CN107813324B - Armpit supporting flexible double-arm structure with adjustable width for nursing robot - Google Patents
Armpit supporting flexible double-arm structure with adjustable width for nursing robot Download PDFInfo
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- CN107813324B CN107813324B CN201711232991.6A CN201711232991A CN107813324B CN 107813324 B CN107813324 B CN 107813324B CN 201711232991 A CN201711232991 A CN 201711232991A CN 107813324 B CN107813324 B CN 107813324B
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an armpit supporting flexible double-arm structure for a width-adjustable nursing robot, which comprises a chest rest and two armpit supporting flexible arms, wherein the two armpit supporting flexible arms are symmetrically arranged at two ends of the chest rest in a left-right mode, and the structures of the two armpit supporting flexible arms are completely the same; each armpit supporting flexible arm comprises an armpit supporting large arm, an armpit supporting small arm, an electric push rod, a chest rest connecting piece, a width adjusting upper pressing block, a width adjusting lower pressing block, a transmission piece and a spring plate, wherein the front end of the armpit supporting large arm is connected with the rear end of the armpit supporting small arm through the transmission piece, and the rear end of the armpit supporting large arm is connected with the chest rest connecting piece through an upper spring plate and a lower spring plate. The structure is provided with a flexible link, the robot arm is more suitable for serving people, the robot arm is provided with a embracing link, people are prevented from being injured due to separation of the robot in the embracing process, and the embracing link is provided with a pressure sensor which can feed back the magnitude of embracing force and control the embracing force.
Description
Technical Field
The invention relates to the technical field of intelligent nursing robots, in particular to a rigid-flexible combined underarm support mechanical arm structure for a nursing robot.
Background
Robotics have evolved rapidly over the past decades, and as the level of robotics has increased, care robots have begun to provide better care services for the elderly for the beginning. Throughout the world, the rapid arrival of urbanization, population aging and the tremendous change in home architecture have led many countries to increasingly greater pressure in senior citizens and pain care. Traditional nursing modes no longer meet current social demands, and nursing robots are favored by today's society due to their advanced nursing modes and their intelligence.
At present, the flexible mechanical arm structure which is similar to the flexible mechanical arm structure and has adjustable width and can provide supporting force and prevent falling in the process of taking the old and the patient easily is not available in the market. The Chinese patent with the patent number ZL201621197828.1 discloses a palm type holding and lifting mechanical arm of a nursing robot, which has no flexible part, cannot play a role in buffering, has no width-adjustable part and cannot adapt to crowds with different body types.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problems that: an underarm support flexible dual arm structure for a width adjustable nursing robot is provided. The structure not only provides a supporting function for armpits, but also has a feedback embracing function driven by the electric push rod, so that the embraced person is more comfortable and safe. The arm of this structure has flexible link in addition, and is more humanized, and is more comfortable, can have width adjustable part to the crowd of different physique, and adaptability is wider.
The invention relates to an armpit supporting flexible double-arm structure for a nursing robot with adjustable width, which is used for providing supporting force in the process of holding the nursing robot. The structure has a flexible link, and because the human body has the characteristics of complex shape and easy injury, the flexible mechanical arm is more suitable for serving the human body. The mechanical arm is provided with a embracing link, so that people are prevented from being injured by separating from the robot in the embracing process, and the embracing link is provided with a pressure sensor which can feed back the magnitude of embracing force and control the embracing force. The mechanical arm is provided with a width adjusting module and is used for serving people with different fatness and thinness.
