CN112793642B - A labor-saving device and method for assisting the elderly - Google Patents

Abstract

The invention relates to a labor-saving assisting and lifting device for the elderly, belonging to the field of assisting the elderly, comprising a folding support mechanism, a linear sliding table mechanism, a movable carrier, a control mechanism, and a pair of eccentric wheel self-locking mechanical arms; a pair of eccentric wheels The self-locking mechanical arm is symmetrically arranged at the front end of the folding support mechanism, the folding support mechanism is arranged on the linear slide mechanism and can slide in the vertical direction, and the linear slide mechanism is installed on the movable carrier; among them, the control mechanism and the linear slide table The mechanism and the movable carrier are respectively connected with signals, which are used to control the movable carrier to move behind the support object, and to control the eccentric self-locking mechanical arm supported under the support object's armpit to move upward, so as to realize the function of lifting the support object. The lifting device of the present invention has no special requirements for the user, has strong operability, is easy to carry and store, can help the support object who is sitting on the ground and is difficult to get up, and effectively solves the problem of the support object being difficult to get up from falling to the ground. .

Description

A labor-saving device and method for assisting the elderly

technical field

The invention relates to the technical fields of smart home and old-age assistance machinery, in particular to a labor-saving device and method for assisting the elderly.

Background technique

With the development of science and technology and the improvement of medical level, the average life expectancy of Chinese people has been continuously improved, which has led to the continuous increase of the number of elderly people in my country. markets and opportunities. Therefore, the research and design of old-age robots are particularly important, and their development prospects are also very broad.

The purpose of the present invention is to design a labor-saving device for helping the elderly to get up, so as to meet the vacancy of the existing robot industry for helping the elderly and solve the problem of difficulty in getting up for the elderly.

SUMMARY OF THE INVENTION

In order to overcome the defects of the prior art, the purpose of the present invention is to provide a labor-saving device and method for assisting the elderly to stand up, so as to solve the problem that the elderly or persons with inconvenience cannot complete the sitting-to-stand-up.

To this end, the present invention proposes a labor-saving lifting device for the elderly, including a folding support mechanism, a linear sliding table mechanism, a movable carrier, a control mechanism, and a pair of eccentric wheel self-locking mechanical arms; a pair of the eccentric wheels The self-locking mechanical arm is symmetrically arranged at the front end of the folding support mechanism, the folding support mechanism is arranged on the linear slide mechanism and can slide in the vertical direction, and the linear slide mechanism is mounted on the movable carrier; The control mechanism is signal-connected to the linear slide mechanism and the movable carrier, respectively, and is used to control the movable carrier to move behind the elderly, and to control the self-locking of the eccentric wheel supported under the elderly's armpit. The robot arm moves upward to realize the function of lifting the elderly up.

Further, the linear slide mechanism includes a vertical support frame, a slide rail, a slider, a nut, a lead screw, a stepping motor, and a spacer, and the spacer is arranged at the front end of the nut; the folding support mechanism It includes a backing plate, a fixing bracket, and a fixing plate, the fixing plate is connected with the slider, and the backing plate is connected with the pad and the slider at the same time; the eccentric wheel self-locking mechanical arm includes a support A square tube and an L-shaped support rod, the rear end of the support square tube is connected with the fixing bracket, and the L-shaped support rod is connected with the fixing plate.

Further, the eccentric wheel self-locking mechanical arm also includes an eccentric wheel arranged at the front end of the supporting square tube, wherein the eccentric wheel and the supporting square tube are movably connected through a pair of stepped fixing plates, and the supporting square tube is movably connected. The upper side of the square tube is provided with a pressing square tube which is movably connected to it, the front end of the pressing square tube is in contact with the eccentric wheel, and when the pressing square tube moves downward, the eccentric wheel is forced to rotate from a horizontal state to a vertical state .

