CN111543819B - Integrated auxiliary machine for old people to get up and sleep - Google Patents

Abstract

An old man's integrated auxiliary machine that goes up and go to bed includes: the lifting unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism; the trousers putting on and taking off unit is arranged below the leg plate lower mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trousers leg supporting mechanisms and a position adjusting mechanism; and the control unit comprises a controller and a man-machine interaction module and is used for controlling the back lifting mechanism, the leg plate lowering mechanism, the lumbar support lifting mechanism and the pedal mechanism to move. The beneficial effects of the invention are as follows: realize the function of integrally assisting the old people to get on and off the bed; the function of assisting in wearing trousers is realized; the trousers removing auxiliary function is realized; realizing the function of automatically lifting the back at 0-70 DEG; has a certain protection effect; realizing the function of the lower part of the leg plate linkage; realizing the armrest linkage lifting function; realizing the function of automatically moving out and retracting the trousers taking-in and taking-out mechanism; the device for helping the old integrates the functions of helping the old to lie in bed and putting on and taking off trousers, and is mainly used for facilitating living life of the old and improving life quality.

Description

An integrated assistive machine for elderly people to get up and go to bed

Technical Field

The invention relates to an integrated auxiliary machine for elderly people to get up and go to bed.

Background technique

With the aging of society, there are more and more elderly people in the society. The coordination ability of the elderly's limbs is weakened, which often makes it difficult for the elderly to get up or go to bed. For example, the muscles are weak to support the action of getting up, the blood pressure in the brain drops during the process of getting up, causing dizziness, squatting, lying down and falling easily. It makes it difficult for the elderly to get up, lie down, and dress and undress alone. Once they fall, the consequences are unimaginable. Therefore, it is dangerous for the elderly to get up, lie down, and dress and undress alone. Therefore, there is an urgent need for relevant tools to assist the elderly to safely complete the actions of getting up, lying down, dressing and undressing.

Summary of the invention

In order to solve the above problems, the present invention proposes an integrated assisting machine for the elderly that can assist users in getting out of bed, lying down, putting on and taking off pants, and is safe and convenient.

The integrated assisting device for elderly people to get up and go to bed according to the present invention is characterized by comprising:

The lying unit includes a back lifting mechanism, an armrest linkage lifting mechanism and a leg board lowering mechanism, wherein the back lifting mechanism includes a base, a backboard lifting part and a backboard, wherein the upper part of the base is provided with a mounting plane which is higher in the front and lower in the back for mounting the backboard lifting part; the backboard lifting part is mounted on the mounting surface of the base, and the lifting end of the backboard lifting part is connected to the bottom of the backboard for driving the rear part of the backboard to lift; the backboard is mounted on the upper lifting end of the backboard lifting part for supporting the user's back to lift it synchronously; the armrest linkage lifting mechanism includes a seat board, an armrest linkage device and an armrest, wherein the rear part of the seat board is hinged to the front part of the backboard, and a slide groove is provided on each side of the seat board for storing the armrest; the armrest linkage device includes a sliding part and a lifting part, and the top of the sliding part is provided with a lifting part The armrest has its bottom inserted into the slide groove and slidably cooperates with it; the front end of the lifting part is fixedly mounted on the rear part of the leg board lowering mechanism, and the rear end is tilted upward to form a lifting end, which is used to lift the armrest to make it flip up; the leg board lowering mechanism includes a leg board, a multi-stage transmission connecting rod assembly, a gas spring and a horizontal pushing device, and the rear part of the leg board is hinged to the front part of the seat board; the upper end of the multi-stage transmission connecting rod assembly is hinged to the bottom of the leg board, and the lower end is slidably connected to the pushing end of the horizontal pushing device, which is used to put down or lift the leg board; the rear end of the horizontal pushing device is hinged to the lower movable end of the backboard lifting part, and the front end is hinged to the lower end of the multi-stage transmission connecting rod assembly as a pushing end, which is used to put down the leg board; the horizontal movable end of the gas spring is hinged to the lower end of the multi-stage transmission connecting rod assembly, which is used to automatically realize the flattening of the leg board;

The trousers putting on and taking off unit is arranged below the mechanism below the leg plate, and comprises a base plate, at least one pair of waist support lifting mechanisms, at least one pair of trouser leg support mechanisms and a position adjustment mechanism. The base plate has a horizontal mounting surface, and a mounting track is arranged on the mounting surface for mounting the trouser leg support mechanisms; the waist support lifting mechanisms are symmetrically arranged on both sides of the base plate, and comprise a stand, a lifting device and a waist support frame, wherein the stand is vertically mounted on the base plate for supporting the lifting device; the lifting device comprises a fixed guide part and a lifting part, wherein the fixed guide part is mounted on the stand, the lifting part is slidably mounted on the fixed part, the lifting part is mounted with a waist support frame for fixing the trousers waist, and the two waist support frames are kept facing each other, and are used for carrying The waist of the trousers can be raised and lowered to realize putting on and taking off the trousers; the trouser leg supporting mechanism is arranged side by side on the base plate between the two vertical frames, including a trouser leg clamp, a pushing mechanism and a pedal mechanism, the trouser leg clamp includes an imitation trouser leg clamping part and an imitation trouser leg clamping part, the bottom of the imitation trouser leg clamping part is installed on the mounting track of the base plate, and the upper part is provided with a clamping part for clamping on the back of the user's calf and fitting the calf; the bottom of the imitation trouser leg clamping part is installed on the movable part of the pushing mechanism, and the upper part is provided with a clamping support clamp that can be clamped on the outside of the clamping part, so as to realize the clamping or loosening of the trouser legs; the pushing mechanism includes a mounting frame and a horizontal pushing component, and the mounting frame is installed on the mounting rail below the clamping part. The mounting track is used to install a horizontal pushing component; the horizontal pushing component is slidably arranged in the mounting frame, and the front end of the horizontal pushing component extends out of the mounting frame to form a force-applying end for cooperating with the pedal mechanism; the side of the horizontal pushing component is connected to the side of the clamping support fixture, which is used to drive the clamping support fixture to move so as to adjust the distance between the clamping support fixture and the imitation trouser leg clamping part; the pedal mechanism includes a pedal and a wedge-shaped pushing block, the wedge-shaped pushing block is installed at the front end of the horizontal pushing component, the rear end of the pedal is hinged on the mounting track, and the front end extends to the top of the wedge-shaped pushing block, and the movement of the horizontal pushing component is driven by controlling the pedal; the position adjustment mechanism includes a first Three stepper motors, a second lead screw and a connecting frame, wherein the third stepper motor is installed at the front end of the base of the back lifting mechanism, and the third stepper motor and the second lead screw are arranged along the movement direction of the pushing mechanism, and the output shaft of the third stepper motor is connected to one end of the second lead screw; a sliding nut is sleeved on the second lead screw, and the sliding nut is threadedly connected to the second lead screw, so that when the second lead screw rotates circumferentially under the drive of the third stepper motor, the sliding nut moves axially along the second lead screw; the rear end of the connecting frame is fixedly connected to the sliding nut, and the front end is fixedly connected to the stand of the back support lifting mechanism, so as to synchronously drive the base plate and the back support lifting mechanism to reciprocate along the axial direction of the second lead screw to adjust the position of the pedal mechanism;

And a control unit, including a controller and a human-computer interaction module, the signal output end of the controller is electrically connected to the signal input end of the backboard lifting part, the lifting device signal input end of the waist support lifting mechanism and the signal input end of the position adjustment mechanism through the control circuit, the signal input end of the controller is signal or electrically connected to the signal output end of the human-computer interaction device, and is used to control the movement of the back lifting mechanism, the leg board lowering mechanism, the waist support lifting mechanism and the pedal mechanism; the control circuit is provided with a power switch, which is used to control the on and off of the entire auxiliary machine.

The back plate lifting part includes a back plate stepper motor, a screw nut pair, a linear guide, a sliding connecting rod and a herringbone connecting rod. The back plate stepper motor is installed at the front of the installation plane of the base, and the output end of the back plate stepper motor is connected to the front end of the screw of the screw nut pair, which is used to drive the screw of the screw nut pair to rotate; the screw nut pair includes a screw, a nut and a support bearing. The two ends of the screw and the optical axis are respectively mounted on the surface of the installation plane through corresponding support bearing frames, and the front end of the screw is connected to the output end of the back plate stepper motor. The nut is sleeved on the outside of the screw and is threaded with the screw, so that the nut moves along the axial direction of the screw when the screw rotates around its own central axis; the linear guide includes an optical axis, a linear bearing and an optical axis support seat. The linear bearing can move freely along the axial direction of the optical axis, and the optical axis is supported by the optical axis. The support base is supported on the installation plane; the sliding link is perpendicular to the lead screw, and the two ends of the sliding link are sleeved on the optical axis and fixedly connected to the linear bearings with flanges on the optical axis, so as to realize the synchronous movement of the lead screw nut and the linear bearings on the optical axis; the herringbone link includes a first link, a second link and a third link, the bottom end of the first link is hinged on the sliding link, and the upper end is hinged to the other two links through an articulated joint; the bottom end of the second link is hinged to the front of the base, and the upper end is hinged to the upper end of the first link and the bottom end of the third link; the bottom end of the third link is hinged to the other two links, and the upper end is hinged to the back plate through a joint bearing, so that when the first link moves with the sliding link, the upper end of the first link supports the back plate to be lifted or lowered, and when the nut of the lead screw nut pair moves to the rear end of the lead screw, the back plate and the seat plate are on the same horizontal plane.

