CN113018015B

CN113018015B - Wheelchair with auxiliary standing and walking functions

Info

Publication number: CN113018015B
Application number: CN202110382885.6A
Authority: CN
Inventors: 王慧明; 鲁婉婷; 卞豪豪; 李树奇
Original assignee: Shenyang University of Technology
Current assignee: Shenyang University of Technology
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2024-07-26
Anticipated expiration: 2041-04-09
Also published as: CN113018015A

Abstract

The invention discloses a wheelchair with standing-assisting and walking functions, which comprises a wheelchair body and a standing-assisting walking mechanism, wherein the wheelchair body comprises a seat plate, armrests are arranged on two sides of the seat plate, and a first button, a second button and a third button which are used for respectively controlling a buckle, a metamorphic driving mechanism and a distance sensor to work are arranged on the armrests. The front end of the armrest is provided with a buckle connected with the auxiliary standing walking mechanism, and a metamorphic mechanism for adjusting the postures of the chair back and the seat plate is arranged between the chair base and the seat plate. According to the wheelchair, the buckle is arranged on the wheelchair body, so that the wheelchair body and the auxiliary standing walking mechanism can be connected and separated. By arranging the metamorphic mechanism, the posture change of the seat plate and the chair back can be conveniently realized, and the conversion between the standing posture and the sitting posture of an occupant can be facilitated. The following of the wheelchair body and the passengers during standing and walking of the passengers is realized by arranging the distance sensor.

Description

Wheelchair with auxiliary standing and walking functions

Technical Field

The invention relates to the technical field of medical appliances, in particular to a wheelchair with standing and walking assisting functions.

Background

At present, more than three hundred thousand hemiplegia patients caused by various factors exist in China, and tens of thousands of people lose independent walking ability each year. Meanwhile, as the aging degree of society is continuously improved, part of old people lose the ability of independently walking and standing due to the disorder or natural atrophy of muscles, so that the old people with inconvenient movement are more and more, and heavy burden is brought to families and society, thereby solving the problems that the independent walking and standing of the old people and various hemiplegic patients are urgently needed to be solved in the society and families.

At present, a small number of wheelchair devices capable of simultaneously realizing sitting posture and standing posture conversion and assisting walking function are available on the market, but the wheelchair devices are quite complex in structure, single in function and poor in applicability.

Disclosure of Invention

In order to solve the problems of independent walking and standing of the old and various hemiplegic patients, the invention provides a wheelchair with standing and walking assisting functions.

The specific technical scheme of the invention is as follows:

The wheelchair with the auxiliary standing and walking functions comprises a wheelchair body and an auxiliary standing and walking mechanism, wherein the wheelchair body comprises a seat plate, handrails are arranged on two sides of the seat plate, buckles connected with the auxiliary standing and walking mechanism are respectively arranged at the front ends of the handrails on two sides, a chair back capable of adjusting an angle is arranged on the seat plate, a wheelchair base is arranged below the wheelchair body, and a metamorphic mechanism capable of adjusting the postures of the chair back and the seat plate is arranged between the wheelchair base and the seat plate; the metamorphic mechanism comprises guide rails fixedly arranged on two sides below the seat plate, slide ways are arranged on two sides of the seat back, the upper end of a first connecting rod is connected with the slide ways in a sliding manner through a first sliding block, the lower end of the first connecting rod can be sleeved on the guide rails and slide along the guide rails, one end of a second sliding block is fixedly connected with one end of the first connecting rod, the other end of the second sliding block is hinged with one end of a second connecting rod, the other end of the second connecting rod is hinged with one end of a third connecting rod, the other end of the third connecting rod is hinged with the upper end of a third supporting rod through a third sliding block which is connected with the guide rails in a sliding manner, the lower end of the third supporting rod is connected with a metamorphic driving mechanism capable of enabling the lower end of the third supporting rod to move forwards and backwards, one end of the first supporting rod is connected with the side face of the seat plate through a fixed hinge, the other end of the first supporting rod is hinged with the guide rails, the lower end of the second supporting rod is hinged with the wheelchair base, and the second supporting rod and the third supporting rod form a scissor mechanism capable of lifting; the auxiliary standing walking mechanism comprises at least three upright posts with supporting function, wherein two arc-shaped frameworks which are distributed up and down and four walking frameworks which are distributed up and down and are symmetrically arranged in the arc-shaped frameworks are arranged at the upper ends of the upright posts, and buckling rods are symmetrically arranged between the upper and lower walking frameworks; the armrest is provided with a first button and a second button for controlling the operation of the buckle and the metamorphic driving mechanism.

