CN102499828A - Old and disabled-assistant bed chair integrated robot - Google Patents
Old and disabled-assistant bed chair integrated robot Download PDFInfo
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- CN102499828A CN102499828A CN2011103535156A CN201110353515A CN102499828A CN 102499828 A CN102499828 A CN 102499828A CN 2011103535156 A CN2011103535156 A CN 2011103535156A CN 201110353515 A CN201110353515 A CN 201110353515A CN 102499828 A CN102499828 A CN 102499828A
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Abstract
The invention relates to an old and disabled-assistant bed chair integrated robot. According to the old and disabled-assistant bed chair integrated robot, internally and externally-nested stair climbing wheels are fixed on two base plate arc-shaped racks; a base plate seat module is connected with a chair support module and can slide along the base plate arc-shaped racks; upper arc-shaped slideways are fixed on a base plate support module; a movable backrest and a movable seat are connected with chair support module by a hinge; a control handle can be inserted into slots on the chair support module and movable handrails; and a shank support plate is connected with the movable seat by the hinge and can slide along arc-shaped slideways of the shank support plate on inner sides of the upper arc-shaped slideways. According to the old and disabled-assistant bed chair integrated robot, the robot has combined functions of ascending and descend the stairs, assisting in standing, converting a chair and assisting in toileting; when the robot meets steps, loading wheels in tires lifts the wheels by taking recesses of outer tires as pivots, and the relative motion of the main modules of the robot is combined to prevent the robot from tilting; the arc-shaped racks slip off along the arc-shaped slideways to assist users in standing by rotating the movable handrails at the tail ends of the arc-shaped racks; and the components are unfolded to form a bed, and are controlled by using the wired or wireless control handle.
Description
Technical field
The present invention relates to the caring instrument field, specifically, be meant a kind ofly possess stair activity simultaneously, auxiliary stand, the conversion of bed chair and auxiliary the helping the elderly of function of going to toilet are help the disabled a chair integrated robot.
Technical background
Along with social development and aged tendency of population aggravation, domestic and international many universities, company and research institution further investigate the disabled aiding robot of helping the elderly, and propose separately product or solution in recent years.The apparatus of helping the disabled of helping the elderly is divided into stair climbing wheelchair, the bed integrated nursing bed of chair and the auxiliary or healing robot three major types of motion.
The stair climbing wheelchair kind is more, generally adopts planet gear type and crawler type stair climbing mechanism, when going upstairs user dorsad stair be sitting on the chair, and need personnel auxiliary mostly, its technology is still needed further ripe.Planet gear type stair climbing device generally is made up of a star-like framework and the superincumbent several steamboats of installation; Because this apparatus structure is fixed; Shortage is to the adaptive capacity of nonstandard step, and the steamboat damping performance is poor, and running into complex road condition can bring uncomfortable experience to the occupant.The crawler type stair climbing device general as unit independently attached to below the common wheelchair; Let crawler belt block step edge when running into step and realize climbing; The inoperative burden that becomes during crawler belt stairs climbing device level walking, and crawler belt to act on the power at stair edge very big, fragile stair.
BJ University of Aeronautics & Astronautics's robot research was developed a kind of integrated nursing bed of chair; Wheelchair drives into after the interior flattening of a housing and housing combines together becomes bed; Can help patient to stand up; Be particularly suitable for hospital and use, patient stands, auxiliary patient uses toilet and stair activity but can not assist.
Harbin Engineering University develops the robot that a kind of auxiliary people with disability stands and carries out the shank rehabilitation training, fill the domestic gaps, but this device can not use as wheelchair." the machine clothes mix limb assisting " of the research and development of Japan University of tsukuba can help the people with disability to walk, but this device can't play a role for the paralytic, and the popularization that cannot not cost an arm and a leg suitablely.
Disabled people with disability, paralytic and the handicapped old people of shank needs the practical and comprehensive robot device of a kind of function to help them can enjoy the life of quality as the normal person.At present still the no-trump stair activity, auxiliaryly stand, product that the conversion of bed chair and auxiliary four functions of going to toilet combine occurs.
Summary of the invention
The objective of the invention is to; Through a kind of chair integrated robot of helping the disabled of helping the elderly is provided, solve tradition electromechanical integration equipment function singleness, the complex structure and other problems of helping the disabled of helping the elderly, stair activity, auxiliary standing are changed three functions with the bed chair and combined; Require design according to ergonomics; Safety is beautiful and comfortable, and intelligent degree is high, is suitable for half body paralytic, the disabled handicapped people of shank and old people and uses.
