CN109106531A - A kind of multi-joint synkinesia bed - Google Patents
A kind of multi-joint synkinesia bed Download PDFInfo
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- CN109106531A CN109106531A CN201810921589.7A CN201810921589A CN109106531A CN 109106531 A CN109106531 A CN 109106531A CN 201810921589 A CN201810921589 A CN 201810921589A CN 109106531 A CN109106531 A CN 109106531A
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- plate
- articulated shaft
- backboard
- swing arm
- limit
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种多关节辅助运动床。活动不便者要使用现有辅助锻炼器械时必须离开病床进行锻炼，十分不便。本发明包括床架、床板组件、脚部运动机构、背板驱动件和肩部运动机构。床板组件包括背板、插拔板、臀板、腿板和脚板。脚部运动机构包括限位斜块、第一限位电磁铁、第二限位电磁铁、电动推杆、第一铰杆、第二铰杆和推杆架。肩部运动机构包括肩架板、光轴、滑移板、第一驱动组件、第二驱动组件和手臂连接组件。手臂连接组件包括摆臂滑轨、摆臂滑块、第一旋块、第二旋块和绑臂件。本发明的腿板在初始状态下刚好位于平行四边形机构的死点，进而使得单独作用在腿板上的力无法带动其运动，大大增强了本发明作为普通床体使用时的负载承受能力。
The invention discloses a multi-joint auxiliary exercise bed. It is very inconvenient for people with inconvenience to leave the hospital bed to exercise when they want to use the existing auxiliary exercise equipment. The present invention includes a bed frame, a bed plate assembly, a foot movement mechanism, a back plate driver and a shoulder movement mechanism. The bed board assembly includes a back board, a plug board, a hip board, a leg board and a foot board. The foot movement mechanism includes a limit inclined block, a first limit electromagnet, a second limit electromagnet, an electric push rod, a first hinge rod, a second hinge rod and a push rod frame. The shoulder movement mechanism includes a shoulder frame plate, an optical axis, a sliding plate, a first driving component, a second driving component and an arm connecting component. The arm connecting assembly includes a swing arm slide rail, a swing arm slider, a first rotating block, a second rotating block and an arm binding piece. The leg plate of the present invention is just at the dead center of the parallelogram mechanism in the initial state, so that the force acting on the leg plate alone cannot drive its movement, which greatly enhances the load bearing capacity of the present invention when used as a common bed.
Description
Technical field
The invention belongs to synkinesia equipment technology fields, and in particular to a kind of multi-joint synkinesia bed.
Background technique
Body because disease or unexpected injury may need long-time laid up when, often because activity is negligent of in body trick, make
It is powerless at each position muscular atrophy.Therefore, medical staff needs often inconvenient activity person to carry out auxiliary exercise, this process is big
The workload of medical staff is increased greatly, reduces medical efficiency.Furthermore currently there is also some auxiliary exercise instruments, but live
Dynamic inconvenience person will using when these equipment must someone assist it to leave hospital bed performing physical exercise, this also needs to expend biggish people
Power.Also, existing assistant device for sport tool can only carry out the synkinesia at single position mostly.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-joint synkinesia beds.
The present invention includes bedstead, chair assembly, foot motion mechanism, backboard actuator and head movement mechanism.Described
Chair assembly includes backboard, plug plate, podical plate, leg plate and sole.The podical plate is fixed with bedstead.The inner side edge of the backboard
The one side edge of edge and podical plate is hinged.Backboard is driven by backboard actuator.The inner end of two blocks of leg plates with another side of podical plate
Edge is hinged by the first articulated shaft.The inner end edge of the outer end of two blocks of leg plates and two pieces of soles passes through the second articulated shaft hinge respectively
It connects.Recessing groove there are two being opened up on backboard.Two recessing grooves on two blocks of plug plates and backboard respectively constitute sliding pair.
