CN107095768A - A kind of rehabilitation Walking car with auxiliary standing function - Google Patents
A kind of rehabilitation Walking car with auxiliary standing function Download PDFInfo
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- CN107095768A CN107095768A CN201710316384.1A CN201710316384A CN107095768A CN 107095768 A CN107095768 A CN 107095768A CN 201710316384 A CN201710316384 A CN 201710316384A CN 107095768 A CN107095768 A CN 107095768A
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000008878 coupling Effects 0.000 claims abstract description 10
- 238000010168 coupling process Methods 0.000 claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 210000003127 knee Anatomy 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 22
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种具有辅助站立功能的康复行走训练车。运动时，控制器驱动电机一正转，电机一通过联轴器带动梯形丝杠转动，从而梯形丝杠驱动提升螺母沿轴向上升，提升螺母推动三角板运动，三角板绕着机架一端转动，进而坐垫、坐垫架可以绕着机架一端旋转，从而带动推杆运动。当提升螺母运动到极限位置时，坐垫提升到最高位置，面板提升到最终状态。当电机一反转时，使整个机构收缩，恢复初始状态。本发明具有辅助站立和代步功能，可以大大方便腿脚障碍人士的各种生活需求，通过控制器，可以实现康复行走训练车的移动、转向、升降等功能。
The invention discloses a rehabilitation walking training vehicle with the function of assisting standing. During movement, the controller drives the motor to rotate forward, and the motor drives the trapezoidal screw to rotate through the coupling, so that the trapezoidal screw drives the lifting nut to rise in the axial direction, and the lifting nut pushes the triangular plate to move, and the triangular plate rotates around one end of the frame, and then The cushion and the cushion frame can rotate around one end of the frame, thereby driving the push rod to move. When the lifting nut moves to the limit position, the cushion is lifted to the highest position, and the panel is lifted to the final state. When the motor is reversed, the whole mechanism is contracted and restored to the original state. The invention has the functions of assisting standing and walking, and can greatly facilitate various living needs of people with leg and foot disabilities. Through the controller, the rehabilitation walking training vehicle can realize the functions of moving, turning, lifting and the like.
Description
技术领域technical field
本发明涉及一种具有辅助站立功能的康复行走训练车，具体涉及一种具有辅助站立和代步功能的机械传动装置。The invention relates to a rehabilitation walking training vehicle with the function of assisting standing, in particular to a mechanical transmission device with the functions of assisting standing and replacing walking.
背景技术Background technique
由于各种灾难和疾病造成的残障人士逐年增加，他们存在不同程度的能力丧失，如行走、视力、动手及语言等。为了给老年人和残障人士提供性能优越的代步工具，帮助他们提高行动自由度、提高生活质量，目前美国、德国、日本等国家对智能轮椅进行了研究，使智能轮椅具有自动行走、用户交互等功能。Due to various disasters and diseases, the number of disabled people is increasing year by year, and they have different degrees of loss of abilities, such as walking, vision, hands and language. In order to provide the elderly and the disabled with superior mobility tools, help them improve their freedom of movement and improve their quality of life, the United States, Germany, Japan and other countries are currently conducting research on smart wheelchairs, enabling smart wheelchairs to have automatic walking, user interaction, etc. Function.
但是当前市场上大多数智能轮椅只起到给老年人及残障人士代步的作用，或者单一的辅助站立功能，功能过于简化或缺失，无法满足残障人士的现实需求。However, most of the smart wheelchairs currently on the market only play the role of transportation for the elderly and the disabled, or have a single auxiliary standing function, which is too simplified or missing, and cannot meet the actual needs of the disabled.
发明内容Contents of the invention
为了解决上述问题，本发明提供一种具有辅助站立功能的康复行走训练车，此车具有辅助站立和代步功能，可以大大方便腿脚障碍人士的各种生活需求，通过控制器，可以实现康复行走训练车的移动、转向、升降等功能。In order to solve the above problems, the present invention provides a rehabilitation walking training vehicle with the function of assisting standing. This vehicle has the functions of assisting standing and walking, which can greatly facilitate the various living needs of people with leg and foot disabilities. Through the controller, rehabilitation walking training can be realized. Car movement, steering, lifting and other functions.
