CN210185872U

CN210185872U - Full-automatic active wheelchair robot for patient exchange

Info

Publication number: CN210185872U
Application number: CN201920776118.1U
Authority: CN
Inventors: Chunbao Liu; 刘春宝; Peng Xu; 徐鹏; Lei Ren; 任雷
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2019-05-28
Filing date: 2019-05-28
Publication date: 2020-03-27
Anticipated expiration: 2029-05-28

Abstract

The utility model discloses a full-automatic active disease trades year wheelchair robot, the purpose satisfies initial stage action disability old man and slight disability crowd to the demand of trading year between bedding, wheelchair and closestool, wheelchair between etc. in unmanned supplementary daily house activity, solves the problem of wheelchair, the device of trading year, nursing device integration. The utility model discloses a chassis part, upper strata support component, separable combination seat and control system, upper strata support component and separable combination seat between can take place relative translation through fixed slide, flexible slide to realize the conversion of user on the seat between each carrier and wheelchair, separable combination seat produces relative rotation under upper support component's control each part seat, realizes multiple position nursing function.

Description

Full-automatic active wheelchair robot for patient exchange

Technical Field

The utility model belongs to the technical field of nursing apparatus, specifically be a full-automatic active disease wheelchair robot that reloads.

Background

The huge population base in China will make the problems of aging and disabled people become serious social problems in the next decade. China has already crossed the ranks of the aged population countries as early as 2000, and by the end of 2017, 24090 people in 60 years old and over account for 17.3 percent of the total population, wherein 15831 people in 65 years old and over account for 11.4 percent of the total population, wherein two thirds of the aged over 60 years old in China are in a disease-bearing survival state, and the number of the aged with limited activity is huge. However, the speed of the elderly living alone and the elderly living in empty nests is accelerated, the specific gravity of the elderly living alone and the elderly living in empty nests is increased, and the problem of home care of the elderly is getting worse.

In the face of the elderly with partial disabled independent activities, the elderly are nursed only outside the working time of children, and when no one nurses the elderly, dangerous situations such as slipping, stumbling, bruising and the like easily occur in the process from a bed to a wheelchair and from the wheelchair to a toilet; under the condition of nursing, the transfer of family members or medical care to the old is also a time-consuming and labor-consuming activity, and brings great pressure on the spirit and physiology of the old for a long time. In summary, the home transfer and replacement of the aged population is a basic problem for home care of the aged.

At present, an electric shifting machine appears in the market, which consists of a movable lifting appliance frame and lifting appliance bags, wherein the lifting appliance bags are laid below the old, and then the lifting appliance bags are lifted by lifting hooks on the movable frame, so that the bidirectional shifting function from a bed to a wheelchair for paralyzed patients and the old can be realized. The device simple structure, good reliability, but still need the supplementary hoist bag tiling below patient of external force in the transfer process, can't realize automatic transfer, and can't realize patient from the transfer of wheelchair to closestool, and the application scene and object facing are limited.

The patent application number: 201810472553.5 discloses a patient transfer service robot, which can basically realize the transfer of patients between beds, adopts the idea of belt transmission, a conveyor belt on the device drags the patients to the device by friction force, the friction is generated between the conveyor belt under the device and the beds to move the device to the lower part of the body of the patients, and finally the device and the patients are carried to a target bed through a lower layer conveyor belt integrally.

There is a need in the market for a multifunctional and fully automatic active patient transfer device that allows users to easily transfer patients between beds, wheelchairs, toilets, and other vehicles by using the transfer device without the assistance of external force.

SUMMERY OF THE UTILITY MODEL

The utility model discloses in aiming at solving the background art, the old person of initial stage action disability and the daily family of slight disability crowd are placed in the middle to the demand of independently trading the year, have provided a full-automatic active disease and have traded a wheelchair robot.

In order to achieve the above object, the utility model provides a following technical scheme:

a full-automatic active wheelchair robot for patient reloading comprises a chassis part, an upper layer supporting part, a movable combined seat and a control system, wherein the chassis part is driven by a walking component, the upper layer supporting part is installed on the chassis part through a lifting external member, the movable combined seat can move relative to the upper layer supporting part along the Y direction through a slide way component, the movable combined seat comprises a back plate, a seat plate, a lower leg plate and a pedal plate which are connected with each other, an automatic toilet cover is arranged in the center of the seat plate, the walking component, the lifting external member and the slide way component are used for transferring a user on a wheelchair among a bed, the wheelchair and a toilet through the control system, and the control system is installed in a master controller in a software mode.

