CN111329695A - Suspension type robot for helping old people to realize sitting-standing conversion and using method - Google Patents
Suspension type robot for helping old people to realize sitting-standing conversion and using method Download PDFInfo
- Publication number
- CN111329695A CN111329695A CN202010346102.4A CN202010346102A CN111329695A CN 111329695 A CN111329695 A CN 111329695A CN 202010346102 A CN202010346102 A CN 202010346102A CN 111329695 A CN111329695 A CN 111329695A
- Authority
- CN
- China
- Prior art keywords
- guide
- rod
- fixed
- suspension
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- 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
- A61G7/1013—Lifting of patients by
- A61G7/1019—Vertical extending columns or mechanisms
-
- 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
- A61G7/1049—Attachment, suspending or supporting means for patients
Abstract
The invention relates to a suspended robot for helping the old to realize sitting-standing conversion and a use method, wherein the suspended robot comprises a suspended guide rail, a sliding component connected with the suspended guide rail in a sliding way and a mechanical arm component connected with the sliding component, the suspended guide rail is supported by supports at two ends, the suspended guide rail is provided with positioning holes, the sliding component is used for suspending the mechanical arm component in the air, and the sliding component comprises a sliding frame, a guide roller and a locking mechanism capable of locking the mechanical arm component; the mechanical arm assembly comprises a parallelogram mechanism fixedly connected with the locking mechanism and an electric push rod fixedly connected to the right side of the parallelogram mechanism; the electric push rod is provided with a supporting rod contacted with the upper limb of the human body; the linkage action of the parallelogram mechanism and the electric push rod supports the upper limbs of the human body, so that the old can realize the sitting-standing conversion without the assistance of manpower, the actions of the natural habits of the human body are met, and the balance stability of the body during the conversion is fully ensured.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a suspension type robot for helping the old to realize sitting-standing conversion and a using method thereof.
Background
With the continuous improvement of the national living standard and the rapid development of medical public health service, China has already stepped into an aging society, the proportion of the elderly population in the general population is gradually increased, the self-care capability of the elderly is poor, the nursing is mainly carried out by families, the nursing cost is high, the labor intensity is high, the nursing condition is urgently needed to be improved, meanwhile, a great amount of various disabled people and the elderly lying in bed for a long time exist, the problems of helping the old and the disabled become a great social problem day by day, the positive and active effects are achieved for solving the problems, and the method has important significance for improving the living quality of the elderly and the disabled and ensuring the stable development of the society in China. Existing people, such as elderly and disabled people, cannot easily stand or sit as normal in daily life, and joints of their lower limbs may not be sufficient to support their own body weight due to aging or other accidental injuries, and especially for the elderly, their leg strength gradually deteriorates, muscle atrophy gradually worsens, and while walking, their knee joints are weak, and standing difficulty occurs, and they are difficult to stand from a low sofa, a seat, etc. only by their own lower limb strength. Therefore, there is a need for developing various apparatus and devices capable of helping the old to independently live indoors, which is significant for improving the life quality of the old and freeing the labor force.
Disclosure of Invention
In order to solve the problems, the invention provides a suspension type robot for helping the old to realize sitting-standing conversion and a using method thereof.
