CN109833155A - Electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot - Google Patents
Electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot Download PDFInfo
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- CN109833155A CN109833155A CN201711245305.9A CN201711245305A CN109833155A CN 109833155 A CN109833155 A CN 109833155A CN 201711245305 A CN201711245305 A CN 201711245305A CN 109833155 A CN109833155 A CN 109833155A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims description 117
- 239000010959 steel Substances 0.000 claims description 117
- 238000003466 welding Methods 0.000 claims description 31
- 230000002787 reinforcement Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000005476 soldering Methods 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 7
- 229910052782 aluminium Inorganic materials 0.000 description 7
- 239000004411 aluminium Substances 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000004804 winding Methods 0.000 description 4
- 230000000474 nursing effect Effects 0.000 description 2
- 208000029152 Small face Diseases 0.000 description 1
- 238000003287 bathing Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Abstract
Existing physical displacement machine is equipped with upright bar above chassis, and upright bar upper end is equipped with cross bar, and oil cylinder housing is connected with upright bar middle-end, and piston is connected with cross bar.Physical displacement machine also wants another people to operate.The height of physical displacement machine upright bar insufficient height lower limb disability, old lower limb disability people's standing step exercises.A kind of electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot, it is characterized in that: the hole of lower connecting plate [112] and the hole of girder [7] are concentric, bolt 3 [88] injects the hole of cross bar [52] and the hole of guide rail splice [116], and nut 1 [90] packs into bolt 3 [88] and tightens.Short square tube [41] packs into the upper end of connecting tube [34], the disability of electric powered steering three-wheel SZ lower limb disability takes care of oneself life auxiliary robot compared with well-known technique, and what lower limb disability, old lower limb disabled confident can walk, can take exercises, have a bath, cuing down expenses, can do a little housework with appropriate.
Description
One, technical field
The present invention is for lower limb disability, old lower limb disability nursing.The present invention can help lower limb disability, old lower limb to lose
The people of energy gets up, goes to toilet, going to bed, leaving the bed, cervical vertebra physiotherapy, bathing, walks, takes exercises, buying vegetables, doing housework.
Two, background technique
Existing physical displacement machine, chassis are mounted below universal wheel, directional wheel, upright bar, upright bar are equipped with above chassis
Upper end is equipped with cross bar, and oil cylinder housing is connected with upright bar middle-end, and piston is connected with cross bar.Physical displacement machine, also wants another
People's operation.The height of the upright bar insufficient height lower limb disability of physical displacement machine, old lower limb disability people's standing step exercises.It is horizontal
It is fitted without amplitude variation trolley, rotating mechanism on bar, slings leg lifting mechanism, electric walking mechanism, walking steering controller.On
The people that lower limb disability, old lower limb disable cannot do housework on physical displacement machine, cannot take care of oneself.A people is wanted in this way
Nursing,
Three, technology contents
1. the purpose of the present invention is design a kind of electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot
Its chassis mechanism is made of following components；Directive wheel [1], guide wheel shaft [2].Front fork [3], bearing [4], shaft block ring
[5], bearing [6], girder [7], angle steel [8], angle steel [9], channel steel [10], fixed turning set [11], fixed push rod otic placode
[12], bi-lug plate [13], hole retaining ring [14], bottom plate [15], decelerating motor [16], by traveling wheel [17], washer [18], bearing
[19], bolt [20], walking axle [21], flat key [22], driven sprocket [23], shaft retaining ring [24], driving wheel [25], flat key
[26], bolt [27], bearing block [28], motor mounting plate [29], with hole retaining ring [30], flat key 1 [32], brake lever [33],
It brakes supporting plate [35], braking vane [36], brake rubber block [37], screw [38], electric powered steering push rod [48].
Slide vertically mechanism to be made of following components: vertical guide [56], cross bar [52], upper translot steel [113] are erected
It is welded on slide plate [110] to fixed push rod otic placode [58], fixed push rod otic placode [53], vertical push rod [55] slides vertically push rod
[57], pin shaft [47], split pin [49] are reinforced angle steel [111], with bolt 3 [88] washer 1 [89], draw runner [109], lower connection
Plate [112], connecting tube [34].
Transversing gear is made of following components: short square tube [41], stiffening plate [54], orifice plate [59], transverse tube [61] have
Hole bolt [60], transverse tube [61], sliding tube [62], vertical angle steel [63], upper cross level angle [64], rectangle rotating bezel [65], 45° angle
Steel [66] lengthens supporting plate [67], upper [68] three orifice plate [69] of lifting motor, two hole snap-gauges [70], wirerope [71], aluminium set [72],
Nut [73], 45 ° of oblique stiffening plates [74] rotate otic placode [75], rotational support angle steel [76], rotate fixed otic placode [77], turn
To push rod [78], cross motor [79], cross motor mounting plate [80], washer [81] screw 1 [82], flat key 1 [83], reel
[84].Foraminous support plate [85], turning set [86], 7 word connecting plates [87], bolt 3 [88], washer 1 [89], nut 1 [90],
Oblique angle steel [91], middle cross level angle steel [92], handrail [93], seat plate frame [94], square tube [95], activity square tube [96], controller installation
Seat [97], wheelchair controller [98], handle bolt [99] control cable [100], bearing 1 [101], mounting hole retaining ring [102],
Nut 3 [103], rotation axis [104], washer [105], bend pipe [106], split pin 1 [107], oblique angle steel [31].
