CN110037866A - Fully automatic active patient transfer wheelchair robot - Google Patents

Abstract

The invention discloses a fully automatic and active patient-reloading wheelchair robot, which aims to satisfy the needs of the elderly with initial mobility disability and the slightly handicapped people in unassisted daily home activities. It can solve the problem of integration of wheelchair, transfer device and nursing device. The present invention includes a chassis component, an upper support component, a separable combined seat surface and a control system. The upper support component and the separable combined seat surface can undergo relative translation through a fixed slideway and a telescopic slideway, thereby realizing When the user on the seat changes the load between each vehicle and the wheelchair, the detachable combined seat surface rotates relative to each part of the seat surface under the control of the upper support member to realize various body position nursing functions.

Description

Fully automatic active patient transfer wheelchair robot

technical field

The invention belongs to the technical field of nursing equipment, in particular to a fully automatic active patient changing wheelchair robot.

Background technique

my country's huge population base will make the problem of aging and the disabled become serious social problems in the next decade. As early as 2000, my country has entered the ranks of countries with an elderly population. As of the end of 2017, there were 240.9 million people aged 60 and above, accounting for 17.3% of the total population, of which 158.31 million people were 65 years old and above, accounting for the total population. Among them, the elderly over the age of 60 in my country spend two-thirds of the time in a "survival state with illness", and the number of elderly groups with limited mobility is huge. However, the growth rate of the elderly living alone and empty nesters has accelerated, and the proportion has increased, and the problem of home care for the elderly has become increasingly serious.

In the face of some elderly people who live alone and are disabled, they can only take care of the elderly outside the working hours of their children. When there is no one to take care of them, the process from bed to wheelchair, wheelchair to toilet is very prone to slipping, stumbling, and bumping. Injury and other dangerous situations; under the condition of being cared for, the transfer of family members or medical care to the elderly is also a time-consuming and labor-intensive activity, which has brought great pressure on the elderly’s mental and physical health for a long time. To sum up, the transfer of the elderly group at home is a basic problem faced by the elderly in the family care of the elderly.

At present, an electric lift has appeared on the market, which consists of a movable spreader frame and a spreader bag. The spreader bag is placed under the elderly, and then the spreader bag can be lifted by using the hook on the mobile frame. Realize the bidirectional shift function of paralyzed patients and the elderly from bed to wheelchair. The device has a simple structure and good reliability, but it still needs external assistance to lay the spreader bag under the patient during the transfer process, which cannot realize automatic transfer, and cannot realize the transfer of the patient from the wheelchair to the toilet. The application scenarios and object orientation are limited. .

Cui Ji, Shu Pingsheng, Zhang Yanchao and others have invented a "service robot for patient transfer" (patent application number: 201810472553.5), which can basically realize the transfer of patients between beds. The idea is that the conveyor belt above the device uses friction to drag the patient to the device, the friction between the conveyor belt under the device and the bed will move the device under the patient's body, and finally the device as a whole will be transported to the target bed together with the patient through the lower conveyor belt The device has a novel design, but the movement process is uncertain, the safety is poor, and it cannot solve the transfer function from the bed to the wheelchair and from the wheelchair to the toilet.

There is an urgent need in the market for a multi-functional, fully automatic active patient transfer device, which enables users to easily change between beds, wheelchairs, toilets and other vehicles only through the transfer device without external assistance. load.

SUMMARY OF THE INVENTION

The present invention aims to solve the need for autonomous reloading in the daily home of the elderly with initial mobility disability and the slightly handicapped people in the background art, and proposes a fully automatic active patient reloading wheelchair robot.

For achieving the above object, the present invention provides the following technical solutions:

A fully automatic active patient changing wheelchair robot, comprising a chassis component, an upper layer support component, a movable combined seat surface and a control system, the chassis component realizes walking through a walking assembly, and the upper layer support component is implemented through a lifting kit Installed on the chassis component, the movable combined seat surface can generate relative movement along the Y direction relative to the upper support member through the slideway assembly, and the movable combined seat surface includes interconnected back panels, seat panels, and calves. The center of the seat plate has an automatic toilet cover, the walking assembly, the lifting kit and the slideway assembly realize the transfer of the user on the wheelchair between the bed, the wheelchair and the toilet through the control system, and the said The control system is installed in the master controller in the form of software.

