CN109106486A - Side above formula seat robot and Intelligent seat robot - Google Patents
Side above formula seat robot and Intelligent seat robot Download PDFInfo
- Publication number
- CN109106486A CN109106486A CN201810823693.2A CN201810823693A CN109106486A CN 109106486 A CN109106486 A CN 109106486A CN 201810823693 A CN201810823693 A CN 201810823693A CN 109106486 A CN109106486 A CN 109106486A
- Authority
- CN
- China
- Prior art keywords
- seat
- above formula
- bottom plate
- plate
- cushion bottom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of side above formula seat robots, are related to the technical field of nursing device.A kind of side above formula seat robot includes: seat unit, mobile chassis device, lifting device, is moved forward and backward device and moves left and right device；Lifting device is connected between seat unit and mobile chassis device, and seat unit can be driven to move up and down along the vertical direction；Seat unit includes cushion bottom plate, is moved forward and backward device and is arranged on seat unit, and cushion bottom plate can be driven to be moved forward and backward in the horizontal direction；It moves left and right device to be arranged on cushion bottom plate, be moved left and right in the horizontal direction for dragging user.A kind of Intelligent seat robot includes side above formula seat robot.Alleviating nursing device in the prior art cannot solve to move the problems such as multiplying, moving simultaneously.
Description
Technical field
The present invention relates to the technical fields of nursing device, more particularly, to a kind of side above formula seat robot and Intelligent seat
Robot.
Background technique
Move multiply, the problem of movement is the weak old man of lower limb function decline, individuals with disabilities's problem in the urgent need to address.It is such
Crowd is often due to lower limbs strength is insufficient, and the shifting being not readily accomplished between different location multiplies and automatic moving, needs the auxiliary of nursing device
It helps or the help of nursing staff could complete above-mentioned behavior.And current existing nursing device, such as shifting machine, wheelchair are not
It can solve the problems, such as that the shifting of such crowd multiplies, moves simultaneously, and person inconvenient to use and nursing staff's operation.
In order to overcome the shortcomings of existing product, the present invention provides a kind of side above formula seat robots, predominantly lower limb function
It moves and multiplies between the crowd that can fail realization different location, sitting posture is mobile to provide ancillary support.User can be according to physical condition, at this
Under the auxiliary of side above formula seat robot, independent or in the case where nursing staff assist on a small quantity between completion bed and seat shifting multiplies, seat
Shifting between chair and closestool multiplies, automatic moving, to promote the life confidence of user, mitigates the labor intensity of nursing staff.
Summary of the invention
The purpose of the present invention is to provide a kind of side above formula seat robot and Intelligent seat robots, to alleviate existing skill
Nursing device in art cannot solve to move the problems such as multiplying, moving simultaneously.
In order to solve the above-mentioned technical problem, the technological means that the present invention takes are as follows:
A kind of side above formula seat robot provided by the invention include: seat unit, mobile chassis device, lifting device,
It is moved forward and backward device and moves left and right device；
The lifting device is connected between the seat unit and the mobile chassis device, and can drive the seat
Chair apparatus moves up and down along the vertical direction；
The seat unit includes cushion bottom plate, and the back-and-forth motion device is arranged on the seat unit, and can
The cushion bottom plate is driven to be moved forward and backward in the horizontal direction；
The device that moves left and right is arranged on the cushion bottom plate, and for dragging user, left and right is moved in the horizontal direction
It is dynamic.
As a kind of further technical solution, the seat unit further includes seat plate, and the cushion bottom plate with
The seat plate is slidably connected；
The seat plate is connect with the lifting device, under the driving effect of the lifting device, the seat bottom
Plate is able to drive the entire seat unit and moves up and down along the vertical direction.
As a kind of further technical solution, the back-and-forth motion device includes the first actuator, gear and rack gear；
First actuator is arranged on the seat plate, and the rack gear is arranged in the cushion bottom base plate, institute
It states and is connected between the first actuator and the rack gear by the gear drive；
First actuator is able to drive the gear rotation, and the gear is able to drive the rack gear movement, described
Rack gear cushion bottom plate can be moved forward and backward described in synchronous drive relative to the seat plate.
As a kind of further technical solution, it is respectively arranged with directive slide track at left and right sides of the seat plate, institute
The sliding block for being respectively arranged at left and right sides of cushion bottom plate and matching with the directive slide track is stated, the sliding block and the guiding are slided
It is slidably connected between rail；
At least one set of support wheel is provided between the cushion bottom plate and the seat plate.
