CN102499828B - Old and disabled-assistant bed chair integrated robot - Google Patents
Old and disabled-assistant bed chair integrated robot Download PDFInfo
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- CN102499828B CN102499828B CN2011103535156A CN201110353515A CN102499828B CN 102499828 B CN102499828 B CN 102499828B CN 2011103535156 A CN2011103535156 A CN 2011103535156A CN 201110353515 A CN201110353515 A CN 201110353515A CN 102499828 B CN102499828 B CN 102499828B
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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 caring apparatus field, specifically, refer to that a kind of stair activity, aiding upright, the conversion of bed chair and auxiliary of being provided simultaneously with is gone to toilet the disabled-assistant bed chair integrated robot of helping the elderly of function.
Technical background
Aggravate recently as social development and aging population, domestic and international many universities, company and research institution further investigate to disabled aiding robot of helping the elderly, and propose respective product or solution.The apparatus of helping the disabled of helping the elderly is divided into stair climbing wheelchair, bed chair integrated nursing care bed and motion auxiliary or healing robot three major types.
Stair climbing wheelchair species is more, general to use planet gear type and crawler type stair climbing mechanism, when going upstairs user dorsad stair are sitting on chair, and need personnel to aid in mostly, its technology is still needed further maturation.Planet wheel type stair-climbing device is general to be made up of a star-like framework and the several steamboats being mounted above, because this apparatus structure is fixed, lack the adaptability to nonstandard step, and steamboat damping performance is poor, and uncomfortable experience can be brought to occupant by running into complex road condition.Track type climbing-building ladder device is attached to below common wheelchair generally as independent unit, allow crawler belt to block step edge when running into step and realize climbing, do not worked during crawler belt stairs climbing device level walking as burden, and crawler belt act on stair edge power it is very big, fragile stair.
BJ University of Aeronautics ＆ Astronautics's robot research developed a kind of bed chair integrated nursing care bed, wheelchair, which drives into combine together with housing after the outer inframe flattening of bed, becomes bed, patient can be helped to stand up, it is particularly suitable for hospital to use, but patient can not be aided in stand, aid in patient to use toilet and stair activity.
Harbin Engineering University develops a kind of auxiliary disabled person and stands and carry out the robot of leg rehabilitation training, fills the domestic gaps, but the device cannot function as wheelchair and use." the machine clothes mixing limb assisting " of Japanese University of tsukuba research and development can help disabled person to walk, but this device can not play a role for paralytic, and expensive be not suitable for promoting.
The disabled disabled person in leg, paralytic and handicapped the elderly need a kind of practical function and comprehensive robot device helps them to enjoy the life of quality as normal person.The product appearance for four function phases combinations that stair activity, aiding upright, the conversion of bed chair and auxiliary are gone to toilet is there is no at present.
The content of the invention
It is an object of the invention to, helped the elderly disabled-assistant bed chair integrated robot by providing one kind, tradition is solved to help the elderly electromechanical integration equipment unitary function, the complex structure and other problems of helping the disabled, stair activity, aiding upright are changed three function phases with bed chair and combined, designed according to ergonomic demands, safety is beautiful and comfortable, and intelligence degree is high, is used suitable for half body paralytic, the disabled handicapped people in leg and the elderly.
The present invention helps the elderly disabled-assistant bed chair integrated robot, is realized using following technological means：
One kind is helped the elderly disabled-assistant bed chair integrated robot, and inside and outside nested type stair climbing wheel 1 is fixed on two chassis arc-shaped racks 2；Subbase module 7 is connected to seat support module 3 and can slided along chassis arc-shaped rack 2；Two upper cambered ways 31 are fixed with seat support module 3, moveable backrest 5 is connected with movable seat 57 by hinge with seat support module 3；Joystick 6 can be inserted in the slot in seat support module 3 and moveable handrails 42；Shin support panel 56 is connected by hinge with movable seat 57, can be slided along the shin support panel cambered way 37 of the upper inner side of cambered way 31；Baffle head 51 and waist baffle plate 52 are connected by elastic hinge with moveable backrest 5；Thigh baffle plate 54 is connected by elastic hinge with movable seat 57；The one end of waist catch 59 is connected on thigh baffle plate 54；Shank baffle plate 55 is connected by elastic hinge with shin support panel 56；Each baffle plate is all with symmetrical form mounted in pairs in correlation unit both sides；Backrest storage tank 8 is fixed in moveable backrest 5 by hinge；Upper arc-shaped rack 4 is slided in upper cambered way 31；Moveable handrails 42 are rotated under the driving of handrail drive motor 41 around the upper end of arc-shaped rack 4；Pedal 32 is fixed between two upper cambered ways 31.
