CN105943263B - Can tri-state regulation lower limb recovery wheelchair - Google Patents

Abstract

The invention discloses a wheelchair device which can help patients perform lower limb rehabilitation training and can realize three-state adjustment, and is applied in the field of medical rehabilitation equipment. The mechanism includes a flexible adjustment mechanism arranged on the back of the chair, a three-state adjustment mechanism fixed on the base and connected to the back of the chair, a leg mechanism fixed on the three-state adjustment frame, and a set of auxiliary leg support system. The walking function part is driven by the push rod, and the bionic gait of the natural walking of the human body is simulated through the preset program to achieve the training effect. The leg auxiliary support system realizes the support of the legs in a sitting position through the cooperation of bevel gears, screw rods and support plates, and automatically moves backward in a standing position without affecting the work of the legs. The chair back adjustment mechanism has the function of multi-dimensional autonomous flexible adjustment, and can be adjusted according to the needs of users. The three-state adjustment mechanism can realize three posture adjustments of standing, sitting and lying down, providing patients with various posture training methods.

Description

Three-state adjustable lower limb rehabilitation wheelchair

technical field

The invention relates to the field of intelligent wheelchairs, in particular to a three-state adjustable lower limb rehabilitation wheelchair.

Background technique

Population aging, natural disasters and various accidents have caused a large number of vulnerable groups to need care. The recovery treatment of patients with inconvenient lower limbs often requires a long treatment cycle, and the recovery effect is not ideal. Exercise therapy is a common method of lower extremity rehabilitation. Traditional rehabilitation training involves the therapist manually driving the patient's lower limbs to perform exercise training, which is highly subjective, time-consuming and laborious, and the effect is not ideal. As an automated, precise, and intelligent medical device, lower limb rehabilitation institutions have strong advantages in providing continuous and quantitative rehabilitation training, which can effectively make up for the shortcomings of traditional rehabilitation methods. In my country, 300-400 million families Among them, families with disadvantaged groups who need nursing care account for about 1/10, or about 35.77 million. With the improvement of technology and quality of life, people are increasingly pursuing intelligent and humanized nursing products, and the market potential of rehabilitation nursing products is huge .

At present, most rehabilitation products on the market are bulky and inconvenient to move. Products that integrate lower limb rehabilitation functions and wheelchairs are still in a blank state. Designing a product that integrates rehabilitation functions and mobility is an urgent task.

Contents of the invention

The purpose of the present invention is to provide a three-state adjustable lower limb rehabilitation wheelchair, which integrates the lower limb rehabilitation function and mobility, so that the patient can realize lower limb rehabilitation exercise while moving on the wheelchair, simulating the real exercise situation , making patients' daily life more convenient.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The three-state adjustable lower limb rehabilitation wheelchair includes a base, the base is an electric wheelchair base, and the left and right sides of the electric wheelchair base are respectively equipped with armrest frames. It is characterized in that it also includes a three-state adjustment mechanism, a leg mechanism, a leg Auxiliary support mechanism, in which:

The top front ends of the left and right armrests of the electric wheelchair base are respectively provided with rotating connecting seats;

The three-state adjustment mechanism includes a pair of side frame edges arranged horizontally along the front and rear directions and symmetrical to each other, and a connecting frame vertically arranged between the rear inner sides of the two side frame edges, and the two side frame edges are placed in parallel one by one On the top of the left and right armrest frames of the electric wheelchair base, the front ends of each side frame are respectively connected to the corresponding rotary connection seat on the top of the armrest frame through the rotating shaft, and the top frame of the connecting frame is connected to the inner side of the rear end of the two side frames It is formed as a whole, and the base frame is composed of the top frame edge and the two side frame edges of the connecting frame. A connecting frame 1 extending downward is also connected between the inner sides of the two side frame edges. The electric wheelchair base is hinged with Push rod motor 1, the push rod of push rod motor 1 is hinged upward to the connecting frame 1, and also includes a chair back frame composed of a pair of vertical frame sides, the lower ends of the two vertical frame sides are hinged to the rear ends of the side frame sides one by one , a chair back adjustment mechanism is installed between the front sides of the two vertical frame sides, adjustable armrests are respectively connected horizontally forward on the outer sides of the two vertical frame sides, and a connecting frame extending backward is connected between the rear sides of the two vertical frame sides Two, the bottom frame of the connecting frame is hinged with push rod motor two, the push rod of push rod motor two is hinged upwards with the connecting frame two, each side frame is respectively rotated and connected with a seat back limit block on the outside of the rear end, and the seat back The limit block is provided with an arc-shaped limit notch, and the outer side of the lower end of each vertical frame edge is respectively provided with a limit stopper that slides and snaps into the limit notch in the limit block of the corresponding side seat back;

