CN115919569A - Wheelchair with standing and walking assisting function - Google Patents

Abstract

The invention discloses a wheelchair with auxiliary standing and walking functions, which mainly includes an auxiliary lifting arm and a wheelchair body. Suspension reduces weight, and the seat cushion on the wheelchair body can be flipped relative to the wheelchair body so as to realize the auxiliary standing function. The invention has simple structure, low cost and convenient use.

Description

A wheelchair with functions of assisting standing and walking

technical field

The invention belongs to the field of rehabilitation equipment research, in particular to a wheelchair with functions of assisting standing and walking.

Background technique

my country has entered an aging society. The lower limb dysfunction caused by stroke has a great impact on the lives of the elderly. Lower limb rehabilitation equipment can assist people with lower limb disabilities to carry out rehabilitation training, effectively improve the blood circulation and muscle function of the lower limbs, and rehabilitate their lower limbs. played a great role in promoting. With the acceleration of my country's economic development, people's living standards and life concepts have improved, and their awareness of rehabilitation has become more and more in-depth. What is inconsistent with this is that the research on rehabilitation equipment in my country cannot meet the needs of rehabilitation, and the price is expensive and the functions are complicated. It is difficult for ordinary people to enjoy lower limb rehabilitation training based on rehabilitation equipment in a home environment. For people with lower limb disabilities, wheelchairs are a must-have for their daily life. Therefore, a wheelchair-based multifunctional lower limb rehabilitation equipment has been developed. Functions such as simple lower limb rehabilitation training have far-reaching practical significance for improving the quality of life and independent living ability of patients, reducing the burden on caregivers, and promoting the development of the field of rehabilitation robots in my country. The invention designs a wheelchair with the functions of assisting standing and walking, which can assist the user to independently complete the rehabilitation training of the lower limbs. At the same time, the device also has the function of a wheelchair, so that the device can be used at home, which greatly meets the needs of home care in my country at the present stage. demand and has important application value.

Contents of the invention

Technical problem: The technical problem to be solved by the present invention is to provide a wheelchair with auxiliary standing and walking functions. In addition to providing basic wheelchair functions, the wheelchair can also realize auxiliary standing and walking assistance functions in the standing state. If the lower limb strength of the patient is weak, the auxiliary lifting arm can also be used to achieve weight loss support and assist in lower limb walking training.

Technical solution: A wheelchair with auxiliary standing and walking functions mainly includes an auxiliary lifting arm (1) and a wheelchair body (2), the auxiliary lifting arm (1) is installed on the wheelchair body (2), and assists in lifting The arm (1) and the wheelchair body (2) form a detachable connection; the auxiliary lifting arm (1) includes a bearing frame (104), and a lifting guide groove (107) is fixed on the bearing frame (104). The arm (106) is installed in the lifting guide groove (107), and can slide relative to the lifting guide groove (107); one end of the third electric push rod (108) is hinged with the bearing frame (104), and the other end is connected with the lifting arm (106). ) is hinged at one end, and the lifting arm (106) can slide along the lifting guide groove (107) under the drive of the third electric push rod (108); the other end of the lifting arm (106) is hinged with one end of the swing arm (103), The other end of the swing arm (103) has a guide groove (105), and a hanger (102) is installed in the guide groove (105), and the hanger (102) can move and universally rotate relative to the guide groove (105); (102) is equipped with a locking mechanism, which can be locked relative to the position of the guide groove (105) after moving into place; the two ends of the first electric push rod (101) are respectively hinged with the lifting arm (106) and the swing arm (103), and the swing arm (103) is rotatable relative to the lifting arm (106) under the drive of the first electric push rod (101).

The wheelchair body (2) includes a load-bearing frame interface (201), a lockable gas spring (202), a controller box (203), an armrest (204), a backrest (205), a hand controller (206), and a seat cushion (207), guide rail (208), leg module (209), car body frame (210), second electric push rod (211), support fork (212); guide rail (208) is fixed on car body frame (210) On both sides, the slider on the guide rail (208) is rotatably connected with one end of the seat cushion (207), the middle part of the seat cushion (207) is hinged with the second electric push rod (211) and one end of the support fork (212), and the second electric push rod (211) and the other end of support fork (212) are respectively connected with car body frame (210) by hinge. The guide rail (208) and the support fork (212) constrain the movement of the seat cushion (207). In the sitting position, when the second electric push rod (211) is extended, the seat cushion (207) is placed between the guide rail (208) and the support fork (212). Under the constraints of , one end moves along the guide rail (208), and the other end turns over relative to the vehicle body frame (210), thereby realizing standing;

