CN101007406A

CN101007406A - Double joint nursing robot

Info

Publication number: CN101007406A
Application number: CN 200610002233
Authority: CN
Inventors: 刘峰
Original assignee: Individual
Current assignee: Individual
Priority date: 2006-01-26
Filing date: 2006-01-26
Publication date: 2007-08-01

Abstract

The invention belongs to medical treatment nursing equipment which is designed for patients who is paraplegic, hemiplegia and lost the ability to walk but mind is clearly. The fore of the bottom of double joint care robot is equipped with two walking wheels driven by motor, the rear is installed two group three-jaw wheel carrier which is used for increasing the support area of bottom bracket and making the equipment can be used in narrow room. The signal upright column installed on the bottom bracket centre consists of two bendable anthropomorphic joints. The lower joint is knee joint of human leg and the upper joint is buttock joint. The upper of the signal upright column is installed with chest holder and mechanical arm. The double joints bend mechanical arm locks patients waist under the automatic control of electric programmed checking, then the human upper body dips forward and main human weight presses on the chest holder. Patients can stands on the bottom bracket upright with the extension of double joints, patients can walk by operating the equipment itself or the electric programmed checking.

Description

Double joint nursing robot

Technical field the present invention relates to a kind of medical treatment and nursing apparatus, belongs to make paraplegia, and hemiplegic patient and old age are lost locomotor activity but clearheaded patient, can upright walking full-automatic shifting frame.

Background technology: according to various big hospital and recovery centre that rehabilitation section is arranged and paraplegia is arranged, the understanding of hemiplegic patient family.Nursing these patients mainly is to rely on the nursing staff manually to nurse, shifting in nursing process is very difficult thing, being the patient by it when stool and urine can only be in bed or with a kind of wheelchair toilet seat, it be feasible wanting to allow the patient rely on nursing device to finish, but on the market also there is not this product.

Summary of the invention: double joint nursing robot be utilize human body lower limbs knee and buttocks two joints respectively the free bend principle of stretching and the nursing staff action of when shifting patient, shouldering patient with the back combine and design.The underframe front portion is by being equipped with two by motor-driven road wheel, and the rear portion has two covers can increase the three-jaw horn ring frame of Area of bearing, by single column that doublejointed is formed, is installed in the centre of underframe, can apishly stand and squat down under electric program-controlled.

Description of drawings:

Fig. 1, the crooked Fig. 2 of nursing robot's doublejointed, upright Fig. 3, hypozygal and knee-pad mechanism

Fig. 4, mechanical arm Fig. 5, joint worm gear, worm screw cutaway view Fig. 6, trifle

1, movable motor 2, road wheel 3, electric cabinet 4, pedal 5, three-jaw horn ring frame

6, underframe 7, lift adjustment plate 8, lock-screw 9, hypozygal motor 10, following worm gear case

11, chain 12, knee-pad rocker 13, trifle controller chassis 14, reinforced sheet 15, knee-pad

16, connection box 17, spring 18, last worm gear case 19, upper joint motor 20, obvolvent motor

21 chest holders 22, mechanical arm 23, protect vertebra square tube 24 telescoping tubes 25, rocker

26, prop up pawl 27, pendulum 28, arm-tie 29, guide plate 30, obvolvent screw 31, obvolvent leading screw

