CN110037866A - Full-automatic active sufferer changes load wheel chair robot - Google Patents
Full-automatic active sufferer changes load wheel chair robot Download PDFInfo
- Publication number
- CN110037866A CN110037866A CN201910448717.5A CN201910448717A CN110037866A CN 110037866 A CN110037866 A CN 110037866A CN 201910448717 A CN201910448717 A CN 201910448717A CN 110037866 A CN110037866 A CN 110037866A
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- Prior art keywords
- frame
- electric pushrod
- hinge
- upper layer
- wheelchair
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- 239000010959 steel Substances 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 19
- 238000012546 transfer Methods 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 6
- 230000001144 postural effect Effects 0.000 claims description 4
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- 238000004891 communication Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 230000000474 nursing effect Effects 0.000 abstract description 6
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1043—Cushions specially adapted for wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1091—Cushions, seats or abduction devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1001—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1001—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications
- A61G7/1007—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications mounted on or in combination with a toilet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
- A61G7/1026—Sliding sheets or mats
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
- A61G7/1059—Seats
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
Abstract
The invention discloses a kind of full-automatic active sufferers to change load wheel chair robot, purpose is to meet initial stage action disability old man and slight disability crowd to change load demand between closestool, wheelchair etc. between bed accessory, wheelchair in without human-aided daily house activity, solve the problems, such as wheelchair, change carry set, care device it is integrated.The present invention includes vehicle chassis component, upper layer support member, Separable combination chair top and control system, relative translation can be occurred by ground way, telescopic chute between the upper layer support member and Separable combination chair top, to realize that user changes load between each carrier and wheelchair on seat, Separable combination seat each section chair top under the control of upper layer support member produces relative rotation, and realizes various body positions nursing function.
Description
Technical field
The invention belongs to nursing device technical field, specially a kind of full-automatic active sufferer changes load wheel chair robot.
Background technique
The huge population base in China will be such that aging and disabled person's problem will ask within 10 years futures as serious society
Topic.The ranks of veteran form population country have just been striden into early in China in 2000, had ended for 2017 end of the years, 60 one full year of life and the above population
240900000 people account for the 17.3% of total population, wherein 158,310,000 people of 65 one full year of life and the above population, accounts for the 11.4% of total population,
In, the elderly in China 60 years old or more has 2/3rds time to be in " survival condition in spite of illness ", mobility limited old age
Number of groups is huge.However, old solitary people and Empty nest elderly speedup are accelerated, specific gravity increases, and the elderly's nursing at home problem is increasingly
Seriously.
In face of the elderly of the solitary action disability in part, only old man is nursed in sons and daughters' off-the-job, works as nothing
People nurse when, from bed accessory to wheelchair, the process of wheelchair to lavatory easily there are the dangerous situations such as slip, stumble, damage；Having
In the case that people nurses, family members or medical care are also a time-consuming and laborious activity to the transfer of the elderly, for a long time in the past to old
People spirit and physiologically bring huge pressure.To sum up, it is Old Age Homes' endowment that old group, which shifts change load at home,
The basic problem faced.
Currently, occurring a kind of electrically-operated shifting machine in the market, it is made of removable duel spreader frames and suspender bag, by suspender bag
Old man is layered in the following, paralytic and old man then may be implemented from bed by being sling suspender bag with the suspension hook in mobile framework
To the bi-directional shift function of wheelchair.The apparatus structure is simple, good reliability, but external force auxiliary will be still needed in transfer process to hang
Tool bag is laid in patient in the following, cannot achieve automatic transfer, and cannot achieve transfer of the patient from wheelchair to closestool, application scenarios
And object-oriented is limited.
A kind of a " service robot of transportation of patients " (patent application is illustrated in Cui Ji, Shu Pingsheng, the superfine human hair of swallow
Number: 201810472553.5), which substantially can be realized patient transfer bed accessory between, which uses with transmission
Patient is dragged on device with frictional force, is generated between the conveyer belt and bed accessory below device by thought, the conveyer belt above device
Device is moved to patient body in the following, device and patient are transported to by final unit together entirely through lower layer's conveyer belt by friction
Target bed accessory, the device are novel in design, but motion process is uncertain, and safety is poor, and can not solve bed accessory to wheelchair with
Forwarding function of the wheelchair to closestool.
It is badly in need of in the market a kind of multi-functional, full automatic active patient changes idling shipping unit, makes user without external force
It only can be achieved with easily changing load between the carriers such as bed accessory, wheelchair, closestool by transfer device in the case where auxiliary.
Summary of the invention
It is right in initial stage action disability the elderly and the slight daily household of disability crowd present invention seek to address that in background technique
The demand of load is independently changed, a kind of full-automatic active sufferer is proposed and changes load wheel chair robot.