Described leg module (209) is rotationally connected with cushion (207), and leg module (209) comprises pedal (2092), leg support (2091) and limiter (2096), and pedal (2092) and The leg support (2091) is slidingly connected, and a spring (2094) is installed between the pedal (2092) and the leg support (2091). When the active force on the pedal (2092) was less than the spring force, the pedal (2092) ) remain stationary relative to the leg support (2091). The limiter (2096) is installed on the leg support (2091), and is used to limit the rotation range of the leg support (2091) relative to the seat cushion (207). An auxiliary leg (213) can also be installed on the wheelchair body (2), and the wheelchair body (2), the auxiliary leg (213) and the auxiliary lifting arm (1) can realize the displacement function.

Preferably, the second electric push rod (211) and the support fork (212) are installed on the side of the wheelchair body (2).

Preferably, rollers (2093) are installed on the pedals (2092), so that when the leg modules (209) follow the movement of the seat cushion (207), the friction between the leg modules (209) and the ground is rolling friction.

Preferably, the opening on one side of the vehicle body frame (210) forms a U-shaped structure, thereby allowing the leg modules (209) to move inside the vehicle body frame (210).

Through the above-mentioned design scheme, the beneficial effect of the present invention is that: the seat cushion of a wheelchair with auxiliary standing and walking functions provided by the present invention can move along the guide rail at one end under the constraints of the second electric push rod, guide rail and support fork , the other end is flipped relative to the body frame, so that the user in the wheelchair can switch from a sitting position to a standing position. At the same time, because the body frame is similar to a U-shaped structure, the leg modules are allowed to move inside the body frame. When the user When the wheelchair body is used to assist in standing, it can stand inside the wheelchair, which has high safety; when the user stands inside the wheelchair, the auxiliary lifting arm of the wheelchair of the present invention can realize the suspension of the user, so that the user can be used Provides assisted weight loss support during lower body walking training.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the wheelchair of the present invention in a sitting position.

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

Fig. 3 is a schematic diagram of the hanger structure of the present invention.

Fig. 4 is a schematic diagram of a partial structure of the auxiliary lifting arm.

Fig. 5 is a schematic structural diagram of the leg module of the present invention.

Fig. 6 is a schematic diagram of the standing state of the wheelchair of the present invention.

Fig. 7 is a schematic diagram showing the shifting function of the wheelchair 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 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.

In describing the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", "clockwise", "counterclockwise", "one end", "other end", "middle", etc. is based on the orientation or position shown in the drawings The positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

As shown in Fig. 1, a wheelchair with auxiliary standing and walking functions according to an embodiment of the present invention mainly includes an auxiliary lifting arm (1) and a wheelchair body (2). The auxiliary lifting arm (1) is composed of the first electric push rod (101), hanger (102), swing arm (103), bearing frame (104), lifting arm (106), lifting guide groove (107), the first Composed of three electric push rods (108), the bearing frame (104) is an inverted U-shaped structure, and its bottom forms a detachable connection with the wheelchair body (2) through two left and right bearing frame interfaces (201), so as to facilitate auxiliary lifting. Lift arm (1) is removed. Lifting guide groove (107) is fixed on bearing frame (104) middle part, and lifting arm (106) is installed inside lifting guide groove (107), and lifting arm (106) can slide relatively lifting guide groove (107). As shown in Figure 4, one end of the third electric push rod (108) is hinged with the support beam (109) at the bottom of the bearing frame (104), and the other end is hinged with one end of the lifting arm (106), and the lifting arm (106) can be Driven by the third electric push rod (108), it slides along the lifting guide groove (107); the other end of the lifting arm (106) is hinged with one end of the swing arm (103), and the other end of the swing arm (103) has a guide groove (105).