The leg mechanism includes a pair of thigh platforms arranged horizontally along the front-back direction and symmetrical to each other, and a pair of hip joint connectors. The two hip joint connectors are respectively installed at the left and right ends of the front side of the top frame edge of the connecting frame in the three-state adjustment mechanism. , the two thigh platforms are parallel to each other and close to the side frame of the three-state adjustment mechanism. Each thigh platform is connected horizontally with a seat cushion inward, and seat belts are respectively arranged on the seat cushion. The rear ends of the two thigh platforms are hinged on the On the hip joint joint, the front ends of the two thigh platforms are connected one by one through the rotation of the knee joint joint to connect with the calf support rod extending downward, the lower end of each calf support rod is respectively rotated and connected to the pedal, and the outer side of each thigh platform is respectively fixed with pushers. Rod motor 3, the push rod of each push rod motor 3 is respectively hinged horizontally and backward on the corresponding hip joint joint through the hip joint connecting rod, and the bottom of each thigh platform is respectively fixed with push rod motor 4, each push rod motor The four push rods are respectively horizontally forward through the knee joint connecting rod and hinged with the knee joint connecting piece on the corresponding side;

The leg auxiliary support mechanism includes base upper support rods respectively fixed on the top bottom surfaces of the two armrest frames of the electric wheelchair base, each base upper support rod bottom surface is respectively rotatably equipped with screw rods, and the central axis of the screw rods is along the front and back horizontal direction Setting, the screw rod is slidably installed with a support slider that forms a screw nut pair with the screw rod, and the bottom surface of each support slider extends horizontally inward and is supported on the bottom of the thigh platform in the corresponding side leg mechanism, and the front end of the screw rod The bevel gear at the output end is fixedly installed, and the outer front end of the support rod on the upper part of each base is respectively connected with a gear seat, and the coaxial rotation of the inner and outer sides of the gear seat is installed with a gear, wherein the gear inside the gear seat is the bevel gear at the input end, and the input end The bevel gear is meshed with the bevel gear at the output end, and the gear outside the gear seat is a cylindrical gear. In the three-state adjustment mechanism, sector gears are fixedly installed on the outer ends of the rotating shafts that are rotatably connected to the front end of each side frame edge and the rotating connection seat. The sector gear is meshed with the spur gear on the gear seat.

The three-state adjustable lower limb rehabilitation wheelchair is characterized in that: the chair back adjustment mechanism includes a vertically arranged outer frame, and the two vertical frame sides of the outer frame correspond to the chair back frame installed on the three-state adjustment mechanism. On the front side of the two vertical frame sides in the middle, a motor platform is horizontally connected in the middle between the two vertical frame sides of the outer frame, and a lifting support frame is horizontally arranged between the two vertical frame sides of the outer frame above and below the motor platform. The left and right ends of the lower side of the top frame of the outer frame are respectively installed with ball screws, and the ball screws installed on the top frame of the outer frame extend vertically to the top of the motor platform, and the two ends of the lifting support frame above the motor platform Slidingly installed on the ball screw on the corresponding side through the threaded through hole respectively to form a screw nut pair, the outer frame located between the lower end of the ball screw and the motor table rotates between the two vertical frame sides and the central axis is installed along the left and right horizontal directions The set rotating shaft, the left and right ends of the rotating shaft are respectively connected to the lower end of the ball screw on the corresponding side through a bevel gear mechanism. A stepping motor 1 is installed on the motor table, and the stepping motor 1 is connected to the rotating shaft through a worm gear. The rear side of the lifting support frame is rotated and installed with double reversed helical pair screws with the central axis along the left and right horizontal directions. The top of the lifting support frame above is equipped with a stepping motor 2, and the stepping motor 2 passes through the worm gear and the upper lifting support frame. The double reverse helix on the side is connected to the screw transmission. The left and right sides of the lifting support frame above are also slidingly fitted with adjusting sliders. The hole and the double reverse helical pair of screws on the rear side of the lifting bracket above constitute a screw nut pair; the left and right ends of the bottom surface of the motor table are also respectively rotated and installed with ball screws with a vertical center axis, located in the lift below the motor table. The two ends of the support frame are respectively slidably installed on the ball screw on the corresponding side of the bottom surface of the motor platform through threaded through holes to form a screw nut pair. The motor platform is provided with a stepping motor 3, and the stepping motor 3 passes through a bevel gear mechanism. It is connected with the upper end of one of the ball screw under the motor table, and the rotating shaft is installed between the lower ends of the two vertical frame sides of the outer frame. The left side and the right side of the lifting support frame below are respectively slidably fitted with adjusting sliders, and the front side of the adjusting sliders is also jointly connected with a support plate.

The three-state adjustable lower limb rehabilitation wheelchair is characterized in that: the chair back adjustment mechanism is driven by a ball screw to raise or lower the two lifting support frames to change the curvature of the chair back and realize longitudinal adjustment. The lifting support frame is provided with double reversed helical pairs of screws, and the stepper motor 2 rotates the double reversed helical pairs of screws through the reduction transmission of the worm gear, thereby driving the four adjustment sliders on the upper lifting support frame to face or separate each other to realize Lateral adjustment.