To achieve the above object, the present invention the following technical schemes are provided:
A kind of full-automatic active sufferer changes load wheel chair robot, including vehicle chassis component, upper layer support member, movable group
Chair top and control system are closed, the vehicle chassis component realizes walking by walking component, and the upper layer support member passes through liter
Drop external member is mounted on vehicle chassis component, and the movable composition chair top can be relative to upper layer support member by slide assemblies
Relative motion is generated along Y-direction, the movable composition chair top includes the backboard interconnected, seat board, calf plate and rides
Plate, the center of the seat board have automatic horse bung, and the walking component, lifting external member and slide assemblies pass through control system
Realize transfer of the user on wheelchair between bed accessory, wheelchair, closestool, the control system is mounted on always in the form of software
In controller.
Further, the upper layer support member includes cuboid hollow frame, back plate support frame and calf plate support
Frame, the first electric pushrod, the second electric pushrod, battery, driver group and slide assemblies；The slide assemblies include fixed slide
Road, telescopic chute, third electric pushrod and the 4th electric pushrod；；The cuboid hollow frame is used to support seat board, upper layer
The Z-direction lower surface of rectangular frame is connected with lifting external member, the upper surface installation of the upper layer rectangular frame Z-direction of cuboid hollow frame
Ground way, ground way inside are furnished with telescopic chute, set inside the upper layer rectangular frame Y-direction side of cuboid hollow frame
Hinged ear, the hinge ear are connected with third electric pushrod fixing end, on another movable end of third electric pushrod and telescopic chute
The hinge ear being equipped with is connected；Front and back is respectively equipped with two hinge ears on the outside of the X-direction of cuboid hollow frame, preceding hinge ear and second electronic
Push rod movable end is connected, and the fixing end of the second electric pushrod is connected with the hinge ear in calf plate braced frame；Ear and the are cut with scissors afterwards
The fixing end of one electric pushrod is connected, and the movable end of the first electric pushrod is connected with the hinge ear on back plate support frame；The electricity
Pond is used to power to driver group, and the driver group and control system are electrically connected, for driving the first electric pushrod, second
The pushrod movement of electric pushrod, third electric pushrod and the 4th electric pushrod, and then realize the postural change of upper layer support member
It is mobile with promotion assembled base seat.
Further, the main body of the back plate support frame is a hollow rectangle frame, back plate support frame and cuboid
Hollow frame is connected by hinge, is connected between the hinge and back plate support chassis body by U-shaped pole, back plate support frame
The first spin is equipped with above the main body of frame, the first spin can be mobile solid relative to X, Y of back plate support chassis body, Z-direction
It is fixed.
Further, the main body of the calf plate braced frame is a hollow rectangle frame, and calf plate braced frame is logical
It crosses hinge to be connected with cuboid hollow frame, the second spin is equipped with below calf plate braced frame main body, the second spin being capable of phase
For X, Y of back plate support chassis body, the mobile fixation of Z-direction.
Further, the ground way is divided into triple layer designs, and the bottom is two rectangle square steel tubes, steel pipe with it is rectangular
Body hollow frame is mutually fixed, and one layer is a rectangle square steel tube frame above two square steel tubes, also along X above rectangle square steel tube frame
Direction is equipped with two parallel hollow guide rails, and the limiting slot for the long rectangle that one is semicircle, notch are provided on the outside of each guide rail
Towards Y-direction；Two hollow guide rails are also provided with through slot in X direction in Z-direction bottom side；Rectangle square steel tube frame is in X positive direction
Side is provided with the big notch such as one and two hollow guide rail spacing；Interior side is equipped with the 4th and electronic pushes away ground way in the Y direction
The setter plate of bar, for fixing the fixing end of the 4th electric pushrod, in the 4th electric pushrod movable end and movable composition chair top
Seat board be connected.
Further, telescopic chute is fitted in the hollow guide rail of ground way, and the telescopic chute main body is one
To two hollow guide rails arranged in X direction placed along Y-direction, connected between two hollow guide rails with a rectangle square steel tube,
Rectangle square steel tube includes one section of inverted U bending, and a pair of of hinge ear is welded on the rectangle square steel tube for connection；Two hollow guide rails
Section is rectangle of the bottom with protrusion, and two hollow guide rails are welded with a pair relative to the outside of telescopic chute part entirety respectively
Short limit straight pin；The end of the Y opposite direction of telescopic chute is equipped with pressure sensor, and the pressure sensor is set as one
To totally two, it is separately mounted to the inside of two hollow guide rails, the probe of pressure sensor is stretched out from hollow guide rail bottom.
Further, the walking component includes active hoofing part external member and passive universal caster wheel；The active row
Walking to drive external member includes two Electric Motor Wheels, and being separately mounted to vehicle chassis component, the rear left and right sides, the Electric Motor Wheel are adopted in X direction
With motor, speed reducer, the integrated Electric Motor Wheel of tire；The passive universal caster wheel totally two, chassis is separately mounted to along the side X
The left and right sides forwards.
