WO2018036369A1 - Standing rehabilitation wheelchair - Google Patents

Standing rehabilitation wheelchair Download PDF

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Publication number
WO2018036369A1
WO2018036369A1 PCT/CN2017/096021 CN2017096021W WO2018036369A1 WO 2018036369 A1 WO2018036369 A1 WO 2018036369A1 CN 2017096021 W CN2017096021 W CN 2017096021W WO 2018036369 A1 WO2018036369 A1 WO 2018036369A1
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WO
WIPO (PCT)
Prior art keywords
standing
training
user
frame
disposed
Prior art date
Application number
PCT/CN2017/096021
Other languages
French (fr)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610715530.3A external-priority patent/CN106236422B/en
Priority claimed from CN201611134353.6A external-priority patent/CN107049626B/en
Priority claimed from CN201611133736.1A external-priority patent/CN108211244B/en
Priority claimed from CN201611133735.7A external-priority patent/CN108211243B/en
Priority claimed from CN201611134176.1A external-priority patent/CN108606863B/en
Application filed by 上海邦邦机器人有限公司 filed Critical 上海邦邦机器人有限公司
Publication of WO2018036369A1 publication Critical patent/WO2018036369A1/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/14Standing-up or sitting-down aids

Definitions

  • 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
  • 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.
  • the existing wheelchair uses a standing mechanism and a chair body mechanism to allow the user to stand.
  • the electric walking standing wheelchair disclosed in the Chinese patent 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.
  • 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.
  • the main object of the present invention is to provide a standing rehabilitation wheelchair that can be used for rehabilitation training.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the ribbon is connected to the reel
  • the end of the ribbon is attached to the underside of the protection mechanism.
  • 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.
  • 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;
  • a wearable device having a portion attached to the wrapping tape and a portion coupled to the protective mechanism.
  • 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.
  • the third strut is a third strut that is telescopic.
  • 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
  • the knee support connector is fixed on the frame. And the two ends are respectively extended to connect the two adjustment plates.
  • 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.
  • 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.
  • 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.
  • 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.
  • the standing rehabilitation wheelchair has the following advantages:
  • 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;
  • 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.
  • 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
  • the mounting member is detachably connected to the auxiliary standing mechanism of the standing rehabilitation wheelchair.
  • 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.
  • the end of the leg shield is provided with a connecting hole, and the connecting hole is detachably connected with the auxiliary standing mechanism.
  • the ends of the belt are detachably connected by a sticker or a snap or a buckle.
  • a connecting buckle is provided on both sides of the belt.
  • the mounting member is a safety buckle
  • the safety buckle is detachably coupled to the auxiliary standing mechanism.
  • 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;
  • 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 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
  • 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.
  • the first power wheel and the second power wheel are sprocket wheels
  • the conveyor is a chain
  • the positioning device is a pin
  • the pin passes through a chain link above it.
  • 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.
  • 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.
  • 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.
  • the seat mechanism is located in the rear of the chassis.
  • 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.
  • 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.
  • 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
  • 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.
  • the pressure detecting device is placed under the feet of the user.
  • 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.
  • the pressure detecting device is a pressure sensor or a data collector composed of a spring and a sensor.
  • 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
  • the standing training display area displays the data of the standing training.
  • the standing training display area includes a directional arrow that senses the user's physical tendency.
  • 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
  • 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.
  • 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.
  • 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
  • the initial empirical force value D For 250N
  • the actual empirical force value D1 is the last collected time.
  • 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.
  • 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.
  • 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
  • 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.
  • FIG. 1 is a schematic structural view of a standing rehabilitation wheelchair according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural view of a rack and a chassis connection according to a first embodiment of the present invention
  • FIG. 3 is a schematic structural view of a protection mechanism and a chassis connection according to a first embodiment of the present invention
  • FIG. 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.
  • FIG. 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.
  • FIG. 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.
  • 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.
  • 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.
  • the rear end of the chassis 12 extends rearward to form two connecting rods 16, and the two connecting rods 16 are V-shaped.
  • 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.
  • 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.
  • 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.
  • 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.
  • a standing rehabilitation wheelchair 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.
  • 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.
  • 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. .
  • 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.
  • the rear end of the chassis 12 extends rearward to form two connecting rods 16, and the two connecting rods 16 are V-shaped.
  • 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.
  • 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.
  • 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.
  • 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.
  • the height adjustment function of the frame 4 can also be increased.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the connecting member 115 is a tension ring, and a hook is arranged on the auxiliary standing mechanism 132, as shown in FIG.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the mounting member 113 and the connector 115 are tightened, and the legging strap 114 enables the user to stand in the correct posture.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • the reciprocating swing angle is greater than 50 degrees, it is counted as a pick-up training.
  • 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.
  • 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.
  • 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.
  • 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.
  • the pick-up training display area displays the number and time of the user doing the pick-up training.
  • 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.
  • the training display area can also display the waveform of the force when the user performs the training.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the angle sensor is separately used as the data acquisition device for picking up the training.
  • 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.
  • 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 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;
  • D initial empirical force value
  • 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
  • time and dynamic threshold combined with analytical calculations can eliminate the exercise that is not set off and reduce the false positive rate.
  • 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.
  • 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.
  • 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.
  • 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
  • the fourth quadrant detects the pressure in the second half of the left foot, which is better.
  • 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.
  • 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.
  • 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.
  • the right foot 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.
  • the front half of the feet is most stressed, and the arrow in the display points to the front.
  • the front half of the right foot is most stressed, and the arrow in the display points to the right front.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • the pressure detecting device detects the pressure of the user's feet and transmits the data to the data processing module
  • 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;
  • 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:
  • 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;
  • 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 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.
  • 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 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 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 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.

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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

站立康复轮椅车Standing rehabilitation wheelchair 技术领域Technical field
本发明涉及轮椅领域,特别涉及一种站立康复轮椅车,用于该站立康复轮椅车的穿戴装置,以及设置在该站立康复轮椅车上的座椅机构,本发明还涉及设置在该站立康复轮椅车上的下肢康复训练检测系统以及该下肢康复训练检测系统的检测蹲起训练的方法。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.
背景技术Background technique
轮椅作为肢体伤残者和行动不便人士的代步工具,由轮椅架、车轮、刹车装置及座靠组成。虽然轮椅给使用者带来了方便,但是在生活自理上还需要他人帮助,包括锻炼,用餐、洗漱和上厕所等日常活动,另一方面,现有的轮椅为坐式轮椅,无法为使用者提供下肢锻炼的功能,对使用者的康复有极少的帮助,还有坐式轮椅导致使用者臀部长时间处于压迫状态,容易产生褥疮,甚至导致腿部肌肉萎缩。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.
为了解决上述问题,现有的轮椅采用站立机构和椅体机构配合让使用者站立,例如中国专利(CN2009200172905)揭示的电动行走站立轮椅,其公开了当使用者坐在椅体机构上时,通过站立机构使椅体机构立起,此时使用者处于站立状态。虽然该轮椅能够帮助使用者从坐姿改为站姿,但是使用者在站立状态下,无法进行后仰、转身和转头等运动,且缺少了缓冲作用和对使用者进行康复训练的功能。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.
发明内容Summary of the invention
本发明的主要目的在于提供了一种站立式、可进行康复训练的站立康复轮椅车。The main object of the present invention is to provide a standing rehabilitation wheelchair that can be used for rehabilitation training.
为达到以上目的,本发明提供了一种站立康复轮椅车,其包括辅助站立机构、扶手机构、机架、支撑杆、底盘、膝盖支撑机构、捆绑机构、保护机构和车轮,车轮设置在底盘底部;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. ;
底盘前端设置有机架,机架上端分别铰接有扶手机构和辅助站立机构,辅助站立机构位于扶手机构后侧,且辅助站立机构末端铰接有保护机构;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;
支撑杆为可伸缩的支撑杆,支撑杆一端与辅助站立机构下侧铰接,另一端与机架铰接;机架上还设置有膝盖支撑机构,膝盖支撑机构位于辅助站立机构下侧;机架两侧还设置有 捆绑机构。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.
优选地,还包括控制装置和第一电机,第一电机与车轮传动连接,第一电机和控制装置电连接,控制装置设置在保护机构上。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.
优选地,扶手机构包括两个手把和两个第三支杆,两个第三支杆下端分别铰接在机架两侧,每个第三支杆上端分别连接有手把,手把垂直设置在第三支杆外侧。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.
优选地,机架包括第一支杆和第二支杆,第一支杆垂直设置在底盘前端,第二支杆一端与第一支杆连接,另一端与底盘连接;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;
扶手机构和辅助站立机构铰接在第一支杆上端,两个捆绑机构设置在第一支杆两侧,膝盖支撑机构固定在第二支杆上,支撑杆数量为两个,且支撑杆两端分别与辅助站立机构和第二支杆铰接。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.
优选地,辅助站立机构包括两个第四支杆和两个第五支杆,两个第四支杆前端分别铰接在第一支杆两侧,并位于第三支杆外侧,两个第四支杆后端铰接保护机构,第五支杆位于第四支杆下侧,且相互平行设置,两个第五支杆前端分别铰接在第二支杆两侧,两个第五支杆后端铰接保护机构。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.
优选地,捆绑机构包括第二电机、安装座、卷轮和绸带,第二电机与控制装置电连接,且与卷轮传动连接,卷轮设置在安装座内,绸带连接在卷轮上,绸带末端连接在保护机构下侧。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.
优选地,机架的横截面呈直角梯形,机架上底面设置有两个安装片;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;
辅助站立机构为一伸缩臂,伸缩臂的前端铰接于两个安装片之间,伸缩臂的后端铰接保护机构;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;
第三支杆为可伸缩的第三支杆,两个第三支杆下端分别铰接在两个安装片外侧;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;
支撑杆的数量为一个,支撑杆一端与伸缩臂中间铰接,另一端与机架铰接。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.
优选地,捆绑机构包括第二电机、缠绕带轮、挂钩、缠绕带和挂钩座,挂钩设置在保护机构外侧,挂钩座设置在膝盖支撑机构外侧,第二电机和控制装置电连接,第二电机设置在机架内侧,与缠绕带轮传动连接,缠绕带轮设置在机架外侧,缠绕带与缠绕带轮连接,缠绕带末端穿过挂钩,且悬挂在挂钩处;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;
还包括穿戴装置,穿戴装置一部分与缠绕带相连,一部分与保护机构相连。Also included is a wearable device having a portion attached to the wrapping tape and a portion coupled to the protective mechanism.
优选地,手把呈U型,且末端设置有按钮,按钮与支撑杆传动连接,用以控制支撑杆伸缩长度。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.
优选地,第三支杆为可伸缩的第三支杆。 Preferably, the third strut is a third strut that is telescopic.
优选地,膝盖支撑机构包括两个膝盖缓冲装置、膝盖支撑连接件和调节板,膝盖缓冲装置呈C型,每个膝盖缓冲装置后侧设置有调节板,膝盖支撑连接件固定在机架上,且两端分别向后延伸连接两个调节板。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.
优选地,底盘后端向后延伸形成两个连接杆,两个连接杆呈V型;Preferably, the rear end of the chassis extends rearward to form two connecting rods, and the two connecting rods are V-shaped;
车轮包括两个主动轮和两个从动轮,从动轮设置在连接杆末端,两个主动轮分别设置在底盘两侧,且位于底盘前端,每一个主动轮与一个第一电机传动连接,第一电机设置在机架和主动轮之间,且与控制装置电连接。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.
优选地,每个脚踏板上均设置有重力传感器,重力传感器与控制装置电连接,控制装置上设置有显示屏,用以显示重力传感器检测到的重力数值。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.
