CN104224478A - Embracing electric shifting machine - Google Patents
Embracing electric shifting machine Download PDFInfo
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- CN104224478A CN104224478A CN201410532911.9A CN201410532911A CN104224478A CN 104224478 A CN104224478 A CN 104224478A CN 201410532911 A CN201410532911 A CN 201410532911A CN 104224478 A CN104224478 A CN 104224478A
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Abstract
An embracing electric shifting machine comprises a supporting leg opening and closing mechanism, a base, a vertical base, embracing arms, an electric lifting mechanism, an embracing arm opening and closing mechanism, an embracing arm locking mechanism, an electric control system, shank supporting mechanisms, a thigh supporting strap and a push handle. The vertical base is mounted on the base. The electric lifting mechanism is mounted on the inner side of the vertical base. The shank supporting mechanisms are mounted on the two sides of the vertical base. The supporting leg opening and closing mechanism is mounted under the base and comprises a left supporting leg and a right supporting leg. The embracing arm opening and closing mechanism is mounted at the upper end of the electric lifting mechanism. The embracing arms are connected to the embracing arm opening and closing mechanism. According to the embracing electric shifting machine, required functions are achieved by combining a manual mode and an electric mode; a left supporting arm and a right supporting arm on the upper portion are opened and closed by means of manual adjustment, and ascending and descending of the ends of the supporting arms are achieved in the electric mode; a left supporting frame and a right supporting frame at the bottom are opened and closed by means of electric control; a single-chip microcomputer is adopted to achieve the function of a controller, and therefore a circuit is concise overall.
Description
Technical field
The present invention relates to disabled's rehabilitation auxiliary implement field, particularly relate to and help the disabled to embrace formula electrically-operated shifting machine at the folder of indoor displacement.
Background technology
For lower limb stand and locomotor activity more weak or lose people with disability and old man, in daily life, when they from needs bed move to sofa, wheelchair, lavatory or bathroom time, traditional nursing care mode is, by the caregiver of at least 1, this disabled is moved to destination to lift the mode of embracing, even if the physical ability of caregiver allows, old man or sufferer also may not be certain to feel comfortable.In recent years; in order to solve the mobile problem of disabled; people have developed multiple electrically-operated shifting machine; mainly adopt the suspensory type movement machine of electric up-down; its suspender belt adopts hanging pocket formula to design mostly; first patient is loaded in a suspender belt by nursing staff; patient can lie low also can sitting posture; by movement machine, suspender belt is sling; just patient safety can being elevated, bother very much when wearing hanging pocket and immobilized patients, and during unsettled handling, operation protection being improper; very easily cause the secondary damage of patient, there is certain potential safety hazard.
The electrically-operated shifting machine of this project research is for lower limb local or total loss of function but upper body still has the handicapped person that at least short time oneself independently keeps the ability of sitting posture, develop a kind of accessory realizing position movement in folder armful mode, realize by care-giver from a position transfer to another one position.Meet patient in bed, wheelchair, position transfer between seat and toilet seat.Nursing is shifted and becomes light safety, quickness and high efficiency, allow patient person also obtain freely more and rely on oneself simultaneously.
Summary of the invention
In order to overcome the weak point in existing product and technology, the object of the present invention is to provide a kind of folder to embrace formula electrically-operated shifting machine, for the disabled of lower limb difficulty in walking, it not only meets the labor intensity that indoor displacement requirement can also alleviate nursing staff.This shifting machine does not need multidigit medical personnel to participate in, as long as 1 people can effortlessly operate easily, and during patient shifting, action is gently little, convenient, can not affect the state of an illness patient's condition of patient.
