CN204016656U - There is many positions electric wheel-chair vehicle of rehabilitation training function - Google Patents

Abstract

The utility model relates to a multi-position electric wheelchair with the function of rehabilitation training, comprising a wheelchair frame, a standing mechanism, a lying mechanism, and a lower limb training mechanism are installed on the wheelchair frame, and a driving mechanism is installed under the wheelchair frame. The standing mechanism and the lower limb training mechanism are respectively connected to the wheelchair frame in rotation, and the lying mechanism is connected to the standing mechanism, which is used for patients to achieve active training, passive training, weight loss training and balance training in standing, lying down, and sitting positions. The wheelchair frame is also equipped with a wheelchair control and virtual reality training mechanism. The wheelchair control and virtual reality training mechanism respectively control and connect the standing mechanism, the lying mechanism, the lower limb training mechanism, and the driving mechanism to realize driving and sitting posture based on virtual reality. Standing and lying down multi-position lower body training.

Description

Multi-position electric wheelchair with rehabilitation training function

technical field

The utility model relates to an intelligent electric wheelchair, in particular to a virtual reality-based lower limb training wheelchair.

Background technique

There are about 9 million stroke patients in my country, and about 75% of stroke patients will have sequelae of varying degrees after onset. Among the many sequelae, hemiplegia has the highest incidence rate. In the rehabilitation of hemiplegia, limb function is the most important Rehabilitation is the most difficult and has a greater impact on patients' activities of daily living. Medical theory and clinical medicine have proved that scientific rehabilitation training plays an extremely important role in the rehabilitation of limb functions of stroke patients with hemiplegia.

CPM joint restorer is commonly used clinically for limb movement dysfunction caused by various reasons, muscle spasm, joint stiffness, tendon and ligament adhesion, and relaxation activities after strenuous exercise. It is of great significance to the venous return of the affected limb after operation, to reduce swelling, to prevent deep vein thrombosis of the lower limb, to improve muscle strength and joint mobility, and to reduce adhesion of surrounding tissues. However, the existing product training mode in the market is single, the training process is not interesting, and the training effect is not good. If it is possible to provide various forms of information feedback during the training process, give full play to the patient's subjective initiative, and give hints or suggestions according to the patient's state, the rehabilitation effect will be greatly improved. Therefore, researchers designed a rehabilitation training system based on virtual reality to stimulate patients' interest in rehabilitation training. The CPM machine is not combined with other rehabilitation equipment either, so the practicability of the product is very limited.

Contents of the invention

The utility model is to provide a multi-position electric wheelchair with a rehabilitation training function, through a virtual reality human-computer interaction system, to realize various lower limb function training for patients.

The technical solution adopted by the utility model to solve its technical problems is: a multi-position electric wheelchair with rehabilitation training function, including a wheelchair frame, and a standing mechanism, a lying mechanism, and a lower limb training mechanism are installed on the wheelchair frame , the driving mechanism is installed under the wheelchair frame, the standing mechanism and the lower limb training mechanism are respectively connected in rotation with the wheelchair frame, and the lying mechanism is connected in rotation with the standing mechanism. The virtual reality training mechanism, the wheelchair control and the virtual reality training mechanism respectively control and connect the standing mechanism, the lying mechanism, the lower limb training mechanism, and the driving mechanism, which are used for patients to realize driving and multi-posture lower limbs based on virtual reality sitting, standing, and lying down train.

The lower limb training mechanism includes: left and right leg supports, left and right pedals, left and right leg lift motors, left and right pedal extension motors, left and right leg supports are respectively connected to the wheelchair frame in rotation, left and right The pedals are slidingly linked with the left and right leg supports respectively, the two ends of the left and right leg raising motors are respectively connected with the wheelchair frame and the left and right leg supports for rotation, and the two ends of the left and right pedal extension motors are connected with the left and right legs respectively. , the right leg support and the left and right pedals are rotated and connected.

The lying mechanism includes: seat cushion, backrest, back-lifting motor, left and right leg supports and left and right leg-lifting motors, the seat cushion is rotatably connected to the wheelchair frame, the backrest is rotatably connected to the seat cushion, and the two ends of the back-lifting motor are respectively connected to the backrest It is connected with the seat cushion rotation.

The standing mechanism includes: cushion, standing motor, left and right leg supports, left and right pedals, left and right pedal extension motors, the seat cushion is connected to the wheelchair frame in rotation, and the two ends of the standing motor are respectively connected to the wheelchair frame and the seat cushion Turn to connect.

