CN111821114B - Human body posture transformation robot - Google Patents
Human body posture transformation robot Download PDFInfo
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- CN111821114B CN111821114B CN202010841709.XA CN202010841709A CN111821114B CN 111821114 B CN111821114 B CN 111821114B CN 202010841709 A CN202010841709 A CN 202010841709A CN 111821114 B CN111821114 B CN 111821114B
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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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
-
- 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
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- 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
- A61G5/1005—Wheelchairs having brakes
-
- 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
- A61G5/1005—Wheelchairs having brakes
- A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
-
- 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
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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
- 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
-
- 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
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/124—Rests specially adapted therefor, e.g. for the head or the feet for pelvis or buttocks
-
- 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
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
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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
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- 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
- A61G5/14—Standing-up or sitting-down aids
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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
- A61G2203/14—Joysticks
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a human body posture changing robot, which comprises a frame, a posture changing device, a power device, a moving device and a direction control device, wherein the frame is provided with a plurality of guide rails; the posture changing device is arranged in the middle of the rack; the power device is arranged at the rear part of the frame and provides power for the posture changing device; the moving device is arranged at the lower part of the frame and used for the walking of the robot; the direction control device is arranged at the front end of the frame and used for controlling the walking direction of the robot; the power device comprises a power vehicle guide rail, a power vehicle, a push rod connecting shaft, a left electric push rod, a right electric push rod, a front electromagnet, a rear electromagnet, an iron front limiting block and an iron rear limiting block. The robot realizes the switching among standing postures, sitting postures and lying postures through the mutual matching of all parts of the posture changing device, and can meet different requirements.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot capable of changing human body postures.
Background
With the increasingly obvious aging phenomenon of China, the number of disabled and semi-disabled old people is continuously increased, and the care of the people is also a big problem for the society and families. Research shows that long-time sitting on the wheelchair can cause problems of abdominal muscle relaxation, increased venous pressure, abnormal spinal curvature and the like, and can also cause damage to organ functions such as respiration, digestion and the like; the problems of heart function decline, blood circulation retardation, muscle tissue relaxation and the like can be caused by long-term lying in bed, and mental depression can be easily caused by patients, thus leading to social problems. From the perspective of medical care, if the posture of the body is changed frequently, the fatigue of the body can be effectively relieved, the muscle load can be reduced, the blood circulation of the whole body can be promoted, and the risk of complications such as pressure sore can be reduced. Especially for some semi-incapacitated persons who can not completely complete sitting, standing and lying actions by depending on self supporting force, the design of the robot capable of changing the posture of the human body is very important.
The U.S. university of Suzhou designs a deformation wheelchair with a translation function, and can realize the switching of the end sitting, lying and translation states of the wheelchair; the transformation of standing posture is lacked in the transformation wheelchair, and the leg and the back are respectively provided with power, so that the structure is complex.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a human posture transformation robot.
The technical scheme for solving the technical problems is as follows:
a human posture transformation robot comprises a frame, a posture transformation device, a power device, a moving device and a direction control device; the device is characterized in that the posture changing device is arranged in the middle of the rack; the power device is arranged at the rear part of the frame and provides power for the posture changing device; the moving device is arranged at the lower part of the frame and used for the walking of the robot; the direction control device is arranged at the front end of the frame and used for controlling the walking direction of the robot;
the power device comprises a power vehicle guide rail, a power vehicle, a push rod connecting shaft, a left electric push rod, a right electric push rod, a front electromagnet, a rear electromagnet, an iron front limiting block and an iron rear limiting block;
the power car guide rail is positioned below the rack, and the front end of the power car guide rail is fixedly connected with the rack; the upper part of the power vehicle is positioned in the power vehicle guide rail, the lower part of the power vehicle is positioned on the ground, the power vehicle can reciprocate along the power vehicle guide rail, and the posture change of the robot is realized through the reciprocating motion of the power vehicle; two sides of the power vehicle are respectively and rotatably connected with a push rod connecting shaft, the bottoms of cylinder barrels of the left electric push rod and the right electric push rod are respectively and fixedly connected with the respective push rod connecting shafts, and the tail ends of telescopic shafts of the two electric push rods are hinged with a back plate of the attitude transformation device; the front limiting block and the rear limiting block are respectively arranged at the front end and the rear end of the power vehicle guide rail, and the two limiting blocks can reciprocate up and down in the power vehicle guide rail; the front electromagnet and the rear electromagnet are respectively positioned above the respective limiting blocks; the electromagnet is powered off, so that the limiting blocks are matched with the limiting grooves of the respective power vehicles, and the power vehicles and the power vehicle guide rails are fixed relatively.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts the power vehicle and the electric push rod as power sources, realizes the switching among the standing posture, the sitting posture and the lying posture through the mutual matching of all parts of the posture changing device, and can meet different requirements; the power car also is the power supply that the robot went simultaneously, has reduced the use of power supply, and simple structure has saved the cost, has reduced overall weight, and the robot of being convenient for removes, and applicable occasions such as hospital, asylum for the aged, family.
