CN102670106B - Automatic stand aid - Google Patents

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

An automatic assisting device for standing

technical field

The invention relates to an auxiliary standing device for assisting a human body to complete standing and sitting actions in the field of medical equipment, daily utensils or nursing equipment.

Background technique

With the continuous improvement of national living standards and the rapid development of medical and public health services, my country has entered an aging society, and the proportion of the elderly population in the total population is increasing day by day. However, the self-care ability of the elderly is poor, and they are mainly cared for by families. The cost of nursing is high, the labor intensity is high, and the nursing conditions need to be improved urgently. At the same time, there are a large number of various types of disabled people and long-term bedridden elderly people. This makes the problem of helping the elderly and the disabled increasingly becoming a major social problem. In order to solve these problems, the development of some automatic bathing robot projects has a positive effect on solving these problems, which is of great significance to improving the quality of life of the elderly and disabled and ensuring the stable development of our society.

However, the elderly and the disabled cannot easily stand or sit down like normal people during the bathing process, and due to aging or accidental injuries, the joints of their lower limbs may not be enough to support their body weight. At the same time, the space of the automatic bathing robot is limited, and the scrubbing device needs to be connected with the seat, while ensuring that the human body can scrub for it when standing or sitting down. This requires a special standing aid.

However, in the prior art at home and abroad, the tilted flap pushes the human body forward from the part above the buttocks to stand up, and lacks measures to connect and cooperate the legs and the parts above the legs, so it does not meet the requirements. The natural habit of the human body standing, and also lack the technical means of maintaining the standing posture after the human body stands in the prior art.

Contents of the invention

The purpose of the present invention is to provide an automatic assisting standing device that conforms to the human body's sitting and standing motion and helps the human body to complete the sitting and standing motion.

The technical solution of the present invention is: an automatic assisted standing device, including a frame, a support frame for supporting the upper limbs of a human body to lift and lower through a support frame guiding mechanism guided in the up and down direction, and a support frame guided in the horizontal direction The pedal guide mechanism guides the pedals assembled on the frame for moving the lower limbs of the human body. The frame is also provided with a supporting frame driving mechanism that drives the supporting frame to move in the up and down direction, and drives the pedal to approach the supporting frame in the horizontal direction. The pedal driving mechanism that moves the frame or moves away from the supporting frame; the supporting frame includes a supporting frame body that cooperates with the supporting frame guiding mechanism and the supporting frame driving mechanism and is provided on the supporting frame body for people to hold and/or support The armrest of the armpit of the human body; the lower end of the support frame is hinged with a seat for people to sit on, the rear end of the seat is hinged with the support frame, and the front of the seat is hinged with chair legs extending vertically. The lower end is fixed with the pedal.

The armrests all include a cross brace supported on the armpit of the human body during use and a handle connected to the front of the cross brace for people to grasp. The handle is arranged obliquely below the cross brace. The limiting convex part used to prevent the human body from falling forward.

The supporting frame body includes an armrest elevating frame which is guided and moved up and down on it and an armrest elevating drive mechanism for driving the armrest elevating frame to move up and down, and the armrest is connected to the armrest elevating frame.

The pedal is equipped with a pressure sensor for weighing the weight of the human body and the pressure of the human body on the pedal. According to the signal obtained by the pressure sensor, the handrail is controlled by the controller connected with the signal input terminal and the signal output terminal of the pressure sensor to control the handrail lifting drive mechanism. The lifting frame and the handrails on it move upward to a certain height to exert an upward supporting force on the human body. the

The guiding mechanism of the supporting frame is two columns arranged side by side fixed on the frame, and the supporting frame body is fixed with a guide sleeve slidingly sleeved on the column, and the driving mechanism of the supporting frame is a screw nut mechanism driven by a motor, including The vertically extending vertical lead screw and the nut fixedly connected with the supporting frame body are screwed on the vertical lead screw through threads; the pedal driving mechanism is a lead screw nut mechanism driven by a motor, including a horizontally extending flat lead screw and Through the nut that is screwed on the flat lead screw and fixedly connected with the pedal, the pedal guide mechanism is composed of the horizontal guide pair of the screw nut mechanism driving the pedal and the rotating shaft axis installed at the bottom of the pedal and the walking wheel perpendicular to the lead screw.