Further, an automatic reset device is provided between the supporting square tube and the pressing square tube, and the automatic reset device includes a reset spring, a linear bearing and a stepped bolt.

Further, the folding support mechanism further includes convex plates respectively provided at both ends of the fixed plate, wherein the fixed plate and the convex plate are movably connected by a spring hinge, and a circular tube base is provided on the front side of the convex plate. ; wherein, the circular tube base and the L-shaped support rod are detachably plugged, and the supporting square tube is movably connected to the fixed bracket through a hinge, so that the eccentric self-locking mechanical arm can wrap around the The fixing bracket is folded back to the outside of the vertical support frame.

Further, the movable carrier includes a bottom plate, an aluminum profile bracket, two universal wheels, and a pair of driving wheels controlled by the control mechanism.

Further, the front part of the bottom plate has a U-shaped groove, and the U-shaped groove is opposite to the U-shaped structure composed of a folding support mechanism and a pair of eccentric self-locking mechanical arms, so that the user's arms can be supported on the Eccentric wheel self-locking mechanical arm.

Further, the control mechanism includes a PLC controller, a lithium battery, a stepping motor driver, a travel switch, a remote control receiver and a remote controller, and the remote control receiver is signally connected to the stepping motor driver. further,

further,

The present invention also proposes a labor-saving method for helping the elderly, comprising the following steps:

S1: Use the remote control to control the labor-saving mobile carrier of the old lifting device to work, so that the lifting device can be moved to the side of the support object;

S2: Insert the two eccentric self-locking mechanical arms into the armpits of the supporting object;

S3: Press the up button in the remote control to make the linear slide mechanism of the labor-saving assisting old lifting device work and drive the eccentric self-locking mechanical arm and the folding support mechanism to rise;

S4: When the folding support mechanism rises to the point where the support object is lifted, the travel switch is triggered to stop rising, so as to achieve the effect of lifting the falling and sitting support object.

Compared with the prior art, the labor-saving device and method for helping the elderly to lift up of the present invention have the following beneficial effects:

1. The lifting device of the present invention has the advantages of simple operation, low structural cost, no special requirements for users, strong operability, safe and effective, easy to carry and store, and can flexibly help the elderly or people with inconvenience to complete sitting and standing. Get up.

2. By setting up an eccentric self-locking mechanical arm with self-locking function, the mechanical arm is composed of a pressing square tube and an eccentric wheel. It has the effect of supporting the subject's arm to prevent it from slipping out.

3. By setting up the folding support mechanism, the L-shaped support rod 16 is hinged to realize the one-way conduction function of the convex plate and the fixed plate, so that the folding support mechanism and the eccentric self-locking mechanical arm 1 can be folded in the non-use time, thereby greatly The storage space of the lifting device is reduced.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the drawings.

Description of drawings

The accompanying drawings forming a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is the overall structure schematic diagram of the labor-saving assisting the old lifting device of the present invention;

Fig. 2 is the structural representation of the eccentric self-locking mechanical arm in the present invention;

Fig. 3 is the structural representation of the automatic reset device in Fig. 2;

Fig. 4 is the structural representation of the folding support mechanism in the present invention;

Fig. 5 is the structural representation of the convex plate in Fig. 4;

Fig. 6 is the structural representation of the linear slide mechanism in the present invention;

Fig. 7 is the partial enlarged structural schematic diagram of the linear slide mechanism in the present invention;

FIG. 8 is a schematic structural diagram of the movable carrier in the present invention.

9 is a schematic structural diagram of the eccentric wheel self-locking mechanical arm in the folded state of the present invention;

Fig. 10 is a schematic structural diagram of the labor-saving old-age lifting device of the present invention in a folded state; and

Fig. 11 is a flow chart of the labor-saving method for helping the elderly to lift up according to the present invention.