Further, the metamorphic driving mechanism comprises side guide rails arranged on two sides of the wheelchair base, fourth sliding blocks capable of sliding along the side guide rails are arranged at two ends of the connecting plate made of metal, and the lower end of the third supporting rod is hinged with the fourth sliding blocks; a threaded hole is formed in the middle of the connecting plate, one end of the screw rod is connected with the connecting plate through the threaded hole, and the other end of the screw rod is connected with the second motor through the coupler.

Further, a guide block is fixedly arranged on the wheelchair base, an internal threaded hole is formed in the guide block, and a screw rod is connected with the guide block through the internal threaded hole.

Further, the buckle is including setting up in the splint seat both sides and passing through articulated splint of articulated lever with the splint seat, and the fixed rocker that is provided with of articulated lever parallel direction symmetry in splint is provided with the through-hole that has the internal thread on the rocker, sets up the output shaft that is located the first motor both sides on the splint seat between the splint of both sides and has drive screw and the through-hole threaded connection that the rocker has the internal thread, and the splint seat passes through the buckle arm with the handrail to be connected.

Further, an electromagnet is arranged on the first motor, the buckling rod is an iron rod, and the magnetic pole of the electromagnet can be attracted with the buckling rod.

Further, the first motor is provided with permanent magnets on the two side shells of the driving screw, and the clamping plates are made of iron.

Further, a distance sensor for measuring a distance between the occupant and the wheelchair is provided at a lower portion of the seatback facing the occupant, and a third button for controlling the distance sensor is provided at the armrest.

Further, the distance sensor is an infrared distance sensor.

Further, the lower extreme of each stand is provided with the second universal wheel, and the upper end of the back of the chair is provided with headrest and is used for adjusting the high headrest adjustment slider of headrest, and the front end of wheelchair base has the footboard through hinge connection.

The beneficial effects of the invention are as follows:

1. According to the wheelchair, the buckle is arranged on the wheelchair body, so that the wheelchair body and the auxiliary standing walking mechanism can be conveniently connected and separated. When an occupant needs to walk standing, the body can be supported by the auxiliary standing walking mechanism, and the wheelchair body is separated from the auxiliary standing walking mechanism at the moment. When an occupant sits down, the seat body can be connected with the auxiliary standing walking mechanism again through the buckle.

2. By arranging the distance sensor on the chair back, when the wheelchair body is separated from the auxiliary standing walking mechanism, the wheelchair body and the passengers can keep a set distance through the action of the distance sensor, and the conversion from standing to sitting positions of the passengers is facilitated.

3. Through setting up metamorphic mechanism, can conveniently realize the change of seat board lift and angle, conveniently realize the angle change of back of the chair, help realizing the conversion between passenger's standing position and the position of sitting.

4. Through setting up headrest adjustment slider, can conveniently realize the adjustment of headrest height to adapt to different riders' demand.

5. Through set up the electro-magnet that can attract mutually with the buckle pole in the buckle, can be when the splint centre gripping buckle pole of buckle, make to connect more stably through the actuation of electro-magnet and buckle pole.

6. The second universal wheels are arranged at the lower ends of the stand columns of the auxiliary standing walking mechanism, so that the walking and direction conversion of a user can be facilitated.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the wheelchair body according to the present invention;

FIG. 3 is a schematic view of the structure of the standing-assist walking mechanism of the present invention;

FIG. 4 is a schematic view of a buckle structure according to the present invention;

FIG. 5 is a schematic view of the inner structure of the buckle according to the present invention;

FIG. 6 is a schematic view of a metamorphic drive mechanism of the present invention mounted on a wheelchair base;

Fig. 7 is a schematic view of a partial structure at a in fig. 2.

