CN218589269U - Pose switching mechanism for health robot - Google Patents

Abstract

The utility model relates to an expand folding mechanism's technical field, provide a position appearance shifter for healthy robot, include: the seat cushion comprises a frame body, a foot support frame arranged on the frame body in a rotating mode through a first pivot, a seat cushion plate arranged on the frame body in a rotating mode through a second pivot, a back cushion plate arranged on the seat cushion plate in a rotating mode through a third pivot, a first driver used for driving the foot support frame to rotate relative to the frame body, a second driver used for driving the seat cushion plate to rotate relative to the frame body, and a third driver used for driving the back cushion plate to rotate relative to the seat cushion plate; the first pivot, the second pivot, and the third pivot are respectively disposed in parallel, and the first pivot, the second pivot, and the third pivot are respectively disposed horizontally.

Description

Pose switching mechanism for health robot

Technical Field

The utility model belongs to the technical field of expand folding mechanism, more specifically say, relate to a position appearance shifter for healthy robot.

Background

In modern life it is often necessary to use healthy robots (healthy robots: such as electric wheelchairs or humanoid robots). An electric wheelchair (the electric wheelchair can refer to a Chinese utility model patent, a publication number of CN213822133U, a subject name of the electric wheelchair, a publication number of 2021.07.30) and the electric wheelchair can refer to a Chinese utility model patent, a publication number of CN215875273U, a subject name of the electric wheelchair, a headrest lifting mechanism, a backrest plate and a wheelchair, and a publication number of 2022.02.22) generally comprises a cushion plate, a backrest plate and a pedal frame (the cushion plate can refer to a position indicated by a reference number 1 in figure 1 of CN213822133U, the backrest plate can refer to a position indicated by a reference number of 4 in figure 1 of CN 822133U, and the pedal frame can refer to a pedal in figure 1 of CN 213822133U).

Referring to CN213822133U, the cushion plate and the backrest plate are usually fixed, and the relative angle between the cushion plate and the backrest plate cannot be adjusted. If a user needs to change the sitting posture (such as the inclination angle of the back), the user can only change a seat or pad things on the backrest, and the user sitting posture is very difficult to change.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a position appearance shifter for healthy robot to solve the unable technical problem who adjusts of relative contained angle between cushion plate and the back board that exists among the prior art.

In order to achieve the purpose, the utility model adopts the technical proposal that: provided is a posture switching mechanism for a health robot, including: the seat cushion comprises a frame body, a foot support frame arranged on the frame body in a rotating mode through a first pivot, a seat cushion plate arranged on the frame body in a rotating mode through a second pivot, a back cushion plate arranged on the seat cushion plate in a rotating mode through a third pivot, a first driver used for driving the foot support frame to rotate relative to the frame body, a second driver used for driving the seat cushion plate to rotate relative to the frame body, and a third driver used for driving the back cushion plate to rotate relative to the seat cushion plate; the first pivot, the second pivot, and the third pivot are respectively disposed in parallel, and the first pivot, the second pivot, and the third pivot are respectively disposed horizontally.

Further, the cushion plate is disposed parallel to the second pivot.

Further, the cushion plate may be rotated from a first angle to a second angle; when the cushion plate rotates to the first angle, the cushion plate is horizontally arranged; an included angle between the first angle and the second angle is less than or equal to 90 degrees.

Further, the back board is disposed in parallel with the third pivot.

Further, the back board may be rotated from a third angle to a fourth angle; when the backrest plate rotates to the third angle and the cushion plate rotates to the first angle, the backrest plate is horizontally arranged; an included angle between the third angle and the fourth angle is less than or equal to 90 degrees.

Further, the stand includes: a first plate body and a second plate body; the first plate body and the second plate body are combined to form an L shape; the first pivot is arranged on the first plate body; the first plate body is arranged in parallel with the first pivot.

Further, the foot supporting frame can rotate from a fifth angle to a sixth angle; when the foot supporting frame rotates to the fifth angle, the first plate body is horizontally arranged; and an included angle between the fifth angle and the sixth angle is smaller than or equal to 90 degrees.

Further, the first driver is: a first electric push rod with a first telescopic part; first electric push rod articulates on the support body, first pars contractilis articulates on the foot rest holds in the palm.