The technical scheme for solving the technical problems is that an armpit supporting flexible double-arm structure for a nursing robot with adjustable width is provided, the armpit supporting flexible double-arm structure comprises a chest rest and two armpit supporting flexible arms, the two armpit supporting flexible arms are symmetrically arranged at two ends of the chest rest in a left-right mode, and the structures of the two armpit supporting flexible arms are identical; the method is characterized in that:
each armpit supporting flexible arm comprises an armpit supporting large arm, an armpit supporting small arm, an electric push rod, a chest rest connecting piece, a width adjusting upper pressing block, a width adjusting lower pressing block, a transmission piece and a spring plate, wherein the front end of the armpit supporting large arm is connected with the rear end of the armpit supporting small arm through the transmission piece, the rear end of the armpit supporting large arm is connected with the chest rest connecting piece through an upper spring plate and a lower spring plate, and the chest rest connecting piece is fixed on the chest rest through the width adjusting upper pressing block and the width adjusting lower pressing block; a plurality of spring plate pressing blocks are fixedly arranged on the upper surface and the lower surface of each layer of spring plate at intervals; one end of the electric push rod is fixedly connected to the chest rest below the chest rest connecting piece, the middle part of the electric push rod is fixed at the bottom of the underarm support big arm through a bolt by utilizing an electric push rod clamp, the rod head of the electric push rod is connected with the I-shaped connecting piece through a pin shaft, the I-shaped connecting piece is connected with the hinge point shaft connecting piece through a pin shaft, the hinge point shaft connecting piece is connected with a hinge point shaft through a flat key, push-pull force of the electric push rod is transmitted to the hinge point shaft to output torque, the bottom of the hinge point shaft is provided with a split pin, the upper part of the hinge point shaft penetrates through a shaft hole at the front end of the underarm support big arm, the hinge point shaft is fixed with the underarm support big arm through a hinge point shaft fixing block, the hinge point shaft fixing block is fixed on the underarm support big arm through a bolt, and the hinge point shaft fixing block can rotate relatively; a shaft-transmission member connecting piece and a transmission member are arranged between the hinge point shaft and the underarm support small arm, the shaft-transmission member connecting piece synchronously rotates with the hinge point shaft through a jackscrew, one end of the transmission member is joggled and fixed with one end of the shaft-transmission member connecting piece through a mortise and tenon structure, and the other end of the transmission member is connected and fixed with the rear end of the underarm support small arm through a mortise and tenon structure;
the pressure sensor is arranged on the underarm support forearm through a sensor fixing plate, the bottom of the silica gel column is directly adhered to the plane of an induction area of the pressure sensor, the silica gel column and the pressure sensor are integrated, the silica gel column penetrates through a sensor sleeve, the outer end head of the silica gel column is directly contacted with the back of a human body, and the sensor sleeve is fixed on the underarm support forearm through a bolt;
the chest rest connecting piece is an L-shaped member and comprises a horizontal part and a vertical part, the lower part of the horizontal part is provided with a groove, the upper end of the horizontal part is provided with a sliding rail, the center of the sliding rail is provided with a bolt hole, and the outer side of the vertical part is provided with a protruding structure; the connection part of the chest rest and the two armpit support flexible arms is provided with a width-adjustable groove, the width of the width-adjustable groove is smaller than the width of the groove on the horizontal part of the chest rest connecting piece, the horizontal part of the chest rest connecting piece is placed on the chest rest, and the groove of the horizontal part is opposite to the width-adjustable groove; the width-adjusting lower pressing block is of a T-shaped structure, the protruding portion of the width-adjusting lower pressing block penetrates through the width-adjusting groove, and the upper portion of the protruding portion is located in the groove of the horizontal portion of the chest support connecting piece; a width adjusting upper pressing block is arranged on a sliding rail of the chest rest connecting piece, the width adjusting upper pressing block can move back and forth on the sliding rail, the width adjusting upper pressing block, the chest rest connecting piece and the width adjusting lower pressing block are fixed through bolts, springs are arranged on the bolts above the convex part of the width adjusting lower pressing block and below the width adjusting upper pressing block, and the width adjusting upper pressing block and the width adjusting lower pressing block are fastened up and down under the action of the springs; the spring plates are arranged on the upper surface and the lower surface of the protruding structure of the chest rest connecting piece and are fixed through corresponding spring plate pressing blocks respectively.
Compared with the prior art, the invention has the beneficial effects that:
the spring plate and the spring plate pressing block are combined to form a section of rigid-flexible combined structure, so that the bearing capacity is ensured, certain elasticity is ensured, and the held person is more comfortable and humanized.
In the invention, the chest rest connecting piece, the width adjusting upper pressing block, the width adjusting lower pressing block and the chest rest are connected together through bolts. When the bolts are screwed down, the four are tightly clung together and can not move; when the bolt is unscrewed, the four can move in the chest by the adjustable groove of width in certain clearance so as to achieve the purpose of adjusting the width, the purpose of adjusting the width can be achieved by the design so as to adapt to people of different sizes, and when the width is adjusted, the operation is very simple only by screwing the bolt or unscrewing the bolt.
