WO2020258435A1 - 一种移位车 - Google Patents

一种移位车 Download PDF

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Publication number
WO2020258435A1
WO2020258435A1 PCT/CN2019/098096 CN2019098096W WO2020258435A1 WO 2020258435 A1 WO2020258435 A1 WO 2020258435A1 CN 2019098096 W CN2019098096 W CN 2019098096W WO 2020258435 A1 WO2020258435 A1 WO 2020258435A1
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WO
WIPO (PCT)
Prior art keywords
bracket
link
vehicle according
buttocks support
gear
Prior art date
Application number
PCT/CN2019/098096
Other languages
English (en)
French (fr)
Inventor
李路平
杨茗予
陆柯军
覃鸿
Original Assignee
宁波康麦隆医疗器械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 宁波康麦隆医疗器械有限公司 filed Critical 宁波康麦隆医疗器械有限公司
Publication of WO2020258435A1 publication Critical patent/WO2020258435A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
    • A61G7/1034—Rollers, rails or other means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A61G7/1061—Yokes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/109—Lower body, e.g. pelvis, buttocks

Definitions

  • the invention relates to a shift vehicle.
  • the object to be achieved by the present invention is to provide a shifting vehicle, which solves the technical problem that the existing use object needs to be displaced to the shifting vehicle by means of external force, which causes overall operation trouble and secondary damage to the use object.
  • a shifting vehicle including a vehicle base, a lifting column provided on the vehicle base; a left mechanical arm and a right mechanical arm installed on the lifting column ,
  • the left mechanical arm and the right mechanical arm form a hug force to hug the human torso;
  • the buttocks support body provided under the left and right mechanical arms for supporting the human buttocks;
  • the left and right mechanical arms The mechanical arm lifts and lowers the human body under the driving force of the lifting column.
  • the shifting vehicle of the present invention relies on the driving force of the lifting column to make the left and right mechanical arms lift and lower the human body. Since the left and right mechanical arms act on the human armpit and support the human body, imitating The action of reporting the elderly or children with both hands conforms to the characteristics of the force position of the human body, and will not cause injury or discomfort to the elderly or patients.
  • the operation of the present invention is more concise and Fast, save the time and labor of nursing staff, and can better meet the needs of some users who need to complete the displacement in a short time;
  • the left and right manipulators are used to support the two armpits of the human body respectively, they can just fix the left and right directions of the human body, thereby avoiding the use of objects to fall and shake to the left and right sides, thereby improving The safety performance of the human body in the process of lifting and lowering;
  • the buttocks support is mainly used to support the buttocks of the human body.
  • the user can sit on the buttocks support to provide support in the vertical direction and increase stability.
  • the lifting column can adjust the height of the left and right mechanical arms according to different human bodies to meet the needs of different human bodies, and has good practical performance;
  • the left and right mechanical arms are used to raise and lower the human body by the driving force of the lifting column, and the left and right mechanical arms support the two armpits of the human body. It realizes the safe, efficient and comfortable transfer of the object to the shifting vehicle. For the carer, no effort is required from the caregiver, which greatly simplifies the process of transferring the object to the shifting vehicle, and reduces the secondary impact caused by the transfer process. Secondary injuries can even reduce the accident rate in the process of using objects to move.
  • the lifting column is provided with two rotating shafts, the left mechanical arm and the right mechanical arm are respectively arranged to rotate around the two rotating shafts, and the angle between the rotating shaft and the horizontal plane is ⁇ , 0 ⁇ 90°, the left mechanical arm and the right mechanical arm
  • the arm is subjected to gravity to produce a movement tendency toward the human trunk.
  • an end plate is provided on the rotating shaft, and the end plate is axially inclined with respect to the rotating shaft, the axial included angle between the end plate and the rotating shaft is ⁇ , 0° ⁇ 45°, and the end plate is provided with rotating holes and rotating holes.
  • the distance between the axis of the shaft and the axis of the rotating shaft is d, 30mm ⁇ d ⁇ 60mm, a connecting rod is connected between the two end plates, and the end of the connecting rod is rotated at the rotating hole.
  • a stop member is provided between the inner side of the left mechanical arm and the right mechanical arm, and the stop member is used to limit the closing angle between the two mechanical arms.
  • the stop member is a spring or an electric push rod or an air cylinder.
  • the left manipulator arm and the right manipulator arm are connected by an arm drive device
  • the arm drive device includes a first tooth and a second tooth
  • the two shafts are a left shaft and a right shaft
  • the first tooth and the first tooth Two teeth are linked
  • the first tooth drives the left manipulator through the left shaft
  • the second tooth drives the right manipulator through the right shaft
  • the rotation of the first tooth or the second tooth controls the left and right manipulators to move together or separate synchronously
  • the left machine The angular velocity of the arm and the right mechanical arm are the same, and the left and right mechanical arms are arranged symmetrically along the vertical plane.
  • the first tooth includes a coaxially fixed first gear and a second gear
  • the second tooth includes a coaxially fixed third gear and a fourth gear.
  • the first gear and the third gear mesh with each other, and a second gear is fixed on the left rotating shaft.
  • Five gears, a sixth gear is fixed on the right rotating shaft, the second gear meshes with the fifth gear, and the fourth gear meshes with the sixth gear.
  • a pad simulating the shape of a human hand is provided on the left and right mechanical arms.
  • the buttocks support body includes a bracket and a buttocks support plate, the bracket is arranged on the base of the vehicle, and the bracket and the buttocks support plate are rotatably connected, the buttocks support plate is provided with a linear drive, and the bracket A connecting rod assembly is also provided between the buttocks support plate, one end of the connecting rod assembly is rotatably connected with the bracket, and the other end is rotatably connected with the linear driver, the buttocks support mechanism further includes a locking member for locking the connecting rod assembly, When the locking member is in the locked state, the linear driver drives the buttocks support plate to rotate relative to the bracket, and when the locking member is in the unlocked state, the buttocks support plate can be manually rotated relative to the bracket.
  • the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected with the linear drive, and the other end of the first connecting rod is rotatably connected with the second connecting rod, The end of the second link away from the first link is rotatably connected to the bracket.
  • the linear drive drives the hip support plate to rotate relative to the bracket.
  • the second link can rotate relative to the bracket, and the buttocks support plate can manually rotate relative to the bracket.
  • the second connecting rod includes a sleeve, a first connecting plate, and a second connecting plate.
  • the first connecting plate and the second connecting plate are installed on the side wall of the sleeve and arranged on the same side.
  • a circlip pin is rotatably connected between the connecting plate and the end of the second connecting plate away from the sleeve.
  • the end of the first connecting rod away from the linear driver is rotatably mounted on the circlip pin.
  • the sleeve is rotatably installed on the connecting shaft; the first connecting rod is installed between the first connecting plate and the second connecting plate, and the circlip pin is provided with a restricting first connecting rod from sliding The limit bushing.
  • the locking member includes a locking bolt and a pull ring, and both the second connecting rod and the bracket are provided with positioning holes for the locking bolt to move.
  • the opposite ends of the buttocks support plate and the bracket are both provided with locking teeth.
  • the buttocks support body includes two buttocks support plates, and the two buttocks support plates are arranged symmetrically about the horizontal axis of the bracket, and an arc-shaped gap is provided between the two buttocks support plates.
  • the lifting column includes an inner tube, an electric push rod arranged at the bottom of the inner tube, and an outer tube that is driven by the electric push rod to expand and contract along the outer side of the inner tube.
  • the electric push rod has a safety release device, and the safety release The device has a safety release switch, the shift vehicle further includes a safety release link assembly for pressing the safety release switch, and the vehicle base is provided with a safety release button for driving the safety release link assembly.
  • the safety release device is located inside the bottom of the inner tube and the safety release switch extends below the safety release device
  • the safety release link assembly includes a horizontal movement link and a rotation link, and the horizontal movement link is horizontally movably connected
  • the safety release button On the base of the shifting vehicle, one end of the horizontal movement link is connected to a safety release button, and the other end is connected to a rotating link
  • the safety release button is located on the side of the base of the shifting vehicle, and the rotating link is provided with an upward pushing safety The top plate of the release switch, and the safety release button is connected with a return spring.
  • the rotating link includes a vertical section and a horizontal section connected in a V shape, the bottom of the vertical section is hinged with the horizontal moving link, the connection part of the vertical section and the horizontal section is rotatably connected to the rotating shaft, and the top plate is provided with On the horizontal section.
  • the lifting column is inclined backwards
  • the guide rail includes a guide rail connected to the outer tube and a guide rail slider connected to the inner tube.
  • the guide rail slider has a guide rail groove that is slidably matched with the guide rail.
  • the length of the block is greater than one third of the length of the inner tube, and when the outer tube extends outward to the limit position, at least one-fifth of the length of the inner tube is maintained with the guide rail.
  • the horizontal projection of the lifting column is a shape that is narrow at the front and wide at the rear with a gradual width, and two sets of guide rails are arranged side by side on the left and right sides of the rear of the lifting column.
  • the lower front inner wall of the outer tube is connected with a backing plate supported on the outer wall of the inner tube, or/and the upper front outer wall of the inner tube is connected with a backing plate supported on the inner wall of the outer tube.
  • a self-lubricating nylon bushing is provided in the guide rail groove.
  • Fig. 1 is a schematic diagram of a three-dimensional structure of a shifting vehicle in embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of the front structure of the left and right mechanical arms of the first embodiment of the present invention
  • FIG. 3 is a schematic diagram of the three-dimensional structure of the left and right mechanical arms in Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram of the front structure of the rotating shaft according to Embodiment 1 of the present invention.
  • FIG. 5 is a schematic diagram of the bottom structure of the rotating shaft in Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram of the structure of the arm support body in the embodiment 1 of the present invention.
  • Fig. 7 is a partial enlarged schematic diagram of F in Fig. 6;
  • FIG. 8a is a schematic structural diagram of the arm support mechanism of the first embodiment of the handicapped displacement vehicle according to the present invention when the buttocks support plate is closed when the locking member is locked;
  • Figure 8b is a cross-sectional view of the G-G plane in Figure 8a;
  • FIG. 9 is a partial structural diagram of the bracket in the first embodiment of the arm support mechanism of the handicapped displacement vehicle according to the present invention.
