CN114795708B - Auxiliary standing equipment - Google Patents

Abstract

The invention provides an auxiliary standing device, which belongs to the research field of rehabilitation training equipment. The device has a mobile function and can assist users with lower limb dysfunction to stand. The equipment includes a lifting base, a leg module, a cushion module, and a backrest module. With the help of an electric push rod, the process of knee bending and standing can be realized, and it can be used by users of different heights. The invention has simple structure, low cost and convenient use.

Description

A device for assisting standing

technical field

The invention belongs to the research field of rehabilitation training equipment, and in particular relates to an auxiliary equipment for helping patients with lower limb disabilities to stand.

Background technique

With the improvement of the aging society, more and more elderly people have difficulty standing or even unable to stand due to the decline of body muscle strength; patients with lower limb disorders and motor dysfunction caused by traffic accidents and various diseases It is difficult to realize the process of standing by oneself; however, since standing is the most important basic action in daily life, which is the basis for completing other life activities, the elderly or patients who have difficulty standing can only perform limited daily activities in bed or in a wheelchair Activities, but lying in bed for a long time will cause partial pressure on the body to produce bedsores, and cause complications such as muscle atrophy. At present, wheelchairs are often used for daily activities for patients who need standing rehabilitation, but when standing, they need assistance from nursing staff or family members to stand, which makes it difficult for patients to complete the standing process by themselves, making it difficult for them to complete tasks such as walking and going to the toilet independently ; This not only consumes manpower, but also is not conducive to the patient's mental and physical health.

The standing process of the human body is mainly the process of changing the center of gravity. According to the changing process of the center of gravity, standing can be divided into knee-bending, bending-over and standing stages. The standing stage mainly realizes the movement of the center of gravity of the human body in the vertical direction. In order to solve the above-mentioned problems and assist patients to follow the normal standing process, an auxiliary standing device is proposed. Reproduce the real standing process of a person.

Contents of the invention

The technical problem to be solved by the present invention is to provide a two-degree-of-freedom auxiliary standing device, which can better realize the human body trajectory during the standing process and help the user complete the standing process more freely.

Technical solution: an auxiliary standing device, mainly composed of a leg module (1), an electric push rod for the leg (2), a cushion module (3), an electric push rod for the cushion (4), a backrest module (5), a base module ( 6) Composition; one end of the leg module is hinged to the seat cushion (302), the other end is hinged to one end of the leg electric push rod, and the other end of the leg electric push rod is connected to the lower hinge seat (6031) of the back support rod (603) Hinged; the cushion module mainly includes a cushion, a cushion vertical arm (305), one end of the cushion vertical arm is fixedly connected with the cushion, and the other end forms a sliding connection with the curved chute (605) and can slide along the first track of the curved chute ( 6051) and the second track (6052) slide; the backrest module includes a backrest (501), a trunk orientation arm (502), the seat cushion of the cushion module is hinged with the backrest of the backrest module, and one end of the trunk orientation arm of the backrest module is fixed to the backrest of the backrest module connected, and the other end is hinged with the movable link (604) of the base module;

The base module includes lifting base (601), armrest (602), back support rod, curved chute, cushion support rod (606) and movable connecting rod, back support rod, curved chute, armrest and upper base (6017) Fixed connection, the back support bar is provided with an upper hinge seat (6032) and a lower hinge seat, wherein the upper hinge seat is hinged with one end of the movable link; one end of the cushion support bar is fixedly connected with the upper base, and the other end is connected with the electric push rod One end is hinged, and the other end of the cushion electric push rod is hinged with the cushion; the curved chute is provided with a first track and a second track;

The movement process of the assisted standing device: under the control of the control system (6016), the assisted standing action process is as follows: the first stage: the electric push rod of the leg shrinks to drive the leg module to rotate an angle, and then the electric push rod of the leg locks; the second stage Stage: The electric push rod of the seat cushion is extended, the mating end of the vertical arm of the cushion and the curved chute slides upward along the first track of the curved chute, and the seat cushion wraps around the legs under the joint action of the electric push rod of the seat cushion and the vertical arm of the seat cushion The hinge axis of the module and the seat cushion rotates, the backrest rotates around the hinge axis of the seat cushion and the backrest under the constraints of the trunk directional arm, the movable link and the backrest support rod, and the leg module remains stationary; the third stage: with The electric push rod of the cushion is extended, and the vertical arm of the cushion slides to the second track of the curved chute, and the cushion continues to rotate under the joint action of the electric push rod of the cushion and the vertical arm of the cushion, and at the same time drives the leg module around the leg module and the leg. The hinge shaft of the electric push rod at the bottom rotates, and the backrest continues to rotate around the hinge axis of the seat cushion and the backrest under the constraints of the trunk directional arm, movable link and backrest support rod. When the vertical arm of the cushion slides to the second curved chute After the end of the track, the electric push rod of the seat cushion is locked, and the seat cushion, leg module and backrest module are in a vertical state.