The foot motion mechanism includes limit skewback, the first limit electromagnet, the second limit electromagnet, electronic pushes away
Bar, the first toggle, the second toggle and push-rod frame.Two first toggles are located at the two sides of bedstead, and one end and two blocks of leg plates
Inner end pass through that third articulated shaft is hinged respectively, one end of the other end and two second toggles passes through the 4th articulated shaft hinge respectively
It connects.It is hinged that the outer end of the other end of two second toggles and two pieces of soles passes through the 5th articulated shaft respectively.First articulated shaft
Axis and third articulated shaft axis collinear.The two sides of two first limit electromagnet and bedstead are fixed respectively, and position respectively
In the lower section of two first toggles.The first limit iron block is respectively and fixedly provided on two first toggles.The limit skewback and bedstead
It is fixed, and it is located at the lower section of podical plate.The work side inclination of the limit skewback is upward.On the work side of the limit skewback
It is embedding that there are two the second limit electromagnet.The second limit iron block is respectively and fixedly provided on the bottom surface of two blocks of leg plates.Two electric pushrods it is outer
Shell constitutes revolute pair with the tail end of bedstead.The push-off pin of two electric pushrods and the top surface of two pieces of soles pass through the 6th hinge respectively
Spindle is hinged.
The head movement mechanism include shoulder frame plate, optical axis, sliding plate, the first driving assembly, the second driving assembly and
Arm connection component.One end of the optical axis is fixed with bed board, and the other end is fixed with shoulder frame plate.The sliding plate and optical axis structure
At sliding pair.Sliding plate is driven by the first driving assembly.The arm connection component includes swing arm sliding rail, swing arm sliding block,
One spin-block, the second spin-block and tie up arm-piece.The inner end of the swing arm sliding rail and sliding plate constitute the first revolute pair.Swing arm sliding rail is by
The driving of two actuators.The swing arm sliding block and swing arm sliding rail constitutes sliding pair.First spin-block and swing arm sliding block is constituted
Second revolute pair.Second spin-block and the first spin-block constitute third revolute pair.The arm-piece of tying up is fixed on the second spin-block
On.There are two head movement mechanism is total.Liang Ge head movement mechanism is located at two recessing grooves on backboard.
Further, the spacing of the first articulated shaft axis to limit skewback work side is equal to leg board bottom face to the
The distance of one articulated shaft axis.The distance of the third articulated shaft axis to the 4th articulated shaft axis is equal to the second articulated shaft axis
Distance of the line to the 5th articulated shaft axis.The distance of second articulated shaft axis to third articulated shaft axis is equal to the 4th articulated shaft axis
Distance of the line to the 5th articulated shaft axis.The work side of the limit skewback tilts upward, and with horizontal plane at 60 ° of angles.The
Distance of the distance of six articulated shaft axis to the second articulated shaft less than the 6th articulated shaft axis to the 5th articulated shaft.
Further, the common axis of first revolute pair and the second revolute pair is each perpendicular to backboard.Second revolute pair
The common axis of common axis and third revolute pair be mutually perpendicular to.The swing arm sliding block, swing arm sliding rail at sliding pair cunning
Common axis of the dynamic direction perpendicular to the second revolute pair.
Further, the foot motion mechanism further includes lock-bit electromagnet.Two lock-bit electromagnet are each attached to bed
The tail end of top of the trellis.The outer end of two pieces of sole top surfaces is embedded with lock-bit iron block.Two pieces of lock-bit iron blocks and two lock-bit electromagnet point
Other position is corresponding.
Further, the backboard actuator includes that overturning motor, overturning lead screw, upset connecting rod, balladeur train and overturning are slided
Block.The balladeur train is fixed with bedstead.The overturning lead screw is supported on balladeur train.The overturning motor is fixed on balladeur train
On.The one end for overturning the output shaft and overturning lead screw of motor is fixed.Overturn sliding block and balladeur train and constitute sliding pair, and with overturning lead screw
Constitute screw pair.One end of upset connecting rod and overturning sliding block are hinged, and the middle part of the other end and backboard is hinged.
Further, first driving assembly includes that pendulum drives lead screw and the first pendulum drive motor.The pendulum drives lead screw
One end and shoulder frame plate constitute revolute pair, and the other end and backboard constitute revolute pair.Pendulum drives lead screw and drives motor driven by the first pendulum.Sliding
Plate and pendulum drive lead screw and constitute screw pair.
Second driving assembly includes that crank, swing arm connecting rod and the second pendulum drive motor.The inner end of the crank and cunning
Shifting plate is hinged, and outer end and one end of swing arm connecting rod are hinged.The other end end of swing arm connecting rod and the middle part of swing arm sliding rail are hinged.Second
Pendulum drives motor and fixes with sliding plate.The output shaft that second pendulum drives motor is fixed with crank.
