阅读说明：本技术 一种基于柔性阻抗训练的智能轮椅 (Intelligent wheelchair based on flexible impedance training ) 是由 疏达 孙际超 高传康 徐慧敏 赵垒 王建彬 江本赤 吴路路 肖平 吴文专 李维汉 于 2021-09-01 设计创作，主要内容包括：本发明公开了一种基于柔性阻抗训练的智能轮椅,包括轮椅,所述轮椅由轮椅架、坐垫、滚轮、扶手和靠背组成,所述坐垫设置于轮椅架的上方,且所述坐垫一侧与轮椅架转动连接,所述滚轮设置有两个,对称设置于轮椅架的两侧,所述扶手设置有两个,对称固定连接于轮椅架顶部的两侧。本发明一是可以对患者手部进行康复训练,且在训练的过程中提供合适的阻抗,达到带有柔性阻抗康复训练的效果,而且还可以进行大小的调整,二是还可以对患者腿部进行康复训练,三是可以起到提供阻抗的作用,迫使患者加大对自己手臂肌肉的使用来完成康复训练动作,从而可以加快患者的肌肉恢复时间,四是起升机构以气压缸作为动力源,在气压缸的作用下带动人体完成起立动。(The invention discloses an intelligent wheelchair based on flexible impedance training, which comprises a wheelchair, wherein the wheelchair comprises a wheelchair frame, a cushion, two idler wheels, two handrails and a backrest, the cushion is arranged above the wheelchair frame, one side of the cushion is rotationally connected with the wheelchair frame, the two idler wheels are symmetrically arranged on two sides of the wheelchair frame, and the two handrails are symmetrically and fixedly connected to two sides of the top of the wheelchair frame. The invention can firstly carry out rehabilitation training on the hand of a patient, provides proper impedance in the training process, achieves the effect of flexible impedance rehabilitation training, and can also carry out size adjustment, secondly can carry out rehabilitation training on the leg of the patient, thirdly can play a role of providing impedance to force the patient to increase the use of the arm muscle of the patient to finish the rehabilitation training action, thereby accelerating the muscle recovery time of the patient, fourthly, the lifting mechanism takes the pneumatic cylinder as a power source and drives the human body to finish the standing action under the action of the pneumatic cylinder.)

1. The utility model provides an intelligence wheelchair based on flexible impedance training, includes wheelchair (1), wheelchair (1) comprises wheelchair frame (11), cushion (12), gyro wheel (13), handrail (14) and back (15), cushion (12) set up in the top of wheelchair frame (11), just cushion (12) one side is rotated with wheelchair frame (11) and is connected, gyro wheel (13) are provided with two, and the symmetry sets up in the both sides of wheelchair frame (11), handrail (14) are provided with two, and symmetry fixed connection is in the both sides at wheelchair frame (11) top, back (15) are rotated and are connected in the rear side at wheelchair frame (11) top, its characterized in that: two hand training structure (2) are all installed at the top of handrail (14), the front side rotation of wheelchair frame (11) is connected with two sets of shank training structures (3), be provided with between the bottom of cushion (12) and wheelchair frame (11) and rise structure (4).

2. The intelligent wheelchair based on flexible impedance training of claim 1, wherein: each hand training structure (2) comprises a hydraulic control system (21) and two mechanical support frames (22), the hydraulic control system (21) consists of an oil tank (211), a slide valve (212), an air filter (213), a reversing valve (214), a hydraulic cylinder (215) and a pressure reducing valve (216), an oil outlet of the oil tank (211) is connected with an oil inlet of the slide valve (212) through an oil pipe, an oil outlet of the slide valve (212) is connected with an oil inlet of the air filter (213) and a P port of the reversing valve (214) through oil pipes, a port A of the reversing valve (214) is connected with a rodless cavity of the hydraulic cylinder (215) through an oil pipe, a port B of the reversing valve (214) is connected with a rod cavity of the hydraulic cylinder (215) through an oil pipe, and the port A and the port B of the reversing valve (214) are connected with the pressure reducing valve (216).

3. The intelligent wheelchair based on flexible impedance training of claim 2, wherein: the two mechanical support frames (22) are respectively arranged at two ends of the hydraulic cylinder (215), each mechanical support frame (22) comprises a cotton gasket (221) and an elastic binding band (222), and the elastic binding bands (222) are arranged on the outer sides of the cotton gaskets (221).

4. The intelligent wheelchair based on flexible impedance training of claim 2, wherein: the reversing valve (214) is a three-position four-way electromagnetic reversing valve, the left position of the reversing valve (96) can be H-shaped, and the right position of the reversing valve can be X-shaped.

