WO2022095677A1 - 自助式移位机器人 - Google Patents

自助式移位机器人 Download PDF

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Publication number
WO2022095677A1
WO2022095677A1 PCT/CN2021/123911 CN2021123911W WO2022095677A1 WO 2022095677 A1 WO2022095677 A1 WO 2022095677A1 CN 2021123911 W CN2021123911 W CN 2021123911W WO 2022095677 A1 WO2022095677 A1 WO 2022095677A1
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WO
WIPO (PCT)
Prior art keywords
seat
frame
self
seat plate
column
Prior art date
Application number
PCT/CN2021/123911
Other languages
English (en)
French (fr)
Inventor
李千
张学海
邹庆原
杨雄伟
张鹏
李元辰
Original Assignee
深圳市迈康信医用机器人有限公司
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 深圳市迈康信医用机器人有限公司 filed Critical 深圳市迈康信医用机器人有限公司
Publication of WO2022095677A1 publication Critical patent/WO2022095677A1/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
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat
    • 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
    • A61G7/1059—Seats
    • 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
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering

Definitions

  • the invention relates to the technical field of medical aids, in particular to a self-service displacement robot.
  • the lift has a wide range of applications in the families of patients in the medical and health care industry. It can make the disabled patients with lower limbs move from the bed to the bathroom, to the bathroom, to the living room sofa, from one room to another room, from the ward to the consultation room. , from one ward to another, from home to a private car. It is greatly convenient for patients with various displacement and movement needs.
  • Existing lifts mainly include lying down and seated positions. Nursing and escort personnel are required to assist in the use of these devices. For example, help push the lift to the patient, help the patient get on and off the lift (car), and help push the lift to where the patient needs to go.
  • These processes cannot be achieved independently by the patients themselves, and they all require careful nursing care from accompanying nursing staff.
  • the number of accompanying nursing staff has increased, and the workload and work intensity of nursing staff have also increased, affecting the enthusiasm of nursing staff.
  • the purpose of the present invention is to provide a self-service displacement robot, which is mainly used for disabled patients, especially those with lower limb mobility, to self-displace and move during work, life, rest and entertainment, and can be like a normal person or close to normal. People can move freely without the help of others. It provides great convenience for disabled patients to live and travel.
  • the present invention provides a self-service shift robot, including:
  • an opening and closing seat consisting of a left seat frame assembly and a right seat frame assembly
  • a pair of seat rotation mechanisms respectively assembled with the left seat frame assembly and the right seat frame assembly, so as to drive the left seat frame assembly and the right seat frame assembly to be relatively closed into a seat structure or opposite expand;
  • a pair of seat lift mechanisms are provided with an electric push rod, a guide column and a lift column, the guide column is vertically installed on the main frame body, the lift column is sleeved on the guide column, the The lift column is fixedly connected to the opening and closing seat, and the electric push rod is assembled with the lifting column to drive the opening and closing seat up and down through the lifting column;
  • At least one pair of walking mechanisms mounted on the bottom of the main frame body, for driving the main frame body to walk;
  • an electric control module which is respectively connected with the seat rotation mechanism, the seat lifting mechanism and the walking mechanism, so as to control the seat rotation mechanism, the seat lifting mechanism and the walking mechanism respectively Work.
  • the inside of the lifting column is hollow and has an opening at one end, the lifting column is inserted from the top of the guide column through the open end to be sleeved with the guide column, and the outer surface of the lifting column is provided with at least A fixed connecting piece, through which the lifting column is movably coupled to the seat rotation mechanism and/or the opening and closing seat.
  • the left seat plate assembly and the right seat plate assembly are left-right symmetrical, and the left seat plate assembly includes a left seat plate frame and a left seat plate, a left backrest and a left seat plate assembled with the left seat plate frame.
  • a rotating shaft, the right seat plate assembly includes a right seat plate frame, a right seat plate, a right backrest and a right rotating shaft assembled with the right sitting plate frame; a pair of the seat rotating mechanisms are respectively connected with the left rotating shaft and the right rotating shaft.
  • the right rotating shaft is connected by transmission.
  • the opening and closing seat further includes a locking device, and the locking device is arranged between the left seat plate assembly and the right seat plate assembly for locking and fixing the left seat plate
  • deep groove ball bearings and plane thrust bearings are installed inside the left rotating shaft and the right rotating shaft.
  • the seat rotation mechanism includes a gear reduction motor and a transmission gear set
  • the gear reduction motor is fixedly installed on the outer surface of the lifting column
  • the transmission gear set is installed on the corresponding left seat frame.
  • the gear reduction motor is meshed with the transmission gear set, so as to drive the corresponding left seat frame assembly or the right seat frame assembly to rotate through the transmission gear set.
  • the running mechanism includes a tire, a reduction motor, a clutch and a suspension device, and the clutch is connected to the reduction motor for switching engagement and separation between the reduction motor and the tire, and the A reduction motor is engaged with the tire to drive the tire to roll; the suspension device is mounted on the tire and is fixedly connected with the main frame body to buffer the vibration of the main frame body during walking .
  • the suspension device includes a floating frame, a suspension spring, a guide shaft, a shaft fixing seat and a linear bearing, the shaft fixing seat is mounted on the main frame body, and the suspension spring is sleeved with the floating frame.
  • the guide shaft On the guide shaft, the guide shaft is vertically fixed on the shaft fixing seat, and the linear bearing is assembled with the floating frame.
  • the main frame body includes a pair of bottom frames, a bottom beam and a pair of universal wheels, a pair of the bottom frames are installed in parallel at both ends of the bottom beam, and the guide columns are vertically installed on the On the base frame, the universal wheel is installed on the bottom of the base frame, and the traveling mechanism is installed on the bottom of the base frame.