According to the invention, the electric push rod fixed below the arm is connected with the I-shaped connecting piece, the hinge point shaft, the shaft-transmission piece connecting piece and the transmission piece, so that the movement can be transmitted to reach the forearm and can be recycled and released, and the arm has a holding link. Preventing the embraced person from being injured by being separated from the robot. And be equipped with pressure sensor on the forearm, thereby pressure sensor, sensor fixed plate, sensor sleeve, silica gel column are in the same place can real-time feedback embraces people's strength's size and control, and pressure sensor is embraced the pressure of getting people and is controlled with pressure feedback to the computer through the silica gel column perception, and the people feel more comfortable when being embraced and get. Simultaneously, the mortise and tenon joint, the connecting rod and the underarm support small arm are combined together to provide a certain supporting force for the underarm support small arm, so that the double-arm structure is more stable in movement.
The double-arm mechanism has the advantages of simple, compact and efficient structure, high automation degree, humanization and resource conservation.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of an underarm support flexible double-arm structure for a width-adjustable nursing robot in a natural state of left and right arms;
FIG. 2 is a schematic perspective view of an underarm support flexible arm for an embodiment of the width adjustable nursing robot of the present invention;
FIG. 3 is a schematic view showing a front view of an underarm support flexible arm of one embodiment of the width-adjustable arm support flexible arm structure for a nursing robot of the present invention;
FIG. 4 is a schematic perspective view of a driving member of one embodiment of an underarm support flexible dual-arm structure for a width adjustable nursing robot of the present invention;
FIG. 5 is a schematic view of the sensor mounting and principle structure of an underarm support arm and human contact portion of one embodiment of an underarm support flexible dual arm structure for a width adjustable nursing robot of the present invention;
FIG. 6 is a schematic diagram showing a front view of a rigid-flexible coupling structure at the end of an underarm support boom in one embodiment of an underarm support flexible dual-arm structure for a width adjustable nursing robot of the present invention;
FIG. 7 is a schematic perspective view of an embodiment of the chest support connector 24 of the present invention in an underarm support flexible dual arm configuration for a width adjustable nursing robot;
FIG. 8 is a schematic view showing a connection between a chest rest connector and a chest rest in an embodiment of an underarm support flexible dual-arm structure for a width adjustable nursing robot of the present invention;
FIG. 9 is a schematic cross-sectional view of a chest rest connector and chest rest connection portion of one embodiment of an underarm support flexible dual arm structure for a width adjustable nursing robot of the present invention;
FIG. 10 is a schematic perspective view of a width-adjustable press block 26 of one embodiment of an underarm support flexible double-arm structure for a width-adjustable nursing robot of the present invention;
FIG. 11 is a schematic view showing the operation of the armpit supporting arm folding and protecting human body in the process of erecting the armpit supporting flexible double-arm structure for the width-adjustable nursing robot;
in the figure: 1. armpits support the forearm; 2. underarm support large arm; 3. a silica gel column; 4. sticking blocks; 5. a hinge point shaft; 6. a hinge point shaft connecting member; 7. i-shaped connecting pieces; 8. an electric push rod clamp; 9. an electric push rod; 10. a spring plate; 11. chest rest; 12-19, spring plate pressing blocks, wherein each block has slightly different sizes according to different positions; 20. a sensor sleeve; 21. a sensor fixing plate; 22. a pressure sensor; 23. a width adjusting upper pressing block; 24. a chest rest connecting piece; 25. a bolt; 26. a width-adjusting pressing block; 27. a spring; 28. a hinge point shaft fixing block; 29. a shaft-transmission connection; 30. a transmission member; 2401 grooves; 2402 slide rails; 2403 bolt holes; 2404 bump structure.
Detailed Description
Specific examples of the present invention are given below. The specific examples are provided only for further elaboration of the invention and do not limit the scope of the claims of the present application.
