, the empirical time value t is 8-12 seconds, the initial empirical force value D is 250N, and the actual time experience value t1 is the actual time value t0 of the last picked-up training collected by the calculation formula T1=(1±0.2)*t0, the actual empirical force value D1 is the actual force value D0 of the last pick-up training collected by the formula D1=(1±0.2)*D0. data.
A method of detecting a lift-up training according to claim 35, wherein the user stands on the footrest by the auxiliary standing mechanism, the wearing device and the armrest of the standing rehabilitation wheelchair, and grasps the standing The armrest of the rehabilitation wheelchair is lifted by the swing function of the auxiliary standing mechanism, and the lower limb rehabilitation training system detects the time and number of times the user performs the training.
A method of detecting a lift-up training according to claim 36, comprising the steps of: (1) issuing a pick-up training command; (2) said pressure detecting device detecting a pressure of a user's feet, said Angle sensor inspection Measuring the swing angle of the auxiliary standing mechanism; (3) the data processing module calculates the number of times the user performs the training by combining the time and dynamic threshold combined analysis calculation method and the angle deflection method, and converts the user's exercise power into Waveform diagram; (5) Display the number of times and the velocity waveform and time of the user to pick up the training in the display.
The method for detecting lift-up training according to claim 37, wherein the time-and-dynamic threshold combined analysis method refers to collecting a complete waveform within an empirical time value range and the peak value is in an empirical force value range. The angle deflection method refers to that the auxiliary standing mechanism swings back and forth more than 50 degrees in a time when a complete waveform is acquired, and is counted as a lifting training when the data in the data processing module satisfies the above two conditions. .