As a kind of further technical solution, the device that moves left and right includes the second actuator, driving wheel and transmission
Band；
Driving wheel described at least two groups is arranged at intervals on the cushion bottom plate, and the conveyer belt is set in the driving wheel
On, and the top of the conveyer belt is located at the top of the cushion bottom plate, second actuator and wherein transmission described in one group
Wheel transmission connection；
Second actuator can drive the driving wheel to rotate, and the driving wheel is able to drive the conveyer belt and moves
It is dynamic, the conveyer belt is moved left and right relative to the cushion bottom plate.
As a kind of further technical solution, it is respectively arranged with side guard plate at left and right sides of the seat plate, and extremely
It is connected by a hinge between the side guard plate and the seat plate of few side, the side guard plate is enabled to be flipped up lift
It rises or downwardly turns over and put down.
As a kind of further technical solution, leg support, one end of the leg support are provided on front side of the seat unit
It is connect with the front end of the cushion bottom plate.
As a kind of further technical solution, it is respectively arranged with handrail at left and right sides of the seat unit, and at least
Remote-control handle is provided on one handrail.
As a kind of further technical solution, the mobile chassis device includes that chassis body, traveling wheel and third are driven
Moving part；
Traveling wheel described in multiple groups be arranged in the chassis body, the third actuator respectively with the traction drive
Connection；
The third actuator can drive the traveling wheel to rotate, and drive the chassis body mobile.
A kind of Intelligent seat robot provided by the invention includes the side above formula seat robot and control device；
The control device includes at least signal processing module, signal receiving module and execution module；
The signal receiving module can receive it is extraneous from for control signal, and will control signal pass to it is described
Signal processing module, signal after treatment pass to execution module, and opposite side above formula seat robot is adjusted, to meet
For demand.
Compared with prior art, a kind of side above formula seat robot and Intelligent seat robot provided by the invention are had
Technical advantage are as follows:
A kind of side above formula seat robot provided by the invention includes seat unit, mobile chassis device, lifting device, preceding
Mobile device and move left and right device afterwards, wherein the top of lifting device is connect with seat unit, and bottom and mobile chassis fill
Connection is set, so as to support and adjust the height of seat unit, to meet the needs of user is to seat unit height；Front and back
Mobile device is arranged on seat unit, and cushion bottom plate can be driven to move along the front-rear direction of seat unit, to meet
Demand of the user to seat unit front-rear position；It moves left and right device to be arranged on cushion bottom plate, when user is sitting in cushion
It when on bottom plate, that is, is sitting in and moves left and right on device, as a result, under the driving effect for moving left and right device, user can
It moves along the left and right directions of seat unit, in order to drag to user among seat unit, or drags to from centre
Edge.
By being used in conjunction with each other between above-mentioned apparatus, structure, it can satisfy a variety of demands of user, including to make
User realizes that the shifting between different location multiplies, sitting posture is mobile etc. and provides ancillary support, also, user can also be according to body
Situation, independent or in the case where nursing staff assists on a small quantity between completion bed and seat shifting multiplies, the shifting between seat and closestool multiplies, voluntarily
Movement, training etc., and then the life confidence of user is greatly promoted, while mitigating the labor intensity of nursing staff.
A kind of Intelligent seat robot provided by the invention, including above-mentioned side above formula seat robot and control device,
As a result, when user, which issues, to be instructed, control device can receive, analyze and issue corresponding instruction, to control side above formula seat
Chair robot ambulation, adjusting seat position, height etc., and then taken in the above formula seat robot of side convenient for users to moving, or
Other positions are taken from the shifting of side above formula seat robot；It in addition to this, further include that above-mentioned side above formula seat robot is achieved
Technical advantage and effect, details are not described herein again.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of overall structure diagram of side above formula seat robot provided in an embodiment of the present invention；
The first structure diagram of mobile chassis device in Fig. 2 side above formula seat robot provided in an embodiment of the present invention；
Second structural schematic diagram of mobile chassis device in Fig. 3 side above formula seat robot provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of seat unit in side above formula seat robot provided in an embodiment of the present invention；
Fig. 5 is lifting device in side above formula seat robot provided in an embodiment of the present invention, is moved forward and backward device and left and right
The structural schematic diagram of mobile device；
Fig. 6 is that side above formula seat robot provided in an embodiment of the present invention is moving the first state figure multiplied under scene；
Fig. 7 is that side above formula seat robot provided in an embodiment of the present invention is moving the second state diagram multiplied under scene.
