CN108852764A - Helping robot, helping robot and its control method without fixing seat - Google Patents
Helping robot, helping robot and its control method without fixing seat Download PDFInfo
- Publication number
- CN108852764A CN108852764A CN201810604374.2A CN201810604374A CN108852764A CN 108852764 A CN108852764 A CN 108852764A CN 201810604374 A CN201810604374 A CN 201810604374A CN 108852764 A CN108852764 A CN 108852764A
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- China
- Prior art keywords
- helping robot
- connector
- helping
- damping
- mecanum wheel
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
Abstract
The present invention discloses the helping robot, helping robot and its control method of a kind of no fixing seat, it is related to the field of medical instrument technology, lead to that main screw lift is big, structure is complicated, the poor technical problem of flexibility to solve existing helping robot because being provided with automatic chair.Helping robot of the present invention, including：Corbel bandage and help waist bandage, and the body with Mecanum wheel, body is equipped with sole supporting plate and lifting supporting mechanism；Going up and down supporting mechanism includes top plastron, and the lower end surface for pushing up plastron is equipped with the first connector, side wall is equipped with the second connector；Corbel bandage, which is equipped with, matches the third connector docked with the first connector, helps waist bandage to be equipped with and matches the 4th connector docked with the second connector.Helping robot provided by the invention can either guarantee that user has stance and sitting posture, and can effectively mitigate main screw lift, simplify helping robot architecture, to effectively improve its flexibility.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of helping robot of no fixing seat, helping machine
Device people and its control method.
Background technique
Helping robot is used for the walk help of the handicapped person such as hospital and the family middle-aged and the old, disabled person, paralysed patient, reason
Treatment and rehabilitation nursing.Two kinds of use states are co-existed in when in use, and one is the stance that can guarantee user's safety；Separately
One is the sitting posture that can satisfy user；Both use states can be realized under moving condition.
Specifically, helping robot in the prior art generally includes automatic chair, which mainly includes seat
Component, seat lift component and seat extension assembly.
However, present inventor has found, the usual main screw lift of helping robot for being provided with automatic chair is larger, structure
Complexity, flexibility when mobile are poor.
Therefore, how the helping robot, helping robot and its control method of a kind of no fixing seat are provided, it can either
Guarantee that user has stance and sitting posture, and can effectively mitigate main screw lift, it has also become those skilled in the art's urgent need to resolve
The technical issues of.
Summary of the invention
The purpose of the present invention is to provide a kind of helping robot of no fixing seat, helping robot and its controlling parties
Method, leads to that main screw lift is big, structure is complicated to solve existing helping robot because being provided with automatic chair, and flexibility is poor
The technical issues of.
The present invention provides a kind of helping robot of no fixing seat, including：Corbel bandage and waist bandage is helped, and had
The body of Mecanum wheel, the body are equipped with sole supporting plate and lifting supporting mechanism；The lifting supporting mechanism includes top
Plastron, the lower end surface of the top plastron is equipped with the first connector, side wall is equipped with the second connector；The corbel bandage is equipped with and institute
The third connector of the first connector matching docking is stated, it is described that waist bandage is helped to be equipped with the docked with second connector matching
Four connectors.
The present invention provides a kind of helping robot, including：Corbel bandage and waist bandage is helped, and with Mecanum wheel
Body, the body are equipped with sole supporting plate and lifting supporting mechanism；The lifting supporting mechanism includes top plastron, the top chest
The lower end surface of plate is equipped with the first connector, side wall is equipped with the second connector；The corbel bandage is equipped with and first connector
The third connector of docking is matched, it is described that waist bandage is helped to be equipped with the 4th connector docked with second connector matching.
Wherein, first connector uses ring buckle, and second connector is latched using aviation；The third connection
Part uses ISOFIX interface, and the 4th connector uses aviation inserted sheet.
Specifically, the corbel bandage includes corbel ontology, and the corbel being arranged on the corbel ontology adjusts band,
The free end that the corbel adjusts band is equipped with the ISOFIX interface, and the ISOFIX interface with the ring buckle for docking；
It is described help waist bandage include help waist ontology, and be arranged in it is described help on waist ontology help waist adjust band, it is described help waist adjust band
Free end be equipped with the aviation inserted sheet, the aviation inserted sheet be used for the aviation lock dock.
When practical application, the corbel ontology and described waist ontology is helped to respectively include：The leather layer in outside, intermediate sponge
Filled layer and the anti-skid cloth bed of material of inside；The leather layer and the corresponding a side edge of the anti-skid cloth bed of material pass through drawing
Chain or snap-fastener are flexibly connected, and the sponge filled layer is detachable structure part.
Wherein, the anti-skid cloth bed of material has trellis gas-permeable nets.
Specifically, the trellis gas-permeable nets include multiple, and multiple trellis gas-permeable nets are in the anti-skid cloth bed of material
Upper interval is uniformly distributed.
Alternatively, there are two the trellis gas-permeable nets include, and two trellis gas-permeable nets are in the Antiskid cloth
Symmetrical distribution on layer.
Further, the sponge filled layer with a thickness of 3cm.
Further, the corbel adjust band and it is described help waist adjusting to take to be equipped with adjusting buckle, the adjusting buckle is used
Band and the length for helping waist to adjust band are adjusted in adjusting the corbel.
Optionally, the anti-skid cloth bed of material has dispensing, and the dispensing is spaced on the anti-skid cloth bed of material and uniformly divides
Cloth.
Further, the body includes：Vehicle body, and the vehicle frame being connect with the bottom zone of the vehicle body；The liter
Descending branch support mechanism is connect with the vehicle body, and the sole supporting plate is connect with the vehicle frame；The Mecanum wheel includes：With it is described
The preceding Mecanum wheel of vehicle body connection and the rear Mecanum wheel being connect with the vehicle frame；The preceding Mecanum wheel and it is described after
Mecanum wheel respectively includes：Mecanum wheel ontology, driving motor and retarder, the driving motor and the retarder portion
Divide or is provided entirely in the axle hole of the Mecanum wheel ontology；The output shaft of the driving motor and the Mecanum
The rotating shaft for taking turns ontology is conllinear, and the Mecanum wheel ontology is with the housing into rotation of the driving motor.
Optionally, the Mecanum wheel ontology is made of Mecanum roller bracket and Mecanum roller, the wheat
Ke Namu roller is located on the Mecanum roller bracket, the shell of the Mecanum roller bracket and the driving motor
Connection.