Foregoing inside and outside nested type stair climbing wheel 1, is rotated after being slowed down by the axle of main drive motor 112 through planetary reducer 117 with motor car wheel drive disk 16；Rubbery cover tyre 12 is fixed on wheel drive disk 16 and Tire support disk 17, and is rotated with wheel drive disk 16；Tire support disk 17 is connected by bearing with wheel casing 114.
Foregoing stair climbing reducing motor 113 drives runing rest 15 after slowing down through staircase climbing gear group 116, has damper 14 between heavy burden wheel support 13 and runing rest 15, bogie wheel 11 is connected by bearing with heavy burden wheel support 13.
Vertical axis reducing motor 115 is fixed with foregoing wheel casing 114, driving moment rotates along vertical axis after vertical axis reducing motor 115 slows down through vertical shaft gear 111；Wheel connector 19 is connected on vertical shaft gear 111 through vertical axis damper 110；Rangefinder 118 is fixed on wheel casing 114；Planetary reducer 117 is placed on runing rest 15.
Foregoing rubbery cover tyre utilizes the load capacity of bogie wheel 11, and bogie wheel is fixed on runing rest 15, and runing rest is driven by two motors respectively with rubbery cover tyre；Pressure-strain piece is posted on runing rest 15, for detecting bogie wheel is subject to during stair climbing pressure.
Angled sensor is used to detect vertical axis rotational angle on foregoing vertical shaft gear 111；Angled sensor is used for the rotational angle for detecting runing rest 15 in staircase climbing gear group 116；There is illuminating lamp on car light 18, and for brake and side marker light.
Chassis cambered way 317, chassis rack drives motor and chassis rack drives gear train 39 are provided with foregoing subbase module 7；Seat support motor 311, driving seat support module 3 is rotated after slowing down through seat support gear 312, and subbase module 7 is connected by bearing with seat support module 3.
There is photoelectric sensor to be used for the position for detecting chassis arc-shaped rack 2 on foregoing chassis cambered way 317, with subbase single-chip microcomputer and chassis rack drives motor composition position control closed-loop system；Angled sensor is distributed in the edge of seat support gear 312.
Foregoing seat support module 3, its shell includes battery 313, moveable backrest electric rotating machine 314, upper arc-shaped rack motor 315 and its associated gear group；Upper cambered way 31 is fixed in seat support module 3, and the upside of shin support panel cambered way 37 or downside band are with teeth；Left and right two parts are connected by pedal 32, seat support connecting rod 36 and moveable backrest rotating shaft 35.
Multiple joystick slots 316 are distributed with the module of side in foregoing moveable backrest electric rotating machine 314 on the upside of module housing, charging conductor elasticity capstan winch and the elastic capstan winch of joystick wire are fixed on the upside of module；Module control circuit plate is main control unit, contains central control circuit, automatic charger and obliquity sensor and acceleration transducer.
The profile of foregoing upper arc-shaped rack 4 is circular arc-shaped metal plate, and the distribution of metal rack external diameter side is with teeth, is engaged with upper arc-shaped rack drive gear set；There is handrail drive motor 41 on tooth bar top, drives moveable handrails 42 to rotate after The gear deceleration, moveable handrails end carries joystick slot 316；Upper body safety belt 43 is fixed in handrail drive motor 41.
Foregoing moveable backrest rotating shaft 35 is fixed on cambered way 31；Moveable backrest 5 is connected by bearing with moveable backrest rotating shaft 35, and movable seat 57 is connected by bearing with moveable backrest rotating shaft 35, and cushion 53 may be reversed and is connected by bearing with moveable backrest rotating shaft 35；Turnover cushion motor is fixed in movable seat 57, drives turnable cushion 53 to be rotated around moveable backrest rotating shaft 35 by The gear deceleration.