  • FIG. 10 is a schematic diagram of the structure of the second link in the first embodiment of the arm support mechanism of the handicapped displacement vehicle according to the present invention.
  • 11a is a schematic structural view of the arm support mechanism of the first embodiment of the handicapped displacement vehicle according to the present invention when the buttocks support plate is opened when the locking member is locked;
  • Figure 11b is a cross-sectional view of the C-C plane in Figure 11a;
  • 12a is a schematic structural diagram of the arm support mechanism of the first embodiment of the handicapped displacement vehicle according to the present invention when the buttocks support plate is closed when the locking member is unlocked;
  • Figure 12b is a cross-sectional view of the D-D plane in Figure 12a;
  • Figure 13a is a schematic structural diagram of the arm support mechanism of the first embodiment of the handicapped displacement vehicle according to the present invention when the buttocks support plate is opened when the locking member is unlocked;
  • Figure 13b is a cross-sectional view of the E-E plane in Figure 13a;
  • Figure 14 is a front view of the shift car
  • Figure 15 is a schematic diagram of the A-A cross-sectional structure in Figure 14;
  • Fig. 16 is a schematic diagram of an enlarged structure at I in Fig. 14;
  • Figure 17 is a side view of the shift car
  • Figure 18 is a schematic diagram of the B-B cross-sectional structure in Figure 15;
  • Fig. 19 is a schematic diagram of a partial structure in Fig. 18;
  • Fig. 20 is a second schematic diagram of the partial structure in Fig. 18;
  • FIG. 21 is a schematic diagram of the first structure of the use state of the use object in Embodiment 1 of the present invention.
  • FIG. 22 is a schematic diagram of the second structure of the use state of the use object in Embodiment 1 of the present invention.
  • FIG. 23 is a schematic diagram of the third structure of the use state of the use object in Embodiment 1 of the present invention.
  • FIG. 24 is a schematic diagram of a three-dimensional structure of a shifting vehicle according to Embodiment 2 of the present invention.
  • Fig. 26 is a schematic diagram of the enlarged structure at X in Fig. 25;
  • FIG. 27 is a schematic diagram of the three-dimensional structure of the left and right mechanical arms in Embodiment 4 of the present invention.
  • this embodiment is a shifting vehicle, including a vehicle base C, the vehicle base C is provided with pulleys C1, there are four pulleys C1, and the vehicle base C is provided with a pedal area.
  • the base C is provided with a lifting column D, which is installed on the lifting column D to respectively lift the left mechanical arm A1 and the right mechanical arm A2 under the armpit of the human body, and the left mechanical arm A1 and the right mechanical arm A2 are tightly hug Human torso; located under the left mechanical arm A1 and right mechanical arm A2 for supporting the buttocks of the human body buttocks support body B; the left mechanical arm A1 and right mechanical arm A2 under the driving force of the lifting column Raise and lower.
  • the displacement vehicle in this embodiment relies on the driving force of the lifting column D to raise and lower the human body by the left mechanical arm A1 and the right mechanical arm A2, because the left mechanical arm A1 and the right mechanical arm A2 act on the human armpits respectively It also plays a supporting role, imitating the action of reporting the elderly or children with both hands, conforming to the characteristics of the force position of the human body, and will not cause harm or discomfort to the elderly or patients.
  • the operation of the present invention is more concise and fast, saves the time and labor of the nursing staff, and can better meet the needs of some users who need to complete the displacement in a short time;
  • the left robotic arm A1 and the right robotic arm A2 are respectively used to support the two armpits of the human body, the left robotic arm A1 and the right robotic arm A2 can just fix the left and right directions of the human body, thereby avoiding the use of objects to move Dumping and shaking on the left and right sides, thereby improving the safety performance of the human body in the process of lifting and lowering;
  • the buttocks support B is mainly used to support the buttocks of the human body.
  • the user can sit on the buttocks support, so as to have support in the vertical direction and increase stability;
  • the lifting column D can adjust the height of the supporting pad body according to different human bodies to meet the needs of different human bodies, and has good practical performance;
  • the left and right mechanical arms A1 and A2 are lifted and lowered to the human body by the driving force of the lifting column D, and the left and right mechanical arms A1 and A2 are on the two armpits of the human body. Support, so that the safe, efficient and comfortable transfer of the object to the shifting vehicle is realized. For the carer, no effort is required from the caregiver, which greatly simplifies the process of transferring the object to the shifting vehicle and reduces the transfer process. The secondary injury caused by the worm can even reduce the accident rate in the process of moving the object.
  • the left mechanical arm A1 is held on the left armpit of the human body
  • the right mechanical arm A2 is held on the right armpit of the human body
  • the left mechanical arm A1 and the right mechanical arm A2 imitate human hands
  • the upper body of the disabled person is lifted up
  • the left and right mechanical arms A1 and A2 are also held tightly from the left and right sides of the torso of the disabled to avoid shaking of the upper body during the underarm support.
  • the left mechanical arm The arm A1 and the right mechanical arm A2 are provided with a support pad A5 that simulates the shape of a human hand.
  • the support pad A5 achieves the effect of support and hug at the same time.
  • the support pad A5 can be connected with the mechanical arm in rotation to make the support as much as possible.
  • the pad A5 fits the human armpit and torso skin to improve the comfort of the lifted person.
  • the material of the support pad body A5 can be made of flexible materials such as silica gel. Correspondingly, it can be installed inside the support pad body A5. A metal reinforcement plate that matches its shape to enhance the mechanical strength of the pad body A5.
  • Two rotating shafts are arranged on the frame, and the two rotating shafts are a left rotating shaft A3 and a right rotating shaft A4.
  • the left shaft A3 and the right shaft A4 are installed on the frame at the same time.
  • the left manipulator arm A1 is rotatably installed on the left shaft A3, and the right manipulator arm A2 is installed on the right shaft A4.
  • the left shaft A3 and the right shaft A4 are respectively aligned with the left machine The arm A1 and the right mechanical arm A2 support.
  • the left rotation axis A3 and the right rotation axis A4 are completely the same, and the left mechanical arm A1 and the right mechanical arm A2 are completely the same.
  • a vertical plane is selected, and the left rotation axis A3 and the right rotation axis A4 are symmetrically arranged along the vertical plane.
  • the left axis A3 is set on the left side of the above vertical plane, the angle between the left axis A3 and the horizontal plane is ⁇ , 0 ⁇ 90°, that is, the left axis A3 is neither horizontal nor vertical.
  • the rotation plane where the corresponding left mechanical arm A1 is located is a non-horizontal plane and a non-vertical plane. Therefore, after the left armpit is squeezed on the pad A5 on the left mechanical arm A1, the left mechanical arm A1 rotates towards the lowest point of the vertical height in its rotation plane under the dual action of its own gravity and the gravity of the human body.
  • the lowest point is set in the middle of the human body's torso, so the process of turning the left robotic arm A1 from the highest point to the lowest point in the rotation plane is equivalent to the process of turning the left robotic arm A1 toward the torso.
  • the left robotic arm A1 is rotated to the lowest point of height. It will come into contact with the human body’s torso, and its rotation will be blocked by the body’s torso and stop turning, but it still retains the movement trend toward the middle of the human body’s torso. The greater the body weight, the stronger this movement trend will be. The greater the holding force between the arm A1 and the torso.
  • the working principle of the right mechanical arm A2 and the right rotating shaft A4 is the same.
  • the rotation process of the left manipulator arm A1 and the right manipulator arm A2 includes the movement from a position away from the torso to the torso horizontally.
  • the left arm A1 and the right arm A2 are also symmetrically arranged in this embodiment, and the symmetry planes are also the left axis A3 and the right axis A4.
  • the rotational speeds of the left and right mechanical arms A1 and A2 need to be the same, or approximately the same. Therefore, there needs to be a linkage relationship between the left axis A3 and the right axis A4. .
  • the left shaft A3 is provided with an end plate A18.
  • the end plate A18 is axially inclined relative to the left shaft A3.
  • the axial angle between the end plate A18 and the shaft is ⁇ , 0° ⁇ 45°
  • the plate A18 is provided with a rotating hole A19, and the distance between the axis of the rotating hole A19 and the axis of the rotating shaft is d, 30mm ⁇ d ⁇ 60mm.
  • a connecting rod A17 is connected between the end plate A18 of the left rotating shaft A3 and the end plate A18 with the rotating shaft, and the two ends of the connecting rod A17 are respectively rotatably arranged at the two rotating holes A19.
  • the angular velocity of the left rotation axis A3 and the right rotation axis A4 can still be kept equal or approximately equal.
  • this embodiment relies on manual control of the left and right mechanical arms. Therefore, in order to prevent the left and right mechanical arms from coming closer and colliding with each other under their own weight, a gear is set between the left and right mechanical arms.
  • the stopper A20 is used to limit the closing angle between the two mechanical arms, the stopper is a spring or an electric push rod or a gas spring. For some obese people, in order to achieve greater clamping If the closing angle is too small, the closing angle between the robot arms will be small. If the closing angle is too small, the torso will be compressed. The stopper is used to restrict the robot arm to avoid excessive compression of the torso by the robot arm.
  • the robotic arms may slide, and then collide with each other.
  • the stopper effectively limits the closing angle between the two robotic arms, avoiding direct impact by the robotic arm and improving the use of the robotic arm.
  • Life span the left and right manipulators can be opened and closed through two rotating shafts, which can meet the needs of different fat and thin bodies. The practical performance is good.
  • the connecting rod can meet the needs of the human body for balance during the lifting process. The tilt of the shoulders.
  • Brackets support see Figure 1, Figure 6 to Figure 13b and Figure 22 for details, including a bracket B1 and a buttocks support plate B2.
  • the bracket B1 is arranged on the car base C, and the buttocks support plate B2 is rotatably connected to the bracket B1.
  • the buttocks support plates B2 are two symmetrical left and right.
  • An arc-shaped gap B0 is formed between the two buttocks support plates B2.
  • the two right and left buttocks support plates B2 are provided with axially symmetrical arc-shaped gaps.
  • the main purpose of setting the middle gap B0 is to facilitate the use of the subject to go to the toilet.