The invention relates to an armpit supporting flexible double-arm structure (structure for short, see fig. 1-8) with adjustable width for a nursing robot, which comprises a chest rest 11 and two armpit supporting flexible arms, wherein the two armpit supporting flexible arms are symmetrically arranged at two ends of the chest rest in a bilateral symmetry manner, and the structures of the two armpit supporting flexible arms are completely the same;
each armpit supporting flexible arm comprises an armpit supporting large arm 2, an armpit supporting small arm 1, an electric push rod 9, a chest rest connecting piece 24, a width adjusting upper pressing block 23, a width adjusting lower pressing block 26, a transmission piece 30 and a spring plate 10, wherein the front end of the armpit supporting large arm is connected with the rear end of the armpit supporting small arm through the transmission piece 30, the rear end of the armpit supporting large arm is connected with the chest rest connecting piece 24 through an upper spring plate and a lower spring plate 10, and the chest rest connecting piece is fixed on the chest rest 11 through the width adjusting upper pressing block 23 and the width adjusting lower pressing block 26; a plurality of spring plate pressing blocks are fixedly arranged on the upper surface and the lower surface of each layer of spring plate 10 at intervals; one end of the electric push rod 9 is fixedly connected to the chest rest below the chest rest connecting piece, the middle part of the electric push rod 9 is fixed at the bottom of the underarm support big arm 2 through a bolt by utilizing an electric push rod clamp 8, the rod head of the electric push rod is connected with the I-shaped connecting piece 7 through a pin shaft, the I-shaped connecting piece is connected with the hinge point shaft connecting piece 6 through a pin shaft, the hinge point shaft connecting piece 6 is connected with the hinge point shaft 5 through a flat key, the push-pull force of the electric push rod is transmitted to the hinge point shaft 5 to output torque, the bottom of the hinge point shaft 5 is provided with a split pin, the upper part of the hinge point shaft penetrates through a shaft hole at the front end of the underarm support big arm 2, the hinge point shaft is fixed with the underarm support big arm through a hinge point shaft fixing block 28, and the hinge point shaft fixing block 28 is fixed on the underarm support big arm through a bolt, so that the hinge point shaft can not shake, and the hinge point shaft fixing block can relatively rotate; a shaft-transmission member connecting piece 29 and a transmission member 30 are arranged between the hinge point shaft 5 and the underarm support forearm 1, the shaft-transmission member connecting piece 29 rotates synchronously with the hinge point shaft through a jackscrew, one end of the transmission member 30 is joggled and fixed with one end of the shaft-transmission member connecting piece 29 through a mortise and tenon structure, and the other end of the transmission member 30 is connected and fixed with the rear end of the underarm support forearm 1 through a mortise and tenon structure; the hinge point shaft 5 and the underarm support small arm 1 are driven by the shaft-driving part connecting piece 29 and the driving part 30, so that the action of holding a person is realized, the mortise-tenon structure is better attached to the underarm support large arm in the underarm support small arm folding and stressing process, a certain supporting force is provided for the underarm support small arm, and the double-arm structure is more stable in movement;
the pressure sensor 22 is arranged on the underarm support forearm 1 through the sensor fixing plate 21, the sensor fixing plate 21 is welded on the underarm support forearm, the pressure sensor is fixed on the sensor fixing plate through a bolt, the bottom of the silica gel column 3 is directly adhered to the plane of the sensing area of the pressure sensor 22, the silica gel column and the pressure sensor 22 are integrated, the silica gel column passes through the sensor sleeve 20, the outer end part of the silica gel column is directly contacted with the back of a human body, the sensor sleeve is fixed on the underarm support forearm 1 through a bolt, and the pressure of the back of the human body is measured in the underarm support forearm folding process;
the chest rest connecting piece 24 (see fig. 7) is an L-shaped member, and comprises a horizontal part and a vertical part, wherein a groove 2401 is arranged at the lower part of the horizontal part, a slide rail 2402 is arranged at the upper end of the horizontal part, a bolt hole 2403 is arranged in the center of the slide rail, and a convex structure 2404 is arranged at the outer side of the vertical part; the connection part of the chest rest 11 and the two armpit support flexible arms is provided with a width-adjustable groove, the width of the width-adjustable groove is smaller than the width of the groove 2401 on the horizontal part of the chest rest connecting piece, the horizontal part of the chest rest connecting piece 24 is placed on the chest rest 11, and the groove of the horizontal part faces the width-adjustable groove; the width-adjusting lower pressing block 26 is of a T-shaped structure, the protruding portion of the width-adjusting lower pressing block 26 penetrates through the width-adjusting groove, and the upper portion of the protruding portion is located in the groove of the horizontal portion of the chest support connecting piece; a width adjustment upper pressing block 23 is mounted on a sliding rail 2402 of the chest rest connecting piece, the width adjustment upper pressing block can move back and forth on the sliding rail, the width adjustment upper pressing block 23, the chest rest connecting piece and the width adjustment lower pressing block 26 are fixedly penetrated through by bolts 25, a spring 27 (see fig. 9) is mounted on the bolts 25 above the convex part of the width adjustment lower pressing block 26 and below the width adjustment upper pressing block 23, and the width adjustment upper pressing block 23 and the width adjustment lower pressing block 26 are fastened up and down under the action of the spring 27; the spring plates are mounted on the upper and lower surfaces of the raised structures 2404 of the chest support connection and are secured by respective spring plate press blocks (18, 19), respectively.