Description of reference numerals

1. Eccentric wheel self-locking mechanical arm; 2. Folding support mechanism; 3. Linear slide mechanism; 4. Movable carrier; 11. Hinge; 12. Pressing square tube; 13. Supporting square tube; 14. Step fixing plate ;15, eccentric wheel; 16, L-shaped support rod; 17, return spring; 18, linear bearing; 19, stepped bolt;

21, backing plate; 22, fixed bracket; 23, fixed plate; 24, spring hinge; 25, round tube base; 26, convex plate; 31, vertical support frame; 32, slide rail; 33, slider; 34, Spacer block; 35, nut; 36, coupling; 37, lead screw; 38, bearing with seat; 39, bearing bracket; 310, stepper motor bracket; 311, stepper motor; 312, angle code; 41, bottom plate ; 42, aluminum profile bracket; 43, universal wheel; 44, driving wheel.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

1-10 illustrate some embodiments in accordance with the present invention.

As shown in FIG. 1 , the labor-saving lifting device for helping the elderly of the present invention includes an eccentric wheel self-locking mechanical arm 1, a folding support mechanism 2, a linear sliding table mechanism 3, a movable carrier 4 and a control mechanism; wherein, the eccentric wheel There are two groups of wheel self-locking mechanical arms 1, which are symmetrically arranged on the folding support mechanism 2, the folding support mechanism 2 is installed on the linear slide mechanism 3, and the linear slide mechanism 3 is installed on the movable carrier 4, The control mechanism is respectively connected with the linear slide mechanism 3 and the movable carrier 4 by signal, and is used to control the movable carrier to move behind the support object, and to control the eccentric wheel self-locking mechanism supported under the support object's armpit. The arm 1 moves upward to realize the function of lifting the support object.

Specifically, as shown in FIGS. 2 and 3 , the eccentric self-locking mechanical arm 1 includes a hinge 11 , a pressing square tube 12 , a supporting square tube 13 , a stepped fixing plate 14 , an eccentric wheel 15 , and an L-shaped support rod. 16. Return spring 17, linear bearing 18, stepped bolt 19.

Among them, the supporting square tube 13 is arranged horizontally, the front end of the supporting square tube 13 is fixed on the L-shaped support rod 16 by bolts, the rear end of the supporting square tube 13 is rotatably connected with the folding support mechanism 2 through the hinge 11, and the pressing square tube 12 is arranged on the supporting side. On the upper side of the tube 13, and between the pressing square tube 12 and the supporting square tube 13, two sets of automatic reset devices consisting of a reset spring 17, a linear bearing 18 and a stepped bolt 19 are installed.

The stepped bolt 19 passes through the linear bearing 18 , the return spring 17 , and the supporting square tube 13 in sequence from the inside and the outside, and is fixedly connected with the pressing square tube 12 by a nut. The stepped bolt 19 moves along the linear bearing 18 with the pressing square tube 12 . Moving, the linear bearing 18 has a positioning function, which can ensure that the stepped bolt can move vertically. Without the linear bearing, the stepped bolt may not be able to move vertically up and down, and may swing left and right in the vertical direction.

Two symmetrically arranged stepped fixing plates 14 are installed at the front end of the supporting square tube 13 and are rotatably connected to the supporting square tube 13 through bolts. The eccentric wheel 15 is installed on the front ends of the two stepped fixing plates 14 by bolts. 12. The front end is in contact with the eccentric wheel 15. When the pressing square tube 12 is in contact with the supporting square tube 13, the eccentric wheel 15 can be folded back to the upper side of the pressing square tube 12, from horizontal placement to vertical placement. to blocking effect.

Further improved, as shown in FIG. 4 , the folding support mechanism 2 includes a backing plate 21, a fixing bracket 22, a fixing plate 23, a spring hinge 24, a round tube base 25, and a convex plate 26; wherein, the backing plate 21 and the fixed The plate 23 is installed on the fixed bracket 22, the two spring hinges 24 are respectively installed on both ends of the fixed plate 23, the convex plate 26 is installed on the spring hinge 24, and the spring hinge 24 realizes the connection between the convex plate 26 and the fixed plate 23. Rotatingly connected, the round tube base 25 is installed on the front side of the convex plate 26 .

