CN113041106A

CN113041106A - Walking aid and shifting robot equipment

Info

Publication number: CN113041106A
Application number: CN201911372865.XA
Authority: CN
Inventors: 王茁; 邹风山; 郎雷; 栾显晔; 王羽瑾; 兰凤文
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2021-06-29

Abstract

The invention relates to the field of medical rehabilitation, in particular to a walking aid and shifting robot device, which comprises: the device comprises a handrail structure, a lifting structure, a standing push rod, a chassis structure and a pedal; the handrail structure is arranged on the lifting structure in a width-adjustable manner; the lifting structure is hinged on the chassis structure in a height-adjustable manner, the standing push rod is supported between the chassis structure and the lifting structure in a length-adjustable manner, and the pedal is detachably arranged on the chassis structure. The equipment not only can help a user to quickly and conveniently go from a sitting posture to an upright walking posture, but also has a shifting function, and meanwhile, the user can also realize the function of adjusting the angle of the handrail according to the self condition, so that the user is helped to obtain a good rehabilitation effect to the maximum extent.

Description

Walking aid and shifting robot equipment

Technical Field

The invention relates to the field of medical rehabilitation, in particular to a walking aid and displacement robot device.

Background

In recent years, as the aging progress of the world population is increasing, the number of aging population is increasing rapidly, so that the problem of aging becomes a hot spot of social attention. However, due to the serious shortage of the traditional family endowment concept and the number of social public welfare endowment homes, the supporting facilities of the private endowment homes are good, but the admission price is high, so that most families still choose to mainly nourish the old at home at present. In view of the current situation, young people use more main energy for work, and family old people only care for the old people or engage nursing staff, so that the workload of the nursing staff is increased, meanwhile, the nursing staff cannot obtain certain rehabilitation training, and as a result, the physical function is gradually reduced, and the health state is deteriorated. Once the caretaker is over-weighted, the risk of user injury during the care process increases. Therefore, it will become a necessary trend to develop and produce a robot system that can assist the elderly in walking training and moving and shifting. At present, devices for improving the walking training and moving of the old mainly comprise pure moving devices, wheeled walking aids, electromechanical integrated walking aids and the like, and although the walking aids have certain walking training aids and moving functions, the walking aids have single functions and higher cost, so that the walking aids have certain limitations.

Disclosure of Invention

The embodiment of the invention provides a walking and shifting robot device with an adjustable armrest structure angle and switchable walking modes, which at least solves the technical problem of single function of the existing rehabilitation device.

According to an embodiment of the invention, there is provided a walking aid and displacement robotic device comprising: the device comprises a handrail structure, a lifting structure, a standing push rod, a chassis structure and a pedal; the handrail structure is arranged on the lifting structure in a width-adjustable manner; the lifting structure is hinged on the chassis structure in a height-adjustable manner, the standing push rod is supported between the chassis structure and the lifting structure in a length-adjustable manner, and the pedal is detachably arranged on the chassis structure.

Further, the armrest structure includes: an upper limb supporting plate, a handle, a knob and an upper limb supporting frame; the handle sets up on the upper limbs support frame, and the upper limbs backup pad supports on the upper limbs support frame and uses the handle to rotate as the pin joint, and the knob is connected and is adjusted the width of upper limbs backup pad between upper limbs backup pad, upper limbs support frame.

Furthermore, the number of the upper limb supporting plates and the number of the handles are two, the handles are symmetrically distributed on the upper limb supporting frame, the number of the knobs is multiple, and the knobs are divided into two groups and symmetrically distributed on the lower portion of the upper limb supporting plates.

Furthermore, the upper limb supporting plate is provided with a through hole, and the handle penetrates through the through hole.

Furthermore, a plurality of threaded holes are formed in the upper limb supporting plate, notches with the same number as the threaded holes in the two upper limb supporting plates are formed in the upper limb supporting frame, and the rotary knob penetrates through the notches and is in threaded connection with the threaded holes.

Further, the apparatus further comprises a leg support, which is length-adjustably arranged on the chassis structure.

Further, the elevation structure includes: a telescopic inner pipe and a telescopic outer pipe; the telescopic inner pipe is movably arranged in the telescopic outer pipe, the handrail structure is arranged on the telescopic inner pipe in a width-adjustable manner, and the telescopic outer pipe is hinged on the chassis structure.

Furthermore, the lifting structure also comprises a lifting push rod, and the lifting push rod is supported between the telescopic inner pipe and the telescopic outer pipe in a length-adjustable manner.

Furthermore, the number of the telescopic inner tubes, the telescopic outer tubes and the lifting push rods is two, and the telescopic inner tubes, the telescopic outer tubes and the lifting push rods are symmetrically distributed between the handrail structure and the chassis structure.

Further, the chassis structure includes: the device comprises a chassis, a driving wheel and universal wheels; the driving wheel and the universal wheel are hinged at the lower part of the underframe.

