CN209713485U - A kind of multifunction nursing healing robot - Google Patents
A kind of multifunction nursing healing robot Download PDFInfo
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- CN209713485U CN209713485U CN201920089784.8U CN201920089784U CN209713485U CN 209713485 U CN209713485 U CN 209713485U CN 201920089784 U CN201920089784 U CN 201920089784U CN 209713485 U CN209713485 U CN 209713485U
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Abstract
The utility model relates to a kind of multifunction nursing healing robots, belong to rehabilitation medical robot technical field.The technical solution of the utility model is: rehabilitation trainer (6), seat walking combined type Wheel-chair type bed (5), bathroom (3) and toilet (4) of lying are arranged successively from front to back, through being arranged in rehabilitation trainer (6), lying and sit the top of walking combined type Wheel-chair type bed (5), bathroom (3) and toilet (4), hoisting device (1) is slidably connected on slideway (2) slideway (2).The beneficial effects of the utility model are: mainly for motor dysfunction of lower limb personage, Machine Design is carried out in conjunction with robotics and ergonomics scheduling theory, it is proposed it is a kind of can help to solve motor dysfunction of lower limb patient have a bath, the multifunction nursing healing robot of the demands such as stool and urine and rehabilitation training, meet patient's physiology, health and rehabilitation training demand.
Description
Technical field
The utility model relates to a kind of multifunction nursing healing robot and its application methods, belong to rehabilitation medical robot
Technical field.
Background technique
In recent years, because the motor dysfunction of lower limb trend that the factors such as traffic accident, industrial accident, cerebral apoplexy cause does not subtract, this
Treatment of the class patient in addition to carrying out operation and drug, most of the time all lie on one's sick bed, wherein most motor dysfunction of lower limb
Life is rough by personage to take care of oneself, and household is needed to take the utmost care of by the side of.What motor dysfunction of lower limb personage was most difficult to nursing at present is big
The demands such as urine, bathing, rehabilitation training.It is most of not to be able to satisfy lower extremity movement in existing nursing rehabilitation robot product
The demand of impedient people, there is such products seldom, level is low, is difficult to meet patient's physiological hygiene and rehabilitation training need
The problem of asking.
Utility model content
The utility model aim is to provide a kind of multifunction nursing healing robot, mainly for motor dysfunction of lower limb people
Scholar carries out Machine Design in conjunction with robotics and ergonomics scheduling theory, proposes that one kind can help to solve lower extremity movement barrier
Hinder patient to have a bath, the multifunction nursing healing robot of the demands such as stool and urine and rehabilitation training, efficiently solves background
The above problem present in technology.
The technical solution of the utility model is: a kind of multifunction nursing healing robot, includes hoisting device, slideway, bath
Room, toilet, lie seat walking combined type Wheel-chair type bed and rehabilitation trainer, the rehabilitation trainer, seat walking combined type wheelchair of lying
Bed, bathroom and toilet are arranged successively from front to back, and slideway is through setting in rehabilitation trainer, seat walking combined type wheelchair of lying
The top of bed, bathroom and toilet, hoisting device are slidably connected on slideway；Hoisting device includes support frame, sliding block, plays handling
Motivation structure, lifting rope and human body bandage, sliding block are fixed at the top of support frame, and hoisting device is connected by sliding block and slideway sliding
It connects, human body bandage is fixed on lifting rope end, and lifting rope upper end is fixed on lifting movement mechanism, and lifting movement mechanism is fixed on support
On frame；Bathroom and toilet are equipped with induction automatically-controlled door, and induction automatically-controlled door is equipped with anti-pinch device and induction reception device, hoisting device
Equipped with induced emission device, induced emission device matches with induction reception device；Seat walking combined type Wheel-chair type bed of lying includes solid
Fixed bed, seat of lying balance wheelchair and differential driving balancing trolley, and seat of lying balances wheelchair front end and two sides and is connected to the inside of fixed bed,
In same level, differential driving balancing trolley, which is arranged in lie, sits the bottom of balance wheelchair for surface and fixed bed；Rehabilitation training
Machine setting is in seat walking combined type wheelchair bed end direction of lying.
Lifting movement mechanism in the hoisting device includes horicontal motion mechanism and rotational motion mechanism.