Further, the lifting external member is connected in the support member of upper layer above Z-direction, and lifting external member includes two pairs
Scissor type bracket and an electric pushrod go up and down external member main body along Y-direction and are arranged with two pairs of scissor type brackets, each pair of scissor type branch
Frame includes two scissors mechanisms, and two scissors mechanisms are connected by hinge, and described its main body of scissor type mechanism is X-type mechanism,
Middle position is connected by hinge；It is connected with two connecting rods in the junction of each pair of scissors mechanism between two pairs of scissor type brackets,
Each pair of scissors bracket passes through a fixed hinge and a horizontal slide hinge and vehicle chassis component and upper layer support portion respectively up and down
Part is connected, and connects and is equipped with the 5th electric pushrod between two connecting rods of two pairs of scissors brackets, the 5th electric pushrod with
Control system is electrically connected.
Further, it is connected between the backboard, seat board, calf plate and foot pedal by electric losing self-locking hinge.
Further, the movable composition chair top further includes seat cushions, handrail and submaster controller handrail, the seat cushions
It is covered on the upper surface of movable composition chair top, the handrail and submaster controller handrail are located at a left side for movable composition chair top
Right two sides, the handrail and its mechanical part of submaster controller handrail are controlled by control system and are rotated；The submaster controller is helped
Hand includes armrest portion and submaster controller part, and the submaster controller part with master controller is connect by Bluetooth communication,
Submaster controller includes direction of travel control button, direction of travel controls rocking bar, rocking bar control model-key control mode switch is pressed
Key, user, which change, carries control button and customized common function key, and the direction controlling rocking bar is spare walking direction controlling
Device.
Compared with prior art, the invention has the benefit that
Full-automatic active sufferer of the invention changes load wheel chair robot, the design separated by chair top and supporting mechanism
Scheme, user are sitting on movable composition chair top, and user and movable composition chair top are considered as entirety, establish wheelchair and target carries
Slideway between tool realizes the user on wheelchair in bed by movement of the control user and movable composition chair top on slideway
Tool, wheelchair, the transfer between closestool.
The present invention combines wheelchair with changing idling telephone-moving tool, can be realized full-automatic master of the user in the case where no external force assists
Move load.
The present invention possesses the walking function of electric wheelchair；The present invention combines nursing bed accessory, and postural change function is integrated in
On wheelchair, a variety of postural change functions being just able to achieve on nursing bed accessory are may be implemented by wheelchair in user, are saved user and are existed
Expense on nursing device, increases practicability.
The present invention carries intelligence control system, simple with the interactive mode of user, can solve most of use by key
Family demand, while it being also attached to control stick, control stick can provide more convenient walking side for the better user of the limbs coordination ability
To control.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is perspective view of the explosion of the invention；
Fig. 3 is back plate support block schematic illustration of the invention；
Fig. 4 is calf plate braced frame schematic diagram of the invention；
Fig. 5 is ground way schematic diagram of the invention；
Fig. 6 is telescopic chute schematic diagram of the invention；
Fig. 7 is effect picture of the present invention with experiment dummy；
Fig. 8 is bed of the present invention --- chair transfer demonstration schematic diagram；
Fig. 9 is present invention lifting external member schematic diagram of mechanism；
Figure 10 is base plate structure schematic diagram of the present invention；
Description of symbols:
1, movable composition chair top；2, upper layer support member；3, vehicle chassis component；
1-1, seat cushions；1-2, backboard；1-3, seat board；1-4, calf plate；1-5, foot pedal；1-6, submaster controller handrail；
1-7, handrail；
2-1, back plate support frame；2-2, ground way；2-3, calf plate braced frame；2-4, telescopic chute；2-5,
One electric pushrod；2-6, the second electric pushrod；2-7, third electric pushrod；2-8, the 4th electric pushrod；2-9, master controller；2-
10, cuboid hollow frame；2-11, battery；2-12, driver group；
3-1, active hoofing part external member；3-2, passive universal caster wheel；3-3, lifting external member；3-4, the 5th electric pushrod.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, below in conjunction with attached drawing to this hair
It is bright to be further detailed.
Referring to figs. 1 to shown in Fig. 9, full-automatic active sufferer provided by the invention changes load wheel chair robot, totally includes
Vehicle chassis component 3, upper layer support member 2, movable combining chair top 1 and control system；
The vehicle chassis component 3 realizes walking by walking component, and the upper layer support member 2 passes through lifting external member installation
On vehicle chassis component 3, the movable composition chair top 1 can be relative to upper layer support member 2 along Y-direction by slide assemblies
Relative motion is generated, the walking component, lifting external member and slide assemblies realize wheelchair by the reasonable control of control system
On transfer of the user between bed accessory 4, wheelchair, closestool.