  • the subject can be used directly on the nursing cart without the need to go down.
  • the car is more convenient.
  • the buttocks support plate B2 is equipped with a linear drive B3, and the bracket B1 and the buttocks support plate B2 are also provided with a link assembly B4.
  • One end of the link assembly B4 is rotatably connected to the bracket B1, and the other end is connected to the linear drive B3
  • Rotatingly connected, the buttocks support mechanism also includes a locking member B5 that locks the link assembly B4.
  • the linear driver B3 drives the buttocks support plate B2 to rotate relative to the bracket B1, and when the locking member B5 is in the unlocked state , The buttocks support plate B2 can be manually rotated relative to the bracket B1.
  • the linear driver B3 drives the link assembly B4 to drive the buttocks support plate B2 to rotate relative to the bracket B1 to realize the electric drive of the buttocks support plate B2 to rotate.
  • the locking member B5 When the linear drive B3 fails to work normally, the locking member B5 is In the unlocked state, at this time, the buttocks support plate B2 can be manually driven to rotate around the bracket B1, which effectively prevents the object from being stuck on the displacement vehicle, and improves the safety of the disabled displacement vehicle.
  • the connecting rod assembly B4 includes a first connecting rod B41 and a second connecting rod B42.
  • One end of the first connecting rod B41 is rotatably connected with the linear drive B3, and the other end of the first connecting rod B41 is connected to the second connecting rod.
  • B42 rotates and connects, the end of the second link B42 away from the first link B41 is connected to the bracket B1 in rotation.
  • the locking member B5 is in the locked state
  • the second link B42 cannot rotate relative to the bracket B1, and the linear driver B3 drives the hip support
  • the plate B2 rotates relative to the bracket B1.
  • the second link B42 can rotate relative to the bracket B1, and the buttocks support plate B2 can manually rotate relative to the bracket B1.
  • the second link B42 cannot rotate relative to the bracket B1, and the linear driver B3 drives the first link B41 to rotate relative to the second link B42. At this time, the buttocks support plate B2 rotates relative to the bracket B1.
  • the first link B41 is rotatable relative to the second link B42, and the second link B42 is rotatable relative to the bracket B1.
  • the second connecting rod B42 includes a sleeve B4201, a first connecting plate B4202, and a second connecting plate B4203.
  • the first connecting plate B4202 and the second connecting plate B4203 are installed on the side wall of the sleeve B4201 and on the same side.
  • the end of the first connecting plate B4202 and the second connecting plate B4203 away from the sleeve B4201 is rotatably connected with a circlip pin B6, and the end of the first connecting rod B41 away from the linear driver B3 is rotatably mounted on the circlip pin B6,
  • a connecting shaft B7 is connected between the buttocks support plate B2 and the bracket B1, and the sleeve B4201 is rotatably mounted on the connecting shaft B7.
  • the sleeve B4201 is rotatably connected to the connecting shaft B7.
  • the first connecting plate B4202 and the second connecting plate B4203 can rotate with the rotation of the sleeve B4201.
  • the locking member B5 restricts the first connecting plate B4202 and the second connecting plate B4202.
  • the connecting plate B4203 rotates, and the linear driver B3 drives the first connecting rod B41 to rotate relative to the circlip pin B6.
  • the first connecting plate B4202 and the second connecting plate B4203 can rotate relative to the connecting shaft B7, the first connecting plate B4202 and the second connecting plate B4203 can rotate with the rotation of the sleeve B4201.
  • the first connecting rod B41 can also rotate relative to the circlip pin B6 to achieve manual rotation of the buttocks support plate B2.
  • the first connecting plate B4202 and The arrangement of the second connecting plate B4203 enhances the strength of the second connecting rod B42 and ensures the stability when manually rotating the buttocks support plate B2.
  • the bracket B1 is provided with a first movable groove B9 for swinging the first connecting plate B4203 and the second connecting plate B4203.
  • the first movable groove B9 can limit the movable range of the first connecting plate B4202 and the second connecting plate B4203, and avoid The first connecting plate B4202 and the second connecting plate B4203 sway when rotating, which improves the stability of the rotation of the buttocks support plate B2.
  • the distance between the inner wall of the first movable groove B9 and a side wall of the first connecting plate B4202 away from the second connecting plate B4203 is M, 0 ⁇ M ⁇ 3 cm. Specifically, in this embodiment, M is 2 cm. This arrangement can ensure that the first connecting plate B4202 and the second connecting plate B4203 will not be rubbed by the inner wall of the first movable groove B9 when rotating.
  • the locking member B5 includes a locking bolt B52 and a pull ring B52, and both the second connecting rod B42 and the bracket B1 are provided with positioning holes B10 for the locking bolt B52 to move.
  • the second connecting rod B42 and the bracket B1 are connected.
  • the second connecting rod B42 cannot rotate, the locking member B5 is in the locked state, and the linear driver B3 drives the first connecting rod B41 to surround The second link B42 rotates to realize the rotation of the buttocks support plate B2 relative to the bracket B1.
  • the second link B42 is separated from the bracket B1, and the second link B42 can rotate around the bracket B1, the first link B41 rotates relative to the second link B42, and the second link B42 rotates relative to the bracket B1.
  • the buttocks support plate B2 can be manually rotated.
  • the linear actuator B3 is installed in the buttocks support plate B2.
  • the linear drive B3 is arranged in the buttocks support plate B2, which realizes the hidden arrangement of the linear drive B3, which makes the structure of the shifting vehicle more compact and the appearance more beautiful.
  • the opposite ends of the buttocks support plate B2 and the bracket B1 are both provided with locking teeth B8.
  • the locking teeth B8 can prevent the buttocks support plate B2 and the bracket B1 from shaking in the closed state.
  • the buttocks support plate B2 is provided with a second movable groove B11 for swinging of the link assembly B4.
  • the swing range of the link assembly B4 can be restricted, so that the buttocks support plate B2 can rotate within a safe range, and on the other hand, it can also avoid The first link B41 shakes when it rotates, which improves the comfort when using the shifter.
  • FIG. 1 For the lifting column, refer to Figure 1 and Figure 14 to Figure 20 for details. It includes an outer tube D11 and an inner tube D12.
  • the inner tube D12 is fixedly connected to the base of the shift car.
  • the outer tube D11 is driven by an electric push rod to expand and contract along the outer wall of the inner tube D12.
  • the electric push rod is arranged at the bottom of the inner tube, the electric push rod has a safety release device D14, and the safety release device D14 has a safety release switch D141.
  • the safety release device D14 is located inside the bottom of the inner tube and the safety release switch D141 extends below the safety release device D14. It also includes a safety release link assembly D15 for pressing the safety release switch.
  • the safety release link assembly D15 includes a horizontal movement link D151 and a rotation link D152. One end of the horizontal movement link D151 is connected to the safety release button. D153, the other end is connected to a rotating link D152, and the rotating link D152 is provided with a top plate that pushes the safety release switch upward.
  • the safety release button D153 is located on the side of the base of the shifting vehicle, which can be the front side, left side, right side or back side.
  • the care object can be operated by bending.
  • the rotating link D152 includes a vertical section and a horizontal section connected in a V shape, the bottom of the vertical section is hinged with the horizontal moving link, the connecting part of the vertical section and the horizontal section is rotatably connected to the rotating shaft, and the top plate is provided with On the horizontal section.
  • the horizontal moving link In order to guide the horizontal linear movement of the horizontal moving rod, the horizontal moving link is slidably connected to the guide hole.
  • the safety release button only needs to be pressed lightly to drive the rotating link, and then the safety release switch is pushed upward from the top plate, which further enhances the operating experience.
  • the safety release quick close D141 of the safety release device itself has a return structure, which can be reset after the safety release button is released, thereby pushing the safety release link assembly back into position.
  • the safety release button may be connected with a return spring.
  • the guide rail includes a guide rail D111 connected to the outer tube and a guide rail slider D122 connected to the inner tube.
  • the guide rail slider D122 has a guide groove that is slidably engaged with the guide rail.
  • the traditional lifting column is in a vertical state, but in this embodiment, the lifting column is inclined backwards and bears the downward force from the rear side in the use state.
  • the traditional guide rail slider is shorter, and when subjected to greater force Easy to deform or even damage.
  • the length of the guide rail slider D122 is greater than one-third of the length of the inner tube, so as to ensure that the rail slider D122 and the guide rail D111 have a greater resistance. Force area.
  • the length of the rail slider D122 can be as long as the length of the inner tube.
  • the guide rail slider D122 can be a full-length structure extending from the bottom end to the top end of the inner tube.
  • a split structure of at least two parts can also be used, wherein the bottom part is connected to the bottom of the inner tube.
  • the outer tube D11 and the inner tube D12 there is a gap between the outer tube D11 and the inner tube D12, which is easy to shake during expansion and contraction.
  • the gap between the outer tube D11 and the inner tube D12 is large , Easy to be deformed by force, the lower front inner wall of the outer pipe is connected with a backing plate D13 supported on the outer wall of the inner pipe or/and the upper front outer wall of the inner pipe is connected with a backing plate D13 supported on the inner wall of the outer pipe.
  • the backing plate D13 is supported at the front to ensure that the outer tube D11 and the inner tube D12 have a relatively high distance. Large supporting force, so the inner and outer pipes are not easily deformed by force.
  • the horizontal projection of the lifting column is a shape that is narrow in the front and wide in the back and gradually in width. It is similar to an isosceles triangle and the corners are arc-shaped transitions.
  • the backing plate D13 is set on the front side of the isosceles triangle. Angular position.
  • two sets of guide rails are arranged side by side on the left and right sides of the rear part of the lifting column. By increasing the number of guide rails, the inner tube can withstand greater downward pressure.
  • the left and right sides of the rear part of the inner tube are respectively provided with a profile groove D121 extending up and down, and the guide rail is arranged in the profile groove D121 to facilitate the installation of the guide rail and intensive use of the space between the inner tube and the outer tube.
  • the guide rail is a V-shaped guide rail, so the guide rail slider and the guide rail bar have a larger contact area, and can withstand a larger downward pressure and a certain lateral force.
  • dovetail rails or other existing rail structures can also be used for replacement.
