CN113332068B

CN113332068B - Standing auxiliary dragging device and control method thereof

Info

Publication number: CN113332068B
Application number: CN202110616124.2A
Authority: CN
Inventors: 王景川; 王友; 项柏涵
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2022-08-26
Anticipated expiration: 2041-06-02
Also published as: CN113332068A

Abstract

The invention provides a rope traction towing mechanism for standing assistance and a control method thereof, wherein the rope traction towing mechanism comprises a towing mechanism, the towing mechanism comprises a rope winding mechanism, a self-locking mechanism, a mounting plate, an electric control mechanism, a rope limiting device and a rope, and the rope traction towing mechanism comprises: the rope retracting mechanism, the self-locking mechanism and the rope limiting device are arranged on the mounting plate; the rope is wound on the rope retracting mechanism, one end of the rope extends out of the rope retracting mechanism, penetrates through the rope limiting device and the self-locking mechanism and is connected with the power assisting device; the electric control mechanism controls the self-locking mechanism to self-lock or unlock the rope and controls the rope winding mechanism to wind and unwind the rope. The invention can assist the user to stand up in a way close to the standing of a normal person, and is beneficial to the rehabilitation training of the user. Not only reduces the upper limb exertion of the user, but also ensures the safety of the user. The invention has the advantages of simple structure, easy operation, high degree of automation, stable and reliable performance and the like, not only improves the comfort level of users, but also lightens the workload of nursing personnel.

Description

Standing auxiliary dragging device and control method thereof

Technical Field

The invention relates to the technical field of medical auxiliary instruments, in particular to a standing auxiliary dragging device and a control method thereof.

Background

The aging of the population and the increase of the number of disabled users in China bring huge burden to daily nursing work. The decline of lower limb muscle strength due to aging or other diseases is a major cause of difficulties in standing and walking in the elderly and the disabled, and if the transportation of the user can be completed using the apparatus, the workload of the caregiver can be reduced.

The invention discloses a cable winding and unwinding device which is designed by the Chinese patent with the publication number of CN 108217346A, and can realize the functions of cable winding, cable unwinding and cable storage by orderly combining a cable twisting machine, a rope pressing machine, a cable guiding machine, a cable laying walking device, a cable storage cabin and a tensioning device, thereby improving the efficiency of cable winding and unwinding. However, the patent is mainly applicable to the industrial field, the structure of the whole mechanism is complex, the operation is complex, the learning cost of a user is high, and the patent is not applicable to the field of medical auxiliary rehabilitation equipment.

The chinese patent publication No. CN 111285192 a discloses a rope storage rack. The device can twine the rope and accomodate, directly twine the rope on two wire winding poles when accomodating to can adjust the distance between two wire winding poles, make accomodating of rope convenient and fast more. However, the device cannot automatically complete the winding and unwinding of the rope, the automation degree is very low, the operation process is too complicated, the winding and unwinding of the rope cannot be completed by one user only, and the difficulty of the user in the use process is increased.

The Chinese invention patent with the publication number of CN 105883487A designs an automatic rope collecting device of an insulating rope. The device has overcome prior art not enough, and it can effectively solve easy knot, insulating detection inconvenient, difficult discovery broken strand defect in the insulating rope and the problem that has the potential safety hazard of untiing the insulating rope before using that current insulating rope exists, rational in infrastructure and compact, convenient to use. However, the device cannot realize self-locking of the rope, and cannot fix the user after the rope is tightened, so that the effect of reducing the force exerted on the upper limbs of the user cannot be achieved.

Toshiharu Mukai et al (Toshiharu Mukai, Shinya Hirano, et al, Development of a Nurseing-Care Assistant Robot RIBA at Can Lift a Human in items arms. in: International Conference on Intelligent Robots and Systems, pp.5996-6001,2010) have designed a Nursing Robot named RIBA That Can use two arms to Lift a user for use to complete a transfer from a hospital bed to a wheelchair, the Robot still requires assistance from a caregiver during use, the caregiver sets the movements of the Robot by monitoring the environment, and the Robot is responsible for carrying the user for transfer. Although the robot reduces the physical labor of nursing staff, the robot also needs the participation of the nursing staff and does not improve the autonomous activity of users. Meanwhile, when the robot lifts the user in the air, the user is not fixed by using a safety belt, and certain danger exists in the carrying process.