Furthermore, the upper layer supporting part comprises a cuboid hollow frame, a back plate supporting frame, a lower leg plate supporting frame, a first electric push rod, a second electric push rod, a battery, a driver group and a slideway component; the slideway component comprises a fixed slideway, a telescopic slideway, a third electric push rod and a fourth electric push rod; the rectangular hollow frame is used for supporting the seat board, the Z-direction lower surface of the upper rectangular frame of the rectangular hollow frame is connected with the lifting suite, the Z-direction upper surface of the upper rectangular frame of the rectangular hollow frame is provided with a fixed slideway, a telescopic slideway is matched inside the fixed slideway, a hinge lug is arranged inside one side of the Y-direction of the upper rectangular frame of the rectangular hollow frame, the hinge lug is connected with the fixed end of a third electric push rod, and the other movable end of the third electric push rod is connected with a hinge lug arranged on the telescopic slideway; two hinge lugs are respectively arranged on the front and the back of the outer side of the cuboid hollow frame in the X direction, the front hinge lug is connected with the movable end of a second electric push rod, and the fixed end of the second electric push rod is connected with a hinge lug on the shank plate supporting frame; the rear hinge lug is connected with the fixed end of the first electric push rod, and the movable end of the first electric push rod is connected with the hinge lug on the back plate supporting frame; the battery is used for supplying power to the driver group, the driver group is electrically connected with the control system and used for driving the push rods of the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod to move, and therefore body position changing of the upper layer supporting part and movement of the combined seat face are achieved.

Further, backplate braced frame's main part is backplate braced frame main part, and backplate braced frame passes through the hinge with cuboid hollow frame and links to each other, link to each other through U type folding rod between hinge and the backplate braced frame main part, back of the body backplate braced frame main part top is equipped with first spin, and first spin can be for the X, Y, Z direction removal of backplate braced frame main part fixed.

Furthermore, the main body of the lower leg plate supporting frame is a lower leg plate supporting frame main body, the lower leg plate supporting frame is connected with the cuboid hollow frame through a hinge, a second rolling ball is arranged below the lower leg plate supporting frame main body, and the second rolling ball can move and be fixed relative to the X, Y, Z direction of the lower leg plate supporting frame main body.

Furthermore, the fixed slide way is divided into three layers, the bottom layer is two first rectangular square steel tubes, the first rectangular square steel tubes are fixed with the cuboid hollow frame, one layer of the two first rectangular square steel tubes is a rectangular square steel tube frame, two parallel first hollow guide rails are further mounted on the rectangular square steel tube frame along the X direction, a long rectangular limiting groove with a semicircular end is formed in the outer side of each guide rail, and the notch faces the Y direction; the bottom sides of the two first hollow guide rails in the Z direction are also provided with through grooves along the X direction; a notch with the same size as the distance between the two first hollow guide rails is formed in one side of the rectangular square steel pipe frame in the positive X direction; a mounting plate of a fourth electric push rod is arranged on one side of the fixed slide way in the Y direction and used for fixing the fixed end of the fourth electric push rod, and the movable end of the fourth electric push rod is connected with a seat plate in the movable combined seat surface.

Furthermore, a telescopic slideway is arranged in a first hollow guide rail of the fixed slideway in a matching way, the telescopic slideway main body is a pair of second hollow guide rails which are arranged along the Y direction and arranged along the X direction, the two second hollow guide rails are connected by a rectangular square steel pipe, the rectangular square steel pipe comprises a section of inverted U-shaped bend, and a pair of hinge lugs are welded on the rectangular square steel pipe for connection; the sections of the two second hollow guide rails are rectangles with bulges at the bottoms, and a pair of short limiting cylindrical pins are respectively welded on the outer sides of the two second hollow guide rails relative to the whole telescopic slideway; the Y-direction end of the telescopic slideway is provided with two pressure sensors, the two pressure sensors are respectively arranged in the two hollow guide rails, and the probes of the pressure sensors extend out of the bottoms of the hollow guide rails.

Further, the walking assembly comprises an active walking driving kit and a passive universal caster; the driving walking driving kit comprises two electric wheels which are respectively arranged on the left side and the right side behind the chassis component along the X direction, and the electric wheels are integrated by a motor, a speed reducer and a tire; the driven universal caster wheels are two and are respectively arranged on the left side and the right side of the chassis in front along the X direction.

Furthermore, the lifting external member is connected to the upper layer supporting component along the upper part of the Z direction, the lifting external member comprises two pairs of scissor-type supports and an electric push rod, two pairs of scissor-type supports are arranged in the lifting external member main body along the Y direction, each pair of scissor-type supports comprises two scissor mechanisms, the two scissor mechanisms are connected through a hinge, the main bodies of the scissor-type mechanisms are X-shaped mechanisms, and the middle positions of the scissor-type mechanisms are connected through a hinge; the two pairs of scissors type supports are connected at the joint of each pair of scissors mechanisms through two connecting rods, each pair of scissors supports are connected with the chassis part and the upper layer supporting part through a fixed hinge and a horizontal sliding hinge from top to bottom respectively, a fifth electric push rod is installed between the two connecting rods connecting the two pairs of scissors supports, and the fifth electric push rod is electrically connected with the control system.