Further, the second driver is: a second electric push rod with a second telescopic part; the second electric push rod is hinged to the frame body, and the second telescopic portion is hinged to the cushion plate.

Further, the third driver is: a third electric putter having a third telescopic part; the third electric push rod is hinged to the seat cushion plate, and the third telescopic portion is hinged to the backrest plate.

The utility model provides a position appearance shifter for healthy robot's beneficial effect lies in: compared with the prior art, the pose conversion mechanism for the health robot provided by the utility model has the advantages that the foot support frame is arranged on the frame body through the first pivot; the first pivot is horizontally arranged, and the foot supporting frame can rotate around the horizontal first pivot relative to the frame body; the foot support frame can drive the foot part supported on the foot support frame to move in the process of rotating around the first pivot; the cushion plate is arranged on the frame body through a second pivot; the second pivot is horizontally arranged, and the cushion plate can rotate around the horizontal second pivot relative to the frame body; the second driver drives the cushion plate to rotate so as to change the angle of the cushion plate for supporting the buttocks of the user; the backrest plate is arranged on the cushion plate through a third pivot; the third pivot is horizontally arranged, and the backrest plate can rotate around the horizontal third pivot relative to the cushion plate; the change of the included angle between the backrest plate and the cushion plate can be realized very conveniently in the process that the backrest plate rotates around the third pivot; the third actuator drives the rotation of the backboard to change the angle at which the backboard is supported against the user's back.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is an explosion structure diagram of a pose transformation mechanism for a health robot according to an embodiment of the present invention (a foot rest rotates to a sixth angle, a cushion plate rotates to a first angle, and a back plate rotates to a fourth angle);

fig. 2 is an exploded schematic view of the pose transformation mechanism for a health robot according to the embodiment of the present invention (the foot rest rotates to the fifth angle, the cushion plate rotates to the first angle, and the back plate rotates to the fourth angle);

fig. 3 is an explosion structure diagram of the pose conversion mechanism for a health robot according to the embodiment of the present invention (the footrest frame rotates to a sixth angle, the cushion plate rotates to the first angle, and the backrest plate rotates to a third angle);

fig. 4 is an exploded schematic view of the pose conversion mechanism for the health robot according to the embodiment of the present invention (the footrest is rotated to the fifth angle, the cushion plate is rotated to the first angle, and the backrest plate is rotated to the third angle);

fig. 5 is an exploded schematic view of the pose switching mechanism for a health robot according to the embodiment of the present invention (the footrest frame rotates to the sixth angle, the cushion plate rotates to the second angle, and the backrest plate rotates to the third angle).

Wherein, in the figures, the various reference numbers:

1-a frame body; 21-a foot rest; 211-a first plate body; 212-a second plate body; 22-a cushion plate; 23-a back board; 31-a first pivot; 32-a second pivot; 33-a third pivot; 41-a first driver; 411 — first telescoping portion; 412-a first electrical pushrod; 42-a second driver; 421-a second expansion part; 422-a second electric putter; 43-a third driver; 431-a third telescoping section; 432-a third electric push rod; 51-front wheel; 52-rear wheel.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be noted that in the description of the embodiments of the present application, "/" indicates "or" means, for example, a/B may indicate a or B; "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. Wherein, A and B can be singular or plural respectively.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to 5, a posture switching mechanism for a health robot according to the present invention will now be described. A position and orientation conversion mechanism for a healthy robot includes: a frame body 1, a foot supporting stand 21 rotatably provided on the frame body 1 by a first pivot 31, a cushion plate 22 rotatably provided on the frame body 1 by a second pivot 32, a back rest plate 23 rotatably provided on the cushion plate 22 by a third pivot 33, a first driver 41 for driving the foot supporting stand 21 to rotate with respect to the frame body 1, a second driver 42 for driving the cushion plate 22 to rotate with respect to the frame body 1, and a third driver 43 for driving the back rest plate 23 to rotate with respect to the cushion plate 22; the first pivot 31, the second pivot 32, and the third pivot 33 are respectively disposed in parallel, and the first pivot 31, the second pivot 32, and the third pivot 33 are respectively disposed horizontally.