Icon:
1- seat unit；11- cushion bottom plate；111- sliding block；12- seat plate；121- directive slide track；122- branch
Support wheel；13- side guard plate；14- leg support；15- handrail；151- remote-control handle；The 16- chair back；17- hinge；
2- mobile chassis device；21- chassis body；211- ultrasonic sensor (infrared sensor)；212- laser
Radar；213- visual sensor；214- tracking sensor；22- traveling wheel；
3- lifting device；31- electric pushrod；32- connection pedestal；
4- is moved forward and backward device；The first actuator of 41-；42- gear；43- rack gear；
5- moves left and right device；The second actuator of 51-；52- driving wheel；53- conveyer belt；
6- control device.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
Specific structure is as shown in Fig. 1-Fig. 7.
A kind of side above formula seat robot provided in this embodiment includes seat unit 1, mobile chassis device 2, lifting dress
Set 3, be moved forward and backward device 4 and move left and right device 5, wherein the top of lifting device 3 is connect with seat unit 1, bottom and
Mobile chassis device 2 connects, high to seat unit 1 to meet user so as to support and adjust the height of seat unit 1
The demand of degree；Be moved forward and backward device 4 be arranged on seat unit 1, and can drive cushion bottom plate 11 along seat unit 1 before
Rear direction is mobile, to meet the needs of user is to 1 front-rear position of seat unit；Device 5 is moved left and right to be arranged in cushion bottom plate
On 11, when user is sitting on cushion bottom plate 11, that is, it is sitting in and moves left and right on device 5, moving left and right device as a result,
Under 5 driving effect, user can move along the left and right directions of seat unit 1, in order to which user is dragged to seat
Among device 1, or from centre drag to edge.
By being used in conjunction with each other between above-mentioned apparatus, structure, the crowd that can fail for lower limb function realizes different positions
The purpose of shifting between setting multiplies, sitting posture is mobile, thus, meet a variety of demands of user, also, user can also be according to body
Body situation, independent or in the case where nursing staff assists on a small quantity between completion bed and seat shifting multiplies, the shifting between seat and closestool multiplies, certainly
Row movement etc., keeps physical function, promotes health, and then greatly promote the life confidence of user, while mitigating nursing staff
Labor intensity.
In the optional technical solution of the present embodiment, seat plate 12, and cushion bottom plate 11 are provided with below cushion bottom plate 11
It is slidably connected with seat plate 12；Seat plate 12 is connect with lifting device 3, under the driving effect of lifting device 3, seat bottom
Plate 12 is able to drive entire seat unit 1 and moves up and down along the vertical direction.
Specifically, the seat unit 1 mainly include seat plate 12, cushion bottom plate 11 and the chair back 16, seat plate 12
Bottom is connect with lifting device 3, which uses electric pushrod 31, and the bottom of electric pushrod 31 passes through connection pedestal
32 connect with mobile chassis device 2, and top is connect with seat plate 12, as a result, when needing to adjust the height of seat, need to only open
Dynamic lifting device 3, seat plate 12 or even entire seat unit 1 can be realized under the driving effect of electric pushrod 31 and move down
It is dynamic, in order to meet the needs of different users are to height.
In the optional technical solution of the present embodiment, being moved forward and backward device 4 includes the first actuator 41, gear 42 and rack gear
43；The setting of first actuator 41 is arranged in 12 top of seat plate, rack gear 43 in 11 bottom of cushion bottom plate, and the first actuator 41
It is sequentially connected between rack gear 43 by gear 42；First actuator 41 is able to drive the rotation of gear 42, and gear 42 is able to drive
Rack gear 43 is mobile, and rack gear 43 can synchronous drive cushion bottom plate 11 be moved forward and backward relative to seat plate 12.
In the optional technical solution of the present embodiment, the left and right sides of seat plate 12 is respectively arranged with directive slide track 121, sits
The left and right sides of rebasing plate 11 is respectively arranged with the sliding block 111 matched with directive slide track 121, sliding block 111 and directive slide track 121
Between be slidably connected；At least one set of support wheel 122 is provided between cushion bottom plate 11 and seat plate 12.
It can be moved forward and backward to meet seat unit 1, be moved forward and backward in order to be provided in user, the present embodiment
Device 4, and cushion bottom plate 11 and seat plate 12 are set as being slidably connected, specifically, dividing at left and right sides of seat plate 12
Not She Zhi directive slide track 121, sliding block 111, and sliding block 111 and 121 phase of directive slide track is respectively set at left and right sides of cushion bottom plate 11
Cooperation, as a result, cushion bottom plate 11 can move along the longitudinal direction relative to seat plate 12.It and is to improve cushion bottom plate 11
Stability, be also provided with support wheel 122 thereunder, to improve rigidity, the stability of cushion bottom plate 11, be convenient for cushion bottom plate
11 back-and-forth motion.