The invention is further characterized in that two spring plate pressing blocks (12 and 13 or 16 and 17) are symmetrically arranged on the upper and lower sides of the middle part of each spring plate 10, one side surface of the front end of each spring plate is fixed with the rigid plane of the underarm support, the other side surface of each spring plate is fixed by one spring plate pressing block (14 or 15), eight spring plate pressing blocks are arranged on the front, rear and middle parts of the two layers of spring plates, the spring plates are clamped up and down, and the spring plates and the spring plate pressing blocks are combined to form a rigid-flexible combination structure of a section.
The invention is further characterized in that the middle of the underarm support large arm is provided with a transverse and longitudinal vertically staggered reinforcing rib, so that the support strength of the underarm support flexible arm is enhanced.
The invention is further characterized in that the driving member 30 comprises a driving rod and two blocks 4, the driving rod is in a zigzag shape and comprises two parallel horizontal parts and an inclined part, the included angle between the inclined part and the horizontal part is an obtuse angle, preferably 120-150 degrees, the shape of the two blocks is consistent with that of the driving rod, mortises are arranged between the inner side surfaces of the two blocks and the side surfaces of the horizontal part of the driving rod respectively, the front end of the driving member is joggled with the rear end of the underarm support arm 1 and fixed by bolts, and the rear end of the driving member is joggled with one end of the shaft-driving member connecting member 29 and fixed by cementing.
The working principle and the working flow of the invention are as follows: before the operation, the two armpit support flexible arms (double arms) are in a natural straightening state, firstly, the bolts 25 on the left arm and the right arm are unscrewed to adjust the width, the spring 27 can jack up the width adjustment upper pressing block 23 upwards and jack up the width adjustment lower pressing block 26 downwards while unscrewing the bolts 25, so that the chest rest connecting piece 24 and the chest rest 11 are rapidly separated, the left width and the right width of the armpit support double arms are adjusted to be matched with the width of the chest of a human body, and the bolts 25 are screwed down when the width is proper. The armpit two side frames of the human body are arranged on the left armpit supporting large arm 2 and the right armpit supporting large arm 2, the upper layer of spring plate 10 and the lower layer of spring plate 10 can be bent downwards due to the gravity of the human body, and the spring plate pressing blocks 12-17 are clamped between the upper layer of spring plate 10 and the lower layer of spring plate 10 to play a role of rigid-flexible combination, so that the spring plate 10 cannot be bent excessively, the bearing capacity is ensured, the certain elasticity is ensured, and the held person is more comfortable. The electric push rod 9 is fixed at the bottom of the underarm support big arm 2 through bolts by utilizing an electric push rod clamp 8, the electric push rod 9 pushes the I-shaped connecting piece 7 to drive the hinge point shaft connecting piece 6 to rotate, the hinge point shaft 5 is connected with the hinge point shaft connecting piece 6 through a flat key, the thrust of the electric push rod is transmitted to the hinge point shaft 5 to be output with torque to drive the underarm support small arm 1 to rotate, the corner of the underarm support small arm 1 is 90 degrees and is perpendicular to the underarm support big arm 2, the silica gel column 3 is contacted with the back of a human body, the tail end of the silica gel column 3 is connected with the pressure sensor 22, so that the pressure sensor 22 measures the pressure of the back of the human body and feeds back the pressure to a computer for control, the computer controls the electric push rod 9 according to the pressure, and if the pressure is small, the condition that the underarm support small arm 1 does not hold the human body is indicated, the electric push rod increases the thrust; if the pressure is larger, the underarm support forearm 1 is used for holding the human body too tightly, so that the thrust of the electric push rod is reduced, and finally, the electric push rod can be adjusted to a state that the human body feels more comfortable when held. After the work is finished, the electric push rod is reversely retracted, and the armpit supports the forearm to return to the initial position.
