TWI754314B - Lifting aid device and its method - Google Patents

Abstract

A lifting aid device can assist a person to switch between lying and sitting positions. The lifting aid device includes an auxiliary unit, a control unit, and a bed unit. The auxiliary unit includes a base, a first actuation module, a slider, a plurality of second actuation modules, a plurality of wheel bodies, and a support body. The control unit includes a control module. The bed body unit includes a first plate body and a second plate body pivotally connected to the first plate body. The control module controls the first actuation module to change a relative angle between the first plate body and the second plate body. The control module controls the plurality of second actuation modules so that the support body moves with the pivoting arc of the first plate body, and the position of the second plate body is unchanged.

Description

Getting up aid device and method therefor

The present invention relates to an assisting device, in particular to an assisting device for getting up that can assist a person to switch between lying and sitting postures.

With age, physical activity gradually declines, or because of injury, patients cannot move freely. As a result, many patients who cannot move on their own must lie in bed and require caregivers to assist patients with daily activities. For example, Patients must be assisted to perform various rehabilitation activities such as turning over, sitting, and limb movement, in order to improve the function of the patient's blood circulation and prevent the occurrence of pressure ulcers and other conditions.

At present, there are many auxiliary beds on the market, which can assist patients in activities, but the auxiliary beds on the market are complicated in structure and expensive, and the general public cannot afford them.

Referring to FIG. 1 , it is Chinese patent CN108789347A, a kind of home care equipment, which includes a first frame 11 , a second frame 12 pivotally connected to the first frame 11 , and a back support 13 disposed on the second frame 12 , a pillow fixing member 14 arranged on the back support member 13 , a driving device 15 arranged on the first frame 11 , and a telescopic portion 16 connected with the driving device 15 and the second frame 12 . The driving device 15 controls the length of the telescopic portion 16 to control the relative angle of the first frame 11 and the second frame 12 to assist the patient to change posture.

Although the prior art describes a technique that assists the patient to change posture, it still suffers from the following disadvantages in practice:

1. Insufficient lifting support: The conventional driving device is arranged on one side of the first frame and the second frame, and the driving device cannot apply force to the second frame evenly. When the second frame is lifted and the patient is lying on the back support , the second frame will collapse due to uneven application of force.

Second, the function of buffering the patient's gravity is insufficient: The driving device controls the telescopic part to lift the second frame, the gravity generated by the patient's weight can only be buffered by the back support, without other buffering devices, the gravity buffering function of the patient's weight is insufficient .

3. The patient is not easy to turn the body: Traditionally, the patient can only be switched between lying and sitting positions. The patient's body direction cannot be rotated. The patient's body posture is still maintained on the bed. If you need to get out of bed, you must rely on the patient's own strength to turn the body. There is no support on the back. It is very difficult for the patient to turn the body under the condition.

Therefore, how to set up an assisting device on a common bed to effectively buffer the instantaneous impulse generated by the patient's weight, and also assist the patient to turn the direction of the body, so as to smoothly assist the patient to move from the bed to the bottom of the bed. Urgently needed goals.

In view of this, an object of the present invention is to provide a getting up assisting device, which includes an assisting unit, a control unit, and a bed unit.

The auxiliary unit includes a base, a first actuating module disposed on the base, a sliding block disposed on the first actuating module, a plurality of second actuating modules disposed on the base, and a plurality of second actuating modules disposed on the base. The wheel body of the second actuating module and a support body connected with the slider.

The control unit includes a control module electrically connected with the first actuating module and the plurality of second actuating modules.

The bed unit includes a first plate body connected with the support body, and a second plate body pivotally connected with the first plate body, the control module controls the first actuating module to change the first plate body The relative angle between the plate body and the second plate body, and the control module controls the plurality of second actuating modules to make the support body move with the pivoting arc of the first plate body.

Another technical means of the present invention is that the above-mentioned plural wheel bodies are mecanum wheels.

Another technical means of the present invention is that the above-mentioned first actuating module has a first motor disposed on the base, a slideway structure disposed on the base, and a screw connected to the first motor , the slider is arranged on the screw rod and the slideway structure.