Further, the mobile power source of cushion bottom plate 11 specifically includes the first actuator from device 4 is moved forward and backward
41, gear 42 and rack gear 43, the first actuator 41 are arranged on seat plate 12, and rack gear 43 is arranged on cushion bottom plate 11, and
It is sequentially connected between first actuator 41 and rack gear 43 by gear 42；When needing to move back and forth, it need to only start back-and-forth motion
Device 4, at this point, the first actuator 41 is rotated with moving gear 42, gear 42 is mobile with carry-over bar 43, and 43 synchronous drive of rack gear is sat
Rebasing plate 11 is moved forward and backward relative to seat plate 12, so as to meet the needs of user is moved forward and backward seat unit 1.
In the optional technical solution of the present embodiment, moving left and right device 5 includes the second actuator 51, driving wheel 52 and transmission
Band 53；At least two groups driving wheel 52 is arranged at intervals on cushion bottom plate 11, and conveyer belt 53 is set on driving wheel 52, and conveyer belt
53 top is located at the top of cushion bottom plate 11, and the second actuator 51 is sequentially connected with wherein one group of driving wheel 52；Second driving
Part 51 can drive driving wheel 52 to rotate, and it is mobile that driving wheel 52 is able to drive conveyer belt 53, enable conveyer belt 53 relative to
Cushion bottom plate 11 moves left and right.
In order to dragging among seat user from seating edge, or seat side is dragged among seat
Edge is provided in the present embodiment and moves left and right device 5, this moves left and right device 5 and includes the second actuator 51, driving wheel 52 and pass
Band 53 is sent, specifically, conveyer belt 53 is set on driving wheel 52, and the upper surface of conveyer belt 53 is located at the upper of cushion bottom plate 11
Side, and driving wheel 52 is then at least arranged two groups, interval is arranged, as a result, under the driving effect of the second actuator 51, driving wheel 52
Rotation drives conveyer belt 53 mobile, so as to realize the purpose of dragging user by driving wheel 52.Preferably, driving wheel 52
It can be using forms such as drive bevel gear groups.
In the optional technical solution of the present embodiment, the left and right sides of seat plate 12 is respectively arranged with side guard plate 13, and extremely
Connected between the side guard plate 13 and seat plate 12 of few side by hinge 17, enable side guard plate 13 be flipped up lift or
Person, which downwardly turns over, to be put down.
In the present embodiment, side guard plate 13, and the side guard plate of at least side are respectively provided at left and right sides of seat plate 12
13 can overturn to lift or overturn and put down, specifically, being connected between at least one side guard plate 13 and seat plate 12 using hinge 17
It connects；When for needing to be moved to seat unit 1 from side, or being moved on other objects from seat unit 1, first will it need
Side guard plate 13, which downwardly turns over, to be put down, and after putting down, free end is then placed on other and takes on object, in order to which user can move
It is moved again on to side guard plate 13 onto conveyer belt 53, or moved from conveyer belt 53 onto side guard plate 13, thus convenient for users to
Move.It takes the opportunity when not needing to move, side guard plate 13, which is flipped up, to be lifted, to play a certain protective role to user.
In the optional technical solution of the present embodiment, the front side of seat unit 1 is provided with leg support 14, one end of leg support 14 and seat
The front end of rebasing plate 11 connects.
In the present embodiment, leg support 14 is mainly used for supporting user leg, i.e., when user rides on seat unit 1
When, leg support 14 can support user leg；It takes the opportunity when user needs to move, cushion bottom plate 11 can be moved forward and backward, and synchronous belt
Dynamic leg support 14 is moved forward and backward.
In the optional technical solution of the present embodiment, the left and right sides of seat unit 1 is respectively arranged with handrail 15, and at least one
Remote-control handle 151 is provided on a handrail 15.
In the present embodiment, handrail 15 is mainly used for supporting user's arm, i.e., when user rides on seat unit 1
When, arm is supported by handrail 15；It takes the opportunity when needing to move, handrail 15 can be flipped up, in order to which user is mobile；Further
, remote-control handle 151 can also be set on handrail 15, to control the walking of entire seat robot.