Further, the upper support member includes a cuboid hollow frame, a back plate support frame and a calf plate support frame, a first electric push rod, a second electric push rod, a battery, a driver group and a slideway assembly; the slideway assembly includes The fixed slideway, the telescopic slideway, the third electric push rod and the fourth electric push rod; the rectangular hollow frame is used to support the seat plate, the Z-down surface of the upper rectangular frame is connected with the lifting kit, and the A fixed slideway is installed on the upper surface of the upper rectangular frame in the Z direction. The fixed slideway is equipped with a telescopic slideway. The upper rectangular frame of the rectangular hollow frame is provided with a hinge ear on one side in the Y direction. The fixed end of the rod is connected, and the other movable end of the third electric push rod is connected with the hinge ear provided on the telescopic slide; the outer side of the rectangular hollow frame in the X direction is respectively provided with two hinge ears, and the front hinge ear is connected with the second electric push rod The movable end is connected, the fixed end of the second electric push rod is connected with a hinge ear on the support frame of the calf plate; the rear hinge ear is connected with the fixed end of the first electric push rod, and the movable end of the first electric push rod is supported by the back plate The hinge ears on the frame are connected; the battery is used to supply power to the driver group, and the driver group is electrically connected to the control system for driving the first electric push rod, the second electric push rod, the third electric push rod and the third electric push rod. The push rod movement of the four electric push rods realizes the position change of the upper support member and pushes the combined seat surface to move.

Further, the main body of the backboard support frame is a hollow rectangular frame, the backboard support frame and the rectangular hollow frame are connected by hinges, and the hinges and the main body of the backboard support frame are connected by U-shaped folding rods, and the backboard supports A first rolling ball is arranged above the main body of the frame, and the first rolling ball can be moved and fixed relative to the X, Y, and Z directions of the main body of the back plate supporting frame.

Further, the main body of the calf plate supporting frame is a hollow rectangular frame, the calf plate supporting frame is connected with the cuboid hollow frame through hinges, and a second rolling ball is arranged under the main body of the calf plate supporting frame, and the second rolling ball can be relatively The X, Y, and Z directions of the main body of the back plate support frame are fixed to move.

Further, the fixed slideway is divided into three-layer design, the bottom layer is two rectangular square steel pipes, the steel pipes are fixed with the cuboid hollow frame, and the upper layer of the two square steel pipes is a rectangular square steel pipe frame, which is a rectangular square steel pipe frame. Two parallel hollow guide rails are also installed on the top along the X direction, each guide rail has a long rectangular limit slot with a semi-circle end, and the notch faces the Y direction; the two hollow guide rails are also opened on the bottom side of the Z direction. A through slot in the X direction; the rectangular square steel tube frame has a slot on the positive side of the X direction that is equal to the distance between the two hollow guide rails; the fixed slideway is provided with a fourth electric push rod placement plate on the inner side of the Y direction. The fixed end of the fourth electric push rod is used to fix the fourth electric push rod, and the movable end of the fourth electric push rod is connected with the seat plate in the movable combination seat surface.

Further, the telescopic slideway is fitted in the hollow guide rail of the fixed slideway, and the main body of the telescopic slideway is a pair of two hollow guide rails arranged along the X direction placed along the Y direction, and a rectangular shape is used between the two hollow guide rails. The square steel pipe is connected, and the rectangular square steel pipe contains a section of inverted U-shaped bending. A pair of hinge ears are welded on the rectangular square steel pipe used for connection; A pair of short limit cylindrical pins are respectively welded on the outside of the telescopic slide part; a pressure sensor is installed at the end of the telescopic slide in the opposite direction of Y, and the pressure sensors are set as a pair and a total of two, respectively installed in the two hollow Inside the rail, the probe of the pressure sensor protrudes from the bottom of the hollow rail.

Further, the walking assembly includes an active walking driving kit and a passive universal caster; the active walking driving kit includes two electric wheels, which are respectively installed on the left and right sides of the rear of the chassis component along the X direction. Motor, reducer and tires are integrated electric wheels; there are two passive universal casters, which are installed on the left and right sides of the chassis in front of the X direction.

Further, the lifting kit is connected to the upper support member along the Z direction, the lifting kit includes two pairs of scissor-type brackets and an electric push rod, and the main body of the lifting kit is arranged with two pairs of scissor-type brackets along the Y direction. The scissor-type bracket includes two scissor mechanisms, the two scissor mechanisms are connected by a hinge, the main body of the scissor-type mechanism is an X-type mechanism, and the middle position is connected by a hinge; Only the connecting rod is connected at the connection of each pair of scissor fork mechanisms, and each pair of scissor fork brackets is connected with the chassis part and the upper support part through a fixed hinge and a horizontal sliding hinge up and down respectively, connecting the two pairs of scissor fork brackets. A fifth electric push rod is installed between the connecting rods, and the fifth electric push rod is electrically connected with the control system.

