CN206473434U - A kind of control system of standing assist device - Google Patents

Abstract

The utility model provides a kind of control system of standing assist device, and standing assist device includes：Frame mechanism, including upper frame, connection framework and lower frame；The two ends of connection framework are flexibly connected with upper frame and lower frame respectively, and upper frame and lower frame are horizontally disposed, and upper frame drives in the rotation of connection framework and lowers whole height and position；Armrest mechanism, is arranged on the top of upper frame；Drive mechanism, drives upper frame to rotate for drive connection framework；Controlling organization, is arranged on upper frame, and with drive mechanism electrical connection, the action for controlling drive mechanism；Control system includes：Operation module, operation selection is carried out for user；Control module, for the operation that is selected according to user to sending control instruction；Drive module, the adjustment for realizing user's posture according to control instruction driving standing assist device.Human posture and motor habit are more conformed to, disclosure satisfy that user stands and its related needs.

Description

A kind of control system of standing assist device

Technical field

The present invention relates to nursing field, more particularly to a kind of control system of standing assist device.

Background technology

As national life level is improved constantly and medical public health service fast development, China has stepped into old-age group Change society, elderly population ratio shared in total population is increasingly raised.And self treatment ability of aged, mainly By residential care, nurse costly, labor intensity is big, nursing condition is badly in need of improving.Meanwhile, all kinds of disabled persons and long-term bed are old A large amount of presence of year people.This problem of helping the disabled that allows for helping the elderly is increasingly becoming a great social concern.These problems are solved, With the positive effect in front, the quality of life for improving the elderly and the disabled, it is ensured that the stable development tool of Chinese society It is significant.Part population, can not easily be stood as normal person in daily such as aged and disabled person or Sit down, and due to the growth either unexpected injury at age, their each joint of lower limb may be not enough to support theirs Body weight.This is accomplished by a standing assist device.

However, at home and abroad in the prior art, human body is promoted forward thirty years of age from buttocks usually using the turnover panel tilted Rise mode, therefore and do not meet human body standing natural custom, and in the prior art also lack maintain human body standing after The technological means of midstance.

The content of the invention

The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of control of standing assist device System, the problem of being accustomed to for solving not meeting human body in the prior art and stand, and lack posture after maintenance human body is stood.

The present invention provides a kind of control system of standing assist device, and the standing assist device includes：Frame mechanism, bag Include upper frame, connection framework and lower frame；The two ends of the connection framework respectively with the upper frame and the bottom Framework is flexibly connected, and the upper frame and the lower frame are horizontally disposed, and the upper frame is in the connection framework Rotation, which drives, lowers whole height and position；Armrest mechanism, is arranged on the top of the upper frame；Drive mechanism, for driving The connection frame drives the upper frame to rotate；Controlling organization, is arranged on the upper frame, and with the drive mechanism Electrical connection, the action for controlling the drive mechanism；The control system includes：Operation module, is operated for user Selection；Control module, for the operation that is selected according to user to sending control instruction；Drive module, for according to the control Standing assist device described in order-driven realizes the adjustment of user's posture.

In one embodiment of the invention, the operation module includes selecting unit, manual control unit and automatically controlled Unit；The selecting unit is used to select to be operated using the manual control unit or the automatic control unit；It is described Manual control unit is used for the action that user manually adjusts the standing assist device；The automatic control unit is used to adjust automatically The action of the whole standing assist device.

In one embodiment of the invention, the control module also includes memory cell and database；The memory cell Route for user to be controlled manually is stored in the database；The database be used to storing the route that controls manually and Default route, and selected and called for user when automatically controlling.

In one embodiment of the invention, the drive module also includes the first driver element and the second driver element；Institute Stating the first driver element is used to drive the armrest mechanism to move horizontally along the upper frame；Second driver element is used for The connection framework is driven to drive the upper frame to move up and down.

In one embodiment of the invention, the control system also includes detection module, and the detection module is used to detect Whether the speed of service or amplitude of the standing assist device are carried out within the scope of default, and to the control system Fault detect.