In the optional technical solution of the present embodiment, mobile chassis device 2 includes that chassis body 21, traveling wheel 22 and third are driven
Moving part；Multiple groups traveling wheel 22 is arranged in chassis body 21, and third actuator is sequentially connected with traveling wheel 22 respectively；Third driving
Part can drive traveling wheel 22 to rotate, and drive chassis body 21 mobile.
In the optional technical solution of the present embodiment, the front side and the left and right sides of chassis body 21 are provided with laser radar
212, ultrasonic sensor 211 or infrared sensor, the rear side of chassis body 21 are provided with visual sensor 213, chassis
The bottom of ontology 21 is provided with tracking sensor 214.
In the present embodiment, for the walking for realizing entire seat robot, traveling wheel is provided on mobile chassis device 2
22, specifically, mobile chassis device 2 includes chassis body 21, traveling wheel 22 and third actuator, wherein traveling wheel 22 includes
Omnidirectional's castor of two or more active drives and the omni-directional wheel of Auxiliary support universal caster wheel or multiple active drives, can
To be omni wheel, Mecanum wheel, global wheel etc., each traveling wheel 22 is sequentially connected with third actuator respectively, which drives
Moving part, which can be, to be mainly made of motor and shaft coupling, and under the driving effect of third actuator, traveling wheel 22 is able to drive whole
A side above formula seat robot ambulation.
It further, is the smooth walking for realizing side above formula seat robot, in the present embodiment, in mobile chassis device 2
On be mounted with some detecting elements, specifically, 21 installed in front laser radar 212 of chassis body, ultrasonic sensor 211 or
Person's infrared sensor etc., installs visual sensor 213 in rear side, installs tracking sensor 214 in bottom, passes through said elements
Side above formula seat robot can be made to be not susceptible to collide in the process of walking, be more advantageous to its walking.
A kind of Intelligent seat robot provided in this embodiment includes side above formula seat robot and control device 6；Control
Device 6 processed includes at least signal processing module, signal receiving module and execution module；Signal receiving module can receive the external world
From for control signal, and by control signal pass to signal processing module, signal after treatment passes to execution
Module, opposite side above formula seat robot are adjusted, to meet the demand of being used for.
Specifically, signal receiving module may include voice interaction module, wireless communication module, remote control module, sensor
Receiving module etc. can receive voice signal, wireless transmission signal, remote-control handle from user by above-mentioned module respectively
Signal and the signal of each sensor on 151 etc.；And these signals after signal receiving module receives using signal
The analysis of processing module is handled, and is eventually sent to execution module to control side above formula seat robot and make corresponding movement.On
Software realization can be used on same hardware controls board by stating each module, can also be realized using independent hardware circuit board,
And it is communicated by wireless or wired communication mode with the foundation of control device 6.It should be noted that about control principle, communication
Principle can use the prior art, not be elaborated herein.
A kind of Intelligent seat robot provided by the invention, including above-mentioned side above formula seat robot and control device 6,
As a result, when user, which issues, to be instructed, control device 6 can receive, analyze and issue corresponding instruction, to control side above formula seat
Chair robot ambulation, adjusting seat position, height etc., and then taken in the above formula seat robot of side convenient for users to moving, or
Other positions are taken from the shifting of side above formula seat robot；It in addition to this, further include that above-mentioned side above formula seat robot is achieved
Technical advantage and effect, details are not described herein again.
Side above formula seat robot and Intelligent seat robot provided in this embodiment can be realized following scene:
Scene one: user takes on other objects, needs to move and take in the above formula seat robot of side, moves again to other
Position, the specific steps are as follows:
1) user issues instruction by remote control, voice, and side above formula seat robot is compiled by laser radar 212 and motor
The information of code device can create indoor or outdoor map, and realize synchronous positioning, to realize from stand to specific bit
The omnidirection autonomous set is detected either by the magnetic stripe being laid on ground or dark track by tracking sensor 214
Area navigation line autonomous can pass through ultrasonic sensor 211 or infrared sensor real-time detection to designated position
Barrier can be realized adjustment motion track and avoid dynamic and static barrier, which, which is located at immediately ahead of user, has centainly
Distance.(related omnidirection autonomous control principle can be realized, or the prior art can also be used, and not make herein in detail
It illustrates)
2) if the bottom for currently taking object is entity (such as the bed in the not no gap in lower section), and positive side does not have space, then
Side above formula seat robot is backwards in front of the side of user position, adjusts the height of cushion bottom plate 11 extremely by lifting device 3
The slightly above upper surface of user's seating object moves back cushion bottom plate 11 by being moved forward and backward device 4, protrudes into seating object
Top, so that cushion bottom plate 11 is located at the side of user, and the leg support 14 in front moves backward therewith；
If the bottom for currently taking object is not that entity (as there is the nursing bed of free gap in lower section) or side have space (such as horse
Bucket), then it directly falls back and enters, so that cushion bottom plate 11 is located at the side of user.
