CN206717910U - A kind of nursing robot footrest mechanism of retractable - Google Patents

Abstract

It the utility model is related to a kind of nursing robot's footrest mechanism of retractable, it is characterised in that the footrest mechanism includes motor, crank, connecting rod, connecting rod hinge, hinge connecting plate, pedal fixture, roller installed part, pedal, pedal reinforcement, movable pulley, roller slideway and support wheel；The roller slideway is arranged in the frame of nursing robot bottom, the left and right ends of the pedal are fixed with pedal fixture, the pedal fixture is L-type plate, and the upper surface of the horizontal plane of L-type plate and the lower surface of pedal are fixed, and the vertical plane of L-type plate is upward perpendicular to the plane of pedal；Pedal reinforcement is also equipped with the lower surface of pedal；Roller installed part is fixedly mounted in the outside of pedal fixture, the roller installed part is inverted L shape plate, and the vertical plane of inverted L shape plate is fixed with adjacent pedal fixture, and the horizontal plane of inverted L shape plate is towards the outside of pedal.

Description

A kind of nursing robot footrest mechanism of retractable

Technical field

It the utility model is related to intelligent nursing machine people's technical field, and in particular to a kind of nursing machine of retractable People's footrest mechanism.

Background technology

With constantly developing, domestic or even the world aging population degree gradually aggravates, wherein the old man of half disability Quantity also gradually increases, and the daily daily life degree of difficulty of half disability old man increases, and at the same time, the nursery work of old man is also to shield Reason personnel bring huge work load, therefore nursing robot arises at the historic moment.The robot can be independently will be nursed People takes in one's arms safely from wheelchair (sofa or bed), and movement is to bedside, toilet or other positions.The robot not only mitigates significantly The work load of nursing staff, more makes it possible nursing between my old man, advances domestic nursing robot's row significantly The development of industry, there is huge social benefit.

The Chinese patent of Application No. 201380076990.0 discloses a kind of nursing robot, and the robot is without foot-operated trigger Structure, it is directly to step on base station by caregiver foot, base station overall dimensions are larger as shown in Figure 10 in the patent.It is and for example special Profit number discloses a kind of Standing-up motion auxiliary robot for ZL201210079799.9 Chinese patent, the robot as shown in figure 3, Pedal 23 possesses plate main body 230, pair of right and left arm 231, pedal cylinder 232, driven pulley 233.Pedal cylinder 232 possesses gas Cylinder main body 232a and piston 232b.The rear table of cylinder main body 232a one end plate 201 forward-mounted in a manner of it can swing Face.Piston 232b one end can be in and out of the cylinder main body 232a other end.The piston 232b other end is can swing Mode is arranged on the upper surface of plate main body 230.By making piston 232b to make plate main body 230 in and out of cylinder main body 232a Swing.This pedal gear is driven using cylinder, and structure is more complicated, and space-consuming is larger.

Utility model content

In view of the shortcomings of the prior art, the technical problem that the utility model intends to solve is to provide a kind of retractable Nursing robot's footrest mechanism.The footrest mechanism has auto-extending and the function of withdrawing, and the rotation of crank is changed into pin The translation of pedal, without energy dissipation brace, not only energy resource consumption is low for the footrest mechanism, and more highly effective and safe.

The utility model solves the technical scheme that the technical problem uses：A kind of cleaning device of retractable is provided Device people's footrest mechanism, it is characterised in that the footrest mechanism include motor, crank, connecting rod, connecting rod hinge, hinge connecting plate, Pedal fixture, roller installed part, pedal, pedal reinforcement, movable pulley, roller slideway and support wheel；The roller Slideway is arranged in the frame of nursing robot bottom, and the left and right ends of the pedal are fixed with pedal fixture, the pin Pedal fixture is L-type plate, and the upper surface of the horizontal plane of L-type plate and the lower surface of pedal are fixed, and the vertical plane of L-type plate is vertical It is upward in the plane of pedal；Pedal reinforcement is also equipped with the lower surface of pedal；In the outside of pedal fixture Roller installed part is fixedly mounted, the roller installed part is inverted L shape plate, and the vertical plane of inverted L shape plate is fixed with adjacent pedal Part is fixed, and the horizontal plane of inverted L shape plate is towards the outside of pedal, and the length of the horizontal plane of inverted L shape plate and the length of pedal Match；Hinge connecting plate is installed in the rear end of pedal, bottom and the pedal of hinge connecting plate fix, both ends at the same with phase The roller installed part of side is answered to be connected；The side of the remote pedal of the hinge connecting plate passes through connecting rod hinge and short axle and connecting rod One end connection, the other end of connecting rod passes through one end of short axle and crank and connects, and the other end of crank and the output shaft of motor connect Connect, the motor is arranged in the frame of nursing robot bottom；

Movable pulley is installed on the one end of roller installed part away from motor, the movable pulley can be along the roller slideway Roll, support wheel, upper surface and the roller installed part of the support wheel are installed on the one end of the roller slideway close to motor Horizontal plane lower surface contact.