Milad Geravad et al (Milad Geravad, Peter Zeno Korondi, et al, Human sit-to-stand transfer modifying within an effective and biological-induced robot assistance) have proposed in the article a standing-assistance robot that can assist users with weak lower limbs to achieve autonomous standing. Milad Geravand et al propose natural standing and assisted standing biomechanical models of human body, obtain the optimal assisted standing trajectory curve of human body by establishing a loss function and considering nonlinear biomechanical characteristics and physical limitations of human body, and perform experimental verification on an assisted standing robot. Although the robot provided by the article is provided with the safety belt, the safety belt does not provide assistance, and the user needs to grip the handrail with both hands to obtain the assistance, which undoubtedly reduces the comfort level of the user in the using process. Meanwhile, the safety belt does not have the capability of automatically tightening and fixing the human body, needs assistance of nursing staff, is low in automation degree and complex in operation, and is greatly limited in autonomous activity of users.

Ahmed Asker et al (Ahmed Asker & Samy F.M. Assial (2019) A Systematic approach for designing a multi-functional assessment based on parallel operator optimization, Advanced Robotics,33:2,90-105) propose an auxiliary device based on a parallel operator to assist users with weak lower limbs to perform various lower limb activities. The device ensures that a user cannot lean backwards after standing is finished by additionally arranging a back support belt on the back of the user, a power assisting belt is not arranged on the hip of the user, the user is supported only by a rigid element under an armpit, and the user has great discomfort after long-time use.

Guingming Xiong et al (Guiangming Xiong, Jianwei Gong et al, Development of assistance Robot with Standing-up Devices for Paraplegic Patients and Elderly peoples, IEEE/ICME International Conference on Complex Medical Engineering) designed a device to assist paraplegics users and Elderly persons in Standing and transferring. The safety belt and the power assisting belt are additionally arranged on the waist and the hip of a user respectively, so that the safety of the user is guaranteed, the power assisting is provided for the user, and the comfort level and the safety can be guaranteed. However, the assembly and disassembly of the two belts are completed manually, the operation is complicated, the frequent use causes the psychological boring of the user, and the improvement on the aspect of improving the comfort of the user is needed.

Fabio Dallas et al (Fabio Dallas, Yuko Tsuaka et al, Analysis of the level's activity on force and tissue activity in the context of site-to-site motion assisted by an electrode car robot, International Conference on organic Robots and Systems (IROS)) have designed a device that utilizes robotic arms to assist in the use of a user's stand. When the device is used, a user firstly wears clothes with the tail end of the mechanical arm fixed on the chest, the mechanical arm lifts the user by applying acting force to the clothes, and the clothes play a dual role of the power assisting belt and the safety belt. However, during lifting, the clothing may give a sense of pressure to the armpits of the user, reducing the comfort of the user; at the same time, the device must be operated and monitored by the caregiver to complete the activity, which undoubtedly reduces the ability to use the user's autonomous activities.

Found through the retrieval, patent document CN211157123U discloses an auxiliary traction device, including fixed subassembly and supporting component, the supporting component with fixed subassembly can be dismantled the connection, fixed subassembly includes the waist fixed band, be provided with first traction area on the waist fixed band, supporting mechanism includes the cushion, the cushion pass through the connecting band with the connection can be dismantled to the waist fixed band, be provided with two seconds traction area on the cushion. When a patient walks for rehabilitation treatment, the waist fixing belt is wound at the waist position of the patient, the nursing person holds the first traction belt by hand, and when the patient is about to fall, the nursing person applies force to the waist of the patient through the first traction belt to prevent the patient from falling; when the disabled person moves to the wheelchair, the patient sits on the seat cushion, one person holds the waist of the patient, the other person lifts the seat cushion through the second traction belt, the patient moves to the wheelchair in a sitting posture mode, but the wheelchair can be moved only by the cooperation of nursing staff, and the effect of convenience cannot be achieved.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a standing auxiliary dragging device and a control method thereof.

