CN110613561B - A multifunctional training wheelchair - Google Patents

Abstract

The invention discloses a multifunctional training wheelchair, which can realize the standing function, the lying function, the lower limb training function and the upper limb training function in addition to the basic wheelchair moving function. The multifunctional wheelchair of the present invention is small in size and convenient to carry, and the patient can complete the rehabilitation training of the lower limbs and the upper limbs by himself. The lower limb training function and the upper limb training function of the present invention can help the patient to move the muscles of the legs and the upper limbs, and gradually restore the functions of the legs and the upper limbs. The invention has simple structure, low cost and convenient use.

Description

A multifunctional training wheelchair

technical field

The invention belongs to the research field of rehabilitation training institutions, in particular to a multifunctional training wheelchair with lower limb and upper limb training functions.

Background technique

my country is a country with a large population, and the base of disabled persons is correspondingly large, and the demand for rehabilitation equipment, especially rehabilitation robots, is correspondingly large. Knowledge is also getting deeper and deeper, but it is inconsistent with the lack of industrialization of rehabilitation robots in my country and the low level of related technologies. Therefore, a rehabilitation robot for patients with lower extremity dysfunction has been developed to help patients complete functions such as sit-up rehabilitation training and lower extremity rehabilitation training, improve the quality of life and independent living ability of patients, reduce the burden on caregivers, and promote the field of rehabilitation robots in my country. development has far-reaching practical significance. In recent years, rehabilitation equipment has the disadvantage of being bulky, inconvenient, and requiring training accompanied by medical staff and family members, which brings great inconvenience to patients and their families. The invention designs a multifunctional wheelchair, which can enable the patient to complete the rehabilitation training of the lower limbs and the upper limbs by himself. At the same time, the lower limbs and the upper limbs rehabilitation mechanism is installed on the wheelchair, which can be conveniently controlled without restricting the training site. The multifunctional wheelchair is used for training the lower limbs. It has important application value in the fields of upper limb rehabilitation and so on.

SUMMARY OF THE INVENTION

Technical problem: The technical problem to be solved by the present invention is to provide a multifunctional training wheelchair, which in addition to providing basic wheelchair functions, can also realize the functions of standing and lying down, and can train the lower limbs and upper limbs of the human body for simple rehabilitation training, Helps the recovery of the lower and upper limbs of the human body.

Technical solution: a multifunctional training wheelchair mainly consists of a wheelchair body (1), a leg module (2), a cushion module (3), a backrest module (4), an electric push rod assembly (5) and a control module (6) The seat cushion module is respectively installed in the track 1 (1041) and the track 2 (1042) in the wheelchair body through the pulley 1 (302) and the pulley 2 (303), and one end of the seat cushion module passes through the seat cushion (301) and the leg module. The baffle (201) in the middle is hinged, the other end is hinged with the backrest (401) of the backrest module through the seat cushion, and one end of the electric push rod (501) in the electric push rod assembly is hinged with the baffle in the leg module, and the other end is hinged with the baffle in the leg module. The backrest in the backrest module is hinged, one end of the lifting electric push rod (502) in the electric push rod assembly is hinged with the seat cushion in the seat cushion module, and the other end is hinged with the wheelchair body, and the backrest electric push rod (503) in the electric push rod assembly is hinged One end is hinged with the backrest, the other end is hinged with the seat cushion, and the control module is fixed with the wheelchair body. The leg module, the seat cushion module, the backrest module and the leg extension electric push rod form a four-bar mechanism.

The handrail (104) of the wheelchair body (1) is provided with a track 1 and a track 2, the track 1 and the track 2 are perpendicular to each other, and the pulley 1 and the pulley 2 in the seat cushion module can slide relative to the track 1 and the track 2 respectively.

The leg module in the multifunctional wheelchair is composed of a baffle plate, a foot pedal (202), a ball screw assembly (203), a guide rail (204) and a leg motor (205). The ball screw assembly is installed on the baffle plate, The foot pedal can move up and down along the baffle plate driven by the ball screw assembly. A guide rail is also installed on the baffle, and the guide rail plays an auxiliary guiding role for the movement of the foot pedal.