Furthermore, the back plate, the seat plate, the shank plate and the pedal are connected through a power-off self-locking hinge.

The movable combined seat surface further comprises a seat cushion, armrests and auxiliary controller armrests, the seat cushion covers the upper surface of the movable combined seat surface, the armrests and the auxiliary controller armrests are respectively positioned on the left side and the right side of the movable combined seat surface, and the mechanical parts of the armrests and the auxiliary controller armrests are controlled to rotate through a control system; the auxiliary controller handrail comprises a handrail part and an auxiliary controller part, the auxiliary controller part is in communication connection with the main controller through Bluetooth, the auxiliary controller comprises a walking direction control key, a walking direction control rocker, a rocker control mode-key control mode switching key, a user load changing control key and a user-defined common function key, and the direction control rocker is a standby walking direction controller.

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

the utility model discloses a full-automatic active disease trades carries wheelchair robot, through the design of seat and supporting mechanism separation, the user sits on activity combination seat, regards user and activity combination seat as whole, establishes the slide between wheelchair and the target carrier, through the removal of control user and activity combination seat on the slide, realizes the transfer of the user on the wheelchair between bed, wheelchair, closestool.

The utility model discloses combine together wheelchair and reloading transfer machinery, can realize that the user is in the full-automatic initiative reloading under no external force is supplementary.

The utility model has the walking function of the electric wheelchair; the utility model discloses combine nursing bed, with the position transform function integration on the wheelchair, the user can realize the position transform function that multiple could realize on nursing bed through the wheelchair, saves the overhead of user on nursing apparatus, has increased the practicality.

The utility model discloses carry on intelligent control system, it is simple with user's interactive mode, can solve most user demands through the button, still attach the control rod simultaneously, the control rod can provide more convenient walking direction control for the better user of limbs coordination ability.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to these drawings.

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is an exploded schematic view of the present invention;

FIG. 3 is a schematic view of a back plate support frame of the present invention;

FIG. 4 is a schematic view of a calf plate support frame of the present invention;

fig. 5 is a schematic view of the fixed slide of the present invention;

fig. 6 is a schematic view of the telescopic chute of the present invention;

FIG. 7 is a diagram showing the effect of the dummy with experiment according to the present invention;

FIG. 8 is a schematic view of the bed-chair transfer demonstration of the present invention;

FIG. 9 is a schematic view of the lifting assembly mechanism of the present invention;

FIG. 10 is a schematic view of the seat plate of the present invention;

description of reference numerals:

1. a movable combined seat surface; 2. an upper support member; 3. a chassis member;

1-1, a seat cushion; 1-2, a back plate; 1-3, a seat board; 1-4, a shank plate; 1-5, a foot pedal; 1-6, a secondary controller handrail; 1-7, a handrail;

2-1, a back plate support frame; 2-2, fixing a slideway; 2-3, a shank plate support frame; 2-4, a telescopic slideway; 2-5, a first electric push rod; 2-6, a second electric push rod; 2-7, a third electric push rod; 2-8, a fourth electric push rod; 2-9, a master controller; 2-10 parts of a cuboid hollow frame; 2-11, a battery; 2-12, a driver group;

3-1, an active walking driving kit; 3-2, passive universal caster wheels; 3-3, a lifting kit; 3-4, and a fifth electric push rod.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.

Referring to fig. 1 to 9, the fully automatic active patient-reloading wheelchair robot of the present invention generally comprises a chassis part 3, an upper support part 2, a movable combined seat 1 and a control system;

the utility model discloses a wheelchair, including chassis part 3, upper strata supporting component 2, activity combination seat 1, walking subassembly 3 realizes the walking through running gear, upper strata supporting component 2 install on chassis part 3 through the lift external member, activity combination seat 1 can produce relative motion for upper strata supporting component 2 along the Y direction through the slide subassembly, running gear, lift external member and slide subassembly realize the user on the wheelchair through the transfer between bed 4, wheelchair, closestool.

