CN102499828B - Old and disabled-assistant bed chair integrated robot - Google Patents

Abstract

An integrated bed and chair robot for the elderly and the disabled. The inner and outer nested stair climbing wheels are fixed on two arc-shaped racks of the chassis; the chassis seat module is connected to the seat bracket module and can slide along the arc-shaped racks of the chassis; the seat The upper arc-shaped slideway is fixed on the bracket module, and the movable backrest and the movable seat are connected to the seat bracket module through hinges; the control handle can be inserted into the slot on the seat bracket module and the movable armrest; the calf support plate passes through The hinge is connected with the movable seat, and can slide along the arc-shaped slideway of the calf support plate on the inner side of the upper arc-shaped slideway. Combining the four functions of going up and down stairs, assisting standing, bed and chair conversion, and assisting going to the toilet, the load wheel inside the tire is used as the fulcrum to lift the wheel when encountering steps, and the relative movement of the main modules of the robot is combined to avoid dumping. The upper arc rack slides out along the upper arc slideway, combined with the rotation of the movable armrest at the end to help the user stand. Each section can be flattened to become a bed, which can be operated with wired or wireless control handles.

Description

Helping the Elderly and the Disabled Bed and Chair Integrated Robot

technical field

The invention relates to the field of health care equipment, in particular to an integrated bed and chair robot for helping the elderly and the disabled with the functions of going up and down stairs, assisting standing, bed and chair conversion, and assisting going to the toilet.

technical background

In recent years, with the development of society and the intensification of population aging, many universities, companies and research institutions at home and abroad have conducted in-depth research on robots for the elderly and the disabled, and proposed their own products or solutions. Equipment for helping the elderly and the disabled can be divided into three categories: stair-climbing wheelchairs, integrated nursing beds with beds and chairs, and sports assistance or rehabilitation robots.

There are many types of stair-climbing wheelchairs. Planetary wheel and crawler-type stair-climbing mechanisms are generally used. When going up the stairs, the user sits on the chair with his back to the stairs, and most of them need assistance from personnel, and the technology still needs to be further matured. The planetary wheel type stair climbing device generally consists of a star frame and several small wheels installed on it. Due to the fixed structure of this device, it lacks the ability to adapt to non-standard steps, and the small wheels have poor shock absorption performance, which is complicated The road conditions will bring discomfort to the passengers. The crawler stair climbing device is generally attached to the bottom of the ordinary wheelchair as an independent unit. When encountering a step, the crawler is stuck on the edge of the step to climb. The force is great and the stairs are easily damaged.

The Institute of Robotics of Beihang University has developed a bed-chair integrated nursing bed. The wheelchair drives into the outer frame of the bed and is flattened and then integrated with the outer frame to form a bed. Cannot assist the patient to stand, assist the patient to use the toilet and go up and down the stairs.

Harbin Engineering University has developed a robot that assists the disabled to stand up and perform leg rehabilitation training, filling the gap in China, but the device cannot be used as a wheelchair. The "robot suit hybrid auxiliary limb" developed by the University of Tsukuba in Japan can help the disabled to walk, but this device does not work for paralyzed patients, and it is expensive and not suitable for promotion.

Disabled people with leg disabilities, paralyzed patients and elderly people with limited mobility need a functional and comprehensive robotic device to help them enjoy a quality life like normal people. At present, there is no product that combines the four functions of going up and down stairs, assisting standing, bed and chair conversion, and assisting in going to the toilet.

Contents of the invention

The purpose of the present invention is to solve the problems of single function and complex structure of traditional mechatronic equipment for helping the elderly and the disabled by providing an integrated robot for helping the elderly and the disabled, and integrate the three functions of going up and down stairs, assisting standing and bed and chair conversion. Combination, designed in accordance with ergonomic requirements, safe, beautiful and comfortable, with a high degree of intelligence, suitable for hemiplegic patients, disabled people with limited mobility and the elderly.