Further, the edges at two ends of two recessing grooves and backboard is respectively communicated with.The spacing of two recessing grooves is equal to
350mm.Sliding slot is offered at the both sides of the edge of recessing groove.Plug plate with it is identical as resigning groove shape, and at both sides of the edge setting
There is plug raised line.The length of leg plate is equal to 500mm.
Further, the arm-piece of tying up is formed by tying up plate and bandage.The plate of tying up is fixed on the second spin-block.Two
The inner end of bandage with tie up plate and fix, velcro is provided on outer end.
Further, projection of the arm connection component on backboard top surface is fully located at respectively in Liang Ge head movement mechanism
Two recessing grooves are inside the projection on backboard side.
Further, under original state, backboard, podical plate, leg plate and sole are horizontally disposed；Two lock-bit electromagnet and two
Lock-bit iron block on block sole is attracted respectively；First limit electromagnet is inhaled respectively with the first limit iron block on two first toggles
It closes.
The invention has the advantages that:
1, the present invention can use and assist user to sit up as common bed and carry out shoulder joint, knee joint
And the synkinesia of ankle-joint.And then enable to handicapped person that can carry out joint forging without departing from hospital bed
Refining.
2, leg plate of the invention is located just at the dead point of parallelogram mechanism in the initial state, so that individually making
It is unable to drive its movement with the power on leg plate, the load when present invention is used as common bed body is greatly strengthened and bears energy
Power.
3, the present invention is by converting the fixed link of parallelogram mechanism, and then completes two kinds of differences with the same power source
Leg action, realize knee joint and ankle-joint synkinesia.
4, the present invention utilizes the characteristics of shoulder joint is similar to a spherical pair, in such a way that three degree of freedom is set, so that
The movement of each power source is converted into arm set around the overturning of user's shoulder, to meet different heights, figure user
Demand.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the present invention in the initial state；
Fig. 2 is the schematic top plan view of the present invention in the initial state；
Fig. 3 is stereoscopic schematic diagram of the present invention in the case where carrying out synkinesia state；
Fig. 4 is side schematic view of the present invention in the case where carrying out synkinesia state；
Fig. 5 is the structural schematic diagram of head movement mechanism in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As illustrated in fig. 1 and 2, a kind of multi-joint synkinesia bed, including bedstead 1, chair assembly 2, foot motion mechanism 3,
Backboard actuator 4 and head movement mechanism 5.Chair assembly 2 includes backboard 2-1, plug plate 2-2, podical plate 2-3, leg plate 2-4 and foot
Plate 2-5.Podical plate 2-3 and the middle part of bedstead 1 are fixed.The inside edge of backboard 2-1 and the one side edge of podical plate 2-3 are hinged.Two pieces
The inner end of leg plate 2-4 is hinged by the first articulated shaft with another side edge of podical plate 2-3.The outer end and two of two pieces of leg plate 2-4
It is hinged that the inner end edge of block sole 2-5 passes through the second articulated shaft respectively.The length of leg plate 2-4 is equal to 500mm.It is opened on backboard 2-1
Two recessing grooves equipped with centering setting.The edges at two ends of two recessing grooves and backboard 2-1 is respectively communicated with, so that backboard 2-
1 presentation is I-shaped.The spacing of two recessing grooves is equal to 350mm.Sliding slot is offered at the both sides of the edge of recessing groove.With resigning flute profile
Shape is provided with plug raised line at the identical both sides of the edge plug plate 2-2.Two resignings on two pieces of plug plate 2-2 and backboard 2-1
Slot respectively constitutes sliding pair.Backboard 2-1, plug plate 2-2, podical plate 2-3, leg plate 2-4 and sole 2-5 are configured to auxiliary user
The bed board to sit up.
As shown in Fig. 1,2,3 and 4, foot motion mechanism 3 includes limit skewback 3-1, the first limit electromagnet 3-2, second
Limit electromagnet, electric pushrod 3-3, lock-bit electromagnet 3-4, the first toggle 3-5, the second toggle 3-6 and push-rod frame 3-7.Two
First toggle 3-5 is located at the two sides at the top of bedstead 1, and to pass through third respectively hinged for one end and the inner end of two pieces of leg plate 2-4
Axis is hinged, and it is hinged that one end of the other end and two second toggle 3-6 pass through the 4th articulated shaft respectively.Two second toggle 3-6's
It is hinged that the outer end of the other end and two pieces of sole 2-5 pass through the 5th articulated shaft respectively.First articulated shaft axis and third articulated shaft axis
Line is conllinear.The distance of third articulated shaft axis to the 4th articulated shaft axis is equal to the second articulated shaft axis to the 5th articulated shaft axis
Distance.The distance of second articulated shaft axis to third articulated shaft axis is equal to the 4th articulated shaft axis to the 5th articulated shaft axis
Distance.So that the first toggle 3-5, the second toggle 3-6, leg plate 2-4, sole 2-5 constitute parallelogram mechanism.
