CN207745289U - A kind of move multiplies carrying nursing robot - Google Patents
A kind of move multiplies carrying nursing robot Download PDFInfo
- Publication number
- CN207745289U CN207745289U CN201720534050.7U CN201720534050U CN207745289U CN 207745289 U CN207745289 U CN 207745289U CN 201720534050 U CN201720534050 U CN 201720534050U CN 207745289 U CN207745289 U CN 207745289U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- fuselage
- chest
- robot
- guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Invalid Beds And Related Equipment (AREA)
- Rehabilitation Tools (AREA)
Abstract
Multiply the utility model is related to a kind of shifting and carry nursing robot, it is characterised in that the robot includes handrail, lifting seat mechanism, footrest mechanism, prevents from overturning mechanism, fuselage, guide castor, body supports connecting rod, body rotation connecting rod, chest by part, rigid support portion and encircle part；The mounting body support link in fuselage afterbody, the top of body supports connecting rod is hinged with one end of body rotation connecting rod, the body rotation connecting rod stretches out the outside of fuselage, the other end of body rotation connecting rod is hinged the back side that chest leans on part, and chest collectively forms three-link structure by part, body supports connecting rod and body rotation connecting rod；In chest rigid support portion has been arranged symmetrically by the left and right sides upper end of part；Back side of the chest by part is provided with handrail；It has been arranged symmetrically by the middle and lower part of the left and right sides of part in chest and has encircled part.
Description
Technical field
The utility model is related to intelligent nursing machine people's technical fields, and in particular to a kind of move multiplies carrying nursing robot.
Background technology
As aging of population degree is gradually aggravated, disability, the living nursing demand of half disability old man are growing.It is old
The nursing of people includes mainly that the lives such as feed services, shifting multiplies carrying and personal hygiene cleans are looked after.Wherein, it moves and multiplies carrying and refer to
Wheelchair is transferred to by caregiver from the bed handicapped, or is transferred on bed from wheelchair, the manual labors such as toilet, this is
Highly important part in nursery work.Now, either still in mechanisms such as hospital, homes for destitute, shifting multiplies carrying for nursing at home
All it is not only to bring prodigious body burden to nursing staff by manually realizing, causes the nursing staff of most geriatric nursing homes
Suffer from lumbar disc disease, can not also ensure to move multiply safety in handling process by caregiver with it is comfortable.In terms of nursing at home, shifting multiplies
It is also the principal element for restricting grandmother's nursing to carry.Therefore, the robotization that shifting multiplies carrying is current nursing industry cry highest
Demand.
Japan has been developed that a kind of nursing robot's (Chinese Patent Application No. for having and carrying function at this stage：
201380076990.0), which is mainly made of maintaining part, base station, body-support portion, information acquisition device.The machine
People is the pose adjustment that maintaining part in robot work is realized by two rotational freedoms, an one-movement-freedom-degree, in robot
It carries by during caregiver, the maintaining part of the robot is only one to overlooking u-shaped shape by object of nursing is open
Flexible apparatus cannot fully make to ensure safe posture by caregiver, hypsokinesis may occur by caregiver in the handling process
Risk.The robot is not arranged for the seat sat down by caregiver during being taken in one's arms, in the handling process by
Caregiver can keep posture and feel that body is tired out.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of move and multiplies carrying nursing
Robot.The robot can solve the problems, such as the daily life transfer of half disability old man, and nursing robot is made to realize to being nursed
The function that the transfer of different location is carried in the family daily life of people both ensure that by caregiver during changing to carrying
Safety and comfort, and dramatically reduce by the difficulty of caregiver daily life daily life, while mitigating to a certain extent
The work load of nursing staff more so that grandmother nurses.The utility model nursing robot is easy to operate, operates
Smooth laborsaving, highly effective and safe, relatively before nursing robot compare it is more succinct, dexterous in structure and operation acts.