Further, the back board, the seat board, the calf board and the foot board are connected by a power-loss self-locking hinge.

Further, the movable combined seat surface also includes a seat cushion, an armrest and a sub-controller armrest, the seat cushion covers the upper surface of the movable combined seat surface, and the armrest and the sub-controller armrest are respectively located in the movable combination seat surface. Combining the left and right sides of the seat surface, the mechanical parts of the armrest and the armrest of the sub-controller are controlled by the control system to rotate; the armrest of the sub-controller includes an armrest part and a sub-controller part, and the sub-controller part is connected with the armrest. The main controller is connected through Bluetooth communication, and the sub-controller includes a walking direction control button, a walking direction control rocker, a rocker control mode-button control mode switching button, a user load changing control button and a custom common function button. The direction control rocker is the backup walking direction controller.

Compared with the prior art, the beneficial effects of the present invention are:

The fully automatic active patient changing wheelchair robot of the present invention, through the design scheme of separating the seat surface and the support mechanism, the user sits on the movable combined seat surface, and the user and the movable combined seat surface are regarded as a whole to establish a wheelchair The slideway between it and the target vehicle, by controlling the movement of the user and the movable combination seat surface on the slideway, realizes the transfer of the user in the wheelchair between the bed, the wheelchair and the toilet.

The invention combines the wheelchair with the load-changing transfer machine, and can realize the automatic and active load-changing of the user without the assistance of external force.

The present invention has the walking function of an electric wheelchair; the present invention integrates the body position changing function on the wheelchair in combination with the nursing bed, so that the user can realize various body position changing functions that can only be realized on the nursing bed through the wheelchair, saving the user on the nursing equipment. The overhead increases the practicality.

The present invention is equipped with an intelligent control system, the interaction with users is simple, and most user needs can be solved by pressing buttons, and at the same time, a joystick is attached, and the joystick can provide more convenient walking direction control for users with better limb coordination ability.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only described in the present invention. For some of the embodiments, those of ordinary skill in the art can also obtain other drawings according to these drawings.

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the explosion schematic diagram of the present invention;

3 is a schematic diagram of a backplane support frame of the present invention;

Fig. 4 is the schematic diagram of the calf plate support frame of the present invention;

Fig. 5 is the schematic diagram of the fixed slideway of the present invention;

6 is a schematic diagram of a telescopic slide of the present invention;

Fig. 7 is the effect diagram of the present invention with experimental dummy;

Fig. 8 is the bed of the present invention - chair transfer demonstration schematic diagram;

9 is a schematic diagram of the lifting kit mechanism of the present invention;

Figure 10 is a schematic diagram of the seat plate structure of the present invention;

Description of reference numbers:

1. Active combined seat surface; 2. Upper support components; 3. Chassis components;

1-1, seat cushion; 1-2, back plate; 1-3, seat plate; 1-4, calf plate; 1-5, foot pedal; 1-6, auxiliary controller armrest; 1-7, armrest;

2-1, backboard support frame; 2-2, fixed slideway; 2-3, calf support frame; 2-4, telescopic slideway; 2-5, first electric push rod; 2-6, second Electric push rod; 2-7, third electric push rod; 2-8, fourth electric push rod; 2-9, master controller; 2-10, rectangular hollow frame; 2-11, battery; 2-12, drive group;

3-1, Active travel drive kit; 3-2, Passive universal casters; 3-3, Lift kit; 3-4, Fifth electric push rod.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

1 to 9 , the fully automatic active patient transfer wheelchair robot provided by the present invention generally includes a chassis component 3, an upper support component 2, a movable combined seat surface 1 and a control system;

The chassis part 3 realizes walking through the walking assembly, the upper support part 2 is installed on the chassis part 3 through the lifting kit, and the movable combined seat surface 1 can be relative to the upper support part 2 along the Y direction through the slideway assembly. The direction produces relative movement, and the walking assembly, the lifting assembly and the slide assembly realize the transfer of the user on the wheelchair between the bed 4, the wheelchair and the toilet through the reasonable control of the control system.

Wherein, the chassis component 3 includes an active travel drive kit 3-1, a passive universal caster 3-2, a lift kit 3-3 and a fifth electric push rod 3-4;

The upper support member 2 includes a rectangular hollow frame 2-10, a backboard support frame 2-1, a calf support frame 2-3, a fixed slideway 2-2, a telescopic slideway 2-4, and a first electric push rod. 2-5, the second electric push rod 2-6, the third electric push rod 2-7, the fourth electric push rod 2-8, the battery 2-11, the driver group 2-12 and the master controller 2-9;

The movable combined seat surface 1 includes a back board 1-2, a seat board 1-3, a calf board 1-4, a foot board 1-5, an automatic toilet cover 1-8, a seat pad 1-1, and an armrest 1-7 and sub-controller armrests 1-6;

The upper support member 2 is installed on the chassis member 3 through the lifting kit 3-3, and the movable combined seat surface 1 is connected to the fixed slideway 2- 2 is matched with the upper support member 2, and the control system is installed in the main controller 2-9 in the form of software.

The active walking drive kit 3-1 includes a pair of two electric wheels, which are respectively installed on the left and right sides of the rear of the chassis component 3 along the X direction. The wheels are directly installed on the chassis part 3, and the passive universal casters 3-2 are a pair of two, which are respectively installed on the left and right sides of the front of the chassis along the X direction.

The lift kit 3-3 is installed on the chassis part 3, the lift kit includes two pairs of scissor-type brackets, and a third electric push rod-4, the lift kit 3-3 is connected to the upper layer along the Z direction above On the rectangular hollow frame 2-10 of the support member 2.

The main body of the lifting kit 3-3 is arranged with two pairs of scissor-type brackets along the Y direction. For four, two scissor mechanisms are connected by hinges, the main body of the scissor-type mechanism is an X-type mechanism, and the middle position is connected by hinges; two pairs of brackets are connected by two connecting rods 3-3-3 in each For the connection of the scissor mechanism, each pair of scissor brackets is connected with the chassis part 3 and the rectangular hollow frame 2-10 through a fixed hinge 3-3-4 and a horizontal sliding hinge 3-3-5 up and down respectively. , a fifth electric push rod 3-4 is installed between the two connecting rods 3-3-3 connecting the two pairs of scissor brackets.

The Z-down surface of the upper rectangular frame of the rectangular hollow frame 2-10 is connected to the lifting kit 3-3, and the upper surface of the rectangular frame of the rectangular parallelepiped 2-10 in the Z direction is installed with a fixed slideway 2-2, The inside of the fixed slideway 2-2 is equipped with a telescopic slideway 2-4; the upper rectangular frame of the rectangular parallelepiped frame 2-10 is provided with a hinge ear on the inner side in the Y direction, and the hinge ear is fixed with the third electric push rod 2-7 The ends are connected, and the other movable end of the third electric push rod 2-7 is connected with the hinge lugs provided on the telescopic slideway 2-4; The hinge ear is connected with the movable end of the second electric push rod 2-6, the fixed end of the second electric push rod 2-6 is connected with a hinge ear on the calf plate support frame 2-3; the rear hinge ear is connected with the first electric push rod The fixed ends of 2-5 are connected, and the movable end of the first electric push rod 2-5 is connected with the hinge ears on the backboard support frame 2-1.

The main body of the backboard support frame 2-1 is a hollow rectangular frame 2-1-1. The backboard support frame 2-1 is connected with the rectangular parallelepiped frame 2-10 by a hinge, and the hinge is connected with the backboard support frame main body 2 -1-1 are connected by U-shaped folding rods 2-1-2. Above the main body 2-1-1 of the backboard support frame, there is a first rolling ball 2-1-3, and the first rolling ball 2-1- 3. The movement is fixed relative to the X, Y, and Z directions of the main body 2-1-1 of the backplane support frame, but the rotation is not limited.

The main body of the calf board supporting frame 2-3 is a hollow rectangular frame 2-3-1, the calf board supporting frame 2-3 is connected with the rectangular hollow frame 2-10 through hinges, and the calf board supporting frame main body 2-3- 1. There is a second rolling ball 2-3-2 below. The second rolling ball 2-3-2 is fixed relative to the X, Y, and Z directions of the main body 2-3-1 of the backboard support frame, but the rotation is not limited .

The fixed slideway 2-2 is divided into three-layer design, the bottom layer is a pair of two rectangular square steel pipes 2-2-1, the steel pipes are fixed with the rectangular hollow frame 2-10, and the two square steel pipes 2-2 -1 The upper layer is a rectangular square steel pipe frame 2-2-2, and a pair of two parallel hollow guide rails 2-2-3 are installed on the rectangular square steel pipe frame 2-2-2 along the X direction. There is a long rectangular limit groove with a semicircle on the outside, and the notch faces the Y direction; the two hollow guide rails 2-2-3 also have a through groove along the X direction on the bottom side of the Z direction; the rectangular square steel pipe frame 2- 2-2 has a slot on one side of the positive X direction with the same size as the distance between the two hollow guide rails 2-2-3. The fixed slideway 2-2 is provided with a fourth electric push rod 2-8 placement plate 2-2-4 on the inner side of the Y direction, the movable end of the fourth electric push rod 2-8 and the seat plate 1 in the movable bed board part 1 -3 connected.

The said telescopic slideway 2-4 is matched and installed in the hollow guide rail of the fixed slideway 2-2; the main body of the telescopic slideway 2-4 is a pair of two hollow guide rails 2 placed along the Y direction and arranged along the X direction. -4-1, the two hollow guide rails 2-4-1 are connected by a rectangular square steel pipe 2-4-2. The rectangular square steel pipe 2-4-2 contains a U-shaped bend. A pair of hinge ears is welded on the steel pipe 2-4-2; the cross-section of the two hollow guide rails 2-4-1 is a rectangle with a raised bottom, and the two hollow guide rails 2-4-1 are opposite to the telescopic slide part 2-4 A pair of short limit cylindrical pins 2-4-3 are respectively welded on the outside of the whole body; a pressure sensor 2-4-4 is installed at the end of the telescopic slideway 2-4 in the opposite Y direction. The pressure sensor 2-4-4 A pair of two are installed inside the hollow guide rail 2-4-1, and the probe of the pressure sensor 2-4-4 protrudes from the bottom of the hollow guide rail 2-4-1.

The movable combined seat surface 1 can produce relative movement along the Y direction relative to the upper support member 2, and the movable combined seat surface 1 includes a back board 1-2, a seat board 1-3, and a calf board 1-4 , foot pedal 1-5, automatic toilet cover 1-8, seat cushion 1-1, armrest 1-7 and auxiliary controller armrest 1-6; back plate 1-2, seat plate 1-3, calf plate 1 -4 and the pedals 1-5 are connected by a power-off self-locking hinge; the power-off self-locking hinge can rotate freely only when the power is turned on, and the hinge will self-lock when it is powered off and cannot rotate freely.

The automatic toilet cover 1-8 is movably fitted on the seat plate 1-3. When the rectangular hollow frame rises under the action of the lifting kit, the automatic toilet cover is lowered relative to the seat plate to achieve the purpose of separation, and the seat plate 1- 3. A circular defecation port is formed in the middle, and the seat plate 1-3 includes a main structure 1-3-1 and a slideway 1-3-2, which are used to move on the fixed slideway and the telescopic slideway it extends.

The armrests 1-7 and the auxiliary controller armrests 1-6 are installed on both sides of the backboard 1-2. Described auxiliary controller armrest 1-6 includes armrest part and auxiliary controller part, described armrest part auxiliary controller and master controller 2-9 communicate through bluetooth, and auxiliary controller includes walking direction control button, walking Direction control rocker, rocker control mode-button control mode switch button, user load change control button, and custom common function buttons, the direction control rocker is a backup walking direction controller. The mechanical parts of the armrests 1-7 and the armrests 1-6 of the sub-controller are all electrically controlled, and both armrests can be rotated automatically.

The working principle of the present invention is:

The core of the present invention is the fully automatic patient changing function. The lifting function, walking function, back lifting and sitting posture conversion functions are the services of the changing function. The user needs to rely on external help to get on the wheelchair at first, or the user should have a bed The ability to turn over independently.

The user is already sitting on the seat at this time, and the target function is the transfer from the wheelchair to the toilet. The user can choose to manually or automatically find the way to the bathroom. The automatic way-finding should lay a way-finding induction line in the family. When the wheelchair hall sensor detects that it is close enough to the toilet, the wheelchair's main controller 2-9 will ask the user whether to start the transfer process from the wheelchair to the toilet. From the perspective of reliability, the final docking between the wheelchair and the toilet will be forced and automatic. The toilet is attached with a positioning magnetic strip at the designated position on the side docked with the wheelchair. The general controller on the wheelchair detects the positional relationship with the toilet through the Hall sensor, and detects the distance from the toilet through the ultrasonic ranging sensor. After the position of the wheelchair is suitable, perform the next operation, that is, the connection of the slideway; the connection of the slideway is to establish a horizontal slideway between the wheelchair main body and the toilet, so that the movable combination wheelchair surface 1 can slide on the slideway to the designated position. Location. The first step of the slide connection is to lift the lifting kit 3-3 to the limit position, and at the same time move the toilet cover 1-8 on the seat panel 1 of the wheelchair combination to descend and disengage from the seat panel under the control of the wheelchair main operating mechanism 1-3, until the lowest point, so as not to interfere with subsequent actions, and then the telescopic slide 2-4 extends out to a specified length, which is set according to the distance between the wheelchair and the edge of the toilet. The controller 2-9 monitors the reading of the pressure sensor 2-4-4 on the telescopic slide 2-4, and stops descending when the reading is detected. At this time, a horizontal slide has been established between the wheelchair and the toilet, and the next step will start Horizontal sliding of movable combined wheelchair surface 1. Before the movable combination wheelchair surface 1 slides, the main controller 2-9 sends a signal to the armrest sub-controller 1-6, and the armrest sub-controller 1-6 controls the power failure and the self-locking hinge loses power. At this time, the hinge self-locking is opened, and the movable combination wheelchair The plates in the surface 1 cannot rotate relative to each other. The movable combination wheelchair surface 1 maintains the sitting posture and officially starts the load transfer. The movable combination wheelchair surface 1 slides on the slideway under the push of the fourth electric push rod 2-8. Sit on the wheelchair surface 1 and slide together, slide to the top of the toilet to stop, and the wheelchair-to-toilet transfer function is completed.

When the user finishes using the toilet, the wheelchair transfer control button on the armrest sub-controller 1-6 is used to control the transfer back to the wheelchair. The transfer back to the wheelchair is the reverse process of transferring to the toilet, and will not be repeated. When the wheelchair is successfully transferred back to the toilet When the power is turned off, the main controller 2-9 sends a signal to the armrest sub-controller 1-6 to release the software lock on the electronically controlled hinge, but the power-off self-locking hinge is still in a power-off state. When the action is changed, the hinge will be powered on and the physical lock will be released.

The target function is the transfer from the wheelchair to the bed. The user can choose manual or automatic wayfinding to reach the bedroom. The automatic wayfinding should lay the wayfinding induction line in the family. When the wheelchair is close enough to the bed, the wheelchair's main controller 2-9 will ask the user whether to start the transfer process from the wheelchair to the bed, and the user clicks the agree button on the main controller 2-9 panel, from the perspective of safety and reliability Starting, the docking of the wheelchair with the toilet will be forced and automatic. The positioning principle and method will not be repeated. After the positional relationship between the wheelchair and the bed is determined, the wheelchair begins to change its posture, that is, from a sitting posture to a lying posture, and the first electric push rod 2-5 drives the back plate to rotate counterclockwise. , the second electric push rod 2-6 drives the calf board to rotate clockwise, and the foot board 1-5 turns clockwise to be horizontal under the action of gravity and hinge limit. After the attitude change is completed, the construction of the slideway begins. After the slideway is constructed, the loading process can be started. The loading process is similar to the process from the wheelchair to the toilet.

If a user requires unassisted transfer from a bed to a wheelchair, wayfinding lines will have to be laid in the home. After calling the wheelchair, the wheelchair will perform the following process, automatically find the way to the bedside and dock with the bed, build a slideway, automatically perform posture conversion, change from seat mode to bed mode, move the combined wheelchair surface 1 in the fourth electric pusher Pushed by rods 2-8, it moves to the bed through the slideway, and the user can turn over to get on the wheelchair. After the user moves to the wheelchair, press the transfer control button to transfer the load to the wheelchair together with the movable combination wheelchair surface 1. .

The first rolling balls 2-1-3 and the second rolling balls 2-3-2 located on the backboard support frame 2-1 and the calf support frame 2-3 are used to support the back of the movable combined seat surface 1. The board 1-2 and the calf board 1-4 enable the movable back board 1-2 and the calf board 1-4 to slide relative to the back board support frame 2-1 and the calf board support frame 2-3 in multiple directions.

Certain exemplary embodiments of the present invention have been described above by way of illustration only, and it is needless to say that those skilled in the art may The described embodiments are modified. Accordingly, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of the claims of the present invention.

Claims (10)

1. full-automatic active sufferer changes load wheel chair robot, which is characterized in that including vehicle chassis component (3), upper layer support member (2), movable combining chair top (1) and control system, the vehicle chassis component (3) realizes walking by walking component, described Upper layer support member (2) is mounted on vehicle chassis component (3) by going up and down external member (3-3), and the movable composition chair top (1) is logical Relative motion, the movable composition chair top can be generated along Y-direction relative to upper layer support member (2) by crossing slide assemblies (1) backboard (1-2), seat board (1-3), calf plate (1-4) and foot pedal (1-5) comprising interconnection, the seat board (1-3) Center has automatic horse bung (1-8), and the walking component, lifting external member (3-3) and slide assemblies pass through control system reality Transfer of the user between bed accessory (4), wheelchair, closestool on existing wheelchair, the control system are mounted in the form of software In master controller (2-9).

2. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the upper layer branch Support part part (2) includes cuboid hollow frame (2-10), back plate support frame (2-1) and calf plate braced frame (2-3), first Electric pushrod (2-5), the second electric pushrod (2-6), battery (2-11), driver group (2-12) and slide assemblies；The slideway Component includes ground way (2-2), telescopic chute (2-4), third electric pushrod (2-7) and the 4th electric pushrod (2-8)；It is described Cuboid hollow frame (2-10) is used to support seat board (1-3), the Z-direction lower surface of upper layer rectangular frame and lifting external member (3- 3) it is connected, ground way (2-2) is installed in the upper surface of the upper layer rectangular frame Z-direction of cuboid hollow frame (2-10), fixed to slide It is furnished with telescopic chute (2-4) inside road (2-2), inside the upper layer rectangular frame Y-direction side of cuboid hollow frame (2-10) Equipped with hinge ear, the hinge ear is connected with third electric pushrod (2-7) fixing end, third electric pushrod (2-7) another movable end The hinge ear being equipped with telescopic chute (2-4) is connected；Front and back is respectively equipped with two on the outside of the X-direction of cuboid hollow frame (2-10) A hinge ear, preceding hinge ear are connected with the second electric pushrod (2-6) movable end, the fixing end and calf plate of the second electric pushrod (2-6) A hinge ear in braced frame (2-3) is connected；Hinge ear is connected with the fixing end of the first electric pushrod (2-5) afterwards, and first electronic pushes away The movable end of bar (2-5) is connected with the hinge ear on back plate support frame (2-1)；The battery (2-11) is for giving driver group (2-12) power supply, the driver group (2-12) and control system are electrically connected, for driving the first electric pushrod (2-5), the The pushrod movement of two electric pushrods (2-6), third electric pushrod (2-7) and the 4th electric pushrod (2-8), and then realize upper layer branch The postural change and promotion assembled base seat of support part part (2) are mobile.

3. full-automatic active sufferer according to claim 2 changes load wheel chair robot, which is characterized in that the backboard branch The main body of support frame frame (2-1) is a hollow rectangle frame (2-1-1), back plate support frame (2-1) and cuboid hollow frame (2- 10) it is connected by hinge, is connected between the hinge and back plate support chassis body (2-1-1) by U-shaped pole (2-1-2), It is equipped with the first spin (2-1-3) above the main body (2-1-1) of back plate support frame, the first spin (2-1-3) can be relative to back X, Y of plate braced frame main body (2-1-1), Z-direction are mobile to fix.

4. full-automatic active sufferer according to claim 2 changes load wheel chair robot, which is characterized in that the shank The main body of plate braced frame (2-3) is a hollow rectangle frame (2-3-1), and calf plate braced frame (2-3) passes through hinge and length Cube hollow frame (2-10) is connected, and is equipped with the second spin (2-3-2) below calf plate braced frame main body (2-3-1), and second Spin (2-3-2) can be relative to X, Y of back plate support chassis body (2-3-1), the mobile fixation of Z-direction.

5. full-automatic active sufferer according to claim 2 changes load wheel chair robot, which is characterized in that the fixation Slideway (2-2) is divided into triple layer designs, and the bottom is two rectangle square steel tubes (2-2-1), steel pipe and cuboid hollow frame (2- 10) mutually fix, two square steel tubes (2-2-1) above one layer be a rectangle square steel tube frame (2-2-2), rectangle square steel tube frame (2-2-2) is also equipped with two parallel hollow guide rails (2-2-3) in X direction above, and one is provided on the outside of each guide rail as half The limiting slot of round long rectangle, notch is towards Y-direction；Two hollow guide rails (2-2-3) are also provided in X direction in Z-direction bottom side Through slot；It is big that rectangle square steel tube frame (2-2-2) in X positive direction side is provided with one and two hollow guide rail 2-2-3 spacing etc. Notch；Ground way 2-2 in the Y direction interior side be equipped with the 4th electric pushrod (2-8) setter plate (2-2-4), for fixing The fixing end of 4th electric pushrod (2-8), the 4th electric pushrod (2-8) movable end and the seat board in movable composition chair top (1) (1-3) is connected.

6. full-automatic active sufferer according to claim 5 changes load wheel chair robot, which is characterized in that the flexible cunning Road (2-4) is fitted in the hollow guide rail (2-2-3) of ground way (2-2), and telescopic chute (2-4) main body is a pair With a rectangle between two hollow guide rails (2-4-1) arranged in X direction of Y-direction placement, two hollow guide rails (2-4-1) Square steel tube (2-4-2) connection, rectangle square steel tube (2-4-2) includes one section of inverted U bending, in the rectangle square steel tube for connection A pair of of hinge ear is welded on (2-4-2)；Two hollow guide rail sections (2-4-1) are rectangle of the bottom with protrusion, and two hollow to lead Rail (2-4-1) is welded with a pair of short limit straight pin (2-4-3) relative to the outside of telescopic chute part (2-4) entirety respectively；It stretches The end of the Y opposite direction of contracting slideway (2-4) is equipped with pressure sensor (2-4-4), the pressure sensor (2-4-4) setting It is a pair of totally two, is separately mounted to the inside of two hollow guide rails (2-4-1), the probe of pressure sensor (2-4-4) is from sky The heart guide rail bottom (2-4-1) is stretched out.

7. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the walking group Part includes active hoofing part external member (3-1) and passive universal caster wheel (3-2)；Active hoofing part external member (3-1) packet Containing two Electric Motor Wheels, it is separately mounted to vehicle chassis component (3) the rear left and right sides in X direction, the Electric Motor Wheel uses motor, subtracts The integrated Electric Motor Wheel of fast machine, tire；The passive universal caster wheel (3-2) totally two, before being separately mounted to chassis in X direction The side left and right sides.

8. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the lifting set Part (3-3) is connected on upper layer support member (2) above Z-direction, and lifting external member (3-3) includes two pairs of scissor type brackets and one A electric pushrod (3-4) goes up and down external member (3-3) main body along Y-direction and is arranged with two pairs of scissor type brackets, each pair of scissor type bracket packet Containing two scissors mechanisms, two scissors mechanisms are connected by hinge, and described its main body of scissor type mechanism is X-type mechanism, intermediate Position is connected by hinge；It is connected with two connecting rods in the junction of each pair of scissors mechanism between two pairs of scissor type brackets, it is each pair of Scissors bracket passes through a fixed hinge and a horizontal slide hinge and vehicle chassis component (3) and upper layer support member respectively up and down (2) it is connected, connects and the 5th electric pushrod (3-4) is installed between two connecting rods of two pairs of scissors brackets, the described 5th is electronic Push rod (3-4) and control system are electrically connected.

9. full-automatic active sufferer according to claim 1 changes load wheel chair robot, which is characterized in that the backboard It is connected between (1-2), seat board (1-3), calf plate (1-4) and foot pedal (1-5) by electric losing self-locking hinge.

10. -9 described in any item full-automatic active sufferers change load wheel chair robot according to claim 1, which is characterized in that The movable composition chair top (1) further includes seat cushions (1-1), handrail (1-7) and submaster controller handrail (1-6), the seat Pad (1-1) is covered on the upper surface of movable composition chair top (1), the handrail (1-7) and submaster controller handrail (1-6) difference position In the left and right sides of movable composition chair top (1), the handrail (1-7) and submaster controller handrail (1-6) its mechanical part are logical Cross control system control rotation；The submaster controller handrail (1-6) includes armrest portion and submaster controller part, the secondary control Device part processed with master controller (2-9) is connect by Bluetooth communication, and submaster controller includes direction of travel control button, walking side It is changed to control rocking bar, rocking bar control model-key control mode switch key, user and carries control button and customized common function Key, the direction controlling rocking bar are spare walking direction controller.