Two first limit electromagnet 3-2 and the two sides at 1 top of bedstead are fixed respectively, and are located at two first toggles
The lower section of 3-5.First toggle 3-5 is on the corresponding first limit side electromagnet 3-2 embedded with the first limit iron block.Pass through first
The actuation for limiting the limit iron block of electromagnet 3-2 and first enables to the first toggle 3-5 and bedstead 1 fixed, to become parallel
Fixed link in quadrangular mechanism.
It limits skewback 3-1 and bedstead 1 is fixed, and be located at the lower section of podical plate 2-3.Skewback 3-1 is limited close to 1 tail end of bedstead
Side inclination work upward, and with horizontal plane at 60 ° of angles.Spacing of the first articulated shaft axis to limit skewback 3-1 work side
Equal to the leg bottom surface plate 2-4 to the distance of the first articulated shaft axis.Limit skewback 3-1 enables to leg plate 2-4 to be limited in and water
Plane at 60 ° of angles position.
It is embedding on the work side of limit skewback 3-1 that there are two the second limit electromagnet.It is embedding on the bottom surface of two pieces of leg plate 2-4
There is the second limit iron block.Circumferential direction of the two second limit electromagnet with two piece of second limit iron block respectively along the first articulated shaft is right
Together.By the actuation of the second limit electromagnet and the second limit iron block, enable to leg plate 2-4 and bedstead 1 fixed, to become
Fixed link in parallelogram mechanism.
Tail end of the bottom end of two push-rod frame 3-7 with the top of bedstead 1 is fixed, and top is outer with two electric pushrod 3-3's
Shell respectively constitutes revolute pair.The push-off pin of two electric pushrod 3-3 and the top surface of two pieces of sole 2-5 pass through the 6th articulated shaft respectively
Hingedly.Distance of the distance of 6th articulated shaft axis to the second articulated shaft less than the 6th articulated shaft axis to the 5th articulated shaft.When
When the actuation of the first limit electromagnet 3-2 and the first limit iron block, the flexible of electric pushrod 3-3 can drive two pieces of leg plate 2-4
Horizontal movement is kept, so that sole there can be horizontal support after user sits up.When second limit electromagnet with
When the actuation of the second limit iron block, the flexible of electric pushrod 3-3 can drive two pieces of leg plate 2-4 overturnings, to realize to using
The synkinesia of person's ankle-joint.
Two lock-bit electromagnet 3-4 are each attached to the tail end at 1 top of bedstead.The outer end of two pieces of top surfaces sole 2-5 is embedded with
Lock-bit iron block.Two pieces of lock-bit iron blocks are corresponding with two difference positions lock-bit electromagnet 3-4, i.e., as sole 2-5, the equal water of leg plate 2-4
In the state of flat, lock-bit iron block is contacted with lock-bit electromagnet 3-4.
As shown in Fig. 1,2 and 4, backboard actuator 4 includes overturning motor 4-1, overturning lead screw, upset connecting rod 4-2, balladeur train 4-
3 and overturning sliding block 4-4.Balladeur train 4-3 and bedstead 1 along the setting of 1 length direction of bedstead is fixed.Overturning lead screw is supported on balladeur train 4-3
On, and it is located at the underface of backboard 2-1.Overturning motor 4-1 is fixed on balladeur train 4-3.Overturn output shaft and the overturning of motor 4-1
One end of lead screw is fixed.It overturns sliding block 4-4 and balladeur train 4-3 and constitutes sliding pair, and constitute screw pair with overturning lead screw.Upset connecting rod
One end of 4-2 and overturning sliding block 4-4 are hinged, and the middle part of the other end and backboard 2-1 is hinged.By the rotation energy for overturning motor 4-1
Enough driving backboard 2-1 overturnings.