The specific contents are as follows: the utility model provides a help old man realizes sitting suspension type robot that stands conversion, includes support, suspension guide rail, the subassembly and the robotic arm subassembly that slide, characterized by:
the suspension guide rail is horizontally arranged, brackets for supporting the suspension guide rail are fixed at two ends of the suspension guide rail, and positioning holes are formed in the bottom surface of the suspension guide rail at equal intervals along the length direction of the suspension guide rail;
the sliding assembly comprises a sliding frame and a locking mechanism;
the sliding frame is bent into a symmetrical U-shaped frame body by a steel plate, symmetrical guide rollers are arranged on two side plates of the sliding frame body, an upper row and a lower row of guide rollers are arranged on the inner side surface of each side plate, the suspension guide rail penetrates through the space between the two side plates of the sliding frame body, and the sliding frame body is clamped on the corresponding side surface of the suspension guide rail through the guide rollers on the side plates of the sliding frame body to form a sliding pair which moves horizontally;
the locking mechanism comprises a guide seat, a mounting plate, sliders and slide rails, wherein a hollow guide seat is fixed on the bottom surface inside the sliding frame, a vertical guide sleeve with a step hole is fixed in the middle of the guide seat, the guide sleeve is communicated with the inside of the guide seat, bilaterally symmetrical slide rails are arranged inside the guide seat, symmetrical sliders are fixed at two ends of the mounting plate, each slider is clamped on the slide rail correspondingly matched with the slider, the slider and the corresponding slide rail form a slide pair freely sliding along the length direction of the slide rail, the slider drives the horizontal mounting plate to freely slide left and right, a support plate is fixed at the outer end of each slide rail, a reset spring is fixed between each support plate and the corresponding slider, two ends of the reset spring are respectively supported on the corresponding support plate and the corresponding slider, a positioning cam is fixed on the upper surface of the mounting plate, a driven guide rod matched with the guide spring and freely sliding up and down is arranged in the guide sleeve, the driven guide rod is sleeved with a supporting spring, the supporting spring is positioned in the guide sleeve, the upper end of the supporting spring is supported at the bottom of the stepped hole, the lower end of the supporting spring is supported on a positioning ring fixed with the driven guide rod, a roller capable of rotating freely is fixed at the lower end of the driven guide rod, the roller corresponds to a positioning cam on the mounting plate, the driven guide rod, the supporting spring, the roller and the positioning cam form a linear cam mechanism, the top end of the driven guide rod is provided with a chamfer and extends into the positioning hole of the suspension guide rail, the bottom of the sliding frame is provided with a abdicating hole, and the abdicating hole is positioned between the opposite end faces of the two;
arm subassembly include the connecting rod, go up the swinging arms, swing arms, first electric putter, second electric putter and mix the support rod down, the vertical upwards pass the hole of stepping down of upper end of connecting rod and the mounting panel is fixed, last swinging arms and corresponding parallel hinge on the connecting rod down of swing arms, the free end of going up swinging arms and swing arms down all articulates on same hornblock, connecting rod, last swinging arms, swing arms and hornblock constitute parallelogram mechanism down, first electric putter's one end articulate on the connecting rod, the other end articulates on the swinging arms down, and first electric putter is parallel with swing arms down, vertical setting of second electric putter and its upper end fix on the hornblock, be fixed with the horizontally support rod that mixes at second electric putter's lower extreme.
Preferably, the supporting rod is in a straight shape, one end of the supporting rod is fixed at the lower end of the second electric push rod through a vertical connecting arm armor, the supporting rod is perpendicular to the swinging surface of the upper swinging rod, and a handrail armor is fixed at the connecting position between the supporting rod and the connecting arm armor.
Preferably, the supporting rod is Y-shaped, the closed end of the supporting rod is fixed at the lower end of the second electric push rod through a vertical connecting arm B, the supporting rod is parallel to the swinging surface of the upper swinging rod, and a handrail B is fixed at the connecting part between the supporting rod and the connecting arm B.
Preferably, the side surfaces of the suspension guide rails are respectively provided with two guide strips which are arranged in parallel up and down, and the guide rollers on the same side are clamped on the guide strips on the corresponding side.
Preferably, the inner side of each guide strip is provided with a guide inclined surface, the inner side surface of each wire roller is provided with an annular chamfer matched with the guide inclined surface, the guide roller is tangent to the guide inclined surface corresponding to the guide strip through the chamfer, and the circumferential surface of the guide roller is tangent to the surface corresponding to the suspension guide rail.
Preferably, the lower extreme of every support all is fixed with the firm frame of triangle form, and the both ends of every firm frame bottom surface all are fixed with the universal wheel, and all are provided with the activity service brake on every universal wheel.
