CN107378963A - One kind helps lavatory type old age service robot - Google Patents

Abstract

The invention discloses a toilet-assisting elderly service robot, which is used to move the elderly to the toilet in time when the elderly need to go to the toilet, so as to meet the needs of the elderly living alone with limited mobility; the structure includes: a mobile chassis and a body Lifting device, the body lifting device is tightly connected with the mobile chassis; the mobile chassis is provided with walking wheels; the body lifting device has a degree of freedom of movement for lifting and falling the human body in a sitting posture; The body lifting device is provided with a seat board for supporting the weight of the buttocks, and a first mechanical arm for moving the seat board; lateral freedom of movement. The invention is used to solve the technical problem of assisting the elderly with handicapped lower limbs to go to the toilet.

Description

A toilet-assisting elderly service robot

technical field

The invention relates to the technical field of robots for helping the elderly, in particular to a toilet-assisting elderly service robot.

Background technique

With the continuous development of society, young people are busy with work, which makes it more and more common for the elderly to live alone. With the increase of age, the elderly become more and more frail, weak and sickly, so the self-care problems of the elderly become more and more prominent. In the prior art, the elderly who have lost the mobility of their legs usually need to rely on human support to achieve the technical effect of moving their bodies when solving the problem of going to the toilet. Only the liquid diversion device can achieve the technical effect of smooth defecation. The method of relying on human support requires at least one labor force, which will increase the economic pressure of working families. Although the nursing method of using a pre-installed bedpan and a urine diversion device can solve the problem of the elderly going to the toilet, it will bring additional dumping The technical problem of excrement still cannot reduce the required labor cost. Therefore, providing a toilet-assisting elderly service robot, in order to assist the elderly to move the body to the toilet seat when the elderly need to go to the toilet, reduce nursing costs, and ensure the home comfort of the elderly living alone has become an urgent problem for those skilled in the art. question.

Contents of the invention

The purpose of the present invention is to provide a toilet-assisting elderly service robot, in order to move the elderly to the toilet in time when the elderly need to go to the toilet, so as to meet the needs of the elderly living alone with limited mobility.

In order to achieve the above object, the present invention provides a toilet-assisting elderly service robot, comprising: a mobile chassis and a body lifting device, the body lifting device is firmly connected with the mobile chassis; the mobile chassis is provided with walking wheels ; The body lifting device has a degree of freedom of movement for lifting and lowering the human body in a sitting posture; the body lifting device is provided with a seat plate for supporting the weight of the buttocks, and a first mechanical arm for moving the seat plate ; the first mechanical arm has a degree of freedom of movement for displacing the sitting board from the buttock lifting to the side of the human body.

Preferably, the mobile chassis is provided with a power drive device for driving the traveling wheels to rotate.

Preferably, the first mechanical arm is fastened to the seat board through a plug-in lock structure; the plug-in lock structure includes: a lock hole and a lock tongue, the lock hole is provided with a lock and unlock the lock tongue unlocking device.

Preferably, the first mechanical arm includes a link mechanism hinged to the mobile chassis and a driving device for driving the link mechanism.

Preferably, the body lifting device has a degree of deformation freedom to adjust the inclination angle of the human trunk relative to the legs.

Preferably, the body lifting device includes: a neck support plate, a back support plate, a leg support plate, a second mechanical arm, a third mechanical arm and a fourth mechanical arm for adjusting the inclination angle of the human torso relative to the legs. arm; the second mechanical arm is fastened to the neck support; the third mechanical arm is fastened to the back support; the fourth mechanical arm is fastened to the leg support connect.

Preferably, a controller is also included, and a controller is also included, and the controller is electrically connected to the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm and the power drive device; the control The device is used to respectively control the actions of the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm and the power drive device.

Preferably, the second mechanical arm and the neck support plate, the third mechanical arm and the back support plate, the fourth mechanical arm and the leg support plate are respectively fastened by a plug-in lock structure. fixed connection; the mortise lock structure includes: a lock hole and a lock tongue, and an unlocking device for locking and unlocking the lock tongue is arranged in the lock hole.

Preferably, the length and/or width of the mobile chassis has a degree of freedom of retraction.

Preferably, the mobile chassis is composed of a plurality of sequentially hinged boxes, and the body lifting device is firmly connected with the box in the middle position; when the mobile chassis is in a working state, the box It has the degree of freedom to rotate along the horizontal direction of the ground and take the hinge axis as the axis.

