CN110876663A - Take intelligent wheelchair of low limbs rehabilitation training function - Google Patents

Abstract

An intelligent wheelchair with a lower limb rehabilitation training function relates to the technical field of intelligent wheelchairs. Solving the technical deficiencies that the existing intelligent wheelchair cannot realize the lower limb rehabilitation training function, including a wheelchair body and a pedal mechanism; the pedal mechanism and the chair bracket are hinged forward and backward; A lower limb rehabilitation training module in which the stepping mechanism swings back and forth; the chair support is further provided with a biostimulation feedback module, and the biostimulation feedback module is connected with a first electrode group and a second electrode group. The patient's lower limbs undergo flexion and extension rehabilitation training. At the same time, the biostimulation feedback module discharge stimulation can effectively improve the effect of lower limb rehabilitation training, which is beneficial to significantly improve the motor function and overall function of the hemiplegic limb, train the patient's independent living ability, and improve the life of the hemiplegic patient. Self-confidence and promote their physical and mental health.

Description

An intelligent wheelchair with lower limb rehabilitation training function

technical field

The present invention relates to the technical field of intelligent wheelchairs.

Background technique

At present, most of the assisted mobility tools used by the elderly and the physically disabled are electric wheelchairs controlled by joysticks used outdoors. This kind of electric wheelchair is based on the ordinary wheelchair plus motor, motor driver, battery, joystick, etc. The battery supplies power to the whole system, and the user only needs to operate the joystick to control the "forward" and "backward" of the wheelchair. , "Turn left", "Turn right", and acceleration and deceleration. Electric wheelchairs are not convenient enough for the elderly with poor self-care ability or users with severe physical disabilities. Smart wheelchairs can solve these problems. Smart wheelchairs generally add a computer and some sensors to an electric wheelchair. The emergence of smart wheelchairs provides convenience for many highly disabled users.

Existing wheelchairs are mostly used for the elderly, the disabled, and people with serious lower limb injuries. However, for people with serious lower limb injuries, they cannot get off the ground due to their serious foot injuries, but if their feet stay still, it is not good for lower limb rehabilitation. Therefore, there is a need for a wheelchair capable of lower limb rehabilitation training. Lower extremity dysfunction seriously affects the patient's ability to live independently. Early rehabilitation of hemiplegia patients can significantly improve the motor function and overall function of the hemiplegic limbs.

SUMMARY OF THE INVENTION

To sum up, the purpose of the present invention is to solve the technical deficiency that the existing intelligent wheelchair cannot realize the lower limb rehabilitation training function, and propose an intelligent wheelchair with the lower limb rehabilitation training function.

In order to solve the technical problem proposed by the present invention, the technical scheme adopted is:

An intelligent wheelchair with lower limb rehabilitation training function, comprising a wheelchair body and a pedal mechanism; the wheelchair body includes a chair support, a seat is arranged on the chair support, and a chair wheel is arranged at the bottom of the chair support; it is characterized in that: The upper end of the foot pedal mechanism is hinged forward and backward with the chair support; the chair support is provided with a lower extremity rehabilitation training module that travels back and forth with the chair wheel to drive the foot pedal mechanism to swing back and forth; on the chair support A biostimulation feedback module is also provided, and the biostimulation feedback module is connected with a first electrode group that stimulates the hamstrings of the lower limbs when the pedal mechanism is in the upper flexion state and the rectus femoris of the lower limbs when the pedal mechanism is in an upwardly straight state. and tibialis anterior muscle discharge stimulation of the second electrode set.

As the technical scheme further limiting the present invention includes:

The chair support is also provided with a wheelchair motor for driving the chair wheel.

The lower limb rehabilitation training module includes an eccentric wheel coaxially driven by a chair wheel, and the eccentric wheel and the pedal mechanism are hinged through a transmission rod.