Another technical means of the present invention is that the above-mentioned control unit further includes a first detection module electrically connected to the control module, the first detection module is disposed on the support body, and the first detection module is The measuring module is used for detecting the relative position of the support body and the first plate body.

Another technical means of the present invention is that the above-mentioned control unit further includes a second detection module electrically connected with the control module, the second detection module is disposed on the base to detect the surroundings of the base condition.

Another technical means of the present invention is that the above-mentioned auxiliary unit further includes a plurality of buffer modules disposed between the support body and the first plate body.

Another technical means of the present invention is that the above-mentioned auxiliary unit further includes a third actuating module disposed between the slider and the support body, the control module and the third actuating module are electrically connected to each other. connected to rotate the support.

Another technical means of the present invention is that the above-mentioned third actuating module has an extension structure arranged on the slider, and a third motor arranged in the extension structure, the support body and the third motor connect.

Another object of the present invention is to provide a method for assisting getting up, including a setting step, a lifting step, and a stopping step.

In the setting step, a first plate body is pivotally connected to a second plate body, an auxiliary unit is connected to a first end of the first plate body, and a lifting height is set for the auxiliary unit.

In the lifting step, the auxiliary unit changes the height of the first end of the first plate body, so that the first plate body is pivoted relative to the second plate body, and the first end of the first plate body is connected with the first plate body. The pivot joint of the two plates is the arc-shaped rotation of the center of the circle. The auxiliary unit matches the translational position of the first end of the first plate body when the arc-shaped rotation occurs, and the auxiliary unit moves its position laterally.

In the stopping step, the auxiliary unit stops changing the height of the first end of the first plate body.

Another technical means of the present invention is that the above-mentioned assisting method for getting up further includes a rotating step after the stopping step, the auxiliary unit takes the second plate body as the center of the circle, and takes the first end of the first plate body to the center of the circle. The distance of the second plate is a radius, and the first end of the first plate is moved to rotate the second plate.

Another object of the present invention is to provide an assisting device for getting up. The assisting device for getting up includes an assisting unit and a control unit.

The auxiliary unit includes a base, a first actuating module disposed on the base, a sliding block disposed on the first actuating module, a plurality of second actuating modules disposed on the base, and a plurality of second actuating modules disposed on the base. The wheel body of the second actuating module, a connecting body connected with the slider, and two supporting bodies connected with the connecting body, the plurality of wheel bodies are mecanum wheels.

The control unit includes a control module electrically connected with the first actuation module and the plurality of second actuation modules, the control module controls the plurality of second actuation modules to change the direction of the auxiliary unit and Location.

The beneficial effect of the present invention is that the bed body unit can be placed on a general bed to provide patients with inconvenient mobility to lie down, and is suitable for general family use under the condition of using the old bed body, and does not require high cost to purchase assistance bed. The first actuating module can lift one end of the first plate body, which can assist the patient to switch between lying and sitting postures, and the second actuating module can cooperate with the position of the pivoting radian of the first plate body. The purpose of the movement on the ground is to prevent the second board from moving on the bed, which can effectively stabilize the patient's center of gravity, and the first support and the buffer module can buffer the patient's upper body when moving the upper body. The downward thrust generated by gravity effectively stabilizes the patient's center of gravity and assists with postural changes.

The features and technical contents of the related applications of the present invention will be clearly presented in the following detailed description of the four preferred embodiments with reference to the drawings. Before the detailed description, it should be noted that similar elements are designated by the same reference numerals.

2, 3, 4, and 5, it is a first preferred embodiment of an assisting device for getting up according to the present invention. The assisting device for getting up includes an assisting unit 3, a control unit 4, and a bed unit 5.

The auxiliary unit 3 includes a base 31 , a first actuating module 32 disposed on the base 31 , a sliding block 33 disposed on the first actuating module 32 , and a plurality of second actuators disposed on the base 31 . A moving module 34 , a plurality of wheel bodies 35 arranged on the second actuating module 34 , a support body 36 connected to the slider 33 , and a plurality of buffer modules 37 arranged on the support body 36 .