本发明的技术解决方案为：Technical solution of the present invention is:
所述具有辅助站立功能的康复行走训练车主要由扶把手1、台板2、推杆3、坐垫4、坐垫架5、三角板6、提升螺母7、梯形丝杆8、电机一9、底边挡板一10、轮子架一11、电动轮一12、机架13、挡膝板14、连杆一15、连接孔15A、连杆二16、连板17、底板18、转向连杆一19、导向杆一20、导向杆二21、转向连杆二22、导向杆三23、电机二24、前轮一25、轮子架二26、前轮二27、轮子架三28、电动轮二29、轮子架四30、底边挡板二31、控制器32、联轴器33、销钉一34、销钉二35、销钉三36、销钉四37、螺母一38、螺母二39、销钉五40、销钉六41、销钉七42、控制面板43、圆柱销44、电机安装座45、连杆三46、连接孔二46A、连杆四47组成。The rehabilitation walking training car with auxiliary standing function is mainly composed of handrail 1, platen 2, push rod 3, cushion 4, cushion frame 5, triangular plate 6, lifting nut 7, trapezoidal screw mandrel 8, motor one 9, bottom edge Baffle plate 10, wheel frame 11, electric wheel 12, frame 13, knee guard 14, connecting rod 15, connecting hole 15A, connecting rod 2 16, connecting plate 17, bottom plate 18, steering connecting rod 19 , guide rod one 20, guide rod two 21, steering link two 22, guide rod three 23, motor two 24, front wheel one 25, wheel frame two 26, front wheel two 27, wheel frame three 28, electric wheel two 29 , wheel frame 4 30, bottom side baffle 2 31, controller 32, coupling 33, pin 1 34, pin 2 35, pin 3 36, pin 4 37, nut 1 38, nut 2 39, pin 5 40, Pin six 41, pin seven 42, control panel 43, cylindrical pin 44, motor mount 45, connecting rod three 46, connecting hole two 46A, connecting rod four 47 form.
所述机架13安装在底板18上，挡膝板14通过销钉一34、销钉二35与机架13形成销钉连接。底板18与底边挡板一10、底边挡板二31固定连接。轮子架一11与底边挡板一10固定连接，轮子架一11上安装有电动轮一12，保持电动轮一12在运动时始终朝向正前方。轮子架四30与底边挡板二31固定连接，轮子架四30上安装有电动轮二29，保持电动轮二29在运动时始终朝向正前方。转向连杆一19与底边挡板一10通过销钉三36形成铰链连接。转向连杆二22与底边挡板二31通过销钉六41形成铰链连接。转向连杆一19与轮子架二26固定连接，转向连杆二22与轮子架三28固定连接；前轮一25安装在轮子架一26上，前轮二27安装在轮子架三28上。导向杆一20、导向杆二21通过销钉42与导向杆三23形成铰链连接。导向杆一20与转向连杆一19通过销钉四37形成销钉连接，导向杆二21与转向连杆二22通过销钉五40形成销钉连接。导向杆三23的另一端与电机二24的输出轴固定连接，电机二24安装在底板18上。所述控制器32安装在底板18上，通过控制器32控制电机二24正反转来实现转向功能。Described frame 13 is installed on the base plate 18, and knee guard 14 forms pin connection with frame 13 by pin one 34, pin two 35. The bottom plate 18 is fixedly connected with the first bottom side baffle 10 and the second bottom side baffle 31 . Wheel frame one 11 is fixedly connected with bottom edge baffle plate one 10, and electric wheel one 12 is installed on the wheel frame one 11, keeps electric wheel one 12 towards the front all the time when moving. Wheel frame four 30 is fixedly connected with bottom edge baffle plate two 31, and wheel frame four 30 is equipped with electric wheel two 29, keeps electric wheel two 29 towards the front all the time when moving. Steering link one 19 is hingedly connected with bottom edge baffle one 10 by pin three 36. The second steering link 22 and the second bottom side baffle 31 are hingedly connected by the six pins 41 . Steering link one 19 is fixedly connected with wheel frame two 26, and steering link two 22 is fixedly connected with wheel frame three 28; Front wheel one 25 is installed on wheel frame one 26, and front wheel two 27 is installed on wheel frame three 28. Guide rod one 20, guide rod two 21 are hingedly connected with guide rod three 23 by pin 42. Guide rod one 20 forms pin connection with steering connecting rod one 19 by pin four 37, and guide rod two 21 and steering connecting rod two 22 form pin connection by pin five 40. The other end of guide rod three 23 is fixedly connected with the output shaft of motor two 24, and motor two 24 is installed on the base plate 18. The controller 32 is installed on the base plate 18, and the steering function is realized by controlling the forward and reverse rotation of the motor 2 24 through the controller 32.