优选地,机架包括第一机架和第二机架,第一机架底端与底盘固定连接,第一机架和第二机架通过具有伸缩功能的调高机构连接,第二机架顶端与扶手机构和辅助站立机构铰接,并且第二机架通过支撑杆连接件与支撑杆铰接。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.
优选地,该第一机架底部固定连接有一个以上滑杆,当调高机构伸缩时,第二机架在滑杆上滑动。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.
根据优选实施例,该站立康复轮椅车具有如下优点:According to a preferred embodiment, the standing rehabilitation wheelchair has the following advantages:
(1)通过膝盖缓冲装置、辅助站立机构和保护机构均可调节高度,满足不同身高使用者的需求;(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)让使用者轻松地在站姿和坐姿之间转换,使用者可进行后仰、转身和转头等动作,实现生活自理,并为使用者提供了康复训练;(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)通过控制装置控制启闭和运行方向,为使用者带来了方便;(3) Controlling the opening and closing and running direction by the control device, which brings convenience to the user;
(4)脚踏板上设置有重力传感器,可通过显示屏显示重力传感器检测到的重力数值。(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.
本发明还提供了一种穿戴装置,该穿戴装置被用于上述站立康复轮椅车,帮助老年人和下肢受损的患者(尤其是偏瘫、瘫痪患者)站立、转移和上厕所,让老年人和下肢受损的患者实现生活自理。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.
该穿戴装置,包括护腰带和护腿带,护腰带两端可拆卸地连接,护腰带包裹住使用者的腰部后在使用者的腰部两侧与上述站立康复轮椅车的辅助站立机构可拆卸连接;护腿带连接于护腰带左右两侧,护腿带从大腿外侧包裹住使用者的腿部,护腿带可拆卸地连接到站立康复轮椅车的辅助站立机构上,护腰带和护腿带露出使用者的臀部空间。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.
优选地,护腰带两侧固定连接有安装件,护腰带包裹住使用者的腰部,安装件位于使用者的身体两侧,安装件与站立康复轮椅车的辅助站立机构可拆卸连接。 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.
优选地,护腿带末端固定安装有连接件,连接件与辅助站立机构可拆卸连接。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.
优选地,护腿带末端开有连接孔,连接孔与辅助站立机构可拆卸连接。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.
优选地,护腰带两端通过粘贴或卡扣或搭扣可拆卸连接。Preferably, the ends of the belt are detachably connected by a sticker or a snap or a buckle.
优选地,护腰带两侧设有连接扣。Preferably, a connecting buckle is provided on both sides of the belt.
优选地,安装件是安全扣,安全扣与辅助站立机构可拆卸连接。Preferably, the mounting member is a safety buckle, and the safety buckle is detachably coupled to the auxiliary standing mechanism.
优选地,护腰带中间位置可拆卸地连接有护腰板。Preferably, the waist guard is detachably coupled to the waist guard.
使用该穿戴装置结合上述站立康复轮椅车站立的方法:使用该穿戴装置结合上述站立康复轮椅车站立时,护腰带及护腿带与辅助站立机构形成三个或四个将使用者身体往前拉的拉力点,其中护腰带的两个拉力点支撑使用者的腰部,护腿带上的拉力点为一个或两个,护腿带上的拉力点支撑使用者的腿部,拉力点与上述站立康复轮椅车帮助使用者独自站立;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;
使用该穿戴装置结合上述站立康复轮椅车坐下时,护腰带及护腿带与辅助站立机构连接形成三个或四个斜向上的拉力点,其中护腰带的两个拉力点支撑使用者的腰部,护腿带上的拉力点为一个或两个,护腿带的拉力点支撑使用者的腿部,拉力点的拉力和座椅支撑力的效果一致。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.
一种利用该穿戴装置上厕所的方法,包括以下步骤:(1)从护腰带与护腿带露出的臀部空间中将裤子脱至护腿带上;(2)使用辅助站立机构辅助自己坐在马桶上;(3)将护腿带上的连接件与辅助站立机构分离,将裤子完全脱下;(4)上完厕所后,将裤子穿至护腿带的上方;(5)将护腿带上的连接件与辅助站立机构连接,然后利用上述站立康复轮椅车站立起来;(6)站立后从护腰带和护腿带露出的臀部空间中将裤子完全穿上。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.
该穿戴装置具有设计巧妙、结构紧凑、操作简单以及安全稳定等优点。The wearable device has the advantages of ingenious design, compact structure, simple operation, safety and stability.
本发明又提供了一种座椅机构,该座椅机构设置在上述站立康复轮椅车上,其包括:座垫与齿条机构、伸缩杆、第一驱动机构和传动组件,齿条机构位于座垫的下部且紧密相连;伸缩杆包括固定件和伸缩件,固定件与底部固定装置相连、伸缩件底端设置在固定件内部,顶端上设置有传动齿轮,通过传动齿轮与齿条机构的啮合实现伸缩件与座垫的活动连接,伸缩杆整体呈倾斜布置;第一驱动机构位于伸缩杆的内部,且一端与固定件底部相连、另一端则与伸缩杆的顶部相连;传动组件设置于伸缩件上,伸缩杆伸长和收缩时,传动组件让座垫与齿条机构向外或向内运动。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.
优选地,传动组件位于伸缩件侧面,包括设置在缩件顶部且与传动齿轮同轴安装的第一动力轮和设置在伸缩件底部的第二动力轮、与第一动力轮和第二动力轮连接的传送装置、固定安装于固定件顶部且穿过其上方传送装置的定位装置。 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.
优选地,第一动力轮和第二动力轮是链轮,传送装置是链条,定位装置是销轴,销轴穿过其上方的链节。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.
优选地,第二动力轮和传送装置是带轮和同步带组合或是滑轮和钢丝绳组合,定位装置固定住其上方的同步带或者钢丝绳。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.
优选地,传动组件包括传动电机,传动电机固定安装于伸缩件顶端且传动齿轮安装于传动电机的输出轴上。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.
优选地,还包括设置在固定件的顶部内侧的第一阻挡块和设置在伸缩杆的底部外侧的第二阻挡块。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.
优选地,该座椅机构位于底盘中后部。Preferably, the seat mechanism is located in the rear of the chassis.
优选地,控制器控制该座椅机构的伸展和收缩。Preferably, the controller controls the extension and contraction of the seat mechanism.
该座椅机构具有设计巧妙、结构紧凑、操作简单以及安全稳定等优点。The seat mechanism has the advantages of ingenious design, compact structure, simple operation, safety and stability.
本发明还又提供了一种下肢康复训练检测系统以及该下肢康复训练检测系统的一种检测蹲起训练的方法。该下肢康复训练检测系统设置在上述站立康复轮椅车中,包括数据采集模块、数据处理模块、显示屏、蹲起训练指令和/或站立训练指令,数据处理模块与数据采集模块相连接、数据处理模块连接显示屏,显示屏上设置有与数据处理模块相连接的蹲起训练指令和/或站立训练指令;其中,数据采集模块采集运动数据,数据处理模块接收到训练指令时开始计算处理数据,显示屏显示结果。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.
优选地,数据处理模块包括指令接收单元、蹲起训练计算单元、计数转换单元、数据累积输出单元、站立训练计算单元和站立训练数据输出单元;其中,指令接收单元对指令进行接收、辨认和分类,蹲起训练计算单元判断使用者是否在做蹲起训练,计数转换单元计算使用者做蹲起训练的时间和次数并解释成波形,数据累积输出单元将使用者做蹲起训练的数据叠加并输出在显示屏,站立训练计算单元计算使用者做站立训练的数据,站立训练数据输出单元将站立训练的数据解释并输出到显示屏中。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.
优选地,数据采集模块是压力检测设备或/和角度传感器,压力检测设备与做康复训练的使用者的下肢接触,角度传感器用来采集蹲起训练过程中所产生的角度变化数据。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.
优选地,压力检测设备置于使用者的双脚下。Preferably, the pressure detecting device is placed under the feet of the user.
优选地,压力检测设备将使用者的双脚分成四个象限;其中第一象限检测患者右脚前半部的压力,第二象限检测患者右脚后半部的压力,第三象限检测患者左脚前半部的压力,第四象限检测患者左脚后半部的压力。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.
优选地,压力检测设备是压力传感器或者是弹簧与传感器组成的数据采集器。 Preferably, the pressure detecting device is a pressure sensor or a data collector composed of a spring and a sensor.
优选地,显示屏中包括蹲起训练显示区域和站立训练显示区域,蹲起训练显示区域显示蹲起训练的数据,站立训练显示区域显示站立训练的数据。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.
优选地,站立训练显示区域中包括感应使用者身体倾向的方向箭头。Preferably, the standing training display area includes a directional arrow that senses the user's physical tendency.
优选地,角度传感器设置于站立康复轮椅车的辅助站立机构上,压力检测设备设置于站立康复轮椅车的脚踏板上,数据处理模块和显示屏设置于站立康复轮椅车的控制装置内。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.
该下肢康复训练检测系统检测蹲起训练的方法,利用包括压力检测设备、数据处理模块、显示屏、蹲起训练指令的下肢康复训练检测系统进行蹲起训练检测;包括以下步骤:(1)发出蹲起训练指令,(2)压力检测设备检测使用者双脚的压力并将数据传输至数据处理模块;(3)数据处理模块计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图;(4)将使用者做蹲起训练的次数和力度波形及时间显示在显示屏中。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.
优选地,数据处理模块使用时间与动态阈值结合分析计算法计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图,时间与动态阈值结合分析计算法是指,在经验时间值范围内采集到完整的波形且波峰的值在经验力值范围内则计为一次蹲起训练。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.
优选地,经验时间值包括初始时间经验值t和实际时间经验值t1,经验力值包括初始经验力值D和实际经验力值D1,经验时间值t为8-12秒,初始经验力值D为250N,实际时间经验值t1为采集到的上一次蹲起训练的实际时间值t0通过计算公式t1=(1±0.2)*t0得出的数据,实际经验力值D1为采集到的上一次蹲起训练的实际力值D0通过计算公式D1=(1±0.2)*D0得出的数据。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.
优选地,使用者通过站立康复轮椅车的穿戴装置和辅助站立机构以及扶手站立在脚踏板上,抓住站立康复轮椅车的扶手,借助辅助站立机构的摆动功能做蹲起训练,下肢康复训练检测系统检测使用者做蹲起训练的时间和次数。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.
优选地,利用压力检测设备和角度传感器的结合来检测使用者做蹲起训练的次数和时间。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.
一种下肢康复训练检测系统检测蹲起训练的方法,包括以下步骤:(1)发出做蹲起训练指令;(2)压力检测设备检测使用者双脚的压力,角度传感器检测辅助站立机构的摆动角度;(3)数据处理模块通过时间与动态阈值结合分析计算法及角度偏转法计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图;(5)将使用者做蹲起训练的次数和力度波形及时间显示在显示屏中。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.
优选地,时间与动态阈值结合分析计算法是指在经验时间值范围内采集到完整的波形且波峰的值在经验力值范围内,角度偏转法是指在采集到一个完整波形的时间内辅助站立 机构来回摆动大于50度,当数据处理模块中的数据满足上述两个条件时计为一次蹲起训练。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.
该下肢康复训练检测系统以及其检测蹲起训练的方法检测患者做蹲起训练的数据并且直观地将训练数据呈现在患者眼前,让康复训练变的积极有趣,实用性强、结构简单、成本低廉,具有较强的推广与应用价值。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.
以下结合附图及实施例进一步说明本发明。The invention is further illustrated by the following figures and examples.