  • a self-lubricating nylon bush D123 is arranged in the guide rail groove.
  • the friction coefficient of nylon decreases with the increase of load. Under high load conditions, the friction coefficient can be reduced to about 0.1-0.15, so it has better lubricating performance. And nylon has good abrasion resistance.
  • the inner wall of the guide rail groove is provided with an embedding groove, and the self-lubricating nylon bushing is inserted into the embedding groove and glued and fixed.
  • outer tube D11 and the guide rail D111 are metal profiles with an integrated structure to facilitate integrated processing and molding.
  • the inner tube D12 and the guide rail slider D122 are both metal profiles and are fixed together by screws.
  • the inner tube D12 and the guide rail slider D122 are assembled together with the outer tube D11.
  • a middle arc-shaped gap B0 is formed between the buttocks support plates B2 to go to the toilet.
  • the object can be used directly in the nursing car without getting off the car, which is more convenient. You can also rotate the buttocks support plate to the sides of the lifting car to lower the movement. The height of the underarm pallet of the positioning vehicle until the object sits at the target position steadily. Separate the underarm pallet and pull the shifting vehicle away from the object of use.
  • the shifting process ends; see Figure 21, which is the shifting vehicle in this embodiment.
  • the lifting height can be adjusted according to the subject’s wishes and physical state, and the subject can try to move according to his physical state
  • the target feels physically weak, they can choose to sit in the lift to rest or sit in a chair.
  • the shift car also includes a knee baffle F arranged on the front side of the buttocks support to prevent the human body from sliding forward.
  • the knee baffle can limit the knee of the user to prevent the user from falling forward.
  • the stop is provided After the positioning plate, it is equivalent to limiting the position behind the object to be used, which can prevent the object from falling backward.
  • the shift vehicle uses the armpit pallet to fix the user’s left-right movement
  • the hip support body fixes the user’s vertical movement
  • the knee baffle Prevent the use object from sliding forward. Therefore, the left and right directions of the use object have been restricted, the front and rear directions of the use object have been restricted, and the vertical direction of the use object is also supported. This achieves a multi-directional positioning effect.
  • the knee block The board can be disassembled according to the user's own state, thereby improving the flexibility in use.
  • the shifting vehicle is also provided with a waterproof layer.
  • a waterproof layer Through the fixing method and the setting of the waterproof layer in this embodiment, the user can be used in the bathroom. The user only needs to sit on the shifting vehicle in advance and be taken care of The personnel pushes the lifting cart with the object of use into the bathroom, and the user sitting on the lifting cart can choose to independently complete the bath or others to help the bath according to their own conditions, and there will be no slipping and tilting during the bathing process.
  • the left manipulator arm and the right manipulator arm are connected by an arm drive device
  • the arm drive device includes a first tooth and a second tooth
  • the first tooth and the second tooth are connected
  • the first tooth drives the left manipulator A1 through the left shaft A3
  • the second tooth drives the right manipulator A2 through the right shaft A4
  • the rotation of the first tooth or the second tooth controls the left manipulator A1 and the right manipulator A2 to move together or separate.
  • the first tooth meshes with the second tooth, and the second tooth reverses when the rotation of the first tooth changes.
  • the first tooth includes a coaxially fixed first gear A6 and a second gear A7
  • the second tooth includes a coaxially fixed third gear A8 and a fourth gear A9
  • the first gear A6 and the second gear A7
  • the third gear A8 and the fourth gear A9 are arranged horizontally, the radius of the second gear A7 is smaller than the radius of the first gear A6, the radius of the fourth gear A9 is smaller than the radius of the third gear A8, the first gear A6 and the third gear A8 mesh ,
  • the second gear A7 is separated from the fourth gear A9, the first gear A6 drives the third gear A8, and the third gear A8 drives the fourth gear A9 to rotate.