  • the electric control module includes a microcomputer controller, at least one motor controller connected with the microcomputer controller, and a power battery; and also includes a handle control module and/or a remote controller connected with the microcomputer controller .
  • the self-service displacement robot of the present invention includes a main frame body, an opening and closing seat, a seat rotation mechanism, a seat lifting mechanism, a walking mechanism and an electric control module.
  • the opening and closing seat is composed of a left seat frame assembly. and the right seat frame assembly, the electric control module controls the seat rotation mechanism to drive the opening and closing seat to open or close relatively, the electric control module controls the seat lifting mechanism to drive the opening and closing seat Up and down, the electric control module controls the walking mechanism to drive the main frame to move.
  • the corresponding mechanism is driven to work, so as to realize self-service electric operation; through advanced system design, microcomputer control, and multi-sensor interactive fusion, the disabled patient can control the robot by himself, and realize automatic call shift robot, automatic The robot can move up and down, automatically lift the seat, and automatically control the robot to carry the patient to the place where they need to go, and no longer need the special care of others.
  • the patient is alone, he can do whatever he wants, which greatly facilitates the patient's life, work, entertainment, and travel, improves the patient's quality of life, and reduces or does not need to accompany the nursing staff.
  • FIG. 1 is a three-dimensional schematic diagram of a self-service shift robot according to a preferred embodiment of the present invention
  • FIG. 2 is a front perspective schematic diagram of the opening and closing seat of the self-service shifting robot according to the preferred embodiment of the present invention
  • FIG. 3 is a schematic rear perspective view of the opening and closing seat of the self-service shifting robot according to the preferred embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the unfolded structure of the opening and closing seat of the self-service displacement robot according to the preferred embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of the seat rotation mechanism of the self-service shifting robot according to a preferred embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of the seat lifting mechanism of the self-service shifting robot according to a preferred embodiment of the present invention.
  • FIG. 7 is a front view of the structure of the walking mechanism of the self-service shift robot according to the preferred embodiment of the present invention.
  • FIG. 8 is a structural side view of the walking mechanism of the self-service shift robot according to the preferred embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of the main frame of the self-service shift robot according to a preferred embodiment of the present invention.
  • the invention is applicable to the technical field of medical auxiliary equipment, and provides a self-service displacement robot, comprising a main frame body, an opening and closing seat, a seat rotation mechanism, a seat lifting mechanism, a walking mechanism and an electric control module.
  • the closing seat is composed of a left seat frame assembly and a right seat frame assembly.
  • the electric control module controls the seat rotation mechanism to drive the opening and closing seat to open or close relative to each other, and the electric control module controls the seat up and down.
  • the mechanism drives the opening and closing seat to move up and down, and the electric control module controls the walking mechanism to drive the main frame to move.
  • references in this specification to "one embodiment”, “an embodiment”, “example embodiment”, etc. mean that the described embodiment may include specific features, structures or characteristics, but not every Embodiments must contain these specific features, structures or characteristics. Furthermore, such expressions are not referring to the same embodiment. Further, when a particular feature, structure or characteristic is described in conjunction with an embodiment, whether or not explicitly described, it has been shown that it is within the knowledge of those skilled in the art to incorporate such feature, structure or characteristic into other embodiments .
  • FIG. 1 shows a self-service displacement robot according to a preferred embodiment of the present invention, which includes a main frame 80, an opening and closing seat 10, a pair of seat rotation mechanisms 20, a pair of seat lifting mechanisms 30, at least one For the walking mechanism 40 and an electric control module, wherein:
  • the opening and closing seat 10 is composed of a left seat frame assembly and a right seat frame assembly; a pair of seat rotation mechanisms 20 are respectively assembled with the left seat frame assembly and the right seat frame assembly to drive the left seat frame assembly and the right seat frame assembly is relatively closed to form a seat structure or relatively unfolded; referring to FIG. 6 , a pair of seat lifting mechanisms 30 are each provided with an electric push rod 31 , a guide column 32 and a lifting column 33 , and the guide column 32 is installed vertically On the main frame body 80 , the lifting column 33 is sleeved on the guide column 32 , the lifting column 33 is fixedly connected to the opening and closing seat 10 , and the electric push rod 31 is assembled with the lifting column 33 for passing through.
  • the lift column 33 drives the opening and closing seat 10 to move up and down; this embodiment includes a pair of walking mechanisms 40, which are installed at the bottom of the main frame 80 to drive the main frame 80 to walk; the electric control module 50 is connected to the The seat rotating mechanism 20 , the seat lifting mechanism 30 and the walking mechanism 40 are connected to respectively control the operation of the seat rotating mechanism 20 , the seat lifting mechanism 30 and the walking mechanism 40 .
  • the electric control module 50 controls the seat rotation mechanism 20 to drive the opening and closing seat 10 to open or close relatively, the electric control module 50 controls the seat lifting mechanism 30 to drive the opening and closing seat 10 to move up and down, and the electric control module 50 controls
  • the traveling mechanism 40 drives the main frame body 80 to travel and move. In this way, disabled patients, especially those with lower limb mobility problems, can move and move by themselves during work, life, rest and entertainment, and can move freely without the help of other people like normal or close to normal people; Great convenience.
  • the interior of the lift column 33 is hollow and has an opening at one end, and the lift column 33 is inserted from the top of the guide column 32 through the open end to be sleeved with the guide column 32 ; preferably, the outer surface of the lift column 33
  • At least one fixed connecting piece is provided, and the lifting column 33 is movably coupled to the seat rotating mechanism 20 and/or the opening and closing seat 10 through the fixed connecting piece. That is, the lifting column 33 is sleeved on the guiding column 32 from the head of the guiding column 32, so that the lifting column 33 can be lifted up and down along the guiding column 32;
  • the connecting piece is fixed to drive the corresponding seat rotation mechanism 20 and/or the opening and closing seat 10 to move up and down synchronously.