The present invention's chair integrated robot of helping the disabled of helping the elderly is to adopt following technological means to realize:
A kind of chair integrated robot of helping the disabled of helping the elderly, inside and outside nested type stair climbing wheel 1 is fixed on two chassis arc-shaped racks 2; Subbase module 7 is connecting seat support module 3 and can slide by arc-shaped rack 2 along the chassis; Be fixed with two on the seat support module 3 and go up cambered way 31, moveable backrest 5 links to each other with seat support module 3 through hinge with movable seat 57; Joystick 6 can be inserted in the slot on seat support module 3 and the moveable handrails 42; Shank gripper shoe 56 links to each other with movable seat 57 through hinge, can slide along last cambered way 31 inboard shank gripper shoe cambered waies 37; Baffle head 51 is linked to each other with moveable backrest 5 by elastic hinge with waist baffle plate 52; Thigh baffle plate 54 is linked to each other with movable seat 57 by elastic hinge; Waist catch 59 1 ends are connected on the thigh baffle plate 54; Shank baffle plate 55 is linked to each other with shank gripper shoe 56 by elastic hinge; Each baffle plate all with left-right symmetric form mounted in pairs in the correlation unit both sides; Backrest storage tank 8 is fixed on the moveable backrest 5 by hinges fixing; Last arc-shaped rack 4 slides in last cambered way 31; Moveable handrails 42 under the driving of handrail drive motor 41 around on arc-shaped rack 4 is terminal rotates; Pedal 32 is fixed on two and goes up between the cambered way 31.
Aforesaid inside and outside nested type stair climbing wheel 1 drives wheel drive dish 16 through main drive motor 112 beam warp planetary reducers 117 deceleration backs and rotates; Rubbery cover tyre 12 is fixed on wheel drive dish 16 and the tire supporting disk 17, and rotates with wheel drive dish 16; Tire supporting disk 17 links to each other with wheel JIKE 114 through bearing.
Aforesaid stair climbing reducing motor 113 has amortisseur 14 through stair climbing gear train 116 deceleration rear drive runing rests 15 between bogie wheel support 13 and the runing rest 15, and bogie wheel 11 links to each other with bogie wheel support 13 through bearing.
Be fixed with vertical axis reducing motor 115 on the aforesaid wheel JIKE 114, vertical axis reducing motor 115 rotates along vertical axis through vertical axis gear 111 deceleration rear drive wheels; Wheel adapter 19 is connected on the vertical axis gear 111 through vertical axis amortisseur 110; Diastimeter 118 is fixed on the wheel JIKE 114; Planetary reducer 117 is placed on the runing rest 15.
Aforesaid rubbery cover tyre utilizes bogie wheel 11 load capacities, and bogie wheel is fixed on the runing rest 15, and runing rest and rubbery cover tyre are respectively by two motor-driven; Post the pressure-strain sheet on the runing rest 15, the pressure that bogie wheel receives when being used to detect stair climbing.
There is angular transducer to be used for detection of vertical axle rotational angle on the aforesaid vertical axis gear 111; There is angular transducer to be used to detect the rotational angle of runing rest 15 on the stair climbing gear train 116; On the car light 18 illuminating lamp is arranged, and be used for brake and side marker light.
Be provided with chassis cambered way 317 in the aforesaid subbase module 7, chassis rack drives motor and chassis rack drives gear train 39; Seat support drive motors 311, through 3 rotations of seat support gear 312 deceleration rear drive seat support modules, subbase module 7 is connected with seat support module 3 through bearing.
There is photoelectric sensor to be used to detect the position of chassis arc-shaped rack 2 on the aforesaid chassis cambered way 317, forms the Position Control closed loop system with subbase single-chip microcomputer and chassis rack drives motor; There is angular transducer to be distributed in seat support gear 312 edges.
Aforesaid seat support module 3, its shell includes battery 313, moveable backrest electric rotating machine 314, last arc-shaped rack drive motors 315 and associated gear group thereof; Last cambered way 31 is fixed on the seat support module 3, and shank gripper shoe cambered way 37 upsides or downside have tooth; Left and right sides two parts rely on pedal 32, seat support connecting rod 36 to be connected with moveable backrest rotating shaft 35.
Aforesaid moveable backrest electric rotating machine 314 is in a side form piece, and the module housing upside is distributed with a plurality of joystick slots 316, and charging lead elasticity capstan winch and joystick lead elasticity capstan winch are fixed in the module upside; The module control circuit plate is a main control unit, contains central control circuit, automatic charger and obliquity sensor and acceleration transducer.