The back panel comprises a main back panel and two side back panels, one side back panel is hinged on each side of the main back panel, and the front end of the main back panel is hinged to the rear end of the seat panel; there are two sets of herringbone connecting rods, the lower ends of the two sets of herringbone connecting rods are symmetrically hinged on the two ends of the sliding connecting rods, and the upper ends of the herringbone connecting rods are hinged on the bottom of the side back panels on the same side through corresponding joint bearings.

The armrest linkage device consists of two sets, and the sliding part includes at least one pair of first sliding bars, the same pair of first sliding bars are arranged opposite to each other, and a gap is directly left between the two first sliding bars for the lifting part to pass through; the armrest is installed on the upper end of the first sliding bar, and the lower part of the first sliding bar is inserted into the slide groove of the seat board and slides with it; the lifting part includes a first push rod and a roller, the first push rod is an "ivory" type structure, the front end of which is hinged to the bottom of the leg board, and the rear end is tilted upward to form a pushing end for pushing the armrest, and a roller for reducing the friction between the first push rod and the armrest is installed at the rear end of the first push rod, wherein when the seat board and the leg board are in the same horizontal plane, the roller at the pushing end of the first push rod does not contact the armrest, and when the leg board is lowered, the roller contacts the armrest and pushes the armrest to rise from the slide groove of the seat board.

The multi-stage transmission connecting rod assembly includes a first leg plate connecting rod, a long pin shaft, and a second leg plate connecting rod, wherein the upper end of the first leg plate connecting rod is hinged to the bottom of the leg plate, and the lower end of the first leg plate connecting rod is hinged to the long pin shaft; a second leg plate connecting rod is hinged at each end of the long pin shaft, and the junction of the second leg plate connecting rod is hinged to the upper end of the fixed hinge support, and the lower end of the second leg plate connecting rod is respectively slidably connected to the horizontal movable end of the gas spring and the front end of the horizontal pushing device; the movement direction of the front end of the horizontal pushing device and the movement direction of the horizontal movable end of the gas spring are opposite or opposite; the horizontal pushing device includes a second push rod, a push rod fixing sleeve, a sliding sleeve, a third push rod and a joint, and the second push rod The rear end of is vertical, and a sliding sleeve is sleeved on the outside of; the sliding sleeve is hinged with the sliding connecting rod; the front end of the second push rod is inserted into the push rod sleeve, and the two form a sliding pair, so that the second push rod is axially extended and retracted along the push rod sleeve, and during the extension and retraction of the second push rod, the sliding sleeve is vertically lifted and lowered along the second push rod; the rear end of the third push rod is inserted into the push rod fixing sleeve, and the two are slidably connected, and the front end of the third push rod slides horizontally in the lower end slide groove of the second leg plate connecting rod, and the third push rod is coaxial with the gas spring; the sum of the maximum length of the second push rod inserted into the push rod sleeve and the maximum length of the third push rod inserted into the push rod fixing sleeve is greater than the total length of the push rod fixing sleeve, so that the leg plate lags behind the back plate in movement. When the back plate is laid flat, the first connecting rod and the third connecting rod are in a straight line, and when the back plate is fully lifted, the second connecting rod and the third connecting rod are in a straight line, and they are self-locking when the two states are formed.

The first connecting rod is composed of two sections, the lower end of the lower section is connected to the nut, the upper section is connected to the side back plate of the back plate through a joint bearing, and the second connecting rod is connected to the stationary base at the bottom; when the back plate is laid flat, the lower section and the upper section of the first connecting rod are in a straight line, and when the back plate is fully lifted, the second connecting rod and the upper section are in a straight line, and they are self-locking when forming the two states.

There are two sets of mounting rails, each set of mounting rails includes a transverse rail and a vertical rail, wherein the transverse rail is arranged along the length direction of the base plate and is used to install the pedal and the imitation trouser leg clamping part; the vertical rail is arranged along the width direction of the base plate, and the transverse rail and the vertical rail are kept perpendicular to each other, and is used to install the horizontal push assembly;

The lifting device includes a first stepper motor, a ball screw and a slider. The first stepper motor is installed at the bottom of the stand. The signal input end of the first stepper motor is electrically connected to the signal output end of the controller, so as to drive the ball screw to rotate under the control of the controller. The ball screw is vertically installed on the stand, and the lower end is connected to the output end of the first stepper motor. A trouser support frame is installed on the slider, and the two sets of trouser support frames are kept facing each other. The slider is sleeved on the outside of the ball screw and screwed thereto, so that the slider can be lifted and lowered along the axial direction of the ball screw when the ball screw rotates.

The imitation trouser leg clamping part comprises a base, a connecting curved rod and an elastic clamping sleeve as a clamping part, the lower end of the connecting curved rod is fixed on the transverse track through the base, the elastic clamping sleeve is installed on the top of the connecting curved rod, and the two sets of elastic clamping sleeves of the imitation trouser leg clamping parts are located on the same side; the shape of the elastic clamping sleeve is an arc-shaped sleeve imitating the human calf, and the clamping inlet of the arc-shaped sleeve is kept facing the rear of the user's calf, and a plurality of rectangular clamping grooves are provided on the elastic clamping sleeve for cooperating with the clamping support fixture;

The imitation trouser leg clamping part includes a clamping support fixture and a connecting rod as a movable part. The front part of the clamping support fixture is provided with an arc structure that can be clamped on the outside of the elastic clamping sleeve, and the front end surface of the clamping support fixture is provided with a clamping block that can be clamped into the rectangular clamping groove of the elastic clamping sleeve. The clamping depth of the clamping block is adjusted by adjusting the distance between the clamping support fixture and the elastic clamping sleeve. There are two connecting rods, and the upper ends of the connecting rods are respectively installed with the two ends of the clamping support fixture, and the lower ends are respectively connected with the movable parts of the horizontal pushing components. The movement of the movable part of the horizontal pushing component drives the movement of the clamping support fixture to adjust the distance between the clamping support fixture and the elastic clamping sleeve.

The installation frame of the pushing mechanism is installed as a rectangular frame, and a through hole is provided on the front end plate of the installation frame for the front end of the horizontal pushing assembly to pass through; a sliding groove is provided on each of the two side plates of the installation frame along the length direction of the side plate;

The horizontal pushing assembly includes a pushing button, a rocker, a roller, a screw and a return compression spring. A short connecting rod is installed on each side of the pushing button. The outer end of the short connecting rod passes through the corresponding sliding groove of the mounting frame and is fixedly connected to the lower end of the connecting rod on the same side. A groove is provided on the surface of the pushing button, and the front end of the groove is located at the front end of the mounting frame, and the rear end of the groove is sunken to form a locking position; the first end of the rocker is hinged on the front end plate of the mounting frame, and the second end is installed with a roller that can be inserted into the groove, so that the roller can slide along the groove contour under the pull of the rocker, and the roller When the slider slides into the top end or locking position of the groove, the push button and the mounting frame are relatively fixed; the screw is inserted into the through hole of the front end plate of the mounting frame to keep the screw arranged along the vertical track direction, the inner end of the screw is fixedly connected to the front end of the push button, and the outer end passes through the mounting frame and extends forward to form a force-applying end for cooperating with the pedal mechanism; the return compression spring is sleeved on the screw located between the front end surface of the mounting frame and the push button, with its front end abutting against the inner end surface of the front end of the mounting frame and its rear end abutting against the front end surface of the push button to realize the return of the push button.

The wedge-shaped pushing block is installed at the front end of the screw rod, and its bottom is slidably installed on the vertical track, so that the wedge-shaped pushing block drives the screw rod to slide axially along the vertical track; the surface of the wedge-shaped pushing block is provided with an inclined pushing surface, and the front end height of the pushing surface is lower than the rear end height of the pushing surface; a roller is installed at the bottom of the pedal, and the roller presses on the pushing surface of the wedge-shaped pushing block, and the position of the wedge-shaped pushing block is adjusted by adjusting the pressure of the roller pressing on the pushing surface.

The installation track also includes a crossbeam, which is horizontally mounted above the same set of vertical tracks, so that when the pedal is in a horizontal stepping state, the bottom of the pedal just contacts the surface of the crossbeam to be supported on the bottom of the pedal.

