阅读说明：本技术 一种多功能训练轮椅 (Multifunctional training wheelchair ) 是由 张延恒 莫春晖 张莹 于 2019-08-29 设计创作，主要内容包括：本发明公开了一种多功能训练轮椅,在实现基本的轮椅移动功能外,还可实现站立功能、平躺功能、下肢训练功能和上肢训练功能。本发明的多功能轮椅体积小,携带便捷,病人可以自己完成下肢和上肢的康复训练,同时下肢和上肢康复设备安装在轮椅上,不用限制训练场地。本发明的下肢训练功能和上肢训练功能可以帮助病人活动腿部和上肢的肌肉,并逐渐的恢复腿部和上肢功能。本发明结构简单,成本低,使用方便。(The invention discloses a multifunctional training wheelchair, which can realize a standing function, a lying function, a lower limb training function and an upper limb training function besides a basic wheelchair moving function. The multifunctional wheelchair is small in size and convenient to carry, a patient can finish the rehabilitation training of the lower limbs and the upper limbs by himself, and meanwhile, the lower limb rehabilitation equipment and the upper limb rehabilitation equipment are installed on the wheelchair, so that the training field is not limited. The lower limb training function and the upper limb training function of the invention can help the patient to move the muscles of the legs and the upper limbs and gradually recover the functions of the legs and the upper limbs. The invention has simple structure, low cost and convenient use.)

1. The utility model provides a multifunctional training wheelchair, its characterized in that includes the wheelchair automobile body, the shank module, the cushion module, the back module, six parts of electric putter subassembly and control module, the cushion module passes through pulley 1 and pulley 2 and installs respectively in track 1 and track 2 in the wheelchair automobile body, the baffle in cushion module's one end is passed through cushion and shank module is articulated, the other end passes through the back of cushion and back module and articulates, stretch leg electric putter one end in the electric putter subassembly and the baffle in the shank module are articulated, the other end is articulated with the back in the back module, lift electric putter one end in the electric putter subassembly is articulated with the cushion in the cushion module, the other end is articulated with the wheelchair automobile body, back electric putter one end in the electric putter subassembly is articulated with the back, the other end is articulated with the cushion, control module is fixed with the wheelchair automobile body.

2. A multi-purpose training wheelchair as claimed in claim 1, wherein: the leg module, the cushion module, the backrest module and the leg stretching electric push rod form a four-bar mechanism.

3. The multi-purpose training wheelchair of claim 1, wherein: the handrail of the wheelchair body is provided with a track 1 and a track 2, and the track 1 and the track 2 are vertical to each other.

4. A multi-purpose training wheelchair as claimed in claim 1, wherein: the pulleys 1 and 2 can slide relative to the rails 1 and 2, respectively.

5. A multi-purpose training wheelchair as claimed in claim 1, wherein: the leg module comprises baffle, running-board, ball screw subassembly, guide rail and shank motor, and the ball screw subassembly is installed on the baffle, and the running-board can be along baffle up-and-down motion under the drive of ball screw subassembly.

6. 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.

7. The multi-purpose training wheelchair of claim 1, wherein: 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.

8. A multi-purpose training wheelchair as claimed in claim 7, wherein: the auxiliary handrail comprises support, slip handle, linear drive subassembly, rotary drive motor and remote control button, and the support is articulated with the back, and rotary drive motor shell links firmly with the back, and rotary drive motor output shaft links firmly with the support, and the support rotates relative to the back under the rotary drive motor drive, and linear drive subassembly shell is fixed with the support, and the output is fixed with the slip handle, and the slip handle can be along support linear motion under the drive of linear drive subassembly.

9. A multi-purpose training wheelchair as claimed in claim 8, 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.

10. 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.

Technical Field

The invention belongs to the research field of rehabilitation training mechanisms, and particularly relates to a multifunctional training wheelchair with lower limb and upper limb training functions.