In foregoing moveable backrest rotating shaft 35, it is fixed with for detecting that the sensor of the rotational angle of cushion 53 may be reversed in the anglec of rotation of moveable backrest 5 and detection.
There is backrest storage box cover 87 the foregoing both sides of backrest storage tank 8；Support wheel shaft 86 is fixed on storage tank by bearing, and two support wheels 84 are connected and are fixed on support wheel shaft 86 with support wheel gear 83, and capstan winch 85 is fixed on support wheel shaft 86；Support wheel motor 82 is fixed on backrest storing chamber interior wall, drives support wheel 84 to rotate by The gear deceleration；Contain wire in connect band 81, one end is fixed on capstan winch 85, and the other end is fixed in moveable backrest 5.
The hinge that foregoing backrest storage tank 8 is connected with moveable backrest 5 is provided with two limit switches.
Foregoing shank baffle plate 55 is fixed with shank storage tank 511, and shank safety belt 510 and shank safety belt socket 512 are fixed on shank baffle plate 55, and shank baffle plate 55 is connected by elastic hinge with shin support panel 56.
The rocking bar 61 of foregoing joystick 6 is located on control panel 62；There are display screen 66, keyboard 67 on control panel 62；Joystick 6 is provided with rechargeable battery.
The present invention compared with prior art, with following obvious advantage and beneficial effect：
Because the present invention uses same inside and outside nested type stair climbing wheel 1 in level land traveling and stair climbing, bogie wheel 11 plays a major role during stair climbing, in level walking, bogie wheel 11 plays support rubber tyre, while heavy burden wheel support 13 has shock-absorbing function, realizes that resource makes full use of.Planetary reducer 117, heavy burden wheel support 13, various bearings are all closed in rubber tyre, effectively prevent that booty from causing to damage or accelerated wear test into mechanical structure.
The present invention using realized by the way of chassis arc-shaped rack 2 is slided in cambered way go upstairs when trailing wheel stretched out to the back lower place, front-wheel is lifted, and front-wheel forward downward stretches out when going downstairs, trailing wheel is lifted, and the arc-shaped rack combined together with function and structure keeps robot center of gravity to be in home all the time when realizing stair activity.Because seat support module 3 can be rotated relative to subbase module 7, subbase module 7 can be slided along chassis arc-shaped rack 2, and both combinations can adjust height of seat, and height of seat can be reduced when user wants to sit on wheelchair, pedal 32 contacts ground, is brought convenience to user.During level walking can lifting height of seat, allow user's eyes height close to stand walking when height, bring comfort to user.Changeable shape chair module of the present invention is in seat mode, and the baffle plate of both sides can protect user, especially for the patient paralysed below chest, and waist baffle plate 52 and thigh, shank baffle plate can maintain its sitting posture, protect user's backbone not sustain damage.And the posture of user is kept using upper body safety belt 43 and shank safety belt 510.Two side shields, which are laid flat, when seat becomes bed can increase the width of bed, and comfort is brought to user.
The present invention helps user to stand using upper arc-shaped rack 4, upper cambered way 31 and moveable handrails 42.Upper arc-shaped rack 4 can be while complete two actions of lifting and extension during being skidded off from upper cambered way 31.Hold user oxter as armrest when moveable handrails 42 are flat, during standing to be propped up, its V-shaped structure can prevent user's arm forward or retrolisthesis；Joystick 6 can be inserted in the socket of the front end of moveable handrails 42 by user, facilitate level land to be manipulated when travelling to robot.The inner side of movable seat 57 of the present invention can allow user to use family's toilet containing cushion 53 may be reversed with reference to the open type rear portion of auxiliary standing function and chassis module.The present invention realizes stair activity, aiding upright, the conversion of bed chair and auxiliary and the function such as gone to toilet, and mechanical structure is simply compact, and intelligence degree is high, small volume, is adapted to disabled half body paralysis, leaden paralysis, leg and weak patient, the elderly's routine use.