The first actuating module 32 is used to change the height of the slider 33 and the support body 36 , and has a first motor 321 disposed on the base 31 , a slideway structure 322 disposed on the base 31 , and A screw 323 is connected to the first motor 321 , and the slider 33 is disposed on the screw 323 and the slideway structure 322 . In the first preferred embodiment, the first actuating module 32 and the slider 33 are ball screw structures. In actual implementation, other linear moving mechanical structures can be used to change the height of the support body 36 . This should not be the limit.

The control unit 4 includes a control module 41 electrically connected to the first actuation module 32 and the plurality of second actuation modules 34 , and a first detection module 42 electrically connected to the control module 41 , a second detection module 43 electrically connected to the control module 41 , and a power supply module 44 electrically connected to the control module 41 .

The bed unit 5 includes a first plate body 51 connected with the auxiliary unit 3, and a second plate body 52 pivotally connected with the first plate body 51, the first plate body 51 is used to support a person ( The back of the figure (not shown), the second plate body 52 is used to support the buttocks of the person.

The first plate body 51 has a first frame 511 and a first support member 512 disposed on the first frame 511 , the second plate body 52 has a second frame 521 and a first support member 512 disposed on the second frame 521 of the second support 522 . Preferably, the first frame 511 and the second frame 521 are made of metal material, and the first support member 512 and the second support member 522 are made of canvas material. In actual implementation, the first support member of the bed unit 5 The 512 and the second support member 522 can be made of other materials, which should not be limited thereto.

Wherein, the first frame 511 and the second frame 521 are generally in the shape of a ㄇ, and the first frame 511 and the second frame 521 are disposed opposite to each other, and the first frame 511 has a first end 513 and a first end 513 disposed opposite to each other. With two ends 514, the second frame 521 has a third end 523 and a fourth end 524 disposed opposite to each other. The first end 513 of the first frame 511 is connected to the bottom end of the buffer module 37 , and the second end 514 of the first frame 511 is pivotally connected to the third end 523 of the second frame 521 .

A plurality of connecting elements 53 are disposed between the first frame 511 and the first support member 512 to fix the position of the first support member 512 in the first frame 511 to prevent the first support member 512 from being connected to the first frame 511 . Sliding occurs in the frame 511, a plurality of connecting pieces 53 are arranged between the second frame 521 and the second support member 522 to fix the position of the second support member 522 in the second frame 521 to avoid the second support The member 522 slides in the second frame 521. In actual implementation, the first plate body 51 and the second plate body 52 can use other supporting structures that can support the human body, which should not be exemplified in this preferred embodiment. limit.

In the first preferred embodiment, the first plate body 51 is connected with the plurality of buffer modules 37. In actual implementation, the plurality of buffer modules 37 may not be provided, so that the first end 513 of the first plate body 51 is directly connected to the buffer module 37. It should not be limited to being pivotally connected with the support body 36 .

The plurality of buffer modules 37 are used to buffer the weight of the person's back on the first plate body 51 , wherein each buffer module 37 is provided with a spring and a shock absorber, which is a shock absorber structure similar to a bicycle. When the person is lying on the bed unit 5 , or when the auxiliary unit 3 lifts or moves the first plate body 51 of the bed unit 5 , the plurality of buffer modules 37 can reduce the gravity of the first plate body 51 The shaking caused by the impact can effectively alleviate the discomfort of the person.

In the first preferred embodiment, the plurality of wheel bodies 35 is a mecanum wheel, which is used to control the position of the base 31. In actual implementation, other plurality of wheel bodies 35 may be used, which should not be used as such. limited. The plurality of second actuating modules 34 respectively control the rotation directions of the plurality of wheel bodies 35 to further change the position of the base 31 . Since the Mecanum wheel is a known technology and is widely used in commercial products, it will not be described in detail here.

The control module 41 is a microcontroller that can execute programs to control electronic components. Preferably, the control module 41 is provided with a control panel (not shown in the figure), which can control the control module 41, or Setting the control parameters, since it is a conventional technology to use the control panel as the operation interface of the microcontroller, will not be described in detail here.