32, worm gear 33, worm screw 34, joint sprocket wheel 35, chain slide 36, flap

37, jockey sprocket

Specific implementation method: double joint nursing robot is by the underframe part, single column that doublejointed is formed.Mechanical arm and knee-pad mechanism form.Two road wheels 2. of underframe 6. front portions are to be driven respectively by two movable motors 1..The two ends that the single tube both sides of connection front and back frame are welded with pedal 4. back U type framves is equipped with two groups of three-jaw horn ring framves 5..Whenever be assembled with three little horn rings.Because the nursing robot mainly is narrow in indoor usage space, be that the door of toilet is also narrower by it, so that underframe 6. can not design is too wide.The three-jaw horn ring frame 5. that increases in order to increase Area of bearing can level freely rotate, and can get around barrier voluntarily when walking.The front portion of underframe 6. also is equipped with electric cabinet 3. is welded with two upright square tubes and back on the centre position of electric cabinet 3. and preceding transverse tube at underframe 6. two lift adjustment plates 7., and to be used for assembling single column that doublejointed forms fixing with lock-screw 8..Unclamp lock-screw 8. and just can adjust the height of single column according to user's height.Form that worm gear case 18. all is that broad wall rectangular steel pipe adds T on 16. times worm gear cases 10. of trifle controller chassis 13. connection boxes of single column, the length and width size is all identical with wall thickness.Being welded with flap 36. in the rectangular endoporus intermediate vertical of controller chassis 13. is fixed on the endoporus branch of controller chassis 13. on the frame wall with chain slide 35. with screw on one side for two spaces.Another side is equipped with two jockey sprockets 37. forms trifle.Controller chassis 13. is processed into the Dou face with the both ends of the surface that flap 36. median vertical lines are as the criterion on one side, sees from the side to have formed fan-shapedly, and be that the benchmark angle is identical with the horizontal central line.It is concentric in two lateral surfaces of controller chassis 13. and a hole of flap 36. that also to be welded with its effect of two reinforced sheets 14. be the torsional deformation that reduces single column.The more piece trifle penetrates with little axle and is hinged and connected in the hole of flap 36 that just formed can crooked joint, and angle of bend is just controlled by the sector angle of controller chassis 13..The power in joint be exactly by hypozygal motor 9. and upper joint motor 19. respectively drive installations at the two groups of worm screws 33. and the worm gear 32 of 18. li of worm gear case 10. and last worm gear cases down.Coaxial two joint sprocket wheels, the 34. usefulness keys that are equipped with in the both sides of worm gear 32. are fixed into 11. actions of two chains of one drive.Two spaces that each controller chassis 13. of a plurality of trifles is separated by flap 36. are passed at the two ends of chain 11., and the termination is fixed on the frame wall of connection box 16.When sprocket wheel 34 rotated, the length of the chain 11. in space, flap 36. both sides changed, and just can bending or stretch in the joint.Hypozygal is equivalent to the knee joint of our human body, and upper joint just is equivalent to the buttocks joint.When two joints electric program-controlled down, action simultaneously just can be finished and squat down and uprightly.Obvolvent leading screw 31. obvolvent screws 30. are installed between single column upper joint worm gear case 18. and joint motor box can seesaw under the driving of obvolvent motor 20..On upper joint worm gear case 18. and motor box, also be welded with four pawls 26,, also be hinged with rocker 25 simultaneously with the fastening installation chest of fork-like farm tool used in ancient China holder 21.Mechanical arm 22. is hinged on the rocker 25., and the tailgate of welding justice is hinged with pendulum 27. on the mechanical arm 22..One end and the obvolvent screw 30. of arm-tie 28. are hinged, and the other end and pendulum 27 and guide plate 29. are hinged.Rotate when obvolvent motor 20. drives obvolvent leading screw 31., obvolvent screw 30. just produces rectilinear motion.When it during to the motion of the direction of chest holder 21., just spur arm-tie 28. and travel forward.Mechanical arm 22 produces the obvolvent action under the effect of rocker 25 and pendulum 27..After holding patient's waist tightly, the width that obvolvent motor 20. is rotated further mechanical arm 22. just can not produce big variation, and rocker 25. and pendulum 27. will produce an outwards action of swing, and mechanical arm 22. produces a power patient's body and chest holder 21. are held tightly to chest holder 21. motions.Protect the back that spinal canal 23. is attached to the user and protect vertebra, when needs of patients uprightly stands, will stretch out the buttocks of holding the patient by the telescoping tube 24. of dress at the endoporus that protects spinal canal 23..Knee-pad mechanism is installed in down above the worm gear case 10..Following worm gear case 10 and hypozygal motor box are that the knee-pad rocker 12. that is welded into one is hinged with spring 17..Knee-pad 15. can produce swing backward under the effect of spring 17., and the order ground of this design is, when the patient is in sitting posture, both feet is placed on above the pedal 4., and knee will protect just with knee-pad 15. and block, and patient's both legs just can not touched.Guarantee that when standing knee withstands on above the knee-pad 15..