附图说明DRAWINGS
图1是根据本发明第一实施例的站立康复轮椅车的结构示意图;1 is a schematic structural view of a standing rehabilitation wheelchair according to a first embodiment of the present invention;
图2是根据本发明第一实施例的机架和底盘连接的结构示意图;2 is a schematic structural view of a rack and a chassis connection according to a first embodiment of the present invention;
图3是根据本发明第一实施例的保护机构和机架连接的结构示意图;3 is a schematic structural view of a protection mechanism and a chassis connection according to a first embodiment of the present invention;
图4是根据本发明第一实施例的膝盖支撑机构的结构示意图;4 is a schematic structural view of a knee support mechanism according to a first embodiment of the present invention;
图5是根据本发明第一实施例的捆绑机构的立体图;Figure 5 is a perspective view of a binding mechanism in accordance with a first embodiment of the present invention;
图6是根据本发明第一实施例的捆绑机构的俯视图;Figure 6 is a plan view of a binding mechanism in accordance with a first embodiment of the present invention;
图7是根据本发明第二实施例的站立康复轮椅车的结构示意图;Figure 7 is a schematic structural view of a standing rehabilitation wheelchair according to a second embodiment of the present invention;
图8(a)是根据本发明第二实施例的站立康复轮椅车使用者站姿示意图;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;
图8(b)是根据本发明第二实施例的站立康复轮椅车使用者坐姿示意图;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;
图9(a)是示意根据本发明的可调节机架的右视图;Figure 9 (a) is a right side view showing an adjustable frame according to the present invention;
图9(b)是示意根据本发明的可调节机架的正视图;图9(c)是示意根据本发明的可调节机架的后视图;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;
图10是根据本发明的穿戴装置的平面展开示意图;Figure 10 is a plan development view of a wearing device in accordance with the present invention;
图11是根据本发明的穿戴装置应用于站立康复轮椅车上的示意图;Figure 11 is a schematic view of a wearable device applied to a standing rehabilitation wheelchair according to the present invention;
图12是根据本发明的穿戴装置应用于站立康复轮椅车上的背面示意图;Figure 12 is a rear elevational view of a wearable device applied to a standing rehabilitation wheelchair according to the present invention;
图13是示出根据本发明的座椅机构的链条传动组件的平面结构示意图;Figure 13 is a plan view showing the structure of a chain drive assembly of a seat mechanism according to the present invention;
图14是示出根据本发明的座椅机构的链条传动组件的剖切示意图;Figure 14 is a cross-sectional view showing the chain drive assembly of the seat mechanism according to the present invention;
图15是示出根据本发明的座椅机构伸展时链条传动组件的立体结构示意图;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;
图16是示出根据本发明的座椅机构收缩时链条传动组件的立体结构示意图;Figure 16 is a perspective structural view showing the chain drive assembly when the seat mechanism is contracted according to the present invention;
图17是示意性示出根据本发明的设有挡板的座椅机构的结构示意图;Figure 17 is a schematic view showing the structure of a seat mechanism provided with a shutter according to the present invention;
图18是示意性示出根据本发明的使用传动电机的座椅机构的平面结构示意图;Figure 18 is a plan view schematically showing a seat mechanism using a transmission motor according to the present invention;
图19是示意性示出根据本发明的使用传动电机的座椅机构的剖切示意图; Figure 19 is a schematic cross-sectional view schematically showing a seat mechanism using a transmission motor according to the present invention;
图20是示意性示出根据本发明的使用传动电机的座椅机构伸展时的立体结构示意图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;
图21是示意性示出根据本发明的使用传动电机的座椅机构收缩时的立体结构示意图;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;
图22是示意性示出根据本发明使用者站立在站立康复轮椅车上的示意图;Figure 22 is a schematic view showing the user standing on a standing rehabilitation wheelchair in accordance with the present invention;
图23是示意性示出示出根据本发明使用者坐在站立康复轮椅车上的示意图;Figure 23 is a schematic view showing the user sitting on a standing rehabilitation wheelchair in accordance with the present invention;
图24是根据本发明的下肢康复训练检测系统的结构框图;Figure 24 is a block diagram showing the structure of a lower limb rehabilitation training detecting system according to the present invention;
图25是根据本发明数据处理模块的结构框图;Figure 25 is a block diagram showing the structure of a data processing module according to the present invention;
图26是根据本发明角度传感器作为蹲起训练数据采集模块的流程图;26 is a flow chart of an angle sensor as a pick-up training data acquisition module in accordance with the present invention;
图27是根据本发明压力检测设备作为蹲起训练数据采集模块的流程图;Figure 27 is a flow chart of the pressure detecting device as a pick-up training data collecting module according to the present invention;
图28是根据本发明角度传感器和压力检测设备组合作为蹲起训练数据采集模块的流程图;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;
图29是根据本发明压力检测设备作为站立训练数据采集模块的流程图;29 is a flow chart of a pressure detecting device as a standing training data collecting module according to the present invention;
图30是根据本发明的设置有下肢康复训练检测系统的站立康复轮椅车的示意图。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.
具体实施方式detailed description
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例,本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。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.
站立康复轮椅车Standing rehabilitation wheelchair
第一实施例First embodiment
参考图1至图6,示出了根据本发明优选实施例的一种站立康复轮椅车,包括两个支撑杆5、两个脚踏板10、两个捆绑机构14、控制装置1、辅助站立机构2、扶手机构3、机架4、两个第一电机7、底盘12、膝盖支撑机构13、保护机构15和车轮,机架4包括第一支杆17和第二支杆18,第一支杆17垂直设置在底盘12前端,第二支杆18—端与第一支杆17连接,另一端与底盘12连接,第一支杆17上端铰接有扶手机构3和辅助站立机构2,扶手机构3包括两个手把20和两个第三支杆19,两个第三支杆19下端分别铰接在第一支杆17两侧,每个第三支杆19上端分别连接有手把20,手把20垂直设置在第三支杆19外侧。辅助站立机构2位于扶手机构3后侧,包括两个第四支杆21和两个第五支杆22,两个第四支杆21前端分别铰接在第一支杆17两侧,并位于第三支杆19外侧,两个第四支杆21后端铰接有保护机构15,第五支杆22位于第四支杆21下侧,且相互平行 设置,两个第五支杆22前端分别铰接在第二支杆18两侧,两个第五支杆22后端与保护机构15铰接,保护机构15呈C型,且保护机构15上设置有控制装置1。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.
在本实施例中,第二支杆18两侧分别设置有支撑座26,每个支撑座26上均设置有旋转座25,旋转座25内设置有旋转轴23,两个支撑杆5对称地设置在第二支杆18两侧,支撑杆5一端通过连接件24与旋转轴23连接,支撑杆5另一端与第四支杆21中间铰接。支撑杆5为可伸缩的支撑杆,用以调节辅助站立机构2和保护机构15的高度。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.
在本实施例中,第一支杆17两侧设置有捆绑机构14,捆绑机构14位于支撑杆5外侧,包括第二电机6、安装座32、轴承33、卷轮轴34、卷轮35和绸带36,第二电机6和卷轮轴34传动连接,卷轮轴34两端通过轴承33设置在安装座32内,卷轮轴34外设置有卷轮35,绸带36连接在卷轮35上,绸带36末端连接在保护机构15下侧,第二电机6与控制装置1电连接,用以控制绸带36伸缩长度。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.
在本实施例中,底盘12后端向后延伸形成两个连接杆16,两个连接杆16呈V型。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.
进一步地,车轮设置在底盘12的底部,包括两个主动轮9和两个从动轮11,从动轮11设置在连接杆16末端,两个主动轮9分别设置在底盘12两侧,且位于底盘12前端,每一个主动轮9与一个第一电机7传动连接,第一电机7设置在第一支杆17和主动轮9之间,且与控制装置1电连接,通过控制装置1控制第一电机7的启闭和站立康复轮椅车的移动方向等。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.
在本实施例中,膝盖支撑机构13固定在第二支杆18上,且位于辅助站立机构21下方,包括两个膝盖缓冲装置29、膝盖支撑连接件31和调节板30,膝盖缓冲装置29前侧填充有橡胶、泡沫和/或海绵等,且横截面呈C型,每个膝盖缓冲装置29后侧设置有调节板30,膝盖支撑连接件31固定在第二支杆18上,且两端分别向后延伸连接两个调节板30,膝盖缓冲装置29通过调节膝盖支撑连接件31在调节板30的位置,实现上下位置的调节。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.
在本实施例中,两个脚踏板10通过紧固件直接固定在底盘12两侧,或者通过第一连接件28固定在底盘12两侧,其中,两个脚踏板10和第一连接件28可视为一个整体,两个脚踏板10设置在第一连接件28两侧,第一连接件28呈C型,当第一连接件28扣合在底盘12上时,两脚踏板10位于底盘12两侧,通过第一连接件28沿着底盘12移动可调节脚踏板10的前后距离。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.
进一步地,每个脚踏板10上均设置有重力传感器,重力传感器与控制装置1电连接,控制装置1上设置有显示屏,用于显示重力数值,以及当重力数值超过30kg后,控制装 置1控制第一电机7启动。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.
工作原理为:使用者双脚分别站在两个脚踏板10上,双手放置在手把20上,膝盖靠在膝盖缓冲装置29上,使用者的前胸靠在保护机构15上,绸带36末端捆绑使用者的臀部,通过控制装置1控制绸带36伸缩,带动使用者在站姿和坐姿中转换,进行一些简单的锻炼,包括小腿、膝盖和手臂等运动。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.
第二实施例Second embodiment
参考图7至图8(b),示出了根据本发明优选实施例所述的一种站立康复轮椅车,包括支撑杆5、两个脚踏板10、两个捆绑机构14、控制装置1、辅助站立机构2、扶手机构3、机架4、两个第一电机7、底盘12、膝盖支撑机构13、保护机构15和车轮,机架4的横截面呈直角梯形,且固定在底盘12前端,机架4上底面设置有两个安装片44,两个安装片44上铰接有扶手机构3和辅助站立机构2,扶手机构3包括两个手把20和两个第三支杆19,第三支杆19为可伸缩的第三支杆,用以调节其高度,且为二级杆件或多级杆件结构,两个第三支杆19下端分别铰接在两个安装片外侧,每个第三支杆19上端分别连接有手把20,手把20垂直设置在第三支杆19外侧,手把20呈U型。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.
在本实施例中,辅助站立机构2为一伸缩臂,伸缩臂为二级杆件或多级杆件结构,伸缩臂的前端铰接于两个安装片44之间,伸缩臂后端铰接有保护机构15,保护机构15呈C型,保护机构15上设置有控制装置1。支撑杆5为可伸缩的支撑杆,且为二级杆件或多级杆件结构,支撑杆5一端与伸缩臂中间铰接,另一端与机架4铰接,支撑杆5与按钮37传动连接,按钮37设置在手把20的末端,用以控制支撑杆5伸缩,以调节伸缩臂和保护机构15的高度。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.
在本实施例中,膝盖支撑机构13固定在机架4上,且位于伸缩臂下方,包括两个膝盖缓冲装置29和膝盖支撑连接件31,膝盖缓冲装置29前侧填充有橡胶、泡沫和/或海绵等,且横截面呈C型,膝盖支撑连接件31固定在机架4上,且两端分别向后延伸连接两个膝盖缓冲装置29,两个膝盖缓冲装置29位于支撑杆5两侧。其中,调节膝盖缓冲装置29在膝盖支撑连接件31安装位置,可调节膝盖缓冲装置29水平高度。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.
在本实施例中,底盘12后端向后延伸形成两个连接杆16,两个连接杆16呈V型。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.
