CN110192958A - A kind of recovery bed pose conversion equipment and the bed body suitable for upper and lower extremities rehabilitation - Google Patents

Abstract

The invention provides a position and posture conversion device for a rehabilitation bed and a bed suitable for rehabilitation of upper and lower limbs, relates to the technical field of rehabilitation equipment, and solves the technical problem that the existing rehabilitation bed cannot simultaneously meet the rehabilitation training of upper and lower limbs. The device includes a frame, a lifting device and a turning device. The lifting device can be lifted and installed on the frame, and the turning device can be rotatably arranged on the lifting device; Vertical state; when the turning device is in a horizontal state, it forms a lying posture; when the lifting device is in a retracted state, it forms a sitting posture when the turning device is in a vertical state; when the lifting device is in a raised state, when the turning device is in a vertical state Form a stance. By controlling the lifting device and turning up device, three postures of lying, sitting and standing can be realized, so as to meet the rehabilitation training requirements of the upper and lower limbs with the rehabilitation bed, and the rehabilitation training of the upper and lower limbs can be completed on one piece of equipment.

Description

A rehabilitation bed position and posture conversion device and a bed suitable for rehabilitation of upper and lower limbs

technical field

The invention relates to the technical field of rehabilitation equipment, in particular to a posture conversion device for a rehabilitation bed and a bed suitable for rehabilitation of upper and lower limbs.

Background technique

At present, the rehabilitation bed on the market in our country is designed for lower limb rehabilitation. Its working principle is that the bed needs to realize the function of standing when the patient performs gait training. When the patient performs knee joint rotation training, it depends on the design of the lower limb rehabilitation training machine. , The bed needs to be able to help the patient sit up or lie down. That is, the patient needs three different postures during the rehabilitation training process, whether standing, sitting or lying down. However, because the existing rehabilitation robots often only perform rehabilitation on the upper or lower limbs, the design of the rehabilitation bed that works with the rehabilitation robot is relatively simple, and there is rarely a product that can perform both upper limb rehabilitation and rehabilitation. Lower limb rehabilitation. Therefore, most rehabilitation beds that cooperate with upper and lower extremity rehabilitation equipment only have one or two postures, and do not have the function of converting three postures.

The multi-position bed body of the existing rehabilitation robot is to modularize each part, and according to the functions that the lower limb rehabilitation training aids should have, a reasonable structure for this function is designed. The back-lifting mechanism changes the patient's training posture (sitting-lying) by changing the angle of the backboard to ensure the patient's subjective comfort during training and meet the training requirements. The upright mechanism corresponds to the upright function and helps the patient to stand up. On the one hand, the lifting mechanism cooperates with the upright function, and on the other hand, it realizes the purpose of helping patients to transfer horizontally from wheelchairs, beds to trainers.

Among them, the traditional back-lifting mechanism uses an electric push rod to directly or indirectly push the back to complete the turning action, and the folding angle of the backboard is mostly not more than 75°. However, due to the limitation of the length of the push rod itself, it may need to occupy a large space under the backboard, causing the electric push rod to interfere with the operation of other institutions, such as upper limb rehabilitation institutions. At the same time, the folding angle of the backboard is greatly affected by the stroke of the electric push rod.

Most of the upright mechanisms are electric push rods that directly push the bed board to realize the overall standing action, and the angle of the bed board upright (reverse vertical head lying position) is no more than 80°. During gait training, the upright angle affects the gait simulation when the patient walks upright, and the gait simulation is closest to the real walking state when the upright angle is 90°.

The lifting mechanism is mostly realized by a lifting column or a parallelogram mechanism. The lifting function is realized by adopting the integrated lifting column. The lifting column can provide axial thrust, but it has limited bearing capacity when encountering eccentric loads, and it cannot bear force laterally, otherwise it will cause serious damage to the lifting column. Therefore, using the lifting column to directly drive the entire bed body up and down has a small scope of application, requires a large force condition, and is constrained by the force condition of the structure. The use of a quadrilateral mechanism essentially uses a special four-bar mechanism to achieve lifting, and the parallelogram formed by the four-bar mechanism becomes a rectangle through the hypotenuse rod in the electric push rod mechanism, thereby realizing lifting. However, the lifting height of the mechanism is greatly affected by the installation angle of the push rod and the stroke of the push rod.

The conversion of the three postures of the rehabilitation bed through the above mechanism will be limited by the electric push rod and the original upper and lower limb rehabilitation equipment, and the traditional turning angle cannot meet the requirements of upper and lower limb rehabilitation training.