3) handrail 15 of the side above formula seat robot close to user side, which is flipped up, lifts；
4) side guard plate 13 of the side above formula seat robot close to user side downwardly turns over, and one end is placed on seating object
On, to reduce the difference in height of cushion bottom plate 11 Yu user's seating position.
5) user is moved the side put down to seat robot and protected by side above formula seat robot to user's transverse translation
On plate 13；Or side above formula seat robot remains stationary, user can also be voluntarily moved by upper limbs force to side above formula
On the side guard plate 13 of seat robot.
6) conveyer belt 53 is mobile to seat center direction, stops moving after user is moved seat center position.
7) side guard plate 13 is flipped up withdrawal, handrail 15, which downwardly turns over, to be put down.
8) it the case where cushion bottom plate 11 moves back, then controls and is moved forward and backward device 4 and works, so that cushion bottom plate 11 is to Forward
It is dynamic, and leg support 14 also moves forward therewith, and when cushion bottom plate 11 playbacks forward, leg support 14 also hangs naturally.
9) user can be moved to target position by remote-control handle 151 or voice control side above formula seat robot
It sets.
Scene two: user rides in the above formula seat robot of side, needs to move and take on other seating objects
1) user issues instruction by remote control, voice, and side above formula seat robot is compiled by laser radar 212 and motor
The information of code device can create indoor or outdoor map, and realize synchronous positioning, to realize from stand to specific bit
The omnidirection autonomous set is detected either by the magnetic stripe being laid on ground or dark track by tracking sensor 214
Area navigation line autonomous can pass through ultrasonic sensor 211 or infrared sensor real-time detection to designated position
Barrier can be realized adjustment motion track and avoid dynamic and static barrier, which, which is located at immediately ahead of user, has centainly
Distance.(related omnidirection autonomous control principle can be realized, or the prior art can also be used, and not make herein in detail
It illustrates)
If 2) move, to multiply the bottom of object be entity (such as the bed in the not no gap in lower section) or side without a space (such as horse
Bucket), then side above formula seat robot is backwards in front of the side moved and multiply object, and the height of cushion bottom plate 11 is adjusted by lifting device 3
It spends to slightly above user and takes the upper surface of object, by being moved forward and backward device 4 cushion bottom plate 11 is moved back, protrude into shifting and multiply
Above object, and the leg support 14 in front also moves backward therewith；
If currently taking object bottom is not that entity (as there is the nursing bed of free gap in lower section) or side have space (such as horse
Bucket), then it directly falls back and enters, so that cushion bottom plate 11 is located at the side moved and multiply object.
3) handrail 15 of the side above formula seat robot close to user side, which is flipped up, lifts；
4) side guard plate 13 of the side above formula seat robot close to user side downwardly turns over, and one end is placed on seating object
On, to reduce the difference in height of cushion bottom plate 11 Yu user's seating position.
5) conveyer belt 53 is to movement on the outside of seat, after user is moved onto side guard plate 13, stops movement.
6) user is voluntarily moved to shifting by upper limbs force and is multiplied on object.
7) side above formula seat robot side guard plate 13 is flipped up withdrawal, and handrail 15, which downwardly turns over, to be put down.
8) it the case where cushion bottom plate 11 moves back, then controls and is moved forward and backward device 4 and works, so that cushion bottom plate 11 is to Forward
It is dynamic, and leg support 14 also moves forward therewith, and when cushion bottom plate 11 playbacks forward, leg support 14 also hangs naturally.
9) side above formula seat robot manipulates the instruction that remote-control handle 151 or voice control issue according to user, mobile
To designated position.
Side above formula seat robot and Intelligent seat robot provided by the invention have the advantage that as a result,
1) shifting that auxiliary user conveniently realizes between different seating objects multiplies, and mitigates nursing staff armful and user's shifting is helped to multiply
Labor intensity；
2) omnidirection is mobile, particularly suitable for the narrow interior space；
3) have indoor map creation and independent navigation function, dynamic static-obstacle thing can be avoided, realize autonomous, it is auxiliary
User's autonomous is helped, the workload of nursing staff is mitigated.It (can about creation indoor map, independent navigation, evacuation principle etc.
