CN208511463U - A kind of household helping omni-directional mobile robots - Google Patents
A kind of household helping omni-directional mobile robots Download PDFInfo
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- CN208511463U CN208511463U CN201721489057.8U CN201721489057U CN208511463U CN 208511463 U CN208511463 U CN 208511463U CN 201721489057 U CN201721489057 U CN 201721489057U CN 208511463 U CN208511463 U CN 208511463U
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Abstract
A kind of household helping omni-directional mobile robots, it is related to a kind of robot, and the utility model is to solve the problems, such as that conventional wheelchair mobility is low and long-term wheelchair causes high risks to health.The front and rear sides on the utility model chassis are respectively provided with two Mecanum wheels, each Mecanum wheel is operated alone by motor reducer I, sole supporting plate is arranged on chassis, one end of long connecting rod and the bottom of seat are fixed together, column front and rear sides are respectively provided with articulated slab, short connecting rod both ends are hinged with the other end of the articulated slab of column side and long connecting rod respectively, the both ends of curved rod are hinged with the articulated slab of the other side of column and long connecting rod respectively, column is fixed on chassis, it is elastic that executing agency I driving short connecting rod enables seat to swing, knee backplate is ask to be equipped with an adjusting rod, support knee tune is long will to ask the adjusting rod set of knee backplate to be buckled on column.The utility model is suitable for handicapped the elderly, disabled person and paralysed patient.
Description
Technical field
The utility model relates to a kind of robots, and in particular to a kind of household helping omni-directional mobile robots.
Background technique
Handicapped the elderly most of at present, disabled person generally require professional in paralysed patient daily life
It is nursed, can not take care of oneself normal daily life, and common walk-aid equipment generally has wheelchair and electric wheelchair on the market, although
Trip is largely helped, but to will lead to blood obstructed for long-term wheelchair, and it is concurrent to cause pressure sore, osteoporosis etc.
Disease causes strong influence to health, and wheelchair is entering just, in the daily lifes such as narrow space is mobile make troubles it
Place.
Utility model content
Conventional wheelchair mobility is low and long-term wheelchair causes high risks to health in order to solve for the utility model
Problem, and a kind of household helping omni-directional mobile robots are provided.
The utility model adopts the technical scheme that solve above-mentioned technical problem: it includes chassis, sole supporting plate, seat
Telescoping mechanism, Tuo Xi mechanism and Tuo Xiong mechanism,
The front and rear sides on chassis are respectively provided with two Mecanum wheels, and each Mecanum wheel is individually driven by motor reducer I
It is dynamic,
Sole supporting plate is equipped with bearing plate, and bearing plate upper surface has been arranged in juxtaposition the fixed support of two pairs of foots, the setting of sole supporting plate
On chassis,
Seat extension/retraction mechanism includes seat, long connecting rod, curved rod, short connecting rod and column, one end of long connecting rod and seat
Bottom is fixed together, and column front and rear sides are respectively provided with articulated slab, the short connecting rod both ends articulated slab and length with column side respectively
The other end of connecting rod is hinged, and the both ends of curved rod are hinged with the articulated slab of the other side of column and long connecting rod respectively, and column is affixed
On chassis, it is elastic that executing agency I driving short connecting rod enables seat to swing,
Tuo Xi mechanism includes that support knee backplate and support knee tune are long, and support knee backplate is equipped with an adjusting rod, and support knee tune is long will support knee shield
The adjusting rod set of plate is buckled on column,
Tuo Xiong mechanism includes chest protector supporting plate and protective bandage, and the two sides of chest protector supporting plate, mobile jib both ends are arranged in protective bandage
Hingedly chest protector supporting plate is linked together with body with the end of chest protector supporting plate and column respectively, executing agency II drives on mobile jib
Lower swing.
The utility model has the advantages that compared with prior art
One, the utility model realizes that comprehensive no dead angle is mobile using 4 wheel driven Mecanum wheel, can pivot stud, satisfaction makes
Use demand of the user under more narrow spaces solves the problems, such as that user voluntarily as just, makes user freely enter and leave society
Occasion, it is easy to operate.
Two, the utility model can provide telescopic seat for user, reduce the occupancy in space, keep user more square
Just standing and rest.
Three, increase the security risk that knee protector structure avoids user from generating due to mobile fault.
Four, chest protector mechanism helps user to stand, to carry out rehabilitation training.