For achieving the above object, the present invention is by the following technical solutions:
Formula electrically-operated shifting machine embraced by a kind of folder, and it includes supporting leg open-and-close mechanism (1), base (2), stand (3), folder arm (4), electric lifting mechanism (5), folder arm open-and-close mechanism (6), folder arm locking mechanism (7), electric control system (8), shank supporting mechanism (9), thigh support suspender belt (10), handle (11);
Described stand (3) is arranged on base (2) top, and stand (3) inner side is provided with electric lifting mechanism (5);
Described shank supporting mechanism (9) is arranged on the both sides of stand (3), it comprises bracing frame (91), position ram (92), regulates support (93), lower limb holder (94), is regulated the front and back position of lower limb holder (94) by position ram (92);
Described supporting leg open-and-close mechanism (1) is arranged on the below of base 2, has two supporting legs 101 in left and right;
Described folder arm open-and-close mechanism 6 is arranged on electric lifting mechanism (5) upper end; Folder arm open-and-close mechanism 6 is connected with folder arm (4);
Described support suspender belt (10) is fixed on folder arm (4);
Described handle 11 is fixedly connected on stand (3).
Two, the left and right supporting leg (101) of described supporting leg open-and-close mechanism (1), be connected with base by hinged, supporting leg front end is provided with universal caster wheel (107); The realization of supporting leg folding is realized by two quadric chains connected, it comprises the 1st Linear motor-driven push rod (102), intermediate connecting rod (103), short rod (104), long draw (105), the expansion link front end of the 1st Linear motor-driven push rod (102) connects the front end of intermediate connecting rod (103), the rear end of intermediate connecting rod (103) is connected with the front end of long draw (105), and the rear end of this long draw (105) is connected with the rear end of a supporting leg (101); The middle part of intermediate connecting rod (103) is provided with jointed shaft, between the front end of this jointed shaft to intermediate connecting rod (103), connect the front end of short rod (104), the rear end of this short rod (104) is connected with the rear end of another supporting leg (101); Be connected with at the two ends of long and short pull bar and regulate joint (106), by the folding angle of extension and contraction control two supporting leg of the 1st Linear motor-driven push rod.
Described electric lifting mechanism (5) forms four-bar mechanism by the 2nd Linear motor-driven push rod (51), rocker arm bracket (52) and stand (3), 2nd Linear motor-driven push rod (51) upper end connecting rocker arm seat (52); connected by main shaft (53) between rocker arm bracket (52) and stand (3); the push rod holder (31) that stand (3) is fixedly connected with by lower end is hinged with the 2nd Linear motor-driven push rod (51) lower end, by the flexible lifting realizing rocker arm bracket (52) and left and right folder arm (41) of the 2nd Linear motor-driven push rod.
Described folder arm open-and-close mechanism (6) is by stationary pipes beam (61), left and right folder arm (41), free bearing (62), the reversion parallelogram lindage that linked arm rod (63) forms, stationary pipes beam (61) is fixedly connected with rocker arm bracket (52), stationary pipes beam (61) is provided with two free bearings (62), free bearing (62) upper outside end connects left and right folder arm (41), free bearing (62) bottom side Opposite direction connection linked arm rod (63), a free bearing (62) connects damping buffer (64), manually operate the opening and closing that folder arm (41) folding of one-sided left and right realizes left and right folder arm, realize folder and embrace function, speed-buffering when realizing folding by damping buffer (64), in order to avoid have injury to human body.
Described folder arm locking mechanism (7) comprises small rod (71), slide-bar (72), locking seat (73), positioning sleeve (74), latch (75), dog screw (76), locking stage clip (77), copper sheathing (78), one end of small rod (71) is connected with the crank (45) on folder arm (4) by the first hinge (79), the other end is connected by the second hinge (80) with slide-bar (72), locking seat (73) is arranged on stationary pipes beam (61), copper sheathing (78) is tight fit with the lateral bore (81) of locking seat (73), slide-bar (72) and copper sheathing (78) are matched in clearance, locking seat (73) is provided with sleeve pipe (84), latch (75) coordinates with the shoulder hole (82) of sleeve pipe (84), locking stage clip (77) latch in sleeve pipe (84) is equipped with, the outer end of latch and positioning sleeve (74) outer end hinged, positioning sleeve (74) sidewall has L connected in star (83), dog screw (76) is fixed on the lateral wall of sleeve pipe (84), dog screw (76) is arranged in L connected in star (83), relative sliding or rotation can be carried out between positioning sleeve (74) and sleeve pipe (84).