As shown in FIG. 5, one side of the convex plate 26 is designed as a flat surface for installing the round tube base 25, and the other side is designed as a convex surface, which is beneficial to facilitate the rotation of the mechanical arm during folding and storage, so as to prevent the plane from jamming the mechanical arm, and at the same time more Humanized, no sharp corners will scratch the operator.

Further improved, as shown in FIG. 1, the eccentric self-locking mechanical arm 1 is fixed on the fixing bracket 22 on the folding support mechanism 2 by the hinge 11 on it, and the eccentric The L-shaped support rod 16 in the wheel self-locking robot arm 1 is inserted into the circular tube base 25 of the folding support mechanism 2 in the working state, so that the eccentric wheel self-locking robot arm 1 is installed on the folding support mechanism 2 .

Specifically, when the lifting device is not in use, the eccentric self-locking mechanical arm 1 can be folded. First, the L-shaped support rod 16 is pulled out from the circular tube base 25 of the folding support mechanism, and the folding support is manually folded. The spring hinge 24 in the mechanism is turned up, so that the eccentric self-locking mechanical arm is unsupported, and then the eccentric self-locking mechanical arm 1 is rotated and folded around the hinge 11 on it, so that the lifting device is in the storage state of the minimum storage space (Figure 10).

When the device is in use, lift the eccentric self-locking mechanical arm manually. Since the spring hinge in the folding support mechanism is installed with a convex plate 26, the L-shaped support rod can be easily lifted and inserted into the circular tube base of the folding support mechanism. , in the state of lifting operation.

Further improved, the linear slide mechanism 3 includes a vertical support frame 31, a slide rail 32, a slider 33, a spacer 34, a nut 35, a coupling 36, a lead screw 37, a seated bearing 38, and a bearing bracket 39. Stepper motor bracket 310, stepper motor 311, angle code 312.

Among them, the two slide rails 32 are fixedly installed on the vertical support frame 31 along the vertical direction, and the slide block 33 is slidably connected with the slide rail 32; the bearing 38 with seat is installed on both ends of the lead screw 37, and the upper end has a seat The bearing 38 is fixedly connected with the vertical support frame 31, and the spacer 34 is fixed on the front end of the nut 35; the stepper motor 311 is fixedly installed on the vertical support frame 31 through the stepper motor bracket 310 and the angle code 312, and the stepper motor 311 passes through The coupling 36 is in driving connection with the lead screw 37 , the bearing bracket 39 is located outside the coupling 36 , and the bearing bracket 39 is installed on the stepping motor 311 for fixing the bearing 38 with a seat.

Further improved, as shown in Figure 1, Figure 4 and Figure 6, the backing plate 21 of the folding support mechanism 2 is fixed on the slider 33 and the pad 34 of the linear sliding table mechanism 3 by bolts, and the folding The fixing plate 23 of the supporting mechanism 2 is fixed on the sliding block 33 of the linear sliding table mechanism 3 by bolts, so that the folding supporting mechanism 2 is installed on the linear sliding table mechanism 3 .

Further improved, as shown in FIG. 8 , the movable carrier 4 includes a bottom plate 41 , an aluminum profile bracket 42 , two universal wheels 43 , and a pair of driving wheels 44 , and the vertical support frame 31 and the stepper motor bracket 310 are respectively fixed on the bottom plate 41 . Among them, the movable carrier is composed of two independent driving wheels, a universal wheel and a remote control, and the trolley can be remotely controlled by the supported object to any position.

Among them, the front part of the bottom plate 41 has a U-shaped groove, which is opposite to the U-shaped structure composed of the folding support mechanism 2 and a pair of eccentric self-locking mechanical arms 1, so that the user's back rests on the back plate, and the user The arm can be supported on the eccentric self-locking mechanical arm 1, which helps the user to support both arms.