The life auxiliary robot solution 2. a kind of electric powered steering three-wheel SZ lower limb disability disability is taken care of oneself are as follows: pass through class
Than experiment, it is described in conjunction with the accompanying: the present invention is characterized in that: the hole of lower connecting plate [112] and the hole of girder [7] are concentric, bolt 3
[88] hole of cross bar [52] and the hole of guide rail splice [116] are injected, washer 1 [89], nut 1 [90] pack into bolt 3 [88] simultaneously
It tightens.Short square tube [41] packs into the upper end of connecting tube [34], and chassis mechanism structure is characterized in: before guide wheel shaft [2] injects
Pitch [3] and bearing [4] and directive wheel [1].With shaft block ring [5] fixed guide wheel shaft [2].Rotation bi-lug plate [13] is welded on
Front fork [3] is intermediate.Bearing [6] packs on the axis for injecting front fork [3].Chassis girder [7] Parallel Symmetric puts big inward-facing a, left side
End is welded with angle steel [9], and an angle steel [9] is symmetrically welded at [9] 130~260 millimeters away from left end angle steel, and (millimeter is mechanical
The main unit sizes of design are described below to be had when millimeter unit not not describing millimeter) in the range of.Right end is welded with channel steel
[10].Intermediate be welded with up and down angle steel [9] have two angle steel [8] to be welded among angle steel [9], two angle steel at a distance of 60~90
[8] at a distance of 60~100 distances, fixed turning set [11] welding position and the interior face of channel steel [10] are concentric, the axis of front fork [3]
It injects in fixed turning set [11].Motor mounting plate [29] is welded on angle steel [8], the big face of motor mounting plate [29] it is opposite with
It is interior.One away from outside [10] 220~300 distance of channel steel.Bottom plate [15] is welded on channel steel [10], angle steel [8], chassis girder [7]
On.Two brake support plates [39] are symmetrically welded on chassis girder [7] face, away from 188~260 range of left end.By flat key
[22] it is placed on into the intermediate keyway of walking axle [21], driven sprocket [23] alignment keyway is packed into walking axle [21], then will
Shaft retaining ring [24], which packs on walking axle [21], fixes driven sprocket [23].By bearing [19] be mounted on walking axle [21] both ends away from
On inside 30~60, bearing block [28] is mounted on bearing [19], and flat key [26] is placed on into walking axle [21] one end keyway
It is interior, driving wheel [25] alignment flat key [26] is packed into walking axle [21], traveling wheel [17] is packed into walking axle [21] without keyway
One side, by washer [18] hole be aligned walking axle [21] hole, with bolt [27] fixing gasket [18].Bearing block [19] are installed
Chassis girder [7] is fixed below with bolt [20] in the symmetrical hole of 4 of chassis girder [7] below.To walk decelerating motor
[16], it is mounted on motor mounting plate [29], is fixed on motor mounting plate [29] with bolt 1 [44].Flat key 1 [43] is put
Walking decelerating motor [16] output is packed into the keyway of walking decelerating motor [16] output shaft, then by walking head sprocket [51]
On axis.Chain [42] is mounted in walking head sprocket [51] and driven sprocket [23].It is with bolt 3 [45] that battery [46] are solid
It is scheduled on bottom plate [15].Brake transmission shaft [40] is mounted in the hole of brake support plate [39], and brake lever [33] is mounted on a left side
Side is braked on transmission shaft [40], and brake supporting plate [35] is mounted on the brake transmission shaft [40] on the right.Flat key 1 [32] is mounted on
Brake transmission shaft [40] both ends connection brake lever [33] and brake supporting plate [35].Braking vane [36] two pieces is welded on brake branch
On plate [35] or brake lever [33].Fixed turning set [11] welding position and the interior face of channel steel [10] are concentric, front fork [3]
Axis inject in fixed turning set [11].By brake rubber block [37] close to braking vane [36] hole centering, with screw [38] by railway carriage
[37] it is fixed on braking vane [36].The hole of hole alignment rotation bi-lug plate [13] of electric powered steering push rod [48], electric powered steering
The hole of the hole alignment and fixation push rod otic placode [12] of push rod [48] other end, pin shaft [47] inject the hole of electric powered steering push rod [48]
Or the hole of fixed push rod otic placode [12].Opening and 90 ° curved, bearing [6] reeve fixation in pin shaft [47] hole are injected in split pin [49]
In turning set [11] hole, with hole retaining ring [50] fixing bearing [6], fixing axle in the axis of front fork [3] is packed into hole retaining ring [14]
Hold [6].Fixing bearing [4] in the axis of front fork [3] are packed into hole retaining ring [30].
