CN111839916A - Transfer robot - Google Patents

Abstract

The invention provides a transfer robot, comprising: a mobile chassis, a seat posture adjustment mechanism, and a seat; the seat posture adjustment mechanism is fixed on the mobile chassis, and the seat is arranged on the seat posture adjustment mechanism ; The seat posture adjustment mechanism includes a column, an electric push rod, and a seat support beam; one end of the electric push rod is connected to the column, and the other end of the electric push rod is connected to the seat support beam; the column and the seat The support beam is connected, and the telescoping of the electric push rod can adjust the height of the seat support beam, thereby adjusting the height of the seat. By adopting the technical scheme of the present invention, auxiliary support can be provided for people with reduced lower extremity function to achieve transfer between different positions indoors, and to provide auxiliary support for indoor sitting and standing. According to the physical condition, the user can complete the transfer between the bed and the seat and the transfer between the seat and the toilet independently or with the assistance of the present invention, so as to improve the user's confidence in life and relieve stress. The labor intensity of the nursing staff; and can stand up with the assistance of the present invention to promote the blood circulation of the lower limbs, maintain the body function, and promote the health.

Description

A transfer robot

technical field

The invention relates to the field of robots, in particular to a transfer robot.

Background technique

At present, the problem of population aging is becoming more and more serious. Taking care of the living and daily life of the elderly has become a difficult problem for every family in today's society, especially for the elderly with physical illness. The problem of transfer and mobility is an urgent problem to be solved by the frail elderly and disabled people with lower extremity function decline. Such people are often unable to complete the transfer between different positions and walk on their own due to insufficient lower limb strength, and need the assistance of nursing equipment or the help of nursing staff to complete the above behaviors. However, the existing nursing equipment such as lifts, wheelchairs, etc. cannot solve the problems of transfer and movement of such people at the same time, and it is inconvenient for users and nursing staff to operate.

In order to overcome the insufficiency of existing products, it is necessary to provide a transfer nursing robot to help people with mobility impairments transfer in different locations.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the existing products, the present invention provides a transfer robot to solve the problem that the prior art cannot provide transfer and movement at the same time.

The invention provides a transfer robot, comprising: a mobile chassis, a seat posture adjustment mechanism, and a seat;

The seat posture adjustment mechanism is fixed on the mobile chassis, and the seat is arranged on the seat posture adjustment mechanism;

The seat posture adjustment mechanism includes a column, an electric push rod, and a seat support beam; one end of the electric push rod is connected to the column, and the other end of the electric push rod is connected to the seat support beam; the column and the seat support The beam is connected, and the telescoping of the electric push rod can adjust the height of the seat support beam, thereby adjusting the height of the seat.

Further, the seat posture adjustment mechanism includes a first seat posture adjustment mechanism and a second seat posture adjustment mechanism, and the first seat posture adjustment mechanism and the second seat posture adjustment mechanism are symmetrically fixed in the moving position. on the chassis;

The seat is a half seat, including two half seats, respectively a first half seat and a second half seat, the first half seat is arranged on the first seat posture adjustment mechanism, the The second half seat is arranged on the second seat posture adjusting mechanism.

Further, the transfer robot also includes a controller;

The controller is used to control the extension and retraction of the electric push rod to control the height of the seat support beam, thereby adjusting the height of the seat;

The method for adjusting the height of the support beam is:

The extension of the electric push rod raises the height of the column, and the rise of the column drives the overall rise of the support beam.

Further, the transfer robot also includes a seat opening and closing mechanism;

The seat opening and closing mechanism includes a first seat opening and closing mechanism and a second seat opening and closing mechanism, and the first seat opening and closing mechanism and the second seat opening and closing mechanism are respectively fixed on the first seat for posture adjustment. mechanism and the second seat posture adjustment mechanism.

Further, the seat panel opening and closing mechanism adopts a parallelogram mechanism, including two connecting rods, one end of each connecting rod is hinged with the seat support beam, and the other end is hinged with the lower surface of the seat.