Brief description of the drawings
Fig. 1 is the side view of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is inside and outside nested type stair climbing wheel 3-D view；
Fig. 4 is the top view of inside and outside nested type stair climbing wheel；
Fig. 5 is side view when robot is in bed pattern；
Fig. 6 is joystick side view；
Fig. 7 is joystick top view；
Fig. 8 is seat support module 3-D view；
Fig. 9 is backrest storage tank front view；
Figure 10 is use sample picture when disabled-assistant bed chair integrated robot of the invention of helping the elderly is gone upstairs.
Wherein,1 is inside and outside nested type stair climbing wheel,2 be chassis arc-shaped rack,3 be seat support module,4 be upper arc-shaped rack,5 be moveable backrest,6 be joystick,7 be subbase module,8 be backrest storage tank,11 be bogie wheel,12 be rubbery cover tyre,13 be heavy burden wheel support,15 be runing rest,16 be wheel drive disk,17 be Tire support disk,18 be car light,19 be wheel connector,31 be upper cambered way,32 be pedal,33 be cradle door,34 be seat support parcel tray,35 be moveable backrest rotating shaft,36 be seat support connecting rod,37 be shin support panel cambered way,41 be moveable handrails motor,42 be moveable handrails,43 be upper body safety belt,51 be baffle head,52 be waist baffle plate,53 be turnable cushion,54 be thigh baffle plate,55 be shank baffle plate,56 be shin support panel,57 be movable seat,59 be waist catch,61 be rocking bar,62 be control panel,63 be lever,64 be lead,65 be handle plug,66 be display screen,67 be keyboard,81 be connect band,82 be support wheel motor,83 be support wheel gear,84 be support wheel,85 be capstan winch,86 be support wheel shaft,87 be backrest storage box cover,110 be vertical axis damper,111 be vertical shaft gear,112 be main drive motor,113 be stair climbing reducing motor,114 be wheel casing,115 be vertical axis reducing motor,116 be staircase climbing gear group,117 be planetary reducer,118 be rangefinder,311 be seat support motor,312 be seat support gear,313 be battery,314 be moveable backrest electric rotating machine,315 be upper arc-shaped rack motor,316 be joystick slot,317 be chassis cambered way,510 be shank safety belt,511 be shank storage tank,512 be shank safety belt socket.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig. 1, one kind is helped the elderly disabled-assistant bed chair integrated robot, including 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 includes two upper cambered ways 31 and two upper arc-shaped racks 4, moveable handrails 42 and battery 313, motor and control board etc..Changeable shape chair module includes moveable backrest 5, movable seat 57, shin support panel 56, backrest storage tank 8 and attached baffle plate etc..
The present invention uses the chassis module of energy stair activity, user can be aided in stand and keep the seat support module 3 of horizontal seat and the Changeable shape chair module of bed chair conversion is carried out.
Chassis module is made up of 4 inside and outside nested type stair climbing wheels 1, chassis arc-shaped rack 2, subbase modules 7.Changeable shape chair module includes moveable backrest 5, movable seat 57, turnable cushion 53,56 4 critical pieces of shin support panel and the annex being connected on critical piece.Changeable shape chair module is connected by moveable backrest rotating shaft 35 and shin support panel cambered way 37 with seat support module 3；Seat support module 3 is connected by bearing with subbase module 7；Subbase module 7 can be slided along chassis arc-shaped rack 2, and seat support module 3 can be rotated around itself and the connecting shaft of subbase module 7, posture when both routing motions can allow the Changeable shape chair module to be maintained at level land in stair activity.
Band motor car wheel drive disk 16 is rotated after inside and outside nested type stair climbing wheel 1 is slowed down by the axle of main drive motor 112 through planetary reducer 117, and rubbery cover tyre 12 is fixed on wheel drive disk 16 and Tire support disk 17, and is rotated with wheel drive disk 16；Tire support disk 17 is connected by bearing with wheel casing 114；Stair climbing reducing motor 113 drives runing rest 15 after slowing down through staircase climbing gear group 116, has damper 14 between heavy burden wheel support 13 and runing rest 15, bogie wheel 11 is connected by bearing with heavy burden wheel support 13；Vertical axis reducing motor 115 is fixed on wheel casing 114, and driving moment rotates along vertical axis after slowing down through vertical shaft gear 111；Wheel connector 19 is connected on vertical shaft gear 111 through vertical axis damper 110；Rangefinder 118 is fixed on wheel casing 114；Planetary reducer 117 is placed on the middle part of runing rest 15.Using the load capacity of bogie wheel 11, bogie wheel 11 is fixed on runing rest 15, and runing rest 15 is driven by two motors respectively with rubbery cover tyre 12；Pressure-strain piece is posted on runing rest 15, for detecting bogie wheel 11 is subject to during stair climbing pressure；Angled sensor is used to detect vertical axis rotational angle on vertical shaft gear 111；Angled sensor is used for the rotational angle for detecting runing rest 15 in staircase climbing gear group 116；There are super brightness white light LEDs to illuminate on car light 18, and red and yellow led is used to braking and turning to instruction.