5. The intelligent wheelchair based on flexible impedance training as claimed in claim 1 or 2, wherein: shank training structure (3) include hydraulic control system (21) and two dwang (31), two install footboard (32) and backup pad (33) respectively between dwang (31), and footboard (32) set up in the top of backup pad (33), hydraulic control system (21) set up in the top of backup pad (33).

6. The intelligent wheelchair based on flexible impedance training as claimed in claim 1 or 2, wherein: hoisting structure (4) include hydraulic control system (21) and support piece (41), the surface cover of support piece (41) is equipped with cuts fork thick stick (42), it is connected with cushion (12) to cut fork thick stick (42) top.

7. The intelligent wheelchair based on flexible impedance training of claim 1, wherein: the storage bottle (5) is installed on the front side of the armrest (14), and the storage bag (6) is arranged on the rear side of the backrest (15).

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to an intelligent wheelchair based on flexible impedance training.

Background

In recent years, the aging of population, the number of patients with muscle weakness and even paralysis of lower limbs caused by traffic accidents, industrial injuries, sports injuries and other spinal cord injuries caused by various injury factors are increasing, and continuous passive exercise is helpful to improve or recover lost nerve functions.

The existing wheelchair only has the function of walking instead of walk, is convenient for the patient to move, and is used in a way of simply supporting the patient on the wheelchair so as to push the patient.

The above-mentioned wheelchairs, however, have the following drawbacks:

the existing wheelchair has a simple structure, can only provide the effect of a moving tool for a patient, and has no effect on the rehabilitation of the patient;

secondly, hospitals have a structure for patient rehabilitation training at present, but patients need to go to specific occasions for training, and after the trained patients can control own bodies, the rehabilitation effect is not obvious any more.

Third, current wheelchair cushions are fixed, but some patients may have injured lumbar vertebrae, resulting in patients who may have difficulty sitting up from the wheelchair.

Disclosure of Invention

The invention provides an intelligent wheelchair based on flexible impedance training, which solves the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an intelligence wheelchair based on flexible impedance training, includes the wheelchair, the wheelchair comprises wheelchair frame, cushion, gyro wheel, handrail and back, the cushion sets up in the top of wheelchair frame, just cushion one side is rotated with the wheelchair frame and is connected, the gyro wheel is provided with two, and the symmetry sets up in the both sides of wheelchair frame, the handrail is provided with two, and symmetry fixed connection is in the both sides at wheelchair frame top, the back rotates to be connected in the rear side at wheelchair frame top, two the hand training structure is all installed at the top of handrail, the front side of wheelchair frame rotates and is connected with two sets of shank training structures, be provided with hoisting structure between the bottom of cushion and the wheelchair frame.

Preferably, each hand training structure all includes hydraulic control system and two mechanical support frames, hydraulic control system comprises oil tank, slide valve, air cleaner, switching-over valve, pneumatic cylinder and relief pressure valve, the oil-out of oil tank passes through oil pipe connection with the oil inlet of slide valve, the oil-out of slide valve passes through oil pipe connection with the oil inlet of air cleaner and the P mouth of switching-over valve respectively, the A mouth of switching-over valve passes through oil pipe connection with the no pole chamber of pneumatic cylinder, the B mouth of switching-over valve passes through oil pipe connection with the pole chamber of pneumatic cylinder, just the A mouth and the B mouth of switching-over valve all are connected with the relief pressure valve.

Preferably, two the mechanical support frame is installed respectively in the both ends of pneumatic cylinder, the mechanical support frame includes cotton gasket and elasticity bandage, the elasticity bandage sets up in the outside of cotton gasket.

Preferably, the reversing valve is a three-position four-way electromagnetic reversing valve, the left position of the reversing valve can be H-shaped, and the right position of the reversing valve can be X-shaped.

Preferably, the shank training structure includes hydraulic control system and two dwangs, two install footboard and backup pad between the dwang respectively, and the footboard sets up in the top of backup pad, hydraulic control system sets up in the top of backup pad.

Preferably, hoisting structure includes hydraulic control system and support piece, support piece's surface cover is equipped with cuts the fork thick stick, it is connected with the cushion to cut fork thick stick top.

Preferably, the front side of the armrest is provided with a storage bottle, and the rear side of the backrest is provided with a storage bag.

The beneficial effect of adopting above technical scheme is:

the hydraulic cylinder is characterized in that a piston rod of the hydraulic cylinder is ejected outwards, the piston rod is contracted to drive a small arm to upwards complete arm lifting action, at the moment, muscles of a patient can be effectively rehabilitated and trained, the muscles of the small arm can simultaneously cause the muscles of a large arm to move, oil enters a reversing valve through a rod cavity of the hydraulic cylinder through a port B of the reversing valve, the hydraulic cylinder is contracted, the small arm is driven to complete muscle relaxing action from a vertical state to a horizontal state, the patient is rehabilitated and trained, proper impedance is provided in the training process, the rehabilitation training effect with flexible impedance is achieved, so-called flexible impedance refers to the soft performance of the impedance, the impedance is proper, the impedance is in accordance with the requirements of a human body, and the size can be adjusted.

