CN204684105U - A kind of walking aid plays seat system - Google Patents
A kind of walking aid plays seat system Download PDFInfo
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- CN204684105U CN204684105U CN201520213351.0U CN201520213351U CN204684105U CN 204684105 U CN204684105 U CN 204684105U CN 201520213351 U CN201520213351 U CN 201520213351U CN 204684105 U CN204684105 U CN 204684105U
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- bodyboard
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- oil
- upper left
- walking aid
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Abstract
The utility model discloses a kind of walking aid and play seat system, comprise the first that is hinged by lower-left bodyboard and upper left bodyboard sit unit, by bottom right bodyboard and upper right bodyboard be hinged second sit unit; The first sits unit, second seat unit is arranged side by side and is fixedly connected with; Master cylinder controls described the first and sits unit, second seat unit synchronizing moving in the vertical direction; Lower-left bodyboard, upper left bodyboard, bottom right bodyboard, upper right bodyboard are respectively connected with the piston rod of an auxiliary cylinder, and described auxiliary cylinder can control described upper left bodyboard, upper right bodyboard is rotated centered by pin joint, and upper left bodyboard, upper right bodyboard rotational angle are 0 ~ 90
0; Auxiliary cylinder controls described the first seat unit, second seat units synchronization tilts to the left or to the right, and angle of inclination is 0 ~ 45
0.This utility model, for the quality of life and the rehabilitation efficacy that improve patient, alleviates the family social burden looked after patient and bring, has important practical significance.
Description
Technical field
This utility model relates to a kind of walking aid and plays seat system.
Background technology
In China, the auxiliary paralytics such as many nursing houses, community, hospital, the disabled and old people carry out rehabilitation training and mainly contain medical recovery robot and Wearable walking aid, the patient that these two kinds of rehabilitation medicine equipments are mainly used in auxiliary for hemiparalysis and walking disorder keeps stance, carries out walking rehabilitation training.The seat system that rises of existing rehabilitation equipment just changes into midstance by sitting posture people and carries out standing or Walking from the wheelchair that it is taken, can not take care of oneself by assisting patients, horizontal leg training can not be carried out by assisting patients, sitting posture and prone position can not be adjusted by assisting patients, need the assistance of medical personnel just can complete when patient carries out rehabilitation training simultaneously, can not independently carry out.
Along with the raising of people's quality of life and the development of intellectualized technology, existing seat system can not meet the needs of people completely.Independently can carry out rehabilitation training and adjust patient in sitting and prone position by assisting patients, and novel the seat system improving minimal invasive treatment's self-care ability is for the quality of life and the rehabilitation efficacy that improve patient, alleviate the family social burden looked after patient and bring, there is important practical significance.
Summary of the invention
Technical problem to be solved in the utility model is, not enough for prior art, provides a kind of walking aid to play seat system.
For solving the problems of the technologies described above, the technical scheme that this utility model adopts is: a kind of walking aid plays seat system, comprise the first that is hinged by lower-left bodyboard and upper left bodyboard sit unit, by bottom right bodyboard and upper right bodyboard be hinged second sit unit; Described the first sits unit, second seat unit is arranged side by side and is fixedly connected with; Master cylinder controls described the first and sits unit, second seat unit synchronizing moving in the vertical direction; Described lower-left bodyboard, upper left bodyboard, bottom right bodyboard, upper right bodyboard are respectively connected with the piston rod of an auxiliary cylinder, and the auxiliary cylinder be connected with described upper left bodyboard, upper right bodyboard can control described upper left bodyboard, upper right bodyboard is rotated around jointed shaft, and described upper left bodyboard, upper right bodyboard rotational angle are 0 ~ 90
0; Four auxiliary cylinders control described the first sit unit, second sit units synchronization and tilt to the left or to the right, and angle of inclination is 0 ~ 45
0.
Described integral elevating plate (namely the first sits the connecting overall of unit and second seat unit) below is provided with guide rail; Guide rail below described lower-left bodyboard, bottom right bodyboard is provided with end slide plate; Slide plate side, the described end is connected with the piston rod of oil cylinder, and the piston rod of described oil cylinder can promote slide plate of the described end moves in the horizontal direction.End slide plate facilitates patient to sit on integral elevating plate.
