CN111543819A - Old man gets up integral type auxiliary machine of sleeping - Google Patents
Old man gets up integral type auxiliary machine of sleeping Download PDFInfo
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- CN111543819A CN111543819A CN202010472911.XA CN202010472911A CN111543819A CN 111543819 A CN111543819 A CN 111543819A CN 202010472911 A CN202010472911 A CN 202010472911A CN 111543819 A CN111543819 A CN 111543819A
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C20/00—Head -, foot -, or like rests for beds, sofas or the like
- A47C20/08—Head -, foot -, or like rests for beds, sofas or the like with means for adjusting two or more rests simultaneously
- A47C20/10—Head -, foot -, or like rests for beds, sofas or the like with means for adjusting two or more rests simultaneously using rods
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C17/00—Sofas; Couches; Beds
- A47C17/04—Seating furniture, e.g. sofas, couches, settees, or the like, with movable parts changeable to beds; Chair beds
- A47C17/16—Seating furniture changeable to beds by tilting or pivoting the back-rest
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C17/00—Sofas; Couches; Beds
- A47C17/86—Parts or details for beds, sofas or couches only not fully covered in a single one of the sub-groups A47C17/02, A47C17/04, A47C17/38, A47C17/52, A47C17/64, or A47C17/84; Drawers in or under beds
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G25/00—Household implements used in connection with wearing apparel; Dress, hat or umbrella holders
- A47G25/90—Devices for domestic use for assisting in putting-on or pulling-off clothing, e.g. stockings or trousers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The utility model provides an old man integral type auxiliary machine of going up to bed, includes: the lifting and lying unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism; the trousers wearing and taking-off unit is arranged below the leg plate lower mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trouser leg supporting mechanisms and a position adjusting mechanism; and the control unit comprises a controller and a human-computer interaction module and is used for controlling the movement of the back lifting mechanism, the leg plate lowering mechanism, the waist supporting lifting mechanism and the pedal mechanism. The invention has the beneficial effects that: the function of integrally assisting the old to get on or off the bed is realized; the function of assisting in wearing the trousers is realized; the function of assisting in taking off the trousers is realized; the automatic back lifting function of 0-70 degrees is realized; has a certain protection effect; the function of the lower part of the leg plate linkage is realized; the linked lifting function of the handrail is realized; the automatic shifting-out and withdrawing function of the trousers wearing and taking-off mechanism is realized; collect and assist and play bed and wear to take off trousers in old person's device of helping of an organic whole, it is mainly for the convenience old person's daily life, improves the quality of life.
Description
Technical Field
The invention relates to an integral auxiliary machine for getting up and sleeping of old people.
Background
With the increasing aging of society, the old people are more and more in the society, the coordination ability of four limbs of the old people is weakened, the old people often have certain difficulty in getting up or sleeping, for example, the old people have the problems of weak muscles to support the getting up action, dizziness caused by the reduction of the cerebral blood pressure in the getting up process, squatting, easy falling down when lying down and the like, the old people are difficult to get up, lie down and put on or take off clothes independently, once the falling down results are not imaginable, and therefore the old people have certain danger in getting up, lying down and putting on or taking off clothes independently. Therefore, the related tools are urgently needed to assist the old to safely finish the actions of getting up, lying, putting on and taking off the trousers.
Disclosure of Invention
In order to solve the problems, the invention provides an integrated auxiliary machine for helping the old to get up and down and put on and off trousers, which can help the user to get up and down and put on and off trousers, and is safe and convenient.