Preferably, the inner side of the armrest of the base module is fixedly connected with a cushion supporting plate (6021), and when the cushion of the cushion module is placed horizontally, the cushion supporting plate can support the cushion module.

Preferably, the lifting base is composed of a lower base (6013) and an upper base, the lower base includes foot pedals (6011), universal wheels (6012), lifting mechanism (6014), driving wheels (6015) and a control system, and the upper base Driven by the lifting mechanism, it can move up and down relative to the lower base, and the lifting base can move under the drive of the driving wheel.

Preferably, a pulley (306) is installed at the mating end of the vertical arm of the cushion and the curved chute.

Beneficial effects: through the above design scheme, the present invention has the following beneficial effects:

1. Knee flexion can be realized. By controlling the expansion and contraction of the electric push rod of the leg, the angle of the leg module can be controlled, so as to complete the knee-bending action.

2. Standing action can be realized. By controlling the expansion and contraction of the electric push rod of the seat cushion, the movement track of the pulley can be controlled, thereby realizing the static and backward movement of the hinge shaft of the leg module and the seat cushion, thereby realizing the standing process.

3. It can be used as a mobile tool. In the standing or sitting state, the moving function can be realized through the driving wheels of the lifting base.

4. It can adapt to people of different heights. The distance between the lower base and the upper base can be controlled through the lifting mechanism to meet the needs of people of different heights.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of an auxiliary standing device.

Figure 2 is a schematic diagram of the cushion module _.

FIG. 3 is a schematic diagram of the upper base of the base module.

FIG. 4 is a schematic diagram of the lower base of the base module.

FIG. 5 is a diagram of the standing process of the assisted standing device.

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 invention will be completely and clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than All examples. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

As shown in Figure 1, according to a kind of auxiliary standing equipment described in the embodiment of the present invention, mainly by leg module (1), leg electric push rod (2), cushion module (3), cushion electric push rod (4 ), a backrest module (5), and a base module (6). The leg module includes left and right parts that are symmetrically distributed relative to the cushion (302). The left and right trunk directional arms (502), one end of the left and right trunk directional arms are symmetrically fixedly connected with the backrest of the backrest module, and the other end is hinged with the movable link (604) of the base module through the hinge shaft, so that the movable connection The rod can rotate relative to the axis of the hinge shaft. The base module includes a lifting base (601). The lifting base includes a lower base (6013), an upper base (6017) and a lifting mechanism (6014). One end of the lifting mechanism is fixedly installed on the lower base. One end is connected on the upper base through the lifting shaft, and under the control of manual or control system (6016), the lifting mechanism can drive the upper base to move up and down relative to the lower base.

As shown in Figure 2, the cushion module comprises leg hinged seat (301), seat cushion, cushion electric push rod hinged seat (303), backrest hinged seat (304), cushion drop arm (305) and pulley (306), leg The hinged seat, seat cushion electric push rod hinged seat, and backrest hinged seat are fixedly installed on the seat cushion. One end of the seat cushion hinges the leg hinged seat with the leg module through the hinged shaft, and the other end connects the backrest hinged seat with the backrest of the backrest module through the hinged shaft. Hinged, so that the leg module and the backrest module can rotate relative to the hinge axis of the cushion module, one end of the vertical arm of the cushion is fixedly connected with the cushion, and the other end forms a sliding connection with the curved chute, which can be installed on the curved chute The pulley slides along the first track (6051) and the second track (6052) of the curved chute.