所述三角板6与机架13、推杆3、提升螺母7形成铰链连接，三角板6可以绕三个连接点旋转。提升螺母7与梯形丝杆8配合形成螺纹传动。梯形丝杆8通过联轴器33与电机一9连接。电机一9与电机安装座45固定连接，电机安装座45上设置有圆柱销44，圆柱销44安装在机架13上，电机一9可以绕圆柱销44相对机架13旋转。坐垫架5与三角板6固定连接，坐垫4通过螺母一38、螺母二39安装在坐垫架5上。The triangular plate 6 is hingedly connected with the frame 13, the push rod 3 and the lifting nut 7, and the triangular plate 6 can rotate around three connection points. Lifting nut 7 cooperates with trapezoidal screw mandrel 8 to form thread transmission. The trapezoidal screw mandrel 8 is connected with the motor one 9 through a shaft coupling 33 . Motor one 9 is fixedly connected with motor mounting base 45, and the motor mounting base 45 is provided with cylindrical pin 44, and cylindrical pin 44 is installed on the frame 13, and motor one 9 can rotate relative frame 13 around cylindrical pin 44. Cushion frame 5 is fixedly connected with triangular plate 6, and cushion 4 is installed on the cushion frame 5 by nut one 38, nut two 39.
所述连杆一15、连杆二16与机架13形成铰链连接，连杆一15、连杆二16可以绕着连接点旋转。连杆三46、连杆四47与机架13形成铰链连接，连杆三46、连杆四47可以绕着连接点旋转。所述连板17与连杆一15、连杆二16、连杆三46、连杆四47形成铰链连接。所述连杆一15上设置有连接孔一15A，所述连杆三46上设置有连接孔二46A；推杆3通过连接孔一15A、连接孔二46A与连杆一15、连杆三46连接。机架13、连杆一15、连杆二16、连杆三46、连杆四47、连板17组成面板提升机构，推杆3运动可以推动面板提升机构向上移动。The first connecting rod 15 and the second connecting rod 16 are hingedly connected with the frame 13, and the first connecting rod 15 and the second connecting rod 16 can rotate around the connection points. The third connecting rod 46 and the fourth connecting rod 47 are hingedly connected with the frame 13, and the third connecting rod 46 and the fourth connecting rod 47 can rotate around the connection points. The connecting plate 17 forms a hinge connection with the first connecting rod 15, the second connecting rod 16, the third connecting rod 46, and the fourth connecting rod 47. The connecting rod one 15 is provided with a connecting hole one 15A, and the connecting rod three 46 is provided with a connecting hole two 46A; the push rod 3 is connected with the connecting rod one 15 and the connecting rod three through the connecting hole one 15A, the connecting hole two 46A and the connecting rod one 15A. 46 connections. Frame 13, connecting rod one 15, connecting rod two 16, connecting rod three 46, connecting rod four 47, connecting plate 17 form panel lifting mechanism, and push rod 3 motions can promote panel lifting mechanism to move upwards.
所述台板2与连板17固定连接，台板2上安装有扶把手1和控制面板43。控制面板43起控制转向、移动、升降等功能。The platform 2 is fixedly connected with the connecting plate 17, and the platform 2 is equipped with a handrail 1 and a control panel 43. The control panel 43 controls functions such as steering, moving, and lifting.