(2) The invention mainly realizes the transformation between postures by mechanical limitation, namely the frame can limit the motion range of the cushion and the leg plates, and the parts among the hinged points of the cushion, the backrest, the leg plates and the connecting rod which are mutually hinged form a parallelogram structure, so that the backrest is always kept vertical when the backrest is switched between a sitting posture and a standing posture, the leg plates are kept parallel to the backrest when the leg plates are switched between a lying posture and a sitting posture, and simultaneously, the unpowered motion of the leg plates can be realized, the safety is improved, and the structure is further simplified.
Drawings
FIG. 1 is a schematic structural diagram of a sitting position according to an embodiment of the present invention;
FIG. 2 is a schematic view of an overall structure of an angle according to an embodiment of the present invention;
FIG. 3 is a schematic view of another embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a rack according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a power plant according to an embodiment of the present invention;
FIG. 6 is a schematic view of the mounting of a combination block and a power car guide rail according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic view of the installation of the brake lever and the frame according to an embodiment of the present invention;
FIG. 9 is a schematic view of a left brake snapped into a rear axle in accordance with one embodiment of the present invention;
FIG. 10 is a schematic diagram illustrating a change between a sitting position and a standing position according to an embodiment of the present invention;
FIG. 11 is a schematic structural diagram of a standing position according to an embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating a change between a sitting posture and a lying posture according to an embodiment of the present invention;
FIG. 13 is a schematic structural view of an embodiment of the present invention in a lying position;
in the figure: 1. a frame; 2. an attitude changing device; 3. a power plant; 4. a mobile device; 5. a direction control device;
2-1, leg plates; 2-2, a cushion; 2-3, a right connecting rod; 2-4, a left connecting rod; 2-5, a backrest; 2-6, a left back support bar; 2-7, right back support bar; 2-8, left back connecting rod; 2-9, right back connecting rod; 2-10 parts of a supporting pad; 2-11, support pad connecting rod;
3-1, a power car guide rail; 3-2, a power vehicle; 3-3, connecting a push rod with a rod shaft; 3-4, a left electric push rod; 3-5, a right electric push rod; 3-6, a front combining block; 3-7, a rear combination block; 3-8, front electromagnet; 3-9, a rear electromagnet;
4-1, left front wheel; 4-2, right front wheel; 4-3, a left middle wheel; 4-4, right middle wheel; 4-5, left rear wheel; 4-6, right rear wheel; 4-7, left brake; 4-8, right brake; 4-9, a left spring; 4-10, right spring; 4-11, brake bar; 4-12, rear axle; 4-13, a brake electromagnet;
5-1, a direction control rod; 5-2, a steering wheel; 5-3, a direction wheel;
1-1, mounting holes; 1-2, sleeve; 3-1-1, limiting holes; 3-2-1 and a limit groove.
