CN110236838A - A load-bearing device for assisting standing up and moving robots and its use method - Google Patents
A load-bearing device for assisting standing up and moving robots and its use method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
- A61G7/1015—Cables, chains or cords
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
- A61G7/1034—Rollers, rails or other means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
- A61G7/1051—Flexible harnesses or slings
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
- A61G7/1059—Seats
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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Abstract
本发明公开了一种用于辅助起立移位机器人的承重装置，能够为辅助起立移位机器人的用户提供稳定且舒适的承重结构，有利于降低用户使用辅助起立移位机器人的危险性且增强用户使用的舒适感，所述承重装置包括：护背、吊环和腰带，所述护背上固定连接两个所述吊环；所述腰带固定在所述护背上，其两端固定在一起时，所述腰带用于将所述护背绑定在人体腰背部；当所述吊环悬挂在外部的辅助起立移位机器人的动力抬升机构上，所述护背用于承载人体重量。
The invention discloses a load-bearing device for an assisted standing-up and moving robot, which can provide a stable and comfortable load-bearing structure for the user of the assisted standing-up and moving robot, which is beneficial to reduce the risk of the user using the assisted standing-up and moving robot and enhance the user experience. For the comfort of use, the load-bearing device includes: a back protector, a suspension ring and a waist belt, and two suspension rings are fixedly connected on the described back protection; the waist belt is fixed on the described back protection, and when its two ends are fixed together, The waist belt is used to bind the back protector to the lower back of the human body; when the suspension ring is hung on the power lifting mechanism of the external auxiliary stand-up and transfer robot, the back protector is used to bear the weight of the human body.
Description
技术领域technical field
本发明涉及抬升机构技术领域，具体涉及一种用于辅助起立移位机器人的承重装置及其使用方法。The invention relates to the technical field of lifting mechanisms, in particular to a load-bearing device for assisting a standing-up and moving robot and a method for using the same.
背景技术Background technique
辅助起立移位机器人的设计主要用于家庭、医院、疗养院等场所的病人或老人进行短距离移动、多功能升降等活动，有利于瘫痪、腿脚受伤的病人或老人在床、轮椅、座椅、坐便器之间安全转移，有助于减轻护理工作人员的工作强度，提高护理工作人员的护理效率，降低护理风险。The design of the auxiliary stand-up and transfer robot is mainly used for short-distance movement, multi-functional lifting and other activities for patients or the elderly in homes, hospitals, nursing homes, etc. The safe transfer between toilets helps to reduce the work intensity of nursing staff, improve the nursing efficiency of nursing staff, and reduce nursing risks.
辅助起立移位机器人为吊拖式升降机构，由手动控制电动缸升降来实现病人位置的移动。其中，承受移动中的病人或老人的重量功能的装置一般为吊带结构。目前市场上现有的吊带结构存在材料耐磨性低、面料透气性差、腰带部分设计过窄、固定部分不够牢靠等问题，因此，不可避免的会增加用户(病人或老人)使用辅助起立移位机器人的危险性和用户使用的不适感。The auxiliary standing and moving robot is a hoisting and dragging lifting mechanism, and the movement of the patient's position is realized by manually controlling the lifting of the electric cylinder. Among them, the device that bears the weight of the moving patient or the elderly is generally a sling structure. At present, the existing sling structures on the market have problems such as low wear resistance of materials, poor air permeability of fabrics, too narrow waistband design, and insufficient fixation. Therefore, it is inevitable that more users (patients or elderly) will use assisted standing and shifting. Dangerousness of robots and discomfort for users.
发明内容Contents of the invention
有鉴于此，本发明提供了一种用于辅助起立移位机器人的承重装置及其使用方法，能够为辅助起立移位机器人的用户提供稳定且舒适的承重结构，有利于降低用户使用辅助起立移位机器人的危险性且增强用户使用的舒适感。In view of this, the present invention provides a load-bearing device for an assisted standing-and-moving robot and a method for using the same, which can provide a stable and comfortable load-bearing structure for the user of the assisted standing-and-moving robot, and is beneficial to reduce the use of the auxiliary standing and moving robot by the user. Reduce the danger of robots and enhance the comfort of users.
本发明承重装置的技术方案为：一种用于辅助起立移位机器人的承重装置，包括：护背、吊环和腰带，所述护背上固定连接两个所述吊环；所述腰带固定在所述护背上，其两端固定在一起时，所述腰带用于将所述护背绑定在人体腰背部；当所述吊环悬挂在外部的辅助起立移位机器人的动力抬升机构上，所述护背用于承载人体重量。The technical solution of the load-bearing device of the present invention is: a load-bearing device for assisting in standing up and moving a robot, comprising: a back protector, a suspension ring and a waist belt, the two suspension rings are fixedly connected to the back protection; the waist belt is fixed on the When the two ends of the back protector are fixed together, the waist belt is used to bind the back protector to the lower back of the human body; when the suspension ring is hung on the power lifting mechanism of the external auxiliary stand-up and shift robot, the The back protector is used to bear the weight of the human body.
作为一种优选技术方案，所述腰带的两端设置有粘贴布。As a preferred technical solution, adhesive cloths are provided at both ends of the waist belt.
作为一种优选技术方案，所述护背为设有空腔的立体结构，其空腔中填充有弹性材料。As a preferred technical solution, the back protector is a three-dimensional structure provided with a cavity, and the cavity is filled with elastic material.
作为一种优选技术方案，所述护背为长度方向中间粗两端细的结构，两个所述吊环固定在所述护背的两端。As a preferred technical solution, the back protector has a thick structure in the middle and thin ends in the length direction, and the two suspension rings are fixed at both ends of the back protector.
作为一种优选技术方案，所述护背宽度方向的一侧对称设置两个吊兜，两个吊兜结构形状相同，分别包括两个以上并列设置的所述吊环，用于为不同高度的用户提供腿部支撑。As a preferred technical solution, two slings are arranged symmetrically on one side in the width direction of the back protector. The two slings have the same structure and shape, and respectively include more than two suspension rings arranged side by side, which are used for users of different heights. Provides leg support.
本发明承重装置的使用方法的技术方案为：对于可站立的用户，包括如下步骤：The technical scheme of the method for using the load-bearing device of the present invention is: for users who can stand, the steps are as follows:
步骤一：将所述腰带绑定在用户腰背部并将所述腰带两端固定在一起；Step 1: Bind the belt on the user's back and fix the two ends of the belt together;
步骤二：将所述护背上的两个吊环分别悬挂在外部辅助起立移位机器人的动力抬升机构上；Step 2: Suspend the two suspension rings on the back protector on the power lifting mechanism of the external auxiliary lifting and moving robot;
步骤三：启动辅助起立移位机器人的动力抬升机构，所述承重装置实现对用户的起吊和移位过程中的承重。Step 3: Start the power lifting mechanism of the auxiliary stand-up and transfer robot, and the load-bearing device realizes the load-bearing for the user in the process of lifting and shifting.
本发明承重装置的使用方法的技术方案为：对于需要整体起吊或移位的用户，包括如下步骤：The technical scheme of the method of using the load-bearing device of the present invention is: for users who need to lift or shift as a whole, the following steps are included:
步骤一：将所述腰带绑定在用户腰背部并将所述腰带两端固定在一起；Step 1: Bind the belt on the user's back and fix the two ends of the belt together;
步骤二：将所述护背上的两个所述吊环分别悬挂在外部辅助起立移位机器人的动力抬升机构上；Step 2: Suspend the two suspension rings on the back protector on the power lifting mechanism of the external auxiliary stand-up and transfer robot;
步骤三：将所述护背侧面的两个吊兜分别从用户大腿外侧向大腿内侧兜起用户的腿部并将吊兜中的所述吊环悬挂在辅助起立移位机器人的动力抬升机构上；Step 3: The two slings on the side of the back protector wrap the user's legs from the outside of the user's thighs to the inside of the thighs, and hang the rings in the slings on the power lifting mechanism of the auxiliary stand-up and transfer robot;
步骤四：启动辅助起立移位机器人的动力抬升机构，所述承重装置实现对用户的起吊和移位过程中的承重。Step 4: Start the power lifting mechanism of the auxiliary stand-up and transfer robot, and the load-bearing device realizes the load-bearing for the user during the lifting and shifting process.
有益效果：Beneficial effect:
(1)本发明通过腰带将护背固定在用户腰背处，通过吊环可将人体悬挂至任意高度。(1) The present invention fixes the back protector on the user's back through the waist belt, and can hang the human body to any height through the suspension ring.
(2)本发明的腰带之间采用粘贴布固定，有利于增大腰带的受力面积，同时，结合护背设定宽度的设计能够为用户提供稳定且舒适的承重结构。(2) The waist belt of the present invention is fixed with adhesive cloth, which is beneficial to increase the force-bearing area of the waist belt. At the same time, the design of setting the width in combination with the back protector can provide users with a stable and comfortable load-bearing structure.
(3)本发明在护背上设置多组吊环，有利于进一步增加承重的稳定性。(3) The present invention arranges multiple sets of suspension rings on the back protector, which is beneficial to further increase the stability of load bearing.
(4)本发明护背的两端采用弧形设计，有利于进一步增加用户使用的舒适度。(4) The two ends of the back protector of the present invention adopt an arc design, which is conducive to further increasing the comfort of the user.
附图说明Description of drawings
图1为实施例1中承重装置的俯视图。Figure 1 is a top view of the load-bearing device in Embodiment 1.
图2为实施例1中承重装置的仰视图。2 is a bottom view of the load-bearing device in Embodiment 1.
图3为实施例1中承重装置的使用示意图。3 is a schematic diagram of the use of the load-bearing device in Example 1.
图4为实施例2中承重装置的俯视图。4 is a top view of the load-bearing device in Embodiment 2.
图5为实施例2中承重装置的仰视图。Fig. 5 is a bottom view of the load-bearing device in Embodiment 2.
图6为实施例2中承重装置的使用示意图。FIG. 6 is a schematic diagram of the use of the load-bearing device in Embodiment 2.
其中，1-护背，2-吊环，3-腰带Among them, 1-back protection, 2-rings, 3-belt
具体实施方式Detailed ways
下面结合附图并举实施例，对本发明进行详细描述。The present invention will be described in detail below with reference to the accompanying drawings and examples.
本发明提供了一种用于辅助起立移位机器人的承重装置及其使用方法，能够为辅助起立移位机器人的用户提供稳定且舒适的承重结构，有利于降低用户使用辅助起立移位机器人的危险性且增强用户使用的舒适感。The present invention provides a load-bearing device for an assisted standing-and-moving robot and a method for using the same, which can provide a stable and comfortable load-bearing structure for the user of the assisted standing-and-moving robot, and is conducive to reducing the risk of the user using the assisted standing-and-moving robot and enhance user comfort.
实施例1：Example 1:
如图1和2所示，分别为本实施例的承重装置的俯视图和仰视图，该承重装置包括护背1、吊环2和腰带3，护背1为长度方向中间粗两端细的结构，其内部空腔中填充有加厚的弹性材料(如海绵材料)以增加护背1的柔软性和舒适度，其长度方向的两端分别通过缝纫固定连接一个吊环2，用于将护背1与外部的辅助起立移位机器人的动力抬升机构进行连接，护背1较宽的结构固定在人体腰部处，较窄的结构从人体腋下穿过后在人体胸腹部固定，有利于增大腰背部的受力面积的同时减少腋下的护背1过宽带来的不适感；一条腰带3的中部通过缝纫固定在护背1的长度方向的中部，其两端通过固定在两端的粘贴布粘接固定(或两条腰带3的一端分别通过缝纫固定在护背1的中部，另一端通过固定在其上的粘贴布粘接固定)，用于将护背1和人体绑定；其中，腰带3采用设定宽度的双层弹力腰带，粘贴布采用魔术贴，有利于增加腰带3连接处的受力面积；护背1、吊环2和腰带3分别选用设定强度的布料，保证强度的同时采用布料有利于增强用户使用的舒适感。As shown in Figures 1 and 2, they are respectively a top view and a bottom view of the load-bearing device of this embodiment. The load-bearing device includes a back protector 1, a suspension ring 2 and a waist belt 3. The back protector 1 is a structure with a thick middle and thin ends in the length direction. Its inner cavity is filled with a thickened elastic material (such as a sponge material) to increase the softness and comfort of the back protector 1, and its two ends in the length direction are respectively fixedly connected with a suspension ring 2 by sewing, which is used to attach the back protector 1 It is connected with the power lifting mechanism of the external auxiliary standing and moving robot. The wider structure of the back protector 1 is fixed at the waist of the human body, and the narrower structure is fixed on the chest and abdomen of the human body after passing through the armpit of the human body, which is conducive to increasing the waist and back reduce the discomfort caused by the too wide back support 1 under the arm; the middle part of a belt 3 is fixed in the middle of the length direction of the back support 1 through sewing, and its two ends are bonded by adhesive cloth fixed at both ends Fixing (or one end of the two belts 3 are respectively fixed to the middle part of the back protection 1 by sewing, and the other ends are bonded and fixed by the adhesive cloth fixed thereon), is used to bind the back protection 1 and the human body; wherein, the belt 3 A double-layer elastic belt with a set width is adopted, and Velcro is used for the pasting cloth, which is beneficial to increase the stress area at the joint of the belt 3; the back protector 1, the ring 2 and the belt 3 are respectively selected from fabrics with a set strength to ensure the strength. The cloth is conducive to enhancing the comfort of the user.