Described electric control system (8) comprises hand controller, control module, power supply, the 1st Linear motor-driven push rod and the 2nd Linear motor-driven push rod; Power supply is connected with control module electrical input, hand controller is connected with control module control input end, the output control terminal of control module is connected with the input of the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod respectively, realize the extension and contraction control to the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod by the operation of hand controller, realize the folding of supporting leg or the elevating control of folder arm.
Connect in the front end of left and right folder arm (41) and embrace hands skeleton (43), embrace hands skeleton (43) to be connected with an armful hands (44), this armful of hands skeleton (43) presss from both sides arm (41) for hinged with left and right, embracing that hands skeleton and left and right press from both sides between arm can relative Small-angle Rotation, to realize embracing freely fit of hands (44) and human body, improve comfortableness when pressing from both sides holding body.
Be connected by lower limb holder frame linking (95) between lower limb holder (94) with adjustment support (93), lower limb holder frame linking structure makes lower limb holder can carry out low-angle rotation around the rotating shaft of lower limb holder frame linking, the angle of lower limb holder angle that is automatic and human calf is adapted, improves the comfortableness of contact.
Left and right folder arm (41) is connected with handle (42).
The invention has the beneficial effects as follows: the present invention adopts and manually realizes required function with the electronic mode combined.The left and right folder arm on top adopts manual adjustments to realize opening and closing, realizes the ascending, descending of pressing from both sides arm end by electronic mode; Left and right, bottom supporting leg adopts Electronic control to realize opening and closing.Controller adopts single-chip microcomputer to realize its function, and realizing circuit is overall succinct.Executor adopts line handspike to drive, and noise is little, and action is accurate.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention.
Fig. 2 is schematic front view of the present invention.
Fig. 3 is that schematic diagram is looked on a left side of the present invention.
Fig. 4 is supporting leg open-and-close mechanism schematic diagram of the present invention.
Fig. 5 is folder arm elevating mechanism schematic diagram of the present invention.
Fig. 6 is folder arm open-and-close mechanism schematic diagram of the present invention.
Fig. 7 is folder arm locking mechanism schematic diagram of the present invention.
Fig. 8 is folder arm locking mechanism internal cross section figure of the present invention.
Fig. 9 is electric control system schematic diagram of the present invention.
Figure 10 is that of the present invention armful of hands 44 swings schematic diagram.
Figure 11 is that lower limb holder 94 of the present invention swings schematic diagram.
Drawing reference numeral: 1: supporting leg open-and-close mechanism; 101: supporting leg; 102: the 1 Linear motor-driven push rods; 103: intermediate connecting rod; 104: short rod; 105: long draw; 106: control joint; 107: foot is taken turns; 2: base; 3: stand; 31: push rod holder; 4: folder arm; 41: left and right folder arm; 42: handle; 43: embrace hands skeleton; 44: embrace hands; 45: crank; 5: electric lifting mechanism; 51: the 2 Linear motor-driven push rods; 52: rocker arm bracket; 53: main shaft; 6: folder arm open-and-close mechanism; 61: stationary pipes beam; 62: free bearing; 63: linked arm rod; 64: damping buffer; 7: folder arm locking mechanism; 71: small rod; 72: slide-bar; 73: locking seat; 74: positioning sleeve; 75: latch; 76: dog screw; 77: locking stage clip; 78: copper sheathing; 79: the first hinges; 80: the second hinges; 81: lateral bore; 82: shoulder hole; 83:L connected in star; 84: sleeve pipe; 85: primary nut; 8: electric control system; 9: shank supporting mechanism; 91: bracing frame; 92: position ram; 93: regulate support; 94: lower limb holder; 95: lower limb holder frame linking; 10: thigh support suspender belt; 11: handle.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Shown in Fig. 1, Fig. 2, Fig. 3, formula electrically-operated shifting machine embraced by a kind of folder, it includes supporting leg open-and-close mechanism 1, base 2, stand 3, folder arm 4, electric lifting mechanism 5, folder arm open-and-close mechanism 6, folder arm locking mechanism 7, electric control system 8, shank supporting mechanism 9, thigh support suspender belt 10, handle 11
Described stand 3 is arranged on above base 2, is provided with electric lifting mechanism 5 inside stand 3;
Described shank supporting mechanism 9 is arranged on the both sides of stand 3, and it comprises bracing frame 91, position ram 92, regulates support 93, lower limb holder 94, is regulated the front and back position of lower limb holder 94 by position ram 92;
Described supporting leg open-and-close mechanism 1 is arranged on the below of base 2, has two supporting legs 101 in left and right;
Described folder arm open-and-close mechanism 6 is arranged on electric lifting mechanism 5 upper end; Folder arm open-and-close mechanism 6 is connected with folder arm 4;
Described support suspender belt 10 is fixed in folder arm 4;
Described handle 11 is fixedly connected on stand 3.
