CN102670106A - Automatic stand aid - Google Patents
Automatic stand aid Download PDFInfo
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- CN102670106A CN102670106A CN2012100036644A CN201210003664A CN102670106A CN 102670106 A CN102670106 A CN 102670106A CN 2012100036644 A CN2012100036644 A CN 2012100036644A CN 201210003664 A CN201210003664 A CN 201210003664A CN 102670106 A CN102670106 A CN 102670106A
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- pedal
- handrail
- supporting device
- guiding
- assist
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Abstract
The invention discloses an automatic stand aid which comprises a framework, a supporting rack, a pedal plate, a supporting rack driving mechanism and a pedal plate driving mechanism. The supporting rack comprises a supporting rack body and handrails for supporting hands and/or armpits of a user; and the lower end of the supporting rack body is hinged with a seat, the front of the seat is hinged with chair legs extending along a vertical direction, and the lower ends of the chair legs are fixed with the pedal plate. The supporting rack and the pedal plate respectively support the lower limbs and the upper limbs of the user, drive the upper limbs of the user to move vertically and drive the lower limbs of the user to move horizontally, and conform to natural habitual actions of the user so as to assist the user to stand up or sit down.
Description
Technical field
The auxiliary human body that the present invention relates to medicine equipment, daily apparatus or care appliances field is accomplished the auxiliary standing device of the action of standing, sit down.
Background technology
Along with the national life level improves constantly and the fast development of medical public health service, China has stepped into aging society, and elderly population shared ratio in total population day by day raises.And advanced age the elderly the oneself take care of ability, mainly by residential care, nurse fees is with high, labour intensity is big, nursing condition is badly in need of improving.Simultaneously, a large amount of existence of all kinds of disabled persons and long-term bed the elderly.This becomes an important social issue just day by day with regard to the feasible problem of helping the disabled of helping the elderly.In order to address these problems, the development of some automatic bathing robot projects at present has positive positive effect for the solution of these problems, and this guarantees that for the quality of life that improves the elderly and the disabled stable development of Chinese society is significant.
Yet the elderly and the disabled can not stand or sit down in the bathing process as the normal person is light advanced age, and because the growth or the unexpected injury at age, each joint of their lower limb possibly be not enough to support their health deadweight.Simultaneously, the space of automatic bathing robot is limited, and Bath rubbing device need link to each other with seat, guarantees that simultaneously human body can both give a rubdown with a damp towel for it under the state of standing and sit down.This just needs a special auxiliary standing device.
Yet; In the prior art at home and abroad; The turnover panel of perk promotes human body forward with top and the mode that erects from buttocks; Therefore and do not meet being accustomed to naturally that human body stands and lack shank and shank are connected the measure of cooperation with top,, and also lack the technological means of the attitude of standing after keeping human body and standing in the prior art.
Summary of the invention
The object of the present invention is to provide a kind of human body that meets to sit the automatically auxiliary standing device that the help human body of upright motor habit is accomplished the upright action of seat.
Technical scheme of the present invention is: a kind of automatically auxiliary standing device; Comprise frame, be assemblied in being used on the frame through the supporting device guiding mechanism guiding of guiding along the vertical direction and assist supporting device that human upper limb goes up and down, pedal guiding mechanism guiding through the along continuous straight runs guiding in and be assemblied in being used on the frame and move the pedal of human body lower limbs, the pedal-driven mechanism that also is provided with the supporting device driving mechanism that drives said supporting device and move along the vertical direction on the frame, drives that said pedal moves near supporting device in the horizontal direction or move away from supporting device; Said supporting device comprise cooperate with said supporting device guiding mechanism and supporting device driving mechanism assist support body in and be located at assist on the support body to be used for the people hand steered and/or support the handrail of human body armpit; Said lower end of assisting support body in is hinged with the seat support that supplies the people to sit, and the rear end of seat support is with to assist support body in hinged, and the front portion of seat support is hinged with the chair leg that vertically extends, and the lower end and the pedal of chair leg are fixed.
Said handrail includes the handle that is supported in the stull of human body armpit when using and is connected in the anterior confession people hand grip of stull; Handle is located at the oblique below of stull, and transition is connected with the spacing protuberance that prevents that human body from dumping forward of being used to that is higher than stull between stull and the handle.