The cambered way containing chassis of subbase module 7 317, chassis rack drives motor and chassis rack drives gear train；Seat support motor 311 is included, driving seat support 3 rotates after slowing down through seat support gear 312, is connected between seat support 3 and subbase module 7 by bearing.There is photoelectric sensor to be used for the position for detecting chassis arc-shaped rack 2 on chassis cambered way 317, with subbase single-chip microcomputer and chassis rack drives motor composition position control closed-loop system；Angled sensor is located at the edge of seat support gear 312, and constituting position by subbase single-chip microcomputer and seat support motor 311 controls closed-loop system.
The shell of seat support module 3 includes the elastic capstan winch of the control board of battery 313, moveable backrest electric rotating machine 314, upper arc-shaped rack motor 315 and its associated gear group and the module, joystick wire, joystick slot 316, seat support parcel tray 34, cradle door 33.Upper cambered way 31 is fixed on seat support 3, and the upside of shin support panel cambered way 37 or downside band are with teeth.Left and right two parts are connected by pedal 32, seat support connecting rod and moveable backrest rotating shaft 35.
The upper profile of arc-shaped rack 4 is circular arc-shaped metal plate, and the distribution of metal rack external diameter side is with teeth, is engaged with upper arc-shaped rack drive gear set.There is handrail drive motor 41 on tooth bar top, drives moveable handrails 42 to rotate after The gear deceleration, the end of moveable handrails 42 carries joystick slot 316；Upper body safety belt 43 is fixed in handrail drive motor 41.
Moveable backrest rotating shaft 35 is fixed on cambered way 31, and moveable backrest 5, movable seat 57 and turnable cushion 53 are connected by bearing with moveable backrest rotating shaft 35 respectively.Turnover cushion motor is fixed in movable seat 57, drives turnable cushion 53 to be rotated around moveable backrest rotating shaft 35 by The gear deceleration.Angled sensor, which is fixed in moveable backrest rotating shaft 35, to be used to detect the anglec of rotation of moveable backrest 5.Position sensor, which is fixed on, is used for the location status for detecting turnable cushion 53 in moveable backrest rotating shaft 35.
There is backrest storage box cover 87 both sides of backrest storage tank 8, and support wheel shaft 86 is fixed on storage tank by bearing, and two support wheels 84 are connected and are fixed on support wheel shaft 86 with support wheel gear 83, and capstan winch 85 is fixed on support wheel shaft 86.Support wheel motor 82 is fixed on backrest storing chamber interior wall, drives support wheel 84 to rotate by The gear deceleration.Contain wire in connect band 81, one end is fixed on capstan winch 85, and the other end is fixed in moveable backrest 5.There are two limit switches to be used for the position for detecting that backrest storage tank 8 is reached on the hinge that backrest storage tank 8 is connected with moveable backrest 5.
Shank storage tank 511 is fixed on the two pieces of shank baffle plates 55 in left and right, and shank safety belt 510 is fixed on right-hand apron, and shank safety belt socket is fixed on the baffle plate of left side, and left and right order can also be overturned.Shank baffle plate 55 is connected by elastic hinge with shin support panel 56.