The utility model solve the technical problem the technical solution adopted is that：A kind of move is provided and multiplies carrying nursing machine
People, it is characterised in that the robot includes handrail, lifting seat mechanism, footrest mechanism, prevents from overturning mechanism, fuselage, guiding
Castor, body supports connecting rod, body rotation connecting rod, chest by part, rigid support portion and encircle part；
The mounting body support link in fuselage afterbody, the top of body supports connecting rod are cut with scissors with one end of body rotation connecting rod
It connects, the body rotation connecting rod stretches out the outside of fuselage, and the other end of body rotation connecting rod is hinged the back side that chest leans on part, and chest leans on
Partly, body supports connecting rod and body rotation connecting rod collectively form three-link structure；The left and right sides upper end pair of part is leaned in chest
Title is disposed with rigid support portion；Back side of the chest by part is provided with handrail；In the left and right sides of the chest by part
Lower part, which has been arranged symmetrically, encircles part.
Lifting seat mechanism is fixed on the fuselage positioned at body supports connecting rod front, is pacified in the lower section of lifting seat mechanism
Equipped with the footrest mechanism that can stretch out and withdraw fuselage；There are one have guiding role for the bottom rear end installation of the fuselage
Guide castor, fuselage bottom front end is symmetrically installed two driving wheels for driving fuselage to move, between two driving wheels
Be equipped on fuselage can adjust the robot work at present moment to robot and by the current center of gravity of both caregivers it is opposite away from
From prevent overturn mechanism.
Compared with prior art, the utility model advantageous effect is：
The utility model nursing robot can solve the problems, such as that half disability old man etc. is changed to by the daily life of caregiver, can use
It carries, had both ensured in the process carried by caregiver transfer in the transfer of half disability old man's different location in family daily life
In safety and comfort, also dramatically reduce by the difficulty of caregiver daily life daily life, and mitigate to a certain extent
The work load of nursing staff.Above-mentioned nursing robot is easy to operate, operates smooth laborsaving, highly effective and safe.
The nursing robot not only occupies little space compared with the care bed that the country has been studied, and applicable situation is more extensive,
Practicability is stronger.With Japan research and develop at this stage there is the nursing robot for carrying function compared with, using body supports connecting rod and
Two link mechanisms that body rotation connecting rod is constituted replace rotation, mobile mixed structure, more dexterous in structure and movement；Institute
The part that encircles being arranged is matched with rigid support portion, and during robot holding, this encircles part work, will be nursed
People's waist is embraced, and the danger of body hypsokinesis that may be occurred in moving process by caregiver is avoided, and is improved robot and is embraced
People's process is by the safety of caregiver.The robot is additionally provided with the footrest mechanism of energy auto-extending, the lifting seat that can be lifted
Chair mechanism and prevent what robot from overturning during the work time to prevent from overturning mechanism, more existing robot, which has, more to be pacified
Entirely, automatization level higher.
During the work time, it will be taken in one's arms by caregiver first by the variation of part pose up to lifting by chest, foot
Pedal gear auto-extending, lifting seat mechanism rise automatically, and adjustment chest leans on the pose of part, will steadily be put to seat by caregiver
On chair, is stepped in the fatigue on pedal, greatly alleviating body during being handled upside down by caregiver, improve by caregiver both feet
The comfortable security performance of robot.
Description of the drawings
Fig. 1 is that the utility model moves the overall structure diagram for multiplying and carrying nursing robot；
Fig. 2 is that the utility model moves the structural representation for multiplying the lifting seat mechanism 6 for carrying a kind of embodiment of nursing robot
Figure；
Fig. 3 is that the utility model moves the structural representation for preventing from overturning mechanism 8 for multiplying a kind of carrying embodiment of nursing robot
Figure；
Fig. 4 is that the utility model moves the sectional structure signal for multiplying the guide part 801 for carrying a kind of embodiment of nursing robot
Figure；
Fig. 5 is that the utility model moves the structural schematic diagram for multiplying the footrest mechanism 7 for carrying a kind of embodiment of nursing robot；
Wherein it is respectively：1, handrail, 2, display screen, 3, chest lean on part, 4, rigid support portion, 5, encircle part, 6, rise
Chair mechanism drops, and 7, footrest mechanism, 8, prevent from overturning mechanism, 9, driving wheel, 10, guide castor, 11, fuselage, 12, main body branch
Supporting rod, 13, body rotation connecting rod；601, seat, 602, seat bar, 603, Fixture for tube of seat, 604, first sleeve, 605, second sets
Pipe, 606, clip, 607, clip free bearing, 608, connecting rod, 609, push rod connector, 610, push rod head connector, 611, the
One bearing block, 612, electric pushrod, 613, push rod Caudal connectors, 614, second bearing seat, 615, seat free bearing；801, it is oriented to
Part, 802, guide rail, 803, stock, 804, castor installation part, 805, castor, 806, motor, 807, motor mounting plate, 808, first
Connecting rod, 809, second connecting rod, 810, connecting rod free bearing, 811, crossbeam, 812, guide-rail coupling member, 813, steel ball, 814, retainer；
701, Walk stepper motors；702, crank；703, connecting rod；704, connecting rod hinge；705, hinge connecting plate；706, foot pedal fixing piece；
707, idler wheel installation part；708, foot pedal；709, movable pulley；710, idler wheel slideway；711, support wheel.