Detailed Description
The present invention will be further described with reference to the following examples and accompanying drawings. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a human posture changing robot (a robot for short, see 1-13), which is characterized by comprising a frame 1, a posture changing device 2, a power device 3, a moving device 4 and a direction control device 5;
the rack 1 is used for supporting all parts of the robot, the rack 1 is in a convex shape, and the rack 1 is divided into a front part, a middle part and a rear part; the front part of the frame 1 provides space for the rotation of the leg plate 2-1 of the posture changing device 2 and places the feet of the user; the posture changing device 2 is arranged in the middle of the frame 1; the power device 3 is arranged at the rear part of the frame 1 and provides power for the posture changing device 2; the moving device 4 is arranged at the lower part of the frame 1 and is used for the walking of the robot; the direction control device 5 is arranged at the front end of the frame 1 and is used for controlling the walking direction of the robot;
the posture changing device 2 comprises leg plates 2-1, a seat cushion 2-2, a right connecting rod 2-3, a left connecting rod 2-4, a backrest 2-5, a left back supporting rod 2-6, a right back supporting rod 2-7, a left back connecting rod 2-8, a right back connecting rod 2-9, a supporting pad 2-10 and a supporting pad connecting rod 2-11;
two sides of one end of the leg plate 2-1 are respectively provided with an extending end, and two sides of the end part of the leg plate 2-1 with the extending end are respectively and rotatably connected with two sides of the middle part of the frame 1 and two sides of one end of the cushion 2-2; the other end of the cushion 2-2 is hinged with one end of the backrest 2-5, and the cushion 2-2 is placed in the middle of the frame 1 in a sitting posture; the cushion 2-2 is provided with a notch for accommodating the supporting pad 2-10 and the supporting pad connecting rod 2-11; one end of the left connecting rod 2-4 and one end of the left back connecting rod 2-8 are hinged with the extending end on the left side of the leg plate 2-1, and the other end of the left connecting rod 2-4 is hinged with the middle part on the left side of the backrest 2-5; the other end of the left back connecting rod 2-8 is hinged with one end of the left back supporting rod 2-6, and the other end of the left back supporting rod 2-6 is hinged with the rear part of the left side of the frame 1; one end of the right connecting rod 2-3 and one end of the right back connecting rod 2-9 are hinged with the extending end on the right side of the leg plate 2-1, and the other end of the right connecting rod 2-3 is hinged with the middle part on the right side of the backrest 2-5; the other end of the right back connecting rod 2-9 is hinged with one end of the right back supporting rod 2-7, and the other end of the right back supporting rod 2-7 is hinged with the rear part of the right side of the frame 1; the part between the hinge point of the left side of the leg plate 2-1 and the left connecting rod 2-4 and the hinge point of the left side of the leg plate 2-1 and the left side of the cushion 2-2, the part between the hinge point of the left side of the backrest 2-5 and the left side of the cushion 2-2 and the hinge point of the left side of the backrest 2-5 and the left connecting rod 2-4 together form a first parallelogram mechanism, the part between the hinge point of the right side of the leg plate 2-1 and the right connecting rod 2-3 and the hinge point of the right side of the leg plate 2-1 and the right connecting rod 2-2, the part between the hinge point of the right side of the cushion 2-2, the hinge point of the right side of the backrest 2-5 and the right side of the cushion 2-2 and the hinge point of the right side of the backrest 2-5 and the right connecting rod 2-3, The four parts of the right connecting rod 2-3 form a second parallelogram mechanism together, so that the backrest 2-5 is always kept vertical when switching between a sitting posture and a standing posture, and the leg plate 2-1 is always kept parallel to the backrest 2-5 when switching between a lying posture and a sitting posture, thereby realizing the linkage of the leg plate 2-1; the supporting pads 2-10 and the supporting pad connecting rods 2-11 are positioned in the notches of the seat cushion 2-2, one ends of the supporting pads 2-10 are hinged with the seat cushion 2-2, the middle part of the seat cushion 2-10 is hinged with one ends of the supporting pad connecting rods 2-11, and the other ends of the supporting pad connecting rods 2-11 are hinged with end lugs in the middle part of the frame 1; the third parallelogram mechanism is formed by the parts between the hinged point of the support pads 2-10 and the support pad connecting rods 2-11 and the hinged point of the support pads 2-10 and the seat cushion 2-2, the parts between the hinged point of the support pad connecting rods 2-11 and the end lugs of the frame 1 and the end of the seat cushion 2-2 and the long edge of the notch of the seat cushion 2-2; under the action of the seat cushion 2-2, the support cushions 2-10 and the support cushion connecting rods 2-11 rotate around corresponding hinge points, so that the support cushions 2-10 are always kept horizontal when the sitting posture and the standing posture are switched;