The said support body of assisting in comprises that above that guiding moves the handrail crane that is provided with and drives the handrail lift drive mechanism that the handrail crane moves up and down along the vertical direction, and said handrail is connected on the handrail crane.
Weighing persons weight and the human body pressure sensor to pedal pressing force is housed on the said pedal, the signal that obtains according to pressure sensor by controller artificial or that is connected with the pressure sensor signal output through signal input part to the handrail lift drive mechanism control drive the handrail crane and on move upward certain altitude and human body applied the support force that makes progress of handrail.
Said supporting device guiding mechanism is two columns that are set up in parallel that are fixed on the frame; Assist in and be fixed with slip cap on the support body and be loaded on the guide pin bushing on the column; The supporting device driving mechanism is the screw-nut body by driven by motor, comprise vertical extension the vertical hair thick stick and through the screw thread spinning on the vertical hair thick stick with assist the nut that support body is connected in; Said pedal-driven mechanism is the screw-nut body by driven by motor; Comprise horizontally extending flat leading screw and through the nut that with pedal be connected of screw thread spinning on flat leading screw, the pedal guiding mechanism is to be made up of secondary the working in coordination with the shaft axis road wheel vertical with leading screw that install the pedal bottom of the horizontally-guided of the screw-nut body that drives pedal.
The over top of said automatically auxiliary standing device is provided with washing device for hair, is provided with in the side of automatically auxiliary standing device and gives a rubdown with a damp towel and spray equipment.
Like this; Supporting device of the present invention and pedal support the upper limbs and the lower limb of human body respectively; And through the lifting moving of directed driven realization human upper limb and moving horizontally of the lower limb that cooperate the upper limbs action to supporting device and pedal, thereby the action that meets human body natural's custom assists human body to accomplish the action of standing or sitting down.
Further; Handrail is to be assemblied on the supporting device with respect to what supporting device went up and down; Can the lifting handrail through the handrail lift drive mechanism; Alleviate one and fix on when standing the health deadweight that to bear by lower limb thereby can be the user, stand for a long time, satisfy needs such as rehabilitation training or automatic bathing thereby keep human body.
Description of drawings
Fig. 1 is the structural representation of automatically auxiliary standing device embodiment of the present invention;
Fig. 2 is the structural representation of Fig. 1 standing state;
Fig. 3 is the structural representation of the handrail among Fig. 1;
Fig. 4 is the sketch map at another visual angle of Fig. 2.
The specific embodiment
Like Fig. 1 ~ shown in Figure 4; The embodiment of automatically auxiliary standing device of the present invention; Comprise frame 1, be assemblied in being used on the frame through the supporting device guiding mechanism guiding of guiding along the vertical direction and assist supporting device 2 that human upper limb goes up and down, pedal guiding mechanism guiding through the along continuous straight runs guiding in and be assemblied in being used on the frame and move the pedal 3 of human body lower limbs, the pedal-driven mechanism that also is provided with the supporting device driving mechanism that drives said supporting device 2 and move along the vertical direction on the frame 1, drives that said pedal 3 moves near supporting device in the horizontal direction or move away from supporting device.
In the present embodiment; Supporting device 2 comprise cooperate with said supporting device guiding mechanism and supporting device driving mechanism assist support body 20 in and spacing parallel arranging is located at two handrails 21 of assisting on the support body 20; The supporting device guiding mechanism is two columns that are set up in parallel 5 that are fixed on the frame; Assist in and be fixed with slip cap on the support body 20 and be loaded on the guide pin bushing on the column 5; The supporting device driving mechanism is the screw-nut body by driven by motor, comprise vertical extension vertical hair thick stick 24 and through the screw thread spinning on the vertical hair thick stick with assist the nut that support body 20 is connected in.As shown in Figure 4; The space that holds trunk is left at interval between two handrails 21; Each handrail 21 includes the handle 212 of stull 211 that is supported in the human body oxter when using and the confession people hand grip that is connected in stull 211 front portions; Handle 212 is located at the oblique below of stull 211, and transition is connected with the spacing protuberance 213 that prevents that human body from dumping forward of being used to that is higher than stull 211 between stull 211 and the handle 212.The rear end of two handrails 21 is adjusted in the slotted hole 214 of the corresponding human body right-hand man direction guiding that bolt offered on handrail crane 22; Can unclamp the adjustment bolt by the nursing staff in use and regulate the spacing between two handrails 21, make spacing between two handrails 21 just adapt to user's shoulder breadth; Assisting support body 20 in comprises the handrail crane 22 that assembles to leading along the vertical direction on it and drives the handrail lift drive mechanism that handrail crane 22 moves up and down; The handrail lift drive mechanism is by motor-driven screw-nut body 23 in the present embodiment, and handrail crane 22 guiding are assemblied on the column 5.