The backrest module in the multifunctional wheelchair mainly includes a backrest, a hydraulic rod (402) and an auxiliary armrest (403). One end of the hydraulic rod is hinged with the backrest, and the other end is hinged with the seat cushion. The auxiliary armrest consists of a bracket (4031), a sliding handle (4032), a linear drive assembly (4033), a rotary drive motor (4034) and a remote control button (4035). The output shaft is fixedly connected with the bracket, the bracket rotates relative to the backrest under the drive of the rotary drive motor, the shell of the linear drive assembly is fixed with the bracket, the output end is fixed with the sliding handle, and the sliding handle is fixed and can move linearly along the bracket under the driving of the linear drive assembly, remote control The button is installed on the sliding handle, and the motion control of the electric push rod assembly and the wheelchair body can be realized through the remote control button.

Beneficial effects: Through the above-mentioned design scheme, the present invention has the following beneficial effects:

1. It can realize lying down action. A four-bar mechanism is formed between the baffle plate, the seat cushion, the backrest and the leg extension electric push rod of the mechanism in the present invention. By controlling the extension and contraction of the backrest electric push rod, that is, controlling the angle of the backrest, the wheelchair can lie flat.

2. Standing action can be realized. A four-bar mechanism is formed between the baffle plate, the seat cushion, the backrest and the leg extension electric push rod of the mechanism in the present invention. By controlling the extension and contraction of the lifting electric push rod under the cushion, that is, controlling the angle of the cushion, the standing action of the wheelchair can be completed.

3, can realize the leg training action. In the present invention, in the sitting posture mode, the leg module can be rotated relative to the seat cushion by controlling the extension and retraction of the leg extension electric push rod, so as to realize the knee joint training of the human body; by controlling the lifting and lowering of the ball screw assembly in the leg module, the The up and down movement of the human foot. The leg extension electric push rod and the ball screw assembly cooperate with each other to complete the coordinated movement of the hip joint and knee joint of the leg.

4. It can realize upper body training action. The forward and backward movement of the linear drive assembly in the auxiliary armrest of the present invention can drive the sliding handle to move forward and backward, thereby training the elbow joint of the human body. The bracket rotates relative to the backrest driven by the rotary drive motor, thereby driving the sliding handle to rotate relative to the backrest to train the shoulder joints of the human body.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the multifunctional wheelchair of the present invention.

FIG. 2 is a schematic diagram of the structure of the wheelchair body of the present invention.

FIG. 3 is a schematic structural diagram of the leg module of the present invention.

FIG. 4 is a schematic structural diagram of the seat cushion module of the present invention.

FIG. 5 is a schematic structural diagram of the backrest module of the present invention.

FIG. 6 is a schematic structural diagram of the auxiliary handrail of the present invention.

Detailed ways

In order to make the technical solutions and structural features of the present invention clearer, the technical solutions in the embodiments of the present invention will be described completely and clearly below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not All examples. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the protection scope of the present invention.

As shown in FIG. 1 , a multifunctional training wheelchair according to an embodiment of the present invention is mainly composed of six parts: a wheelchair body, a leg module, a seat cushion module, a backrest module, an electric push rod assembly and a control module.

As shown in Figure 2, the wheelchair body mainly includes a front wheel (101), a rear wheel (102), a body frame (103) and a handrail (104). The front wheel is a universal wheel, the rear wheel is a driving wheel, and a motor is installed on it. The wheelchair can move back and forth under the drive of the motor. The armrests are installed on both sides of the vehicle body frame. The armrests are provided with a track 1 and a track 2, and the track 1 and the track 2 are perpendicular to each other.

As shown in Figure 3, the leg modules can be divided into left and right modules, mainly including baffles, foot pedals, ball screw assemblies, guide rails and leg motors. and the leg motor shell is fixedly connected with the baffle plate, the output shaft is fixedly connected with the lead screw of the ball screw assembly, the lead screw of the ball screw assembly is also installed on the baffle plate, the foot pedal is connected with the nut of the ball screw assembly, The leg extension electric push rod is hinged with the baffle plate, and the other end of the leg extension electric push rod is hinged with the backrest. The guide rails are installed on both sides of the baffle and fixed with the pedals, and the guide rails play an auxiliary guiding role for the movement of the pedals. The design enables the foot pedal to follow the nut of the ball screw assembly to move up and down, thereby training the hip joint; the extension of the leg extension electric push rod can drive the baffle to rotate at the hinge point between the baffle and the seat cushion, thereby training the knee joint; The coordinated movement of the electric actuator and ball screw assembly can train the coordinated movement of the knee and hip joints.