3. sliding vertically the feature of mechanism structure are as follows: vertical guide [56] two pieces both ends are concordant, facet is concordant at a distance of 300
The above distance.Vertical guide [56] is small to be laid flat downwards, and length is longitudinally put, cross bar [52] big face and vertical guide [56] outside
Bottom end is concordant, welds after the end face of cross bar [52] and the big face contact of vertical guide [56].Upper translot steel [113] both ends and vertical
The inner face upper end of guide rail [56] away from any apart from big face with contact after weld.Vertical fixed push rod otic placode [58] are welded on slide plate
[110] facet of the centre of lower end, fixed push rod otic placode [53] connects with face soldering and sealing big in cross bar [52].In after vertical push rod
[55] hole of the hole alignment and fixation push rod otic placode [58] of fixing seat bar slides vertically the hole alignment sliding support plate of push rod [57]
[58] hole, pin shaft [47] inject the hole of vertical fixed push rod otic placode [53] or slide vertically push rod [57].Split pin [49] is inserted
Into in pin shaft [47] hole open and it is 90 ° curved.Reinforcing angle steel [111], there are vertical fixed push rod otic placode in big face and slide plate [110] outside
[53] it is welded after flush contact in the upper end seal of one side.Slide plate [110] has vertical fixed push rod otic placode [53] face on one side and erects
End in contact in the facet of direction guiding rail [56], the inclined-plane of draw runner [109] again Kong Tongxin parallel with vertical guide [56] inclined-plane, uses spiral shell
Bolt 3 [88] washer 1 [89] pierces into circular hole and connects draw runner [109], under the inner face of lower connecting plate [112] and vertical guide [56]
Hold neat rear welding level with both hands.Connecting tube [34] is contacted with slide plate [110], is welded on the one side of the not no welding workpiece of slide plate [110], position
Setting size is that slide plate [110] has in the one long size envelope of reinforcement angle steel [111], among short size almost.
4. transversing gear is made of following components: short square tube [41] mouth face sealed above with transverse tube [61] in be affixed, transverse tube
[61] welding is affixed in mouth face and short square tube [41] right side envelope.The big face of stiffening plate [54] and short square tube [41] mouth face, transverse tube [61]
Above in envelope, the left side is affixed welding at a distance of 4.Orifice plate [59] contacts towards a left side with stiffening plate [54] left side greatly, facet and stiffening plate
[54] big face contact welding.Nut [73] is screwed into after hole bolt [61] from the hole that orifice plate [59] are injected on the left side.Tiltedly reinforce
It is welded in [74] 45 ° of plate envelopes with short square tube [41] face, transverse tube [61] face contact.Sliding tube [62] is laid flat, rotational support angle steel
[76] it is welded after inner face and sliding tube [62] outer face contact, position dimension is laterally from left to right 50~100, longitudinal from introversion
Outer 8~30.It rotates the right side flush contact outside fixed otic placode [77] facet and rotational support angle steel [76] to weld, position ruler
Very little is from outer downward 10~25.Cross motor mounting plate [80] flat facet and sliding tube [62] face welding surface contact weld, position
Setting size is with rotational support angle steel [76] facet at a distance of 10~30, and right side size is concordant on the right of sliding tube [62].Laterally electricity
Machine [79] installs cross motor [79] with cross motor mounting plate [80] mounting hole centering, with washer [81] screw 1 [82].It will
Flat key 1 [83] is prevented in the keyway of installation cross motor [79] output shaft, then packs into reel [84].Rectangle rotating bezel [65] by
Angle steel is welded, inward-facing in welding form angle steel, foraminous support plate [85] both ends facet with it is small in rectangle rotating bezel [65]
Face contact, big face and rectangle rotating bezel [65] weld after being put down in the concordant envelope in big face outside on foraminous support plate [85].Turning set [86]
Welding after concordant with the envelope of face big under foraminous support plate [85].The level in supporting plate [67] is lengthened, it is non-porous to lengthen supporting plate [67]
It is welded after the facet on one side and the big face contact outside rectangle rotating bezel [65], position dimension is that have in rectangle rotating bezel [65]
Hole support plate [85] is vertically laid flat, and is lengthened in supporting plate [67] and rectangle rotating bezel [65] envelope.On 45° angle steel [66] plane with plus
Plane is concordant on long supporting plate [67], rectangle rotating bezel [65], after inclined-plane is contacted with lengthening supporting plate [67], rectangle rotating bezel [65]
Welding.It is welded after rotation otic placode [75] non-porous facet and plane contact on rectangle rotating bezel [65], position dimension is rotate ear
The non-porous big face of plate [75] is concordant with outside rectangle rotating bezel [65] here in lengthening supporting plate [67], rotates otic placode [75] Kong Zhongxin
Away from away from rectangle rotating bezel [65] center at a distance of 50~80.Sliding tube [62] does not have welding workpiece one end, rotational support angle steel [76]
It packs into transverse tube [61] upwards.7 word connecting plates [87] do not weld the concordant other end, long side and transverse tube [61] with transverse tube [61]
It is welded after front face.Position dimension is that 7 word connecting plates [87] are higher by transverse tube [on 61 plane 30~70.Three orifice plates [69] are U-shaped