The beneficial effects of the present invention are:

1) The design of the sleeping unit is ergonomic and easy to operate. The bed board is divided into three parts: backrest, seat board, and leg board. It uses modular bed boards and multiple connecting rod mechanisms, and is driven by a stepper motor to achieve integrated linkage from the back board, leg board to the armrest. When the elderly get up, press the "get up" button, the back board will rise 70°, the leg board will be lowered 110° later, and the armrest will rise to help the elderly get up. When the elderly go to bed, press the "lay flat" button, the back board and leg board will be laid flat, and the armrest will be lowered to help the elderly go to bed;

2) The backrest is controlled to rise and fall through a three-link mechanism. The two extreme positions of the three-link movement are located at the dead point, which increases the stability of the backrest. There are armrests on both sides of the seat. When the leg board is lowered, the mechanism drives the armrests to rise to protect the safety of the elderly and facilitate getting up. A gas spring is installed on the connecting rod under the leg board to increase the elasticity of the leg board and make the control and fixation of the leg board more stable.

3) The operation is simple and convenient. The motor is controlled by a controller with a simple control interface. Through the linkage mechanism between the backrest and the leg board, when the backrest is raised, the leg board will automatically fall down after a certain period of time. The design is ingenious and convenient.

4) The trouser-wearing and trouser-taking unit has an ergonomically designed trouser-leg support mechanism and a waist-support lifting mechanism, which can respectively control the trouser-leg support mechanism and the waist-support lifting mechanism to achieve the actions of clamping the trouser-legs and stretching the trouser-waist. After the elderly enter the mechanism, they step on the pedals with their left and right feet respectively to clamp the trouser-legs, and then use the waist support frame of the waist-support lifting mechanism to stretch the trouser-waist part. The waist-support lifting mechanism can adjust the height, and finally start the mechanism to take off the trousers; the process of putting on the trousers is similar to the process of taking off the trousers. The trouser-leg support mechanism can be triggered again to loosen the trouser-leg clamps. After the mechanism movement is finished, the elderly can walk out of the mechanism;

5) The device uses a stepper motor to control the ball screw, which achieves the purpose of simple operation and stable use, and helps the elderly solve the problem of difficulty in putting on and taking off pants.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an overall structural diagram of the present invention.

FIG. 2 is a structural diagram of the back plate lifting mechanism (lifting state) of the present invention.

FIG. 3 is a structural diagram of the back plate lifting mechanism (flattened state) of the present invention.

FIG. 4 is a structural diagram of the armrest linkage lifting mechanism of the present invention.

FIG. 5 is a structural diagram of the leg plate and the first push rod of the present invention.

FIG. 6 is a structural diagram of the leg board lowering mechanism (flattened state) of the present invention.

FIG. 7 is a structural diagram of the leg board lowering mechanism (lowered state) of the present invention.

Fig. 8 is a structural diagram of the putting on and taking off pants unit of the present invention.

FIG. 9 is a structural diagram of the waist support lifting mechanism of the present invention.

FIG. 10 is a structural diagram of the imitation trouser leg snap-fitting portion of the present invention.

FIG. 11 is a structural diagram of the imitation trouser leg clamping portion of the present invention.

FIG. 12 is a structural diagram of the pushing mechanism of the present invention.

FIG. 13 is a diagram showing a pedal mechanism in a relaxed state according to the present invention.

FIG. 14 is a diagram showing the clamping state of the pedal mechanism of the present invention.

FIG. 15 is a structural diagram of the position adjustment mechanism of the present invention.

FIG. 16 is a front view of the groove of the push button of the present invention

Detailed ways

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

Refer to the attached figure:

Embodiment 1 The present invention provides an integrated assistive device for elderly people to get up and go to bed, comprising:

The lying unit 1 comprises a back lifting mechanism 11, an armrest linkage lifting mechanism 12 and a leg lowering mechanism 13, wherein the back lifting mechanism 11 comprises a base 111, a backboard lifting part 112 and a backboard 113, wherein the upper part of the base 111 is provided with a mounting plane which is higher in the front and lower in the back for mounting the backboard lifting part; the backboard lifting part 112 is mounted on the mounting surface of the base, and the lifting end of the backboard lifting part 112 is connected to the bottom of the backboard 113 for driving the rear part of the backboard to lift; the backboard 113 is mounted on the upper lifting end of the backboard lifting part for lifting the back of the user so as to lift it synchronously; the armrest linkage lifting mechanism 12 comprises a seat board 121, an armrest linkage device 122 and an armrest 123, wherein the rear part of the seat board 121 is hinged to the front part of the backboard 113, and a slide groove 1211 is respectively provided on both sides of the seat board 121 for storing the armrests; the armrest linkage device 122 comprises a sliding part and The lifting part, the armrest is installed on the top of the sliding part, and the bottom is inserted into the slide groove and slidably cooperates with it; the front end of the lifting part is fixedly mounted on the rear part of the leg board lowering mechanism, and the rear end is tilted upward to form a lifting end, which is used to lift the armrest to make it flip up; the leg board lowering mechanism 13 includes a leg board 131, a multi-stage transmission connecting rod assembly 132, a gas spring 133 and a horizontal pushing device 134, the rear part of the leg board 131 is hinged to the front part of the seat board; the upper end of the multi-stage transmission connecting rod assembly 132 is hinged to the bottom of the leg board 131, and the lower end is slidably connected to the pushing end of the horizontal pushing device 134, which is used to put down or lift the leg board; the rear end of the horizontal pushing device 134 is hinged to the lower active end of the backboard lifting part, and the front end is hinged to the lower end of the multi-stage transmission connecting rod assembly as a pushing end, which is used to put down the leg board; the horizontal active end of the gas spring 133 is hinged to the lower end of the multi-stage transmission connecting rod assembly, which is used to automatically realize the flattening of the leg board;

The trousers putting on and taking off unit 2 is arranged below the mechanism below the leg plate, and includes a base plate 21, at least one pair of waist support lifting mechanisms 22, at least one pair of trouser leg support mechanisms 23 and a position adjustment mechanism 24. The base plate 21 has a horizontal mounting surface, and a mounting track 211 is provided on the mounting surface for mounting the trouser leg support mechanism; the waist support lifting mechanisms 22 are symmetrically arranged on both sides of the base plate 21, and include a stand 221, a lifting device 222 and a waist support frame 223. The stand 221 is vertically mounted on the base plate 21 for supporting the lifting device; the lifting device 222 includes a fixed guide part and a lifting part, wherein the fixed guide part is mounted on the stand 221, the lifting part is slidably mounted on the fixed part, and the lifting part is mounted with a waist support frame 223 for fixing the trousers waist, and keeps the two waist supports The two frames are directly opposite to each other, and are used to drive the waist of the pants to rise and fall so as to put on and take off the pants; the trouser leg supporting mechanism 23 is arranged side by side on the base plate 21 between the two frames, and includes a trouser leg clamp 231, a pushing mechanism 232 and a pedal mechanism 233, the trouser leg clamp 231 includes an imitation trouser leg clamping part and an imitation trouser leg clamping part, the bottom of the imitation trouser leg clamping part is installed on the mounting track of the base plate, and the upper part is provided with a clamping part, which is used to clamp on the back of the user's calf and fit the calf; the bottom of the imitation trouser leg clamping part is installed on the movable part of the pushing mechanism, and the upper part is provided with a clamping support clamp that can be clamped on the outside of the clamping part, so as to support or relax the trouser legs; the pushing mechanism 232 includes a mounting frame 2321 and a horizontal pushing component 2322, and the mounting frame is installed on the mounting below the clamping part. The track is used to install the horizontal pushing component; the horizontal pushing component 2322 is slidably arranged in the installation frame, and the front end of the horizontal pushing component extends out of the installation frame to form a force-applying end for cooperating with the pedal mechanism; the side of the horizontal pushing component 2322 is connected to the bottom of the clamping support fixture, which is used to drive the clamping support fixture to move to adjust the distance between the clamping support fixture and the imitation trouser leg clamping part; the pedal mechanism 233 includes a pedal 2331 and a wedge-shaped pushing block 2332, the wedge-shaped pushing block 2332 is installed at the front end of the horizontal pushing component, the rear end of the pedal is hinged on the installation track, and the front end extends to the top of the wedge-shaped pushing block, and the movement of the horizontal pushing component is driven by controlling the pedal; the position adjustment mechanism 24 includes a third stepping motor 241, a first stepping motor 242, and a second stepping motor 243. Three lead screws 242 and a connecting frame 243, the third stepper motor 241 is installed at the front end of the base 111 of the back lifting mechanism 11, and the third stepper motor 241 and the third lead screw 242 are kept arranged along the movement direction of the pushing mechanism, and the output shaft of the third stepper motor 241 is connected to one end of the third lead screw 242; a sliding nut is sleeved on the third lead screw 242, and the sliding nut is screwed to the third lead screw 242, so that when the third lead screw 242 rotates circumferentially under the drive of the third stepper motor 241, the sliding nut moves along the axial direction of the third lead screw; the rear end of the connecting frame 243 is fixedly connected to the sliding nut, and the front end is fixedly connected to the stand of the back support lifting mechanism, which is used to synchronously drive the base plate and the back support lifting mechanism to reciprocate along the axial direction of the third lead screw to adjust the position of the pedal mechanism;

And a control unit, including a controller and a human-computer interaction module, the signal output end of the controller is electrically connected to the signal input end of the backboard lifting part, the lifting device signal input end of the waist support lifting mechanism and the signal input end of the position adjustment mechanism through the control circuit, the signal input end of the controller is signal or electrically connected to the signal output end of the human-computer interaction device, and is used to control the movement of the back lifting mechanism, the leg board lowering mechanism, the waist support lifting mechanism and the pedal mechanism; the control circuit is provided with a power switch, which is used to control the on and off of the entire auxiliary machine.