The integrated robot of bed and chair for helping the elderly and the disabled of the present invention is realized by adopting the following technical means:

An integrated bed and chair robot for the elderly and the disabled. The inner and outer nested stair climbing wheels 1 are fixed on two chassis arc racks 2; the chassis seat module 7 is connected to the seat bracket module 3 and can move along the chassis arc racks. 2 sliding; two upper arc-shaped slideways 31 are fixed on the seat frame module 3, and the movable backrest 5 and the movable seat 57 are connected to the seat frame module 3 through hinges; the control handle 6 can be inserted into the seat frame module 3 And in the slot on the movable armrest 42; Calf support plate 56 links to each other with movable seat 57 by hinge, can slide along the calf support plate arc-shaped slideway 37 of upper arc-shaped slideway 31 inner sides; Head baffle plate 51 and Waist baffle 52 links to each other with movable backrest 5 by elastic hinge; Thigh baffle 54 links to each other with movable seat 57 by elastic hinge; Waist baffle 59 one ends are connected on the thigh baffle 54; The support plates 56 are connected; each baffle plate is installed in pairs on both sides of the relevant unit in a symmetrical form; the backrest storage box 8 is fixed on the movable backrest 5 by hinges; the upper arc rack 4 is on the upper arc slideway 31 Sliding inside; the movable armrest 42 rotates around the end of the upper arc rack 4 under the drive of the armrest drive motor 41; the pedal 32 is fixed between the two upper arc slideways 31.

The aforesaid internal and external nested stair climbing wheel 1 drives the wheel drive disc 16 to rotate after the main drive motor 112 shaft is decelerated by the planetary gear reducer 117; the rubber cover tire 12 is fixed on the wheel drive disc 16 and the tire support disc 17, and Rotate with the wheel drive disc 16; the tire support disc 17 is connected with the wheel housing 114 through bearings.

The aforementioned stair-climbing reduction motor 113 drives the rotating bracket 15 after being decelerated by the stair-climbing gear set 116. There is a shock absorber 14 between the road wheel bracket 13 and the rotation bracket 15, and the road wheel 11 is connected to the road wheel bracket 13 through a bearing.

The aforesaid wheel housing 114 is fixed with a vertical shaft reduction motor 115, and the vertical shaft reduction motor 115 drives the wheel to rotate along the vertical shaft after being decelerated by the vertical shaft gear 111; the wheel connector 19 is connected to the vertical shaft gear through the vertical shaft shock absorber 110 111; the range finder 118 is fixed on the wheel housing 114; the planetary gear reducer 117 is placed on the rotating bracket 15.

The aforesaid rubber tire utilizes the load wheel 11 to carry the weight, and the load wheel is fixed on the rotating bracket 15, and the rotating bracket and the rubber tire are respectively driven by two motors; the rotating bracket 15 is pasted with a pressure strain gauge, which is used to detect the load wheel when climbing stairs. under pressure.

Angle sensor is arranged on the aforementioned vertical shaft gear 111 and is used for detecting vertical shaft rotation angle; Angle sensor is used for detecting the rotation angle of rotating support 15 on the stair climbing gear set 116; turn indicator light.

The aforementioned chassis seat module 7 is provided with a chassis arc-shaped slideway 317, a chassis rack drive motor and a chassis rack drive gear set 39; the seat support drive motor 311 drives the seat support module after being decelerated by the seat support gear 312 3 rotates, the chassis base module 7 is connected with the seat frame module 3 through bearings.

The aforesaid chassis arc-shaped slideway 317 has a photoelectric sensor for detecting the position of the chassis arc-shaped rack 2, and forms a position control closed-loop system with the chassis seat single-chip microcomputer and the chassis rack drive motor; the angle sensor is distributed on the seat bracket gear 312 edge.

The aforementioned seat support module 3 has a battery 313 in its shell, a movable backrest rotating motor 314, an upper arc rack drive motor 315 and its supporting gear set; the upper arc slideway 31 is fixed on the seat support module 3 , calf support plate arc-shaped slideway 37 upper side or lower side have teeth;

The aforementioned movable backrest rotation motor 314 is in one side of the module, and a plurality of control handle slots 316 are distributed on the upper side of the module shell, and the charging wire elastic winch and the control handle wire elastic winch are fixed on the upper side of the module; the module control circuit board is mainly The control unit includes a central control circuit, an automatic charging circuit, an inclination sensor and an acceleration sensor.