  • the fixed connector in this embodiment is preferably installed on the side wall of the lifting column 33, and of course, it can also be installed at the top and other positions.
  • the opening and closing seat 10 is formed by the left and right seat frame assemblies.
  • the seat structure is formed;
  • the opening and closing seat 10 can be split and unfolded on the left and right sides, so that users with inconvenient lower limbs can self-control the opening and closing seat 10 from the unfolded state to the relatively closed state without the help of others.
  • the electric control module is used to drive the corresponding seat rotating mechanism 20, seat lifting mechanism 30 and walking mechanism 40 to work, which can improve the user's self-help, and the operation is simple and the lifting is improved. Quality of life for patients with reduced or no need for accompanying caregivers.
  • the electric control module 50 includes a microcomputer controller, at least one motor controller connected to the microcomputer controller, and a power battery; and also includes a handle control module 60 connected to the microcomputer controller and/or Remote control 70.
  • the handle control module 60 is installed on the movable bracket 21, and each functional mechanism can be controlled to work through the handle control module 60, such as the walking mechanism 40 for walking, the wheelchair rotation mechanism 20 for unfolding and closing operations, and the wheelchair lifting mechanism 30. Carry out lifting operations, etc.
  • the remote controller 70 is used to send control commands to the electric control module 50 remotely, so that the electric control module 50 can further control the corresponding functional mechanism to work.
  • the electric control module 50 is also equipped with intelligent anti-clamping safety protection, control software, etc., so as to improve the safety of the displacement robot.
  • the left seat plate assembly and the right seat plate assembly are left-right symmetrical, and the left seat plate assembly includes a left seat plate frame 11 and is assembled with the left seat plate frame 11
  • the right seat plate assembly includes a right seat plate frame 12 and a right seat plate 14, a right backrest 16 and a right axis of rotation assembled with the right seat plate frame 12;
  • Both the rotating shaft and the right rotating shaft are marked as rotating shafts 17 , and a pair of the seat rotating mechanisms 20 are respectively connected to the left rotating shaft and the right rotating shaft in a driving manner.
  • the opening and closing seat 10 is divided into two parts: left and right, and each part can be opened and closed independently horizontally; wherein, the left seat plate 13 and the right seat plate 14 are respectively installed on the bottom of the left seat plate frame 11 and the right seat plate frame 12 , in order to play a load-bearing role; and a circular through hole is formed in the middle of the left seat plate 13 and the right seat plate 14 to facilitate going to the toilet, and the left backrest 15 and the right backrest 16 are respectively assembled on the left seat plate frame 13 and the right seat plate frame 14.
  • the tops of the left backrest 15 and the right backrest 16 are provided with a push handle 18 that is convenient to push.
  • the corresponding seat plate assembly can be rotated through the handle 18 .
  • the opening and closing seat 10 further includes a locking device 19, and the locking device 19 is provided between the left seat plate assembly and the right seat plate assembly for locking and fixing the left seat plate assembly and the right seat plate assembly.
  • the complete seat structure formed when the plate assembly is relatively closed; the locking device is any one of a latch structure, a snap structure, a pull hook structure, an electromagnetic lock, an electric lock, an electric bolt, and an electric lock.
  • the locking device 19 in this embodiment preferably adopts a snap-fit structure, and the locking device 19 is installed between the left backrest 15 and the right backrest 16, so that when the left seat plate assembly and the right seat plate assembly are rotated to contact, The two can be locked and fixed by the locking device 19 .
  • deep groove ball bearings and plane thrust bearings are installed inside the left rotating shaft and the right rotating shaft.
  • the deep groove ball bearing and the plane thrust bearing can bear axial and normal force at the same time, of course, other embodiments also include other bearings that can bear axial normal force at the same time.
  • the seat rotation mechanism 20 includes a gear reduction motor 21 and a transmission gear set 22 , the gear reduction motor 21 is fixedly installed on the outer side of the lifting column 33 , and the transmission gear set 22 is installed on the corresponding left seat On the frame assembly or the right frame assembly, the gear reduction motor 21 is engaged with the transmission gear set 22 to drive the corresponding left or right frame assembly to rotate through the transmission gear set 22 .
  • the left seat frame assembly and the right seat frame assembly are provided with shaft rotating gears, which are meshed and connected with the corresponding shaft rotating gears on the left seat frame assembly or the right seat frame assembly through the transmission gear set 22.
  • the transmission gear group 22 drives the left seat frame assembly or the right seat frame assembly to rotate synchronously; according to the forward and reverse driving of the gear reduction motor 21, it drives the left seat frame assembly or the right seat frame assembly. relative rotation between them to expand or close.
  • the left seat frame assembly or the right seat frame assembly is fixedly connected to the lifting column 33 through the fixed connecting piece; specifically, the fixed connecting piece is a set of connecting plates, that is, the lifting column 33 is connected by a set of The plate is assembled and fixed with the corresponding left seat frame assembly or right seat frame assembly, so that the lifting column 33 can drive the left seat frame assembly and the right seat frame assembly during the lifting process, and the lifting columns 33 on both sides are preferably synchronous. , to adjust the seat height to suit different environmental needs.
  • the traveling mechanism 40 includes a tire 41 , a deceleration motor 42 , a clutch 43 and a suspension device.
  • the clutch 43 is assembled with the deceleration motor 42 for switching between the deceleration motor 42 and the tire 41 .