The chassis component 3 comprises an active walking driving kit 3-1, a passive universal caster 3-2, a lifting kit 3-3 and a fifth electric push rod 3-4;

the upper layer supporting part 2 comprises a cuboid hollow frame 2-10, a back plate supporting frame 2-1, a shank plate supporting frame 2-3, a fixed slideway 2-2, a telescopic slideway 2-4, a first electric push rod 2-5, a second electric push rod 2-6, a third electric push rod 2-7, a fourth electric push rod 2-8, a battery 2-11, a driver group 2-12 and a master controller 2-9;

the movable combined seat surface 1 comprises a back plate 1-2, a seat plate 1-3, a leg plate 1-4, a pedal plate 1-5, an automatic toilet cover 1-8, a seat cushion 1-1, armrests 1-7 and auxiliary controller armrests 1-6;

the upper layer supporting part 2 is installed on the chassis part 3 through a lifting kit 3-3, the movable combined seat surface 1 is matched with the upper layer supporting part 2 through a slide way 1-3-2 and a fixed slide way 2-2 on the seat plate 1-3, and the control system is installed in a master controller 2-9 in a software mode.

The driving walking driving kit 3-1 comprises a pair of two electric wheels, the two electric wheels are respectively arranged on the left side and the right side of the rear part of the chassis component 3 along the X direction, the electric wheels are integrally designed by a motor, a speed reducer and a tire, the electric wheels are directly arranged on the chassis component 3, the driven universal caster wheels 3-2 are respectively arranged on the left side and the right side of the front part of the chassis along the X direction, and the two driven universal caster wheels are respectively arranged on the left side and the right side of the.

The lifting external member 3-3 is arranged on the chassis component 3 and comprises two pairs of scissor-shaped brackets and a third electric push rod-4, and the lifting external member 3-3 is connected to the cuboid hollow frame 2-10 of the upper layer supporting component 2 along the Z direction.

Two pairs of scissor-type supports are arranged in the main body of the lifting suite 3-3 along the Y direction, each pair of scissor-type supports comprises two scissor mechanisms 3-3-1 and 3-3-2, the number of the scissor mechanisms is four, the two scissor mechanisms are connected through a hinge, the main body of each scissor-type mechanism is an X-shaped mechanism, and the middle positions of the scissor-type mechanisms are connected through a hinge; two pairs of brackets are connected at the joint of each pair of scissor mechanisms by two connecting rods 3-3-3, each pair of scissor brackets are respectively connected with the chassis component 3 and the cuboid hollow frame 2-10 by a fixed hinge 3-3-4 and a horizontal sliding hinge 3-3-5 from top to bottom, and a fifth electric push rod 3-4 is arranged between the two connecting rods 3-3-3 connecting the two pairs of scissor brackets.

The Z-direction lower surface of the upper rectangular frame of the cuboid hollow frame 2-10 is connected with the lifting suite 3-3, the Z-direction upper surface of the upper rectangular frame of the cuboid hollow frame 2-10 is provided with a fixed slideway 2-2, and a telescopic slideway 2-4 is arranged inside the fixed slideway 2-2; a hinge lug is arranged on the inner side of the upper rectangular frame 2-10 in the Y direction, the hinge lug is connected with the fixed end of a third electric push rod 2-7, and the other movable end of the third electric push rod 2-7 is connected with a hinge lug arranged on a telescopic slideway 2-4; two hinge lugs are respectively arranged on the front and the back of the outer side of the cuboid hollow frame 2-10 in the X direction, the front hinge lug is connected with the movable end of a second electric push rod 2-6, and the fixed end of the second electric push rod 2-6 is connected with a hinge lug on the shank plate supporting frame 2-3; the rear hinge lug is connected with the fixed end of the first electric push rod 2-5, and the movable end of the first electric push rod 2-5 is connected with the hinge lug on the back plate supporting frame 2-1.

The backboard support frame 2-1 is characterized in that the main body of the backboard support frame 2-1 is a hollow rectangular frame 2-1-1, the backboard support frame 2-1 is connected with the cuboid hollow frame 2-10 through a hinge, the hinge is connected with the backboard support frame main body 2-1-1 through a U-shaped folding rod 2-1-2, a first rolling ball 2-1-3 is arranged above the backboard support frame main body 2-1-1, and the first rolling ball 2-1-3 is fixed in a moving mode relative to the X, Y, Z direction of the backboard support frame main body 2-1-1, but rotation is not limited.

The main body of the lower leg plate supporting frame 2-3 is a hollow rectangular frame 2-3-1, the lower leg plate supporting frame 2-3 is connected with the cuboid hollow frame 2-10 through a hinge, a second rolling ball 2-3-2 is arranged below the lower leg plate supporting frame main body 2-3-1, and the second rolling ball 2-3-2 moves and is fixed relative to the X, Y, Z direction of the backboard supporting frame main body 2-3-1, but the rotation is not limited.

The fixed slide way 2-2 is divided into three layers, the bottom layer is a pair of two first rectangular square steel tubes 2-2-1, the first rectangular square steel tubes 2-2-1 are fixed with the cuboid hollow frame 2-10, one layer above the two first rectangular square steel tubes 2-2-1 is a rectangular square steel tube frame 2-2-2, a pair of two parallel first hollow guide rails 2-2-3 are further arranged on the rectangular square steel tube frame 2-2-2 along the X direction, the outer side of each guide rail is provided with a limit groove with one semicircular long rectangle, and the notch faces the Y direction; the bottom sides of the two first hollow guide rails 2-2-3 in the Z direction are also provided with through grooves along the X direction; a groove with the same distance with the two first hollow guide rails 2-2-3 is formed in one side of the rectangular square steel pipe frame 2-2-2 in the positive X direction. A fourth electric push rod 2-8 placing plate 2-2-4 is arranged on one side of the fixed slideway 2-2 in the Y direction, and the movable end of the fourth electric push rod 2-8 is connected with a seat plate 1-3 in the movable bed plate component 1.

The telescopic slideway 2-4 is arranged in the hollow guide rail of the fixed slideway 2-2 in a matching way; the main body of the telescopic slideway 2-4 is a pair of two second hollow guide rails 2-4-1 which are arranged along the X direction and are arranged along the Y direction, the two second hollow guide rails 2-4-1 are connected by a rectangular square steel pipe 2-4-2, the rectangular square steel pipe 2-4-2 comprises a section of U-shaped bend, and a pair of hinge lugs are welded on the rectangular square steel pipe 2-4-2 for connection; the sections of the two second hollow guide rails 2-4-1 are rectangles with bulges at the bottoms, and a pair of short limiting cylindrical pins 2-4-3 are respectively welded on the outer sides of the two second hollow guide rails 2-4-1 relative to the whole telescopic slideway 2-4; the Y-direction end of the telescopic slideway 2-4 is provided with a pressure sensor 2-4-4, two pressure sensors 2-4-4 are arranged in the second hollow guide rail 2-4-1, and the probe of the pressure sensor 2-4-4 extends out of the bottom of the second hollow guide rail 2-4-1.

The movable combined seat surface 1 can generate relative motion along the Y direction relative to the upper layer supporting part 2, and the movable combined seat surface 1 comprises a back plate 1-2, a seat plate 1-3, a lower leg plate 1-4, a pedal plate 1-5, an automatic toilet cover 1-8, a seat cushion 1-1, an armrest 1-7 and an auxiliary controller armrest 1-6; the back plate 1-2, the seat plate 1-3, the lower leg plate 1-4 and the pedal plate 1-5 are connected through a power-off self-locking hinge; the power-off self-locking hinge can rotate freely only when being powered on, and the hinge can self lock when being powered off and cannot rotate freely.

The automatic toilet cover 1-8 is movably matched on the seat board 1-3, when the cuboid hollow frame ascends under the action of the lifting kit, the automatic toilet cover descends relative to the seat board to achieve the purpose of separation, a round defecation opening is formed in the middle of the seat board 1-3, and the seat board 1-3 comprises a main body structure 1-3-1 and a slide way 1-3-2 which are used for moving on a fixed slide way and an extended telescopic slide way.

The armrests 1-7 and the auxiliary controller armrests 1-6 are arranged on two sides of the back plate 1-2. The auxiliary controller comprises auxiliary controllers and armrests 1-6, wherein the auxiliary controllers of the armrest parts are communicated with the main controllers 2-9 through Bluetooth, each auxiliary controller comprises a walking direction control key, a walking direction control rocker, a rocker control mode-key control mode switching key, a user load changing control key and a user-defined common function key, and the direction control rocker is a standby walking direction controller. The mechanical parts of the armrests 1-7 and the auxiliary controller armrests 1-6 are electrically controlled, and the two armrests can automatically rotate.

The utility model discloses a theory of operation does:

the core of the utility model is a full-automatic disease reloads the function, raising and lowering functions, walking function, lift the back, position of sitting conversion function is for reloading the function service, the user takes the wheelchair originally and need lean on external help, perhaps the user should have the ability of independently standing up on the bedding.

