CN112494231A

CN112494231A - Auxiliary standing and health-care mobile robot

Info

Publication number: CN112494231A
Application number: CN202011584503.XA
Authority: CN
Inventors: 张争艳; 董文超; 马聪; 王厚程
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-03-16

Abstract

The invention discloses an auxiliary standing, health-maintaining and mobile robot, which comprises a rack, a standing device, an adjustable armpit supporting device and an adjustable knee fixing device, wherein the adjustable armpit supporting device is arranged on the rack; the chair is characterized in that the electric push rod pushes the seat board to enable the seat board to be turned from a horizontal state to a vertical state, and meanwhile, the parallelogram structure drives the back support board to move, so that the conversion between a sitting posture and a standing posture is realized; the adjustable armpit supporting devices are arranged on two sides of the back supporting plate and adjusted to proper positions to close the devices, so that the devices can fix the shoulders of a user and provide important supporting force for the human body in the standing process; the adjustable knee fixing device is installed at the front end of the bottom supporting plate of the rack, when the robot is in an unused state, the knee fixing device rotates to two sides respectively and does not obstruct the passing in and out of a user, and when the robot is in an used state, the device rotates and fixes the knees of the user through lifting, stretching and adjusting. The robot realizes the conversion between sitting posture and standing posture through the deformation of the standing device, and fixes two points of a human body through the armpit supporting device and the knee fixing device, thereby realizing the posture switching and simultaneously ensuring the safety of a user.

Description

Auxiliary standing and health-care mobile robot

Technical Field

The invention relates to the technical field of health-care robots, in particular to a standing-assisting health-care mobile robot.

Background

With the continuous deepening of the aging degree in China, the number of the aged people with incapability of lower limbs is continuously increased, and the semi-incapacitated aged people have the problems of rehabilitation training and walking assistance, so that the requirements of people on the rehabilitation robot are more and more obvious. Meanwhile, scientific research support and capital investment on the rehabilitation and old-age-assisting robot are continuously increased in China, so that research on the rehabilitation and old-age-assisting robot is more and more emphasized by scientific research workers. Therefore, the rehabilitation robot capable of assisting the semi-disabled user to switch between the sitting posture and the standing posture is designed, and the rehabilitation robot is beneficial for the semi-disabled person to perform rehabilitation training and recover the physical function.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing an auxiliary standing and health-care mobile robot.

The technical scheme for solving the technical problems is as follows:

a mobile robot for assisting standing, health maintenance comprises a frame, a standing device, an adjustable armpit supporting device and an adjustable knee fixing device; the chair is characterized in that the electric push rod pushes the seat board to be turned from the horizontal state to the vertical state, and meanwhile, the parallelogram structure drives the back support board to always keep the vertical state to move, so that the conversion between the sitting posture and the standing posture is realized; the adjustable armpit supporting devices are arranged on two sides of the back supporting plate and adjusted to proper positions to close the devices, so that the devices can fix the shoulders of a user and provide important supporting force for the human body in the standing process; the adjustable knee fixing device is installed at the front end of the bottom supporting plate of the rack, when the robot is in an unused state, the knee fixing device rotates to two sides respectively and does not obstruct the passing in and out of a user, and when the robot is in an used state, the device rotates and fixes the knees of the user through lifting, stretching and adjusting.

The standing device comprises a standing electric push rod, a fixed connecting rod, a standing connecting rod, a seat plate, a back supporting plate and a bottom supporting plate; the bottom supporting plate is hinged with one end of the seat plate, and the other end of the seat plate is hinged with the back supporting plate; the tail end of a telescopic rod of the standing electric push rod is hinged with the middle part of the seat plate, and a cylinder barrel of the standing electric push rod is hinged with the rack; the bottom supporting plate and the fixed connecting rod are fixed at the front end of the frame, wherein the lower end of the fixed connecting rod is fixed on the bottom supporting plate; the upper end of fixed link is articulated with the one end of the connecting rod of standing, and the other end of the connecting rod of standing is articulated with the middle part of back backup pad to form parallelogram structure, when electric putter promoted the bedplate by level to vertical position, drive the back backup pad through parallelogram structure and remove, thereby bottom support board, bedplate and back backup pad form a straight line, make the user accomplish to stand.