The upper part of the chest rest is connected with the flexible arm of the armpit support, the upper surface of the lifting lug is vertical to the chest rest, the lifting lug is provided with a width-adjustable groove, and the length of the width-adjustable groove is larger than that of the groove on the armpit support connecting piece.
Example 1
The armpit supports flexible double-arm structure for the nursing robot with adjustable width of the embodiment, the upper pressing block 23 for width adjustment is arranged above the chest leaning connecting piece 24, the chest leaning 11 is arranged between the chest leaning connecting piece and the lower pressing block for width adjustment, a through hole is arranged in the middle of the upper pressing block for width adjustment, a threaded hole is arranged in the middle of the chest leaning connecting piece, a width-adjustable groove is arranged at the connecting part of the chest leaning, a threaded hole is arranged in the middle of the lower pressing block for width adjustment, the bolt is used for connecting the upper pressing block for width adjustment, the chest leaning connecting piece, the chest leaning, the lower pressing block for width adjustment and the four are connected together, and when the bolt is screwed, the four are tightly connected together, and a fixing effect is achieved by virtue of friction force. When the bolts are unscrewed, the distance between the two chest rest connecting pieces can be adjusted without excessive friction force, so that the effect of adjusting the width of the double arms is achieved. The spring plate is placed at the screw hole of the chest support connecting piece, the spring plate pressing block is placed above the spring plate, and the spring plate pressing block, the spring piece and the chest support connecting piece are pressed together through bolts. The middle part of the spring plate is respectively arranged above and below the spring plate by a spring plate pressing block, and the spring plate pressing block and the spring plate are pressed together by bolts. The other end of the spring plate is arranged below the armpit supporting large arm, a spring plate pressing block is arranged below the spring plate, and the spring plate, the large arm and the spring plate pressing block are pressed together through bolts. The middle of the armpit supporting large arm is provided with transverse and longitudinal vertically staggered reinforcing ribs for enhancing the supporting strength of the arm, and the tail part close to the armpit supporting large arm is provided with a through hole for installing a hinge point shaft. The electric putter is installed to the lower extreme of underarm support arm and spring board flexible part, and electric putter passes through the clamp to be fixed in the lower extreme of underarm support arm, and electric putter head and I shape connecting piece link together through the round pin axle, and I shape connecting piece links together through the round pin axle with hinge point axle connecting piece 6, and hinge point axle connecting piece links together and axial fixity through key connection and hinge point axle. The shaft-driving member connecting piece 29 is sleeved on the hinge point shaft and is axially fixed with the jackscrew and the hinge point shaft through keys, mortise and tenon structures are arranged on two sides of the driving member 30, and the front end of the driving member is fixed with the underarm support forearm 1 through bolts. The sensor fixing plate is welded at the tail of the underarm support forearm 1, the sensor fixing plate is connected with the pressure sensor through a bolt, the plane of an induction area of the pressure sensor is adhered with the silica gel column through glue, the sensor sleeve is arranged on the reinforcing rib of the underarm support forearm through a bolt, the silica gel column penetrates through the middle of the sensor sleeve, the silica gel column is directly contacted with the back of a human body, and the pressure of the back of the human body is measured in the folding process of the forearm.