Pedal-driven mechanism is the screw-nut body by driven by motor; Comprise horizontally extending flat leading screw 31 and through the nut that with pedal 3 be connected of screw thread spinning on flat leading screw, the pedal guiding mechanism is to be made up of secondary the working in coordination with the shaft axis road wheel vertical with leading screw that install the pedal bottom of the horizontally-guided of the screw-nut body that drives pedal.
The lower end of assisting support body 20 in is hinged with the seat support 6 that supplies the people to sit, and the rear end of seat support 6 is with to assist support body 20 in hinged, and the front portion of seat support 6 is hinged with the chair leg 7 that vertically extends, and the lower end of chair leg 7 is fixed with pedal 3.Chair leg 7 in the present embodiment is the electric pushrod of adjustable length and since the chair leg corresponding be the shank length of human body, the length that just can regulate the chair leg through the length adjustment of electric pushrod is to adapt to the different geometrical size of different human body.For the length of accurately regulating the chair leg to adapt to the physical length of human body shank; By the leg length that the measurer such as the light curtain measuring instrument of device itself or peripheral hardware are measured human body, between electric pushrod and frame, be provided with the grating chi of measuring the electric pushrod collapsing length, the electric pushrod displacement signal of grating chi and the measured signal of human body shank are all imported controller (single-chip microcomputer or computer); Send enabled instruction by controller to electric pushrod; When supporting device makes progress (or downwards) when moving, seat support also make progress thereupon (or downwards) move, simultaneously; Electric pushrod starts, and makes chair leg 7 elongations (or shortening); When the grating chi detects seat leg and user's shank when isometric, controller provides halt instruction, the servomotor of supporting device driving mechanism and electric pushrod stall, release.So just adapted to the leg length of different human body, and satisfied adaptive automatic bathing robot in user's requirement that Shi Weiqi rubs shank with the hands of sitting down.
Assist support body 20 in and be provided with backrest, assist in backrest, chair 6 and chair leg 7 on the support body 20 formed jointly one vertically for supporter, put down deformable seat into seat.All adopt the driven by servomotor leading screw rotate to realize the rectilinear motion of respective nut and institute's belting thereof in each above-mentioned driving mechanism, the up-down through can realize the seat distortion time and the coordination of translation motion to the speed of servomotor and the control that turns to.
Be equipped with on the pedal in the foregoing description can weighing persons weight and human body to the pressure sensor of pedal pressing force; Signal according to pressure sensor obtains can also can be controlled the servomotor of handrail lift drive mechanism through the controller (single-chip microcomputer or computer) that signal input part is connected with pressure sensor signal by manual work; Start to drive the handrail crane and on handrail move upward certain altitude and the human body of lower limbs strength difference applied the support force that appropriateness makes progress; The signal deciding that this height is obtained by the pressure sensor that is installed on the pedal; Can be reached for the user and alleviate necessarily and to make from the health deadweight that lower limb are stressed to diminish, but can the user not lift and make upper limbs stressed excessive and do not feel well.
The foregoing description can be concrete be applied to have a bath in the robot, at this moment need washing device for hair be set in the over top of device, be provided with in the side of device and give a rubdown with a damp towel and spray equipment,
In use, at first, this device is in Fig. 1 state; After the user takes; Withstand user's armpit by the stull 211 of handrail, the effect that prevents that human body from dumping forward is played at spacing protuberance 213 places of handrail, and user's hand can be held up at handle 212 places; By washing device for hair is its hair washing, and Bath rubbing device is its chopping.
