CN210728175U - Multifunctional mobility chair - Google Patents
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- CN210728175U CN210728175U CN201921401311.3U CN201921401311U CN210728175U CN 210728175 U CN210728175 U CN 210728175U CN 201921401311 U CN201921401311 U CN 201921401311U CN 210728175 U CN210728175 U CN 210728175U
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Abstract
Description
技术领域technical field
本实用新型涉及老年人辅助器械技术领域,具体涉及一种多功能行动辅助椅。The utility model relates to the technical field of auxiliary equipment for the elderly, in particular to a multifunctional action auxiliary chair.
背景技术Background technique
参照国际标注衡量,中国自2000年起正式步入老龄化社会。大部分较高年龄老年人常常需要专人的看护和照顾,这样一方面使得老年人的生活质量在自由度上大为降低,另一方面需要高昂的花费和人力支出,为家庭带来沉重的负担。随着年龄的增加,老人日常生活安全隐患也逐渐增加。独居老人的安全受到多方面的威胁,而跌倒更是老人生命健康的隐形杀手,也是主要威胁来源。跌倒对普通人来说非常正常,但是对于老人来说则非常危险。据统计全球每年有超过2/3的老人遭受过跌倒,而其中一半以上老人都受到不同程度的损伤。According to international standards, China has officially entered an aging society since 2000. Most of the older elderly often need special care and care, which on the one hand greatly reduces the quality of life of the elderly in terms of freedom, and on the other hand requires high costs and labor expenditures, bringing a heavy burden to the family. . With the increase of age, the safety risks of the elderly in daily life also gradually increase. The safety of the elderly living alone is threatened in many ways, and falls are the invisible killer of the life and health of the elderly and the main source of threats. Falls are very normal for ordinary people, but very dangerous for the elderly. According to statistics, more than 2/3 of the elderly in the world suffer from falls every year, and more than half of them are injured to varying degrees.
随着人们生活水平的提高,助老服务行业也得以快速发展。目前市场上有许多适宜老年行走困难者行走与康复的器械,如有双拐、轮椅、带有扶手支架的助行器等。中国实用新型专利CN201810538508.5公开了一种老人用多功能安全助行装置,该装置结构简单,但稳定性不足,对于腿脚不方便的老人而言,使用的安全性得不到保障;如中国实用新型专利CN201521060208.9公开了一种多功能骨科助行器,但是这种助行器不带有轮子,使用这种助行器需要不断的提起该助行器,老人会感觉比较吃力;又如中国专利201310034245.1是一种外骨骼式助力助行机器人,其对于下肢残疾的人群比较适合,但对于大多数老年人来说,其穿戴不便,结构复杂,实用性不高。With the improvement of people's living standards, the elderly service industry has also developed rapidly. At present, there are many devices on the market that are suitable for walking and rehabilitation of elderly people with walking difficulties, such as crutches, wheelchairs, and walkers with armrests. Chinese utility model patent CN201810538508.5 discloses a multifunctional safety walking device for the elderly. The device has a simple structure but lacks stability. For the elderly with inconvenient legs and feet, the safety of use cannot be guaranteed; for example, China The utility model patent CN201521060208.9 discloses a multifunctional orthopedic walker, but this walker does not have wheels, and the use of this walker requires constant lifting of the walker, which makes the elderly feel more labored; For example, Chinese patent 201310034245.1 is an exoskeleton-assisted walking robot, which is suitable for people with lower limb disabilities, but for most elderly people, it is inconvenient to wear, has a complex structure, and is not very practical.
因此,为解决以上问题,需要一种多功能行动辅助椅,能够实现老人使用时的多种使用状态灵活切换,各种使用形态稳定性强、舒适性高,辅助老年使用者行走,站立,代步,如厕等功能,并且使用方便,没有繁复的穿戴程序,适用性强。Therefore, in order to solve the above problems, there is a need for a multi-functional mobility assist chair, which can realize flexible switching of various use states when the elderly use it, has strong stability and high comfort in various use forms, and assist the elderly users to walk, stand, and walk. , toilet and other functions, and easy to use, no complicated wearing procedures, strong applicability.