As shown in Fig. 1,3,4 and 5, head movement mechanism 5 includes shoulder frame plate 5-1, optical axis 5-2, sliding plate 5-3, the first drive
Dynamic component, the second driving assembly and arm connection component.One end of two optical axis 5-2 and the bottom surface of bed board are fixed, the other end with
Two of shoulder frame plate 5-1 diagonally fix respectively.Sliding plate 5-3 and two optical axis 5-2 between backboard 2-1, shoulder frame plate 5-1
Constitute sliding pair.First driving assembly includes that pendulum drives the pendulum drive of lead screw 5-4 and first motor 5-5.Two pendulum drive one end of lead screw 5-4
Revolute pair is diagonally respectively constituted with the another two of shoulder frame plate 5-1, the other end constitutes revolute pair with the bottom surface of backboard 2-1.Two
First pendulum drives motor 5-5 and is each attached on shoulder frame plate 5-1.Two first pendulum drive the output shaft of motor 5-5 and two pendulum drive lead screw
One end of 5-4 is fixed respectively.Two nuts being fixed on sliding plate 5-3 and two pendulum drive lead screw 5-4 and respectively constitute screw pair.
Arm connection component includes swing arm sliding rail 5-6, swing arm sliding block 5-7, the first spin-block 5-8, the second spin-block 5-9 and ties up arm
Part 5-10.The inner end of swing arm sliding rail 5-6 and sliding plate 5-3 constitute the first revolute pair.Swing arm sliding block 5-7 and swing arm sliding rail 5-6 structure
At sliding pair.First spin-block 5-8 and swing arm sliding block 5-7 constitutes the second revolute pair.Second spin-block 5-9 and the first spin-block 5-8 is constituted
Third revolute pair.It ties up arm-piece 5-10 and is formed by tying up plate and bandage.Plate is tied up to be fixed on the second spin-block 5-9.The inner end of two bandages
With tie up plate and fix, velcro is provided on outer end.The common axis of first revolute pair and the second revolute pair is each perpendicular to backboard
2-1.The common axis of second revolute pair and the common axis of third revolute pair are mutually perpendicular to.Swing arm sliding block 5-7, swing arm sliding rail 5-
6 at sliding pair glide direction perpendicular to the second revolute pair common axis.
Second driving assembly includes that crank 5-11, swing arm connecting rod 5-12 and the second pendulum drive motor 5-13.Crank 5-11's is interior
End is hinged with sliding plate 5-3, and outer end and one end of swing arm connecting rod 5-12 are hinged.The other end end of swing arm connecting rod 5-12 and swing arm are sliding
The middle part of rail 5-6 is hinged.Second pendulum drives motor 5-13 and sliding plate 5-3 and fixes.Second pendulum drives the output shaft and song of motor 5-13
Handle 5-11 is fixed.
There are two head movement mechanism 5 is total.Liang Ge head movement mechanism 5 is located at two recessing grooves on backboard 2-1
Place.Projection of the arm connection component on the top surface backboard 2-1 is fully located at two recessing grooves respectively in Liang Ge head movement mechanism 5
(i.e. after extraction plug plate 2-2, the first driving assembly, which can drive, to be tied up arm-piece 5-10 and wears inside the projection on the side backboard 2-1
Cross corresponding recessing groove).
Having in arm connection component there are three the freedom degree for not providing power source (is that swing arm sliding rail 5-6 and swing arm are sliding respectively
The sliding of the sliding pair, the revolute pair, the first spin-block 5-8 and the second spin-block 5-9 of swing arm sliding block 5-7 and the first spin-block 5-8 of block 5-7
It is secondary).And the shoulder joint of people is considered as a spherical pair, spherical pair limits three rotational freedoms.Therefore work as the large arm of user
When with tying up arm-piece 5-10 fixation, the three degree of freedom for not providing power source is just constrained by the spherical pair of shoulder joint.This just makes
Whether the people of what stature arm can at an appropriate angle with tie up arm-piece 5-10 and fix, and form Complete Bind (i.e.
Freedom degree quantity is equal to power source quantity).And the movement that the first pendulum drives the pendulum drive of motor 5-5 and second motor 5-13 can turn
Rotation of the large arm around shoulder joint is turned to, to realize the synkinesia to shoulder joint.
