CN104224478B - Embracing electric shifting machine - Google Patents

Abstract

A clamp-type electric shifting machine, which includes an outrigger opening and closing mechanism, a base, a stand, a clamping arm, an electric lifting mechanism, a clamping arm opening and closing mechanism, a clamping arm locking mechanism, an electric control system, and a calf support Mechanism, Thigh Support Straps, Push Bars. The stand is installed above the base, and an electric lifting mechanism is installed on the inside of the stand; the calf support mechanism is installed on both sides of the stand, and the opening and closing mechanism of the outriggers is installed below the base, with left and right sides The opening and closing mechanism of the clamping arm is installed on the upper end of the electric lifting mechanism; the opening and closing mechanism of the clamping arm is connected with the clamping arm; the present invention realizes the required functions by combining manual and electric. The upper left and right support arms are opened and closed by manual adjustment, and the lifting and lowering of the ends of the support arms are realized by electric means; the left and right support arms at the bottom are opened and closed by electric control. The controller uses a single-chip microcomputer to realize its functions, and realizes the overall simplicity of the circuit.

Description

Clamp electric lift

technical field

The invention relates to the field of rehabilitation aids for disabled people, in particular to a clamp-type electric moving machine for helping disabled people move indoors.

Background technique

For the handicapped and elderly with weak or lost ability to stand and walk in the lower limbs, in daily life, when they need to move from the bed to the sofa, wheelchair, toilet or bathroom, the traditional care is provided by at least one caregiver. Even if the caregiver's physical ability permits, the elderly or patients may not feel comfortable. In recent years, in order to solve the problem of moving people with disabilities, people have developed a variety of electric lifts, mainly sling-type lifts that use electric lifts. Most of the slings are designed with hanging pockets. Putting it into a sling, the patient can lie flat or sit, and the patient can be lifted up and down safely by lifting the sling through the transfer machine. It is very troublesome to wear the hanging pocket and fix the patient, and the operation protection is not proper when the suspension is lifted, which is extremely difficult. It is easy to cause secondary injury to the patient, and there is a certain potential safety hazard.

The electric lift machine researched in this project is aimed at people with limited mobility who have lost part or all of the functions of their lower limbs, but their upper body still has the ability to maintain a sitting position independently for at least a short time. transfer from one location to another. Satisfy the position transfer of patients between beds, wheelchairs, seats and toilets. Make nursing transfer easy, safe, fast and efficient, and at the same time allow patients to gain more freedom and independence.

Contents of the invention

In order to overcome the deficiencies in the existing products and technologies, the purpose of the present invention is to provide a clamp-type electric lift for use by disabled persons with difficulty walking in the lower limbs. labor intensity. The lifting machine does not require the participation of multiple medical staff, only one person can easily operate it effortlessly, and when the patient is moved, the movement is light and small, convenient, and will not affect the patient's condition.

To achieve the above object, the present invention adopts the following technical solutions:

A clamping type electric shifting machine, which includes an outrigger opening and closing mechanism (1), a base (2), a stand (3), a clamping arm (4), an electric lifting mechanism (5), a clamping arm Opening and closing mechanism (6), clamping arm locking mechanism (7), electric control system (8), calf support mechanism (9), thigh support strap (10), push handle (11);

The stand (3) is installed above the base (2), and an electric lifting mechanism (5) is installed inside the stand (3);

Described calf support mechanism (9) is installed on the both sides of stand (3), and it comprises support frame (91), positioning plunger (92), adjustment bracket (93), leg support (94), through positioning column Plug (92) regulates the front and back position of leg rest (94);

The leg opening and closing mechanism (1) is installed under the base 2 and has two left and right legs 101;

The clamping arm opening and closing mechanism 6 is installed on the upper end of the electric lifting mechanism (5); the clamping arm opening and closing mechanism 6 is connected with the clamping arm (4);

The supporting sling (10) is fixed on the clamping arm (4);

The push handle 11 is fixedly connected to the stand (3).