The invention provides a standing auxiliary dragging device, which comprises a dragging mechanism, wherein the dragging mechanism comprises a rope collecting mechanism, a self-locking mechanism, a mounting plate, an electric control mechanism, a rope limiting device and a rope, wherein:

the rope retracting mechanism, the self-locking mechanism and the rope limiting device are arranged on the mounting plate;

the rope is wound on the rope retracting mechanism, one end of the rope extends out of the rope retracting mechanism, penetrates through the rope limiting device and the self-locking mechanism and is connected with the power assisting device;

the electric control mechanism controls the self-locking mechanism to self-lock or unlock the rope and controls the rope winding mechanism to wind and unwind the rope.

Preferably, receive the rope mechanism and include receipts rope motor and rope winding wheel, receive the rope motor with the coaxial setting of rope winding wheel, receive the rope motor drive receive the rope wheel and rotate.

Preferably, an encoder is arranged on the rope retracting motor.

Preferably, the self-locking mechanism comprises a self-locking motor, an eccentric wheel, a leaf spring assembly and a ratchet wheel, wherein:

the leaf spring assembly generates acting force on the ratchet assembly, so that the ratchet approaches to the extrusion rope, and the ratchet locks the movement of the rope;

the self-locking motor drives the eccentric wheel to rotate, the far end of the eccentric wheel generates acting force on the ratchet wheel and overcomes the acting force of the leaf spring assembly, the ratchet wheel is far away from the rope, and the ratchet wheel unlocks the rope to move.

Preferably, the rope limiting device comprises a first roller and a second roller, the first roller and the second roller are both arranged on the mounting plate, and the first roller and the second roller guide and limit the rope.

Preferably, the electric control mechanism comprises a main controller and a motor drive board, and the main controller and the motor drive board are fixed on the same mounting panel.

Preferably, the ratchet wheel is arranged on the ratchet wheel base, the rope passes through a gap between the ratchet wheel and the side plate of the ratchet wheel base, and when the ratchet wheel rotates along one direction, the gap between the ratchet wheel and the side plate of the ratchet wheel base is gradually reduced.

Preferably, the dragging mechanisms are provided with two dragging mechanisms, and the ropes of the two dragging mechanisms are respectively connected with one end of the power assisting device.

According to the invention, a method for controlling a standing auxiliary dragging device is provided, wherein the standing auxiliary dragging device is adopted, and the method comprises the following steps:

an initialization step: the electric control mechanism judges whether the self-locking mechanism is in the unlocking position or not, and if the self-locking mechanism is not in the unlocking position, the electric control mechanism controls the eccentric wheel of the self-locking mechanism to rotate until the eccentric wheel reaches the unlocking position;

a motion control step: the electric control mechanism receives the motion instruction, controls the rope collecting motor to rotate, judges whether the rope collecting motor blocks the rotation or not, if the rope collecting motor blocks the rotation, the power assisting device does not tighten, if the rope collecting motor blocks the rotation, the power assisting device tightens, after the power assisting device tightens, the self-locking motor drives the eccentric wheel to rotate to a set position and then stops rotating, the eccentric wheel reaches the self-locking position, and the power assisting device fixes a user.

Preferably, the method further comprises the following disengagement control step: and when the electric control mechanism receives a control instruction, the self-locking motor drives the eccentric wheel to rotate to a set position and then stop rotating, the eccentric wheel reaches an unlocking position, the rope is not locked, the rope is released by the reverse rotation of the rope winding motor, and a user is separated from the device.

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

1. in the use process of the standing and transferring auxiliary equipment, the mechanism tightens and locks the rope so as to provide assistance for a patient; after the device has transferred the user to the designated location, the mechanism unlocks and releases the cord to ensure that the power assist strap is free of the user's body.

2. The invention considers that most of users are high in ages and weak in body, and can provide assistance for the upper limbs of the users in the process of carrying and using the users, so that the stability of the body can be ensured without excessively exerting the upper limbs of the users.

3. This patent degree of automation is higher, and is easy and simple to handle, easy to get on hand, and the stable performance is reliable, has promoted the comfort level of using the user in handling.

4. The standing and transferring auxiliary device of the invention can assist the user to stand up in a way close to the standing of a normal person, and is beneficial to the rehabilitation training of the user. In the process, the dragging device can drag the assistance belt to provide assistance for the user, so that the force applied to the upper limbs of the user is reduced, and the safety of the user is ensured.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural diagram of a rope towing mechanism for standing assistance provided by the invention;

fig. 2, 3 and 4 are front, top and left views respectively of two matched rope traction towing mechanisms for standing assistance provided by the invention.