As shown in Figure 4, the seat cushion module mainly includes a seat cushion, a pulley 1 and a pulley 2. There are two sets of pulley 1 and pulley 2, which are installed on the left and right sides of the seat cushion respectively. Pulley 1 and pulley 2 are also installed in track 1 and track 2, and can slide relative to track 1 and track 2 respectively. The lifting electric push rod is connected under the seat cushion through a hinge, and the other end of the lifting electric push rod is hinged with the moving vehicle body. The lifting and lowering of the electric push rod can make the seat cushion switch between horizontal and vertical states. The pulley 1 and pulley 2 installed in the track 1 and track 2 ensure that the seat cushion lift track is fixed in the standing mode of the wheelchair, which improves the standing mode of the wheelchair. stability.

As shown in Figure 5, the backrest module mainly includes a backrest, a hydraulic rod and an auxiliary armrest. One end of the backrest electric push rod is hinged with the backrest, the other end is hinged with the seat cushion, one end of the hydraulic rod is hinged with the backrest, and the other end is hinged with the seat cushion. There are two auxiliary armrests, which are installed on both sides of the backrest, and play the role of supporting the human body in the standing mode of the wheelchair. In the standing mode and leg training mode of the wheelchair, the backrest electric push rod and hydraulic rod will be fixed to ensure that the angle between the backrest and the cushion remains unchanged. In the wheelchair lying mode, the backrest electric push rod is shortened to control the backrest and the cushion. When the angle tends to be horizontal, the hydraulic rod provides pressure and shares the force of the electric push rod. When the wheelchair is restored to the normal sitting position from the lying down mode, the electric push rod extends to control the angle of the backrest cushion to be vertical, and the hydraulic rod provides the thrust and shares the electric push rod. rod thrust.

As shown in Figure 6, the auxiliary armrest consists of a bracket, a sliding handle, a linear drive component, a rotary drive motor and a remote control button. It rotates relative to the backrest driven by the driving motor, which can train the shoulder joints of the human body. The shell of the linear drive assembly is fixed with the bracket, the output end is fixed with the sliding handle, and the sliding handle can move linearly along the bracket under the driving of the linear drive assembly, which can train the elbow joint of the human body. The remote control button is composed of several buttons, which can control the standing motion of the wheelchair, the lying motion, the training of human legs, the training of upper limbs, and the movement of the wheelchair. The remote control button is connected to the control module through a cable, and the rehabilitation personnel send control signals to the control module through the remote control button, and then control the electric push rod assembly, the wheelchair rear wheel and the leg motor to complete the transformation of various modes and the movement of the wheelchair.

The specific working process of the lower limb training rehabilitation wheelchair of the present invention is as follows:

The movement process from sitting position to lying down: in the normal sitting position as shown in Figure 1, the length of the leg extension electric push rod and the lifting electric push rod under the cushion remain unchanged, and the leg extension electric push rod, baffle, seat cushion and backrest form a parallel four-bar The mechanism keeps the direction of the backrest and the baffle parallel. When lying flat, the length of the electric push rod behind the backrest is shortened. Under the constraint of the parallel four-bar mechanism, the backrest and the baffle tend to be horizontal, and the lying posture is completed. On the contrary, the length of the electric push rod behind the backrest is extended, and under the constraint of the parallel four-bar mechanism, the backrest and the baffle tend to be vertical, completing the switch from lying down to sitting.

The movement process from sitting to standing: In the normal sitting position as shown in Figure 1, the length of the leg extension electric push rod under the seat cushion and the back electric push rod behind the backrest remain unchanged, and the length of the lifting electric push rod under the seat cushion is extended to push the seat cushion. The pulley 1 and pulley 2 installed on the top move along the track 1 and the track 2 respectively, so as to realize the movement from the horizontal direction to the vertical direction, and complete the sitting posture to standing. On the contrary, the lifting and lowering electric push rod retracts, then the wheelchair can be switched from standing to sitting.

Leg training mode: When the wheelchair is in any state of standing, sitting and lying down, the ball screw assembly drives the foot pedal to move up and down under the drive of the leg motor, thereby driving the foot pedal to move up and down. Human foot lifts and trains knee and hip joints. Control the extension and retraction of the leg extension electric push rod behind the baffle to push the leg module to rotate relative to the seat cushion, so as to drive the human calf to swing back and forth around the knee joint to train the knee joint; the coordinated movement of the ball screw assembly and the leg extension electric push rod, It can realize the coordinated exercise training of the human hip and knee joints.