Thus, the foot rest 21 is arranged on the frame body 1 through the first pivot 31; the first pivot 31 is horizontally arranged, and the foot rest 21 can rotate around the horizontal first pivot 31 relative to the frame body 1; the foot support frame 21 can drive the foot part supported on the foot support frame 21 to move in the process of rotating around the first pivot 31; the cushion plate 22 is arranged on the frame body 1 through a second pivot 32; the second pivot 32 is horizontally arranged, and the cushion plate 22 can rotate around the second horizontal pivot 32 relative to the frame body 1; the second driver 42 drives the cushion plate 22 to rotate to change the angle at which the cushion plate 22 supports the buttocks of the user; the back board 23 is arranged on the cushion board 22 through a third pivot 33; the third pivot 33 is horizontally arranged, and the backrest plate 23 can rotate around the horizontal third pivot 33 relative to the cushion plate 22; the change of the included angle between the back rest plate 23 and the cushion plate 22 can be realized very conveniently in the process that the back rest plate 23 rotates around the third pivot 33; the third driver 43 drives the back plate 23 to rotate to change the angle at which the back plate 23 supports the user's back.

In addition, because the included angle between the back plate 23 and the cushion plate 22 can be changed, the back plate 23 and the cushion plate 22 can be unfolded mutually, and the back plate 23 and the cushion plate 22 can be folded mutually to be stored so as to reduce the volume.

In one embodiment, the cushion plate 22 is positioned between the footrest 21 and the back rest plate 23 so that when a user sits on the cushion plate 22, the user's back rests on the back rest plate 23 and the user's feet are supported on the footrest 21.

In one embodiment, the cushion plate 22 may be wood.

In one embodiment, the cushion plate 22 may be made of metal.

In one embodiment, the frame body 1 is provided with front wheels 51 and rear wheels 52. In one embodiment, the number of front wheels 51 is two and the number of rear wheels 52 is two.

In one embodiment, the first plate body 211 is a flat plate. In one embodiment, second plate 212 is a flat plate.

In one embodiment, the second pivot 32 and the third pivot 33 are located at opposite ends of the cushion plate 22, respectively.

In one embodiment, the cushion plate 22 is a flat plate.

In one embodiment, the back plate 23 is a flat plate.

In one embodiment, the frame body 1 is formed with a first through hole, and the first pivot 31 is rotatably disposed in the first through hole.

In one embodiment, the frame body 1 is provided with a second through hole, and the second pivot 32 is rotatably disposed in the second through hole.

In one embodiment, the cushion plate 22 has a second through hole, and the third pivot 33 is rotatably inserted into the second through hole.

In one embodiment, the first driver 41 is a first motor having a first output shaft; the first motor is arranged on the frame body 1, the first output shaft and the first pivot 31 are coaxially arranged, and the foot support frame 21 is fixed on the first output shaft.

In one embodiment, the second driver 42 is a second motor having a second output shaft; the second motor is arranged on the frame body 1, the second output shaft is coaxially arranged with the second pivot 32, and the cushion plate 22 is fixed on the second output shaft.

In one embodiment, the third driver 43 is a third motor having a third output shaft; the third motor is disposed on the cushion plate 22, the third output shaft is disposed coaxially with the third pivot shaft 33, and the back plate 23 is fixed on the third output shaft.

In one embodiment, the first pivot 31, the second pivot 32, and the third pivot 33 each extend in a linear direction.

Further, referring to fig. 1 to 5, as an embodiment of the posture switching mechanism for a health robot provided by the present invention, the cushion plate 22 is disposed in parallel with the second pivot 32. In this manner, since the first pivot 31 extends in the horizontal direction, the cushion plate 22 is rotated about the second pivot 32 to facilitate adjustment of the angle between the cushion plate 22 and the horizontal plane.

In one embodiment, the second pivot 32 is disposed at one end of the flat plate-shaped cushion plate 22. In one embodiment, the third pivot shaft 33 is provided at the other end of the flat plate-shaped cushion plate 22.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for the health robot of the present invention, the cushion plate 22 can rotate from a first angle to a second angle; when the cushion plate 22 rotates to a first angle, the cushion plate 22 is horizontally arranged; an included angle between the first angle and the second angle is less than or equal to 90 degrees. In this manner, the cushion plate 22 can be switched between a horizontal state and an inclination of 90 degrees from the horizontal about the first pivot 31.