The lying seat balance wheelchair sat in walking combined type Wheel-chair type bed of lying, comprising back-supported plate, thigh support plate, small
Leg support plate and hinge axis of rotation, there are two hinge axis of rotation, is separately positioned on back-supported plate and thigh support plate and thigh
The junction of support plate and shin support panel；It includes to drive front-wheel, mobile rear-wheel and trolley base that differential, which drives balancing trolley, and two
The bottom of trolley base is arranged in a driving front-wheel and two mobile rear-wheels, and driving front-wheel is differential driving wheel, and mobile rear-wheel is
Universal wheel.
The utility model relates to induced emission device, induction reception device, horicontal motion mechanism and rotational motion mechanism,
Differential driving balancing trolley, seat balance of lying wheelchair, rehabilitation trainer etc., are public technology, ordinary skill
Personnel can buy in the market again, also can according to need and voluntarily assemble.
The beneficial effects of the utility model are: mainly for motor dysfunction of lower limb personage, in conjunction with robotics and man-machine work
Cheng Xue scheduling theory carries out Machine Design, propose one kind can help to solve motor dysfunction of lower limb patient have a bath, stool and urine and
The multifunction nursing healing robot of the demands such as rehabilitation training meets patient's physiology, health and rehabilitation training demand.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the hoisting device structural schematic diagram of the utility model；
Fig. 3 is the lifting movement mechanism structural schematic diagram in the hoisting device of the utility model；
Fig. 4 is the seat walking combined type Wheel-chair type bed structural schematic diagram of lying of the utility model；
Fig. 5 is the seat balance wheelchair structural schematic diagram of lying of the utility model；
In figure: hoisting device 1, slideway 2, bathroom 3, toilet 4, lie seat walking combined type Wheel-chair type bed 5, rehabilitation trainer 6,
Support frame 11, sliding block 12, lifting movement mechanism 13, lifting rope 14, human body bandage 15, fixed bed 51, lie seat balance wheelchair 52, differential
Drive balancing trolley 53, horicontal motion mechanism 131, rotational motion mechanism 132, back-supported plate 521, thigh support plate 522, small
Leg support plate 523, hinge axis of rotation 524, driving front-wheel 531, mobile rear-wheel 532, trolley base 533.
Specific embodiment
Technical solutions of the utility model are described in further detail with embodiment with reference to the accompanying drawing.
A kind of multifunction nursing healing robot, it is multiple comprising hoisting device 1, slideway 2, bathroom 3, toilet 4, seat walking of lying
Box-like Wheel-chair type bed 5 and rehabilitation trainer 6, the rehabilitation trainer 6, lie seat walking combined type Wheel-chair type bed 5, bathroom 3 and toilet 4
It is arranged successively from front to back, slideway 2 is through setting in rehabilitation trainer 6, lie seat walking combined type Wheel-chair type bed 5, bathroom 3 and health
Between 4 top, hoisting device 1 is slidably connected on slideway 2；Hoisting device 1 includes support frame 11, sliding block 12, lifting fitness machine
Structure 13, lifting rope 14 and human body bandage 15, sliding block 12 are fixed at 11 top of support frame, and hoisting device 1 is by sliding block 12 and slides
Road 2 is slidably connected, and human body bandage 15 is fixed on 14 end of lifting rope, and 14 upper end of lifting rope is fixed on lifting movement mechanism 13, lifting
Movement mechanism 13 is fixed on support frame 11；Bathroom 3 and toilet 4 are equipped with induction automatically-controlled door, and induction automatically-controlled door is clamped equipped with anti-
Reception device is set and incudes, hoisting device 1 is equipped with induced emission device, and induced emission device matches with induction reception device；
Seat walking combined type Wheel-chair type bed 5 of lying includes fixed bed 51, lie seat balance wheelchair 52 and differential driving balancing trolley 53, seat balance of lying
52 front end of wheelchair and two sides are connected to the inside of fixed bed 51, and in same level, differential driving is flat for surface and fixed bed 51
Weighing apparatus trolley 53, which is arranged in lie, sits the bottom of balance wheelchair 52；The setting of rehabilitation trainer 6 is in seat walking 5 tail end of combined type Wheel-chair type bed of lying
Direction.
Lifting movement mechanism 13 in the hoisting device 1 includes horicontal motion mechanism 131 and rotational motion mechanism 132.
Horicontal motion mechanism can be moved horizontally along slideway, be used for mobile human body position；Rotational motion mechanism can be carried out 180 degree rotation,
For adjusting the direction of human body lifting rope.