The first detection module 42 is used to detect the relative position of the support body 36 and the first plate body 51. In the first preferred embodiment, the first detection module 42 is a multi-directional limit The switch, like an omnidirectional sensing element of a joystick, is used to detect the moving direction of the buffer module 37 to obtain the position of the first end 513 of the first plate body 51 relative to the support body 36 . Because the relative angle of the plurality of buffer modules 37 and the support body 36 will change when the first plate body 51 moves, the angle change of the buffer module 37 can be detected, and the angle of the first plate body 51 can be known. In addition, when the bed unit 5 is moved, the first detection module 42 can detect the position of the first end 513 of the first plate body 51, so that the control module 41 The plurality of second actuating modules 34 are controlled so that the supporting body 36 is always kept directly above the first end 513 of the first plate body 51 . In actual implementation, the first detection module 42 can use a camera to shoot in the direction of the first board body 51 , and the control module 41 can analyze the captured picture to obtain the information of the first board body 51 . Location information should not be limited to this.

The plurality of second detection modules 43 are infrared detectors, respectively disposed on the base 31 to detect the conditions around the base 31 , and the plurality of second detection modules 43 are used to ensure the plurality of wheel bodies 35 By traversing the space of the base 31, the base 31 can be prevented from colliding with other objects when the floor moves.

The power supply module 44 is a battery, which is used to store power and provide the operating power of the electronic components in the getting-up aid device. In actual implementation, the power-supply module 44 can be a transformer connected to the commercial power to obtain the operating power of the getting-up aid device , should not be limited by this.

The control module 41 controls the first actuating module 32 to change the relative angle between the first plate body 51 and the second plate body 52 , and the control module 41 controls the plurality of second actuating modules 34 to make The supporting body 36 moves with the pivoting arc of the first plate body 51 , so that the supporting body 36 is always kept just above the first end 513 of the first plate body 51 .

Referring to FIG. 5 , the control module 41 controls the first motor 321 to rotate the screw 323 , thereby raising and lowering the height of the slider 33 and the support body 36 , and the support body 36 lifts the first plate when the support body 36 is raised. The first end 513 of the body 51, at the same time, because the person's buttocks press the second plate body 52, the second plate body 52 can not be easily moved, and the first end 513 of the first plate body 51 will move to the right in an arc shape, and because the support body 36 must be located directly above the first end 513 of the first plate body 51 to stabilize the center of gravity, when the first detection module 42 detects the When the first end 513 of the first plate body 51 moves to the right, the control module 41 controls the plurality of second actuating modules 34 to make the plurality of wheel bodies 35 move the base 31 stably to the right on the floor and keep the support body 36 directly above the first end 513 of the first plate body 51 .

In other words, because the first end 513 of the first plate body 51 moves in an arc when it is lifted up and down, the first end 513 of the first plate body 51 is caused to move laterally. If the auxiliary unit 3 The position remains the same, the auxiliary unit 3 will be pulled by the bed unit 5 due to the weight of the person on the bed unit 5, and the center of gravity will shift. When the auxiliary unit 3 cannot When supporting the offset center of gravity, the situation of tipping will occur. Therefore, the present invention moves the auxiliary unit 3 laterally with the position of the first end 513 of the first plate body 51, which can stabilize the center of gravity of the auxiliary unit 3 and effectively avoid A dumping situation occurs.

Referring to FIG. 6 , it is the assisting method for getting up according to the first preferred embodiment. The assisting method for getting up includes a setting step 901 , a lifting step 902 , and a stopping step 903 .

In the setting step 901, a lift height is set for the auxiliary unit 3, and the lift is the lift height of the slider 33 and the support body 36. For example, the auxiliary unit 3 can be raised by 50 cm, so that the The person changes from the lying position to the sitting position, or the auxiliary unit 3 is set to descend by 50 cm, so that the person changes from the sitting position to the lying position. In actual implementation, the relative angle between the first plate body 51 and the second plate body 52 can also be set, which should not be limited thereto.