As described above, a kind of control system of standing assist device of the present invention, has the advantages that：

Human posture and motor habit are more conformed to, disclosure satisfy that user stands and its related needs.

Brief description of the drawings

Fig. 1 is shown as the structural representation of standing assist device of the present invention.

Fig. 2 is shown as Fig. 1 left view.

Fig. 3 is shown as Fig. 1 top view.

Fig. 4 is shown as Fig. 1 front view.

Fig. 5 is shown as the block schematic illustration of the control system of standing assist device of the present invention.

Fig. 6 is shown as the voltage signal cycles change schematic diagram of the control system of standing assist device of the present invention.Wherein, a V diagram during to start；B is the service voltage schematic diagram of the second motor；C is the service voltage schematic diagram of the first motor； D is the service voltage schematic diagram of locking switch.

Fig. 7 is shown as the mobile route schematic diagram of armrest mechanism in standing assist device of the present invention.

Fig. 8 is shown as mode of operation schematic diagram of the standing assist device of the present invention at A1 positions.

Fig. 9 is shown as mode of operation schematic diagram of the standing assist device of the present invention at A2 positions.

Figure 10 is shown as mode of operation schematic diagram of the standing assist device of the present invention at A3 positions.

Figure 11 is shown as mode of operation schematic diagram of the standing assist device of the present invention at A4 positions.

Component label instructions：

1 frame mechanism

2 armrest mechanisms

3 drive mechanisms

4 controlling organizations

11 upper frames

12 connection frameworks

13 lower frames

21 second drivers

22 handrails

23 hand levers

24 links

31 first motors

32 first drivers

41 operating portions

42 control units

43 batteries

121 first support frames

122 second support frames

131 under(-)chassis

132 connecting elements

133 first guide wheels

134 second guide wheels

135 locking switches

211 second motors

321 hollow drivers

322 piston rods

323 second keepers

1221 first keepers

1222 support bars

Embodiment

Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and implementation Feature in example can be mutually combined.

It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way Think, then in schema only display with relevant component in the present invention rather than according to component count, shape and the size during actual implement Draw, it is actual when implementing, and kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel It is likely more complexity.

Referring to Fig. 1 to Figure 11, it should however be clear that structure, ratio, size depicted in this specification institute accompanying drawings etc., only it is used to Coordinate the content disclosed in specification, so that those skilled in the art is understood with reading, being not limited to the present invention can be real The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size It is whole, in the case where not influenceing effect of the invention that can be generated and the purpose that can reach, all should still it fall in disclosed skill Art content is obtained in the range of covering.Meanwhile, in this specification it is cited as " on ", " under ", "left", "right", " centre " and The term of " one " etc., is merely convenient to understanding for narration, and is not used to limit enforceable scope of the invention, its relativeness It is altered or modified, under without essence change technology contents, when being also considered as enforceable category of the invention.