the power device comprises a power vehicle guide rail 3-1, a power vehicle 3-2, a push rod connecting shaft 3-3, a left electric push rod 3-4, a right electric push rod 3-5, a front electromagnet 3-8, a rear electromagnet 3-9, an iron front limiting block 3-6 and an iron rear limiting block 3-7;
the power car guide rail 3-1 is positioned below the rack 1, and the front end of the power car guide rail 3-1 is welded with the rack 1; the upper part of the power vehicle 3-2 is positioned in the power vehicle guide rail 3-1, and the lower part of the power vehicle 3-2 is contacted with the ground, so that the power vehicle 3-2 can reciprocate along the power vehicle guide rail 3-1; two sides of the front end and the rear end of the power vehicle guide rail 3-1 are respectively provided with a limiting hole 3-1-1, a front limiting block 3-6 and a rear limiting block 3-7 are respectively arranged in the respective limiting holes 3-1-1, and the two limiting blocks can reciprocate up and down in the respective limiting holes 3-1-1; the front electromagnet 3-8 and the rear electromagnet 3-9 are respectively positioned above the front limiting block 3-6 and the rear limiting block 3-7, and both electromagnets are fixedly connected with the power vehicle guide rail 3-1; the two electromagnets are electrified to adsorb the respective limiting blocks, so that the limiting blocks move upwards; the front end and the rear end of the upper part of the power vehicle 3-2 are respectively provided with a limiting groove 3-2-1 which can be matched with each limiting block, when the robot is positioned in a standing posture or lying posture state, the power vehicle 3-2 moves to the front end of the power vehicle guide rail 3-1, the front electromagnet 3-8 is powered off, the limiting groove 3-2-1 at the front end of the power vehicle 3-2 is matched with the front limiting block 3-6, so that the relative fixation of the power vehicle 3-2 and the power vehicle guide rail 3-1 is realized, and at the moment, the power vehicle 3-2 continues to walk to drive the whole robot to walk; when the robot is in a sitting posture state, the power car 3-2 moves to the rear end of the power car guide rail 3-1, the rear electromagnet 3-9 is powered off, the limiting groove 3-2-1 at the rear end of the power car 3-2 is matched with the rear limiting block 3-7, the power car 3-2 and the power car guide rail 3-1 are relatively fixed, and at the moment, the power car 3-2 continues to walk to drive the whole robot to walk; two sides of the power vehicle 3-2 are respectively and rotatably connected with a push rod connecting shaft 3-3, the cylinder barrel bottoms of the left electric push rod 3-4 and the right electric push rod 3-5 are respectively and fixedly connected with the push rod connecting shafts 3-3, and the tail ends of telescopic shafts of the two electric push rods are hinged with the back plate 2-5;
the moving device 4 comprises a left front wheel 4-1, a right front wheel 4-2, a left middle wheel 4-3, a right middle wheel 4-4, a left rear wheel 4-5, a right rear wheel 4-6, a left brake 4-7, a right brake 4-8, a left spring 4-9, a right spring 4-10, a rear axle 4-12, a brake electromagnet 4-13 and an iron brake rod 4-11;
the left front wheel 4-1, the right front wheel 4-2, the left middle wheel 4-3 and the right middle wheel 4-4 are rotatably arranged at the front part and the middle part of the frame 1, and the left rear wheel 4-5 and the right rear wheel 4-6 are rotatably arranged at the rear part of the frame 1 through a rear wheel shaft 4-12; the frame 1 is provided with mounting holes 1-1 on both sides above the rear wheel shaft 4-12, both ends of the brake rod 4-11 are mounted in the respective mounting holes 1-1, and the brake rod 4-11 can reciprocate up and down in the mounting holes 1-1; the left brake 4-7 and the right brake 4-8 are respectively arranged at two ends of the brake rod 4-11, and the lower parts of the left brake 4-7 and the right brake 4-8 are respectively provided with a notch which can be matched with the rear wheel shaft 4-12; the left spring 4-9 and the right spring 4-10 are positioned at two sides of the rack 1, the upper ends of the two springs are fixedly connected with the rack 1, and the other ends of the two springs are fixedly connected with the brake lever 4-11; the brake electromagnet 4-13 is positioned above the brake rod 4-11 and is fixedly connected with the rack 1, and the brake electromagnet 4-13 is electrified to adsorb the brake rod 4-11, so that the brake rod 4-11 moves upwards and compresses the two springs; when the two springs are in the original length state, the notches of the left brake 4-7 and the right brake 4-8 are clamped on the rear wheel shaft 4-12; the brake electromagnet 4-13 is powered off, the brake electromagnet 4-13 disconnects the brake rod 4-11, the brake rod 4-11 moves downwards under the action of the two springs and self gravity, notches of the left brake 4-7 and the right brake 4-8 are clamped on the rear wheel shaft 4-12, the rear wheel shaft 4-12 is locked, the rear wheel shaft 4-12 is fixed, and the robot is fixed at the current position.