Specific implementation mode
The utility model is explained further with reference to embodiment and attached drawing, but is not wanted in this, as to the application right
Ask the restriction of protection domain.
It includes handrail that the utility model shifting, which multiplies carrying nursing robot (abbreviation robot or nursing robot, referring to Fig. 1),
1, lifting seat mechanism 6, footrest mechanism 7, prevent from overturning mechanism 8, be fuselage 11, guide castor 10, body supports connecting rod 12, main
Body pivot link 13, chest by part 3, rigid support portion 4 and encircle part 5；
The mounting body support link 12 in 11 rear portion of fuselage, top and the body rotation connecting rod 13 of body supports connecting rod 12
One end it is hinged, the body rotation connecting rod 13 stretches out the outside of fuselage 11, and the other end of body rotation connecting rod 13 is hinged chest and leans on
The back side of part 3, chest collectively form three-link structure by part 3, body supports connecting rod 12 and body rotation connecting rod 13, pass through two
Variable angle between two can make chest that different poses be presented by part；It is arranged symmetrically by the left and right sides upper end of part 3 in chest
There are rigid support portion 4, rigid support portion 4 to be used for during the entire process of will be carried by caregiver to being risen by caregiver shoulder
Supporting role；Back side of the chest by part is provided with handrail 1, makes to be got a grip on the rail in the handling process by caregiver, carry
For hand support；It has been arranged symmetrically by the middle and lower part of the left and right sides of part 3 in chest and has encircled part 5, the part 5 that encircles is in pair
Claim working condition that will be held tightly and unclamped by caregiver during the work time by encircling the closure and open configuration of part；
Lifting seat mechanism 6 is fixed on the fuselage positioned at 12 front of body supports connecting rod, under lifting seat mechanism
Side's installation footrest mechanism 7；There are one the guide castor 10 with guiding role, fuselages for the bottom rear end installation of the fuselage 11
Bottom front is symmetrically installed two driving wheels 9 for driving fuselage to move, and being equipped on the fuselage between driving wheel 9 prevents
Overturn mechanism 8；
The footrest mechanism 7 can be stretched out and be withdrawn in fuselage, and when robot does not work, footrest mechanism 7 is withdrawn,
And footrest mechanism 7 is stretched out in working condition, makes to be stepped on the pedal of footrest mechanism by caregiver both feet；
The lifting seat mechanism 6 can rise and decline, and when robot does not work, lifting seat mechanism is affixed on fuselage one
Side is in decline state；During being taken in one's arms by caregiver, lifting seat mechanism rises, and facilitates and is sat down by caregiver；
It is described to prevent overturning mechanism 8 be elastic, during the work time, prevent overturning mechanism 8 from can adjust robot
The work at present moment to robot and by the relative distance of the current center of gravity of both caregivers, ensures nursing robot in the course of work
In stationarity.
The utility model driving wheel itself has braking function, while robot bottom being provided with auxiliary brake machine
Structure, the auxiliary brake mechanism and driving wheel collective effect, realize and reinforce the skidding function of robot, prevent nursing machine
People by object of nursing to being carried out occurring to slide in handling process leading to danger.
The utility model is further characterized by has been arranged symmetrically sunk part at left and right sides of the fuselage, is quilt
Caregiver provides thigh support in shifting multiplies, and enables that both legs are cosily placed during shifting multiplies by caregiver.
The utility model is further characterized by is provided with display screen 2 in chest by the back side of part 3, and display screen 2 is used for
Can real-time display by the physical condition information of caregiver and nursing robot's work state information, 1 symmetrical cloth of the handrail
It sets in the both sides of display screen.