实用新型内容Utility model content
有鉴于此,本实用新型的目的是克服现有技术中的缺陷,提供多功能行动辅助椅,有助行功能、站立支撑功能、预防跌倒功能、代步功能、辅助如厕功能。功能更全面,操作更加安全、结构更稳定、使用更省力,更能满足老人对助老装置的需求。In view of this, the purpose of the present invention is to overcome the defects in the prior art and provide a multifunctional mobility assist chair, which has functions of assisting walking, standing support, preventing falls, walking and assisting toileting. The functions are more comprehensive, the operation is safer, the structure is more stable, and the use is less labor-intensive, and can better meet the needs of the elderly for the elderly assistance device.
本实用新型的多功能行动辅助椅,包括椅架本体、驱动椅架本体移动的驱动组件、安装于椅架本体扶手侧的上肢辅助组件、安装于椅架本体两左前支腿和右前支腿侧的下肢辅助组件以及安装于椅架本体上有多种可切换工作状态的坐靠组件;The multifunctional action assisting chair of the present invention comprises a chair frame body, a driving component for driving the chair frame body to move, an upper limb auxiliary component installed on the armrest side of the chair frame body, and two left front legs and right front leg sides installed on the chair frame body. The lower limb auxiliary component and the seat-rest component installed on the chair frame body with various switchable working states;
所述椅架本体包括竖直设置的左前支腿、左后支腿、右前支腿及右后支腿,左前支腿和左后支腿之间通过左纵梁固定连接,右前支腿和右后支腿之间通过右纵梁固定连接,左后支腿和右后支腿之间通过水平设置的上横梁及下横梁固定连接;The chair frame body includes vertically arranged left front outriggers, left rear outriggers, right front outriggers and right rear outriggers, the left front outrigger and the left rear outrigger are fixedly connected by a left longitudinal beam, and the right front outrigger and the right The rear outriggers are fixedly connected by the right longitudinal beam, and the left rear outrigger and the right rear outrigger are fixedly connected by a horizontally arranged upper beam and a lower beam;
所述驱动组件包括安装于左后支腿和右后支腿底部的驱动轮及安装于左前支腿和右前支腿底部的万向轮;The drive assembly comprises a drive wheel mounted on the bottom of the left rear outrigger and the right rear outrigger and a universal wheel mounted on the bottom of the left front outrigger and the right front outrigger;
所述上肢辅助组件包括安装于椅架本体扶手侧的扶手架及安装于扶手架上的臂托,所述扶手架包括水平方向的支托段及倾斜向上的握持段,所述支托段上平行设置有臂托,所述臂托为半圆凹槽其底部形成卡扣于支托段的卡扣,所述握持段上设置有便于握持的握持套;The upper limb auxiliary component includes an armrest frame installed on the armrest side of the chair frame body and an arm rest installed on the armrest frame. The armrest frame includes a horizontal support section and an inclined upward holding section. The support section The arm support is arranged in parallel on the upper part, and the arm support is a semicircular groove, the bottom of which forms a buckle that is fastened to the support section, and the holding section is provided with a holding sleeve for easy holding;
所述下肢辅助组件包括可转动安装于左前支腿和右前支腿上适形于小腿的踏板支杆、安装于踏板支杆底部的踏板及安装于踏板支杆中部用于挡靠小腿的挡板;The lower limb auxiliary assembly includes a pedal rod that is rotatably mounted on the left front leg and the right front leg and is adapted to the calf, a pedal mounted on the bottom of the pedal rod, and a baffle mounted on the middle of the pedal rod for blocking the calf. ;
所述坐靠组件包括安装于上横梁上的靠背,安装于靠背上的调节螺杆、螺纹连接于调节螺杆上的调节螺母、与调节螺母铰接的双层坐垫及限制双层坐垫滑动轨迹的滑槽。The seating assembly includes a backrest mounted on the upper beam, an adjusting screw mounted on the backrest, an adjusting nut threaded on the adjusting screw, a double-layer seat cushion hinged with the adjusting nut, and a chute for limiting the sliding track of the double-layer seat cushion. .
进一步,所述椅架竖直方向横截面为“凵”字形。Further, the vertical cross-section of the chair frame is in the shape of "凵".
进一步,所述驱动轮由驱动电机驱动,且驱动电机为直流减速电机。Further, the drive wheel is driven by a drive motor, and the drive motor is a DC deceleration motor.
进一步,所述扶手架以可拆卸的方式对称安装于所述椅架两侧,所述臂托靠近椅架中心侧设置有圆管。Further, the armrest frame is symmetrically installed on both sides of the chair frame in a detachable manner, and a round tube is provided on the arm support near the center side of the chair frame.
