CN107378963A - One kind helps lavatory type old age service robot - Google Patents
One kind helps lavatory type old age service robot Download PDFInfo
- Publication number
- CN107378963A CN107378963A CN201710671809.0A CN201710671809A CN107378963A CN 107378963 A CN107378963 A CN 107378963A CN 201710671809 A CN201710671809 A CN 201710671809A CN 107378963 A CN107378963 A CN 107378963A
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- China
- Prior art keywords
- mechanical arm
- service robot
- supporting plate
- old age
- help
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
The invention discloses one kind to help lavatory type old age service robot, for when old man needs to go to toilet, old man can be moved on closestool in time, meets the needs that go to toilet of handicapped old solitary people；Its structure includes：Mobile chassis and body lifting apparatus, the body lifting apparatus are fastenedly connected with the mobile chassis；The mobile chassis is provided with road wheel；The body lifting apparatus have by human body in the form of sitting posture the freedom of motion of lifting and whereabouts；The body lifting apparatus is provided with the seat for support buttocks weight, and the first mechanical arm of the mobile seat；The first mechanical arm has the freedom of motion that the seat is lifted from buttocks and is moved to the human body side.The present invention is used for solving the technical problem how handicapped old man of auxiliary lower limb goes to toilet.
Description
Technical field
The present invention relates to robotic technology field of helping the elderly, and lavatory type old age service robot is helped more particularly, to one kind.
Background technology
With the continuous development of society, young man is busy with one's work so that the solitary phenomenon of old man is increasingly universal.With the age
Growth, the elderly is worn with age all the more, weak and sickly, therefore the problem of taking care of oneself of the elderly more highlights.Prior art
The middle the elderly for losing leg ability to act usually requires to assist in by manpower and moved with reaching when solving to go to toilet problem
Technique effect, for the elderly associated with wheelchair for a long time, or even need in the preset bedpan of buttocks and coordinate urine catheterization
Device could arrive the technique effect of smooth defecation.The mode assisted in by manpower needs at least to take 1 labour, can aggravate salary
The economic pressures of family, though using preset bedpan and coordinate the nursing care mode of urethral catheterization apparatus to solve going to toilet for old man to ask
Topic, can but bring the additional technical problem for toppling over excreta, can not still reduce required human cost.Therefore it provides one
Kind helps lavatory type old age service robot, to aid in old man that body is moved into lavatory position when old man needs to go to toilet, reduces shield
Cost is managed, the house comfort level of old solitary people is ensured, just turns into those skilled in the art's urgent problem to be solved.
The content of the invention
It is an object of the invention to provide one kind to help lavatory type old age service robot, can to when old man needs to go to toilet
Old man is moved on closestool in time, meets the needs that go to toilet of handicapped old solitary people.
To achieve these goals, the present invention provides one kind and helps lavatory type old age service robot, including：Mobile chassis and body
Body lifting apparatus, the body lifting apparatus are fastenedly connected with the mobile chassis；The mobile chassis is provided with road wheel；Institute
State body lifting apparatus have by human body in the form of sitting posture the freedom of motion of lifting and whereabouts；The body lifting apparatus is set
It is equipped with the seat for support buttocks weight, and the first mechanical arm of the mobile seat；The first mechanical arm has institute
State seat and the freedom of motion for being moved to the human body side is lifted from buttocks.
Preferably, the mobile chassis is provided with the power drive unit for driving the road wheel to rotate.
Preferably, the first mechanical arm is connected with the seat by mortise lock fastening structure；The mortise lock structure includes：
Lockhole and dead bolt, the tripper of locking and the unblock dead bolt is provided with the lockhole.
Preferably, the first mechanical arm includes the linkage being hinged with the mobile chassis and the driving connecting rod machine
The drive device of structure action.
Preferably, the body lifting apparatus has adjustment trunk free relative to the deformation at leg angle of inclination
Degree.
Preferably, the body lifting apparatus includes：For adjusting neck of the trunk relative to leg angle of inclination
Supporting plate, back supporting plate, leg supporting plate, second mechanical arm, three-mechanical arm and the 4th mechanical arm；The second mechanical arm with it is described
Neck supporting plate is fastenedly connected；The three-mechanical arm is fastenedly connected with the back supporting plate；4th mechanical arm and the leg
Portion's supporting plate is fastenedly connected.
