Transfer robot
阅读说明：本技术 一种移乘机器人 (Transfer robot ) 是由 马嘉 黄强 崔亚平 刘楠 张伟民 王硕玉 于 2019-04-16 设计创作，主要内容包括：本发明提供一种移乘机器人,包括：移动底盘、座椅调姿机构、座椅；所述座椅调姿机构固定在移动底盘上,所述座椅设置于所述座椅调姿机构上；所述座椅调姿机构包括立柱、电动推杆、座椅支撑梁；所述电动推杆的一端与立柱连接,电动推杆的另一端与座椅支撑梁连接；所述立柱和座椅支撑梁连接,电动推杆的伸缩可调节座椅支撑梁的高度,从而调节座椅的高度。采用本发明技术方案,可为下肢功能衰退人群实现室内不同位置间移乘,室内坐姿移动和站立提供辅助支援。使用者可以根据身体状况,在本发明的辅助下,独立或者在护理人员少量辅助下完成床和座椅间的移乘、座椅和马桶间的移乘,以提升使用者的生活信心,减轻护理人员的劳动强度；并且可在本发明的辅助下起立,以促进下肢的血液循环,保持身体机能,促进健康。(The invention provides a transfer robot, comprising: the moving chassis, the seat posture adjusting mechanism and the seat are arranged; the seat posture adjusting mechanism is fixed on the movable chassis, and the seat is arranged on the seat posture adjusting mechanism; the seat posture adjusting mechanism comprises an upright post, an electric push rod and a seat supporting beam; one end of the electric push rod is connected with the upright post, and the other end of the electric push rod is connected with the seat supporting beam; the upright post is connected with the seat supporting beam, and the height of the seat supporting beam can be adjusted by the stretching of the electric push rod, so that the height of the seat can be adjusted. By adopting the technical scheme of the invention, auxiliary support can be provided for people with lower limb function decline to transfer among different indoor positions and move and stand in an indoor sitting posture. The user can independently complete the transfer between the bed and the seat and the transfer between the seat and the closestool under the assistance of a small amount of nursing personnel according to the physical condition so as to improve the life confidence of the user and reduce the labor intensity of the nursing personnel; and can be stood up with the assistance of the invention to promote the blood circulation of the lower limbs, maintain the body function and promote the health.)
1. A transfer robot, comprising: the moving chassis, the seat posture adjusting mechanism and the seat are arranged;
the seat posture adjusting mechanism is fixed on the movable chassis, and the seat is arranged on the seat posture adjusting mechanism;
the seat posture adjusting mechanism comprises an upright post, an electric push rod and a seat supporting beam; one end of the electric push rod is connected with the upright post, and the other end of the electric push rod is connected with the seat supporting beam; the upright post is connected with the seat supporting beam, and the height of the seat supporting beam can be adjusted by the stretching of the electric push rod, so that the height of the seat can be adjusted.
2. The robot of claim 1, wherein:
the seat posture adjusting mechanism comprises a first seat posture adjusting mechanism and a second seat posture adjusting mechanism, and the first seat posture adjusting mechanism and the second seat posture adjusting mechanism are fixed on the movable chassis in a bilateral symmetry manner;
the seat is a half-divided seat, and comprises two half-divided seats, namely a first half-divided seat and a second half-divided seat, wherein the first half-divided seat is arranged on the first seat posture adjusting mechanism, and the second half-divided seat is arranged on the second seat posture adjusting mechanism.
3. The robot of claim 2, wherein:
the transfer robot further comprises a controller;
the controller is used for controlling the extension and retraction of the electric push rod so as to control the height of the seat supporting beam and further adjust the height of the seat;
the mode of adjusting the height of the supporting beam is as follows:
the electric push rod extends to raise the height of the upright post, and the upright post rises to drive the supporting beam to rise integrally.
4. The robot of claim 2, wherein:
the transfer robot further comprises a seat opening and closing mechanism;
the seat opening and closing mechanism comprises a first seat opening and closing mechanism and a second seat opening and closing mechanism, and the first seat opening and closing mechanism and the second seat opening and closing mechanism are respectively fixed on the first seat posture adjusting mechanism and the second seat posture adjusting mechanism.
5. The robot of claim 4, wherein:
the seat plate opening and closing mechanism adopts a parallelogram mechanism and comprises two connecting rods, one end of each connecting rod is hinged with a seat supporting beam, and the other end of each connecting rod is hinged with the lower surface of the seat.