进一步,所述踏板可折叠地设置于踏板支杆底部,所述挡板以可绕踏板支杆旋转的方式设置于踏板支杆中部。Further, the pedal is foldably arranged at the bottom of the pedal support rod, and the baffle plate is arranged in the middle of the pedal support rod in a manner of being rotatable around the pedal support rod.
进一步,所述调节螺杆由步进电机驱动旋转调节将调节螺杆的旋转运动转化为调节螺母的升降运动,所述调节螺母端面水平,所述滑槽包括相互平行的左滑槽及右滑槽,所述左滑槽通过前左固定套及后左固定套固定设置于左前支腿及左后支腿之间,所述右滑槽通过前右固定套及后右固定套固定设置于右前支腿及右后支腿之间,所述双层坐垫左右两侧分别对应设置有滑动连接于左滑槽和右滑槽中的左滑块和右滑块。Further, the adjustment screw is driven by a stepping motor to rotate and adjust to convert the rotational movement of the adjustment screw into the lifting movement of the adjustment nut, the end face of the adjustment nut is horizontal, and the chute includes a left chute and a right chute that are parallel to each other, The left chute is fixedly arranged between the left front leg and the left rear outrigger through the front left fixing sleeve and the rear left fixing sleeve, and the right chute is fixedly arranged on the right front leg through the front right fixing sleeve and the rear right fixing sleeve. and between the right rear leg, the left and right sides of the double-layer seat cushion are respectively provided with a left slider and a right slider that are slidably connected to the left chute and the right chute.
进一步,所述步进电机为直流减速电机安装于所述下横梁上,其输出端与调节螺杆连接。Further, the stepping motor is a DC deceleration motor mounted on the lower beam, and the output end thereof is connected with the adjusting screw.
进一步,所述双层坐垫包括位于底层的坐便垫及位于上层的硬质海绵垫,所述坐便垫与硬质海绵垫之间通过合页铰接。Further, the double-layered seat pad includes a toilet pad on the bottom layer and a hard sponge pad on the upper layer, and the toilet pad and the hard sponge pad are hinged through hinges.
进一步,所述坐便垫上开设有用于使用者如厕的通孔,所述通孔可为椭圆形或圆形。Further, the toilet pad is provided with a through hole for the user to go to the toilet, and the through hole can be oval or circular.
进一步,所述左滑块设置于双层坐垫左侧前端,所述右滑块设置于双层坐垫右侧前端。Further, the left slider is arranged on the left front end of the double-layer seat cushion, and the right slider is arranged at the right front end of the double-layer seat cushion.
本实用新型的有益效果是:本实用新型公开的一种多功能行动辅助椅,有助行功能、站立支撑功能、预防跌倒功能、代步功能、辅助如厕功能。功能更全面,操作更加安全、结构更稳定、使用更省力,更能满足老人对助老装置的需求,双层翻折坐垫设计,上层可翻折,辅助如厕,扶手采用二级阶梯结构,第一阶梯平面固定有U形多功能臂托,让老人无需弯腰去拉住握把,保护老人腰椎,装置具有坐式和站式两种形态,且可以自动切换,避免老人弯腰折叠等动作,利用直流减速电机驱动助行器,老人推动行走,更稳定,避免提拿动作,更省力。The beneficial effects of the utility model are as follows: the multifunctional action auxiliary chair disclosed by the utility model has the functions of assisting walking, supporting functions for standing, preventing falls, functions for walking, and functions for assisting going to the toilet. More comprehensive functions, safer operation, more stable structure, more labor-saving use, and can better meet the needs of the elderly for the elderly assistance device. The double-layer folding seat cushion design, the upper layer can be folded, and the toilet is assisted. The handrail adopts a two-level ladder structure. The first step plane is fixed with a U-shaped multi-functional arm support, so that the elderly do not need to bend over to hold the handle and protect the lumbar spine of the elderly. The device has two forms of sitting and standing, and can be automatically switched to avoid bending and folding of the elderly. Action, using DC geared motor to drive the walker, the elderly push to walk, more stable, avoid lifting, and more labor-saving.