The lower limb rehabilitation training module includes a gearbox connected with the wheelchair motor, the output shaft of the gearbox is connected with a swing arm, and the swing arm and the pedal mechanism are hinged through a transmission rod.

The chair wheel includes a left universal wheel, a right universal wheel, a left driving wheel and a right driving wheel respectively arranged at the bottom of the chair bracket; the left driving wheel and the right driving wheel are respectively connected with a left wheelchair motor and a right wheelchair motor; The pedal mechanism includes a left pedal mechanism and a right pedal mechanism independently hinged with the chair bracket; a left lower limb rehabilitation training module is arranged between the left wheelchair motor and the left pedal mechanism, and a left lower limb rehabilitation training module is arranged between the right wheelchair motor and the right pedal mechanism. There is a right lower limb rehabilitation training module.

The transmission rod is a telescopic and adjustable push rod.

An upper swing detection switch and a lower swing detection switch are arranged between the chair support and the foot pedal mechanism; the upper swing detection switch and the lower swing detection switch are respectively connected to the biological stimulation feedback module.

The foot pedal mechanism is provided with a lower limb fixing belt.

The lower limb rehabilitation training module is an electric push rod structure.

Alternatively, the lower extremity rehabilitation training module includes a bevel gear transmission mechanism and a screw advancing mechanism; the bevel gear transmission mechanism is connected with the wheel shaft of the chair wheel, and the screw advancing mechanism is connected with the bevel gear transmission mechanism and the pedal mechanism.

The beneficial effects of the present invention are as follows: the lower limb rehabilitation training module of the present invention can walk with the wheelchair and drive the foot pedal mechanism to swing back and forth, and the lower limbs of the patient on the wheelchair can passively perform flexion and straightening rehabilitation with the foot mechanism swinging back and forth. At the same time, the biostimulation feedback module stimulates the hamstrings of the lower limbs when the pedal mechanism is in the upper flexion state through the first electrode group, and stimulates the rectus femoris and tibialis anterior muscles of the lower limbs in the straight state through the second electrode group. It can excite nerves, activate blood and dredge collaterals, effectively improve the effect of lower extremity rehabilitation training, so that patients with serious foot injuries and unable to move on the ground can also effectively carry out lower extremity rehabilitation training in wheelchairs, which is beneficial to significantly improve the rehabilitation of hemiplegic limbs. Motor function and overall function, train patients' independent living ability, improve life self-confidence of hemiplegic patients, and promote their physical and mental health.

Description of drawings

FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and preferred specific embodiments of the present invention.

Example 1

Referring to Fig. 1, when the present invention is improved on the basis of the traditional electric wheelchair, the present invention is an intelligent wheelchair with lower limb rehabilitation training function, including a wheelchair body and a pedal mechanism. The wheelchair body includes a chair support 11 , a seat 12 is arranged on the chair support 11 , a wheelchair is arranged at the bottom of the chair support 11 , and a wheelchair motor for driving the wheel is also arranged on the chair support 11 . The chair wheel specifically includes a left universal wheel 131, a right universal wheel 132, a left driving wheel 133 and a right driving wheel 134, which are respectively arranged at the bottom of the chair bracket 11; the left driving wheel 133 and the right driving wheel 134 are respectively connected with a left The wheelchair motor 141 and the right wheelchair motor 142; in the specific implementation process, the left driving wheel 133 and the right driving wheel 134 can be front-mounted or rear-mounted. The left wheelchair motor 141 and the right wheelchair motor 142 have the same structure, and the two motors are respectively connected to the corresponding driving wheels through a gear box. The pedal mechanism includes a left pedal mechanism 21 and a right pedal mechanism 22 .

Compared with the existing intelligent wheelchair, the main improvement points of the present invention are: the upper end of the pedal mechanism is hinged with the chair support 11 to swing back and forth; the left pedal mechanism 21 and the right pedal mechanism 22 can be fixedly connected and synchronously swing back and forth; The pedal mechanism 21 and the right pedal mechanism 22 can also swing forward and backward independently, that is, the left pedal mechanism 21 and the right pedal mechanism 22 are hinged to the chair bracket 11 respectively.