Compared with prior art, the beneficial effects of the utility model are：

The utility model mechanism is designed for nursing robot, and the rotation of crank is changed into the mechanism of pedal translation, should Footrest mechanism has auto-extending, the function of withdrawing.It can make nursing robot will be by caregiver using the footrest mechanism After taking in one's arms, footrest mechanism can auto-extending, to provide foot-operated support by caregiver, will be embraced extremely by caregiver in nursing robot Behind target location, pedal can automatically retract, highly effective and safe.

And during nursing robot's use, the utility model footrest mechanism can freely be stretched, structure letter It is single, while mechanism is more compact.Its presence can make to be taken in one's arms rear bi-pedal on the footrests by caregiver, be by caregiver Both feet provide support；And when footrest mechanism need not be used, footrest mechanism is recoverable to.The presence of footrest mechanism, Can be during nursing robot's use, to provide support, while the foot-operated trigger of expandable and retractable by caregiver both feet The design of structure can save overall space, make nursing robot more small and beautiful.

The utility model footrest mechanism is simple in construction, compact, to provide support by the both feet of caregiver, but also can With autonomous stretching and withdraw so that the automatization level of nursing robot is higher.

Brief description of the drawings

Fig. 1 is the dimensional structure diagram of the utility model footrest mechanism；

Fig. 2 is the left view structural representation of the utility model footrest mechanism；

Fig. 3 is the scheme of installation of the utility model footrest mechanism when in use；

In figure：1st, motor；2nd, crank；3rd, connecting rod；4th, connecting rod hinge；5th, hinge connecting plate；6th, pedal fixture；7th, roll Take turns installed part；8th, pedal；9th, pedal reinforcement；10th, movable pulley；11st, roller slideway；12nd, frame；13rd, support wheel.

Embodiment

The utility model is explained further with reference to embodiment and accompanying drawing, but is not wanted in this, as to the application right Ask the restriction of protection domain.

Nursing robot's footrest mechanism (abbreviation footrest mechanism, referring to Fig. 1-3) of the utility model retractable Including motor 1, crank 2, connecting rod 3, connecting rod hinge 4, hinge connecting plate 5, pedal fixture 6, roller installed part 7, pedal 8th, pedal reinforcement 9, movable pulley 10, roller slideway 11 and support wheel 13；The roller slideway 11 is arranged on nursing robot In the frame of bottom, the left and right ends of the pedal 8 are fixed with pedal fixture 6, and the pedal fixture 6 is L-type plate, The upper surface of the horizontal plane of L-type plate and the lower surface of pedal 8 are fixed, the vertical plane of L-type plate perpendicular to pedal plane to On；Pedal reinforcement 9 is also equipped with the lower surface of pedal 8, the intensity of pedal is further increased, prevents people from stepping down in Caused danger on the pedal 8；Roller installed part 7, the roller installed part is fixedly mounted in the outside of pedal fixture 6 7 be inverted L shape plate, and the vertical plane of inverted L shape plate is fixed with adjacent pedal fixture 6, and the horizontal plane of inverted L shape plate is towards pedal Outside, and the length of the horizontal plane of inverted L shape plate and the length of pedal match；In the rear end of pedal 8, installation hinge connects Fishplate bar 5, bottom and the pedal of hinge connecting plate 5 are fixed, and both ends are connected with the roller installed part 7 of corresponding side simultaneously, are jointly Described pedal 8 provides support；The side of the remote pedal of the hinge connecting plate 5 by connecting rod hinge 4 and short axle with One end connection of connecting rod 3, the other end of connecting rod 3 are connected by short axle with one end of crank 2, the other end and the motor 1 of crank 2 Axis connection is exported, the motor 1 is arranged in the frame of nursing robot bottom；There is provided by motor for the motion of footrest mechanism Power, pedal 8 is imparted power to by crank 2, connecting rod 3；

Movable pulley 10 is installed on the one end of roller installed part 7 away from motor, the movable pulley 10 can be along the rolling Wheel slideway 11 is rolled, and support wheel 13, the upper end of the support wheel 13 are installed on the one end of the roller slideway 11 close to motor Face contacts with the lower surface of the horizontal plane of roller installed part 7.