In the figure, 1, a headrest; 2. a headrest adjusting slider; 3. a chair back; 301. a distance sensor; 4. a seat plate; 5. a solid wheel; 6. a first universal wheel; 7. an armrest; 801. a first button; 802. a second button; 803. a third button; 9. a buckle; 901. a clamping plate; 902. a pendulum shaft; 903. a first motor; 904. a clamping plate seat; 905. a clasp arm; 906. a hinge rod; 907. driving a screw; 908. a permanent magnet; 909. an electromagnet; 10. an auxiliary standing walking mechanism; 101. a column; 102. an arc-shaped framework; 103. a hand skeleton; 104. a clasp rod; 11. a second universal wheel; 12. a pedal; 13. a hinge; 14. a first slider; 15. a first link; 16. a guide rail; 17. a second slider; 18. a second link; 19. a third link; 20. a third slider; 21. a first support bar; 2101. a fixed hinge; 22. a second support bar; 23. a third support bar; 24. a connecting plate; 25. a fourth slider; 26. a side rail; 27. a screw rod; 28. a guide block; 29. a coupling; 30. a second motor; 31. a wheelchair base; 32. and a slideway.

Detailed Description

The technical scheme of the application is specifically described below with reference to the accompanying drawings. In the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate an azimuth or a positional relationship based on the azimuth or positional relationship when the occupant sits on the wheelchair body.

In the technical solutions of the present invention, unless explicitly stated otherwise, the terms "mounted," "arranged," "connected," "fixed," and the like should be understood in a broad sense, and may be understood as fixed or removable connections, etc. according to the specific technical solution in which they are located, and the specific meaning of the terms may be understood by one of ordinary skill in the art according to the specific circumstances involved in the technical solution.

Specific examples are as follows:

A wheelchair with standing and walking assistance function is shown in fig. 1, 2, 3 and 7, comprising a wheelchair body and a standing and walking assistance mechanism 10. Wherein, the wheelchair body includes seat board 4, be provided with handrail 7 in the both sides of seat board 4, be provided with respectively in the front end of both sides handrail 7 with assist the buckle 9 that standing running gear is connected, be provided with the back of the chair 3 that can adjust inclination on the seat board 4, the upper end of back of the chair 3 is provided with headrest 1 and is used for adjusting the high headrest adjustment slider 2 of headrest, the front end of wheelchair base is connected with footboard 12 through the hinge 13 that can fixed angle, when the person sits on the wheelchair body, can put footboard 12 by folding state, the foot of person of taking can place on the footboard. A wheelchair base 31 is arranged below the wheelchair body, and a metamorphic mechanism capable of adjusting the postures of the chair back 3 and the seat plate 4 is arranged between the wheelchair base and the seat plate 4.

The metamorphic mechanism comprises guide rails 16 fixedly arranged on two sides below the seat plate 4, slide ways 32 are arranged on two sides of the seat back 3, the upper ends of first connecting rods 15 are connected with the slide ways in a sliding mode through first sliding blocks 14, the lower ends of the first connecting rods 15 can be sleeved on the guide rails 16 and slide along the guide rails, one ends of second sliding blocks 17 are fixedly connected with one ends of the first connecting rods 15 located on the guide rails 16, the other ends of the second sliding blocks 17 are hinged with one ends of second connecting rods 18, the other ends of the second connecting rods 18 are hinged with one ends of third connecting rods 19, the other ends of the third connecting rods 19 are hinged with the upper ends of third supporting rods 23 through third sliding blocks 20 which are connected with the guide rails 16 in a sliding mode, the lower ends of the third supporting rods 23 are connected with a metamorphic driving mechanism capable of enabling the lower ends of the third supporting rods 23 to move forwards and backwards, as shown in fig. 6, one ends of the first supporting rods 21 are connected with the side faces of the seat plate 4 through fixed hinges 2101, the other ends of the first supporting rods 21 are hinged with the upper ends of the second supporting rods 22, the lower ends of the second supporting rods 22 are hinged with the guide rails 16, the lower ends of the second supporting rods 22 are hinged with the base, the third supporting rods 22 are hinged with the base, the upper ends of the third supporting rods 22 are connected with the third supporting rods 23, and the lower ends of the third supporting rods 23 are connected with the third supporting rods 23.