The use method of the suspension type robot for helping the old to realize the sitting-standing conversion comprises the following steps:
① moving the whole robot to the vicinity of the seat of the old people through the universal wheels, finding a flat position to stop the robot, and locking all the universal wheels through the movable foot brake;
② when the old need to stand up, the supporting rod is pulled manually, the force applied by the supporting rod is transmitted to the locking mechanism, when the component force of the driving force applied to the locking mechanism in the length direction of the hanging guide rail is larger than the locking force threshold value, the mounting plate is driven to move and compress the reset spring at the corresponding end, so that the positioning cam moves and is far away from the roller, the driven guide rod moves downwards and is separated from the positioning hole under the action of the elastic force of the supporting spring, at the moment, the sliding component and the mechanical arm component move to the required position along the hanging guide rail, when the external force disappears, the mounting plate returns to the original position under the action of the reset spring, the mounting plate drives the positioning cam to drive the driven guide rod to move upwards and extend into the positioning hole at the corresponding position, the sliding component and the mechanical arm component are locked, and the;
③ after the assistant supporting rod moves to the front of the old, the old holds the handrail with a strong side hand, and places both arms on the assistant supporting rod, or places the assistant supporting rod under the armpit of the old, the first electric push rod drives the parallelogram mechanism to swing upwards, and the second electric push rod lifts the assistant supporting rod vertically upwards, the linkage action of the two drives the force to act on the upper limb of the old, and the old completes the sitting-standing conversion by the action of the natural habit of the human body;
④ after the old man stands up completely, the first electric push rod and the second electric push rod act together to restore the supporting rod to the initial position;
⑤ manually pushes the robot arm assembly to move it along the suspension rail to an idle position for the next use.
The invention has the beneficial technical effects that:
the suspension type robot comprises a suspension guide rail and a sliding component in sliding connection with the suspension guide rail, wherein a locking mechanism is arranged between the sliding component and the suspension guide rail, a mechanical arm component is fixed on the sliding component and comprises a parallelogram mechanism driven by a first electric push rod and a supporting rod driven by a second electric push rod; firstly, the first electric push rod drives the parallelogram mechanism, and the second electric push rod drives the supporting rod supported on the upper limb of the human body, so that the old can realize the sitting-standing conversion without manpower supporting, the first electric push rod drives the parallelogram mechanism to swing upwards and move forwards, and the second electric push rod always keeps vertical, the process is more in line with the habitual action of the human body during the natural sitting-standing conversion, and the balance and the stability of the human body during the sitting-standing conversion are fully ensured; meanwhile, the sliding assembly is used for suspending the mechanical arm assembly on the suspension guide rail, so that the mechanical arm assembly is suspended in the air, and the mechanical arm assembly can be stopped at a required position according to the requirement of personnel, wherein a locking mechanism in the sliding assembly has a preset locking force threshold value, external force applied to the mechanical arm assembly is transmitted to the locking mechanism to generate driving force applied to the locking mechanism, when the component force of the driving force on the locking mechanism in the length direction of the suspension guide rail is greater than the locking force threshold value, the mounting plate is driven to move and compress a return spring at the corresponding end, so that the positioning cam moves away from the roller, the driven guide rod moves downwards and is separated from the positioning hole under the action of the elastic force of the supporting spring, at the moment, the sliding assembly and the mechanical arm assembly can be moved to the required position, and when the external force disappears, the mounting plate, therefore, the mounting plate can drive the positioning cam to drive the driven guide rod to move upwards and extend into the positioning hole in the corresponding position, the locking of the positions of the sliding assembly and the mechanical arm assembly on the suspension guide rail is realized, the sliding assembly adopts a locking mechanism to ensure the stability of the robot in the horizontal direction during the work, and simultaneously the mobility of the sliding assembly is ensured, so that the mechanical arm assembly can move to a position which is comfortable and suitable for a person to be assisted, the use is safe and flexible, the operation is simple, and the adaptability is better; therefore, the invention has simple structure, convenient operation and safe use, and has remarkable auxiliary function for the old to realize the sitting-standing conversion.
Drawings
FIG. 1 is a schematic perspective view of a suspension type robot (in-line type supporting rod) for helping the elderly to realize the sitting-standing conversion;
FIG. 2 is an enlarged view of A in FIG. 1;
FIG. 3 is a perspective view of a robot arm assembly;
FIG. 4 is a first sectional front view showing the mounting of the sliding assembly on the suspension rail (including the connecting rod);
FIG. 5 is a second sectional front view of the glide assembly mounted to the suspension rail (including the connecting rod);
FIG. 6 is a right side sectional view of the glide assembly mounted to the hanger rail;
FIG. 7 is a schematic perspective view of a suspension type robot (Y-shaped supporting rod) for helping the elderly to realize the sitting-standing conversion;
in the figure: 11. the device comprises a stabilizing frame, 12 universal wheels, 121 movable foot brakes of the universal wheels, 13 supports, 14 suspension guide rails, 141 positioning holes, 15 guide bars, 151 guide inclined planes, 16 sliding frames, 161 abdicating holes, 162 guide sleeves, 163 step holes in the guide sleeves, 17 guide seats, 18 guide rollers, 181 chamfer angles of the guide rollers, 19 connecting rods, 20 first electric push rods, 21 lower swing rods, 22 upper swing rods, 23. the angle block 24, the second electric push rod 25, the connecting arm A, 26, the I-shaped supporting rod 261, the armrest A, 27, the supporting plate 28, the sliding rail 29, the sliding block 30, the mounting plate 31, the positioning cam 31, the reset spring 32, the roller 33, the supporting spring 34, the driven guide rod 35, the driven guide rod 351, the chamfer of the driven guide rod 352, the positioning ring 36, the armrest B, 37, the connecting arm B and the Y-shaped supporting rod 38.
Detailed Description
Embodiment one, referring to fig. 1 to 7, a suspension type robot for helping the elderly to realize the sitting-standing conversion comprises a bracket, a suspension guide rail, a sliding assembly and a mechanical arm assembly;
the suspension guide rail is horizontally arranged, brackets for supporting the suspension guide rail are fixed at two ends of the suspension guide rail, and positioning holes are formed in the bottom surface of the suspension guide rail at equal intervals along the length direction of the suspension guide rail;
the sliding assembly comprises a sliding frame and a locking mechanism;
the sliding frame is bent into a symmetrical U-shaped frame body by a steel plate, symmetrical guide rollers are arranged on two side plates of the sliding frame body, an upper row and a lower row of guide rollers are arranged on the inner side surface of each side plate, the suspension guide rail penetrates through the space between the two side plates of the sliding frame body, and the sliding frame body is clamped on the corresponding side surface of the suspension guide rail through the guide rollers on the side plates of the sliding frame body to form a sliding pair which moves horizontally;
the locking mechanism comprises a guide seat, a mounting plate, sliders and slide rails, wherein a hollow guide seat is fixed on the bottom surface inside the sliding frame, a vertical guide sleeve with a step hole is fixed in the middle of the guide seat, the guide sleeve is communicated with the inside of the guide seat, bilaterally symmetrical slide rails are arranged inside the guide seat, symmetrical sliders are fixed at two ends of the mounting plate, each slider is clamped on the slide rail correspondingly matched with the slider, the slider and the corresponding slide rail form a slide pair freely sliding along the length direction of the slide rail, the slider drives the horizontal mounting plate to freely slide left and right, a support plate is fixed at the outer end of each slide rail, a reset spring is fixed between each support plate and the corresponding slider, two ends of the reset spring are respectively supported on the corresponding support plate and the corresponding slider, a positioning cam is fixed on the upper surface of the mounting plate, a driven guide rod matched with the guide spring and freely sliding up and down is arranged in the guide sleeve, the driven guide rod is sleeved with a supporting spring, the supporting spring is positioned in the guide sleeve, the upper end of the supporting spring is supported at the bottom of the stepped hole, the lower end of the supporting spring is supported on a positioning ring fixed with the driven guide rod, a roller capable of rotating freely is fixed at the lower end of the driven guide rod, the roller corresponds to a positioning cam on the mounting plate, the driven guide rod, the supporting spring, the roller and the positioning cam form a linear cam mechanism, the top end of the driven guide rod is provided with a chamfer and extends into the positioning hole of the suspension guide rail, the bottom of the sliding frame is provided with a abdicating hole, and the abdicating hole is positioned between the opposite end faces of the two; when the mechanical arm assembly needs to be moved, traction force applied to the mechanical arm assembly is transmitted to a locking mechanism fixedly connected with the mechanical arm assembly, driving force applied to the locking mechanism is generated, when the component force of the driving force on the locking mechanism in the length direction of the suspension guide rail is larger than a locking force threshold value, the mounting plate can be driven to move and compress a return spring at the corresponding end, so that the positioning cam moves and is far away from the roller, the driven guide rod moves downwards under the action of the elastic force of the supporting spring and is separated from the positioning hole, at the moment, the sliding assembly and the mechanical arm assembly can be moved to a required position, and after the external force disappears, the mounting plate returns to the original position under the action of the return spring, so that the mounting plate can drive the positioning cam to drive the driven guide rod to move upwards and stretch into the positioning hole in the corresponding.
Arm subassembly include the connecting rod, go up the swinging arms, swing arms, first electric putter, second electric putter and mix the support rod down, the vertical upwards pass the hole of stepping down of upper end of connecting rod and the mounting panel is fixed, last swinging arms and corresponding parallel hinge on the connecting rod down of swing arms, the free end of going up swinging arms and swing arms down all articulates on same hornblock, connecting rod, last swinging arms, swing arms and hornblock constitute parallelogram mechanism down, first electric putter's one end articulate on the connecting rod, the other end articulates on the swinging arms down, and first electric putter is parallel with swing arms down, vertical setting of second electric putter and its upper end fix on the hornblock, be fixed with the horizontally support rod that mixes at second electric putter's lower extreme. The first electric push rod drives the parallelogram mechanism to move forwards while swinging upwards, and the second electric push rod is combined to move left and right, so that the whole process is more in line with the habitual action of a human body during natural sitting-standing conversion, and the balance and stability of the human body during sitting-standing conversion are fully ensured.
The supporting rod of this embodiment adopts a style of calligraphy, and the one end of supporting rod is fixed at the lower extreme of second electric putter through vertical connecting arm armor, and supports the swing plane of pole perpendicular to last swinging arms in a supporting manner, and the junction between supporting rod and the connecting arm armor is fixed with handrail armor, and patient's both arms support in supporting the pole in a supporting manner, and hold the handrail, increase the security. The supporting rod can also adopt a Y-shaped fork shape, and the supporting rod is supported under the armpit of the supported person.
The side of the suspension guide rail is provided with two guide strips which are arranged in parallel up and down, and the guide rollers at the same side are clamped on the guide strips at the corresponding side. The inner side of each guide strip is provided with a guide inclined surface, the inner side surface of each wire roller is provided with an annular chamfer matched with the guide inclined surface, the guide roller is tangent with the guide inclined surface of the corresponding guide strip through the chamfer thereof, and the circumferential surface of the guide roller is tangent with the surface corresponding to the suspension guide rail; the resistance when making the subassembly that slides drive the robotic arm subassembly and move is littleer, and the removal process is stable smooth-going and laborsaving more.
The lower extreme of every support all is fixed with the firm frame of triangle-shaped, increases whole bearing structure's stability, and the both ends of every firm frame bottom surface all are fixed with the universal wheel, and all are provided with the activity service brake on every universal wheel, and the universal wheel is convenient for whole removal of hanging the robot, removes to accomplish the back and fixes through the activity service brake.
Embodiment two, referring to fig. 1 to 7, a method for using a suspension type robot for helping the elderly to realize sitting-standing conversion according to embodiment one comprises the following steps:
① moving the whole robot to the vicinity of the seat of the old people through the universal wheels, finding a flat position to stop the robot, and locking all the universal wheels through the movable foot brake;
② when the old need to get up and stand, the loading rod is pulled manually, the force applied by the loading rod is transferred to the locking mechanism, when the component force of the driving force on the locking mechanism in the length direction of the hanging guide rail is larger than the locking force threshold value, the mounting plate is driven to move and compress the reset spring at the corresponding end, so that the positioning cam moves and is far away from the roller, the driven guide rod moves downwards and is separated from the positioning hole under the action of the elastic force of the supporting spring, at the moment, the sliding component and the mechanical arm component move to the required position along the hanging guide rail, after the external force disappears, the mounting plate returns to the original position under the action of the reset spring, the mounting plate drives the positioning cam to drive the driven guide rod to move upwards and extend into the positioning hole at the corresponding position, and the positions of the sliding component and the mechanical arm component are locked, so that the position of the loading rod is moved and locked;
③ after the assistant supporting rod moves to the front of the old, the old holds the handrail with a strong side hand, and places two arms on the assistant supporting rod (I-shaped), or places the assistant supporting rod (Y-shaped) under the armpit of the old, the first electric push rod drives the parallelogram mechanism to swing upwards, and the second electric push rod lifts the assistant supporting rod vertically upwards, the linkage of the two forces the upper limb of the old, the old completes the sitting-standing conversion with the natural habit of the human body, the first electric push rod drives the parallelogram mechanism to move forwards while swinging upwards, and the second electric push rod is combined to the left and right, so that the whole process is more in line with the habit action of the natural sitting-standing conversion of the human body, and the balance and stability of the human body during the sitting-standing conversion are fully ensured;
④ after the old man stands up completely, the first electric push rod and the second electric push rod act together to restore the supporting rod to the initial position;
⑤ manually pushes the robot arm assembly to move it along the suspension rail to an idle position for the next use.
Claims (7)
1. The utility model provides a help old man realizes sitting suspension type robot that stands conversion, includes support, suspension guide rail, the subassembly and the robotic arm subassembly that slide, characterized by:
the suspension guide rail is horizontally arranged, brackets for supporting the suspension guide rail are fixed at two ends of the suspension guide rail, and positioning holes are formed in the bottom surface of the suspension guide rail at equal intervals along the length direction of the suspension guide rail;
the sliding assembly comprises a sliding frame and a locking mechanism;
the sliding frame is bent into a symmetrical U-shaped frame body by a steel plate, symmetrical guide rollers are arranged on two side plates of the sliding frame body, an upper row and a lower row of guide rollers are arranged on the inner side surface of each side plate, the suspension guide rail penetrates through the space between the two side plates of the sliding frame body, and the sliding frame body is clamped on the corresponding side surface of the suspension guide rail through the guide rollers on the side plates of the sliding frame body to form a sliding pair which moves horizontally;
the locking mechanism comprises a guide seat, a mounting plate, sliders and slide rails, wherein a hollow guide seat is fixed on the bottom surface inside the sliding frame, a vertical guide sleeve with a step hole is fixed in the middle of the guide seat, the guide sleeve is communicated with the inside of the guide seat, bilaterally symmetrical slide rails are arranged inside the guide seat, symmetrical sliders are fixed at two ends of the mounting plate, each slider is clamped on the slide rail correspondingly matched with the slider, the slider and the corresponding slide rail form a slide pair freely sliding along the length direction of the slide rail, the slider drives the horizontal mounting plate to freely slide left and right, a support plate is fixed at the outer end of each slide rail, a reset spring is fixed between each support plate and the corresponding slider, two ends of the reset spring are respectively supported on the corresponding support plate and the corresponding slider, a positioning cam is fixed on the upper surface of the mounting plate, a driven guide rod matched with the guide spring and freely sliding up and down is arranged in the guide sleeve, the driven guide rod is sleeved with a supporting spring, the supporting spring is positioned in the guide sleeve, the upper end of the supporting spring is supported at the bottom of the stepped hole, the lower end of the supporting spring is supported on a positioning ring fixed with the driven guide rod, a roller capable of rotating freely is fixed at the lower end of the driven guide rod, the roller corresponds to a positioning cam on the mounting plate, the driven guide rod, the supporting spring, the roller and the positioning cam form a linear cam mechanism, the top end of the driven guide rod is provided with a chamfer and extends into the positioning hole of the suspension guide rail, the bottom of the sliding frame is provided with a abdicating hole, and the abdicating hole is positioned between the opposite end faces of the two;
arm subassembly include the connecting rod, go up the swinging arms, swing arms, first electric putter, second electric putter and mix the support rod down, the vertical upwards pass the hole of stepping down of upper end of connecting rod and the mounting panel is fixed, last swinging arms and corresponding parallel hinge on the connecting rod down of swing arms, the free end of going up swinging arms and swing arms down all articulates on same hornblock, connecting rod, last swinging arms, swing arms and hornblock constitute parallelogram mechanism down, first electric putter's one end articulate on the connecting rod, the other end articulates on the swinging arms down, and first electric putter is parallel with swing arms down, vertical setting of second electric putter and its upper end fix on the hornblock, be fixed with the horizontally support rod that mixes at second electric putter's lower extreme.