6. The robot of claim 5, wherein:
the handle of the seat opening and closing mechanism pushes the seat plate away from the outer side of the seat, so that the rotation of the double connecting rods along the hinge shaft of the seat supporting beam is realized, and the seat is opened;
when the handle of the seat opening and closing mechanism pushes the seat plate towards the inner side of the seat, the seat is closed.
7. The robot of claim 2, wherein:
the upright posts are connected with the seat supporting beam through rotating shafts to form a rotating pair;
the transfer robot further comprises a controller;
the mode of adjusting the height of the supporting beam is as follows: the electric push rod extends to lift the tail end of the supporting beam, namely, the end of the supporting beam is far away from the rotating shaft, and at the moment, one end of the supporting beam rotates around the rotating shaft, so that the seat and the horizontal plane form a certain inclination angle.
8. The robot of claim 2, wherein:
the transfer robot also comprises a limiting and locking device;
the limiting locking device comprises a fixed piece and a movable piece, wherein the fixed piece internally comprises a female stop buckle, a male buckle, an elastic arm, a spiral spring and a ball; the movable piece and the fixed piece are respectively arranged on the connecting rod and the seat supporting beam.
9. The robot of claim 6, wherein:
when the seat needs to be locked and limited, the moving part rotates around the ball and extrudes the elastic arm of the male buckle of the fixing part, so that the male buckle and the female buckle are buckled inside the fixing part, the groove part of the moving part is buckled with the ball at one end of the elastic arm of the male buckle, and the long end of the moving part touches one side of the fixing part to stop moving.
10. The robot of claim 6, wherein:
when the movable seat plate of the limiting device needs to be opened, the movable seat plate continues to move for a certain distance towards the direction of the limiting position, so that the male buckle and the female stop buckle in the fixing piece are separated, the compression spiral spring in the male buckle is released, the elastic arm of the male buckle is popped up, the groove part of the movable piece rotates around the ball and is gradually separated from the ball, and the connecting rod fixedly connected with the movable piece is pushed open.
Technical Field
The invention relates to the field of robots, in particular to a transfer robot.
Background
At present, the aging problem of the population is more and more serious. The living of the elderly is a difficult problem for every family in the current society, especially for the elderly with limb diseases. The problems of transfer and movement are the problems that the weak old and the disabled with the function of the lower limbs declining need to be solved urgently. Such people often have difficulty in transferring and walking among different positions due to insufficient strength of the lower limbs, and the actions can be completed only by the aid of nursing instruments or the help of nursing staff. The existing nursing instruments such as a shifting machine and a wheelchair cannot simultaneously solve the problems of shifting and moving of the crowd, and are inconvenient for users and nursing staff to operate.
In order to overcome the defects of the existing products, it is necessary to provide a transfer nursing robot to help people with inconvenient actions to transfer at different positions.
Disclosure of Invention
In order to overcome the defects of the existing products, the invention provides a transfer robot, which aims to solve the problem that the prior art cannot simultaneously provide transfer and movement.
The invention provides a transfer robot, comprising: the moving chassis, the seat posture adjusting mechanism and the seat are arranged;
The seat posture adjusting mechanism is fixed on the movable chassis, and the seat is arranged on the seat posture adjusting mechanism;
the seat posture adjusting mechanism comprises an upright post, an electric push rod and a seat supporting beam; one end of the electric push rod is connected with the upright post, and the other end of the electric push rod is connected with the seat supporting beam; the upright post is connected with the seat supporting beam, and the height of the seat supporting beam can be adjusted by the stretching of the electric push rod, so that the height of the seat can be adjusted.
Furthermore, the seat posture adjusting mechanism comprises a first seat posture adjusting mechanism and a second seat posture adjusting mechanism, and the first seat posture adjusting mechanism and the second seat posture adjusting mechanism are fixed on the movable chassis in a bilateral symmetry manner;
the seat is a half-divided seat, and comprises two half-divided seats, namely a first half-divided seat and a second half-divided seat, wherein the first half-divided seat is arranged on the first seat posture adjusting mechanism, and the second half-divided seat is arranged on the second seat posture adjusting mechanism.
Further, the transfer robot further comprises a controller;
the controller is used for controlling the extension and retraction of the electric push rod so as to control the height of the seat supporting beam and further adjust the height of the seat;
the mode of adjusting the height of the supporting beam is as follows:
The electric push rod extends to raise the height of the upright post, and the upright post rises to drive the supporting beam to rise integrally.