As shown in Figure 3, the upper base includes a lifting mechanism, an armrest (602), a back support rod (603), a movable connecting rod, a curved chute (605) and a cushion support rod (606), wherein the armrest, the back support rod, Both the movable connecting rod and the curved chute consist of two left and right sides, which are symmetrically distributed on the upper base. There are upper hinge seat (6032) and lower hinge seat (6031) on the track, and the backrest support rod, wherein the upper hinge seat is hinged with one end of the movable connecting rod, the lower hinge seat is hinged with one end of the electric push rod of the leg, and the electric push rod of the leg is hinged. The other end of the rod is hinged to the leg module; one end of the cushion support rod is fixedly connected to the upper base, the other end is hinged to one end of the electric push rod for the cushion, and the other end of the electric push rod for the cushion is hinged to the cushion through the hinge seat of the electric push rod for the cushion; The inside of the armrest is fixedly connected with a cushion supporting plate (6021). When the cushion of the cushion module is placed horizontally, the cushion supporting plate can support the cushion module.

As shown in Figure 4, the lower base includes a foot pedal (6011), a universal wheel (6012), a lifting mechanism, a driving wheel (6015) and a control system, and the front end of the lower base is fixedly provided with a foot pedal, and the left and right sides are symmetrical Two universal wheels and two driving wheels are connected, and a control system is connected at the rear end, and the lifting base can be moved under the driving of the driving wheels.

As shown in Figure 5, figure a shows the initial state of the user, at this time the user sits on the cushion and puts his feet on the foot pedal; figure b shows that the electric push rod of the leg is contracted to drive the leg module to rotate an angle Figure c is the state diagram of the vertical arm of the cushion and the matching pulley of the curved chute on the first track of the curved chute, and picture d is the state diagram of the vertical arm of the cushion and the matching pulley of the curved chute located on the curved chute The state diagram of the end point of the second track of the chute, when the leg module, seat cushion and backrest are all in the vertical state.

The process of assisting the user to stand by the assisted standing device:

Users can adjust the distance between the upper and lower bases through the lifting mechanism to adapt to their own height characteristics, so that they can sit on the cushion, put their feet on the foot pedals, and their legs can be connected to the leg modules through elastic belts, as shown in the figure As shown in 5a, the process of assisting the user to stand under the control of the control system is as follows: the first stage: the electric push rod of the leg shrinks to drive the leg module to rotate an angle, and then the electric push rod of the leg is locked, as shown in Figure 5b; The second stage: the electric push rod of the cushion is extended, the matching end of the vertical arm of the cushion and the curved chute slides upward along the first track of the curved chute, and the cushion wraps around the leg under the joint action of the electric push rod of the cushion and the vertical arm of the cushion The hinge axis of the upper module and the seat cushion rotates, the backrest rotates around the hinge axis of the seat cushion and the backrest under the constraints of the trunk directional arm, the movable link and the backrest support rod, and the leg module remains stationary, as shown in Figure 5c The third stage: with the extension of the electric push rod of the cushion, the vertical arm of the cushion slides to the second track of the curved chute, and the seat cushion continues to rotate under the joint action of the electric push rod of the cushion and the vertical arm of the cushion, and at the same time drives the legs The module rotates around the hinge axis of the leg module and the leg electric push rod, and the backrest continues to rotate around the hinge axis of the seat cushion and the backrest under the constraints of the trunk directional arm, the movable link and the backrest support rod. When the vertical arm of the cushion slides After arriving at the end point of the second track of the curved chute, the seat cushion electric push rod is locked, and the seat cushion, leg module and backrest module are in a vertical state, as shown in Figure 5d.