Further, referring to fig. 1 to 5, as a specific embodiment of the posture switching mechanism for a health robot of the present invention, the backrest plate 23 is disposed in parallel with the third pivot 33. In this way, since the second pivot shaft 32 extends in the horizontal direction, the back plate 23 can be rotated about the third pivot shaft 33 to adjust the angle between the back plate 23 and the horizontal plane.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for the health robot of the present invention, the backrest plate 23 can rotate from a third angle to a fourth angle; when the backrest plate 23 rotates to the third angle and the cushion plate 22 rotates to the first angle, the backrest plate 23 is horizontally arranged; an included angle between the third angle and the fourth angle is less than or equal to 90 degrees. In this manner, the back plate 23 can be switched between the horizontal state and the inclination of 90 degrees from the horizontal plane about the third pivot shaft 33.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for a health robot of the present invention, the stand 21 includes: a first plate body 211 and a second plate body 212; the first plate body 211 and the second plate body 212 are combined to be in an L shape; the first pivot 31 is disposed on the first plate 211; the first plate 211 is disposed in parallel with the first pivot shaft 31. Thus, the feet of the user can be clamped in the L-shaped concave cavity; since the third pivot 33 extends in the horizontal direction, the first plate 211 can rotate around the third pivot 33 to adjust the angle between the first plate 211 and the horizontal plane.

In one embodiment, the first plate 211 is disposed parallel to the second pivot shaft 32.

In one embodiment, the first plate body 211 and the second plate body 212 are vertically disposed.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for the health robot of the present invention, the stand 21 can rotate from the fifth angle to the sixth angle; when the foot rest 21 rotates to a fifth angle, the first plate 211 is horizontally arranged; an included angle between the fifth angle and the sixth angle is less than or equal to 90 degrees. In this way, the first plate body 211 can be switched between a horizontal state and an inclination of 90 degrees from the horizontal plane about the first pivot 31.

In one embodiment, when the foot rest 21 is rotated to the fifth angle, the cushion plate 22 is rotated to the first angle, and the back plate 23 is rotated to the third angle, the first plate 211, the cushion plate 22, and the back plate 23 are horizontally disposed, respectively, and top surfaces of the first plate 211, the cushion plate 22, and the back plate 23 are coplanar.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for the health robot of the present invention, the first driver 41 is: a first electric putter 412 having a first telescopic part 411; the first electric push rod 412 is hinged (hinged: one object is rotatably connected to another object) on the frame body 1, and the first telescopic part 411 is hinged on the foot supporting frame 21. Therefore, the first electric push rod 412 drives the first telescopic part 411 to move telescopically so as to push the foot rest 21 to rotate, which is very convenient.

In one embodiment, the first electrical pushrod 412 operates in a manner that is referenced to: (Chinese patent of the invention; publication No. CN105845013A; subject name: an electric push rod driven lifting experiment platform; published: 2016-08-10).

In one embodiment, the first telescopic part 411 is located radially outside the first pivot 31 in the telescopic moving path; and the extending locus of the telescopic moving path of the first telescopic part 411 is located radially outside the first pivot 31. In one embodiment, during the process that the first telescopic portion 411 pushes the foot rest 21 to rotate and switch between the fifth angle and the sixth angle, the torque applied to the foot rest 21 by the first telescopic portion 411 is always greater than zero.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for the health robot of the present invention, the second driver 42 is: a second electric plunger 422 having a second telescopic portion 421; the second electric push rod 422 is hinged on the frame body 1, and the second expansion part 421 is hinged on the cushion plate 22. Thus, the second electric push rod 422 drives the second stretching part 421 to stretch and move to push the cushion plate 22 to rotate, which is very convenient.

In one embodiment, the second electrical pushrod 422 may operate by referring to: (Chinese invention patent, publication No. CN105845013A; subject name: a lifting experiment platform driven by an electric push rod; published: 2016-08-10).

In one embodiment, the path of the telescopic movement of the second telescopic part 421 is located radially outside the second pivot 32; and the extending locus of the telescopic moving path of the second telescopic part 421 is located radially outside the second pivot shaft 32. In one embodiment, during the process of the second stretching part 421 pushing the cushion plate 22 to rotate and switch between the first angle and the second angle, the torque applied to the cushion plate 22 by the second stretching part 421 is always larger than zero.