所述康复行走训练车在运动时，控制器32驱动电机一9正转，电机一9通过联轴器33带动梯形丝杠8转动，从而梯形丝杠8驱动提升螺母7沿轴向上升，提升螺母7推动三角板6运动，三角板6绕着机架13一端转动，进而坐垫4、坐垫架5可以绕着机架13一端旋转，从而带动推杆3运动。当提升螺母7运动到极限位置时，坐垫4提升到最高位置，面板2提升到最终状态。当电机一9反转时，使整个机构收缩，恢复初始状态。When the rehabilitation walking training vehicle is in motion, the controller 32 drives the motor one 9 to rotate forward, and the motor one 9 drives the trapezoidal screw 8 to rotate through the coupling 33, so that the trapezoidal screw 8 drives the lifting nut 7 to rise axially and lift Nut 7 promotes triangular plate 6 to move, and triangular plate 6 rotates around frame 13 one end, and then cushion 4, cushion frame 5 can rotate around frame 13 one end, thereby drives push rod 3 to move. When the lifting nut 7 moved to the limit position, the cushion 4 was promoted to the highest position, and the panel 2 was promoted to the final state. When the motor one 9 reverses, the whole mechanism is contracted and restored to the initial state.
所述挡膝板14起到了支撑膝盖及小腿的作用，防止膝盖及小腿前倾或侧边滑落。Described knee guard 14 has played the effect of supporting knee and shank, prevents knee and shank from leaning forward or sliding sideways.
本发明可以达到的技术效果是：The technical effect that the present invention can reach is:
本发明设置有控制面板，通过控制面板来控制电机一和电机二的运动。本发明通过电机二的运动可以实现康复行走训练车的转向功能。本发明设置有梯形丝杠和提升螺母，在运动时通过电机一正反转推动提升螺母上下运动，可以带动三角板和推杆运动，实现坐垫的提升与下降，并且通过推杆带动面板提升机构的运动，实现坐垫和面板的联动效果。The present invention is provided with a control panel, through which the movement of the first motor and the second motor is controlled. The present invention can realize the steering function of the rehabilitation walking training vehicle through the movement of the second motor. The present invention is provided with a trapezoidal screw and a lifting nut, and the lifting nut is pushed up and down by the forward and reverse rotation of the motor during movement, which can drive the triangular plate and the push rod to move, realize the lifting and lowering of the seat cushion, and drive the panel lifting mechanism through the push rod Movement to realize the linkage effect of the cushion and the panel.
附图说明Description of drawings
下面结合附图和具体实施方式对本发明作进一步详细的说明：Below in conjunction with accompanying drawing and specific embodiment the present invention will be described in further detail:
图1是本发明具有辅助站立功能的康复行走训练车示意图。Fig. 1 is a schematic diagram of a rehabilitation walking training vehicle with an auxiliary standing function according to the present invention.
图2是本发明具有辅助站立功能的康复行走训练车转向机构示意图。Fig. 2 is a schematic diagram of the steering mechanism of the rehabilitation walking training vehicle with the function of assisting standing in accordance with the present invention.
图3是本发明具有辅助站立功能的康复行走训练车辅助站立机构示意图。Fig. 3 is a schematic diagram of the auxiliary standing mechanism of the rehabilitation walking training vehicle with the auxiliary standing function of the present invention.
图4是本发明具有辅助站立功能的康复行走训练车面板提升机构示意图。Fig. 4 is a schematic diagram of the panel lifting mechanism of the rehabilitation walking training vehicle with the function of assisting standing in the present invention.
图5是本发明具有辅助站立功能的康复行走训练车提升极限位置示意图。Fig. 5 is a schematic diagram of the lifting limit position of the rehabilitation walking training vehicle with the function of assisting standing in the present invention.