  • the fifth gear A10 is fixed on the left shaft A3, the sixth gear A11 is fixed on the right shaft A4, the second gear A7 and the fifth gear A10 are meshed with helical teeth, and the fourth gear A9 and the sixth gear A11 are meshed with helical teeth. Therefore, the first gear A6 rotates clockwise or counterclockwise to simultaneously drive the left rotating shaft A3 and the right rotating shaft A4. At this time, the left rotating shaft A3 and the right rotating shaft A4 rotate away from the trunk at the same time, or move closer to the trunk at the same time.
  • the transmission ratio between the second gear A7 and the fifth gear A10 is equal to or approximately equal to the product of the transmission ratio between the first gear A6 and the third gear A8 and the product of the transmission ratio between the fourth gear A9 and the sixth gear A11 If the angular velocity of the left axis A3 and the right axis A4 are the same or similar, and the corresponding vertical plane of symmetry between the left arm A1 and the right arm A2 coincides with the torso central axis, the left arm A1 and the right arm Arm A2 can hold or loose the torso at the same time, and the torso will not tilt when held tightly.
  • the angle between the left rotation axis A3 and the horizontal plane is set in the range of 45-75°.
  • the arm driving device includes a motor A12, a first tooth, a second tooth, a first worm gear A13, a second worm gear A14, a first screw A15, and a second screw A16.
  • the first screw A15 meshes with the first worm gear A13
  • the first worm gear A13 meshes with the first tooth
  • the motor A12 drives the first tooth through the first screw A15
  • the first tooth and the left shaft A3 are coaxially fixed.
  • the second screw A16 meshes with the second worm gear A14
  • the second worm gear A14 meshes with the second tooth.
  • the motor A12 drives the second tooth through the second screw A16, and the second tooth is coaxially fixed with the right rotating shaft A4.
  • the product of the transmission ratio of the first screw A15 to the first worm gear A13 and the transmission ratio of the first worm gear A13 to the first tooth is equal to or approximately equal to the transmission ratio of the second screw A16 to the second worm gear A14 and the second worm gear A14 to the second tooth
  • the product of the transmission ratio, at this time the angular velocity of the first tooth and the second tooth are equal or approximately equal.
  • the motor shaft, the end of the first screw A15 and the end of the second screw A16 are all fixed with bevel gears.
  • the bevel gear at the end of the motor shaft is at the same time as the bevel gear at the end of the first screw A15 and the end of the second screw A16.
  • the bevel gear meshes, and the transmission ratio between the bevel gear at the end of the motor shaft and the bevel gear at the end of the first screw A15 is equal to or approximately equal to the bevel gear at the end of the motor shaft and the bevel gear at the end of the second screw A16 The transmission ratio between.

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Abstract

一种移位车，解决使用对象需借助外力移位至移位车上导致整体操作麻烦的问题，包括车底座（C）、升降立柱（D）、左机械臂（A1）、右机械臂（A2）和臀部支撑体（B）；左机械臂（A1）和右机械臂（A2）在升降立柱（D）的驱动力作用下对人体进行抬起和放下；移位车依靠升降立柱（D）的驱动力使左机械臂（A1）和右机械臂（A2）对人体进行抬起和放下，由于左机械臂（A1）和右机械臂（A2）作用在人体腋下并起到支撑的作用，模仿了人双手抱举老人或小孩的动作，符合人体受力位置的特点，不会对老人或病人造成伤害或不适，相对于传统的绑带式移位车和吊架，移位车操作更加简洁和快速，节约护工时间和劳动力，更能满足对某些需要短时间内完成移位需求的用户。

Description

一种移位车 技术领域
本发明涉及一种移位车。
背景技术
随着社会发展和科技进步，医疗领域越来越被重视，从而使得医疗设备领域的研究也更为深入，在目前医疗环境下，有相当部分存在因下肢体不便难以自理和日常移动的使用对象，此类使用对象通常需要护工进行帮助，因需要进行护理的人员体质往往十分虚弱，而护工体力也有限，因而护工抱起或抬起需要的护理人员往往不稳，造成潜在的安全隐患；
故针对于这个领域的医疗设备重要性显得越发重要，鉴于使用对象行动能力差，普通的移动推车设备往往无法满足需求，尤其是将使用对象搬运并固定至移位车上的过程中，容易出现使用对象不适或往左右两侧倾倒的问题，当抱起过程中，如出现护工用力不当，有些护工来不及反应，这种事故往往会对使用对象带来极大的二次伤害，而且会加重医患矛盾的产生，另外，普通移位车均采用绑带式的固定方式将使用对象固定在移位车上，无法解决左右摇晃带来的心理不安全甚至恐慌感，佩戴繁琐，甚至使用不当会带来二次伤害。
发明内容
本发明所要达到的目的就是提供一种移位车，解决现有使用对象需借助外力移位至移位车上导致整体操作麻烦及给使用对象带来二次伤害的技术问题。
为了解决上述技术问题，本发明是通过以下技术方案实现的:一种移位车， 包括车底座、设在车底座上的升降立柱；安装在所述升降立柱上的左机械臂和右机械臂，所述左机械臂和右机械臂之间形成一个抱紧人体躯干的抱紧力；设在左机械臂和右机械臂下方用于支撑人体臀部的臀部支撑体；所述左机械臂和右机械臂在所述升降立柱的驱动力作用下对人体进行抬起和放下。
本发明的有益效果为：
本发明的移位车，依靠升降立柱的驱动力使左机械臂和右机械臂对人体进行抬起和放下，由于左机械臂和右机械臂作用在人体腋下并起到支撑的作用，模仿了人双手报举老人或小孩的动作，符合人体受力位置的特点，不会对老人或病人造成伤害或不适，相对于传统的绑带式移位车和吊架，本发明操作更加简洁和快速，节约护工时间和劳动力，更能满足对某些需要短时间内完成移位需求的用户；
其次，由于左机械臂和右机械臂是分别用于支撑在人体的两个腋下，刚好可以对人体的左右方向进行固定，从而可以避免使用对象往左右两侧方向倾倒和摇晃，从而提高了人体在抬起和放下过程中的安全性能；
然后，在左机械臂和右机械臂的下方设有臀部支撑体，臀部支撑体主要用于支撑人体的臀部，使用对象可以坐在臀部支撑体上，从而在竖向方向有了支撑，增加稳定性；
最后，升降立柱能根据不同的人体调节左机械臂和右机械臂的高度，满足不同使用人体的需求，实用性能好；
故，从整个发明的技术方案看，依靠升降立柱驱动力使左机械臂和右机械 臂对人体进行抬起和放下，左机械臂和右机械臂对人体的两个腋下进行支撑，这样便实现了使用对象安全、高效、舒适的转移至移位车上，对于护工而言，无需护工付出力量，大大简化使用对象转移到移位车上的过程，更减少此转移过程中带来的二次伤害，甚至可以减少在使用对象移位过程中的事故率。
优选的，所述升降立柱上设有两根转轴，左机械臂和右机械臂分别绕两根转轴转动设置，转轴与水平面夹角为α，0<α<90°，左机械臂和右机械臂受重力作用产生朝向人体躯干转动的运动趋势。
优选的，所述转轴上设置有端板，端板相对转轴轴向倾斜设置，端板和转轴轴向夹角为β，0°<β<45°，端板上设置有转孔，转孔的轴线和转轴轴线间距为d，30mm<d<60mm，两个端板之间连接有连杆，连杆的端部转动设置在转孔处。
优选的，所述左机械臂和右机械臂内侧之间设置挡位件，所述挡位件用于限制两个所述机械臂之间的闭合角度。
优选的，所述挡位件为弹簧或电动推杆或气缸。
优选的，所述左机械臂和右机械臂之间通过手臂驱动装置连接，所述手臂驱动装置包括第一齿和第二齿，两根转轴分别为左转轴和右转轴，第一齿和第二齿连动，第一齿通过左转轴传动左机械臂，第二齿通过右转轴传动右机械臂，第一齿或第二齿转动控制左机械臂和右机械臂同步靠拢或分离，左机械臂和右机械臂角速度相同，左机械臂和右机械臂沿竖直平面对称设置。