The seat balance wheelchair 52 of lying sat in walking combined type Wheel-chair type bed 5 of lying, includes back-supported plate 521, thigh branch
Fagging 522, shin support panel 523 and hinge axis of rotation 524, there are two hinge axis of rotation 524, is separately positioned on back-supported plate
521 with the junction of thigh support plate 522 and thigh support plate 522 and shin support panel 523；Differential drives balancing trolley 53 to wrap
The front-wheel 531 containing driving, mobile rear-wheel 532 and trolley base 533, two driving front-wheels 531 and two mobile settings of rear-wheel 532 exist
The bottom of trolley base 533, driving front-wheel 531 are differential driving wheel, and mobile rear-wheel 532 is universal wheel.Driving front-wheel passes through difference
Fast driving device is driven, and the driving front-wheel can control direction according to direction key；Trolley base is equipped with autobalance
System, energy adjust automatically simultaneously keep one's balance.
The setting of rehabilitation trainer 6 includes machine for walking and lower limb exoskeleton in seat walking 5 tail end direction of combined type Wheel-chair type bed of lying
Robot, the upper end of lower limb exoskeleton robot are fixed on the handrail extension rod of machine for walking.Lower limb exoskeleton robot market
It is upper on sale, it is public technology contents
When patient needs to sit up, control button is pressed, the back-supported plate for seat balance wheelchair of lying starts slowly to revolve around axis
Turn to boost human body, while shin support panel two sides start slowly to be pivoted, make human body lower leg portion gradually perpendicular to ground,
Sole portion is gradually parallel to ground；When back-supported plate and fixed bed horizontal plane, which form angle, reaches 75 degree, back-supported
Plate stops rotating along axis；When shin support panel and ground form 90 degree of vertical angles, shin support panel stops rotating along axis, at this time
Human body is in standing and sitting gesture；After the completion of standing and sitting gesture, seat balance wheelchair wood side-guide along fixed bed of lying slowly is moved to tailstock, directly
To lying, seat balance wheelchair is separated from fixed bed completely；When patient needs to take a shower, leg need to be with the hands fixed on by patient
The human body bandage of boom hoisting, boom hoisting sling patient by lifting by crane movement mechanism, and sliding block is along rotary motion machine where lifting rope
Structure adjustment direction；When boom hoisting is moved to toilet along slideway, induction automatically-controlled door is opened, and boom hoisting is to inside toilet
It is mobile；When distance perception answers automatically-controlled door to be greater than 20cm when boom hoisting rear end, automatically-controlled door slowly closing is incuded；When boom hoisting is mobile
Stop movement among to bathroom when position, lifting movement mechanism starts to adjust leg lifting rope length, and human body is made to tend to be upright；Patient
Leg human body bandage can be with the hands unlocked, patient only sling by lifting by crane movement mechanism by upper body at this time, and patient can open fluffy head
It takes a shower；After the completion of shower, human body bandage with the hands can be tied up go back to leg again and fixed by patient, and leg lifting rope is referred to by patient
Order is sling, and after slinging proper height, can be returned on bed by shifting bond(s) along slideway, and the induction automatically-controlled door course of work is similarly；Work as trouble
When person needs stool and urine, boom hoisting and the induction automatically-controlled door course of work are similarly；When boom hoisting is moved on toilet
Stop movement when square position, lifting movement mechanism slowly lengthens lifting rope length, so that patient's buttocks is taken closestool and go to the toilet；It goes to the toilet
After the completion, lifting movement mechanism slowly shortens lifting rope length by patient instruction and slings patient from closestool, and it is suitable to sling
It after height, can be returned on bed by shifting bond(s) along slideway, the induction automatically-controlled door course of work is similarly；When patient needs to carry out lower limb rehabilitation
When training, boom hoisting slings patient, and patient is transported to above rehabilitation trainer by slideway, patient only need to the hands by
Leg is fixed on lower limb exoskeleton robot, and both hands are helped on the handrail of front, presses gait training key, and machine for walking transmits at this time
Band starts slowly to roll, and lower limb exoskeleton robot drives patient legs to carry out gait training；After the completion of gait training, walking
Machine and lower limb exoskeleton robot stop motion, patient can with the hands unlock the fixed bandage in leg of lower limb exoskeleton robot,
And leg is bound to the human body bandage of boom hoisting, lifting movement mechanism slowly shortens lifting rope length for patient by patient instruction
It slings, after slinging proper height, can be returned on bed by shifting bond(s) along slideway.