图中附图标记说明：1.扶把手，2.台板，3.推杆，4.坐垫，5.坐垫架，6.三角板，7.提升螺母，8.梯形丝杆，9.电机一，10.底边挡板一，11.轮子架一，12.电动轮一，13.机架，14.挡膝板，15.连杆一，15A连接孔，16.连杆二，17.连板，18.底板，19.转向连杆一，20.导向杆一，21.导向杆二，22.转向连杆二，23.导向杆三，24.电机二，25.前轮一，26.轮子架二，27.前轮二，28.轮子架三，29.电动轮二，30.轮子架四，31.底边挡板二，32.控制器，33.联轴器，34.销钉一，35.销钉二，36销钉三，37.销钉四，38.螺母一，39.螺母二，40.销钉五，41.销钉六，42.销钉七，43.控制面板，44.圆柱销，45.电机安装座，46.连杆三，46A.连接孔二，47.连杆四。Explanation of reference numerals in the figure: 1. Handrail, 2. Platen, 3. Push rod, 4. Cushion, 5. Cushion frame, 6. Triangular plate, 7. Lifting nut, 8. Trapezoidal screw rod, 9. Motor one , 10. Bottom baffle 1, 11. Wheel frame 1, 12. Electric wheel 1, 13. Rack, 14. Knee guard, 15. Connecting rod 1, 15A connecting hole, 16. Connecting rod 2, 17. Connecting plate, 18. Bottom plate, 19. Steering connecting rod one, 20. Guide rod one, 21. Guide rod two, 22. Steering connecting rod two, 23. Guide rod three, 24. Motor two, 25. Front wheel one, 26. Wheel frame 2, 27. Front wheel 2, 28. Wheel frame 3, 29. Electric wheel 2, 30. Wheel frame 4, 31. Bottom baffle plate 2, 32. Controller, 33. Coupling, 34 .pin one, 35. pin two, 36 pin three, 37. pin four, 38. nut one, 39. nut two, 40. pin five, 41. pin six, 42. pin seven, 43. control panel, 44. Straight pin, 45. motor mount, 46. connecting rod three, 46A. connection hole two, 47. connecting rod four.
具体实施方式detailed description
图中，所述具有辅助站立功能的康复行走训练车主要由扶把手1、台板2、推杆3、坐垫4、坐垫架5、三角板6、提升螺母7、梯形丝杆8、电机一9、底边挡板一10、轮子架一11、电动轮一12、机架13、挡膝板14、连杆一15、连接孔15A、连杆二16、连板17、底板18、转向连杆一19、导向杆一20、导向杆二21、转向连杆二22、导向杆三23、电机二24、前轮一25、轮子架二26、前轮二27、轮子架三28、电动轮二29、轮子架四30、底边挡板二31、控制器32、联轴器33、销钉一34、销钉二35、销钉三36、销钉四37、螺母一38、螺母二39、销钉五40、销钉六41、销钉七42、控制面板43、圆柱销44、电机安装座45、连杆三46、连接孔二46A、连杆四47组成。Among the figure, the rehabilitation walking training vehicle with auxiliary standing function is mainly composed of handrail 1, platen 2, push rod 3, cushion 4, cushion frame 5, triangular plate 6, lifting nut 7, trapezoidal screw rod 8, motor one 9 , Bottom side baffle one 10, wheel frame one 11, electric wheel one 12, frame 13, knee guard 14, connecting rod one 15, connecting hole 15A, connecting rod two 16, connecting plate 17, bottom plate 18, steering connection Rod one 19, guide rod one 20, guide rod two 21, steering connecting rod two 22, guide rod three 23, motor two 24, front wheel one 25, wheel frame two 26, front wheel two 27, wheel frame three 28, electric Wheel two 29, wheel frame four 30, bottom side baffle two 31, controller 32, coupling 33, pin one 34, pin two 35, pin three 36, pin four 37, nut one 38, nut two 39, pin Five 40, pin six 41, pin seven 42, control panel 43, cylindrical pin 44, motor mount 45, connecting rod three 46, connecting hole two 46A, connecting rod four 47 form.
