CN107049668A - A kind of nursing robot uses lifting seat mechanism - Google Patents
A kind of nursing robot uses lifting seat mechanism Download PDFInfo
- Publication number
- CN107049668A CN107049668A CN201710339533.6A CN201710339533A CN107049668A CN 107049668 A CN107049668 A CN 107049668A CN 201710339533 A CN201710339533 A CN 201710339533A CN 107049668 A CN107049668 A CN 107049668A
- Authority
- CN
- China
- Prior art keywords
- seat
- push rod
- sleeve
- bearing
- free bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
Lifting seat mechanism is used the present invention relates to a kind of nursing robot, it is characterised in that the lifting seat mechanism includes seat, seat bar, Fixture for tube of seat, first sleeve, the second sleeve pipe, clip, clip free bearing, connecting rod, push rod connector, push rod head connector, first bearing seat, electric pushrod, push rod Caudal connectors, second bearing seat and seat free bearing；The seat is connected with the top of seat bar；The first sleeve includes horizontal segment and vertical section, and the bottom nested of the seat bar steps up the vertical section of seat bar and first sleeve in the vertical section of first sleeve, and by Fixture for tube of seat, and fixed；The horizontal segment of the first sleeve is nested in the second sleeve pipe, and is stepped up the horizontal segment of first sleeve with second sleeve pipe one end by another Fixture for tube of seat, and fixed；The other end of second sleeve pipe is hinged with seat free bearing, and the second sleeve pipe can be rotated around the hinge of seat free bearing, frame in the middle part of the other end connection nursing robot of seat free bearing.
Description
Technical field
The present invention relates to intelligent nursing machine people's technical field, and in particular to a kind of nursing robot uses lifting seat machine
Structure.
Background technology
With constantly developing, the aging population degree in the domestic or even world is gradually aggravated, wherein the old man of half disability
Quantity also gradually increases, and the daily daily life degree of difficulty of half disability old man is increased, at the same time, and the nursery work of old man is also to shield
Reason personnel bring huge work load, therefore the roboticized cry of nursery work also more and more higher.Domestic cleaning device
Device people industry is existing still in the initial development stage, and the related every technology of nursing robot is also to be improved.
Existing nursing robot's (number of patent application at this stage：201380076990.0) do not have and refer to and will protected
After object takes in one's arms, the part of object placement seat, due to the presence without seat, nursing robot is just protected in handling process
The chest of object, oxter band very big body burden are (because in handling process, chest, the armpit of object bear main work
With).The comfortable security performance of nursing robot can not be ensured well.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention is intended to solve is to provide a kind of nursing robot's lifting
Chair mechanism, the lifting seat mechanism utilizes linkage (clip free bearing, connection by controlling the stretching of electric pushrod, withdrawing
Bar, push rod connector composition linkage), make lifting seat mechanism that there is the function of rising and withdraw, and risen in seat
To terminal during position, seat self-locking, without energy dissipation brace.Lifting seat mechanism of the present invention not only reduces energy resource consumption, efficiently peace
Entirely, while significantly reducing in nursing handling process by the chest of caregiver, the body burden of oxter, nursing robot is improved
Comfortableness.
The technical scheme that the present invention solution technical problem is used is to provide a kind of nursing robot and uses lifting seat machine
Structure, it is characterised in that the lifting seat mechanism includes seat, seat bar, Fixture for tube of seat, first sleeve, the second sleeve pipe, clip, clip hinge
Seat, connecting rod, push rod connector, push rod head connector, first bearing seat, electric pushrod, push rod Caudal connectors, the second axle
Bearing and seat free bearing；
The seat is connected with the top of seat bar；The first sleeve is included under horizontal segment and vertical section, the seat bar
Portion is nested in the vertical section of first sleeve, and is stepped up the vertical section of seat bar and first sleeve by Fixture for tube of seat, and fixed；Institute
The horizontal segment for stating first sleeve is nested in the second sleeve pipe, and by another Fixture for tube of seat by the horizontal segment of first sleeve and second
Sleeve pipe one end is stepped up, and fixed；The other end of second sleeve pipe is hinged with seat free bearing, and the second sleeve pipe can surround seat free bearing
Hinge rotated, frame in the middle part of the other end of seat free bearing connection nursing robot；The clip is solid by the mode of stepping up
Due on the postmedian of the second sleeve pipe；The lower hinge of the clip has clip free bearing, the bottom connection institute of the clip free bearing
State the top of connecting rod；The push rod connector is fold-line-shaped, and the lower end of the connecting rod is articulated with the middle part of push rod connector,
One end of the push rod connector is hinged with first bearing seat；The other end of push rod connector is hinged with push rod head connector；
The push rod head connector is connected with the head of electric pushrod, and the afterbody of electric pushrod passes through push rod Caudal connectors and
Two bearings are connected；The push rod Caudal connectors are hinged with second bearing seat；First bearing seat and the second bearing seat difference
On the front and back position for being fixed on nursing robot's bottom bay.
