CN101828995B - Electric mobility wheelchair with a sit-up mechanism - Google Patents

Abstract

The invention aims at providing an electrical walking aid wheel chair with a sitting-up mechanism, comprising: a wheel chair frame, a driving wheel, a universal wheel, a driving motor, lifting mechanisms, a driving device of the lifting mechanisms and leg aid mechanisms, wherein the lifting mechanisms and the driving devices of the lifting mechanisms are mounted in the middle of the wheel chair frame, and the leg aid mechanisms are mounted on left and right sides of the wheel chair. The control of the lifting mechanisms can be realized only by a motor, thereby the legs of the patient is driven to carry out the sitting-up rehabilitation training. With the help of the leg aid mechanisms, the legs of the patient can also be driven to carry out the walking aid rehabilitation training; the lifting seat can be slightly adjusted forwards or backwards in the training process, and has certain smoothness with the patient, so that the discomfort of the patient is avoided. The invention has simple operation, so that the patient can carry out the independent rehabilitation training indoors or outdoors.

Description

Electric mobility wheelchair with a sit-up mechanism

technical field

The invention relates to a mechanical mechanism, specifically a mechanical mechanism applied in the field of rehabilitation medicine.

Background technique

With the decline of physiological functions, especially the deterioration of lower limb muscle strength, most elderly people tend to have the ability to walk but not to stand. Many elderly people with walking ability are trapped in chairs because of lack of standing ability. With the aging of the population in China, it is common for many elderly people to have difficulty standing. The main function of the rehabilitation training robot is to drive the patient's limb movement through the robot, and perform rehabilitation training on the motor function of the patient with limb movement disorder. As an automatic rehabilitation medical device, it is based on medical theory and helps patients to carry out scientific and effective rehabilitation training, so that the patient's motor function can be better restored.

At present, there is a lack of research on the sit-up mechanism of electric mobility wheelchairs both at home and abroad. The relevant patents at home and abroad mainly include the following types:

The patent application number is 200520109170.X and the patent name is "Standing Rehabilitation Wheelchair". The utility model can not carry out rehabilitation walking training. The utility model whose patent application number is 03246351.0 and whose patent title is "seat liftable electric wheelchair" cannot make the patient reach the state of standing.

Contents of the invention

The object of the present invention is to provide an electric walking-assisting wheelchair with a sitting-up mechanism that can assist patients with lower limbs to carry out walking-aid rehabilitation training in a standing state, and can also perform independent sitting-up training.

The purpose of the present invention is achieved like this:

The electric walking aid wheelchair with a sitting mechanism of the present invention comprises a wheelchair frame, a driving wheel, a universal wheel and a driving motor, and is characterized in that: it also includes a lifting mechanism and a driving device of the lifting mechanism; The driving device is installed in the middle of the wheelchair frame; the lifting mechanism includes slide rails, sliders, back boards, back brackets, lifting seats, seat boards, beams, vertical beams, travel switches, safety belts, tension springs, and the lifting seats are installed on On the first slider, the first slider is installed on the first slide rail, a tension spring is respectively installed between the two ends of the first slider and the limit plate, the safety belt is fixed on the backboard, and the backboard is installed on the backrest On the bracket, the backrest bracket is fixed on the second slider on the second slide rail, the second slide rail is fixed on the slider bracket on the third slider, the third slider is installed on the third slide rail, and the seat plate It is fixed on the beam, and the first travel switch and the second travel switch are respectively installed on the upper end of the vertical beam and the end baffle of the third slide rail; the driving device of the lifting mechanism includes a driving motor, a wire rope, and a pulley. On the vertical beam below the board, the first wire rope goes around the first pulley installed on the vertical beam, one end of the first wire rope is fixed to the second pulley, and the other end is fixed to the slider on the third slider On the bracket, the third passing wheel is installed on the slider bracket of the third slider, one end of the second steel wire rope is fixed on the pin shaft of the vertical beam, and the other end is fixed on the suspension ring under the lifting seat, the fourth passing wheel and The fifth passing wheel is respectively installed on the slide rail support beam and the slide rail floor plate under the lift seat, one end of the third steel wire rope is fixed on the pin shaft on the end baffle of the vertical slide rail, and the other end is fixed on the suspension ring under the lift seat superior.

The electric walking aid wheelchair with a sitting mechanism of the present invention may also include:

The described electric walking aid wheelchair with a sitting-up mechanism also includes a leg assisting mechanism, which is installed on the left and right sides of the wheelchair; the leg assisting mechanism includes a driving motor, a worm gear reducer, a crank, a connecting rod, a rocker Install a worm reducer on the channel steel on the left and right sides of the wheelchair, respectively install drive motors on the two worm reducers, and install the crank on the output shaft of the worm reducer. The rocking bar is installed under the handrail, and one end of the rotating shaft is installed inside the connecting rod, and the other end is installed with a shaft sleeve.