Wherein, the both ends of the Mecanum roller are connect with the Mecanum roller bracket or the Mike receives
The centre of nurse roller is connect with the Mecanum roller bracket.
Further, the helping robot further includes：Damping device, the damping device include the fixed bracket of damping
With the mobile bracket of damping；The output shaft of the driving motor of the mobile bracket of the damping and the Mecanum wheel is fixed to be connected
It connects；The fixed bracket of the damping includes at least one damping fixing axle；The mobile bracket housing of the damping is fixed in the damping
It can move on axis and along the axial reciprocating of the damping fixing axle；There are two elastic elements for the mobile bracket housing of the damping；Two
The mobile bracket of the damping is connected between a elastic element；The axial direction of the damping fixing axle is defeated with the driving device
The axial direction of shaft is arranged in angle.
Wherein, the mobile bracket of the damping includes the mobile bearing attachment of damping and the mobile bracket socket of at least two dampings
Portion；The connecting shaft of the driving motor passes through the mobile bearing attachment of the damping and consolidates with the mobile bearing attachment of the damping
Fixed connection；Optionally, the connecting shaft of the driving motor is fixedly connected on the mobile bracket of the damping by nut.
Specifically, the mobile bracket socket part housing of the damping is in the damping fixing axle, and the mobile branch of the damping
The quantity of frame socket part is corresponding with the quantity of the damping fixing axle；Namely the quantity of the mobile bracket socket part of the damping with
The quantity of the damping fixing axle is identical.
Further, it is fixed between the mobile bracket socket part of the adjacent damping by the mobile bearing attachment of the damping
Connection；The mobile bearing attachment of the damping protrudes from the surface that the adjacent mobile bracket socket part of the damping is formed, so that institute
It states the mobile bracket of damping and forms arc or the structure similar to arc, to improve the elastic energy of deformation of the mobile bracket of the damping
Power, the support force of the Mecanum wheel is preferably passed to equipment by the damping device.
Optionally, the quantity of the damping fixing axle is 1,2,4,5.Optionally, the damping fixing axle
Quantity is arranged in pairs.
Preferably, the quantity of the damping fixing axle is two；The quantity of the mobile bracket socket part of the damping is also two
It is a；Also, the mobile bracket of the damping is symmetrical structure.Optionally, the connecting shaft of the driving motor is moved across the damping
The center of dynamic bracket is simultaneously fixedly connected with the mobile bearing attachment of the damping.
Optionally, the elastic element includes spring, rubber ring, silica gel ring or polyester elastomer.
Further, the quantity of the damping device is one；The damping device is arranged in the Mecanum wheel
Side, and the damping device is fixedly connected with the connecting shaft of the driving motor of the Mecanum wheel；Alternatively, the damping
The quantity of device is two；The Mecanum wheel, and two damping devices are provided between two damping devices
It is fixedly connected with the connecting shaft of the driving motor of the Mecanum wheel.
When practical application, the lifting supporting mechanism includes：Support rod, one end of the support rod and the body are cut with scissors
Connect, the other end is provided with console, the console is connected with handle and the top plastron；The support rod and the body it
Between be also connected with driving assembly, the driving component, and can for making the support rod be in first state or the second state
It is switched between the first state and second state.
Wherein, when the support rod is in the first state, the height of the helping robot is lower than 0.8 meter.
Specifically, the support rod includes：Mobile jib and the secondary bar being threaded through in the mobile jib, the secondary bar and the mobile jib
It is connected by movable part, and the secondary bar telescopic moving and can be fixed in the mobile jib by the movable part.
Further, the console is equipped with power switch and at least two grades of speed-regulating switch；The console is equipped with
Groove, the groove can be used in placing remote controler, and charge for the remote controler.
Further, control assembly is equipped in the body, the control assembly connect with the driving component, is used for
Control the support rod lifting；The remote controler is connect by radio connection with the control assembly, and the remote controler
The helping robot can be remotely controlled to be moved.
Still further, the helping robot default of the no fixing seat is in brake when the power switch is opened
State；The remote controler is equipped with control switch, described when the control switch and the power switch are in open state
It is mobile that remote controler can remotely control the helping robot, or the control helping robot carries out posture changing, level is moved
Dynamic or moving in rotation.
When practical application, the top plastron includes：EVA filled layer, and it is coated on the leather on the outside of the EVA filled layer
Layer；The lower end two sides of the top plastron are the arcuate structure being upwards collected through.
Wherein, the vehicle frame includes：Fixed beam, and the walking beam being connect with the fixed beam by fixing piece；It is described
Mecanum wheel is connect with the fixed beam afterwards, and the sole supporting plate is connect with the walking beam；The walking beam is able to drive
The sole supporting plate is moved relative to the fixed beam along the direction far from or close to the vehicle body, and is carried out by the fixing piece
It is fixed.
Specifically, the helping robot further includes：Ding Xi mechanism, the Ding Xi mechanism are connect with the vehicle body；It is described
Ding Xi mechanism includes：Vertical beam, one end of the vertical beam is connect with the vehicle body, the other end is connected with crossbeam, right on the crossbeam
Claiming setting, there are two the top lap boards being flexibly connected.
Further, the vertical beam includes：Girder and auxiliary girder, one end of the girder are connect with the vehicle body, the pair
One end of beam is threaded through in the girder, the other end is connected with the top lap board；The auxiliary girder is able to drive the top lap board phase
The girder is moved and fixed along the direction far from or close to the vehicle body.
Further, the crossbeam is equipped with connecting hole, is longitudinally equipped with strip slot on the top lap board；The connecting hole
When corresponding to the different location of the strip slot and being bolted, the top lap board is located at different height.
Still further, the top lap board includes：The intermediate plate being connect with the crossbeam, and respectively with the intermediate plate
Two sides connection interior plate and outer panel；The size of the outer panel is greater than the size of the interior plate.
Preferably, the one side that the top lap board is contacted with user is equipped with Soft Roll material structural member.
When practical application, the front side of the vehicle body is equipped with headlamp, and the vehicle body is equipped with indicator light；The indicator light packet
It includes：Charge standby mode, booting charged state, normal boot-strap state, standby mode, in alarm condition any one or it is more
Kind.