This utility model also comprises electrohydraulic controlling mechanism; Described electrohydraulic controlling mechanism comprises ECU, and the solenoid of described ECU and electromagnetic valve, the motor of electric oil pump, pressure transducer are electrically connected; The suction inlet of described electric oil pump is communicated with fuel tank; The oil-out of described electric oil pump is communicated with accumulator by check valve; Described pressure transducer is arranged on the wall of described accumulator; Described accumulator is communicated with the entrance of described electromagnetic valve; The outlet of described electromagnetic valve is communicated with described fuel tank; Described master cylinder, auxiliary cylinder are all communicated with described accumulator by switch valve; The oil-out of described master cylinder, auxiliary cylinder is all communicated with described fuel tank by valve.
Described accumulator is communicated with described fuel tank by relief valve, improves the safety of electrohydraulic control system, and then improves the safety of patient.
The piston rod of described master cylinder controls by main elevating lever the synchronization lifting that described the first sits unit, second seat unit; The piston rod of described auxiliary cylinder is connected with described lower-left bodyboard, upper left bodyboard, bottom right bodyboard, upper right bodyboard by assistance for lifting bar; Described main elevating lever, assistance for lifting bar are all provided with position sensor.ECU is facilitated to control lifting position.
ECU is electrically connected with alarm device.
Compared with prior art, the beneficial effect that this utility model has is: this utility model rises sits system structure simply, stable and reliable for performance, can ensure the personal safety of patient.ECU hydraulic control system and Qi Zuo mechanism, enable assisting patients and independently carry out rehabilitation training and adjustment sitting posture and prone position and improve minimal invasive treatment's self-care ability.This utility model, for the quality of life and the rehabilitation efficacy that improve patient, alleviates the family social burden looked after patient and bring, has important practical significance.
Accompanying drawing explanation
Fig. 1 is that this utility model plays seat structural scheme of mechanism.
Fig. 2 is that this utility model plays seat mechanism side view.
Fig. 3 is this utility model electrohydraulic control system block diagram.
Detailed description of the invention
As shown in Figure 1-Figure 3, this utility model one embodiment comprise the first that is hinged by lower-left bodyboard 10 and upper left bodyboard 11 sit unit, by bottom right bodyboard 12 and upper right bodyboard 13 be hinged second sit unit; Described the first sits unit, second seat unit is arranged side by side and is fixedly connected with; Master cylinder 8 controls described the first and sits unit, second seat unit synchronizing moving in the vertical direction; Described lower-left bodyboard 10, upper left bodyboard 11, bottom right bodyboard 12, upper right bodyboard 13 are respectively connected with the piston rod of an auxiliary cylinder 9, and the auxiliary cylinder 9 be connected with described upper left bodyboard 11, upper right bodyboard 13 can control described upper left bodyboard 11, upper right bodyboard 13 is rotated around jointed shaft, and described upper left bodyboard 11, upper right bodyboard 13 rotational angle are 0 ~ 90
0; Four auxiliary cylinders 9 control described the first sit unit, second sit units synchronization and tilt to the left or to the right, and angle of inclination is 0 ~ 45
0.
Guide rail 14 is provided with below described integral elevating plate; Guide rail 14 below described lower-left bodyboard 10, bottom right bodyboard 12 is provided with end slide plate 15; Slide plate 15 side, the described end is connected with the piston rod of oil cylinder 16, and the piston rod of described oil cylinder 16 can promote slide plate of the described end 15 moves in the horizontal direction.
Electrohydraulic controlling mechanism of the present utility model comprises ECU 1, and the solenoid of described ECU 1 and electromagnetic valve 2, the motor of electric oil pump 3, pressure transducer 4 are electrically connected; The suction inlet of described electric oil pump 3 is communicated with fuel tank 5; The oil-out of described electric oil pump 3 is communicated with accumulator 7 by check valve 6; Described pressure transducer 4 is arranged on the wall of described accumulator 7; Described accumulator 7 is communicated with the entrance of described electromagnetic valve 2; The outlet of described electromagnetic valve 2 is communicated with described fuel tank 5; Described master cylinder 8, auxiliary cylinder 9 are all communicated with described accumulator 7 by switch valve; The oil-out of described master cylinder 8, auxiliary cylinder 9 is all communicated with described fuel tank 5 by valve.
Described accumulator 7 is communicated with described fuel tank 5 by relief valve 17.
ECU 1 is electrically connected with the strain force sensor be arranged on described integral elevating plate.
Described master cylinder 8, piston rod be connected with described integral elevating plate by main elevating lever; The piston rod of described auxiliary cylinder 9 is connected with described lower-left bodyboard 10, upper left bodyboard 11, bottom right bodyboard 12, upper right bodyboard 13 by assistance for lifting bar; Described main elevating lever, assistance for lifting bar are all provided with position sensor.