Further, the transfer robot further comprises a seat opening and closing mechanism;
the seat opening and closing mechanism comprises a first seat opening and closing mechanism and a second seat opening and closing mechanism, and the first seat opening and closing mechanism and the second seat opening and closing mechanism are respectively fixed on the first seat posture adjusting mechanism and the second seat posture adjusting mechanism.
Furthermore, the seat plate opening and closing mechanism adopts a parallelogram mechanism and comprises two connecting rods, one end of each connecting rod is hinged with the seat supporting beam, and the other end of each connecting rod is hinged with the lower surface of the seat.
Further, a handle of the seat opening and closing mechanism pushes the seat plate away from the outer side of the seat, so that the rotation of the double connecting rods along the hinge shaft of the seat supporting beam is realized, and the seat is opened;
when the handle of the seat opening and closing mechanism pushes the seat plate towards the inner side of the seat, the seat is closed.
Furthermore, the upright post and the seat support beam are connected through a rotating shaft to form a rotating pair;
the transfer robot further comprises a controller;
the mode of adjusting the height of the supporting beam is as follows: the electric push rod extends to lift the tail end of the supporting beam, namely, the end of the supporting beam is far away from the rotating shaft, and at the moment, one end of the supporting beam rotates around the rotating shaft, so that the seat and the horizontal plane form a certain inclination angle.
Furthermore, the transfer robot also comprises a limiting and locking device;
the limiting locking device comprises a fixed piece and a movable piece, wherein the fixed piece internally comprises a female stop buckle, a male buckle, an elastic arm, a spiral spring and a ball; the movable piece and the fixed piece are respectively arranged on the connecting rod and the seat supporting beam.
Further, when the seat needs to be locked and limited, the moving part rotates around the ball, and the elastic arm of the male buckle of the fixing part is extruded, so that the male buckle and the female buckle inside the fixing part are buckled, the groove part of the moving part is buckled with the ball at one end of the elastic arm of the male buckle, and the long end of the moving part touches one side of the fixing part to stop moving.
Further, when the limiting device movable seat plate needs to be opened, the limiting device continues to move for a short distance in the direction of the limiting position, so that the male buckle and the female buckle inside the fixing piece are separated, the compression spiral spring inside the male buckle is released, the elastic arm of the male buckle is popped up, the groove part of the moving piece rotates around the ball and is gradually separated from the ball, and the connecting rod fixedly connected with the moving piece is pushed open.
The transfer robot provided by the invention can be used for transferring among different indoor positions for people with lower limb function decline and providing auxiliary support for indoor sitting posture movement and standing. The user can independently complete the transfer between the bed and the seat and the transfer between the seat and the closestool under the assistance of a small amount of nursing personnel according to the physical condition so as to improve the life confidence of the user and reduce the labor intensity of the nursing personnel; and can be stood up with the assistance of the invention to promote the blood circulation of the lower limbs, maintain the body function and promote the health.
Drawings
Fig. 1 is a schematic structural diagram of a transfer robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a seat posture adjustment mechanism in a transfer robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a seat opening and closing mechanism in a transfer robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a transfer robot seat tilt-up according to an embodiment of the present invention;
FIG. 5 is a schematic view of a transfer robot seat having a declination configuration in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural view of a fixing member of a limiting and locking device of a transfer robot according to an embodiment of the invention;
fig. 7 is a schematic structural view of a movable member of a limit locking device of a transfer robot according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a transfer robot limiting and locking device in a locking state according to an embodiment of the invention;
fig. 9 is a schematic diagram of a transfer robot limiting and locking device in an open state according to an embodiment of the invention.
Reference numerals:
1-moving chassis, 2-chair posture adjusting mechanism, 3-chair opening and closing mechanism, 4-half seat and 5-armrest;
6-front guard bar, 7-controller, 21-upright post, 22-electric push rod, 23-seat support beam, 24-rotation axis;
31-connecting rod, 32-handle, 4-seat plate, 81-fixed part and 82-movable part;
811-female snap, 812-male snap, 813-elastic arm, 814-helical spring, 815-ball
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present embodiment provides a transfer robot, as shown in fig. 1, including: the device comprises a movable chassis 1, a seat posture adjusting mechanism 2, a seat opening and closing mechanism 3 and a
the seat posture adjusting mechanism 2 comprises a first seat posture adjusting mechanism and a second seat posture adjusting mechanism, and the first seat posture adjusting mechanism and the second seat posture adjusting mechanism are fixed on the movable chassis 1 in a bilateral symmetry manner; the seat opening and closing mechanism 3 comprises a first seat opening and closing mechanism and a second seat opening and closing mechanism, the first seat opening and closing mechanism and the second seat opening and closing mechanism are respectively fixed on the first seat posture adjusting mechanism and the second seat posture adjusting mechanism, the
The first half seat and the second half seat are respectively connected with the first seat opening and closing mechanism and the second seat opening and closing mechanism.