Referring to Figure 10, occupant is towards step when going upstairs, and wheel detects step distance by rangefinder 118, adjusts wheel condition, allow above two wheels while contacting step edge.Internal heavy burden wheel support 13 rotates after tire compression depression, allows bogie wheel 11 using recess as fulcrum lifting wheel.The forward slip of subbase module 7, allows robot center of gravity to move forward and keeps seat horizontal, improve the stability and comfortableness during stair climbing.Subbase module 7 is slided backward at the end of stair climbing, and robot returns to level land driving posture.Occupant's dorsad step when going downstairs, subbase module 7 is slided backward, allow after robot center of gravity and move and keep seat horizontal, pressure sensor when two front-wheels roll across step edge on heavy burden wheel support 13 detects pressure decline, and the rotate counterclockwise of heavy burden wheel support 13 allows bogie wheel 11 above gradually to put down tire using tire trailing edge recess as fulcrum.The forward slip of subbase module 7 at the end of going downstairs, robot returns to level land transport condition.
Referring to Fig. 5, when robot is changed into a bed pattern from walking mode, shin support panel 56 evens up movable seat 57 with shin support panel 56 along the upward sliding of shin support panel cambered way 37 on the inside of upper arc-shaped rack, moveable backrest 5 rotates to the position that plane is constituted with movable seat 57, backrest storage tank 8 puts down to support moveable backrest 5 simultaneously, to both sides expansion baffle head 51, waist baffle plate 52, thigh baffle plate 54, shank baffle plate 55, waist catch 59 is laid flat, Changeable shape chair module is launched into bed.Binding chassis seat module 7 is slided along chassis arc-shaped rack 2, seat support module 3 is rotated around subbase module 7 can keep bed surface level.
Seat modular is deformed in level walking and keeps seat mode, user sits on the seat, holds the control machine people of joystick 6 steering, movement velocity.Robot pace is 0 and 4 wheels and the contact point tangent line on ground can be realized in same circumference Shang Shi robots rotate in place.To ensure robot stabilization and user's comfortableness during emergency deceleration, changed according to acceleration transducer signals adjust automatically seat attitude in seat support module 3 with adapting to acceleration.
Referring to Fig. 8, upper arc-shaped rack 4 is skidded off under the driving of upper arc-shaped rack motor 315 out of upper cambered way 31, the moveable handrails 42 of end can hold user oxter and be propped up, upper arc-shaped rack 4 can complete rising height simultaneously and before send two actions, the rotate counterclockwise of V-type moveable handrails 42 prevents that user from slipping, and end user can stand on pedal 32.Joystick 6 is connected by elasticity from curled wire with the control board in seat support module 3, there are multiple joystick sockets 316 in seat support module 3, also there is joystick socket 316 end of moveable handrails 42, joystick 6 can be inserted in different sockets by user according to wheelchair mode of operation and the hobby of oneself, can also grasp joystick 6 without being inserted in socket.
Contain turnable cushion 53 in the inner side of movable seat 57 of the present invention, cushion 53 usually may be reversed and is fused into complete seat with movable seat 57, when user needs to use toilet, first by robot ride to toilet position, user is propped up by aiding upright device, cushion may be reversed to overturn and be embedded in the groove of moveable backrest 5, user unties aiding upright device after trousers and is seated on the seat again by it, to use toilet.
Rangefinder 118 is carried on wheel of the present invention, heavy burden wheel support 13 carries pressure sensor, can be according to the rotary speed of shoulder height, wheel and step relative position relation adjust automatically bogie wheel 11 and wheel, with the ability for adapting to various sizes step.Robot is according to the obliquity sensor and acceleration transducer signals being distributed in seat support module 3, control subbase module 7 is slided along chassis arc-shaped rack 2, with reference to the rotation of seat rack module 3, horizontal seat can be kept during stair climbing, prevent that robot from toppling over forwards, backwards, level land can change seat pose and pedal 32 away from ground level when travelling, the impression of comfortable safety is brought to user.
Implement according to above scheme with regard to the purpose of the present invention can be reached.
The several embodiments of the present invention are only expressed above, and it describes more specific and detailed, but therefore can not be interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, various modifications and improvements can be made, or a part of content of the present invention is used for other products, these belong to protection scope of the present invention.