The utility model footrest mechanism is substantially a centric slider-crank mechanism, and the stroke of pedal is just song Twice of handle length, pedal is fully extended or crank and connecting rod are conllinear during complete withdrawal, compared to electric pushrod isoline machine Structure, occupy little space, relatively simple for structure, control is relatively easy.Motor 1 drives crank 2 to rotate, then is cut with scissors by connecting rod 3, connecting rod Point 4, hinge connecting plate 5, roller installed part 7 drive movable pulley 10 to be rotated along roller slideway 11, and then drive pedal 8 to stretch out Or withdraw, realize the translation of pedal 8；Movable pulley 10 and support wheel 13 can ensure the translation of roller installed part 7.By the crank 2 rotation is changed into rotation of the movable pulley 10 along the roller slideway 11 in slideway plane, described so as to ultimately become The translation of pedal 8.Pedal 8 can be controlled freely to stretch out and withdraw as desired by controlled motor 1.

The utility model footrest mechanism needs installed in the bottom of nursing robot when in use, by roller slideway 11 and branch Support wheel 13 is fixed in frame, ensures that two roller slideways are parallel to each other and highly consistent, and the support wheel of left and right two is in machine Position on frame is consistent.

The course of work of the utility model footrest mechanism is：Whole footrest mechanism is contracted in nursing robot before work In the housing of bottom, pedal 8 is retracted state, and crank 2, connecting rod 3 are in compressive state, pedal 8 is taken in housing, is in Existing retracted state.As described motor 1 is started working, crank 2 starts to rotate, connecting rod 3 in the presence of described crank 2, Relatively rotated around the connection short axle of crank 2 and connecting rod 3.The hinge connecting plate 5 and roller installed part 7, pedal fixture 6 It is fastened together respectively with screw between roller installed part 7, provides support, pedal 8, hinge jointly for pedal 8 Connecting plate 5, pedal fixture 6 and roller installed part 7 are as overall together with the rotation of described crank 2 and along level Move in direction.Movable pulley 10 is arranged on described roller installed part 7, can be rolled along the roller slideway 11, pedal 8 exists , can be along horizontal direction under the drives of connector such as described connecting rod 3, connecting rod hinge 4, movable pulley 10, pedal fixture 6 It is mobile, gradually stretched out out of housing.With the steady operation of motor, pedal 8 is also gradually pushed to final position, and presentation is stretched Do well.After end-of-job, in pedal income housing, retracted state is presented in the presence of described motor 1 in pedal 8.

The length and width of pedal 8 is a relative concept in the utility model, defines the direction that pedal 8 stretches out and is Length direction, the side of the length direction of pedal 8 is long side.In the application is also all around a relative concept, defines pin Before the place direction of pedal 8 is, after the place direction of motor 1 is.

The utility model does not address part and is applied to prior art.

Claims (2)

1. nursing robot's footrest mechanism of a kind of retractable, it is characterised in that the footrest mechanism includes motor, song Handle, connecting rod, connecting rod hinge, hinge connecting plate, pedal fixture, roller installed part, pedal, pedal reinforcement, slip Wheel, roller slideway and support wheel；The roller slideway is arranged in the frame of nursing robot bottom, the left and right of the pedal Both ends are fixed with pedal fixture, and the pedal fixture is L-type plate, the upper surface of the horizontal plane of L-type plate and pedal Lower surface is fixed, and the vertical plane of L-type plate is upward perpendicular to the plane of pedal；Pedal is also equipped with the lower surface of pedal Reinforcement；Roller installed part is fixedly mounted in the outside of pedal fixture, the roller installed part is inverted L shape plate, inverted L shape plate Vertical plane fixed with adjacent pedal fixture, the horizontal plane of inverted L shape plate is towards the outside of pedal, and inverted L shape plate The length of horizontal plane and the length of pedal match；Under the rear end of pedal installation hinge connecting plate, hinge connecting plate Portion is fixed with pedal, and both ends are connected with the roller installed part of corresponding side simultaneously；The remote pedal of the hinge connecting plate Side is connected by one end of connecting rod hinge and short axle and connecting rod, and the other end of connecting rod is connected by one end of short axle and crank, The other end of crank and the output axis connection of motor, the motor are arranged in the frame of nursing robot bottom；

Movable pulley is installed on the one end of roller installed part away from motor, the movable pulley can roll along the roller slideway It is dynamic, support wheel, upper surface and the roller installed part of the support wheel are installed on the one end of the roller slideway close to motor The lower surface contact of horizontal plane.

2. nursing robot's footrest mechanism of retractable according to claim 1, it is characterised in that described foot-operated The stroke of plate is twice of crank length.