Specifically, the control mechanism includes a PLC controller, a lithium battery, a stepper motor driver, a travel switch, a remote control receiver, and a remote controller (carried by the remote controller operator); wherein, the drive wheel 44 is connected to the stepper motor driver, and the remote control receives The controller is connected with the stepping motor driver in signal, and the drive wheel 44 can be controlled to rotate through the remote control, thereby controlling the movable carrier 4, and finally driving the entire device to move.

As shown in Figure 11, in conjunction with the above-mentioned lifting device, the present invention also provides a labor-saving method for helping the elderly to lift up, which specifically includes the following steps:

S1: After the support object falls and sits on the ground, the movable carrier 4 is controlled to work through the remote control carried by the support object, so that the lifting device is moved to the side of the support object;

S2: The support object inserts the two eccentric self-locking mechanical arms 1 installed on the device into the armpits of the two arms;

S3: The support object presses the up button in the remote control, and the stepping motor 311 in the linear slide mechanism 3 drives the lead screw 37 to rotate, thereby driving the eccentric self-locking mechanical arm 1 and the folding support mechanism 2 to rise;

S4: When the foldable support mechanism 2 rises to lift the support object, trigger the travel switch and stop rising, so as to achieve the effect of lifting the falling and sitting support object.

Among them, there are two sets of buttons on the remote control in S1 to control the forward and backward of the two driving wheels respectively. Among them, the two driving wheels are forward at the same time, the device is forward, the two driving wheels are backward at the same time, the device is backward, and one driving wheel is forward. , the other does not move, the device turns, using this principle, the trolley can be remotely controlled by the supported object to any position.