Wherein, the vehicle chassis component 3 includes active hoofing part external member 3-1, passive universal caster wheel 3-2, lifting external member
3-3 and the 5th electric pushrod 3-4；
The upper layer support member 2 includes cuboid hollow frame 2-10, back plate support frame 2-1, calf plate support
Frame 2-3, ground way 2-2, telescopic chute 2-4, the first electric pushrod 2-5, the second electric pushrod 2-6, third electric pushrod
2-7, the 4th electric pushrod 2-8, battery 2-11, driver group 2-12 and master controller 2-9；
The movable composition chair top 1 includes backboard 1-2, seat board 1-3, calf plate 1-4, foot pedal 1-5, automatic toilet
Cover 1-8, seat cushions 1-1, handrail 1-7 and submaster controller handrail 1-6；
The upper layer support member 2 is mounted on vehicle chassis component 3 by going up and down external member 3-3, the movable composition seat
Seat 1 is matched in upper layer support member 2 by the slideway 1-3-2 and ground way 2-2 on seat board 1-3, the control system
System is mounted in the form of software in master controller 2-9.
The active hoofing part external member 3-1 includes a pair of totally two Electric Motor Wheels, is separately mounted to vehicle chassis component 3 along X
At left and right sides of the rear of direction, the Electric Motor Wheel is motor, speed reducer, tire integrated design, and Electric Motor Wheel is directly installed on bottom
On disk component 3, the passive universal caster wheel 3-2 is two a pair of altogether, is separately mounted to the chassis front left and right sides in X direction.
The lifting external member 3-3 is mounted on vehicle chassis component 3, and the lifting external member includes two pairs of scissor type brackets,
With third electric pushrod -4, the cuboid hollow frame that external member 3-3 is connected to upper layer support member 2 above Z-direction is gone up and down
On frame 2-10.
The lifting external member 3-3 main body is arranged with two pairs of scissor type brackets along Y-direction, and each pair of scissor type bracket includes two
A scissors mechanism 3-3-1 and 3-3-2, scissors mechanism totally two pairs four, two scissors mechanisms are connected by hinge, the scissor
Its main body of type mechanism is X-type mechanism, and middle position is connected by hinge；With two connecting rod 3-3-3 each pair of between two pairs of brackets
The junction of scissors mechanism connects, and each pair of scissors bracket passes through a fixed hinge 3-3-4 and a horizontal sliding respectively up and down
Hinge 3-3-5 is connected with vehicle chassis component 3 and cuboid hollow frame 2-10, connects two connecting rod 3-3- of two pairs of scissors brackets
5th electric pushrod 3-4 is installed between 3.
The Z-direction lower surface of described its upper layer rectangular frame of cuboid hollow frame 2-10 is connected with lifting external member 3-3, grows
The upper surface of the upper layer rectangular frame Z-direction of cube hollow frame 2-10 is equipped with ground way 2-2, matches inside ground way 2-2
There is telescopic chute 2-4；Hinge ear, the hinge ear are equipped on the inside of the upper layer rectangular frame Y-direction one of cuboid hollow frame 2-10
It is connected with third electric pushrod 2-7 fixing end, the hinge that another movable end of third electric pushrod 2-7 and telescopic chute 2-4 are equipped with
Ear is connected；Front and back is respectively equipped with two hinge ears, preceding hinge ear and the second electric pushrod on the outside of the X-direction of cuboid hollow frame 2-10
2-6 movable end is connected, and the fixing end of the second electric pushrod 2-6 is connected with the hinge ear on calf plate braced frame 2-3；After cut with scissors ear
It is connected with the fixing end of the first electric pushrod 2-5, the movable end of the first electric pushrod 2-5 and the hinge on back plate support frame 2-1
Ear is connected.
The back plate support frame 2-1 main body be hollow rectangle a frame 2-1-1, back plate support frame 2-1 with it is rectangular
Body hollow frame 2-10 is connected by hinge, passes through U-shaped pole 2-1- between the hinge and back plate support chassis body 2-1-1
2 are connected, and are equipped with the first spin 2-1-3 above the main body 2-1-1 of back plate support frame, the first spin 2-1-3 is relative to backboard branch
X, Y of support frame frame body 2-1-1, Z-direction are mobile to fix, but rotates unrestricted.
The main body of the calf plate braced frame 2-3 is a hollow rectangle frame 2-3-1, calf plate braced frame 2-3
It is connected by hinge with cuboid hollow frame 2-10, one second spin 2- is equipped with below calf plate braced frame main body 2-3-1
3-2, the second spin 2-3-2 rotate unrestricted relative to X, Y of back plate support chassis body 2-3-1, the mobile fixation of Z-direction.