The left front wheel 4-1, the right front wheel 4-2, the left rear wheel 4-5 and the right rear wheel 4-6 are Mecanum wheels, and the robot can walk in any direction.
The direction control device 5 comprises a direction control rod 5-1, a steering wheel 5-2 and a steering wheel 5-3; the direction control rod 5-2 is rotatably arranged in a sleeve 1-2 at the front end of the rack 1, the steering wheel 5-2 is fixed at the upper end of the direction control rod 5-1 through a pin shaft, and the direction wheel 5-3 is rotatably arranged at the lower end of the direction control rod 5-1 and can control the walking direction of the robot.
The working principle and the working process of the invention are as follows:
the initial state is a sitting posture, as shown in fig. 1; a user sits on the cushion 2-2, the lower legs are placed at the front part of the frame 1, the back leans against the backrest 2-5, the upper body can be bound on the backrest 2-5 through a safety belt (the safety belt and the binding structure thereof are not shown in the figure), at the moment, the leg plates 2-1 are in a vertical state, the right connecting rod 2-3 and the left connecting rod 2-4 are both in a horizontal state, and the two connecting rods can be used as armrests; the support pads 2-10 and the support pad connecting rods 2-11 are close to horizontal positions, and an included angle for avoiding the occurrence of dead points of the third parallelogram mechanism exists between the support pads 2-10 and the support pad connecting rods, and the included angle can be obtained according to calculation (the hinge point of the support pads 2-10 and the support pad connecting rods is higher than the hinge point of the support pads 2-10 and the cushion 2-2; the rear electromagnet 3-9 is in a power-off state, the power vehicle 3-2 is positioned at the rear end of the power vehicle guide rail 3-1, the limiting groove 3-2-1 at the rear end of the power vehicle 3-2 is matched with the rear limiting block 3-7, and the power vehicle 3-2 and the power vehicle guide rail 3-1 are in a relatively fixed state;
as shown in fig. 10, in the process of switching from the sitting posture to the standing posture, the rear electromagnet 3-9 is electrified, the adsorption rear limiting block 3-7 moves upwards and is disengaged with the limiting groove 3-2-1 at the rear end of the power vehicle 3-2, the power vehicle 3-2 moves towards the front end of the power vehicle guide rail 3-1, the left electric push rod 3-4 and the right electric push rod 3-5 extend at the same time, thereby pushing the backrest 2-5 to move forwards and upwards, the backrest 2-5 drives the cushion 2-2, the right connecting rod 2-3 and the left connecting rod 2-4 to rotate anticlockwise, so that the cushion 2-2 is separated from the middle part of the frame 1, the cushion 2-2 pushes the support pad 2-10 to move forward and upward, the support pad connecting rods 2-11 are rotated anticlockwise, and the support pads 2-10 are kept horizontal in the movement process; the leg plate 2-1 is always kept in a vertical state due to the limitation of the frame 1; when the cushion 2-2 moves to the vertical position, the power vehicle 3-2 stops moving, the left electric push rod 3-4 and the right electric push rod 3-5 stop extending and are fixed at the current position, at the moment, the power vehicle 3-2 is positioned at the front end of the power vehicle guide rail 3-1, the front electromagnet 3-8 is powered off, the front limiting block 3-6 moves downwards and is matched with the limiting groove 3-2-1 at the front end of the power vehicle 3-2, the relative fixing of the power vehicle 3-2 and the power vehicle guide rail 3-1 is realized, and at the moment, a user changes the sitting posture into the standing posture, as shown in fig. 11;
when the standing posture is switched to the sitting posture, the front electromagnet 3-8 is electrified, the adsorption front limiting block 3-6 moves upwards and is disengaged from the limiting groove 3-2-1 at the front end of the power vehicle 3-2, the power vehicle 3-2 moves towards the rear end of the power vehicle guide rail 3-1, the left electric push rod 3-4 and the right electric push rod 3-5 contract to enable the backrest 2-5 to move backwards and downwards, the cushion 2-2 rotates clockwise around the front end under the combined action of the human body gravity and the backrest 2-5, the support cushion 2-10 moves backwards and downwards under the tensile force of the cushion 2-2, the support cushion connecting rod 2-11 rotates clockwise around the front end under the tensile force of the support cushion 2-10, the support cushion 2-10 keeps horizontal in the movement process, the right connecting rod 2-3-2 moves clockwise around the front end under the tensile force of the support cushion 2-10, The left connecting rod 2-4 rotates clockwise around the front end of the backrest 2-5 under the action of the pulling force of the backrest 2-5, so that the cushion 2-2 is placed in the middle of the rack 1, when the cushion 2-2 moves to the horizontal position, the power vehicle 3-2 stops moving, the left electric push rod 3-4 and the right electric push rod 3-5 stop retracting and are fixed at the current position, at the moment, the power vehicle 3-2 is positioned at the rear end of the power vehicle guide rail 3-1, the rear electromagnet 3-9 is powered off, so that the rear limiting block 3-7 moves downwards and is matched with the limiting groove 3-2-1 at the rear end of the power vehicle 3-2, the relative fixation of the power vehicle 3-2 and the power vehicle guide rail 3-1 is realized, and a user changes the standing posture into a sitting posture;