The electric push rod 9 is fixed at the bottom of the underarm support big arm 2 by utilizing an electric push rod clamp 8 through a bolt, the electric push rod head is connected with an I-shaped connecting piece 7 through a pin shaft, the I-shaped connecting piece is connected with a hinge point shaft connecting piece 6 through a pin shaft, push-pull force of the electric push rod is transmitted to the hinge point shaft 5 to output torque, the hinge point shaft is connected with the hinge point shaft connecting piece through a flat key, and a cotter pin is arranged at the bottom of the hinge point shaft. The hinge point shaft penetrates through the underarm support big arm, the upper end of the underarm support big arm is fixed in the underarm support big arm through the hinge point shaft fixing block 28, the underarm support big arm is prevented from shaking, the hinge point shaft 5 is connected with the underarm support small arm 1 through a transmission piece, the transmission piece is fixed with the underarm support small arm 1 through a bolt, and the transmission piece and the hinge point shaft synchronously rotate through a jackscrew.
Example 2
The connection of the parts of the double-arm structure in this embodiment is the same as that in embodiment 1, except that the transmission member 30 includes a transmission rod and two blocks 4, the transmission rod has a zigzag shape, and includes two parallel horizontal parts and an inclined part, the inclined part and the horizontal part have an included angle of 120 °, the shapes of the two blocks are consistent with the shape of the transmission rod, and a mortise is provided between the inner sides of the two blocks and the side of the horizontal part of the transmission rod. Better fit with the underarm support big arm in the underarm support forearm folding and stressing process, a certain supporting force is provided for the underarm support forearm, and the double-arm structure is more stable in movement. The end of the armpit supporting large arm 2 is connected with an upper layer of spring plate 10 and a lower layer of spring plate 10, and the upper layer of spring plate 10 and the lower layer of spring plate are fixed by spring plate pressing blocks 12-17 (eight spring plate pressing blocks are arranged in the front and the back of the spring plate and in the middle of the spring plate, and the two spring plate pressing blocks are clamped up and down in a pair, so that the spring plate and the spring plate pressing blocks are combined to form a rigid-flexible combined structure of a section), and are connected through bolts.
The invention is applicable to the prior art where it is not described.
Claims (5)
1. The armpit supporting flexible double-arm structure for the nursing robot with the adjustable width comprises a chest rest and two armpit supporting flexible arms, wherein the two armpit supporting flexible arms are symmetrically arranged at two ends of the chest rest in a bilateral symmetry manner, and the structures of the two armpit supporting flexible arms are identical; the method is characterized in that:
each armpit supporting flexible arm comprises an armpit supporting large arm, an armpit supporting small arm, an electric push rod, a chest rest connecting piece, a width adjusting upper pressing block, a width adjusting lower pressing block, a transmission piece and a spring plate, wherein the front end of the armpit supporting large arm is connected with the rear end of the armpit supporting small arm through the transmission piece, the rear end of the armpit supporting large arm is connected with the chest rest connecting piece through an upper spring plate and a lower spring plate, and the chest rest connecting piece is fixed on the chest rest through the width adjusting upper pressing block and the width adjusting lower pressing block; a plurality of spring plate pressing blocks are fixedly arranged on the upper surface and the lower surface of each layer of spring plate at intervals; one end of the electric push rod is fixedly connected to the chest rest below the chest rest connecting piece, the middle part of the electric push rod is fixed at the bottom of the underarm support big arm through a bolt by utilizing an electric push rod clamp, the rod head of the electric push rod is connected with the I-shaped connecting piece through a pin shaft, the I-shaped connecting piece is connected with the hinge point shaft connecting piece through a pin shaft, the hinge point shaft connecting piece is connected with a hinge point shaft through a flat key, push-pull force of the electric push rod is transmitted to the hinge point shaft to output torque, the bottom of the hinge point shaft is provided with a split pin, the upper part of the hinge point shaft penetrates through a shaft hole at the front end of the underarm support big arm, the hinge point shaft is fixed with the underarm support big arm through a hinge point shaft fixing block, the hinge point shaft fixing block is fixed on the underarm support big arm through a bolt, and the hinge point shaft fixing block can rotate relatively; a shaft-transmission member connecting piece and a transmission member are arranged between the hinge point shaft and the underarm support small arm, the shaft-transmission member connecting piece synchronously rotates with the hinge point shaft through a jackscrew, one end of the transmission member is joggled and fixed with one end of the shaft-transmission member connecting piece through a mortise and tenon structure, and the other end of the transmission member is connected and fixed with the rear end of the underarm support small arm through a mortise and tenon structure;