As shown in Figure 3, the guide groove (105) is a T-shaped groove structure, and a hanger (102) is installed in the guide groove (105), and the hanger (102) is mainly composed of a suspension hook (1021), an upper lug (1023), The lower lifting lug (1024), the bolt (1025), and the hanger body (1026) are composed of a through hole on the upper part of the hanger body (1026), and the bolt (1025) passes through the through hole and is fixed to the lower lifting lug (1024). The lifting lug (1024) can rotate freely relative to the hanger body (1026), the lower lifting lug (1024) is connected with the upper lifting lug (1023) by a rotating shaft, the lower lifting lug (1024) can rotate relative to the upper lifting lug (1023), and the suspension hook ( 1021) is a T-shaped structure, the upper part of which is installed in the guide groove (105), and the lower part is a threaded structure, which is fixed with the upper lug (1023) by the thread; a locking mechanism is also installed on the hook (1021), and the locking mechanism It is a nut (1022), which is installed between the upper lug (1023) and the suspension hook (1021).

Through the above description, the hanger (102) can move in the guide groove (105), and can also rotate universally relative to the guide groove (105). When the hanger (102) moves in place, tighten the nut (1022) to make it Compress the guide groove (105), thereby realizing the fixation of the hanger (102) relative to the guide groove.

As shown in Figure 1, one end of the first electric push rod (101) is hinged to the lifting arm (106), and the other end is hinged to the swing arm (103). When the first electric push rod (101) stretches, it can drive the swing arm ( 103) rotate relative to the bearing frame (104), thereby driving the hanger (102) to move up and down.

As shown in Figure 2, the wheelchair body (2) includes a load-bearing frame interface (201), a lockable gas spring (202), a controller box (203), an armrest (204), a backrest (205), a hand controller ( 206), seat cushion (207), guide rail (208), leg module (209), car body frame (210), the second electric push rod (211), support fork (212). The bearing frame interface (201) is fixed with the vehicle body frame (210).

Two guide rails (208) are fixedly connected to both sides of the car body frame (210), and the slide block on the two guide rails (208) is connected with one end of the seat cushion (207) for coaxial rotation, and the middle part of the seat cushion (207) is connected to the second electric push rod. One end of (211) and support fork (212) is hinged, and the other end of second electric push rod (211) and support fork (212) is connected with car body frame (210) by hinge respectively. In order to better realize the auxiliary standing function, the second electric push rod (211) and the support fork (212) are installed on the side of the wheelchair body (2). The guide rail (208) and the support fork (212) form a movement constraint to the seat cushion (207). In the sitting posture state shown in FIG. ) and the support fork (212), one end moves along the guide rail (208) to the inside of the body frame (210), and the other end turns counterclockwise relative to the body frame (210) until the standing state shown in Figure 6. Conversely, when the second electric push rod (211) was shortened, under the constraint of the guide rail (208) and the support fork (212), one end of the seat cushion (207) moved to the outside of the car body frame (210) along the guide rail (208), and the other end Then turn over clockwise relative to the vehicle body frame (210) until the sitting posture state shown in FIG. 1 .

The leg module (209) is rotationally connected with the seat cushion (207), the leg module (209) includes a leg support (2091), the leg support (2091) is provided with a guide groove (2095), and the foot pedal (2092) is installed In the guide groove (2095), it can slide up and down relative to the leg support (2901). As shown in Figure 5, a spring (2094) is installed between the pedal (2092) and the leg support (2091), and when the active force on the pedal (2092) was less than the spring force, the pedal (2092) was relatively Keep the leg support (2091) still. A stopper (2096) is also installed on the top of the leg support (2091), and when the wheelchair is in the sitting position shown in Figure 1, the stopper (2096) is in mechanical contact with the bottom edge of the seat cushion (207), thereby limiting the relative position of the leg support (2091). Turn counterclockwise on the cushion (207). When the wheelchair is in the standing state shown in Figure 6, the limiter (2096) is in mechanical contact with the upper edge of the cushion (207), thereby limiting the clockwise rotation of the leg support (2091) relative to the cushion (207). A roller (2093) is installed under the pedal (2091). When the pedal (2092) is stressed and slides downward relative to the leg support (2091) until the roller (2093) contacts the ground, the force received is borne by the ground , thereby protecting the guide rail (208), and the installed rollers (2093) make the leg module (209) move with the ground when the leg module (209) moves along with the cushion (207), and the friction at the contact point with the ground is rolling friction.

