KR20230063472A - Transport Robot for the physically weak - Google Patents

Abstract

The present invention relates to a transfer robot for the physically handicapped that provides functions suitable for the physically handicapped, which is capable of ensuring safe mobility even on irregular road surfaces while performing general wheelchair functions, providing an elevating means with excellent durability and a simple configuration. It is possible to provide functionality that is possible.
That is, the present invention is a moving cart in which driving wheels driven in the forward or reverse direction by a drive motor integrated with a reducer are installed on both left and right sides, and front and rear wheels are installed in the front and rear; an elevating means installed on the upper side of the mobile cart; a seat plate installed above the lifting means; a backrest plate installed in the upper rear side of the seat plate and a footrest installed in the lower part in front of the seat plate; It is configured to include armrests installed toward the seat plate on the left and right sides of the backrest plate; The mobile truck includes a truck frame; A driving wheel installed on the left and right sides of the bogie frame and driven in a forward or reverse direction by two reducer-integrated driving motors; Rear wheels installed on both sides of the rear wheel frame installed to rotate at the rear of the bogie frame; It includes a front wheel installed on the front wheel frame installed to rotate on the front left and right sides of the bogie frame, and a shock absorber installed between the bogie frame and the front wheel frame.

Description

Transport Robot for the physically weak

The present invention relates to a transfer robot for the physically handicapped that provides functions suitable for the physically handicapped, and more particularly, to a transport robot for the physically handicapped that is safe even on irregular road surfaces while performing general wheelchair functions, providing an elevating means with excellent durability and a simple configuration. It is intended to provide a transfer robot for the physically weak that can provide functionality that can guarantee mobility.

In the case of patients who have difficulty walking or cannot change their position on their own, such as elderly patients, weak patients, and paralyzed patients, they must ride a wheelchair with the help of a caregiver or guardian.

Various prior technologies are provided for wheelchairs, and as an example, a standing-assisted wheelchair in Korean Patent Publication (A) 10-2014-0088757 (July 11, 2014) is proposed, the configuration of which is a lower frame in which wheels are installed. ; A first link fixed to the lower frame; a second link hingedly connected to an upper portion of the first link; a seat fixed to the second link; a fourth link connected by a hinge to an upper portion of the second link and rotating while maintaining a set angle; And a third link hingedly connected to the lower part of the fourth link and the lower part of the first link, so that the seat and the backrest plate can be erected to help the patient stand up. .

In addition, the calf support member with the footrest installed at the lower end is installed so as to be rotated with the front bottom surface of the elevator platform and the sixth pin; A shaft support is formed at the middle upper end of the calf support member so as to protrude outward, and the shaft support is rotated with a loader of an actuator for a calf support member installed so that one end is rotated at the rear of the elevator board. Thus, the calf support member can be spread in a horizontal state with the seat plate.

As another example, a variable wheelchair of Republic of Korea Registration Special Publication (B1) 10-1437374 (2014.09.12.) has been proposed, and its configuration includes wheels rotatably formed on both left and right sides; an elevation panel formed above the wheel and including a first center panel; armrests rotatably hinged at both sides of the first central panel; a seat panel seated on the upper side of the lift panel, made so that a patient can sit on it, and made to move separately from the lift panel; and an elevating device for elevating the elevating panel above the wheel, wherein rollers are provided on an upper surface of the elevating panel and an inner surface of the armrest so that the seating panel can be moved to one side while seated on the elevating panel. The roller is recessed into the lifting panel and the armrest so that only a portion thereof is exposed, and a rotating shaft of the roller is formed along the front and rear direction of the lifting panel, and an edge portion of the roller is formed to mitigate impact when the seating panel moves. includes those made of rubber and the like.

In addition, the elevating panel may include: the first central panel connected to the elevating device; a first rear panel rotatably hinged behind the first central panel; and a first front panel rotatably hinged in front of the first central panel, wherein the first rear panel and the first front panel are rotated so as to be fixed at an arbitrary position with respect to the first central panel. It is characterized by control.