Fig. 6 shows a metamorphic driving mechanism arranged on a seat base 31, the metamorphic driving mechanism comprises side guide rails 26 arranged on two sides of the seat base 31, four sliding blocks 25 capable of sliding along the side guide rails 26 are arranged on two ends of a connecting plate 24 made of metal, the lower end of a third supporting rod 23 is hinged with the fourth sliding blocks 25, and for clarity, only the structure on one side of the seat base is shown, and the structure on the other side is the same. A threaded hole is formed in the middle of the connecting plate 24, one end of a screw rod 27 is connected with the connecting plate 24 through the threaded hole, and the other end of the screw rod 27 is connected with a second motor 30 through a coupler 29.

Assuming that the wheelchair body is in a sitting posture state initially, the second motor 30 drives the screw rod 27 to rotate, and the screw rod rotates to enable the connecting plate 24 to drive the fourth sliding blocks 25 fixed at two ends of the connecting plate and the third supporting rod 23 hinged with the fourth sliding blocks 25 to move towards the solid wheel 5 of the wheelchair body. Since the second support bar 22 and the third support bar 23 constitute a scissor mechanism, the ground three slider 20 hinged to the upper end of the third support bar 23 starts to move toward the front wheel of the wheelchair body, i.e., the first universal wheel 6. The seat pan vertical raising process ends when the second and third links 18, 19 are straightened. At this time, since the second link 18 and the third link 19 are straightened, the second slider 17 starts to move leftward, that is, forward of the occupant, and when the second slider 17 moves horizontally, the seat plate 4 rotates about the fixed hinge 2101, thereby realizing the tilting movement of the seat plate 4. Simultaneously, the second slider 17 drives the first link 15 to move upwards in the slideway 32 through the first slider 14 to realize the rotation of the chair back 3. When the fourth slider 25 is moved to the extreme position of the screw 27, the seat reaches the extreme state, at which time the process of converting from the sitting posture to the standing posture is completed. After the sitting person forms a standing posture, standing and walking can be realized through the auxiliary standing walking mechanism.

The standing-aid running gear 10 comprises at least three uprights 101 for support. When the number of the columns 101 is three, as shown in fig. 3, the three columns form a stable tripod support, and a second universal wheel 11 may be provided at the lower ends of the columns to facilitate movement. Two arc frameworks 102 distributed up and down and four hand frameworks 103 which are located inside the arc frameworks 102 and distributed up and down symmetrically are arranged at the upper end of the upright post 101, and vertically arranged buckle rods 104 which are used for being connected with the buckles 9 are symmetrically arranged between the upper hand framework and the lower hand framework. The armrest 7 is provided with a first button 801 for controlling the opening and closing operations of the buckle 9 and a second button 802 for controlling the operation of the metamorphic driving mechanism. As shown in fig. 4 and 5, the buckle 9 includes clamping plates 901 disposed at two sides of a clamping plate seat 904 and hinged to the clamping plate seat through a hinge rod 906, a swing shaft 902 is symmetrically and fixedly disposed in the clamping plates 901 in a direction parallel to the hinge rod 906, a through hole with internal threads is disposed on the swing shaft 902, output shafts disposed between the clamping plates 901 at two sides and located at two sides of a first motor 903 on the clamping plate seat 904 are connected with through holes with internal threads of the swing shaft 902 through a driving screw 907, and the clamping plate seat 904 is connected with an armrest 7 through a buckle arm 905. Since the electric control buckle 9 and the metamorphic driving mechanism actually work through the electric control buckle 9 and the motor in the metamorphic driving mechanism, the control is well known to the person skilled in the art, so the description is not excessive, and the aim of the technical scheme can be achieved by only controlling the forward and reverse rotation of the motor in the concrete implementation.