Further, the handle of the seat opening and closing mechanism is pushed to the outside of the seat to open the seat plate to realize the rotation of the double link along the hinge axis with the seat support beam, thereby opening the seat;

The seat is closed when the handle of the seat opening and closing mechanism is pushed toward the inner side of the seat plate.

Further, the column and the seat support beam are connected by a rotating shaft to form a rotating pair;

The transfer robot further includes a controller;

The method of adjusting the height of the support beam is as follows: the extension of the electric push rod raises the end of the support beam, that is, the end away from the rotation axis. At this time, one end of the support beam rotates around the rotation axis, so that the seat is inclined at a certain angle to the horizontal plane. .

Further, the transfer robot also includes a limit locking device;

The limit locking device includes a fixed piece and a movable piece, wherein the inside of the fixed piece includes a female stopper, a male buckle, an elastic arm, a coil spring, and a ball; the movable piece and the fixed piece are respectively installed on the connecting rod and the seat support. on the beam.

Further, when the seat needs to be locked and limited, the movable piece rotates around the ball, and squeezes the elastic arm of the male buckle of the fixing piece, so that the male buckle and the female buckle inside the fixing piece are engaged, and the groove part of the movable piece is closed. It is buckled with the ball at one end of the elastic arm of the male buckle, and the long end of the movable piece touches the side of the fixed piece and stops moving.

Further, when it is necessary to open the limit device to move the seat plate, continue to move for a short distance in the direction of the limit position, so that the male buckle and the female buckle inside the fixing piece are separated, the compression coil spring inside the male buckle is released, and the The elastic arm pops out, and the groove part of the movable piece rotates around the ball and gradually disengages from the ball, thereby pushing away the connecting rod fixed to the movable piece.

The transfer robot provided by the invention can realize the transfer between different indoor positions for people with lower limb function decline, and provide auxiliary support for indoor sitting and standing. According to the physical condition, the user can complete the transfer between the bed and the seat and the transfer between the seat and the toilet independently or with the assistance of the present invention, so as to improve the user's confidence in life and relieve stress. The labor intensity of the nursing staff; and can stand up with the assistance of the present invention to promote the blood circulation of the lower limbs, maintain the body function, and promote the health.

Description of drawings

1 is a schematic structural diagram of a transfer robot according to an embodiment of the present invention;

2 is a schematic structural diagram of a seat posture adjustment mechanism in a transfer robot according to an embodiment of the present invention;

3 is a schematic structural diagram of a seat opening and closing mechanism in a transfer robot according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an upward tilting of a seat of a transfer robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a seat tilting down of a transfer robot according to an embodiment of the present invention;

6 is a schematic structural diagram of a fixing member of a position-limiting locking device for a transfer robot according to an embodiment of the present invention;

7 is a schematic structural diagram of a movable part of a position-limiting locking device for a transfer robot according to an embodiment of the present invention;

8 is a schematic diagram of a position-limiting locking device for a transfer robot in a locked state according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an open state of a limit locking device for a transfer robot according to an embodiment of the present invention.

Reference number:

1-mobile chassis, 2-seat posture adjustment mechanism, 3-seat opening and closing mechanism, 4-half seat, 5-armrest;

6-front guardrail, 7-controller, 21-post, 22-electric push rod, 23-seat support beam, 24-rotating shaft;

31-link, 32-handle, 4-seat board, 81-fixed part, 82-movable part;

811-Female buckle, 812-Male buckle, 813-Elastic arm, 814-Coil spring, 815-Ball

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

This embodiment provides a transfer robot, as shown in FIG. 1 , including: a mobile chassis 1 , a seat posture adjustment mechanism 2 , a seat opening and closing mechanism 3 , and a seat 4 ;