所述机架13安装在底板18上，挡膝板14通过销钉一34、销钉二35与机架13形成销钉连接。底板18与底边挡板一10、底边挡板二31固定连接。轮子架一11与底边挡板一10固定连接，轮子架一11上安装有电动轮一12，保持电动轮一12在运动时始终朝向正前方。轮子架四30与底边挡板二31固定连接，轮子架四30上安装有电动轮二29，保持电动轮二29在运动时始终朝向正前方。转向连杆一19与底边挡板一10通过销钉三36形成铰链连接。转向连杆二22与底边挡板二31通过销钉六41形成铰链连接。转向连杆一19与轮子架二26固定连接，转向连杆二22与轮子架三28固定连接；前轮一25安装在轮子架一26上，前轮二27安装在轮子架三28上。导向杆一20、导向杆二21通过销钉42与导向杆三23形成铰链连接。导向杆一20与转向连杆一19通过销钉四37形成销钉连接，导向杆二21与转向连杆二22通过销钉五40形成销钉连接。导向杆三23的另一端与电机二24的输出轴固定连接，电机二24安装在底板18上。所述控制器32安装在底板18上，通过控制器32控制电机二24正反转来实现转向功能。Described frame 13 is installed on the base plate 18, and knee guard 14 forms pin connection with frame 13 by pin one 34, pin two 35. The bottom plate 18 is fixedly connected with the first bottom side baffle 10 and the second bottom side baffle 31 . Wheel frame one 11 is fixedly connected with bottom edge baffle plate one 10, and electric wheel one 12 is installed on the wheel frame one 11, keeps electric wheel one 12 towards the front all the time when moving. Wheel frame four 30 is fixedly connected with bottom edge baffle plate two 31, and wheel frame four 30 is equipped with electric wheel two 29, keeps electric wheel two 29 towards the front all the time when moving. Steering link one 19 is hingedly connected with bottom edge baffle one 10 by pin three 36. The second steering link 22 and the second bottom side baffle 31 are hingedly connected by the six pins 41 . Steering link one 19 is fixedly connected with wheel frame two 26, and steering link two 22 is fixedly connected with wheel frame three 28; Front wheel one 25 is installed on wheel frame one 26, and front wheel two 27 is installed on wheel frame three 28. Guide rod one 20, guide rod two 21 are hingedly connected with guide rod three 23 by pin 42. Guide rod one 20 forms pin connection with steering connecting rod one 19 by pin four 37, and guide rod two 21 and steering connecting rod two 22 form pin connection by pin five 40. The other end of guide rod three 23 is fixedly connected with the output shaft of motor two 24, and motor two 24 is installed on the base plate 18. The controller 32 is installed on the base plate 18, and the steering function is realized by controlling the forward and reverse rotation of the motor 2 24 through the controller 32.
所述三角板6与机架13、推杆3、提升螺母7形成铰链连接，三角板6可以绕三个连接点旋转。提升螺母7与梯形丝杆8配合形成螺纹传动。梯形丝杆8通过联轴器33与电机一9连接。电机一9与电机安装座45固定连接，电机安装座45上设置有圆柱销44，圆柱销44安装在机架13上，电机一9可以绕圆柱销44相对机架13旋转。坐垫架5与三角板6固定连接，坐垫4通过螺母一38、螺母二39安装在坐垫架5上。The triangular plate 6 is hingedly connected with the frame 13, the push rod 3 and the lifting nut 7, and the triangular plate 6 can rotate around three connection points. Lifting nut 7 cooperates with trapezoidal screw mandrel 8 to form thread transmission. The trapezoidal screw mandrel 8 is connected with the motor one 9 through a shaft coupling 33 . Motor one 9 is fixedly connected with motor mounting base 45, and the motor mounting base 45 is provided with cylindrical pin 44, and cylindrical pin 44 is installed on the frame 13, and motor one 9 can rotate relative frame 13 around cylindrical pin 44. Cushion frame 5 is fixedly connected with triangular plate 6, and cushion 4 is installed on the cushion frame 5 by nut one 38, nut two 39.
所述连杆一15、连杆二16与机架13形成铰链连接，连杆一15、连杆二16可以绕着连接点旋转。连杆三46、连杆四47与机架13形成铰链连接，连杆三46、连杆四47可以绕着连接点旋转。所述连板17与连杆一15、连杆二16、连杆三46、连杆四47形成铰链连接。所述连杆一15上设置有连接孔一15A，所述连杆三46上设置有连接孔二46A；推杆3通过连接孔一15A、连接孔二46A与连杆一15、连杆三46连接。机架13、连杆一15、连杆二16、连杆三46、连杆四47、连板17组成面板提升机构，推杆3运动可以推动面板提升机构向上移动。The first connecting rod 15 and the second connecting rod 16 are hingedly connected with the frame 13, and the first connecting rod 15 and the second connecting rod 16 can rotate around the connection points. The third connecting rod 46 and the fourth connecting rod 47 are hingedly connected with the frame 13, and the third connecting rod 46 and the fourth connecting rod 47 can rotate around the connection points. The connecting plate 17 forms a hinge connection with the first connecting rod 15, the second connecting rod 16, the third connecting rod 46, and the fourth connecting rod 47. The connecting rod one 15 is provided with a connecting hole one 15A, and the connecting rod three 46 is provided with a connecting hole two 46A; the push rod 3 is connected with the connecting rod one 15 and the connecting rod three through the connecting hole one 15A, the connecting hole two 46A and the connecting rod one 15A. 46 connections. Frame 13, connecting rod one 15, connecting rod two 16, connecting rod three 46, connecting rod four 47, connecting plate 17 form panel lifting mechanism, and push rod 3 motions can promote panel lifting mechanism to move upwards.