In S2, when the mechanical arm rises to a certain position, the pressing square tube 12 is pressed by the gravity of the human arm to press down the eccentric wheel 15, so that the eccentric wheel 15 rotates and locks itself (as shown in FIG. 9), thereby achieving the limit of the arm of the supporting object It can prevent the arm of the support object from slipping out of the arm and cannot be lifted up during the lifting process; when the mechanical arm has no force, the return spring 17 is stretched, and the eccentric wheel 15 is reset to the horizontal position for the next use.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. A labor-saving lifting device for helping the elderly, characterized in that it comprises a folding support mechanism (2), a linear slide mechanism (3), a movable carrier (4), a control mechanism, and a pair of eccentric wheel self-locking machines arm(1); A pair of the eccentric self-locking mechanical arms (1) are symmetrically arranged at the front end of the folding support mechanism (2), and the folding support mechanism (2) is arranged on the linear slide mechanism (3) and can move along the Sliding in the vertical direction, the linear slide mechanism (3) is mounted on the movable carrier (4); The eccentric self-locking mechanical arm (1) comprises a supporting square tube (13), an L-shaped supporting rod (16), and an eccentric wheel (15), the eccentric wheel (15) and the supporting square tube (13) ) is movably connected by a pair of stepped fixing plates (14), the upper side of the supporting square tube (13) is provided with a pressing square tube (12) movably connected with it, and the front end of the pressing square tube (12) is connected to the eccentric wheel (15) contact, and when the pressing square tube (12) moves downward, the eccentric wheel (15) is forced to rotate from a horizontal state to a vertical state, so as to achieve self-locking and anti-slip effects; In addition, the rear end of the supporting square tube (13) is movably connected to the upper part of the folding supporting mechanism (2); the bottom of the folding supporting mechanism (2) is provided with a pair of rotatable convex plates (26), the convex plates (26) selectively supporting the L-shaped support rod (16) to realize the unfolding and folding of the eccentric self-locking mechanical arm; Wherein, the control mechanism is signal-connected to the linear slide mechanism (3) and the movable carrier (4), respectively, and is used to control the movable carrier to move behind the elderly, and to control the moving carrier supported on the armpit of the elderly. The eccentric wheel self-locking mechanical arm (1) moves upward to realize the function of lifting up the elderly. 2. The labor-saving device for helping the elderly to lift up according to claim 1 is characterized in that, The linear slide mechanism (3) includes a vertical support frame (31), a slide rail (32), a slider (33), a nut (35), a lead screw (37), a stepping motor (311), and a pad A block (34), the two sliding rails (32) are fixedly installed on the vertical support frame (31) along the vertical direction, and the sliding block (33) is slidably connected with the sliding rail (32); so The stepping motor (311) is drive-connected with the lead screw (37) and drives the nut (35) to move up and down, and the spacer (34) is arranged at the front end of the nut (35); The folding support mechanism (2) comprises a backing board (21), a fixing bracket (22), and a fixing board (23), the fixing board (23) is connected with the sliding block (33), and the backing board ( 21) At the same time, it is connected with the cushion block (34) and the slider (33); the rear end of the supporting square tube (13) is connected with the fixing bracket (22). 3. The labor-saving lifting device for helping the elderly according to claim 2, wherein an automatic reset device is provided between the supporting square tube (13) and the pressing square tube (12), and the automatic reset device Including return spring (17), linear bearing (18) and stepped bolt (19). 4. The labor-saving lifting device for helping the elderly according to claim 2, wherein the folding support mechanism (2) further comprises convex plates (26) respectively provided at both ends of the fixing plate (23), wherein , the fixing plate (23) and the convex plate (26) are movably connected by a spring hinge (24), and a circular tube base (25) is provided on the front side of the convex plate (26); wherein, the circular tube base (25) is detachably plugged with the L-shaped support rod (16), and the support square tube (13) is movably connected with the fixing bracket (22) through a hinge (11), so that the eccentric is self-locking The mechanical arm (1) can be folded back around the fixed bracket (22) to the outside of the vertical support frame (31). 5. The labor-saving lifting device for helping the elderly according to claim 1, wherein the movable carrier (4) comprises a bottom plate (41), an aluminum profile bracket (42), two universal wheels (43), and a pair of driving wheels (44) controlled by the control mechanism for walking; the universal wheel (43) and the driving wheel (44) are arranged at the bottom of the aluminum profile bracket (42), and the bottom plate (41) ) is arranged on the upper end of the aluminum profile bracket (42). 6 . The labor-saving lifting device for helping the elderly according to claim 5 , wherein the front part of the bottom plate ( 41 ) has a U-shaped groove, and the U-shaped groove is connected with the folding support mechanism ( 2 ) and a pair of eccentrics. 7 . The U-shaped structures formed by the wheel self-locking mechanical arm (1) are positioned opposite to each other, so that the user's arms are supported on the eccentric wheel self-locking mechanical arm (1). 7. The labor-saving assisting and lifting device for the elderly according to claim 1, wherein the control mechanism comprises a PLC controller, a lithium battery, a stepping motor driver, a travel switch, a remote control receiver and a remote control, and the remote control The receiver is signal-connected with the stepper motor driver. 8. A labor-saving method for helping the elderly to lift up, characterized in that, using the labor-saving device for helping the elderly to lift up according to any one of claims 1 to 7, the method comprises the following steps: S1: use the remote control to control the labor-saving movable carrier (4) of the old lifting device to work, so that the lifting device is moved to the side of the support object; S2: Insert the two eccentric self-locking mechanical arms (1) into the armpits of the supporting object; S3: Press the up button in the remote control to make the linear slide mechanism (3) of the labor-saving assisting old lifting device work and drive the eccentric self-locking mechanical arm (1) and the folding support mechanism (2) to rise; S4: When the folding support mechanism (2) rises to lift the support object, trigger the travel switch and stop rising, so as to achieve the effect of lifting the falling and sitting support object.

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