The two left and right legs (101) of the described leg opening and closing mechanism (1) are connected to the base through hinges, and universal casters (107) are installed at the front ends of the legs; Realized by the four-bar linkage mechanism, it includes the first linear electric push rod (102), the middle connecting rod (103), the short pull rod (104), the long pull rod (105), and the telescopic movement of the first linear electric push rod (102). The front end of the rod is connected to the front end of the intermediate link (103), the rear end of the intermediate link (103) is connected to the front end of the long pull rod (105), and the rear end of the long pull rod (105) is connected to the rear end of a support leg (101). Connect; the middle part of the middle connecting rod (103) is provided with hinge shaft, connects the front end of short tie rod (104) between this hinge shaft and the front end of middle connecting rod (103), the rear end of this short pull rod (104) and another The rear end of a support leg (101) is connected; the two ends of the long and short pull rods are connected with adjustment joints (106), and the opening and closing angles of the two legs are controlled by the expansion and contraction of the first linear electric push rod.

The electric lifting mechanism (5) is composed of the second linear electric push rod (51), the rocker arm seat (52) and the stand (3) to form a four-bar mechanism, and the upper end of the second linear electric push rod (51) is connected to the rocker arm seat (52), the rocker arm seat (52) and the stand (3) are connected through the main shaft (53), and the stand (3) is fixedly connected with the push rod fixing seat (31) at the lower end and the second linear electric pusher The lower end of the rod (51) is hinged, and the lifting of the rocking arm seat (52) and the left and right clamping arms (41) is realized by the expansion and contraction of the 2nd linear electric push rod.

The clamping arm opening and closing mechanism (6) is a reverse parallel four-bar mechanism composed of a fixed pipe beam (61), a left and right clamping arm (41), a hinge seat (62), and a connecting rod (63). The fixed pipe beam (61) is fixedly connected with the rocker arm seat (52). The fixed pipe beam (61) is provided with two hinge seats (62). The lower side of the hinge seat (62) is reversely connected to the joint arm (63), and the damping buffer (64) is connected to one hinge seat (62). The opening and closing of the clamping arm realizes the clamping function; the speed buffer when opening and closing is realized by the damping buffer (64), so as to avoid harm to the human body.

The clamping arm locking mechanism (7) includes a small connecting rod (71), a sliding shaft (72), a locking seat (73), a positioning sleeve (74), a latch (75), a positioning screw (76), a locking pressure Spring (77), copper sleeve (78), one end of the small connecting rod (71) is connected with the crank (45) on the clamping arm (4) through the first hinge shaft (79), and the other end is connected with the slide shaft (72) Connected by the second hinge shaft (80), the locking seat (73) is installed on the fixed pipe beam (61), the copper sleeve (78) is tightly fitted with the transverse inner hole (81) of the locking seat (73), and the sliding shaft ( 72) and the copper sleeve (78) are gap fit, the locking seat (73) is provided with a sleeve (84), the latch (75) cooperates with the shoulder hole (82) of the sleeve (84), and the sleeve (84) Locking stage spring (77) is housed on the bolt inside, and the outer end of bolt is hinged with the outer end of positioning sleeve (74), and the side wall of positioning sleeve (74) has L-shaped groove (83), and positioning screw (76) is fixed on the sleeve. On the outer wall of the pipe (84), the positioning screw (76) is arranged in the L-shaped groove (83), and relative sliding or rotation can be carried out between the positioning sleeve (74) and the sleeve pipe (84).

The electric control system (8) includes a hand controller, a control module, a power supply, a first linear electric push rod and a second linear electric push rod; the power supply is connected to the electric input end of the control module, and the hand controller and the control module control input The output control end of the control module is connected to the input end of the first linear electric actuator and the second linear electric actuator respectively, and the control of the first linear electric actuator and the second linear electric actuator is realized through the operation of the hand controller. The telescopic control realizes the opening and closing of the outrigger or the lifting control of the clamping arm.