The user sits on the seat at the moment, the target function is the transfer from the wheel chair to the closestool, the user can select manual or automatic route finding to reach the toilet, and the automatic route finding is to lay route finding induction lines in the family. When the Hall sensor of the wheelchair detects that the Hall sensor of the wheelchair is close enough to the closestool, the master controller 2-9 of the wheelchair inquires whether a user starts a transfer process from the wheelchair to the closestool, the user clicks an agreement button on a panel of the master controller 2-9, and the final butt joint of the wheelchair and the closestool is forced to be automatically realized from the aspects of safety and reliability. The method comprises the following steps that a positioning magnetic strip is attached to a designated position of one side, butted with a wheelchair, of a closestool, a master controller on the wheelchair detects the position relation with the closestool through a Hall sensor, the distance between the master controller and the closestool is detected through an ultrasonic distance measuring sensor, and the next step of operation, namely the connection of a slideway is executed after the position between the wheelchair and the closestool is proper; the slideway is connected to establish a horizontal slideway between the wheelchair main body and the closestool, and the movable combined wheelchair surface 1 can slide to a specified position on the slideway. The first step of the slideway connection is that the lifting external member 3-3 is lifted to the limit position, at the same time, the toilet cover 1-8 on the seat plate of the movable combined wheelchair seat is controlled by the operating mechanism of the wheelchair main body to descend and separate from the seat plate 1-3 until the lowest point so as to avoid interference with subsequent actions, then the telescopic slideway 2-4 extends out for a designated length, the length is set according to the distance between the wheelchair and the edge of the toilet, after the extension, the wheelchair begins to descend, at the moment, the main controller 2-9 of the wheelchair monitors the reading of the pressure sensor 2-4-4 on the telescopic slideway 2-4, when the reading is detected, the descent is stopped, at the moment, a horizontal slideway is established between the wheelchair and the toilet, and then the horizontal sliding of the movable combined wheelchair seat 1 is started. Before the movable combined wheelchair surface 1 slides, a main controller 2-9 sends a signal to an armrest auxiliary controller 1-6, the armrest auxiliary controller 1-6 controls a power-off self-locking hinge to lose power, the hinge is opened in a self-locking mode at the moment, all plates in the movable combined wheelchair surface 1 cannot rotate relatively, the movable combined wheelchair surface 1 keeps a sitting posture state, load change and transfer are formally started, the movable combined wheelchair surface 1 slides on a slide way under the pushing of a fourth electric push rod 2-8, a user sits on the wheelchair surface 1 to slide together and stops sliding to the upper part of a closestool, and the function of changing the load of the wheelchair to the closestool is completed.

When a user finishes using the toilet, the wheelchair load-changing control button on the armrest secondary controller 1-6 controls the load-changing wheelchair to return to the wheelchair, the load-changing wheelchair returning is the reverse process of the load-changing to the toilet, and is not repeated any more, when the load-changing wheelchair returning is successful, the main controller 2-9 sends a signal to the armrest secondary controller 1-6, software locking of the electric control hinge is released, but the power-off self-locking hinge is still in a power-off state, and only when action change such as back lifting and leg bending is needed, the hinge can be powered on, and physical locking is released.

The target function is the transfer from a wheelchair to a bed, a user can select manual or automatic route finding to reach a bedroom, and the automatic route finding is to lay a route finding induction line in a family. When the wheelchair is close enough to the bed, the master controller 2-9 of the wheelchair asks the user whether to start the transfer process from the wheelchair to the bed, and the user clicks the consent button on the panel of the master controller 2-9, so that the final docking of the wheelchair and the closestool is forced to be automatically realized from the safety and reliability aspects. The positioning principle and the positioning mode are not repeated, when the position relation between the wheelchair and the bed is determined, the wheelchair starts posture conversion, namely the wheelchair is converted from a sitting posture to a lying posture, the first electric push rod 2-5 drives the back plate to rotate anticlockwise, the second electric push rod 2-6 drives the lower leg plate to rotate clockwise, and the foot plate 1-5 is converted into a horizontal state clockwise under the action of gravity and hinge limiting. And after the posture conversion is finished, the establishment of the slide way is started, the load change process can be started after the establishment of the slide way is finished, and the load change process is similar to the process from the wheelchair to the closestool.

If the user needs the unmanned auxiliary transfer from the bed to the wheelchair, the route-finding induction line will have to be laid in the home. After the wheelchair is called, the wheelchair executes the following procedures of automatically finding a way to the bedside and butting with the bed, building a slide way, automatically converting the posture, changing the seat mode into the bed mode, moving the movable combined wheelchair surface 1 onto the bed through the slide way under the pushing of the fourth electric push rods 2-8, enabling a user to turn over the wheelchair all the round, and after the user moves onto the wheelchair, pressing the reloading control key to reload the wheelchair together with the movable combined wheelchair surface 1.

The first rolling balls 2-1-3 and the second rolling balls 2-3-2 which are positioned on the back plate supporting frame 2-1 and the lower leg plate supporting frame 2-3 are used for supporting the back plate 1-2 and the lower leg plate 1-4 of the movable combined seat surface 1, so that the movable back plate 1-2 and the lower leg plate 1-4 can generate multidirectional relative sliding relative to the back plate supporting frame 2-1 and the lower leg plate supporting frame 2-3.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.

