CN105030442B - Lower limb rehabilitation wheelchair - Google Patents

Abstract

A lower limb rehabilitation wheelchair of the present invention includes a main body, two rear wheels and two hub motors, a battery rack and a battery pack, a controller, two front wheels, two lifting motors and two transmission devices, and two pedal brackets And two pedals, two leading screws and two telescopic rods for legs, two electric push rods, a leg swing motor and a leg swing motor mounting bracket, two rotating rods, a master swing rod and two slave swing rods. The present invention realizes the purpose of exercising the lower limbs of the human body in various ways, including knee joints and hip joints, by being provided with various mechanisms, and meanwhile, the present invention allows users to conveniently control the walking of the wheelchair.

Description

A lower limb rehabilitation wheelchair

technical field

The invention relates to a medical auxiliary device, in particular to a lower limb rehabilitation wheelchair, which belongs to the technical field of medical auxiliary mechanical equipment.

Background technique

Wheelchairs are a common medical device for the disabled or sick and hospitalized patients. It plays an important role in assisting people's lives during illness. With the continuous development of modern technology, more and more new types of wheelchairs have appeared. From the original artificial drive to electric and so on. However, wheelchairs also have their corresponding disadvantages for some patients who have been lying down for a long time. For example, some patients have problems such as being unable to walk due to central nervous system lesions in the lower limbs. Stiffness, or even permanently lose the function of walking upright, so a kind of training equipment that can not only satisfy the patient's convenience for walking, but also enable the patient to obtain certain training equipment is urgently needed in the current market.

Contents of the invention

In view of the above problems, the present invention provides a lower limb rehabilitation wheelchair, which adopts a variety of lower limb exercise methods and electric walking, thereby realizing the purpose of self-guided walking and self-exercise of the lower limbs.

The technical solution adopted by the present invention is: a lower limb rehabilitation wheelchair, including a main body, two rear wheels and two hub motors, a battery rack and a battery pack, a controller, two front wheels, two lifting motors and two transmission devices , two pedal brackets and two pedals, two lead screws and two leg extension rods, two electric push rods, swing leg motors and swing leg motor mounting brackets, two rotating rods, master swing rods and two slave rods The swing rod is characterized in that: the upper middle part of the main body is provided with a seat, two handles are provided on both sides, two push handles are provided at the rear, control areas are respectively provided on the two handles, and two handles are provided at the front of the main body. a rotating rod mounting frame; the two rotating rod mounting frames are respectively rotated and mounted with two rotating rods through two thrust ball bearings; the swing leg motor mounting frame is fixedly installed at the front part of the main body, and the swing leg motor mounting frame is fixedly installed at the front part of the main body The leg motor is fixedly installed on the swing leg motor mounting frame, the main shaft of the swing leg motor is equipped with a main swing rod, and the two ends of the main swing rod are respectively symmetrically hinged and installed with two slave swing rods, and the two slave swing rods are respectively Hingedly installed at the rear of the two rotating rods; the front of the two rotating rods are respectively hingedly installed with two leg extension rods, and the rod bodies of the two electric push rods are hingedly installed at the rear ends of the two rotating rods. The piston of the push rod is hingedly installed on the two leg telescopic rods; the two lifting motors are fixedly installed on the lower ends of the two leg telescopic rods, and the two lead screws are installed inside the two leg telescopic rods. The lower ends of the two leading screws are respectively connected to the two lifting motors through two transmission devices; the inner threads of the two pedal brackets are provided with internal threads matched with the leading screws, and are respectively connected with the two leading screws. The outside of the pedal bracket is slidably installed on the outside of the two leg extension rods through sliding wheels, and the two pedals are fixedly installed on the two pedal brackets; the two rear wheels are installed on both sides of the rear of the main body , the two hub motors are respectively installed at the center of the two rear wheels; the two front wheels are installed at both sides of the front of the main body; the battery rack is fixed at the lower part of the main body, and the battery rack is installed inside A controller is installed on the upper part of the battery pack, and the controller is connected with the battery pack and the control area on the main body.

Further, the electric push rod is provided with a gear motor, and the leg swing motor is provided with a reducer.

Further, the two transmission devices mentioned above are synchronous pulley and synchronous belt transmission.