The walking aid and shifting robot equipment provided by the embodiment of the invention not only can help a user to quickly and conveniently transit from a sitting posture to an upright walking posture, but also has a shifting function, and meanwhile, the user can realize the function of adjusting the angle of the handrail according to the self condition, so that the user is helped to obtain a good rehabilitation effect to the maximum extent.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the walking training of the present invention;

FIG. 3 is a schematic diagram of the present invention during the operation of the present invention;

FIG. 4 is a schematic view of the structure of the armrest of the present invention;

FIG. 5 is a schematic view of the armrest structure of the present invention in its widest configuration;

FIG. 6 is a schematic view of the armrest structure of the present invention in its narrowest position;

wherein the reference numerals are: 1-handrail structure, 11-upper limb supporting plate, 12-handle, 13-knob, 14-upper limb supporting frame, 2-lifting structure, 21-telescopic inner tube, 22-telescopic outer tube, 23-lifting push rod, 3-leg supporting part, 4-standing push rod, 5-chassis structure, 51-underframe, 52-driving wheel, 53-universal wheel and 6-pedal.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an embodiment of the invention, there is provided a walking aid and displacement robotic device, see fig. 1-6, comprising: the device comprises a handrail structure 1, a lifting structure 2, a standing push rod 4, a chassis structure 5 and a pedal 6; the handrail structure 1 is arranged on the lifting structure 2 in a width-adjustable manner; the lifting structure 2 is hinged on the chassis structure 5 in a height-adjustable manner, the standing push rod 4 is supported between the chassis structure 5 and the lifting structure 2 in a length-adjustable manner, and the pedal 6 is detachably arranged on the chassis structure 5.

As a preferred embodiment, the handrail structure 1 includes: an upper limb support plate 11, a handle 12, a knob 13 and an upper limb support frame 14; the handle 12 is provided on the upper limb support frame 14, the upper limb support plate 11 is supported on the upper limb support frame 14 and rotates with the handle 12 as a hinge point, and the knob 13 is connected between the upper limb support plate 11 and the upper limb support frame 14 to adjust the width of the upper limb support plate 11. The knob 13 fixes the upper limb support plate 11 after adjusting the width.

Preferably, the number of the upper limb support plates 11 and the number of the handles 12 are two, and the two handles are symmetrically distributed on the upper limb support frame 14, the number of the knobs 13 is multiple, and the knobs 13 are divided into two groups and symmetrically distributed on the lower portion of the upper limb support plate 11. The two groups of symmetrical structures are opened and closed similarly and rotated to adjust the width between the two upper limb supporting plates 11.

As a preferred technical scheme, a through hole is arranged on the upper limb supporting plate 11, and the handle 12 penetrates through the through hole. The handle 12 in the through hole serves as a rotation point of the upper limb support plate 11.

As the preferred technical scheme, a plurality of threaded holes are formed in the upper limb supporting plate 11, notches with the same number as the threaded holes in the two upper limb supporting plates 11 are formed in the upper limb supporting frame 14, and the knob 13 penetrates through the notches to be in threaded connection with the threaded holes. The threaded connection is more stable and reliable.

As a preferred solution, the apparatus further comprises a leg support 3, the leg support 3 being length-adjustably arranged on the chassis structure 5. The leg support 3 is for supporting the legs of the user.

As a preferred solution, the lifting structure 2 comprises: a telescopic inner tube 21, a telescopic outer tube 22; the telescopic inner pipe 21 is movably arranged in the telescopic outer pipe 22, the handrail structure 1 is arranged on the telescopic inner pipe 21 in a width-adjustable manner, and the telescopic outer pipe 22 is hinged on the chassis structure 5. The telescopic inner tube 21 is movably arranged in the telescopic outer tube 22 with adjustable height, so that the height of the telescopic inner tube can be conveniently adjusted.

Preferably, the lifting structure 2 further comprises a lifting push rod 23, and the lifting push rod 23 is supported between the inner telescopic tube 21 and the outer telescopic tube 22 in a length-adjustable manner. The lifting push rod 23 supports the telescopic inner tube 21 and the telescopic outer tube 22 when adjusting the height.

As a preferred technical scheme, the number of the telescopic inner tubes 21, the telescopic outer tubes 22 and the lifting push rods 23 is two, and the telescopic inner tubes, the telescopic outer tubes and the lifting push rods are symmetrically distributed between the handrail structure 1 and the chassis structure 5. The two groups of symmetrical devices are more stable in lifting.

As a preferred solution, the chassis structure 5 comprises: a base frame 51, a driving wheel 52 and a universal wheel 53; the driving wheel 52 and the universal wheel 53 are hinged at the lower part of the chassis 51. The driving wheel 52 is used for sliding, and the universal wheel 53 can adjust the sliding direction.