In the lifting step 902 , the auxiliary unit 3 changes the height of the first end 513 of the first plate body 51 according to the set lifting height, so that the first plate body 51 pivots relative to the second plate body 52 , the first end 513 of the first plate body 51 rotates in an arc shape with the pivot point of the second plate body 52 as the center of the circle, and the first detection module 42 can detect the first end of the first plate body 51 513, so that the control module 41 controls the plurality of second actuating modules 34, so that the auxiliary unit 3 can match the translation position of the first end 513 of the first plate body 51 when the arc rotates And traverse its own position to keep the support body 36 directly above the first end 513 of the first plate body 51 , so as to stabilize the center of gravity of the auxiliary unit 3 .

In the stopping step 903 , when the slider 33 and the support body 36 move to the lifting height, the auxiliary unit 3 stops changing the height of the first end 513 of the first plate body 51 . When the auxiliary unit 3 changes or stops the height of the first end 513 of the first board 51 , the buffer module 37 can buffer the gravity exerted by the person on the first board 51 to avoid the first board 51 The first end 513 shakes excessively.

Referring to FIG. 7 and FIG. 8 , it is a second preferred embodiment of a standing aid device of the present invention. The second preferred embodiment is substantially the same as the first preferred embodiment, and the similarities will not be described in detail here. , the difference is that the auxiliary unit 3 further includes a third actuating module 38 disposed between the sliding block 33 and the supporting body 36 .

The control module 41 is electrically connected to the third actuating module 38 for rotating the support body 36 so that the support body 36 can rotate with the first end 513 of the first plate body 51 .

In the third preferred embodiment, the third actuating module 38 has an extension structure 381 disposed on the slider 33, and a third motor 382 disposed in the extension structure 381, the support body 36 and the The third motor 382 is connected, the extension structure 381 is a plurality of metal brackets fixed on the slider 33, the third motor 382 is fixed on the extension structure 381, the third motor 382 is used to rotate the support body 36, the actual implementation At the time, other devices for rotating the support body 36 can be used, which should not be limited thereto.

Because the plurality of wheel bodies 35 are mecanum wheels, controlling the rotation direction of the plurality of wheel bodies 35 can control the base 31 to traverse in an arc-shaped manner, so as to further control the bed unit 5 in the The second plate body 52 rotates as the center of the circle.

When the height of the first end 513 of the first plate body 51 increases, the human body will form a sitting posture, and the weight of the human body will be pressed on the second plate body 52 , thus changing the first end of the first plate body 51 When the translation position of 513 is reached, the bed unit 5 will rotate with the second plate 52 as the center of the circle.

The control module 41 controls the plurality of wheel bodies 35 to make the support body 36 perform arc translation with the second plate body 52 as the center of the circle, and at the same time controls the third actuation module 38 to make the support body 36 follow the first plate The first end 513 of a plate body 51 is rotated, and the bed unit 5 is further rotated with the second plate body 52 as the center of the circle.

It can be seen from the above description that the stand-up assisting device of the second preferred embodiment can not only assist the person to change from a lying position to a sitting position, but also rotate the person's direction to assist the person's feet to move to one side of the bed. side, and the feet can be placed on the ground.

Referring to FIG. 9 , it is the assisting method for getting up in the second preferred embodiment. The difference from the assisting method for getting up in the first preferred embodiment is that the assisting method for getting up in the second preferred embodiment further includes a The rotation step 904 follows the stop step 903 .

In the rotation step 904 , the auxiliary unit 3 takes the second plate body 52 as the center of the circle, and takes the distance from the first end 513 of the first plate body 51 to the second plate body 52 as the radius to move the first plate body 52 . The first end 513 of the plate body 51 rotates the second plate body 52 .

It is worth mentioning that the bed unit 5 can be set on a general bed board, and the first board body 51 can be aligned with the position of the back of the person only by turning the person lying on the bed sideways, and the second board The body 52 is placed at the position of the person's buttocks, and then the person lies flat to complete the setting of the bed unit 5 . Preferably, the person can be fixed on the bed unit 5 with a fixing belt.

Next, the auxiliary unit 3 lifts the first end 513 of the first plate body 51 to enable the person to turn from a lying position to a sitting position, while controlling the position of the base 31 to stabilize the center of gravity of the auxiliary unit 3 .