Claims

1. The full-automatic active wheelchair robot for patient reloading is characterized by comprising a chassis part (3), an upper layer supporting part (2), a movable combined seat surface (1) and a control system, wherein the chassis part (3) walks through a walking component, the upper layer supporting part (2) is installed on the chassis part (3) through a lifting kit (3-3), the movable combined seat surface (1) can move relative to the upper layer supporting part (2) along the Y direction through a slide way component, the movable combined seat surface (1) comprises a back plate (1-2), a seat plate (1-3), a leg plate (1-4) and a pedal plate (1-5) which are connected with one another, an automatic toilet cover (1-8) is arranged at the center of the seat plate (1-3), and the walking component is arranged on the chassis part (3), and an automatic toilet cover (1-8) is arranged at the center of the seat plate (1-3, The lifting external member (3-3) and the slideway component realize the transfer of the users on the wheelchair among the bed (4), the wheelchair and the closestool through a control system which is arranged in the master controller (2-9) in the form of software.

2. The full-automatic active patient-reloading wheelchair robot as claimed in claim 1, wherein the upper layer supporting part (2) comprises a cuboid hollow frame (2-10), a backboard supporting frame (2-1) and a shank board supporting frame (2-3), a first electric push rod (2-5), a second electric push rod (2-6), a battery (2-11), a driver set (2-12) and a slideway assembly; the slideway component comprises a fixed slideway (2-2), a telescopic slideway (2-4), a third electric push rod (2-7) and a fourth electric push rod (2-8); the rectangular hollow frame (2-10) is used for supporting the seat board (1-3), the Z-direction lower surface of the upper rectangular frame is connected with the lifting external member (3-3), the Z-direction upper surface of the upper rectangular frame of the rectangular hollow frame (2-10) is provided with a fixed slide way (2-2), the fixed slide way (2-2) is internally provided with a telescopic slide way (2-4), one side of the upper rectangular frame of the rectangular hollow frame (2-10) in the Y direction is internally provided with a hinge lug, the hinge lug is connected with the fixed end of a third electric push rod (2-7), and the other movable end of the third electric push rod (2-7) is connected with a hinge lug arranged on the telescopic slide way (2-4); two hinge lugs are respectively arranged on the front and the back of the outer side of the cuboid hollow frame (2-10) in the X direction, the front hinge lug is connected with the movable end of a second electric push rod (2-6), and the fixed end of the second electric push rod (2-6) is connected with a hinge lug on the shank plate supporting frame (2-3); the rear hinge lug is connected with the fixed end of the first electric push rod (2-5), and the movable end of the first electric push rod (2-5) is connected with the hinge lug on the back plate supporting frame (2-1); the battery (2-11) is used for supplying power to the driver set (2-12), and the driver set (2-12) is electrically connected with the control system and used for driving the push rods of the first electric push rod (2-5), the second electric push rod (2-6), the third electric push rod (2-7) and the fourth electric push rod (2-8) to move, so that the body position of the upper layer supporting part (2) is changed and the combined seat surface is pushed to move.

3. The full-automatic active patient-reloading wheelchair robot as claimed in claim 2, wherein the main body of the back plate supporting frame (2-1) is a back plate supporting frame main body (2-1-1), the back plate supporting frame (2-1) is connected with the cuboid hollow frame (2-10) through a hinge, the hinge is connected with the back plate supporting frame main body (2-1-1) through a U-shaped folding rod (2-1-2), a first rolling ball (2-1-3) is arranged above the back plate supporting frame main body (2-1-1), and the first rolling ball (2-1-3) can move and be fixed relative to the X, Y, Z direction of the back plate supporting frame main body (2-1-1).

4. The full-automatic active patient reloading wheelchair robot as claimed in claim 2, wherein the main body of the lower leg plate support frame (2-3) is a lower leg plate support frame main body (2-3-1), the lower leg plate support frame (2-3) is connected with the cuboid hollow frame (2-10) through a hinge, a second rolling ball (2-3-2) is arranged below the lower leg plate support frame main body (2-3-1), and the second rolling ball (2-3-2) can move and be fixed relative to the X, Y, Z direction of the lower leg plate support frame main body (2-3-1).