A hair washing device is arranged above the top of the automatic assisted standing device, and a scrubbing and spraying device is arranged on the side of the automatic assisted standing device.

In this way, the support frame and the pedals of the present invention support the upper and lower limbs of the human body respectively, and realize the lifting movement of the upper limbs of the human body and the horizontal movement of the lower limbs that cooperate with the upper limbs through the directional drive of the support frame and the pedals, thereby conforming to the natural habits of the human body Assist the human body to complete the action of standing or sitting down.

Further, the armrest is assembled on the support frame so that it can be raised and lowered relative to the support frame, and the armrest can be lifted by the armrest lifting and lowering drive mechanism, so that the user can reduce the body weight that should be borne by the lower limbs when standing, so as to maintain the human body. Standing for a long time can meet the needs of rehabilitation training or automatic bathing.

Description of drawings

Fig. 1 is the structural representation of automatic assisted standing device embodiment of the present invention;

Fig. 2 is the structural representation of Fig. 1 standing state;

Fig. 3 is a schematic structural view of the handrail in Fig. 1;

FIG. 4 is a schematic diagram of another viewing angle of FIG. 2 .

Detailed ways

As shown in Fig. 1 ~ Fig. 4, the embodiment of the automatic assisted standing device of the present invention, comprises frame 1, guides and assembles on the frame by the supporting frame guiding mechanism that guides along the up and down direction and is used to help the human body upper limbs to lift Frame 2. Guide the pedal 3 mounted on the frame for moving the lower limbs of the human body through the pedal guide mechanism oriented in the horizontal direction. The frame 1 is also provided with a supporting frame driving mechanism that drives the supporting frame 2 to move in the up and down direction 1. A pedal driving mechanism that drives the pedal 3 to move close to the support frame or move away from the support frame in the horizontal direction.

In this embodiment, the supporting frame 2 includes a supporting frame body 20 that cooperates with the supporting frame guiding mechanism and supporting frame driving mechanism, and two handrails 21 that are arranged side by side on the supporting frame body 20 at intervals, and the supporting frame guiding mechanism is fixed. On the two columns 5 arranged side by side on the frame, guide sleeves slidingly sleeved on the columns 5 are fixed on the supporting frame body 20, and the driving mechanism of the supporting frame is a screw nut mechanism driven by a motor, including a vertically extending vertical Leading screw 24 and the nut that is screwed on the vertical lead screw by screw thread and is fixedly connected with support frame body 20. As shown in Figure 4, the space between the two armrests 21 is left to accommodate the human torso. The handle 212 is provided at the obliquely lower side of the cross brace 211, and the transition between the cross brace 211 and the handle 212 is connected with a limiting protrusion 213 higher than the cross brace 211 for preventing the human body from falling forward. The rear ends of the two handrails 21 are fixed in the elongated holes 214 provided on the handrail elevating frame 22 by adjusting bolts, and the distance between the two handrails 21 can be adjusted by the nursing staff to loosen the adjusting bolts to make The distance between the two armrests 21 just adapts to the shoulder width of the user; the armrest body 20 includes the armrest elevating frame 22 that guides and assembles along the up and down direction and the armrest elevating drive mechanism that drives the armrest elevating frame 22 to move up and down. In the example, the handrail lifting drive mechanism is a screw nut mechanism 23 driven by a motor, and the handrail lifting frame 22 is guided and assembled on the column 5 .

The pedal drive mechanism is a lead screw nut mechanism driven by a motor, including a horizontally extending flat lead screw 31 and a nut that is screwed on the flat lead screw and connected to the pedal 3 through threads, and the pedal guide mechanism is a lead screw that drives the pedal. The horizontal guide pair of the nut mechanism and the rotating shaft axis installed at the bottom of the pedal cooperate with the vertical walking wheel of the leading screw to form.