In order to make the seat cushion (207) turn over, the leg module (209) can follow the seat cushion (207) without hindrance and move, the front opening of the vehicle body frame (210) forms a similar U-shaped structure, and the vehicle body frame (210) The left and right parts of the car are only connected at the rear by a load bearing (2104), allowing the movement of the leg modules (209) inside the body frame (210).

In order to make the wheelchair have a displacement function, as shown in Figure 7, an auxiliary leg (213) can also be installed at the tail of the wheelchair body (2), and the auxiliary lifting arm (1) can be turned over and installed, then the wheelchair body ( 2), the auxiliary outrigger (213) and the auxiliary lifting arm (1) can realize the shifting function.

In order to make the vehicle body frame (210) have a moving function, universal wheels (2102) are installed at the front portion of the vehicle body frame (210), and driving wheels (2103) are installed at the rear portion of the vehicle body frame (210). The controller box (203) is installed on the rear portion of the car body frame (210), and the battery and the control system are installed in the control box (203), and are connected with the driving wheel (2103) and the auxiliary lifting arm (1) through cables, It is used to realize the power supply and motion control of the wheelchair body (2) and the auxiliary lifting arm (1).

On the car body frame (210), a backrest (205) is also installed, and the backrest (205) is hingedly connected with the car body frame (210), and the backrest (205) can rotate relative to the car body frame (210); the lockable gas spring ( 202) One end is rotatably connected to the vehicle body frame (210), and the other end is rotatably connected to the backrest (205). Under the constraints of the lockable gas spring (202), the backrest (205) can stay at any position relative to the vehicle body frame (210). angle.

Handrail (204) is installed in car body frame (210) both sides, and can rotate relative to car body frame (210), when handrail (204) needs to be fixed, then by being installed in the slot on the car body frame (210) ( 2101) fixed. The hand controller (206) is installed on the armrest (204), and the hand controller (206) is connected with the controller box (203) by cables.

The specific working process of the wheelchair with auxiliary standing and walking functions of the present invention is:

In the state shown in Figure 1, press the control button on the hand controller, and the second electric push rod will be extended. As shown in Figure 2, the seat cushion is restrained by the guide rail and the support fork, and one end moves toward the inside of the car body frame along the guide rail. The other end is flipped counterclockwise, and at the same time, the leg module moves toward the inside of the car body under the traction of the seat cushion until the final state shown in Figure 6. When the user uses this wheelchair to assist in standing, his feet step on the pedals, his legs and leg brackets are fixed by straps, and his upper body and seat cushion are bound by straps. During the movement of the internal module, the user is assisted to move from a sitting state to a standing state. Because a spring is installed between the pedal and the leg bracket, when the wheelchair is in the state shown in Figure 1, the pedal is at the highest position, and the rollers are not in contact with the ground. When assisting the human body to stand, the pedal is subject to the weight of the human body The effect makes the spring stretched and the pedal moves downward until the roller contacts the ground. Its beneficial effect is to reduce the body weight on the guide rail and improve the life of the guide rail. At the same time, the friction between the leg module and the ground contact point is rolling. friction. When standing, the leg module cannot rotate clockwise due to the restriction of the stopper, thereby ensuring that the position of the leg module is fixed and improving the safety of standing. When the user completes standing with the assistance of the wheelchair body, since the body frame is a U-shaped structure, the user stands inside the body frame as a whole, which further improves the safety of using the wheelchair body for assisted standing and walking.

When the user assists in walking with the help of a wheelchair, he can release the straps of his lower legs and upper body from the wheelchair in the standing posture as described above, descend from the pedals to the ground, hold the armrest of the wheelchair, and use the wheelchair to assist walking.

When using a wheelchair to assist standing or walking, weight loss support is required, and the auxiliary lifting arm installed on the wheelchair body can be used for assistance. The process is: the user adjusts the position of the hanger relative to the swing arm and then fixes it. Press the control button on the hand controller to control the third electric push rod to adjust the lifting arm to a suitable height, fix the upper body with the sling installed on the hanger, and then press the control button on the hand controller to control the extension of the first electric push rod , thereby driving the swing arm to rotate clockwise relative to the lifting arm, driving the hanger to move upward, and then lifting the body upward to realize weight loss support for the human body.