Background

China is a large population country, the cardinality of disabled people is correspondingly large, the demand on rehabilitation equipment, particularly rehabilitation robots, is correspondingly large, meanwhile, along with the acceleration of economic development of China, the improvement of living standard and living concept of people, the cognition on rehabilitation is more and more deep, and what is inconsistent with the improvement is the lack of industrialization of rehabilitation robots of China and the low of related technical level. Therefore, the rehabilitation robot for lower limb dysfunction of the patient is developed, helps the patient to complete functions of sitting up rehabilitation training, lower limb rehabilitation training and the like, improves the life quality and the independent living capacity of the patient, relieves the burden of nursing personnel, promotes the development of the field of rehabilitation robots in China, and has profound practical significance. In recent years, rehabilitation equipment has the defects of large equipment volume, inconvenience and the need of accompanying training of medical care personnel and family, and brings great inconvenience to patients and family. The multifunctional wheelchair provided by the invention can enable a patient to finish lower limb and upper limb rehabilitation training by himself, meanwhile, the lower limb and upper limb rehabilitation mechanism is installed on the wheelchair, the wheelchair can be conveniently controlled without limiting the training field, and the multifunctional wheelchair has important application value in the fields of lower limb and upper limb rehabilitation training and the like.

Disclosure of Invention

The technical problem is as follows: the technical problems to be solved by the invention are as follows: the multifunctional training wheelchair can realize the functions of standing and lying in addition to the basic wheelchair function, can train the simple rehabilitation training of the lower limbs and the upper limbs of the human body, and helps the recovery of the lower limbs and the upper limbs of the human body.

The technical scheme is as follows: a multifunctional training wheelchair mainly comprises 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), wherein the cushion module is respectively arranged in a track 1(1041) and a track 2(1042) in the wheelchair body through a pulley 1(302) and a pulley 2(303), one end of the cushion module is hinged with a baffle plate (201) in the leg module through a cushion (301), the other end of the cushion module is hinged with a backrest (401) of the backrest module through the cushion, one end of a leg extending electric push rod (501) 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 (502) in the electric push rod assembly is hinged with the cushion in the cushion module, the other end of the electric push rod assembly is hinged with the wheelchair body, one end of a backrest electric push rod (503), the other end is hinged with the cushion, and the control module is fixed with the wheelchair body. The leg module, the cushion module, the backrest module and the leg stretching electric push rod form a four-bar mechanism.

A rail 1 and a rail 2 are arranged in an armrest (104) of the wheelchair body (1), the rail 1 and the rail 2 are perpendicular to each other, and a pulley 1 and a pulley 2 in a cushion module can slide relative to the rail 1 and the rail 2 respectively.

The leg module in the multifunctional wheelchair comprises a baffle, a pedal (202), a ball screw assembly (203), a guide rail (204) and a leg motor (205), wherein the ball screw assembly is arranged on the baffle, and the pedal can move up and down along the baffle under the driving of the ball screw assembly. The baffle is also provided with a guide rail which plays an auxiliary guiding role in the movement of the pedal.

The backrest module in the multifunctional wheelchair mainly comprises a backrest, a hydraulic rod (402) and auxiliary armrests (403), wherein one end of the hydraulic rod is hinged with the backrest, and the other end of the hydraulic rod is hinged with a cushion. The auxiliary handrail is by support (4031), sliding handle (4032), linear drive subassembly (4033), rotatory driving motor (4034) and remote control button (4035) are constituteed, the support is articulated with the back, rotatory driving motor shell links firmly with the back, its output shaft links firmly with the support, the support rotates relative to the back under the drive of rotatory driving motor, linear drive subassembly shell is fixed with the support, the output is fixed with sliding handle, sliding handle is fixed can be along support linear motion under linear drive subassembly's drive, the remote control button is installed on sliding handle, can realize the motion control to electric putter subassembly and wheelchair automobile body through the remote control button.

Has the advantages that: through the design scheme, the invention has the following beneficial effects:

1. the lying action can be realized. The baffle plate, the cushion, the backrest and the leg stretching electric push rod of the mechanism 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 can be completed.