Claims (10)
- The disabled-assistant bed chair integrated robot 1. one kind is helped the elderly, including：Inside and outside nested type stair climbing wheel（1）, stair climbing reducing motor（113）, wheel casing（114）, staircase climbing gear group（116）, rubbery cover tyre（12）, moveable backrest rotating shaft（35）；It is characterized in that：Inside and outside nested type stair climbing wheel（1）It is fixed on two chassis arc-shaped racks（2）On；Subbase module（7）It is connected to seat support module（3）And can be along chassis arc-shaped rack（2）Slide；Seat support module（3）On be fixed with two upper cambered ways（31）, moveable backrest（5）With movable seat（57）Pass through hinge and seat support module（3）It is connected；Joystick（6）Seat support module can be inserted in（3）And moveable handrails（42）On slot in；Shin support panel（56）Pass through hinge and movable seat（57）It is connected, can be along upper cambered way（31）The shin support panel cambered way of inner side（37）Slide；Baffle head（51）With waist baffle plate（52）By elastic hinge and moveable backrest（5）It is connected；Thigh baffle plate（54）By elastic hinge and movable seat（57）It is connected；Waist catch（59）One end is connected to thigh baffle plate（54）On；Shank baffle plate（55）By elastic hinge and shin support panel（56）It is connected；Each baffle plate is all with symmetrical form mounted in pairs in correlation unit both sides；Backrest storage tank（8）Moveable backrest is fixed on by hinge（5）On；Upper arc-shaped rack（4）In upper cambered way（31）It is interior to slide；Moveable handrails（42）In handrail drive motor（41）Driving under around upper arc-shaped rack（4）End is rotated；Pedal（32）It is fixed on two upper cambered ways（31）Between.
- 2. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：Described inside and outside nested type stair climbing wheel（1）, pass through main drive motor（112）Axle is through planetary reducer（117）Band motor car wheel drive disk after deceleration（16）And rotate；Rubbery cover tyre（12）It is fixed on wheel drive disk（16）With Tire support disk（17）On, and with wheel drive disk（16）Rotate；Tire support disk（17）Pass through bearing and wheel casing（114）It is connected；Stair climbing reducing motor（113）Through staircase climbing gear group（116）Runing rest is driven after deceleration（15）, heavy burden wheel support（13）With runing rest（15）Between have damper（14）, bogie wheel（11）Pass through bearing and heavy burden wheel support（13）It is connected.
- 3. disabled-assistant bed chair integrated robot of helping the elderly according to claim 2, it is characterised in that：Described wheel casing（114）On be fixed with vertical axis reducing motor（115）, vertical axis reducing motor（115）Through vertical shaft gear（111）Driving moment rotates along vertical axis after deceleration；Wheel connector（19）Through vertical axis damper（110）It is connected to vertical shaft gear（111）On；Rangefinder（118）It is fixed on wheel casing（114）On；Planetary reducer（117）It is placed on runing rest（15）Middle part；Rubbery cover tyre utilizes bogie wheel（11）Load capacity, bogie wheel is fixed on runing rest（15）On, runing rest is driven by two motors respectively with rubbery cover tyre；Runing rest（15）On post pressure-strain piece, for detecting bogie wheel is subject to during stair climbing pressure.
- 4. disabled-assistant bed chair integrated robot of helping the elderly according to claim 3, it is characterised in that：Described vertical shaft gear（111）Upper angled sensor is used to detect vertical axis rotational angle；Staircase climbing gear group（116）Upper angled sensor is used to detect runing rest（15）Rotational angle；Car light（18）On have an illuminating lamp, and for braking and side marker light.
- 5. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：Described subbase module（7）It is interior to be provided with chassis cambered way（317）, chassis rack drives motor and chassis rack drives gear train（39）；Seat support motor（311）, through seat support gear（312）Seat support module is driven after deceleration（3）Rotation, subbase module（7）Pass through bearing and seat support module（3）Connection；Chassis cambered way（317）On have photoelectric sensor be used for detect chassis arc-shaped rack（2）Position, with subbase single-chip microcomputer and chassis rack drives motor composition position control closed-loop system；Angled sensor is distributed in seat support gear（312）Edge.
- 6. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：The seat support module（3）, its shell includes battery（313）, moveable backrest electric rotating machine（314）, upper arc-shaped rack motor（315）And its associated gear group；Upper cambered way（31）It is fixed on seat support module（3）On, shin support panel cambered way（37）Upside or downside band are with teeth；Left and right two parts rely on pedal（32）, seat support connecting rod（36）With moveable backrest rotating shaft（35）Connection.