The adjustable underarm supporting device comprises an underarm supporting bottom module, an underarm supporting top module, a longitudinal sliding rail, a transverse sliding rail and a sliding block; the adjustable under-arm support module is fixed on two sides of the back support plate of the robot, adopts a double-guide-rail double-slider structure, can be finely adjusted up, down, left and right according to the stature of a user, and is more in line with ergonomics. The supporting part adopts the separable structural design of upper and lower two parts, can adjust human suitable position through two slider structural support parts, and the user shoulder is fixed to the bottom sprag module, and the top sprag module gyration is closed with the bottom sprag module, realizes the complete fixation of shoulder, when providing the support for making the human body, the safety of maximum assurance user.

The adjustable knee fixing device comprises a fixed knee cover plate, a base plate, a front sliding shaft, a first telescopic rod, a second telescopic rod, a screw shaft, a platform, a front sliding block, a rear sliding block, a motor, an upper screw seat, a lower screw seat, a sliding block, a guide rail, a first plate, a second plate, a 90-degree limiting block, a connecting piece and a connecting plate; the connecting plate is fixed on the frame; the 90-degree limiting block is hinged with the connecting plate, so that the knee fixing device can complete 90-degree rotation, and the other end of the knee fixing device is fixedly connected to the second plate; the other end of the second plate is fixedly connected with the guide rail; the sliding block is connected with the guide rail, and the other end of the sliding block is fixed on a first plate, so that the knee fixing device can be adjusted up and down; two ends of a lead screw shaft are respectively arranged on a first plate through a lower lead screw seat and an upper lead screw seat, and the lead screw shaft is connected with the two lead screw seats; the motor is fixed on the first plate, and an output shaft of the motor is fixedly connected with one end of the screw shaft through the coupler; the screw shaft is provided with a thread, and the rear sliding block is arranged on the thread part of the screw shaft; the lower end of the first expansion link is hinged on the rear sliding block, and the upper end of the first expansion link is hinged with the upper part of the base plate; the upper end of the second telescopic rod is hinged to the upper lead screw seat, the lower end of the second telescopic rod is hinged to the front sliding block, and the second telescopic rod and the first telescopic rod are in shearing fork in the middle; the front sliding block is arranged on a front sliding shaft, and the front sliding shaft is fixedly connected with the backing plate; the base plate and the knee fixing plate are fixedly connected through a connecting piece; the motor drives the screw shaft to rotate, so that the rear sliding block slides on the screw shaft in a reciprocating manner, and the front sliding block is driven to slide on the front sliding shaft passively, so that the front and rear positions of the base plate and the knee fixing plate are adjusted. When the robot is in an operating state, the knee fixing device is adjusted to a proper size so as to fix the user's knee.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention realizes the posture switching of the robot from the sitting posture to the standing posture through the driving structure of the electric push rod and the parallelogram, has simple structure, reduces power elements, is environment-friendly and economical, and can be used as a handrail in the sitting posture state to increase the safety.

(2) The invention provides supporting force for the user by adopting an armpit supporting mode, has simple structure, completely fixes the shoulder of the user, has no falling risk and further improves the safety.

(3) The existing health-care robot adopting the armpit support needs a user to actively grasp the robot as much as possible to enable the human body to realize a standing state, but the robot is adopted to drive the human body to stand up in the sitting-standing conversion.

(4) The armpit supporting device and the knee fixing device are in a modular design, have all-dimensional adjustability, are suitable for a wide user group, improve comfort and reliability to the maximum extent, and accord with ergonomics.

Drawings

FIG. 1 is a schematic structural diagram of a robot according to the present invention in a sitting position;

FIG. 2 is a schematic structural view of a standing device of the present invention;

FIG. 3 is a schematic view of the construction of the adjustable underarm support of the present invention;

FIG. 4 is a schematic structural view of the adjustable knee brace of the present invention;

FIG. 5 is a schematic structural view of the robot of the present invention in an inoperative sitting position

FIG. 6 is a schematic structural view of the robot of the present invention in a standing position;

in the figure: 1-a frame; 2-a standing device; 3-adjustable underarm support means; 4-adjustable knee fixation means;

1-1, supporting a sitting posture rod; 1-2, a rack upper plate; 1-3, a foot support plate; 1-4, fixing the connecting rod; 1-5, a bottom support plate; 1-6, connecting plates;

2-1, a back support plate; 2-2, a seat board; 2-3, connecting rod; 2-4, standing the electric push rod;

3-1, longitudinal guide rails; 3-2, a sliding block 1; 3-3, transverse guide rails; 3-4, a slide block underarm support bottom; 3-5, axillary support tops;