所述台板2与连板17固定连接，台板2上安装有扶把手1和控制面板43。控制面板43起控制转向、移动、升降等功能。The platform 2 is fixedly connected with the connecting plate 17, and the platform 2 is equipped with a handrail 1 and a control panel 43. The control panel 43 controls functions such as steering, moving, and lifting.
所述康复行走训练车在运动时，控制器32驱动电机一9正转，电机一9通过联轴器33带动梯形丝杠8转动，从而梯形丝杠8驱动提升螺母7沿轴向上升，提升螺母7推动三角板6运动，三角板6绕着机架13一端转动，进而坐垫4、坐垫架5可以绕着机架13一端旋转，从而带动推杆3运动。当提升螺母7运动到极限位置时，坐垫4提升到最高位置，面板2提升到最终状态。当电机一9反转时，使整个机构收缩，恢复初始状态。When the rehabilitation walking training vehicle is in motion, the controller 32 drives the motor one 9 to rotate forward, and the motor one 9 drives the trapezoidal screw 8 to rotate through the coupling 33, so that the trapezoidal screw 8 drives the lifting nut 7 to rise axially and lift Nut 7 promotes triangular plate 6 to move, and triangular plate 6 rotates around frame 13 one end, and then cushion 4, cushion frame 5 can rotate around frame 13 one end, thereby drives push rod 3 to move. When the lifting nut 7 moved to the limit position, the cushion 4 was promoted to the highest position, and the panel 2 was promoted to the final state. When the motor one 9 reverses, the whole mechanism is contracted and restored to the initial state.
所述挡膝板14起到了支撑膝盖及小腿的作用，防止膝盖及小腿前倾或侧边滑落。Described knee guard 14 has played the effect of supporting knee and shank, prevents knee and shank from leaning forward or sliding sideways.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，本领域的技术人员在本发明技术范围内的通常变化和替换都应包含在本发明的保护范围内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Common changes and substitutions by those skilled in the art within the technical scope of the present invention should be included in the protection scope of the present invention.
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| CN108030623A (en) * | 2018-01-15 | 2018-05-15 | 天津科技大学 | Multifunction translocation device |
| CN108272604A (en) * | 2017-12-13 | 2018-07-13 | 湖北工业大学 | A kind of new type power formula walk helper |
| CN108433956A (en) * | 2018-05-14 | 2018-08-24 | 天津科技大学 | Multifunction walking-aid device |
| CN109199794A (en) * | 2018-10-29 | 2019-01-15 | 杭州大力神医疗器械有限公司 | A kind of Multi-function neck part therapeutic instrument for rehabilitation |
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| CN111150617A (en) * | 2020-01-04 | 2020-05-15 | 广东铱鸣智能医疗科技有限公司 | Electric standing-assisting walking aid sitting backrest system |
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| CN112842724B (en) * | 2021-01-14 | 2023-09-08 | 宁波大学 | An integrated standing and walking assistive device for the elderly |
| CN112842724A (en) * | 2021-01-14 | 2021-05-28 | 宁波大学 | Integral type old person stands up walking auxiliary device |
| CN115042379B (en) * | 2022-03-14 | 2023-09-22 | 安徽瑞塑精工科技有限公司 | Central turret type multicolor multi-material split-die vertical injection molding machine |
| CN115042379A (en) * | 2022-03-14 | 2022-09-13 | 安徽瑞塑精工科技有限公司 | Central turret type multicolor multi-material split die-closing vertical injection molding machine |
| CN117398266A (en) * | 2023-10-20 | 2024-01-16 | 北京光曜优创科技有限公司 | Lower limb movement device and control method |
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Application publication date: 20170829 |