2. Can realize the standing action. A four-bar mechanism is formed among the baffle plate, the cushion, the backrest and the leg stretching electric push rod of the mechanism, and the standing action of the wheelchair can be completed by controlling the extension and retraction of the lifting electric push rod below the cushion, namely controlling the angle of the cushion.

3. Can realize leg training action. 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 motion of the feet of the human body can be realized by controlling the lifting of the ball screw assembly in the leg module. The leg stretching electric push rod is matched with the ball screw assembly, and coordinated movement of hip joints and knee joints of legs can be completed.

4. Can realize the upper limb training action. The back and forth movement of the linear driving component in the auxiliary handrail can drive the sliding handle to move back and forth, so that the elbow joint of a human body can be trained. The bracket is driven by the rotary driving motor to rotate relative to the backrest, so that the sliding handle is driven to rotate relative to the backrest, shoulder joints of a human body are trained, and the coordination motion of upper limbs of the human body can be realized through the combined motion of the linear driving assembly and the rotary driving motor.

Drawings

Fig. 1 is a schematic view of the overall structure of the multifunctional wheelchair of the invention.

Fig. 2 is a schematic structural view of the wheelchair body of the invention.

Fig. 3 is a schematic view of the leg module structure of the present invention.

Fig. 4 is a schematic structural diagram of the 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 view of the auxiliary handrail structure of the present invention.

Detailed Description

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 are completely and clearly described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

As shown in figure 1, the multifunctional training wheelchair mainly comprises a wheelchair body, a leg module, a cushion module, a backrest module, an electric push rod assembly and a control module.

As shown in fig. 2, the wheelchair body mainly includes front wheels (101), rear wheels (102), a body frame (103), and an armrest (104). Wherein the front wheel is a universal wheel, the rear wheel is a driving wheel, and a motor is arranged on the rear wheel. The wheelchair can move back and forth under the drive of a motor, the armrests are arranged on two sides of a frame of the wheelchair body, the armrests are internally provided with a track 1 and a track 2, and the track 1 and the track 2 are vertical to each other.

As shown in fig. 3, the leg module can be divided into a left module and a right module, and mainly includes a baffle, a pedal, a ball screw assembly, a guide rail and a leg motor. And the leg motor shell is fixedly connected with the baffle, the output shaft is fixedly connected with a lead screw of the ball screw assembly, the lead screw of the ball screw assembly is further installed on the baffle, the pedal plate is connected with a nut of the ball screw assembly, the leg stretching electric push rod is hinged with the baffle, and the other end of the leg stretching electric push rod is hinged with the backrest. The guide rails are arranged on two sides of the baffle and fixed with the pedal, and the guide rails play an auxiliary guide role in the movement of the pedal. The design enables the pedal to 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; and the coordinated movement of the leg stretching electric push rod and the ball screw assembly can train the coordinated movement of the knee joint and the hip joint.

As shown in fig. 4, the cushion module mainly includes a cushion, a pulley 1 and a pulley 2. Two sets of pulleys 1 and 2 are respectively arranged at the left side and the right side of the cushion, and the pulleys 1 and 2 are also arranged in the rails 1 and 2 and can respectively slide relative to the rails 1 and 2. The lifting electric push rod is connected below the cushion through a hinge, and the other end of the lifting electric push rod is hinged with the movable vehicle body. The lifting of the lifting electric push rod can enable the cushion to complete the switching between the horizontal state and the vertical state, and the pulley 1 and the pulley 2 which are arranged in the track 1 and the track 2 ensure that the lifting track of the cushion of the wheelchair is fixed in the standing mode, so that the stability of the standing mode of the wheelchair is improved.