Detailed description of the invention
Fig. 1 is the overall structure figure of the utility model；
Fig. 2 is the axonometric drawing of the utility model；
Fig. 3 is the structure chart on chassis；
Fig. 4 is the structure chart of sole supporting plate；
Fig. 5 is the structure chart of Tuo Xi mechanism；
Fig. 6 is the axonometric drawing for holding in the palm knee backplate；
Fig. 7 is the axonometric drawing for holding in the palm the long device of knee tune；
Fig. 8 is the main view of the utility model；
Fig. 9 is the left view of Fig. 8；
Figure 10 is the top view of Fig. 9；
Figure 11 is the right view of Fig. 9；
Figure 12 is the bottom view of Fig. 9.
Specific embodiment
Specific embodiment 1: illustrate present embodiment in conjunction with Fig. 1~Figure 12, present embodiment it include chassis A, foot
Backing board B, mechanism of seat extension/retraction mechanism C, Tuo Xi D and Tuo Xiong mechanism E,
The front and rear sides of chassis A are respectively provided with two Mecanum wheels 2, and each Mecanum wheel 2 is driven by motor reducer I3
It is dynamic,
Sole supporting plate B is arranged on the A of chassis,
Seat extension/retraction mechanism C includes seat 15, long connecting rod 16, curved rod 17, short connecting rod 18 and column 19, long connecting rod 16
One end and the bottom of seat 15 be fixed together, 19 front and rear sides of column are respectively provided with articulated slab, 18 both ends of short connecting rod respectively with
The articulated slab of 19 side of column and the other end of long connecting rod 16 are hinged, the both ends of curved rod 17 other side with column 19 respectively
Articulated slab and long connecting rod 16 it is hinged, column 19 is fixed on the A of chassis, and the executing agency I being arranged on the A of chassis can drive short company
Bar 18 is swung,
Tuo Xi mechanism D includes support knee backplate 22 and the support long device 23 of knee tune, and support knee backplate 22 is equipped with an adjusting rod, and support knee tune is long
Device 23 is fixed on column 19, and the adjusting rod set of support knee backplate 22 is buckled on the support long device 23 of knee tune,
Tuo Xiong mechanism E includes chest protector supporting plate 29 and protective bandage 30, and the two sides of chest protector supporting plate 29 are arranged in protective bandage 30,
26 both ends of mobile jib are hinged with the end of chest protector supporting plate 29 and column 19 respectively, and the executing agency II being arranged on the A of chassis can drive
Mobile jib 26 is swung up and down.
Specific embodiment 2: illustrate present embodiment in conjunction with Fig. 3, present embodiment chassis A include upper beam 8, under
7, two, crossbeam lower stocks 6 and two upper stocks 4,
Upper beam 8 is fixed together with lower beam 7, and upper beam 8 is equipped with control box 24, long under two upper stocks 4 and two
Bar 6 is arranged symmetrically in the two sides of upper beam 8, and two upper stocks 4 are fixed together with upper beam 8 respectively, and the one of each lower stock 6
End is hinged with one end of each upper stock 4 respectively, sets between the other end of each lower stock 6 and the other end of each upper stock 4
There is damping spring 1, the both ends of each lower stock 6 are each provided with a Mecanum wheel 2,
The Mecanum wheel 2 and motor reducer I3 being disposed adjacent with damping spring 1 are direct-connected, with upper stock 4 and lower stock
The Mecanum wheel 2 that 6 hinged places are disposed adjacent is connected by synchronous belt I (5-1) with motor reducer I3.Other compositions and connection
Relationship is same as the specific embodiment one.
Specific embodiment 3: illustrating present embodiment in conjunction with Fig. 4, present embodiment sole supporting plate B includes bearing plate
14, the fixed supports 12 of U-shaped handle I13 and two pairs of foots, bearing plate 14 be it is rectangular, the fixed supports 12 of two pairs of foots are disposed in parallel in load-bearing
The upper surface of plate 14, there are two U-shaped handle I13 for the setting of 14 upper surface of bearing plate, and 14 two sides of bearing plate are affixed, and there are two symmetrical
In the hanging plate 11 of hook, the hanging plate 11 of 14 two sides of bearing plate is fastened with two upper stocks 4 respectively.
Preferably, the fixed support 12 of foot is arc-shaped plate, and fixed 12 concave surface of support of each pair of foot is oppositely arranged with concave surface.