The three-state adjustable lower limb rehabilitation wheelchair is characterized in that: in the leg mechanism, the occupant sits on the cushion on the thigh platform, and when performing leg exercises, the push rod motor pulls the push rod three times, A pulling force acts on the hip joint joint, and the hip joint joint produces a reaction force on the thigh platform. The reaction force drives the thigh platform up through the hip joint connection rod, otherwise, the thigh platform descends. When the push rod motor pushes forward, the resulting The thrust pushes the calf support rod forward through the knee joint connecting rod, otherwise the calf support rod is retracted, and the linkage between the push rod motor three and the push rod motor four realizes the simulation of the natural gait of the human body.

The three-state adjustable lower limb rehabilitation wheelchair is characterized in that: the connecting frame on the base frame is L-shaped at both ends, and the recess corresponds to the leg mechanism in the standing posture, providing a place for the thigh platform to be installed. Leave a margin without interfering with leg movement.

The three-state adjustable lower limb rehabilitation wheelchair is characterized in that: the calf support rod has a two-stage structure, both parts are reserved with threaded holes, the two parts are fixed by bolts, and the length of the calf is adjustable.

The three-state adjustable lower limb rehabilitation wheelchair is characterized in that: the seat back limit block outside the rear end of the side frame in the base frame of the three-state adjustment mechanism is provided with an arc-shaped limit notch, and the chair back The limit block at the lower end of the vertical frame edge in the frame slides and inserts into the limit notch. The position of the limit stop is limited by the limit notch in the sitting position so that the angle between the cushion and the back of the chair is not less than 90°, and the seat cushion and the back of the chair are limited in the lying position The included angle is not more than 180°, which provides a guarantee for the safety of the occupants when the push rod motor fails.

The beneficial effects of the present invention are:

(1) Through the design of the three-state adjustment mechanism) and the leg mechanism, the mobility and rehabilitation functions are integrated on the same device.

(2) The position and posture can be adjusted. This equipment has various postures such as lying, sitting, and standing. When in use, the user can adjust the backrest, legs and other parts to the desired position according to their own needs.

(3) The gait is vivid and coordinated, providing sufficient power for the trainees at the initial stage of training, and realizing a bionic gait close to the natural walking of the human body.

(4) The flexible adjustment of the back of the chair. The rehabilitation robot can adaptively adjust the horizontal and vertical adjustments according to the different back curves of different people to achieve the best comfort state, and can use the best sitting posture information of different users Enter into the storage system, call out and use, convenient and concise;

(5) The walking action of the lower limbs is synchronized with the operation of the wheelchair, so that the trainer can be exposed to the real walking situation.

Description of drawings

Fig. 1 is a structural diagram of a three-state adjustable lower limb rehabilitation wheelchair according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the seat back adjustment mechanism of the embodiment of the present invention.

Fig. 3 is a schematic diagram of a three-state adjustment mechanism according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of the leg mechanism of the embodiment of the present invention.

Fig. 5 is a schematic diagram of the leg auxiliary support mechanism according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of the base mechanism of the embodiment of the present invention.

Fig. 7 is a schematic diagram of the standing posture of the embodiment of the present invention.

Fig. 8 is a schematic diagram of a lying position of an embodiment of the present invention.

Detailed ways

As shown in Figure 1, Figure 6, Figure 7, and Figure 8, the three-state adjustable lower limb rehabilitation wheelchair includes a base 1-1, the base 1-1 is an electric wheelchair base, and the left and right sides of the electric wheelchair base have armrests respectively Frame 1-1-6, the electric wheelchair base is driven by the wheelchair motor 1-1-4 installed by the motor mounting plate 1-1-3, the wheelchair motor 1-1-4 is powered by the battery 1-1-5, and also includes three State adjustment mechanism 1-3, leg mechanism 1-4, leg auxiliary support mechanism 1-5, wherein:

The left and right armrest frames 1-1-6 of the electric wheelchair base are respectively provided with rotating connecting seats 1-1-7 at the front end;