In this utility model, the main process chip of ECU adopts single-chip microcomputer, information, the electric oil pump of hydraulic control system, electromagnetic valve and switch valve action in the input signal of its process various kinds of sensors and CAN.When ECU according to the signal of input calculate Qi Zuo mechanism need action time, ECU makes hydraulic system produce enough pressure by control oil pump motor and electromagnetic valve and sits mechanism action to have driven, if the oil pressure in accumulator reaches setting value, then close oil pump and electromagnetic valve, make cylinder action by the oil-feed switch valve that controls corresponding oil cylinder with fuel-displaced switch valve and promote the relevant component actuation of Qi Zuo mechanism by cylinder putter and connecting rod, having realized seat system supplymentary patient and independently carried out rehabilitation training and take care of oneself.
When not having load in a seat system of walking aid, electric oil pump and electromagnetic valve quit work, and accumulator and oil cylinder do not have oil storage.Main elevating lever and assistance for lifting bar are in lowest order, and lower left side bodyboard and lower right side bodyboard level spread out, and upper left side bodyboard and upper right side bodyboard straight up, and are opened, and end slide plate is in the most front position, and whole system is standby.
When patient has been sitting in seat system, ECU has detected the body weight of patient by strain force sensor, according to the oil pressure in this individual weight setting accumulator, makes the oil pressure in accumulator reach this setting value by regulating electric oil pump and electromagnetic valve.Meanwhile, ECU closes the oil-feed switch valve of each oil cylinder and fuel-displaced switch valve.
This utility model has regulated the height of seat system by main elevating lever.When patient is sitting in lower left side bodyboard and lower right side bodyboard, if patient presses the lifting button be electrically connected with ECU, ECU detects that patient upgrades the instruction of seat system, and according to the body weight of this instruction and patient, resetting the oil pressure in accumulator according to the control algolithm designed, making the oil pressure in accumulator reach this setting value by regulating electric oil pump and electromagnetic valve.Open the oil-feed switch valve of main hoist cylinder simultaneously and close fuel-displaced switch valve, oil cylinder is oil-filled, by connecting rod, main elevating lever is promoted.In the process promoted, if reach preposition, patient has unclamped button, and ECU detects this signal, then close the oil-feed switch valve of oil cylinder and fuel-displaced switch valve, in oil cylinder, hydraulic oil keeps certain pressure, makes the position self-locking risen to.ECU detects the position of main elevating lever in real time, if main elevating lever reaches extreme position, then closes the oil-feed switch valve of master cylinder, makes main elevating lever stop motion.If patient presses decline button, ECU closes the oil-feed switch valve of oil cylinder, opens fuel-displaced switch valve, master cylinder draining, main elevating lever is declined, its operation principle and lifting process similar.
This utility model is by end slide plate, and main elevating lever and assistance for lifting bar make patient transform to stance from sitting posture.When patient is sitting in lower left side bodyboard and lower right side bodyboard, if patient presses button of standing, ECU detects patient stand's instruction, and according to the body weight of this instruction and patient, resetting the oil pressure in accumulator according to the control algolithm designed, making the oil pressure in accumulator reach this setting value by regulating electric oil pump and electromagnetic valve.Open the oil-feed switch valve of main hoist cylinder and end skateboard tank simultaneously and close fuel-displaced switch valve, oil cylinder is oil-filled, by connecting rod, main elevating lever is promoted, end slide plate moves backward, close the oil-feed switch valve of assistance for lifting oil cylinder and open fuel-displaced switch valve, oil cylinder draining, assistance for lifting bar is declined, thus make lower left side bodyboard and lower right side bodyboard be rotated down motion, reach upright state gradually.The connecting rod of Qi Zuo mechanism ensure that main elevating lever promotes, and end slide plate moves and the mutual coordination of assistance for lifting bar descending motion backward.In standing process, if reach preposition, patient has unclamped button, ECU detects this signal, then close the oil-feed switch valve of oil cylinder and fuel-displaced switch valve, in oil cylinder, hydraulic oil keeps certain pressure, makes the position self-locking of standing, make patient transform to stance from sitting posture like this, patient can carry out standing rehabilitation training.ECU detects the position of standing in real time, if reach extreme position, then closes the turnover oil circuit breaker valve of oil cylinder, makes motion stopping of standing.If patient presses button of sitting down, its work process and standing process similar, only motion in the other direction.