Preferably, in addition to controller, in addition to controller, the controller respectively with the first mechanical arm, second
Mechanical arm, three-mechanical arm, the 4th mechanical arm and power drive unit electrical connection；The controller is used to control described the respectively
The action of one mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm and power drive unit.
Preferably, the second mechanical arm and the neck supporting plate, the three-mechanical arm and the back supporting plate, described
4th mechanical arm is respectively connected with the leg supporting plate by mortise lock fastening structure；The mortise lock structure includes：Lockhole and lock
Tongue, the tripper of locking and the unblock dead bolt is provided with the lockhole.
Preferably, the length of the mobile chassis and/or width have the free degree of folding and unfolding.
Preferably, the mobile chassis is made up of multiple be hinged casings successively, the body lifting apparatus and is located at
Between the casing of position be fastenedly connected；When the mobile chassis is in running order, the casing has along ground level
Direction, the free degree rotated using jointed shaft as axis.
The present invention is above-mentioned to help type old age service robot in lavatory to have the advantages that：
During the house of old solitary people, if old man moves to helping type old age service robot in lavatory to send the instruction that goes to toilet
Chassis can be moved to old man by road wheel at one's side, and the body of old man is lifted in the presence of body lifting apparatus, go forward side by side one
Step is moved into above closestool with mobile chassis, and first mechanical arm is when old man is moved to above closestool by seat from buttocks support
Act is moved to human body side, facilitates old man to take off clothing and goes to toilet and put on clothing again after going to toilet；Treat that old man puts on
After clothing, seat is moved to buttocks again and lifts position by first mechanical arm, and mobile chassis further sends old man back to by road wheel
It thinks the position of sitting and lying.The present invention is above-mentioned to help lavatory type old age service robot effectively to aid in only having ability to act above the waist
Old man gone to toilet, and further have help the elderly's physical displacement technique effect, can significantly mitigate nursing staff
Work load, improve the self care ability of the elderly.
Further, it is that the power drive unit that mobile chassis is set is that mobile chassis has mobile handling offer strong
Structural support, for the only the elderly of lower part of the body loss of activity, the setting of above-mentioned power drive unit can enter
One step obtains the elderly's Self-operating with the help of no nurse and helps the technology that type old age service robot in lavatory aids in it to go to toilet
Effect, and further voluntarily complete physical displacement for the elderly and strong structural support is provided.
Further, the present invention helps to reach by the way that first mechanical arm is connected with seat by mortise lock fastening structure
The convenient technique effect for flexibly dismantling first mechanical arm and seat, it is easy to seat and wheelchair or bed being integrated during use,
And then the auxiliary equipment with helping type old age service robot in lavatory to match is formed, to help type old age service robot in lavatory to be moved easily
The body of old man provides convenient.
Further, because first mechanical arm action which be to be mode is relatively simple, only relate to execution load-bearing and lift
And seat is shifted into two relevant actions, therefore use the linkage being hinged with mobile chassis according to prior art and drive the company
The drive device of linkage action can reach corresponding technique effect.
Further, further change for the comfort level problem of old man when further operation is lifted in lifting load-bearing, the present invention
Enter the structure of body lifting apparatus, make it have adjustment trunk relative to the deformation free degree at leg angle of inclination, help
There can be more comfortable sitting posture when being moved and when going to toilet in old man.
Further, the present invention provides a kind of enforceable structure type for body lifting apparatus, by using neck support
Plate, back supporting plate, leg supporting plate, second mechanical arm, three-mechanical arm and the 4th mechanical arm reach adjustment trunk relative to
The technique effect at leg angle of inclination.In addition, the appearance by synchronous adjustment second mechanical arm, three-mechanical arm and the 4th mechanical arm
State can also further obtain the technique effect of lifting old man's body.
Further, the control flexibility for helping lavatory type old age service robot can be substantially improved in the setting of controller, be
Old man's complete independently control operation and help type old age service robot in lavatory to be automatically performed to help lavatory operation to provide strong hardware branch
Hold.
Further, the present invention further applies mortise lock structure in second mechanical arm and neck supporting plate, three-mechanical arm
Place is fastenedly connected with back supporting plate and the 4th mechanical arm and leg supporting plate, for convenience of neck supporting plate, back supporting plate and leg
Supporting plate is detachably connected offer structural support, the using flexible of increase neck supporting plate, back supporting plate and leg supporting plate.