It includes seat 601, seat bar that the utility model, which is further characterized by the lifting seat mechanism 6 (referring to Fig. 2),
602, Fixture for tube of seat 603, first sleeve 604, the second casing 605, clip 606, clip free bearing 607, connecting rod 608, push rod connection
Part 609, push rod head connector 610, first bearing seat 611, electric pushrod 612, push rod Caudal connectors 613, second bearing
Seat 614 and seat free bearing 615；
(this steps up mode and present common bicycle seat and seat bar to the seat 601 in such a way that connector steps up
Connection type it is identical, two crossbeams of seat bottom are compressed by two pressing plates, reaches and steps up effect) it is upper with seat bar 602
Portion connects；The first sleeve 604 includes horizontal segment and vertical section, and the bottom nested of the seat bar 602 is in first sleeve 604
In vertical section, and seat bar 602 and the vertical section of first sleeve 604 are stepped up by Fixture for tube of seat 603, and fixed；The first set
The horizontal segment of pipe 604 is nested in the second casing 605, and by another Fixture for tube of seat 603 by the horizontal segment of first sleeve 604 with
Second casing, 605 one end is stepped up, and fixed；By elastic two Fixture for tube of seat, and then adjusting seat bar 602 and first sleeve 604, the
The relative position of sleeve 604 and the second casing 605, can for nursing robot by the height of object of nursing it is different and into
Row adaptability is adjusted, different by object of nursing to adapt to, and is improved the adaptability of the lifting seat mechanism and is installed the liter
The comfort of the nursing robot of chair mechanism drops；The other end of second casing 605 is hinged with seat free bearing 615, and second
The hinge that casing 605 can surround seat free bearing 615 is rotated, and the other end of seat free bearing 615 connects back；The card
Hoop 606 is fixed on by the mode of stepping up on the middle and back of the second casing 605；The lower hinge of the clip 606 has clip free bearing
607, the lower part of the clip free bearing 607 connects the top of the connecting rod 608；The push rod connector is fold-line-shaped, described
The lower end of connecting rod is articulated with the middle part of push rod connector；One end of the push rod connector is hinged with first bearing seat；Push rod
The other end of connector is hinged with push rod head connector 610；The head phase of the push rod head connector and electric pushrod 612
Connection, the tail portion of electric pushrod is connect by push rod Caudal connectors 613 with second bearing 614；The push rod Caudal connectors
It is hinged with second bearing seat；The first bearing seat 611 and second bearing seat 614 are separately fixed at nursing robot's fuselage 11
In the front and back position of bottom.
The utility model is further characterized by and described prevent from overturning mechanism and (referring to Fig. 3-4) include guide part 801, lead
Rail 802, stock 803, castor 805, first connecting rod 808, second connecting rod 809, crossbeam 811 and motor 806；The crossbeam 811
Both upper ends thereof is separately connected one end of a stock 803 by guide-rail coupling member 812, passes through foot in the lower part of the other end of stock
Wheel installation part 804 is connected with castor 805；The upper and lower surface of two stocks is respectively mounted there are one guide rail 802, two 803 phases of stock
It is mutually parallel, and wait height；The guide part 801 is provided with through-hole along the length direction of stock, passes through retainer 814 in the through hole
Row's steel ball 813 is respectively mounted in the upper lower inner surface of guide part through-hole；Stock and two guide rails per side is through one
In the through-hole of guide part, and the upper lower inner surface of guide part through-hole and upper and lower two guide rails match, and enable guide rail and stock
Be moved forward and backward in guide part through-hole, in guide part the design of steel ball make in 803 motion process of guide rail 802 and stock, significantly
Reduce the resistance of motion；The upper end of two guide parts is fixedly connected with fuselage 11；
Motor mounting plate 807, the motor mounting plate are installed in stock length direction in the inner vertical of two guide parts
807 both ends are separately connected the inside of two guide parts, and motor 806 is installed in the middle part upper end of motor mounting plate；In crossbeam
Middle part connects one end of second connecting rod 809 by connecting rod free bearing 810, and the other end of second connecting rod passes through shaft and first connecting rod
808 one end is hinged, the output shaft of the other end connection motor of first connecting rod；The motor is the drive for entirely preventing from overturning mechanism
Dynamic element；The motor 806, first connecting rod 808, second connecting rod 809 collectively constitute crank and rocker mechanism, above-mentioned guide part
801, steel ball 813, retainer 814, guide rail 802 and stock 803 together constitute runner rails system.As motor 806 exports
The rotation of axis drives above-mentioned crank and rocker mechanism to move, and then the stock 803 and guide rail 802 that drive move along a straight line.