Further, the control area is provided with a direction drive switch, A gear, B gear, C gear, D gear, E gear, F gear, G gear, and H gear. The direction drive switch includes four directions, respectively Control the wheelchair to move forward, turn left, turn right, and move backward. The A and B gears are hub motor lock switches. The motor is powered off and self-locked to prevent the car from slipping on the slope; when the B gear is in position and the direction drive switch is not operated, the two hub motors are not self-locked when the power is off. At this time, the accompanying person can hold the two pushers to push; When the C gear is selected, the direction drive switch can control the wheelchair to move forward, turn left, turn right, and reverse; when the D gear is pressed but not the E and F gears, the direction drive switch is used to control the rotation of the leg swing motor. Turn and turn right to control the left and right swing of the swing leg motor; when the D and E gears are pressed, the direction drive switch is used to control the two electric push rods, and the left and right turns are used to select the left and right electric push rods, forward and Reverse is used to control the expansion and contraction of the left and right electric push rods; when the D and F gears are pressed, the direction drive switch is used to control the two lifting motors. Control the positive and negative rotation of the two lifting motors; the G and H gears are used to store the movement modes programmed by the user.

Because the present invention adopts the above-mentioned technical scheme, the present invention has the following advantages: the present invention realizes the purpose of exercising the lower limbs of the human body in various ways, including knee joints and hip joints, by being provided with various mechanisms; The user can conveniently control the walking of the wheelchair.

Description of drawings

Fig. 1 is a schematic diagram of the overall assembled three-dimensional structure of the present invention.

Fig. 2 is a schematic diagram of another perspective overall assembly stereoscopic structure of the present invention.

Fig. 3 is a schematic diagram of the three-dimensional structure of the main body in the present invention.

Fig. 4 is a schematic diagram of the state of the present invention in the first exercise mode.

Fig. 5 is a schematic diagram of the state of the present invention in the second exercise mode.

Fig. 6 is a schematic diagram of the state of the present invention in the third exercise mode.

Fig. 7 is a schematic diagram of the state of the present invention in the fourth exercise mode.

Reference numerals: 1-main body; 2-rear wheel; 3-hub motor; 4-battery rack; 5-battery pack; 6-controller; 7-front wheel; 8-lifting motor; 9-pedal bracket; 10- Pedal; 11-transmission device; 12-lead screw; 13-electric push rod; 14-leg extension rod; 15-swing leg motor; 16-swing leg motor mounting frame; 17-thrust ball bearing; 19-main swing lever; 20-slave swing lever; 101-seat; 102-control area; 103-handle; 104-push handle;

detailed description

The present invention will be further described below in conjunction with specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not as a limitation to the present invention.

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, and Fig. 6, a lower limb rehabilitation wheelchair includes a main body 1, two rear wheels 2, two hub motors 3, a battery rack 4 and a battery pack 5 , controller 6, two front wheels 7, two lifting motors 8 and two transmissions 11, two pedal brackets 9 and two pedals 10, two leading screws 12 and two leg extension rods 14, two Electric push rod 13, swing leg motor 15 and swing leg motor mounting bracket 16, two rotating rods 18, master swing rod 19 and two slave swing rods 20. The upper middle part of the main body 1 is provided with a seat 101, two handles 103 are provided on both sides, two push handles 104 are provided at the rear, control areas 102 are respectively provided on the two handles 103, and two rotating rods are provided at the front of the main body 1 Mounting frame 105. Two rotating rod mounting brackets 105 are respectively installed with two rotating rods 18 through two thrust ball bearings 17; the swing leg motor mounting frame 16 is fixedly mounted on the front part of the main body 1, and the swing leg motor 15 is fixedly mounted on the swing leg motor. On the leg motor mounting frame 16, the main swing rod 19 is installed on the main shaft of the swing leg motor 15, and the two ends of the main swing rod 19 are respectively symmetrically hinged and installed with two slave swing rods 20, and the two slave swing rods 20 are respectively hinged and mounted on two rotating rods. Rod 18 rear position. The front positions of the two rotating rods 18 are respectively hingedly equipped with two leg extension rods 14, the rod bodies of the two electric push rods 13 are hingedly mounted on the rear ends of the two rotating rods 18, and the pistons of the electric push rods 13 are hingedly mounted on the two On the leg telescoping rod 14. Two lifting motors 8 are fixedly mounted on the lower ends of the two leg telescopic rods 14, and two leading screws 12 are rotated and installed inside the two leg telescopic rods 14. Two lifting motors 8 are connected. The insides of the two pedal brackets 9 are provided with internal threads that match the lead screws 12, and are connected with the two lead screws 12 respectively. Outside, two pedals 10 are fixedly installed on two pedal brackets 9 . The two rear wheels 2 are installed on both sides of the rear part of the main body 1, and the two hub motors 3 are respectively installed at the center of the two rear wheels 2. Two front wheels 7 are installed on both sides of the front part of the main body 1 . The battery rack 4 is fixedly installed at the central lower part of the main body 1 . The battery pack 5 is installed inside the battery rack 4 . The controller 6 is installed on the top of the battery pack 5 . The controller 6 is connected with the battery pack 5 and the control area 102 on the main body 1 .