Present embodiment is switched to training mode by removing sole supporting plate B, and user follows movement, carries out rehabilitation instruction
Practice.Other compositions and connection relationship are identical with embodiment two.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 2 and Figure 11, present embodiment executing agency I is electricity
Machine retarder II9, motor reducer II9 drive short connecting rod 18 that can swing up and down by synchronous belt II (5-2).Other compositions and company
The relationship of connecing is the same as the specific implementation mode 3.
Specific embodiment 5: illustrate present embodiment in conjunction with Fig. 5, Fig. 6 and Fig. 7, present embodiment support knee backplate 22
For arc-shaped plate, the adjusting rod setting is equipped with the U-shaped gap of a row on support 22 convex surface side of knee backplate and adjusting rod, holds in the palm knee tune
Long 23 are equipped with two boss for square plate and in square plate diagonal angle, the tune on the boss and support knee backplate 22 of support knee tune long 23
The U-shaped gap of pole fastens.Present embodiment knee is supported by tune long structure, can quickly adjust to adapt to the people of different statures
Group.Other compositions and connection relationship are identical as specific embodiment four.
Specific embodiment 6: illustrating present embodiment in conjunction with Fig. 8, executing agency II described in present embodiment is electronic
Push rod 25,25 both ends of electric pushrod are hinged with mobile jib 26 and chassis A respectively.Other compositions and connection relationship and specific embodiment
Five is identical.
It is flat among present embodiment chest protector supporting plate 29 specific embodiment 7: illustrating present embodiment in conjunction with Fig. 8
Plate, the two sides of plate are the arc-shaped plate being arranged symmetrically, and the back side of chest protector supporting plate 29 is equipped with remote controler 28 and two U-shaped handles
II27, remote controler 28 can control electric pushrod 25, motor reducer I3 and motor reducer II9 movement.Pacify on chest protector supporting plate 29
Bandage 30 is filled, for protecting to user, the U-shaped handle II27 of aiding upright, 29 front of chest protector supporting plate can be carried out centainly
Rotation in angle meets the transformation of force direction during user stands up.By triggering letter by the key on remote controler 28
Number, signal emits signal by 28 wireless serial of remote controler, receives letter by the control panel receiving end in the control box 24 of chassis A
Number, signal is passed into control electric pushrod 25, motor reducer I3 or motor reducer II9 and is acted with realizing,
The operation of control panel in electric pushrod 25, motor reducer I3, motor reducer II9 and control box 24 is logical
What the battery power supply crossed on the A of chassis was realized.Present embodiment remote controler can be separated with equipment, enable a user to set separate
Remote control operation equipment is near in the case where standby, so that rehabilitation and walk help pattern switching are convenient and efficient, remote controler is placed in equipment
On, direct operation button, can be operated with one hand when user is using equipment, or the control by being separately provided on control box 24
The button of electric pushrod 25, motor reducer I3 or motor reducer II9 movement, realizes rehabilitation and walk help pattern switching.
Other compositions and connection relationship are identical as specific embodiment six.
Claims (7)
1. a kind of household helping omni-directional mobile robots, it is characterised in that: it includes that chassis (A), sole supporting plate (B), seat are stretched
Contracting mechanism (C), Tuo Xi mechanism (D) and Tuo Xiong mechanism (E),
The front and rear sides on chassis (A) are respectively provided with two Mecanum wheels (2), and each Mecanum wheel (2) is by motor reducer I
(3) it drives,
Sole supporting plate (B) is arranged on chassis (A),
Seat extension/retraction mechanism (C) includes seat (15), long connecting rod (16), curved rod (17), short connecting rod (18) and column (19), length
One end of connecting rod (16) and the bottom of seat (15) are fixed together, and column (19) front and rear sides are respectively provided with articulated slab, short connecting rod
(18) both ends are hinged with the other end of the articulated slab of column (19) side and long connecting rod (16) respectively, the both ends point of curved rod (17)
Not hingedly with the articulated slab of the other side of column (19) and long connecting rod (16), column (19) is fixed on chassis (A), is arranged in bottom
Executing agency I on disk (A) can drive short connecting rod (18) to swing,
Tuo Xi mechanism (D) includes support knee backplate (22) and the support long device of knee tune (23), and support knee backplate (22) is equipped with an adjusting rod, holds in the palm knee
Long device (23) is adjusted to be fixed on column (19), the adjusting rod set of support knee backplate (22) is buckled in the support long device of knee tune (23),
Tuo Xiong mechanism (E) includes chest protector supporting plate (29) and protective bandage (30), and protective bandage (30) is arranged in chest protector supporting plate (29)
Two sides, mobile jib (26) both ends are hinged with the end of chest protector supporting plate (29) and column (19) respectively, are arranged in holding on chassis (A)
Row mechanism II can drive mobile jib (26) to swing up and down.