4-1, a backing plate; 4-2, a front sliding shaft; 4-3, a first telescopic rod; 4-4, a second expansion link; 4-5, a screw shaft; 4-6, a first plate; 4-7, a rear sliding block; 4-8, front slider; 4-9, a motor; 4-10, lower screw rod seat; 4-11, mounting a lead screw seat; 4-12, a slide block; 4-13, guide rail; 4-14, second plate; a 4-15, 90 degree stop block; 4-16, connecting pieces; 4-17, fixing the knee plate;

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 an auxiliary standing, health-preserving and mobile robot (a robot for short, see fig. 1-6), which comprises a frame 1, a standing device 2, an adjustable knee fixing device 3 and an adjustable armpit supporting device 4;

the machine frame 1 comprises a sitting posture support rod 1-1, a machine frame upper plate 1-2, a foot support plate 1-3, a fixed connecting rod 1-4, a bottom support plate 1-5 and a connecting plate 1-6; the sitting posture support rod 1-1 and the bottom support plate 1-5 are fixedly connected with the foot support plate 1-2, and the fixed connecting rod 1-4 and the connecting plate 1-6 are fixedly connected with the bottom support plate 1-5; the standing device 2 is connected with the frame 1 through various parts; the adjustable knee fixing device 3 is arranged on two sides of a bottom supporting plate 1-5 of the frame 1 through a connecting plate; the adjustable underarm support means 4 are mounted on both sides of the back support plate 2-1 of the standing means 2 connected to the frame 1.

The standing device 2 comprises a back support plate 2-1; a seat plate 2-2; 2-3 of a connecting rod; 2-4 of a standing electric push rod;

two sides of the seat plate 2-2 are respectively connected with a bottom support plate 1-5 and a back support plate 2-1 of the frame 1, the rear part of the seat plate 2-2 is hinged with a standing electric push rod 2-4, and the other end of the standing electric push rod 2-4 is hinged with a foot support plate 1-3 of the frame 1; one end of the connecting rod 2-3 is hinged with the fixed connecting rod 1-4 of the frame 1, and the other end is hinged with one end of the back supporting plate 2-1, so that a parallelogram is formed by the connecting rod 1-4, the seat plate 2-2 and the back supporting plate 2-1, when the standing electric push rod 2-4 pushes the seat plate 2-2 to turn from the horizontal state to the vertical state, the back supporting plate 2-1 is driven by the parallelogram mechanism to realize the required position movement, so that the bottom supporting plate 1-5, the seat plate 2-2 and the back supporting plate 2-1 are connected into a straight line, and the standing state of a user is realized.

The adjustable underarm supporting device 3 comprises a longitudinal guide rail 3-1, a sliding block 3-2, a transverse guide rail 3-3, a sliding block underarm supporting bottom 3-4 and an underarm supporting top 3-5;

the longitudinal guide rail 3-1 is fixed at two ends of a back support plate 2-1 of the standing device 2, and the slide block 3-2 is connected with the longitudinal guide rail 3-1 to realize the up-and-down adjustment of the under-arm support module; the transverse guide rail 3-3 is fixedly connected with the sliding block 3-2; the oxter support bottom 3-4 of the slide block is connected with the transverse guide rail 3-3, so that the left and right adjustment of the oxter support module is realized; one end of the armpit support top 3-5 is hinged with one end of the slider armpit support bottom 3-4, when the robot is in a non-working state, the armpit support top 3-5 and the armpit support bottom 3-4 are in a separated state, and when the robot is in a working state, the armpit support top 3-5 and the armpit support bottom 3-4 are in a closed state, and shoulder joints of a human body are fixed.

The adjustable knee fixing device 4 comprises a base plate 4-1, a front sliding shaft 4-2, a first telescopic rod 4-3, a second telescopic rod 4-4, a screw rod shaft 4-5, a first plate 4-6, a rear sliding block 4-7, a front sliding block 4-8, a motor 4-9, a lower screw rod seat 4-10, an upper screw rod seat 4-11, a sliding block 4-12, a guide rail 4-13, a second plate 4-14, a 90-degree limiting block 4-15, a connecting piece 4-16 and a knee fixing plate 4-17;