The present invention provides a kind of control system of standing assist device, and as shown in Figures 1 to 4, Fig. 1 is shown as station of the present invention The structural representation of vertical servicing unit.Fig. 2 is shown as Fig. 1 left view.Fig. 3 is shown as Fig. 1 top view.Fig. 4 is shown as Fig. 1 Front view.Standing assist device includes：Frame mechanism 1, including upper frame 11, connection framework 12 and lower frame 13；Even The two ends for connecing framework 12 are flexibly connected with upper frame 11 and lower frame 13 respectively, upper frame 11 and the level of lower frame 13 Set, upper frame 11 drives in the rotation of connection framework 12 and lowers whole height and position；Armrest mechanism 2, is arranged on upper box The top of frame 11；Drive mechanism 3, drives upper frame 11 to rotate for drive connection framework 12；Controlling organization 4, is arranged on On portion's framework 11, and electrically connected with drive mechanism 3, the action for controlling drive mechanism 3.As shown in figure 5, Fig. 5 is shown as this The block schematic illustration of the control system of invention standing assist device.Control system includes：Operation module, is operated for user Selection；Control module, for the operation that is selected according to user to sending control instruction；Drive module, for according to control instruction Driving standing assist device realizes the adjustment of user's posture.In use, user carries out operation selection first；Then control system root The operation selected according to user sends control instruction to drive module；Finally, standing assist device drives according to control instruction and stood Servicing unit realizes the adjustment of user's posture.In the preferred embodiment of the present invention, lower frame 13 includes two bottom frames Frame 131 and the connecting elements 132 being arranged between two under(-)chassis 131, connecting elements 132 respectively with two under(-)chassis 131 rear end is connected.Generally, our user stands using in standing assist device one end is front ends, away from user One end is rear end.In one embodiment of this invention, U-type groove of the under(-)chassis 131 provided with opening outside；Connection framework 12 Including multiple first support frames 121 and multiple second support frames 122；Multiple first support frames 121 are parallel to each other；Second Support frame 122 includes support bar 1222 and the first keeper 1221 being set in the first support frame 121, support bar 1222 One end be rotatably connected with the first keeper 1221, the other end of the second support frame 122 is arranged in U-type groove and can be along U Type groove is slided.Further, drive mechanism 3 includes the first motor 31 and the first driver 32；First motor 31 is U-shaped with being arranged on In groove；Generally, the fixing end of the first motor 31 is connected with the other end of the second support frame 122, is also secured in U-type groove. First driver 32 includes hollow driver 321, the piston rod 322 being arranged among hollow driver 321 and is set in first The second keeper 323 in support frame 121；Second keeper 323 and the first keeper 1221 are sheathed on same first On support frame frame 121；One end of piston rod 322 and the second keeper 323 rotate connection.Further, lower frame 13 also includes Two the first guide wheels 133 and with two the second guide wheels 134, the second guide wheel 134 is arranged in U-type groove, and the first guide wheel 133 is arranged on One end relative with the second guide wheel 134 on under(-)chassis 131.Preferably, lower frame 13 also includes locking switch 135, locking Switch 135 is used to lock the first guide wheel 133.Generally for using effect, it can all increase on the first guide wheel 133 and the second guide wheel 134 Plus locking switch 135.In one embodiment of this invention, controlling organization 4 includes operating portion 41 and control unit 42；Operating portion 41 is used Standing assist device is entered the operating instructions in user, control unit 42 is used to be aided in standing according to the operational order of operating portion 41 Device is operated.Further, control system also includes detection module, and detection module is used for the fortune for detecting standing assist device Scanning frequency degree or amplitude carry out fault detect whether within the scope of default, and to control system.Control system also includes Angle detecting sensor and position-detection sensor；Control module is connected with angle detecting sensor and position-detection sensor Connect.Control module distinguishes the detected value (pulse) of receiving angle detection sensor and position-detection sensor.Control module is received To after the detected value of angle detecting sensor, detected value is changed into pivoting angle data, the inclination of connection framework 12 is calculated Angle.Control module is received after the detected value of position-detection sensor, and the detected value is converted into position data, calculates and helps The shift position of hand 22.Control module, by above-mentioned angle detecting sensor and the detected value of position-detection sensor, identification is helped A position on hand 22.By the position of identification and the position that reach is set by orbit program to make comparisons, using setting position as Standard, feeds back to control module.Control module is adjusted according to the position of setting to standing auxiliary body, changes handrail 22 Position and the angle of inclination of connection framework 12.Further, controlling organization 4 also includes battery 43, for standing assist device It is powered.Standing assist device can also be powered by external power supply.Because standing assist device often wants shift position, lead to Battery 43 is crossed come more convenient movement of powering, battery 43 can be charged with external power supply inlet wire.Further, armrest mechanism 2 is wrapped Include driver, two handrails 22, two hand levers and link 24；The rear end of the two ends of link 24 respectively with two handrails 22 It is connected, two hand levers are separately positioned on the junction of link 24 and two handrails 22, driver is used to drive armrest mechanism 2 slide back and forth on upper frame 11.Further, driver includes the second motor 211 and automatic slider；Automatic slider is set On upper frame 11, the second motor 211 driving automatic slider drives armrest mechanism 2 to be slid back and forth on upper frame 11.