The front ends of the left and right clamping arms (41) are connected with the holding frame (43), and the holding frame (43) is connected with the holding hand (44). The holding frame (43) and the left and right clamping arms (41) are hinged, The holding frame and the left and right clamping arms can be rotated at a relatively small angle, so as to realize the free fit between the holding hand (44) and the human body, and improve the comfort when clamping and hugging the human body.

The leg support (94) is connected with the adjustment bracket (93) by the leg support connecting frame (95). The leg support connecting frame structure enables the leg support to rotate at a small angle around the leg support connecting frame rotating shaft, so that the angle of the leg support is automatically adjusted. It adapts to the angle of the human calf to improve the comfort of contact.

A handle (42) is connected to the left and right clamping arms (41).

The beneficial effect of the present invention is that: the present invention realizes required functions by combining manual and electric modes. The left and right clamping arms on the upper part are opened and closed by manual adjustment, and the lifting and lowering of the ends of the clamping arms are realized by electric means; the left and right outriggers on the bottom are opened and closed by electric control. The controller uses a single-chip microcomputer to realize its functions, and realizes the overall simplicity of the circuit. The actuator is driven by a linear push rod, with low noise and accurate action.

Description of drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic front view of the present invention.

Fig. 3 is a schematic left view of the present invention.

Fig. 4 is a schematic diagram of the leg opening and closing mechanism of the present invention.

Fig. 5 is a schematic diagram of the clamping arm lifting mechanism of the present invention.

Fig. 6 is a schematic diagram of the opening and closing mechanism of the clamp arm of the present invention.

Fig. 7 is a schematic diagram of the clamping arm locking mechanism of the present invention.

Fig. 8 is an internal sectional view of the clamping arm locking mechanism of the present invention.

Fig. 9 is a schematic diagram of the electric control system of the present invention.

Fig. 10 is a schematic diagram of swinging of the holding hand 44 of the present invention.

Fig. 11 is a schematic diagram of the swing of the leg rest 94 of the present invention.

Reference numerals: 1: outrigger opening and closing mechanism; 101: outrigger; 102: first linear electric push rod; 103: intermediate connecting rod; 104: short pull rod; 105: long pull rod; 106: adjustable joint; 107: Caster; 2: base; 3: stand; 31: push rod fixing seat; 4: clamp arm; 41: left and right clamp arm; 42: handle; 43: arm skeleton; 44: arm; 45: crank; 5: Electric lifting mechanism; 51: The second linear electric push rod; 52: Rocker arm seat; 53: Main shaft; 6: Clamping arm opening and closing mechanism; 61: Fixed pipe beam; Rod; 64: Damping buffer; 7: Clamping arm locking mechanism; 71: Small connecting rod; 72: Slide shaft; 73: Locking seat; 74: Positioning sleeve; 75: Pin; 76: Positioning screw; 77: Locking pressure Spring; 78: copper sleeve; 79: first hinge shaft; 80: second hinge shaft; 81: horizontal inner hole; 82: shoulder hole; 83: L-shaped groove; 84: casing; 85: small nut; 8: Electric control system; 9: Calf support mechanism; 91: Support frame; 92: Positioning plunger; 93: Adjustment bracket; 94: Leg support; 95: Leg support bracket; 10: Thigh support strap; 11: Push handle .

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to Fig. 1, Fig. 2, and Fig. 3, a clamping electric lift includes a leg opening and closing mechanism 1, a base 2, a stand 3, a clamping arm 4, an electric lifting mechanism 5, and a clamping arm. Arm opening and closing mechanism 6, clamping arm locking mechanism 7, electric control system 8, calf support mechanism 9, thigh support strap 10, push handle 11,

The stand 3 is installed above the base 2, and the inside of the stand 3 is equipped with an electric lifting mechanism 5;

Described calf supporting mechanism 9 is installed on the both sides of stand 3, and it comprises bracing frame 91, positioning plunger 92, adjustment support 93, leg support 94, adjusts the front and back position of leg support 94 by positioning plunger 92;

The leg opening and closing mechanism 1 is installed under the base 2 and has two left and right legs 101;

The clamping arm opening and closing mechanism 6 is installed on the upper end of the electric lifting mechanism 5; the clamping arm opening and closing mechanism 6 is connected with the clamping arm 4;

The support sling 10 is fixed on the clamping arm 4;

The push handle 11 is fixedly connected to the stand 3 .