The utility model is further characterized by the footrest mechanism 7 (referring to Fig. 5) Bao Kuo Walk stepper motors 701, song
Handle 702, connecting rod 703, connecting rod hinge 704, hinge connecting plate 705, foot pedal fixing piece 706, idler wheel installation part 707, foot pedal
708, movable pulley 709, idler wheel slideway 710 and support wheel 711；The idler wheel slideway is mounted on the rack of nursing robot lower part
On, the left and right ends of the foot pedal are fixed with foot pedal fixing piece, which is L-type plate, the horizontal plane of L-type plate
Upper surface and the lower surface of foot pedal fix, the vertical plane of L-type plate is upward perpendicular to the plane of foot pedal；Under foot pedal
Surface is also equipped with foot pedal reinforcing rib, further improves the intensity of foot pedal, prevents people from stepping down on the foot pedal and occurs
It is dangerous；Idler wheel installation part is fixedly mounted in the outside of foot pedal fixing piece, the idler wheel installation part is inverted L shape plate, inverted L shape plate
Vertical plane is fixed with adjacent foot pedal fixing piece, and the horizontal plane of inverted L shape plate is towards the outside of foot pedal, and the water of inverted L shape plate
The length of plane and the length of foot pedal match；Hinge connecting plate, the lower part of hinge connecting plate are installed in the rear end of foot pedal
It is fixed with foot pedal, both ends are connected with the idler wheel installation part of corresponding side simultaneously, provide support jointly for the foot pedal；It is described
The side of the separate foot pedal of hinge connecting plate is connected by one end of connecting rod hinge and short axle and connecting rod, and the other end of connecting rod is logical
The one end for crossing short axle and crank connects, the other end of crank 702 and the output axis connection of stepper motor 701, the stepper motor
On fuselage 11；Power is provided for the movement of footrest mechanism by stepper motor, is imparted power to by crank, connecting rod
Foot pedal；
Movable pulley is installed on the one end of idler wheel installation part far from stepper motor, the movable pulley can be along the idler wheel
Slideway rolls, and support wheel, the upper surface of the support wheel and rolling are installed on the one end of the idler wheel slideway close to stepper motor
Take turns the lower surface contact of the horizontal plane of installation part.
The course of work of the utility model nursing robot is as follows：
Before the nursery work of nursing robot starts, driving wheel 9 is braked, the operation of auxiliary brake mechanism, and robot braking is prevented
It only overturns mechanism 8 to stretch out, lifting seat mechanism 6 is shunk, chest under the action of body supports connecting rod 12 and body rotation connecting rod 13
Forward extended out by part 3, by adjusting good suitable position, ensure to be sitting on the seat of lifting seat mechanism 6 by caregiver chest
Before stick on chest on the part 3, both hands hold two handrails 1, and two arms, which are taken, to be placed in two rigid support portions 4, complete
Preparation.
Nursing robot starts to work, and in the case where body supports connecting rod 12, body rotation connecting rod 13 act on, chest is adjusted by part 3
Whole angle, and slowly rise to be taken in one's arms by caregiver to both feet and be detached from ground, being adjacent to chest by caregiver during rising leans on
Part 3 encircles the closure of part 5, is held tightly, while footrest mechanism 7 is stretched out in uphill process；Hereafter, chest is embraced by part 3
Pose is constantly tightly adjusted by caregiver, until being stepped on the foot pedal of footrest mechanism 7 by caregiver both feet, buttocks seat is in lifting
On the seat of chair mechanism 6, body is in comfortable nature.
In the course of work, lifting seat mechanism 6 also takes advantage of a situation rises with by the raised configuration of caregiver, up to final position
I.e. clip, connecting rod 608,609 three of push rod connector are located at same straight line, and stabilization supports by caregiver.It waits being nursed
After people is taken in one's arms completely until stablizing, prevent the adjustment of overturning mechanism 8 from shrinking, driving wheel 9 stops braking, and auxiliary brake mechanism is run,
Robot terminates on-position；Under the action of underbelly driving wheel 9 and directive wheel 10 behind operation to next destination, prevent
It only overturns mechanism to stretch out again, chest changes by 3 pose of part, and lifting seat mechanism 6 is slowly shunk, and waits for being seated at safely by caregiver
Behind target location, encircles part 5 and slowly open, will destination be steadily seated to by caregiver.In entire nursing process, half
The physical comfort degree situation of old man that disables and the operating condition of nursing robot can be shown in real time on the display screen 2
Show.