as shown in fig. 12, in the process of switching from the sitting posture to the lying posture, the rear electromagnet 3-9 is energized, the adsorption rear limiting block 3-7 moves upwards and is disengaged from the limiting groove 3-2-1 at the rear end of the power vehicle 3-2, the power vehicle 3-2 moves towards the front end of the power vehicle guide rail 3-1, the left electric push rod 3-4 and the right electric push rod 3-5 contract to drive the backrest 2-5 to rotate clockwise around the lower end thereof, the right connecting rod 2-3 and the left connecting rod 2-4 move backwards and downwards under the tension of the backrest 2-5, and the leg plate 2-1 rotates clockwise around the front end of the seat cushion 2-2 under the tension of the right connecting rod 2-3 and the left connecting rod 2-4; when the backrest 2-5 moves to a position close to the horizontal position (at the moment, an included angle for avoiding the dead point of the first parallelogram mechanism exists between the backrest 2-5 and the left connecting rod 2-4, an included angle for avoiding the dead point of the second parallelogram mechanism exists between the backrest 2-5 and the right connecting rod 2-3, the included angles can be obtained through calculation, the hinging point of the backrest 2-5 and the right connecting rod 2-3 and the left connecting rod 2-4 is higher than the hinging point of the backrest 2-5 and the cushion 2-2, the hinging point of the leg plate 2-1 and the right connecting rod 2-3 and the left connecting rod 2-4 is higher than the hinging point of the leg plate 2-1 and the cushion 2-2 and the frame 1), the power vehicle 3-2 stops moving, and the left electric push rod 3-4 and the right electric push rod 3-5 stop retracting and are fixed at the current positions, at the moment, the power vehicle 3-2 is positioned at the front end of the power vehicle guide rail 3-1, the front electromagnet 3-8 is powered off, so that the front limiting block 3-6 moves downwards and is matched with the limiting groove 3-2-1 at the front end of the power vehicle 3-2, the relative fixation of the power vehicle 3-2 and the power vehicle guide rail 3-1 is realized, and a user changes a sitting posture into a lying posture as shown in fig. 13; the power vehicle 3-2 is positioned at the front end of the power vehicle guide rail 3-1 when in lying and standing positions;
when the lying posture is switched into the sitting posture, the front electromagnet 3-8 is electrified, the adsorption front limiting block 3-6 moves upwards and is disengaged from the limiting groove 3-2-1 at the front end of the power vehicle 3-2, the power vehicle 3-2 moves towards the rear end of the power vehicle guide rail 3-1, the left electric push rod 3-4 and the right electric push rod 3-5 extend, the cushion 2-2 keeps horizontal under the action of the human body and the dead weight, the backrest 2-5 rotates anticlockwise around the lower end of the backrest under the thrust action of the electric push rod, the right connecting rod 2-3 and the left connecting rod 2-4 move forwards and upwards under the thrust action of the cushion 2-5, and the leg plate 2-1 rotates anticlockwise around the front end of the cushion 2-2 under the thrust action of the right connecting rod 2-3 and the left connecting rod 2-4; when the backrest 2-5 moves to the vertical position, the power vehicle 3-3 stops moving, the left electric push rod 3-4 and the right electric push rod 3-5 stop extending and are fixed at the current position, at the moment, the power vehicle 3-2 is positioned at the rear end of the power vehicle guide rail 3-1, the rear electromagnet 3-9 is powered off, the rear limiting block 3-7 moves downwards and is matched with the limiting groove 3-2-1 at the rear end of the power vehicle 3-2, the relative fixing of the power vehicle 3-2 and the power vehicle guide rail 3-1 is realized, and at the moment, a user changes the lying posture into the sitting posture;
when the robot is in a running state, the brake electromagnet 4-13 is electrified to adsorb the brake rod 4-11, so that the brake rod 4-11 moves upwards and compresses the two springs, the notches of the left brake 4-7 and the right brake 4-8 are separated from the rear wheel shaft 4-12, and at the moment, the power vehicle 3-2 continues to run to drive the whole robot to run under the matching state of the limiting groove 3-2-1 of the power vehicle 3-2 and the front limiting block 3-6 or the rear limiting block 3-7; when the robot is in a static state, the brake electromagnets 4-13 are powered off, the notches of the left brake 4-7 and the right brake 4-8 are clamped on the rear wheel shafts 4-12, the rear wheel shafts 4-12 are locked, and the robot can be fixed at the current position;
when the direction is controlled, a user rotates the steering wheel 5-2 to drive the steering rod 5-1 to rotate, so that the steering wheel 5-3 rotates, and the running direction of the robot is changed.