The back plate lifting part 112 includes a back plate stepper motor 1121, a lead screw nut pair 1122, a linear guide rail 1123, a sliding connecting rod 1124 and a herringbone connecting rod 1125. The back plate stepper motor 1121 is installed at the front of the installation plane of the base 111, and the output end of the back plate stepper motor 1121 is connected to the front end of the first lead screw 11221 of the lead screw nut pair 1122, which is used to drive the first lead screw 11221 of the lead screw nut pair to rotate; the lead screw nut pair includes a first lead screw 11221, a nut 11222 and a support bearing frame 112 23, the first lead screw 11221, the two ends of the lead screw 11221 are respectively mounted on the mounting plane surface through corresponding support bearing frames 11223, and the front end of the first lead screw 11221 is connected to the output end of the back plate stepper motor 1121, the nut 11222 is sleeved on the outside of the first lead screw 11221 and is screwed to the first lead screw 11221, so that when the first lead screw 11221 rotates around its own central axis, the nut 11222 moves along the axial direction of the first lead screw; the linear guide rail 1123 includes an optical axis 11231, a linear bearing 11232 and an optical axis support The support seat 11233 is composed of a linear bearing 11232 that can move freely along the axial direction of the optical axis, and the optical axis 11231 is supported on the mounting plane by the optical axis support seat 11233; the sliding connecting rod 1124 is perpendicular to the first lead screw 11221, and both ends of the sliding connecting rod 1124 are sleeved on the optical axis 11231 and fixedly connected to the linear bearing 11232 with a flange on the optical axis 11231, so as to realize the synchronous movement of the lead screw nut and the linear bearing on the optical axis; the herringbone connecting rod 1125 includes a first connecting rod 11251, a second connecting rod 11252 and a third connecting rod 11253. 253, the bottom end of the first connecting rod is hinged on the sliding connecting rod, and the upper end is hinged to the other connecting rods through the articulated joint 11254; the bottom end of the second connecting rod is hinged to the front part of the base, and the upper end is hinged to the upper end of the first connecting rod and the bottom end of the third connecting rod 11253; the bottom end of the third connecting rod 1253 is hinged to the other two connecting rods, and the upper end is hinged to the back plate 13 through the articulated bearing 1255, so that when the first connecting rod moves with the sliding connecting rod, the upper end of the third connecting rod supports the back plate to be lifted or lowered, and when the nut of the screw-nut pair moves to the rear end of the first screw, the back plate and the seat plate are on the same horizontal plane.

The back panel 113 includes a main back panel 1131 and two side back panels 1132. A side back panel 1132 is hinged on each side of the main back panel 1131. The front end of the main back panel 1131 is hinged to the rear end of the seat panel. There are two sets of herringbone connecting rods. The lower ends of the two sets of herringbone connecting rods are symmetrically hinged on the two ends of the sliding connecting rods, and the upper ends of the herringbone connecting rods are hinged on the bottom of the side back panels on the same side through corresponding joint bearings.

The armrest linkage device 122 consists of two sets, and the sliding part includes at least one pair of first sliding rods 1221. The same pair of first sliding rods are arranged opposite to each other, and a gap is directly left between the two first sliding rods for the lifting part to pass through; the armrest 1222 is installed at the upper end of the first sliding rod, and the lower part of the first sliding rod is inserted into the slide groove of the seat board and slidably cooperates with it; the lifting part includes a first push rod 1223 and a roller 1224. The first push rod 1223 is an "ivory" type structure, with a front end hinged at the bottom of the leg board and a rear end tilted upward to form a pushing end for pushing the armrest. A roller for reducing the friction between the first push rod and the armrest is installed at the rear end of the first push rod, wherein when the seat board and the leg board are in the same horizontal plane, the roller at the pushing end of the first push rod does not contact the armrest, and when the leg board is lowered, the roller contacts the armrest and pushes the armrest to rise from the slide groove of the seat board.

The multi-stage transmission connecting rod assembly 132 includes a first leg plate connecting rod 1321, a long pin shaft 1322, and a second leg plate connecting rod 1323, wherein the upper end of the first leg plate connecting rod 1321 is hinged to the bottom of the leg plate, and the lower end of the first leg plate connecting rod 1321 is hinged to the long pin shaft 1322; a second leg plate connecting rod 1323 is hinged at each end of the long pin shaft 1322, and the lower corner of the second leg plate connecting rod 1323 is hinged to the fixed hinge 1325, and the lower end of the second leg plate connecting rod 1323 is respectively slidably connected to the horizontal movable end of the gas spring 133 and the front end of the horizontal pushing device; the movement direction of the front end of the horizontal pushing device and the movement direction of the horizontal movable end of the gas spring 133 are opposite or opposite; the horizontal pushing device 134 includes a second push rod 1341, a push rod fixing sleeve 1342, a sliding sleeve 1343, a third push rod 1344 and a joint 1345, and the second push rod The rear end of 1341 is vertical, and a sliding sleeve 1343 is sleeved on the outside; the sliding sleeve 1343 is hinged to the sliding link 1124; the front end of the second push rod 1341 is inserted into the push rod fixing sleeve 1342, and the two form a sliding pair, so that the second push rod 1341 can be axially extended and retracted along the push rod fixing sleeve 1342, and during the extension and retraction process of the second push rod 1341, the sliding sleeve 1343 can be vertically lifted and lowered along the second push rod; the rear end of the third push rod 1344 is inserted into the push rod fixing sleeve 1342, and the two are slidably connected, and the front end of the third push rod 1344 slides horizontally in the lower end slide groove of the second leg plate link 1323, and the third push rod 1344 is coaxial with the gas spring; the sum of the maximum length of the second push rod 1341 inserted into the push rod fixing sleeve 1342 and the maximum length of the third push rod inserted into the push rod fixing sleeve is greater than the total length of the push rod sleeve, so that the leg plate 131 lags behind the movement of the back plate. When the back plate 113 is laid flat, the first connecting rod and the third connecting rod are in a straight line, and when the back plate is fully lifted, the second connecting rod and the third connecting rod are in a straight line, and they are self-locking when the two states are formed.

The first connecting rod 11251 is composed of two sections, the lower end of the lower section is connected to the nut, the upper section is connected to the side back plate of the back plate through a joint bearing, and the second connecting rod is connected to the stationary base at the bottom; wherein the lower section and the upper section of the first connecting rod are in a straight line when the back plate is laid flat, and the second connecting rod and the upper section are in a straight line when the back plate is fully lifted, forming two states in which they are self-locking respectively.

There are two sets of mounting rails 211, each set of mounting rails includes a transverse rail 2111 and a vertical rail 2112, wherein the transverse rail 2111 is arranged along the length direction of the base plate 21, and is used to install the pedal and the imitation trouser leg clamping part; the vertical rail 2112 is arranged along the width direction of the base plate, and the transverse rail and the vertical rail are kept perpendicular to each other, and is used to install the horizontal push component;

The lifting device 222 includes a first stepper motor 2221, a ball screw 2222 and a slider 2223. The first stepper motor 2221 is installed at the bottom of the stand. The signal input end of the first stepper motor 2221 is electrically connected to the signal output end of the controller, so as to drive the ball screw to rotate under the control of the controller; the ball screw 2222 is vertically installed on the stand, and the lower end is connected to the output end of the first stepper motor 2221; a trousers support frame is installed on the slider 2223, and the two sets of trousers support frames are kept facing each other. The slider 2223 is sleeved on the outside of the ball screw and screwed thereto, so that the slider 2223 is lifted and lowered along the axial direction of the ball screw when the ball screw 2222 rotates.

The imitation trouser leg clamping part includes a base frame 2311, a connecting curved rod 2312 and an elastic clamping sleeve 2313 as a clamping part. The lower end of the connecting curved rod 2312 is fixed on the transverse track through the base frame, and the elastic clamping sleeve is installed on the top of the connecting curved rod, and the two sets of elastic clamping sleeves of the imitation trouser leg clamping parts are located on the same side; the shape of the elastic clamping sleeve is an arc-shaped sleeve imitating the human calf, and the clamping inlet of the arc-shaped sleeve is kept facing the back of the user's calf, and a plurality of rectangular clamping grooves are provided on the elastic clamping sleeve for cooperating with the clamping support fixture;

The imitation trouser leg clamping part includes a clamping support fixture 2314 and a connecting rod 2315 as a movable part. The front part of the clamping support fixture 2314 is provided with an arc structure that can be clamped on the outside of the elastic clamping sleeve, and the front end surface of the clamping support fixture is provided with a clamping block 2316 that can be clamped into the rectangular clamping groove of the elastic clamping sleeve. The clamping depth of the clamping block is adjusted by adjusting the distance between the clamping support fixture and the elastic clamping sleeve; there are two connecting rods 2315, and the upper ends of the connecting rods are respectively installed with the two ends of the clamping support fixture, and the lower ends are respectively connected to the movable parts of the horizontal pushing components. The movement of the movable part of the horizontal pushing component drives the movement of the clamping support fixture to adjust the distance between the clamping support fixture and the elastic clamping sleeve.