Referring to Fig. 4, the two left and right legs 101 of the described leg opening and closing mechanism 1 are connected to the base through hinges, and universal casters 107 are installed at the front ends of the legs; Realized by the four-bar linkage mechanism, it includes the first linear electric push rod 102, the intermediate connecting rod 103, the short pull rod 104, the long pull rod 105, and the front end of the telescopic rod of the first linear electric push rod 102 is connected to the front end of the intermediate connecting rod 103, The rear end of the intermediate link 103 is connected with the front end of the long pull rod 105, and the rear end of the long pull rod 105 is connected with the rear end of a leg 101; The front ends of the short pull rods 104 are connected between the front ends of the rods 103, and the rear end of the short pull rods 104 is connected with the rear end of the other leg 101; the two ends of the long and short pull rods are connected with adjustment joints 106, which are electrically driven by the first linear The expansion and contraction of the push rod controls the opening and closing angles of the two legs.

5, the electric lifting mechanism 5 is composed of the second linear electric push rod 51, the rocker arm seat 52 and the stand 3 to form a four-bar mechanism. The upper end of the second linear electric push rod 51 is connected to the rocker arm seat 52. The arm base 52 and the stand 3 are connected by the main shaft 53, and the stand 3 is hinged to the lower end of the second linear electric push rod 51 through the push rod fixing seat 31 fixedly connected at the lower end, and the swing is realized through the expansion and contraction of the second linear electric push rod. The lifting of the arm base 52 and the left and right clamping arms 41.

Referring to Fig. 6, the clamping arm opening and closing mechanism 6 is a reverse parallel four-bar mechanism composed of a fixed pipe beam 61, left and right clamping arms 41, a hinge seat 62, and a link rod 63. The fixed pipe beam 61 It is fixedly connected with the rocker arm seat 52, and the fixed pipe beam 61 is provided with two hinge seats 62, the outer ends of the upper part of the hinge seat 62 are connected with the left and right clamping arms 41, and the lower side ends of the hinge seat 62 are reversely connected with the linkage rod 63, in a Connect the damping buffer 64 on the hinge seat 62, realize the opening and closing of the left and right clamping arms by manually operating the unilateral left and right clamping arms 41, and realize the clamping function; realize the speed buffer when opening and closing by the damping buffer 64, so as to avoid Harmful to the human body.

7 and 8, the clamping arm locking mechanism 7 includes a small connecting rod 71, a sliding shaft 72, a locking seat 73, a positioning sleeve 74, a latch 75, a positioning screw 76, a locking compression spring 77, and a copper sleeve 78, one end of the small connecting rod 71 is connected with the crank 45 on the clamping arm 4 through the first hinge shaft 79, and the other end is connected with the sliding shaft 72 through the second hinge shaft 80, and the locking seat 73 is installed on the fixed pipe beam 61, The copper sleeve 78 and the horizontal inner hole 81 of the locking seat 73 are tight fits, the sliding shaft 72 and the copper sleeve 78 are clearance fits, the locking seat 73 is provided with a sleeve 84, and the latch 75 cooperates with the shoulder hole 82 of the sleeve 84, Locking clip spring 77 is housed on the latch in sleeve pipe 84, can make latch 75 carry out axial elastic expansion and contraction, the outer end of latch is hinged with the outer end of positioning sleeve 74, realizes axial positioning by small nut 85, and the side wall of positioning sleeve 74 There is an L-shaped groove 83, and the positioning screw 76 is fixed on the outer wall of the casing 84. The positioning screw 76 is arranged in the L-shaped groove 83, and is used to realize the axial and circumferential positioning of the positioning sleeve. The positioning sleeve 74 and the sleeve Relative sliding or rotation is possible between the tubes 84 .