Shown in Figure 4, two, the left and right supporting leg 101 of described supporting leg open-and-close mechanism 1, be connected with base by hinged, supporting leg front end is provided with universal caster wheel 107; The realization of supporting leg folding is realized by two quadric chains connected, it comprises the 1st Linear motor-driven push rod 102, intermediate connecting rod 103, short rod 104, long draw 105, the expansion link front end of the 1st Linear motor-driven push rod 102 connects the front end of intermediate connecting rod 103, the rear end of intermediate connecting rod 103 is connected with the front end of long draw 105, and the rear end of this long draw 105 is connected with the rear end of a supporting leg 101; The middle part of intermediate connecting rod 103 is provided with jointed shaft, connects the front end of short rod 104 between the front end of this jointed shaft to intermediate connecting rod 103, and the rear end of this short rod 104 is connected with the rear end of another supporting leg 101; Be connected with at the two ends of long and short pull bar and regulate joint 106, by the folding angle of extension and contraction control two supporting leg of the 1st Linear motor-driven push rod.
Shown in Figure 5, described electric lifting mechanism 5 forms four-bar mechanism by the 2nd Linear motor-driven push rod 51, rocker arm bracket 52 and stand 3,2nd Linear motor-driven push rod 51 upper end connecting rocker arm seat 52; connected by main shaft 53 between rocker arm bracket 52 and stand 3; the push rod holder 31 that stand 3 is fixedly connected with by lower end and the 2nd Linear motor-driven push rod 51 lower end hinged, by the flexible lifting realizing rocker arm bracket 52 and left and right folder arm 41 of the 2nd Linear motor-driven push rod.
Shown in Figure 6, the reversion parallelogram lindage that described folder arm open-and-close mechanism 6 is made up of stationary pipes beam 61, left and right folder arm 41, free bearing 62, linked arm rod 63, stationary pipes beam 61 is fixedly connected with rocker arm bracket 52, stationary pipes beam 61 is provided with two free bearings 62, free bearing 62 upper outside end connects left and right folder arm 41, free bearing 62 bottom side Opposite direction connection linked arm rod 63, a free bearing 62 connects damping buffer 64, manually operate the opening and closing that folder arm 41 folding of one-sided left and right realizes left and right folder arm, realize folder and embrace function; Speed-buffering when realizing folding by damping buffer 64, in order to avoid have injury to human body.
See Fig. 7, shown in Fig. 8, described folder arm locking mechanism 7 comprises small rod 71, slide-bar 72, locking seat 73, positioning sleeve 74, latch 75, dog screw 76, locking stage clip 77, copper sheathing 78, one end of small rod 71 is connected with the crank 45 in folder arm 4 by the first hinge 79, the other end is connected by the second hinge 80 with slide-bar 72, locking seat 73 is arranged on stationary pipes beam 61, copper sheathing 78 is tight fit with the lateral bore 81 of locking seat 73, slide-bar 72 and copper sheathing 78 are matched in clearance, locking seat 73 is provided with sleeve pipe 84, latch 75 coordinates with the shoulder hole 82 of sleeve pipe 84, locking stage clip 77 latch in sleeve pipe 84 is equipped with, latch 75 can be made to carry out axial elastic telescopic, outer end and positioning sleeve 74 outer end of latch are hinged, axial location is realized by primary nut 85, positioning sleeve 74 sidewall has L connected in star 83, dog screw 76 is fixed on the lateral wall of sleeve pipe 84, dog screw 76 is arranged in L connected in star 83, for realizing the axial and circumferential location of positioning sleeve, relative sliding or rotation can be carried out between positioning sleeve 74 and sleeve pipe 84.