The installation frame of the pushing mechanism 232 is installed as a rectangular frame, and a through hole is provided on the front end plate of the installation frame for the front end of the horizontal pushing component to pass through; a slide groove is provided on each of the two side plates of the installation frame along the length direction of the side plate;

The horizontal pushing component 2322 includes a pushing button 23221, a rocking arm 23222, a roller 23223, a screw rod 23224 and a return compression spring 23225. A short connecting rod is installed on each side of the pushing button. The outer end of the short connecting rod passes through the corresponding sliding groove of the mounting frame and is fixedly connected to the lower end of the connecting rod on the same side. A groove is provided on the surface of the pushing button, and the front end of the groove is located at the front end of the mounting frame, and the rear end of the groove is sunken to form a locking position; the first end of the rocking arm is hinged on the front end plate of the mounting frame, and the second end is installed with a roller that can be inserted into the groove, so that the roller can be moved in the rocking arm. It can slide along the groove contour when pulled, and when the roller slides into the top end of the groove or the locking position, the push button and the mounting frame are relatively fixed; the screw is inserted into the through hole of the front end plate of the mounting frame to keep the screw arranged along the vertical track direction, the inner end of the screw is fixedly connected to the front end of the push button, and the outer end passes through the mounting frame and extends forward to form a force-applying end for cooperating with the pedal mechanism; the return compression spring is sleeved on the screw between the front end face of the mounting frame and the push button, with its front end abutting against the inner end face of the front end of the mounting frame, and the rear end abutting against the front end face of the push button, so as to realize the return of the push button.

The wedge-shaped pushing block 2332 is installed at the front end of the screw rod, and its bottom is slidably installed on the vertical track, so that the wedge-shaped pushing block drives the screw rod to slide axially along the vertical track; the surface of the wedge-shaped pushing block is provided with an inclined pushing surface, and the front end height of the pushing surface is lower than the rear end height of the pushing surface; a roller 2333 is installed at the bottom of the pedal 2331, and the roller 2333 is pressed on the pushing surface of the wedge-shaped pushing block, and the position of the wedge-shaped pushing block is adjusted by adjusting the pressure of the roller pressing on the pushing surface.

The mounting track 211 further comprises a crossbeam 2113, which is horizontally mounted above the same set of vertical tracks, so that when the pedal is in a horizontal stepping state, the bottom of the pedal just contacts the surface of the crossbeam to be supported at the bottom of the pedal.

Embodiment 2 The present invention provides an integrated assistive device for elderly people to get up and go to bed, comprising a getting up and lying down unit 1, a trousers putting on and taking off unit 2 and a control unit, wherein the getting up and lying down unit 1 comprises a back lifting mechanism 11, an armrest linkage lifting mechanism 12 and a leg board lowering mechanism 13, the trousers putting on and taking off unit is arranged below the leg board lower mechanism, and comprises a base plate, at least one pair of waist support lifting mechanisms, at least one pair of trouser leg support mechanisms and a position adjustment mechanism, and the control unit comprises a controller and a human-computer interaction module;

Backboard lifting mechanism: As shown in Figure 2, the backboard, including the main backboard and the side backboard, adopts a "three-stage" design, and each board is connected by a hinge. The two side backboards can first be flipped up 45 degrees, and then the main backboard is lifted to protect the elderly. When the lifting mechanism is activated, the backboard will be lifted first to allow the elderly to move to a safe position to prevent the elderly from falling out of the bed during the lifting or lowering process, as shown in Figure 3.

The power source for lifting the backboard is the backboard stepper motor. The motor drives the nut on the lead screw to move. The sliding connecting rod is connected to the nut with a bolt group. The nut drives the nuts on the optical axes on both sides to move synchronously. The nut drives the herringbone connecting rod to push the backboard to lift. The first connecting rod of the herringbone connecting rod is divided into two sections. The lower end of the lower section is connected to the nut, the upper section is connected to the side backboard of the backboard through a joint bearing, and the second connecting rod is connected to the bottom stationary base. When the backboard is laid flat (as shown in Figure 3) (i.e., the bed is lying flat), the lower section and the upper section of the first connecting rod are in a straight line. When the backboard is fully lifted, the second connecting rod and the upper section are in a straight line. When the two states are formed, they are self-locked respectively, and the reliability is high. The installation plane of the base is cleverly designed as a slope, so that the backboard lifting mechanism is placed directly below the bed backboard. Avoid the mechanism being too long and occupying the external space of the bed, which brings inconvenience to installation and use.

Armrest linkage lifting mechanism: As shown in Figure 4, a rectangular groove is opened on both sides of the bed seat, and the remaining rectangular material is used as the automatic lifting armrest of the elderly bed. The armrest and the seat are connected by multiple first slide rods, and the first slide rods can slide in the seat track. Two "ivory" type first push rods are designed and installed under the leg board (see Figure 5 for the specific structure), so that the first push rod and the armrest are in the same vertical plane, and rollers are installed on the first push rod to reduce the friction when the push rod and the armrest move relative to each other. When the leg board is lowered to a certain position, the roller on the "ivory" type first push rod contacts the armrest. When the leg board continues to be lowered, the roller on the "ivory" push rod lifts the armrest, realizing that when the elderly need to get out of bed, the armrest is linked to rise by the lowering of the leg board. When the elderly have finished going to bed and need to flatten the bed board, the leg board tends to be flattened, and the roller on the "ivory" type first push rod releases the armrest, and the armrest returns to the rectangular groove of the seat board by its own weight, realizing the function of automatic lowering of the armrest.

Leg board lowering mechanism: As shown in Figure 6, the leg board lowering mechanism is mainly composed of a first leg board connecting rod, a second leg board connecting rod, a long pin shaft, a fixed hinge, a gas spring and a horizontal pushing device, wherein the gas spring is compressed, giving the joint a continuous force to the left, thereby flattening the leg board through the connecting rod. When the horizontal pushing device pushes the joint to the right, the gas spring continues to be compressed, and the leg board is lowered. When the driving force is removed, the joint moves to the left again under the action of the gas spring, driving the leg board to rise and lay flat. The horizontal pushing device is driven symmetrically on both sides by the backboard stepper motor at the same time. Since the drive on both sides is symmetrical, one side is introduced here, and the other side is the same. The horizontal pushing device is mainly composed of a second push rod, a push rod fixed sleeve, a sliding sleeve, a third push rod and a joint, wherein the third push rod is threadedly connected to the joint, and a sliding sleeve is provided on the outside of the second push rod, and the sliding sleeve is hinged to the sliding connecting rod. In order to prevent the elderly from rushing out of the bed when the backboard is raised, the device starts to lower the leg board when the backboard rises to a certain angle. In the design of the device, the second push rod is given an idle stroke, that is, after the lead screw drives the push rod to rise a certain distance, the second push rod contacts the third push rod, pushes the joint, and compresses the gas spring at the same time, driving the leg plate to move downward, as shown in Figure 7.

There is a pair of trouser leg support mechanisms, which are arranged side by side on the base plate between the two upright frames, including trouser leg clamps, a pushing mechanism and a pedal mechanism. The trouser leg clamps include an imitation trouser leg clamping part and an imitation trouser leg clamping part. The imitation trouser leg clamping part is made of 5mm thick ABS plastic to form an imitation trouser leg part, as shown in Figure 3. Its shape is crescent-shaped, fits the human calf part and forms a certain angle with the ground, which conforms to the ergonomic design. This component is an elastic component, and many conditions must be met in the selection of materials. Because the imitation trouser leg clamping part is in direct contact with the human calf part and is a component that needs to be stressed, ABS plastic with good strength, plasticity and safety is selected. Since the shape of the component is relatively complex and special, 3D printing is selected to make the model. The design of the imitation trouser leg clamping part strictly follows the essence of ergonomics. The diameter of the clamping part is designed to be 1-2cm larger than the normal elderly calf, so as to ensure that the elderly calf can fit normally and be inserted between the calf and the trouser leg. The clamping part forms a certain angle with the ground, making the use process of the elderly easier and faster.

The imitation trouser leg clamping part is made of the same material and also produced by 3D printing technology, as shown in FIG5 . Its shape fits the imitation trouser leg clamping part. Considering the stress and cost factors, the imitation trouser leg clamping part is designed to be hollow to reduce its mass and facilitate the linkage of other mechanisms.

The trouser leg clamp is directly connected to the push button of the push mechanism and moves with the movement of the push button. Since the push mechanism is provided with a return compression spring, there will be a "rebound" phenomenon, so there are two clamping blocks on the imitation trouser leg clamping part. When clamping, the clamping blocks will fill the rectangular clamping groove of the imitation trouser leg clamping part. After rebounding, a small part of the clamping block still fills the rectangular clamping groove of the imitation trouser leg clamping part, so that the clamping effect of the trouser leg is better.