Under original state, backboard 2-1, podical plate 2-3, leg plate 2-4 and sole 2-5 are horizontally disposed；Two lock-bit electromagnet
3-4 is attracted respectively with the lock-bit iron block on two pieces of sole 2-5；The on first limit electromagnet 3-2 and two first toggle 3-5
One limit iron block is attracted respectively；At this point, the first toggle 3-5, the second toggle 3-6, leg plate 2-4 and sole 2-5 draw a straight line,
Parallelogram mechanism reaches dead point state, and power of the independent role on leg plate 2-4 or the second toggle 3-6 is unable to drive parallel four
Side shape mechanism kinematic.When user lies low, foot is only contacted with leg plate 2-4, sole 2-5 stress very little, and acts on leg plate 2-
Power on 4 can not drive parallelogram motion again, therefore the design at parallelogram mechanism dead point can greatly enhance the present invention
Load capacity in the initial state.
Working principle of the present invention is as follows:
Step 1: lock-bit electromagnet 3-4 is powered off, two electric pushrod 3-3 simultaneous ejections, so that two pieces of leg plate 2-4 and two
Root the second toggle 3-6 overturning, two pieces of sole 2-5 keep horizontal movement.Meanwhile overturn motor 4-1 rotation so that backboard 2-1 to
Upper overturning.User gradually sits up with the movement of backboard 2-1, leg plate 2-4 and sole 2-5.
Step 2: after two pieces of leg plate 2-4 are contacted with limit skewback 3-1, two electric pushrod 3-3 stop motions, two
Second limit electromagnet is powered to be attracted with the second limit iron block on two pieces of leg plate 2-4.Backboard 2-1 overturn to horizontal plane at
After the state at 60 ° of angles, overturning motor 4-1 stalling.At this point, user is in the state to sit up completely, (back is horizontal by 60 °
Angle, shank and horizontal plane are at 60 ° of angles).
Step 3: support staff extracts two pieces of plug plate 2-2 out so that two arm connection components and the shoulder of user it
Between there is no barriers.
It is rotated forward Step 4: the first pendulum drives motor 5-5, so that tying up the either flush of arm-piece 5-10 and backboard.Later, the first pendulum
Motor 5-5 stalling is driven, the bandage that support staff is tied up on arm-piece 5-10 with two pinions two large arm of user respectively.
Step 5: synchronous carry out foot's synkinesia and shoulder joint synkinesia.
The concrete principle of foot's synkinesia is as follows:
(1) two first limit electromagnet 3-2 power-off, two second limit electromagnet are powered, at this point, the first toggle 3-5,
Fixed link becomes leg from the first toggle 3-5 in second toggle 3-6, leg plate 2-4, parallelogram mechanism composed by sole 2-5
The motion mode of plate 2-4, sole 2-5 become flip-flop movement from the movement of holding horizontality.One in two electric pushrod 3-3
As the first electric pushrod 3-3, another is as the second electric pushrod 3-3.
(2) first electric pushrod 3-3 are retracted, until the corresponding sole 2-5 of the first electric pushrod 3-3 and horizontal plane are at 30 °
Angle.
(3) second electric pushrod 3-3 are retracted, until the corresponding sole 2-5 of the second electric pushrod 3-3 and horizontal plane are at 30 °
Angle.Meanwhile first electric pushrod 3-3 release, until the corresponding sole 2-5 of the first electric pushrod 3-3 is returned to horizontality.
(4) first electric pushrod 3-3 are retracted, until the corresponding sole 2-5 of the first electric pushrod 3-3 and horizontal plane are at 30 °
Angle.Meanwhile second electric pushrod 3-3 release, until the corresponding sole 2-5 of the second electric pushrod 3-3 is returned to horizontality.
(5) after repeating step (3) and (4) ten times, (6) are entered step
(6) first electric pushrod 3-3 release so that the corresponding sole 2-5 of the first electric pushrod 3-3 be returned to it is horizontal
State.
(7) two first limit electromagnet 3-2 are powered, two second limit electromagnet power-off, so that the first toggle 3-5,
Fixed link becomes the first hinge from leg plate 2-4 in second toggle 3-6, leg plate 2-4, parallelogram mechanism composed by sole 2-5
The motion mode of bar 3-5, sole 2-5 are become keeping horizontality mobile from flip-flop movement.
(8) first electric pushrod 3-3 are retracted, until the corresponding leg plate 2-4 of the first electric pushrod 3-3 and horizontal plane are at 30 °
Angle.
(9) second electric pushrod 3-3 are retracted, until the corresponding sole 2-5 of the second electric pushrod 3-3 and horizontal plane are at 30 °
Angle.Meanwhile first electric pushrod 3-3 release, until the corresponding sole 2-5 of the first electric pushrod 3-3 and limit skewback 3-1 work
Make side contact.