Wherein, the helping robot further includes：Sound prompt device, the sound prompt device is for prompting the side
The state of robot is helped, or carries out danger warning.
Compared with the existing technology, helping robot of the present invention has the advantage that：
In helping robot provided by the invention, including：Corbel bandage and waist bandage is helped, and with Mecanum wheel
Body, body are equipped with sole supporting plate and lifting supporting mechanism；Going up and down supporting mechanism includes top plastron, and the lower end surface for pushing up plastron is set
There are the first connector, side wall to be equipped with the second connector；Corbel bandage, which is equipped with, matches the third connector docked with the first connector,
It helps waist bandage to be equipped with and matches the 4th connector docked with the second connector.When using helping robot provided by the invention, first
Corbel bandage horizontal is completed, user's movement is so far sat down, then by the third connector and helping machine on corbel bandage
The first connector on people is connected, then the behind waist that waist bandage will be helped to be put in itself, and the help on waist bandage the 4th is connected
Part is connected with the second connector in helping robot, the buttocks finally tightened corbel bandage and waist bandage is helped to make it with user
It is fitted closely with waist, helping robot can be controlled and carry out posture changing, move horizontally or moving in rotation.Thus analysis can
Know, helping robot provided by the invention, can either guarantee that user has stance and sitting posture, and can effectively mitigate complete machine weight
Amount simplifies helping robot architecture, to effectively improve its flexibility.
By by some or all of axle hole that Mecanum wheel ontology is arranged in of driving motor and retarder, with
The structure size for reducing Mecanum wheel and its driving motor and retarder makes to use to form integrated Mecanum wheel
The structure of the helping robot of the Mecanum wheel is more compact.
Axis by the connecting shaft of driving motor is conllinear with the rotating shaft of Mecanum wheel ontology, so that Mecanum wheel
Ontology is more stable with the housing into rotation of driving motor, and reduction uses the vibration of the equipment of the Mecanum wheel when walking.
In addition, Mecanum wheel is integrated with driving motor, reduces Mecanum wheel to a certain extent with it and drive dress
The installation components set simplify the structure of the helping robot using this Mecanum wheel.It also simplifies to a certain extent
Using the installation process and requirement of the helping robot of this Mecanum wheel, its construction weight and manufacture maintenance cost are reduced, also
The reliability of equipment walking can be improved to a certain extent.
Mecanum wheel with damping device, by the fixed bracket of damping, the mobile bracket of damping and elastic element, so that
The vibration that Mecanum wheel generates when walking can be absorbed by elastic element；The damping device is simple and compact for structure, cost ratio
It is relatively inexpensive, it is also convenient for producing and processing, vibration when can either reduce Mecanum wheel walking well to helping robot may be used also
To enable the structure of the equipment such as helping robot more compact.
The present invention also provides a kind of control method of helping robot, the helping robot is equipped with power switch, remote control
Device is equipped with control switch；When the power switch is opened, the helping robot default is in braking state；The control switch
When being in open state with the power switch, it is mobile that the remote controler can remotely control the helping robot, or controls
The helping robot is made to carry out posture changing, move horizontally or moving in rotation.
The control method of the helping robot and above-mentioned helping robot compared with the existing technology possessed by advantage phase
Together, details are not described herein.
In addition, in the control method of helping robot provided by the invention, when being opened due to power switch, helping robot
Default is in braking state, therefore can effectively improve the safety of user；Since control switch and power switch are in
When open state, it is mobile that remote controler can remotely control helping robot, or control it and carry out posture changing, move horizontally or revolve
Transfer is dynamic, therefore more convenient to use, convenient.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of corbel bandage in helping robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram that waist bandage is helped in helping robot provided in an embodiment of the present invention；
Fig. 3 is the schematic perspective view of helping robot provided in an embodiment of the present invention complete machine；
Fig. 4 is the detonation configuration of Mecanum wheel and damping device signal in helping robot provided in an embodiment of the present invention
Figure；
Fig. 5 is the structural schematic diagram that helping robot provided in an embodiment of the present invention is in first state；
Fig. 6 is the structural schematic diagram that helping robot provided in an embodiment of the present invention is in the second state；
Fig. 7 is the enlarged structure schematic diagram of console and remote controler in helping robot provided in an embodiment of the present invention；
Fig. 8 is the back enlarged structure schematic diagram of helping robot Zhong Ding knee mechanism provided in an embodiment of the present invention.
In figure：1- corbel bandage；2- helps waist bandage；3- Mecanum wheel；4- body；5- sole supporting plate；6- liter
Descending branch support mechanism；7- remote controler；8- Ding Xi mechanism；9- damping device；
11- third connector；12- corbel ontology；13- corbel adjusts band；
The 4th connector of 21-；22- helps waist ontology；23- helps waist to adjust band；
Mecanum wheel before 31-；Mecanum wheel after 32-；33- Mecanum wheel ontology；34- driving motor；
41- vehicle body；42- vehicle frame；421- fixed beam；422- fixing piece；423- walking beam；411- headlamp；
61- pushes up plastron；The first connector of 62-；The second connector of 63-；64- support rod；65- console；66- hand
Handle；67- driving assembly；641- mobile jib；642- secondary bar；643- movable part；651- power switch；652- speed-regulating switch；
81- vertical beam；82- crossbeam；83- pushes up lap board；811- girder；812- auxiliary girder；831- strip slot；832- spiral shell
Bolt；833- intermediate plate；834- interior plate；835- outer panel；
Bracket is fixed in 91- damping；Bracket is moved in 92- damping；93- damping fixing axle；931- elastic element.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the system of indication or suggestion meaning or element must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the connection inside two elements.For the ordinary skill in the art, it can understand that above-mentioned term exists with concrete condition
Concrete meaning in the present invention.
Fig. 1 is the structural schematic diagram of corbel bandage in helping robot provided in an embodiment of the present invention；Fig. 2 is that the present invention is real
Apply the structural schematic diagram that waist bandage is provided in the helping robot of example offer；Fig. 3 is helping robot provided in an embodiment of the present invention
The schematic perspective view of complete machine.