The aforesaid profile that goes up arc-shaped rack 4 is the circular arc metallic plate, and metal rack external diameter one side is distributed with tooth, with last arc-shaped rack drive gear set engagement; There is handrail drive motor 41 on the tooth bar top, and through 42 rotations of gear reduction rear drive moveable handrails, the moveable handrails end has joystick slot 316; Upper body seat belt 43 is fixed on the handrail drive motor 41.
Aforesaid moveable backrest rotating shaft 35 is fixed on the cambered way 31; Moveable backrest 5 is connected with moveable backrest rotating shaft 35 through bearing, and movable seat 57 is connected with moveable backrest rotating shaft 35 through bearing, and turning medicated cushion 53 is connected with moveable backrest rotating shaft 35 through bearing; Upset medicated cushion motor is fixed on the movable seat 57, drives turning medicated cushion 53 through gear reduction and rotates around moveable backrest rotating shaft 35.
In the aforesaid moveable backrest rotating shaft 35, be fixed with the pick off that is used to detect moveable backrest 5 anglecs of rotation and turning medicated cushion 53 rotational angles of detection.
All there is backrest storing case lid 87 aforesaid backrest storage tank 8 both sides; Support wheel shaft 86 and pass through bearing fixing on storage tank, two support wheels 84 link to each other with support wheel gear 83 and are fixed on and support on the wheel shaft 86, and capstan winch 85 is fixed on and supports on the wheel shaft 86; Support wheel drive motors 82 is fixed on the backrest storage tank inwall, drives support wheel 84 rotations through gear reduction; Contain lead in the connecting band 81, an end is fixed on the capstan winch 85, and the other end is fixed on the moveable backrest 5.
The hinge that aforesaid backrest storage tank 8 is connected with moveable backrest 5 is provided with two limit switches.
Aforesaid shank baffle plate 55 is fixed with shank storage tank 511, and shank seat belt 510 is fixed on the shank baffle plate 55 with shank seat belt socket 512, and shank baffle plate 55 links to each other with shank gripper shoe 56 through elastic hinge.
The rocking bar 61 of aforesaid joystick 6 is positioned on the control panel 62; Display screen 66, keyboard 67 are arranged on the control panel 62; Joystick 6 is provided with rechargeable battery.
The present invention compared with prior art has following remarkable advantages and beneficial effect:
Because what the present invention used when going with stair climbing on the level land is same inside and outside nested type stair climbing wheel 1; Bogie wheel 11 plays a major role during stair climbing; Bogie wheel 11 plays the effect of support rubber tire when level walking, and bogie wheel support 13 has shock-absorbing function simultaneously, realizes that resource makes full use of.Planetary reducer 117, bogie wheel support 13, various bearing all are closed in the rubber tyre, prevent that effectively booty from getting into frame for movement and causing damage or accelerated wear test.
Trailing wheel stretched out to the back lower place when mode that the present invention adopts chassis arc-shaped rack 2 in cambered way, to slide realized going upstairs; Front-wheel lifts; And front-wheel stretches out to the front lower place when going downstairs; Trailing wheel lifts, and keeps the robot center of gravity to be in home all the time when the arc-shaped rack that combines together with function and structure is realized stair activity.Because seat support module 3 subbase module 7 is relatively rotated; Subbase module 7 can be slided by arc-shaped rack 2 along the chassis, and both combinations can be adjusted height of seat, when user is wanted to sit on the wheelchair, can reduce height of seat; Pedal 32 kiss the earths bring convenience to user.But lifting height of seat during level walking lets the height of user eyes near the height in when walking of standing, and brings comfort to user.Changeable shape chair module of the present invention is when seat mode, and the baffle plate of both sides can be protected user, and particularly for the patient who paralyses below the chest, waist baffle plate 52 can be kept its sitting posture with thigh, shank baffle plate, and protection user spinal column does not sustain damage.And adopt upper body seat belt 43 and shank seat belt 510 to keep the posture of user.Two side shields were set level the width that can increase bed when seat became bed, brought comfort to user.
The present invention adopts arc-shaped rack 4, last cambered way 31 and moveable handrails 42 to help user to stand.Last arc-shaped rack 4 skids off from last cambered way 31 can be accomplished lifting simultaneously in the process and protract two actions.As armrest, hold the user oxter when standing it is propped up when moveable handrails 42 is flat, its V font structure can prevent that the user arm forward or retrolisthesis; User can be inserted in joystick 6 in the socket of moveable handrails 42 front ends, when making things convenient for the level land to go robot is controlled.Turning medicated cushion 53 is contained in movable seat of the present invention 57 inboards, in conjunction with auxiliary station render meritorious service can and the open type rear portion of chassis module can let user use family's toilet.Functions such as the present invention has realized stair activity, auxiliary stands, bed chair conversion and auxiliary is gone to toilet; The frame for movement compact; The intellectuality degree is high, and volume is little, is fit to half body paralysis, severe paralysis, shank deformity and weak patient, the daily use of old people.