Fig. 5 is a schematic view of a user using the standing and transferring aid.

Fig. 6 is a schematic self-locking state diagram of the self-locking mechanism of the rope traction towing mechanism for standing assistance provided by the invention.

Fig. 7 is a schematic view of the unlocking state of the self-locking mechanism of the rope traction towing mechanism for standing assistance provided by the invention.

FIG. 8 is a flowchart of a method of controlling a standing assist towing device of the present invention.

The figures show that:

rope-collecting motor 1

Rope winding wheel 2

Rope-collecting motor fixing support 3

Upper support 4

Upper roller 5

Upper fixing sheet 6

Ratchet pin 7

Eccentric wheel 8

Self-locking motor fixing support 9

Ratchet base 10

Leaf spring 11

Leaf spring base 12

Ratchet wheel 13

Lower fixing sheet 14

Lower roller 15

Lower support 16

Lower limit switch 17

Self-locking motor 18

Upper limit switch 19

Rope 20

Current sensor 21

Encoder 22

Motor drive plate 23

Main controller 24

Mounting panel 25

Mounting plate 26

The first drag mechanism 27

Second drag mechanism 28

Power-assisted belt 29

Mounting area 30

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1 to 5, the invention provides a standing auxiliary dragging device and a control method thereof, and the standing auxiliary dragging device mainly comprises a rope part, a rope retracting mechanism part, a self-locking mechanism part and an electric control part. One end of the rope part penetrates through the self-locking mechanism part and is connected with the rope winding mechanism part, and the other end of the rope part is connected with the power assisting belt of the human body section of the user. The rope part comprises a rope and a power assisting belt; one end of the rope is fixed on a rope winding wheel of the rope winding mechanism, the other end of the rope penetrates through the self-locking mechanism part and is connected with a power assisting belt of a human body section of a user, and the rope winding wheel of the rope winding mechanism rotates to tighten the rope so that the power assisting belt can fix the human body and draw power assistance when the human body stands. The rope collecting mechanism part collects the rope until the rope is in a tightening force state, and enables the power-assisted belt under the user body to be attached to the user, so that the power-assisted belt can provide a power-assisted effect under the traction of the rope when the user stands and lifts the equipment; when a user needs to be separated from the device, the rope collecting motor rotates reversely to release the rope, and the power assisting belt is separated from the body of the user. The self-locking mechanism part locks the rope after the rope is retracted to a certain traction force, thereby achieving the purposes of fixing the body of a user and reducing the force of upper limbs; the rope is ensured not to slip after being fixed on a human body by utilizing the self-locking principle, thereby ensuring the safety of users. Under the self-locking state, the eccentric wheel rotates to the proximal end to be contacted with the ratchet wheel handle, so that the ratchet wheel can rotate clockwise by a larger angle. In the process of lifting a human body and assisting in standing, the ratchet wheel rotates clockwise, so that the rope can be further pressed, the rope is self-locked, and sliding is not generated. The self-locking mechanism part can ensure that the tension of the rope is always smaller than the maximum friction force between the ratchet wheel and the rope, thereby ensuring the safety of users. The self-locking mechanism part can unlock the rope when a user needs to separate the equipment, so that the user can separate the equipment from the mechanism; under the unlocking state, the eccentric wheel rotates to the far end to be in contact with the ratchet wheel handle, so that the ratchet wheel is limited to rotate in the clockwise direction, the rope cannot be pressed by the ratchet wheel, and the power assisting belt can be separated from the body of a user. The electric control part ensures the orderly progress of the working process of the whole mechanism by controlling the rope winding mechanism part and the self-locking mechanism part. In the initial state of power-on of the mechanism, the main controller firstly judges whether an eccentric wheel of the self-locking mechanism part is in an initial position, namely, an unlocking position; if the eccentric wheel is not at the initial position, the electric control part controls the self-locking motor to rotate until the eccentric wheel reaches the unlocking position; when the eccentric wheel is at the initial position, a user presses a start button on the equipment panel, the rope collecting motor starts to collect the rope, in the process, the electric control part judges whether the rope collecting motor stops rotating or not by combining a speed measurement value of the encoder and a current feedback signal, if the rope collecting motor stops rotating, the rope is tensioned, the power assisting belt is tightly attached to a human body, and at the moment, the main controller controls the self-locking motor to rotate until the eccentric wheel touches the upper limit switch, namely, the eccentric wheel reaches the self-locking position; when a user needs to break away from the device, an unlocking button on a panel of the device is pressed, the self-locking motor drives the eccentric wheel to rotate until the eccentric wheel reaches an unlocking position, the eccentric wheel touches the lower limit switch, the self-locking motor stops rotating, the rope is not locked at the moment, the rope is released by the rope winding motor in a reverse rotation mode, and the user can break away from the mechanism. The electric control part can control the torque of the rope retracting motor and the releasing length of the rope by using a double closed loop direct current system. The in-process of pressing close to human body gradually is rolled up at the rope, current sensor in the current feedback loop can detect the size of receiving rope motor armature current, when armature current is greater than the reference value, the voltage of receiving rope motor both ends can reduce and guarantees that armature current is not as big and cause the damage to receiving the rope motor, the torque that also can guarantee to receive the rope motor is less than the threshold value of settlement all the time, thereby prevent that the rope from causing the damage because of tension is too big to use user's health, use user's travelling comfort in the assurance equipment use. The current feedback loop can also be combined with the position feedback loop and the encoder, and the speed measurement value through position value, current value and encoder judges whether the motor of receiving the rope takes place the locked rotor and whether the rope has been received a suitable length, and then judges whether the rope has tightened up. When the rope is released, the position feedback loop can monitor the length of the released rope in real time, and the position feedback loop is combined with the current feedback loop to ensure that the action of using the user to separate the equipment is not influenced. Meanwhile, the position feedback loop records the initial position of the rope winding motor and the position of the rope winding motor when the rope is locked, when the rope is released, the rope winding motor rotates reversely until the initial position before winding, and the length of the rope which is discharged by the rope winding wheel is ensured to be consistent with the length of the rope which is wound in at the beginning. The rope traction and traction mechanism can be used by matching a plurality of mechanisms, and two rope traction mechanisms are matched on the standing and transferring auxiliary equipment. Two ends of the rope are respectively connected with the two rope dragging mechanisms. In the use, a series of actions such as rope winding, locking, unlocking and rope releasing of the two mechanisms are completely independent and do not interfere with each other, and compared with a single mechanism, the two matched mechanisms improve the efficiency of rope winding and releasing.