The lower end of the supporting frame body 20 is hinged with a seat 6 for people to sit on, the rear end of the seat 6 is hinged with the supporting frame body 20, and the front portion of the seat 6 is hinged with chair legs 7 extending vertically. The lower end and pedal 3 are fixed. Chair leg 7 in the present embodiment is the electric push rod of adjustable length, because chair leg corresponds to the shank length of human body, just can adjust the length of chair leg to adapt to the different geometry of different human bodies by adjusting the length of electric push rod size. In order to precisely adjust the length of the chair legs to adapt to the actual length of the human calf, the length of the human calf is measured by the device itself or an external measuring instrument such as a light curtain measuring instrument, and a measuring electric push rod is installed between the electric push rod and the frame The grating ruler with telescopic length, the displacement signal of the electric push rod of the grating ruler and the measured signal of the human calf are all input to the controller (single chip or computer), and the controller sends a start command to the electric push rod. When the support frame goes up (or down) When moving, the seat base also moves up (or down), and at the same time, the electric push rod is activated to extend (or shorten) the chair leg 7; when the grating ruler detects that the seat leg is equal to the user's calf , the controller gives a stop command, the servo motor and the electric push rod of the supporting frame drive mechanism stop, and the action ends. This has just adapted to the calf length of different human bodies, and has satisfied the requirement that the automatic bathing robot of adaptation rubs the calf for it when the user sits down.

The support frame body 20 is provided with a backrest, and the backrest on the support frame body 20, the chair seat 6 and the chair legs 7 jointly form a deformable seat that is a support body vertically and puts down to be a seat. Each of the above-mentioned driving mechanisms adopts the servo motor to drive the lead screw to rotate to realize the linear motion of the corresponding nut and the device attached thereto. By controlling the speed and steering of the servo motor, the coordination of the lifting and translation actions when the seat deforms can be realized.

The pedal in the above embodiment is equipped with a pressure sensor that can weigh the weight of the human body and the pressure of the human body on the pedal. The signal obtained from the pressure sensor can be manually or through a controller (single-chip microcomputer or computer) that is connected to the pressure sensor signal through the signal input terminal. Control the servo motor of the armrest lifting drive mechanism, start to drive the armrest lifting frame and the armrest on it to move upward to a certain height, and apply a moderate upward support force to the human body with poor lower limb strength. This height is obtained by the pressure sensor installed on the pedal. According to the signal decision, it can reduce the force on the lower limbs for the user to reduce a certain amount of body weight, but it will not cause the user's feet to leave the ground and cause the upper limbs to be overstressed and feel uncomfortable.

The above-described embodiments can be specifically applied to a bathing robot. At this time, a hair washing device needs to be set above the top of the device, and a scrubbing and spraying device should be set on the side of the device.

When in use, first, the device is in the state shown in Figure 1. After the user sits, the armpit of the user is supported by the cross brace 211 of the armrest, and the limiting protrusion 213 of the armrest prevents the human body from falling forward. The user's hand can be supported at the handle 212, and the hair washing device can wash his hair, and the scrubbing device can rub his back.

After the back is rubbed, the servo motor of the driving mechanism of the supporting frame drives the supporting frame and the backrest to move upwards, and the backrest drives the seat to move upwards, gradually changing from a horizontal position to a vertical position, and the supporting frame drives the armrest elevating frame 22 and the armrest 21 upwards. Move; when the servo motor of the drive mechanism of the support frame is started, the servo motor of the pedal drive mechanism is also started, and the pedal and the chair legs on it are driven to move horizontally backward (close to the support frame) at the same time, and the chair legs (that is, the electric push rod) ) is always in a vertical state; finally, the seat composed of the backrest, seat and chair legs is stretched out (as shown in Figure 2). Then the servo motor of the armrest lifting drive mechanism starts to drive the armrest lifting frame and the armrest on it to move upwards to a certain height, which is determined by the pressure sensor installed on the pedal, so as to achieve the purpose of reducing a certain amount of self weight for the user. In the process that the supporting frame is gradually raised and the pedal is gradually approaching the supporting frame, the device has helped the user up, and the user has been relieved of a certain weight by the lifting of the armrest lifting frame. At this moment, other devices such as rubbing the legs of this robot do a comprehensive scrubbing for it, and then perform work such as drying the body. After bathing, the servo motor of the handrail lifting drive mechanism reverses to make the handrail fall to a certain height, and the user can easily walk out of the bathing machine. Finally, the corresponding servo motors of the supporting driving mechanism and the pedal driving mechanism are reversed, so that the whole device returns to the position in Figure 1, and the action ends. Of course, for the human body who has difficulty standing and walking, it can also stay in the device and be assisted by the device to complete the sitting Actions.