Upper limb training mode: In the upper limb training mode, the human hand holds the sliding handle, controls the linear drive component to move the human hand forward and backward along the bracket, and controls the rotating motor to make the human arm swing left and right, the linear drive component and the rotary drive The combined control movement of the motor can realize the flexion, extension and swing training of the entire arm.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection.

Claims (4)

1. A multifunctional training wheelchair is characterized by comprising a wheelchair body, a leg module, a cushion module, a backrest module, an electric push rod assembly and a control module;

a first rail and a second rail are arranged in the handrail of the wheelchair body, and the first rail and the second rail are vertical to each other;

the leg module consists of a baffle, a pedal, a ball screw assembly, a guide rail and a leg motor, wherein the ball screw assembly is arranged on the baffle, and the pedal is driven by the ball screw assembly to move up and down along the baffle;

the cushion module mainly comprises a cushion, a first pulley and a second pulley; two groups of first pulleys and two groups of second pulleys are respectively arranged at the left side and the right side of the cushion, and the first pulleys and the second pulleys are also arranged in the first track and the second track and respectively slide relative to the first track and the second track);

the backrest module mainly comprises a backrest, a hydraulic rod and an auxiliary handrail, wherein one end of the hydraulic rod is hinged with the backrest, and the other end of the hydraulic rod is hinged with the cushion;

one end of the cushion module is hinged with a baffle plate in the leg module through a cushion, the other end of the cushion module is hinged with a backrest of the backrest module through a cushion, one end of a leg-extending electric push rod in the electric push rod assembly is hinged with the baffle plate in the leg module, the other end of the leg-extending electric push rod is hinged with the backrest in the backrest module, one end of a lifting electric push rod in the electric push rod assembly is hinged with the cushion in the cushion module, the other end of the lifting electric push rod is hinged with a wheelchair body, one end of a backrest electric push rod in the electric push rod assembly is hinged with the backrest, the other end of;

the leg module, the cushion module, the backrest module and the leg stretching electric push rod form a four-bar mechanism, and the angle of the backrest is controlled by controlling the extension and retraction of the backrest electric push rod, so that the lying action of the wheelchair is completed; the extension and retraction of the lifting electric push rod below the cushion are controlled, namely the angle of the cushion is controlled, so that the standing action of the wheelchair is completed; in a sitting posture mode, the leg module can rotate relative to the cushion by controlling the extension and retraction of the leg stretching electric push rod, so that the knee joint training of a human body is realized; the up-and-down movement of the feet of the human body is realized by controlling the lifting of the ball screw assembly in the leg module; the pedal can move up and down along with the nut of the ball screw assembly, so that the hip joint can be trained; the stretching of the leg stretching electric push rod can drive the baffle plate to rotate through a hinge point of the baffle plate and the cushion, so that the knee joint is trained; the leg stretching electric push rod is matched with the ball screw assembly, so that coordinated movement of hip joints and knee joints of legs can be completed;

the auxiliary handrail consists of a support, a sliding handle, a linear driving assembly, a rotary driving motor and a remote control key, wherein the support is hinged with the backrest, a shell of the rotary driving motor is fixedly connected with the backrest, an output shaft of the rotary driving motor is fixedly connected with the support, and the support rotates relative to the backrest under the driving of the rotary driving motor, so that the sliding handle is driven to rotate relative to the backrest, and shoulder joints of a human body can be trained; the shell of the linear driving assembly is fixed with the bracket, the output end of the linear driving assembly is fixed with the sliding handle, and the sliding handle is driven by the linear driving assembly to do linear motion back and forth along the bracket to train the elbow joint of a human body; the combined motion of the linear driving component and the rotary driving motor can realize the coordinated motion of the upper limbs of the human body.

2. A multi-purpose training wheelchair as claimed in claim 1, wherein: the baffle is also provided with a guide rail which plays an auxiliary guiding role in the movement of the pedal.

3. A multi-purpose training wheelchair as claimed in claim 1, wherein: the remote control button is installed on the sliding handle and is used for realizing the motion control of the electric push rod assembly and the wheelchair body.

4. A multi-purpose training wheelchair as claimed in claim 1, wherein: and pressure sensors for detecting the pressure of the human body are also arranged on the cushion module and the backrest module.

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