Nothing in this specification is said to apply to the prior art.
Claims (5)
1. A human posture transformation robot comprises a frame, a posture transformation device, a power device, a moving device and a direction control device; the device is characterized in that the posture changing device is arranged in the middle of the rack; the power device is arranged at the rear part of the frame and provides power for the posture changing device; the moving device is arranged at the lower part of the frame and used for the walking of the robot; the direction control device is arranged at the front end of the frame and used for controlling the walking direction of the robot;
the power device comprises a power vehicle guide rail, a power vehicle, a push rod connecting shaft, a left electric push rod, a right electric push rod, a front electromagnet, a rear electromagnet, an iron front limiting block and an iron rear limiting block;
the power car guide rail is positioned below the rack, and the front end of the power car guide rail is fixedly connected with the rack; the upper part of the power vehicle is positioned in the power vehicle guide rail, the lower part of the power vehicle is positioned on the ground, the power vehicle can reciprocate along the power vehicle guide rail, and the posture change of the robot is realized through the reciprocating motion of the power vehicle; two sides of the power vehicle are respectively and rotatably connected with a push rod connecting shaft, the bottoms of cylinder barrels of the left electric push rod and the right electric push rod are respectively and fixedly connected with the respective push rod connecting shafts, and the tail ends of telescopic shafts of the two electric push rods are hinged with a back plate of the attitude transformation device; the front limiting block and the rear limiting block are respectively arranged at the front end and the rear end of the power vehicle guide rail, and the two limiting blocks can reciprocate up and down in the power vehicle guide rail; the front electromagnet and the rear electromagnet are respectively positioned above the respective limiting blocks; the electromagnet is powered off, so that the limiting blocks are matched with the limiting grooves of the respective power vehicles, and the power vehicles and the power vehicle guide rails are relatively fixed;
when the robot is in a standing posture or lying posture state, the power car moves to the front end of the power car guide rail, the front electromagnet is powered off, and the limiting groove at the front end of the power car is matched with the front limiting block; when the robot is in a sitting posture state, the power car moves to the rear end of the power car guide rail, the rear electromagnet is powered off, and the limiting groove in the rear end of the power car is matched with the rear limiting block.
2. The human posture changing robot of claim 1, wherein the posture changing device comprises a leg plate, a seat cushion, a right connecting rod, a left connecting rod, a backrest, a left back supporting rod, a right back supporting rod, a left back connecting rod, a right back connecting rod, a supporting pad, and a supporting pad connecting rod;
two sides of one end of the leg plate are respectively and rotatably connected with two sides of the middle part of the frame and two sides of one end of the cushion, and the other end of the cushion is hinged with one end of the backrest; one end of the left connecting rod and one end of the left back connecting rod are hinged with the left side of the upper end of the leg plate, and the other end of the left connecting rod is hinged with the middle part of the left side of the backrest; the other end of the left back connecting rod is hinged with one end of the left back supporting rod, and the other end of the left back supporting rod is hinged with the rear part of the left side of the rack; one end of the right connecting rod and one end of the right back connecting rod are hinged with the right side of the upper end of the leg plate, and the other end of the right connecting rod is hinged with the middle part of the right side of the backrest; the other end of the right back connecting rod is hinged with one end of the right back supporting rod, and the other end of the right back supporting rod is hinged with the rear part of the right side of the rack; the part between the hinge point of the left side of the leg plate and the left connecting rod and the hinge point of the left side of the leg plate and the left side of the cushion, the part between the hinge point of the left side of the backrest and the left side of the cushion and the hinge point of the left side of the backrest and the left connecting rod form a parallelogram mechanism together; the parallelogram mechanism is formed by the parts between the hinge point of the right side of the leg plate and the right connecting rod and the hinge point of the right side of the leg plate and the right side of the cushion, the part between the hinge point of the right side of the backrest and the right side of the cushion and the hinge point of the right side of the backrest and the right connecting rod, and the right connecting rod; the supporting pad and the supporting pad connecting rod are both positioned in the notch of the cushion, one end of the supporting pad is hinged with the cushion, the middle part of the cushion is hinged with one end of the supporting pad connecting rod, and the other end of the supporting pad connecting rod is hinged with an end lug in the middle part of the frame; the articulated point of supporting pad and supporting pad connecting rod and the part between the articulated point of supporting pad and cushion, supporting pad connecting rod, the articulated point of the end ear of supporting pad connecting rod and frame to the part between the cushion tip and the long limit of the notch of cushion four bibliographic categories divide into parallelogram mechanism jointly.