2. a kind of household helping omni-directional mobile robots according to claim 1, it is characterised in that: chassis (A) includes upper
Crossbeam (8), lower beam (7), two lower stocks (6) and two are upper stock (4),
Upper beam (8) is fixed together with lower beam (7), and two upper stock (4) and two lower stocks (6) are arranged symmetrically in cross
The two sides of beam (8), two upper stock (4) are fixed together with upper beam (8) respectively, each descend one end of stock (6) respectively with
The one end of each upper stock (4) is hinged, each descends between the other end of stock (6) and the other end of each upper stock (4) and is equipped with
Damping spring (1) each descends the both ends of stock (6) to be each provided with a Mecanum wheel (2),
The Mecanum wheel (2) and motor reducer I (3) being disposed adjacent with damping spring (1) are direct-connected, with upper stock (4) under
The Mecanum wheel (2) that stock (6) hinged place is disposed adjacent is connected by synchronous belt I (5-1) with motor reducer I (3).
3. a kind of household helping omni-directional mobile robots according to claim 2, it is characterised in that: sole supporting plate (B) packet
Bearing plate (14), the fixed support (12) of U-shaped handle I (13) and two pairs of foots are included, bearing plate (14) is rectangular, the fixed support of two pairs of foots
(12) it is disposed in parallel in the upper surface of bearing plate (14), there are two U-shaped handle I (13), load-bearing for the setting of bearing plate (14) upper surface
Plate (14) two sides it is affixed there are two it is symmetrical be in hook hanging plate (11), the hanging plate (11) of bearing plate (14) two sides is respectively with two
A upper stock (4) fastens.
4. a kind of household helping omni-directional mobile robots according to claim 3, it is characterised in that: executing agency I is electricity
Machine retarder II (9), motor reducer II (9) can be swung up and down by synchronous belt II (5-2) driving short connecting rod (18).
5. a kind of household helping omni-directional mobile robots according to claim 4, it is characterised in that: support knee backplate (22) be
Arc-shaped plate, the adjusting rod setting is in support knee backplate (22) convex surface side, and the adjusting rod is equipped with the U-shaped gap of a row,
It asks the long device of knee tune (23) to be square plate and is equipped with two positive stop lug boss in square plate diagonal angle, be extended on one of positive stop lug boss
One protrusion that can be interlocked with U-shaped gap.
6. a kind of household helping omni-directional mobile robots according to claim 5, it is characterised in that: the executing agency II
For electric pushrod (25), electric pushrod (25) both ends are hinged with mobile jib (26) and chassis (A) respectively.
7. a kind of household helping omni-directional mobile robots according to claim 6, it is characterised in that: in chest protector supporting plate (29)
Between be plate, the two sides of plate are the arc-shaped plate being arranged symmetrically, and the back side of chest protector supporting plate (29) is equipped with remote controler (28) and two
A U-shaped handle II (27), remote controler (28) can control electric pushrod (25), motor reducer I (3) and motor reducer II (9)
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721489057.8U CN208511463U (en) | 2017-11-09 | 2017-11-09 | A kind of household helping omni-directional mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721489057.8U CN208511463U (en) | 2017-11-09 | 2017-11-09 | A kind of household helping omni-directional mobile robots |
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| Publication Number | Publication Date |
|---|---|
| CN208511463U true CN208511463U (en) | 2019-02-19 |
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ID=65327670
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| CN201721489057.8U Active CN208511463U (en) | 2017-11-09 | 2017-11-09 | A kind of household helping omni-directional mobile robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107714405A (en) * | 2017-11-09 | 2018-02-23 | 杭州程天科技发展有限公司 | A kind of family expenses helping omni-directional mobile robots |
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2017
- 2017-11-09 CN CN201721489057.8U patent/CN208511463U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107714405A (en) * | 2017-11-09 | 2018-02-23 | 杭州程天科技发展有限公司 | A kind of family expenses helping omni-directional mobile robots |
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