2. The suspension type robot for helping the elderly to realize sitting-standing conversion according to claim 1, wherein: the supporting rod is in a straight line shape, one end of the supporting rod is fixed at the lower end of the second electric push rod through a vertical connecting arm armor, the supporting rod is perpendicular to the swinging surface of the upper swinging rod, and a handrail armor is fixed at the connecting position between the supporting rod and the connecting arm armor.
3. The suspension type robot for helping the elderly to realize sitting-standing conversion according to claim 2, wherein: the supporting rod is Y-shaped, the closed end of the supporting rod is fixed at the lower end of the second electric push rod through a vertical connecting arm B, the supporting rod is parallel to the swinging surface of the upper swinging rod, and a handrail B is fixed at the connecting position between the supporting rod and the connecting arm B.
4. The suspension type robot for helping the elderly to realize sitting-standing conversion according to claim 3, wherein: the side of the suspension guide rail is provided with two guide strips which are arranged in parallel up and down, and the guide rollers at the same side are clamped on the guide strips at the corresponding side.
5. The suspension type robot for helping the elderly to realize sitting-standing conversion according to claim 4, wherein: the inner side of each guide strip is provided with a guide inclined plane, the inner side surface of each wire roller is provided with an annular chamfer matched with the guide inclined plane, the guide roller is tangent to the guide inclined plane corresponding to the guide strip through the chamfer, and the circumferential surface of the guide roller is tangent to the surface corresponding to the suspension guide rail.
6. The suspension type robot for helping the elderly to realize sitting-standing conversion according to claim 5, wherein: the lower extreme of every support all is fixed with the firm frame of triangle form, and the both ends of every firm frame bottom surface all are fixed with the universal wheel, and all are provided with movable service brake on every universal wheel.
7. A method of using the suspension type robot for helping the elderly to perform sitting-standing transfer according to claim 6, the method comprising the steps of:
① moving the whole robot to the vicinity of the seat of the old people through the universal wheels, finding a flat position to stop the robot, and locking all the universal wheels through the movable foot brake;
② when the old need to stand up, the supporting rod is pulled manually, the force applied by the supporting rod is transmitted to the locking mechanism, when the component force of the driving force applied to the locking mechanism in the length direction of the hanging guide rail is larger than the locking force threshold value, the mounting plate is driven to move and compress the reset spring at the corresponding end, so that the positioning cam moves and is far away from the roller, the driven guide rod moves downwards and is separated from the positioning hole under the action of the elastic force of the supporting spring, at the moment, the sliding component and the mechanical arm component move to the required position along the hanging guide rail, when the external force disappears, the mounting plate returns to the original position under the action of the reset spring, the mounting plate drives the positioning cam to drive the driven guide rod to move upwards and extend into the positioning hole at the corresponding position, the sliding component and the mechanical arm component are locked, and the;
③ after the assistant supporting rod moves to the front of the old, the old holds the handrail with a strong side hand, and places both arms on the assistant supporting rod, or places the assistant supporting rod under the armpit of the old, the first electric push rod drives the parallelogram mechanism to swing upwards, and the second electric push rod lifts the assistant supporting rod vertically upwards, the linkage action of the two drives the force to act on the upper limb of the old, and the old completes the sitting-standing conversion by the action of the natural habit of the human body;
④ after the old man stands up completely, the first electric push rod and the second electric push rod act together to restore the supporting rod to the initial position;