Compared with prior art, the beneficial effects of the invention are as follows：
The seat of lifting seat mechanism of the present invention can be moved up and down by the effect of electric pushrod, can realize seat
Lifting, and when clip free bearing, connecting rod, the stress of push rod connector on the same line when, lifting seat mechanism be in one
Dead-centre position, can realize the self-locking of seat.
The nursing robot of lifting seat mechanism of the present invention is installed, seat can be adjusted after it will be taken in one's arms by caregiver
Chair, by controlling electric pushrod to rise seat, the mechanism improves the automatization level of robot, nursing robot is existed
The operation nursed in handling process more facilitates；Simultaneously in nursing robot's handling process, the presence of seat can mitigate significantly
Master (because of in handling process, is born by the chest of object of nursing, armpit by the body burden of the chest of object of nursing, oxter
Want active force), improve by the physical comfort degree of object of nursing.Meanwhile, by using connecting rod and push rod connector this two
The characteristic of dead-centre position between individual two connecting rod so that lifting seat mechanism has auto-lock function in final position, in seat liter
Rise to terminal behind position, lifting seat mechanism in itself can the self-locking in the case where being acted on without external force, significantly reduce the burden of electric pushrod,
The consumption of the energy, highly effective and safe are reduced, and significantly extends the service life of associated mechanical components.
Brief description of the drawings
Fig. 1 is a kind of main structure diagram of embodiment of nursing robot's lifting seat mechanism of the present invention；
Fig. 2 is nursing robot's lifting seat mechanism original state schematic diagram of the present invention；
In figure：1st, seat, 2, seat bar, 3, Fixture for tube of seat, 4, first sleeve, the 5, second sleeve pipe, 6, clip, 7, clip free bearing,
8th, connecting rod, 9, push rod connector, 10, push rod head connector, 11, first bearing seat, 12, electric pushrod, 13, push rod afterbody
Connector, 14, second bearing seat, 15, frame, 16, seat free bearing.
Embodiment
The present invention is explained further with reference to embodiment and accompanying drawing, but is not protected in this, as to the application claim
Protect the restriction of scope.
Nursing robot of the present invention includes seat 1, seat with lifting seat mechanism (abbreviation lifting seat mechanism, referring to Fig. 1)
Bar 2, Fixture for tube of seat 3, first sleeve 4, the second sleeve pipe 5, clip 6, clip free bearing 7, connecting rod 8, push rod connector 9, push rod head
Connector 10, first bearing seat 11, electric pushrod 12, push rod Caudal connectors 13, second bearing seat 14 and seat free bearing 16；
(this steps up mode and present common bicycle seat and seat bar to the seat 1 by way of connector steps up
Connected mode is identical, and two crossbeams of seat bottom are compressed by two pressing plates, reaches and steps up effect) connect with the top of seat bar 2
Connect；The first sleeve 4 include horizontal segment and vertical section, the bottom nested of the seat bar 2 in the vertical section of first sleeve 4,
And stepped up seat bar 2 and the vertical section of first sleeve 4 by Fixture for tube of seat 3, and it is fixed；The horizontal segment of the first sleeve 4 is nested
The horizontal segment of first sleeve 4 is stepped up with the one end of the second sleeve pipe 5 in the second sleeve pipe 5, and by another Fixture for tube of seat 3, and it is solid
It is fixed；By elastic two Fixture for tube of seat, and then adjust seat bar 2 and first sleeve 4, the relative position of the sleeve pipe 5 of first sleeve 4 and second
Put, adaptability regulation can be carried out by the height difference of object of nursing for nursing robot, to adapt to different quilts
Object of nursing, improves the adaptability of the lifting seat mechanism and installs the comfortable of the nursing robot of the lifting seat mechanism
Property；The other end of second sleeve pipe 5 is hinged with seat free bearing 16, and the second sleeve pipe 5 can be carried out around the hinge of seat free bearing 16
Rotate, frame in the middle part of the other end connection nursing robot of seat free bearing 16；The clip 6 is fixed on second by the mode of stepping up
On the postmedian of sleeve pipe 5；The lower hinge of the clip 6 has clip free bearing 7, and the bottom of the clip free bearing 7 connects the company
The top of extension bar 8；The push rod connector is fold-line-shaped, and the lower end of the connecting rod 8 is articulated with the middle part of push rod connector 9；
One end of the push rod connector 9 is hinged with first bearing seat 11；The other end of push rod connector 9 and push rod head connector 10
It is hinged；The push rod head connector 10 is connected with the head of electric pushrod 12, and the afterbody of electric pushrod 12 passes through push rod tail
Portion's connector 13 is connected with second bearing 14；The push rod Caudal connectors 13 are hinged with second bearing seat 14；The first axle
Bearing 11 and second bearing seat 14 are separately fixed on the front and back position of nursing robot's bottom bay 15.