Contents of the invention

The purpose of the present invention is to provide a rehabilitation bed position and posture conversion device and a bed body suitable for upper and lower limb rehabilitation, so as to solve the technical problem that the rehabilitation bed body in the prior art cannot simultaneously satisfy upper and lower limb rehabilitation training. The many technical effects that can be produced by the preferred technical solutions among the many technical solutions provided by the present invention are described in detail below.

To achieve the above object, the present invention provides the following technical solutions:

The present invention provides a rehabilitation bed position conversion device, including a frame, a lifting device and a turning device, the lifting device can be lifted and installed on the frame, and the turning device can be rotatably arranged on the lifting device ; The lifting device includes a contracted state and a raised state, and the turning device includes a horizontal state and a vertical state. When the turning device is in a horizontal state, the posture conversion device is in a lying position; The lifting device is in a contracted state, and when the turning device is in a vertical state, the posture conversion device is in a sitting state; when the lifting device is in a rising state, and the turning device is in a vertical state, the The pose conversion device is in a standing posture.

Optionally, the lifting device includes a bottom frame, a triangular link, a translation link and a lifting push rod, the middle end of the triangular link is hinged to the frame, and the top end of the triangular link is hinged to the The translation link, the bottom end of the triangular link is hinged to the bottom frame, the first end of the lift push rod is hinged to the bottom frame, and the second end of the lift push rod is hinged to the bottom frame. Frame; the bottom frame, translational connecting rods and a plurality of triangular connecting rods form a four-bar mechanism, and the lifting push rod drives the four-bar mechanism to realize the lifting of the translational connecting rods.

Optionally, the lifting push rod is an electric push rod.

Optionally, the turning-up device includes a turning-up bracket, a seat installation part and a turning-up push rod, the seat installation part is fixed to the turning-up bracket, and the turning-up bracket is hinged to the lifting device; The first end of the flip-up push rod is hinged to the lifting device, the second end of the flip-up push rod is hinged to the flip-up bracket, and the flip-up push rod can drive the rotation of the flip-up bracket , to realize the transition between the horizontal state and the vertical state of the turning device.

Optionally, the flip-up bracket includes a straight bar section and an extended bent section to form an L-shaped support structure, and the flipped bracket is hinged to the lifting device through the extended bent section.

Optionally, the flip-up push rod is an electric push rod.

Optionally, the turning device can rotate 90 degrees along the lifting device.

A bed suitable for rehabilitation of upper and lower limbs provided by the present invention includes a backboard, a seat, and any of the rehabilitation bed posture conversion devices described above, and the backboard and the seat are installed on the flipped device.

Optionally, the seat is detachably mounted on the flip-up device.

Optionally, the bed suitable for rehabilitation of upper and lower limbs further includes a backboard widening part, and the backboard widening part is detachably mounted on the turning device.

The present invention provides a rehabilitation bed position and posture conversion device and a bed suitable for upper and lower limb rehabilitation. The rehabilitation bed position and posture conversion device includes a lifting device and a turning device. The lifting device can be lifted and installed on the frame, and the turning device can be rotated. For the lifting device, by controlling the lifting device and the turning device, three postures of lying, sitting and standing can be realized, so as to meet the rehabilitation training requirements of the upper and lower limbs with the rehabilitation bed, and the rehabilitation of the upper and lower limbs can be completed on one device train.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic diagram of the three-dimensional structure of a bed body suitable for rehabilitation of upper and lower limbs provided by a specific embodiment of the present invention, in which a state diagram during standing posture training is provided in the figure;

Fig. 2 is a schematic diagram of a three-dimensional structure of a bed body suitable for rehabilitation of upper and lower limbs provided by a specific embodiment of the present invention, in which a state diagram during sitting posture training is provided in the figure;

Fig. 3 is a schematic diagram of a three-dimensional structure of a bed body suitable for rehabilitation of upper and lower limbs provided by a specific embodiment of the present invention, in which a state diagram during lying posture training is provided;

Fig. 4 is a three-dimensional structural schematic diagram of a lifting device of a rehabilitation bed position and posture conversion device provided by a specific embodiment of the present invention;

Fig. 5 is a schematic diagram of the explosive structure of the lifting device in Fig. 4;

Fig. 6 is a three-dimensional structural schematic diagram of a turning-up device of a rehabilitation bed position and posture conversion device provided by a specific embodiment of the present invention;

Fig. 7 is a schematic diagram of the yielding state of the L-shaped support yielding structure of the lifting device of the present invention, and the range indicated by the arrow in the figure is the activity space of the legs;

Fig. 8 is a schematic diagram of the positional relationship between the backboard and the upper limb robotic arm.

