CN108175588A - A kind of double appearance electric wheelchairs of Liftable type sitting and lying and its control method - Google Patents

Abstract

The invention discloses a liftable sitting-lying double-posture electric wheelchair, comprising: a seat board; ; the first connecting arm, which is hinged to the front end of the first-stage front shear arm located on both sides of the carrying frame; the lifting cylinder, which is placed horizontally, one end of which is fixedly connected to the front end of the carrying frame, and the other end is fixedly connected to the first connecting arm; The arm is used to drive the first connecting arm to move axially along the bearing frame. The liftable sitting and lying dual posture electric wheelchair according to the present invention can realize flexible conversion between sitting and lying postures and adjust the height, which is convenient for nursing. The invention also discloses a control method of a liftable sitting and lying dual posture electric wheelchair, which can specifically adjust the height of the sitting and lying postures, and can also accurately adjust the inclination angle in the lying posture, which is convenient for nursing.

Description

A liftable sitting and lying double posture electric wheelchair and its control method

technical field

The present invention relates to the technical field of medical appliances, and more specifically, the present invention relates to a liftable sitting and lying dual posture electric wheelchair and a control method thereof.

Background technique

The range of motion of patients with limited mobility (such as paralysis) is often limited to the hospital bed. Long-term bed rest has a negative impact on the recovery and physical and mental health of the patient. With the help of wheelchairs, the range of motion of bedridden patients can be effectively expanded. However, most patients who need wheelchairs have lost the ability to move on their own. The transfer of the patient's body between the hospital bed and the wheelchair is generally done with the help of nursing workers. Physical requirements have become a key indicator for caring for patients with reduced mobility. In order to reduce the physical expenditure of nursing workers and the pain of patients during the transfer process, it is often necessary to minimize the number of times the patient moves between the hospital bed and the wheelchair, which will inevitably lead to a decline in the quality of life of patients with limited mobility, and the lack of activity demands. valid response. In the past, patents on wheelchairs only focused on the walking function, obstacle-crossing function, foldable function, and automation function of the wheelchair. There have been no patents on the convenience of transferring patients between hospital beds and wheelchairs and the ease of wheelchair posture conversion.

Contents of the invention

An object of the present invention is to design and develop a liftable sitting and lying dual posture electric wheelchair, which can realize the flexible conversion and height adjustment of sitting and lying postures, and is convenient for nursing.

Another object of the present invention is to design and develop a control method for a liftable sitting and lying dual posture electric wheelchair, which can specifically adjust the height of the sitting and lying postures, and can also accurately adjust the inclination angle in the lying posture, which is convenient for nursing.

The technical scheme provided by the invention is:

A liftable sitting and lying double posture electric wheelchair, comprising:

seat board; and

The bearing frame is arranged under the seat at intervals;

The scissor lifting mechanism is respectively arranged on both sides of the carrying frame, which includes:

The first-stage front scissor arm and the first-stage rear scissor arm are intersected and hinged at the midpoint;

The two-stage front scissor arm and the two-stage rear scissor arm are intersected and hinged at the midpoint; The front end of the front scissor arm of the first stage is hinged at one point; the front end of the front scissor arm of the first stage is slidably arranged at the front of the carrying frame, and the rear end of the rear scissor arm of the first stage is fixed and hinged at the rear of the carrying frame; the two The rear end of the front scissor arm is fixedly hinged at the rear of the seat, and the front end of the secondary rear scissor arm slidably supports the front of the seat;

The first connecting arm is hinged to the front ends of the first-stage front shearing arms located on both sides of the carrying frame;

The lifting cylinder is placed horizontally, one end of which is fixedly connected to the front end of the carrying frame, and the other end is fixedly connected to the first connecting arm for driving the first connecting arm to move axially along the carrying frame.

Preferably, it also includes:

The first sleeve is fixedly arranged on both sides of the rear part of the bearing frame, and the rear end of the first-stage rear shearing arm is hinged on the first sleeve;

The two sleeves are slidably arranged on both sides of the front part of the bearing frame, and the front ends of the first-stage front scissor arms are hinged on the second sleeves.

Preferably, there are two lifting cylinders, which are placed symmetrically and horizontally.