附图说明Description of drawings
下面结合附图和实施例对本实用新型作进一步描述:Below in conjunction with accompanying drawing and embodiment, the utility model is further described:
图1是本实用新型的站式形态立体结构示意图;Fig. 1 is the three-dimensional structure schematic diagram of the standing form of the present utility model;
图2是本实用新型的坐式形态立体结构示意图;Fig. 2 is the sitting type three-dimensional structure schematic diagram of the present utility model;
图3是本实用新型的坐式形态立体结构的后视图;Fig. 3 is the rear view of the sitting type three-dimensional structure of the present utility model;
图4是本实用新型的阶梯型扶手示意图;4 is a schematic diagram of a stepped handrail of the present invention;
图5是本实用新型的U形臂拖示意图;Fig. 5 is the U-shaped arm drag schematic diagram of the present utility model;
图6是本实用新型的双层坐垫结构示意图;6 is a schematic structural diagram of a double-layer seat cushion of the present invention;
图7是本实用新型的升降机构示意图;7 is a schematic diagram of the lifting mechanism of the present invention;
图8是本实用新型的踏板结构示意图。FIG. 8 is a schematic diagram of the pedal structure of the present invention.
具体实施方式Detailed ways
图1为本实用新型的结构示意图,如图所示,本实施例中的多功能行动辅助椅包括椅架本体、驱动椅架本体移动的驱动组件、安装于椅架本体扶手侧的上肢辅助组件、安装于椅架本体两前腿侧的下肢辅助组件以及安装于椅架本体上有多种可切换工作状态的坐靠组件;1 is a schematic structural diagram of the present invention. As shown in the figure, the multifunctional mobility assist chair in this embodiment includes a seat frame body, a driving component for driving the seat frame body to move, and an upper limb auxiliary component installed on the armrest side of the chair frame body. , the lower limb auxiliary components installed on the two front legs of the chair frame body, and the seat-rest component installed on the chair frame body with various switchable working states;
所述椅架本体包括竖直设置的左前支腿11、左后支腿12、右前支腿21及右后支腿22,左前支腿11和左后支腿12之间通过左纵梁13固定连接,右前支腿21和右后支腿22之间通过右纵梁23固定连接,左后支腿12和右后支腿22之间通过水平设置的上横梁121及下横梁122固定连接;The seat frame body includes a
所述驱动组件包括安装于左后支腿12和右后支腿22底部的驱动轮31及安装于左前支腿11和右前支腿21底部的万向轮32;The drive assembly includes a
所述上肢辅助组件包括安装于椅架本体扶手侧的扶手架4及安装于扶手架4上的臂托43,所述扶手架4包括水平方向的支托段41及倾斜向上的握持段42,所述支托段41上平行设置有臂托43,所述臂托43为半圆凹槽其底部形成卡扣44于支托段41的卡扣44,所述握持段42上设置有便于握持的握持套45;The upper limb auxiliary component includes an
所述下肢辅助组件包括可转动安装于左前支腿11及右前支腿21上适形于小腿的踏板支杆5、安装于踏板支杆5底部的踏板51及安装于踏板支杆5中部用于挡靠小腿的挡板52;The lower limb auxiliary component includes a
所述坐靠组件包括安装于上横梁121上的靠背6,安装于靠背6上的调节螺杆61、螺纹连接于调节螺杆61上的调节螺母7、与调节螺母7铰接的双层坐垫8及限制双层坐垫8滑动轨迹的滑槽。The seating assembly includes a
本实施例中,所述椅架竖直方向横截面为“凵”字形。In this embodiment, the vertical cross-section of the chair frame is in the shape of "凵".