In one embodiment of this invention, operation module includes selecting unit, manual control unit and automatic control unit； Selecting unit is used to select to be operated using manual control unit or automatic control unit；Manual control unit is used for user's hand The action of dynamic adjustment standing assist device；Automatic control unit is used for the action of adjust automatically standing assist device.

Further, control module also includes memory cell and database；Memory cell is used for control user manually Route is stored in database；Database is used to store the route and default route controlled manually, and is supplied when automatically controlling User is selected and called.After control module, the operation signal for receiving operation module, track journey is read from database Sequence.Control module, according to the orbit program of reading, starts the first motor 31 and the second motor 211, standing auxiliary body will on Under, it is movable, by care-giver can complete sitting posture, stance transformation.

In one embodiment of this invention, drive module also includes the first driver element and the second driver element；First drives Moving cell is used to drive armrest mechanism 2 to move horizontally along upper frame 11；Second driver element is used for the band of drive connection framework 12 Dynamic upper frame 11 is moved up and down.Specifically used process is as follows：Start standing assist device in initial position A1；First driving is single Member the first motor 31 of driving drives the level of armrest mechanism 2 to be moved forward along upper frame 11 so that armrest mechanism 2 is moved to specified Position A2；First driver element drives the first motor 31 to drive the level of armrest mechanism 2 to be moved rearwards by the second driver element simultaneously and driven Dynamic second motor 211 drives frame mechanism 1 to move up so that armrest mechanism 2 is moved to specified location A3；S34, driver framework Mechanism 1 continues upward the mobile horizontal forward movement of armrest mechanism 2 simultaneously so that armrest mechanism 2 is moved to specified location A4.Control Module is connected with the first driving, the second driving.First driving, according to the control signal of control module, manipulates the firstth motor 31 rotational runs.Second driving, according to the control signal of control module, makes the rotational run of the second motor 211.In addition, the control Signal, can also change the voltage swing of the first motor 31 of input and the second motor 211.The value of service voltage and the first motor 31 and The rotary speed of second motor 211 is proportional, therefore overall translational speed can change.Further, control system Also include detection module, whether detection module is used for the speed of service or amplitude that detect standing assist device in default scope Within, and fault detect is carried out to control system.

Further, control system also includes angle detecting sensor and position-detection sensor；Control module and angle Detection sensor and position-detection sensor are connected.Control module distinguishes receiving angle detection sensor and position detection sensing The detected value (pulse) of device.Control module is received after the detected value of angle detecting sensor, and detected value is changed into the anglec of rotation Degrees of data, calculates the angle of inclination of connection framework 12.Control module is received after the detected value of position-detection sensor, by this Detected value is converted to position data, calculates the shift position of handrail 22.Control module, by above-mentioned angle detecting sensor and A position on the detected value of position-detection sensor, identification handrail 22.Being set the position of identification and by orbit program should The position of arrival is made comparisons, and using setting position as standard, feeds back to control module.Control module is according to the position of setting to standing Auxiliary body is adjusted, and changes the position of handrail 22 and the angle of inclination of connection framework 12.

As shown in Fig. 6 to Figure 11, the voltage signal cycles that Fig. 6 is shown as the control system of standing assist device of the present invention become Change schematic diagram.Fig. 7 is shown as the mobile route schematic diagram of armrest mechanism 2 in standing assist device of the present invention.Fig. 8 is shown as this hair Mode of operation schematic diagram of the bright standing assist device at A1 positions.Fig. 9 is shown as standing assist device of the present invention in A2 positions When mode of operation schematic diagram.Figure 10 is shown as mode of operation schematic diagram of the standing assist device of the present invention at A3 positions.Figure 11 are shown as mode of operation schematic diagram of the standing assist device of the present invention at A4 positions.Stood below with the present invention and aid in dress The specific workflow put is illustrated.