When the person is in a sitting position, the control module 41 changes the position of the base 31 to rotate the bed unit 5, because most of the person's weight will be pressed on the second board 52, so the bed unit 5 The second plate body 52 can be rotated 90 degrees as the center of the circle. At this time, the person's feet can be moved to the bedside by the muscle force of the feet, or the person's feet can be moved to the bedside by the caregiver. so that the soles of the person's feet touch the ground.

On the contrary, if the person is to lie on the bed, the person can first sit on the second board body 52 and lean on the first board body 51 to form a sitting posture on the bed unit 5, Preferably, the person can be fixed on the bed unit 5 using a fixing belt. Then the auxiliary unit 3 moves in an arc to rotate the bed unit 5 and the person sitting beside the bed. The person's feet are moved so that the person's orientation is the same as that of the bed. Then the auxiliary unit 3 lowers the height of the first end 513 of the first board body 51 to make the person lie on the bed. When the first end 513 of the first board body 51 is lowered, the auxiliary unit 3. Cooperate with the position of the first end 513 of the first plate body 51 to move, so that the support body 36 is always kept directly above the first end 513 of the first plate body 51, effectively stabilizing the center of gravity of the auxiliary unit 3. Finally, if the bed unit 5 needs to be removed from the bed, the person can be turned over on the bed, and the bed unit 5 can be easily removed from the bed.

Referring to FIG. 10 , it is a third preferred embodiment of a standing aid device of the present invention. The third preferred embodiment is substantially the same as the first preferred embodiment, and the similarities will not be described in detail here, and the differences will not be described in detail. In this third preferred embodiment, no bed unit is provided, and the auxiliary unit 3 has a connecting body 39 connected with the slider 33 , two supporting bodies 36 are pivotally connected with the connecting body 39 , and the control module 41 The plurality of second actuating modules 34 can be controlled to change the direction and position of the auxiliary unit 3 .

In the third preferred embodiment, the connecting body 39 and the two supporting bodies 36 are arranged in a horizontal direction. The connecting body 39 is provided with two first adjustment modules 45 capable of controlling the first actuating module 32 . The first adjustment modules 45 are used to control the control module 41 to control the height of the slider 33 . The two supporting bodies 36 can pivot relative to the connecting body 39. Preferably, a second adjusting module 46 is respectively disposed on the side of the two supporting bodies 36, and the two second adjusting modules 46 are used to control the two respectively. The pivot angle between the support body 36 and the connecting body 39 .

It is worth mentioning that the control module 41 is provided with a center of gravity detection component for detecting the center of gravity of the assisting device for getting up, and the two supporting bodies 36 are used to support the armpits of a person (not shown in the figure). , which can assist the person to switch between the sitting posture and the standing posture. When the person is in the standing posture, the center of gravity detector can detect the center of gravity of the assisting device for getting up, and further assist the person to walk. For example, when the person walks in the support of the getting up aid device, he can push the getting up aid device in a timely manner, so that the center of gravity detecting element can detect the center of gravity of the getting up aid device, so that the getting up assist device is moved toward The direction of movement of the person moves slowly, and the person can walk with the assistance of the getting-up aid device. In addition, since the plurality of wheel bodies 35 are mecanum wheels, the control module 41 can easily control the rotation direction and the forward direction of the assisting device for getting up, unlike the general wheel bodies that cannot reach the left and right sides Structural constraints such as walking, left and right front side, left left and right rear side, or in-situ rotation and so on.

Referring to FIG. 11 , it is a fourth preferred embodiment of a standing aid device of the present invention. The fourth preferred embodiment is substantially the same as the third preferred embodiment, and the similarities will not be described in detail here, and the differences will not be described in detail. There is an adjusting structure between the connecting body 39 and the two supporting bodies 36 , and the adjusting structure is used to adjust the positions of the two supporting bodies 36 on the connecting body 39 .

In the fourth preferred embodiment, the adjustment structure is a plurality of screw holes 391 disposed on the connecting body 39, and a screw member 392 that can screw the two supporting bodies 36 on the connecting body 39. The adjustment structure of the positions of the two support bodies 36 can make the two support bodies 36 more conform to the body shape of the person, further support the person's armpit, assist the person to switch between the sitting posture and the standing posture, and can also assist the person on the ground. walk.