The shape of the above-mentioned upper arc rack 4 is an arc-shaped metal plate, and one side of the outer diameter of the metal rack is distributed with teeth, which mesh with the upper arc rack drive gear set; the top of the rack has a handrail drive motor 41, which is After deceleration, the movable armrest 42 is driven to rotate, and the end of the movable armrest has a control handle slot 316; the upper body safety belt 43 is fixed on the armrest driving motor 41.

The aforementioned movable backrest rotating shaft 35 is fixed on the upper arc-shaped slideway 31; the movable backrest 5 is connected with the movable backrest rotating shaft 35 through a bearing, the movable seat 57 is connected with the movable backrest rotating shaft 35 through a bearing, and the reversible seat cushion 53 passes through The bearing is connected with the movable backrest rotating shaft 35; the overturning cushion motor is fixed on the movable seat 57, and the overturning cushion 53 is driven to rotate around the movable backrest rotating shaft 35 by gear reduction.

On the aforementioned movable backrest rotating shaft 35, a sensor for detecting the rotation angle of the movable backrest 5 and detecting the rotation angle of the reversible seat cushion 53 is fixed.

Aforesaid backrest storage box 8 both sides have backrest storage box cover 87; Support wheel shaft 86 is fixed on the storage box by bearing, and two support wheels 84 link to each other with support wheel gear 83 and are fixed on the support wheel shaft 86, winch 85 is fixed on the support wheel axle 86; The support wheel drive motor 82 is fixed on the backrest storage box inner wall, drives the support wheel 84 rotations by gear reduction; Contains lead in the connecting band 81, and one end is fixed on the capstan 85, and the other end is fixed on a removable Move the backrest 5 up.

The aforementioned backrest storage box 8 is provided with two limit switches on the hinge that is connected with the movable backrest 5 .

Aforesaid shank baffle 55 is fixed with shank storage box 511, and calf safety belt 510 and shank safety belt socket 512 are fixed on the shank baffle 55, and shank baffle 55 links to each other with shank support plate 56 by elastic hinge.

The rocking bar 61 of the aforementioned control handle 6 is located on the control panel 62; a display screen 66 and a keyboard 67 are arranged on the control panel 62; the control handle 6 is provided with a rechargeable battery.

Compared with the prior art, the present invention has the following obvious advantages and beneficial effects:

Because the present invention uses the same inner and outer nested stair climbing wheel 1 when driving on flat ground and climbing stairs, the road wheel 11 plays a major role when climbing stairs, and the road wheel 11 plays a role in supporting rubber tires when walking on flat ground, while the road wheel support 13 has the function of shock absorption to realize the full utilization of resources. Planetary gear reducer 117, road wheel bracket 13, and various bearings are all enclosed in rubber tires, effectively preventing dirt from entering the mechanical structure and causing damage or accelerated wear.

The present invention adopts the way that the arc-shaped rack 2 of the chassis slides in the arc-shaped slideway to realize that the rear wheels protrude backward and downward when going up the stairs, and the front wheels are lifted, and when going down the stairs, the front wheels protrude forward and downward, and the rear wheels are lifted , use the arc-shaped rack that integrates function and structure to keep the center of gravity of the robot in a safe position when going up and down stairs. Because the seat support module 3 can rotate relative to the chassis seat module 7, the chassis seat module 7 can slide along the chassis arc rack 2, the combination of the two can adjust the height of the seat, and the seat can be lowered when the user wants to sit on the wheelchair Height, pedal 32 touches the ground, brings convenience to the user. The height of the seat can be raised when walking on flat ground, so that the height of the user's eyes is close to the height of standing and walking, which brings comfort to the user. When the deformed seat module of the present invention is in the seat mode, the baffles on both sides can protect the user, especially for patients who are paralyzed below the chest, the waist baffle 52 and the thigh and calf baffles can maintain their sitting posture and protect the user's spine No damage. And adopt upper body safety belt 43 and calf safety belt 510 to keep the user's posture. When the seat becomes a bed, the side panels on both sides can be laid flat to increase the width of the bed and bring comfort to the user.