As shown in Figure 3, the three-state adjustment mechanism 1-3 includes a pair of side frame edges 3-8 arranged horizontally along the front and rear directions and symmetrical to each other, and a connection between the rear inner sides of the frame edges 3-8 arranged vertically. Frame 3-9, two side frame edges 3-8 are placed parallel to each other on the top of the left and right handrail frames 1-1-6 of the electric wheelchair base, and the front ends of each side frame edge 3-8 are respectively connected to the corresponding Armrest frame 1-1-6 top rotation connection seat 1-1-7 rotation connection, connection frame 3-9 its top frame edge 3-7 is connected between two side frame edges 3-8 rear end inner side and formed as a whole , by connecting frame 3-9 top frame edge 3-7, two side frame edges 3-8 constitute base frame 3-2, also connect between two side frame edges 3-8 inner side and be connected by connecting frame one that extends downwards 3-10, the rear side force beam 1-1-2 of the electric wheelchair base is hinged with a push rod motor one 3-4, and the push rod of the push rod motor one 3-4 is upwardly hinged with the connecting frame one 3-10. It includes a chair back frame 3-1 composed of a pair of vertical frame edges, the lower ends of the two vertical frame edges are hinged to the rear ends of the side frame edges 3-8 one by one, and a chair back is installed between the front sides of the two vertical frame edges. Adjusting mechanism 1-2, the outer sides of the two vertical frame sides are respectively horizontally connected with adjustable handrails 3-6 forward, and the rear sides of the two vertical frame sides are connected with a connecting frame 2 3-11 extending backward, connecting frame 3 -9 bottom frame limit is hinged with push rod motor two 3-3, and the push rod of push rod motor two 3-3 is upwardly hinged with connecting frame two 3-11, and each side frame limit 3-8 rear end outside is rotated and connected respectively with The seat back limit block 3-5, the seat back limit block 3-5 is provided with an arc-shaped limit notch, and the outer side of the lower end of each vertical frame edge is respectively provided with a sliding card to be inserted into the corresponding side seat back limit block 3 - the limit stopper in the limit notch in 5;

As shown in Figure 4, the leg mechanism 1-4 includes a pair of thigh platforms 4-9 arranged horizontally along the front-back direction and symmetrical to each other, a pair of hip joint connectors 4-1, and the two hip joint connectors 4-1 are respectively installed In the three-state adjustment mechanism 1-3, connect the front left and right ends of the top frame edge of the frame 3-9, and the two leg platforms 4-9 are parallel and close to the side frame edge 3-8 in the three-state adjustment mechanism 1-3. , each thigh platform 4-9 is horizontally connected with a seat cushion 4-2 inwardly, and seat belts 4-10 are respectively arranged on the seat cushion 4-2, and the rear ends of the two thigh platforms 4-9 are hinged to the hip joint connector one by one On 4-1, the front ends of the two leg platforms 4-9 correspond to each other through the knee joint connector 4-3 and are connected with a downwardly extending calf support rod 4-4, and the lower ends of each calf support rod 4-4 are respectively rotated and connected with Pedal 4-11, each thigh platform 4-9 outside is respectively fixed with push rod motor 3 4-7, and the push rod of each push rod motor 3 4-7 is respectively hinged on the rear by hip joint connecting rod 4-8 level On the corresponding hip joint connector 4-1, the bottom of each thigh platform 4-9 is respectively fixed with a push rod motor 4-6, and the push rod of each push rod motor 4-6 is respectively connected horizontally forward through the knee joint The rod 4-5 is hinged with the knee joint connector 4-3 on the corresponding side;

As shown in Figure 5, the leg auxiliary support mechanism 1-5 includes the base upper support rod 1-1-1 respectively fixed on the top bottom surface of the two armrest frames 1-1-6 of the electric wheelchair base, and each base upper support rod 1-1-1 1-1 The bottom surface of 1-1 is respectively installed with screw mandrel 5-5, the central axis of the screw mandrel 5-5 is set along the front and back horizontal direction, and the support of the screw mandrel and nut pair formed by the screw mandrel 5-5 is slidably installed on the screw mandrel 5-5 Sliders 5-6, the bottom surface of each supporting slider 5-6 extends horizontally inward and is supported on the bottom of the thigh platform 4-9 in the corresponding side leg mechanism 1-4, and the front end of the screw rod 5-5 is fixedly installed with an output end Bevel gears 5-4, gear seats are respectively connected to the outer front ends of the upper support rods 1-1-1 of each base, and gears are installed on the inside and outside of the gear seats for coaxial rotation, wherein the gears inside the gear seats are bevel gears at the input end 5- 3. The bevel gear 5-3 at the input end is meshed with the bevel gear 5-4 at the output end. The gear outside the gear seat is a cylindrical gear 5-2. The front end of each side frame in the three-state adjustment mechanism 1-3 is connected to the rotating connection seat 1-1-7 The outer ends of the rotating shafts connected by rotation are respectively fixedly equipped with sector gears 5-1, and the sector gears 5-1 are in transmission engagement with the cylindrical gear 5-2 on the gear seat.

As shown in Figure 2, the seat back adjustment mechanism 1-2 includes a vertically arranged outer frame 2-10, and the two vertical frame sides of the outer frame 2-10 correspond to the seat back frame installed on the three-state adjustment mechanism 1-3. On the front side of the two vertical frame edges in 3-1, the middle position between the two vertical frame edges of the outer frame 2-10 is horizontally connected with a motor platform 2-11, and the two vertical frames of the outer frame on the upper and lower sides of the motor platform 2-11 Lifting support frames 2-5 are arranged horizontally between the frame edges, and ball screws are respectively installed at the left and right ends of the lower side of the top frame edge of the outer frame 2-10. The ball screws installed on the top frame edges of the outer frame 2-10 are Vertically extending to the top of the motor table 2-11, the two ends of the lifting support frame 2-5 above the motor table 2-11 are respectively slidably installed on the ball screw on the corresponding side through threaded through holes to form a screw nut pair, located at Between the two vertical frame sides of the outer frame between the lower end of the ball screw and the motor table 2-11, a rotating shaft 2-12 with a central axis arranged along the left and right horizontal directions is installed, and the left and right ends of the rotating shaft 2-12 pass through the bevel gear mechanism respectively. 2-7 is connected with the lower end of the ball screw on the corresponding side, and the stepping motor 2-4 is installed on the motor platform 2-11, and the stepping motor 2-4 is connected with the rotating shaft 2-12 through the worm gear and worm. The rear side of the lifting support frame 2-5 rotates and is equipped with a double reverse spiral pair of screw rods 2-14 that the central axis is arranged along the left and right horizontal directions, and a stepper motor 2-15 is installed on the top of the lifting support frame 2-5 above, and the step The motor 2 2-15 is connected to the double-reverse helical pair of screw rods 2-14 on the rear side of the upper lifting support frame 2-5 through the worm gear worm 2-8, and the left and right sides of the upper lifting support frame 2-5 slide separately The set is equipped with an adjustment slider 2-2, and the front side of the adjustment slider 2-2 is jointly connected with a support plate 2-3, and a plurality of adjustment sliders 2-2 are respectively connected to the double anti The pair of screw rods 2-14 constitutes the pair of screw nuts to the screw; the left and right ends of the bottom surface of the motor table 2-11 are also rotated respectively, and the ball screw 2-9 with the central axis vertically arranged is installed, and the lifting support positioned at the bottom of the motor table 2-11 The two ends of the frame are slidably installed on the ball screw 2-9 on the corresponding side of the bottom surface of the motor table 2-11 respectively to form a screw nut pair through threaded through holes, and the motor table 2-11 is provided with a stepping motor 2-16, stepping The motor three 2-16 is connected to the upper end of one of the ball screw below the motor table 2-11 through a bevel gear mechanism, and a rotating shaft 2-13 is installed between the lower ends of the two vertical frame sides of the outer frame 2-10, and the motor table 2 The lower end of the ball screw 2-9 connected to -11 is connected to the rotating shaft 2-13 at the lower end of the outer frame 2-10 through a bevel gear mechanism. The front side of the slider is also jointly connected with a support plate.

The chair back adjustment mechanism of the present invention is driven by the ball screw 2-9 to raise or lower the two lifting support frames 2-5, changing the curvature of the chair back, and realizing longitudinal adjustment, and the lifting support frames 2-5 above are provided with double reverse To the spiral pair screw rod 2-14, the stepper motor 2 2-15 makes the double reverse spiral pair screw rod 2-14 rotate through the worm gear 2-8 deceleration transmission, thereby driving the four adjustments on the upper lifting support frame 2-5 Slide 2-2 pieces towards each other or away from each other to realize horizontal adjustment.

In the leg mechanism of the present invention, when the occupant sits on the cushion on the thigh platform and performs leg movements, the push rod is pulled back by the push rod motor 34-7, and a pulling force acts on the hip joint connector 4-1, and the hip The joint connector 4-1 produces a reaction force to the thigh platform 4-9, and the reaction force drives the thigh platform 4-9 to lift through the hip joint connecting rod 4-1, otherwise the thigh platform 4-9 descends, and the push rod motor 4-4- 6 When pushing forward, the thrust generated pushes the calf support rod 4-4 to stretch forward through the knee joint connecting rod 4-5, otherwise the calf support rod 4-4 recovers, the push rod motor three 4-7 and the push rod motor four 4-6 The linkage to realize the simulation of the natural gait of the human body.

The connecting frame on the base frame of the present invention is L-shaped at both ends, and the recess corresponds to the leg mechanism under the standing posture, leaving a margin for the installation position of the thigh platform and not interfering with the movement of the legs.

The shank support rod 4-4 of the present invention is a two-stage structure, both of which are reserved with threaded holes, and the two sections are fixed by bolts, and the length of the shank is adjustable.

The seat back limit block 3-5 outside the rear end of the side frame edge in the base frame of the three-state adjustment mechanism of the present invention is provided with an arc-shaped limit notch, and the lower end limit block of the vertical frame edge in the seat back frame 3-1 The block slides and inserts into the limit notch, the position of the limit stop is limited by the limit notch in the sitting position so that the angle between the cushion and the back of the chair is not less than 90°, and the angle between the cushion and the back of the chair is not greater than 180° in the lying position, which is a push rod Occupant safety in the event of motor failure is guaranteed.