Specifically, as shown in fig. 1, the overall structure of the present invention mainly comprises an armrest structure 1, a lifting structure 2, a leg support 3, a standing push rod 4, a chassis structure 5, and a pedal 6. Wherein, handrail structure 1 contains: an upper limb support plate 11, a handle 12, a knob 13 and an upper limb support frame 14; the lifting structure 2 includes: a telescopic inner tube 21, a telescopic outer tube 22 and a lifting push rod 23; the chassis structure 5 includes: chassis 51, driving wheel 52, universal wheel 53.

The working principle is as follows: as shown in fig. 2, when walking training is performed, the step 6 needs to be retracted and the leg support portion 3 is retracted to the minimum position. Before training, the user generally sits on bedside or wheelchair, pushes away this equipment, and the operation is stood push rod 4 and lift push rod 23 to suitable angle and height, wears the protective equipment for the user, and handle 12 is held to both hands, and adjustment upper limbs backup pad 11 is to suitable width, and the operation is stood push rod 4 to the state of standing, lift push rod 23 to suitable height, walks rehabilitation training.

As shown in fig. 3, when the user moves, the user needs to hang the pedal 6 on the base frame 51, extend the leg support 3 to the maximum position, wear the protector, operate the standing push rod 4 to assist the user from the sitting state to the standing state, adjust the armrest to a height comfortable for the user by operating the lifting push rod 23, and move the apparatus by the caregiver to move the user.

Fig. 4 shows the armrest structure 1 of the present invention, when a user enters the device by using a wheelchair or other means, the upper limb support plate 11 can be adjusted to a suitable width by the adjusting knob 13, and then the user can perform rehabilitation training or displacement functions.

The armrest structure 1 of the present invention includes an upper limb support plate 11, a handle 12, a knob 13, and an upper limb support frame 14. The upper limb supporting plate 11 is provided with a through hole and a plurality of threaded holes, the through hole penetrates into the handrail 12 on the upper limb supporting frame 14, and the upper limb supporting frame 14 is provided with notches with the same number as the threaded holes of the upper limb supporting plate 11. In operation, the upper limb support plates 11 are rotated around the handle 12 on the upper limb support welding frame 14 through the through holes, and the two upper limb support plates 11 can be adjusted to be proper in width through the knobs 13.

The invention provides the walking and shifting assisting robot equipment with the adjustable opening and closing angle of the handrail structure and the switchable walking mode, the whole equipment has lighter weight, the vehicle body can be folded and is convenient to move, the equipment can be used in various places such as indoor and outdoor places, and the user requirements are met to the greatest extent.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, a division of a unit may be a logical division, and an actual implementation may have another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A walking and displacement robotic device, comprising: the device comprises a handrail structure, a lifting structure, a standing push rod, a chassis structure and a pedal; the handrail structure is arranged on the lifting structure in a width-adjustable manner; the lifting structure is hinged to the chassis structure in a height-adjustable mode, the standing push rod is supported between the chassis structure and the lifting structure in a length-adjustable mode, and the pedal is detachably arranged on the chassis structure.

2. The walking and displacement robotic device of claim 1, wherein the armrest structure comprises: an upper limb supporting plate, a handle, a knob and an upper limb supporting frame; the handle is arranged on the upper limb support frame, the upper limb support plate is supported on the upper limb support frame and rotates by taking the handle as a hinge point, and the knob is connected between the upper limb support plate and the upper limb support frame to adjust the width of the upper limb support plate.

3. The walking and displacement robotic device of claim 2, wherein the number of the upper limb support plates and the number of the handles are two, and are symmetrically distributed on the upper limb support frame, the number of the knobs is multiple, and the multiple knobs are divided into two groups and symmetrically distributed on the lower part of the upper limb support plates.

4. The walking and displacement robotic device of claim 3, wherein the upper limb support plate has a through hole formed therein, and the handle is inserted through the through hole.

5. The walking and displacement assisting robotic device according to claim 3, wherein the upper limb support plate has a plurality of threaded holes formed therein, the upper limb support frame has a number of notches formed therein corresponding to the number of the threaded holes in the two upper limb support plates, and the knob is threaded through the notches and is threadedly connected to the threaded holes.

6. The walking and displacement robotic device of claim 1, further comprising a leg support adjustably length disposed on the chassis structure.

7. The walking and displacement robotic device of claim 1, wherein the lifting structure comprises: a telescopic inner pipe and a telescopic outer pipe; the telescopic inner pipe is movably arranged in the telescopic outer pipe, the handrail structure is arranged on the telescopic inner pipe in a width-adjustable manner, and the telescopic outer pipe is hinged on the chassis structure.

8. The walking and displacement robotic device of claim 7, wherein the lifting structure further comprises a lifting push rod supported between the inner and outer telescoping tubes in a length adjustable manner.

9. The walking and displacement robotic device of claim 8, wherein the number of inner telescopic tubes, outer telescopic tubes, and lifting push rods are all two and symmetrically distributed between the arm structure and the chassis structure.

10. The walking and displacement robotic device of claim 1, wherein the chassis structure comprises: the device comprises a chassis, a driving wheel and universal wheels; the driving wheel and the universal wheel are hinged to the lower portion of the bottom frame.