After the back of the body has been rubbed, moved up by the driven by servomotor supporting device and the backrest of supporting device driving mechanism, backrest drive seat support moves up, and becomes vertical position by horizontal level gradually, and supporting device drives handrail crane 22 again, handrail 21 moves up; When the servomotor of supporting device driving mechanism starts, also start the servomotor of pedal-driven mechanism, drive pedal and on the chair leg simultaneously level backward (near supporting device) move, and make chair leg (being electric pushrod) remain vertical state; Finally make the seat of forming jointly by backrest, seat support and chair leg stretch out (like Fig. 2 state).Then the servomotor of handrail lift drive mechanism start to drive the handrail crane and on the handrail certain altitude that moves upward, this height is by the pressure sensor decision that is installed on the pedal, alleviates necessarily the purpose from the health deadweight to be reached for the user.Supporting device raise gradually pedal simultaneously gradually to supporting device near process in, this device has been assisted the user in, and is that the user has alleviated certain deadweight by the lifting of handrail crane.At this moment, do for it by other devices such as the stranding legs of this robot and comprehensively to give a rubdown with a damp towel, carry out work such as dried body afterwards.After bathing finishes, make handrail whereabouts certain altitude by the servomotor counter-rotating of handrail lift drive mechanism, the user can walk out bath machine easily.At last, assist the corresponding servomotor counter-rotating of driving mechanism and pedal-driven mechanism in, make whole device get back to Fig. 1 position, release certainly, for the human body of the difficulty in walking of standing, also can continue to stay the action of being sat down by the auxiliary completion of device in the device.
Certainly in other embodiments of the invention; The guiding mechanism of supporting device, pedal also can adopt other conventional straight line mobile guides secondary; Like line slideway, directed road wheel; Both driving mechanisms also can adopt the driving mechanism of other routine, as belt, chain, linear electric motors, rack-and-pinion, pneumatic/hydraulic cylinder etc. can linear movement output mechanism, the some of them driving mechanism also carries the above guide and limit specific function of one dimension as the silk nut body; At this moment can be as the structure of the pedal road wheel among the above-mentioned embodiment, the guiding dimension of the few guiding mechanism of letter.
In addition; Among other embodiment of the present invention; Assist that handrail crane 22 on the support body 20 also can be provided with independently and the lift drive mechanism of the guiding mechanism of other types in; Such as directly assisting on the support body 20 fixing vertical column assembling handrail crane in no longer by column 5; Similar as for the variation of the lift drive mechanism of the guiding mechanism of other types and the above-mentioned supporting device of enumerating, the guiding of pedal, driving mechanism, all belong to the routine techniques means that those skilled in the art can realize.Certainly, if do not consider the loss of weight problem and in order to reduce cost, handrail crane 22 and driving mechanism thereof also can save fully, get final product and handrail directly is connected to assist on the support body.
In addition, in other embodiments of the invention, chair leg 7 also can adopt liquid presses piston pole to regulate or with the sleeve pipe manual adjustments of threaded engagement; And be used for and handrail that the human body shoulder breadth is adaptive and adjusting bolt and the slotted hole between the handrail crane, the governor motion that also can move with the straight line of routine is regulated the spacing between the handrail, such as feed screw nut, liquid presses piston pole etc.And because human geometry's size difference of most people is little, in order to reduce cost or for the special messenger makes to measure, chair leg 7 also can be a regular length, two handrails also can be to be fixed on the handrail crane and the handrail distance regulating mechanism is not set.
In addition, in other embodiments of the invention, handrail also can only be provided with supply the people hand steered or support the human body armpit laterally or the support bar of longitudinal extension, also can the time bent stick, the user can support the health of oneself as required with hand or armpit.