Secondly, put the top of footboard in the shank training structure with patient's leg, open the hydraulic control system in the shank training structure again, hydraulic control system's operation process is as above-mentioned process, drives patient's shank and constantly lifts up and puts down promptly to make patient can sit and move about shank joint and muscle on the wheelchair, be convenient for patient carries out shank rehabilitation training on the wheelchair.

Thirdly, when patient's arm recovered to the certain degree, the patient can be independently carry out the arm motion, the device at this moment can play the effect that provides the impedance, the existence of impedance, force the patient to increase and accomplish the rehabilitation training action to the use of own arm muscle, thereby can accelerate patient's muscle recovery time, simultaneously when patient's arm muscle recovers to new degree, can also change the gaseous pressure in the pneumatic cylinder, make the gaseous power that promotes the piston rod change, thereby reach the effect that provides not equidimension impedance at the different recovery stages of patient, more be favorable to shortening the patient and recover the healthy required time, greatly made things convenient for patient's life.

Fourthly, through the longitudinal movement and the transverse folding and unfolding of a shear fork lever in the lifting mechanism, the change of an angle is realized while the shear fork lever moves, the change of the angle and the movement of the shear fork lever form a certain relation, so that the lifting height of a human body can be judged, the shear fork lever is designed according to the height required by the human body from the sitting posture to the standing complete action, and the lifting mechanism can effectively assist a patient to finish the standing action.

Drawings

FIG. 1 is an assembly view of a smart wheelchair provided by the present invention;

FIG. 2 is another assembly view of the smart wheelchair;

FIG. 3 is an assembly view of the hydraulic control system;

FIG. 4 is an assembly view of the machine support bracket;

FIG. 5 is an assembly view of the leg exercise structure;

FIG. 6 is an assembly view of the hoist structure;

wherein:

1. a wheelchair; 11. a wheelchair frame; 12. a cushion; 13. a roller; 14. a handrail; 15. a backrest; 2. a hand training structure; 21. a hydraulic control system; 211. an oil tank; 212. a spool valve; 213. an air filter; 214. a diverter valve; 215. a hydraulic cylinder; 216. a pressure reducing valve; 22. a mechanical support frame; 221. a cotton pad; 222. tightening and loosening the binding band; 3. a leg training structure; 31. rotating the rod; 32. a pedal; 33. a support plate; 4. a hoisting structure; 41. a support member; 42. a fork shearing lever; 5. storing the bottles; 6. and (7) storing the bags.

Detailed Description

The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.

As shown in fig. 1 to 6, the invention is an intelligent wheelchair based on flexible impedance training, which drives a patient to complete the rehabilitation training through a rehabilitation mechanism, and provides appropriate impedance in the training process, so as to achieve the effect of the flexible impedance rehabilitation training.

Specifically speaking, as shown in fig. 1 to 6, an intelligent wheelchair based on flexible impedance training includes a wheelchair 1, the wheelchair 1 is composed of a wheelchair frame 11, a seat cushion 12, two rollers 13, armrests 14 and a backrest 15, the seat cushion 12 is arranged above the wheelchair frame 11, one side of the seat cushion 12 is rotatably connected with the wheelchair frame 11, the two rollers 13 are symmetrically arranged on two sides of the wheelchair frame 11, the two armrests 14 are arranged on two sides of the top of the wheelchair frame 11, the two armrests are symmetrically and fixedly connected to two sides of the top of the wheelchair frame 11, and the backrest 15 is rotatably connected to the rear side of the top of the wheelchair frame 11, which is characterized in that: hand training structures 2 are installed at the tops of the handrails 14, two sets of leg training structures 3 are connected to the front side of the wheelchair frame 11 in a rotating mode, and lifting structures 4 are arranged between the bottom of the seat cushion 12 and the wheelchair frame 11.

Each hand training structure 2 comprises a hydraulic control system 21 and two mechanical support frames 22, the hydraulic control system 21 is composed of an oil tank 211, a slide valve 212, an air filter 213, a reversing valve 214, a hydraulic cylinder 215 and a pressure reducing valve 216, an oil outlet of the oil tank 211 is connected with an oil inlet of the slide valve 212 through an oil pipe, an oil outlet of the slide valve 212 is respectively connected with an oil inlet of the air filter 213 and a port P of the reversing valve 214 through oil pipes, a port A of the reversing valve 214 is connected with a rodless cavity of the hydraulic cylinder 215 through an oil pipe, a port B of the reversing valve 214 is connected with a rod cavity of the hydraulic cylinder 215 through an oil pipe, and the port A and the port B of the reversing valve 214 are connected with the pressure reducing valve 216.