Description of drawings
Fig. 1 is a side view of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is inside and outside nested type stair climbing wheel 3-D view;
Fig. 4 is the vertical view of inside and outside nested type stair climbing wheel;
Fig. 5 is the side view of robot when being in a bed pattern;
Fig. 6 is the joystick side view;
Fig. 7 is the joystick vertical view;
Fig. 8 is a seat support module 3-D view;
Fig. 9 is a backrest storage tank front view;
Figure 10 is the present invention's usage example picture of a chair integrated robot when going upstairs of helping the disabled of helping the elderly.
Wherein, 1 is inside and outside nested type stair climbing wheel, and 2 is the chassis arc-shaped rack, and 3 is the seat support module, and 4 is last arc-shaped rack, and 5 is moveable backrest; 6 is joystick, and 7 is the subbase module, and 8 is the backrest storage tank, and 11 is bogie wheel, and 12 is rubbery cover tyre, and 13 is the bogie wheel support; 15 is runing rest, and 16 is the wheel drive dish, and 17 is the tire supporting disk, and 18 is car light, and 19 is the wheel adapter, and 31 is last cambered way; 32 is pedal, and 33 is the cradle door, and 34 is the seat support parcel tray, and 35 is the moveable backrest rotating shaft, and 36 is the seat support connecting rod, and 37 is shank gripper shoe cambered way; 41 is the moveable handrails drive motors, and 42 is moveable handrails, and 43 is the upper body seat belt, and 51 is baffle head, and 52 is the waist baffle plate, and 53 is turning medicated cushion; 54 is the thigh baffle plate, and 55 is the shank baffle plate, and 56 is the shank gripper shoe, and 57 is movable seat, and 59 is the waist catch, and 61 is rocking bar; 62 is control panel, and 63 is lever, and 64 are lead-in wire, and 65 is the handle plug, and 66 is display screen, and 67 is keyboard; 81 is connecting band, and 82 is the support wheel drive motors, and 83 is the support wheel gear, and 84 is support wheel, and 85 is capstan winch, and 86 for supporting wheel shaft; 87 is backrest storing case lid, and 110 is the vertical axis amortisseur, and 111 is the vertical axis gear, and 112 is main drive motor, and 113 is the stair climbing reducing motor; 114 is the wheel JIKE, and 115 is the vertical axis reducing motor, and 116 is the stair climbing gear train, and 117 is planetary reducer, and 118 is diastimeter; 311 is the seat support drive motors, and 312 is the seat support gear, and 313 is battery, and 314 is the moveable backrest electric rotating machine, and 315 is last arc-shaped rack drive motors; 316 is the joystick slot, and 317 is the chassis cambered way, and 510 is the shank seat belt, and 511 is the shank storage tank, and 512 is shank seat belt socket.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further specified.
Referring to Fig. 1, a kind of chair integrated robot of helping the disabled of helping the elderly comprises chassis module, seat support module 3 and Changeable shape chair module.Chassis module contains four inside and outside nested type stair climbing wheels 1, two chassis arc-shaped racks 2, and subbase module 7.Seat support module 3 comprises two last cambered waies 31 and two last arc-shaped rack 4, moveable handrails 42 and battery 313, motor and control circuit boards etc.The Changeable shape chair module comprises moveable backrest 5, movable seat 57, shank gripper shoe 56, backrest storage tank 8 and attached baffle plate etc.
The present invention adopt can stair activity chassis module, can assist user to stand and keep the seat support module 3 of seat level and carry out the Changeable shape chair module that a chair is changed.
Chassis module is made up of 4 inside and outside nested type stair climbing wheels 1, chassis arc-shaped rack 2, subbase module 7.The Changeable shape chair module comprises moveable backrest 5, movable seat 57, turning medicated cushion 53,56 4 critical pieces of shank gripper shoe and is connected the adnexa on the critical piece.The Changeable shape chair module is connected with seat support module 3 with shank gripper shoe cambered way 37 through moveable backrest rotating shaft 35; Seat support module 3 is connected with subbase module 7 through bearing; Subbase module 7 can be slided by arc-shaped rack 2 along the chassis, and seat support module 3 can be rotated the posture when both routing motions can let the Changeable shape chair module when stair activity, remain on the level land around itself and subbase module 7 connecting axles.