  • the geared motor 42 is engaged with the tire 41 to drive the tire 41 to roll;
  • the suspension device is mounted on the tire 41 and is fixedly connected with the main frame body 80 for buffering the main frame body 80. The vibration of the frame body 80 during walking.
  • the clutch 43 is a manual clutch, through which the user can control the engagement or disengagement between the deceleration motor 42 and the tire 41 , when the deceleration motor 42 is engaged with the tire 41 , the deceleration motor 42 can drive the tire 41 Rolling is performed to realize automatic walking through the tire 41, and a suspension device is provided on the tire 41 to play a shock-absorbing effect, thereby improving the walking experience.
  • the suspension device includes a floating frame 44, a suspension spring 45, a guide shaft 46, a shaft fixing seat 47 and a linear bearing 48.
  • the shaft fixing seat 47 is installed on the main frame body 80, and the suspension spring 45 and the floating
  • the frame 44 is sleeved on the guide shaft 46 , the guide shaft 46 is vertically fixed on the shaft fixing seat 47 , and the linear bearing 48 is assembled with the floating frame.
  • the traveling mechanism 40 is highly integrated as a whole, small in size and compact in structure, and the clutch 43 can be opened when working by hand, thereby reducing resistance and moving easily.
  • the suspension device can improve the comfort and stability of riding and control, improve the ability of the vehicle body to overcome obstacles, and improve the adaptability to different road conditions.
  • the main frame body 80 includes a pair of bottom frames 81 , a bottom beam 82 and a pair of universal wheels 83 .
  • a pair of bottom frames 81 are installed parallel to both ends of the bottom beam 82 . It is vertically installed on the base frame 81 , and a universal wheel 83 is installed at the bottom of the base frame 81 ; further, the traveling mechanism 40 is installed at the bottom of the base frame 80 .
  • the main frame body 80 is welded by steel structure as a whole, and the electric control module 50 is built in the bottom beam 82 , which is connected to the corresponding seat rotation mechanism 20 and seat lift mechanism through the internal wiring of the bottom beam 82 30 and the running mechanism 40 are electrically connected, so that the corresponding mechanism components are driven to work through the electric control module 50 .
  • this embodiment enables disabled patients to control the robot by themselves, and realizes automatic calling of a shift robot, automatic up-and-down shift robot, automatic chair lift, and automatic control of the robot to carry the patient. Go where you need to go without the need for specialized escort care from others. When the patient is alone, he can do whatever he wants, which greatly facilitates the patient's life, work, entertainment, and travel, improves the patient's quality of life, and reduces or does not need to accompany the nursing staff.