Pushing mechanism: The design of this mechanism can realize the self-locking switch function by controlling the number of pushes, which is very suitable for tightening the trouser legs. As shown in Figure 12, the mechanism includes a mounting frame and a horizontal pushing assembly, and the horizontal pushing assembly includes a pushing button, a rocker, a roller, a screw and a return spring; the rocker is connected to the roller and can slide in the groove in the pushing button, and the mounting frame limits the freedom of the pushing button so that it can only move along one axis. Considering the factors that the pushing button needs a small friction coefficient and high compressive strength, cast iron is used, and the material is processed through welding, wire cutting, tapping and other steps. There are threaded holes on both sides and the front of the pushing button in this mechanism, and there are sliding grooves on both sides of the mounting frame. The screw and the pushing button, the screw and the connecting rod of the imitation trouser leg clamping part are fixed through threaded connection, thereby realizing the linkage process. After calculation, as shown in Figure 8, the groove in the push button is approximately heart-shaped, and the vertices are marked as ABCD in sequence, and the position of the vertex A of the groove is defined as the front end of the groove, and the vertex of the groove is smoothly transitioned to form a rounded corner; the edge between the vertex B and the vertex D of the groove is the bottom edge of the groove, and the vertex C formed by the bottom edge of the groove concave toward the center is the locking position; when the pedal is not stepped on, the roller is located at the vertex A. As the pedal is stepped on, the push button slides forward under the pull of the screw, and at this time the ball moves along the groove The edge moves from vertex A to vertex B, and the pedal is in a horizontal state. When the force disappears, the return spring contracts, pulling the push button in the opposite direction (i.e., the "rebound" phenomenon mentioned above), and the roller is stuck in the depression C in the groove, realizing the self-locking function. When the push button is pushed again, the roller moves along the groove and reaches vertex D. When the force disappears, the return spring contracts and pulls the push button, causing the roller to return to vertex A in the groove. The entire process uses the ingenious design of the groove shape to realize the self-locking switch function. This design is very convenient for the elderly to use. They only need to step on the pedal to trigger the trouser leg support mechanism to achieve the process of clamping and loosening the trouser legs.

Pedal mechanism: Make full use of the movement characteristics of the trouser leg support mechanism, and combine hinges, pedals, rollers, wedge-shaped push blocks, slide rails and other components to cleverly transform the force and movement direction. The specific implementation method is as follows: install a roller under the pedal, the roller fits the wedge-shaped push block, the wedge-shaped push block is connected to the push button and installed in the horizontal vertical track, and the push button and the connecting rod are connected by a screw to achieve linkage. When the user steps on the pedal, the rotating pedal uses the roller to push the wedge-shaped push block on the horizontal guide rail, giving the push button a force until the push button reaches the self-locking position, completing the self-locking action of stepping on the pedal, as shown in Figure 13. When the user steps on the pedal again, the push button is released, and the spring force of the trouser leg support mechanism is used to drive the wedge-shaped push block on the vertical guide rail back to the initial position. At the same time, the wedge-shaped push block drives the roller under the pedal, so that the pedal returns to the initial position, completing the rebound and release action of stepping on the pedal again, as shown in Figure 14.

Waist support lifting mechanism: The device needs a transmission mechanism that can stably rise or fall during the process of putting on and taking off pants. The ball screw has the advantages in this respect. It can not only rise stably, but also has the advantages of high precision, reversibility, high efficiency, and easy operation. Through investigation, the data of the height and leg length of the elderly were obtained, and combined with the overall mechanism size, the effective stroke of the ball screw was finally determined to be 600mm. A 57 stepper motor with a torque of 2.3N·m was selected as the driving device to drive the movement of the waist support frame to replace the bending action of the elderly. As shown in Figure 9, the slider can move vertically on the ball screw and drive the waist support frame to move stably. The speed and direction of the slider can be controlled by adjusting the speed and direction of the stepper motor, so as to realize the process of taking off and putting on pants.

Stand: The device requires a lightweight and high-strength material as the stand. Aluminum profiles meet the requirements in terms of corrosion resistance, strength, quality, price, etc., so aluminum profiles are used for frame assembly. According to the data obtained from the survey, it is concluded that the height of the trousers of most elderly people is 800mm. Since there is a height of 150mm between the trouser leg clamping mechanism and the ground, the dimensions of the equipment frame are determined as: 1000mm high, 1200mm long, and 400mm wide. This can not only meet the needs of most elderly people, but also reduce the floor space and reduce the total weight of the equipment. The general assembly is shown in Figure 8.

Position adjustment mechanism: As shown in Figure 15, the third stepper motor is a 57 stepper motor, which drives the third lead screw. A slider additional plate is installed above the sliding nut to connect the profile, and a connecting frame is installed on the additional plate. Both are 4040 profiles. At the same time, the profile is connected to the waist support and lifting mechanism of the trouser putting on and taking off unit, driving the trouser putting on and taking off unit to move horizontally.

A trouser putting on and taking off unit is placed under the leg board. When the back board starts to rise, the trouser putting on and taking off unit starts to move outward under the action of the third screw. Before the leg board is under the trouser putting on and taking off unit, the trouser putting on and taking off unit moves into place. Then the leg board starts to move under the trouser putting on and taking off unit slowly retracts to the position of the user's feet and self-locks. Then the user can put on trousers. When the user needs to take off trousers and go to bed, after the user completes the trouser taking off action and presses the lying button, a series of actions are performed in the opposite direction to the above actions: while the trouser putting on and taking off mechanism moves outward, the back board and leg board are slowly laid flat. After the leg board is laid flat, the trouser putting on and taking off mechanism is retracted to the bottom of the leg board according to a predetermined procedure, saving space. In order to reduce the friction generated during relative movement with the ground, rollers are installed under the bottom plate of the overall trouser putting on and taking off mechanism to change sliding friction into rolling friction. Considering the environment in which the invention is used at home, installing rollers can also protect the ground.

Control unit: The control unit of the auxiliary machine is mainly composed of a controller and a human-computer interaction module. The controller has three driving parts-the backboard stepper motor under the backboard, the first stepper motor of the lifting device, and the third stepper motor of the position adjustment mechanism. All three driving parts are stepper motors, which can realize pulse rotation and have more precise control performance than DC motors. The power switch model is S-350-48, the input voltage is 220V AC voltage, the output voltage is 48V DC voltage, the rated output current is 7A, and the output power is 350W. With this power switch, the external power supply can be directly connected to the household universal 220V AC power to achieve normal operation of assisting the elderly to put on and take off pants. No additional matching power supply is required, which provides convenience for actual use.

Specifically, the drive motor under the back panel is an 86 stepper motor, an HBS86H driver, and a switching power supply. The motor model is 86HSE12N, which can achieve a maximum load speed of 1000r/min (adjustable), an output torque of up to 12N·m, and a two-phase four-wire output shaft mode. When used with the HBS86H driver, it can achieve a large load lifting movement and can reliably assist the elderly in the movement process from lying flat to lifting the backrest to a 70° position. The control system uses the Dopcon TC55 three-axis controller, which can stably control the auxiliary bed and achieve effective and smooth operation of the backrest lifting process even when the load is heavy.

The driving motor of the trousers putting on and taking off unit is composed of two 57 stepper motors, a TB6600 driver and a switching power supply. The motor model is 57HSZ1.2N, which can achieve a maximum speed of 300r/min (adjustable), an output torque of up to 1.2N·m, and a single output shaft. When used with the HBS57 driver, it can assist the elderly in putting on and taking off their pants. The control system uses the Dopcon TC55 three-axis controller, which can control two stepper motors at the same time, realize the synchronous operation of the "trouser waist clip", and ensure the effective and smooth operation of the trousers putting on and taking off process.

The third stepper motor of the position adjustment mechanism uses a 57 stepper motor, a TB6600 driver and a switching power supply. The motor model is J-5718HB2401, with a holding torque of 1.3N·m. When used with the HBS57 driver, it is enough to drive the lead screw slider to push the entire trouser dressing and undressing mechanism. The control system uses the Dopcon TC55 three-axis controller, which can stably achieve the motion coordination between the auxiliary bed and the trouser dressing and undressing mechanism through linear interpolation.

The controller uses a convenient and effective controller to control the motor, which can adjust the motor speed to a reasonable value, and the control is visualized, which is convenient for later debugging. Dopcon three-axis controller: automatic execution can realize actual operation, dry run, single-segment execution, program termination, start and pause functions. Manual execution can realize manual high and low speed, jog operation, program return to zero, mechanical return to zero and other operations. Up to three axes can be controlled simultaneously, saving space, and assisting the elderly to get up and lie in bed, put on and take off pants smoothly, and the control is convenient.

The working function and performance analysis of the auxiliary machine

(1) Main functions: to provide overall assistance to the elderly in getting in and out of bed; to provide assistance in putting on pants; to provide assistance in taking off pants; to provide automatic 0-70 degree back lifting function; to have a certain protective effect; to provide linkage with the lower part of the leg board; to provide linkage with the lifting and lowering function of the armrests; to provide automatic removal and retraction of the putting on and taking off pants mechanism.