Further, during the use of robot, the technical problem needed by narrow space can be run into unavoidably, this
The mobile chassis that invention has degree of rolling out by using length and/or width effectively solves this technical problem；Its
In, the mobile chassis that is made up of multiple be hinged casings successively is realizes that above-mentioned draw-in and draw-off function provides structural support.
Brief description of the drawings
Fig. 1 is the structural representation for helping lavatory type old age service robot provided in the embodiment of the present invention 1；
Fig. 2 is the structural representation that type old age service robot in lavatory is helped in the embodiment of the present invention 2；
Fig. 3 is the mobile chassis structural representation that type old age service robot in lavatory is helped in the embodiment of the present invention 3；
Fig. 4 is the structural representation that type old age service robot in lavatory is helped in the embodiment of the present invention 4；
Fig. 5 is to help the structural representation that type old age service robot in lavatory goes to toilet under state in the embodiment of the present invention 4；
Fig. 6 is the structural representation of wheelchair in the embodiment of the present invention 4.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Embodiment 1：
Fig. 1 is refer to, Fig. 1 helps a kind of knot of embodiment of lavatory type old age service robot to be provided by the present invention
Structure schematic diagram.
It is provided by the invention to help type old age service robot in lavatory to include in a kind of embodiment：Mobile chassis 100
With body lifting apparatus 200, the body lifting apparatus 200 is fastenedly connected with the mobile chassis 100；The mobile chassis
100 are provided with road wheel 110；The body lifting apparatus 200 has lifting and the motion of whereabouts in the form of sitting posture by human body
The free degree；The body lifting apparatus 200 is provided with the seat 210 for support buttocks weight, and moves the seat 210
First mechanical arm 220；The first mechanical arm 220, which has to lift the seat 210 from buttocks, is moved to the human body side
Freedom of motion.
Specifically, as shown in figure 1, the column being arranged on mobile chassis 100 possesses elevating function, first mechanical arm 220
It is fixed on and is socketed on the cylinder of the column, can be rotated by axle of column, and then possess and seat 210 is lifted into displacement from buttocks
To the freedom of motion of human body side；Respectively fasten and connect with column for support leg waist and neck or the supporting plate on head
Connect, can together be lifted with column.Preferably, first mechanical arm 220 preserves not relative to the height of mobile chassis during column up-down
Just, it can facilitate and seat 210 is lifted into position extraction from buttocks.It should be noted that due to above-mentioned column and the knot of first mechanical arm
Structure is prior art, therefore its detailed construction details is not further illustrated and repeated herein.
During the house of old solitary people, if old man moves to helping type old age service robot in lavatory to send the instruction that goes to toilet
Chassis can be pushed to old man by road wheel at one's side, and the body of old man is lifted in the presence of body lifting apparatus, go forward side by side one
Step is moved into above closestool with mobile chassis, and first mechanical arm is when old man is moved to above closestool by seat from buttocks support
Act is moved to human body side, facilitates old man to take off clothing and goes to toilet and put on clothing again after going to toilet；Treat that old man puts on
After clothing, seat is moved to buttocks again and lifts position by first mechanical arm, and mobile chassis further sends old man back to by road wheel
It thinks the position of sitting and lying.The present invention is above-mentioned to help lavatory type old age service robot effectively to aid in only having ability to act above the waist
Old man gone to toilet, and further have help the elderly's physical displacement technique effect, can significantly mitigate nursing staff
Work load, improve the self care ability of the elderly.
Further, in one of optimal technical scheme of the present embodiment, the mobile chassis is provided with for driving
The power drive unit that the dynamic road wheel rotates.The power drive unit set for mobile chassis is that mobile chassis has movement
It is handling that strong structural support is provided, for the only the elderly of lower part of the body loss of activity, above-mentioned power drive dress
The setting put can further obtain the elderly's Self-operating with the help of no nurse and help type old age service robot in lavatory auxiliary
The technique effect that it goes to toilet is helped, and further voluntarily completes physical displacement for the elderly and strong structural support is provided.Due to upper
The structure for stating power drive unit is prior art, therefore its detailed construction details is not further illustrated and repeated herein.