It is welded after not having porose one side and plane on 7 word connecting plates [87] and flush right downwards in hole.Upper lifting motor [68] is the same as lengthening branch
Plate [67] mounting hole centering installs lifting motor [68] with washer [81] screw 1 [82].[71] one, wirerope pass through aluminium set
[72], there is hole bolt [60], later aluminium set [72] are blocked flat clamping wirerope [71], steel wire with cutting pliers afterwards by aluminium set [72] again
It wears to three orifice plates [69] U-shaped hole after left 2 circle of winding of reel [84] is above again in two hole snap-gauges [70] winding one rope [71] other end
Circle.It is aligned in two hole snap-gauges [70] and three orifice plates [69] hole, two hole snap-gauges [70] is installed with washer [81] screw 1 [82], are tightened
Screw 1 [82].Otic placode one in rotating push-rod fixing seat [82] is fixed otic placode [77] in a upper hole under and rotation
With one heart, then with pin shaft [47] hole for rotating fixed otic placode [77] or the hole for turning to push rod [78] fixing seat are injected.Split pin [49]
It is opened in reeve pin shaft [47] hole and 90 ° curved.By scheming, above cross level angle [64] and the hole of rectangle rotating bezel [65] are concentric, bolt 3 [88]
It injects in the hole of rectangle rotating bezel [65], washer 1 [89], nut 1 [90] pack into bolt 3 [88] and tighten.Vertical angle steel [63]
(according to user's needs, four flexible joining parts can be used, it is also possible to the two Hard link parts) hole in big face and upper cross level angle steel [64] outside
Hole it is concentric, in bolt 3 [88] reeve in the hole of cross level angle steel [64], washer 1 [89], nut 1 [90] pack into bolt 3 [88] simultaneously
It tightens.Outer big face one end of oblique angle steel [91] and hole, the hole of the other end and vertical angle steel [63] of upper cross level angle steel [64] are same
The heart, in bolt 3 [88] reeve in the hole of cross level angle steel [64], washer 1 [89], nut 1 [90] pack into bolt 3 [88] and tighten.
Bolt 3 [88] injects in the hole of vertical angle steel [63], and washer 1 [89], 1 hole of nut [90] pack into bolt 3 [88] and tighten.In
The hole in big face and the hole of vertical angle steel [63] inner face are concentric outside for cross level angle steel [92], bolt 3 [88] inject in cross level angle steel [92] and perpendicular
Into the hole of angle steel [63], washer 1 [89], nut 1 [90] pack into bolt 3 [88] and tighten.It is big outside by figure seat plate frame [94]
The hole in face and hole below vertical angle steel [63] are concentric, and bolt 3 [88] injects hole and seat plate frame below vertical angle steel [63]
[94] outside in the hole in big face, washer 1 [89], nut 1 [90] pack into bolt 3 [88] and tighten.Hole and seat outside handrail [93]
Sheet frame [94] outside big face hole with one heart, with below vertical angle steel [63] it is upper any hole it is concentric, bolt 3 [88] injects vertically
For a upper spot hole with seat plate frame [94] the outside hole in big face, washer 1 [89], nut 1 [90] pack into bolt 3 below angle steel [63]
[88] it and tightens.Square tube [95] is welded on outside handrail [93] by figure, and position dimension is in square tube [95] and handrail [93] envelope,
Square tube [95] is away from handrail [93] left side 80~100.Controller mounting base [97] is welded on activity square tube [96] outerplanar and one
Head is concordant.Wheelchair controller [98] mounting hole and the hole of controller mounting base [97] are concentric, are pacified with washer [81], screw 1 [82]
It fills wheelchair controller [98].Activity square tube [96] injects square tube [95].Handle bolt [99] is screwed into square tube [95] screw hole and twists
Tightly.Control cable [100] is connect with controller and executing agency.Rotation axis [104] without one head plane of screw thread envelope in sliding
Pipe [62] has the opposite of welding to weld.Bearing 1 [101], again mounting hole retaining ring [102] are installed in turning set [86].Rectangle turns
Foraminous support plate [85] vertically lays flat and packs into rotation axis [104] in dynamic frame [65], and nut 3 [103] is screwed into rotation axis [104].It is curved
The hole of pipe [106] packs into rotation axis [104], and washer [105] packs into rotation axis [104], and rotation axis is injected in split pin 1 [107]
[104] hole is opened and 90 ° curved.Controller [108] is screwed into the screw thread of bend pipe [106] lower end.Oblique angle steel [31] is big outside
The hole in face and the hole of vertical angle steel [63] inner face are concentric, and bolt 3 [88] injects the hole of oblique angle steel [31] and vertical angle steel [63]
In, washer 1 [89], nut 1 [90] pack into bolt 3 [88] and tighten.
Vertical connector [63] four flexible joining parts of another mounting means in a piece flexible joining part, are cased with peace up and down
Full hook, flexible joining part safety door hook, one end pack into the hole of rotating bezel [65] vertical plane, and flexible joining part safety door hook, one end pack into seat plate
The hole in frame [51] big face outside.And so on second, third root, be cased with safety door hook up and down in the 4th flexible joining part, be flexible coupling
Part safety door hook, one end pack into the hole of rotating bezel [65] vertical plane, and it is big outside that flexible joining part safety door hook, one end pack into seat plate frame [51]
The hole in face.
5. the present invention, compared with well-known technique, what lower limb disability, old lower limb disabled confident can walk, can forge
Refining body has a bath, cuts down expenses, can do a little housework with appropriate.
6. Detailed description of the invention；Fig. 1 main view, Fig. 2 left view, Fig. 3 top view, Fig. 4 right view, Fig. 5 bottom view.