The two mechanical support frames 22 are respectively installed at two ends of the hydraulic cylinder 215, the mechanical support frame 22 includes a cotton pad 221 and a bungee tie 222, and the bungee tie 222 is arranged at the outer side of the cotton pad 221.

The directional valve 214 is a three-position four-way electromagnetic directional valve, and the left position of the directional valve 96 can be an H-type and the right position can be an X-type.

Shank training structure 3 includes hydraulic control system 21 and two dwang 31, two install footboard 32 and backup pad 33 between the dwang 31 respectively, and footboard 32 sets up in the top of backup pad 33, hydraulic control system 21 sets up in the top of backup pad 33.

The lifting structure 4 comprises a hydraulic control system 21 and a support piece 41, a shear fork lever 42 is sleeved on the surface of the support piece 41, and the top of the shear fork lever 42 is connected with the seat cushion 12.

The front side of the armrest 14 is provided with a storage bottle 5, and the rear side of the backrest 15 is provided with a storage bag 6.

The following specific working modes are illustrated by specific examples:

example 1:

when in use, firstly, a patient sits on the wheelchair 1, then the arm of the patient is put into the hand training structure 2, the cotton gasket 221 is attached to the arm, the arm and the cotton gasket are bound together through the elastic binding belt 222, the whole arm is in an initial state, the air in the hydraulic cylinder 245 reaches a certain pressure through the pressure reducing valve 216, then the hydraulic control system 21 is opened, namely, hydraulic oil enters the slide valve 212 from the oil outlet of the oil tank 211 through the oil pipe, then the slide valve 212 is opened, the hydraulic oil enters the filter 92 through the oil pipe, the hydraulic oil is filtered, the oil outlet of the filter 213 enters the reversing valve 214 through the P port of the oil pipe reversing valve 214 and enters the rodless cavity of the hydraulic cylinder 215 through the A port of the reversing valve 214, so that the piston rod of the hydraulic cylinder 215 is ejected outwards, the piston rod is contracted to drive the small arm to lift up the arm, and the muscle of the patient can be effectively rehabilitated, the movement of the small arm muscles can simultaneously cause the movement of the large arm muscles, then oil enters the reversing valve 214 through a rod cavity of the hydraulic cylinder 215 through a port B of the reversing valve 214, the hydraulic cylinder 215 is contracted, the small arm is driven to complete the muscle relaxing action from a vertical state to a horizontal state, the rehabilitation training is carried out on a patient, appropriate impedance is provided in the training process, the effect of the rehabilitation training with flexible impedance is achieved, the flexible impedance refers to the softness of the impedance, the impedance is appropriate in size, the impedance is in accordance with the requirements of a human body, and the size can be adjusted.

Example 2:

on the basis of embodiment 1, put patient's leg in the shank training structure 2 above footboard 32, open the hydraulic control system 21 in the shank training structure 2 again, the operation process of hydraulic control system 21 is like as above-mentioned process, drives patient's shank and constantly lifts up and puts down to make patient can sit on the wheelchair and move about shank joint and muscle, be convenient for patient carries out shank rehabilitation training on the wheelchair.

Example 3:

on the basis of embodiment 1, when the arm of the patient recovers to a certain degree, the patient can independently perform arm movement, the device can play a role of providing impedance to push the piston rod to stretch outwards, the outward force of the piston rod must be overcome when the patient wants to complete the rehabilitation training of the arm, the force can bear the impedance required by the device, the existence of the impedance forces the patient to increase the use of the arm muscle of the patient to complete the rehabilitation training action, thereby accelerating the muscle recovery time of the patient, meanwhile, when the arm muscle of the patient recovers to a new degree, the pressure of the air cylinder can be changed by changing the size of the pressure reducing valve 216, so that the force of the air pushing the piston rod is changed, thereby achieving the role of providing different-size impedances at different recovery stages of the patient and being more beneficial to shortening the time required by the patient for recovering the health, greatly facilitating the life of the patient.

Example 4:

on the basis of embodiment 1, hoisting mechanism 4 adopts pneumatic cylinder and scissors fork device, and the pneumatic cylinder provides power, drives scissors fork thick stick 42 longitudinal movement and transversely receive and releases, when scissors fork thick stick 42's motion, can the change of angularly, the change of angle can form certain relation with scissors fork thick stick 42's motion to can judge the height that the human body rises to rise, according to the human height that rises that needs to come to design scissors fork thick stick 42 from the position of sitting to the whole action of rising, hoisting mechanism 4 can very effectual assistance patient accomplishes the action of getting up.

The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various insubstantial modifications of the invention based on the principles and technical solutions of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.