Among the figure 1, frame; 2, lifting device; 21, bottom frame; 22, triangle connecting rod; 23, translation connecting rod; 24, lifting push rod; 3, turning up device; 31, turning up support; Straight rod section; 312, extended bending section; 32, seat socket; 33, flip-up push rod; 4, seat; 5, backboard; 6, backboard jack; 7, adjustment guide rail; ; 9, push rod support; 10, motor; 11, upper limb mechanical arm.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

The present invention provides a rehabilitation bed pose conversion device, comprising a frame 1, a lifting device 2 and a turning device 3, the lifting device 2 can be lifted and installed on the frame 1, and the turning device 3 can be rotatably arranged on the lifting device 2; Lifting device 2 comprises retracted state and rising state, and turning up device 3 comprises horizontal state and vertical state, and when turning up device 3 is in horizontal state, posture conversion device is in the lying posture form; When lifting device 2 is in contracted state, When the lifting device 3 was in the vertical state, the posture conversion device was in the sitting configuration; when the elevating device 2 was in the raised state and the flipping device 3 was in the vertical configuration, the posture conversion device was in the standing posture configuration.

The lifting device 2 can be lifted and installed on the frame 1, and the turning device 3 can be rotatably installed on the lifting device 2. By controlling the lifting device 2 and the turning device 3, three postures of lying, sitting and standing can be realized to match the rehabilitation bed It can realize the rehabilitation training requirements of upper limbs and lower limbs, and can complete the rehabilitation training of upper limbs and lower limbs on one device.

As an optional embodiment, as shown in Figure 4 and Figure 5, the lifting device 2 includes a bottom frame 21, a triangular connecting rod 22, a translation connecting rod 23 and a lifting push rod 24, and the middle end of the triangular connecting rod 22 is hinged on the machine. frame 1, the top end of the triangular link 22 is hinged to the translation link 23, the bottom end of the triangular link 22 is hinged to the bottom frame 21, the first end of the lifting push rod 24 is hinged to the bottom frame 21, and the first end of the lifting push rod 24 is hinged to the bottom frame 21. The two ends are hinged to the frame 1; the bottom frame 21, the translation link 23 and a plurality of triangular links 22 form a four-bar mechanism, and the lifting push rod 24 drives the four-bar mechanism to realize the lifting of the translation link 23.

The bottom frame 21, the translation link 23 and a plurality of triangular links 22 form a four-bar mechanism, and the four-bar mechanism is driven by the lifting push rod 24 to realize the lifting of the translation link 23, thereby driving and fixing on the translation link 23 The unique turning device 3 lifts, has high structural stability, reliable transmission balance, and converts horizontal motion into vertical lifting motion. The product is compact and the structure is reasonable.

The horizontal push rod and the bottom frame 21 are parallel to each other.

As an optional embodiment, the lifting push rod 24 is an electric push rod.

Lifting push rod 24 adopts electric push rod, and transmission efficiency is high, and position and posture conversion is convenient and fast.

As an optional embodiment, as shown in Figure 6, the turning up device 3 includes a turning up bracket 31, a seat mounting portion and a turning up push rod 33, the seat mounting portion is fixed on the turning up bracket 31, and the turning up bracket 31 is hinged. In the lifting device 2; the first end of the lifting push rod 33 is hinged to the lifting device 2, and the second end of the lifting push rod 33 is hinged to the lifting bracket 31, and the lifting push rod 33 can drive the rotation of the lifting bracket 31, Realize the conversion of turning up device 3 horizontal state and vertical state.

When the push rod 33 is turned up and down with the lifting device 2, it can be turned over, so as to realize sitting training and standing training, and the structure is simple.

As an optional implementation, the flip-up bracket 31 includes a straight bar section 311 and an extended bent section 312 to form an L-shaped support structure, and the flipped bracket 31 is hinged to the lifting device 2 through the extended bent section 312 .

The extended bending section 312 is set to give way to the installation space, and a space is reserved for the motor 10 of the lower limb mechanical arm of the upper and lower limb rehabilitation robot, so as to hide the motor. In addition, it also gives way to the movement space of the legs, which will not interfere with the rehabilitation of the lower limbs in the standing posture, and the structural design is reasonable. See Figure 7.

The bending angle of turning up the support 31 is 90 degrees.

As an optional embodiment, the flipping push rod 33 is an electric push rod.

Turning up the push rod 33 adopts an electric push rod, the transmission efficiency is high, and the position and posture conversion is convenient and quick.