When the inclined-plane A of latch 75 holds the inclined-plane B end in contact with slide-bar 72, two inclined-plane A and B overlap, utilize mechanical self-latching principle, and by the contact self-locking on inclined-plane, the stageless self-locking of arm rotational angle is pressed from both sides in realization.Pull out positioning sleeve 74 when driving latch slide axially into the end of L connected in star 83 and rotate in axial location groove, folder arm locking mechanism is for released state, when positioning sleeve 74 is screwed out axial location groove to circumferential locating slot, when being retracted into the top of groove under the pulling force locking stage clip, locking mechanism is for individual event lock-out state, namely press from both sides when arm is opened and can steplessly lock, if during closed clamp arm, locking mechanism does not play left and right, slide-bar 72 can outwards slide, now press from both sides the constraint that arm can be limited by human body, can not be further closed.When the outside Unscrew of left and right folder arm, by the contact self-locking on inclined-plane, realize the safety locking of folder arm rotational angle, effectively ensure that safety when patient is shifted embraced by folder.
Shown in Figure 9, described electric control system 8, comprise hand controller, control module, power supply and, the 1st Linear motor-driven push rod and the 2nd Linear motor-driven push rod composition; Power supply is connected with the input of control module, hand controller is connected with control module control input end, the output control terminal of control module is connected with the input of the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod respectively, realize the extension and contraction control to the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod by the operation of hand controller, realize the folding of supporting leg or the elevating control of folder arm.Hand controller adopts the HB Series Controller of LINAK, has multi executors and controls, remembers, drives function simultaneously.Control module adopts the CBJ2 control box of LINAK, there is soft start and stop function, emergent reduction function, for push rod provides accurate position feed back and control accurately, the BAJ1 type set of cells of power acquisition LINAK, adopt integrated form buckle systems to be connected with control box during installation, come for set of cells charging by the integration charger circumscripted power line in control box during set of cells charging.Linear motor-driven push rod have employed in LINAK the electric pushrod being applicable to medical care series, under the prerequisite meeting maximum thrust load and speed, requires Linear motor-driven push rod compact conformation, powerful, security configuration.
Shown in Fig. 2, Fig. 3, described shank supporting mechanism comprises bracing frame 91, position ram 92, regulates support 93, lower limb holder 94, is regulated the front and back position of lower limb holder 94 by position ram 92.
Described support suspender belt 10 is fixed in the folder arm 4 of left and right, for alleviating the stressed of axil holder 44 pairs of human body axillary fossa places.
Described handle 11 is fixedly connected on stand 3, embraces moving direction and the speed of machine for manipulating folder.
Left and right folder arm 41 is connected with handle 42.
Shown in Figure 10, connect in the front end of left and right folder arm 41 and embrace hands skeleton 43, embrace hands skeleton 43 to be connected with an armful hands 44, it is hinged that this armful of hands skeleton 43 presss from both sides arm 41 with left and right, embracing that hands skeleton and left and right press from both sides between arm can relative Small-angle Rotation, to realize embracing freely fit of hands 44 and human body, improve comfortableness when pressing from both sides holding body.
Shown in Figure 11, be connected by lower limb holder frame linking 95 between lower limb holder 94 with adjustment support 93, lower limb holder frame linking structure makes lower limb holder can carry out low-angle rotation around the rotating shaft of lower limb holder frame linking, the angle of lower limb holder angle that is automatic and human calf is adapted, improves the comfortableness of contact.
During actual use, first regulate left and right folder arm 41 height with electric lifting mechanism 5, human body oxter is pressed from both sides by left and right folder arm 41 and embraces, support the buttocks of pocket seat human body on suspender belt 10, face is towards handle 11, and the both feet of human body are placed in the plane of base 2, and both legs are placed in lower limb holder 94, pinion (not shown) with shank bandage, move; When human body is placed on wheelchair by needs, with the contraction of the 1st Linear motor-driven push rod 102 of supporting leg open-and-close mechanism 1, drive supporting leg 101 to open, wheelchair is shifted onto the centre of two supporting legs 101, human body is placed on wheelchair, complete the movement of human body.