In order to realize that during the walking process of the wheelchair of the present invention, the left pedal mechanism 21 and the right pedal mechanism 22 can be synchronously driven to swing back and forth, thereby driving the patient to flex or straighten the lower limbs for rehabilitation training. The lower limb rehabilitation training module that the chair wheel walks and drives the pedal mechanism to swing back and forth back and forth. The specific structure of the lower limb rehabilitation training module includes an eccentric wheel 31 with a coaxial transmission of the chair wheel, and the eccentric wheel 31 and the pedal mechanism are hinged through a transmission rod 32; when the left pedal mechanism 21 and the right pedal mechanism 22 adopt an independent front and rear swing structure , the gear box connected with the left driving wheel 133 and the right driving wheel 134 respectively leads out a transmission shaft, the transmission shaft is connected with an eccentric wheel, and the two eccentric wheels are respectively connected with the left pedal mechanism 21 and the right pedal mechanism 22 through the transmission rod 32 Hinged. That is to say, the two eccentric wheels and the two conducting rods constitute the left lower limb rehabilitation training module and the right lower limb rehabilitation training module. When the left wheelchair motor and the right wheelchair motor drive the wheelchair to drive, the left pedal mechanism 21 and the right pedal mechanism 22 are driven forward and backward. swing. In order to facilitate the adjustment of the swing angles of the left pedal mechanism 21 and the right pedal mechanism 22, the transmission rod is a telescopic adjustable push rod.

In the specific implementation process, a crankshaft driving structure coaxially linked with the left driving wheel 133 and the right driving wheel 134 can also be used, or a swing arm mechanism connected with the output shaft of the gearbox can replace the above-mentioned eccentric wheel. Or, the described lower limb rehabilitation training module is an electric push rod structure, and the left pedal mechanism 21 and the right pedal mechanism 22 are electrically driven to swing back and forth through the electric push rod; or the motor of the electric push rod structure is replaced by a bevel gear transmission mechanism, The screw push-forward mechanism of the electric push rod structure is controlled by the axle drive of the chair wheel to expand and retract, that is, the lower limb rehabilitation training module includes a bevel gear drive mechanism and a screw push mechanism; the bevel gear drive mechanism and the chair wheel The axle drive is connected, and the screw push-forward mechanism is connected with the bevel gear drive mechanism and the pedal mechanism.

Since the human body is sitting on the seat 12 during the patient's use, the lower limbs are almost in a free state without any force. , the rectus muscle and the tibialis anterior muscle cannot be effectively stimulated during the swinging process, the nerves cannot be activated and excited, and the lower limb rehabilitation training effect is not obvious; for this reason, the present invention is also provided with biological stimulation feedback on the chair support 1 The module, the biostimulation feedback module is connected with the first electrode group for the discharge stimulation of the lower limb hamstring muscle when the pedal mechanism is in the upper flexion state, and the lower limb rectus femoris and tibialis anterior muscle discharge stimulation when the pedal mechanism is in the up straight state. the second electrode set.

In order to identify whether the lower limbs on the pedal mechanism are in a flexed state or a straight state, and the biostimulation feedback module can accurately control the discharge of the first electrode group and the second electrode group, the chair support 1 and the pedal mechanism are provided between the There are an upper swing detection switch and a lower swing detection switch; the upper swing detection switch and the lower swing detection switch are respectively connected to the biological stimulation feedback module. When the pedal mechanism swings to the highest position, the upper swing detection switch is triggered, indicating that the lower limb is in a straight state. When the pedal mechanism swings to the lowest position, the lower swing detection switch is triggered, indicating that the lower limb is in a flexed state. In order to synchronize the state of the patient's lower limbs with the pedal mechanism, the pedal mechanism is provided with a lower limb fixing belt, and the lower limbs are fixed on the pedal mechanism through the lower limb fixing belt.