The present invention adopts the upper arc rack 4, the upper arc slideway 31 and the movable handrail 42 to help the user stand. When the upper arc rack 4 slides out from the upper arc slideway 31, two actions of lifting and forward extension can be completed simultaneously. The movable armrest 42 is usually used as a seat armrest. When standing, it supports the user's armpit to lift it up. Its V-shaped structure can prevent the user's arm from slipping forward or backward; the user can insert the control handle 6 on the movable armrest. 42 in the socket at the front end, it is convenient to control the robot when driving on flat ground. The inner side of the movable seat 57 of the present invention contains a reversible seat cushion 53, combined with the auxiliary standing function and the open rear part of the chassis module, the user can use the family toilet. The invention realizes the functions of going up and down stairs, assisting standing, bed and chair conversion, and assisting going to the toilet. The mechanical structure is simple and compact, the degree of intelligence is high, and the volume is small. It is suitable for hemiplegia, severe paralysis, leg disabilities, frail patients and the elderly. daily use.

Description of drawings

Fig. 1 is a side view of the present invention;

Fig. 2 is the front view of the present invention;

Fig. 3 is a three-dimensional view of the inner and outer nested stair climbing wheels;

Fig. 4 is the top view of inner and outer nested stair climbing wheels;

Figure 5 is a side view of the robot in bed mode;

Fig. 6 is a side view of the control handle;

Fig. 7 is a top view of the control handle;

Fig. 8 is a three-dimensional view of the seat support module;

Figure 9 is a front view of the backrest storage box;

Fig. 10 is a picture of an example of the use of the robot integrated with beds and chairs for the elderly and the disabled according to the present invention when going up stairs.

Among them, 1 is the inner and outer nested stair climbing wheels, 2 is the chassis arc rack, 3 is the seat bracket module, 4 is the upper arc rack, 5 is the movable backrest, 6 is the control handle, and 7 is the chassis seat Module, 8 is the back storage box, 11 is the road wheel, 12 is the rubber tire, 13 is the road wheel bracket, 15 is the rotating bracket, 16 is the wheel drive plate, 17 is the tire support plate, 18 is the lamp, 19 is the wheel Connector, 31 is the upper arc slideway, 32 is the foot pedal, 33 is the charging seat door, 34 is the seat frame storage box, 35 is the movable backrest shaft, 36 is the seat frame connecting rod, 37 is the calf Support plate arc-shaped slideway, 41 is the driving motor of the movable armrest, 42 is the movable armrest, 43 is the upper body safety belt, 51 is the head shield, 52 is the waist shield, 53 is the reversible seat cushion, 54 is the thigh shield Plate, 55 is a shank baffle, 56 is a shank support plate, 57 is a movable seat, 59 is a waist block, 61 is a rocker, 62 is a control panel, 63 is a handle, 64 is a lead wire, and 65 is a handle plug, 66 is a display screen, 67 is a keyboard, 81 is a connection belt, 82 is a support wheel drive motor, 83 is a support wheel gear, 84 is a support wheel, 85 is a winch, 86 is a support wheel shaft, 87 is a backrest storage box cover, 110 111 is the vertical shaft gear, 112 is the main drive motor, 113 is the stair climbing reduction motor, 114 is the wheel casing, 115 is the vertical shaft reduction motor, 116 is the stair climbing gear set, and 117 is the planetary gear Speed reducer, 118 is a distance meter, 311 is a seat frame drive motor, 312 is a seat frame gear, 313 is a battery, 314 is a movable backrest rotation motor, 315 is an upper arc rack drive motor, 316 is a control handle Slot, 317 is chassis curved slideway, and 510 is calf safety belt, and 511 is calf storage box, and 512 is calf safety belt socket.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Referring to FIG. 1 , an integrated robot for helping the elderly and the disabled includes a chassis module, a seat frame module 3 and a deformable seat module. The chassis module contains four inner and outer nested stair climbing wheels 1, two chassis arc racks 2, and a chassis seat module 7. The seat frame module 3 includes two upper arc slideways 31 and two upper arc racks 4, a movable armrest 42, a battery 313, a motor and a control circuit board, and the like. The deformed seat module includes a movable backrest 5, a movable seat 57, a calf support plate 56, a backrest storage box 8, and ancillary baffles and the like.

The present invention adopts the chassis module capable of going up and down the stairs, the seat support module 3 capable of assisting the user to stand up and maintain the level of the seat, and the deformed seat module capable of transforming the bed and chair.