- 7. disabled-assistant bed chair integrated robot of helping the elderly according to claim 6, it is characterised in that：Moveable backrest electric rotating machine（314）In the seat support module of side, multiple joystick slots are distributed with the upside of module housing（316）, charging conductor elasticity capstan winch and the elastic capstan winch of joystick wire are fixed on the upside of module；Module control circuit plate is main control unit, contains central control circuit, automatic charger and obliquity sensor and acceleration transducer.
- 8. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：The upper arc-shaped rack（4）Profile be circular arc-shaped metal plate, metal rack external diameter side distribution it is with teeth, engaged with upper arc-shaped rack drive gear set；There is handrail drive motor on tooth bar top（41）, moveable handrails are driven after The gear deceleration（42）Rotation, moveable handrails end carries joystick slot（316）；Upper body safety belt（43）It is fixed on handrail drive motor（41）On.
- 9. disabled-assistant bed chair integrated robot of helping the elderly according to claim 6, it is characterised in that：The moveable backrest rotating shaft（35）It is fixed on cambered way（31）On；Moveable backrest（5）Pass through bearing and moveable backrest rotating shaft（35）Connection, movable seat（57）Pass through bearing and moveable backrest rotating shaft（35）Connection, may be reversed cushion（53）Pass through bearing and moveable backrest rotating shaft（35）Connection；Turnover cushion motor is fixed on movable seat（57）On, driven by The gear deceleration and cushion may be reversed（53）Around moveable backrest rotating shaft（35）Rotate.
- 10. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：The backrest storage tank（8）There is backrest storage box cover both sides（87）；Support wheel shaft（86）It is fixed on by bearing on storage tank, two support wheels（84）With support wheel gear（83）It is connected and is fixed on support wheel shaft（86）On, capstan winch（85）It is fixed on support wheel shaft（86）On；Support wheel motor（82）It is fixed on backrest storing chamber interior wall, support wheel is driven by The gear deceleration（84）Rotation；Connect band（81）In contain wire, one end is fixed on capstan winch（85）On, the other end is fixed on moveable backrest（5）On；Backrest storage tank（8）With moveable backrest（5）The hinge of connection is provided with 2 limit switches；Shank baffle plate（55）It is fixed with shank storage tank（511）, shank safety belt（510）With shank safety belt socket（512）It is fixed on shank baffle plate（55）On, shank baffle plate（55）Pass through elastic hinge and shin support panel（56）It is connected.
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 |
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| CN102499828A CN102499828A (en) | 2012-06-20 |
| CN102499828B true 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) |
Cited By (1)
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| CN103777646A (en) * | 2014-01-28 | 2014-05-07 | 太仓市康辉科技发展有限公司 | System and method for controlling bathing chair |
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| 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 |
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| 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 |
| CN106176081B (en) * | 2016-07-05 | 2018-08-21 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus and method comprising acceleration transducer |
| CN107224359A (en) * | 2017-07-20 | 2017-10-03 | 李良 | The wheelchair automatically controlled |
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| 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 |
| 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 |
| 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 |
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|---|---|---|---|---|
| JP2006288496A (en) * | 2005-04-06 | 2006-10-26 | Ryobi Ltd | Wheel chair |
| CN200966693Y (en) * | 2006-10-18 | 2007-10-31 | 天津大学 | Health-care wheelchair that can be operated by crura-crippled person himself |
| US8359685B2 (en) * | 2007-07-08 | 2013-01-29 | Bhaskar Vitthal Patwardhan | Wheelchair with a commode that converts into a bed |
| CN201147420Y (en) * | 2008-01-11 | 2008-11-12 | 李钢 | Leisure seat instead of walking |
| CN201379723Y (en) * | 2009-01-08 | 2010-01-13 | 周德宝 | Electric walking and standing wheelchair |
| CN201861859U (en) * | 2010-11-12 | 2011-06-15 | 姚湘江 | Intelligent electric-powered wheelchair |
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- 2011-11-09 CN CN2011103535156A patent/CN102499828B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103777646A (en) * | 2014-01-28 | 2014-05-07 | 太仓市康辉科技发展有限公司 | System and method for controlling bathing chair |
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