Considering that the movement of the screw rod 27 is unstable due to the longer screw rod when the screw rod 27 is driven to rotate by the second motor 30, the guide block 28 shown in fig. 6 is fixedly provided on the wheelchair base 31, the guide block 28 is provided with an internal threaded hole, and the screw rod 27 is connected with the guide block 28 through the internal threaded hole, thereby forming a stable driving structure.

When the wheelchair body is connected with the auxiliary standing walking mechanism, the buckle 9 and the buckle rod 104 form clamping to realize the connection of the wheelchair body and the auxiliary standing walking mechanism. However, when the clip 9 and the clip lever 104 form a clip, the clip effect formed between them is unstable due to the shape fit and the size fit, so that the electromagnet 909 is disposed on the first motor 903 of the clip 9, and the clip lever 104 is configured as an iron lever, and when the clip 9 and the clip lever 104 form a clip, the magnetic pole of the electromagnet 909 can attract the clip lever 104, thereby improving the stability of the connection between them. In addition, permanent magnets 908 can be arranged on the outer shells on two sides of the first motor 903, where the driving screw 907 is arranged, and the material of the clamping plates 901 is iron, so that when the two clamping plates 901 are closed and clamped, the clamping force of the two clamping plates 901 is larger, and the clamping is more stable and reliable through the attraction effect of the permanent magnets 908.

The sitting posture of the occupant is converted into standing posture, and then the occupant can walk by means of the auxiliary standing walking mechanism, because the occupant is a hemiplegic patient or an old person with inconvenient actions, the occupant needs to return to the position of the wheelchair body again when sitting down again, and can sit back into the wheelchair body, so that the occupant can more conveniently realize the purpose. When the occupant intends to walk by means of the standing-assist walking mechanism, the third button 803 is first pressed to activate the distance sensor 301, at this time, the distance sensor 301 starts to detect the distance between the wheelchair body and the occupant, and when the distance between the two exceeds the set value, the solid wheel 5 drives the wheelchair body to move toward the occupant to reduce the distance between the two under electrical control, and when the distance between the two is smaller than the set value, the solid wheel 5 drives the wheelchair body away from the occupant under electrical control to leave enough movement space for the occupant, and due to the presence of the front wheel of the wheelchair body, that is, the first universal wheel 6 in fig. 1, the wheelchair body can be conveniently turned to adjust the following direction in the following process of the occupant. Since the movement of the distance sensor 301 and the solid wheel 5 is controlled electrically by a technique known to a person skilled in the art, this function is only achieved when the technical solution is embodied, and thus not described here too much.

Claims

1. Wheelchair with auxiliary standing and walking function, including wheelchair body and auxiliary standing running gear (10), its characterized in that:

the wheelchair comprises a wheelchair body, wherein the wheelchair body comprises a seat plate (4), armrests (7) are arranged on two sides of the seat plate (4), buckles (9) connected with an auxiliary standing walking mechanism are respectively arranged at the front ends of the armrests (7) on two sides, a chair back (3) capable of adjusting an angle is arranged on the seat plate (4), a wheelchair base (31) is arranged below the wheelchair body, and a metamorphic mechanism capable of adjusting the postures of the chair back (3) and the seat plate (4) is arranged between the wheelchair base and the seat plate (4);