进一步地,车轮设置在底盘12的底部,包括两个主动轮9和两个从动轮11,主动轮9和从动轮11均为减震轮,从动轮11设置在连接杆16末端,两个主动轮9分别设置在机架4两侧,且位于底盘12前端,每一主动轮9与一个第一电机7传动连接,第一电机7设置在机架4内,且与控制装置1电连接,通过控制装置1控制第一电机7的启闭和站立 康复轮椅车的移动方向等。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.
在本实施例中,两个脚踏板10通过紧固件直接固定在底盘12两侧,脚踏板10前后两端分别向上延伸形成遮挡板8。每个脚踏板10上均设置有重力传感器,重力传感器与控制装置1电连接,控制装置1上设置有显示屏,用于显示重力数值。重力传感器还用以检测使用者在轮椅车上是否使用正确,如使用者的双脚是不是放置在脚踏板10上。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.
在本实施例中,捆绑机构14包括第二电机6、缠绕带轮43、挂钩39、缠绕带40和挂钩座38,挂钩39设置在保护机构15外侧,挂钩座38设置在膝盖缓冲装置29外侧,第二电机6设置在安装片44内侧,与缠绕带轮43传动连接,缠绕带轮43设置在安装片44外侧,缠绕带40与缠绕带轮43连接,缠绕带40末端穿过挂钩39,且悬挂在挂钩39处。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.
进一步地,还包括穿戴装置41,穿戴装置41两端分别连接缠绕带40末端。更进一步地,前述的穿戴装置41为可拆卸的。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.
工作原理为:使用者双脚分别站在两个脚踏板10上,双手放置在手把20上,膝盖靠在膝盖缓冲装置29上,使用者的前胸靠在保护机构15上,穿戴装置41护住使用者的臀部和腰部,通过控制装置1控制绸带36伸缩,带动使用者在站姿和坐姿中转换,进行一些简单的锻炼,包括小腿、膝盖和手臂等运动。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.
为了增加轮椅车整体高度的可调节功能,还可以增加机架4的高度可调功能。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.
如图9(a)所示,将机架4分为第一机架4a和第二机架4b,其中,第一机架4a底端与底盘12固定连接,第一机架4a的后部与膝盖支撑结构13连接,第二机架4b底端设置于第一机构4a内部,第二机架4b可以在第一机架4a内运动,第二机架4b顶端与扶手机构3、辅助站立机构2铰接,支撑杆5一端与辅助站立机构2铰接,另一端与第二机架4b铰接。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.
如图9(b)所示,第一机架4a和第二机架4b通过调高机构连接,调高机构的固定端421设置于第一机架4a的底端,调高机构的伸缩端422与固定于第二机架4b中部的第一连接件423相连接。如图9(c)所示,第二机架4b的后方下部固定有第二连接件424,第二连接件424上安装有连接耳426,连接耳426与支撑杆5铰接。工作原理为:通过调高机构的伸缩端422的伸长和缩短实现调高机架的伸缩功能。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.
调高机构可以是推杆电机,液压元件,气动元件等市面上成熟的伸缩装置。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.
为保证第一机架4a和第二机架4b的伸缩连接更牢固,于第二连接件424上安装两根滑杆425,滑杆425的末端与第一机架4a底部固定连接,工作原理:调高机构伸缩时第二机架4b在滑杆425上滑动。 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.
穿戴装置Wearable device
参考图10至图12,示出了根据本发明的一种穿戴装置110。穿戴装置110包括护腰带111、连接扣112、安装件113、护腿带114、连接件115和护腰板116。使用穿戴装置110结合站立康复轮椅车103使得使用者可以自主完成站立、坐下和上厕所等动作,实现生活自理,其中站立康复轮椅车103的结构可以与站立康复轮椅车101或站立康复轮椅车102相同。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.
护腰带111,是本发明的主体部分,用来包裹住使用者的腰部,护腰带111两端可通过粘贴或者卡扣或搭扣等方式可拆卸连接。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.
环绕在腰上的护腰带111的半径可调节,可以适应不同使用者的腰围。The waistband 111 around the waist has an adjustable radius to accommodate the waist of different users.
连接扣112,固定连接在护腰带111的左右两侧,护腰带111环绕在腰上时,将连接扣112扣合,方便快捷,增强使用的安全性。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.
安装件113,护腰带111围在使用者腰部上,安装件113位于使用者的腰部两侧,安装件113将护腰带111与站立康复轮椅车103的辅助站立机构132可拆卸连接,让护腰带111和站立康复轮椅车103的辅助站立机构132形成两个拉力点。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.
优选地,安装件113采用的是安全扣,将安全扣的卡夹安装在站立康复轮椅车103上,如图11所示,安装件113安装在站立康复轮椅车103的保护机构133两侧,将卡扣连接在护腰带111的左右两侧,卡扣与卡夹可拆卸连接,方便快捷。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.
护腰带111缠绕在使用者的腰部上时,卡扣和连接扣112刚好在使用者的身体两侧,卡扣扣进安全夹中,连接扣112扣合围在使用者腰部。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.
可选地,安装件113可以是挂钩和挂环的组合,或者挂钩和安全带的组合。Alternatively, the mounting member 113 can be a combination of a hook and a loop, or a combination of a hook and a harness.
护腿带114,连接在护腰带111的左右两侧,护腿带114从大腿外侧绕至大腿内侧包裹住使用者的双腿。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.
护腰带111与护腿带114将使用者包裹起来,露出臀部位置的空间,使用者可在这个空间完成脱裤子和穿裤子的功能,方便上厕所。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.
护腿带111可以分别与辅助站立机构132可拆卸连接,形成两个拉力点,也可以将左右两边的带子连接在一起以后再与辅助站立机构132可拆卸连接,形成一个拉力点。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.
优选地,护腿带111与辅助站立机构132可拆卸连接,形成两个拉力点。Preferably, the leg shield belt 111 is detachably coupled to the auxiliary standing mechanism 132 to form two tension points.
连接件115,用来将护腿带114与站立康复轮椅车103的辅助站立机构132可拆卸连接。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.
优选地,连接件115采用的是拉力环,在辅助站立机构132上设置一个挂钩,如图11 所示,辅助站立机构132的头部设有挂钩131,连接件115可挂进或取出挂钩131。将拉力环挂进挂钩内即可,方便快捷。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.
可选地,在护腿带114的末端开设连接孔,在站立康复轮椅车103上设置一个挂钩,将连接孔挂进挂钩内即可,方便快捷。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.
护腰板116,可拆卸地安装于护腰带111的中间,优选使用魔术贴的粘贴方式。The waist guard 116 is detachably attached to the middle of the waist belt 111, and is preferably attached by a Velcro.
使用者在站立康复轮椅车103上长时间站立或坐下时,腰部容易疲劳,尤其是腰部无力的瘫痪患者感觉更明显,护腰板116可以给使用者的腰部提供舒适有力地支撑。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.
穿戴装置110在使用时,护腰带111系在使用者的腰上,连接扣112扣合,安装件113与辅助站立机构相互扣合,护腿带114从外至内包裹住大腿后将连接件115与辅助站立机构132连接,将使用者固定在站立康复轮椅车103上。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.
使用穿戴装置110结合站立康复轮椅车103使得使用者可以实现自主站立、坐下和上厕所的功能。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.
使用穿戴装置10实现自主站立的方法为:使用者先坐着并利用穿戴装置110将自己固定在站立康复轮椅车103上,然后利用辅助站立机构132对穿戴装置110的作用力将自己拉起来。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.
使用者站立起来以后将安装件113和连接件115收紧,护腿带114能够让使用者能够以正确地姿势站立。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.
优选地,使用穿戴装置110结合站立康复轮椅车103站立时,安装件113及连接件115与辅助站立机构132形成四个将使用者身体往前拉的拉力点,其中护腰带111上的两个拉力点支撑使用者的腰部,护腿带114上的两个拉力点支撑使用者的腿部,四个拉力点与站立康复轮椅车103帮助使用者独自站立。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.
利用穿戴装置110实现自主坐下的方法为:使用站立康复轮椅车103将站姿调整成坐姿,安装件113和连接件115形成四个斜向上的拉力点,其中护腰带111上的两个拉力点支撑使用者的腰部,护腿带114上的两个拉力点支撑使用者的腿部,此种支撑力和座椅的支撑力一致,可使得使用者感到很舒适。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.
利用穿戴装置110上厕所的方法包括以下步骤:(1)从护腰带111与护腿带114露出的臀部空间中将裤子脱至护腿带114上;(2)使用站立康复轮椅车103辅助自己坐在马桶上;(3)将连接件115与站立康复轮椅车103分离,将裤子完全脱下;(4)上完厕所后,将裤子穿至护腿带114的上方;(5)将护腿带114与站立康复轮椅车103连接上,然后利用站立康复轮椅车103站立起来;(6)站立后从护腰带111和护腿带114露出的 臀部空间中将裤子完全穿上。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.
如图11和图12所示,使用者先坐着,将护腰带111围绕在腰部后将护腰带111两端粘贴住,将连接扣112扣住,然后将安全扣的卡扣扣进卡夹,将护腿带114从大腿外侧绕至大腿内侧后将连接件115挂进挂钩131内,然后利用站立康复轮椅车103和穿戴装置110站立起来。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.
综上所述,使用穿戴装置110与站立康复轮椅车103的结合可以让下肢受损的患者完成自主站立、坐下和上厕所等日常生活内容,实现生活自理。使用者站立时,穿戴设备110给使用者提供向前的力,保证使用者不会倾倒;使用者坐下时,穿戴装置110给使用者提供和座椅一致的支撑力点,让使用者感觉更舒适。在使用过程中,穿戴装置110一直给使用者提供面积更大的腰部支撑,使用者不会感觉到疲劳。穿戴装置110缠绕在使用者身上可根据使用者的腰围调节半径,可适用不同体重的人群,而且具有结构小巧、制造简单、成本低廉等优点。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.
座椅机构Seat mechanism
参考图13至图23,示出了根据本发明的一种座椅机构80。座椅机构80主要包括座垫803和齿条机构806、伸缩杆、传动组件与第一驱动机构804。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.
齿条机构806位于座垫803的下部且紧密相连。The rack mechanism 806 is located at a lower portion of the seat cushion 803 and is closely connected.
伸缩杆(含固定件801和伸缩件802)一端与底部固定装置805相连、另一端则通过传动齿轮807与齿条机构806活动连接,伸缩杆整体呈倾斜布置。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.
传动组件优选采用链条和链轮的组合方式,如图13至图17所示。传动组件包括第一链轮808、第二链轮810、链条809和定位装置815,如图13所示,定位装置815是销轴。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.
第一链轮808设置在伸缩件802顶部且通过轴811与传动齿轮807同轴安装,第二链轮810设置在伸缩件802底部,链条809连接在第一链轮808和第二链轮810之间,定位装置815固定在伸缩杆的固定件801顶部且穿过其上方的链节816。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.
可选地,传动组件包括第一带轮和第二带轮,同步带和定位装置,其工作原理和链轮链条一样。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.
又可选地,传动组件包括第一滑轮和第二滑轮,钢丝绳和定位装置,其工作原理和链轮链条一样。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.
第一驱动机构804,位于伸缩杆的内部,且其一端与固定件801底部相连、其另一端则与伸缩件802的顶部相连。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.
第一驱动机构804为直线驱动且优选采用电力推杆或液压推杆,从而更能够减小座椅 机构80的体积以及所占据的空间。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.
本发明优选实施例的工作原理为:The working principle of the preferred embodiment of the present invention is:
当座椅机构80伸展时,第一驱动机构804驱动伸缩件802向外伸展,带动第一链轮808和第二链轮810向外运动,而链节816被定位装置815固定,因此链条809会驱动第一链轮808和第二链轮810正向转动。于是第一链轮808带动轴811和传动齿轮807正向转动,与传动齿轮807啮合的齿条806向外运动,进而实现第一驱动机构804伸展的同时座垫803也在进行伸展,直至将座垫803完全展开。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.