The invention is mainly used in cooperation with a standing and transferring auxiliary device. The standing and transfer aid can assist the user to stand up in a manner close to that of a normal person, facilitating rehabilitation training for the user. Firstly, the device adjusts a user from a sitting posture to a standing posture, and in the process, the rope winding mechanism part can automatically wind the rope to a proper length, so that the rope can be tightly attached to the user and cannot cause oppression to the user; after the rope is taken up, the self-locking mechanism can lock the rope, and the rope can play a role in fixing the body; thereafter, the device will transfer the user to the designated location; after the equipment is adjusted to the sitting posture from the standing posture by a user, the user can unlock the rope by pressing the button, and meanwhile, the rope winding motor rotates reversely, the rope is automatically discharged, and the user can be separated from the equipment.

Further, the rope traction towing mechanism for standing assistance provided by the invention comprises a rope, an electric control part, a rope collecting mechanism part and a self-locking mechanism part; the rope portion includes: one end of the rope extends out of the rope winding wheel, penetrates through the self-locking mechanism part and is connected with the power-assisted belt. In the process of transferring the user, the power assisting belt is tightly attached to the human body, and the effect of fixing the user is achieved. The assistance belt material is soft in quality and wide in width, so that the pressure intensity is reduced, and the comfort level of a user in the carrying process is improved. Simultaneously, its surface area concave-convex decorative pattern can increase the friction for the helping hand area is difficult for the slippage, has promoted the security in the handling.

The rope winding mechanism part comprises: the rope winding machine comprises a rope winding motor 1, a rope winding motor fixing support 3, a rope winding wheel 2 and an encoder 22; wherein: the rope winding motor 1 is fixed on the rope winding motor fixing support 3; the rope winding wheel 2 is fixedly connected with an output shaft of the motor, and the rope winding motor 1 can drive the rope winding wheel to rotate so as to wind the rope; the working shaft of the encoder 22 is fixedly connected with the rotor of the rope collecting motor 1. The rope-retracting mechanism part can retract the rope until the power-assisted belt is fit with the body of a user; after the power assisting belt is fixed by a user, the rope retracting motor stops rotating, and rope retracting is stopped; when the user needs to detach the device, the rope collecting motor rotates reversely to discharge the rope.