  • the self-service displacement robot of the present invention includes a main frame body, an opening and closing seat, a seat rotation mechanism, a seat lifting mechanism, a walking mechanism and an electric control module.
  • the opening and closing seat It consists of a left seat frame assembly and a right seat frame assembly.
  • the electric control module controls the seat rotation mechanism to drive the opening and closing seats to open or close relatively, and the electric control module controls the seat lifting mechanism to drive the seat.
  • the opening and closing seat moves up and down, and the electric control module controls the walking mechanism to drive the main frame to move.
  • the electric control module is used to drive the corresponding mechanism to work, so as to realize self-service electric operation; the present invention is applied to hospitals, health care industries, nursing homes, and service centers for the disabled to help patients move, reduce nursing and escort personnel, and improve service quality. Service efficiency.
  • the main frame of a self-service displacement robot provided by the present invention can be processed by automated equipment, the opening and closing seat can be mass-produced by industrial automation equipment and assembled with the main frame, and the technical solution described in the present invention can help patients To achieve automatic shifting, no nursing escorts are required, and the workload of nursing is reduced. At present, the prototype of the self-service shifting robot has been completed, which has achieved the expected effect and has industrial practicability.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nursing (AREA)
  • Rehabilitation Tools (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

本发明适用于医疗辅助器械技术领域，提供了一种自助式移位机器人，包括主架体、开合座椅、座椅转动机构、座椅升降机构、行走机构和电动控制模块，所述开合座椅由左坐架组件和右坐架组件构成，所述电动控制模块控制所述座椅转动机构带动所述开合座椅相对展开或闭合，所述电动控制模块控制所述座椅升降机构带动所述开合座椅上下升降，所述电动控制模块控制所述行走机构带动所述主架体行进移动。借此，本发明能够帮助患者实现自动移位，不需要护理陪护人员，减少护理工作量，提高服务质量服务效率。

Description

自助式移位机器人 技术领域
本发明涉及医疗辅助器械技术领域，尤其涉及一种自助式移位机器人。
 背景技术
移位机在医疗康辅行业患者家庭中有着很广泛的应用，可以让失能下肢行动不便患者从床上到卫生间，到浴室，到客厅沙发，从一个房间到另一个房间，从病房到诊疗室，从一个病房到另一个病房，从家里到私家车上。极大地方便患者各种移位移动需求。
现有移位机（车）主要有躺卧移位，座姿移位，这些设备使用中都需要护理陪护人员协助帮忙。如帮忙将移位机推到患者身边，帮助患者上下移位机（车），帮忙将移位机推至患者需要去的地方。这些过程患者自己不能独立实现都需要陪护护理人员精心护理照料。增加了陪护护理人员数量，也增加了护理人员工作量和工作强度，影响护理人员工作积极性。
综上可知，现有的移位机（车）在实际使用上，存在着较多的问题，所以有必要加以改进。
 技术问题
针对上述的缺陷，本发明的目的在于提供一种自助式移位机器人，主要用于失能患者特别是下肢行动不便人士在工作生活休息娱乐中，自助移位移动，能够像正常人或者接近正常人一样无需其他人帮助自由活动。对失能患者生活出行提供了极大的方便。
 技术解决方案
为了实现上述目的，本发明提供一种自助式移位机器人，包括有：
    一主架体；
    一开合座椅，由左坐架组件和右坐架组件构成；
    一对座椅转动机构，分别与所述左坐架组件和所述右坐架组件组接，以用于带动所述左坐架组件和所述右坐架组件相对闭合成座椅结构或者相对展开；