(2) Performance Analysis

Table 1 Screw parameters of the lifting and lowering unit

Table 2 Parameters of the second screw of the trousers putting on and taking off unit

Table 3 Parameters of the third screw of the trousers putting on and taking off unit

Example 3 The steps of taking off pants using the device for assisting the elderly in putting on and taking off pants described in Example 2 are as follows:

(1) Start the device: plug in the power supply to power the device;

(2) Clamping the trouser legs: This step is the core step. Before taking off the trousers, the heel should be pressed against the imitation trouser leg clamping part in the trouser leg support mechanism, and then the imitation trouser leg clamping part should be inserted between the calf and the trouser leg. While the foot is lowered, the foot pedal is stepped on at the same time to trigger the pushing mechanism. The pushing mechanism links the imitation trouser leg clamping part to adjust the distance between the imitation trouser leg clamping part and the imitation trouser leg clamping part, so that the imitation trouser leg clamping part and the imitation trouser leg clamping part are in a clamped state. Since the trouser leg support mechanism and the pedal are initially at a certain angle with the ground, this process can ensure smooth movement;

(3) Open the waistband: After clamping the trouser legs, use the waist support lifting mechanism to adjust the two waist support frames to the appropriate height at the same time, and then put the trouser waist on the waist support frame to open the trouser waist and fix the relative position relationship between the trouser waist and the waist support frame to ensure that the trousers can be taken off smoothly;.

(4) Start the stepper motor: After completing the above three actions, start the stepper motor to drive the vertical displacement of the waist support frame through the screw mechanism to lower the waist of the pants. After the lowering is completed, the elderly can lift their legs and pull their feet out of the trouser legs.

Example 4: The device for assisting an elderly person in putting on and taking off pants described in Example 2 is used to put on pants. The process is as follows:

The process of putting on pants is basically the same as that of taking off pants. Since the pants are fixed on the mechanism after taking off the pants, you only need to put your feet into the trouser legs, stand up, start the stepper motor, use the ball screw to drive the waist support frame, take the trouser waist out of the waist support frame, and then the elderly step on the pedal again to trigger the trouser leg support mechanism, link the trouser leg clamp, and change its state to a relaxed state. At this time, the elderly can walk out of the device freely.

The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the inventive concept. The protection scope of the present invention should not be regarded as limited to the specific forms described in the embodiments. The protection scope of the present invention also includes equivalent technical means that can be thought of by those skilled in the art based on the inventive concept.

Claims (8)

1. An old man's integration auxiliary machine that goes up and go to bed, its characterized in that includes:

the lifting unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism, wherein the back lifting mechanism comprises a base, a backboard lifting part and a backboard, and the upper part of the base is provided with a front high and rear low installation plane for installing the backboard lifting part; the backboard lifting part is arranged on the mounting surface of the base, and the lifting end of the backboard lifting part is connected with the bottom of the backboard and used for driving the rear part of the backboard to lift; the backboard is arranged at the upper lifting end of the backboard lifting part and is used for lifting the back of a user to synchronously lift the back of the user; the handrail linkage lifting mechanism comprises a seat plate, a handrail linkage device and a handrail, wherein the rear part of the seat plate is hinged with the front part of the back plate, and two sides of the seat plate are respectively provided with a chute for accommodating the handrail; the handrail linkage device comprises a sliding part and a lifting part, wherein the handrail is arranged at the top of the sliding part, and the bottom of the sliding part is inserted into the sliding groove and is in sliding fit with the sliding groove; the front end of the lifting part is fixedly arranged at the rear part of the leg plate lowering mechanism, and the rear end is lifted upwards to form a lifting end which is used for lifting the handrail to upwards lift the handrail; the leg plate lowering mechanism comprises a leg plate, a multi-stage transmission connecting rod assembly, a gas spring and a horizontal pushing device, wherein the rear part of the leg plate is hinged with the front part of the seat plate; the upper end of the multistage transmission connecting rod assembly is hinged with the bottom of the leg plate, and the lower end of the multistage transmission connecting rod assembly is in sliding connection with the pushing end of the horizontal pushing device and is used for putting down or lifting the leg plate; the rear end of the horizontal pushing device is hinged with the lower movable end of the lifting part of the backboard, and the front end of the horizontal pushing device is used as a pushing end and is hinged with the lower end of the multi-stage transmission connecting rod assembly and used for putting down the leg board; the horizontal movable end of the gas spring is hinged with the lower end of the multi-stage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plates;

the trousers putting on and taking off unit is arranged below the leg plate lower mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trousers leg supporting mechanisms and a position adjusting mechanism, wherein the base plate is provided with a horizontal mounting surface, and a mounting rail is arranged on the mounting surface and is used for mounting the trousers leg supporting mechanisms; the lumbar support lifting mechanisms are symmetrically arranged on two sides of the base plate respectively and comprise a vertical frame, a lifting device and a lumbar support frame, wherein the vertical frame is vertically arranged on the base plate and used for supporting the lifting device; the lifting device comprises a fixed guide part and a lifting part, wherein the fixed guide part is arranged on the vertical frame, the lifting part is slidably arranged on the fixed part, a waist support frame for fixing the waist of trousers is arranged on the lifting part, and the two waist support frames are kept opposite to each other and used for driving the waist of trousers to lift so as to realize trousers wearing and taking off; the trouser leg supporting mechanism is arranged on the base plate between the two vertical frames side by side and comprises a trouser leg clamp, a pushing mechanism and a pedal mechanism, wherein the trouser leg clamp comprises a trouser leg imitating clamping part and a trouser leg imitating clamping part, the bottom of the trouser leg imitating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg imitating clamping part is provided with a clamping part which is used for being clamped at the rear part of the lower leg of a user and attached to the lower leg; the bottom of the trouser leg imitating clamping part is arranged at the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping supporting clamp which can be clamped outside the clamping part and is used for supporting or loosening trouser legs; the pushing mechanism comprises a mounting frame and a horizontal pushing assembly, wherein the mounting frame is mounted on a mounting rail below the clamping part and is used for mounting the horizontal pushing assembly; the horizontal pushing assembly is arranged in the mounting frame in a sliding manner, and the front end of the horizontal pushing assembly extends out of the mounting frame to form a force application end for being matched with the pedal mechanism; the side surface of the horizontal pushing component is connected with the bottom of the clamping support clamp and is used for driving the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the clamping part of the simulated trouser clamp; the pedal mechanism comprises a pedal and a wedge-shaped pushing block, the wedge-shaped pushing block is arranged at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged to the mounting rail, the front end of the pedal extends to the position right above the wedge-shaped pushing block, and the horizontal pushing assembly is driven to move by controlling the pedal; the position adjusting mechanism comprises a third stepping motor, a third lead screw and a connecting framework, wherein the third stepping motor is arranged at the front end of a base of the back lifting mechanism, the third stepping motor and the third lead screw are both arranged along the movement direction of the pushing mechanism, and an output shaft of the third stepping motor is connected with one end of the third lead screw; the sliding nut is sleeved on the third screw rod and is in threaded connection with the third screw rod, so that the sliding nut moves along the axial direction of the third screw rod when the third screw rod is driven by the third stepping motor to rotate circumferentially; the rear end of the connecting framework is fixedly connected with the sliding nut, the front end of the connecting framework is fixedly connected with the vertical frame of the lumbar support lifting mechanism, and the connecting framework is used for synchronously driving the base plate and the lumbar support lifting mechanism to axially reciprocate along the third screw rod so as to adjust the position of the pedal mechanism;

The signal output end of the controller is electrically connected with the signal input end of the backboard lifting part, the signal input end of the lifting device of the lumbar support lifting mechanism and the signal input end of the position adjusting mechanism through a control circuit, and the signal input end of the controller is in signal or electrical connection with the signal output end of the man-machine interaction device and is used for controlling the movements of the back lifting mechanism, the leg board lowering mechanism, the lumbar support lifting mechanism and the pedal mechanism; the control circuit is provided with a power switch for controlling the on-off of the whole auxiliary machine;