The advantage of the present invention is that only one motor is needed to complete the control of the lifting mechanism, so as to realize rehabilitation training for patients with lower limbs to perform sit-up function. With the assistance of the leg assist mechanism, it is also possible to drive patients with lower extremities to carry out walking rehabilitation training. During the training process, the lifting seat can be adjusted forward and backward in a small amount, and the cooperation with people has a certain degree of flexibility to prevent patients from feeling uncomfortable. Patients can carry out individual rehabilitation training at home or outdoors, and the operation is simple.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the overall mechanism of the electric walking aid wheelchair with the sitting-up mechanism of the present invention;

Fig. 2 is a front view diagram of the overall structure of the electric walking aid wheelchair with a sitting mechanism of the present invention;

Fig. 3 is a left schematic diagram of the overall structure of the electric walking aid wheelchair with a sitting mechanism of the present invention;

Fig. 4 is the schematic diagram of lifting mechanism of the present invention;

Fig. 5 is a schematic diagram of the raising and lowering mechanism of the present invention.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example:

1-5, the present embodiment includes a wheelchair frame, a driving wheel and a universal wheel of the wheelchair, a driving motor of the driving wheel, a lifting mechanism, a driving device of the lifting mechanism and a leg assisting mechanism.

The driving device of lifting mechanism comprises driving motor 26, steel wire rope 21,28,32, and passing wheel 19,24,30,33,44. Drive motor 26 is installed on the vertical beam 20 below the seat, and one end of steel wire rope 28 is fixed on the passing wheel 19 on the motor output shaft, walks around the passing wheel 24 in the passing wheel seat 23 li that is installed on the vertical beam 20 , the other end is installed on the slider bracket 43 fixed to the vertical slider 42; a passing wheel 44 is installed on the slider bracket 43 of the vertical slider 42, and the wire rope 21 is fixed to the vertical beam by going around the passing wheel 44 On the bearing pin 22 of 20, the other end is fixed on the suspension ring 35 below the lift seat 14; a passing wheel 30 and 33 are respectively installed on the slide rail support beam 40 and the slide rail rib plate 31 below the lift seat 14, and the wire rope 32 walks around Two crossing wheels 30 and 33, one end is fixed on the bearing pin 29 that is installed on the vertical slide rail 25 end plate 17, and the other end is fixed on the suspension ring 36 below the lifting seat 14. When the driving motor 26 drives the wheel 19 to rotate, the steel wire rope 28 drives the lifting seat 14 to move in the vertical direction, and the steel wire rope 32 drives the lifting seat 14 to move in the horizontal direction, so that the lifting seat 14 forms an angle of 45 degrees with the ground. Movement in the direction of the machine, thus realizing the motion control of the lifting mechanism.

Lifting mechanism comprises slide rail 25,34,37, slide block 39,41,-42, backboard 8, backrest bracket 38, lifting seat 14, seat board 7, beam 5, vertical beam 20, travel switch 18,27, Safety belt 45, extension spring 47. The lifting seat 14 is installed on the slide block 39, and an extension spring 47 is respectively installed between the limit plates 46 at the two ends of the slide block 39 and the two ends of the slide rail 37, so that the lifting seat 14 can be adjusted forward and backward in a small amount, and the slide block 39 is installed To be fixed on the slide rail 37 on the backrest support 38; Safety belt 45 is fixed on the backrest board 8, prevents lower limb patient from leaning forward when carrying out rehabilitation training, backrest board 8 is installed on the backrest holder 38, and backrest holder 38 is fixed on Be installed on the slide block 41 on the horizontal main slide rail 34; The horizontal main slide rail 34 is fixed on the slide block support 43 that is installed on the vertical slide block 42, and the vertical slide block 42 is installed on the vertical slide rail 25; Seat plate 7 is welded on the crossbeam 5, on the end plate 17 of vertical beam 20 upper ends and vertical slide rail 25 respectively install a travel switch 18 and 27, when vertical slide block 42 hits travel switch 18 and 27 , the driving motor 26 stops rotating.