This utility model adjusts the sitting posture of patient by upper left side bodyboard and upper right side bodyboard and assistance for lifting bar, namely the angle of patient's backrest is adjusted, adjustment angular range is 0-90 degree, and reference direction is horizontal direction, and upper left side bodyboard and upper right side bodyboard are in same plane.When upper left side bodyboard and upper right side bodyboard vertical level, patient sits straight, the posture of not lying; When upper left side bodyboard and upper right side bodyboard and horizontal direction have certain inclination angle, patient lies to lean against and lies on one's side on plate; When upper left side bodyboard and upper right side bodyboard are consistent with horizontal direction, lie on the back and lying on one's side on plate.This adjustment sitting posture is that conveniently patient carries out taking care of oneself and having a rest.If patient's operating control handle requires to increase backrest angle, ECU detects that patient adjusts the instruction of sitting posture, and according to the body weight of this instruction and patient, resetting the oil pressure in accumulator, making the oil pressure in accumulator reach this setting value by regulating electric oil pump and electromagnetic valve.Open the oil-feed switch valve of assistance for lifting oil cylinder simultaneously and close fuel-displaced switch valve, oil cylinder is oil-filled, by connecting rod, assistance for lifting bar is promoted, and two auxiliary cylinders that upper left bodyboard, upper right bodyboard are corresponding and elevating lever move simultaneously.In the process promoted, if reach preposition, patient has unclamped handle, and ECU detects this signal, then close the oil-feed switch valve of oil cylinder and fuel-displaced switch valve, in oil cylinder, hydraulic oil keeps certain pressure, makes the position self-locking risen to.ECU detects the position of assistance for lifting bar in real time, if assistance for lifting bar reaches extreme position, then closes the oil-feed switch valve of oil cylinder, makes the stop motion of assistance for lifting bar.If patient's operating control handle requires to reduce backrest angle, ECU closes the oil-feed switch valve of oil cylinder, opens fuel-displaced switch valve, oil cylinder draining, assistance for lifting bar is declined, and its operation principle is similar with the process of increase.
This utility model adjusts the left and right sitting posture of patient by the assistance for lifting bar of lower left side bodyboard and lower right side bodyboard and correspondence thereof, namely the angle of inclination about patient is adjusted, adjustment angular range is 0-45 degree, and reference direction is that horizontal direction and aforesaid backrest sitting posture reference direction be not on same axle.When lower left side bodyboard and lower right side bodyboard are all horizontal, consistent about patient in sitting; When lower left side bodyboard is rotated down, lower right side bodyboard rotates up, and two boards remains at same plane, and when having certain inclination angle with horizontal direction, the sitting posture of patient is just to Left-Tilt, and low the right, the left side is high; In like manner, when two boards moves in the opposite direction, the sitting posture of patient has just tilted to the right, and the low left side, the right is high.This adjustment sitting posture is that conveniently patient takes care of oneself.In order to ensure the personal safety of patient, just the adjustment of this sitting posture only has when main elevating lever can carry out lower than certain height.If patient's operating control handle requires to Left-Tilt, ECU detects that patient adjusts the instruction of sitting posture, and according to the body weight of this instruction and patient, resetting the oil pressure in accumulator, making the oil pressure in accumulator reach this setting value by regulating electric oil pump and electromagnetic valve.ECU is opened the oil-feed switch valve of assistance for lifting oil cylinder corresponding to lower right side bodyboard and is closed fuel-displaced switch valve, and oil cylinder is oil-filled, and by connecting rod, the assistance for lifting bar of lower right side bodyboard is promoted, lower right side bodyboard rotates up motion; Open the fuel-displaced switch valve of assistance for lifting oil cylinder corresponding to lower left side bodyboard simultaneously and close oil-feed switch valve, oil cylinder draining, by connecting rod, the assistance for lifting bar of lower left side bodyboard is declined, lower left side bodyboard is rotated down motion, two auxiliary cylinders and elevating lever move simultaneously, so just achieve left-oblique operation.In the process tilted, if reach preposition, patient has unclamped handle, and ECU detects this signal, then close the oil-feed switch valve of oil cylinder and fuel-displaced switch valve, in oil cylinder, hydraulic oil keeps certain pressure, makes the position self-locking of inclination.ECU detects the position of lower right side bodyboard assistance for lifting bar in real time, if lower right side bodyboard assistance for lifting bar reaches extreme position, then closes the oil-feed switch valve of oil cylinder, makes lower right side bodyboard assistance for lifting bar stop motion.If patient's operating control handle requires to be tilted to the right, its operation principle is similar with the process that is tilted to the left.