However, in the above prior art, since the wheels installed on the mobile bogie are fixed, there is a problem in that driving safety is deteriorated when the ground passes through an irregular place, and the durability of the lifting means is also reduced, resulting in failure during use. This happened frequently.

KR 1020140088757 A 2014.07.11. KR 101437374 B1 2014.09.12.

Accordingly, the inventors of the present invention researched and developed the present invention to improve the movement safety, durability, and simplification of the configuration according to the moving bogie configuration and lifting means in the above-mentioned conventional transfer robot for the physically weak.

That is, in the present invention, a pair of left and right driving wheels are driven by two driving motors, shock absorption can be achieved through a shock absorber while the front wheel rotates, and the rear wheel rotates itself on the rear wheel frame that rotates left and right The present invention has been completed with the technical task of providing a transfer robot for the physically weak that can be installed to provide driving safety by allowing the front and rear wheels to be grounded together with the driving wheels on an irregular road surface.

In addition, in the present invention, the technical problem of the present invention is to provide a transfer robot for the physically weak with excellent durability in which smooth operation can be achieved by simply providing an elevating means located between the bogie frame and the seat frame in a four-section link configuration. will have completed

As a means of solving the problem, in the present invention,

First, a driving wheel driven in the forward or reverse direction by a drive motor integrated with a reducer is installed on both left and right sides, and a moving cart with front and rear wheels installed at the front and rear; an elevating means installed on the upper side of the mobile cart; a seat plate installed above the lifting means; a backrest plate installed in the upper rear side of the seat plate and a footrest installed in the lower part in front of the seat plate; It is configured to include armrests installed toward the seat plate on the left and right sides of the backrest plate; The mobile truck includes a truck frame; A driving wheel installed on the left and right sides of the bogie frame and driven in a forward or reverse direction by two reducer-integrated drive motors; Rear wheels installed on both sides of the rear wheel frame installed to rotate at the rear of the bogie frame; It is characterized in that it includes a front wheel installed on the front wheel frame installed to rotate on the front left and right sides of the bogie frame, and a shock absorber installed between the bogie frame and the front wheel frame.

Second, the lifting means is coupled so that the upper link and the lower end of the lower link bent in the shape of an L are rotated with first and second fixing pins to the fixing bracket formed on the rear upper side of the bogie frame; The upper ends of the upper link and the lower link are rotatably coupled with the rotation bracket and the third and fourth fixing pins rotatably coupled to the seat frame formed at the front and bottom of the seat plate to form a four-bar link; An actuator for lifting and a shock absorber for lifting are installed between the bogie frame and the bent portion of the upper link, so that the upper link and the lower link can be moved up and down.

Third, the seat plate bracket provided at the lower side of the seat frame is coupled to the rotation bracket by using the fifth fixing pin higher than the third fixing pin, and the seat plate actuator is placed at the rear of the seat frame and the seat plate so that both ends are rotatable It is characterized in that it is combined to make the seat frame stand up.

In the case of using the transfer robot for the physically weak provided by the present invention, the following effects are obtained.

-The driving force is provided by two individually driven driving wheels installed on the bogie frame, and the front wheel installed in the front of the bogie frame rotates up and down while the shock absorber buffers the shock absorber, and the rear wheel installed in the rear rotates left and right. Since the configuration is provided, even when moving on an irregular road surface, the front and rear wheels are grounded together with the driving wheels to ensure driving safety.

-Elevating means located between the bogie frame and the seat frame is simply provided in a 4-section link configuration so that smooth operation can be achieved. there is.

1 is an external perspective view showing a preferred embodiment of a transfer robot for the physically weak provided by the present invention
Figure 2 is a front view of Figure 1
Figure 3 is a side view of Figure 1
Figure 4 is a plan view of Figure 1
5 is a perspective view of an excerpt of a mobile cart in the present invention;
Figure 6 is a side view showing the operating state of the front wheel installed on the mobile bogie of the present invention
Figure 7 is a side view showing the operating state of the rear wheel installed on the mobile bogie of the present invention
Figure 8 is a perspective view of a partially broken state extracted from the lifting means provided by the present invention
9 is a side view of a state in which the seat frame is lowered in a state diagram in which the lifting means is operated in the present invention;
10 is a state diagram in which the seat frame is raised to a state diagram in which the lifting means is operated in the present invention.
11 is a state diagram in which the seat plate is erected vertically in a state in which the seat plate frame is raised to the operating state of the lifting means in the present invention.

Hereinafter, a preferred embodiment of a transfer robot for the physically weak provided by the present invention will be described based on the accompanying drawings.

1 is an external perspective view showing a preferred embodiment of a transfer robot for the physically handicapped provided by the present invention, FIG. 2 is a front view of FIG. 1, FIG. 3 is a side view of FIG. 1, and FIG. 4 is a view of FIG. It shows a plan view, respectively.

In the transfer robot 1 for the physically weak provided by the present invention, driving wheels 4 driven in the forward or reverse direction by a drive motor 3 integrated with a reducer are installed on both left and right sides, and front/rear wheels 5 are installed on the front and rear. ) (6) is installed on the upper side of the mobile cart (2) to include a seat plate (7) so that the physically weak can sit and use it.

According to the drawing, the lifting means 8 installed on the upper side of the mobile bogie 2 is installed, and the seat plate 7 is installed on the upper side of the lifting means 8 so that the height of the seat plate 7 can be adjusted. there is.

The seat plate 7 has a backrest plate 9 and a footrest 10 on the front and lower sides of the seat plate 7, and on the left and right sides of the backrest plate 9, armrests can be positioned above the seat plate 7. (11) is configured.

The present invention improves the structure of the mobile cart 2 and the structure of the lifting means 8 provided in the transfer robot 1 for the physically handicapped configured as described above, so that even on an irregular road surface, the driving wheel 4 can The rear wheels (5) (6) are grounded to the ground to provide driving safety, and the lifting means (8) located between the bogie frame (21) and the seat frame (71) is simply configured with a 4-section link. To provide a configuration with excellent durability in which smooth operation can be achieved by providing, will be described in detail below through the drawings.

Figure 5 is a perspective view of a mobile cart extracted from the present invention, Figure 6 is a side view showing the operating state of the front wheel installed on the mobile cart of the present invention, Figure 7 is the operation of the rear wheel installed on the mobile cart of the present invention Each side view showing the state is shown.

The mobile carriage 2 of the transfer robot 1 for the physically handicapped provided by the present invention forms a rectangular carriage frame 21 by cutting and welding each pipe to a predetermined length.

Drive motor fixing brackets 22 are installed on the left and right sides of the bogie frame 21, and drive motors 3 with integrated reducers are installed on the drive motor fixing brackets 22, respectively, and driving wheels 4 are installed on the output side of the reducer. is installed to provide driving force. In addition, a battery 23 is placed behind the drive motor 3 integrated with the reducer on both sides of the bogie frame 21 to supply power to the drive motor 3. The driving wheel 4 can move forward and backward by forward rotation and reverse rotation of the driving motor 3 .

A front wheel 5 and a rear wheel 6 are installed at the front and rear of the bogie frame 21, respectively.

The front wheel 5 may be coupled to a rotating front wheel frame 24 by being coupled with a fixing pin 26 to a drive motor fixing bracket 22 fixed to the bogie frame 21. Preferably, the front wheel frame 24 is configured to rotate 360 degrees by inserting the wheel fixture 51 to which the front wheel 5 is coupled.

A shock absorber 25 is installed between the front wheel frame 24 and the drive motor fixing bracket 22 to buffer the front wheel 5.

When the front wheel 5 is installed as described above, when the front wheel 5 is positioned on an uneven road surface, the front wheel frame 24 coupled by the shock absorber 25 rotates in the longitudinal direction of the bogie frame 21 As it is, the front wheel 5 is in a state of being grounded on the ground.

In addition, in the case of the rear wheel 6, the rear wheel frame 27 rotated by the fixing pin 26 is installed in the rear of the bogie frame 21 in the width direction of the bogie frame 21, and the rear wheel frame 27 Both ends are configured to rotate 360 degrees by inserting a wheel fixture 61 to which the rear wheel 6 is fixed. At this time, the rear wheel frame 27 has a T-shaped configuration in which a shaft support portion 27a to which the fixing pin 26 is coupled downward is formed.

When the rear wheel 6 is installed as described above, when the rear wheel 6 is located on an uneven road surface, the rear wheel frame 27 rotates in the width direction of the bogie frame 21 around the fixing pin 26, and the rear wheel ( 6) is grounded to the ground.

8 is a perspective view of an elevation means provided in the present invention, and FIG. 9 is a side view of a state in which the seat frame is lowered to a state in which the elevation means operates according to the present invention. 11 shows a state diagram in which the seat frame is raised vertically in the state in which the seat frame is raised in the operating state of the lifting means in the present invention.

The lifting means 8 provided in the present invention is the first and second lower ends of the upper link 82 and the lower link 83 bent in an L shape on the fixing bracket 81 formed on the rear upper side of the bogie frame 21 They are coupled to rotate with fixing pins 84 and 85, and the upper ends of the upper link 82 and the lower link 83 are rotatably coupled to the seat frame 71 formed on the front and lower sides of the seat plate 7 ( 86) and the third and fourth fixing pins 87 and 88 are coupled to rotate to form a four-section link.

That is, the lower end of the lower link 83 is coupled to the lower side of the fixing bracket 81 and the second fixing pin 85, and the upper end is coupled to the lower side of the rotation bracket 86 and the fourth fixing pin 88, The upper link 82 located on the upper side of the lower link 83 combines the lower end with the upper side of the fixing bracket 81 and the first fixing pin 84, and the upper end with the upper side of the rotation bracket 86 and the third fixing pin 84. Join with pin (87).

In addition, between the bogie frame 21 and the bent portion of the upper link 82, an actuator 89 for lifting and a shock absorber 90 for lifting are installed to lift the upper link 82 and the lower link 83 make it possible At this time, the lift actuator 89 and the lift shock absorber 90 are coupled to the upper link 82 through an operating hole formed in the lower link 83.

When the lifting means 8 is to be lifted in the state in which the lifting means 8 is configured as described above, the lifting actuator 89, one end of which is supported by the bogie frame 21, is operated.

When the lift actuator 89 is operated, the lower end is fixed to the bogie frame 21 and the upper link 82 coupled with the fixing bracket 81 and the first fixing pin 84 rotates. At this time, the upper link 82 ) and the third fixing pin 87 coupled to the rotation bracket 86 with the fourth fixing pin 88 and the lower link 83 coupled to the fixing bracket 81 with the second fixing pin 85 ) also rotates together, so that the seat frame 71 coupled with the rotation bracket 86 can be moved up and down in a stable state. ) and the lower link 83 is lowered.

In addition, in the present invention, the seat plate bracket 72 provided on the lower side of the seat plate frame 71 is coupled to the rotation bracket 86 using the fifth fixing pin 91 to the upper side than the third fixing pin 87, and rotates A seat plate actuator 73 is disposed behind the bracket 86 and the seat plate 7 so that the seat frame 71 can be erected by rotatably coupling both ends.