As shown in Figure 1-Figure 3, the embodiment of the present invention provides the helping robot or a kind of helping machine of a kind of no fixing seat
Device people, including：Corbel bandage 1 and help waist bandage 2, and the body 4 with Mecanum wheel 3, body 4 is equipped with sole supporting plate
5 and lifting supporting mechanism 6；Go up and down supporting mechanism 6 include top plastron 61, top plastron 61 lower end surface be equipped with the first connector 62,
Side wall is equipped with the second connector 63；Corbel bandage 1, which is equipped with, matches the third connector 11 docked with the first connector 62, and waist is helped to tie up
It is equipped with 2 and matches the 4th connector 21 docked with the second connector 63.
Compared with the existing technology, helping robot described in the embodiment of the present invention has the advantage that：
In helping robot provided in an embodiment of the present invention, as shown in Figure 1-Figure 3, including：Corbel bandage 1 and waist is helped to tie up
Band 2, and the body 4 with Mecanum wheel 3, body 4 are equipped with sole supporting plate 5 and lifting supporting mechanism 6；Go up and down support machine
Structure 6 includes top plastron 61, and the lower end surface of top plastron 61 is equipped with the first connector 62, side wall is equipped with the second connector 63；Corbel is tied up
It is equipped with 1 and matches the third connector 11 that dock with the first connector 62, help waist bandage 2 equipped with matching with the second connector 63 pair
The 4th connector 21 connect.When using helping robot provided in an embodiment of the present invention, first 1 horizontal of corbel bandage is completed, is made
User's movement is so far sat down, then by the first connector 62 on the third connector 11 and helping robot on corbel bandage 1
The 4th connector 21 and helping machine that is connected, then the behind waist that waist bandage 2 will be helped to be put in itself, and will help on waist bandage 2
The second connector 63 on people is connected, and finally tightens corbel bandage 1 and waist bandage 2 is helped to keep it tight with the buttocks and waist of user
Closely connected conjunction can control helping robot and carry out posture changing, move horizontally or moving in rotation.From this analysis, of the invention
The helping robot that embodiment provides can either guarantee that user has stance and sitting posture, and can effectively mitigate main screw lift,
Simplify helping robot architecture, to effectively improve its flexibility.
Wherein, for the connectivity robustness for effectively improving corbel bandage 1 He helping waist bandage 2, as shown in figure 3, above-mentioned first
Connector 62 can use ring buckle, and the second connector 63 can be latched using aviation；Correspondingly, above-mentioned third connector 11 can
To use ISOFIX interface, the 4th connector 21 can use aviation inserted sheet.
Specifically, as shown in Figure 1, corbel bandage 1 may include corbel ontology 12, and it is arranged on the corbel ontology 12
Corbel adjust band 13, corbel adjust band 13 free end can be equipped with above-mentioned ISOFIX interface, so as to pass through ISOFIX
Interface is docked with ring buckle, realizes the fixation of corbel bandage 1；As shown in Fig. 2, helping waist bandage 2 may include helping waist ontology 22, with
And be arranged in this help on waist ontology 22 help waist adjust band 23, help waist adjust band 23 free end can be equipped with above-mentioned aviation insert
Piece realizes the fixation for helping waist bandage 2 so as to dock by aviation inserted sheet with aviation lock.
The full name of ISOFIX is ＂ InternationalStandardsOrganisation FIX ＂, and Chinese is meant：State
Device is fixed by border standardization body.It is one about the new standard for disposing children's seat in the car.This standard is being
Numerous automakers are received, and effect is to be that the installation of children's seat is made to become quick and simple.
It should be added that, above-mentioned corbel ontology 12 and help waist ontology 22 that can respectively include herein：The skin in outside
Remove from office the anti-skid cloth bed of material of layer, intermediate sponge filled layer and inside；Also, leather layer and the anti-skid cloth bed of material corresponding one
Side to make sponge filled layer detachable structure part, and then makes in winter along that can be flexibly connected by zipper or snap-fastener
Sponge filled layer can be put into, can take out sponge filled layer in summer use by the used time.
In addition, the above-mentioned anti-skid cloth bed of material can have trellis gas-permeable nets, to effectively improve support by the trellis gas-permeable nets
The gas permeability of stern ontology, and then effectively corbel bandage is avoided to cause apparent perspiration phenomenon to user.
When actual production manufactures, above-mentioned trellis gas-permeable nets may include having multiple, and multiple trellis gas-permeable nets can be anti-
It is spaced and is uniformly distributed on sliding bed of cloth.Trellis gas-permeable nets are arranged along the length direction of corbel ontology 12, are distributed in the width direction；
Or, trellis gas-permeable nets are arranged along the width direction of corbel ontology 12, are distributed along its length.
Alternatively, when actual production manufactures, there are two above-mentioned trellis gas-permeable nets may include, and two trellis gas-permeable nets
It can the symmetrical distribution on the anti-skid cloth bed of material.
Further, for the comfort level for corbel bandage 1 being effectively ensured He helping waist bandage 2, the thickness of above-mentioned sponge filled layer
Degree can be 3cm.
For the user for enabling corbel bandage 1 He waist bandage 2 being helped to be well adapted to different statures, above-mentioned corbel is adjusted
Band 13 and help waist adjust band 23 on can be equipped with adjusting buckle, thus by the adjusting buckle can effectively adjust corbel adjust band 13
With the length for helping waist to adjust band 23, and then enable corbel bandage 1 and the use of helping waist bandage 2 to be well adapted to different statures
Person.
Optionally, equally distributed trellis gas-permeable nets are also possible to dispensing on the anti-skid cloth bed of material, to be set by for dispensing glue
It sets and further effectively improves antiskid effect.
Fig. 4 is the detonation configuration of Mecanum wheel and damping device signal in helping robot provided in an embodiment of the present invention
Figure.
Further, as shown in figure 3, above-mentioned body 4 may include：Vehicle body 41, and the bottom zone with the vehicle body 41
The vehicle frame 42 of connection；When practical set, lifting supporting mechanism 6 can be connect with vehicle body 41, and sole supporting plate 5 can connect with vehicle frame 42
It connects.In order to realize transverse translation, oblique translation and the omnidirectional movings such as rotate in place, as shown in figure 4, above-mentioned Mecanum wheel 3 can
To include：The preceding Mecanum wheel 31 being connect with vehicle body 41 and the rear Mecanum wheel 32 being connect with vehicle frame 42；The preceding Mike receives
Nurse wheel 31 and rear Mecanum wheel 32 can respectively include：Mecanum wheel ontology 33, driving motor 34 and retarder, driving electricity
Machine 34 and retarder parts are provided entirely in the axle hole of Mecanum wheel ontology 33；The output shaft of driving motor 34 and wheat
The rotating shaft that Ke Namu takes turns ontology 33 is conllinear, and Mecanum wheel ontology 33 is with the housing into rotation of driving motor 34.