Four, specific embodiment
1. guide wheel shaft [2] injects front fork [3] and bearing [4] and directive wheel [1].With shaft block ring [5] fixed guide wheel
Axis [2].It is intermediate that rotation bi-lug plate [13] is welded on front fork [3].Bearing [6] packs on the axis for injecting front fork [3].Chassis girder
[7] Parallel Symmetric is put big inward-facing, and left end is welded with angle steel [9], has an angle steel [9] to be symmetrically welded at away from left end angle steel
In the range of [9] 130~260.Right end is welded with channel steel [10].Intermediate be welded with up and down angle steel [9] have two at a distance of 60~90
Root angle steel [8] is welded among angle steel [9], and two angle steel [8] are at a distance of 60~100 distances, fixed turning set [11] welding position
Concentric with the interior face of channel steel [10], the axis of front fork [3] injects in fixed turning set [11].Motor mounting plate [29] is welded on
On angle steel [8], the big face of motor mounting plate [29] it is opposite with it is interior.One away from outside [10] 220~300 distance of channel steel.Bottom plate
[15] channel steel [10], angle steel [8] are welded on, on chassis girder [7].Two brake support plates [39] are symmetrically welded at chassis master
On beam [7] face, away from 188~260 range of left end.Flat key [22] is placed on into the intermediate keyway of walking axle [21], it will be driven
Sprocket wheel [23] alignment keyway packs into walking axle [21], then shaft retaining ring [24] is packed on walking axle [21] and fixes driven sprocket
[23].Bearing [19] is mounted on walking axle [21] both ends away from inside 30~60, bearing block [28] is mounted on bearing [19]
On, flat key [26] is placed on into the keyway of walking axle [21] one end, driving wheel [25] alignment flat key [26] is packed into walking axle
[21], washer [18] hole is directed at walking axle [21] hole by one side that traveling wheel [17] is packed into the not no keyway of walking axle [21],
With bolt [27] fixing gasket [18].Bearing block [19] is mounted on the 4 symmetrical hole bolts of chassis girder [7] below
[20] it is fixed on chassis girder [7] below.It will walk decelerating motor [16], be mounted on motor mounting plate [29], with bolt 1
[44] it is fixed on motor mounting plate [29].Flat key 1 [43] is placed in the keyway of walking decelerating motor [16] output shaft, then
Walking head sprocket [51] is packed on walking decelerating motor [16] output shaft.Chain [42] is mounted on walking head sprocket [51]
On driven sprocket [23].Battery [46] is fixed on bottom plate [15] with bolt 3 [45].Brake transmission shaft [40] is mounted on
In the hole of brake support plate [39], brake lever [33] is mounted in left side brake transmission shaft [40], brake supporting plate [35] installation
On brake transmission shaft [40] on the right.Flat key 1 [32] be mounted on brake transmission shaft [40] both ends connection brake lever [33] with
It brakes supporting plate [35].Braking vane [36] two pieces is welded on brake supporting plate [35] or brake lever [33].Fixed turning set
[11] welding position and the interior face of channel steel [10] are concentric, and the axis of front fork [3] injects in fixed turning set [11].By brake rubber block
[37] close to braking vane [36] hole centering, railway carriage [37] is fixed on braking vane [36] with screw [38].Electric powered steering push rod
[48] hole of hole alignment rotation bi-lug plate [13], the hole alignment and fixation push rod otic placode of electric powered steering push rod [48] other end
[12] hole, pin shaft [47] inject the hole of electric powered steering push rod [48] or the hole of fixed push rod otic placode [12].Split pin [49] is inserted
Into opening in pin shaft [47] hole and 90 ° curved, bearing [6] is injected in fixed turning set [11] hole, with hole retaining ring [50] fixing bearing
[6], fixing bearing [6] in the axis of front fork [3] are packed into hole retaining ring [14].It is packed into the axis of front fork [3] with hole retaining ring [30]
Fixing bearing [4].