When it is necessary to use the wheelchair body to realize the wheelchair walking aid function, if the auxiliary lifting arm is not needed, the auxiliary lifting arm can be removed, and when the wheelchair body is in the state shown in Figure 1, by controlling the button on the hand controller Control the rotation of the driving wheel or drive the seat cushion to turn over to realize the function of electric wheelchair or auxiliary standing function. In the sitting position, due to the restraint effect of the stopper, the leg module cannot rotate counterclockwise, so as to ensure that the user's legs can be supported by the leg module. support.

When it is necessary to realize the displacement function with the help of the wheelchair body, as shown in Figure 7, the auxiliary lifting arm is turned over and installed, and the auxiliary leg is installed at the rear of the wheelchair body, then the wheelchair body, auxiliary lifting arm, auxiliary support The legs can realize the shifting function. When in use, control the wheelchair body to move to an appropriate position, adjust the position of the hanger relative to the swing arm and fix it, use the sling installed on the hanger to fix the body of the shifted person, and then pass Control the first and third Dentsu push rods on the auxiliary lifting arm to lift the displaced person, and use the movement function of the wheelchair body to move the displaced person.

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 wheelchair with auxiliary standing and walking functions is characterized by comprising an auxiliary lifting arm and a wheelchair body, wherein the auxiliary lifting arm is arranged on the wheelchair body and is detachably connected with the wheelchair body;

the auxiliary lifting arm comprises a bearing frame, a lifting guide groove is fixed on the bearing frame, and the lifting arm is installed in the lifting guide groove and can slide relative to the lifting guide groove; one end of the third electric push rod is hinged with the bearing frame, the other end of the third electric push rod is hinged with one end of the lifting arm, and the lifting arm can slide along the lifting guide groove under the driving of the third electric push rod; the other end of the lifting arm is hinged with one end of the swinging arm, the other end of the swinging arm is provided with a guide groove, and a hanging bracket is arranged in the guide groove and can move and rotate universally relative to the guide groove; the hanger is provided with a locking mechanism which can be locked relative to the guide groove after moving in place; two ends of the first electric push rod are respectively hinged with the lifting arm and the swing arm, and the swing arm can rotate around the lifting arm under the driving of the first electric push rod;

the wheelchair body comprises a body frame, guide rails are fixed on two sides of the body frame, a sliding block on the guide rails is rotatably connected with one end of a cushion, the middle part of the cushion is hinged with a second electric push rod and one end of a supporting fork, and the other ends of the second electric push rod and the supporting fork are respectively connected with the body frame through hinges;

the guide rail and the support fork form motion constraint on the cushion, when the second electric push rod extends, one end of the cushion moves along the guide rail under the constraint of the guide rail and the support fork, and the other end of the cushion turns relative to the vehicle body frame, so that the cushion can stand; when a user uses the wheelchair to assist standing or walking, the user can use the auxiliary lifting arm to support weight reduction, and the method comprises the following steps: a user adjusts the position of the hanger on the swing arm, locks the hanger by using the locking mechanism, controls the third electric push rod to move, adjusts the height of the lifting arm, fixes the upper body by using a hanging strip arranged on the hanger, and controls the first electric push rod to move, so that the swing arm is driven to rotate to drive the hanger to move upwards, further the body is lifted upwards, and the weight reduction support for the user is realized;

the leg module is rotationally connected with the cushion and comprises a pedal plate, a leg support and a limiter, the pedal plate is slidably connected with the leg support, a spring is arranged between the pedal plate and the leg support, when the acting force on the pedal plate is smaller than the elastic force of the spring, the pedal plate is kept immovable relative to the leg support, and the limiter is arranged on the leg support and used for limiting the rotation range of the leg support relative to the cushion;

the wheelchair with the auxiliary standing and walking functions is further characterized in that the auxiliary supporting legs are mounted on the wheelchair body, and the wheelchair body, the auxiliary lifting arms and the auxiliary supporting legs can achieve the shifting function.

2. The wheelchair of claim 1, wherein the second push rod and the support fork are mounted on a side of the body of the wheelchair.

3. The wheelchair of claim 1, wherein the pedals are further provided with rollers, and when the leg module moves along with the cushion, the friction of the contact part of the leg module and the ground is rolling friction.

4. The wheelchair of claim 1 wherein the body frame is open at one side to form a U-like structure to allow movement of the leg module within the body frame.

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