The electric push rod 13 is provided with a reduction motor, and the leg swing motor 15 is provided with a speed reducer. Both transmission devices 11 are synchronous pulley and synchronous belt transmission.

Control area 102 is provided with direction drive switch, A file, B file, C file, D file, E file, F file, G file, H file, and described direction drive switch comprises four directions, controls wheelchair forward, left and right respectively. Turn, turn right, and retreat, the A gear and the B gear are hub motor lock switches. When in the A gear, the direction drive switch can work, and when the direction drive switch is not operated, the two hub motors 3 will automatically power off. Lock to prevent the car from slipping on the slope; when in the B gear, when the direction drive switch is not operated, the two hub motors 3 are powered off and will not self-lock. At this time, the accompanying person can hold the two push handles to push; when the C gear is pressed , the direction drive switch can control the wheelchair to advance, turn left, turn right, and retreat; when the D gear is pressed and the E gear and the F gear are not pressed, the direction drive switch is used to control the rotation of the leg swing motor 15, turn left and Turn right to control the left and right swing of the leg swing motor 15; when the D and E gears are pressed, the direction drive switch is used to control the two electric push rods 13, and the left and right turns are used to select the left and right two electric push rods 13 to move forward. and back are used to control the expansion and contraction of the left and right two electric push rods 13; when the D and F gears are pressed, the direction drive switch is used to control the two lifting motors 8, and the left and right turns control the two lifting motors 8 respectively. Forward and backward respectively control the positive and negative rotation of two lifting motors 8; the G gear and the H gear are used to store the motion patterns programmed by the user.

The working principle of the present invention is: when the present invention is in use, the first exercise method is as follows: two electric push rods 13 can be used to enable the two leg extension rods 14 to move up and down, so that the legs can be repeatedly bent and laid flat , to achieve the purpose of moving the knee joint; when the piston of the electric push rod 13 is fully stretched out, the patient's calf and thigh can reach a height plane, which is not available in existing rehabilitation wheelchairs, as shown in Figure 4 , Larger and more diverse leg space allows the patient's legs to recover faster.

The second way of exercising: two lifting motors 8 can be used to move the two pedals 10 and the legs up and down through two transmission devices 11 to achieve the purpose of moving the knee joint and hip joint, as shown in Figure 5 .

The third way of exercising: you can use the leg swing motor 15 to drive the main swing rod 19 and two slave swing rods 20 in turn, so that the two rotating rods 18 and the two leg extension rods 14 can swing left and right, that is, control the two legs The left and right directions are separated and closed to achieve the purpose of moving the hip joint.

The fourth exercise method: similar to the third exercise method, before use, first lift the two leg telescopic rods 14 to the highest point through the two lifting motors 8, that is, the user's calf and thigh can reach a height at this time Plane, next with the 3rd kind of exercise mode, promptly use swing leg motor 15, drive main swing lever 19 and two from swing lever 20 successively, thereby make two rotation levers 18 and two leg telescoping levers 14 swing left and right, That is to control the separation and closure of the left and right directions of the two legs to achieve the purpose of moving the hip joint.