As an optional implementation, the turning device 3 can rotate 90 degrees along the lifting device 2 .

Turning up device 3 can rotate 90 degrees along lifting device 2, can realize horizontal lying posture and vertical sitting posture and standing posture, adjust flexibly as required.

As shown in Figures 1-3, the present invention provides a bed body suitable for rehabilitation of upper and lower limbs, including a backboard 5, a seat 4 and any of the above rehabilitation bed posture conversion devices, a backboard 5 and a seat 4 All are installed in turning up device 3.

After the rehabilitation bed position and posture conversion device is installed, the bed body suitable for upper and lower limb rehabilitation can realize the rehabilitation training of upper and lower limbs at the same time, multi-posture and multi-degree-of-freedom training, which is also more conducive to the rehabilitation of the trainee, and the product has a wide range of applications.

As an optional implementation manner, the seat 4 is detachably installed on the turning-up device 3 .

The seat 4 is detachably installed on the turning device 3, and the seat 4 is installed during a sitting posture, which can give way to other postures, prevents from affecting transmission and operation, and makes the equipment compact.

As an optional embodiment, as shown in FIG. 3 , the bed suitable for rehabilitation of upper and lower limbs further includes a widened backboard, which is detachably mounted on the turning device 3 .

The widened part of the backboard is detachably installed on the turning device 3 to improve the comfort of the user when lying down.

There are two backboard widening parts, and the two backboard widening parts are symmetrically installed on both sides of the backboard, which is convenient for people to lie down.

Assuming that the width of the backboard 5 is d, and the initial distance between the upper limb robotic arms 11 is D, then d<D. It can be seen that the design of the width of the backboard also makes way for the upper limb rehabilitation equipment, and there will be no interference with each other, see Figure 8.

The width of the upper limb rehabilitation equipment after adjusting the distance can reach 700mm. At this time, the backboard 5 will not interfere with the upper limb rehabilitation equipment, but the initial width of the upper limb rehabilitation equipment is 350mm, which results in the width of the backboard 5 in the initial state. 350mm, and taking into account the situation of leaving a margin, the width of the back plate 5 in the initial state should not exceed 300mm. However, this width is far from enough for the patient to carry out rehabilitation training in a lying state. Therefore, the backboard widening part is added. In the initial state, there is only backboard 5, and the width of the backboard is 300mm at this time. When the patient is going to perform rehabilitation training in a flat state, two pieces are used as the backboard to widen The side panels at the top are assembled and inserted in both sides of the back panel 5, and the width of each side panel is 150mm, and the width of the whole back panel under the unfolded state is 600mm.

As shown in FIG. 4 and FIG. 5 , the lifting device 2 includes a bottom frame 21 , a translation connecting rod 23 , a standing triangle connecting rod 22 , a horizontal motor push rod as a lifting push rod 24 and a push rod support 9 . The quantity of standing triangle connecting rod 22 is four, and the middle part of standing triangle connecting rod 22 is hinged with frame 1, and the bottom of standing triangle connecting rod 22 is all hinged with bottom frame 21, and the top of standing triangle connecting rod 22 is all connected with translation. The rod 23 is hinged. Standing triangle connecting rod 22, bottom frame 21, translation connecting rod 23 form four-bar mechanism, translation connecting rod 23 and bottom frame 21 keep translation, four-bar mechanism is the four-bar mechanism of double crank, and four stand triangles The rods 22 have the same shape, so the translation connecting rod 23 and the bottom frame 21 always keep translation during the movement. One end of bottom frame 21 is equipped with the front end hinge of push rod support 9 and the transverse motor push rod, and the rear end hinge of push rod support 9 and transverse motor push rod is installed on the frame 1.

During the lifting process, the horizontal motor push rod drives the bottom frame 21 to move in translation, and drives the four standing triangle connecting rods 22 to rotate relative to the frame 1, while the rising triangle connecting rods 22 drive the translation connecting rods 23 to move in translation and lift , the translation connecting rod 23 drives the backboard 5 connected with it to realize lifting.

As shown in Fig. 6, turning up device 3 comprises turning up support 31, adjustment guide rail 7, transverse rib 8, as the temporary seat jack 32 of seat 4 installation parts, the backboard jack 6 for installing backboard widening part, Push rod bearing 9 and as turning up push rod 33 electric push rods. The flip-up brackets 31 are respectively connected with the adjustment guide rails 7 , the temporary seat 4 socket 32 is arranged on the flip-up brackets 31 , and the backboard jack 6 is arranged on the adjustment guide rails 7 . The transverse rib 8 plays the role of reinforcement, and the widening part of the backboard is detachably installed on the adjustment guide rail 7; Push rod support 9 is hinged with the front end of electric push rod, and translation connecting rod 23 bottoms are equipped with push rod support 9 and electric push rod rear end are hinged.