The self-locking mechanism part includes: self-locking motor 18, self-locking motor fixed bolster 9, eccentric wheel 8, go up limit switch 19, limit switch 17 down, leaf spring 11, leaf spring base 12, ratchet 13, ratchet base 10, ratchet round pin 7, upper bracket 4, lower carriage 16, last gyro wheel 5, lower gyro wheel 15, go up stationary blade 6, lower stationary blade 14, current sensor 21 wherein: the self-locking motor 18 is fixed on the self-locking motor fixing support 9; the eccentric wheel 8 is fixedly connected with an output shaft of a self-locking motor, and the self-locking motor 18 can drive the eccentric wheel 8 to rotate; the upper limit switch 19 and the lower limit switch 17 are fixed on the self-locking motor fixing support 9, and when the eccentric wheel 8 rotates to the position limited by the two limit switches, the self-locking and the unlocking of the mechanism are respectively corresponding; the flat spring 11 is fixed on the flat spring base 12, and the flat spring 11 can jack the ratchet 13 to a specified position when the mechanism needs self-locking, so that the self-locking effect of the mechanism is achieved; the ratchet 13 is fixed on the ratchet base 10 through the ratchet pin 7, and the ratchet 13 can rotate around the ratchet pin 7; the upper roller 5 and the lower roller 15 are respectively mounted on the upper support 4 and the lower support 16 and fixed by an upper fixing sheet 6 and a lower fixing sheet 14. The self-locking mechanism part can lock the rope after the rope is retracted to a specified length, so that the aims of fixing the body of a user and reducing the force applied by upper limbs are fulfilled; when the user needs to disengage the device, the cord is unlocked, so that the user is no longer locked by the aid of the power-assisted band. The self-locking mechanism can ensure that the rope cannot slip after being fixed on a human body by utilizing a self-locking principle, thereby ensuring the safety of a user. Under the self-locking state, the eccentric wheel rotates to the proximal end to be contacted with the ratchet wheel handle, so that the ratchet wheel can rotate clockwise by a larger angle. In the process of lifting the human body by the equipment, the rope tends to slide along an arrow 1 and can drive the ratchet wheel 13 to rotate along the clockwise direction, so that the gap between the ratchet wheel 13 and the ratchet wheel base 10 is smaller and smaller, the ratchet wheel 13 can further press the rope, and the rope is self-locked and does not slide. The self-locking mechanism can ensure that the tension of the rope is always smaller than the maximum friction force between the ratchet wheel 13 and the rope, thereby ensuring the safety of a user.

As shown in fig. 7, in the unlocked state, the distal end of the eccentric wheel 8 contacts with the ratchet handle, so that the ratchet handle cannot rotate clockwise by a large angle, and the ratchet 13 cannot compress the rope, thereby ensuring that the rope can slide along the arrow 1 without limitation when a user needs to disengage the device.

The electric control part comprises: 1 main controller and 2 motor drive boards; wherein: motor drive board, encoder 22, current sensor 21, limit switch 17, last limit switch 19 are connected to main control unit respectively on, and main control unit is responsible for receiving the signal that limit switch 17, last limit switch 19, current sensor 21 and encoder 22 sent to realize the control to receiving rope motor and self-locking motor through sending out the signal to the motor drive board. The electric control portion is capable of: the eccentric wheel 8 of the self-locking mechanism part is judged whether to be in an initial position or not just after the whole electric control part is electrified, namely, the locking position is unlocked; if the eccentric wheel 8 is not at the initial position, the electric control part controls the self-locking motor 18 to rotate until the eccentric wheel 8 reaches the unlocking position; the rotation of the rope winding motor 1 is controlled by a start button on a panel of the device, whether the rope winding motor 1 stops or not is judged by combining a speed measurement value of an encoder and a current feedback signal, and if the rope winding motor stops, the power assisting belt is tightly attached to a human body; after the rope collecting motor stops rotating, the self-locking motor 18 starts to rotate, so that the eccentric wheel 8 starts to rotate, and the self-locking motor 18 stops rotating when the eccentric wheel touches the upper limit switch 19; when a user needs to break away from the device, the button can control the self-locking motor 18 to rotate, so that the eccentric wheel starts to rotate, the self-locking motor 18 stops rotating when the eccentric wheel touches the lower limit switch 17, the rope is not locked at the moment, the rope is released by reversing the rope collecting motor 1, and the power-assisted belt can break away from the body of the user. The electric control part can control the retraction and release of the rope and self-locking and unlocking.

The main controller judges the rotating speed of the rope collecting motor 1 by receiving the pulse quantity sent by the encoder 22 in a certain time interval, judges the position of the rope collecting motor 1 by receiving the sum of the pulse quantity of the encoder 22, judges the current state of the eccentric wheel 8 by receiving signals of the limit switch 17 and the upper limit switch 19, and judges the torque of the rope collecting motor 1 by receiving the signal of the current sensor 21; the main controller sends signals to the motor driving plate according to the feedback to control the rotation of the rope winding motor 1 and the self-locking motor 18.

When the rope collecting motor 1 stops rotating, the pulse sent by the encoder 22 in a given time interval is zero, and the main controller judges that the rope collecting motor 1 has locked up according to the signal. The size of the time interval may affect the performance of the device, and if the time interval is too large, the response of the device may be slow, and if the time interval is too small, the device may be misjudged. In the present apparatus, the determined time interval is preferably 0.1 s.

The electric control part can control the torque of the rope retracting motor and the releasing length of the rope by using a double closed loop direct current system. The in-process of pressing close to human body gradually at the rope roll-up, current sensor 21 in the current feedback loop can detect the size of receiving rope motor 1 armature current, when armature current is greater than the reference value, the voltage of receiving rope motor 1 both ends can reduce and guarantees that armature current is unlikely to too big and causes the damage to receiving the rope motor, also can guarantee that the torque of receiving rope motor 1 is less than the threshold value of settlement all the time, thereby prevent that the rope from causing the damage to use user's health because of tension is too big, the travelling comfort of using user in the equipment use has been guaranteed. The current feedback loop can also be combined with the position feedback loop and the encoder 22, and whether the rope motor 1 is locked up in rotation or not and whether the rope is contracted to a proper length or not is judged through the position value, the current value and the speed measurement value of the encoder 22, so that whether the rope is contracted or not is judged. When the rope is released, the position feedback loop can monitor the length of the released rope in real time, and the position feedback loop is combined with the current feedback loop to ensure that the action of using the user to separate the equipment is not influenced. Meanwhile, the position feedback loop can also record the initial position of the rope winding motor and the position of the rope winding motor when the rope is locked, when the rope is released, the rope winding motor 1 rotates reversely until the initial position before winding, and the length of the rope which is released by the rope winding wheel 2 is kept consistent with the length of the rope which is wound in at the beginning.

The electric control part can improve the automation degree of the whole device and improve the convenience of operating the whole device by a user. The electric control part can control the device to automatically complete a series of actions such as rope winding, locking, unlocking, rope unwinding and the like, and a user is liberated from the complex operations, so that help is brought to the improvement of the autonomous activity of the user.

The method comprises the following steps: firstly, use the user to be close to stand and shift auxiliary assembly, both feet are put on the footboard, guarantee that own buttock can be taken by the helping hand and live. Then, the user presses a start button on the panel of the equipment, the equipment gradually adjusts the user from a sitting posture to a standing posture, meanwhile, the rope winding wheel 2 starts to rotate until the power assisting belt is completely attached to the user, and the rope winding motor 1 stops rotating immediately. The main controller judges that the rope winding motor 1 is locked according to the speed measurement value of the encoder and the current feedback signal, the self-locking motor 18 starts to rotate until the eccentric wheel 8 stops at the self-locking position, and the power assisting belt can safely fix a user on the equipment. When the equipment carries the user to the designated position, the user presses the unlocking button, the equipment gradually adjusts the user from the standing position to the sitting position, the self-locking motor 18 starts to rotate until the eccentric wheel 8 stops at the unlocking position, meanwhile, the rope collecting motor 1 rotates reversely, the rope is gradually released from the rope winding wheel 2, and the user can be separated from the equipment.