By by care-giver exemplified by sitting posture is changed into stance.Sat on the chair c by care-giver M, it is auxiliary that front is configured with standing Help device.Carried by care-giver M forearm on handrail 22, two hands hold hand lever 23 respectively.

User, such as by care-giver M or the START button of nursing staff's push module (in reference picture 6 at the time of a Table T1).Operation module sends enabling signal to control module.

At this moment, locking switch 135 is opened (reference picture 6d) by control module first, forbids the first guide wheel 133 and/or second Guide wheel 134 rotates.Orbit program is read from database simultaneously.The orbit program being read brings into operation.According to the track journey Sequence, the front-end A of armrest mechanism 2 starts movement.At the same time, the first driver element and the second driver element come into operation, and drive First motor 31 and the second motor 211 are started working.The orbit program recorded in database, is pre-set.

Control module sends the signal that voltage+V1 (b in reference picture 6) is provided to the second motor 211 to the second driver element. Here, the "+" of "+V1 " is represented, the second motor 211 is operated to positive direction.Receiving voltage+the V1 of second motor 211, the second motor 211 start to rotate to positive direction, and the rotary motion of the second motor 211 is changed into linear motion by the second driver 2121.So, help Speed under hand 22 will be braked with voltage+V1 is moved to front.

Continue (time is t1~t2) according to b predetermined times in Fig. 6 and convey voltage+V1 to the second motor 211.The meeting of handrail 22 It is moved to from the original position A1 in Fig. 7 shown in Fig. 7 at A2.At this moment, the motion track of the front-end A of handrail 22, is original position A1 to A2 path.When original position A1 is the t1 moment, the front-end A position (X1 and Z1 focus) of handrail 22.In addition, A2 During for the t2 moment, the front-end A position (X2 and Z1 focus) of handrail 22.Therefore, it is basic in waist location by care-giver M In the case of not moving and (sitting on the chair c), forearm is transformed into state (reference picture anteflexion above the waist by front haulage 6b)。

Control module, when reaching T2 by set time T1, the second driver element sends to the second motor 211 and provides electricity Pressure-V2 signal (reference picture 6b).Here, "-V2 " "-" represents the antiport of the second motor 211.In addition, first Driver element sends the signal for providing voltage+V3 (reference picture 6c) to the first motor 31.The receiving voltage of second motor 211 "- After V2 ", it will reversely rotate.The rotational run of second motor 211 is changed into linear motion by the second driver 2121.So, Handrail 22, will with voltage "-V2 " braking under speed, rearward move.Meanwhile, the receiving voltage "+V3 " of the first motor 31 Afterwards, it can carry out rotating forward motion.So, the piston rod 322 of the first driver 32 can be from hollow driver 321 with voltage+V3 Speed under braking is released to outside.In this way, the angle of the first support frame 121 and the second support frame 122 can change from small to big. "-V2 " and the voltage "+V3 " conveyed to the first motor 31, can be according to b in Fig. 7 and c for the voltage conveyed to the second motor 211 Shown time T2 (t2~t3) persistently exports.Handrail 22 can move to position A3 shown in Figure 10 from position A2 shown in Fig. 9.At this moment, help The track of the front-end A of hand 22 is, the position of A2 to A3 shown in Fig. 7.

In this period of t2~t3, (the second motor is rotated simultaneously in the second motor 211 and the first motor 31 211 be counter motion), help while rearward move, be moved upward by connection framework 12.Therefore, by care-giver M, such as Shown in Fig. 9 and Figure 10, waist is left from chair, and into micro suspension shape, center of gravity is moved forward.In addition, in t2~t3 times, helping Hand 22 is moved rearwards by, be in order to prevent by care-giver excessively leaning forward.

And then, control module passes through predetermined time t2, when reaching t3, can be sent again to the second driver element to second The conveying voltage of motor 211+V1 signal.Second motor 211 can be rotated forward.Under handrail 22 can be braked with voltage+V1 again Speed is moved to front.