Preferably, it also includes:

The backrest is hinged to the rear end of the seat board, and a first gas spring is hinged between the backrest and the seat board;

The lower leg board is hinged to the front end of the seat board, and a second gas spring is hinged between the lower leg board and the seat board;

A pedal, which is hinged with the calf board, and a third gas spring is hinged between the calf board and the pedal;

an armrest arranged horizontally, one end of which is hinged to the hinge point of the backrest and the first gas spring;

One end of the armrest arm is hinged to the other end of the armrest, and the other end is hinged to the seat board.

Preferably, it also includes:

The second connecting arm is hinged to the front ends of the first-stage rear scissor arms located on both sides of the carrying frame;

The third connecting arm is hinged at the midpoint hinges on both sides of the bearing frame;

The fourth connecting arm is hinged to the rear ends of the first-stage rear scissor arms located on both sides of the carrying frame;

The fifth connecting arm is hinged to the rear ends of the first-stage front shearing arms located on both sides of the carrying frame.

Preferably, it also includes:

Power wheels, which are arranged on the rear parts of both sides of the bearing frame through support shafts, and motors are arranged on the power wheels for driving the power wheels to rotate;

Steering wheels, which are arranged on both sides of the front part of the carrying frame, are used to change the direction of the wheelchair.

Preferably, it also includes:

a strut, one end of which is respectively hinged to both sides of the rear end of the bearing frame and capable of rotating and folding around a vertical axis;

The supporting wheels are respectively connected with the other ends of the struts, and are used for supporting when the wheelchair is in a prone position.

Preferably, it also includes:

Push handles, which are arranged on both sides of the top of the backrest, are used to push the wheelchair;

The controller, which is arranged on the armrest, is connected with the lifting cylinder, and is used to control the elongation of the lifting cylinder.

Correspondingly, the present invention also provides a control method for a liftable sitting-lying dual-position electric wheelchair, including:

The user inputs the height of the wheelchair to be adjusted to the controller, and the controller controls the elongation of the lifting cylinder as follows:

Among them, d ₁ is the elongation of the first lifting cylinder, d ₂ is the elongation of the second lifting cylinder, and d ₀ is the front end and The horizontal distance of the rear end of the first-level rear scissor arm, L is the length of the first-level front scissor arm, and h is the height that the wheelchair needs to adjust.

Preferably, when the wheelchair needs to be tilted to one side at an angle of θ in a prone position, after adjusting the wheelchair to the required height, input the tilt angle to the controller, and the controller will keep the elongation of the lift cylinder on the side opposite to the tilt side constant, and adjust The elongation of the lifting cylinder on the inclined side is:

Among them, d ₂ is the elongation of the lifting cylinder on the inclined side, d ₁ is the elongation of the lifting cylinder on the opposite side to the inclined side, L is the length of the first-stage front shear arm, and d ₀ is the elongation of the lifting cylinder in the initial state When the length is 0, the horizontal distance between the front end of the first-stage front scissor arm and the rear end of the first-stage rear scissor arm, D is the length of the first connecting arm, and θ is the inclination angle.

The beneficial effects described in the present invention are:

(1) The liftable sitting and lying dual posture electric wheelchair described in the present invention can realize the flexible conversion and height adjustment of the sitting and lying positions; when the patient needs to transfer between the hospital bed and the wheelchair, the wheelchair can be easily converted into In the lying position (bed) state, the wheelchair in the lying position (bed) state can also be adjusted to a sideways tilting state according to the requirements of transferring the patient, so as to transfer the patient. After the patient is transferred to the wheelchair in the prone position (bed) state, the wheelchair in the prone position (bed) state can be conveniently converted to the sitting position (chair) state, which is convenient for nursing.

(2) The control method of the liftable sitting and lying dual posture electric wheelchair according to the present invention can specifically adjust the height when sitting and lying, and can also accurately adjust the inclination angle when lying, which is convenient for nursing.

Description of drawings

Fig. 1 is a schematic structural view of the liftable sitting-lying dual-position electric wheelchair in the sitting mode according to the present invention.

Fig. 2 is a schematic structural view of the liftable sitting-lying dual-position electric wheelchair of the present invention in a horizontal form.

Fig. 3 is a structural schematic diagram of the liftable sitting-lying dual-position electric wheelchair of the present invention in a horizontal position and tilted to one side.

Fig. 4 is a structural schematic diagram of the carrying frame of the scissor lift mechanism of the present invention.

Fig. 5 is a rear view of the chassis of the liftable sitting-lying dual-position electric wheelchair according to the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

The invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete. In the drawings, the size and relative sizes of structures and regions may be exaggerated for clarity.

As shown in Figures 1-5, the present invention provides a liftable sitting-lying dual-position electric wheelchair, comprising: a seat board 110; , which are respectively arranged on both sides of the carrying frame 120, which includes: a first-stage front shear arm 131 and a first-stage rear shear arm 132, which are crossed and hinged at the midpoint; a second-stage front shear arm 133 and a second-stage rear shear arm Arm 134, which is crossed and hinged at the midpoint; the rear ends of the first-stage front scissor arm 131 and the second-stage rear scissor arm 134 are hinged at one point, and the rear ends of the first-stage scissor arm 132 and the second-stage scissor arm 133 are The front end is hinged at one point; the front end of the first-stage front scissor arm 131 is slidably arranged at the front of the carrying frame 120, and the rear end of the first-stage rear scissor arm 132 is fixed and hinged at the rear of the carrying frame 120. In this embodiment , also includes: a first sleeve 122, which is fixedly arranged on both sides of the rear of the bearing frame 120, and the rear end of the first-stage rear shear arm 132 is hinged on the first sleeve 122; the second sleeve 121, It is slidably arranged on both sides of the front part of the carrying frame 120, the front end of the first-stage front scissor arm 131 is hinged on the second sleeve 121; the rear end of the second-stage front scissor arm 133 is fixed and hinged on the Said seat plate 110 rear portion, the front end of described secondary rear scissor arm 134 slidably supports described seat plate 110 front portion; The front end of the arm 131; the lifting cylinder 150, which is placed horizontally, one end is fixedly connected to the front end of the carrying frame 120, and the other end is fixedly connected to the first connecting arm 140 for driving the first connecting arm 140 along the carrying frame 120 Axial movement, in the present embodiment, there are two lift cylinders 150, which are placed symmetrically and horizontally. When the lift cylinders 150 are extended, the level of the front end of the first-stage front shear arm 131 and the rear end of the first-stage rear shear arm 132 As the distance becomes smaller, the height of the scissor lift mechanism 130 will become higher due to the mutual hinge, and the height of the scissor lift mechanism 130 is adjusted by controlling the expansion and contraction of the lift cylinder 150, and then the height of the wheelchair is adjusted.

As another embodiment of the present invention, it also includes: a backrest 160, which is hinged with the rear end of the seat board 110, and a first gas spring 161 is hinged between the backrest and the seat board; The front end of the seat plate 110 is hinged, and a second gas spring 171 is hinged between the calf plate 170 and the seat plate 110; a foot pedal 180 is hinged with the calf plate 170, and the leg plate 170 and the foot plate 180 are hinged. There is a third gas spring 181 hinged between them, so that the wheelchair can be flexibly switched between the sitting position (chair) and the lying position (bed). Patient ride comfort. Also includes: armrest 190, which is arranged horizontally, and one end is hinged with the hinge point of the backrest 160 and the first gas spring 161; Plate 110 is hinged. In this embodiment, the two armrests 190 of the wheelchair, the armrest arms 191, the seat plate 110 and the backrest 160 are designed as two parallelograms that are parallel to each other in space and the positions of the hinge points are symmetrical with respect to the wheelchair. (chair) state, the armrest 190 is automatically adapted to the height of the sitting posture (chair), which is convenient for the patient to support the arm; Facilitate the transfer of patients between hospital beds and wheelchairs.

As another embodiment of the present invention, it also includes: a second connecting arm 141, which is hinged at the front end of the first-stage rear scissor arm 132 on both sides of the carrying frame 120; a third connecting arm 142, which is hinged at the front end of the carrying frame 120 The mid-point hinges on both sides; the fourth connecting arm 143, which is hinged at the rear end of the first-stage rear shear arm 132 on both sides of the carrying frame 120; the fifth connecting arm 144, which is hinged on the rear ends of the carrying frame 120 both sides The rear end of the first-stage front scissor arm 131 makes the scissor lift mechanism 130 more stable.