Further, in one of optimal technical scheme of the present embodiment, the first mechanical arm and the seat
Connected by mortise lock fastening structure；The mortise lock structure includes：Lockhole and dead bolt, locking and unblock institute are provided with the lockhole
State the tripper of dead bolt.The present invention helps to reach by the way that first mechanical arm is connected with seat by mortise lock fastening structure
The convenient technique effect for flexibly dismantling first mechanical arm and seat, it is easy to seat and wheelchair or bed being integrated during use,
And then the auxiliary equipment with helping type old age service robot in lavatory to match is formed, to help type old age service robot in lavatory to be moved easily
The body of old man provides convenient.Because above-mentioned mortise lock structure can be realized easily according to prior art, thus in the present invention with mortise lock knot
The related CONSTRUCTED SPECIFICATION of structure is not further illustrated and repeated herein.
Further, in one of optimal technical scheme of the present embodiment, the first mechanical arm include with it is described
The be hinged linkage of mobile chassis and the drive device of the driving linkage action.By first mechanical arm to be performed
Manner of execution it is relatively simple, only relate to perform load-bearing and lift and seat is shifted into two relevant actions, therefore according to prior art
Corresponding technology can be reached using the linkage being hinged with mobile chassis and the drive device for driving the linkage to act
Effect.
Embodiment 2：
For the comfort level problem of old man when further operation is lifted in lifting load-bearing, the present embodiment is on the basis of embodiment 1
On, the body lifting apparatus has the deformation free degree of the adjustment trunk relative to leg angle of inclination.The present invention enters one
Step improves the structure of body lifting apparatus, makes it have the deformation free degree of the adjustment trunk relative to leg angle of inclination,
There can be more comfortable sitting posture when contributing to old man when being moved and going to toilet.
Further, as shown in Fig. 2 in one of optimal technical scheme of the present embodiment, the body lifts dress
Putting 200 also includes：For adjusting neck supporting plate 230, back supporting plate 240, leg of the trunk relative to leg angle of inclination
Supporting plate 250, second mechanical arm 260, the mechanical arm 280 of three-mechanical arm 270 and the 4th；The second mechanical arm 260 and the neck
Portion's supporting plate 230 is fastenedly connected；The three-mechanical arm 270 is fastenedly connected with the back supporting plate 240；4th mechanical arm
280 are fastenedly connected with the leg supporting plate 250.
It should be noted that due to above-mentioned neck supporting plate 230, back supporting plate 240, leg supporting plate 250, in the present embodiment
Two mechanical arms 260, the structure of the mechanical arm 280 of three-mechanical arm 270 and the 4th are based on prior art, therefore its detailed construction details
Further do not illustrate and repeat herein.
The present invention provides a kind of enforceable structure type for body lifting apparatus, is held in the palm by using neck supporting plate, back
Plate, leg supporting plate, second mechanical arm, three-mechanical arm and the 4th mechanical arm reach adjustment trunk relative to leg inclination angle
The technique effect of degree.In addition, one can also be entered by the posture of synchronous adjustment second mechanical arm, three-mechanical arm and the 4th mechanical arm
Step obtains the technique effect of lifting old man's body.
Embodiment 3：
The present embodiment is on the basis of embodiment 2, in addition to controller, and the controller is mechanical with described first respectively
Arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm and power drive unit electrical connection；The controller is used to control respectively
Make the action of the first mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm and power drive unit.
It should be noted that because the structure of controller in the present embodiment is prior art, therefore its dependency structure details is herein
Further do not illustrate and repeat.The setting of controller, which can be substantially improved, helps the control of lavatory type old age service robot flexible
Property, for old man's complete independently control operation and help lavatory type old age service robot be automatically performed help lavatory operation provides effectively it is hard
Part is supported.
Further, in one of optimal technical scheme of the present embodiment, the second mechanical arm and the neck
Supporting plate, the three-mechanical arm and the back supporting plate, the 4th mechanical arm and the leg supporting plate respectively pass through mortise lock
Fastening structure connects；The mortise lock structure includes：Lockhole and dead bolt, locking and the unblock dead bolt are provided with the lockhole
Tripper.
Mortise lock structure is further applied and held in the palm at second mechanical arm and neck supporting plate, three-mechanical arm and back by the present invention
Plate and the 4th mechanical arm and leg supporting plate are fastenedly connected place, for convenience of neck supporting plate, back supporting plate and leg supporting plate can
Dismantling connection provides structural support, the using flexible of increase neck supporting plate, back supporting plate and leg supporting plate.