The back plate lifting part comprises a back plate stepping motor, a screw nut pair, a linear guide rail, a sliding connecting rod and a herringbone connecting rod, wherein the back plate stepping motor is arranged at the front part of the installation plane of the base, and the output end of the back plate stepping motor is connected with the front end of a screw of the screw nut pair and used for driving the screw of the screw nut pair to rotate; the screw-nut pair comprises a first screw, a nut and a supporting bearing, wherein the two ends of the first screw and the optical axis are respectively arranged on the surface of the installation plane through corresponding supporting bearing brackets, the front end of the screw is connected with the output end of the back plate stepping motor, and the nut is sleeved outside the first screw and is in threaded connection with the first screw, so that the nut moves axially along the screw when the first screw rotates around the central axis of the first screw; the linear guide rail comprises an optical axis, a linear bearing and an optical axis supporting seat, the linear bearing can move freely along the axial direction of the optical axis, and the optical axis is supported on an installation plane by the optical axis supporting seat; the sliding connecting rod is perpendicular to the first screw rod, two ends of the sliding connecting rod are sleeved on the optical axis and fixedly connected with a linear bearing with a flange on the optical axis, and the sliding connecting rod is used for realizing synchronous movement of a screw nut and the linear bearing on the optical axis; the Y-shaped connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod, the bottom end of the first connecting rod is hinged to the sliding connecting rod, and the upper end of the first connecting rod is hinged to the other two connecting rods through a joint connector; the bottom end of the second connecting rod is hinged to the front part of the base, and the upper end of the second connecting rod is hinged to the upper end of the first connecting rod and the bottom end of the third connecting rod; the bottom end of the third connecting rod is hinged with the other two connecting rods, and the upper end of the third connecting rod is hinged with the backboard through a joint bearing, so that the backboard is supported to be lifted or lowered by the upper end of the third connecting rod in the moving process of the first connecting rod along with the sliding connecting rod, and the backboard and the seat are positioned on the same horizontal plane when the nut of the screw-nut pair moves to the rear end of the first screw;

The handrail linkage device is two sets, the sliding part comprises at least one pair of first sliding rods, the same pair of first sliding rods are arranged opposite to each other, and a gap is directly reserved between the two first sliding rods and used for the lifting part to pass through; the upper end of the first sliding rod is provided with a handrail, and the lower part of the first sliding rod is inserted into the sliding groove of the seat plate and is in sliding fit with the sliding groove; the lifting part comprises a first push rod and a roller, the first push rod is of an ivory structure, the front end of the first push rod is hinged to the bottom of the leg plate, the rear end of the first push rod is tilted upwards to form a pushing end for pushing the handrail, the rear end of the first push rod is provided with the roller for reducing friction force between the first push rod and the handrail, the roller at the pushing end of the first push rod is not contacted with the handrail when the seat plate and the leg plate are positioned on the same horizontal plane, and the roller is contacted with the handrail when the leg plate is lowered and pushes the handrail to lift from the sliding groove of the seat plate.

2. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the backboard comprises a main backboard and two side backboard, wherein two sides of the main backboard are respectively hinged with one side backboard, and the front end of the main backboard is hinged with the rear end of the seat board; the lower ends of the two sets of the herringbone connecting rods are respectively and symmetrically hinged to the two ends of the sliding connecting rod, and the upper ends of the herringbone connecting rods are respectively hinged to the bottoms of the side backboard on the same side through corresponding joint bearings.

3. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the multistage transmission connecting rod assembly comprises a first leg plate connecting rod, a long pin shaft and a second leg plate connecting rod, wherein the upper end of the first leg plate connecting rod is hinged with the bottom of a leg plate, and the lower end of the first leg plate connecting rod is hinged with the long pin shaft; two ends of the long pin shaft are respectively hinged with a second leg plate connecting rod, the corner of the second leg plate connecting rod is hinged with the fixed hinge support, and the lower end of the second leg plate connecting rod is respectively connected with the horizontal movable end of the gas spring and the front end of the horizontal pushing device in a sliding manner; the movement direction of the front end of the horizontal pushing device and the movement direction of the horizontal movable end of the gas spring are opposite or reverse; the horizontal pushing device comprises a second push rod, a push rod fixing sleeve, a sliding sleeve, a third push rod and a joint, wherein the rear end of the second push rod is vertical, and the sliding sleeve is sleeved outside the second push rod; the sliding sleeve is hinged with the sliding connecting rod; the front end of the second push rod is inserted into the push rod sleeve, and the front end of the second push rod form a sliding pair, so that the second push rod axially stretches along the push rod sleeve, and in the stretching process of the second push rod, the sliding sleeve vertically lifts along the second push rod; the rear end of the third push rod is inserted into the push rod fixing sleeve, the third push rod and the push rod fixing sleeve are in sliding connection, the front end of the third push rod horizontally slides in a lower end sliding groove of the second leg plate connecting rod, and the third push rod and the gas spring are coaxial; the sum of the maximum length of the second push rod inserted into the push rod sleeve and the maximum length of the third push rod inserted into the push rod sleeve is larger than the total length of the push rod sleeve, so that the leg plate lags behind the back plate.

4. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the mounting rails are two sets, each set of the mounting rails comprises a transverse rail and a vertical rail, wherein the transverse rails are arranged along the length direction of the base plate and are used for mounting pedals and the pants-like barrel clamping parts; the vertical rails are arranged along the width direction of the base plate, and keep the transverse rails and the vertical rails vertical to each other for installing the horizontal pushing assembly;

the lifting device comprises a first stepping motor, a ball screw and a sliding block, wherein the first stepping motor is arranged at the bottom of the vertical frame, and the signal input end of the first stepping motor is electrically connected with the signal output end of the controller and is used for driving the ball screw to rotate under the control of the controller; the ball screw is vertically arranged on the vertical frame, and the lower end of the ball screw is connected with the output end of the first stepping motor; the trousers supporting frames are arranged on the sliding blocks, the two trousers supporting frames are kept opposite, and the sliding blocks are sleeved outside the ball screw and are in threaded connection with the ball screw, so that the sliding blocks can axially lift and lower along the ball screw when the ball screw rotates.

5. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the trousers-like barrel clamping part comprises a base, a connecting bent rod and an elastic clamping sleeve as a clamping part, wherein the lower end of the connecting bent rod is fixedly arranged on a transverse track through the base, the elastic clamping sleeve is arranged at the top of the connecting bent rod, and the elastic clamping sleeves of the two trousers-like barrel clamping parts are positioned at the same side; the elastic clamping sleeve is an arc-shaped sleeve imitating the human shank, the clamping inlets of the arc-shaped sleeve are kept to face the rear part of the user shank, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and are used for being matched with the clamping supporting clamp;

The trousers-imitating clamp comprises a clamp support clamp and a connecting rod serving as a movable part, wherein the front part of the clamp support clamp is provided with an arc-shaped structure which can be clamped outside an elastic clamping sleeve, the front end surface of the clamp support clamp is provided with a clamping block which can be clamped into a rectangular clamping groove of the elastic clamping sleeve, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamp support clamp and the elastic clamping sleeve; the connecting rods are two, two ends of the clamping support clamp are respectively installed at the upper ends of the connecting rods, the lower ends of the connecting rods are respectively connected with the movable parts of the horizontal pushing assemblies, and the movable parts of the horizontal pushing assemblies move to drive the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the elastic clamping sleeve.

6. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the installation frame of the pushing mechanism is a rectangular frame, and a front end plate of the installation frame is provided with a through hole which penetrates through the front end of the horizontal pushing component; two side plates of the mounting frame are respectively provided with a chute arranged along the length direction of the side plates;

The horizontal pushing assembly comprises a pushing button, a rocker, a roller, a screw and a return pressure spring, wherein two sides of the pushing button are respectively correspondingly provided with a short connecting rod, the outer ends of the short connecting rods penetrate through corresponding sliding grooves of the mounting frame and are fixedly connected with the lower ends of connecting rods on the same side, grooves are formed in the surfaces of the pushing button, the front ends of the grooves are positioned at the front ends of the mounting frame, and the rear ends of the grooves sink inwards to form locking positions; the first end of the rocker is hinged to the front end plate of the mounting frame, the second end of the rocker is provided with a roller which can be inserted into the groove, so that the roller can slide along the contour of the groove under the pulling of the rocker, and when the roller slides into the top end or the locking position of the groove, the relative fixation between the push button and the mounting frame is realized; the screw rod is inserted in a through hole of the front end plate of the mounting frame, the screw rod is kept to be arranged along the vertical track direction, the inner end of the screw rod is fixedly connected with the front end of the push button, and the outer end of the screw rod penetrates out of the mounting frame and then extends forwards to form a force application end for being matched with the pedal mechanism; the return pressure spring is sleeved on a screw rod positioned between the front end face of the installation frame and the push button, the front end of the return pressure spring is propped against the inner end face of the front end part of the installation frame, and the rear end of the return pressure spring is propped against the front end face of the push button and is used for realizing the return of the push button.

7. The integrated auxiliary machine for getting up and going to bed for old people according to claim 6, wherein: the wedge-shaped pushing block is arranged at the front end of the screw rod, and the bottom of the wedge-shaped pushing block is slidably arranged on the vertical rail, so that the wedge-shaped pushing block drives the screw rod to axially slide along the vertical rail; the surface of the wedge-shaped pushing block is provided with an inclined pushing surface, and the front end of the pushing surface is lower than the rear end of the pushing surface; the bottom of the pedal is provided with a roller, the roller is pressed on the pushing surface of the wedge-shaped pushing block, and the position of the wedge-shaped pushing block is adjusted by adjusting the pressure of the roller pressing on the pushing surface.

8. The integrated auxiliary machine for getting up and going to bed for old people according to claim 4, wherein: the mounting rail also comprises a cross beam, and the cross beam is horizontally arranged above the same group of vertical rails, so that the pedal is in a horizontal stepping state, and the bottom of the pedal is just contacted with the surface of the cross beam so as to be supported at the bottom of the pedal.