In sum, the present invention has the following advantages:
1. realize by electronic mode the ascending, descending that support arm embraces hands;
2. bottom, left and right support adopts Electronic control to realize opening and closing.
3. the left and right supporting arms on top adopts manual adjustments to realize opening and closing, and mode embraced by the level folder of employing, and embracing width between arm can steplessly lock.
4. armful hands can realize swing angular adjustment and location, and realization is fitted naturally with human body.
5. powered part comprises joystick, controller, executor, power supply.Controller adopts single-chip microcomputer to realize its function, and realizing circuit is overall succinct.Executor adopts line handspike to drive, and noise is little, and action is accurate.
6., for realizing equipment safety operation, emergency stop button can also be had specially to prevent Electronic control malfunctioning.
7. shank bandage and the quick binding and the dismounting that support suspender belt.
Claims (9)
1. a formula electrically-operated shifting machine embraced by folder, it is characterized in that: it includes supporting leg open-and-close mechanism (1), base (2), stand (3), folder arm (4), electric lifting mechanism (5), folder arm open-and-close mechanism (6), folder arm locking mechanism (7), electric control system (8), shank supporting mechanism (9), thigh support suspender belt (10), handle (11);
Described stand (3) is arranged on base (2) top, and stand (3) inner side is provided with electric lifting mechanism (5);
Described shank supporting mechanism (9) is arranged on the both sides of stand (3), it comprises bracing frame (91), position ram (92), regulates support (93), lower limb holder (94), is regulated the front and back position of lower limb holder (94) by position ram (92);
Described supporting leg open-and-close mechanism (1) is arranged on the below of base (2), has two supporting legs (101) in left and right;
Described folder arm open-and-close mechanism (6) is arranged on electric lifting mechanism (5) upper end; Folder arm open-and-close mechanism 6 is connected with folder arm (4);
Described support suspender belt (10) is fixed on folder arm (4);
Described handle 11 is fixedly connected on stand 3.
2. formula electrically-operated shifting machine embraced by folder according to claim 1, it is characterized in that:
Two, the left and right supporting leg (101) of described supporting leg open-and-close mechanism (1), be connected with base by hinged, supporting leg front end is provided with universal caster wheel (107); The realization of supporting leg folding is realized by two quadric chains connected, it comprises the 1st Linear motor-driven push rod (102), intermediate connecting rod (103), short rod (104), long draw (105), the expansion link front end of the 1st Linear motor-driven push rod (102) connects the front end of intermediate connecting rod (103), the rear end of intermediate connecting rod (103) is connected with the front end of long draw (105), and the rear end of this long draw (105) is connected with the rear end of a supporting leg (101); The middle part of intermediate connecting rod (103) is provided with jointed shaft, between the front end of this jointed shaft to intermediate connecting rod (103), connect the front end of short rod (104), the rear end of this short rod (104) is connected with the rear end of another supporting leg (101); Be connected with at the two ends of long and short pull bar and regulate joint (106), by the folding angle of extension and contraction control two supporting leg of the 1st Linear motor-driven push rod.
3. formula electrically-operated shifting machine embraced by folder according to claim 2, it is characterized in that:
Described electric lifting mechanism (5) forms four-bar mechanism by the 2nd Linear motor-driven push rod (51), rocker arm bracket (52) and stand (3), 2nd Linear motor-driven push rod (51) upper end connecting rocker arm seat (52); connected by main shaft (53) between rocker arm bracket (52) and stand (3); the push rod holder (31) that stand (3) is fixedly connected with by lower end is hinged with the 2nd Linear motor-driven push rod (51) lower end, by the flexible lifting realizing rocker arm bracket (52) and left and right folder arm (41) of the 2nd Linear motor-driven push rod.