本实施例中,所述驱动轮31由驱动电机33驱动,且驱动电机33为直流减速电机。In this embodiment, the
本实施例中,所述扶手架4以可拆卸的方式对称安装于所述椅架两侧,所述臂托43靠近椅架中心侧设置有圆管46。In this embodiment, the
本实施例中,所述踏板51可折叠地设置于踏板支杆5底部,所述挡板52以可绕踏板支杆5旋转的方式设置于踏板支杆5中部。In this embodiment, the
本实施例中,所述调节螺杆61由步进电机62驱动旋转调节将调节螺杆61的旋转运动转化为调节螺母7的升降运动,所述调节螺母7端面水平,所述滑槽包括相互平行的左滑槽71及右滑槽72,所述左滑槽71通过前左固定套及后左固定套固定设置于左前支腿11及左后支腿12之间,所述右滑槽72通过前右固定套及后右固定套固定设置于右前支腿21及有后支腿22之间,所述双层坐垫8左右两侧分别对应设置有滑动连接于左滑槽71和右滑槽72中的左滑块711和右滑块721。In this embodiment, the adjusting
本实施例中,所述步进电机62为直流减速电机安装于所述下横梁122上,其输出端与调节螺杆61连接。In this embodiment, the stepping
本实施例中,所述双层坐垫8包括位于底层的坐便垫81及位于上层的硬质海绵垫82,所述坐便垫81与硬质海绵垫82之间通过合页铰接。In this embodiment, the double-
本实施例中,所述坐便垫81上开设有用于使用者如厕的通孔83,所述通孔83可为椭圆形或圆形。In this embodiment, the
本实施例中,所述左滑块87111设置于双层坐垫8左侧前端,所述右滑块721设置于双层坐垫8右侧前端。In this embodiment, the left slider 87111 is arranged at the left front end of the double-
椅架整体呈“凵”字形,左右对称,三面环绕式结构,具有站式形态和坐式形态。装置的前支腿左右对称,下端均带有通过轮支架连接的万向从动轮(直径约200mm),前支腿的顶端连接了弯管和直径约50mm的法兰盘,踏板支杆5与法兰盘铰接形成角度可调的下肢辅助组件。所述前支腿构成稳固的左右对称结构。后支腿下端连接驱动电机33与驱动轮31作为整個裝置的驱动装置。椅架通过上述方式连接,左右结构更稳定,同时在椅架中间也能空余处供老人使用的助行站立空间。The overall shape of the chair frame is in the shape of "凵", symmetrical to the left and right, with a three-sided wrap-around structure, with a standing form and a sitting form. The front legs of the device are symmetrical on the left and right, and the lower end is equipped with a universal driven wheel (about 200mm in diameter) connected by the wheel bracket. The top of the front leg is connected with an elbow and a flange with a diameter of about 50mm. The flanges are hinged to form an angle-adjustable lower limb auxiliary component. The front legs form a stable left-right symmetrical structure. The lower end of the rear leg is connected with the
所述车体的站式形态和坐式形态具有不同的结构和功能。站式形态下,装置具有辅助行走、运动助力的功能;坐式形态下,装置具有代步、坐具、辅助如厕等功能;同时所述椅架的不同形态之间可自动切换,无需老人进行大幅度运动,能消除部分安全隐患。The standing form and the sitting form of the vehicle body have different structures and functions. In the standing form, the device has the functions of assisting walking and exercise assistance; in the sitting form, the device has the functions of walking, sitting, and assisting toilets; at the same time, the different forms of the chair frame can be automatically switched, without the need for the elderly to carry out large scales. Amplitude movement can eliminate some safety hazards.
所述车体在站式形态下,双层坐垫8收起,同时老人旋动法兰盘,收起下肢辅助组件;椅架中央腾出空间,老人可站立在此空间中,手掌捏住握持套45,小臂靠在U形臂托4的凹槽上,车体对人的支撑力分散在小臂上。在行走过程中,老人可开启驱动电机33,电机带动驱动轮31转动,电机转动速度较慢,即可抑制老人意外性加速运动,又能为老人行走助力;同时由于所受支撑力分散在手臂上,老人在行走过程中可保持直立,无需弯腰,因此可保护老人腰椎,减少疲劳感。In the standing state of the car body, the double-
所述车体在坐式形态下,双层坐垫8平放,下肢辅助组件选择性打开。椅架本身具有坐具功能;同时驱动电机33可驱动装置运行,所以车体可作为短距离代步工具。The vehicle body is in a sitting state, the double-