2. vertical guide [56] two pieces both ends are concordant, facet is concordantly at a distance of 300 or more distances.Vertical guide [56] facet
Lay flat downwards, length is longitudinally put, and big face is concordant with vertical guide [56] bottom end outside for cross bar [52], the end face of cross bar [52] with
It is welded after the big face contact of vertical guide [56].The inner face upper end of upper translot steel [113] both ends and vertical guide [56] away from any away from
From big face with contact after weld.Vertical fixed push rod otic placode [58] are welded on the centre of slide plate [110] lower end, fixed push rod ear
The facet of plate [53] connects with face soldering and sealing big in cross bar [52].In after vertical push rod [55] fixing seat bar hole alignment and fixation push rod
The hole of otic placode [58], slides vertically the hole of hole alignment sliding support plate [58] of push rod [57], and pin shaft [47] injects vertical fixation and pushes away
The hole of bar otic placode [53] slides vertically push rod [57].It is opened in split pin [49] reeve pin shaft [47] hole and 90 ° curved.Reinforce
Angle steel [111] outside big face and slide plate [110] have vertical fixed push rod otic placode [53] one side upper end seal in weld after flush contact
It connects.Slide plate [110] has end in contact in the facet of vertical fixed push rod otic placode [53] face and vertical guide [56], draw runner on one side
[109] inclined-plane again Kong Tongxin parallel with vertical guide [56] inclined-plane, is pierced into circular hole with bolt 3 [88] washer 1 [89] and is connected
Draw runner [109] welds after lower connecting plate [112] is concordant with the inner face lower end of vertical guide [56].Connecting tube [34] and slide plate
[110] it contacts, is welded on the one side of the not no welding workpiece of slide plate [110], position dimension is that slide plate [110] has reinforcement angle steel
[111] in the long size envelope of one, among short size almost.The hole of lower connecting plate [112] and the hole of girder [7] are concentric, spiral shell
Bolt 3 [88] injects the hole of cross bar [52] and the hole of guide rail splice [116], and washer 1 [89], nut 1 [90] pack into bolt 3
[88] it and tightens.Short square tube [41] packs into the upper end of connecting tube [34],
3. 100 or more the upper end that short square tube [41] injects sliding vertical duct [56].Short square tube [41] mouth face and transverse tube [61]
It is affixed in envelope above, is affixed welding in transverse tube [61] mouth face and short square tube [41] right side envelope.The big face of stiffening plate [54] and short square tube
[41] during mouth face, transverse tube [61] seal above, the left side is affixed welding at a distance of 4.Orifice plate [59] is greatly towards left and stiffening plate [54] left side
The big face contact of contact, facet and stiffening plate [54] is welded.Nut [73] has been screwed into after hole bolt [61] and has injected orifice plate from the left side
[59] in hole.It is welded in [74] 45 ° of envelopes of oblique stiffening plate with short square tube [41] face, transverse tube [61] face contact.Sliding tube [62] is flat
Put, welded after rotational support angle steel [76] inner face and sliding tube [62] outer face contact, position dimension be laterally from left to right 50~
100, longitudinal from inside to outside 8~30.It is concordant with the right side outside rotational support angle steel [76] to rotate fixed otic placode [77] facet
Contact weld, position dimension are from outer downward 10~25.Face is welded for cross motor mounting plate [80] flat facet and sliding tube [62]
Surfaces brought into contact welding, position dimension are with rotational support angle steel [76] facet at a distance of 10~30, right side size and sliding tube [62]
The right is concordant.Cross motor [79] is installed with cross motor mounting plate [80] mounting hole centering with washer [81] screw 1 [82]
Cross motor [79].Flat key 1 [83] is prevented in the keyway of installation cross motor [79] output shaft, then packs into reel [84].
Rectangle rotating bezel [65] is welded by angle steel, inward-facing in welding form angle steel, foraminous support plate [85] both ends facet and square
Small face contact in shape rotating bezel [65], during big face and rectangle rotating bezel [65] are put down that big face is concordant outside and sealed on foraminous support plate [85]
After weld.Welding after turning set [86] is concordant with the envelope of face big under foraminous support plate [85].The level in supporting plate [67] is lengthened,
It is welded after the facet and the big face contact outside rectangle rotating bezel [65] on lengthening supporting plate [67] non-porous one side, position dimension is square
Foraminous support plate [85] is vertically laid flat in shape rotating bezel [65], is lengthened in supporting plate [67] and rectangle rotating bezel [65] envelope.45° angle
Plane is concordant with plane on lengthening supporting plate [67], rectangle rotating bezel [65] on steel [66], inclined-plane and lengthening supporting plate [67], rectangle
It is welded after rotating bezel [65] contact.It is welded after rotation otic placode [75] non-porous facet and plane contact on rectangle rotating bezel [65],
Position dimension is that rotation otic placode [75] non-porous big face is concordant with outside rectangle rotating bezel [65] here in lengthening supporting plate [67], is turned
Dynamic otic placode [75] Kong Zhongxin away from away from rectangle rotating bezel [65] center at a distance of 50~80.Sliding tube [62] do not have welding workpiece one end,
Rotational support angle steel [76] is packed into upwards in transverse tube [61].7 word connecting plates [87] do not weld another hold level with both hands with transverse tube [61]
Together, it is welded after long side and transverse tube [61] front face.Position dimension is that 7 word connecting plates [87] are higher by transverse tube [on 61 plane 30
~70.It is welded after not having porose one side and plane on 7 word connecting plates [87] and flush right downwards in three orifice plates [69] U-shaped hole.On
Lifting motor [68] installs lifting motor [68] with washer [81] screw 1 [82] with supporting plate [67] mounting hole centering is lengthened.Steel wire