Further, referring to fig. 1 to 5, as a specific embodiment of the pose conversion mechanism for the health robot of the present invention, the third driver 43 is: a third electric putter 432 having a third telescopic part 431; the third electric push rod 432 is hinged to the cushion plate 22, and the third telescopic part 431 is hinged to the back plate 23. In this way, the third electric push rod 432 drives the third telescopic portion 431 to move telescopically to push the back plate 23 to rotate, which is very convenient.

In one embodiment, the third electric putter 432 may operate in a manner that is referenced to: (Chinese invention patent, publication No. CN105845013A; subject name: a lifting experiment platform driven by an electric push rod; published: 2016-08-10).

In one embodiment, the third telescopic part 431 is located radially outside the third pivot 33 in the telescopic moving path; and the extending locus of the telescopic moving path of the third telescopic part 431 is located radially outside the third pivot shaft 33. In one embodiment, during the rotation switching process of the back plate 23 pushed by the third telescopic portion 431 between the third angle and the fourth angle, the moment applied to the back plate 23 by the third telescopic portion 431 is always greater than zero.

In one embodiment, the subject name of the present application may be: an attitude switching mechanism for a health robot.

In one embodiment, the subject names of the present application may employ: unfolding and folding mechanism for health robot.

In one embodiment, the subject name of the present application may be: unfolding and folding mechanism for electric wheelchair.

In one embodiment, the subject name of the present application may be: an attitude switching mechanism for an electric wheelchair.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims (10)

1. A pose conversion mechanism for a health robot, comprising: the seat cushion comprises a frame body, a foot support frame arranged on the frame body in a rotating mode through a first pivot, a seat cushion plate arranged on the frame body in a rotating mode through a second pivot, a back cushion plate arranged on the seat cushion plate in a rotating mode through a third pivot, a first driver used for driving the foot support frame to rotate relative to the frame body, a second driver used for driving the seat cushion plate to rotate relative to the frame body, and a third driver used for driving the back cushion plate to rotate relative to the seat cushion plate; the first pivot, the second pivot, and the third pivot are respectively disposed in parallel, and the first pivot, the second pivot, and the third pivot are respectively disposed horizontally.

2. The posture switching mechanism for a health robot as claimed in claim 1, wherein the cushion plate is disposed in parallel with the second pivot.

3. The pose conversion mechanism for a health robot of claim 2, wherein said cushion plate is rotatable from a first angle to a second angle; when the cushion plate rotates to the first angle, the cushion plate is horizontally arranged; an included angle between the first angle and the second angle is less than or equal to 90 degrees.

4. The posture switching mechanism for a health robot as claimed in claim 3, wherein the back board is disposed in parallel with the third pivot.

5. The posture switching mechanism for a health robot of claim 4, wherein the back board is rotatable from a third angle to a fourth angle; when the backrest plate rotates to the third angle and the cushion plate rotates to the first angle, the backrest plate is horizontally arranged; an included angle between the third angle and the fourth angle is less than or equal to 90 degrees.

6. The posture switching mechanism for a health robot as claimed in claim 3, wherein the foot rest includes: a first plate body and a second plate body; the first plate body and the second plate body are combined into an L shape; the first pivot is arranged on the first plate body; the first plate body is arranged in parallel with the first pivot.

7. The posture switching mechanism for a health robot as claimed in claim 6, wherein the foot rest is rotatable from a fifth angle to a sixth angle; when the foot supporting frame rotates to the fifth angle, the first plate body is horizontally arranged; and an included angle between the fifth angle and the sixth angle is smaller than or equal to 90 degrees.

8. The pose conversion mechanism for a health robot according to any one of claims 1 to 7, wherein the first driver is: a first electric push rod with a first telescopic part; first electric push rod articulates on the support body, first pars contractilis articulates on the foot rest holds in the palm.

9. The pose conversion mechanism for a health robot according to any one of claims 1 to 7, wherein the second driver is: a second electric push rod with a second telescopic part; the second electric push rod is hinged to the frame body, and the second telescopic portion is hinged to the cushion plate.

10. The pose conversion mechanism for a health robot according to any one of claims 1 to 7, wherein the third driver is: a third electric push rod with a third telescopic part; the third electric push rod is hinged to the cushion plate, and the third telescopic part is hinged to the backrest plate.

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