By by some or all of axle hole that Mecanum wheel ontology 33 is arranged in of driving motor 34 and retarder
It is interior, to reduce the structure size of Mecanum wheel 3 Yu its driving motor 34 and retarder, to form integrated Mecanum wheel
3, keep the structure of the helping robot using the Mecanum wheel 3 more compact.
Axis by the connecting shaft of driving motor 34 is conllinear with the rotating shaft of Mecanum wheel ontology 33, so that Mike receives
Nurse wheel ontology 33 is more stable with the housing into rotation of driving motor 34, reduce using the Mecanum wheel equipment when walking
Vibration.
In addition, Mecanum wheel 3 is integrated with driving motor 34, reduces Mecanum wheel 3 to a certain extent and driven with it
The installation components of dynamic device, simplify the structure of the helping robot using this Mecanum wheel 3.Also simple to a certain extent
Changed using this Mecanum wheel helping robot installation process and requirement, reduce its construction weight and manufacture maintenance at
This, also can be improved the reliability of equipment walking to a certain extent.
Optionally, Mecanum wheel ontology 33 is made of Mecanum roller bracket and Mecanum roller, Mecanum
Roller is located on Mecanum roller bracket, and Mecanum roller bracket is connect with the shell of driving motor 34.Wherein, Mai Kena
The both ends of nurse roller are connect with Mecanum roller bracket or the centre of Mecanum roller connects with Mecanum roller bracket
It connects.
Further, as shown in figure 4, the helping robot of no fixing seat provided in an embodiment of the present invention can also wrap
It includes：Damping device 9, the damping device 9 may include the fixed bracket 91 of damping and the mobile bracket 92 of damping；Bracket 92 is moved in damping
It is fixedly connected with the output shaft of the driving motor 34 of Mecanum wheel 3；The fixed bracket 91 of damping includes that at least one damping is fixed
Axis 93；Mobile 92 housing of bracket of damping can move in damping fixing axle 93 and along the axial reciprocating of damping fixing axle 93, so that
Mecanum wheel 3 can be moved with the mobile bracket 92 of damping along the axial reciprocating of damping fixing axle 93；Outside the mobile bracket 92 of damping
There are two elastic elements 931 for set；The mobile bracket 92 of damping is connected between two elastic elements 931, elastic element 931 is in compression
State or elastic element 931 are in force-free state, and elastic element 931, which has, enables the mobile bracket 92 of damping reply home position
The trend of state；The axial direction of the output shaft of the axial direction and driving motor 34 of damping fixing axle 93 is arranged in angle, optionally, damping
The axial at right angles setting or approximate right angle setting of the connecting shaft of the axial direction and driving motor 34 of fixing axle 93, in order to damping
Fixing axle 93, on two elastic elements 931 can be good at reduce Mecanum wheel 3 walk when to equipment such as helping robots
Vibration.
Mecanum wheel 3 with damping device 9 passes through the fixed bracket 91 of damping, the mobile bracket 92 of damping and elasticity member
Part 931, so that the vibration that Mecanum wheel 3 generates when walking can be absorbed by elastic element 931；9 structure of damping device
Simple and compact, cost is relatively cheap, is also convenient for producing and processing, and can either reduce well when Mecanum wheel 3 is walked to helping
The vibration of robot can also enable the structure of the equipment such as helping robot more compact.
The mobile bracket 92 of damping includes the mobile bearing attachment of damping and the mobile bracket socket part of at least two dampings；Driving
The connecting shaft of motor 34 passes through the mobile bearing attachment of damping and is fixedly connected with the mobile bearing attachment of damping；Optionally, it drives
The connecting shaft of dynamic motor 34 is fixedly connected on the mobile bracket 92 of damping by nut.The mobile bracket socket part housing of damping is subtracting
It shakes in fixing axle 93, and the quantity of the mobile bracket socket part of damping is corresponding with the quantity of damping fixing axle 93；Namely damping moves
The quantity of dynamic bracket socket part is identical as the quantity of damping fixing axle 93.Adjacent damping passes through damping between mobile bracket socket part
Mobile bearing attachment is fixedly connected；The mobile bearing attachment of damping protrudes from the table that the mobile bracket socket part of adjacent damping is formed
Face, so that the mobile bracket 92 of damping forms arc or the structure similar to arc, to improve the elasticity of the mobile bracket 92 of damping
Deformability, the support force of Mecanum wheel 3 is preferably passed to equipment by damping device 9.
Optionally, the quantity of damping fixing axle 93 is 1,2,4,5 etc..Optionally, damping fixing axle 93
Quantity is arranged in pairs.
Preferably, the quantity of damping fixing axle 93 is two；The quantity of the mobile bracket socket part of damping is also two；And
And the mobile bracket 92 of damping is symmetrical structure.Optionally, the connecting shaft of driving motor 34 passes through the center of the mobile bracket 92 of damping
And it is fixedly connected with the mobile bearing attachment of damping.
Optionally, elastic element 931 includes spring, rubber ring perhaps silica gel ring or other elastic elements 931, such as：
Polyester elastomer or the elastic element of polyurethane material etc..
In the optinal plan of the present embodiment, the quantity of damping device 9 can be one or more.
For example, the quantity of damping device 9 is one；The side of Mecanum wheel 3 is arranged in damping device 9, and damping fills
9 are set to be fixedly connected with the connecting shaft of the driving motor 34 of Mecanum wheel 3.
For another example, the quantity of damping device 9 is two；Mecanum wheel 3, and two are provided between two damping devices 9
Damping device 9 is fixedly connected with the connecting shaft of the driving motor 34 of Mecanum wheel 3.Namely the driving electricity of Mecanum wheel 3
The connecting shaft of machine 34 runs through Mecanum wheel 3, so that the both ends of the connecting shaft of driving motor 34 are separately connected damping device 9.It is logical
It crosses the two sides in Mecanum wheel 3 and damping device 9 is respectively set, to improve the damping of the Mecanum wheel 3 with damping device 9
Performance, to further decrease the vibration for the helping robot for being equipped with the Mecanum wheel 3 with damping device 9.