优选的，第一齿包括同轴固定的第一齿轮和第二齿轮，第二齿包括同轴固 定的第三齿轮和第四齿轮，第一齿轮和第三齿轮啮合，左转轴上固定有第五齿轮，右转轴上固定有第六齿轮，第二齿轮和第五齿轮啮合，第四齿轮和第六齿轮啮合。
优选的，所述左机械臂和右机械臂上均设置有一个模拟人手形状的托垫。
优选的，所述臀部支撑体包括支架和臀部支撑板，所述支架设置在车底座上，所述支架与臀部支撑板之间转动连接，所述臀部支撑板上设有直线驱动器，所述支架与臀部支撑板之间还设有连杆组件，所述连杆组件一端与支架转动连接，另一端与直线驱动器转动连接，所述臀部支撑机构还包括对所述连杆组件锁定的锁定件，当锁定件处于锁定状态时，直线驱动器驱动臀部支撑板相对于支架转动，当锁定件处于解锁状态时，臀部支撑板相对于支架可手动转动。
优选的，所述连杆组件包括第一连杆和第二连杆，所述第一连杆的一端与直线驱动器转动连接，所述第一连杆的另一端与第二连杆转动连接，所述第二连杆远离第一连杆的一端与支架转动连接，当锁定件处于锁定状态时，第二连杆相对于支架不可转动，直线驱动器驱动臀部支撑板相对于支架转动，当锁定件处于解锁状态时，第二连杆相对于支架可转动，臀部支撑板相对于支架可手动转动。
优选的，所述第二连杆包括套管、第一连接板和第二连接板，所述第一连接板和第二连接板安装在套管侧壁上且同侧设置，所述第一连接板和第二连接板远离套管的端部之间转动连接有卡簧销，所述第一连杆远离直线驱动器的一端转动安装在卡簧销上，所述臀部支撑板和支架之间连接有连接轴，所述套管 转动安装在连接轴上；所述第一连杆安装在第一连接板和第二连接板之间，所述卡簧销上设有限制第一连杆滑动的限位轴套。
优选的，所述锁定件包括锁紧插销和拉环，所述第二连杆和支架上均设有锁紧插销活动的定位孔。
优选的，所述臀部支撑板和支架相对一端均设有锁定齿。
优选的，所述臀部支撑体包括两个臀部支撑板，且两个臀部支撑板关于支架的水平轴线左右对称设置，且两个臀部支撑板之间设有一个弧形缺口。
优选的，所述升降立柱包括内管、设于内管内侧底部的电动推杆、由电动推杆驱动沿内管外侧伸缩的外管，所述电动推杆具有安全释放装置，所述安全释放装置具有安全释放开关，所述移位车还包括用于按压安全释放开关的安全释放连杆组件，所述车底座设有驱动安全释放连杆组件动作的安全释放按钮。
优选的，所述安全释放装置位于内管底部内侧且安全释放开关向安全释放装置下方延伸，所述安全释放连杆组件包括水平移动连杆以及转动连杆，所述水平移动连杆水平活动连接于移位车车底座上，所述水平移动连杆的一端连接安全释放按钮，另外一端连接转动连杆，且安全释放按钮位于移位车车底座侧面，所述转动连杆设有向上推动安全释放开关的顶板，所述安全释放按钮连接有复位弹簧。
优选的，所述转动连杆包括连接成V形的竖向段和水平段，竖向段的底部与水平移动连杆铰接，竖向段和水平段连接部位转动连接于转轴，所述顶板设于水平段上。
优选的，所述升降立柱向后倾斜设置，导轨包括与外管连接的导轨条以及与内管连的导轨滑块，所述导轨滑块具有与导轨条滑动配合的导轨槽，所述导轨滑块的长度大于内管长度的三分之一且在外管向外伸出到极限位置时至少有五分之一内管长度的导轨滑块与导轨条保持配合。
优选的，所述升降立柱的水平向投影为前窄后宽且宽度渐变的形状，该升降立柱的后部左右两侧并排设置有两组导轨。
优选的，所述外管的下部前侧内壁连接有支撑在内管外壁上的垫板，或/和内管上部前侧外壁连接有支撑在外管内壁上的垫板。
优选的，所述导轨槽内设有自润滑尼龙衬套。
本发明的其他特点和优点将会在下面的具体实施方式、附图中详细的揭露。
附图说明
图1为本发明实施例1移位车的立体结构示意图；
图2为本发明实施例1左机械臂和右机械臂的主视结构示意图；
图3为本发明实施例1左机械臂和右机械臂的立体结构示意图；
图4为本发明实施例1转轴的主视结构示意图；
图5为本发明实施例1转轴的仰视结构示意图；
图6为本发明实施例1中臂部支撑体的结构示意图；
图7为图6中F处的局部放大示意图；
图8a为本发明所述助残移位车的臂部支撑机构实施例一锁定件锁定状态下臀部支撑板闭合时的结构示意图；
图8b为图8a中G-G面的剖视图；
图9为本发明所述助残移位车的臂部支撑机构实施例一中支架局部结构示意图；
图10为本发明所述助残移位车的臂部支撑机构实施例一中第二连杆的结构示意图；
图11a为本发明所述助残移位车的臂部支撑机构实施例一锁定件锁定状态下臀部支撑板打开时的结构示意图；
图11b为图11a中C-C面的剖视图；
图12a为本发明所述助残移位车的臂部支撑机构实施例一锁定件解锁状态下臀部支撑板闭合时的结构示意图；
图12b为图12a中D-D面的剖视图；
图13a为本发明所述助残移位车的臂部支撑机构实施例一锁定件解锁状态下臀部支撑板打开时的结构示意图；
图13b为图13a中E-E面的剖视图；
图14为移位车的主视图；
图15为图14中A-A剖面结构示意图；
图16为图14中I处放大结构示意图；
图17为移位车的侧视图；
图18为图15中B-B剖面结构示意图；
图19为图18中局部结构示意图一；
图20为图18中局部结构示意图二；
图21为本发明实施例1使用对象使用状态的第一种的结构示意图；
图22为本发明实施例1使用对象使用状态的第二种结构示意图；
图23为本发明实施例1使用对象使用状态的第三种结构示意图；
图24为本发明实施例2移位车的立体结构示意图；
图25为本发明实施例3中左机械臂和右机械臂的爆炸图；
图26为图25中X处放大结构示意图；
图27为本发明实施例4左机械臂和右机械臂的立体结构示意图。
具体实施方式
下面结合本发明实施例的附图对本发明实施例的技术方案进行解释和说明，但下述实施例仅为本发明的优选实施例，并非全部。基于实施方式中的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得其他实施例，都属于本发明的保护范围。
在下文描述中，出现诸如术语“内”、“外”、“上”、“下”、“左”、“右”等指示方位或者位置关系仅是为了方便描述实施例和简化描述，而不是指示或暗示所指的装置或者元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
实施例1：
参见图1，为本实施例为一种移位车，包括车底座C，车底座C上设有滑轮C1，所述滑轮C1为四个，车底座C上设有脚踏区域，所述车底座C上设有有升 降立柱D，安装在所述升降立柱D上用于分别托举人体腋下的左机械臂A1和右机械臂A2，所述左机械臂A1和右机械臂A2抱紧人体躯干；设在左机械臂A1和右机械臂A2下方用于支撑人体臀部的臀部支撑体B；所述左机械臂A1和右机械臂A2在所述升降立柱的驱动力作用下对人体进行抬起和放下。
本实施例中的移位车，依靠升降立柱D的驱动力使左机械臂A1和右机械臂A2对人体进行抬起和放下，由于左机械臂A1和右机械臂A2分别作用在人体腋下并起到支撑的作用，模仿了人双手报举老人或小孩的动作，符合人体受力位置的特点，不会对老人或病人造成伤害或不适，相对于传统的绑带式移位车和吊架，本发明操作更加简洁和快速，节约护工时间和劳动力，更能满足对某些需要短时间内完成移位需求的用户；
其次，由于左机械臂A1和右机械臂A2是分别用于支撑在人体的两个腋下，左机械臂A1和右机械臂A2刚好可以对人体的左右方向进行固定，从而可以避免使用对象往左右两侧方向倾倒和摇晃，从而提高了人体在抬起和放下过程中的安全性能；
然后，臀部支撑体B的设置，臀部支撑体B主要用于支撑人体的臀部，使用对象可以坐在臀部支撑体上，从而在竖向方向有了支撑，增加稳定性；
最后，升降立柱D能根据不同的人体调节托垫本体的高度，满足不同使用人体的需求，实用性能好；
故，从整个发明的技术方案看，依靠升降立柱D驱动力使左机械臂A1和右机械臂A2对人体进行抬起和放下，左机械臂A1和右机械臂A2对人体的两个腋 下进行支撑，这样便实现了使用对象安全、高效、舒适的转移至移位车上，对于护工而言，无需护工付出力量，大大简化使用对象转移到移位车上的过程，更减少此转移过程中带来的二次伤害，甚至可以减少在使用对象移位过程中的事故率。
具体的，参见图1至图5，左机械臂A1托举在人体左侧腋下，右机械臂A2托举在人体右侧腋下，左机械臂A1和右机械臂A2模仿人的双手将行动不便者的上半身托举起来，同时左机械臂A1和右机械臂A2还分别从行动不便者的躯干部分左右两侧分别抱紧，避免腋下支撑过程中上身躯干晃动，另外，在左机械臂A1和右机械臂A2上设置有一个模拟人手形状的托垫A5，通过该托垫A5同时达到支撑和抱紧的效果，此外该托垫A5可以与机械臂转动连接，以尽可能使得托垫A5和人体腋下以及躯干皮肤贴合，提高被托举人员的舒适度。
为了减少托垫本体A5对腋下皮肤的刺激，减少损伤腋下皮肤的概率，托垫本体A5的材质可以采用如硅胶一类的柔性材料，相应的在托垫本体A5的内部可以安装一与自身形状相匹配的金属制的加强板，以提升托垫本体A5的机械强度。
机架上设置有两根转轴，两根转轴分别为左转轴A3和右转轴A4。左转轴A3和右转轴A4同时安装在机架上，其中左机械臂A1转动安装在左转轴A3上，右机械臂A2安装在右转轴A4上，通过左转轴A3和右转轴A4分别对左机械臂A1和右机械臂A2进行支撑。
本实施例中左转轴A3和右转轴A4完全相同，左机械臂A1和右机械臂A2 完全相同。选取一竖直平面，左转轴A3和右转轴A4沿该竖直平面对称设置。
以左转轴A3为例，左转轴A3设置在上述竖直平面的左侧，左转轴A3与水平面夹角为α，0<α<90°，即左转轴A3既不是水平设置，也不是竖直设置，相应左机械臂A1所在的转动平面为一个非水平面，也非竖直平面。因此左侧腋下挤压在左机械臂A1上的托垫A5后，左机械臂A1在自身重力以及人体重力的双重作用下，朝向其转动平面内的竖直高度最低点转动，只需要将该最低点设置在人体躯干中间，那么左机械臂A1从转动平面内高度最高点向最低点转动过程等同于左机械臂A1朝向躯干转动的过程，同时左机械臂A1在转动至高度最低点之前就会与人体躯干接触，其转动会受到人体躯干的阻挡停止转动，但是仍然保留了朝向人体躯干中间转动的运动趋势，人体体重越大的情况下，这个运动趋势也就越强烈，相应左机械臂A1和躯干之间的抱紧力越大。
右机械臂A2和右转轴A4的工作原理同理。左机械臂A1和右机械臂A2的转动过程都包含了从远离躯干的位置水平靠近躯干的运动。
在左机械臂A1和右机械臂A2转动抱紧躯干之前，可以先调节左转轴A3和右转轴A4之间的对称竖直平面与躯干的中轴面重合，相应左机械臂A1和右机械臂A2便能分别从躯干的左侧和右侧抱住躯干，一方面人体的舒适度较好，另一方面对躯干的抱紧效果也更好。
在上述抱紧过程中，为了保证躯干的抱紧位置左右对称，避免躯干倾斜，本实施例中左机械臂A1和右机械臂A2同样对称设置，其对称平面同样为左转轴A3和右转轴A4之间的对称平面。为了保证左机械臂A1和右机械臂A2实时 对称，因此左机械臂A1和右机械臂A2的转速需要保持一致，或者近似一致，因此左转轴A3和右转轴A4之间需要存在一个连动关系。
以左转轴A3为例，左转轴A3上设置有端板A18，端板A18相对左转轴A3轴向倾斜设置，端板A18和转轴轴向夹角为β，0°<β<45°，端板A18上设置有转孔A19，转孔A19的轴线和转轴轴线间距为d，30mm<d<60mm。此时左转轴A3的端板A18和有转轴的端板A18之间连接有连杆A17，连杆A17的两端分别转动设置在两个转孔A19处。
此时左转轴A3和右转轴A4的角速度依然能够保持相等或者近似相等。