所述双层坐垫8,上层为硬质海绵坐垫82,下层为中心镂空的实木坐便垫81;上下双层通过合页连接,如图6所示。坐便垫81为双层坐垫8的主体部分,所述坐便垫81中心开设一通孔用于使用者如厕使用,深度与硬质海绵垫82厚度相同,当硬质海绵垫82放下时,双层坐垫表面美观平整;所述坐便垫81的中心部分有一个较大的椭圆洞,用于辅助坐便;所述坐便垫81前端的左右两侧分别安装有左滑块711、右滑块721,左滑块711、右滑块721嵌于椅架两侧的左滑槽71、右滑槽72内,在左滑槽71、右滑槽72的限制下,坐便垫81前端可前后滑动;在调节螺杆61转动调解时,与调节螺杆61螺纹连接的调节螺母7发生升降带动坐便垫81后端一同升降,在后端的拉力作用下,坐便垫81前端后移,由于硬质海绵垫82通过合页与坐便垫81连接,坐便垫81移动时,硬质海绵垫82亦会随之一同移动,调节螺杆61的作用下双层坐垫8整体大约会翻折90度。In the double-
所述步进电机62安装在椅架的下横梁122上;通过联轴器与调节螺杆61连接;所述调节螺杆61安装在靠垫6中央的镂空处;所述靠垫6内部具有硬质骨架,便于安装固定和依靠;所述镂空部分的上端安装有卧式轴承,所述调节螺杆61上端紧固在卧式轴承上。所述调节螺母7与坐便垫81后端铰接,所述调节螺杆61步距相等;在步进电机62的驱动下,调节螺杆61可往指定方向转动,在调节螺杆61上升转动过程中调节螺母7带动被逐步上推,调节螺母7上升并带动坐便垫81后端上升、前端后移,实现翻折功能。The stepping
所述扶手架4整体呈二级阶梯形,第一级阶梯的平面与地面平行为支托段41,第二级阶梯的握把与竖直方向形成约30度的夹角为握持段42。扶手架4的端面紧固在椅架左右两侧。在支托段41的上表面有一通过卡扣44连接的U形臂托43。所述臂托43呈U形,内侧高于外侧,内侧焊接有一圆管46。为了使老人在捏握圆管46支撑时更方便,在U形凹槽的外侧和下侧设置有托板。站式形态下,老人推动椅架行走,双手握住握持套45,小臂放在U形凹槽中,U形凹槽可增加老人与装置之间的接触面积使得装置提供的大部分支持力都分散在小臂上,减小了手掌的压力。由于老人手掌捏握力有限,此设计可有效防止老人因手掌承受不了支持力而跌倒。阶梯形的扶手和U形臂拖可以增大与老人之间的接触面积,提高老人使用的舒适度和安全性。臂托43具有两种功能,既可以在站式形态下拖起小臂,又能在坐式形态或静止站立时起到扶手作用。The
所述下肢辅助组件位于装置前方,下肢辅助组件主要包括踏板51、挡板52、踏板支杆5、法兰盘、弯接头。如图8所示,在坐式形态下,根据老人意愿可将下肢辅助组件打开,所述踏板51往下翻折,所述挡板52往前翻折,所述踏板支杆5往前旋转约30度。所述踏板支杆5通过法兰盘与弯接头相连;下肢辅助组件通过弯接头与椅架之间固定,如图2所示,弯接头垂直插入椅架左前支腿11和右前支腿12并通过螺栓固定。The lower limb auxiliary component is located in front of the device, and the lower limb auxiliary component mainly includes a pedal 51 , a
最后说明的是,以上实施例仅用以说明本实用新型的技术方案而非限制,尽管参照较佳实施例对本实用新型进行了详细说明,本领域的普通技术人员应当理解,可以对本实用新型的技术方案进行修改或者等同替换,而不脱离本实用新型技术方案的宗旨和范围,其均应涵盖在本实用新型的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should The technical solutions are modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and all of them should be included in the scope of the claims of the present invention.
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110464609A (en) * | 2019-08-27 | 2019-11-19 | 西南大学 | Multi-functional device of helping the elderly |
CN113057512A (en) * | 2021-03-23 | 2021-07-02 | 西京学院 | A crank-type squat-up aid device and toilet |
CN113232738A (en) * | 2021-06-25 | 2021-08-10 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
CN115737299A (en) * | 2022-11-25 | 2023-03-07 | 北京邮电大学 | Auxiliary standing wheelchair with toilet assisting function |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110464609A (en) * | 2019-08-27 | 2019-11-19 | 西南大学 | Multi-functional device of helping the elderly |
CN113057512A (en) * | 2021-03-23 | 2021-07-02 | 西京学院 | A crank-type squat-up aid device and toilet |
CN113057512B (en) * | 2021-03-23 | 2023-08-08 | 西京学院 | Crank type squatting and sitting body lifting auxiliary device and closestool |
CN113232738A (en) * | 2021-06-25 | 2021-08-10 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
CN113232738B (en) * | 2021-06-25 | 2022-03-25 | 哈尔滨工业大学 | Universal robot capable of adaptively crossing stairs |
CN115737299A (en) * | 2022-11-25 | 2023-03-07 | 北京邮电大学 | Auxiliary standing wheelchair with toilet assisting function |
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