Rope [71] one pass through aluminium set [72], have hole bolt [60], later again aluminium set [72] afterwards with cutting pliers aluminium set [72] block it is flat
Clamping wirerope [71], wirerope [71] other end are worn after the left winding 2 of reel [84] is enclosed above to three orifice plates [69] U-shaped hole again
In two hole snap-gauges [70] winding, one circle.It is aligned in two hole snap-gauges [70] and three orifice plates [69] hole, with washer [81] screw 1 [82]
Two hole snap-gauges [70] are installed, screw 1 [82] is tightened.Otic placode one in rotating push-rod fixing seat [82] is at upper one under
Hole and rotation fixed otic placode [77] are concentric, then hole or steering push rod [78] for rotating fixed otic placode [77] are injected with pin shaft [47]
The hole of fixing seat.It is opened in split pin [49] reeve pin shaft [47] hole and 90 ° curved.By figure upper cross level angle [64] and rectangle rotating bezel
[65] hole is concentric, and bolt 3 [88] injects in the hole of rectangle rotating bezel [65], and washer 1 [89], nut 1 [90] pack into bolt 3
[88] it and tightens.Vertical angle steel [63] (according to user's needs, four flexible joining parts can be used, it is also possible to two Hard link parts)
The hole in outer big face and the hole of upper cross level angle steel [64] are concentric, in bolt 3 [88] reeve in the hole of cross level angle steel [64], washer 1 [89],
Nut 1 [90] packs into bolt 3 [88] and tightens.It is the hole of outer big face one end of oblique angle steel [91] and upper cross level angle steel [64], another
End is concentric with the hole of vertical angle steel [63], in bolt 3 [88] reeve in the hole of cross level angle steel [64], washer 1 [89], nut 1
[90] it packs into bolt 3 [88] and tightens.Bolt 3 [88] injects in the hole of vertical angle steel [63], washer 1 [89], 1 hole of nut
[90] it packs into bolt 3 [88] and tightens.The hole in big face and the hole of vertical angle steel [63] inner face are concentric outside for middle cross level angle steel [92], spiral shell
In bolt 3 [88] reeve in the hole of cross level angle steel [92] and vertical angle steel [63], washer 1 [89], nut 1 [90] pack into bolt 3
[88] it and tightens.By figure seat plate frame [94], the hole in big face and hole below vertical angle steel [63] are concentric outside, and bolt 3 [88] injects
With seat plate frame [94] the outside hole in big face, washer 1 [89], nut 1 [90] pack into bolt 3 in hole below vertical angle steel [63]
[88] it and tightens.The hole in hole outside handrail [93] and seat plate frame [94] big face outside is concentric, with below vertical angle steel [63] on
The hole of any is concentric, and bolt 3 [88] injects the hole in the big face outside of a upper spot hole and seat plate frame [94] below vertical angle steel [63]
In, washer 1 [89], nut 1 [90] pack into bolt 3 [88] and tighten.Square tube [95] is welded on outside handrail [93] by figure, position
Setting size is in square tube [95] and handrail [93] envelope, and square tube [95] is away from handrail [93] left side 80~100.Controller mounting base [97]
It is welded on concordant with one on activity square tube [96] outerplanar.Wheelchair controller [98] mounting hole and controller mounting base [97]
Hole it is concentric, with washer [81], screw 1 [82] installation wheelchair controller [98].Activity square tube [96] injects square tube [95].Hand
Handle bolt [99] is screwed into square tube [95] screw hole and tightens.Control cable [100] is connect with controller and executing agency.Rotation
Axis [104] has the opposite of welding to weld without one head plane Feng Zhongyu sliding tube [62] of screw thread.Turning set [86] interior installation axle
Hold 1 [101], again mounting hole retaining ring [102].Foraminous support plate [85] vertically lays flat and packs into rotation axis in rectangle rotating bezel [65]
[104], nut 3 [103] is screwed into rotation axis [104].The hole of bend pipe [106] packs into rotation axis [104], and washer [105], which packs into, to be turned
Moving axis [104], the hole opening of split pin 1 [107] reeve rotation axis [104] are simultaneously 90 ° curved.Controller [108] is screwed into bend pipe
[106] in the screw thread of lower end.The hole in big face and the hole of vertical angle steel [63] inner face are concentric outside for oblique angle steel [31], bolt 3
[88] it injects in the hole of oblique angle steel [31] and vertical angle steel [63], washer 1 [89], nut 1 [90] pack into bolt 3 [88] simultaneously
It tightens.
Claims (4)
- The life auxiliary robot 1. a kind of electric powered steering three-wheel SZ lower limb disability disability is taken care of oneself, it is characterized in that: sliding vertically mechanism Being mounted on chassis mechanism has motor mounting plate [29] one end, and the hole of lower connecting plate [112] and the hole of girder [7] are concentric, bolt 3 [88] hole of cross bar [52] and the hole of lower connecting plate [112] are injected, washer 1 [89], nut 1 [90] pack into bolt 3 [88] and twist Tightly, short square tube [41] packs into the upper end of connecting tube [34], and short square tube [41] packs into the upper end for sliding vertically mechanism connecting tube [34], Guide wheel shaft [2] injects front fork [3] and bearing [4] and directive wheel [1], and rotation bi-lug plate [13] is welded among front fork [3], bottom Frame girder [7] Parallel Symmetric is put big inward-facing, and left end is welded with angle steel [9], has an angle steel [9] to be symmetrically welded at away from left end Angle steel [9] is welded with channel steel [10] at a distance of some distances, right end, has two angle steel [8] to be welded among angle steel [9], two angles For steel [8] at a distance of some distances, fixed turning set [11] welding position and the interior face of channel steel [10] are concentric, and the axis of front fork [3] is inserted Into in fixed turning set [11], fixed push rod otic placode [12] are welded among angle steel under centre [9], motor mounting plate [29] welding On angle steel [8], the hole of hole alignment rotation bi-lug plate [13] of electric powered steering push rod [48], electric powered steering push rod [48] other end Hole alignment and fixation push rod otic placode [12] hole, pin shaft [47] inject electric powered steering push rod [48] hole or fixed push rod otic placode [12] hole.