The ground way 2-2 points are triple layer designs, and the bottom is a pair of totally two rectangle square steel tube 2-2-1, steel pipe
It is fixed with cuboid hollow frame 2-10 phase, one layer is a rectangle square steel tube frame 2-2-2, square above two square steel tube 2-2-1
A pair of totally two parallel hollow guide rail 2-2-3 are also installed in X direction, outside each guide rail above shape square steel tube frame 2-2-2
Side is provided with the limiting slot for the long rectangle that one is semicircle, and notch is towards Y-direction；Two hollow guide rail 2-2-3 Z-direction bottom side also
It is provided with through slot in X direction；Rectangle square steel tube frame 2-2-2 is provided between one and two hollow guide rail 2-2-3 in X positive direction side
Away from etc. big slot.Interior side is equipped with the 4th electric pushrod 2-8 setter plate 2-2-4 to ground way 2-2 in the Y direction, and the 4th is electronic
Push rod 2-8 movable end is connected with the seat board 1-3 in mobile bed plate component 1.
The telescopic chute 2-4 is fitted in the hollow guide rail of ground way 2-2；Telescopic chute 2-4 main body is
A pair is between two two hollow guide rails 2-4-1, two hollow guide rail 2-4-1 arranged in X direction that Y-direction is placed with one
The 2-4-2 connection of rectangle square steel tube, rectangle square steel tube 2-4-2 includes one section of U-shaped bending, in the rectangle square steel tube 2-4- for connection
A pair of of hinge ear is welded on 2；Two sections hollow guide rail 2-4-1 are rectangle of the bottom with protrusion, two hollow guide rail 2-4-1 phases
A pair of short limit straight pin 2-4-3 is welded with respectively for the outside of telescopic chute part 2-4 entirety；The Y negative side of telescopic chute 2-4
To the end pressure sensor 2-4-4 is installed, described pressure sensor 2-4-4 a pair is mounted on hollow guide rail 2- for totally two
Inside 4-1, the probe of pressure sensor 2-4-4 is stretched out from the bottom hollow guide rail 2-4-1.
The movable composition chair top 1 can produce relative motion along Y-direction relative to upper layer support member 2, described
Movable composition chair top 1 includes backboard 1-2, seat board 1-3, calf plate 1-4, foot pedal 1-5, automatic horse bung 1-8, seat cushions 1-
1, handrail 1-7 and submaster controller handrail 1-6；Between backboard 1-2, seat board 1-3, calf plate 1-4 and foot pedal 1-5 certainly by power loss
Lock hinge connection；The electric losing self-locking hinge can only be freely rotated when being powered, and hinge power-off will be self-locking, can not freely turn
It is dynamic.
The automatic horse bung 1-8 activity cooperates on seat board 1-3, effect of the cuboid hollow frame in lifting external member
When lower rising, automatic horse bung declines relative to seat board, achievees the purpose that disengaging, also, round defecation is formed among seat board 1-3
Mouthful, seat board 1-3 includes main structure 1-3-1 and slideway 1-3-2, the telescopic chute for being stretched in ground way with it
Movement.
The handrail 1-7 and submaster controller handrail 1-6 is mounted on the two sides backboard 1-2.The submaster controller handrail 1-6
Comprising armrest portion and submaster controller part, the armrest portion submaster controller and master controller 2-9 are to pass through Bluetooth communication
, submaster controller includes direction of travel control button, direction of travel controls rocking bar, rocking bar control model-key control model is cut
Change key, user changes and carries control button and customized common function key, the direction controlling rocking bar is spare direction of travel
Controller.The handrail 1-7 and submaster controller handrail 1-6 its mechanical part are all Electronic controls, and two handrails are ok
Automatic rotation.
The operation principle of the present invention is that:
Core of the invention is that full-automatic sufferer changes load function, and the elevating function, walking function, lift back, sitting posture turn
Changing function is to change load function services, and user, which initially takes wheelchair, need to lean on extraneous help or user that should have on bed accessory independently
Turn ability.