the 90-degree limiting blocks 4-15 are hinged with the connecting plates 1-6 of the rack 1, so that the knee fixing device can complete 90-degree rotation, and the other end of the knee fixing device is fixedly connected to the second plate 4-14; the other end of the second plate 4-14 is fixedly connected with the guide rail 4-13; the sliding block 4-12 is connected with the guide rail 4-13, and the other end of the sliding block is fixed on a first plate 4-6, so that the knee fixing device can be adjusted up and down; two ends of a lead screw shaft 4-5 are respectively arranged on a first plate 4-6 through a lower lead screw seat 4-10 and an upper lead screw seat 4-11, and the lead screw shaft 4-5 is connected with the two lead screw seats; the motor 4-9 is fixed on the first plate 4-6, and an output shaft of the motor 4-9 is fixedly connected with one end of the screw shaft 4-5 through a coupler; the screw shaft 4-5 is provided with a thread, and the rear sliding block 4-7 is arranged on the thread part of the screw shaft 4-5; the lower end of a first expansion link 4-3 is hinged on the rear sliding block 4-7, and the upper end is hinged with the upper part of the backing plate 4-1; the upper end of a second telescopic rod 4-4 is hinged on the upper lead screw seat 4-11, the lower end of the second telescopic rod is hinged with the front sliding block 4-8, and the middle parts of the second telescopic rod 4-4 and the first telescopic rod 4-3 are cut into forks; the front sliding block 4-8 is arranged on the front sliding shaft 4-2, and the front sliding shaft 4-2 is fixedly connected with the backing plate 4-1; the backing plate 4-1 and the knee fixing plate 4-17 are fixedly connected through a connecting piece 4-16; the motor 4-9 drives the screw shaft 4-5 to rotate, so that the rear sliding block 4-7 slides on the screw shaft 4-5 in a reciprocating manner, and the front sliding block 4-8 is driven to slide on the front sliding shaft 4-2 passively, thereby realizing the front and back position adjustment of the backing plate 4-1 and the knee fixing plate 4-17.

The working principle and the working process of the invention are as follows:

when the robot is in a non-working state (as shown in fig. 5), the knee fixing device 4 turns to the outer sides of the bottom supporting plates 1-5 respectively, the use of a user is not influenced, and the armpit supporting top 3-5 and the armpit supporting bottom 3-4 of the armpit supporting device 3 are in a separated state; when the robot is in operation (as shown in fig. 1), the user sits on the seat plate 2-2 while placing his feet on the foot support plate 1-3 and the back against the back support plate 2-1. When the user adjusts the posture, the knee fixing device 4 rotates inwards by 90 degrees, and the upper and lower size adjustment of the knee fixing device is realized through the sliding connection of the sliding blocks 4-12 and the guide rails 4-13; the motor 4-9 drives the screw shaft 4-5 to rotate, so that the rear sliding block 4-7 slides on the screw shaft 4-5 in a reciprocating manner, and the front sliding block 4-8 is driven to slide on the front sliding shaft 4-2 passively, thereby realizing the front and back position adjustment of the backing plate 4-1 and the knee fixing plate 4-17 and completing the complete fixation of the knee part of the user. The knee is fixed, the armpit supporting devices 3 are adjusted to proper positions up and down, left and right, the armpit supporting bottoms 3-4 on the two sides clamp the shoulder joints of the user, and the armpit supporting tops 3-5 rotate to be closed with the armpit supporting bottoms 3-4, so that the shoulder joints of the user are completely fixed.

When a user is switched from a sitting posture to a standing posture, the telescopic rod of the standing electric push rod 2-4 stretches to push the seat plate 2-2 to be rotated from the horizontal position to the vertical position, the parallelogram structure formed by the fixed connecting rod 1-4, the connecting rod 2-3, the back support plate 2-1 and the seat plate 2-2 drives the back support plate 2-1 to move, so that the bottom support plate 1-5, the seat plate 2-2 and the back support plate 2-1 form a straight line, the knee fixing device 4 fixes the knees of the user to enable the bones of the human body to bear a part of supporting force, and meanwhile, the armpit supporting devices 3 on the two sides of the back support plate 2-1 provide upward human body supporting force for the user to finish standing (as shown in fig..

When a user switches from a standing posture to a sitting posture, the telescopic rod of the standing electric push rod is contracted to drive the seat plate 2-2 to rotate from a vertical state to a horizontal state, so that the gravity center of the human body gradually falls onto the seat plate 2-2, and the sitting posture support rod 1-1 on the rack 1 provides a supporting force for the seat plate 2-2 and bears most of the force of the sitting posture state of the user; meanwhile, the fixed connecting rods 1-4, the connecting rods 2-3, the back supporting plate 2-1 and the seat plate 2-2 are changed into a rectangular shape, wherein the connecting rods 2-3 become handrails in a sitting posture state and drive the back supporting plate 2-1 to return to an initial position.