Certainly in other embodiments of the present invention, the guiding mechanism of support frame, pedal also can adopt other conventional straight-line moving guide pair, as linear guide rail, directional traveling wheel, and the driving mechanism of both also can adopt other conventional driving mechanism , such as belts, chains, linear motors, rack and pinion, pneumatic/hydraulic cylinders and other mechanisms that can output linear motion, and some of the driving mechanisms also have special functions of guiding and limiting with more than one dimension like the screw nut mechanism. As in the structure of the pedal traveling wheel in the above-mentioned embodiment, the guiding dimension of the guiding mechanism is reduced.

In addition, in other embodiments of the present invention, the armrest elevating frame 22 on the supporting frame body 20 can also be provided with an independent or other type of guiding mechanism lifting drive mechanism, such as directly fixing the vertical column assembly armrest on the supporting frame body 20 Lifting frame and no longer by column 5, as the change of the lifting drive mechanism of other types of guide mechanisms is similar to the guide and drive mechanism of the above-mentioned enumerated support frame, pedals, all belong to the conventional technical means that those skilled in the art can realize. Of course, if the problem of weight loss is not considered and in order to reduce the cost, the armrest lifting frame 22 and its driving mechanism can also be completely omitted, and the armrest can be directly connected to the supporting frame body.

In addition, in other embodiments of the present invention, the chair legs 7 can also be adjusted by hydraulic piston rods or manually adjusted by threaded sleeves; Bolts and long holes can also be used to adjust the spacing between the handrails with conventional linearly moving adjustment mechanisms, such as lead screw nuts, hydraulic piston rods, etc. And because most people's human body geometry size difference is not big, in order to reduce cost or tailor-made for specially assigned person, chair leg 7 also can be fixed length, and two armrests also can be fixed on the armrest lifting frame without armrest spacing adjustment mechanism.

In addition, in other embodiments of the present invention, the armrests can also only be provided with horizontally or vertically extending support rods for people to hold or support the armpits of the human body, or they can also be bent rods, and users can support themselves with their hands or armpits as needed body of. the

Claims (6)

1. automatically assist standing device for one kind, it is characterized in that: comprise frame, by the supporting device guiding mechanism guiding of guiding along the vertical direction be assemblied in the supporting device that is used for assisting in the human upper limb lifting on the frame, pedal guiding mechanism guiding by the along continuous straight runs guiding is assemblied in the pedal that is used for moving human body lower limbs on the frame, also is provided with and drives the mobile along the vertical direction supporting device driving mechanism of described supporting device, drives the pedal-driven mechanism that described pedal moves near supporting device in the horizontal direction or move away from supporting device on the frame; Described supporting device comprises assisting support body in and being located at the handrail of assisting and/or the support human body armpit hand steered for the people on the support body in of cooperating with described supporting device guiding mechanism and supporting device driving mechanism; Described lower end of assisting support body in is hinged with the seat support of sitting for the people, 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 lower end and the pedal of chair leg are fixed.

2. automatically auxiliary standing device according to claim 1, it is characterized in that: described handrail includes the handle for people's hand grip that is supported in the stull of human body armpit when using and is connected in the stull front portion, handle is located at the oblique below of stull, between stull and the handle transition be connected be higher than stull be used for preventing the stopper protrusion that human body dumps forward.

3. automatically auxiliary standing device according to claim 1 and 2, it is characterized in that: the described support body of assisting in comprises thereon the handrail crane of along the vertical direction guiding movement setting and drives the handrail lift drive mechanism that the handrail crane moves up and down that described 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 human body are housed to the pressure sensor of pedal pressing force on the described pedal, the signal that obtains according to pressure sensor by artificial or by the controller that is connected with the pressure sensor signal output 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: described 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 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 by the screw thread spinning on the vertical hair thick stick with nut that assist support body in and be connected; Described pedal-driven mechanism is the screw-nut body by driven by motor, comprise horizontally extending flat leading screw and by the nut that with pedal be connected of screw thread spinning on flat leading screw, the pedal guiding mechanism is that shaft axis secondary by the horizontally-guided of the screw-nut body that drives pedal and that install the pedal bottom road wheel vertical with leading screw worked in coordination with and consisted of.

6. automatically auxiliary standing device according to claim 1, it is characterized in that: the over top of described automatically auxiliary standing device arranges washing device for hair, arranges in the side of automatically auxiliary standing device and gives a rubdown with a damp towel and spray equipment.

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