The chassis module is composed of four inner and outer nested stair climbing wheels 1, a chassis arc rack 2, and a chassis seat module 7. Deformation seat module comprises four main parts of movable backrest 5, movable seat 57, reversible cushion 53, calf support plate 56 and the annex that is connected on the main parts. The deformed seat module is connected with the seat support module 3 through the movable backrest rotating shaft 35 and the arc-shaped slideway 37 of the calf support plate; the seat support module 3 is connected with the chassis base module 7 through bearings; The curved tooth bar 2 slides, and the seat support module 3 can rotate around its connecting shaft with the chassis base module 7, and the cooperative movement of the two can allow the deformed seat module to maintain the posture when going up and down the stairs.

The inner and outer nested stair climbing wheel 1 is driven by the main drive motor 112 shaft through the planetary gear reducer 117 to drive the wheel drive disc 16 to rotate. 16 rotates; the tire support disc 17 is connected to the wheel housing 114 through bearings; the stair-climbing reduction motor 113 drives the rotary support 15 after the stair-climbing gear set 116 decelerates, and there is a shock absorber 14 between the road wheel support 13 and the rotary support 15. The road wheel 11 is connected with the road wheel bracket 13 through bearings; the vertical axis reduction motor 115 is fixed on the wheel housing 114, and after being decelerated by the vertical axis gear 111, the wheel is driven to rotate along the vertical axis; the wheel connector 19 passes through the vertical axis shock absorber 110 Connected to the vertical shaft gear 111; the rangefinder 118 is fixed on the wheel housing 114; the planetary gear reducer 117 is placed in the middle of the rotating bracket 15. The load wheel 11 is used to carry the weight, and the load wheel 11 is fixed on the rotating bracket 15, and the rotating bracket 15 and the rubber tire 12 are respectively driven by two motors; the rotating bracket 15 is affixed with a pressure strain gauge, which is used to detect the load wheel 11 when climbing stairs. The pressure received; the vertical axis gear 111 has an angle sensor for detecting the rotation angle of the vertical axis; the stair climbing gear set 116 has an angle sensor for detecting the rotation angle of the rotating bracket 15; the car light 18 has an ultra-high brightness white LED for lighting, as well as red and yellow LEDs for brake and turn indicators.

Chassis seat module 7 contains chassis arc-shaped slideway 317, chassis rack drive motor and chassis rack drive gear set; contains seat support drive motor 311, drives seat support 3 to rotate after being decelerated by seat support gear 312, seat The chair support 3 is connected with the chassis base module 7 by bearings. There is a photoelectric sensor on the arc-shaped slideway 317 of the chassis for detecting the position of the arc-shaped rack 2 of the chassis, and forms a position control closed-loop system with the single-chip microcomputer of the chassis seat and the drive motor of the rack rack; A position control closed-loop system is formed by the single-chip microcomputer on the chassis seat and the driving motor 311 of the seat frame.

Seat support module 3 housing contains battery 313, movable backrest rotation motor 314, upper arc rack drive motor 315 and its supporting gear set, control circuit board of the module, control handle wire elastic winch, control handle slot 316 , seat bracket storage box 34, charging seat door 33. The upper arc slideway 31 is fixed on the seat frame 3, and the upper side or the lower side of the calf support plate arc slideway 37 has teeth. The left and right parts are connected by pedal 32, seat support connecting rod and movable backrest rotating shaft 35.

The shape of the upper arc rack 4 is an arc-shaped metal plate, and one side of the outer diameter of the metal rack is distributed with teeth, which mesh with the upper arc rack drive gear set. There is a handrail drive motor 41 at the top of the rack, which drives the movable handrail 42 to rotate after gear reduction, and the end of the movable handrail 42 has a control handle slot 316;

Movable backrest rotating shaft 35 is fixed on the upper arc slideway 31, and movable backrest 5, movable seat 57 and reversible cushion 53 are connected with movable backrest rotating shaft 35 by bearing respectively. The overturning cushion motor is fixed on the movable seat 57, and the overturning cushion 53 is driven by gear reduction to rotate around the movable backrest rotating shaft 35. An angle sensor is fixed on the movable backrest rotating shaft 35 for detecting the rotation angle of the movable backrest 5 . A position sensor is fixed on the movable backrest rotating shaft 35 for detecting the position state of the reversible seat cushion 53 .