Claims (4)

1. a kind of lower limb recovery wheelchair, including main body（1）, two trailing wheels（2）With two wheel hub motors（3）, battery carrier（4）And electricity Pond group（5）, controller（6）, two front-wheels（7）, two lifting motors（8）With two transmission devices（11）, two pedal supports （9）With two pedals（10）, two leading screws（12）With two leg expansion links（14）, two electric pushrods（13）, swinging kick motor （15）With swinging kick motor mounting rack（16）, two swingles（18）, main swing arm（19）With two from swing arm（20）, its feature It is：Described main body（1）Upper middle part is provided with seat（101）, both sides are provided with two handles（103）, rear portion is provided with two Individual pushing hands（104）, two handles（103）On be respectively arranged with control zone（102）, main body（1）Front portion is provided with two swingles Mounting bracket（105）；Two described swingle mounting brackets（105）Pass through two thrust ball bearings respectively（17）It is rotatablely equipped with two Individual swingle（18）；Described swinging kick motor mounting rack（16）It is fixedly mounted on main body（1）Forward position, described swinging kick motor （15）It is fixedly mounted on swinging kick motor mounting rack（16）On, swinging kick motor（15）Main shaft is provided with main swing arm（19）, it is described Main swing arm（19）Two ends are respectively symmetrically to be hinged and are provided with two from swing arm（20）, described two from swing arm（20）Respectively It is hingedly mounted on two swingles（18）Rear positions；Two swingles（18）Forward position is respectively articulated with and is provided with two legs Expansion link（14）, described two electric pushrods（13）The body of rod be hingedly mounted on two swingles（18）Rear end, electric pushrod （13）Piston hinge be arranged on two leg expansion links（14）On；Two described lifting motors（8）It is fixedly mounted on two Leg expansion link（14）Lower end, two leading screws（12）It is rotatably installed in two leg expansion links（14）Inside, two leading screws （12）Lower end respectively pass through two transmission devices（11）With two lifting motors（8）It is connected；Two described pedal supports （9）It is internally provided with and leading screw（12）The internal thread being engaged, and respectively with two leading screws（12）It is connected, two pedal branch Frame（9）Outside two leg expansion links are slidably mounted on by movable pulley respectively（14）Outside, two described pedals （10）It is fixedly mounted on two pedal supports（9）On；Two described trailing wheels（2）Installed in main body（1）The side position of rear portion two, two Individual wheel hub motor（3）It is separately mounted to two trailing wheels（2）Center；Two described front-wheels（7）Installed in main body（1）It is anterior Two side positions；Described battery carrier（4）It is fixedly mounted on main body（1）Central lower position, battery carrier（4）Inside is provided with battery Group（5）, battery pack（5）Top is provided with controller（6）, controller（6）With battery pack（5）And main body（1）On control zone （102）It is connected.

2. a kind of lower limb recovery wheelchair as claimed in claim 1, it is characterised in that：Described electric pushrod（13）On be provided with Reducing motor, described swinging kick motor（15）On be provided with decelerator.

3. a kind of lower limb recovery wheelchair as claimed in claim 1, it is characterised in that：Two described transmission devices（11）It is Synchronous pulley and toothed belt transmission.

4. a kind of lower limb recovery wheelchair as claimed in claim 1, it is characterised in that：Described control zone（102）The side of being provided with To driving switch, A grades, B grades, C grades, D grades, E grades, F grades, G grades, H grades, described direction driving switch includes four direction, point Not Kong Zhi wheelchair advance, turn left, turn right, retreat, described A grade and B grades is wheel hub motor locking switch, when being kept off in A, direction Driving switch can work, and when not operating direction driving switch, two wheel hub motors（3）Cut off self-lock, prevent on slope Upper car slipping；When being kept off in B, when not operating direction driving switch, two wheel hub motors（3）Power-off not self-locking, now can be by accompanying Personnel hold two pushing hands and promote；When C gears are pressed, direction driving switch can control wheelchair to advance, turns left, turns right, retreat； E grade is not pressed and at F grades, direction driving switch is for controlling swinging kick motor when D gears are pressed（15）Rotation situation, turn left and right Turn control swinging kick motor（15）Swing；When D grades and E grades is pressed, direction driving switch is used for controlling two electric pushrods （13）, turn left and turn right to be used for select two electric pushrods in left and right（13）, moving forward and backward for controlling, left and right two is electronic to push away Bar（13）It is flexible；When D grades and F grades is pressed, direction driving switch is used for controlling two lifting motors（8）, turn left and turn right Two lifting motors are controlled respectively（8）, move forward and backward and control two lifting motors respectively（8）Rotating；G grades and H grades is used for The motion mode of storage user oneself establishment.