The metamorphic mechanism comprises guide rails (16) fixedly arranged on two sides below the seat plate (4), slide ways (32) are arranged on two sides of the seat back (3), the upper end of a first connecting rod (15) is connected with the slide ways (32) in a sliding mode through a first sliding block (14), the lower end of the first connecting rod (15) can be sleeved on the guide rails (16) and slide along the guide rails, one end of a second sliding block (17) is fixedly connected with one end of the first connecting rod (15) positioned on the guide rails (16), the other end of the second sliding block (17) is hinged with one end of a second connecting rod (18), the other end of the second connecting rod (18) is hinged with one end of a third connecting rod (19), the other end of the third connecting rod (19) is hinged with the upper end of a third supporting rod (23) through a third sliding block (20) which is connected on the guide rails (16), the lower end of the third supporting rod (23) is connected with a metamorphic driving mechanism which can enable the lower end of the third supporting rod (23) to move forwards and backwards, one end of the first supporting rod (21) is hinged with one end of the seat base (22) of the seat (16) through a fixed hinge plate (2101), the second support rod (22) and the third support rod (23) form a scissor mechanism for realizing lifting;

The auxiliary standing walking mechanism (10) comprises at least three upright posts (101) with supporting function, wherein two arc-shaped frameworks (102) which are distributed up and down and four hand-held frameworks (103) which are distributed up and down and symmetrically arranged in the arc-shaped frameworks (102) are arranged at the upper ends of the upright posts (101), and buckling rods (104) are symmetrically arranged between the upper and lower hand-held frameworks;

The armrest (7) is provided with a first button (801) and a second button (802) for controlling the operation of the buckle (9) and the metamorphic driving mechanism.

2. Wheelchair with auxiliary standing and walking function according to claim 1, characterized in that: the metamorphic driving mechanism comprises side guide rails (26) arranged on two sides of a wheelchair base (31), fourth sliding blocks (25) capable of sliding along the side guide rails (26) are arranged at two ends of a connecting plate (24) made of metal, and the lower end of the third supporting rod (23) is hinged with the fourth sliding blocks (25);

a threaded hole is formed in the middle of the connecting plate (24), one end of a screw rod (27) is connected with the connecting plate (24) through the threaded hole, and the other end of the screw rod (27) is connected with a second motor (30) through a coupler (29).

3. Wheelchair with auxiliary standing and walking function according to claim 2, characterized in that: the wheelchair base (31) is fixedly provided with a guide block (28), the guide block (28) is provided with an internal threaded hole, and the screw rod (27) is connected with the guide block (28) through the internal threaded hole.

4. Wheelchair with auxiliary standing and walking function according to claim 1, characterized in that: the buckle (9) is including setting up in splint seat (904) both sides and passing through articulated splint (901) of articulated pole (906) with splint seat, is provided with pendulum shaft (902) with articulated pole (906) parallel direction symmetry fixed in splint (901), is provided with the through-hole that has the internal thread on pendulum shaft (902), sets up the output shaft that is located first motor (903) both sides on splint seat (904) between both sides splint (901) and has drive screw (907) and pendulum shaft (902) have the through-hole threaded connection of internal thread, splint seat (904) are connected through buckle arm (905) with handrail (7).

5. The wheelchair with standing and walking assistance as claimed in claim 4, wherein: an electromagnet (909) is arranged on the first motor (903), the buckling rod (104) is an iron rod, and the magnetic pole of the electromagnet (909) can be attracted with the buckling rod (104).

6. The wheelchair with standing and walking assistance as claimed in claim 4, wherein: permanent magnets (908) are arranged on the outer shells on two sides of the first motor (903) provided with a driving screw (907), and the clamping plate (901) is made of iron.

7. Wheelchair with auxiliary standing and walking function according to claim 1, characterized in that: a distance sensor (301) for measuring the distance between the occupant and the wheelchair is provided at the lower part of the seatback (3) facing the occupant, and a third button (803) for controlling the distance sensor (301) is provided at the armrest (7).

8. The wheelchair with standing and walking assistance as claimed in claim 7, wherein: the distance sensor (301) is an infrared distance sensor.

9. Wheelchair with auxiliary standing and walking function according to any of claims 1 to 8, characterized in that: the lower extreme of each stand (101) is provided with second universal wheel (11), the upper end of back of the chair (3) is provided with headrest (1) and is used for adjusting headrest high headrest adjustment slider (2), the front end of wheelchair base is connected with footboard (12) through hinge (13).