The utility model does not address place and is suitable for the prior art.
Claims (5)
1. a kind of shifting, which multiplies, carries nursing robot, it is characterised in that the robot includes handrail, lifting seat mechanism, foot-operated trigger
Structure prevents from overturning mechanism, fuselage, guide castor, body supports connecting rod, body rotation connecting rod, chest by part, rigid support portion
With encircle part；
The mounting body support link in fuselage afterbody, the top of body supports connecting rod is hinged with one end of body rotation connecting rod,
The body rotation connecting rod stretches out the outside of fuselage, and the other end of body rotation connecting rod is hinged the back side that chest leans on part, chest relying part
Divide, body supports connecting rod and body rotation connecting rod collectively form three-link structure；It is symmetrical by the left and right sides upper end of part in chest
It is disposed with rigid support portion；Back side of the chest by part is provided with handrail；Under in the left and right sides of the chest by part
Portion, which has been arranged symmetrically, encircles part；
Lifting seat mechanism is fixed on the fuselage positioned at body supports connecting rod front, is equipped with below lifting seat mechanism
It can stretch out and withdraw the footrest mechanism of fuselage；There are one the guiding with guiding role for the bottom rear end installation of the fuselage
Castor, fuselage bottom front end are symmetrically installed two driving wheels for driving fuselage to move, the fuselage between two driving wheels
On be equipped with and can adjust the robot work at present moment to robot and by the relative distance of the current center of gravity of both caregivers
It prevents from overturning mechanism.
2. shifting according to claim 1, which multiplies, carries nursing robot, it is characterised in that right in the left and right sides of the fuselage
Title is disposed with sunk part.
3. shifting according to claim 1, which multiplies, carries nursing robot, it is characterised in that be provided with by the back side of part in chest
Display screen, the handrail are arranged symmetrically in the both sides of display screen.
4. shifting according to claim 1, which multiplies, carries nursing robot, it is characterised in that the lifting seat mechanism includes seat
Chair, seat bar, Fixture for tube of seat, first sleeve, the second casing, clip, clip free bearing, connecting rod, push rod connector, the connection of push rod head
Part, first bearing seat, electric pushrod, push rod Caudal connectors, second bearing seat and seat free bearing.
5. shifting according to claim 1, which multiplies, carries nursing robot, it is characterised in that described to prevent from overturning mechanism including leading
To part, guide rail, stock, castor, first connecting rod, second connecting rod, crossbeam and motor；The both upper ends thereof of the crossbeam is connected by guide rail
Fitting is separately connected one end of a stock, and castor is connected with by castor installation part in the lower part of the other end of stock；Two
The upper and lower surface of stock is respectively mounted there are one guide rail, and two stocks are mutually parallel, and waits height；Length of the guide part along stock
Degree direction is provided with through-hole, and row's steel ball is respectively mounted in the upper lower inner surface of guide part through-hole by retainer in the through hole；
Stock and two guide rails per side through in the through-hole of a guide part, and the upper lower inner surface of guide part through-hole with up and down
Two guide rails match；The upper end of two guide parts is fixedly connected with fuselage；
Motor mounting plate, the both ends point of the motor mounting plate are installed in stock length direction in the inner vertical of two guide parts
Not Lian Jie two guide parts inside, motor mounting plate middle part upper end install motor；It is cut with scissors by connecting rod at the middle part of crossbeam
One end of seat connection second connecting rod, the other end of second connecting rod is hinged by one end of shaft and first connecting rod, first connecting rod
The other end connects the output shaft of motor；The motor is the driving element for entirely preventing from overturning mechanism；The motor, first connect
Bar, second connecting rod collectively constitute crank and rocker mechanism, and above-mentioned guide part, steel ball, retainer, guide rail and stock together constitute