In the present invention, as shown in FIG. 1 , the three-state adjustable lower limb rehabilitation wheelchair mainly includes a base, a chair back adjustment mechanism 1-2, a three-state adjustment mechanism 1-3, a leg mechanism 1-4, and a leg auxiliary support mechanism. 1-5 four modules. As shown in Figure 6, the base is an electric wheelchair base, which is used to support the upper mechanism and the weight of the occupant. The three-state adjustment mechanism 1-3 and the leg auxiliary support mechanism 1-5 are installed on the base frame. A push rod motor 1 3-4 is installed on the rear side force beam, which is used to push up the base frame.

As shown in Figure 2, the chair back adjustment mechanism 1-2 includes an adjustment slider 2-2, a support plate 2-3, a stepper motor 2-4, a lifting support frame 2-5, a bevel gear mechanism 2-7, and a worm gear 2-8. The chair back flexible adjustment function is provided. The two lifting support frames 2-5 are driven up or down by the ball screw 2-9, and the curvature of the back of the chair is changed to realize longitudinal adjustment. Each of the two lifting support frames 2-5 has a double reverse helical pair of screw rods, and the stepper motor is driven through the worm gear 2-8 to make it rotate, thereby driving the four adjustment slides on the lifting support frame 2-5. Blocks 2-2 face each other or separate from each other to realize lateral adjustment.

As shown in Figure 3, the three-state adjustment mechanism 1-3 includes a chair back frame 3-1, a base frame 3-2, two push rod motors 3-3, 3-4, and a chair back limit block 3-5, which can Adjust the armrest 3-6. In Fig. 1, the three-state adjustment mechanism 1-3 is in a sitting position, the seat back frame 3-1 is fixedly connected with the seat back adjustment mechanism 1-2 through the installation hole with bolts, and the seat back frame 3-1 limit stopper is inserted into the limit slot Inside mouth 3-5. The bottom is hinged on both sides of the side frame limit 3-8. Push rod motor 1 3-4 and chair back frame 3-1, the frame edge 3-7 of connecting frame 3-9 top has formed the chair back angle adjustment mechanism, can adjust the chair back inclination angle. When the training bed is adjusted in a horizontal state, it provides rehabilitation training in a prone position. At this time, the push rod 2 3-3 and the seat back limit block 3-5 provide back support; when the training bed is in a tilted state, it is used to overcome posture Rehabilitation training for hypotension; when the training bed is in an upright position, it provides gait training, stepping training and other standing posture rehabilitation training.

As shown in Figure 4, the leg mechanism 1-4 includes a hip joint link 4-1, a thigh platform 4-9, a knee joint link 4-3, a knee joint link 4-5, a calf support bar 4-4, Pedal 4-11, push rod motor 4-6,4-7, cushion 4-2, safety belt 4-10. During training, the trainer's two legs are divided into leg mechanisms 1-4, and the trainer's hip, knee, and ankle joints are in one-to-one correspondence with the hip, knee, and ankle joints of leg mechanisms 1-4. The calf corresponds to the leg mechanism 1-4 and the large and small leg mechanism one by one. When performing leg movements, the push rod is pulled back by the push rod motor 3 4-7, and a pulling force is applied to the hip joint connector 4-1. The joint connector 4-1 generates a reaction force to the thigh platform 4-9, and the reaction force drives the thigh platform 4-9 to lift through the hip joint connecting rod 4-8, otherwise the thigh platform 4-9 descends. When the push rod motor four 4-6 pushed forward, the thrust produced promoted the calf support rod 4-4 to stretch forward through the knee joint connecting rod 4-5, otherwise the calf support rod 4-4 reclaimed, and the push rod motor four 4-6 and the push rod Three 4-7 linkages of rod motors can simulate the natural gait of human body.

As shown in Figure 5, the leg support auxiliary mechanism includes a gear chainring, a screw mandrel 5-5, and a support slider 5-6. The gear ring train consists of an input and an output. The sector gear 5-1 is symmetrically fixed on the outside of the base frame by bolts, and the gear train cooperates with it. The cylindrical gear 5-2 and the bevel gear 5-3 at the input end are fixedly connected on the same connecting rod, and the connecting rod passes through the front mounting hole of the support rod installation platform of the base, the bevel gear 5-3 at the input end is located inside, and the cylindrical gear 5-2 is located at the outside. The bevel gear 5-3 at the inner input end cooperates with the bevel gear 5-4 at the output end, and the bevel gear 5-4 at the output end is fixedly connected to one end of the screw mandrel 5-5. The screw mandrel 5-5 is installed on the upper support rod 1-1-1 of the base. During the sitting position, the slide block is positioned under the thigh platform 4-9 to provide support for the trainer. When adjusted to the standing position, the toothed plate at the input end, which is fixedly connected to the base frame, drives the cylindrical gear 5-2—the bevel gear 5-3 at the input end to rotate, and the bevel gear 5-4 at the output end drives the screw rod 5-5 to move accordingly. Screw mandrel 5-5 rotates, drives the supporting slide block 5-6 that cooperates with it to move backward.