Further, in one of optimal technical scheme of the present embodiment, the length and/or width of the mobile chassis
The free degree of the degree with folding and unfolding.Due to during the use of robot, the technology needed by narrow space can be run into unavoidably
Problem, the mobile chassis that the present invention has degree of rolling out by using length and/or width effectively solve this technology
Problem；Wherein, the mobile chassis being made up of multiple be hinged casings successively is realizes that above-mentioned draw-in and draw-off function provides structural support.
Further, as shown in figure 3, in one of optimal technical scheme of the present embodiment, the mobile chassis 100
It is made up of multiple casings 101 being hinged successively, the body lifting apparatus connects with the centrally located fastening of the casing 101
Connect；When the mobile chassis is in running order, the casing has along ground level direction, is rotated by axis of jointed shaft
The free degree.Said structure can make mobile chassis be provided simultaneously with the free degree of length and/or width folding and unfolding freely, be easy to robot
Space is used by narrow in moving process.Wherein, road wheel E, F, G, H is used to aid in mobile chassis to move.Longitudinal joint
5th, 6,7,8 length for being arranged to mobile chassis and/or width folding and unfolding provide support.
Embodiment 4：
The present embodiment as shown in Figure 4 provides another enforceable mechanical structure signal on the basis of above-described embodiment
Figure.Wherein, mat A is used for support neck, and mat B is used for reinforced back and waist, and mat C is used for support buttocks, and mat D is used for
Support huckle；Be preferably provided with clamping lock on mat A, B, C, D, can respectively with the mortise lock on four first, second, third, fourth mechanical arms
It coincide, locked and fixed.After user sends instruction, type old age service robot in lavatory is helped to come in face of old man, first, second, third, fourth
Four mechanical arms fix mat A, B, C, D respectively, then lift old man, then, help lavatory type old age service robot will
Carry old man and go to toilet, be then parked in before closestool.As shown in Figure 4 and Figure 5, horizontal joint 1,2,3,4, when old man is by band
To before and after closestool, horizontal joint 1,2 is used for the luffing angle for adjusting old man, the body of old man is slightly swung back, is accompanied with simultaneously
The technique effect of lifting old man's body, mechanical arm fourth withdraw mat C in time when old man's buttocks separates with mat C, old to facilitate
People completes the clothing housekeeping operation before going to toilet；Horizontal joint 3,4 can be used for adjusting support angle, be advantageous to further keep weight
The heart；Treat that old man's clothing arranges to finish, mechanical bracelet, second, fourth interoperation adjust the sitting posture of old man, and old man is placed on into horse
On bucket, now old man possesses the condition of going to toilet；Treat that old man goes to toilet to finish, help type old age service robot in lavatory to inversely perform above-mentioned behaviour
Make, and old man can be placed on the position for needing to lay.
Further, as shown in fig. 6, when mat A, B, C, D pass through locking-type with four first, second, third, fourth mechanical arms respectively
When structure KS forms the connected mode being readily disassembled, mat A, B, C, D can also be matched somebody with somebody as the mat on wheelchair in diagram and are arranged
Put, and then conveniently old man is from the wheelchair held up and aids in the technique effect to go to toilet.In addition, mat D may also be fabricated which with always
The bed that people couches for a long time is adapted, and by setting the groove being adapted with mat D profiles in edge of bed, is easy to mat D and bed surface phase
Concordantly, in use, after buttocks is moved on mat D by old man, can be completed such as lavatory using lavatory type old age service robot is helped
The auxiliary movement needed.
The various embodiments described above are only the preferred embodiment of the present invention, in the art, every to be based on skill of the present invention
Changes and improvements in art scheme, it should not exclude outside protection scope of the present invention.
Claims (10)
1. one kind helps lavatory type old age service robot, it is characterised in that including：Mobile chassis and body lifting apparatus, the body
Body lifting apparatus is fastenedly connected with the mobile chassis；The mobile chassis is provided with road wheel；The body lifting apparatus tool
There is human body the freedom of motion of lifting and whereabouts in the form of sitting posture；The body lifting apparatus is provided with for support buttocks
The seat of weight, and the first mechanical arm of the mobile seat；The first mechanical arm, which has, lifts the seat from buttocks
It is moved to the freedom of motion of the human body side.
2. according to claim 1 help lavatory type old age service robot, it is characterised in that the mobile chassis is provided with use
In the power drive unit for driving the road wheel to rotate.
3. according to claim 1 help lavatory type old age service robot, it is characterised in that the first mechanical arm with it is described
Seat is connected by mortise lock fastening structure；The mortise lock structure includes：Lockhole and dead bolt, locking and solution are provided with the lockhole
Lock the tripper of the dead bolt.
4. according to claim 1 help lavatory type old age service robot, it is characterised in that the first mechanical arm include with
The be hinged linkage of the mobile chassis and the drive device of the driving linkage action.
5. according to claim 1 help lavatory type old age service robot, it is characterised in that the body lifting apparatus has
Adjust the deformation free degree of the trunk relative to leg angle of inclination.
6. according to claim 5 help lavatory type old age service robot, it is characterised in that the body lifting apparatus bag
Include：For adjust trunk relative to the neck supporting plate at leg angle of inclination, back supporting plate, leg supporting plate, second mechanical arm,
Three-mechanical arm and the 4th mechanical arm；The second mechanical arm is fastenedly connected with the neck supporting plate；The three-mechanical arm with
The back supporting plate is fastenedly connected；4th mechanical arm is fastenedly connected with the leg supporting plate.
7. according to claim 6 help lavatory type old age service robot, it is characterised in that also including controller, the control
Device processed is electrically connected with the first mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm and power drive unit respectively
Connect；The controller is used to control the first mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm respectively and moved
The action of force driving device.
8. according to claim 6 help lavatory type old age service robot, it is characterised in that the second mechanical arm with it is described
Neck supporting plate, the three-mechanical arm and the back supporting plate, the 4th mechanical arm respectively pass through with the leg supporting plate
Mortise lock fastening structure connects；The mortise lock structure includes：Lockhole and dead bolt, locking and the unblock lock are provided with the lockhole
The tripper of tongue.
9. according to claim 1 help lavatory type old age service robot, it is characterised in that the length of the mobile chassis
And/or width has the free degree of folding and unfolding.
10. according to claim 9 help lavatory type old age service robot, it is characterised in that the mobile chassis is by multiple
Be hinged casing is formed successively, and the body lifting apparatus is fastenedly connected with the centrally located casing；When the shifting
When dynamic chassis is in running order, the casing has along ground level direction, the free degree rotated using jointed shaft as axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710671809.0A CN107378963A (en) | 2017-08-08 | 2017-08-08 | One kind helps lavatory type old age service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710671809.0A CN107378963A (en) | 2017-08-08 | 2017-08-08 | One kind helps lavatory type old age service robot |
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| CN107378963A true CN107378963A (en) | 2017-11-24 |
Family
ID=60355140
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| CN201710671809.0A Pending CN107378963A (en) | 2017-08-08 | 2017-08-08 | One kind helps lavatory type old age service robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702778A (en) * | 2020-06-16 | 2020-09-25 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
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| CN106137575A (en) * | 2016-08-24 | 2016-11-23 | 上海邦邦机器人有限公司 | A kind of stand-type car of taking care of oneself |
| CN106214365A (en) * | 2016-09-28 | 2016-12-14 | 上海邦邦机器人有限公司 | A kind of retractable seat mechanism and be provided with the car of taking care of oneself of this chair mechanism |
| TWM537894U (en) * | 2016-10-05 | 2017-03-11 | 正修學校財團法人正修科技大學 | Standing type wheelchair with toilet function |
| CN207027532U (en) * | 2017-08-08 | 2018-02-23 | 北京石油化工学院 | One kind helps lavatory type old age service robot |
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| CN111702778A (en) * | 2020-06-16 | 2020-09-25 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
| CN111702778B (en) * | 2020-06-16 | 2022-01-04 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
| US11701781B2 (en) | 2020-06-16 | 2023-07-18 | Dalian University Of Technology | Multi-arm robot for realizing conversion between sitting and lying posture of patients and carrying patients to different positions |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
| CN112274357B (en) * | 2020-10-28 | 2022-06-24 | 苏州工艺美术职业技术学院 | Home care robot |
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