Fig. 5 is the structural schematic diagram that helping robot provided in an embodiment of the present invention is in first state；Fig. 6 is the present invention
The helping robot that embodiment provides is in the structural schematic diagram of the second state.
When practical application, as shown in Figure 1, above-mentioned lifting supporting mechanism 6 may include：Support rod 64, the one of support rod 64
End and body 4 are hinged, the other end is provided with console 65, which can connect handle 66 and top plastron 61；Support
Driving assembly 67 is also connected between bar 64 and body 4, so that driving assembly 67 can make support rod 64 be in first state (such as
Shown in Fig. 5) or the second state (as shown in Figure 6), and can be switched between the first state and the second state.
It should be added that, above-mentioned first state can correspond to sitting posture state herein, and the second state can correspond to station
Appearance state.Driving assembly 67 can be electric pushrod, and when electric pushrod stretches out, support rod 64 is in a vertical state, in correspondence
The second state (stance) is stated, as shown in Figure 6；When electric pushrod retracts, support rod 64 is in horizontality, and correspondence is above-mentioned
First state (sitting posture state), as shown in Figure 5.Certainly, driving assembly 67 or hydraulic push rod or air-leg etc., herein
With no restrictions.
In addition, handle 66 is integrated with top plastron 61 and the setting of support rod 64, be conducive to user when converting posture, more
Add firm, safety.
Wherein, as shown in figure 5, when above-mentioned support rod 64 is in first state (sitting posture state), the height of helping robot
Lower than 0.8 meter, guarantee that user completes to bend over one's desk working or daily food and drink so as to enter below desk.
It should be added that, user is fallen lifting supporting mechanism 6, can be made by release corbel bandage 1 herein
Buttocks contacts closestool, completes the preparation to go to the toilet；Lifting supporting mechanism 6 is risen, helps waist bandage 2, band by what back was fixed
User is played, can be completed from standing up above closestool.
Specifically, as shown in fig. 6, above-mentioned support rod 64 may include：Mobile jib 641 and the pair being threaded through in the mobile jib 641
Bar 642, secondary bar 642 can be connect with mobile jib 641 by movable part 643, and secondary bar 642 being capable of the telescopic moving in mobile jib 641
And it is fixed by movable part 643, to realize the height adjustment of support rod 64, with adapt to different heights user (such as：
150cm-190cm).
Fig. 7 is the enlarged structure schematic diagram of console and remote controler in helping robot provided in an embodiment of the present invention.
Further, as shown in fig. 7, can be opened equipped with power switch 651 and at least two grades speed regulation on above-mentioned console 65
Close 652；Also, console 65 is equipped with groove, which can be used in placing remote controler 7, and charge for remote controler 7.
Further, it is equipped with control assembly in above-mentioned body 4, which connect with driving assembly 67, for controlling
Support rod 64 processed is gone up and down；Also, remote controler can be connect by radio connection with control assembly, so that remote controler can be remote
Process control helping robot is moved.
Still further, in order to effectively improve the safety of helping robot, when above-mentioned power switch 651 is opened, helping
Robot default is in braking state；Also, remote controler 7 is equipped with control switch, and control switch and power switch 651 are in
When open state, it is mobile that remote controler 7 can remotely control helping robot, or control helping robot and carry out posture changing, water
Translation is moved or moving in rotation.
It should be added that, remote controler 7, which is equipped with, to rise key, landing key, direction rocking bar, rotates clockwise key herein
With rotation key counterclockwise；It is stood up by pressing rise key or landing key adjustment adjustable height realization, function of sitting down；By hand dynamic
The distant bar in direction is, it can be achieved that advancing to robot, retreating, left and right translation four direction move horizontally；It is suitable by pressing
Hour hands rotation key or rotation key counterclockwise realize the moving in rotation to robot.
In addition, being also provided with luminous lamp switch key and SOS emergency key on remote controler 7；By pressing luminous lamp switch key
Headlamp on remote control robot host opens or closes；It can realize that alarm is called for help immediately by pressing SOS emergency key, such as
In active state, robot host carries out alarm calling for help simultaneously and (when pressing SOS emergency key again, cries for help fruit robot host
Alarm stops).
When practical application, above-mentioned top plastron 61 may include：EVA filled layer, and be coated on the outside of the EVA filled layer
Leather layer；Also, the lower end two sides for pushing up plastron 61 can be the arcuate structure being upwards collected through, thus in top 61 decline of plastron
Afterwards, the space of itself and leg is effectively increased, comfort level is improved.
EVA refers to " ethylene-vinyl acetate copolymer " and its manufactured rubber plastic foam material, molecular formula (C2H4) x.
(C4H6O2) y, for making refrigerator conduit, gas pipe, civil engineering plate, container and daily necessities etc..
Wherein, as shown in figure 3, above-mentioned vehicle frame 42 may include：Fixed beam 421, and pass through fixation with the fixed beam 421
The walking beam 423 that part 422 connects.When specific assembly, rear Mecanum wheel 32 is connect with fixed beam 421, sole supporting plate 5 and activity
Beam 423 connects, so that walking beam 423 is able to drive the relatively fixed beam 421 of sole supporting plate 5 along the direction far from or close to vehicle body 41
It is mobile, and be fixed by fixing piece 422, and then better adapt to the user of different height figures.
Specifically, as shown in figure 3, helping robot provided in an embodiment of the present invention can also include：It is connect with vehicle body 41
Ding Xi mechanism 8；The Ding Xi mechanism 8 may include：Vertical beam 81, one end of vertical beam 81 is connect with vehicle body 41, the other end is connected with
Crossbeam 82, is symmetrical arranged that there are two the top lap boards 83 being flexibly connected on crossbeam 82.
Further, as shown in figure 3, above-mentioned vertical beam 81 may include：Girder 811 and auxiliary girder 812, one end of girder 811
It is connect with vehicle body 41, one end of auxiliary girder 812 is threaded through in girder 811, the other end is connected with top lap board 83, thus 812 energy of auxiliary girder
It is enough that top lap board 83 is driven to move and fix along the direction far from or close to vehicle body 41 relative to girder 811, and then better adapt to not
With the user of height figure.
Fig. 8 is the back enlarged structure schematic diagram of helping robot Zhong Ding knee mechanism provided in an embodiment of the present invention.