The leg assisting mechanism comprises a driving motor 9, a worm gear reducer 6, a crank 16, a connecting rod 15, a rocking bar 11, a rotating shaft 12, and an axle sleeve 13. The leg assist mechanism is mounted symmetrically on both sides of the wheelchair. The driving motor 9 and the worm gear reducer 6 are installed in cooperation. The worm gear reducer 6 is installed on the channel steel 2 on the left and right sides of the wheelchair. The crank 16 is installed on the output shaft of the worm gear reducer 6. Below, one end of the rotating shaft 12 is installed inside the connecting rod, and the other end is installed with a shaft sleeve 13 . The trajectory at the end of the rocker is used to simulate the movement trajectory of the thigh of a normal person when walking, and the rotation axis provides thrust to the patient, so as to realize the push and assist when the lower limb patient performs walking rehabilitation training.

Patients with lower limbs can operate independently when in use, and the control panel on the wheelchair can control every function of the wheelchair. When the patient is performing walking aid rehabilitation training, first the patient is seated on the lift seat 14 and the seat board 7, and the safety belt 45 is fastened to prevent the lower limb patient from leaning forward during the walking aid rehabilitation training, and the hand is held on the handrail 10, Then control the driving motor 26 of the lifting mechanism through the control panel to make oneself reach the state of standing, while the lifting mechanism plays a role in supporting the body, and finally start the walking-assisting function key to carry out walking-aiding rehabilitation training, and the patient can choose the walking-aiding that suits him Speed up rehabilitation training. During walking aid training, the lifting seat 14 can be adjusted forward and backward in a small amount, and the cooperation with people has a certain flexibility, so as to avoid the patient from feeling uncomfortable. After the rehabilitation training, the patient controls the drive motor 26 of the lifting mechanism by the control panel to get himself back to the sitting position.

Patients with lower extremities can also perform separate sit-up training. Under the state of sitting posture, at first the drive motor 3 of wheelchair drive wheel 4 is locked, and the drive wheel 4 of wheelchair and universal wheel 1 can't move thereby guaranteeing the safety of lower limb patient when carrying out sit-up training, hand is held on handrail 10 Then the patient controls the driving motor 26 of the lifting mechanism to perform sitting-up training through the control panel, and the patient can choose the lifting speed suitable for himself to carry out the sitting-up training.

Claims (2)

1. had the electronic walk help wheelchair of sitting mechanism, it comprises wheelchair frame, driving wheel, universal wheel and drive motors, it is characterized in that: the driving device that also comprises elevating mechanism and elevating mechanism; The driving device of elevating mechanism and elevating mechanism is installed in the centre position of wheelchair frame; Elevating mechanism comprises slide rail, slide block, backboard, back bracket, up-down seat, seat, crossbeam, vertical beam, travel switch, seat belt, extension spring; The up-down seat is installed on first slide block; First slide block is installed on first slide rail, and an extension spring respectively is installed between the first slide block two ends and limiting plate, and seat belt is fixed on the backboard; Backboard is installed on the back bracket; Back bracket is fixed on second slide block on second slide rail, and second slide rail is fixed on the slider bracket on the 3rd slide block, and the 3rd slide block is installed on the 3rd slide rail; Seat is fixed on the crossbeam, on the end stop of vertical beam upper end and the 3rd slide rail first travel switch and second travel switch is installed respectively; The driving device of elevating mechanism comprises drive motors, steel wire rope, the third wheel of elevating mechanism; The drive motors of elevating mechanism is installed on the vertical beam of seat below; First steel wire rope is walked around first third wheel that is installed on the vertical beam; One end of first steel wire rope is fixed on second third wheel, the other end is fixed on the slider bracket on the 3rd slide block; The 3rd third wheel is installed on the slider bracket of the 3rd slide block; One end of second steel wire rope is fixed on the bearing pin of vertical beam, the other end is fixed on the suspension ring below the up-down seat, and the 4th third wheel and five faults in diagnosis and treatment wheel are installed in respectively on the slide rail brace summer and slide rail floor below the up-down seat, and the 3rd steel wire rope one end is fixed on the bearing pin on the upright slide rail end stop, the other end is fixed on the suspension ring below the up-down seat.

2. the electronic walk help wheelchair of sitting mechanism that had according to claim 1, it is characterized in that: also comprise the shank servomechanism, the shank servomechanism is installed in the wheelchair left and right sides; The shank servomechanism comprises drive motors, turbine and worm decelerator, crank, connecting rod, rocking bar, turning cylinder, the axle sleeve of shank servomechanism; A turbine and worm decelerator respectively is installed on the channel-section steel of the wheelchair left and right sides; The drive motors of difference mounting leg servomechanism on two turbine and worm decelerators; Crank is installed on the output shaft of turbine and worm decelerator, and rocking bar is installed in below the handrail, and an end of turning cylinder is installed in connecting rod inside, the other end is installed axle sleeve.

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