Claims

1. A mobile robot for assisting standing, health maintenance comprises a frame, a standing device, an adjustable armpit supporting device and an adjustable knee fixing device; the chair is characterized in that the electric push rod pushes the seat board to enable the seat board to be turned from a horizontal state to a vertical state, and meanwhile, the parallelogram structure drives the back support board to move, so that the conversion between a sitting posture and a standing posture is realized; the adjustable armpit supporting devices are arranged on two sides of the back supporting plate and adjusted to proper positions to close the devices, so that the devices can fix the shoulders of a user and provide important supporting force for the human body in the standing process; the adjustable knee fixing device is installed at the front end of the bottom supporting plate of the rack, when the robot is in an unused state, the knee fixing device rotates to two sides respectively and does not obstruct the passing in and out of a user, and when the robot is in an used state, the device rotates and fixes the knees of the user through lifting, stretching and adjusting.

2. The assisted standing health preserving mobile robot of claim 1, wherein the standing device comprises a standing power push rod, a fixed connecting rod, a standing connecting rod, a seat plate, a back support plate and a bottom support plate;

the bottom supporting plate is hinged with one end of the seat plate, and the other end of the seat plate is hinged with the back supporting plate; the tail end of a telescopic rod of the standing electric push rod is hinged with the middle part of the seat plate, and a cylinder barrel of the standing electric push rod is hinged with the rack; the bottom supporting plate and the fixed connecting rod are fixed at the front end of the frame, wherein the lower end of the fixed connecting rod is fixed on the bottom supporting plate; the upper end of fixed link is articulated with the one end of the connecting rod of standing, and the other end of the connecting rod of standing is articulated with the middle part of back backup pad to form parallelogram structure, when electric putter promoted the bedplate by level to vertical position, drive the back backup pad through parallelogram structure and remove, thereby bottom support board, bedplate and back backup pad form a straight line, make the user accomplish to stand.

3. The assisted standing, health preserving mobile robot of claim 1 wherein the adjustable underarm support means comprises an underarm support bottom module, an underarm support top module, a longitudinal slide rail, a transverse slide rail, a slide block;

the adjustable armpit supporting device is fixed on two sides of a back supporting plate of the robot, the adjustable armpit supporting device adopts a double-guide-rail double-sliding-block structure, the device can be finely adjusted up and down and left and right according to the stature of a user, and the device is more in line with ergonomics. The supporting part adopts the separable structural design of upper and lower two parts, can adjust human suitable position through two slider structural support parts, and the user shoulder is fixed to the bottom sprag module, and the top sprag module gyration is closed with the bottom sprag module, realizes the complete fixation of shoulder, when providing the support for making the human body, the safety of maximum assurance user.

4. The assisted standing health preserving mobile robot of claim 1, wherein the adjustable knee fixation device comprises a fixed knee cover plate, a base plate, a front sliding shaft, a first telescopic rod, a second telescopic rod, a screw shaft, a platform, a front sliding block, a rear sliding block, a motor, an upper screw base, a lower screw base, a sliding block, a guide rail, a first plate, a second plate, a 90-degree limiting block, a connecting piece and a connecting plate;

the connecting plate is fixed on the frame; the 90-degree limiting block is hinged with the connecting plate, so that the knee fixing device can complete 90-degree rotation, and the other end of the knee fixing device is fixedly connected to the second plate; the other end of the second plate is fixedly connected with the guide rail; the sliding block is connected with the guide rail, and the other end of the sliding block is fixed on a first plate, so that the knee fixing device can be adjusted up and down; two ends of a lead screw shaft are respectively arranged on a first plate through a lower lead screw seat and an upper lead screw seat, and the lead screw shaft is rotationally connected with the two lead screw seats; the motor is fixed on the first plate, and an output shaft of the motor is fixedly connected with one end of the screw shaft through the coupler; the screw shaft is provided with a thread, and the rear sliding block is arranged on the thread part of the screw shaft; the lower end of the first expansion link is hinged on the rear sliding block, and the upper end of the first expansion link is hinged with the upper part of the base plate; the upper end of the second telescopic rod is hinged to the upper lead screw seat, the lower end of the second telescopic rod is hinged to the front sliding block, and the second telescopic rod and the first telescopic rod are in shearing fork in the middle; the front sliding block is arranged on a front sliding shaft, and the front sliding shaft is fixedly connected with the backing plate; the base plate and the knee fixing plate are fixedly connected through a connecting piece; the motor drives the screw shaft to rotate, so that the rear sliding block slides on the screw shaft in a reciprocating manner, and the front sliding block is driven to slide on the front sliding shaft passively, so that the front and rear positions of the base plate and the knee fixing plate are adjusted. When the robot is in an operating state, the knee fixing device is adjusted to a proper size so as to fix the user's knee.