During the turning-up process, the electric push rod drives the turning-up bracket 31 to rotate 90° relative to the translational connecting rod 23, thereby driving the turning-up of the backboard 5 to realize the function of standing up.

When performing training under the standing posture state, first the lifting device 2 runs, the extension of the horizontal motor push rod drives the bottom frame 21 to move in translation, and drives the four standing triangle connecting rods 22 to rotate relative to the frame 1, and the standing triangle connecting rods 22 Drive the translation link 23 to translate and rise, and the translation link 23 drives the backboard 5 connected to it to rise; secondly, on the basis that has been raised, the turning device 3 runs, and the electric push rod drives the turning support 31 Rotate 90° with respect to the translation connecting rod 23, the whole bed body and the ground form 90° and present the state of standing.

When training in a sitting position, the turning device 3 runs, and the electric push rod drives the turning bracket 31 to rotate 90° relative to the translation connecting rod 23. Seat receptacle 32, because elevating device 2 does not operate, so the height of seat 4 is just suitable for adult.

When carrying out the training under the lying posture state, two temporary side panels are inserted into the back panel jack 6 from both sides respectively to ensure the width when lying flat, and the turning up device 3 does not operate. The lifting device 2 can be lifted or not operated according to the situation to meet the requirements of rehabilitation training.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A recovery bed posture conversion device, characterized in that it comprises a frame, a lifting device and a turning device, the lifting device can be lifted and installed on the frame, and the turning device can be rotatably arranged on the Lifting device; the lifting device includes a contracted state and a raised state, and the turning device includes a horizontal state and a vertical state. When the turning device is in a horizontal state, the posture conversion device is in a lying position; When the lifting device is in a contracted state and the turning device is in a vertical state, the posture conversion device is in a sitting position; when the lifting device is in a raised state, the turning device is in a vertical state , the pose conversion device is in a standing posture. 2. The rehabilitation bed posture conversion device according to claim 1, wherein the lifting device comprises a bottom frame, a triangular connecting rod, a translational connecting rod and a lifting push rod, and the middle end of the triangular connecting rod is hinged on In the frame, the top end of the triangular link is hinged to the translation link, the bottom end of the triangular link is hinged to the bottom frame, and the first end of the lifting push rod is hinged to the bottom frame. frame, the second end of the lifting push rod is hinged to the frame; the bottom frame, the translation link and a plurality of triangular connecting rods form a four-bar mechanism, and the lifting push rod drives the four-bar mechanism to realize The lifting of the translation connecting rod. 3. The device for converting position and posture of a rehabilitation bed according to claim 2, wherein the lifting push rod is an electric push rod. 4. The rehabilitation bed posture conversion device according to claim 1, characterized in that, the turning-up device comprises a turning-up bracket, a seat mounting part and a turning-up push rod, and the seat mounting part is fixed on the turning-up push rod. lifting bracket, the turning up bracket is hinged to the lifting device; the first end of the turning up push rod is hinged to the lifting device, and the second end of the turning up push rod is hinged to the turning up bracket, The turning up push rod can drive the turning of the turning up bracket to realize the conversion between the horizontal state and the vertical state of the turning up device. 5. The rehabilitation bed posture conversion device according to claim 4, characterized in that, the flip-up bracket includes a straight bar section and an extended bent section to form an L-shaped support structure, and the flip-up bracket passes through the extension The bending section is hinged to the lifting device. 6. The device for converting position and posture of a rehabilitation bed according to claim 4, wherein the flip-up push rod is an electric push rod. 7. The position and posture conversion device for a rehabilitation bed according to claim 1, wherein the turning device can rotate 90 degrees along the lifting device. 8. A bed body suitable for rehabilitation of upper and lower limbs, characterized in that it comprises a backboard, a seat and the rehabilitation bed posture conversion device according to any one of claims 1-7, both the backboard and the seat Installed on the tipping device. 9 . The bed suitable for rehabilitation of upper and lower limbs according to claim 8 , wherein the seat is detachably mounted on the turning device. 10 . The bed suitable for rehabilitation of upper and lower limbs according to claim 1 , further comprising a widened portion of the backboard, the widened portion of the backboard is detachably mounted on the turning-up device. 11 .