As can be seen from the above description, a kind of getting up assisting device of the present invention does have the following effects:

1. High support stability: When the auxiliary unit 3 lifts the first end 513 of the first plate body 51 , the support body 36 is always kept directly above the first end 513 of the first plate body 51 , which can stabilize the center of gravity of the auxiliary unit 3 , and When the auxiliary unit 3 rotates the bed unit 5, the control module 41 controls the third actuating module 38, so that the support body 36 can rotate with the first end 513 of the first plate body 51, and also The center of gravity of the first plate body 51 of the bed unit 5 can be stably supported.

2. It can buffer gravity to avoid shaking: When the auxiliary unit 3 lifts the first end 513 of the first plate body 51 , the buffer module 37 can buffer the gravity exerted by the person on the first plate body 51 , and can avoid the first plate body 51 . The end 513 is excessively swayed to make the person lying on the bed unit 5 feel comfortable.

3. You can change the posture and turn the direction: The bed unit 5 can be installed on a general bed to assist the person to switch between lying and sitting positions, and can also rotate the person's direction when the person is in a sitting position, so that the person's feet can touch the ground, which is convenient for the person. The person gets out of bed.

To sum up, the control module 41 can control the first actuating module 32 to lift the first end 513 of the first plate body 51 and switch the posture of the person, and the first detection module 42 can detect Measure the relative position of the first end 513 of the first plate body 51 and the supporting body 36, so that the control module 41 can control the plurality of second actuating modules 34, so that the supporting body 36 can be kept at the first Just above the first end 513 of the plate body 51 to stabilize the center of gravity of the auxiliary unit 3 . After the auxiliary unit 3 completes the height rise and fall of the first end 513 of the first plate body 51, the control module 41 can control the plurality of second actuation modules 34 to make the base 31 move in an arc shape on the floor. The first plate body 51 is rotated with the second plate body 52 as the center of the circle, and the control module 41 controls the third actuating module 38 to make the support body 36 follow the first plate body 51 . The rotation of the end 513 effectively stabilizes the center of gravity of the person on the bed unit 5, so the purpose of the present invention can be achieved.

However, the above-mentioned are only four preferred embodiments of the present invention, which should not limit the scope of the present invention. Modifications are still within the scope of the patent of the present invention.

11 The first frame 12 Second frame 13 Back support 14 Pillow holder 15 Drives 16 Telescopic part 3 Auxiliary units 31 base 32 The first actuation module 321 first motor 322 Slide structure 323 screw 33 Slider 34 The second actuating module 35 Wheel body 36 Support body 37 Buffer module 38 The third actuation module 381 Extension Structure 382 Third motor 39 Connector 391 screw holes 392 screws 4 control unit 41 Control Module 42 The first detection module 43 The second detection module 44 Power supply module 45 The first adjustment module 46 The second adjustment module 5 Bed unit 51 The first plate body 511 First Frame 512 first support 513 first end 514 second end 52 Second plate body 521 Second frame 522 Second support 523 third end 524 fourth end 53 Connectors 901 Setting steps 902 Lifting steps 903 stop step 904 Rotation steps

Fig. 1 is a three-dimensional schematic diagram illustrating Chinese patent CN108789347A, illustrating a kind of home care equipment; FIG. 2 is a schematic perspective view, which is a first preferred embodiment of an assisting device for getting up according to the present invention, illustrating a three-dimensional aspect of an assisting unit; Fig. 3 is a partial three-dimensional schematic diagram, illustrating a partial three-dimensional form of the auxiliary unit connected to a bed unit in the three-dimensional form of the first preferred embodiment; and FIG. 4 is a schematic diagram of a device, illustrating the device configuration of a control unit in the first preferred embodiment; 5 is a schematic side view, illustrating the side view of the first preferred embodiment, in which the auxiliary unit changes the angle of the bed unit and moves its position to prevent the position of a second plate from moving. ; FIG. 6 is a flow chart illustrating the assisting method for getting up according to the first preferred embodiment; 7 is a partial three-dimensional schematic view, which is a second preferred embodiment of a standing up assisting device of the present invention, illustrating a partial three-dimensional aspect of a third actuating module provided on an auxiliary unit; 8 is a schematic top view, illustrating the top view state in which the auxiliary unit moves in an arc shape to rotate a bed unit and prevent the position of the second plate body from moving in the second preferred embodiment Sample; FIG. 9 is a flow chart illustrating the assisting method for getting up according to the second preferred embodiment; Fig. 10 is a three-dimensional schematic view, which is a third preferred embodiment of a getting up assisting device of the present invention, illustrating a three-dimensional aspect of the getting up assisting device capable of bending two supporting bodies upward; and 11 is a three-dimensional schematic diagram, which is a fourth preferred embodiment of a standing-up assisting device of the present invention, illustrating a three-dimensional aspect of a standing-up assisting device capable of adjusting the interval between two support bodies.