此外本实施例中依靠手动控制左机械臂和右机械臂，因此为了防止左机械臂和右机械臂在自重作用下相互靠拢相撞，所述左机械臂和右机械臂内侧之间设置挡位件A20，所述挡位件A20用于限制两个所述机械臂之间的闭合角度，所述挡位件为弹簧或电动推杆或气弹簧，有些肥胖人士，为了实现较大的夹紧力，机械臂之间的闭合角度会较小，而闭合角度过小的情况下会压迫躯干，通过挡位件对机械臂进行限制，以避免机械臂对躯干的过度挤压。同时躯干离开机械臂后，机械臂可能会产生滑动，进而相互靠拢产生撞击，挡位件有效对两个机械臂之间的闭合角度起到限制作用，避免机械臂直接撞击，提高机械臂的使用寿命，通过两根转轴实现左机械臂和右机械臂的开合，能满足不同胖瘦体型的人体需求，实用性能好，连杆能满足人体在抱举过程中对平衡的需求，不出现左右肩膀的倾斜。
对于臀部支撑体，具体参见图1、图6至图13b以及图22，包括支架B1和 臀部支撑板B2，所述支架B1设置在车底座C上，臀部支撑板B2转动连接在支架B1上，且臀部支撑板B2为左右对称的两个，两个臀部支撑板B2之间形成一个弧形缺口B0，具体而言，左右两块臀部支撑板B2上设有轴对称的弧形缺口，同时左右两块臀部托板B1之间也留有一定间距，从而形成中间缺口B0，设置该中间缺口B0，其主要目的在于方便使用对象进行如厕，使用对象可以直接在护理车上进行，不需要下车，较为方便，臀部支撑板B2上设有直线驱动器B3，支架B1与臀部支撑板B2之间还设有连杆组件B4，连杆组件B4一端与支架B1转动连接，另一端与直线驱动器B3转动连接，臀部支撑机构还包括对连杆组件B4锁定的锁定件B5，当锁定件B5处于锁定状态时，直线驱动器B3驱动臀部支撑板B2相对于支架B1转动，当锁定件B5处于解锁状态时，臀部支撑板B2相对于支架B1可手动转动。在锁定件B5锁定状态时，直线驱动器B3驱动连杆组件B4带动臀部支撑板B2相对支架B1转动，实现电动驱动臀部支撑板B2旋转，当直线驱动器B3无法正常工作时，通过使锁定件B5为解锁状态，此时可手动驱动臀部支撑板B2围绕支架B1旋转，有效防止对象被卡在移位车上，提高助残移位车使用时的安全性。
在本实施例中，连杆组件B4包括第一连杆B41和第二连杆B42，第一连杆B41的一端与直线驱动器B3转动连接，第一连杆B41的另一端与第二连杆B42转动连接，第二连杆B42远离第一连杆B41的一端与支架B1转动连接，当锁定件B5处于锁定状态时，第二连杆B42相对于支架B1不可转动，直线驱动器B3驱动臀部支撑板B2相对于支架B1转动，当锁定件B5处于解锁状态时，第二连 杆B42相对于支架B1可转动，臀部支撑板B2相对于支架B1可手动转动。在锁定件B5处于锁定状态时，第二连杆B42相对支架B1不可转动，直线驱动器B3驱动第一连杆B41相对于第二连杆B42转动，此时臀部支撑板B2相对于支架B1转动，在锁定件B5处于解锁状态时，此时第一连杆B41相对于第二连杆B42可转动，第二连杆B42相对于支架B1可转动，手动转动臀部支撑板B2可实现臀部支撑板B2相对支架B1转动，从而实现了臀部支撑板B2的手动转动调节，防止对称被卡在助残移位车上，提高了助残移位车的安全性。
在本实施例中，第二连杆B42包括套管B4201、第一连接板B4202和第二连接板B4203，第一连接板B4202和第二连接板B4203安装在套管B4201侧壁上且同侧设置，第一连接板B4202和第二连接板B4203远离套管B4201的端部之间转动连接有卡簧销B6，第一连杆B41远离直线驱动器B3的一端转动安装在卡簧销B6上，臀部支撑板B2和支架B1之间连接有连接轴B7，套管B4201转动安装在连接轴B7上。套管B4201转动连接在连接轴B7上，第一连接板B4202和第二连接板B4203可随套管B4201转动而转动，当处于锁定状态时，锁定件B5限制了第一连接板B4202和第二连接板B4203转动，直线驱动器B3带动第一连杆B41相对于卡簧销B6转动，当处于解锁状态时，第一连接板B4202和第二连接板B4203可相对连接轴B7旋转，第一连接板B4202和第二连接板B4203可随着套管B4201旋转而旋转，此时第一连杆B41也可相对卡簧销B6旋转，即可实现臀部支撑板B2的手动旋转，第一连接板B4202和第二连接板B4203的设置增强了第二连杆B42的强度，保证手动转动臀部支撑板B2时的稳定性。
在本实施例中，支架B1上设有供第一连接板B4203和第二连接板B4203摆动的第一活动槽B9。通过在支架B1上设有供第一连接板B4202和第二连接板B4203摆动的第一活动槽B9，第一活动槽B9可以限制第一连接板B4202和第二连接板B4203的活动范围，避免第一连接板B4202和第二连接板B4203旋转时晃动，提高臀部支撑板B2旋转的稳定性。
在本实施例中，第一活动槽B9的内壁与第一连接板B4202远离第二连接板B4203的一侧壁之间的间距为M，0＜M＜3cm。具体到本实施例中，M为2cm。如此设置可以保证第一连接板B4202和第二连接板B4203在旋转时不会受到第一活动槽B9内壁的摩擦。
在本实施例中，锁定件B5包括锁紧插销B52和拉环B52，第二连杆B42和支架B1上均设有锁紧插销B52活动的定位孔B10。通过锁紧插销B52插入到定位孔B10，实现第二连杆B42和支架B1的连接，此时第二连杆B42无法转动，锁定件B5处于锁定状态，直线驱动器B3驱动第一连杆B41围绕第二连杆B42转动，实现臀部支撑板B2相对支架B1旋转，拔出锁紧插销B52后，第二连杆B42与支架B1分离，第二连杆B42可围绕支架B1旋转，第一连杆B41相对第二连杆B42转动，第二连杆B42相对支架B1转动，此时可手动转动臀部支撑板B2。
本实施例中，直线驱动器B3安装在臀部支撑板B2内。将直线驱动器B3设置在臀部支撑板B2内，实现了直线驱动器B3的隐藏设置，使得移位车结构更加紧凑，外形更加美观。
在本实施例中，臀部支撑板B2和支架B1相对一端均设有锁定齿B8。设置 锁定齿B8可以防止臀部支撑板B2和支架B1在闭合状态下晃动。
在本实施例中，臀部支撑板B2上设有供连杆组件B4摆动的第二活动槽B11。通过在臀部支撑板B2上设供连杆组件B4摆动的第二活动槽B11，一方面可以限制连杆组件B4摆动的范围，实现臀部支撑板B2在安全范围内旋转，另一方面也避免了第一连杆B41转动时晃动，提高移位车使用时的舒适性。
对于升降立柱，具体参见图1、图14至图20，包括外管D11、内管D12，内管D12与移位车车底座固定连接，外管D11由电动推杆驱动沿内管D12外壁伸缩，电动推杆设于内管内侧底部，所述电动推杆具有安全释放装置D14，所述安全释放装置D14具有安全释放开关D141。
为了方便对安全释放开关D141进行操作，所述安全释放装置D14位于内管底部内侧且安全释放开关D141向安全释放装置D14下方延伸。同时还包括用于按压安全释放开关的安全释放连杆组件D15，所述安全释放连杆组件D15包括水平移动连杆D151以及转动连杆D152，所述水平移动连杆D151的一端连接安全释放按钮D153，另外一端连接转动连杆D152，所述转动连杆D152设有向上推动安全释放开关的顶板。
通过安全释放连杆组件作用于安全释放开关，只需按动设在车底座侧面的安全释放按钮，就可以使升降立柱紧急降下，方便进行操作。安全释放按钮D153位于移位车车底座侧面，可以是前侧面、左侧面、右侧面或者后侧面，看护对象弯腰即可操作。
其中，所述转动连杆D152包括连接成V形的竖向段和水平段，竖向段的底 部与水平移动连杆铰接，竖向段和水平段连接部位转动连接于转轴，所述顶板设于水平段上。为了引导水平移动杆水平直线移动，所述水平移动连杆滑动连接于导向孔。安全释放按钮只需要轻轻按动，即可驱动转动连杆，进而由顶板向上推动安全释放开关，进一步提升了操作体验。
安全释放装置的安全释放快关D141本身具有回位结构，在安全释放按钮松开后可以复位，从而推动安全释放连杆组件回位。当然，进一步的，为了保证安全释放按钮可以准确复位，所述安全释放按钮可以连接有复位弹簧。
参考图19所示，导轨包括与外管连接的导轨条D111以及与内管连的导轨滑块D122，所述导轨滑块D122具有与导轨条滑动配合的导轨槽。传统升降立柱处于竖直状态，但由于在本实施例中，该升降立柱向后倾斜设置，在使用状态下承受向后侧下方的力，传统导轨滑块较短，在受到较大的力时容易变形甚至损坏。为了增加导轨滑块D122与导轨条D111之间的接触面积，所述导轨滑块D122的长度大于内管长度的三分之一，保证导轨滑块D122与导轨条D111之间具有较大的受力面积。本领域技术人员可以理解的是，导轨滑块D122的长度最长可以达到与内管长度一致。
本领域技术人员可以理解的是，外管和内管之间的相对运动关系，可以互换，导轨条与导轨滑块之间的相对运动关系，也可以互换。
进一步的，在外管向外伸出到极限位置时至少有五分之一内管长度的导轨滑块与导轨条保持配合。此时即使受到较大的向后压力，导轨滑块和内管也都不容易变形和受力损坏。本领域技术人员可以理解的是，导轨滑块D122可以为 通长结构，从内管底端向顶端延伸，当然，也可以采用至少两部分的分体结构，其中底部部分连接于内管底部，以在内管向外伸出到极限位置时，底部部分与导轨条保持配合。
另外，外管D11与内管D12之间具有间隙，在伸缩时容易晃动，考虑到外管向上伸出较长且同时受到较大的外力时，外管D11与内管D12之间间隙较大，容易受力变形，外管的下部前侧内壁连接有支撑在内管外壁上的垫板D13或/和内管上部前侧外壁连接有支撑在外管内壁上的垫板D13。外管D11向上伸出较长且同时受到较大的向后侧下方的压力时，由导轨在后方支撑的同时，垫板D13在前方支撑，以保证外管D11与内管D12之间具有较大的支撑力，因而内、外管不容易受力变形。
参考图5至图7所示，该升降立柱的水平向投影为前窄后宽且宽度渐变的形状，近似等腰三角形且边角为弧形过渡，垫板D13设于等腰三角形前侧边角位置。同时，该升降立柱的后部左右两侧并排设置有两组导轨。通过导轨数量增加使内管可以承受较大的向下压力。所述内管的后部左右两侧分别设有一上下延伸的型槽D121，所述导轨设于型槽内D121，以方便导轨的安装以及集约利用内管和外管之间空间。
作为一种实施方式，所述导轨为V型导轨，因而导轨滑块与导轨条之间具有较大的接触面积，且可以承受较大的向下压力以及一定的侧向力。当然，本领域技术人员可以理解的是，也可以采用燕尾型导轨或者其他现有的导轨结构进行替换。
为了减小导轨的摩擦力，降低磨损。所述导轨槽内设有自润滑尼龙衬套D123。尼龙的摩擦系数随负荷的增加而降低，在高负荷条件下，摩擦系数可以降至0.1～0.15左右，因而具有较好的润滑性能。而且尼龙的耐磨损性好。这里为了安装自润滑尼龙衬套D123，所述导轨槽的内壁设有嵌槽，所述自润滑尼龙衬套嵌合于嵌槽内并胶合固定。
另外，所述外管D11与导轨条D111为一体结构的金属型材，以方便一体加工成型。所述内管D12与导轨滑块D122均为金属型材且采用螺丝固定在一起，内管D12与导轨滑块D122安装后再与外管D11装配在一起。
本实施例中，当使用对象想从一个位置移位到另一个位置时，比如从床位移位到马桶位置时，使用对象在看护人员的帮助下坐在床边，移位车靠近使用人员，至使用对象双脚放在车底座脚踏区域，使用腋下托板托住使用对象的腋下，将使用对象向上抬高，待使用对象臀部离开床面10cm时，将臀部托板旋转至使用对象臀部下面，然后将使用对象放下，至使用对象坐在臀部托板上，参见图19，看护人员推动载有使用对象的移位车至目标位置，如图20所示，可通过左右两块臀部支撑板B2之间形成中间的弧形缺口B0进行如厕，使用对象可以直接在护理车上进行，不需要下车，较为方便，也可旋转臀部托板至移位车两侧，降低移位车腋下托板高度，至使用对象平稳坐在目标位置，分开腋下托板，将移位车拉离使用对象，移位过程结束；参见图21，为本实施例中移位车的另一种使用功能，当使用对象在移位车腋下托板的托举下缓缓站立起来，提升高度可以按照使用对象的意愿和身体状态适当调整，使用对象可以根据自己 的身体状态尝试移动脚步，移位车底部安装有滑轮，可跟随使用对象移动，并持续扶持使用对象，防止摔倒，当使用对象感觉到体力不支可以选择坐在移位车上休息，或坐在椅子上休息。