The above-mentioned toilet-assisting elderly service robot of the present invention has the following beneficial effects:

During the living process of the elderly living alone, if the elderly gives a toilet instruction to the toilet-assisted elderly service robot, the mobile chassis can move to the elderly with the help of walking wheels, and the elderly’s body is lifted under the action of the body lifting device, and further accompanied The mobile chassis is moved to the top of the toilet. When the old man moves to the top of the toilet, the first mechanical arm lifts the seat board from the buttocks to the side of the human body, so that the old man can take off his clothes and go to the toilet and put on his clothes again after going to the toilet; After the old man puts on his clothes, the first robotic arm moves the seat board to the buttocks lifting position again, and the mobile chassis further sends the old man back to the position where he wants to sit and lie with the help of walking wheels. The above-mentioned toilet-assisting elderly service robot of the present invention can effectively assist the elderly who only have mobility in the upper body to go to the toilet, and further has the technical effect of helping the elderly to move their bodies, which can greatly reduce the workload of nursing staff and improve the life of the elderly. self-care ability.

Furthermore, the power drive device provided for the mobile chassis provides strong structural support for the mobile chassis to have mobile maneuverability. For the elderly whose only lower body is incapacitated, the above-mentioned power drive device can further obtain the elderly without a nursing staff. The technical effect of operating the toilet-assisting elderly service robot to assist the elderly to go to the toilet by themselves with the help of the robot, and further providing strong structural support for the elderly to complete the body shift by themselves.

Furthermore, the present invention helps achieve the technical effect of conveniently disassembling the first mechanical arm and the seat by fastening and connecting the first mechanical arm and the seat board through a plug-in lock structure, and it is convenient to connect the seat board with the wheelchair or The bed is integrated to form an auxiliary facility matching the toilet-assisted elderly service robot, which provides convenience for the toilet-assisted elderly service robot to move the body of the elderly.

Furthermore, since the action to be performed by the first mechanical arm is relatively simple, it only involves carrying out load-bearing lifting and displacing the seat board, so a link mechanism hinged with the mobile chassis is used to drive the movement according to the prior art. The driving device for the action of the link mechanism can achieve corresponding technical effects.

Furthermore, in order to further improve the comfort of the elderly during the load-bearing lifting operation, the present invention further improves the structure of the body lifting device so that it has the degree of freedom of deformation to adjust the inclination angle of the human trunk relative to the legs, which is helpful for the elderly Allows for a more comfortable sitting position when being moved and when going to the toilet.

Further, the present invention provides a practicable structural form for the body lifting device, by adopting the neck supporting board, the back supporting board, the leg supporting board, the second mechanical arm, the third mechanical arm and the fourth mechanical arm to achieve The technical effect of adjusting the angle of inclination of the human torso relative to the legs. In addition, by synchronously adjusting the postures of the second robotic arm, the third robotic arm and the fourth robotic arm, the technical effect of lifting the body of the elderly can be further obtained.

Furthermore, the setting of the controller can greatly improve the control flexibility of the toilet-assisting elderly service robot, and provide powerful hardware support for the elderly to independently complete the control operation and the toilet-assisting elderly service robot to automatically complete the toilet-assisting operation.

Further, the present invention further applies the lock structure to the fastening connections between the second mechanical arm and the neck support, the third mechanical arm and the back support, and the fourth mechanical arm and the leg support, in order to facilitate the neck The detachable connection of the neck rest, back rest and leg rest provides structural support and increases the flexibility of use of the neck rest, back rest and leg rest.

Furthermore, during the use of the robot, it is inevitable to encounter the technical problem of needing to pass through a narrow space. The present invention effectively solves this technical problem by adopting a mobile chassis with a length and/or width that has a degree of freedom of retractable; wherein, The mobile chassis composed of a plurality of sequentially hinged boxes provides structural support for realizing the above-mentioned retractable functions.

Description of drawings

FIG. 1 is a schematic structural view of a toilet-assisting elderly service robot provided in Embodiment 1 of the present invention;

2 is a schematic structural diagram of a toilet-assisting elderly service robot in Embodiment 2 of the present invention;

3 is a schematic structural diagram of a mobile chassis of a toilet-assisting elderly service robot in Embodiment 3 of the present invention;

4 is a schematic structural diagram of a toilet-assisting elderly service robot in Embodiment 4 of the present invention;

Fig. 5 is a schematic diagram of the structure of the toilet-assisting elderly service robot in the toilet state in Embodiment 4 of the present invention;

Fig. 6 is a schematic structural view of the wheelchair in Embodiment 4 of the present invention.

specific embodiment

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

Example 1:

Please refer to FIG. 1 . FIG. 1 is a structural schematic diagram of a specific embodiment of a toilet-assisting elderly service robot provided by the present invention.

In a specific embodiment, the toilet-assisting elderly service robot provided by the present invention includes: a mobile chassis 100 and a body lifting device 200, and the body lifting device 200 is firmly connected with the mobile chassis 100; The chassis 100 is provided with walking wheels 110; the body lifting device 200 has a degree of freedom of movement for lifting and falling the human body in a sitting posture; the body lifting device 200 is provided with a seat plate 210 for supporting the weight of the buttocks, and The first mechanical arm 220 that moves the sitting board 210 ; the first robotic arm 220 has a degree of freedom of movement to lift the sitting board 210 from the buttocks to the side of the human body.

Specifically, as shown in FIG. 1 , the column provided on the mobile chassis 100 has a lifting function, and the first mechanical arm 220 is fixed on the cylinder sleeved on the column, and the column can be rotated as an axis, and then has the function of moving the seat 210 degrees of freedom of movement from the hip lift to one side of the human body; the support plates used to support the legs, waist, neck or head are respectively firmly connected with the uprights, and can be raised and lowered together with the uprights. Preferably, it is inconvenient to preserve the height of the first mechanical arm 220 relative to the mobile chassis when the column is raised and lowered, so that the seat board 210 can be easily pulled out from the buttock lifting position. It should be noted that, since the structures of the above-mentioned upright column and the first mechanical arm are prior art, the detailed structure details thereof will not be further illustrated and repeated here.

During the living process of the elderly living alone, if the elderly sends a toilet instruction to the toilet-assisted elderly service robot, the mobile chassis can be pushed to the elderly with the help of walking wheels, and the elderly’s body is lifted under the action of the body lifting device, and further As the mobile chassis is moved to the top of the toilet, the first robotic arm lifts the seat from the buttocks to the side of the human body when the old man moves to the top of the toilet, so that the old man can take off his clothes and go to the toilet and put on his clothes again after going to the toilet ; After the old man puts on his clothes, the first mechanical arm moves the seat plate to the buttocks lifting position again, and the mobile chassis further sends the old man back to the position where he wants to sit and lie by means of the walking wheels. The above-mentioned toilet-assisting elderly service robot of the present invention can effectively assist the elderly who only have mobility in the upper body to go to the toilet, and further has the technical effect of helping the elderly to move their bodies, which can greatly reduce the workload of nursing staff and improve the life of the elderly. self-care ability.

Furthermore, in one of the preferred technical solutions of this embodiment, the mobile chassis is provided with a power drive device for driving the traveling wheels to rotate. The power drive device provided for the mobile chassis provides strong structural support for the mobile chassis to have mobile maneuverability. For the elderly whose only lower body is incapacitated, the above-mentioned power drive device can further improve the elderly without the help of a nurse. The technical effect of self-operating toilet-assisted elderly service robots to assist them to go to the toilet, and further provide strong structural support for the elderly to complete body displacement by themselves. Since the structure of the above-mentioned power driving device is in the prior art, its detailed structure details will not be further illustrated and repeated here.

Further, in one of the preferred technical solutions of this embodiment, the first mechanical arm is firmly connected to the seat board through a mortise lock structure; the mortise lock structure includes: a lock hole and a lock tongue, and the lock An unlocking device for locking and unlocking the deadbolt is arranged in the hole. In the present invention, by fastening and connecting the first mechanical arm and the seat board through the insertion lock structure, it is helpful to achieve the technical effect of conveniently disassembling the first mechanical arm and the seat board, and it is convenient to integrate the seat board with the wheelchair or the bed during use , and then form auxiliary facilities matching with the toilet-assisting elderly service robot, which provides convenience for the toilet-assisting elderly service robot to move the body of the elderly. Since the above-mentioned mortise lock structure can be easily realized according to the prior art, the structural details related to the mortise lock structure in the present invention will not be further illustrated and repeated here.

Further, in one preferred technical solution of this embodiment, the first mechanical arm includes a link mechanism hinged to the mobile chassis and a driving device for driving the link mechanism to move. Since the action mode to be performed by the first mechanical arm is relatively simple, it only involves two related actions of carrying out load-bearing lifting and displacing the seat board, so the link mechanism hinged with the mobile chassis is used and the link mechanism is driven according to the prior art The driving device of action can both reach corresponding technical effect.

Example 2:

In order to further improve the comfort of the elderly during load-bearing and lifting operations, this embodiment is based on Embodiment 1, and the body lifting device has a deformation degree of freedom to adjust the inclination angle of the human trunk relative to the legs. The present invention further improves the structure of the body lifting device so that it has the degree of freedom of deformation to adjust the inclination angle of the human trunk relative to the legs, which helps the elderly to have a more comfortable sitting posture when being moved and going to the toilet.

Further, as shown in FIG. 2 , in one of the preferred technical solutions of this embodiment, the body lifting device 200 also includes: a neck support plate 230 for adjusting the inclination angle of the human torso relative to the legs, a back Supporting plate 240, leg supporting plate 250, second mechanical arm 260, third mechanical arm 270 and fourth mechanical arm 280; the second mechanical arm 260 is fastened to the neck supporting plate 230; the first The third mechanical arm 270 is fastened to the back support 240 ; the fourth mechanical arm 280 is fastened to the leg support 250 .

It should be noted that the structures of the neck support plate 230, the back support plate 240, the leg support plate 250, the second mechanical arm 260, the third mechanical arm 270 and the fourth mechanical arm 280 in this embodiment are all based on existing technology, so its detailed structure details will not be further illustrated and repeated here.

The present invention provides an implementable structural form for the body lifting device, and adjusts the human torso by adopting the neck supporting board, the back supporting board, the leg supporting board, the second mechanical arm, the third mechanical arm and the fourth mechanical arm Technical effect relative to leg inclination angle. In addition, by synchronously adjusting the postures of the second robotic arm, the third robotic arm and the fourth robotic arm, the technical effect of lifting the body of the elderly can be further obtained.

Example 3:

On the basis of Embodiment 2, this embodiment further includes a controller, and the controller is electrically connected to the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm and the power drive device; The controller is used to respectively control the actions of the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm and the power driving device.

It should be noted that since the structure of the controller in this embodiment is the prior art, its relevant structural details will not be further illustrated and repeated here. The setting of the controller can greatly improve the control flexibility of the toilet-assisted elderly service robot, and provide powerful hardware support for the elderly to independently complete the control operation and the toilet-assisted elderly service robot to automatically complete the toilet-assisted operation.

Furthermore, in one of the preferred technical solutions of this embodiment, the second mechanical arm and the neck support plate, the third mechanical arm and the back support plate, the fourth mechanical arm and the The leg support plates are respectively fastened and connected by a plug-in lock structure; the plug-in lock structure includes: a lock hole and a lock tongue, and an unlocking device for locking and unlocking the lock tongue is arranged in the lock hole.

The present invention further applies the lock structure to the fastening joints between the second mechanical arm and the neck support plate, the third mechanical arm and the back support plate, and the fourth mechanical arm and the leg support plate. , The detachable connection of the back support plate and the leg support plate provides structural support and increases the flexibility of use of the neck support plate, back support plate and leg support plate.

Furthermore, in one of the preferred technical solutions of this embodiment, the length and/or width of the mobile chassis have a degree of freedom of retraction. During the use of the robot, it is inevitable to encounter the technical problem of passing through a narrow space. The present invention effectively solves this technical problem by adopting a mobile chassis with a length and/or width that has a degree of freedom of retracting and retracting; among them, multiple The mobile chassis composed of two sequentially hinged boxes provides structural support for realizing the above-mentioned retractable functions.

Further, as shown in FIG. 3 , in one of the preferred technical solutions of this embodiment, the mobile chassis 100 is composed of a plurality of sequentially hinged boxes 101 , and the body lifting device is connected to the middle position. The box body 101 is tightly connected; when the mobile chassis is in a working state, the box body has a degree of freedom to rotate along the ground horizontal direction with the hinge axis as the axis. The above-mentioned structure can make the mobile chassis have the degree of freedom of freely retractable length and/or width at the same time, which is convenient for the robot to pass through the narrow use space during the moving process. Wherein, road wheels E, F, G, H are used for assisting mobile chassis to move. The arrangement of the longitudinal joints 5, 6, 7, 8 provides support for the retractable length and/or width of the mobile chassis.

Example 4:

As shown in FIG. 4 , this embodiment provides another schematic diagram of an implementable mechanical structure on the basis of the above embodiments. Among them, cushion A is used to support the neck, cushion B is used to support the back and waist, cushion C is used to support the buttocks, and cushion D is used to support the thighs; cushions A, B, C, and D are preferably set There are card locks, which can be matched with the mortise locks on the four mechanical arms of A, B, C, and D respectively, and are locked and fixed. When the user gives an instruction, the toilet-assisting elderly service robot comes in front of the old man. The four robotic arms A, B, C, and D fix the mats A, B, C, and D respectively, and then lift the old man up. The toilet-type elderly service robot will carry the elderly to the toilet and then stop in front of the toilet. As shown in Figure 4 and Figure 5, the transverse joints 1, 2, 3, 4, when the old man is brought to the front and back of the toilet, the transverse joints 1 and 2 are used to adjust the pitch angle of the old man, so that the old man's body is slightly backward, and at the same time It has the technical effect of lifting the old man’s body. When the buttocks of the old man are separated from the cushion C, the mechanical arm D removes the cushion C in time, so as to facilitate the old man to complete the clothing arrangement operation before going to the toilet; the transverse joints 3 and 4 can be used to adjust the support angle, which is beneficial Further maintain the center of gravity; when the old man’s clothes are sorted out, robotic arms A, B, and D cooperate to adjust the sitting posture of the old man, and place the old man on the toilet. At this time, the old man is ready to go to the toilet; The elderly service robot performs the above operations in reverse, and can place the elderly where they need to be placed.

Further, as shown in Figure 6, when mats A, B, C, and D are connected to the four mechanical arms of A, B, C, and D respectively through the snap-in structure KS to form an easy-to-detach connection, the mat A can also be , B, C, and D are set as mats on the wheelchair in the illustration, so as to achieve the technical effect of conveniently lifting the elderly from the wheelchair and assisting them to go to the toilet. In addition, the cushion D can also be made to match the bed where the elderly lie on for a long time. By setting a groove on the edge of the bed that matches the shape of the cushion D, the cushion D can be flush with the bed surface. When using it, the elderly can move their buttocks After reaching the mat D, use the toilet-assisted elderly service robot to complete the auxiliary actions required by the toilet.

The above-mentioned embodiments are only preferred implementations of the present invention, and any changes and improvements based on the technical solutions of the present invention in the technical field should not be excluded from the protection scope of the present invention.

Claims (10)

1. one kind helps lavatory type old age service robot, it is characterised in that including：Mobile chassis and body lifting apparatus, the body Body lifting apparatus is fastenedly connected with the mobile chassis；The mobile chassis is provided with road wheel；The body lifting apparatus tool There is human body the freedom of motion of lifting and whereabouts in the form of sitting posture；The body lifting apparatus is provided with for support buttocks The seat of weight, and the first mechanical arm of the mobile seat；The first mechanical arm, which has, lifts the seat from buttocks It is moved to the freedom of motion of the human body side.

2. according to claim 1 help lavatory type old age service robot, it is characterised in that the mobile chassis is provided with use In the power drive unit for driving the road wheel to rotate.

3. according to claim 1 help lavatory type old age service robot, it is characterised in that the first mechanical arm with it is described Seat is connected by mortise lock fastening structure；The mortise lock structure includes：Lockhole and dead bolt, locking and solution are provided with the lockhole Lock the tripper of the dead bolt.

4. according to claim 1 help lavatory type old age service robot, it is characterised in that the first mechanical arm include with The be hinged linkage of the mobile chassis and the drive device of the driving linkage action.

5. according to claim 1 help lavatory type old age service robot, it is characterised in that the body lifting apparatus has Adjust the deformation free degree of the trunk relative to leg angle of inclination.

6. according to claim 5 help lavatory type old age service robot, it is characterised in that the body lifting apparatus bag Include：For adjust trunk relative to the neck supporting plate at leg angle of inclination, back supporting plate, leg supporting plate, second mechanical arm, Three-mechanical arm and the 4th mechanical arm；The second mechanical arm is fastenedly connected with the neck supporting plate；The three-mechanical arm with The back supporting plate is fastenedly connected；4th mechanical arm is fastenedly connected with the leg supporting plate.

7. according to claim 6 help lavatory type old age service robot, it is characterised in that also including controller, the control Device processed is electrically connected with the first mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm and power drive unit respectively Connect；The controller is used to control the first mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm respectively and moved The action of force driving device.

8. according to claim 6 help lavatory type old age service robot, it is characterised in that the second mechanical arm with it is described Neck supporting plate, the three-mechanical arm and the back supporting plate, the 4th mechanical arm respectively pass through with the leg supporting plate Mortise lock fastening structure connects；The mortise lock structure includes：Lockhole and dead bolt, locking and the unblock lock are provided with the lockhole The tripper of tongue.

9. according to claim 1 help lavatory type old age service robot, it is characterised in that the length of the mobile chassis And/or width has the free degree of folding and unfolding.

10. according to claim 9 help lavatory type old age service robot, it is characterised in that the mobile chassis is by multiple Be hinged casing is formed successively, and the body lifting apparatus is fastenedly connected with the centrally located casing；When the shifting When dynamic chassis is in running order, the casing has along ground level direction, the free degree rotated using jointed shaft as axis.