Inside and outside nested type stair climbing wheel 1 is driven wheel drive dishes 16 and is rotated by main drive motor 112 beam warp planetary reducers 117 back of slowing down, and rubbery cover tyre 12 is fixed on wheel drive dish 16 and the tire supporting disk 17, and rotates with wheel drive dish 16; Tire supporting disk 17 links to each other with wheel JIKE 114 through bearing; Stair climbing reducing motor 113 has amortisseur 14 through stair climbing gear train 116 deceleration rear drive runing rests 15 between bogie wheel support 13 and the runing rest 15, and bogie wheel 11 links to each other with bogie wheel support 13 through bearing; Vertical axis reducing motor 115 is fixed on the wheel JIKE 114, rotates along vertical axis through vertical axis gear 111 deceleration rear drive wheels; Wheel adapter 19 is connected on the vertical axis gear 111 through vertical axis amortisseur 110; Diastimeter 118 is fixed on the wheel JIKE 114; Planetary reducer 117 is placed on runing rest 15 middle parts.Utilize bogie wheel 11 load capacities, bogie wheel 11 is fixed on the runing rest 15, and runing rest 15 and rubbery cover tyre 12 are respectively by two motor-driven; Post the pressure-strain sheet on the runing rest 15, the pressure that bogie wheel 11 receives when being used to detect stair climbing; There is angular transducer to be used for detection of vertical axle rotational angle on the vertical axis gear 111; There is angular transducer to be used to detect the rotational angle of runing rest 15 on the stair climbing gear train 116; There is the super brightness white light LEDs to do illumination on the car light 18, and red is used for braking and turning to indication with yellow led.
Last arc-shaped rack 4 profiles are the circular arc metallic plate, and metal rack external diameter one side is distributed with tooth, with last arc-shaped rack drive gear set engagement.There is handrail drive motor 41 on the tooth bar top, and through 42 rotations of gear reduction rear drive moveable handrails, moveable handrails 42 ends have joystick slot 316; Upper body seat belt 43 is fixed on the handrail drive motor 41.
Moveable backrest rotating shaft 35 is fixed on the cambered way 31, and moveable backrest 5, movable seat 57 and turning medicated cushion 53 are connected with moveable backrest rotating shaft 35 through bearing respectively.Upset medicated cushion motor is fixed on the movable seat 57, drives turning medicated cushion 53 through gear reduction and rotates around moveable backrest rotating shaft 35.There is angular transducer to be fixed on and is used to detect moveable backrest 5 anglecs of rotation in the moveable backrest rotating shaft 35.Position sensor is fixed on the location status that is used to detect turning medicated cushion 53 in the moveable backrest rotating shaft 35.
There is backrest storing case lid 87 backrest storage tank 8 both sides, support wheel shaft 86 and pass through bearing fixing on storage tank, and two support wheels 84 link to each other with support wheel gear 83 and are fixed on and support on the wheel shaft 86, and capstan winch 85 is fixed on and supports on the wheel shaft 86.Support wheel drive motors 82 is fixed on the backrest storage tank inwall, drives support wheel 84 rotations through gear reduction.Contain lead in the connecting band 81, an end is fixed on the capstan winch 85, and the other end is fixed on the moveable backrest 5.There are two limit switches to be used to detect the position that backrest storage tank 8 arrives on backrest storage tank 8 and the hinge that moveable backrest 5 is connected.
On two shank baffle plates 55, shank seat belt 510 was fixed on the baffle plate of right side about shank storage tank 511 was fixed on, and shank seat belt socket is fixed on the baffle plate of left side, about order also can put upside down.Shank baffle plate 55 is linked to each other with shank gripper shoe 56 by elastic hinge.
Referring to Figure 10, the occupant is towards step when going upstairs, and wheel relies on diastimeter 118 to survey step distance, and the adjustment wheel condition lets two wheels in front contact step edge simultaneously.Inner bogie wheel support 13 rotations in tire pressurized depression back let the bogie wheel 11 be fulcrum lifting wheel with the recess.Subbase module 7 lets the robot center of gravity move forward and maintenance seat level, stability and comfortableness when improving stair climbing to front slide.Subbase module 7 slided backward when stair climbing finished, and robot returns to the level land attitude of going.Occupant's step dorsad when going downstairs; Subbase module 7 slides backward; Let and move after the robot center of gravity and keep the seat level; Pressure transducer when two front-wheels roll across step edge on the bogie wheel support 13 detects pressure and descends, and bogie wheel support 13 is rotated counterclockwise and lets the top bogie wheel 11 be that fulcrum puts down tire gradually with tire trailing edge recess.Going downstairs, subbase module 7 is to front slide when finishing, and robot returns to the level land transport condition.