Claims (6)
1. assist standing device automatically for one kind; It is characterized in that: comprise frame, be assemblied in being used on the frame through the supporting device guiding mechanism guiding of guiding along the vertical direction and assist supporting device that human upper limb goes up and down, pedal guiding mechanism guiding through the along continuous straight runs guiding in and be assemblied in being used on the frame and move the pedal of human body lower limbs, the pedal-driven mechanism that also is provided with the supporting device driving mechanism that drives said supporting device and move along the vertical direction on the frame, drives that said pedal moves near supporting device in the horizontal direction or move away from supporting device; Said supporting device comprise cooperate with said supporting device guiding mechanism and supporting device driving mechanism assist support body in and be located at assist on the support body to be used for the people hand steered and/or support the handrail of human body armpit; Said lower end of assisting support body in is hinged with the seat support that supplies the people to sit, and the rear end of seat support is with to assist support body in hinged, and the front portion of seat support is hinged with the chair leg that vertically extends, and the lower end and the pedal of chair leg are fixed.
2. automatically auxiliary standing device according to claim 1; It is characterized in that: said handrail includes the handle that is supported in the stull of human body armpit when using and is connected in the anterior confession people hand grip of stull; Handle is located at the oblique below of stull, and transition is connected with the spacing protuberance that prevents that human body from dumping forward of being used to that is higher than stull between stull and the handle.
3. automatically auxiliary standing device according to claim 1 and 2; It is characterized in that: the said support body of assisting in comprises that above that guiding moves the handrail crane that is provided with and drives the handrail lift drive mechanism that the handrail crane moves up and down along the vertical direction, and said handrail is connected on the handrail crane.
4. automatically auxiliary standing device according to claim 3; It is characterized in that: weighing persons weight and the human body pressure sensor to pedal pressing force is housed on the said pedal, the signal that obtains according to pressure sensor by controller artificial or that is connected with the pressure sensor signal output through signal input part to the handrail lift drive mechanism control drive the handrail crane and on move upward certain altitude and human body applied the support force that makes progress of handrail.
5. automatically auxiliary standing device according to claim 1; It is characterized in that: said supporting device guiding mechanism is two columns that are set up in parallel that are fixed on the frame; Assist in and be fixed with slip cap on the support body and be loaded on the guide pin bushing on the column; The supporting device driving mechanism is the screw-nut body by driven by motor, comprise vertical extension the vertical hair thick stick and through the screw thread spinning on the vertical hair thick stick with assist the nut that support body is connected in; Said pedal-driven mechanism is the screw-nut body by driven by motor; Comprise horizontally extending flat leading screw and through the nut that with pedal be connected of screw thread spinning on flat leading screw, the pedal guiding mechanism is to be made up of secondary the working in coordination with the shaft axis road wheel vertical with leading screw that install the pedal bottom of the horizontally-guided of the screw-nut body that drives pedal.
6. automatically auxiliary standing device according to claim 1, it is characterized in that: the over top of said automatically auxiliary standing device is provided with washing device for hair, is provided with in the side of automatically auxiliary standing device and gives a rubdown with a damp towel and spray equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210003664 CN102670106B (en) | 2012-01-06 | 2012-01-06 | Automatic stand aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210003664 CN102670106B (en) | 2012-01-06 | 2012-01-06 | Automatic stand aid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102670106A true CN102670106A (en) | 2012-09-19 |