Figure 8 is a schematic diagram of the lying posture of the three-state adjustable lower limb rehabilitation wheelchair. When switching from a sitting position to a lying position, the push rod 1 pulls the push rod back to adjust the inclination angle of the chair back through the length of the pull back. At the same time, the leg mechanism 1-4 push rod 2 pushes the calf 4-4 to stretch forward, and the recline is completed when it reaches 90° posture.

As shown in Figure 7, the standing posture of the lower limb rehabilitation wheelchair that can be adjusted in three states is shown. When switching from a sitting posture to a standing posture, it must first switch to a lying posture. The center of gravity of the human body rises until it is upright, and the toothed plate rising with the base frame 3-2 drives the gear train to move. The bevel gear 5-4 at the output end of the gear train drives the screw rod 5-5 to rotate, and the rotation of the screw rod 5-5 drives the support Slide block 5-6 moves back, is convenient to upright leg mechanism 1-4 motion. While performing upright lower body training, the wheelchair is controlled by the controller on the adjustable armrest to move, simulating a real walking situation.

The above is only a specific implementation mode in the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technology can understand the conceivable transformation or replacement within the technical scope disclosed in the present invention. All should be covered within the scope of the invention, therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims (7)

1. can tri-state regulation lower limb recovery wheelchair, including base, the base is electric wheelchair base, on electric wheelchair base Left and right side has arm-rest frame respectively, it is characterised in that：Also include tri-state governor motion, leg mechanism, leg Auxiliary support machine Structure, wherein：

The electric wheelchair base left and right side arm-rest frame top nose is respectively equipped with rotation connection seat；

The tri-state governor motion includes being horizontally disposed with along the longitudinal direction for a pair and symmetrical side frame edge, stands to being arranged on two Connection frame between side frame edge posterior medial, two side frame edges one-to-one corresponding are parallel to be placed in electric wheelchair base left and right side handrail Top of the trellis, each side frame edge front end are rotatablely connected by rotating shaft with rotation connection seat at the top of corresponding arm-rest frame respectively, the company Its top frame side of frame is connect to be connected between two side frame edge rear insides and be molded as one, by connection arch frame side, two Side frame edge forms bedframe, and the link one extended downwardly, the electric wheelchair are also associated between two side frame edges inner sides Push-rod electric machine one is hinged with base, the push rod of push-rod electric machine one is be hinged with link one upwards, in addition to by a pair of vertical frames The seat back frame that side is formed, two vertical frame side lower ends correspond and are hinged with side frame edge rear end, pacify between two vertical frame sides front sides It is horizontal forward respectively on the outside of two vertical frame sides to be connected with adjustable handrail equipped with chair back governor motion, on rear side of two vertical frame sides between The link two to extend back is connected with, the connection frame bottom frame side is hinged with push-rod electric machine two, the push rod of push-rod electric machine two It is be hinged with link two upwards, chair back limited block is rotatably connected to respectively on the outside of each side frame edge rear end, is set in chair back limited block There is the spacing edge-cut of arc, each vertical frame side lower end outside is respectively equipped with slip and is caught in stopper slot in respective side chair back limited block Intraoral positive stop；

The leg mechanism includes a pair horizontally disposed along the longitudinal direction and big leg platform symmetrically, a pair of hip joints connections Part, two hip joint connectors are separately mounted to connect left and right end, two big leg platforms on front side of arch frame side in tri-state governor motion Correspond parallel and close to side frame edge in tri-state governor motion, horizontal connection has cushion to each big leg platform respectively inwards, Safety belt is respectively equipped with cushion, two big leg platform rear ends, which correspond, to be hinged on hip joint connector, before two big leg platforms End corresponds the leg support bar for being rotatably connected to and extending downwardly by knee joint connector, each leg support bar lower end point Pedal is not rotatably connected to, push-rod electric machine three, the push rod point of each push-rod electric machine three are respectively fixed with the outside of each big leg platform It is not hinged on backward on corresponding hip joint connector by hip joint connecting rod level, each thigh mesa base is fixed respectively There is a push-rod electric machine four, the push rod of each push-rod electric machine four horizontal forward knee joint by knee joint connecting rod and respective side respectively Connector is hinged；

The leg auxiliary support mechanism includes being individually fixed in the base top of bottom surface at the top of the arm-rest frame of electric wheelchair base two Support bar, each base upper support bar bottom surface are rotatablely equipped with screw mandrel respectively, and the central shaft of the screw mandrel is along anterior-posterior horizontal side To setting, be slidably fitted with screw mandrel with screw mandrel form feed screw nut pair support slipper, each support slipper bottom surface respectively to Interior horizontal-extending and be supported on thigh mesa base in respective side leg mechanism, the screw mandrel front end is installed with output end cone Gear, each base upper support bar front end outer side are connected to pinion stand, and co-rotation installation in pinion stand medial and lateral is with teeth Wheel, the gear wherein on the inside of pinion stand is input bevel gear, and the input bevel gear engages with output end Bevel Gear Transmission, Gear on the outside of pinion stand is roller gear, and each side frame edge front end rotates with rotation connection seat and connected in the tri-state governor motion The rotating shaft outer end connect is installed with sector gear respectively, and the sector gear engages with column gear transmission on pinion stand.

2. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that：The chair back governor motion Including founding the housing to setting, it is vertical that the vertical frame side of housing two corresponds in the seat back frame of tri-state governor motion two On the leading flank of frame side, personal harness is installed on seat back frame both sides, centre position horizontal connection between the vertical frame side of housing two There is motor platform, being horizontally disposed with respectively between the vertical frame side of housing two of motor platform upper and lower has lifting support frame, the housing top Left and right end is rotatablely equipped with ball screw respectively on the downside of portion frame side, and the ball screw difference of housing top frame side installation is vertically Extend to above motor platform, the lifting support frame both ends above motor platform are slidably mounted on correspondingly by tapped through hole respectively Feed screw nut pair is formed on the ball screw of side, between the vertical frame side of the housing two between ball screw lower end and motor platform Be rotatablely equipped with the rotating shaft that central shaft is set along left and right horizontal direction, the left and right end of rotating shaft respectively by bevel gear mechanism with it is corresponding The ball screw lower end of side is connected, and is provided with stepper motor one in the motor platform, stepper motor one passes through worm and gear Be connected with rotating shaft transmission, be rotatablely equipped with rear side of the lifting support frame of top central shaft is set along left and right horizontal direction it is double reverse Spiral is provided with stepper motor two to screw rod at the top of the lifting support frame of top, and stepper motor two by worm and gear with it is upper Double reverse acting spirals on rear side of square lifting support frame connect to screw drive, and the lifting support frame left and right side of top also slides respectively Adjusting slider is set with, adjusting slider leading flank is connected with supporting plate jointly, and multiple adjusting sliders pass through tapped through hole respectively Feed screw nut pair is formed to screw rod with double reverse acting spirals on rear side of the lifting support of top；The left and right end in motor platform bottom surface is also The vertically arranged ball screw of central shaft is rotatablely equipped with respectively, and the lifting support frame both ends below motor platform pass through respectively Tapped through hole, which is slidably mounted on the ball screw of motor platform bottom surface respective side, forms feed screw nut pair, and the motor platform is provided with Stepper motor three, the stepper motor three are connected by one of ball screw upper end transmission below bevel gear mechanism and motor platform Connect, rotating shaft is rotatablely equipped between the lower end of the vertical frame side of housing two, the ball screw lower end of motor platform connection is respectively by boring tooth Wheel mechanism is connected with the rotating shaft transmission of housing lower end, and the lifting support frame left and right side of lower section also distinguishes slip cap equipped with regulation cunning Block, adjusting slider leading flank are also connected with supporting plate jointly.

3. it is according to claim 2 can tri-state regulation lower limb recovery wheelchair, it is characterised in that：Described chair back regulation machine Structure drives two lifting support frames to rise or fall by ball screw, changes chair back angularity, realizes longitudinally adjust, up Lifting support frame is provided with double reverse acting spirals makes double reverse acting spirals pair to screw rod, stepper motor two by worm and gear deceleration transmission Screw rod rotates, so as to drive four adjusting sliders above the lifting support frame of top opposite or mutually from realizing lateral adjustments.

4. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that：Described leg mechanism In, occupant is seated on the cushion on big leg platform, when carrying out leg exercise, is pulled back push rod by push-rod electric machine three, acts on a drawing For power on hip joint connector, hip joint connector produces a reaction force to big leg platform, and reaction force is connected by hip joint Extension bar drives big leg platform lifting, and on the contrary then big leg platform declines, and when being pushed away before push-rod electric machine four, caused thrust is via knee joint Connecting rod promotes leg support bar extension, otherwise leg support bar reclaims, and the linkage of push-rod electric machine three and push-rod electric machine four, realizes Simulate human body natural's gait.

5. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that：On described bedframe Link one it is L-shaped at both ends, recess is corresponding with the leg mechanism under stance, and surplus is left to thigh stage+module position, Do not interfere leg exercise.

6. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that：The leg support bar is Two-part structure, two are reserved with screwed hole, two it is intersegmental be bolted, lower-leg length is adjustable.

7. it is according to claim 1 can tri-state regulation lower limb recovery wheelchair, it is characterised in that：The tri-state governor motion The spacing edge-cut of arc is provided with chair back limited block in bedframe on the outside of side frame edge rear end, in seat back frame under vertical frame side End positive stop is slidably inserted into spacing edge-cut, and the position of spacing edge-cut limitation positive stop makes cushion and the chair back angle during sitting posture Cushion is limited not less than 90 °, during lying posture and is not more than 180 ° with chair back angle, for push-rod electric machine failure when occupant safety provide Ensure.