Referring to Fig. 5; When robot became a bed pattern by walking mode, shank gripper shoe 56 was upwards slided along the inboard shank gripper shoe cambered way 37 of last arc-shaped rack movable seat 57 and shank gripper shoe 56 is evened up, and moveable backrest 5 rotates to and movable seat 57 is formed planar position; Backrest storage tank 8 puts down to support moveable backrest 5 simultaneously; Launch baffle head 51, waist baffle plate 52, thigh baffle plate 54, shank baffle plate 55 to both sides, set level waist catch 59, the Changeable shape chair module is launched into bed.7 arc-shaped rack 2 slips along the chassis of binding chassis seat module, seat support module 3 are rotated around subbase module 7 and can be kept the bed surface level.
The Changeable shape chair module keeps seat mode when level walking, and user is sitting on the seat, holds that joystick 6 control robots turn to, movement velocity.The robot pace be 0 and when letting the contact point tangent line on 4 wheels and ground on same circumference robot can realize the original place rotation.For guaranteeing robot stabilized property and user comfortableness, adjust the seat attitude automatically according to acceleration transducer signals in the seat support module 3 and change during urgent the deceleration to adapt to acceleration.
Referring to Fig. 8; Last arc-shaped rack 4 under last arc-shaped rack drive motors 315 drives from skid off in the cambered way 31; Terminal moveable handrails 42 can be held the user oxter it is propped up; Last arc-shaped rack 4 can be accomplished rising height simultaneously and before send two actions, V-type moveable handrails 42 to be rotated counterclockwise and prevent the user slippage, and the end user can stand on the pedal 32.Joystick 6 links to each other with seat support module 3 interior control circuit boards from the lead that curls through elasticity; A plurality of joystick sockets 316 are arranged on the seat support module 3; Moveable handrails 42 ends also have joystick socket 316; User can be inserted in joystick 6 in the different sockets according to wheelchair mode of operation and the hobby of oneself, also can grasp joystick 6 and it is not inserted in the socket.
Turning medicated cushion 53 is contained in movable seat of the present invention 57 inboards; Turning at ordinary times medicated cushion 53 is fused into complete seat with movable seat 57, when user need use toilet, earlier robot ride is arrived the toilet position; By auxiliary standing device user is propped up; Turning medicated cushion upset also embeds in the groove of moveable backrest 5, and auxiliary standing device was sitting on the seat by it again after user was untied trousers, so that use toilet.
Have diastimeter 118 on the wheel of the present invention, bogie wheel support 13 has pressure transducer, can adjust the rotary speed of bogie wheel 11 and wheel according to shoulder height, wheel and step relative position relation automatically, has the ability that adapts to the various sizes step.Robot is according to the obliquity sensor and the acceleration transducer signals that are distributed in the seat support module 3; 7 arc-shaped rack 2 slips of control subbase module along the chassis; In conjunction with the rotation of seat rack module 3, can keep the seat level during stair climbing, prevent that robot from toppling over forwards, backwards; Can change seat pose and pedal 32 when go in the level land apart from ground level, bring comfortable safe impression to user.
Just can reach the object of the invention according to above scheme implementation.
Below only expressed several kinds of embodiments of the present invention, it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, or a part of content of the present invention is used for other products, these all belong to protection scope of the present invention.
Claims (10)
1. the chair integrated robot of helping the disabled of helping the elderly comprises: inside and outside nested type stair climbing wheel (1), stair climbing reducing motor (113), wheel JIKE (114), stair climbing gear train (116), rubbery cover tyre (12), moveable backrest rotating shaft (35); It is characterized in that: inside and outside nested type stair climbing wheel (1) is fixed on two chassis arc-shaped racks (2); Subbase module (7) is connecting seat support module (3) and can slide by arc-shaped rack (2) along the chassis; Be fixed with two on the seat support module (3) and go up cambered way (31), moveable backrest (5) links to each other with seat support module (3) through hinge with movable seat (57); Joystick (6) can be inserted in the slot on seat support module (3) and the moveable handrails (42); Shank gripper shoe (56) links to each other with movable seat (57) through hinge, can slide along the inboard shank gripper shoe cambered way (37) of last cambered way (31); Baffle head (51) is linked to each other with moveable backrest (5) by elastic hinge with waist baffle plate (52); Thigh baffle plate (54) is linked to each other with movable seat (57) by elastic hinge; Waist catch (59) one ends are connected on the thigh baffle plate (54); Shank baffle plate (55) is linked to each other with shank gripper shoe (56) by elastic hinge; Each baffle plate all with left-right symmetric form mounted in pairs in the correlation unit both sides; Backrest storage tank (8) is fixed on the moveable backrest (5) by hinges fixing; Last arc-shaped rack (4) slides in last cambered way (31); Moveable handrails (42) is rotated around last arc-shaped rack (4) end under the driving of handrail drive motor (41); Pedal (32) is fixed on two and goes up between the cambered way (31).
2. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 1; It is characterized in that: described inside and outside nested type stair climbing wheel (1) drives wheel drive dish (16) through main drive motor (112) beam warp planetary reducer (117) deceleration back and rotates; Rubbery cover tyre (12) is fixed on wheel drive dish (16) and the tire supporting disk (17), and rotates with wheel drive dish (16); Tire supporting disk (17) links to each other with wheel JIKE (114) through bearing; Stair climbing reducing motor (113) has amortisseur (14) through stair climbing gear train (116) deceleration rear drive runing rest (15) between bogie wheel support (13) and the runing rest (15), and bogie wheel (11) links to each other with bogie wheel support (13) through bearing.
3. according to a claim 1 or the 2 said chair integrated robot of helping the disabled of helping the elderly; It is characterized in that: be fixed with vertical axis reducing motor (115) on the described wheel JIKE (114), vertical axis reducing motor (115) rotates along vertical axis through vertical axis gear (111) deceleration rear drive wheel; Wheel adapter (19) is connected on the vertical axis gear (111) through vertical axis amortisseur (110); Diastimeter (118) is fixed on the wheel JIKE (114); Planetary reducer (117) is placed on runing rest (15) middle part; Rubbery cover tyre utilizes bogie wheel (11) load capacity, and bogie wheel is fixed on the runing rest (15), and runing rest and rubbery cover tyre are respectively by two motor-driven; Runing rest posts the pressure-strain sheet on (15), the pressure that bogie wheel receives when being used to detect stair climbing.
4. according to a claim 1 or the 3 said chair integrated robot of helping the disabled of helping the elderly, it is characterized in that: have angular transducer to be used for detection of vertical axle rotational angle on the described vertical axis gear (111); There is angular transducer to be used to detect the rotational angle of runing rest (15) on the stair climbing gear train (116); Car light has illuminating lamp on (18), and is used for brake and side marker light.
5. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 1, it is characterized in that: be provided with chassis cambered way (317) in the described subbase module (7), chassis rack drives motor and chassis rack drives gear train (39); Seat support drive motors (311), through seat support gear (312) deceleration rear drive seat support module (3) rotation, subbase module (7) is through being connected with seat support module (3) with bearing; There is photoelectric sensor to be used to detect the position of chassis arc-shaped rack (2) on the chassis cambered way (317), forms the Position Control closed loop system with subbase single-chip microcomputer and chassis rack drives motor; There is angular transducer to be distributed in seat support gear (312) edge.
6. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 1, it is characterized in that: said seat support module (3), its shell include battery (313), moveable backrest electric rotating machine (314), last arc-shaped rack drive motors (315) and associated gear group thereof; Last cambered way (31) is fixed on the seat support module (3), and shank gripper shoe cambered way (37) upside or downside have tooth; Left and right sides two parts rely on pedal (32), seat support connecting rod (36) to be connected with moveable backrest rotating shaft (35).
7. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 1; It is characterized in that: moveable backrest electric rotating machine (314) is in a side form piece; The module housing upside is distributed with a plurality of joystick slots (316), and charging lead elasticity capstan winch and joystick lead elasticity capstan winch are fixed in the module upside; The module control circuit plate is a main control unit, contains central control circuit, automatic charger and obliquity sensor and acceleration transducer.
8. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 1, it is characterized in that: the said profile that goes up arc-shaped rack (4) is the circular arc metallic plate, and metal rack external diameter one side is distributed with tooth, with last arc-shaped rack drive gear set engagement; There is handrail drive motor (41) on the tooth bar top, and through gear reduction rear drive moveable handrails (42) rotation, the moveable handrails end has joystick slot (316); Upper body seat belt (43) is fixed on the handrail drive motor (41).
9. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 6, it is characterized in that: said moveable backrest rotating shaft (35) is fixed on the cambered way (31); Moveable backrest (5) is connected with moveable backrest rotating shaft (35) through bearing, and movable seat (57) is connected with moveable backrest rotating shaft (35) through bearing, and turning medicated cushion (53) is connected with moveable backrest rotating shaft (35) through bearing; Upset medicated cushion motor is fixed on the movable seat (57), drives turning medicated cushion (53) through gear reduction and rotates around moveable backrest rotating shaft (35).