⑤ manually pushes the robot arm assembly to move it along the suspension rail to an idle position for the next use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010346102.4A CN111329695A (en) | 2020-04-27 | 2020-04-27 | Suspension type robot for helping old people to realize sitting-standing conversion and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010346102.4A CN111329695A (en) | 2020-04-27 | 2020-04-27 | Suspension type robot for helping old people to realize sitting-standing conversion and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111329695A true CN111329695A (en) | 2020-06-26 |
Family
ID=71175576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010346102.4A Pending CN111329695A (en) | 2020-04-27 | 2020-04-27 | Suspension type robot for helping old people to realize sitting-standing conversion and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111329695A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821126A (en) * | 2020-07-28 | 2020-10-27 | 西安工程大学 | Multifunctional bionic device capable of assisting human body nursing |
| CN112168661A (en) * | 2020-11-18 | 2021-01-05 | 湖南智能云科技有限公司 | Old person nursing intelligent robot with supporting function |
-
2020
- 2020-04-27 CN CN202010346102.4A patent/CN111329695A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821126A (en) * | 2020-07-28 | 2020-10-27 | 西安工程大学 | Multifunctional bionic device capable of assisting human body nursing |
| CN112168661A (en) * | 2020-11-18 | 2021-01-05 | 湖南智能云科技有限公司 | Old person nursing intelligent robot with supporting function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106983619B (en) | Transfer, transport and nursing robot | |
| CN110859723B (en) | Auxiliary standing trolley with lumbar support function | |
| CN111329695A (en) | Suspension type robot for helping old people to realize sitting-standing conversion and using method | |
| CN110037870B (en) | Combined medical nursing bed | |
| CN212016612U (en) | Department of neurology rehabilitation training device | |
| CN110742742A (en) | Multifunctional nursing machine | |
| CN111603084A (en) | Semi-automatic power-assisted toilet seat device | |
| CN112353632B (en) | Rehabilitation device on bed | |
| CN212439310U (en) | Back-riding type up-down standing-assisting electric walking aid for person with spinal cord injury | |
| CN212308282U (en) | Suspension type robot for helping old people to realize sitting-standing conversion | |
| CN217724019U (en) | Bionic anthropomorphic sitting and standing rehabilitation training device with self-adaptive web plate | |
| CN207940989U (en) | A kind of wheelchair of adjustable-angle | |
| CN208492626U (en) | A kind of standing with oxygen cylinder and walk supporting device | |
| CN211095384U (en) | Wheelchair with rehabilitation training function | |
| CN211097346U (en) | Leg exercise device for neurology nursing | |
| CN211067821U (en) | Rehabilitation-assisted self-care device | |
| CN211271868U (en) | Bed chair system for horizontally moving human body | |
| CN214714214U (en) | Old nursing is with supplementary training ware of walking | |
| CN209437547U (en) | Support embraces locomotive | |
| CN215385719U (en) | Walking rehabilitation device based on wheelchair type | |
| CN220070045U (en) | Device convenient for lower limb paraplegic patient to move between bed and wheelchair | |
| CN219662201U (en) | Muscular atrophy prevention lower limb exercise device for bedridden patients | |
| CN2588971Y (en) | Walling aid for rehabilitation | |
| CN213912191U (en) | Cardiovascular and cerebrovascular rehabilitation training device | |
| CN215020731U (en) | Lower limb rehabilitation wheelchair with correction function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 450000 No. 5 Dongfeng Road, Jinshui District, Henan, Zhengzhou Applicant after: Zhengzhou University of light industry Address before: 450000 No. 5 Dongfeng Road, Zhengzhou City, Jinshui District, Zhengzhou City, Henan Province Applicant before: Zhengzhou University of light industry |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 136, Kexue Avenue, high tech Industrial Development Zone, Zhengzhou City, Henan Province Applicant after: Zhengzhou University of light industry Address before: No.5 Dongfeng Road, Jinshui District, Zhengzhou City, Henan Province Applicant before: Zhengzhou University of light industry |