- The life auxiliary robot 2. a kind of electric powered steering three-wheel SZ lower limb disability disability according to claim 1 is taken care of oneself, Be characterized in: vertical guide [56] two pieces both ends are concordant, concordantly apart 300 or more distances, vertical guide [56] are small downwards for facet Lay flat, length is longitudinally put, and big face is concordant with vertical guide [56] bottom end outside for cross bar [52], the end face of cross bar [52] with vertically lead It is welded after the big face contact of rail [56], the inner face upper end of upper translot steel [113] both ends and vertical guide [56] is away from any apart from big face It is welded with after contact, vertical fixed push rod otic placode [58] are welded on the centre of slide plate [110] lower end, fixed push rod otic placode [53] Facet connects with face soldering and sealing big in cross bar [52], in after vertical push rod [55] fixing seat bar hole alignment and fixation push rod otic placode [58] Hole, slides vertically the hole of hole alignment sliding support plate [58] of push rod [57], and pin shaft [47] injects vertical fixed push rod otic placode [53] Hole or slide vertically push rod [57], reinforcing angle steel [111], big face and slide plate [110] have vertical fixed push rod otic placode [53] outside It is welded after flush contact in upper end seal on one side, slide plate [110] has vertical fixed push rod otic placode [53] face and vertical guide on one side [56] end in contact in facet, the inclined-plane of [109] draw runner again Kong Tongxin parallel with vertical guide [56] inclined-plane, with bolt 3 [88] Washer 1 [89] pierces into connection [109] draw runner in circular hole, after lower connecting plate [112] is concordant with the inner face lower end of vertical guide [56] Welding, connecting tube [114] contacts with slide plate [110], is welded on the one side of the not no welding workpiece of slide plate [110], and position dimension is Slide plate [110] has in the one long size envelope of reinforcement angle steel [111], among short size almost.
- The life auxiliary robot 3. a kind of electric powered steering three-wheel SZ lower limb disability disability according to claim 1 is taken care of oneself, Be characterized in: short square tube [41] mouth face sealed above with transverse tube [61] in be affixed, transverse tube [61] mouth face and short square tube [41] right side envelope in It is affixed welding, orifice plate [59] is contacted towards a left side with stiffening plate [54] left side greatly, facet and the big face contact of stiffening plate [54] are welded, and is had After hole bolt [61] from the hole that orifice plate [59] are injected on the left side, cross motor mounting plate [80] flat facet and sliding tube [62] face Welding surface contact weld, position dimension be with rotational support angle steel [76] facet apart, on the right of right side size and sliding tube [62] Welding after concordant turning set [86] is concordant with the envelope of face big under foraminous support plate [85], lengthens the level in supporting plate [67], rotation It is welded after otic placode [75] non-porous facet and plane contact on rectangle rotating bezel [65], position dimension is that rotation otic placode [75] is non-porous big Face is concordant with outside rectangle rotating bezel [65] here in lengthening supporting plate [67], and upper lifting motor [68] is the same as lengthening supporting plate [67] mounting hole Centering is installed lifting motor [68] with washer [81] screw 1 [82], and upper cross level angle [64] and the hole of rectangle rotating bezel [65] are concentric, The hole in big face and the hole of upper cross level angle steel [64] are concentric outside for vertical angle steel [63], and rotation axis [104] is without in one transverse plane of screw thread envelope There is the face of welding to weld with sliding tube [62], foraminous support plate [85] vertically lays flat and packs into rotation axis in rectangle rotating bezel [65] [104], nut 3 [103] is screwed into rotation axis [104].
- 4. a kind of according to claim 1, electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot described in 3, It is characterized in that: vertical four flexible joining parts of connector [63], in a flexible joining part；It is cased with safety door hook, flexible joining part up and down Safety door hook, one end pack into the hole of rotating bezel [65] vertical plane, and flexible joining part safety door hook, one end pack into seat plate frame [51] big face outside Hole, and so on second, third root, safety door hook, flexible joining part safety door hook, an end cap are cased in the 4th flexible joining part up and down Into the hole of rotating bezel [65] vertical plane, flexible joining part safety door hook, one end pack into the hole in seat plate frame [51] big face outside.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711245305.9A CN109833155A (en) | 2017-11-27 | 2017-11-27 | Electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711245305.9A CN109833155A (en) | 2017-11-27 | 2017-11-27 | Electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot |
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| CN109833155A true CN109833155A (en) | 2019-06-04 |
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| CN201711245305.9A Pending CN109833155A (en) | 2017-11-27 | 2017-11-27 | Electric powered steering three-wheel SZ lower limb disability disability self-care life auxiliary robot |
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| CN109833187A (en) * | 2017-11-27 | 2019-06-04 | 周明忠 | Electric powered steering three-wheel DZ lower limb disability disability self-care life auxiliary robot |
| CN109833157A (en) * | 2017-11-27 | 2019-06-04 | 周明忠 | Manual steering three-wheel SZ lower limb disability disability self-care life auxiliary robot |
| CN112006867A (en) * | 2020-08-28 | 2020-12-01 | 黑龙江省医院 | Device capable of helping patient to shift |
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