The movable chassis 1 is an all-directional movable chassis or a differential wheel chassis.
Each seat posture adjusting mechanism 2 comprises an
Specifically, the height of the
Further, the inclination of the seat can be adjusted by extending the
Further, the transfer robot further comprises a controller 7 for controlling the
When the inclination of the seat needs to be adjusted, the controller 7 controls the rotating
The chair support beam can incline forwards through the posture adjusting mechanism, and the sitting posture of the sedentary old man can be changed into the standing posture from the sitting posture, so that the blood circulation of the lower limbs of the old man is promoted, and the body rehabilitation is facilitated. In addition, the electric push rod on the lower side of the seat occupies small space, so that the bottom space is saved, and when the robot moves to the position in front of the bed or in the position of a closestool, the possibility of physical interference between the robot and the bed or the closestool can be reduced, for example, the moving floor 1 of the robot can extend into the bottom of the bed, and the seat part can be positioned above the bed instead of only stopping at a certain distance from the bed.
Further, the transfer robot further comprises an armrest 5 and a front guardrail 6;
the armrests 5 comprise a first armrest and a second armrest, the first armrest and the second armrest are respectively arranged on the seat support beams 23 on the left side and the right side, and the front guard bar 6 is arranged above the armrests 5 and spans the first armrest and the second armrest, so that a user is protected, and the forward leaning is prevented from slipping.
As shown in fig. 3, the seat plate opening and closing mechanism 3 adopts a parallelogram mechanism to realize the opening and closing of the seat, and includes two connecting rods 31, one end of each connecting rod 31 is hinged to the
After the mechanism is completely opened, the increased distance between the two
Furthermore, in order to improve the safety of the product, the movement track of the seat opening and closing needs to be limited within a certain movement range to ensure the controllability of the movement, and in the process of adjusting the posture height of the seat plate, the seat plate needs to be capable of being kept in a fully opened state or a closed state, so that a set of limiting and locking devices is designed.
As shown in fig. 6 and 7, the limit locking device includes two parts, namely a fixed part 81 and a
As shown in fig. 8, when the seat is closed to the end position, the
As shown in fig. 9, when the seat panel needs to be opened, the seat panel needs to move a short distance in the direction of the limit position, so that the male buckle and the female buckle inside the fixing member 81 are separated, the compression coil spring inside the male buckle is released, the elastic arm of the male buckle is ejected, the groove portion of the
The seat is also required to be limited and fixed by a limiting and locking device when being completely opened to a limit position, and only the locking and limiting device for locking the seat when being closed to an end position and the locking and limiting device for locking the seat when being completely opened are arranged at different positions, for example, but not limited to, a movable part for limiting the seat when being closed is arranged on a connecting
Examples of the applications
When the transfer or seating position is far below the seat plane of the transfer robot, as shown in fig. 2, the controller controls the electric push rods to contract, so that one end of the seat support beam descends, and the seat plane is lowered to be slightly higher than the transfer or seating position; when the transfer or seating position is higher than the seat plate plane of the rear split seat robot, the controller controls the electric push rod to extend, so that one end of the seat supporting beam is lifted upwards, and the seat plate plane is lifted to be slightly higher than the transfer or seating position. And the transfer between the transfer robot and the transfer or seating position is realized by matching with the action of the seat opening and closing mechanism. Meanwhile, the seat supporting beam is lifted upwards by one section, so that a user can be assisted to stand up, and the blood circulation of the lower limbs is promoted.
As shown in fig. 3, when the seat plane of the transfer robot is slightly higher than the transfer position, the user moves the body center of gravity to one side of the seat independently or with the assistance of a caregiver, and at the same time, the user or caregiver pulls the seat plate on the side where the user's body is raised away by the handle on the seat, and then the user moves the center of gravity to the side where the seat plate is opened, and the body side is seated in the transfer or seating position, and pushes the seat plate on the side where the body is raised away, thereby performing transfer. The process of changing from a seating position (e.g., a bed) to a rear split seat robot is similar.
By adopting the technical scheme of the invention, the transfer of the user can be conveniently realized, the user can be assisted to stand up, the blood circulation of the lower limbs is promoted, and the invention has the advantages of simple structure and convenient and reliable action execution mode.
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