10. according to the said chair integrated robot of helping the disabled of helping the elderly of claim 1, it is characterized in that: all there is backrest storing case lid (87) said backrest storage tank (8) both sides; Support wheel shaft (86) and pass through bearing fixing on storage tank, two support wheels (84) link to each other with support wheel gear (83) and are fixed on and support on the wheel shaft (86), and capstan winch (85) is fixed on and supports on the wheel shaft (86); Support wheel drive motors (82) is fixed on the backrest storage tank inwall, drives support wheel (84) rotation through gear reduction; Connecting band contains lead in (81), and an end is fixed on the capstan winch (85), and the other end is fixed on the moveable backrest (5); The hinge that backrest storage tank (8) is connected with moveable backrest (5) is provided with 2 limit switches; Shank baffle plate (55) is fixed with shank storage tank (511), and shank seat belt (510) and shank seat belt socket (512) are fixed on the shank baffle plate (55), and shank baffle plate (55) links to each other with shank gripper shoe (56) through elastic hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103535156A CN102499828B (en) | 2011-11-09 | 2011-11-09 | Old and disabled-assistant bed chair integrated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103535156A CN102499828B (en) | 2011-11-09 | 2011-11-09 | Old and disabled-assistant bed chair integrated robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102499828A true CN102499828A (en) | 2012-06-20 |
| CN102499828B CN102499828B (en) | 2013-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103535156A Expired - Fee Related CN102499828B (en) | 2011-11-09 | 2011-11-09 | Old and disabled-assistant bed chair integrated robot |
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| Country | Link |
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| CN (1) | CN102499828B (en) |
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| CN104606735A (en) * | 2015-01-21 | 2015-05-13 | 郝玉荣 | Infusion nursing device used for neurology department |
| CN105326615A (en) * | 2014-08-15 | 2016-02-17 | 广东凯洋医疗科技集团有限公司 | Bed and chair integrated trolley device |
| CN106176081A (en) * | 2016-07-05 | 2016-12-07 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus comprising acceleration transducer and method |
| CN106600923A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Integrated bed and chair control system and method based on wireless communication |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN107671844A (en) * | 2017-11-09 | 2018-02-09 | 杭州程天科技发展有限公司 | A kind of assistant robot chest supporting structure |
| CN108186295A (en) * | 2018-02-13 | 2018-06-22 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design |
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| TWI702948B (en) * | 2019-05-17 | 2020-09-01 | 中華學校財團法人中華科技大學 | Auto-balance motion-assistance vehicle frame and motion-assistance green vehicle |
| CN111728783A (en) * | 2019-03-19 | 2020-10-02 | 桐乡市爱康康复设备有限公司 | Special wheelchair convenient for people with myasthenia to sit and use |
| CN113443030A (en) * | 2021-06-30 | 2021-09-28 | 中山小神童创新科技有限公司 | Stair climbing device and control method thereof |
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| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
| CN107671844A (en) * | 2017-11-09 | 2018-02-09 | 杭州程天科技发展有限公司 | A kind of assistant robot chest supporting structure |
| CN108186295B (en) * | 2018-02-13 | 2023-10-24 | 中山市沃倍特智能医疗器械股份有限公司 | Lower limb structure assembly of exoskeleton robot conforming to human bionics design |
| CN108186295A (en) * | 2018-02-13 | 2018-06-22 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design |
| CN109459541A (en) * | 2019-01-07 | 2019-03-12 | 南京信息工程大学 | A kind of detection recording device of plant growth index variation |
| CN111728783A (en) * | 2019-03-19 | 2020-10-02 | 桐乡市爱康康复设备有限公司 | Special wheelchair convenient for people with myasthenia to sit and use |
| TWI702948B (en) * | 2019-05-17 | 2020-09-01 | 中華學校財團法人中華科技大學 | Auto-balance motion-assistance vehicle frame and motion-assistance green vehicle |
| CN113443030A (en) * | 2021-06-30 | 2021-09-28 | 中山小神童创新科技有限公司 | Stair climbing device and control method thereof |
| CN113443030B (en) * | 2021-06-30 | 2022-04-01 | 中山小神童创新科技有限公司 | Stair climbing device and control method thereof |
| CN114129401A (en) * | 2021-12-30 | 2022-03-04 | 湖南翰坤实业有限公司 | Multifunctional postoperative walking aid |
| CN114129401B (en) * | 2021-12-30 | 2024-07-26 | 湖南翰坤实业有限公司 | Postoperative multifunctional walking aid |
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