User has been seated on seat at this time, and objective function is the transfer from wheelchair to closestool, and user can choose manually,
Or automatic pathfinding reaches toilet, automatic pathfinding should be laid with the pathfinding line of induction in the family.When wheelchair Hall sensor detects
To it is close enough apart from closestool when, the master controller 2-9 of wheelchair user will be asked whether start wheelchair to closestool transfer stream
Journey, user clicks the agreement button of master controller 2-9 panel, from security and reliability angle, wheelchair finally with closestool
Docking will be what pressure was realized automatically.Closestool posts positioning magnetic stripe in the one side designated position docked with wheelchair, on wheelchair
Master controller is detected between closestool by the positional relationship of Hall sensor detection and closestool by ultrasonic range finder sensor
Distance performs the next step operation, the i.e. connection of slideway after the position suitable between wheelchair and closestool；The connection of slideway be for
A horizontal slide is established between wheelchair main body and closestool, and so that the movable composition wheel seat 1 is slid over finger in slideway
Positioning is set.The first step of slideway connection is that lifting external member 3-3 is allowed to lift to extreme position, at the same time movable composition wheel seat seat
1 toilet lid 1-8 declines under the control of wheelchair body operation mechanism and is detached from seat board 1-3 on plate, until minimum point, Yi Mianyu
Subsequent action interference, then telescopic chute 2-4 stretches out designated length, which is arranged at a distance from toilet rim according to wheelchair,
After stretching, wheelchair is begun to decline, and the pressure sensor 2-4-4 on the master controller 2-9 monitoring telescopic chute 2-4 of wheelchair is read at this time
Number stops decline after detecting reading, has been set up horizontal slideway between wheelchair and closestool at this time, will open in next step
The horizontal sliding of beginning movable composition wheel seat 1.Master controller 2-9 sends a signal to handrail before movable composition wheel seat 1 slides
Submaster controller 1-6, handrail submaster controller 1-6 control electric losing self-locking hinge power loss, the at this time self-locking unlatching of hinge, movable composition wheelchair
Relatively unrotatable between each plate in face 1, movable composition wheel seat 1 keeps sitting posture state, formally starts to change idling shifting, activity
Combination wheel seat 1 slides on slideway under the promotion of the 4th electric pushrod 2-8, and user is sitting on wheel seat 1 and slides together, sliding
It moves and stops above closestool, wheelchair to closestool, which changes, carries function completion.
User goes to the toilet when finishing, and changes to carry control button control and change by the wheelchair on handrail submaster controller 1-6 and carries back wheelchair,
Changing and carrying back wheelchair is to change the inverse process for being downloaded to closestool, is repeated no more, when successfully change carry back wheelchair when, master controller 2-9 hair
The number of delivering letters gives handrail submaster controller 1-6, releases the software lock to automatically controlled hinge, but electric losing self-locking hinge is still within power loss shape
State, only when needing to carry out the movements transformation such as lift back, bent leg, hinge can just be powered on, and release physics locking.
Objective function is the transfer from wheelchair to bed accessory, and user can choose manually, or automatic pathfinding reaches bedroom, from
Dynamic pathfinding should be laid with the pathfinding line of induction in the family.When wheelchair is close enough apart from bed accessory, the master controller 2-9 of wheelchair will
Ask the user whether to start wheelchair to the transfer flow of bed accessory, user clicks the agreement button of master controller 2-9 panel, from safety
It sets out with reliability perspectives, wheelchair finally will be what pressure was realized automatically with docking for closestool.Positioning principle and mode are no longer
It repeats, after the positional relationship between wheelchair and bed accessory has determined, wheelchair starts posture conversion, i.e., is converted into prone position from sitting posture
Posture, the first electric pushrod 2-5 driving backboard rotate counterclockwise, and the second electric pushrod 2-6 driving calf plate rotates clockwise, foot
Plate 1-5 turns clockwise into level in the effect that gravity and hinge limit.Posture conversion starts building for slideway after finishing, sliding
Road is built finish after can start to change current-carrying journey, it is close with the process of wheelchair to closestool to change load process.
If user needs the unmanned secondary transfer from bed accessory to wheelchair, it must be laid with the pathfinding line of induction at home.?
After calling wheelchair, wheelchair will execute following below scheme, and automatic pathfinding is docked to bedside and with bed, builds slideway, carry out appearance automatically
State conversion, becomes a mode from seat mode, movable composition wheel seat 1 passes through slideway under the promotion of the 4th electric pushrod 2-8
It is moved on bed, the turn of user's complete cycle can go up wheelchair, press after user is moved on wheelchair and change load control button i.e.
It can change together and be downloaded on wheelchair with movable composition wheel seat 1.
The first spin 2-1-3 on back plate support frame 2-1 and calf plate braced frame 2-3, the second spin
2-3-2 is used to support the backboard 1-2 and calf plate 1-4 of movable composition chair top 1, keeps movable back board 1-2, calf plate 1-4 opposite
It can produce multidirectional opposite sliding between back plate support frame 2-1 calf plate braced frame 2-3.
It is above that certain exemplary embodiments of the invention are only described by way of explanation, undoubtedly, for ability
The those of ordinary skill in domain without departing from the spirit and scope of the present invention can be with a variety of different modes to institute
The embodiment of description is modified.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as to the present invention
The limitation of claims.