Runner rails system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534050.7U CN207745289U (en) | 2017-05-15 | 2017-05-15 | A kind of move multiplies carrying nursing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534050.7U CN207745289U (en) | 2017-05-15 | 2017-05-15 | A kind of move multiplies carrying nursing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207745289U true CN207745289U (en) | 2018-08-21 |
Family
ID=63146110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720534050.7U Expired - Fee Related CN207745289U (en) | 2017-05-15 | 2017-05-15 | A kind of move multiplies carrying nursing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207745289U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109602559A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学（威海） | A kind of mechanical arm |
| CN110097024A (en) * | 2019-05-13 | 2019-08-06 | 河北工业大学 | A kind of shifting multiplies the human body attitude visual identity method of carrying nursing robot |
| CN110664567A (en) * | 2019-10-10 | 2020-01-10 | 燕山大学 | Transfer-taking nursing robot without changing sitting posture |
| CN111839949A (en) * | 2020-08-21 | 2020-10-30 | 山东科亿宏智能科技有限公司 | Back-holding type shifting machine and working method |
| CN111973371A (en) * | 2020-08-21 | 2020-11-24 | 山东科亿宏智能科技有限公司 | Self-adaptive system of full-automatic clamping device, working method and application |
-
2017
- 2017-05-15 CN CN201720534050.7U patent/CN207745289U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109602559A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学（威海） | A kind of mechanical arm |
| CN109602559B (en) * | 2018-12-06 | 2020-08-21 | 哈尔滨工业大学（威海） | Mechanical arm |
| CN110097024A (en) * | 2019-05-13 | 2019-08-06 | 河北工业大学 | A kind of shifting multiplies the human body attitude visual identity method of carrying nursing robot |
| CN110097024B (en) * | 2019-05-13 | 2020-12-25 | 河北工业大学 | Human body posture visual recognition method of transfer, transportation and nursing robot |
| CN110664567A (en) * | 2019-10-10 | 2020-01-10 | 燕山大学 | Transfer-taking nursing robot without changing sitting posture |
| CN111839949A (en) * | 2020-08-21 | 2020-10-30 | 山东科亿宏智能科技有限公司 | Back-holding type shifting machine and working method |
| CN111973371A (en) * | 2020-08-21 | 2020-11-24 | 山东科亿宏智能科技有限公司 | Self-adaptive system of full-automatic clamping device, working method and application |
| CN111839949B (en) * | 2020-08-21 | 2022-04-15 | 山东科亿宏智能科技有限公司 | Back-holding type shifting machine and working method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207745289U (en) | A kind of move multiplies carrying nursing robot | |
| CN106983619A (en) | One kind, which is moved, multiplies carrying nursing robot | |
| CN105832474B (en) | Aiding upright device | |
| CN104127289B (en) | Split type robot nursing bed having rehabilitation training function | |
| CN209154294U (en) | A kind of wheelchair combined multi-functional nursing bed | |
| CN108498245A (en) | A kind of multifunctional wheelchair | |
| CN105105934A (en) | Multifunctional separating power-assisted wheelchair | |
| CN208893007U (en) | It stands up shifting machine | |
| CN202554296U (en) | Multifunctional rehabilitation vehicle for disabled people | |
| CN204484581U (en) | A kind of anergy old man bathing device | |
| CN204655317U (en) | There is the horizontal lying-type wheelchair of standing of body turning function | |
| CN103417343A (en) | Electrically propelled wheelchair with functions of nursing bed | |
| CN110037870B (en) | Combined medical nursing bed | |
| CN208229071U (en) | Auxiliary indexing chair | |
| CN104825284A (en) | Standing and lying type wheelchair with turnover function | |
| CN111904740A (en) | Multifunctional intelligent wheelchair and intelligent wheelchair combined bed | |
| CN103816016A (en) | High-bedstead balanced multifunctional bed and wheelchair combination for nursing | |
| CN201216702Y (en) | Transfer apparatus of wheelchair | |
| CN2838509Y (en) | Electric up-down shower chair toilet | |
| CN203647604U (en) | Nursing type three-posture manual wheelchair | |
| CN215020761U (en) | Manual standing wheelchair | |
| CN114652548A (en) | Transfer device for changing human body posture slightly | |
| CN212699374U (en) | Electric rehabilitation wheelchair for lower limb gait rehabilitation training | |
| CN205434119U (en) | Can rise to swing back can lift leg climb building wheelchair | |
| CN109571511B (en) | Auxiliary standing and shifting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |