KR20230063473A - Seat assembly for transport robots for the physically challenged - Google Patents

Abstract

The present invention relates to a seat assembly for a transport robot for the physically handicapped that provides functions suitable for the physically handicapped, and ergonomically prevents the knees from unfolding when a calf support combined with a footrest is horizontally unfolded while performing general wheelchair functions. is designed to have convenience of use in accordance with the angle.
That is, the present invention includes a moving cart in which driving wheels driven in a forward or reverse direction by a drive motor integrated with a reducer are installed on both left and right sides, and auxiliary wheels are installed in the front and rear; an elevating means installed on the upper side of the mobile cart; a seat plate assembly installed above the lifting means; a backrest plate installed at the rear and upper side of the seat plate constituting the seat plate assembly and a footrest installed at 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 combination of the seat plate and the backrest plate constituting the seat assembly is hinged with a pin at the rear of the seat frame and the lower end of the backrest plate frame, and both ends are rotatably coupled to the seat frame and the backrest plate actuator and backrest for the seat plate. A shock absorber for the plate is installed, and the combination of the scaffolding frame coupled to the seat and the scaffolding is coupled to the lower side is configured by connecting a folding means.

Description

Seat assembly for transport robots for the physically challenged}

The present invention relates to a seat assembly for a transport robot for the physically handicapped that provides functions suitable for the physically handicapped, and more specifically, performs ergonomically ergonomic functions when a calf support combined with a footrest is horizontally unfolded while performing general wheelchair functions. It is intended to provide a seat assembly for a transfer robot for the physically weak with ease of use in accordance with the angle at which the knee is extended.

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 board.

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 central 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 prior art described above, the calf support member on which the footrest is installed rotates with the front bottom of the platform and the sixth pin, and the first front panel is rotated at an arbitrary position with respect to the first central panel. In this case, the knee and rotation radius of the disabled person sitting in a wheelchair and the rotation position of the footrest are different, resulting in the inconvenience of having to adjust the position of the footrest located at the bottom of the calf support member or the first front panel, and the empty space between the calves, so that the legs cannot be properly adjusted. An unsupported problem occurred.

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 eliminate the problems caused when the footrest frame in which the footrest constituting the seat assembly is installed in the conventional transfer robot for the physically handicapped described above is rotated.

That is, in the present invention, the seat and footrest constituting the seat assembly can be unfolded and folded by the folding means provided in a variable configuration, so that weak people of various body types can sit comfortably ergonomically. The calf support is spread horizontally with the seat to be used as a bed. In particular, when the footrest is spread horizontally with the seat, the knee and rotation radius of the physically weak and the rotation radius of the other footrest are compensated by folding means, and the footrest is moved to improve the leg position. The present invention was completed with the technical problem of the invention in providing a seat assembly for a transfer robot for the physically weak with ease of use such as supporting a seat.

In the present invention as a means for solving the problems, first, a driving wheel driven in a 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 auxiliary wheels installed on the front and rear; an elevating means installed on the upper side of the mobile cart; a seat plate assembly installed above the lifting means; a backrest plate installed at the rear and upper side of the seat plate constituting the seat plate assembly and a footrest installed at 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 combination of the seat plate and the backrest plate constituting the seat assembly is hinged with a pin at the rear of the seat frame and the lower end of the backrest plate frame, and both ends are rotatably coupled to the seat frame and the backrest plate actuator and backrest for the seat plate. It is characterized in that a shock absorber for a plate is installed, and the combination of the footrest frame coupled to the seat plate and the footrest is coupled to the lower side is connected by a folding means.

Second, the folding means includes: an L-shaped first link installed so that one end is rotated with a first pin on the seat frame to match the angle at which the knee is ergonomically extended; a second link having one end connected to the other end of the first link to be rotated by a second pin and the other end coupled to be rotated by a third pin on the upper part of the calf support; a third link rotatably coupled with a fourth pin to the seat frame in front of the first pin and having a middle lower end coupled to a fifth pin in the middle of the second link so as to be close to the second pin; a fourth link rotatably coupled to the lower end of the third link with a sixth pin and the other end coupled with a seventh pin to the lower portion of the calf support; It is characterized in that it is configured to include a scaffolding actuator coupled to the bent portion of the first link and the lower end of the seat frame so that both ends are rotated.

In the case of using the seat assembly for a transfer robot for the disabled provided by the present invention, the following effects are obtained.

-Since the footrest frame equipped with the backrest plate and footrest constituting the seat assembly can be used as a bed by extending it horizontally with the seat plate, the physically weak can be easily moved from the bed to the wheelchair or from the wheelchair to the bed, saving the trouble of guardians or caregivers. can be reduced, and the physically weak alone can improve mobility.

-When the footrest frame is unfolded or folded, the folding means rotates the footrest frame to match the angle at which the knee is unfolded ergonomically, so the legs of the physically weak can always be comfortably supported without additional manipulation, increasing the safety of riding.

1 is an external perspective view showing a preferred embodiment of a transfer robot to which a seat assembly for a transfer robot for the disabled provided by the present invention is applied
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
Figure 5 is a bottom perspective view showing an embodiment of the seat assembly provided by the present invention
6 is a side view of FIG. 5 and a working state of the backrest plate
7 is a perspective view of a folding means of a variable configuration for operating a footrest in a seat assembly in the present invention;
Figure 8 is an exploded perspective view of the folding means applied to the present invention
9 is a side view of the folding means applied to the present invention and a state in which the scaffold is folded
10 is a side view of the folding means applied to the present invention and a state in which the scaffolding is unfolded

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

1 is a perspective view showing a preferred embodiment of a transfer robot to which a seat plate assembly for a transfer robot for the disabled provided by the present invention is applied, FIG. 2 is a front view of FIG. 1, and FIG. 3 is a side view of FIG. , FIG. 4 shows a plan view of FIG. 1, respectively.

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

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

The seat plate 8 is installed on the front and lower sides of the back plate 9 and the seat plate 8, and has a footrest 10 at the bottom, and is located on the upper side of the seat plate 8 on the left and right sides of the back plate 9. It consists of a configuration in which the armrest 11 is installed so that it can be done.

The present invention is an ergonomic structure that matches the angle at which the knee is extended by improving the configuration of the seat (8), particularly the coupling configuration of the footrest (10) provided by the transfer robot (A) for the physically weak, configured as described above. When providing the calf support 13 and the seat 8 coupled to the footrest frame 12 horizontally by actively improving the combination of the footrest frame 12 to which the seat plate 8 and the footrest 10 are combined It is to compensate for the rotation radius of the footrest 10, which is different from the knee and rotation radius of the physically weak, with the folding means 20 to provide convenience in use, such as supporting the legs while the footrest 10 is moved. , Hereinafter, this will be described in detail through drawings.

Figure 5 is a bottom perspective view showing an embodiment of the seat provided in the present invention, Figure 6 is a side view of Figure 5 backrest plate operating state, Figure 7 is a variable configuration for operating the footrest in the present invention A perspective view of an excerpt of the folding means, FIG. 8 is a side view showing an operating state of the scaffold in FIG. 7 .

The seat assembly 1 for a transfer robot for the physically handicapped provided by the present invention includes a seat plate 8 on which the physically handicapped sits, a back plate 9 disposed behind the seat plate 8, and a seat plate ( 8) consists of a configuration comprising a scaffold frame 12 equipped with a scaffold 10 installed in the front lower side.

The seat plate 8 is configured to be lifted by combining the seat frame 81 at the bottom with the lifting means 7 installed on the mobile cart 2.

The backrest plate 9 and the seat plate 8 are coupled by hingedly connecting the back of the seat frame 81 and the lower end of the back seat frame 91 with a pin so that they can be rotated at a certain angle, and the seat frame 81 and A backrest plate actuator 92 and a backrest plate shock absorber 93, both ends of which are rotatably coupled to the backrest plate frame 91, are installed so that the backrest plate 9 can be used as a chair by standing it up or laid down to be used with a bed. to be used together.

In addition, the combination of the seat frame 81, which is a key technology in the present invention, and the foot frame 12 to which the foot plate 10 is coupled to the lower side, as mentioned above, is a folding means to match the angle at which the knee is unfolded ergonomically. (20) is configured to compensate for the knee and rotation radius of the physically weak and the rotation radius of the footrest 10, which is different from the folding means 20, so that the footrest 10 can support the leg while the position is moved.

The scaffold frame 12 provided by the present invention is provided with a scaffold 10 at a right angle at the lower end so that the physically weak can comfortably raise their feet in a sitting state, and the scaffold frame 12, which is the upper side of the scaffold 10, The calf support 13 is coupled to the front.

The folding means 20 installs an L-shaped first link 22, one end of which is installed to rotate with the first pin 21, on the seat frame 81.

The second link 25 is coupled so that the other end of the first link 22 is rotated by the second pin 23, and the other end rotates by the third pin 24 on the upper part of the calf support 13. The first pin 21 is rotatably coupled to the seat frame 81 forward with the fourth pin 26, and the fifth pin 25 is located in the middle of the second link 25 so as to be close to the second pin 23. The third link 28 is coupled to the middle lower end with the pin 27, and the lower end of the third link 28 and the sixth pin 29 are coupled to be rotated, and the other end is attached to the lower part of the calf support 13. The fourth link 31 is coupled to the 7 pin 30.

In addition, it is configured to include a scaffolding actuator 32 coupled to the bent portion of the first link 22 and the lower end of the seat frame 81 so that both ends are rotated.