4. formula electrically-operated shifting machine embraced by folder according to claim 3, it is characterized in that:
Described folder arm open-and-close mechanism (6) is by stationary pipes beam (61), left and right folder arm (41), free bearing (62), the reversion parallelogram lindage that linked arm rod (63) forms, stationary pipes beam (61) is fixedly connected with rocker arm bracket (52), stationary pipes beam (61) is provided with two free bearings (62), free bearing (62) upper outside end connects left and right folder arm (41), free bearing (62) bottom side Opposite direction connection linked arm rod (63), a free bearing (62) connects damping buffer (64), manually operate the opening and closing that folder arm (41) folding of one-sided left and right realizes left and right folder arm, realize folder and embrace function, speed-buffering when realizing folding by damping buffer (64), in order to avoid have injury to human body.
5. formula electrically-operated shifting machine embraced by folder according to claim 4, it is characterized in that:
Described folder arm locking mechanism (7) comprises small rod (71), slide-bar (72), locking seat (73), positioning sleeve (74), latch (75), dog screw (76), locking stage clip (77), copper sheathing (78), one end of small rod (71) is connected with the crank (45) in folder arm 4 by the first hinge (79), the other end is connected by the second hinge (80) with slide-bar (72), locking seat (73) is arranged on stationary pipes beam (61), copper sheathing (78) is tight fit with the lateral bore (81) of locking seat (73), slide-bar (72) and copper sheathing (78) are matched in clearance, locking seat (73) is provided with sleeve pipe (84), latch (75) coordinates with the shoulder hole (82) of sleeve pipe (84), locking stage clip (77) latch in sleeve pipe (84) is equipped with, latch (75) can be made to carry out axial elastic telescopic, the outer end of latch and positioning sleeve (74) outer end hinged, axial location is realized by primary nut (85), positioning sleeve (74) sidewall has L connected in star (83), dog screw (76) is fixed on the lateral wall of sleeve pipe (84), dog screw (76) is arranged in L connected in star (83), for realizing the axial and circumferential location of positioning sleeve, relative sliding or rotation can be carried out between positioning sleeve (74) and sleeve pipe (84).
6. formula electrically-operated shifting machine embraced by folder according to claim 5, it is characterized in that:
Described electric control system (8) comprises hand controller, control module, power supply, the 1st Linear motor-driven push rod (102) and the 2nd Linear motor-driven push rod (51); Power supply is connected with control module electrical input, hand controller is connected with control module control input end, the output control terminal of control module is connected with the input of the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod respectively, realize the extension and contraction control to the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod by the operation of hand controller, realize the folding of supporting leg or the elevating control of folder arm.
7. formula electrically-operated shifting machine embraced by folder according to claim 6, it is characterized in that:
Connect in the front end of left and right folder arm (41) and embrace hands skeleton (43), embrace hands skeleton (43) to be connected with an armful hands (44), this armful of hands skeleton (43) presss from both sides arm (41) for hinged with left and right, embracing that hands skeleton and left and right press from both sides between arm can relative Small-angle Rotation, to realize embracing freely fit of hands (44) and human body, improve comfortableness when pressing from both sides holding body.
8. formula electrically-operated shifting machine embraced by folder according to claim 7, it is characterized in that:
Be connected by lower limb holder frame linking (95) between lower limb holder (94) with adjustment support (93), lower limb holder frame linking structure makes lower limb holder can carry out low-angle rotation around the rotating shaft of lower limb holder frame linking, the angle of lower limb holder angle that is automatic and human calf is adapted, improves the comfortableness of contact.
9. formula electrically-operated shifting machine embraced by folder according to claim 8, it is characterized in that: on left and right folder arm (41), be connected with handle (42).
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| CN201410532911.9A CN104224478B (en) | 2014-10-10 | 2014-10-10 | Embracing electric shifting machine |
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| CN201410532911.9A CN104224478B (en) | 2014-10-10 | 2014-10-10 | Embracing electric shifting machine |
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| CN104224478B CN104224478B (en) | 2017-02-15 |
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| CN107813324A (en) * | 2017-11-30 | 2018-03-20 | 河北工业大学 | A kind of broad-adjustable nursing robot supports flexible arm structure with oxter |
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