In the case of using the lifting means 8 configured as described above, the backrest plate 9 and the footrest 10 coupled to both sides of the seat plate 7 are arranged in a horizontal state to provide the functionality of standing up for the physically weak. First, in a state in which the lifting means 8 is raised as described above, the seat frame 71 is operated by operating the seat actuator 73 installed between the rotation bracket 86 and the seat frame 71 will be established.

As described above, according to the transfer robot 1 for the physically weak provided by the present invention, driving safety can be guaranteed because the front/rear wheels 5 and 6 are grounded together with the driving wheels 4 even on irregular road surfaces. In addition, the lifting means 8 located between the bogie frame 21 and the seat frame 71 is composed of a 4-section link, and the configuration can ensure smooth operation without worrying about failure and provide excellent durability. .

Although specific embodiments have been described in the detailed description of the present invention, various modifications are possible without departing from the scope of the present invention. Therefore, the protection scope of the present invention should not be limited to the described embodiments and should not be defined, but should be defined by the equivalents as well as the claims described later.

1: Transfer robot for the physically handicapped 2: Mobile bogie
21: bogie frame 22: drive motor fixing bracket
23: battery 24: front wheel frame
25: shock absorber 26: fixing pin
27: rear wheel frame 27a: shaft support
3: driving motor 4: driving wheel
5: front wheel 51, 61: wheel fixture
6: rear wheel 7: seat
71: Seat frame 72: Seat bracket
73: seat actuator 8: lifting means
81: fixed bracket 82: upper link
83: lower link 84: first fixing pin
85: second fixing pin 86: rotation bracket
87: third fixing pin 88: fourth fixing pin
89: lift actuator 90: lift shock absorber
91: fifth fixing pin 9: back plate
10: footrest 11: armrest

Claims (3)

A moving cart (2) with driving wheels (4) driven in the forward or reverse direction by a drive motor (3) integrated with a reducer installed on both left and right sides, and front and rear wheels (5) and (6) installed at the front and rear;
an elevating means (8) installed on the upper side of the mobile cart (2);
a seat board (7) installed above the lifting means (8);
a backrest plate (9) installed at the rear and upper side of the seat plate (7) and a footrest (10) installed at the front and lower side of the seat plate (7);
It is configured to include armrests 11 installed toward the seat plate 7 on the left and right sides of the backrest plate 9;
The mobile truck 2 includes a truck frame 21;
Driving wheels 4 installed on the left and right sides of the bogie frame 21 and driven in a forward or reverse direction by two reducer-integrated drive motors 3;
Rear wheels 6 installed on both sides of the rear wheel frame 27 installed to rotate at the rear of the bogie frame 21;
Including a front wheel 5 installed on the front wheel frame 24 installed to rotate on the front left and right sides of the bogie frame 21 and a shock absorber 25 installed between the bogie frame 21 and the front wheel frame 24 It is characterized by doing.
according to claim 1;
The elevating means 8 is formed by attaching the lower ends of the upper link 82 and the lower link 83 bent in an L shape to the fixing bracket 81 formed at the rear and upper side of the bogie frame 21 by first and second fixing pins ( 84) coupled to rotate with (85);
Upper ends of the upper link 82 and the lower link 83 are rotatably coupled to the seat frame 71 formed on the front and lower sides of the seat plate 7. The third and fourth fixing pins 87 and 88 are coupled to the rotation bracket 86. ) to be combined to rotate to form a four-section link;
The lift actuator 89 and the lift shock absorber 90 are installed between the bogie frame 21 and the bent portion of the upper link 82 to lift the upper link 82 and the lower link 83. It is characterized by allowing.
according to claim 1;
The seat plate bracket 72 provided at the lower side of the seat plate frame 71 is coupled to the rotation bracket 86 by using the fifth fixing pin 91 to the upper side than the third fixing pin 87;
It is characterized in that the seat plate actuator 73 is disposed behind the rotation bracket 86 and the seat plate 7 so that both ends can be rotatably coupled so that the seat frame 71 can be erected.

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