    一对座椅升降机构，均设有电动推杆、导向立柱和升降柱，所述导向立柱竖直安装于所述主架体上，所述升降柱套接在所述导向立柱上，所述升降柱固定连接着所述开合座椅，所述电动推杆与所述升降柱组接以用于通过所述升降柱带动所述开合座椅上下升降；
    至少一对行走机构，安装于所述主架体的底部，以用于驱动所述主架体行走；
    一电动控制模块，分别与所述座椅转动机构、所述座椅升降机构以及所述行走机构连接，以用于分别控制所述座椅转动机构、所述座椅升降机构和所述行走机构工作。
进一步的，所述升降柱的内部中空且一端设有开口，所述升降柱通过开口端从所述导向立柱的顶部插入以与所述导向立柱套接，所述升降柱的外表面设有至少一固定连接件，所述升降柱通过所述固定连接件与所述座椅转动机构和/或所述开合座椅活动耦合连接。
进一步的，所述左坐板组件和所述右坐板组件左右对称，所述左坐板组件包括有左坐板架以及与所述左坐板架组接的左坐板、左靠背和左转轴，所述右坐板组件包括有右坐板架以及与所述右坐板架组接的右坐板、右靠背和右转轴；一对所述座椅转动机构分别与所述左转轴和所述右转轴传动连接。
进一步的，所述开合座椅还包括有锁紧装置，所述锁紧装置设于所述左坐板组件和所述右坐板组件之间，以用于锁紧固定所述左坐板组件和所述右坐板组件相对闭合时形成的完整座椅结构；所述锁紧装置为插销结构、卡扣结构、拉钩结构、电磁锁、电动锁、电动插销、电动锁扣中的任一种。
进一步的，所述左转轴和所述右转轴的内部都安装有深沟球轴承和平面推力轴承。
进一步的，所述座椅转动机构包括有齿轮减速电机和传动齿轮组，所述齿轮减速电机固定安装于所述升降柱的外侧面上，所述传动齿轮组安装于对应的所述左坐架组件或所述右坐架组件上，所述齿轮减速电机与所述传动齿轮组啮合连接，以通过所述传动齿轮组带动对应的所述左坐架组件或所述右坐架组件转动。
进一步的，所述行走机构包括有轮胎、减速电机、离合器以及悬挂装置，所述离合器与所述减速电机组接以用于切换所述减速电机与所述轮胎之间的接合与分离，所述减速电机与所述轮胎接合以用于传动所述轮胎滚动；所述悬挂装置安装于所述轮胎上并与所述主架体固定连接，以用于缓冲所述主架体行走过程中的震动。
进一步的，所述悬挂装置包括有浮动架、悬挂弹簧、导向轴、轴固定座和直线轴承，所述轴固定座安装于所述主架体上，所述悬挂弹簧和所述浮动架套接在所述导向轴上，所述导向轴竖直固定在所述轴固定座上，所述直线轴承与所述浮动架组接。
进一步的，所述主架体包括有一对底架、底横梁和一对万向轮，一对所述底架平行安装于所述底横梁的两端，所述导向立柱竖直安装于所述底架上，所述底架的底部安装有一所述万向轮，所述行走机构安装于所述底架的底部。
进一步的，所述电动控制模块包括有微电脑控制器、与所述微电脑控制器连接的至少一电机控制器以及动力电池；还包括有与所述微电脑控制器连接的手柄控制模块和/或遥控器。
 有益效果
本发明所述的自助式移位机器人，包括有主架体、开合座椅、座椅转动机构、座椅升降机构、行走机构和电动控制模块，所述开合座椅由左坐架组件和右坐架组件构成，所述电动控制模块控制所述座椅转动机构带动所述开合座椅相对展开或闭合，所述电动控制模块控制所述座椅升降机构带动所述开合座椅上下升降，所述电动控制模块控制所述行走机构带动所述主架体行进移动。通过电动控制模块以驱动相应的机构进行工作，从而实现自助式电动操作；通过先进的系统设计，微电脑控制，多传感器交互融合，可以让失能患者自己操控机器人，实现自动呼叫移位机器人，自动上下移位机器人，自动升降座椅，自动控制机器人载着患者到需要去的地方，不再需要他人的专门陪护护理。当患者一个人独处时也可以随心所欲地活动，极大地方便患者生活、工作、娱乐、出行，提高患者生活质量，减少或者不需要陪护护理人员。
 附图说明
图1为本发明优选实施例所述自助式移位机器人的立体示意图；
    图2为本发明优选实施例所述自助式移位机器人的所述开合座椅的正视立体示意图；
    图3为本发明优选实施例所述自助式移位机器人的所述开合座椅的后视立体示意图；
    图4为本发明优选实施例所述自助式移位机器人的所述开合座椅的展开结构示意图；
    图5为本发明优选实施例所述自助式移位机器人的所述座椅转动机构的结构示意图；
    图6为本发明优选实施例所述自助式移位机器人的所述座椅升降机构的结构示意图；
    图7为本发明优选实施例所述自助式移位机器人的所述行走机构的结构正视图；
    图8为本发明优选实施例所述自助式移位机器人的所述行走机构的结构侧视图；
    图9为本发明优选实施例所述自助式移位机器人的所述主架体的结构示意图。
 本发明的最佳实施方式
本发明适用于医疗辅助器械技术领域，提供了一种自助式移位机器人，包括主架体、开合座椅、座椅转动机构、座椅升降机构、行走机构和电动控制模块，所述开合座椅由左坐架组件和右坐架组件构成，所述电动控制模块控制所述座椅转动机构带动所述开合座椅相对展开或闭合，所述电动控制模块控制所述座椅升降机构带动所述开合座椅上下升降，所述电动控制模块控制所述行走机构带动所述主架体行进移动。借此，本发明能够帮助患者实现自动移位，不需要护理陪护人员，减少护理工作量，提高服务质量服务效率。
 本发明的实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
    需要说明的，本说明书中针对“一个实施例”、“实施例”、“示例实施例”等的引用，指的是描述的该实施例可包括特定的特征、结构或特性，但是不是每个实施例必须包含这些特定特征、结构或特性。此外，这样的表述并非指的是同一个实施例。 进一步，在结合实施例描述特定的特征、结构或特性时，不管有没有明确的描述，已经表明将这样的特征、结构或特性结合到其它实施例中是在本领域技术人员的知识范围内的。
    此外，在说明书及后续的权利要求当中使用了某些词汇来指称特定组件或部件，所属领域中具有通常知识者应可理解，制造商可以用不同的名词或术语来称呼同一个组件或部件。本说明书及后续的权利要求并不以名称的差异来作为区分组件或部件的方式，而是以组件或部件在功能上的差异来作为区分的准则。在通篇说明书及后续的权利要求书中所提及的“包括”和“包含”为一开放式的用语，故应解释成“包含但不限定于”。以外，“连接”一词在此系包含任何直接及间接的电性连接手段。间接的电性连接手段包括通过其它装置进行连接。
图1示出本发明优选实施例所述的自助式移位机器人，包括有一主架体80、一开合座椅10、一对座椅转动机构20、一对座椅升降机构30、至少一对行走机构40和一电动控制模块，其中：