A pair of left and right actuators 32 for the scaffolding may be installed and configured to operate synchronously.

In the case of constructing the folding means 20 as described above, as mentioned above, the footrest 10 is moved in position by compensating for the rotation radius of the footrest 10, which is different from the knee and rotation radius of the physically weak, with the folding means 20 to be able to support

That is, when the footrest 10 is to be folded in a state where the footrest 10 is unfolded by the folding means 20 to sit on the seat assembly 1, the first link 22 is pulled using the footrest actuator 32 do. When the first link 22 is pulled by the actuator 32 for the footrest, when the first link 22 rotates outwardly around the first pin 21 coupled to the seat frame 81, the first link 22 ) And the third link 28 coupled to the seat frame 81 with the fourth pin 26 pulls the second link 25 and the third link 28 coupled to the calf support 13 At this time, while the second link 25 is rotated around the fifth pin 27 coupled to the lower middle of the third link 28, the calf support 13 is pulled toward the seat frame 81 and the seat frame ( 81) to narrow the distance.

In addition, when trying to unfold the footrest 10 in a state where the footrest 10 is folded at right angles to the seat 8 as described above, the first link 22 is pushed by using the footrest actuator 32 as opposed to the above. . When the first link 22 is pushed by the footrest actuator 32, when the first link 22 rotates inwardly around the first pin 21 coupled to the seat frame 81, the first link 22 And the third link 28 coupled to the seat frame 81 by the fourth pin 26 pushes the second link 25 and the third link 28 coupled to the calf support 13, At this time, while the second link 25 is rotated around the fifth pin 27 coupled to the middle lower end of the third link 28, the calf support 13 is pushed to the opposite side of the seat frame 81, and the seat frame 81 ) By widening the distance to the rotation radius of the knee and compensating for the position of the footrest 10, which is different from the folding means 20, it is possible to move the footrest 10 variably to match the body of the physically weak.

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.

A: Transfer robot for the physically weak
1: Seat assembly (for transfer robots for the physically handicapped)
2: moving truck 3: driving motor
4: driving wheel 5,6: auxiliary wheel
7: lifting means 8: seat
81: seat frame 9: back plate
91: Backrest plate frame 92: Actuator for backrest plate
93: shock absorber for backrest plate 10: footrest
11: armrest 12: footrest frame
13: calf support 20: folding means
21: 1st pin 22: 1st link
23: 2nd pin 24: 3rd pin
25: 2nd link 26: 4th pin
27: 5th pin 28: 3rd link
29: 6th pin 30: 7th pin
31: 4th link 32: actuator for footrest

Claims (2)

A mobile cart (2) with driving wheels (4) driven in forward or reverse directions by a drive motor (3) integrated with a reducer installed on both left and right sides, and auxiliary wheels (5) and (6) installed at the front and rear;
an elevating means (7) installed on the upper side of the mobile cart (2);
a seat plate assembly (1) installed above the lifting means (7);
a backrest plate 9 installed on the rear upper side of the seat plate 8 constituting the seat plate assembly 1 and a footrest 10 installed on the lower front side of the seat plate 8;
It is configured to include armrests 11 installed toward the seat plate 8 on the left and right sides of the back plate 9;
The seat plate 8 and the backrest plate 9 constituting the seat assembly 1 are coupled by hingedly connecting the back of the seat frame 81 and the lower end of the backrest plate frame 91 with pins, and the seat frame 81 ) and the backrest plate frame 91, both ends of which are rotatably coupled, a backrest plate actuator 92 and a backrest plate shock absorber 93 are installed, coupled to the seat plate 8, and the footrest 10 downward Seat assembly for a transfer robot for the physically weak, characterized in that the combination of the combined footrest frame 12 is connected to the folding means 20.
according to claim 1;
The folding means 20 includes an L-shaped first link 22 installed so that one end of the seat frame 81 is rotated by the first pin 21 so as to match the angle at which the knee is ergonomically extended;
A second link 25 having one end coupled to rotate with the other end of the first link 22 and the second pin 23 and the other end coupled to rotate with the third pin 24 on the upper part of the calf support 13 and;
The first pin 21 is rotatably coupled to the seat frame 81 as the fourth pin 26 forward, and the fifth pin 27 is located in the middle of the second link 25 so as to be close to the second pin 23 A third link 28 combining the middle and lower ends with;
a fourth link 31 coupled to the lower end of the third link 28 and the sixth pin 29 to be rotated, and the other end coupled to the lower portion of the calf support 13 with the seventh pin 30;
A seat plate assembly for a transfer robot for the physically handicapped, characterized in that it is configured to include a foot plate actuator 32 coupled so that both ends are rotatably coupled to the bent portion of the first link 22 and the lower end of the seat frame 81.

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