Claims (3)
1. a kind of multifunction nursing healing robot, it is characterised in that: comprising hoisting device (1), slideway (2), bathroom (3), defend
(4), lie seat walking combined type Wheel-chair type bed (5) and rehabilitation trainer (6) between life, the rehabilitation trainer (6), seat walking of lying are compound
Formula Wheel-chair type bed (5), bathroom (3) and toilet (4) are arranged successively from front to back, and slideway (2) is through setting in rehabilitation trainer
(6), it lies and sits the top of walking combined type Wheel-chair type bed (5), bathroom (3) and toilet (4), hoisting device (1) is slidably connected at cunning
On road (2)；Hoisting device (1) includes that support frame (11), sliding block (12), lifting movement mechanism (13), lifting rope (14) and human body are tied up
Band (15), sliding block (12) are fixed at the top of support frame (11), and hoisting device (1) is slided by sliding block (12) and slideway (2)
Connection, human body bandage (15) are fixed on lifting rope (14) end, and lifting rope (14) upper end is fixed in lifting movement mechanism (13), lifting
Movement mechanism (13) is fixed on support frame (11)；Bathroom (3) and toilet (4) are equipped with induction automatically-controlled door, induction automatically-controlled door dress
There are anti-pinch device and induction reception device, hoisting device (1) is equipped with induced emission device, and induced emission device and induction receive dress
It sets and matches；Seat walking combined type Wheel-chair type bed (5) of lying includes fixed bed (51), seat balance wheelchair (52) of lying and differential driving balance
Trolley (53), seat of lying balance wheelchair (52) front end and two sides and are connected to the inside of fixed bed (51), surface and fixed bed (51) In
In same level, differential driving balancing trolley (53) setting is in the bottom for sitting balance wheelchair (52) of lying；Rehabilitation trainer (6) is set
It sets in seat walking combined type Wheel-chair type bed (5) tail end direction of lying.
2. a kind of multifunction nursing healing robot according to claim 1, it is characterised in that: the hoisting device (1)
In lifting movement mechanism (13) include horicontal motion mechanism (131) and rotational motion mechanism (132).
3. a kind of multifunction nursing healing robot according to claim 1, it is characterised in that: the seat walking of lying is compound
Seat balance wheelchair (52) of lying in formula Wheel-chair type bed (5), includes back-supported plate (521), thigh support plate (522), leg support
Plate (523) and hinge axis of rotation (524), there are two hinge axis of rotation (524), is separately positioned on back-supported plate (521) and big
The junction of leg support plate (522) and thigh support plate (522) and shin support panel (523)；Differential drives balancing trolley (53)
Comprising driving front-wheel (531), moving rear-wheel (532) and trolley base (533), after two driving front-wheels (531) and two movements
(532) setting is taken turns in the bottom of trolley base (533), driving front-wheel (531) is differential driving wheel, and mobile rear-wheel (532) are ten thousand
To wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920089784.8U CN209713485U (en) | 2019-01-21 | 2019-01-21 | A kind of multifunction nursing healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920089784.8U CN209713485U (en) | 2019-01-21 | 2019-01-21 | A kind of multifunction nursing healing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209713485U true CN209713485U (en) | 2019-12-03 |
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ID=68680344
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920089784.8U Active CN209713485U (en) | 2019-01-21 | 2019-01-21 | A kind of multifunction nursing healing robot |
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| Country | Link |
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| CN (1) | CN209713485U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109549805A (en) * | 2019-01-21 | 2019-04-02 | 赣州英博机器人科技有限公司 | A kind of multifunction nursing healing robot and its application method |
| CN113244072A (en) * | 2021-03-29 | 2021-08-13 | 杭州顿硕信息科技有限公司 | Personnel haulage equipment based on artificial intelligence |
-
2019
- 2019-01-21 CN CN201920089784.8U patent/CN209713485U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109549805A (en) * | 2019-01-21 | 2019-04-02 | 赣州英博机器人科技有限公司 | A kind of multifunction nursing healing robot and its application method |
| CN113244072A (en) * | 2021-03-29 | 2021-08-13 | 杭州顿硕信息科技有限公司 | Personnel haulage equipment based on artificial intelligence |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210826 Address after: 341100 plot on the west side of jiangkoutang Road, Ganzhou high tech Industrial Development Zone, Ganxian District, Ganzhou City, Jiangxi Province Patentee after: Ganzhou Bauhinia Zhongke Intelligent Technology Co.,Ltd. Address before: 341000 Room 608, science and technology business incubator, No. 1, torch Avenue, Ganzhou high tech Industrial Development Zone, Ganxian District, Ganzhou City, Jiangxi Province Patentee before: GANZHOU YINGBO ROBOT TECHNOLOGY Co.,Ltd. |