Then there is provided the voltage+V1 to the second motor 211 and voltage+V3 of the first motor 31, when can be according to t3~t4 Between continuous action, handrail 22 can be moved to position A4 shown in Figure 11 from position A3 shown in Figure 10.At this moment, the front-end A of handrail 22 Moving track is the path of position A3 to A4 shown in Fig. 7.

In t3~t4 periods, the first motor 31 and the second work (the second motor 211 is rotated forward) simultaneously of motor 211, While handrail 22 is moved forward, it is moved upward by the active force of connection framework 12.At this moment, the work of the first driver 32 Stopper rod 322 is pushed outwardly from hollow driver 321.Finally, connection framework 12, extend substantially to plumbness.So, protected Reason person M gravity motion, waist is stretched, and is changed into stance phase (reference picture 11).In addition, in t3~t4 periods, helping Hand 22 somewhat moves forward, and is due to that handrail 22 bears body weight, makes to be turned forward by care-giver M.

Finally, control module, at T4 time points, sends to the first motor 31 to the first driver element and the second driver element The signal of 0 voltage is provided with the second motor 211.So, the first motor 31 and the second motor 211 can be stopped.In addition, control Module can open locking switch 135.So, the first guide wheel 133 and/or the second guide wheel 134 can be stopped.By care-giver M just Stance can be maintained.

It is the track for having remembered the specific handrail 22 by caregiver in aforesaid operations, is sent out according to the position of track handrail 22 It is raw to change.If most occasions by caregiver, can also respectively it be remembered according to by caregiver.Moreover, according to operation The select button of mechanism, can select with by the corresponding track of caregiver.

In summary, the control system of standing assist device of the invention, more conforms to human posture and motor habit, energy User is enough met to stand and its related needs.So, the present invention effectively overcomes various shortcoming of the prior art and has height Industrial utilization.

The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as Into all equivalent modifications or change, should by the present invention claim be covered.

Claims (5)

1. a kind of control system of standing assist device, it is characterised in that

The standing assist device includes：

Frame mechanism, including upper frame, connection framework and lower frame；The two ends of the connection framework respectively with the top Framework and the lower frame are flexibly connected, and the upper frame and the lower frame are horizontally disposed, and the upper frame exists The rotation of the connection framework, which drives, lowers whole height and position；

Armrest mechanism, is arranged on the top of the upper frame；

Drive mechanism, for driving the connection framework to drive the upper frame to rotate；

Controlling organization, is arranged on the upper frame, and is electrically connected with the drive mechanism, for controlling the drive mechanism Action；

The control system includes：

Operation module, operation selection is carried out for user；

Control module, for the operation that is selected according to user to sending control instruction；

Drive module, the adjustment for realizing user's posture according to the control instruction driving standing assist device.

2. the control system of standing assist device according to claim 1, it is characterised in that the operation module includes choosing Select unit, manual control unit and automatic control unit；The selecting unit be used to select using the manual control unit or The automatic control unit is operated；The manual control unit is used for user and manually adjusts the dynamic of the standing assist device Make；The automatic control unit is used for the action of standing assist device described in adjust automatically.

3. the control system of standing assist device according to claim 2, it is characterised in that the control module also includes Memory cell and database；The route that the memory cell is used to manually control user is stored in the database；It is described Database is used to store the route and default route controlled manually, and is selected and called for user when automatically controlling.

4. the control system of standing assist device according to claim 1, it is characterised in that the drive module also includes First driver element and the second driver element；First driver element is used to drive the armrest mechanism along the upper frame Move horizontally；Second driver element is used to drive the connection framework to drive the upper frame to move up and down.

5. the control system of the standing assist device according to any one of Claims 1-4, it is characterised in that the control System also include detection module, the detection module be used for detect the standing assist device the speed of service or amplitude whether Fault detect is carried out within the scope of default, and to the control system.