ECU, by the traveling controller real-time Communication for Power of CAN and walking aid, if detect that walking aid needs walking, in order to ensure patient safety, then plays seat system and first makes patient be returned to safe position; If detect that walking aid is walked, then play seat system and first make patient be returned to safe position, then quiescing.If ECU has detected sit system malfunctions, then play seat system and made patient be returned to safe position as far as possible, concurrent visual alarm of speaking.
Claims (7)
1. walking aid plays a seat system, it is characterized in that, comprise the first that is hinged by lower-left bodyboard (10) and upper left bodyboard (11) sit unit, by bottom right bodyboard (12) and upper right bodyboard (13) be hinged second seat unit; Described the first sits unit, second seat unit is arranged side by side and is fixedly connected with; Master cylinder (8) controls described the first and sits unit, second seat unit synchronizing moving in the vertical direction; Described lower-left bodyboard (10), upper left bodyboard (11), bottom right bodyboard (12), upper right bodyboard (13) are respectively connected with the piston rod of an auxiliary cylinder (9), and be connected with described upper left bodyboard (11), upper right bodyboard (13) auxiliary cylinder (9) can control described upper left bodyboard (11), upper right bodyboard (13) is rotated around jointed shaft, and described upper left bodyboard (11), upper right bodyboard (13) rotational angle are 0 ~ 90
0; Four auxiliary cylinders (9) control described the first sit unit, second sit units synchronization and tilt to the left or to the right, and angle of inclination is 0 ~ 45
0.
2. walking aid according to claim 1 plays seat system, it is characterized in that, described the first is sat below unit, second seat unit and is provided with guide rail (14); Described guide rail (14) is provided with end slide plate (15); Slide plate (15) side, the described end is connected with the piston rod of oil cylinder (16), and the piston rod of described oil cylinder (16) can promote slide plate of the described end (15) moves in the horizontal direction.
3. walking aid according to claim 2 plays seat system, it is characterized in that, also comprises electrohydraulic controlling mechanism; Described electrohydraulic controlling mechanism comprises ECU (1), and the solenoid of described ECU (1) and electromagnetic valve (2), the motor of electric oil pump (3), pressure transducer (4) are electrically connected; The suction inlet of described electric oil pump (3) is communicated with fuel tank (5); The oil-out of described electric oil pump (3) is communicated with accumulator (7) by check valve (6); Described pressure transducer (4) is arranged on the wall of described accumulator (7); Described accumulator (7) is communicated with the entrance of described electromagnetic valve (2); The outlet of described electromagnetic valve (2) is communicated with described fuel tank (5); Described master cylinder (8), auxiliary cylinder (9) are all communicated with described accumulator (7) by switch valve; The oil-out of described master cylinder (8), auxiliary cylinder (9) is all communicated with described fuel tank (5) by valve.
4. walking aid according to claim 3 plays seat system, it is characterized in that, described accumulator (7) is communicated with described fuel tank (5) by relief valve (17).
5. walking aid according to claim 4 plays seat system, it is characterized in that, described ECU (1) is electrically connected with the strain force sensor be arranged in described lower-left bodyboard (10), upper left bodyboard (11), bottom right bodyboard (12), upper right bodyboard (13).
6. walking aid according to claim 5 plays seat system, it is characterized in that, the piston rod of described master cylinder (8) controls by main elevating lever the synchronization lifting that described the first sits unit, second seat unit; The piston rod of described auxiliary cylinder (9) is connected with described lower-left bodyboard (10), upper left bodyboard (11), bottom right bodyboard (12), upper right bodyboard (13) by assistance for lifting bar; Described main elevating lever, assistance for lifting bar are all provided with position sensor.
7. walking aid according to claim 6 plays seat system, it is characterized in that, described ECU (1) is electrically connected with alarm device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520213351.0U CN204684105U (en) | 2015-04-10 | 2015-04-10 | A kind of walking aid plays seat system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520213351.0U CN204684105U (en) | 2015-04-10 | 2015-04-10 | A kind of walking aid plays seat system |
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| Publication Number | Publication Date |
|---|---|
| CN204684105U true CN204684105U (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520213351.0U Expired - Fee Related CN204684105U (en) | 2015-04-10 | 2015-04-10 | A kind of walking aid plays seat system |
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| CN (1) | CN204684105U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789048A (en) * | 2016-10-07 | 2019-05-21 | 重新行走机器人技术有限公司 | Devices, systems, and methods for the pressure detecting in exoskeleton system |
-
2015
- 2015-04-10 CN CN201520213351.0U patent/CN204684105U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789048A (en) * | 2016-10-07 | 2019-05-21 | 重新行走机器人技术有限公司 | Devices, systems, and methods for the pressure detecting in exoskeleton system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20160410 |