The seat posture adjustment mechanism 2 includes a first seat posture adjustment mechanism and a second seat posture adjustment mechanism, and the first seat posture adjustment mechanism and the second seat posture adjustment mechanism are symmetrically fixed on the mobile chassis 1 from left to right. The seat opening and closing mechanism 3 includes a first seat opening and closing mechanism and a second seat opening and closing mechanism, and the first seat opening and closing mechanism and the second seat opening and closing mechanism are respectively fixed on the first seat adjustment mechanism. On the posture mechanism and the second seat posture adjustment mechanism, the seat 4 includes two half-seats, respectively a first half-seat and a second half-seat, the first half-seat is arranged on the first seat adjustment On the posture mechanism, the second half seat is arranged on the second seat posture adjustment mechanism;

The first half seat and the second half seat are respectively connected with the first seat opening and closing mechanism and the second seat opening and closing mechanism.

The mobile chassis 1 is an omnidirectional mobile chassis or a differential wheel chassis.

Each seat posture adjustment mechanism 2 includes a column 21 , an electric push rod 22 , and a seat support beam 23 . One end of the electric push rod 22 is connected to the upright column 21 , and the other end of the electric push rod 22 is connected to the seat support beam 23 . The upright column 21 and the seat support beam 23 are connected by a rotating shaft 24 to form a rotating pair. The telescoping of the electric push rod 22 can adjust the height of the support beam 23, thereby adjusting the height of the seat.

Specifically, the height of the adjusting support beam 23 can be the extension of the electric push rod 22 to raise the end of the support beam 23, that is, the end away from the rotating shaft 24, and at this time one end of the support beam 23 rotates around the rotating shaft; it can also be The extension of the electric push rod 22 raises the height of the column 21 , and the rise of the column 21 drives the supporting beam 23 to rise as a whole.

Further, the inclination of the seat can be adjusted through the extension of the electric push rod 22, so that the seat board is at a certain angle with the horizontal plane.

Further, the transfer robot further includes a controller 7 for controlling the electric push rod 22. When the seat needs to be raised, the controller 7 controls the electric push rod 22 to extend so that the seat supports The beam 23 is raised to raise the seat; when the seat needs to be lowered, the controller 7 controls the electric push rod 22 to retract, so that the seat support beam 23 is lowered to lower the seat.

When the inclination of the seat needs to be adjusted, the controller 7 controls the rotation shaft 24 to rotate, so that the seat surface and the horizontal direction form a certain angle, that is, the seat is in an up or down state. As shown in Figure 3.

Through the posture adjustment mechanism, the seat support beam can be tilted forward, which can help the sedentary elderly to change from a sitting posture to a standing posture, thereby promoting the blood circulation of the lower limbs of the elderly, which is conducive to physical recovery. In addition, the electric push rod on the underside of the seat occupies a small space, which saves the bottom space. When the robot moves to the position in front of the bed or the toilet, it can reduce the possibility of physical interference between the robot and the bed or toilet, such as the robot's moving site 1 It can reach into the bottom of the bed, and the seat part can also be located above the bed instead of only stopping at a certain distance from the bed.

Further, the transfer robot also includes a handrail 5 and a front guardrail 6;

The armrest 5 includes a first armrest and a second armrest. The first armrest and the second armrest are respectively arranged on the seat support beams 23 on the left and right sides. The front guardrail 6 is arranged above the armrest 5 and spans the first armrest. With the second armrest, it protects the user and prevents slipping when leaning forward.

As shown in FIG. 3 , the seat plate opening and closing mechanism 3 adopts a parallelogram mechanism to realize the opening and closing of the seat, and includes two connecting rods 31 , one end of each connecting rod 31 is hinged with the seat support beam 23 , and the other end is hinged It is hinged with the lower surface of the seat board, and the handle 32 installed on the seat board is used to push the seat board to the outside of the seat to realize the rotation of the double link 31 along the hinge axis with the seat support beam, thereby opening the seat board , the process of closing the seat panel is similar, and the seat panel is closed by pushing the seat panel to the inner side of the seat through the handle.