| CN102670106B CN102670106B (en) | 2013-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210003664 Expired - Fee Related CN102670106B (en) | 2012-01-06 | 2012-01-06 | Automatic stand aid |
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| CN (1) | CN102670106B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102846440A (en) * | 2012-09-28 | 2013-01-02 | 昆山市工业技术研究院有限责任公司 | Multi-functional standing and sitting device for walker wheelchair |
| CN104323892A (en) * | 2014-10-30 | 2015-02-04 | 浙江工业大学 | Standing and sitting dual-purpose living self-care vehicle for disabled person |
| CN104739082A (en) * | 2013-12-26 | 2015-07-01 | 八乐梦医用床有限公司 | Side handrail structure |
| CN108634838A (en) * | 2018-05-08 | 2018-10-12 | 合肥工业大学 | A kind of shower auxiliary intelligent robot towards weak crowd |
| CN109453006A (en) * | 2013-11-15 | 2019-03-12 | 费诺-华盛顿公司 | From actuating type stretcher |
| CN109688998A (en) * | 2016-09-13 | 2019-04-26 | 株式会社富士 | Jie helps device |
| CN109820365A (en) * | 2019-03-19 | 2019-05-31 | 杭州诺祥科技有限公司 | A kind of combined type secondary lever seat |
| CN109833157A (en) * | 2017-11-27 | 2019-06-04 | 周明忠 | Manual steering three-wheel SZ lower limb disability disability self-care life auxiliary robot |
| CN110074709A (en) * | 2019-05-30 | 2019-08-02 | 青岛市四方健康生活有限公司 | A kind of old man using chain drive and four-bar mechanism goes to the toilet auxiliary device |
| CN110840670A (en) * | 2019-10-30 | 2020-02-28 | 同济大学 | Old person assists seat of standing |
| CN110916941A (en) * | 2019-11-28 | 2020-03-27 | 燕山大学 | Transfer-taking nursing robot with fixed sitting posture |
| CN111557806A (en) * | 2020-05-20 | 2020-08-21 | 中山市浩雅生物科技有限公司 | Orthopedic surgery is with nursing frame |
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| CN202437497U (en) * | 2012-01-06 | 2012-09-19 | 河南科技大学 | Automatic auxiliary standing device |
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- 2012-01-06 CN CN 201210003664 patent/CN102670106B/en not_active Expired - Fee Related
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| CN2803329Y (en) * | 2005-05-17 | 2006-08-09 | 王树成 | Multifunction standing up wheel-chair |
| JP2009006093A (en) * | 2007-06-27 | 2009-01-15 | Hisato Aramaki | Bathtub-attached type bathing care assisting device |
| JP2009119215A (en) * | 2007-11-13 | 2009-06-04 | Tokyo Institute Of Technology | Standing-sitting assist apparatus |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102846440A (en) * | 2012-09-28 | 2013-01-02 | 昆山市工业技术研究院有限责任公司 | Multi-functional standing and sitting device for walker wheelchair |
| CN109453006A (en) * | 2013-11-15 | 2019-03-12 | 费诺-华盛顿公司 | From actuating type stretcher |
| CN104739082A (en) * | 2013-12-26 | 2015-07-01 | 八乐梦医用床有限公司 | Side handrail structure |
| CN104323892A (en) * | 2014-10-30 | 2015-02-04 | 浙江工业大学 | Standing and sitting dual-purpose living self-care vehicle for disabled person |
| CN109688998A (en) * | 2016-09-13 | 2019-04-26 | 株式会社富士 | Jie helps device |
| CN109833157A (en) * | 2017-11-27 | 2019-06-04 | 周明忠 | Manual steering three-wheel SZ lower limb disability disability self-care life auxiliary robot |
| CN108634838B (en) * | 2018-05-08 | 2019-11-01 | 合肥工业大学 | A kind of shower auxiliary intelligent robot towards weak crowd |
| CN108634838A (en) * | 2018-05-08 | 2018-10-12 | 合肥工业大学 | A kind of shower auxiliary intelligent robot towards weak crowd |
| CN109820365A (en) * | 2019-03-19 | 2019-05-31 | 杭州诺祥科技有限公司 | A kind of combined type secondary lever seat |
| CN110074709A (en) * | 2019-05-30 | 2019-08-02 | 青岛市四方健康生活有限公司 | A kind of old man using chain drive and four-bar mechanism goes to the toilet auxiliary device |
| CN110074709B (en) * | 2019-05-30 | 2024-03-15 | 青岛市四方健康生活有限公司 | Old man auxiliary device that uses chain drive and four-bar linkage is like lavatory |
| CN110840670A (en) * | 2019-10-30 | 2020-02-28 | 同济大学 | Old person assists seat of standing |
| CN110916941A (en) * | 2019-11-28 | 2020-03-27 | 燕山大学 | Transfer-taking nursing robot with fixed sitting posture |
| CN110916941B (en) * | 2019-11-28 | 2020-08-28 | 燕山大学 | Transfer-taking nursing robot with fixed sitting posture |
| CN111557806A (en) * | 2020-05-20 | 2020-08-21 | 中山市浩雅生物科技有限公司 | Orthopedic surgery is with nursing frame |
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| CN102670106B (en) | 2013-10-30 |
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Granted publication date: 20131030 Termination date: 20160106 |