The assisted standing equipment assists the user's movement process from standing to sitting: the first stage: the seat cushion, leg module and backrest module are in a vertical state at the beginning, the user's feet stand on the foot pedals, and the legs pass through the elastic The belt is connected with the leg module, as shown in Figure 5d, the electric push rod of the seat cushion is gradually shortened under the control of the control system, the electric push rod of the leg remains locked, and the vertical arm of the seat cushion is gradually downward from the end point of the second track of the curved chute Sliding, the seat cushion rotates under the joint action of the electric push rod of the seat cushion and the vertical arm of the seat cushion, and at the same time drives the leg module to rotate around the hinge axis of the leg module and the electric push rod of the leg. Under the restraint of the support rod, the hinged axis of the seat cushion and the backrest is rotated until the vertical arm of the seat cushion moves to the first track of the curved chute, as shown in Figure 5c; the second stage: the electric push rod of the seat cushion continues to shorten, and the vertical arm of the cushion The mating end of the curved chute slides down along the first track of the curved chute, and the seat cushion rotates around the hinge axis of the leg module and the seat cushion under the joint action of the electric push rod of the seat cushion and the vertical arm of the seat cushion. Under the constraints of the trunk orientation arm, movable link and backrest support rod, the rotation movement around the hinge axis of the seat cushion and the backrest is performed, while the leg module remains stationary. After moving to the starting point of the first track of the curved chute, the seat cushion is electrically pushed The rod is locked, as shown in Figure 5b; the third stage: the electric push rod of the leg is gradually extended under the control of the control system, driving the leg module to rotate an angle so that the user maintains a more comfortable leg posture and then keeps locked, as Figure 5a shows.

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 (3)

1. The auxiliary standing device is characterized by comprising six parts, namely a leg module, a cushion module, a backrest module, a cushion electric push rod, a leg electric push rod and a base module;

one end of the leg module is hinged with the cushion, the other end of the leg module is hinged with one end of the leg electric push rod, and the other end of the leg electric push rod is hinged with the lower hinge seat of the backrest support rod;

the cushion module mainly comprises a cushion and a cushion hanging arm, one end of the cushion hanging arm is fixedly connected with the cushion, and the other end of the cushion hanging arm is in sliding connection with the curved sliding groove and can slide along a first track and a second track of the curved sliding groove;

the backrest module comprises a backrest and a trunk directional arm, the backrest is hinged with the cushion, one end of the trunk directional arm is fixedly connected with the backrest, and the other end of the trunk directional arm is hinged with the movable connecting rod of the base module;

the base module comprises a lifting base, armrests, a backrest supporting rod, a curved sliding groove, a cushion supporting rod and a movable connecting rod, wherein the backrest supporting rod, the curved sliding groove and the armrests are fixedly connected with an upper base of the lifting base, and an upper hinge seat and a lower hinge seat are arranged on the backrest supporting rod, and the upper hinge seat is hinged with one end of the movable connecting rod; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion; the curved sliding groove is provided with a first track and a second track;

the lifting base comprises a lower base, an upper base and a lifting mechanism, one end of the lifting mechanism is fixedly arranged on the lower base, the other end of the lifting mechanism is connected to the upper base through a lifting shaft, and the lower base comprises a foot pedal;

the auxiliary standing device is characterized in that the auxiliary standing action process is as follows under the control of the control system: the user adjusts the distance between the upper base and the lower base through the lifting mechanism to adapt to the height characteristics of the user, so that the user sits on the cushion, the user sits on the foot pedal, and the legs are connected to the leg modules through elastic belts; the first stage: the leg electric push rod contracts to drive the leg module to rotate by an angle, and then the leg electric push rod is locked; and a second stage: the cushion electric push rod stretches, the matched end of the cushion hanging arm and the curved chute slides upwards along the first track of the curved chute, the cushion rotates around the hinging shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion hanging arm, the backrest rotates around the hinging shaft of the cushion and the backrest under the restraint of the trunk orientation arm, the movable connecting rod and the backrest supporting rod, and the leg module is kept motionless; and a third stage: the seat cushion is driven to rotate around the hinge shaft of the leg module and the leg electric push rod while the seat cushion continues to rotate under the combined action of the seat cushion electric push rod and the seat cushion vertical arm after the seat cushion vertical arm slides to the second track end point of the curved sliding groove along with the extension of the seat cushion electric push rod, the backrest continues to rotate around the hinge shaft of the seat cushion and the backrest under the restraint of the trunk directional arm, the movable connecting rod and the backrest supporting rod, and the seat cushion electric push rod is locked, and the seat cushion, the leg module and the backrest module are in a vertical state after the seat cushion vertical arm slides to the second track end point of the curved sliding groove.

2. An auxiliary standing apparatus according to claim 1, wherein: the inner side of the armrest of the base module is fixedly connected with a cushion supporting plate, and when the cushion of the cushion module is horizontally placed, the cushion supporting plate can support the cushion module.

3. An auxiliary standing apparatus according to claim 1, wherein: the pulley is installed at the matching end of the cushion hanging arm and the curved chute.

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