This mechanism can make the increased distance between the two seat panels 4 larger than the sum of the outward displacements of the two seat panels after the seat is fully opened, which can reduce the width of the entire seat after the seat panel is opened, and more It is suitable for household occasions such as bathrooms with narrow space.

Furthermore, in order to improve the safety of product use, it is necessary to limit the movement trajectory of the opening and closing of the seat to a certain range of motion to ensure the controllability of the movement. The plate needs to be able to remain in a fully open or closed state, so a set of limit locking devices is designed.

As shown in FIG. 6 and FIG. 7 , the limit locking device includes two parts: a fixed part 81 and a movable part 82 , wherein the fixed part 81 includes a female snap 811 , a male snap 812 , an elastic arm 813 , a coil spring 814 , Ball 815. The movable member 82 and the fixed member 81 are respectively mounted on the connecting rod and the seat support beam.

As shown in FIG. 8 , when the seat is closed to the end position, the movable piece 82 rotates around the ball and squeezes the elastic arm of the male buckle of the fixing piece 81 , so that the male buckle and the female stopper inside the fixing piece 81 are engaged, and the movable piece 82 is moved. The groove part of the piece 82 is engaged with the ball at one end of the elastic arm of the male buckle, and the long end of the movable piece 82 touches the side of the fixed piece to stop movement, thereby limiting the range of movement. The engagement force of the ball at one end of the arm maintains the current position of the link and does not loosen.

As shown in Fig. 9, when the seat board needs to be opened, it needs to continue to move for a short distance in the direction of the limit position, so that the male buckle and the female buckle inside the fixing member 81 are separated, the compression coil spring inside the male buckle is released, and the male buckle is released. The elastic arm pops out, and the groove part of the movable piece 82 rotates around the ball and gradually disengages from the ball, thereby pushing away the connecting rod fixed to the movable piece.

When the seat is fully opened to the limit position, the limit locking device is also required for limit fixing, but the locking limit device used for locking the seat when the seat is closed to the end position is the same as when the seat is fully opened. The locking and limiting devices for locking are installed in different positions, for example, but not limited to, the movable part for limiting the seat when the seat is closed is installed on the connecting rod 31a as shown in FIG. 3 , and the fixed part is installed on the The seat support beam 23 is close to the side of the rotating shaft; the movable part for limiting the seat when the seat is fully opened is installed on the connecting rod 31a as shown in FIG. 3 , and the fixed part is installed on the seat support beam 23 away from the rotation side of the shaft.

Applications

As shown in Figure 2, when the transfer or riding position is far below the seat plane of the transfer robot, the controller controls the electric push rod to retract, so that one end of the seat support beam is lowered, and the seat plane is lowered and slightly higher than Transfer or seating position; when the transfer or seating position is higher than the seat board plane of the rear split seat robot, the controller controls the electric push rod to extend, so that one end of the seat support beam is lifted up, and the seat board plane Elevate to just above the transfer or ride position. And cooperate with the action of the seat opening and closing mechanism to realize the transfer between the transfer robot and the transfer or sitting position. At the same time, by lifting a section of the seat support beam upwards, the user can be assisted to stand up and the blood circulation of the lower limbs can be promoted.

As shown in Figure 3, when the seat plane of the transfer robot is slightly higher than the transfer position, the user independently or with the assistance of the nursing staff will turn the body's center of gravity to the side of the seat, while the user or the nursing staff pass the seat The handle on the chair pulls away the seat panel on the side where the user's body is raised, and then the user shifts the center of gravity to the side where the seat panel is opened, the body sits on the transfer or sitting position, and then the body is placed on the side. The seat panel on the raised side is pushed open to realize the transfer. The process for transferring from a seating position (such as a bed) to a rear-split seat robot is similar.

The technical scheme of the present invention can easily assist the user to realize transfer, and can also assist the user to stand up and promote the blood circulation of the lower limbs, and has the advantages of simple structure and convenient and reliable action execution.