Backrest storage box 8 both sides have backrest storage box cover 87, and support wheel shaft 86 is fixed on the storage box by bearing, and two support wheels 84 link to each other with support wheel gear 83 and are fixed on the support wheel shaft 86, winch 85 is fixed on On the supporting axle 86. The supporting wheel drive motor 82 is fixed on the back storage box inner wall, and drives the supporting wheel 84 to rotate through gear reduction. Contain lead in the connecting band 81, one end is fixed on the capstan 85, and the other end is fixed on the movable backrest 5. Two limit switches are arranged on the hinge that backrest storage box 8 is connected with movable backrest 5 and are used for detecting the position that backrest storage box 8 arrives.

The calf storage box 511 is fixed on the left and right two calf baffles 55, the calf safety belt 510 is fixed on the right side baffle, and the calf safety belt socket is fixed on the left side baffle, and the order of left and right can also be reversed. The calf shield 55 is connected with the calf support plate 56 by an elastic hinge.

The control handle rocker 61 is located on the control panel 62 . A display screen 66 and a keyboard 67 are arranged on the operation panel 62 . The manipulation panel 62 is located at the top of the handle 63 . The handle plug 65 is located at the lower end of the handle 63 . When wired control is adopted, the lead wire 64 is located at the lower rear of the handle, or the control handle 6 contains a rechargeable battery, and when the handle plug 65 is inserted into the socket on the seat support module 3 or the movable armrest 42, the rechargeable battery is charged, and the robot is controlled by wireless communication. main body.

Referring to FIG. 10 , when going up the stairs, the rider faces the steps, and the wheels rely on the rangefinder 118 to detect the distance of the steps, and adjust the state of the wheels so that the front two wheels contact the edge of the steps simultaneously. After the tire is depressed under pressure, the inner road wheel bracket 13 rotates, allowing the road wheel 11 to lift the wheel with the depression as a fulcrum. The chassis seat module 7 slides forward, allowing the center of gravity of the robot to move forward and keep the seat level, improving stability and comfort when climbing stairs. Chassis seat module 7 slides backwards when climbing stairs and finishes, and robot returns to level land driving posture. When going down the stairs, the occupant turns his back to the steps, and the chassis seat module 7 slides backwards to allow the center of gravity of the robot to move backwards and keep the seat level. The road wheel bracket 13 rotates counterclockwise to allow the above road wheel 11 to gradually lower the tire with the tire trailing edge depression as the fulcrum. Chassis base module 7 slides forward when the stairs end, and the robot returns to the driving state on flat ground.

Referring to Fig. 5, when the robot changes from the walking mode to the bed mode, the calf support plate 56 slides upward along the calf support plate arc-shaped slideway 37 on the inner side of the upper arc-shaped rack to level the movable seat 57 and the calf support plate 56, and move Backrest 5 is rotated to the position that forms plane with movable seat 57, and backrest storage box 8 is put down simultaneously to support movable backrest 5, expands head shield 51, waist shield 52, thigh shield 54, calf shield to both sides. Plate 55, flatten the waist plate 59, and deform the seat module to expand into a bed. Combined with the chassis seat module 7 sliding along the chassis arc rack 2, and the seat support module 3 rotating around the chassis seat module 7, the bed surface can be kept horizontal.

The deformable seat module keeps the seat mode when walking on level ground, and the user sits on the seat and holds the control handle 6 to control the steering and movement speed of the robot. The robot can rotate in situ when the forward speed of the robot is 0 and the contact points of the four wheels and the ground are on the same circumference. In order to ensure the stability of the robot and the comfort of the user during emergency deceleration, the seat posture is automatically adjusted according to the acceleration sensor signal in the seat bracket module 3 to adapt to the acceleration change.

Referring to Fig. 8, the upper arc rack 4 is driven by the upper arc rack drive motor 315 to slide out from the upper arc slideway 31, and the movable armrest 42 at the end will support the user's armpit to lift it up. The upper arc rack 4 can complete the two actions of raising the height and forwarding at the same time, and the V-shaped movable armrest 42 rotates counterclockwise to prevent the user from slipping, and finally the user will stand on the pedal 32 . The control handle 6 is connected to the control circuit board in the seat support module 3 through elastic self-curling wires. There are a plurality of control handle sockets 316 on the seat support module 3, and there are control handle sockets 316 at the end of the movable armrest 42. The wheelchair working mode and one's own preference insert the control handle 6 in different sockets, and you can also hold the control handle 6 by hand without inserting it in the socket.