When the inclined plane A end of the latch 75 contacts the inclined plane B end of the slide shaft 72, the two inclined planes A and B overlap, and the mechanical self-locking principle is used to self-lock through the contact of the inclined planes to realize the stepless self-locking of the angle of rotation of the clamping arm. When the positioning sleeve 74 is pulled outward to drive the bolt to slide axially to the end of the L-shaped groove 83 and rotate into the axial positioning groove, the clamping arm locking mechanism is in the unlocked state. When the positioning sleeve 74 is rotated out of the axial positioning groove To the circumferential positioning groove, when retracted to the top of the groove under the tension of the locking spring, the locking mechanism is in a single locking state, that is, it can be locked steplessly when the clamping arm is opened, and the locking mechanism will not work when the clamping arm is closed. Left and right, the sliding shaft 72 can slide outwards. At this time, the clamping arm will be subject to the constraints of the human body and will not be further closed. When the left and right clamping arms rotate outwards to open, the contact self-locking of the inclined surface realizes the safe locking of the rotation angle of the clamping arms, effectively ensuring the safety when clamping and shifting the patient.

Referring to Fig. 9, the electric control system 8 includes a hand controller, a control module, a power supply and a first linear electric push rod and a second linear electric push rod; the power supply is connected to the input end of the control module, and the manual The controller is connected to the control input end of the control module, and the output control end of the control module is respectively connected to the input ends of the first linear electric actuator and the second linear electric actuator. , The telescopic control of the second linear electric push rod realizes the opening and closing of the outrigger or the lifting control of the clamping arm. The hand controller adopts the HB series controller of LINAK, which has the functions of multi-actuator control, memory and simultaneous drive. The control module adopts LINAK's CBJ2 control box, which has soft start-stop function and emergency lowering function, and provides precise position feedback and accurate control for the push rod. The power supply uses LINAK's BAJ1 battery pack, and the integrated buckle system and The control box is connected, and when the battery pack is charging, the integrated charger in the control box is connected to an external power cord to charge the battery pack. The linear electric actuator adopts the electric actuator suitable for medical care series from LINAK. Under the premise of meeting the maximum thrust load and speed, the linear electric actuator is required to be compact in structure, powerful in power and safe in configuration.

Referring to Fig. 2, shown in Fig. 3, described shank support mechanism comprises support frame 91, positioning plunger 92, adjustment bracket 93, leg support 94, the front and back position of leg support 94 is regulated by positioning plunger 92.

The supporting sling 10 is fixed on the left and right clamping arms 4, and is used to reduce the force exerted by the armrest 44 on the armpits of the human body.

The push handle 11 is fixedly connected to the stand 3 and is used to control the moving direction and speed of the clamping machine.

A handle 42 is connected to the left and right clamping arms 41 .

Referring to Fig. 10, the front ends of the left and right clamping arms 41 are connected with the holding frame 43, and the holding frame 43 is connected with the holding hand 44. The holding arms can be rotated at a relatively small angle, so as to realize the free fit between the holding hands 44 and the human body, and improve the comfort when holding the human body.

Referring to Fig. 11, the leg rest 94 and the adjustment bracket 93 are connected by a leg rest connecting frame 95, the leg rest connecting frame structure enables the leg rest to rotate at a small angle around the leg rest connecting frame rotating shaft, so that the angle of the leg rest is automatically adjusted. It adapts to the angle of the human calf to improve the comfort of contact.

During actual use, first adjust the height of the left and right clamping arms 41 with the electric lifting mechanism 5, the armpit of the human body is clamped by the left and right clamping arms 41, and the buttocks of the human body are seated on the support sling 10, and the human face is facing toward the push handle 11. The feet of the person are placed on the plane of the base 2, and the legs are placed in the leg support 94, and are tied up with calf straps (not shown in the figure) to move; The contraction of the first linear electric push rod 102 of the combination mechanism 1 drives the legs 101 to open, pushes the wheelchair to the middle of the two legs 101, and places the human body on the wheelchair to complete the movement of the human body.