3 Auxiliary units 31 base 32 The first actuation module 321 first motor 322 Slide structure 323 screw 33 Slider 34 The second actuating module 35 Wheel body 36 Support body 4 control unit 41 Control Module 42 The first detection module 43 The second detection module 44 Power supply module

Claims (7)

An assisting device for getting up, comprising: an auxiliary unit, including a base, a first actuating module set on the base, a slider set on the first actuating module, and a plurality of second actuating modules set on the base an actuating module, a plurality of wheel bodies disposed on the second actuating module, a support body connected with the slider, and a third actuating module disposed between the slider and the support body; a control unit including a control module electrically connected to the first actuating module, the plurality of second actuating modules, and the third actuating modules; and a bed unit including a control module connected to the support A first plate body connected to the body, and a second plate body pivotally connected to the first plate body, the first plate body has a first end pivotally connected to the support body, and the control module controls the first plate body The actuating module changes the relative angle between the first plate body and the second plate body, and the control module controls the plurality of second actuating modules to make the support body follow the pivoting arc of the first plate body moving; the bed unit rotates with the second plate body as the center of the circle, wherein the control module controls the plurality of second actuation modules to make the support body perform arc translation with the second plate body as the center of the circle , thereby rotating the bed unit, and the control module controls the third actuating module to make the support body rotate with the first end of the first plate body. The assisting device for getting up as claimed in claim 1, wherein the plurality of wheel bodies are mecanum wheels. The assisting device for getting up as claimed in claim 1, wherein the first actuating module has a first motor disposed on the base, a slideway knot disposed on the base structure, and a screw rod connected with the first motor, the slider is arranged on the screw rod and the slideway structure. The assisting device for getting up as claimed in claim 1, wherein the control unit further comprises a first detection module electrically connected to the control module, and a second detection module electrically connected to the control module , the first detection module is arranged on the support body, the first detection module is used to detect the relative position of the support body and the first plate body, the second detection module is arranged on the base to Detects conditions around the base. The assisting device for getting up as claimed in claim 1, wherein the auxiliary unit further comprises a plurality of buffer modules disposed between the support body and the first plate body. The assisting device for getting up as claimed in claim 1, wherein the third actuating module has an extension structure disposed on the slider, and a third motor disposed in the extension structure, the support body and the third motor Motor connection. An assisting method for getting up, applicable to the assisting device for getting up according to any one of claims 1 to 6, comprising the following steps: a setting step, a first plate body and a second plate body are pivotally connected, an auxiliary unit is connected to the A first end of the first plate body is connected, and a lifting height is set for the auxiliary unit; in a lifting step, the auxiliary unit changes the height of the first end of the first plate body, so that the first plate body is opposite to the first plate body. The two plates pivot, and the first end of the first plate rotates in an arc shape with the pivot joint of the second plate as the center of the circle. When the auxiliary unit rotates in an arc shape with the first end of the first plate a translation position, the auxiliary unit traverses its own position; a stopping step, the auxiliary unit stops changing the height of the first end of the first plate body; and In a rotation step, the auxiliary unit takes the second plate body as the center of the circle, and takes the distance from the first end of the first plate body to the second plate body as the radius, and moves the first end of the first plate body to rotate the The second plate body.

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