It to use the prior art, is not elaborated herein)
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of side above formula seat robot characterized by comprising seat unit, mobile chassis device, lifting device, preceding
Mobile device and move left and right device afterwards；
The lifting device is connected between the seat unit and the mobile chassis device, and the seat can be driven to fill
It sets and moves up and down along the vertical direction；
The seat unit includes cushion bottom plate, and the back-and-forth motion device is arranged on the seat unit, and can drive
The cushion bottom plate is moved forward and backward in the horizontal direction；
The device that moves left and right is arranged on the cushion bottom plate, moves left and right in the horizontal direction for dragging user.
2. side above formula seat robot according to claim 1, which is characterized in that the seat unit further includes seat bottom
Plate, and the cushion bottom plate is slidably connected with the seat plate；
The seat plate is connect with the lifting device, under the driving effect of the lifting device, the seat plate energy
It is enough that the entire seat unit is driven to move up and down along the vertical direction.
3. side above formula seat robot according to claim 2, which is characterized in that the back-and-forth motion device includes first
Actuator, gear and rack gear；
First actuator is arranged on the seat plate, and the rack gear setting is in the cushion bottom base plate, and described the
It is connected between one actuator and the rack gear by the gear drive；
First actuator is able to drive the gear rotation, and the gear is able to drive the rack gear movement, the rack gear
It cushion bottom plate can be moved forward and backward relative to the seat plate described in synchronous drive.
4. side above formula seat robot according to claim 3, which is characterized in that the left and right sides of the seat plate point
It is not provided with directive slide track, is respectively arranged with the sliding block matched with the directive slide track at left and right sides of the cushion bottom plate,
It is slidably connected between the sliding block and the directive slide track；
At least one set of support wheel is provided between the cushion bottom plate and the seat plate.
5. side above formula seat robot according to claim 2, which is characterized in that the device that moves left and right includes second
Actuator, driving wheel and conveyer belt；
Driving wheel described at least two groups is arranged at intervals on the cushion bottom plate, and the conveyer belt is set on the driving wheel,
And the top of the conveyer belt is located at the top of the cushion bottom plate, second actuator is passed with wherein driving wheel described in one group
Dynamic connection；
Second actuator can drive the driving wheel to rotate, and the driving wheel is able to drive the conveyer belt movement, make
Obtaining the conveyer belt can move left and right relative to the cushion bottom plate.
6. side above formula seat robot according to claim 2, which is characterized in that the left and right sides of the seat plate point
It is not provided with side guard plate, and is connected by a hinge between the side guard plate and the seat plate of at least side, so that described
Side guard plate can be flipped up to lift or downwardly turn over and put down.
7. side above formula seat robot according to claim 1, which is characterized in that be provided on front side of the seat unit
Leg support, one end of the leg support are connect with the front end of the cushion bottom plate.
8. side above formula seat robot according to claim 1, which is characterized in that the left and right sides of the seat unit point
It is not provided with handrail, and is provided with remote-control handle at least one described handrail.
9. side above formula seat robot according to claim 1, which is characterized in that the mobile chassis device includes chassis
Ontology, traveling wheel and third actuator；
Traveling wheel described in multiple groups is arranged in the chassis body, and the third actuator connects with the traction drive respectively
It connects；
The third actuator can drive the traveling wheel to rotate, and drive the chassis body mobile.