Claims (10)

1. A transfer robot, comprising: a mobile chassis, a seat posture adjustment mechanism, and a seat; The seat posture adjustment mechanism is fixed on the mobile chassis, and the seat is arranged on the seat posture adjustment mechanism; The seat posture adjustment mechanism includes a column, an electric push rod, and a seat support beam; one end of the electric push rod is connected to the column, and the other end of the electric push rod is connected to the seat support beam; the column and the seat support The beam is connected, and the telescoping of the electric push rod can adjust the height of the seat support beam, thereby adjusting the height of the seat. 2. The robot of claim 1, wherein: The seat posture adjustment mechanism includes a first seat posture adjustment mechanism and a second seat posture adjustment mechanism, and the first seat posture adjustment mechanism and the second seat posture adjustment mechanism are symmetrically fixed on the mobile chassis; The seat is a half seat, including two half seats, respectively a first half seat and a second half seat, the first half seat is arranged on the first seat posture adjustment mechanism, the The second half seat is arranged on the second seat posture adjusting mechanism. 3. The robot of claim 2, wherein: The transfer robot further includes a controller; The controller is used to control the extension and retraction of the electric push rod to control the height of the seat support beam, thereby adjusting the height of the seat; The method for adjusting the height of the support beam is: The extension of the electric push rod raises the height of the column, and the rise of the column drives the overall rise of the support beam. 4. The robot of claim 2, wherein: The transfer robot further includes a seat opening and closing mechanism; The seat opening and closing mechanism includes a first seat opening and closing mechanism and a second seat opening and closing mechanism, and the first seat opening and closing mechanism and the second seat opening and closing mechanism are respectively fixed on the first seat for posture adjustment. mechanism and the second seat posture adjustment mechanism. 5. The robot of claim 4, wherein: The seat board opening and closing mechanism adopts a parallelogram mechanism and includes two connecting rods, one end of each connecting rod is hinged with the seat support beam, and the other end is hinged with the lower surface of the seat. 6. The robot of claim 5, wherein: Pushing the handle of the seat opening and closing mechanism to the outside of the seat to open the seat plate to realize the rotation of the double link along the hinge axis with the seat support beam, thereby opening the seat; The seat is closed when the handle of the seat opening and closing mechanism is pushed toward the inner side of the seat plate. 7. The robot of claim 2, wherein: The upright column and the seat support beam are connected by a rotating shaft to form a rotating pair; The transfer robot further includes a controller; The method of adjusting the height of the support beam is as follows: the extension of the electric push rod raises the end of the support beam, that is, the end away from the rotation axis. At this time, one end of the support beam rotates around the rotation axis, so that the seat is inclined at a certain angle to the horizontal plane. . 8. The robot of claim 2, wherein: The transfer robot also includes a limit locking device; The limit locking device includes a fixed piece and a movable piece, wherein the inside of the fixed piece includes a female stopper, a male buckle, an elastic arm, a coil spring, and a ball; the movable piece and the fixed piece are respectively installed on the connecting rod and the seat support. on the beam. 9. The robot of claim 6, wherein: When the seat needs to be locked and limited, the movable piece rotates around the ball and squeezes the elastic arm of the male buckle of the fixing piece, so that the male buckle inside the fixing piece is engaged with the female buckle, and the groove part of the movable piece is connected with the male buckle. The balls at one end of the elastic arm are fastened together, and the long end of the movable piece touches the side of the fixed piece to stop moving. 10. The robot of claim 6, wherein: When it is necessary to open the movable seat plate of the limit device, continue to move a certain distance in the direction of the limit position, so that the male buckle inside the fixing piece and the female stopper are separated, the compression coil spring inside the male buckle is released, and the elastic arm of the male buckle pops out. The groove part of the movable piece rotates around the ball and gradually separates from the ball, thereby pushing away the connecting rod fixed with the movable piece.

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