实施例2：
参见图22，所述移位车还包括设在所述臀部支撑体的前侧方的膝盖挡板F，用于防止人体向前滑动，使用过程中，当用户坐在臀部支撑体上时，膝盖挡板可以对使用对象的膝盖进行限位，从而防止使用对象向前方倾倒，同时，由于本发明中托垫本体的后端形成有对人体的背部进行限位的档位板，设置该挡位板后，相当于在使用对象的后方进行限位，可以防止使用对象朝后方倾倒。
本实施例中，由于本实施例中使用对象坐在移位车上时，移位车通过腋下托板固定使用对象的左右方向运动，臀部支撑体固定使用对象的上下方向运动，膝盖挡板防止使用对象向前滑动，因此，使用对象的左右方向已经被限位，使用对象的前后方向已经被限位，同时使用对象的竖向方向也有支撑，这样便实现了多方位的定位效果，当使用对象坐在该移动护理车上时，可以变得非常稳当，对于护工而言，无需花费较大的力量来扶助使用对象，大大减少了使用对象在移动过程中的事故率，另外，膝盖挡板可根据使用人员的自身状态进行拆卸，从而提高使用时的灵活性能。
此外，所述移位车还设有防水层，通过本实施例中的固定方式和防水层的设置，能实现使用对象在浴室内使用，使用对象只需提前坐在移位车上然后由看护人员将载有使用对象的移位车推入浴室，坐在移位车上的使用对象可以根 据自身状况选择独立完成洗浴或他人帮助洗浴，洗浴过程中不会出现滑到和倾斜状况。
实施例3：
参见图25和图26，本实施例中所述左机械臂和右机械臂之间通过手臂驱动装置连接，所述手臂驱动装置包括第一齿和第二齿，第一齿和第二齿连动，第一齿通过左转轴A3传动左机械臂A1，第二齿通过右转轴A4传动右机械臂A2，第一齿或第二齿转动控制左机械臂A1和右机械臂A2靠拢或分离。
例如第一齿和第二齿啮合，第一齿转向改变时带动第二齿反转。例如本实施例中第一齿包括同轴固定的第一齿轮A6和第二齿轮A7，第二齿包括同轴固定的第三齿轮A8和第四齿轮A9，第一齿轮A6、第二齿轮A7、第三齿轮A8和第四齿轮A9均水平设置，第二齿轮A7的半径小于第一齿轮A6半径，第四齿轮A9的半径小于第三齿轮A8半径，第一齿轮A6和第三齿轮A8啮合，第二齿轮A7和第四齿轮A9相离，第一齿轮A6传动第三齿轮A8，第三齿轮A8带动第四齿轮A9转动。其中左转轴A3上固定有第五齿轮A10，右转轴A4上固定有第六齿轮A11，第二齿轮A7和第五齿轮A10采用斜齿啮合，第四齿轮A9和第六齿轮A11采用斜齿啮合，因此第一齿轮A6正转或者反转实现同时传动左转轴A3和右转轴A4，此时左转轴A3和右转轴A4同时向远离躯干的方向转动，又或者同时向躯干靠拢。
其中第二齿轮A7和第五齿轮A10之间的传动比在等于或者近似等于第一齿轮A6和第三齿轮A8之间的传动比与第四齿轮A9和第六齿轮A11之间的传动比 乘积的情况下，左转轴A3和右转轴A4的角速度相同或者相近，相应左机械臂A1和右机械臂A2之间的对称竖直平面和躯干中轴面重合情况下，左机械臂A1和右机械臂A2能同时抱紧或者同时松开躯干，抱紧是躯干不会产生倾斜。
此外，以左转轴A3为例，左转轴A3与水平面夹角越小，左机械臂A1的转动平面越接近于竖直平面，人体舒适度不佳，而左转轴A3与水平面夹角过大，则左机械臂A1的转动平面越接近于水平面，左转轴A3在重力作用下的转动趋势不强，对躯干左侧的抱紧力不强。因此左转轴A3与水平面夹角设置在45～75°的范围内。
实施例4：
参见图27，所述手臂驱动装置包括电机A12、第一齿、第二齿、第一蜗轮A13、第二蜗轮A14、第一螺杆A15和第二螺杆A16。第一螺杆A15与第一蜗轮A13啮合，第一蜗轮A13与第一齿啮合，电机A12通过第一螺杆A15传动第一齿，第一齿和左转轴A3同轴固定。第二螺杆A16与第二蜗轮A14啮合，第二蜗轮A14与第二齿啮合，电机A12通过第二螺杆A16传动第二齿，第二齿和右转轴A4同轴固定。第一螺杆A15与第一蜗轮A13的传动比和第一蜗轮A13与第一齿的传动比乘积等于或者近似等于第二螺杆A16与第二蜗轮A14的传动比和第二蜗轮A14与第二齿的传动比乘积，此时第一齿和第二齿的角速度相等或者近似相等。
此外，电机轴、第一螺杆A15的端部和第二螺杆A16的端部均固定锥齿轮，电机轴端部的锥齿轮同时和第一螺杆A15端部的锥齿轮以及第二螺杆A16端部的锥齿轮啮合，且电机轴端部的锥齿轮和第一螺杆A15端部的锥齿轮之间的传 动比等于或者近似等于电机轴端部的锥齿轮和第二螺杆A16端部的锥齿轮之间的传动比。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，熟悉该本领域的技术人员应该明白本发明包括但不限于附图和上面具体实施方式中描述的内容。任何不偏离本发明的功能和结构原理的修改都将包括在权利要求书的范围中。

Claims (21)

  1. 一种移位车，包括车底座，其特征在于：
    设在车底座上的升降立柱；
    安装在所述升降立柱上用于分别托举人体腋下的左机械臂和右机械臂，所述左机械臂和右机械臂抱紧人体躯干；
    设在左机械臂和右机械臂下方用于支撑人体臀部的臀部支撑体；
    所述左机械臂和右机械臂在升降立柱的驱动力作用下对人体进行抬起和放下。
  2. 根据权利要求1所述的一种移位车，其特征在于:所述升降立柱上设有两根转轴，左机械臂和右机械臂分别绕两根转轴转动设置，转轴与水平面夹角为α，0<α<90°，左机械臂和右机械臂受重力作用产生朝向人体躯干转动的运动趋势。
  3. 根据权利要求2所述的一种移位车，其特征在于:所述转轴上设置有端板，端板相对转轴轴向倾斜设置，端板和转轴轴向夹角为β，0°<β<45°，端板上设置有转孔，转孔的轴线和转轴轴线间距为d，30mm<d<60mm，两个端板之间连接有连杆，连杆的端部转动设置在转孔处。
  4. 根据权利要求3所述的一种移位车，其特征在于:所述左机械臂和右机械臂内侧之间设置挡位件，所述挡位件用于限制两个所述机械臂之间的闭合角度。
  5. 根据权利要求4所述的一种移位车，其特征在于:所述挡位件为弹簧或电动推杆或气缸。
  6. 根据权利要求2所述的一种移位车，其特征在于:所述左机械臂和右机械臂之间通过手臂驱动装置连接，所述手臂驱动装置包括第一齿和第二齿，两根转轴分别为左转轴和右转轴，第一齿和第二齿连动，第一齿通过左转轴传动左机械臂，第二齿通过右转轴传动右机械臂，第一齿或第二齿转动控制左机械臂和右机械臂同步靠拢或分离，左机械臂和右机械臂角速度相同，左机械臂和右机械臂沿竖直平面对称设置。
  7. 根据权利要求6所述的一种移位车，其特征在于:第一齿包括同轴固定的第一齿轮和第二齿轮，第二齿包括同轴固定的第三齿轮和第四齿轮，第一齿轮和第三齿轮啮合，左转轴上固定有第五齿轮，右转轴上固定有第六齿轮，第二齿轮和第五齿轮啮合，第四齿轮和第六齿轮啮合。
  8. 根据权利要求1或2或3或6所述的一种移位车，其特征在于:所述左机械臂和右机械臂上均设置有一个模拟人手形状的托垫。
  9. 根据权利要求1或2或3或6所述的一种移位车，其特征在于:所述臀部支撑体包括支架和臀部支撑板，所述支架设置在车底座上，所述支架与臀部支撑板之间转动连接，所述臀部支撑板上设有直线驱动器，所述支架与臀部支撑板之间还设有连杆组件，所述连杆组件一端与支架转动连接，另一端与直线驱动器转动连接，所述臀部支撑机构还包括对所述连杆组件锁定的锁定件，当锁定件处于锁定状态时，直线驱动器驱动臀部支撑板相对于支架转动，当锁定件处于解锁状态时，臀部支撑板相对于支架可手动转动。
  10. 根据权利要求9所述的一种移位车，其特征在于:所述连杆组件包括第一连 杆和第二连杆，所述第一连杆的一端与直线驱动器转动连接，所述第一连杆的另一端与第二连杆转动连接，所述第二连杆远离第一连杆的一端与支架转动连接，当锁定件处于锁定状态时，第二连杆相对于支架不可转动，直线驱动器驱动臀部支撑板相对于支架转动，当锁定件处于解锁状态时，第二连杆相对于支架可转动，臀部支撑板相对于支架可手动转动。
  11. 根据权利要求10所述的一种移位车，其特征在于:所述第二连杆包括套管、第一连接板和第二连接板，所述第一连接板和第二连接板安装在套管侧壁上且同侧设置，所述第一连接板和第二连接板远离套管的端部之间转动连接有卡簧销，所述第一连杆远离直线驱动器的一端转动安装在卡簧销上，所述臀部支撑板和支架之间连接有连接轴，所述套管转动安装在连接轴上；
    所述第一连杆安装在第一连接板和第二连接板之间，所述卡簧销上设有限制第一连杆滑动的限位轴套。
  12. 根据权利要求9所述的一种移位车，其特征在于:所述锁定件包括锁紧插销和拉环，所述第二连杆和支架上均设有锁紧插销活动的定位孔。
  13. 根据权利要求9所述的一种移位车，其特征在于:所述臀部支撑板和支架相对一端均设有锁定齿。
  14. 根据权利要求9所述的一种移位车，其特征在于:所述臀部支撑体包括两个臀部支撑板，且两个臀部支撑板关于支架的水平轴线左右对称设置，且两个臀部支撑板之间设有一个弧形缺口。
  15. 根据权利要求9所述的一种移位车，其特征在于:所述升降立柱包括内管、 设于内管内侧底部的电动推杆、由电动推杆驱动沿内管外侧伸缩的外管，所述电动推杆具有安全释放装置，所述安全释放装置具有安全释放开关，所述移位车还包括用于按压安全释放开关的安全释放连杆组件，所述车底座设有驱动安全释放连杆组件动作的安全释放按钮。
  16. 根据权利要求15所述的一种移位车，其特征在于:所述安全释放装置位于内管底部内侧且安全释放开关向安全释放装置下方延伸，所述安全释放连杆组件包括水平移动连杆以及转动连杆，所述水平移动连杆水平活动连接于移位车车底座上，所述水平移动连杆的一端连接安全释放按钮，另外一端连接转动连杆，且安全释放按钮位于移位车车底座侧面，所述转动连杆设有向上推动安全释放开关的顶板，所述安全释放按钮连接有复位弹簧。
  17. 根据权利要求16所述的一种移位车，其特征在于:所述转动连杆包括连接成V形的竖向段和水平段，竖向段的底部与水平移动连杆铰接，竖向段和水平段连接部位转动连接于转轴，所述顶板设于水平段上。
  18. 根据权利要求16所述的一种移位车，其特征在于:所述升降立柱向后倾斜设置，导轨包括与外管连接的导轨条以及与内管连的导轨滑块，所述导轨滑块具有与导轨条滑动配合的导轨槽，所述导轨滑块的长度大于内管长度的三分之一且在外管向外伸出到极限位置时至少有五分之一内管长度的导轨滑块与导轨条保持配合。
  19. 根据权利要求16所述的一种移位车，其特征在于:所述升降立柱的水平向投影为前窄后宽且宽度渐变的形状，该升降立柱的后部左右两侧并排设置有 两组导轨。
  20. 根据权利要求16所述的一种移位车，其特征在于:所述升降立柱还包括垫板，所述外管的下部前侧内壁连接有支撑在内管外壁上的垫板，或/和内管上部前侧外壁连接有支撑在外管内壁上的垫板。
  21. 根据权利要求16所述的一种移位车，其特征在于:所述升降立柱还包括垫板，所述导轨槽内设有自润滑尼龙衬套。
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