In summary, the present invention has the following advantages:

1. The lifting and lowering of the support arm is realized by electric means;

2. The left and right brackets at the bottom adopt electric control to realize opening and closing.

3. The upper left and right support arms are opened and closed by manual adjustment, and the horizontal clamping method is adopted, and the width between the arms can be locked steplessly.

4. Holding hands can realize the left and right swing angle adjustment and positioning, and realize the natural fit with the human body.

5. The electric part includes control handle, controller, actuator and power supply. The controller uses a single-chip microcomputer to realize its functions, and realizes the overall simplicity of the circuit. The actuator is driven by a linear push rod, with low noise and accurate action.

6. In order to realize the safe operation of the equipment, an emergency brake button can also be specially prepared to prevent the failure of the electric control.

7. Quick binding and removal of calf straps and support slings.

Claims (7)

1. one kind hold formula electrically-operated shifting machine it is characterised in that：It includes supporting leg open-and-close mechanism (1), base (2), stand (3), hold arm (4), electric lifting mechanism (5), hold arm open-and-close mechanism (6), hold arm locking mechanism (7), Electronic control system System (8), leg support mechanism (9), thigh support suspender belt (10), handle (11)；

Supporting leg open-and-close mechanism (1) is arranged on the lower section of base (2), and stand (3) is arranged on above base (2), pacifies inside stand (3) Equipped with electric lifting mechanism (5), hold arm open-and-close mechanism (6) and be arranged on electric lifting mechanism (5) upper end, hold arm open-and-close mechanism (6) it is connected with and holds arm (4), leg support mechanism (9) is arranged on the both sides of stand (3), support suspender belt (10) to be fixed on folder In arm (4), handle (11) is fixedly connected on stand (3)；

Described electric lifting mechanism (5) forms four bar machines by the 2nd Linear motor-driven push rod (51), rocker arm bracket (52) and stand (3) Structure, the 2nd Linear motor-driven push rod (51) upper end connecting rocker arm seat (52), pass through main shaft between rocker arm bracket (52) and stand (3) (53) connect, the push rod fixed seat (31) that stand (3) is fixedly connected by lower end is cut with scissors with the 2nd Linear motor-driven push rod (51) lower end Connect, flexible by the 2nd Linear motor-driven push rod realizes rocker arm bracket (52) and left and right holds the lifting of arm (41)；

The described arm locking mechanism (7) that holds includes small rod (71), slide-bar (72), locking seat (73), positioning sleeve (74), latch (75), Positioning screw (76), locking stage clip (77), copper sheathing (78), the first hinge (79) and folder are passed through in one end of small rod (71) Crank (45) in arm (4) connects, and the other end is connected by the second hinge (80) with slide-bar (72), and locking seat (73) is arranged on On fixing pipe beam (61), copper sheathing (78) is tight fit, slide-bar (72) and copper sheathing (78) with the lateral bore (81) of locking seat (73) Coordinate for gap, locking seat (73) is provided with sleeve pipe (84), latch (75) is coordinated with the shoulder hole (82) of sleeve pipe (84), sleeve pipe (84) equipped with locking stage clip (77) on the latch in, latch (75) can be made to carry out axial elastic telescopic, the outer end of latch with fixed Position set (74) outer end is hinged, realizes axially position by primary nut (85), positioning sleeve (74) side wall has L-shaped groove (83), positioning Screw (76) is fixed on the lateral wall of sleeve pipe (84), and Positioning screw (76) is arranged in L-shaped groove (83), for realizing positioning The axial and circumferential positioning of set, can carry out relative to sliding or rotate between positioning sleeve (74) and sleeve pipe (84)；Pull out positioning When set (74) drives latch (75) to slide axially into the end of L-shaped groove (83) and rotate in axially position groove, hold arm lock Determine mechanism for released state, when positioning sleeve (74) is screwed out axially position groove to circumferentially positioned groove, in the pulling force of locking stage clip Under be retracted into groove top when, locking mechanism for individual event lock-out state, that is, holds when arm opens and can stepless lock, if closure folder During arm, locking mechanism does not play left and right, and slide-bar (72) can slide in and out, and now holds the constraint that arm can be limited by human body, will not Can be further closed；When left and right holds the outside Unscrew of arm, by the contact self-locking on inclined-plane, realize holding arm rotational angle Safety locking, be effectively ensured hold patient displacement when safety.