当座椅机构80收缩时,第一驱动机构804驱动伸缩件802向内收缩并带动第一链轮808和第二链轮810向内运动,链节816被固定,因此链条809会驱动第一链轮808和第二链轮810反向转动。于是第一链轮808带动轴811和传动齿轮807反向转动,与传动齿轮807啮合的齿条806向内运动,进而实现第一驱动机构804收缩的同时座垫803也在进行收缩,直至第一驱动机构804和座垫803同时收缩完毕。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.
优选地,在固定件801的顶部内侧设置有第一阻挡块812,在伸缩件802的底部外侧设置有第二阻挡块813。当伸缩件802伸长到极限位置时,第一阻挡块812和第二阻挡块813接触,从而阻止伸缩件802继续伸长,防止伸缩件802从固定件801中脱落。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.
在实际应用中,还可以在伸缩杆(含固定件801和伸缩件802)的两侧均设置有挡板817。该挡板817一方面对伸缩杆起到支撑固定的作用,另一方面也是一种安全措施、用于保护使用者发生意外伤害。此外,本发明座椅机构80完全收缩后,座垫803应位于两块挡板817所占面积的范围内或直接位于两块挡板817的内部。因而具有设计巧妙、结构紧凑、占据空间小、操作简单且安全稳定等优点。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.
可选地,传动组件包括传动电机818,如图18至图21所示,为便于理解,图18至图21中,将传动电机818设置于伸缩件802的外侧。而可选地,传动电机818也可设置于伸缩件802的内部。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.
如图18所示,传动电机818固定安装于伸缩件802的顶端,且传动齿轮807安装于传动电机818的输出轴811上。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.
此时,传动组件的工作原理为:当第一驱动机构804驱动伸缩件802向外伸展时,传动电机818正转带动传动齿轮807正转,将座垫803伸展。反之,当第一驱动机构804缩短时,传动电机818反转带动传动齿轮807反转,将座垫803收缩。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.
本发明座椅机构80基于伸缩杆和传动组件巧妙地实现座椅的伸展和收缩功能,且在实际应用中具有占地面积小、结构简单紧凑且易携带等诸多优点。 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.
图22和图23分别示出了一种设置有所述座椅机构80的站立康复轮椅车104的站姿和坐姿示意图。其中站立康复轮椅车104的结构可以与站立康复轮椅车101或站立康复轮椅车102相同,所以图中站立康复轮椅车104的结构仅简单示出。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.
站立康复轮椅车104包括:底盘行走机构401、扶手机构403、辅助站立机构404、穿戴装置405、卷绳轮461、安全绳463、挂钩465、驱动电机462以及位于底盘行走机构401中后部的座椅机构80。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.
本发明站立康复轮椅车104的使用对象主要为残障人士或老年人,例如腿部残疾或下身瘫痪、偏瘫患者。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.
底盘行走机构401位于站立康复轮椅车104的底部,主要用于承载使用者并驱动站立康复轮椅车104向前行驶。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.
该站立康复轮椅车104的底盘行走机构401包括底板411、前轮组件412、后轮组件413和脚踏板414。其中前轮组件412为驱动轮、后轮组件413为从动轮且优选采用万向轮结构。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.
底板411的前后下方分别设置有前轮组件412和后轮组件413,其中前轮组件412为驱动轮、后轮组件413为从动轮且优选采用万向轮组件。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.
脚踏板414位于底板411的中部两侧,脚踏板414前后均设置有环形阻挡片,防止使用者的双脚发生较大滑动,起到了固定使用者双脚的目的。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.
扶手机构403,如图22所示,其底部可旋转地连接在底盘行走机构401上部,扶手机构3的主体部分为二级杆或多级杆结构,可自由伸缩自锁,在使用时可以根据使用者的身高进行调节。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.
辅助站立机构404,如图22所示,可旋转连接于底盘行走机构401的前侧上方,用于支撑使用者的腰部或腹部,防止使用者向前倾倒,帮助使用者稳定站立以及实现长久站立。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. .
辅助站立机构404主要包括伸缩杆441和头部442,伸缩杆441一端与底盘行走机构401上部可旋转连接,另一端与头部442可旋转相连。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.
头部442的上部还设置有用于控制第一驱动机构812、驱动电机462以及前轮组件412的集成控制器443。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.
卷绳轮461,设置在底盘行走机构401的中上方,且位于扶手403和辅助站立机构404的下方。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.
安全绳463,一端固定在卷绳轮461上,另一端穿过伸缩杆441的中部且固定在挂钩465上,安全绳463将挂钩465悬挂在伸缩杆441的中部。 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.
驱动电机462,驱动卷绳轮461正反转,卷绳轮461的正反转可以收紧和放松安全绳463,从而收紧和放松挂钩465。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.
本发明一种设有座椅机构80的站立康复轮椅车104还包括有引绳装置464,引绳装置464固定安装于卷绳轮461的出绳口,可引导和实现安全绳463的放松和收紧。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.
穿戴装置405,用于将使用者与站立康复轮椅车104柔性连接,防止使用者出现站立不稳的现象。The wearing device 405 is configured to flexibly connect the user to the standing rehabilitation wheelchair 104 to prevent the user from standing unstable.
穿戴装置405主要包括包裹使用者腰部的护腰带451和包裹大腿的护腿带452。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.
护腰带451上设有安全扣453,安全扣453与头部442可拆卸连接,护腿带452上设有拉力环454,拉力环454可挂进或取出挂钩465中,从而实现护腿带452与辅助站立机构中部的可拆卸连接。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.
使用者可以通过调节安全扣453与头部442的连接松紧度,实现护腰带451的调节,保证穿戴装置405使用的舒适度和安全度。通过集成控制器443控制安全绳463和挂钩465的张紧和放松,从而张紧和放松护腿带452。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.
使用者通过穿戴装置405将自己固定到站立康复轮椅车104上后,可以通过调节安全扣453调节在轮椅车上的位置,通过集成控制器443控制驱动电机462反转,收紧护腿带452,保证使用者站立更舒适有力。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.
优选地,头部442、穿戴装置405以及脚踏板414等与人体接触的装置的结构设计应符合人体工程学,与使用者身体接触的部分均采用软体减震材料,从而提高使用者腹部、腰部、臀部、脚底和小腿或膝盖支撑的舒适度。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.
使用者先坐在轮椅或者床上,使轮椅车正好位于自己面前,将护腰带451包裹住腰部,护腿带452从大腿外侧缠绕至大腿内侧后将拉力环454挂进挂钩465中,将护腰带51与头部442通过安全扣453连接,利用辅助站立机构404站立至站立康复轮椅车104上,再利用集成控制器443收紧护腿带452,矫正站立姿势。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.
当使用者需要由站姿切换至坐姿时,首先操作集成控制器443控制第一驱动机构804使座椅机构80开始伸展,然后利用辅助站立机构404和穿戴装置405的作用缓缓放下直至使用者臀部坐到座垫803上。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.
本发明座椅机构80的伸展长度可控并具有自锁固定功能,因此不同身高人群均可根据自己的身高来调整座垫803的高度。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.
优选地,如图23所示,使用者坐在座垫803上时,可以通过集成控制器443控制驱动电机462正转,驱动卷绳轮461转动稍微放松安全绳463和挂钩465,放松护腿带452, 让使用者的大腿得到适当的解放和休息。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.
相反地,当使用者需要由坐姿切换至站姿时,首先通过集成控制器443适当调节安全绳463张紧挂钩465和护腿带452,再利用辅助站立机构404和穿戴装置405的作用缓缓升起直至使用者处于站立状态,然后再操作集成控制器443控制安全绳463完全收紧挂钩465和护腿带452,使站立姿势正确,再操作集成控制器443控制第一驱动机构812使座椅机构80开始收缩直至伸缩完毕。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.
综上所述,使用者驾驶设置了座椅机构80的站立康复轮椅车104并结合穿戴装置110可以实现在坐姿和站姿之间轻松切换,使用者可以完成做饭、用餐、上厕所等日常活动,进一步实现生活自理。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.
使用者在站立康复轮椅车104上可以借助辅助站立机构和座椅机构反复练习坐下站立,为腿部做简单的康复蹲起训练。使用者可以根据自身需要,随时随地坐下休息,当使用者将站立康复轮椅车104开到户外时,本发明座椅机构80的重要性便会得到了充分的体现。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.
并且,使用者无论是坐下来用餐还是工作,都不需要从站立康复轮椅车上脱离出来,大大地增加了使用站立康复轮椅车的方便性。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.
使用者可以选择站立行驶站立康复轮椅车,也可以选择坐下行驶站立康复轮椅车,坐下和站立交替使用,血液得到循环,对使用者身体更有利。座椅收缩后占用空间小,不会影响站立康复轮椅车的使用。最后,本发明还具有设计巧妙、结构紧凑、操作简单以及安全稳定等优点。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.
下肢康复训练系统及其检测蹲起训练的方法Lower limb rehabilitation training system and method for detecting the lifting training
下肢康复训练系统Lower limb rehabilitation training system
图24至图30示出了一种下肢康复训练检测系统,该下肢康复训练检测系统可检测下肢受损的患者做站立训练和蹲起训练地数据并呈现在患者眼前,如图24所示,包括数据采集模块、数据处理模块和显示屏,还包括蹲起训练指令和/或站立训练指令。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.
该下肢康复训练检测系统设置在站立康复轮椅车上,让使用者自主进行康复训练。The lower limb rehabilitation training detection system is set on the standing rehabilitation wheelchair, allowing the user to perform rehabilitation training independently.
数据采集模块,用来采集使用者做蹲起训练或者站立训练的数据。数据采集模块是角度传感器或压力检测设备或压力检测设备与角度传感器组合。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.
采集蹲起训练的数据采集模块是角度传感器或/和压力检测设备,采集站立训练的数据采集模块是压力检测设备。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.
角度传感器,用来采集蹲起训练过程中所产生的角度变化数据。The angle sensor is used to collect the angle change data generated during the training process.
优选地,角度传感器设置于站立康复轮椅车105的辅助站立机构上,跟随辅助站立机 构上下摆动,记录其摆动角度,当往复摆动角度大于50度时,计为一次蹲起训练。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.
可选地,角度传感器也可以设置于使用者的大腿上,跟随使用者的大腿蹲下起立,记录其摆动角度,当往复摆动角度大于50度时,计为一次蹲起训练。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.
压力检测设备,设置于站立康复轮椅车上且与使用者的下肢接触,用于检测使用者做蹲起训练或者站立训练腿部肌肉的变化数据。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.
使用者在进行康复训练时,其下肢的肌肉会运动收缩,双脚的施力情况也会随着训练的进程出现变化规律,因此将压力检测设备置于使用者的双脚下或者绑在使用者的腿上均可以检测到其做康复训练的力的变化。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.
但是其双脚的力的变化最为明显,因此本发明将压力检测设备置于使用者的双脚下,即采集使用者双脚下的压力。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.
压力检测设备优选使用压力传感器,也可选用弹簧和传感器组成的数据采集器。The pressure detecting device preferably uses a pressure sensor, and a data collector composed of a spring and a sensor can also be selected.
显示屏,显示屏上设置有蹲起训练指令和/或站立训练指令,蹲起训练指令和站立训练指令与数据处理模块相连接。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.
显示屏优选使用手机或设置在站立康复轮椅车上的LED电子屏幕,包括蹲起训练显示区域和站立训练显示区域。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.
优选地,蹲起训练显示区域显示使用者做蹲起训练的次数和时间。Preferably, the pick-up training display area displays the number and time of the user doing the pick-up training.
可选地,为使训练更有趣,让使用者更清楚地看到自己的锻炼情况,蹲起训练显示区域还可显示使用者做蹲起训练时力的波形。对于下肢没有感应能力的患者,看到自己蹲起训练的实时情况可以增加其锻炼的积极性。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.
优选地,本发明站立训练显示区域中有感应使用者身体倾向的方向箭头,使用者身体倾向哪边,则对应的箭头灯亮。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.
可选地,站立训练显示区域中显示使用者站立训练时身体的晃动轨迹,使用者还可控制自己的身体晃动轨迹画出简单的图形显示在站立训练显示区域。比如,使用者可以控制自己的身体晃动,在站立训练区域画出一个长方形或圆形。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.
数据处理模块,与数据采集设备相连接,设置于站立康复轮椅车上,用来对压力检测设备采集到的数据进行描述、辨认、分类和解释,计算使用者做蹲起训练的次数和时间并输出蹲起训练的波形,或者处理使用者做站立训练的数据。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.
如图25所示,数据处理模块包括指令接收单元、蹲起训练计算单元、计数转换单元、数据累积输出单元、站立训练计算单元和站立训练数据输出单元。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.
可选地,数据处理模块可以使用市面上成熟的单片机,将数据处理模块中的各个单元 集成在一起。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.
指令接收单元,将接收到的指令进行辨认和分类并分配到相应的计算单元。The instruction receiving unit identifies and classifies the received instructions and assigns them to the corresponding computing unit.
蹲起训练计算单元,用于判断使用者是否正在进行蹲起训练,若使用者正在做蹲起训练,则将采集到的数据传输给计数转换单元。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.
计数转换单元,将数据进行解释成波形并输出给数据累积输出单元,再计算出使用者做一次蹲起训练的时间。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.
数据累积输出单元,将使用者做蹲起训练的总次数和时间进行叠加并连同训练波形一起输出到显示屏。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.
使用者做一次蹲起训练,是一个从站立到半蹲再到站立的往复运动,因此使用者在半蹲的时候脚部的力最大,其动态力的分析类似一个连续的波形,波峰即为半蹲时脚部的受力。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.
因此可以采集到使用者腿部呈波形的力的数据或者采集到角度传感器往复幅度大于50度的数据,均可用来判断使用者是否在进行蹲起训练。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.
可选地,将角度传感器单独作为蹲起训练的数据采集设备,如图26所示,则只需要通过数据处理模块对采集到的往复运动幅度进行判断,当蹲起训练计算单元计算幅度大于50度时,计为一次蹲起训练。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.
又可选地,当使用压力检测设备做数据采集设备时,如图27所示,压力检测设备将采集到蹲起训练的数据传输到蹲起训练计算单元后,蹲起训练计算单元将一个波形内的波峰值和采集到波形的时间进行计算,采用时间与动态阈值结合分析计算法。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.
时间与动态阈值结合分析计算法的原理为:The principle of combining time and dynamic threshold analysis is:
第一步,首先设置一个蹲起训练时最大力(即波峰)的初始经验力值D和做一次蹲起训练(即采集到一次完整的波形)的初始经验时间t,当在时间t范围为采集一个完整的波形且波峰的值大于D,则计为一次蹲起训练;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;
第二步,将第一次采集到的最大力D0和采集到完整波形的时间t0作为使用者自己的经验值;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;
第三步,在实际经验时间t1内采集到一个完整波形且波峰的值为D1,其中t1=(1±0.2)*t0、D1=(1±0.2)*D0,则计为一次蹲起训练;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. ;
其中:D根据五十个人做一次蹲起训练的最大力的平均值剩以系数0.8求得,t根据五十个人做一次蹲起训练的平均时间剩以0.8求得,设置t=8~12秒,D=250N。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.
采用时间与动态阈值结合分析计算法可将不是蹲起训练的运动排除,减少误判率。 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.
优选地,为使蹲起训练的判断更精确,如图28所示,本发明使用压力检测设备和角度传感器同时判断的方式。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.
辅助站立机构上下摆动带动使用者做蹲起训练,角度传感器检测辅助站立机构的摆动角度,结合时间与动态阈值结合分析计算法判断使用者是否完成一次蹲起训练。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.
如图26、图27、图28所示,当蹲起训练计算单元计算出采集到的数据属于蹲起训练的范围时,便将波形和数据输入计数转换单元中,计数转换单元做+1计算。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. .
计数转换单元将波形及做蹲起训练次数和时间的数据传输到数据累积输出单元中储存并累积,数据累积输出单元将蹲起训练的次数及时间输出到显示屏中。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.
站立训练计算单元,用来对使用者做站立训练的数据进行处理,使用压力差值计算法判断使用者身体的倾向。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.
站立训练数据输出单元,将站立训练的数据输出显示到显示屏中。The standing training data output unit displays the data output of the standing training to the display screen.
如图29所示,压力检测设备采集使用者双脚下的压力,数据处理模块接收到站立训练指令,指令接收单元将指令进行辨认和分类后传给站立训练计算单元,站立训练计算单元开始计算处理使用者做站立训练的数据。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.
站立训练计算单元采用压力检测设备检测到使用者双脚之间的压力进行差值计算,判断使用者做站立训练的身体重心及平衡度。比如,当使用者身体右倾时,右脚的力大于左脚的力,使用者身体重心在身体的右边,站立训练数据输出单元会将这一数据结果输出在显示屏中的站立训练显示区域。站立训练显示区域有左右两个箭头,当使用者身体右倾时,右边的箭头灯亮,身体左倾时,左边的箭头灯亮。使用者根据箭头的显示情况可以调节站立平衡度。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.
优选地,压力检测设备将使用者的双脚分为类似于四个象限的四个受力区域。第一象限检测右脚前半部的压力,第二象限检测右脚后半部的压力,第三象限检测左脚前半部的压力,第四象限检测左脚后半部的压力,这样可以更好地计算站立训练。这四个受力象限将使用者的站立训练详细地划分成了前、后、左、右、左前方、左后方、右前方、右后方八个方向。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.
站立训练显示区域中有指向前、后、左、右、左前方、左后方、右前方、右后方八个方向的箭头。站立训练计算单元根据使用者双脚的四个受力区域采集到的力进行差值计算,进一步判断使用者的身体是在哪个方向。患者在站立训练时,身体右倾,重心在右腿上,右脚掌受力大于左脚掌,患者身体往右前倾时,右脚掌前半部分的力大于后半部分的力,将这些力的变化利用压力差值计算法处理后显示在站立训练显示区域中,让患者能够清楚 地看到自己做站立训练的情况。比如,当使用者身体右倾时,右脚受力最大,显示屏中箭头指向右方。比如,当使用者身体前倾时,双脚前半部受力最大,显示屏中箭头指向前方。比如,当使用者身体向右前倾时,右脚前半部受力最大,显示屏中箭头指向右前方。通过显示屏中的箭头变化,使用者可以清楚地看到自己做站立训练的动作情况,让使用者感知自己的康复锻炼情况,给自己积极地心理暗示。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.
如图30所示,本发明设置于站立康复轮椅车105上。站立康复轮椅车105可以与前述的站立康复轮椅车101或站立康复轮椅车102相同。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.
压力检测设备设置于站立康复轮椅车105的脚踏板510上,数据处理模块设置于控制装置501内且与压力检测设备相连接,显示屏设置于控制装置501上且与压力检测设备相连接。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.
使用者通过站立康复轮椅车105的穿戴装置541和辅助站立机构502、保护机构515以及扶手机构503站立在脚踏板510上,抓住扶手机构503并借助辅助站立机构502的摆动功能做蹲起训练,用下肢康复训练检测系统检测做蹲起训练的时间和次数。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.
为了更好地检测蹲起训练,还可以在辅助站立机构502的末端设置一个角度传感器,可以检测辅助站立机构502的摆动角度。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.
利用蹲起训练指令发出蹲起训练指令,借助站立康复轮椅车105开始做蹲起训练,压力检测设备将检测到的力传输给数据处理模块,角度传感器将采集到的数据传送给数据处理模块,数据处理模块开始做数据计算处理并传输到显示屏中。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.
使用者可以通过显示屏看到自己做蹲起训练的时间、次数和力的波形变化。The user can see through the display the waveform changes in the time, number of times and force of the training.
使用者借助站立康复轮椅车105可以自主进行蹲起训练,不需要他人的帮助,使得训练积极有趣,可以给患者带来积极的心理暗示,有助于下肢康复。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.
利用站立训练指令发出站立训练指令,压力传感器将采集到的力的数据传输给数据处理模块,数据处理模块对数据进行处理并显示在显示屏中。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.
使用者通过显示屏的箭头可以看到自己的身体平衡度,并可以根据自己的意识去控制自己将重心在身体上变动,达到更好地训练效果。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.
并且使用者也可以通过站立训练检测方法检测自己的站姿是否正确,可以让自己笔直站立,此时,所有的箭头都会熄灭。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.
综上所述,本发明具有检测患者做康复训练的功能,并且能够将康复训练的情况直观地呈现在患者眼前,增加患者进行康复训练的兴趣,提高患者做康复训练的积极性。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.
下肢康复训练系统检测蹲起训练的方法 Lower limb rehabilitation training system for detecting lifting training
下文将介绍下肢康复训练检测系统的一种检测蹲起训练的方法,该检测蹲起训练的方法检测患者做蹲起训练的数据并且直观地呈现在患者眼前,让康复训练变的积极有趣。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.
上述下肢康复训练检测系统的一种检测蹲起训练的方法,利用包括压力检测设备、数据处理模块、显示屏、蹲起训练指令的下肢康复训练检测系统进行蹲起训练检测,包括以下步骤: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)发出蹲起训练指令;(1) issuing a training instruction;
(2)压力检测设备检测使用者双脚的压力并将数据传输至数据处理模块;(2) The pressure detecting device detects the pressure of the user's feet and transmits the data to the data processing module;
(3)数据处理模块使用时间与动态阈值结合分析计算法计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图;(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)将使用者做蹲起训练的次数和力度波形及时间显示在显示屏中。(4) Display the number and intensity waveforms and time of the user's pick-up training in the display.
为了更准确地进行蹲起训练检测,本发明一种下肢康复训练检测系统检测蹲起训练的方法,优选使用包括的压力检测设备、数据处理模块、显示屏、蹲起训练指令和角度传感器的下肢康复训练系统,包括以下步骤: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)发出做蹲起训练指令;(1) Issue a training instruction for picking up;
(2)压力检测设备开始检测使用者双脚的压力,角度传感器检测辅助站立机构的摆动角度;(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)数据处理模块通过时间与动态阈值结合分析计算法及角度偏转法计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图;(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;
(4)将使用者做蹲起训练的次数和力度波形及时间显示在显示屏中。(4) Display the number and intensity waveforms and time of the user's pick-up training in the display.
压力检测设备设置于站立康复轮椅车105的脚踏板510上,数据处理模块设置于控制装置1内且与压力检测设备电连接,显示屏设置于控制装置501上且与压力检测设备电连接。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.
使用者通过站立康复轮椅车105的穿戴装置541和辅助站立机构502、保护机构515以及扶手机构503站立在脚踏板510上,抓住扶手机构503并借助辅助站立机构502的摆动功能做蹲起训练,用下肢康复训练检测系统检测做蹲起训练的时间和次数。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.
为了更好地检测蹲起训练,还可以在辅助站立机构502的末端设置一个角度传感器,可以检测辅助站立机构502的摆动角度。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.
利用蹲起训练指令按钮发出蹲起训练指令,借助站立康复轮椅车105开始做蹲起训练,压力检测设备将检测到的力传输给数据处理模块,角度传感器将采集到的数据传送给数据处理模块,数据处理模块开始做数据计算处理并传输到显示屏中。 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.
使用者可以通过显示屏看到自己做蹲起训练的时间、次数和力的波形变化。The user can see through the display the waveform changes in the time, number of times and force of the training.
使用者借助站立康复轮椅车105可以自主进行蹲起训练,不需要他人的帮助,使得训练积极有趣,可以给患者带来积极的心理暗示,有助于下肢康复。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.
下肢康复训练检测系统的该检测蹲起训练的方法可以检测患者是否正在做蹲起训练,并统计患者做蹲起训练的次数和时间,通过积极有趣地方式引导患者积极做康复训练,给患者积极向上的心理状态。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.
以上所述的实施例仅用于说明本发明的技术思想及特点,其目的在于使本领域内的技术人员能够了解本发明的内容并据以实施,不能仅以本实施例来限定本发明的专利范围采用,即凡依本发明所揭示的精神所作的同等变化或修饰,仍落在本发明的专利范围内。 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 (38)

  1. 一种站立康复轮椅车,其特征在于,包括辅助站立机构、扶手机构、机架、支撑杆、底盘、膝盖支撑机构、捆绑机构、保护机构和车轮,所述车轮设置在所述底盘底部;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;
    所述底盘前端设置有所述机架,所述机架上端分别铰接有所述扶手机构和所述辅助站立机构,所述辅助站立机构位于所述扶手机构后侧,且所述辅助站立机构末端铰接有所述保护机构;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;
    所述支撑杆为可伸缩的支撑杆,所述支撑杆—端与所述辅助站立机构下侧铰接,另一端与所述机架铰接;所述机架上还设置有所述膝盖支撑机构,所述膝盖支撑机构位于所述辅助站立机构下侧;所述机架两侧还设置有所述捆绑机构。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.
  2. 如权利要求1所述的站立康复轮椅车,其特征在于,还包括控制装置和第一电机,所述第一电机与所述车轮传动连接,所述第一电机和所述控制装置电连接,所述控制装置设置在所述保护机构上。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.
  3. 如权利要求2所述的站立康复轮椅车,其特征在于,所述扶手机构包括两个手把和两个第三支杆,两个所述第三支杆下端分别铰接在所述机架两侧,每个所述第三支杆上端分别连接有所述手把,所述手把垂直设置在所述第三支杆外侧。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.
  4. 如权利要求3所述的站立康复轮椅车,其特征在于,所述机架包括第一支杆和第二支杆,所述第一支杆垂直设置在所述底盘前端,所述第二支杆—端与所述第一支杆连接,另一端与所述底盘连接;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;
    所述扶手机构和所述辅助站立机构铰接在所述第一支杆上端,两所述捆绑机构设置在所述第一支杆两侧,所述膝盖支撑机构固定在所述第二支杆上,所述支撑杆数量为两个,且所述支撑杆两端分别与所述辅助站立机构和第二支杆铰接。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.
  5. 如权利要求4所述的站立康复轮椅车,其特征在于,所述辅助站立机构包括两第四支杆和两第五支杆,两所述第四支杆前端分别铰接在所述第一支杆两侧,并位于所述第三支杆外侧,两所述第四支杆后端铰接所述保护机构,所述第五支杆位于所述第四支杆下 侧,且相互平行设置,两所述第五支杆前端分别铰接在所述第二支杆两侧,两所述第五支杆后端铰接所述保护机构。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.
  6. 如权利要求4所述的站立康复轮椅车,其特征在于,所述捆绑机构包括第二电机、安装座、卷轮和绸带,所述第二电机与所述控制装置电连接,且与所述卷轮传动连接,所述卷轮设置在所述安装座内,所述绸带连接在所述卷轮上,所述绸带末端连接在所述保护机构下侧。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.
  7. 如权利要求3所述的站立康复轮椅车,其特征在于,所述机架的横截面呈直角梯形,所述机架上底面设置有两安装片;所述辅助站立机构为一伸缩臂,所述伸缩臂的前端铰接于两所述安装片之间,所述伸缩臂的后端铰接所述保护机构;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;
    所述第三支杆为可伸缩的第三支杆,两个所述第三支杆下端分别铰接在两个所述安装片外侧;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;
    所述支撑杆的数量为一个,所述支撑杆—端与所述伸缩臂中间铰接,另一端与所述机架铰接。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.
  8. 如权利要求7所述的站立康复轮椅车,其特征在于,所述捆绑机构包括第二电机、缠绕带轮、挂钩、缠绕带和挂钩座,所述挂钩设置在所述保护机构外侧,所述挂钩座设置在所述膝盖支撑机构外侧,所述第二电机和控制装置电连接,所述第二电机设置在所述机架内侧,与所述缠绕带轮传动连接,所述缠绕带轮设置在所述机架外侧,所述缠绕带与所述缠绕带轮连接,所述缠绕带末端穿过所述挂钩,且悬挂在所述挂钩处;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;
    还包括穿戴装置,所述穿戴装置一部分与所述缠绕带相连,一部分与所述保护机构相连。Also included is a wearable device that is partially connected to the wrapping tape and a portion that is coupled to the protective mechanism.
  9. 如权利要求7所述的站立康复轮椅车,其特征在于,所述手把呈U型,且末端设置有按钮,所述按钮与所述支撑杆传动连接,用以控制所述支撑杆伸缩长度。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 .
  10. 如权利要求7所述的站立康复轮椅车,其特征在于,所述第三支杆为可伸缩的第三支杆。 A standing rehabilitation wheelchair according to claim 7, wherein said third strut is a retractable third strut.
  11. 如权利要求4或7任一所述的站立康复轮椅车,其特征在于,所述膝盖支撑机构包括两膝盖缓冲装置、膝盖支撑连接件和调节板,所述膝盖缓冲装置呈C型,每个所述膝盖缓冲装置后侧设置有所述调节板,所述膝盖支撑连接件固定在所述机架上,且两端分别向后延伸连接两个所述调节板。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.
  12. 如权利要求4或7任一所述的站立康复轮椅车,其特征在于,所述底盘后端向后延伸形成两个连接杆,两个所述连接杆呈V型;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;
    所述车轮包括两个主动轮和两个从动轮,所述从动轮设置在所述连接杆末端,两个所述主动轮分别设置在所述底盘两侧,且位于所述底盘前端,每一所述主动轮与一所述第一电机传动连接,所述第一电机设置在所述机架和所述主动轮之间,且与所述控制装置电连接。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.
  13. 如权利要求12所述的站立康复轮椅车,其特征在于,所述底盘上连接有两个脚踏板,每个所述脚踏板上均设置有重力传感器,所述重力传感器与所述控制装置电连接,所述控制装置上设置有显示屏,用以显示所述重力传感器检测到的重力数值。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.
  14. 如权利要求1所述的站立康复轮椅车,其特征在于,所述机架包括第一机架和第二机架,所述第一机架底端与所述底盘固定连接,所述第一机架和所述第二机架通过具有伸缩功能的调高机构连接,所述第二机架顶端与所述扶手机构和所述辅助站立机构铰接,并且所述第二机架通过支撑杆连接件与所述支撑杆铰接。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.
  15. 一种穿戴装置,所述穿戴装置被用于如权利要求1-14中任一项所述的站立康复轮椅车,其特征在于,所述穿戴装置包括:A wearable device for use in a standing rehabilitation wheelchair according to any one of claims 1 to 14, wherein the wearing device comprises:
    护腰带,所述护腰带两端可拆卸地连接,所述护腰带包裹住使用者的腰部后在使用者的腰部两侧与所述站立康复轮椅车的所述辅助站立机构可拆卸连接;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;
    护腿带,所述护腿带分别连接于所述护腰带左右两侧,所述护腿带从大腿外侧包裹住使用者的腿部,所述护腿带可拆卸地连接到所述站立康复轮椅车的所述辅助站立机构上,所述护腰带和所述护腿带露出使用者的臀部空间。 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.
  16. 如权利要求15所述的穿戴装置,其特征在于,所述护腰带两侧固定连接有安装件,所述护腰带包裹住使用者的腰部,所述安装件位于使用者的身体两侧,所述安装件与所述站立康复轮椅车的所述辅助站立机构可拆卸连接。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.
  17. 如权利要求15所述的穿戴装置,其特征在于,所述护腿带末端设有连接件,所述连接件与所述辅助站立机构可拆卸连接。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.
  18. 如权利要求15所述的穿戴装置,其特征在于,所述护腰带中间位置可拆卸地连接有护腰板。The wearing device according to claim 15, wherein the waist guard is detachably coupled to the waist guard at an intermediate position.
  19. 一种利用如权利要求15-18中任一项所述的穿戴装置站立或坐下的方法,其特征在于:A method of standing or sitting down using a wearable device according to any one of claims 15-18, characterized in that:
    使用所述穿戴装置结合所述辅助站立机构站立时,所述护腰带及所述护腿带与所述辅助站立机构形成三个或四个将使用者身体往前拉的拉力点,其中所述护腰带的两个拉力点支撑使用者的腰部,所述护腿带上的拉力点为一个或两个,所述护腿带上的拉力点支撑使用者的腿部,所述拉力点与所述站立康复轮椅车帮助使用者独自站立;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;
    使用所述穿戴装置结合所述辅助站立机构坐下时,所述护腰带及所述护腿带与所述辅助站立机构连接形成三个或四个斜向上的拉力点,其中所述护腰带的两个拉力点支撑使用者的腰部,所述护腿带上的拉力点为一个或两个,所述护腿带的拉力点支撑使用者的腿部,所述拉力点的拉力和座椅支撑力的效果一致。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.
  20. 一种利用如权利要求15-18中任一项所述的穿戴装置上厕所的方法,包括以下步骤:(1)从所述护腰带与所述护腿带露出的臀部空间中将裤子脱至所述护腿带上;(2)使用所述辅助站立机构辅助自己坐在马桶上;(3)将所述护腿带上的连接件与所述辅助站立机构分离,将裤子完全脱下;(4)上完厕所后,将裤子穿至所述护腿带的上方;(5)将所述护腿带上的连接件与所述辅助站立机构连接,然后利用所述站立康复轮椅车站立起来;(6)站立后从所述护腰带和所述护腿带露出的臀部空间中将裤子完全穿上。 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.
  21. 一种座椅机构,所述座椅机构设置在如权利要求1-14中任一项所述的站立康复轮椅车上,其特征在于,所述座椅机构包括: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:
    座垫与齿条机构,所述齿条机构位于所述座垫的下部且紧密相连;a seat cushion and a rack mechanism, the rack mechanism being located at a lower portion of the seat cushion and closely connected;
    伸缩杆,包括固定件和伸缩件,所述固定件与底部固定装置相连、所述伸缩件底端设置在所述固定件内部,顶端上设置有传动齿轮,通过所述传动齿轮与所述齿条机构的啮合实现所述伸缩件与所述座垫的活动连接,所述伸缩杆整体呈倾斜布置;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;
    第一驱动机构,位于所述伸缩杆的内部,且一端与所述固定件底部相连、另一端则与所述伸缩杆的顶部相连;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;
    传动组件,设置于所述伸缩件上,所述伸缩杆伸长和收缩时,所述传动组件让所述座垫与所述齿条机构向外或向内运动。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.
  22. 如权利要求21所述的座椅机构,其特征在于,所述传动组件位于所述伸缩件侧面,包括设置在述伸缩件顶部且与所述传动齿轮同轴安装的第一动力轮和设置在所述伸缩件底部的第二动力轮、与第一动力轮和第二动力轮连接的传送装置、固定安装于所述固定件顶部且穿过其上方传送装置的定位装置。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.
  23. 如权利要求22所述的座椅机构,其特征在于,所述第一动力轮和第二动力轮是链轮,所述传送装置是链条,所述定位装置是销轴,所述销轴穿过其上方的链节。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.
  24. 如权利要求21所述的座椅机构,其特征在于,还包括设置在所述固定件的顶部内侧的第一阻挡块和设置在所述伸缩杆的底部外侧的第二阻挡块。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.
  25. 一种下肢康复训练检测系统,所述下肢康复训练检测系统设置在如权利要求1-14中任一项所述的站立康复轮椅车上,其特征在于,所述下肢康复训练检测系统包括数据采集模块、与所述数据采集模块相连接的数据处理模块、与所述数据处理模块相连接的显示屏,所述显示屏上设置有与所述数据处理模块相连接的蹲起训练指令和/或站立训练指令;其中,所述数据采集模块采集运动数据,所述数据处理模块接收到训练指令时开始计算处理数据,所述显示屏显示结果。 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.
  26. 如权利要求25所述的下肢康复训练检测系统,其特征在于,所述数据处理模块包括指令接收单元、蹲起训练计算单元、计数转换单元、数据累积输出单元、站立训练计算单元和站立训练数据输出单元;其中,所述指令接收单元对指令进行接收、辨认和分类,所述蹲起训练计算单元判断使用者是否在做蹲起训练,所述计数转换单元计算使用者做蹲起训练的时间和次数并解释成波形,所述数据累积输出单元将使用者做蹲起训练的数据叠加并输出在显示屏,所述站立训练计算单元计算使用者做站立训练的数据,所述站立训练数据输出单元将站立训练的数据解释并输出到显示屏中。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.
  27. 如权利要求25所述的下肢康复训练检测系统,其特征在于,所述数据采集模块是压力检测设备或/和角度传感器,所述压力检测设备与做康复训练的使用者的下肢接触,所述角度传感器用来采集蹲起训练过程中所产生的角度变化数据。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.
  28. 如权利要求27所述的下肢康复训练检测系统,其特征在于,所述压力检测设备置于使用者的双脚下。The lower limb rehabilitation training detecting system according to claim 27, wherein said pressure detecting device is placed under the feet of the user.
  29. 如权利要求28所述的下肢康复训练检测系统,其特征在于,所述压力检测设备将使用者的双脚分成四个象限;其中第一象限检测患者右脚前半部的压力,第二象限检测患者右脚后半部的压力,第三象限检测患者左脚前半部的压力,第四象限检测患者左脚后半部的压力。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.
  30. 如权利要求25所述的下肢康复训练检测系统,其特征在于,所述显示屏中包括蹲起训练显示区域和站立训练显示区域,所述蹲起训练显示区域显示蹲起训练的数据,所述站立训练显示区域显示站立训练的数据。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.
  31. 如权利要求30所述的下肢康复训练检测系统,其特征在于,所述站立训练显示区域中包括感应使用者身体倾向的方向箭头。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.
  32. 如权利要求25-31中任一项所述的下肢康复训练检测系统,其特征在于,所述角度传感器设置于所述站立康复轮椅车的所述辅助站立机构上,所述压力检测设备设置于所 述站立康复轮椅车的脚踏板上,所述数据处理模块和显示屏设置于所述站立康复轮椅车的控制装置上。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.
  33. 一种检测蹲起训练的方法,所述检测蹲起训练的方法利用如权利要求25-32中任一项所述的下肢康复训练检测系统进行蹲起训练检测;其特征在于,所述方法包括以下步骤:(1)发出蹲起训练指令,(2)作为所述数据采集模块的压力检测设备检测使用者双脚的压力并将数据传输至数据处理模块;(3)数据处理模块计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图;(4)将使用者做蹲起训练的次数和力度波形及时间显示在显示屏中。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.
  34. 如权利要求33所述的检测蹲起训练的方法,其特征在于,所述数据处理模块使用时间与动态阈值结合分析计算法计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图,所述时间与动态阈值结合分析计算法是指,在经验时间值范围内采集到完整的波形且波峰的值在经验力值范围内则计为一次蹲起训练。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.
  35. 如权利要求34所述的检测蹲起训练的方法,其特征在于,所述经验时间值包括初始时间经验值t和实际时间经验值t1,所述经验力值包括初始经验力值D和实际经验力值D1,所述经验时间值t为8-12秒,所述初始经验力值D为250N,所述实际时间经验值t1为采集到的上一次蹲起训练的实际时间值t0通过计算公式t1=(1±0.2)*t0得出的数据,所述实际经验力值D1为采集到的上一次蹲起训练的实际力值D0通过计算公式D1=(1±0.2)*D0得出的数据。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.
  36. 如权利要求35所述的检测蹲起训练的方法,其特征在于,使用者通过所述站立康复轮椅车的辅助站立机构、穿戴装置和扶手站立在所述脚踏板上,抓住所述站立康复轮椅车的扶手,借助所述辅助站立机构的摆动功能做蹲起训练,所述下肢康复训练检测系统检测使用者做蹲起训练的时间和次数。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.
  37. 如权利要求36所述的检测蹲起训练的方法,其特征在于,包括以下步骤:(1)发出做蹲起训练指令;(2)所述压力检测设备检测使用者双脚的压力,所述角度传感器检 测所述辅助站立机构的摆动角度;(3)所述数据处理模块通过时间与动态阈值结合分析计算法及角度偏转法计算出使用者做蹲起训练的次数并将使用者的运动力转化为波形图;(5)将使用者做蹲起训练的次数和力度波形及时间显示在显示屏中。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.
  38. 如权利要求37所述的检测蹲起训练的方法,其特征在于,所述时间与动态阈值结合分析计算法是指在经验时间值范围内采集到完整的波形且波峰的值在经验力值范围内,所述角度偏转法是指在采集到一个完整波形的时间内所述辅助站立机构来回摆动大于50度,当所述数据处理模块中的数据满足上述两个条件时计为一次蹲起训练。 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. .
PCT/CN2017/096021 2016-08-24 2017-08-04 Standing rehabilitation wheelchair WO2018036369A1 (en)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN201610715530.3 2016-08-24
CN201610715530.3A CN106236422B (en) 2016-08-24 2016-08-24 A kind of standing rehabilitation wheelchair car
CN201611134353.6A CN107049626B (en) 2016-12-10 2016-12-10 A kind of chair mechanism and the standing rehabilitation wheelchair vehicle equipped with the chair mechanism
CN201611133736.1A CN108211244B (en) 2016-12-10 2016-12-10 Lower limb rehabilitation training detection system
CN201611134353.6 2016-12-10
CN201611134176.1 2016-12-10
CN201611133735.7 2016-12-10
CN201611133735.7A CN108211243B (en) 2016-12-10 2016-12-10 A kind of detection of lower limb rehabilitation training detection system squats up trained method
CN201611134176.1A CN108606863B (en) 2016-12-10 2016-12-10 Wearable device and method for realizing self-care of life by using same
CN201611133736.1 2016-12-10
CN201720909401.8 2017-07-25
CN201720909401 2017-07-25

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CN111297530A (en) * 2020-01-20 2020-06-19 深圳市丞辉威世智能科技有限公司 Limb auxiliary training method, device, control terminal and readable storage medium
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CN113975101A (en) * 2021-12-06 2022-01-28 常生 Upper limb orthopedic rehabilitation training chair
CN114053046A (en) * 2021-12-15 2022-02-18 杭州电子科技大学 Wheeled outdoor hard and soft coupling shank rehabilitation device
CN114404119A (en) * 2022-01-14 2022-04-29 南昌大学第一附属医院 Intelligent sitting posture correction wheelchair suitable for patients with spinal cord injury
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CN114917548A (en) * 2022-06-14 2022-08-19 浙江科技学院 Sports equipment for rehabilitation training
CN115462980A (en) * 2022-09-26 2022-12-13 和也健康科技有限公司 Supplementary machine people that supports of standing well
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CN108339239A (en) * 2018-04-14 2018-07-31 温州大学 Multi-functional leg pressing auxiliary device and its control system
CN108853909A (en) * 2018-08-08 2018-11-23 江苏苏云医疗器材有限公司 Rehabilitation training equilibristat
CN109199718A (en) * 2018-10-30 2019-01-15 西安星球通智能装备技术有限公司 A kind of intelligent wheel chair and its control method with recovery function
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CN109350380A (en) * 2018-11-30 2019-02-19 湖南华瑞达生物科技有限公司 A kind of Novel rehabilitation exercise electric vehicle
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CN109602575B (en) * 2019-01-07 2024-01-02 河南翔宇医疗设备股份有限公司 Universal-support deflection flat plate rehabilitation training device
CN110859721A (en) * 2020-01-03 2020-03-06 南京工程学院 Device capable of assisting in putting on and taking off trousers
CN111297530A (en) * 2020-01-20 2020-06-19 深圳市丞辉威世智能科技有限公司 Limb auxiliary training method, device, control terminal and readable storage medium
CN112999582A (en) * 2021-03-04 2021-06-22 四川大学锦城学院 Dance training is with waist device down with supplementary protective effect
CN112999582B (en) * 2021-03-04 2023-07-18 四川大学锦城学院 Dance training is with lower waist device with supplementary protective effect
CN113101080B (en) * 2021-04-12 2022-04-19 张丽萍 Ware of rising is used in nursing after surgery suitable for old patient
CN113101080A (en) * 2021-04-12 2021-07-13 张丽萍 Ware of rising is used in nursing after surgery suitable for old patient
CN113350060A (en) * 2021-04-25 2021-09-07 宁波工程学院 Intelligent standing assisting wheelchair
CN113101152B (en) * 2021-04-30 2023-05-12 苏州国科医工科技发展(集团)有限公司 Anti-falling sitting and standing dual-purpose rollator
CN113101152A (en) * 2021-04-30 2021-07-13 永康国科康复工程技术有限公司 Fall-proof, fall-proof, sitting and standing dual-purpose walking-aid vehicle
CN113662818A (en) * 2021-09-22 2021-11-19 杭州科技职业技术学院 Multifunctional power-assisted walking aid rehabilitation device for disabled
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CN113827446A (en) * 2021-10-31 2021-12-24 清华大学 Lower limb bedside exercise rehabilitation device
CN113975101A (en) * 2021-12-06 2022-01-28 常生 Upper limb orthopedic rehabilitation training chair
CN113975101B (en) * 2021-12-06 2024-03-29 姜林凯 Upper limb orthopedics rehabilitation training chair
CN114053046A (en) * 2021-12-15 2022-02-18 杭州电子科技大学 Wheeled outdoor hard and soft coupling shank rehabilitation device
CN114432086B (en) * 2021-12-15 2023-07-11 重庆医科大学附属永川医院 Portable low limbs rehabilitation training device based on internet
CN114432086A (en) * 2021-12-15 2022-05-06 重庆医科大学附属永川医院 Portable lower limb rehabilitation training device based on internet
CN114404119A (en) * 2022-01-14 2022-04-29 南昌大学第一附属医院 Intelligent sitting posture correction wheelchair suitable for patients with spinal cord injury
CN114470639B (en) * 2022-02-28 2022-11-15 深圳大学 Artificial intelligence-based pre-school-age child exercise rehabilitation device
CN114470639A (en) * 2022-02-28 2022-05-13 深圳大学 Artificial intelligence-based pre-school-age child movement rehabilitation device
CN114917548A (en) * 2022-06-14 2022-08-19 浙江科技学院 Sports equipment for rehabilitation training
TWI823579B (en) * 2022-09-21 2023-11-21 英華達股份有限公司 Wheelchair for correcting sitting posture
CN115462980A (en) * 2022-09-26 2022-12-13 和也健康科技有限公司 Supplementary machine people that supports of standing well

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