The inner side of the movable seat 57 of the present invention contains a reversible cushion 53, and the reversible cushion 53 and the movable seat 57 are fused into a complete seat at ordinary times. The user is lifted up, the reversible seat cushion is turned over and embedded in the groove of the movable backrest 5, and the auxiliary standing device allows the user to sit on the seat again after the user untie the trousers, so as to use the toilet.

The wheel of the present invention is equipped with a range finder 118, and the road wheel bracket 13 is equipped with a pressure sensor, which can automatically adjust the rotation speed of the road wheel 11 and the wheel according to the height of the step, the relative position relationship between the wheel and the step, and has the ability to adapt to steps of various sizes . According to the inclination sensor and the acceleration sensor signal distributed in the seat support module 3, the robot controls the chassis seat module 7 to slide along the chassis arc rack 2, and in combination with the rotation of the seat support module 3, it can keep the seat level when climbing stairs, preventing The robot tilts forward and backward, and can change the seat posture and the height of the pedals 32 from the ground when driving on flat ground, so as to bring comfortable and safe feelings to the user.

Implement according to above scheme and just can reach purpose of the present invention.

The above only expresses several embodiments of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, some modifications and improvements can be made, or a part of the present invention can be used for other products, which all belong to protection scope of the present invention.

Claims (10)