In more detail, the device is powered on, the electric control part judges whether the eccentric wheel is in the unlocking position, and if the eccentric wheel is not in the unlocking position, the electric control part controls the self-locking motor to rotate until the eccentric wheel reaches the unlocking position; the user presses the start button on the panel, and the receipts rope motor begins to rotate, and main control unit combines the current feedback signal through the value that tests the speed of encoder and judges whether the receipts rope motor stalls, and the stall is then said and has been tightened up the helping hand area. After the power-assisted belt is tightened, the self-locking motor starts to drive the eccentric wheel to rotate until the eccentric wheel touches the first limit switch and stops rotating, the eccentric wheel reaches a self-locking position, and then the power-assisted belt can fix a user on the equipment; when a user needs to break away from the equipment, an unlocking button on the panel is pressed, the self-locking motor starts to drive the eccentric wheel to rotate until the eccentric wheel stops rotating after touching the second limit switch, the eccentric wheel reaches an unlocking position, the rope is not locked at the moment, the rope winding motor reversely rotates to release the rope, and the user can break away from the equipment.

The invention has the advantages of simple structure, easy operation, high automation degree, stable and reliable performance and the like, not only improves the comfort level of users, but also lightens the workload of nursing personnel, and has greater practical significance.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. The utility model provides a stand and assist and pull device, its characterized in that, includes pulls the mechanism, it is including receiving rope mechanism, self-locking mechanism, mounting panel, electrical control mechanism, rope stop device and rope to pull the mechanism, wherein:

the electric control mechanism controls the self-locking mechanism to self-lock or unlock the rope and controls the rope collecting mechanism to collect and collect the rope;

the self-locking mechanism comprises a self-locking motor, an eccentric wheel, a leaf spring assembly and a ratchet wheel, wherein:

the leaf spring assembly generates acting force on the ratchet wheel assembly to enable the ratchet wheel to be close to the extrusion rope, and the ratchet wheel locks the movement of the rope;

the self-locking motor drives the eccentric wheel to rotate, the far end of the eccentric wheel generates acting force on the ratchet wheel and overcomes the acting force of the leaf spring assembly, the ratchet wheel is far away from the rope, and the ratchet wheel unlocks the rope to move;

the rope limiting device comprises a first roller and a second roller, the first roller and the second roller are both arranged on the mounting plate, and the first roller and the second roller guide and limit the rope;

the electric control mechanism comprises a main controller and a motor drive plate, and the main controller and the motor drive plate are fixed on the same mounting panel.

2. The standing assist towing device as claimed in claim 1, wherein the rope take-up mechanism comprises a rope take-up motor and a rope take-up wheel, the rope take-up motor is coaxially arranged with the rope take-up wheel, and the rope take-up motor drives the rope take-up wheel to rotate.

3. The standing assist towing device as claimed in claim 2, wherein an encoder is provided on the rope take-up motor.

4. The standing assist towing device as claimed in claim 1, wherein the ratchet wheel is disposed on a ratchet base, the cord passing through a gap between the ratchet wheel and a side plate of the ratchet base, the gap between the ratchet wheel and the side plate of the ratchet base decreasing as the ratchet wheel rotates in one direction.

5. The standing assist towing device as claimed in claim 1, wherein two towing means are provided, the ropes of the two towing means being connected to respective ends of the power assist device.

6. A method of controlling a standing assist towing device, using a standing assist towing device according to any one of claims 1 to 5, the method comprising the steps of:

a motion control step: the electric control mechanism receives the motion instruction, controls the rope collecting motor to rotate, judges whether the rope collecting motor blocks the rotation or not, if the rope collecting motor blocks the rotation, the power assisting device is not tightened, if the rope collecting motor blocks the rotation, the power assisting device is tightened, after the power assisting device is tightened, the self-locking motor drives the eccentric wheel to rotate to a set position and then stop the rotation, the eccentric wheel reaches the self-locking position, and the power assisting device fixes a user.

7. The method of claim 6, further comprising the step of disengaging the control: and when the electric control mechanism receives a control instruction, the self-locking motor drives the eccentric wheel to rotate to a set position and then stop rotating, the eccentric wheel reaches an unlocking position, the rope is not locked, the rope is released by the reverse rotation of the rope winding motor, and a user is separated from the device.