As shown in fig. 5, the backrest module mainly includes a backrest, a hydraulic rod, and an auxiliary handle. One end of the backrest electric push rod is hinged with the backrest, the other end of the backrest electric push rod is hinged with the cushion, one end of the hydraulic rod is hinged with the backrest, and the other end of the hydraulic rod is hinged with the cushion. The two auxiliary armrests are respectively arranged on two sides of the backrest and play a role in assisting and supporting the human body in the standing mode of the wheelchair. Under the mode of standing and the shank training mode of wheelchair, back electric putter and hydraulic stem will be fixed, guarantee that the angle of back and cushion is unchangeable, under the mode of lying of wheelchair, back electric putter shortens, and control back and cushion angle tend to the level, and the hydraulic stem provides pressure, shares electric putter's atress, when the mode of lying of wheelchair resumes normal position of sitting, electric putter extension, and control back cushion angle tends to the vertically, and the hydraulic stem provides thrust, shares electric putter thrust.

As shown in fig. 6, the auxiliary armrest comprises a support, a sliding handle, a linear driving assembly, a rotary driving motor and a remote control button, wherein the support is hinged to the backrest, a shell of the rotary driving motor is fixedly connected with the backrest, an output shaft is fixedly connected with the support, and the support is driven by the rotary driving motor to rotate relative to the backrest so as to train shoulder joints of a human body. The shell of the linear driving component is fixed with the support, the output end of the linear driving component is fixed with the sliding handle, and the sliding handle can move linearly along the support under the driving of the linear driving component to train the elbow joint of a human body. The remote control key consists of a plurality of keys, can realize the control of standing movement, lying movement, human body leg training and upper limb training movement of the wheelchair, and can also control the movement of the wheelchair. The remote control button is connected with the control module through a cable, and a rehabilitation person sends a control signal to the control module through the remote control button so as to control the electric push rod assembly, the rear wheel of the wheelchair 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 comprises the following steps:

the movement process from sitting to lying is as follows: under the normal sitting posture condition as shown in fig. 1, the length of the leg stretching electric push rod and the lifting electric push rod below the cushion is kept unchanged, the leg stretching electric push rod, the baffle, the cushion and the backrest form a parallel four-bar mechanism, so that the directions of the backrest and the baffle are kept parallel, when the chair lies, the length of the electric push rod behind the backrest is shortened, and under the constraint of the parallel four-bar mechanism, the backrest and the baffle tend to be horizontal, so that the lying posture is completed. On the contrary, the length of the electric push rod behind the backrest is extended, and the backrest and the baffle tend to be vertical under the constraint of the parallel four-bar mechanism, so that the switching from lying to sitting is completed.

Sitting to standing movement process: under the normal sitting posture condition as shown in fig. 1, the length of the leg stretching electric push rod below the cushion and the length of the backrest electric push rod behind the backrest are kept unchanged, and the length of the lifting electric push rod below the cushion is extended to push the pulley 1 and the pulley 2 arranged on the cushion to move along the track 1 and the track 2 respectively, so that the movement from the horizontal direction to the vertical direction is realized, and the sitting posture to the standing posture is completed. Otherwise, the lifting electric push rod is contracted, so that the wheelchair is switched from standing to sitting.

Leg training mode: when the wheelchair is in any one of the standing state, the sitting state and the lying state, the ball screw component drives the pedal plate to move up and down under the driving of the leg motor, so that the feet of the human body stepping on the pedal plate are driven to lift, and the knee joint and the hip joint are trained. The stretching of the leg stretching electric push rod behind the control baffle realizes the pushing of the leg module to rotate relative to the cushion, thereby realizing the driving of the human shank to swing back and forth around the knee joint and training the knee joint; the ball screw assembly and the leg stretching electric push rod are matched to move, so that coordinated movement training of hip joints and knee joints of a human body can be realized.

Upper limb training mode: under the upper limb training mode, the sliding handle is held by the hand of the human body, the hand of the human body moves back and forth along the support by controlling the linear driving assembly, the arm of the human body swings left and right by controlling the rotating motor, and the bending and stretching swing training of the whole arm can be realized by the combined control movement of the linear driving assembly and the rotating driving motor.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.