1. The disabled-assistant bed chair integrated robot 1. one kind is helped the elderly, including：Inside and outside nested type stair climbing wheel（1）, stair climbing reducing motor（113）, wheel casing（114）, staircase climbing gear group（116）, rubbery cover tyre（12）, moveable backrest rotating shaft（35）；It is characterized in that：Inside and outside nested type stair climbing wheel（1）It is fixed on two chassis arc-shaped racks（2）On；Subbase module（7）It is connected to seat support module（3）And can be along chassis arc-shaped rack（2）Slide；Seat support module（3）On be fixed with two upper cambered ways（31）, moveable backrest（5）With movable seat（57）Pass through hinge and seat support module（3）It is connected；Joystick（6）Seat support module can be inserted in（3）And moveable handrails（42）On slot in；Shin support panel（56）Pass through hinge and movable seat（57）It is connected, can be along upper cambered way（31）The shin support panel cambered way of inner side（37）Slide；Baffle head（51）With waist baffle plate（52）By elastic hinge and moveable backrest（5）It is connected；Thigh baffle plate（54）By elastic hinge and movable seat（57）It is connected；Waist catch（59）One end is connected to thigh baffle plate（54）On；Shank baffle plate（55）By elastic hinge and shin support panel（56）It is connected；Each baffle plate is all with symmetrical form mounted in pairs in correlation unit both sides；Backrest storage tank（8）Moveable backrest is fixed on by hinge（5）On；Upper arc-shaped rack（4）In upper cambered way（31）It is interior to slide；Moveable handrails（42）In handrail drive motor（41）Driving under around upper arc-shaped rack（4）End is rotated；Pedal（32）It is fixed on two upper cambered ways（31）Between.
2. 2. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：Described inside and outside nested type stair climbing wheel（1）, pass through main drive motor（112）Axle is through planetary reducer（117）Band motor car wheel drive disk after deceleration（16）And rotate；Rubbery cover tyre（12）It is fixed on wheel drive disk（16）With Tire support disk（17）On, and with wheel drive disk（16）Rotate；Tire support disk（17）Pass through bearing and wheel casing（114）It is connected；Stair climbing reducing motor（113）Through staircase climbing gear group（116）Runing rest is driven after deceleration（15）, heavy burden wheel support（13）With runing rest（15）Between have damper（14）, bogie wheel（11）Pass through bearing and heavy burden wheel support（13）It is connected.
3. 3. disabled-assistant bed chair integrated robot of helping the elderly according to claim 2, it is characterised in that：Described wheel casing（114）On be fixed with vertical axis reducing motor（115）, vertical axis reducing motor（115）Through vertical shaft gear（111）Driving moment rotates along vertical axis after deceleration；Wheel connector（19）Through vertical axis damper（110）It is connected to vertical shaft gear（111）On；Rangefinder（118）It is fixed on wheel casing（114）On；Planetary reducer（117）It is placed on runing rest（15）Middle part；Rubbery cover tyre utilizes bogie wheel（11）Load capacity, bogie wheel is fixed on runing rest（15）On, runing rest is driven by two motors respectively with rubbery cover tyre；Runing rest（15）On post pressure-strain piece, for detecting bogie wheel is subject to during stair climbing pressure.
4. 4. disabled-assistant bed chair integrated robot of helping the elderly according to claim 3, it is characterised in that：Described vertical shaft gear（111）Upper angled sensor is used to detect vertical axis rotational angle；Staircase climbing gear group（116）Upper angled sensor is used to detect runing rest（15）Rotational angle；Car light（18）On have an illuminating lamp, and for braking and side marker light.
5. 5. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：Described subbase module（7）It is interior to be provided with chassis cambered way（317）, chassis rack drives motor and chassis rack drives gear train（39）；Seat support motor（311）, through seat support gear（312）Seat support module is driven after deceleration（3）Rotation, subbase module（7）Pass through bearing and seat support module（3）Connection；Chassis cambered way（317）On have photoelectric sensor be used for detect chassis arc-shaped rack（2）Position, with subbase single-chip microcomputer and chassis rack drives motor composition position control closed-loop system；Angled sensor is distributed in seat support gear（312）Edge.
6. 6. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：The seat support module（3）, its shell includes battery（313）, moveable backrest electric rotating machine（314）, upper arc-shaped rack motor（315）And its associated gear group；Upper cambered way（31）It is fixed on seat support module（3）On, shin support panel cambered way（37）Upside or downside band are with teeth；Left and right two parts rely on pedal（32）, seat support connecting rod（36）With moveable backrest rotating shaft（35）Connection.
7. 7. disabled-assistant bed chair integrated robot of helping the elderly according to claim 6, it is characterised in that：Moveable backrest electric rotating machine（314）In the seat support module of side, multiple joystick slots are distributed with the upside of module housing（316）, charging conductor elasticity capstan winch and the elastic capstan winch of joystick wire are fixed on the upside of module；Module control circuit plate is main control unit, contains central control circuit, automatic charger and obliquity sensor and acceleration transducer.
8. 8. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：The upper arc-shaped rack（4）Profile be circular arc-shaped metal plate, metal rack external diameter side distribution it is with teeth, engaged with upper arc-shaped rack drive gear set；There is handrail drive motor on tooth bar top（41）, moveable handrails are driven after The gear deceleration（42）Rotation, moveable handrails end carries joystick slot（316）；Upper body safety belt（43）It is fixed on handrail drive motor（41）On.
9. 9. disabled-assistant bed chair integrated robot of helping the elderly according to claim 6, it is characterised in that：The moveable backrest rotating shaft（35）It is fixed on cambered way（31）On；Moveable backrest（5）Pass through bearing and moveable backrest rotating shaft（35）Connection, movable seat（57）Pass through bearing and moveable backrest rotating shaft（35）Connection, may be reversed cushion（53）Pass through bearing and moveable backrest rotating shaft（35）Connection；Turnover cushion motor is fixed on movable seat（57）On, driven by The gear deceleration and cushion may be reversed（53）Around moveable backrest rotating shaft（35）Rotate.
10. 10. disabled-assistant bed chair integrated robot of helping the elderly according to claim 1, it is characterised in that：The backrest storage tank（8）There is backrest storage box cover both sides（87）；Support wheel shaft（86）It is fixed on by bearing on storage tank, two support wheels（84）With support wheel gear（83）It is connected and is fixed on support wheel shaft（86）On, capstan winch（85）It is fixed on support wheel shaft（86）On；Support wheel motor（82）It is fixed on backrest storing chamber interior wall, support wheel is driven by The gear deceleration（84）Rotation；Connect band（81）In contain wire, one end is fixed on capstan winch（85）On, the other end is fixed on moveable backrest（5）On；Backrest storage tank（8）With moveable backrest（5）The hinge of connection is provided with 2 limit switches；Shank baffle plate（55）It is fixed with shank storage tank（511）, shank safety belt（510）With shank safety belt socket（512）It is fixed on shank baffle plate（55）On, shank baffle plate（55）Pass through elastic hinge and shin support panel（56）It is connected.

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