Double joint nursing robot if paralytic patient uses, does not need the nursing staff on the scene, and the available remote controller of patient oneself reaches the nursing robot in face of oneself.The nursing robot can be according to the program of finishing in advance, and doublejointed list column is crooked automatically, adjusts the high and low position of chest holder 21. according to patient's sitting posture, height.At this moment the patient if with hand with oneself both feet be put into pedal 4. above, knee set upright withstand on the knee-pad 15..Press a switch, the nursing robot will be attached to the patient shirtfront with chest holder 21. automatically.Mechanical arm 22. is embraced patient's waist.Upper joint is pressed in the chest holder 21. patient's upper body to front curve.Buttocks leaves seat.Doublejointed stretches the user and just can stand upright on the nursing robot under automatic program control operation, and oneself operates movable motor 1, finishes walking.Also can shake control the patient is delivered to toilet or other place with long-range.

Claims

1, single column of being made up of underframe, upper joint, hypozygal of double joint nursing robot, mechanical arm, knee-pad mechanism and electric control part are grouped into.

2, as described in claims 1, the U type pipe of underframe back, two ends is respectively installed one group of three-jaw horn ring frame, has six little horn rings.But three crowfoot levels are freely rotated, and can get around barrier voluntarily when increasing Area of bearing.

3, as described in claims 1, by two groups of single columns that the joint is formed up and down, be by motor-driven worm gear, worm screw actuating unit, but double-stranded bar and form by the trifle that is hinged by hinge of bend in one direction.Hypozygal is equivalent to the knee joint of human body, and upper joint is the buttocks joint.

4, as described in claims 1.3, form the trifle of doublejointed, be that the hinge plate by welding in the middle of in rectangle controller chassis and the frame will be divided into two spaces in the frame.One of them space is fastened on controller chassis antetheca lastblock chain slide with screw.Two jockey sprockets are equipped with in another space.

5, as described in claims 1.3.4, the trifle controller chassis is by the broad wall steel pipe of rectangle 100*50 millimeter, cutting into segment processes, divide both ends of the surface on one side to be processed into the Dou face with the flap vertical center line, regard as fan-shaped from the side, another side is square, and is as the criterion with horizontal center line, and two fan-shaped Dou face angles are identical. can control like this joint the bend in one direction angle and stretch after linearity.

6, as described in claims 1.3, the worm gear of joint actuating unit, worm screw are installed in the worm gear case that is welded into the measure-alike broad wall rectangular steel pipe of controller chassis, and the both sides of worm gear are coaxial is equipped with two joint sprocket wheels, links into an integrated entity with key.

7, as described in claims 1.3, there are two chains in each joint, and two terminations of chain are fixed on the connection box in the middle of single column.Last hypozygal is integral separately, is fastenedly connected into single column by two connection boxes with 4 screws.

8, as described in claims 1, mechanical arm is by motor, and obvolvent leading screw, obvolvent screw are power, mechanical arm, rocker, prerotation vane, pulling-on piece and protect vertebra square tube telescoping tube and form.

9, as described in claims 1.8, mechanical arm is hinged on the pawl that is welded in the upper joint worm gear case.Obvolvent leading screw and obvolvent screw are installed in the centre position between worm gear case and the upper joint motor box.

10, as described in claims 1.8.9, the folding of mechanical arm is the obvolvent screw, and hinged arm-tie drives guide plate and moves with pendulum.The effect of rocker and pendulum is to make mechanical arm produce the power to chest holder direction in the process of embracing.The vertebra square tube endoporus that protects that is installed on the mechanical arm is equipped with telescoping tube, and telescoping tube stretches out, and can hold patient's buttocks when upright.

11, as described in claims 1: knee-pad mechanism is articulated on the hypozygal worm gear case, by the knee-pad rocker, and spring, knee-pad is formed.Knee-pad rocker and spring are hinged.Under spring action, make knee-pad swing certain position backward.

12, as described in claims 1, doublejointed list column is mounted in two upright square tubes and two height of welding on the underframe and adjusts above the plate fastening with screw. and the high and low position that unclamps screw list column and underframe can be adjusted.