(10) first electric pushrod 3-3 are retracted, until the corresponding sole 2-5 of the first electric pushrod 3-3 and horizontal plane are at 30 °
Angle.Meanwhile second electric pushrod 3-3 release, until the corresponding sole 2-5 of the second electric pushrod 3-3 and limit skewback 3-1 work
Make side contact.
(11) after repeating step (9) and (10) ten times, (12) are entered step.
(12) first electric pushrod 3-3 are released, until the corresponding sole 2-5 of the first electric pushrod 3-3 and limit skewback 3-1
Working side face contact.(13) are entered step later
(13) step (2) to (12) is repeated
The concrete principle of shoulder synkinesia is as follows:
(1) second pendulum drives motor 5-13 rotation, so that the large arm of user is overturn with swing arm sliding rail 5-6 to concordant with shoulder
State.
(2) first pendulum drive motor 5-5 and rotate forward so that the large arm of user to overturning before body to the angle position at 45 ° backboard 2-1
It sets.
(3) first pendulum drive motor 5-5 rotate forward, second pendulum drive motor 5-13 rotation so that the large arm of user be restored to
The state of body side fitting.Enter step (4).
(4) step (1) to (3) is repeated.
Claims (10)
1. a kind of multi-joint synkinesia bed, including bedstead, chair assembly, foot motion mechanism, backboard actuator and shoulder fortune
Motivation structure；It is characterized by: the chair assembly includes backboard, plug plate, podical plate, leg plate and sole；The podical plate with
Bedstead is fixed；The inside edge of the backboard and the one side edge of podical plate are hinged；Backboard is driven by backboard actuator；Two blocks of leg plates
Inner end with another side edge of podical plate by the first articulated shaft it is hinged；The interior end edge of the outer end of two blocks of leg plates and two pieces of soles
It is hinged that edge passes through the second articulated shaft respectively；Recessing groove there are two being opened up on backboard；Two resignings on two blocks of plug plates and backboard
Slot respectively constitutes sliding pair；
The foot motion mechanism includes limit skewback, the first limit electromagnet, the second limit electromagnet, electric pushrod, the
One toggle, the second toggle and push-rod frame；Two first toggles are located at the two sides of bedstead, and the inner end of one end and two blocks of leg plates
Hinged by third articulated shaft respectively, it is hinged that one end of the other end and two second toggles passes through the 4th articulated shaft respectively；Two
It is hinged that the outer end of the other end of second toggle and two pieces of soles passes through the 5th articulated shaft respectively；The axis of first articulated shaft with
The axis collinear of third articulated shaft；Two first limit electromagnet and the two sides of bedstead are fixed respectively, and are located at two pieces the
The lower section of one toggle；The first limit iron block is respectively and fixedly provided on two first toggles；The limit skewback is fixed with bedstead, and position
In the lower section of podical plate；The work side inclination of the limit skewback is upward；It is described limit skewback work side on it is embedding there are two
Second limit electromagnet；The second limit iron block is respectively and fixedly provided on the bottom surface of two blocks of leg plates；The shell of two electric pushrods with bed
The tail end of frame constitutes revolute pair；The push-off pin of two electric pushrods and the top surface of two pieces of soles pass through the 6th articulated shaft hinge respectively
It connects；
The head movement mechanism includes shoulder frame plate, optical axis, sliding plate, the first driving assembly, the second driving assembly and arm
Connection component；One end of the optical axis is fixed with bed board, and the other end is fixed with shoulder frame plate；The sliding plate and optical axis, which is constituted, to be slided
Dynamic pair；Sliding plate is driven by the first driving assembly；The arm connection component includes swing arm sliding rail, swing arm sliding block, the first rotation
Block, the second spin-block and tie up arm-piece；The inner end of the swing arm sliding rail and sliding plate constitute the first revolute pair；Swing arm sliding rail is driven by second
Moving part driving；The swing arm sliding block and swing arm sliding rail constitutes sliding pair；First spin-block and swing arm sliding block constitutes second
Revolute pair；Second spin-block and the first spin-block constitute third revolute pair；The arm-piece of tying up is fixed on the second spin-block；Shoulder
There are two portion's movement mechanism is total；Liang Ge head movement mechanism is located at two recessing grooves on backboard.
2. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: the first articulated shaft axis
Spacing to limit skewback work side is equal to leg board bottom face to the distance of the first articulated shaft axis；The third articulated shaft axis
Line is equal to the distance of the second articulated shaft axis to the 5th articulated shaft axis to the distance of the 4th articulated shaft axis；Second articulated shaft axis
Line is equal to the distance of the 4th articulated shaft axis to the 5th articulated shaft axis to the distance of third articulated shaft axis；The limit skewback
The inclination of work side upward, and with horizontal plane at 60 ° of angles；The distance of 6th articulated shaft axis to the second articulated shaft is less than the 6th
Distance of the articulated shaft axis to the 5th articulated shaft.
3. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: first revolute pair and second
The common axis of revolute pair is each perpendicular to backboard；The common axis of second revolute pair and the common axis of third revolute pair are mutually hung down
Directly；The swing arm sliding block, swing arm sliding rail at sliding pair glide direction perpendicular to the second revolute pair common axis.
4. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: the foot motion mechanism is also
Including lock-bit electromagnet；Two lock-bit electromagnet are each attached to the tail end at the top of bedstead；The outer end of two pieces of sole top surfaces is embedded with
Lock-bit iron block；Two pieces of lock-bit iron blocks are corresponding with two lock-bit electromagnet difference positions.
5. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: the backboard actuator includes
Overturn motor, overturning lead screw, upset connecting rod, balladeur train and overturning sliding block；The balladeur train is fixed with bedstead；The overturning lead screw
It is supported on balladeur train；The overturning motor is fixed on balladeur train；The one end for overturning the output shaft and overturning lead screw of motor is fixed；
It overturns sliding block and balladeur train constitutes sliding pair, and constitute screw pair with overturning lead screw；One end of upset connecting rod and overturning sliding block are hinged,
The middle part of the other end and backboard is hinged.
6. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: the first driving assembly packet
It includes pendulum and drives lead screw and the first pendulum drive motor；The pendulum drives one end of lead screw and shoulder frame plate constitutes revolute pair, the other end and backboard structure
At revolute pair；Pendulum drives lead screw and drives motor driven by the first pendulum；Sliding plate and pendulum drive lead screw and constitute screw pair；
Second driving assembly includes that crank, swing arm connecting rod and the second pendulum drive motor；The inner end of the crank and sliding plate
Hingedly, outer end and one end of swing arm connecting rod are hinged；The other end end of swing arm connecting rod and the middle part of swing arm sliding rail are hinged；Second pendulum drives
Motor is fixed with sliding plate；The output shaft that second pendulum drives motor is fixed with crank.
7. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: the two of two recessing grooves and backboard
End margin is respectively communicated with；The spacing of two recessing grooves is equal to 350mm；Sliding slot is offered at the both sides of the edge of recessing groove；Plug plate
And it is identical as resigning groove shape, and plug raised line is provided at both sides of the edge；The length of leg plate is equal to 500mm.
8. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: it is described tie up arm-piece by tie up plate and
Bandage composition；The plate of tying up is fixed on the second spin-block；The inner end of two bandages with tie up plate and fix, evil spirit is provided on outer end
Art patch.
9. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: hand in Liang Ge head movement mechanism
Projection of the arm connection component on backboard top surface is fully located at two recessing grooves inside the projection on backboard side respectively.
10. a kind of multi-joint synkinesia bed according to claim 1, it is characterised in that: under original state, backboard, stern
Plate, leg plate and sole are horizontally disposed；Two lock-bit electromagnet are attracted respectively with the lock-bit iron block on two pieces of soles；First limit
Electromagnet is attracted respectively with the first limit iron block on two first toggles.
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| CN201810921589.7A CN109106531B (en) | 2018-08-14 | 2018-08-14 | Multi-joint auxiliary exercise bed |
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| CN201810921589.7A CN109106531B (en) | 2018-08-14 | 2018-08-14 | Multi-joint auxiliary exercise bed |
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| CN109875840A (en) * | 2019-03-22 | 2019-06-14 | 兰州大学 | A device for rehabilitation of leg joints |
| CN110251329A (en) * | 2019-07-16 | 2019-09-20 | 中南大学湘雅医院 | A multi-joint auxiliary exercise bed |
| CN111904789A (en) * | 2020-08-10 | 2020-11-10 | 河北省胸科医院 | Clinical regulation formula four limbs rehabilitation device of using |
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| CN109106531B (en) | 2020-11-17 |
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