开合座椅10由左坐架组件和右坐架组件构成；一对座椅转动机构20分别与所述左坐架组件和右坐架组件组接，以用于带动所述左坐架组件和右坐架组件相对闭合成座椅结构或者相对展开；参见图6，一对座椅升降机构30均设有电动推杆31、导向立柱32和升降柱33，所述导向立柱32竖直安装于主架体80上，升降柱33套接在所述导向立柱32上，升降柱33固定连接着所述开合座椅10，所述电动推杆31与升降柱33组接以用于通过升降柱33带动所述开合座椅10上下升降；本实施例包括一对行走机构40，其安装于主架体80的底部以用于驱动主架体80行走；电动控制模块50分别与所述座椅转动机构20、座椅升降机构30以及行走机构40连接，以用于分别控制所述座椅转动机构20、座椅升降机构30和行走机构40工作。通过电动控制模块50控制座椅转动机构20带动所述开合座椅10相对展开或闭合，电动控制模块50控制座椅升降机构30带动所述开合座椅10上下升降，电动控制模块50控制行走机构40带动所述主架体80行进移动。从而能够使得失能患者特别是下肢行动不便人士在工作生活休息娱乐中，自助移位移动，能够像正常人或者接近正常人一样无需其他人帮助自由活动；给失能患者的生活出行提供了极大的方便。
参见图6，升降柱33的内部中空且一端设有开口，升降柱33通过开口端从导向立柱32的顶部插入以与所述导向立柱32套接；优选的，所述升降柱33的外表面设有至少一固定连接件，升降柱33通过所述固定连接件与所述座椅转动机构20和/或开合座椅10活动耦合连接。即升降柱33从导向立柱32的头部套接在该导向立柱32上，使得该升降柱33能够沿着该导向立柱32上下升降；且所述升降柱33在上下升降的过程中，通过其固定连接件以带动对应的座椅转动机构20和/或开合座椅10同步上下升降。本实施例的固定连接件优选安装于所述升降柱33的侧壁上，当然也可以安装于其顶部等位置。
开合座椅10通过左右坐架组件构成，当左右坐架组件通过座椅转动机构20带动至相对接触并闭合时，即形成座椅结构；反之，当左右坐架组件通过座椅转动机构20带动至相对远离而展开时，该开合座椅10左右分割展开可在如床沿边等地方使得下肢不便的用户，无需他人帮助即可自助控制开合座椅10从展开状态到相对闭合状态的过程中坐上该开合座椅10；同时，利用电动控制模块驱动对应的座椅转动机构20、座椅升降机构30以及行走机构40工作，可提高了用户的自助性，且操作简单，提升患者生活质量，减少或者不需要陪护护理人员。
优选的，所述电动控制模块50包括有微电脑控制器、与所述微电脑控制器连接的至少一电机控制器以及动力电池；还包括有与所述微电脑控制器连接的手柄控制模块60和/或遥控器70。所述手柄控制模块60安装于活动支架21之上，通过该手柄控制模块60即可控制各功能机构进行工作，如行走机构40进行行走工作，轮椅转动机构20展开与闭合操作以及轮椅升降机构30进行升降操作等。所述遥控器70用于通过远程发送操控指令给到该电动控制模块50，从而通过该电动控制模块50进一步控制对应的功能机构进行工作。可通过三种模式：手柄控制，遥控器操作，智能自动行走，实现遥控呼叫移位车，电动打开座椅揽入患者，电动升降座椅，自动行走，电动打开座椅移出患者。无需他人帮助自助实现患者移位移动。更好的是，所述电动控制模块50还搭载着智能防夹紧安全保护、控制软件等，从而提升该移位机器人的安全性。
参见图2~图4，本实施例优选的是，所述左坐板组件和右坐板组件左右对称，所述左坐板组件包括有左坐板架11以及与左坐板架11组接的左坐板13、左靠背15和左转轴，所述右坐板组件包括有右坐板架12以及与右坐板架12组接的右坐板14、右靠背16和右转轴；其中左转轴和右转轴均标注为转轴17，一对所述座椅转动机构20分别与所述左转轴和右转轴传动连接。即所述开合座椅10分为左右两部分，每部分各自独立水平移动开合；其中，左坐板13和右坐板14分别安装于左坐板架11和右坐板架12的底部，以起承重作用；且左坐板13和右坐板14中间形成有一便于上厕所的圆形通孔，左靠背15和右靠背16分别组装在左坐板架13和右坐板架14的内壁上，左靠背15和右靠背16的顶部上设有一方便推动的手推把手18，本实施例可通过该手推把手18转动对应的坐板组件进行旋转。
所述开合座椅10还包括有锁紧装置19，锁紧装置19设于所述左坐板组件和右坐板组件之间，以用于锁紧固定所述左坐板组件和右坐板组件相对闭合时形成的完整座椅结构；所述锁紧装置为插销结构、卡扣结构、拉钩结构、电磁锁、电动锁、电动插销、电动锁扣中的任一种。本实施例的锁紧装置19优选采用卡扣结构，且所述锁紧装置19安装于左靠背15和右靠背16之间，从而当左坐板组件和右坐板组件转动至相接触时，可通过锁紧装置19将二者锁紧固定。
更好的是，所述左转轴和右转轴的内部都安装有深沟球轴承和平面推力轴承。通过所述深沟球轴承和平面推力轴承可同时承受轴向和法向力，当然其他实施例中也包括可同时承受轴向法向力的其他轴承。
参见图5，座椅转动机构20包括有齿轮减速电机21和传动齿轮组22，齿轮减速电机21固定安装于所述升降柱33的外侧面上，传动齿轮组22安装于对应的所述左坐架组件或右坐架组件上，齿轮减速电机21与所述传动齿轮组22啮合连接，以通过传动齿轮组22带动对应的所述左坐架组件或右坐架组件转动。具体在所述左坐架组件和右坐架组件上设置轴转齿轮，通过传动齿轮组22与对应的左坐架组件或右坐架组件上的轴转齿轮啮合连接，当齿轮减速电机21带动传动齿轮组22转动时，该传动齿轮组22带动着左坐架组件或右坐架组件同步进行旋转；根据齿轮减速电机21的正反向驱动，以带动左坐架组件或右坐架组件之间相对转动展开或闭合。其中，所述左坐架组件或右坐架组件通过所述固定连接件与升降柱33固定连接；具体的，所述固定连接件为一组连接板，即在升降柱33上通过一组连接板与对应的左坐架组件或右坐架组件组接固定，从而使得升降柱33在升降过程中能够带动左坐架组件与右坐架组件，两侧的升降柱33优选为同步执行升降操作，以调节座椅高低位置从而适应不同环境需求。
参见图7~图8，所述行走机构40包括有轮胎41、减速电机42、离合器43以及悬挂装置，所述离合器43与减速电机42组接以用于切换所述减速电机42与轮胎41之间的接合与分离，减速电机42与所述轮胎41接合以用于传动所述轮胎41滚动；所述悬挂装置安装于轮胎41上并与主架体80固定连接，以用于缓冲所述主架体80行走过程中的震动。所述离合器43为手动离合器，用户可通过该离合器控制该减速电机42与轮胎41之间进行接合或分离，当减速电机42与轮胎41之间接合时，减速电机42即可传动着该轮胎41进行滚动，从而通过该轮胎41实现自动行走，并且在该轮胎41上设置着悬挂装置以起到避震作用，从而提升行走体验。具体的是，所述悬挂装置包括有浮动架44、悬挂弹簧45、导向轴46、轴固定座47和直线轴承48，轴固定座47安装于所述主架体80上，悬挂弹簧45和浮动架44套接在所述导向轴46上，导向轴46竖直固定在轴固定座47上，所述直线轴承48与浮动架组接。该行走机构40整体高度集成，体积小，结构紧凑，手推工作时可打开离合器43，从而减少阻力轻松推移。所述悬挂装置可以提高乘坐操控的舒适性和稳定性，提高车体越障能力，提升对不同路况的适应性。