10. a kind of Intelligent seat robot, which is characterized in that including the described in any item side above formula seat machines of claim 1-9
Device people and control device；
The control device includes at least signal processing module, signal receiving module and execution module；
The signal receiving module can receive it is extraneous from for control signal, and control signal is passed into the signal
Processing module, signal after treatment pass to execution module, and opposite side above formula seat robot is adjusted, and are used for meeting
Demand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823693.2A CN109106486A (en) | 2018-07-24 | 2018-07-24 | Side above formula seat robot and Intelligent seat robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823693.2A CN109106486A (en) | 2018-07-24 | 2018-07-24 | Side above formula seat robot and Intelligent seat robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109106486A true CN109106486A (en) | 2019-01-01 |
Family
ID=64862547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810823693.2A Pending CN109106486A (en) | 2018-07-24 | 2018-07-24 | Side above formula seat robot and Intelligent seat robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109106486A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109770602A (en) * | 2019-01-04 | 2019-05-21 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | A kind of intelligent positioning tracking thing to sit on applied to library |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| CN112120453A (en) * | 2020-09-02 | 2020-12-25 | 安徽久工健业有限责任公司 | Massage chair frame structure |
| CN112220619A (en) * | 2020-05-19 | 2021-01-15 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | Electric folding wheelchair capable of going up and down steps |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202743080U (en) * | 2012-09-18 | 2013-02-20 | 浙江青年乘用车集团有限公司 | Seat lifting regulation device |
| CN106617860A (en) * | 2016-12-05 | 2017-05-10 | 清华大学 | Intelligent seat robot |
| CN107374486A (en) * | 2017-09-21 | 2017-11-24 | 北京理工大学 | A kind of moveable toilet seat robot of intelligent posture adjustment |
| CN107914606A (en) * | 2017-11-27 | 2018-04-17 | 洛阳理工学院 | Bus is embedded to turn folding lifting seat |
| CN208989412U (en) * | 2018-07-24 | 2019-06-18 | 北京理工大学 | Above formula seat robot and Intelligent seat robot afterwards |
| CN209187093U (en) * | 2018-07-24 | 2019-08-02 | 北京理工大学 | Side above formula seat robot and Intelligent seat robot |
-
2018
- 2018-07-24 CN CN201810823693.2A patent/CN109106486A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202743080U (en) * | 2012-09-18 | 2013-02-20 | 浙江青年乘用车集团有限公司 | Seat lifting regulation device |
| CN106617860A (en) * | 2016-12-05 | 2017-05-10 | 清华大学 | Intelligent seat robot |
| CN107374486A (en) * | 2017-09-21 | 2017-11-24 | 北京理工大学 | A kind of moveable toilet seat robot of intelligent posture adjustment |
| CN107914606A (en) * | 2017-11-27 | 2018-04-17 | 洛阳理工学院 | Bus is embedded to turn folding lifting seat |
| CN208989412U (en) * | 2018-07-24 | 2019-06-18 | 北京理工大学 | Above formula seat robot and Intelligent seat robot afterwards |
| CN209187093U (en) * | 2018-07-24 | 2019-08-02 | 北京理工大学 | Side above formula seat robot and Intelligent seat robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109770602A (en) * | 2019-01-04 | 2019-05-21 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | A kind of intelligent positioning tracking thing to sit on applied to library |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| CN112220619A (en) * | 2020-05-19 | 2021-01-15 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | Electric folding wheelchair capable of going up and down steps |
| CN112120453A (en) * | 2020-09-02 | 2020-12-25 | 安徽久工健业有限责任公司 | Massage chair frame structure |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
| CN112274357B (en) * | 2020-10-28 | 2022-06-24 | 苏州工艺美术职业技术学院 | Home care robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109106486A (en) | Side above formula seat robot and Intelligent seat robot | |
| CN105816282B (en) | A kind of multifunctional bed chair integrated robot | |
| US8165718B2 (en) | Robotic transportation devices and systems | |
| US11251663B2 (en) | Power transfer system with patient transport apparatus and power transfer device to transfer power to the patient transport apparatus | |
| CN108721004B (en) | Rear upper seat robot and intelligent seat robot | |
| CN106176073B (en) | Intelligent life wheelchair | |
| US11246774B2 (en) | Smart electric wheelchair for the elderly | |
| CN106580587A (en) | Automatic-separating-and-docking integrated robot | |
| CN105751217A (en) | Follow robot with Bluetooth positioning and automatic following technology | |
| CN209187093U (en) | Side above formula seat robot and Intelligent seat robot | |
| CN106943248A (en) | A kind of multifunctional wheelchair | |
| CN105538323A (en) | Automatic feeding robot | |
| CN109991618A (en) | A kind of embedded wheelchair-type nursing bed and its automatic butt method | |
| CN111544216A (en) | Home service robot | |
| CN106333801B (en) | Side position lifts Multifunctional shifting machine | |
| CN212522218U (en) | Wheelchair capable of crossing obstacles | |
| CN109646255A (en) | Walk help ancillary equipment and its application method | |
| CN106790847A (en) | Movable-type intelligent handset mounting | |
| CN209774632U (en) | Service robot for transportation | |
| CN208989412U (en) | Above formula seat robot and Intelligent seat robot afterwards | |
| CN105563498A (en) | Multifunctional robot for autonomously feeding person and helping person go to toilet | |
| CN102670366A (en) | Automatic abutting and control system for bed and chair integrated robot | |
| CN112545790A (en) | Combined bed-chair integrated equipment and control method thereof | |
| WO2017094128A1 (en) | Care device | |
| CN207506707U (en) | A kind of electric wheelchair mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |