CN101642404A - Adjustable sitting up and standing assist device - Google Patents
Adjustable sitting up and standing assist device Download PDFInfo
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- CN101642404A CN101642404A CN200910072417A CN200910072417A CN101642404A CN 101642404 A CN101642404 A CN 101642404A CN 200910072417 A CN200910072417 A CN 200910072417A CN 200910072417 A CN200910072417 A CN 200910072417A CN 101642404 A CN101642404 A CN 101642404A
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 17
- 230000002441 reversible effect Effects 0.000 claims abstract description 7
- 230000003028 elevating effect Effects 0.000 claims 2
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000016285 Movement disease Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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Abstract
本发明提供了一种可调式起坐站立辅助装置。包括升降控制面板(7)、车体(2)、驱动轮(4)、万向轮(3)、驱动轮电机(5)、可翻转座位(6)、升降装置(1)，升降装置包括由连接螺栓(1－11)与车体连接的框架(1－10)、安装在框架上的蜗轮蜗杆减速器(1－8)、与蜗轮蜗杆减速器连接的直流电机(1－7)、穿过蜗轮蜗杆减速器的丝杠(1－9)、安装在框架上由连杆以及销轴组成的剪叉机构(1－5)、安装在框架底部的万向轮(1－6)、与剪叉机构顶端连接的升降平台(1－4)、安装在升降平台上的鞍座轴(1－3)和鞍座(1－2)、与鞍座靠背连接的皮带(1－1)。可以按照自身的身高和意愿自由调节以辅助自身起坐、站立、下蹲等。
The invention provides an adjustable sit-up and stand assist device. Including lifting control panel (7), car body (2), driving wheel (4), universal wheel (3), driving wheel motor (5), reversible seat (6), lifting device (1), the lifting device includes The frame (1-10) connected to the car body by connecting bolts (1-11), the worm gear reducer (1-8) installed on the frame, the DC motor (1-7) connected with the worm reducer, The lead screw (1-9) passing through the worm gear reducer, the scissor mechanism (1-5) composed of connecting rod and pin shaft installed on the frame, the universal wheel (1-6) installed at the bottom of the frame, Lifting platform (1-4) connected to the top of the scissor mechanism, saddle shaft (1-3) and saddle (1-2) installed on the lifting platform, belt (1-1) connected to the back of the saddle . It can be adjusted freely according to your own height and wishes to assist yourself in sitting up, standing, squatting, etc.
Description
(一)技术领域 (1) Technical field
本发明涉及的是一种专门适用于病人或残疾人的辅助行走工具，是一种起坐站立辅助装置，特别是一种可以根据人体身高以及使用者的意愿自由调节起坐站立位置的辅助装置。The invention relates to an auxiliary walking tool specially suitable for patients or disabled persons, and is an auxiliary device for sitting up and standing, especially an auxiliary device that can freely adjust the position of sitting up and standing according to the height of the human body and the wishes of the user. .
(二)背景技术 (2) Background technology
随着科技进步和人民生活水平的提高，我国和世界上许多国家一样，正在步入老龄化。在老龄人群中有大量的脑血管疾病或神经系统疾病患者，这类患者多伴偏瘫或截瘫症状，导致下肢肢体运动障碍；另外，还有由于交通事故等其它原因导致的下肢肢体障碍患者人数也居多。一种可以辅助人体行走的器械可以满足该部分人群的需求，而起坐站立辅助装置是该类器械的关键部分。With the advancement of science and technology and the improvement of people's living standards, my country, like many countries in the world, is aging. Among the elderly population, there are a large number of patients with cerebrovascular diseases or nervous system diseases. Most of these patients are accompanied by hemiplegia or paraplegia symptoms, resulting in movement disorders of lower limbs; mostly. A device that can assist the human body to walk can meet the needs of this group of people, and an assisting device for sitting up and standing is a key part of this type of device.
该专利实际为已申请专利多功能助残机器人(200710071877.X)的腰带助力机构(辅助站立装置)的改进与补充，原辅助装置主要通过吊绳与腰带连接，由腰带辅助人体起坐、站立。通过下肢肢体障碍患者的实际应用试验，发现该装置会给患者带来不舒适感，且在辅助行走的过程中会使患者出现左右摇晃，后仰等问题。This patent is actually the improvement and supplement of the belt booster mechanism (assistant standing device) of the patented multifunctional robot for assisting the disabled (200710071877.X). Through the actual application test of patients with lower limb limb impairment, it is found that the device will bring discomfort to the patients, and it will cause the patients to shake from side to side and lean back during the process of assisting walking.
目前，在国内外现有技术中，辅助站立的装置主要是吊绳悬吊的方式实现人体站立功能。如国外专利(专利号WO03035184)CLOSED-LOOP FORCECONTROLLED BODY WEIGHT SUPPORT SYSTEM，以及中国专利(申请号200580000667.0)结合动力运动板使用的辅助站立机构等都属于吊绳悬吊方式。所以在实际应用于辅助残疾人患者行走的过程中都会出现上述的问题。本发明有效地解决了这些问题。At present, in the prior art at home and abroad, the device for assisting standing is mainly to realize the human body standing function by means of suspension rope suspension. Such as the foreign patent (patent number WO03035184) CLOSED-LOOP FORCE CONTROLLED BODY WEIGHT SUPPORT SYSTEM, and the Chinese patent (application number 200580000667.0) combined with the auxiliary standing mechanism used by the power sports board, etc., all belong to the sling suspension method. Therefore, the above-mentioned problems will appear in the process of actually being used to assist disabled patients to walk. The present invention effectively solves these problems.
(三)发明内容 (3) Contents of the invention
本发明的目的在于提供一种可以根据人体身高以及使用者的意愿自由调节起坐站立位置的可调式起坐站立辅助装置。The object of the present invention is to provide an adjustable sit-up and stand assisting device that can freely adjust the sit-up and stand positions according to the height of the human body and the user's wishes.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
可调式起坐站立辅助装置的组成包括升降控制面板7(可根据患者实际情况配置在合适的位置)、车体2、安装在车体底部的驱动轮4和万向轮3、安装在车体上并与驱动轮相连的驱动轮电机5、安装在车体上的可翻转座位6；在车体的正中间连接升降装置1，所述的升降装置包括由连接螺栓1-11与车体连接的框架1-10、安装在框架上的蜗轮蜗杆减速器1-8、与蜗轮蜗杆减速器连接的直流电机1-7、穿过蜗轮蜗杆减速器的丝杠1-9、安装在框架上由连杆以及销轴组成的剪叉机构1-5、安装在框架底部的万向轮1-6、与剪叉机构顶端连接的升降平台1-4、安装在升降平台上的鞍座轴1-3和鞍座1-2、与鞍座靠背连接的皮带1-1。The composition of the adjustable sitting-up and standing auxiliary device includes a lifting control panel 7 (which can be configured in a suitable position according to the actual situation of the patient), a car body 2, a
本发明还可以包括：The present invention may also include:
1、鞍座1-2的座位宽度适宜人体以骑坐的方式坐在鞍座上。1. The seat width of the saddle 1-2 is suitable for the human body to sit on the saddle in a riding mode.
2、鞍座1-2与鞍座轴1-3转动副连接，鞍座可绕鞍座轴转动，由车体2限制转动范围。2, the saddle 1-2 is connected with the saddle shaft 1-3 rotating pair, the saddle can rotate around the saddle shaft, and the range of rotation is limited by the car body 2.
3、升降装置1整体可以由连接螺栓1-11与车体连接，也可以单独分离。3. The lifting device 1 as a whole can be connected with the car body by connecting bolts 1-11, or can be separated separately.
4、可翻转座位6与车体转动副连接，可以绕转动轴左右翻转。4, the
5、框架1-10与升降平台1-4上具有移动滑槽以及圆孔，与相应的各连杆以及销轴形成相应的转动副和移动副，共同组成剪叉机构升降装置，可由直流电机1-7通过蜗轮蜗杆减速器1-8驱动丝杠直线运动使剪叉机构升降装置升降运动。5. The frame 1-10 and the lifting platform 1-4 have a moving chute and a round hole, which form a corresponding rotating pair and a moving pair with the corresponding connecting rods and pin shafts, and together form a scissor mechanism lifting device, which can be driven by a DC motor 1-7 drives the lead screw to move linearly through the worm gear reducer 1-8 to make the lifting device of the scissor mechanism move up and down.
当整体系统处于图4所示状态时，使用者坐在座位上，由皮带使人体上身与鞍座相对固定，这时整体系统可以当电动轮椅使用。当使用者按下升降控制面板7(可根据患者实际情况配置在合适的位置)的上升按钮时，直流电机驱动丝杆直线运动，进而驱动剪叉机构使得鞍座上升，随着鞍座的上升使用者骑坐在鞍座上，使用者可以按照自己的身高自由调节站立的位置，在上升的过程中，使用者可以翻起可翻转座位，处于如图5所示的状态。这时，如果在车体两侧配置六杆仿人步态助力行走机构(申请号：200810137092.2)，可以有效得辅助肢体障碍者、老人等使用者行走。当使用者按下下降按钮时，升降装置自动下降，可以调节到人体起坐、下蹲的各个位置，对使用者起到有效的锻炼的作用。When the overall system is in the state shown in Figure 4, the user sits on the seat, and the upper body of the human body is relatively fixed with the saddle by the belt, and at this moment the overall system can be used as an electric wheelchair. When the user presses the up button on the lifting control panel 7 (which can be arranged in a suitable position according to the actual situation of the patient), the DC motor drives the screw to move linearly, and then drives the scissor mechanism to make the saddle rise. The user rides on the saddle, and the user can freely adjust the standing position according to his own height. During the ascent, the user can turn up the reversible seat, which is in the state shown in Figure 5. At this time, if a six-bar humanoid gait assist walking mechanism (application number: 200810137092.2) is arranged on both sides of the car body, it can effectively assist users such as physically handicapped people and the elderly to walk. When the user presses the down button, the lifting device automatically descends and can be adjusted to various positions of the human body such as sitting up and squatting down, thereby effectively exercising the user.
(四)附图说明(4) Description of drawings
图1是本发明的整体结构的三维示意图。Fig. 1 is a three-dimensional schematic diagram of the overall structure of the present invention.
图2是本发明的升降装置的三维示意图。Fig. 2 is a three-dimensional schematic diagram of the lifting device of the present invention.
图3是升降装置的原理图。Figure 3 is a schematic diagram of the lifting device.
图4是本发明使人体处于坐态时的三维图。Fig. 4 is a three-dimensional view of the present invention when the human body is in a sitting state.
图5是本发明使人体处于站立状态时的三维图。Fig. 5 is a three-dimensional view of the present invention when the human body is in a standing state.
图6表明了本发明使人体处于站立状态时，鞍座的转动范围。Fig. 6 has shown the rotation range of the saddle when the present invention makes the human body stand.
(五)具体实施方式 (5) Specific implementation methods
下面结合附图举例对本发明做更详细地描述：The present invention is described in more detail below in conjunction with accompanying drawing example:
本发明的核心装置是升降装置，主要功能辅助使用者起坐站立。基于可移动的车体，两侧配置六杆仿人步态助力行走机构(申请号：200810137092.2)，可有效地辅助肢体障碍者、老人等使用者行走。所以，本发明也是对已申请专利多功能助残机器人(200710071877.X)的腰带助力机构(辅助站立装置)的改进与补充。The core device of the present invention is a lifting device, the main function of which is to assist the user to sit up and stand up. Based on the movable car body, the six-bar humanoid gait assist walking mechanism (application number: 200810137092.2) is equipped on both sides, which can effectively assist users such as physically handicapped and the elderly to walk. Therefore, the present invention is also an improvement and supplement to the waist belt booster mechanism (assistant standing device) of the patented multifunctional robot for assisting the disabled (200710071877.X).
结合图1本发明基于车体2实现自由移动，在车体底部安装有驱动轮4和万向轮3，驱动轮电机5与驱动轮相连，通过驱动轮的转动与差速实现车体的移动以及左右转弯，在车体上还安装有可翻转座位6。In conjunction with Fig. 1, the present invention realizes free movement based on the car body 2, a
结合图1和图2，在车体的正中间连接升降装置1，所述的升降装置包括由连接螺栓1-11与车体连接的框架1-10、安装在框架上的蜗轮蜗杆减速器1-8、与蜗轮蜗杆减速器连接的直流电机1-7、穿过蜗轮蜗杆减速器的丝杠1-9、安装在框架上由连杆以及销轴组成的剪叉机构1-5、安装在框架底部的万向轮1-6、与剪叉机构顶端连接的升降平台1-4、安装在升降平台上的鞍座轴1-3和鞍座1-2、与鞍座靠背连接的皮带1-1。1 and 2, a lifting device 1 is connected in the middle of the car body, and the lifting device includes a frame 1-10 connected to the car body by connecting bolts 1-11, a worm gear reducer 1 installed on the frame -8, the DC motor 1-7 connected with the worm gear reducer, the lead screw 1-9 passing through the worm gear reducer, the scissor mechanism 1-5 composed of connecting rod and pin shaft installed on the frame, installed on Universal wheels 1-6 at the bottom of the frame, lifting platform 1-4 connected to the top of the scissor mechanism, saddle shaft 1-3 and saddle 1-2 installed on the lifting platform, belt 1 connected to the back of the saddle -1.
结合图2和图3，升降装置的原理是这样实现的：当直流电机1-7转动时，驱动蜗轮蜗杆减速器，由减速器的转动驱动丝杠1-9做直线运动，丝杆的端部驱动剪叉机构1-5的低端销轴在滑槽中做直线运动，从而使得安装在升降平台上的鞍座1-3上下移动。Combining Figure 2 and Figure 3, the principle of the lifting device is realized in this way: when the DC motor 1-7 rotates, the worm gear reducer is driven, and the screw 1-9 is driven by the rotation of the reducer to make a linear motion, and the end of the screw rod The low-end pin shaft of the part drives the scissor mechanism 1-5 to do linear motion in the chute, thereby making the saddle 1-3 installed on the lifting platform move up and down.
当整体系统处于图4所示状态时，使用者坐在座位上，由皮带使人体上身与鞍座相对固定，这时整体系统可以当电动轮椅使用。当使用者按下升降控制面板7(可根据患者实际情况配置在合适的位置)的上升按钮时，直流电机驱动丝杆直线运动，进而驱动剪叉机构使鞍座上升，随着鞍座的上升使用者骑坐在鞍座上，使用者可以按照自己的身高自由调节站立的位置，在上升的过程中，使用者可以翻起可翻转座位，处于如图5所示的状态。When the overall system is in the state shown in Figure 4, the user sits on the seat, and the upper body of the human body is relatively fixed with the saddle by the belt, and at this moment the overall system can be used as an electric wheelchair. When the user presses the up button on the lifting control panel 7 (which can be arranged in a suitable position according to the actual situation of the patient), the DC motor drives the screw to move linearly, and then drives the scissor mechanism to make the saddle rise. The user rides on the saddle, and the user can freely adjust the standing position according to his own height. During the ascent, the user can turn up the reversible seat, which is in the state shown in Figure 5.
这时，如果在车体两侧配置六杆仿人步态助力行走机构(申请号：200810137092.2)，可以有效地辅助肢体障碍者、老人等使用者行走。当使用者按下下降按钮时，升降装置自动下降，可以调节到人体起坐、下蹲的各个位置，对使用者起到有效的锻炼作用。At this time, if a six-bar humanoid gait power-assisted walking mechanism (application number: 200810137092.2) is arranged on both sides of the car body, it can effectively assist users such as physically handicapped people and the elderly to walk. When the user presses the down button, the lifting device automatically descends and can be adjusted to various positions of the human body such as sitting up and squatting down, thereby effectively exercising the user.
结合图6，当使用者处于站立的状态时，由于鞍座可以在一定的范围内绕鞍座轴转动，所以使用者也可以在手的扶持作用下随着鞍座的转动使上身绕腰部摇动。Referring to Figure 6, when the user is in a standing state, since the saddle can rotate around the saddle axis within a certain range, the user can also swing the upper body around the waist with the support of the hand as the saddle rotates .
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| CN2009100724178A CN101642404B (en) | 2009-07-01 | 2009-07-01 | Adjustable sit-up aid |
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| CN2009100724178A CN101642404B (en) | 2009-07-01 | 2009-07-01 | Adjustable sit-up aid |
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| CN102370550A (en) * | 2010-08-05 | 2012-03-14 | 苏芳庆 | Intelligent shifting and standing carrier |
| CN102429786A (en) * | 2011-10-11 | 2012-05-02 | 上海理工大学 | Angle controllable reclining and vertical electrical wheelchair with any sitting postures |
| WO2013067762A1 (en) * | 2011-11-11 | 2013-05-16 | Lu Yafei | Zipper type upper cross beam lifting device of door frame shaped walking aid |
| JP2013180063A (en) * | 2012-03-01 | 2013-09-12 | Kyb Co Ltd | Walking assist device |
| CN103519954A (en) * | 2013-10-25 | 2014-01-22 | 罗晓君 | Defecation mechanism on bed |
| CN104274283A (en) * | 2013-07-12 | 2015-01-14 | 山东科技大学 | Chair assisting in getting up and sitting |
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| CN107456361A (en) * | 2017-09-26 | 2017-12-12 | 新泰市中医院 | A kind of hemiplegia patients ' recovery walking aid device |
| CN108524185A (en) * | 2018-01-11 | 2018-09-14 | 北京大学深圳医院（北京大学深圳临床医学院） | A kind of rehabilitation nursing device |
| CN112188879A (en) * | 2018-05-31 | 2021-01-05 | 塔马齐工业株式会社 | Walking auxiliary chair |
| CN113171273A (en) * | 2021-04-22 | 2021-07-27 | 南京林业大学 | An ergonomic rehabilitation standing training equipment |
| CN113500628A (en) * | 2021-07-07 | 2021-10-15 | 浙江齐步智能科技有限公司 | Automatic standing mechanism for robot falling |
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| CN102370550A (en) * | 2010-08-05 | 2012-03-14 | 苏芳庆 | Intelligent shifting and standing carrier |
| CN102429786A (en) * | 2011-10-11 | 2012-05-02 | 上海理工大学 | Angle controllable reclining and vertical electrical wheelchair with any sitting postures |
| WO2013067762A1 (en) * | 2011-11-11 | 2013-05-16 | Lu Yafei | Zipper type upper cross beam lifting device of door frame shaped walking aid |
| JP2013180063A (en) * | 2012-03-01 | 2013-09-12 | Kyb Co Ltd | Walking assist device |
| CN104274283A (en) * | 2013-07-12 | 2015-01-14 | 山东科技大学 | Chair assisting in getting up and sitting |
| CN104274283B (en) * | 2013-07-12 | 2016-12-28 | 山东科技大学 | A kind of chair having assisted seat |
| CN103519954A (en) * | 2013-10-25 | 2014-01-22 | 罗晓君 | Defecation mechanism on bed |
| CN106080903A (en) * | 2014-12-25 | 2016-11-09 | 李陈 | A kind of intelligent electric wheelbarrow |
| CN105287123A (en) * | 2015-11-20 | 2016-02-03 | 合肥工业大学 | Rehabilitation wheelchair |
| CN105769033A (en) * | 2016-04-08 | 2016-07-20 | 高峰 | Lifting assisting device of toilet bowl |
| CN106264908A (en) * | 2016-07-26 | 2017-01-04 | 魏会芳 | A kind of novel patient's moving bearing device |
| CN106264908B (en) * | 2016-07-26 | 2018-02-06 | 尚东平 | A kind of new patient's moving bearing device |
| CN107456361A (en) * | 2017-09-26 | 2017-12-12 | 新泰市中医院 | A kind of hemiplegia patients ' recovery walking aid device |
| CN108524185A (en) * | 2018-01-11 | 2018-09-14 | 北京大学深圳医院（北京大学深圳临床医学院） | A kind of rehabilitation nursing device |
| CN108524185B (en) * | 2018-01-11 | 2020-08-07 | 北京大学深圳医院（北京大学深圳临床医学院） | Rehabilitation nursing device |
| CN112188879A (en) * | 2018-05-31 | 2021-01-05 | 塔马齐工业株式会社 | Walking auxiliary chair |
| US11337884B1 (en) | 2020-11-17 | 2022-05-24 | David R. Kovatch | Apparatus allowing a user to make leaping strides while walking or running |
| CN113171273A (en) * | 2021-04-22 | 2021-07-27 | 南京林业大学 | An ergonomic rehabilitation standing training equipment |
| CN113500628A (en) * | 2021-07-07 | 2021-10-15 | 浙江齐步智能科技有限公司 | Automatic standing mechanism for robot falling |
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| CN101642404B (en) | 2011-08-03 |
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