The push rod connector is L-shaped, and position of intersecting point connection connecting rod 8 in the middle part of L-type, two endpoint locations of L-type connect respectively
Connect first bearing seat 11 and push rod head connector 10.
, should be by seat free bearing 16, first bearing seat 11, second bearing seat before lifting seat mechanism of the present invention is needed to use
14 are connected with the installation of frame 15 of nursing robot relevant position, as shown in figure 1, passing through above-mentioned connected mode, the lifting seat
Mechanism directly drives push rod head connector to rotate, and then drive push rod to connect successively in the case where electric pushrod is stretched out and withdrawal is acted on
Fitting 9, connecting rod 8, present bar, clip free bearing, clip, the second sleeve pipe are rotated, the second sleeve pipe 5 using the hinge of seat free bearing 16 as
Center rotating, so as to drive Fixture for tube of seat, first sleeve and seat to be moved up and down as an entirety, realizes the lifting work(of seat
Energy.
The course of work of lifting seat mechanism of the present invention is as follows：
State (referring to Fig. 2) before lifting seat mechanism work is：Electric pushrod 12 is retracted state, in push rod cup
In the presence of portion's connector 10, push rod connector 9, connecting rod 8, clip 6, clip free bearing 7, seat 1, seat bar 2, first sleeve 4,
Second sleeve pipe 5, is attached near robot frame 15, and retracted state is presented, and now seat is in original position.
As electric pushrod 12 is started working, the length of electric pushrod 12 gradually increases, and electric pushrod 12 connects in push rod afterbody
In the presence of fitting 13, the hinge around second bearing seat 14 is rotated；Drive of the push rod connector 9 in push rod head connector 10
Under, rotated around the position of articulating point of first bearing seat 11；Connecting rod 8 and clip free bearing 7 are under the drive of push rod connector 9, around pushing away
The middle part hinge of joint element for bar 9 is relatively rotated；Clip free bearing 7 promotes the second sleeve pipe 5 to surround seat free bearing with the motion of connecting rod
16 position of articulating point rotation, seat 1 is present under bar 2, first sleeve 4, the drive of the second sleeve pipe 5 from original position around seat hinge
Seat 16 position of articulating point rotation, rises to final position, and the final position is that the second sleeve pipe is in horizontal state.
When seat 1 moves to final position, clip free bearing 7, connecting rod 8, the stress of push rod connector 9 are in same straight line
On, now lifting seat mechanism is in a dead-centre position, realizes the auto-lock function of lifting seat mechanism.
The orientation such as "front", "rear" in the application word, is a relative concept, before definition seat side is, shield
After reason robot fuselage side is.
The present invention does not address part and is applied to prior art.
Claims (2)
1. a kind of nursing robot uses lifting seat mechanism, it is characterised in that the lifting seat mechanism includes seat, seat bar, seat pipe
Folder, first sleeve, the second sleeve pipe, clip, clip free bearing, connecting rod, push rod connector, push rod head connector, clutch shaft bearing
Seat, electric pushrod, push rod Caudal connectors, second bearing seat and seat free bearing；
The seat is connected with the top of seat bar；The first sleeve includes horizontal segment and vertical section, and the bottom of the seat bar is embedding
It is enclosed in the vertical section of first sleeve, and is stepped up the vertical section of seat bar and first sleeve by Fixture for tube of seat, and it is fixed；Described
The horizontal segment of sleeve is nested in the second sleeve pipe, and by another Fixture for tube of seat by the horizontal segment of first sleeve and the second sleeve pipe
One end is stepped up, and fixed；The other end of second sleeve pipe is hinged with seat free bearing, and the second sleeve pipe can surround the hinge of seat free bearing
Point is rotated, frame in the middle part of the other end connection nursing robot of seat free bearing；The clip is fixed on by the mode of stepping up
On the postmedian of second sleeve pipe；The lower hinge of the clip has clip free bearing, and the bottom of the clip free bearing connects the company
The top of extension bar；The push rod connector is fold-line-shaped, and the lower end of the connecting rod is articulated with the middle part of push rod connector, described
One end of push rod connector is hinged with first bearing seat；The other end of push rod connector is hinged with push rod head connector；It is described
Push rod head connector is connected with the head of electric pushrod, and the afterbody of electric pushrod passes through push rod Caudal connectors and the second axle
Hold connection；The push rod Caudal connectors are hinged with second bearing seat；The first bearing seat and second bearing seat are fixed respectively
On the front and back position of nursing robot's bottom bay.
2. nursing robot according to claim 1 uses lifting seat mechanism, it is characterised in that the push rod connector is in L
Type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710339533.6A CN107049668B (en) | 2017-05-15 | 2017-05-15 | Lifting seat mechanism for nursing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710339533.6A CN107049668B (en) | 2017-05-15 | 2017-05-15 | Lifting seat mechanism for nursing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107049668A true CN107049668A (en) | 2017-08-18 |
| CN107049668B CN107049668B (en) | 2022-03-15 |
Family
ID=59597234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710339533.6A Active CN107049668B (en) | 2017-05-15 | 2017-05-15 | Lifting seat mechanism for nursing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107049668B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890998A (en) * | 2010-06-24 | 2010-11-24 | 张建民 | Portable bicycle with small-diameter wheel capable of being vertically folded |
| WO2012104575A1 (en) * | 2011-01-31 | 2012-08-09 | Silver Cross (Ip) Ltd | Device for reducing the rake of a child seat |
| CN104306117A (en) * | 2014-10-30 | 2015-01-28 | 博奥颐和健康科学技术（北京）有限公司 | Multifunctional seat with body-lifting function |
| CN104401379A (en) * | 2014-11-24 | 2015-03-11 | 好孩子儿童用品有限公司 | Stroller |
| CN204352058U (en) * | 2014-12-22 | 2015-05-27 | 博奥颐和健康科学技术（北京）有限公司 | A kind of power assisting device of multifunction seat |
| CN204368228U (en) * | 2015-01-04 | 2015-06-03 | 好孩子儿童用品有限公司 | Folding trolley |
| CN106074028A (en) * | 2016-07-11 | 2016-11-09 | 浙江英洛华康复器材有限公司 | Foldable electric wheeled chair |
| CN106218684A (en) * | 2016-08-30 | 2016-12-14 | 北京九星智元科技有限公司 | A kind of chassis folds device |
-
2017
- 2017-05-15 CN CN201710339533.6A patent/CN107049668B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890998A (en) * | 2010-06-24 | 2010-11-24 | 张建民 | Portable bicycle with small-diameter wheel capable of being vertically folded |
| WO2012104575A1 (en) * | 2011-01-31 | 2012-08-09 | Silver Cross (Ip) Ltd | Device for reducing the rake of a child seat |
| CN104306117A (en) * | 2014-10-30 | 2015-01-28 | 博奥颐和健康科学技术（北京）有限公司 | Multifunctional seat with body-lifting function |
| CN104401379A (en) * | 2014-11-24 | 2015-03-11 | 好孩子儿童用品有限公司 | Stroller |
| CN204352058U (en) * | 2014-12-22 | 2015-05-27 | 博奥颐和健康科学技术（北京）有限公司 | A kind of power assisting device of multifunction seat |
| CN204368228U (en) * | 2015-01-04 | 2015-06-03 | 好孩子儿童用品有限公司 | Folding trolley |
| CN106074028A (en) * | 2016-07-11 | 2016-11-09 | 浙江英洛华康复器材有限公司 | Foldable electric wheeled chair |
| CN106218684A (en) * | 2016-08-30 | 2016-12-14 | 北京九星智元科技有限公司 | A kind of chassis folds device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107049668B (en) | 2022-03-15 |
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