Claims (10)
1. full-automatic active sufferer changes load wheel chair robot, which is characterized in that including vehicle chassis component (3), upper layer support member
(2), movable combining chair top (1) and control system, the vehicle chassis component (3) realizes walking by walking component, described
Upper layer support member (2) is mounted on vehicle chassis component (3) by going up and down external member (3-3), and the movable composition chair top (1) is logical
Relative motion, the movable composition chair top can be generated along Y-direction relative to upper layer support member (2) by crossing slide assemblies
(1) backboard (1-2), seat board (1-3), calf plate (1-4) and foot pedal (1-5) comprising interconnection, the seat board (1-3)
Center has automatic horse bung (1-8), and the walking component, lifting external member (3-3) and slide assemblies pass through control system reality
Transfer of the user between bed accessory (4), wheelchair, closestool on existing wheelchair, the control system are mounted in the form of software
In master controller (2-9).
2. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the upper layer branch
Support part part (2) includes cuboid hollow frame (2-10), back plate support frame (2-1) and calf plate braced frame (2-3), first
Electric pushrod (2-5), the second electric pushrod (2-6), battery (2-11), driver group (2-12) and slide assemblies；The slideway
Component includes ground way (2-2), telescopic chute (2-4), third electric pushrod (2-7) and the 4th electric pushrod (2-8)；It is described
Cuboid hollow frame (2-10) is used to support seat board (1-3), the Z-direction lower surface of upper layer rectangular frame and lifting external member (3-
3) it is connected, ground way (2-2) is installed in the upper surface of the upper layer rectangular frame Z-direction of cuboid hollow frame (2-10), fixed to slide
It is furnished with telescopic chute (2-4) inside road (2-2), inside the upper layer rectangular frame Y-direction side of cuboid hollow frame (2-10)
Equipped with hinge ear, the hinge ear is connected with third electric pushrod (2-7) fixing end, third electric pushrod (2-7) another movable end
The hinge ear being equipped with telescopic chute (2-4) is connected；Front and back is respectively equipped with two on the outside of the X-direction of cuboid hollow frame (2-10)
A hinge ear, preceding hinge ear are connected with the second electric pushrod (2-6) movable end, the fixing end and calf plate of the second electric pushrod (2-6)
A hinge ear in braced frame (2-3) is connected；Hinge ear is connected with the fixing end of the first electric pushrod (2-5) afterwards, and first electronic pushes away
The movable end of bar (2-5) is connected with the hinge ear on back plate support frame (2-1)；The battery (2-11) is for giving driver group
(2-12) power supply, the driver group (2-12) and control system are electrically connected, for driving the first electric pushrod (2-5), the
The pushrod movement of two electric pushrods (2-6), third electric pushrod (2-7) and the 4th electric pushrod (2-8), and then realize upper layer branch
The postural change and promotion assembled base seat of support part part (2) are mobile.
3. full-automatic active sufferer according to claim 2 changes load wheel chair robot, which is characterized in that the backboard branch
The main body of support frame frame (2-1) is a hollow rectangle frame (2-1-1), back plate support frame (2-1) and cuboid hollow frame (2-
10) it is connected by hinge, is connected between the hinge and back plate support chassis body (2-1-1) by U-shaped pole (2-1-2),
It is equipped with the first spin (2-1-3) above the main body (2-1-1) of back plate support frame, the first spin (2-1-3) can be relative to back
X, Y of plate braced frame main body (2-1-1), Z-direction are mobile to fix.
4. full-automatic active sufferer according to claim 2 changes load wheel chair robot, which is characterized in that the shank
The main body of plate braced frame (2-3) is a hollow rectangle frame (2-3-1), and calf plate braced frame (2-3) passes through hinge and length
Cube hollow frame (2-10) is connected, and is equipped with the second spin (2-3-2) below calf plate braced frame main body (2-3-1), and second
Spin (2-3-2) can be relative to X, Y of back plate support chassis body (2-3-1), the mobile fixation of Z-direction.
5. full-automatic active sufferer according to claim 2 changes load wheel chair robot, which is characterized in that the fixation
Slideway (2-2) is divided into triple layer designs, and the bottom is two rectangle square steel tubes (2-2-1), steel pipe and cuboid hollow frame (2-
10) mutually fix, two square steel tubes (2-2-1) above one layer be a rectangle square steel tube frame (2-2-2), rectangle square steel tube frame
(2-2-2) is also equipped with two parallel hollow guide rails (2-2-3) in X direction above, and one is provided on the outside of each guide rail as half
The limiting slot of round long rectangle, notch is towards Y-direction；Two hollow guide rails (2-2-3) are also provided in X direction in Z-direction bottom side
Through slot；It is big that rectangle square steel tube frame (2-2-2) in X positive direction side is provided with one and two hollow guide rail 2-2-3 spacing etc.
Notch；Ground way 2-2 in the Y direction interior side be equipped with the 4th electric pushrod (2-8) setter plate (2-2-4), for fixing
The fixing end of 4th electric pushrod (2-8), the 4th electric pushrod (2-8) movable end and the seat board in movable composition chair top (1)
(1-3) is connected.