Further, it as shown in figure 8, above-mentioned crossbeam 82 is equipped with connecting hole, pushes up and is longitudinally equipped with strip slot on lap board 83
831, so that top lap board 83 can be located at difference when connecting hole corresponds to the different location of strip slot 831 and fixed by bolt 832
Height, and then better adapt to the user of different height figures.
Still further, as shown in figure 3, above-mentioned top lap board 83 may include：The intermediate plate 833 being connect with crossbeam 82, with
And the interior plate 834 and outer panel 835 being connect respectively with the two sides of the intermediate plate 833；Also, the size of outer panel 835 is preferred
For the size greater than interior plate 834.Such design, can not only adapt to the user of different thigh thicknesses, and can prevent
User's knee turns up.
Preferably, the one side that above-mentioned top lap board 83 is contacted with user is equipped with Soft Roll material structural member, thus comfort level energy
Enough effectively improve.
When practical application, as shown in Figure 5 and Figure 6, the front side of above-mentioned vehicle body 41 can be equipped with headlamp 411, on vehicle body 41
It is also provided with indicator light.Specifically, indicator light may include：Charging standby mode (such as：Green is always on), booting charging shape
State (such as：Green flashing), normal boot-strap state (such as：Blue flashing), standby mode (such as：Blue is always on), alarm shape
State (such as：Red flashing) in any one or more.
Wherein, helping robot provided in an embodiment of the present invention can also include：Sound prompt device, auditory tone cues dress
The state that can be used in prompting helping robot is set, or carries out danger warning.
In addition, the metal side tube that 41 front of vehicle body is laterally fixed can be collision prevention girders.
The embodiment of the present invention also provides a kind of control method of helping robot, and helping robot is equipped with power switch, distant
It controls device and is equipped with control switch；When power switch is opened, helping robot default is in braking state；Control switch and power switch
When being in open state, it is mobile that remote controler can remotely control helping robot, or control helping robot and carry out posture change
It changes, move horizontally or moving in rotation.
Helping robot provided in an embodiment of the present invention and its control method can either guarantee that user has stance and seat
Appearance, and can effectively mitigate main screw lift, simplify helping robot architecture, to effectively improve its flexibility.
In addition, in the control method of helping robot provided in an embodiment of the present invention, when being opened due to power switch, helping
Robot default is in braking state, therefore can effectively improve the safety of user；Due to control switch and power switch
When being in open state, it is mobile that remote controler can remotely control helping robot, or control it and carry out posture changing, horizontal shifting
Dynamic or moving in rotation, thus it is more convenient to use, convenient.
In helping robot provided in an embodiment of the present invention, helping robot and human body contact portion are all made of ergonomics
Design, textile fabric is securely and comfortable, and is easy to user and voluntarily dresses.
The remote controlled helping robot of remote controler does various plane motions, can also be equipped on robot matrix and use,
Electric power can be provided by machine human organism with robot and prompt by carrying.All motor performances of robot by remote control control,
Also operable switch lamp is called for help, remote control robot switching on and shutting down etc..
It is suitable for user and includes at least following several classes：1, due to disease or wound paraplegia user, can control oneself
Both hands；2, due to disease or aging both legs powerlessly can not normal walking crowd；3, the people that can be stood by outside plant, such as
Crutch.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (22)
1. a kind of helping robot, which is characterized in that including：Corbel bandage and waist bandage is helped, and with Mecanum wheel
Body, the body are equipped with sole supporting plate and lifting supporting mechanism；
The lifting supporting mechanism includes top plastron, and the lower end surface of the top plastron is equipped with the first connector, side wall is equipped with second
Connector；
The corbel bandage, which is equipped with, matches the third connector docked with first connector, described that waist bandage is helped to be equipped with and institute
State the 4th connector of the second connector matching docking.
2. a kind of helping robot of no fixing seat, which is characterized in that including：Corbel bandage and waist bandage is helped, and had
The body of Mecanum wheel, the body are equipped with sole supporting plate and lifting supporting mechanism；
The lifting supporting mechanism includes top plastron, and the lower end surface of the top plastron is equipped with the first connector, side wall is equipped with second
Connector；
The corbel bandage, which is equipped with, matches the third connector docked with first connector, described that waist bandage is helped to be equipped with and institute
State the 4th connector of the second connector matching docking.
3. helping robot according to claim 1 or 2, which is characterized in that first connector uses ring buckle, institute
The second connector is stated to latch using aviation；The third connector uses ISOFIX interface, and the 4th connector uses aviation
Inserted sheet.
4. helping robot according to claim 3, which is characterized in that the corbel bandage includes corbel ontology, and
The corbel being arranged on the corbel ontology adjusts band, and the free end that the corbel adjusts band is equipped with the ISOFIX interface, institute
ISOFIX interface is stated for docking with the ring buckle；
It is described help waist bandage include help waist ontology, and be arranged in it is described help on waist ontology help waist adjust band, it is described to help waist tune
The free end for saving band is equipped with the aviation inserted sheet, and the aviation inserted sheet is used to dock with aviation lock.
5. helping robot according to claim 1 or 2, which is characterized in that the body includes：Vehicle body, and with institute
State the vehicle frame of the bottom zone connection of vehicle body；The lifting supporting mechanism is connect with the vehicle body, the sole supporting plate with it is described
Vehicle frame connection；
The Mecanum wheel includes：The preceding Mecanum wheel connecting with the vehicle body and the rear Mike connecting with the vehicle frame receive
Nurse wheel；The preceding Mecanum wheel and the rear Mecanum wheel respectively include：Mecanum wheel ontology, driving motor and deceleration
Device, the driving motor and the retarder parts are provided entirely in the axle hole of the Mecanum wheel ontology；
The output shaft of the driving motor is conllinear with the rotating shaft of the Mecanum wheel ontology, and the Mecanum wheel ontology
With the housing into rotation of the driving motor.
6. helping robot according to claim 5, which is characterized in that further include：Damping device, the damping device packet
Include the fixed bracket of damping and the mobile bracket of damping；The driving motor of the mobile bracket of the damping and the Mecanum wheel
Output shaft is fixedly connected；
The fixed bracket of the damping includes at least one damping fixing axle；The mobile bracket housing of the damping is fixed in the damping
It can move on axis and along the axial reciprocating of the damping fixing axle；
There are two elastic elements for the mobile bracket housing of the damping；The mobile branch of the damping is connected between two elastic elements
Frame；
The axial direction of the output shaft of the axial direction and driving device of the damping fixing axle is arranged in angle.