Example 2

The present invention is not only applicable to the above-mentioned electric wheelchair structure, but also applicable to manual driving wheelchairs. While the patient manually controls the two drives to walk, the lower limb rehabilitation training module passively moves back and forth, thereby driving the pedal mechanism to swing; compared with the electric wheelchair, the Only the left wheelchair motor and the right wheelchair motor are missing, and other structural principles are the same.

Claims (10)

1. An intelligent wheelchair with a lower limb rehabilitation training function comprises a wheelchair body and a pedal mechanism; the wheelchair body comprises a chair support, a seat is arranged on the chair support, and chair wheels are arranged at the bottom of the chair support; the method is characterized in that: the upper end of the pedal mechanism is hinged with the chair bracket in a front-back swinging manner; a lower limb rehabilitation training module which drives the pedal mechanism to swing back and forth along with the walking of the chair wheels is arranged on the chair support; the chair support on still be equipped with biostimulation feedback module, be connected with on the biostimulation feedback module and put the first electrode group of electro photoluminescence to lower limbs popliteal when the state was gone up to pedal mechanism and put the second electrode group of electro photoluminescence to lower limbs thigh rectus muscle and tibialis anterior muscle when the state was gone up to pedal mechanism.

2. The intelligent wheelchair with the lower limb rehabilitation training function of claim 1, wherein: the chair support is also provided with a wheelchair motor for driving the chair wheels.

3. The intelligent wheelchair with the lower limb rehabilitation training function of claim 1, wherein: the lower limb rehabilitation training module comprises an eccentric wheel coaxially driven by a chair wheel, and the eccentric wheel is hinged with the pedal mechanism through a conduction rod.

4. The intelligent wheelchair with the lower limb rehabilitation training function as claimed in claim 2, wherein: the lower limb rehabilitation training module comprises a gearbox in transmission connection with a wheelchair motor, an output shaft of the gearbox is connected with a swing arm, and the swing arm is hinged with the pedal mechanism through a conduction rod.

5. The intelligent wheelchair with the lower limb rehabilitation training function as claimed in claim 1 or 2, wherein: the chair wheels comprise a left universal wheel, a right universal wheel, a left driving wheel and a right driving wheel which are respectively arranged at the bottom of the chair support; the left driving wheel and the right driving wheel are respectively connected with a left wheelchair motor and a right wheelchair motor; the pedal mechanism comprises a left pedal mechanism and a right pedal mechanism which are independently hinged with the chair bracket; the left wheelchair motor and the left pedal mechanism are provided with a left lower limb rehabilitation training module, and the right wheelchair motor and the right pedal mechanism are provided with a right lower limb rehabilitation training module.

6. The intelligent wheelchair with the lower limb rehabilitation training function as claimed in claim 3 or 4, wherein: the conduction rod is a telescopic adjustable push rod.

7. The intelligent wheelchair with the lower limb rehabilitation training function of claim 1, wherein: an upper swing detection switch and a lower swing detection switch are arranged between the chair support and the pedal mechanism; the upper swing detection switch and the lower swing detection switch are respectively connected with the biostimulation feedback module.

8. The intelligent wheelchair with the lower limb rehabilitation training function as claimed in claim 1 or 7, wherein: the pedal mechanism is provided with a lower limb fixing belt.

9. The intelligent wheelchair with the lower limb rehabilitation training function of claim 1, wherein: the lower limb rehabilitation training module is of an electric push rod structure.

10. The intelligent wheelchair with the lower limb rehabilitation training function of claim 1, wherein: the lower limb rehabilitation training module comprises a conical gear transmission mechanism and a screw rod pushing mechanism; the bevel gear transmission mechanism is in transmission connection with a wheel shaft of the chair wheel, and the screw rod pushing mechanism is connected with the bevel gear transmission mechanism and the pedal mechanism.

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