6. full-automatic active sufferer according to claim 5 changes load wheel chair robot, which is characterized in that the flexible cunning
Road (2-4) is fitted in the hollow guide rail (2-2-3) of ground way (2-2), and telescopic chute (2-4) main body is a pair
With a rectangle between two hollow guide rails (2-4-1) arranged in X direction of Y-direction placement, two hollow guide rails (2-4-1)
Square steel tube (2-4-2) connection, rectangle square steel tube (2-4-2) includes one section of inverted U bending, in the rectangle square steel tube for connection
A pair of of hinge ear is welded on (2-4-2)；Two hollow guide rail sections (2-4-1) are rectangle of the bottom with protrusion, and two hollow to lead
Rail (2-4-1) is welded with a pair of short limit straight pin (2-4-3) relative to the outside of telescopic chute part (2-4) entirety respectively；It stretches
The end of the Y opposite direction of contracting slideway (2-4) is equipped with pressure sensor (2-4-4), the pressure sensor (2-4-4) setting
It is a pair of totally two, is separately mounted to the inside of two hollow guide rails (2-4-1), the probe of pressure sensor (2-4-4) is from sky
The heart guide rail bottom (2-4-1) is stretched out.
7. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the walking group
Part includes active hoofing part external member (3-1) and passive universal caster wheel (3-2)；Active hoofing part external member (3-1) packet
Containing two Electric Motor Wheels, it is separately mounted to vehicle chassis component (3) the rear left and right sides in X direction, the Electric Motor Wheel uses motor, subtracts
The integrated Electric Motor Wheel of fast machine, tire；The passive universal caster wheel (3-2) totally two, before being separately mounted to chassis in X direction
The side left and right sides.
8. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the lifting set
Part (3-3) is connected on upper layer support member (2) above Z-direction, and lifting external member (3-3) includes two pairs of scissor type brackets and one
A electric pushrod (3-4) goes up and down external member (3-3) main body along Y-direction and is arranged with two pairs of scissor type brackets, each pair of scissor type bracket packet
Containing two scissors mechanisms, two scissors mechanisms are connected by hinge, and described its main body of scissor type mechanism is X-type mechanism, intermediate
Position is connected by hinge；It is connected with two connecting rods in the junction of each pair of scissors mechanism between two pairs of scissor type brackets, it is each pair of
Scissors bracket passes through a fixed hinge and a horizontal slide hinge and vehicle chassis component (3) and upper layer support member respectively up and down
(2) it is connected, connects and the 5th electric pushrod (3-4) is installed between two connecting rods of two pairs of scissors brackets, the described 5th is electronic
Push rod (3-4) and control system are electrically connected.
9. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the backboard
It is connected between (1-2), seat board (1-3), calf plate (1-4) and foot pedal (1-5) by electric losing self-locking hinge.
10. -9 described in any item full-automatic active sufferers change load wheel chair robot according to claim 1, which is characterized in that
The movable composition chair top (1) further includes seat cushions (1-1), handrail (1-7) and submaster controller handrail (1-6), the seat
Pad (1-1) is covered on the upper surface of movable composition chair top (1), the handrail (1-7) and submaster controller handrail (1-6) difference position
In the left and right sides of movable composition chair top (1), the handrail (1-7) and submaster controller handrail (1-6) its mechanical part are logical
Cross control system control rotation；The submaster controller handrail (1-6) includes armrest portion and submaster controller part, the secondary control
Device part processed with master controller (2-9) is connect by Bluetooth communication, and submaster controller includes direction of travel control button, walking side
It is changed to control rocking bar, rocking bar control model-key control mode switch key, user and carries control button and customized common function
Key, the direction controlling rocking bar are spare walking direction controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910448717.5A CN110037866A (en) | 2019-05-28 | 2019-05-28 | Full-automatic active sufferer changes load wheel chair robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910448717.5A CN110037866A (en) | 2019-05-28 | 2019-05-28 | Full-automatic active sufferer changes load wheel chair robot |
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| CN110037866A true CN110037866A (en) | 2019-07-23 |
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| CN201910448717.5A Pending CN110037866A (en) | 2019-05-28 | 2019-05-28 | Full-automatic active sufferer changes load wheel chair robot |
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| Country | Link |
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| CN111544216A (en) * | 2020-05-29 | 2020-08-18 | 太原科技大学 | Home service robot |
| CN112914854A (en) * | 2021-02-07 | 2021-06-08 | 合肥市第二人民医院 | Liftable wheelchair with positioning function |
| CN112914895A (en) * | 2021-03-23 | 2021-06-08 | 合肥工业大学 | Inconvenient patient nursing equipment moves about |
| CN113018013A (en) * | 2021-03-11 | 2021-06-25 | 浙江海洋大学 | Intelligent wheelchair with toilet function |
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