2. according to claim 1 hold formula electrically-operated shifting machine it is characterised in that：

Described supporting leg open-and-close mechanism (1) has left and right two supporting legs (101), is connected with base by hinged, and supporting leg front end is installed There is universal caster wheel (107)；The realization of supporting leg folding is to be realized by the quadric chain of two connections, and it includes the 1st straight-line electric Dynamic push rod (102), intermediate connecting rod (103), short rod (104), long draw (105), the 1st Linear motor-driven push rod (102) flexible Bar front end connects the front end of intermediate connecting rod (103), and the rear end of intermediate connecting rod (103) is connected with the front end of long draw (105), this length The rear end of pull bar (105) is connected with the rear end of a supporting leg (101)；The middle part of intermediate connecting rod (103) is provided with jointed shaft, in this hinge Spindle connects the front end of short rod (104) between the front end of intermediate connecting rod (103), the rear end of this short rod (104) with another The rear end of bar supporting leg (101) connects；It is connected with regulation joint (106) at the two ends of long and short pull bar, pushed away by the 1st straight line electric The folding angle of extension and contraction control two supporting leg of bar.

3. according to claim 2 hold formula electrically-operated shifting machine it is characterised in that：

The described arm open-and-close mechanism (6) that holds is to hold arm (41), free bearing (62), linked arm rod by fixing pipe beam (61), left and right (63) the reversion parallelogram lindage forming, fixing pipe beam (61) is fixedly connected with rocker arm bracket (52), and fixing pipe beam sets on (61) There are two free bearings (62), about the connection of free bearing (62) upper outside end, hold arm (41), free bearing (62) bottom side Opposite direction connection Linked arm rod (63), in a free bearing (62) upper connection damping buffer (64), is manually operated about one side and holds arm (41) Hold the opening and closing of arm about folding realization, realize holding function；Speed-buffering during folding is realized by damping buffer (64), In order to avoid having injury to human body.

4. according to claim 3 hold formula electrically-operated shifting machine it is characterised in that：

It is straight that described electric control system (8) includes hand controller, control module, power supply, the 1st Linear motor-driven push rod (102) and the 2nd Line electric pushrod (51)；Power supply is connected with control module electrical input, and hand controller is connected with control module control signal, controls The output control terminal of module is connected with the input of the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod respectively, by hand controller Operation realize extension and contraction control to the 1st Linear motor-driven push rod, the 2nd Linear motor-driven push rod, realize the folding of supporting leg or hold arm Elevating control.

5. according to claim 4 hold formula electrically-operated shifting machine it is characterised in that：

The front end holding arm (41) in left and right connects embraces hand skeleton (43), embraces hand skeleton (43) and is connected with embracing hand (44), this armful of hand It is hinged that skeleton (43) and left and right hold arm (41), embrace hand skeleton and left and right hold between arm can relative Small-angle Rotation, with Realization armful hand (44) is freely fitted with human body, improves the comfortableness holding during human body.

6. according to claim 5 hold formula electrically-operated shifting machine it is characterised in that：

Described leg support mechanism (9) includes bracing frame (91), positioning plunger (92), adjusting bracket (93), leg support (94), leads to Cross the front and back position that positioning plunger (92) adjusts leg support (94)；Pass through leg support frame linking between leg support (94) and adjusting bracket (93) (95) connect, leg support frame linking structure makes leg support can carry out low-angle rotation around leg support frame linking rotating shaft, makes the angle of leg support automatic The angle with human calf be adapted, improve contact comfortableness.

7. according to claim 6 hold formula electrically-operated shifting machine it is characterised in that：Hold in left and right and be connected with arm (41) Handle (42).