As another embodiment of the present invention, it also includes: a power wheel 200, which is arranged at the rear of both sides of the carrying frame 120 through a support shaft 210, and the power wheel 200 is provided with a motor 220 for driving the power wheel 200 Rotation: Steering wheels 300, which are arranged on both sides of the front part of the bearing frame 120, two steering wheels 300 are connected to the bearing by the steering wheel shaft 310, the steering wheel support frame 320, the steering wheel cardan shaft head 330 and the steering wheel connector 340 The frame 120 is connected, and the steering wheel can rotate in any direction, which is responsible for guiding the steering of the wheelchair under the action of external force. Preferably, it also includes: struts 450, one end of which is respectively hinged to both sides of the rear end of the carrying frame 120 and capable of rotating and folding around a vertical axis; support wheels 400, which are respectively connected to the other ends of the struts 450, for use in wheelchairs Play a supporting role when in a lying position, the support wheel 400 is connected with the load-carrying frame 120 through the support wheel shaft 410, the support wheel support frame 420, the support wheel universal shaft head 430 and the support wheel connector 440, the support wheel 400 can be in any direction turn.

As another embodiment of the present invention, it also includes: push handles 162, which are arranged on both sides of the top of the backrest 160, for pushing the wheelchair; 150 for controlling the elongation of the lift cylinder 150.

The liftable sitting-lying dual-position electric wheelchair of the present invention can realize the flexible conversion between sitting and lying positions and adjust the height; when the patient needs to transfer between the hospital bed and the wheelchair, the wheelchair can be easily converted into the lying position ( bed) state, the wheelchair in the lying position (bed) state can also be adjusted to a sideways tilting state according to the requirements of transferring patients, so as to transfer patients. After the patient is transferred to the wheelchair in the prone position (bed) state, the wheelchair in the prone position (bed) state can be conveniently converted to the sitting position (chair) state, which is convenient for nursing.

The present invention also provides a control method for a liftable sitting-lying dual-position electric wheelchair, including:

The user inputs the height of the wheelchair to be adjusted to the controller, and the controller controls the elongation of the lifting cylinder as follows:

Among them, d ₁ is the elongation of the first lifting cylinder, d ₂ is the elongation of the second lifting cylinder, and d ₀ is the front end and The horizontal distance of the rear end of the first-level rear scissor arm, L is the length of the first-level front scissor arm, and h is the height that the wheelchair needs to adjust.

When the wheelchair needs to be tilted to one side at an angle of θ, after adjusting the wheelchair to the required height, input the tilt angle to the controller, and the controller will keep the elongation of the lifting cylinder on the side opposite to the tilted side unchanged, and adjust the lift of the tilted side The elongation of the cylinder is:

Among them, d ₂ is the elongation of the lifting cylinder on the inclined side, d ₁ is the elongation of the lifting cylinder on the opposite side to the inclined side, L is the length of the first-stage front shear arm, and d ₀ is the elongation of the lifting cylinder in the initial state When the length is 0, the horizontal distance between the front end of the first-stage front scissor arm and the rear end of the first-stage rear scissor arm, D is the length of the first connecting arm, and θ is the inclination angle.

The control method of the liftable sitting-lying dual-position electric wheelchair according to the present invention can specifically adjust the height of the sitting and lying positions, and can also accurately adjust the inclination angle in the lying position, which is convenient for nursing.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (10)

1. a kind of double appearance electric wheelchairs of Liftable type sitting and lying, which is characterized in that including：

Seat；And

Bearing frame is disposed below the seat；

Scissors-type lifting is separately positioned on the bearing frame both sides, including：

Arm is cut after arm and level-one are cut before level-one, intersects and is articulated with midpoint；

Arm is cut after arm and two level are cut before two level, intersects and is articulated with midpoint；Arm is cut after arm and two level are cut before the level-one Rear end be articulated with a bit, cut after the level-one and the front end of arm is cut before arm and two level be articulated with a bit；Arm is cut before the level-one Front end is slidably disposed on bearing frame forepart, and the rear end fixation that arm is cut after the level-one is hinged on bearing frame rear portion；Institute State and the rear end of arm is cut before two level fix and be hinged on the seat rear portion, cut after the two level arm front end slidingly support it is described Seat forepart；

First linking arm hingedly cuts the front end of arm before the level-one of bearing frame both sides；

Lifting cylinder, horizontal positioned, one end is fixedly connected with the bearing frame front end, and the other end is fixedly connected with described first Linking arm, for first linking arm to be driven to be axially moved along bearing frame.