5. The full-automatic active patient wheelchair robot of claim 2, wherein the fixed slide (2-2) is divided into three layers, the bottom layer is two first rectangular square steel tubes (2-2-1), the first rectangular square steel tubes (2-2-1) are fixed with the cuboid hollow frame (2-10), one layer of the two first rectangular square steel tubes (2-2-1) is a rectangular square steel tube frame (2-2-2), the rectangular square steel tube frame (2-2-2) is further provided with two parallel first hollow guide rails (2-2-3) along the X direction, the outer side of each guide rail is provided with a semicircular long rectangular limiting groove, and the groove opening faces the Y direction; the bottom sides of the two first hollow guide rails (2-2-3) in the Z direction are also provided with through grooves along the X direction; a notch with the same distance with the two first hollow guide rails (2-2-3) is formed in one side of the rectangular square steel pipe frame (2-2-2) in the positive X direction; a placing plate (2-2-4) of a fourth electric push rod (2-8) is arranged on one side of the fixed slideway (2-2) in the Y direction and used for fixing the fixed end of the fourth electric push rod (2-8), and the movable end of the fourth electric push rod (2-8) is connected with a seat plate (1-3) in the movable combined seat surface (1).

6. The full-automatic active patient-reloading wheelchair robot as claimed in claim 5, wherein the telescopic slide way (2-4) is fittingly installed in a first hollow guide rail (2-2-3) of the fixed slide way (2-2), the main body of the telescopic slide way (2-4) is a pair of second hollow guide rails (2-4-1) which are arranged along the Y direction and arranged along the X direction, the two second hollow guide rails (2-4-1) are connected by a rectangular square steel pipe (2-4-2), the rectangular square steel pipe (2-4-2) comprises a section of inverted U-shaped bend, and a pair of hinge lugs are welded on the rectangular square steel pipe (2-4-2) for connection; the sections of the two second hollow guide rails (2-4-1) are rectangles with bulges at the bottoms, and a pair of short limiting cylindrical pins (2-4-3) are respectively welded on the outer sides of the two second hollow guide rails (2-4-1) relative to the whole telescopic slideway (2-4); the tail end of the Y direction of the telescopic slideway (2-4) is provided with a pressure sensor (2-4-4), the two pressure sensors (2-4-4) are arranged in a pair and are respectively arranged in the two second hollow guide rails (2-4-1), and the probe of the pressure sensor (2-4-4) extends out of the bottom of the second hollow guide rail (2-4-1).

7. The fully automatic active patient exchange wheelchair robot of claim 1, wherein the walking assembly comprises an active walking drive kit (3-1) and passive casters (3-2); the driving walking driving external member (3-1) comprises two electric wheels which are respectively arranged on the left side and the right side of the rear part of the chassis component (3) along the X direction, and the electric wheels are integrated by a motor, a speed reducer and a tire; the driven universal casters (3-2) are two and are respectively arranged on the left side and the right side of the front of the chassis along the X direction.

8. The fully automatic active patient-reloading wheelchair robot as claimed in claim 1, wherein said lifting kit (3-3) is connected to the upper supporting member (2) along the upper direction of Z, the lifting kit (3-3) comprises two pairs of scissors-type supports and an electric push rod (3-4), the body of the lifting kit (3-3) is arranged with two pairs of scissors-type supports along the Y direction, each pair of scissors-type supports comprises two scissors mechanisms, the two scissors mechanisms are connected by a hinge, the body of the scissors-type mechanism is an X-type mechanism, and the middle positions are connected by a hinge; two pairs of scissor type supports are connected at the joint of each pair of scissor mechanisms through two connecting rods, each pair of scissor supports are connected with the chassis component (3) and the upper layer supporting component (2) through a fixed hinge and a horizontal sliding hinge from top to bottom respectively, a fifth electric push rod (3-4) is installed between the two connecting rods connecting the two pairs of scissor supports, and the fifth electric push rod (3-4) is electrically connected with a control system.

9. The full-automatic active patient-reloading wheelchair robot as claimed in claim 1, wherein the back plate (1-2), the seat plate (1-3), the lower leg plate (1-4) and the foot pedal (1-5) are connected by a power-off self-locking hinge.

10. The fully automatic active patient wheelchair robot of any one of claims 1 to 9, wherein the movable combined seat (1) further comprises a seat cushion (1-1), armrests (1-7) and sub-controller armrests (1-6), the seat cushion (1-1) covers the upper surface of the movable combined seat (1), the armrests (1-7) and the sub-controller armrests (1-6) are respectively positioned at the left and right sides of the movable combined seat (1), and the mechanical parts of the armrests (1-7) and the sub-controller armrests (1-6) are controlled to rotate by the control system; the auxiliary controller handrails (1-6) comprise a handrail part and an auxiliary controller part, the auxiliary controller part is in communication connection with the main controller (2-9) through Bluetooth, the auxiliary controller comprises a walking direction control key, a walking direction control rocker, a rocker control mode-key control mode switching key, a user load change control key and a user-defined common function key, and the direction control rocker is a standby walking direction controller.