the pressure sensor is arranged on the underarm support forearm through a sensor fixing plate, the bottom of the silica gel column is directly adhered to the plane of an induction area of the pressure sensor, the silica gel column and the pressure sensor are integrated, the silica gel column penetrates through a sensor sleeve, the outer end head of the silica gel column is directly contacted with the back of a human body, and the sensor sleeve is fixed on the underarm support forearm through a bolt;
the chest rest connecting piece is an L-shaped member and comprises a horizontal part and a vertical part, the lower part of the horizontal part is provided with a groove, the upper end of the horizontal part is provided with a sliding rail, the center of the sliding rail is provided with a bolt hole, and the outer side of the vertical part is provided with a protruding structure; the connection part of the chest rest and the two armpit support flexible arms is provided with a width-adjustable groove, the width of the width-adjustable groove is smaller than the width of the groove on the horizontal part of the chest rest connecting piece, the horizontal part of the chest rest connecting piece is placed on the chest rest, and the groove of the horizontal part is opposite to the width-adjustable groove; the width-adjusting lower pressing block is of a T-shaped structure, the protruding portion of the width-adjusting lower pressing block penetrates through the width-adjusting groove, and the upper portion of the protruding portion is located in the groove of the horizontal portion of the chest support connecting piece; a width adjusting upper pressing block is arranged on a sliding rail of the chest rest connecting piece, the width adjusting upper pressing block can move back and forth on the sliding rail, the width adjusting upper pressing block, the chest rest connecting piece and the width adjusting lower pressing block are fixed through bolts, springs are arranged on the bolts above the convex part of the width adjusting lower pressing block and below the width adjusting upper pressing block, and the width adjusting upper pressing block and the width adjusting lower pressing block are fastened up and down under the action of the springs; the spring plates are arranged on the upper surface and the lower surface of the protruding structure of the chest rest connecting piece and are fixed through corresponding spring plate pressing blocks respectively.
2. The flexible arm structure for an underarm support with an adjustable width as set forth in claim 1, wherein two spring plate press blocks are symmetrically arranged in the middle of each spring plate up and down, a front end side of the spring plate is fixed with a rigid plane of the underarm support, the other side is fixed by one spring plate press block, and eight spring plate press blocks are arranged in the front and back and middle of the two spring plates, and the spring plates are clamped up and down.
3. The flexible double arm structure for an armpit support of a width-adjustable nursing robot according to claim 1, wherein the middle of the large arm of the armpit support is provided with a reinforcing rib which is vertically staggered transversely and longitudinally.
4. An underarm support flexible double-arm structure for a width-adjustable nursing robot according to any one of claims 1 or 3, characterized in that the transmission member comprises a transmission rod and two blocks, the transmission rod is shaped like a zigzag, and comprises two parallel horizontal portions and an inclined portion, an included angle between the inclined portion and the horizontal portion is an obtuse angle, the shapes of the two blocks are consistent with the shape of the transmission rod, and mortises are arranged between inner side surfaces of the two blocks and side surfaces of the horizontal portion of the transmission rod respectively.
5. The armpit supporting flexible double-arm structure for a width-adjustable nursing robot according to claim 4, wherein the angle between the inclined portion and the horizontal portion is 120 to 150 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711232991.6A CN107813324B (en) | 2017-11-30 | 2017-11-30 | Armpit supporting flexible double-arm structure with adjustable width for nursing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711232991.6A CN107813324B (en) | 2017-11-30 | 2017-11-30 | Armpit supporting flexible double-arm structure with adjustable width for nursing robot |
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| CN107813324A CN107813324A (en) | 2018-03-20 |
| CN107813324B true CN107813324B (en) | 2023-07-11 |
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| CN110432683A (en) * | 2018-05-03 | 2019-11-12 | 肖野 | A kind of support system mitigating lumbar pressure |
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| CN107813324A (en) | 2018-03-20 |
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