7. helping robot according to claim 1 or 2, which is characterized in that the lifting supporting mechanism includes：Support
Bar, one end of the support rod and the body are hinged, the other end is provided with console, and the console is connected with handle and institute
State top plastron；
Driving assembly is also connected between the support rod and the body, the driving component is for being in the support rod
First state or the second state, and can be switched between the first state and second state.
8. helping robot according to claim 7, which is characterized in that when the support rod is in the first state,
The height of the helping robot is lower than 0.8 meter.
9. helping robot according to claim 8, which is characterized in that the support rod includes：Mobile jib and it is threaded through institute
The secondary bar in mobile jib is stated, the secondary bar is connect with the mobile jib by movable part, and the secondary bar can stretch in the mobile jib
Contracting moves through the movable part and fixes.
10. helping robot according to claim 7, which is characterized in that the console is equipped with power switch and extremely
Few two grades of speed-regulating switch；
The console is equipped with groove, and the groove can be used in placing remote controler, and charge for the remote controler.
11. helping robot according to claim 10, which is characterized in that control assembly is equipped in the body, it is described
Control assembly is connect with the driving component, for controlling the support rod lifting；
The remote controler is connect by radio connection with the control assembly, and described in the remote controler can control remotely
Helping robot is moved.
12. helping robot according to claim 11, which is characterized in that when the power switch is opened, the helping
Robot default is in braking state；
The remote controler is equipped with control switch, described when the control switch and the power switch are in open state
It is mobile that remote controler can remotely control the helping robot, or the control helping robot carries out posture changing, level is moved
Dynamic or moving in rotation.
13. helping robot according to claim 1 or 2, which is characterized in that the top plastron includes：EVA filled layer,
And it is coated on the leather layer on the outside of the EVA filled layer；
The lower end two sides of the top plastron are the arcuate structure being upwards collected through.
14. helping robot according to claim 5, which is characterized in that the vehicle frame includes：Fixed beam, and with institute
State the walking beam that fixed beam is connected by fixing piece；
Mecanum wheel is connect with the fixed beam after described, and the sole supporting plate is connect with the walking beam；
The walking beam is able to drive the relatively described fixed beam of the sole supporting plate and moves along the direction far from or close to the vehicle body
It is dynamic, and be fixed by the fixing piece.
15. helping robot according to claim 5, which is characterized in that further include：Ding Xi mechanism, the Ding Xi mechanism
It is connect with the vehicle body；
The Ding Xi mechanism includes：Vertical beam, one end of the vertical beam is connect with the vehicle body, the other end is connected with crossbeam, described
The top lap board being flexibly connected there are two being symmetrical arranged on crossbeam.
16. helping robot according to claim 15, which is characterized in that the vertical beam includes：Girder and auxiliary girder, it is described
One end of girder is connect with the vehicle body, and one end of the auxiliary girder is threaded through in the girder, the other end is connected with the top knee
Plate；
The auxiliary girder is able to drive the top lap board and moves and consolidate along the direction far from or close to the vehicle body relative to the girder
It is fixed.
17. helping robot according to claim 16, which is characterized in that the crossbeam is equipped with connecting hole, the top
Strip slot is longitudinally equipped on lap board；
When the connecting hole corresponds to the different location of the strip slot and is bolted, the top lap board is located at different height
Degree.
18. helping robot according to claim 17, which is characterized in that the top lap board includes：Connect with the crossbeam
The intermediate plate connect, and the interior plate and outer panel that are connect respectively with the two sides of the intermediate plate；
The size of the outer panel is greater than the size of the interior plate.
19. helping robot according to claim 18, which is characterized in that the one side that the top lap board is contacted with user
Equipped with Soft Roll material structural member.
20. helping robot according to claim 5, which is characterized in that the front side of the vehicle body is equipped with headlamp, described
Vehicle body is equipped with indicator light；
The indicator light includes：Charge standby mode, booting charged state, normal boot-strap state, standby mode, in alarm condition
Any one or more.
21. helping robot according to claim 1 or 2, which is characterized in that further include：Sound prompt device, the sound
Sound suggestion device is used to prompt the state of the helping robot, or carries out danger warning.
22. a kind of control method of helping robot, which is characterized in that the helping robot is equipped with power switch, remote controler
Equipped with control switch；
When the power switch is opened, the helping robot default is in braking state；
When the control switch and the power switch are in open state, the remote controler can remotely control the helping
Robot is mobile, or the control helping robot carries out posture changing, moves horizontally or moving in rotation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604374.2A CN108852764B (en) | 2018-06-12 | 2018-06-12 | Helping robot without fixed seat, helping robot and control method thereof |
| PCT/CN2018/124038 WO2019091498A1 (en) | 2017-11-09 | 2018-12-26 | Assistance robot without fixed seat, assistance robot and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604374.2A CN108852764B (en) | 2018-06-12 | 2018-06-12 | Helping robot without fixed seat, helping robot and control method thereof |
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| CN108852764A true CN108852764A (en) | 2018-11-23 |
| CN108852764B CN108852764B (en) | 2020-09-25 |
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| CN201810604374.2A Active CN108852764B (en) | 2017-11-09 | 2018-06-12 | Helping robot without fixed seat, helping robot and control method thereof |
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| WO2019091498A1 (en) * | 2017-11-09 | 2019-05-16 | 杭州程天科技发展有限公司 | Assistance robot without fixed seat, assistance robot and control method therefor |
| CN109771232A (en) * | 2019-02-21 | 2019-05-21 | 侯磊磊 | A kind of Foldable medical nursing rehabilitation training device |
| CN110279562A (en) * | 2019-05-22 | 2019-09-27 | 上海邦邦机器人有限公司 | A kind of aiding upright device and aiding upright mechanism |
| CN110538049A (en) * | 2019-09-29 | 2019-12-06 | 广东博智林机器人有限公司 | Armpit support and walking aid for moving and riding |
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| RU201725U1 (en) * | 2020-10-02 | 2020-12-29 | Общество С Ограниченной Ответственностью Научно-Производственное Предприятие "Детская Восстановительная Медицина" | Standing support - verticalizer with lateral support unit |
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