Wheelchair control and virtual reality training institutions include: sitting posture, standing posture conversion controller, sitting posture, lying down conversion controller, lower limb training controller, pressure sensor, virtual reality human-computer interaction touch screen display, main control module, bluetooth module, among them , the virtual reality human-computer interaction touch screen display used for the patient to select the posture conversion or lower limb training mode converts the patient's request into a corresponding control command signal through the main control module and transmits it to each posture conversion mechanism or lower limb training mechanism. During the training process, The pressure sensor installed on the footboard collects its motion state in real time, and transmits the motion state signal to the main control module through the Bluetooth module, and displays the motion state on the virtual reality human-computer interaction touch screen display.

The beneficial effects of the utility model are:

1. According to the characteristic that the length from the knee to the sole of the foot will increase when the human leg is flexed and extended, the wheelchair's footsteps will be extended during the transition from sitting to standing and from sitting to lying down, making the patient more comfortable when changing postures.

2. Lower limb training includes multiple modes: active training, passive training, and weight loss training in standing, sitting and lying down. There is also a balance training mode in the standing state, which can fully meet the lower limb functional training of patients with various lower limb dysfunctions. .

3. This patent greatly reduces the volume of existing rehabilitation training products and increases their scope of use; it combines wheelchairs with rehabilitation training equipment to increase its practicability; based on virtual reality and human-computer interaction technology, on the one hand, it makes boring rehabilitation training Full of fun. It has a positive role in promoting the rehabilitation of patients with limb dysfunction.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a multi-position electric wheelchair with a rehabilitation training function;

Fig. 2 is a schematic diagram of standing training state;

Fig. 3 is a schematic diagram of a lying down training state;

Fig. 4 is the schematic diagram of lying down and standing lower limb training mechanism;

Fig. 5 is a schematic diagram of the lower limb training pressure sensor;

Fig. 6 is a structural block diagram of the wheelchair control and virtual reality system.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

The utility model relates to a multi-position electric wheelchair with rehabilitation training function, which consists of a wheelchair frame, a standing mechanism, a lying mechanism, a lower limb training mechanism, a driving mechanism, a wheelchair control and a virtual reality training mechanism.

The standing mechanism, the lying mechanism, the lower limb training mechanism, and the lying mechanism are respectively linked with the wheelchair frame, and are respectively linked with the wheelchair vehicle control and virtual reality training system, so as to realize multi-posture driving and sitting, standing, and lying flat based on virtual reality Lower body training function.

Training modes include standing, lying down, active training in sitting position, passive training, weight loss training and balance training, etc. Pressure sensors are installed on the pedals to capture the training path and record the patient's training status. Combining with virtual reality games, it makes patients feel immersive, enhances the rehabilitation interest of patients with limb dysfunction, and realizes the function of rehabilitation training for stroke patients. When not training, the utility model can be used as an ordinary electric wheelchair, increasing its practicality.

As shown in Figures 1 to 5, the multi-position electric wheelchair with rehabilitation training function includes a rear universal wheel 1, a wheelchair workshop 2, a cushion 3, a backrest 4, a virtual reality human-computer interaction touch screen display 5, and a driving control handle 6 , left and right leg supports 7, left and right pedals 8, front drive wheels 9, main control module 10, back motor 11, battery 12, standing motor 13, left and right leg lift motors 14, left and right pedals Pin extension motor 15, pressure sensor 16, sensor control board 17, pedal surface 18 etc.

As shown in Figure 1, the standing mechanism and the lower limb training mechanism are respectively connected to the wheelchair frame in rotation, the lying mechanism is rotatably connected to the standing mechanism, and the lying mechanism is rotatably connected to the standing mechanism. , a driving control handle 6 and a main control module 10 to realize the driving control of the wheelchair.

As shown in Figures 1 and 5, the wheelchair control and virtual reality lower limb training system includes a virtual reality human-computer interaction touch screen display 5, a main control module 10, a pressure sensor 16, a sensor control board 17, and a pedal surface 18. The main control module 10 is fixed on the backrest 4, and the virtual reality human-computer interaction touch screen display 5 is fixed on the seat cushion 3, and can be folded in the backrest 4 rear side when not in use. The pressure sensor 16 and the sensor control board 17 are fixed on the left and right pedals 8, and the pedal surface 18 is covered on the left and right pedals 8.