如图3所示，使用时，对于可站立的用户，将腰带3绑定在用户腰背部并将腰带3两端固定在一起，实现将护背1绑定在用户腰背部；将护背1两端的吊环2分别悬挂在外部辅助起立移位机器人的动力抬升机构上，启动辅助起立移位机器人的动力抬升机构即可实现该承重装置对用户的起吊和移位过程中的承重。As shown in Figure 3, when in use, for a user who can stand, the belt 3 is bound to the user's back and the two ends of the belt 3 are fixed together, so that the back protector 1 is bound to the user's back; the back protector 1 The suspension rings 2 at both ends are respectively suspended on the power lifting mechanism of the external auxiliary stand-up and transfer robot, and the power lift mechanism of the auxiliary stand-up and transfer robot can be activated to realize the load-bearing of the load-bearing device in the lifting and shifting process of the user.
实施例2：Example 2:
如图4和5所示，分别为本实施例的承重装置水平放置时的俯视图和仰视图，在实施例1的基础上，本实施例的承重装置在护背1宽度方向的一侧对称固定两个吊兜，用于支撑用户的腿部，两个吊兜结构形状相同，分别包括两个以上并列设置的吊环2，用于为不同高度的用户提供腿部支撑。As shown in Figures 4 and 5, they are respectively a top view and a bottom view of the load-bearing device of this embodiment when it is placed horizontally. On the basis of Embodiment 1, the load-bearing device of this embodiment is fixed symmetrically on one side in the width direction of the back protector 1 The two slings are used to support the user's legs. The two slings have the same structure and shape, and respectively include more than two suspension rings 2 arranged side by side, and are used to provide leg support for users of different heights.
如图6所示，使用时，将腰带3绑定在用户腰背部并将腰带3两端固定在一起，实现将护背1绑定在用户腰背部；将护背1两端的吊环2分别悬挂在外部辅助起立移位机器人的动力抬升机构上，将护背1侧面的两个吊兜分别从用户大腿外侧向大腿内侧兜起用户的腿部并将吊兜中的吊环2悬挂在辅助起立移位机器人的动力抬升机构上，启动辅助起立移位机器人的动力抬升机构即可实现该承重装置对用户的起吊和移位过程中的承重；本实施例对于可站立的用户以及由于瘫痪或肌肉萎缩等原因导致无法站立的用户均可实现整体起吊和移位过程中的承重。As shown in Figure 6, when in use, the belt 3 is bound to the user's back and the two ends of the belt 3 are fixed together, so that the back protector 1 is bound to the user's back; the rings 2 at the two ends of the back protector 1 are hung respectively On the power lifting mechanism of the external assisted standing and moving robot, the two slings on the side of the back protector 1 are used to wrap the user's legs from the outer side of the user's thigh to the inner side of the thigh, and the ring 2 in the sling is hung on the auxiliary lifting device. On the power lifting mechanism of the positioning robot, start the power lifting mechanism of the auxiliary standing and moving robot to realize the load bearing of the load-bearing device in the lifting and shifting process of the user; Users who cannot stand due to other reasons can realize the load bearing during the overall lifting and shifting process.
综上所述，以上仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412103.1A CN110236838A (en) | 2019-05-17 | 2019-05-17 | A load-bearing device for assisting standing up and moving robots and its use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412103.1A CN110236838A (en) | 2019-05-17 | 2019-05-17 | A load-bearing device for assisting standing up and moving robots and its use method |
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| CN110236838A true CN110236838A (en) | 2019-09-17 |
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| CN201910412103.1A Pending CN110236838A (en) | 2019-05-17 | 2019-05-17 | A load-bearing device for assisting standing up and moving robots and its use method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274355A (en) * | 2020-10-13 | 2021-01-29 | 广东博方众济医疗科技有限公司 | Knee support of shifting machine and shifting machine with knee support |
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| JP5444575B1 (en) * | 2012-09-12 | 2014-03-19 | 有限会社青葉テクノソリューションズ | Human body lifting harness |
| CN103945813A (en) * | 2012-10-22 | 2014-07-23 | 韩国生产技术研究院 | Transfer robot for caring for patient |
| US20180036190A1 (en) * | 2016-08-05 | 2018-02-08 | Ola Lysenstoen | Manual assistance transfer belt utilizing individual thigh straps |
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| JP2000126250A (en) * | 1998-10-23 | 2000-05-09 | Mikuni Corp | Lifts for nursing care lifts |
| US20030192118A1 (en) * | 1999-02-12 | 2003-10-16 | Carbonneau Margaret A. | Marpet sling (patient lifting sling) |
| JP2003079677A (en) * | 2001-09-11 | 2003-03-18 | Glory Ltd | Caring hanging appliance |
| JP5444575B1 (en) * | 2012-09-12 | 2014-03-19 | 有限会社青葉テクノソリューションズ | Human body lifting harness |
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| CN112274355A (en) * | 2020-10-13 | 2021-01-29 | 广东博方众济医疗科技有限公司 | Knee support of shifting machine and shifting machine with knee support |
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Application publication date: 20190917 |