2. the double appearance electric wheelchairs of Liftable type sitting and lying as described in claim 1, which is characterized in that further include：

First sleeve, is fixed at bearing frame rear portion both sides, and the rear end that arm is cut after the level-one is hinged on first On sleeve；

Secondly sleeve, is slidably disposed on the bearing frame front part sides, the front end that arm is cut before the level-one is hinged on In second sleeve.

3. the double appearance electric wheelchairs of Liftable type sitting and lying as described in claim 1, which is characterized in that the lifting cylinder is 2, It is symmetrical horizontal positioned.

4. the double appearance electric wheelchairs of Liftable type sitting and lying as described in claim 1, which is characterized in that further include：

Backrest is hinged with the seat rear end, the first gas spring is hinged between the backrest and seat；

Calf plate is hinged with the seat front end, the second gas spring is hinged between the calf plate and seat；

Foot pedal is hinged with the calf plate, and third gas spring is hinged between the calf plate and foot pedal；

Handrail is horizontally disposed with, one end and the backrest and the first gas spring it is hingedly point articulated；

Handrail support arm, one end are hinged with the handrail other end, and the other end is hinged with the seat.

5. the double appearance electric wheelchairs of Liftable type sitting and lying as described in claim 1, which is characterized in that further include：

Second linking arm hingedly cuts the front end of arm after the level-one of bearing frame both sides；

Third linking arm is hingedly located at the midpoint hinged place of bearing frame both sides；

4th linking arm hingedly cuts the rear end of arm after the level-one of bearing frame both sides；

5th linking arm hingedly cuts the rear end of arm before the level-one of bearing frame both sides.

6. the double appearance electric wheelchairs of Liftable type sitting and lying as described in claim 1, which is characterized in that further include：

Power wheel is arranged on bearing frame both sides rear portion by support shaft, is provided with motor on the power wheel, is used for Drive power wheel rotation；

Deflecting roller is arranged on the bearing frame front part sides, for changing the direction of wheelchair.

7. the double appearance electric wheelchairs of Liftable type sitting and lying as claimed in claim 6, which is characterized in that further include：

Strut, one end is hinged with bearing frame rear end both sides respectively and can be around vertical axes rotary folding；

Support wheel is connect respectively with the strut other end, is played a supportive role when being in prone position for wheelchair.

8. the double appearance electric wheelchairs of Liftable type sitting and lying as claimed in claim 4, which is characterized in that further include：

Pushing hands is arranged on both sides at the top of the backrest, for pushing wheelchair；

Controller is arranged on the handrail, is connect with the lifting cylinder, for controlling the elongation of the lifting cylinder Amount.

9. a kind of control method of the double appearance electric wheelchairs of Liftable type sitting and lying, which is characterized in that including：

The height that user is adjusted to controller input wheelchair needs, the elongation of controller control lifting cylinder are：

Wherein, d₁For the elongation of first lifting cylinder, d₂For the elongation of second lifting cylinder, d₀For original state liter Drop oil cylinder elongation be 0 when level-one before cut arm front end and level-one after cut arm rear end horizontal distance, L be level-one before cut arm Length, h is the height that adjusts of wheelchair needs.

10. the control method of the double appearance electric wheelchairs of Liftable type sitting and lying as claimed in claim 9, which is characterized in that work as wheelchair When prone position need to be to side cant angle theta angle, wheelchair is adjusted to after needing height, inputs angle of inclination to controller, controller is kept Constant with the elongation of the lifting cylinder of inclined side opposite side, the elongation for adjusting the lifting cylinder of inclined side is：

Wherein, d₂The elongation of lifting cylinder for inclined side, d₁For the elongation of the lifting cylinder with inclined side opposite side, L is The length of arm, d are cut before level-one₀Cut before level-one when elongation for original state lifting cylinder is 0 arm front end and level-one after cut The horizontal distance of the rear end of arm, D are the length of the first linking arm, and θ is angle of inclination.