3. The human body posture changing robot according to claim 1, wherein the moving means includes a left front wheel, a right front wheel, a left middle wheel, a right middle wheel, a left rear wheel, a right rear wheel, a left brake, a right brake, a left spring, a right spring, a rear wheel shaft, a brake electromagnet, and an iron brake lever;
the left front wheel, the right front wheel, the left middle wheel and the right middle wheel are rotatably arranged at the front part and the middle part of the rack, and the left rear wheel and the right rear wheel are rotatably arranged at the rear part of the rack through a rear wheel shaft; the brake rod is arranged on the rack and is positioned above the rear wheel shaft, and the brake rod can reciprocate up and down in the rack; the left brake and the right brake are respectively arranged at two ends of the brake rod, and notches at the lower parts of the left brake and the right brake can act on the rear wheel shaft; the left spring and the right spring are positioned on two sides of the rack, the upper ends of the two springs are fixedly connected with the rack, and the other ends of the two springs are fixedly connected with the brake lever; the brake electromagnet is positioned above the brake rod and is fixedly connected with the rack; the unlocking and locking of the rear wheel shaft are realized through the on-off of the brake electromagnet.
4. The body posture changing robot according to claim 3, wherein the notches of the left brake and the right brake are caught on the rear wheel shaft when the two springs are in the original length state; the brake electromagnet is powered off, the brake electromagnet disconnects the brake rod, and the brake rod moves downwards under the action of the two springs and the self gravity, so that the notches of the left brake and the right brake are clamped on the rear wheel shaft, and the rear wheel shaft is locked; the brake electromagnet is electrified to adsorb the brake rod, so that the brake rod moves upwards and compresses the two springs to unlock the rear wheel shaft.
5. The body posture changing robot according to claim 1, wherein the direction control means includes a direction control lever, a steering wheel, and a steering wheel; the steering control rod is rotatably installed in a sleeve at the front end of the rack, the steering wheel is fixed at the upper end of the steering control rod, and the steering wheel is rotatably installed at the lower end of the steering control rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010841709.XA CN111821114B (en) | 2020-08-20 | 2020-08-20 | Human body posture transformation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010841709.XA CN111821114B (en) | 2020-08-20 | 2020-08-20 | Human body posture transformation robot |
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| CN111821114B true CN111821114B (en) | 2022-03-15 |
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| US9101518B2 (en) * | 2013-01-17 | 2015-08-11 | Leonel E. Enriquez | Impaired person care system and method |
| WO2019135805A1 (en) * | 2017-09-20 | 2019-07-11 | Think Surgical, Inc. | Interactive anatomical positioner and a robotic system therewith |
| CN208989411U (en) * | 2018-06-19 | 2019-06-18 | 浙江机电职业技术学院 | A kind of adjustable electric wheelchair of posture |
| CN210131067U (en) * | 2018-12-26 | 2020-03-10 | 王建辉 | Massage movement traveling mechanism and massage chair frame |
| CN109846616B (en) * | 2019-03-22 | 2023-10-10 | 北京信息科技大学 | Wheelchair with single rotation driving and three-posture changing functions |
| CN110742742B (en) * | 2019-10-29 | 2024-07-30 | 汕头大学 | Multifunctional nursing machine |
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