如图9，所述主架体80包括有一对底架81、底横梁82和一对万向轮83，一对底架81平行安装于所述底横梁82的两端，所述导向立柱32竖直安装于底架81上，所述底架81的底部安装有一万向轮83；进一步的，所述行走机构40安装于底架80的底部。所述主架体80整体采用钢结构焊接而成，所述电动控制模块50内置在该底横梁82之中，其通过底横梁82内部走线与相应的座椅转动机构20、座椅升降机构30以及行走机构40进行电性连接，从而通过该电动控制模块 50驱动对应的机构部件工作。
本实施例通过先进的系统设计，微电脑控制，多传感器交互融合，可以让失能患者自己操控机器人，实现自动呼叫移位机器人，自动上下移位机器人，自动升降座椅，自动控制机器人载着患者到需要去的地方，不再需要他人的专门陪护护理。当患者一个人独处时也可以随心所欲地活动，极大地方便患者生活、工作、娱乐、出行，提高患者生活质量，减少或者不需要陪护护理人员。
综上所述，本发明所述的自助式移位机器人，包括有主架体、开合座椅、座椅转动机构、座椅升降机构、行走机构和电动控制模块，所述开合座椅由左坐架组件和右坐架组件构成，所述电动控制模块控制所述座椅转动机构带动所述开合座椅相对展开或闭合，所述电动控制模块控制所述座椅升降机构带动所述开合座椅上下升降，所述电动控制模块控制所述行走机构带动所述主架体行进移动。通过电动控制模块以驱动相应的机构进行工作，从而实现自助式电动操作；本发明应用于医院，康辅行业，养老院，残疾人服务中心，帮助患者移位移动，减少护理陪护人员，提高服务质量服务效率。
当然，本发明还可有其它多种实施例，在不背离本发明精神及其实质的情况下，熟悉本领域的技术人员当可根据本发明作出各种相应的改变和变形，但这些相应的改变和变形都应属于本发明所附的权利要求的保护范围。
 工业实用性
本发明提供的一种自助式移位机器人的主架体可采用自动化设备加工完成，开合座椅可采用工业自动化设备批量生产并与主架体装配，且本发明记载的技术方案能够帮助患者实现自动移位，不需要护理陪护人员，减少护理工作量，目前自助式移位机器人样机已制作完成，达到了预期效果，具备工业实用性。
 序列表自由内容
在此处键入序列表自由内容描述段落。

Claims (10)

  1. 一种自助式移位机器人，其特征在于，包括有：
    一主架体；
    一开合座椅，由左坐架组件和右坐架组件构成；
    一对座椅转动机构，分别与所述左坐架组件和所述右坐架组件组接，以用于带动所述左坐架组件和所述右坐架组件相对闭合成座椅结构或者相对展开；
    一对座椅升降机构，均设有电动推杆、导向立柱和升降柱，所述导向立柱竖直安装于所述主架体上，所述升降柱套接在所述导向立柱上，所述升降柱固定连接着所述开合座椅，所述电动推杆与所述升降柱组接以用于通过所述升降柱带动所述开合座椅上下升降；
    至少一对行走机构，安装于所述主架体的底部，以用于驱动所述主架体行走；
    一电动控制模块，分别与所述座椅转动机构、所述座椅升降机构以及所述行走机构连接，以用于分别控制所述座椅转动机构、所述座椅升降机构和所述行走机构工作。
  2. 根据权利要求1所述的自助式移位机器人，其特征在于，所述升降柱的内部中空且一端设有开口，所述升降柱通过开口端从所述导向立柱的顶部插入以与所述导向立柱套接，所述升降柱的外表面设有至少一固定连接件，所述升降柱通过所述固定连接件与所述座椅转动机构和/或所述开合座椅活动耦合连接。
  3. 根据权利要求1所述的自助式移位机器人，其特征在于，所述左坐板组件和所述右坐板组件左右对称，所述左坐板组件包括有左坐板架以及与所述左坐板架组接的左坐板、左靠背和左转轴，所述右坐板组件包括有右坐板架以及与所述右坐板架组接的右坐板、右靠背和右转轴；一对所述座椅转动机构分别与所述左转轴和所述右转轴传动连接。
  4. 根据权利要求1所述的自助式移位机器人，其特征在于，所述开合座椅还包括有锁紧装置，所述锁紧装置设于所述左坐板组件和所述右坐板组件之间，以用于锁紧固定所述左坐板组件和所述右坐板组件相对闭合时形成的完整座椅结构；所述锁紧装置为插销结构、卡扣结构、拉钩结构、电磁锁、电动锁、电动插销、电动锁扣中的任一种。
  5. 根据权利要求3所述的自助式移位机器人，其特征在于，所述左转轴和
    所述右转轴的内部都安装有深沟球轴承和平面推力轴承。
  6. 根据权利要求3所述的自助式移位机器人，其特征在于，所述座椅转动机构包括有齿轮减速电机和传动齿轮组，所述齿轮减速电机固定安装于所述升降柱的外侧面上，所述传动齿轮组安装于对应的所述左坐架组件或所述右坐架组件上，所述齿轮减速电机与所述传动齿轮组啮合连接，以通过所述传动齿轮组带动对应的所述左坐架组件或所述右坐架组件转动。
  7. 根据权利要求1所述的自助式移位机器人，其特征在于，所述行走机构包括有轮胎、减速电机、离合器以及悬挂装置，所述离合器与所述减速电机组接以用于切换所述减速电机与所述轮胎之间的接合与分离，所述减速电机与所述轮胎接合以用于传动所述轮胎滚动；所述悬挂装置安装于所述轮胎上并与所述主架体固定连接，以用于缓冲所述主架体行走过程中的震动。
  8. 根据权利要求7所述的自助式移位机器人，其特征在于，所述悬挂装置包括有浮动架、悬挂弹簧、导向轴、轴固定座和直线轴承，所述轴固定座安装于所述主架体上，所述悬挂弹簧和所述浮动架套接在所述导向轴上，所述导向轴竖直固定在所述轴固定座上，所述直线轴承与所述浮动架组接。
  9. 根据权利要求1所述的自助式移位机器人，其特征在于，所述主架体包括有一对底架、底横梁和一对万向轮，一对所述底架平行安装于所述底横梁的两端，所述导向立柱竖直安装于所述底架上，所述底架的底部安装有一所述万向轮，所述行走机构安装于所述底架的底部。
  10. 根据权利要求1~9任一项所述的自助式移位机器人，其特征在于，所述电动控制模块包括有微电脑控制器、与所述微电脑控制器连接的至少一电机控制器以及动力电池；还包括有与所述微电脑控制器连接的手柄控制模块和/或遥控器。
PCT/CN2021/123911 2020-11-09 2021-10-14 自助式移位机器人 WO2022095677A1 (zh)

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CN113925715A (zh) * 2021-11-04 2022-01-14 定州市琥珀医疗器械有限公司 一种多功能移位机
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