As shown in Figure 4, the standing, lying down and lower limbs training mechanism comprises: wheelchair frame 2, seat cushion 3, backrest 4, left and right leg rest 7, left and right pedal 8, back motor 11, during standing process Standing motor 13 left and right leg-lifting motors 14 and left and right pedaling extend motors 15. The seat cushion 3 and the left and right leg supports 7 are respectively connected to F and E in rotation with the wheelchair frame 2, the left and right pedals 8 are slidably connected to the left and right leg supports 7, and the backrest 4 and the seat cushion 3 are rotatably connected to I. The two ends of the back motor 11 are respectively connected to J and H in rotation with the backrest 4 and the seat cushion 3, the two ends of the standing motor 13 are respectively connected to K and G with the wheelchair frame 2 and the seat cushion 3 in rotation, and the left and right leg-lifting motors 14 The two ends are respectively connected to C and B with the wheelchair frame 2 and the left and right leg supports 7, and the two ends of the left and right pedal extension motors 15 are respectively connected with the left and right leg supports 7 and the left and right pedals 8 Rotate to connect to D and A. During the lying down process, the back motor 11 and the left and right leg raising motors 14 coordinately move to realize the leveling of the backrest and the kickstand respectively. Standing motor 13 in the process of standing, back motor 11, left and right step on the foot and extend motor 15 and move simultaneously and realize standing and stepping on the foot to extend function. During lower body training, the left and right leg-lifting motors 14 and the left and right pedal extension motors 15 work together to realize the flexion and extension of the knee joint and simulate sports such as riding a bicycle or carry out balance training in combination with wheelchair posture conversion.

As shown in Figure 6, the wheelchair control and virtual reality training mechanism includes a pressure sensor 16, a virtual reality human-computer interaction touch screen display 5, a main control module 10, a posture conversion mechanism, a lower limb training mechanism, and a Bluetooth module. The main control module 10 is mainly responsible for allocating various system modules to work together, and the user selects the lower limb training mode through the virtual reality human-computer interaction touch screen display 5 . The command signal is transmitted to the main control module 10, and the main control module 10 converts the request into a corresponding control command and transmits it to the corresponding actuator, that is, the posture conversion mechanism or the lower limb training mechanism, thereby driving the patient to perform posture conversion or lower limb training. During the training process, the pressure sensor 16 installed on the footboard collects its motion state in real time, and transmits the motion state signal to the main control module 10 through the Bluetooth module, and displays it on the virtual reality human-computer interaction touch screen display 5, helping the nursing staff to grasp Patient training.

Claims (5)

1. A multi-position electric wheelchair with rehabilitation training function, has a wheelchair frame, a standing mechanism, a lying mechanism, and a lower limb training mechanism are installed on the wheelchair frame, and a driving mechanism and a standing mechanism are installed under the wheelchair frame. and the lower limb training mechanism are respectively connected to the wheelchair frame in rotation, and the lying mechanism and the standing mechanism are rotatably connected. The reality training mechanism controls and connects the standing mechanism, the lying mechanism, the lower limb training mechanism, and the driving mechanism respectively, and is used for patients to realize multi-posture lower limb training based on virtual reality, such as sitting, standing, and lying down. 2. The multi-position electric wheelchair with rehabilitation training function according to claim 1, characterized in that: the lower limb training mechanism comprises: left and right leg supports (7), left and right pedals (8), The left and right leg-lifting motors (14), the left and right pedal extension motors (15), the left and right leg support frames (7) are rotatably connected with the wheelchair frame (2) respectively, and the left and right pedals (8) respectively Slip link with left and right leg support (7), the two ends of left and right leg lifting motor (14) are respectively connected with wheelchair vehicle frame (2) and left and right leg support (7) rotation, left and right step The two ends of pin extension motor (15) are respectively connected with left and right leg support (7) and left and right pedal (8) in rotation. 3. The multi-position electric wheelchair with rehabilitation training function according to claim 1, characterized in that: said lying mechanism comprises: cushion (3), backrest (4), back lifting motor (11), left, The right leg support (7) and the left and right leg raising motors (14), the seat cushion (3) is rotatably connected with the wheelchair frame (2), the backrest (4) is rotatably connected with the seat cushion (3), and the back lifting motor (11) The two ends of the backrest (4) and the cushion (3) are rotatably connected respectively. 4. The multi-position electric wheelchair with rehabilitation training function according to claim 1, characterized in that: said standing mechanism comprises: cushion (3), standing motor (13), left and right leg rests (7) , the left and right pedals (8), the left and right pedals extend the motor (15), the seat cushion (3) is rotationally connected with the wheelchair frame (2), and the two ends of the standing motor (11) are connected with the wheelchair frame (2) respectively ) and the seat cushion (3) are rotationally connected. 5. The multi-position electric wheelchair with rehabilitation training function according to claim 1, characterized in that: said wheelchair control and virtual reality training mechanism comprises: sitting posture, standing posture conversion controller, sitting posture, lying down conversion controller , a lower limb training controller, a pressure sensor (16), a virtual reality human-computer interaction touch screen display (5), a main control module (10), a bluetooth module, wherein, the virtual reality human body for the patient to select posture conversion or lower limb training mode The machine-interactive touch screen display (5) converts the patient's request into corresponding control command signals through the main control module (10) and transmits them to each posture conversion mechanism or lower limb training mechanism. During the training process, the pressure sensor ( 16) Collect its motion state in real time, and transmit the motion state signal to the main control module (10) through the Bluetooth module, and display the motion state through the virtual reality human-computer interaction touch screen display (5).