The invention relates to an integral auxiliary machine for getting up and sleeping of old people, which is characterized by comprising:
the lifting and lying unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism, the back lifting mechanism comprises a base, a back plate lifting part and a back plate, and the upper part of the base is provided with a mounting plane with a high front part and a low back part and used for mounting the back plate lifting part; the backboard lifting part is arranged on the mounting surface of the base, and the lifting end of the backboard lifting part is connected with the bottom of the backboard and used for driving the rear part of the backboard to lift; the back plate is arranged at the upper lifting end of the back plate lifting part and used for lifting the back of a user to enable the user to synchronously lift; the armrest linkage lifting mechanism comprises a seat plate, an armrest linkage device and armrests, the rear part of the seat plate is hinged with the front part of the back plate, and two sliding grooves are formed in two sides of the seat plate respectively and used for containing the armrests; the handrail linkage device comprises a sliding part and a lifting part, the top of the sliding part is provided with a handrail, and the bottom of the sliding part is inserted into the sliding groove and is in sliding fit with the sliding groove; the front end of the lifting part is fixedly arranged at the rear part of the leg plate lowering mechanism, and the rear end of the lifting part is tilted upwards to form a jacking end for jacking the handrail to turn upwards; the leg plate lowering mechanism comprises a leg plate, a multistage transmission connecting rod assembly, an air spring and a horizontal pushing device, and the rear part of the leg plate is hinged with the front part of the seat plate; the upper end of the multistage transmission connecting rod assembly is hinged with the bottom of the leg plate, and the lower end of the multistage transmission connecting rod assembly is connected with the pushing end of the horizontal pushing device in a sliding mode and used for putting down or lifting the leg plate; the rear end of the horizontal pushing device is hinged with the lower movable end of the back plate lifting part, and the front end of the horizontal pushing device is used as a pushing end and hinged with the lower end of the multistage transmission connecting rod assembly and used for lowering the leg plate; the horizontal movable end of the gas spring is hinged with the lower end of the multistage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plate;
the trousers putting-on and taking-off unit is arranged below the leg plate lower mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trouser leg supporting mechanisms and a position adjusting mechanism, wherein the base plate is provided with a horizontal mounting surface, and a mounting rail is arranged on the mounting surface and used for mounting the trouser leg supporting mechanisms; the waist supporting lifting mechanisms are respectively symmetrically arranged on two sides of the base plate and comprise a vertical frame, a lifting device and a waist supporting frame, and the vertical frame is vertically arranged on the base plate and used for supporting the lifting device; the lifting device comprises a fixed guide part and a lifting part, wherein the fixed guide part is arranged on the vertical frame, the lifting part is arranged on the fixed part in a sliding manner, and a waist support frame for fixing the waist of the trousers is arranged on the lifting part and keeps the two waist support frames opposite to each other for driving the waist of the trousers to lift so as to realize the trousers putting on and taking off; the trouser leg supporting mechanism is arranged on the base plate between the two vertical frames side by side and comprises a trouser leg clamp, a pushing mechanism and a pedal mechanism, the trouser leg clamp comprises a trouser leg simulating clamping part and a trouser leg simulating clamping part, the bottom of the trouser leg simulating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg simulating clamping part is provided with a clamping part used for being clamped at the rear part of the crus of a user and being attached to the crus; the bottom of the trouser leg imitating clamping part is arranged on the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping and supporting clamp which can be clamped outside the clamping part and is used for clamping or loosening trouser legs; the pushing mechanism comprises an installation frame and a horizontal pushing assembly, wherein the installation frame is installed on an installation rail below the clamping part and used for installing the horizontal pushing assembly; the horizontal pushing assembly is arranged in the mounting frame in a sliding mode, and the front end of the horizontal pushing assembly extends out of the mounting frame to form a force application end which is used for being matched with the pedal mechanism; the side surface of the horizontal pushing assembly is connected with the side surface of the clamping and supporting clamp and is used for driving the clamping and supporting clamp to move so as to adjust the distance between the clamping and supporting clamp and the clamping part of the trouser legs; the pedal mechanism comprises a pedal and a wedge-shaped pushing block, the wedge-shaped pushing block is installed at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged to the installation rail, the front end of the pedal extends to the position right above the wedge-shaped pushing block, and the horizontal pushing assembly is driven to move by controlling the pedal; the position adjusting mechanism comprises a third stepping motor, a second lead screw and a connecting framework, the third stepping motor is arranged at the front end of the base of the back lifting mechanism, the third stepping motor and the second lead screw are kept to be arranged along the movement direction of the pushing mechanism, and an output shaft of the third stepping motor is connected with one end of the second lead screw; the second lead screw is sleeved with a sliding nut, and the sliding nut is in threaded connection with the second lead screw, so that the sliding nut moves axially along the second lead screw when the second lead screw rotates circumferentially under the driving of a third stepping motor; the rear end of the connecting framework is fixedly connected with the sliding nut, and the front end of the connecting framework is fixedly connected with the vertical frame of the waist supporting lifting mechanism and is used for synchronously driving the base plate and the waist supporting lifting mechanism to axially reciprocate along the second lead screw so as to adjust the position of the pedal mechanism;
the signal output end of the controller is electrically connected with the signal input end of the back plate lifting part, the signal input end of the lifting device of the waist supporting lifting mechanism and the signal input end of the position adjusting mechanism through a control circuit, and the signal input end of the controller is electrically connected with the signal output end of the human-computer interaction device in a signal or electric mode and used for controlling the movement of the back lifting mechanism, the leg plate lowering mechanism, the waist supporting lifting mechanism and the pedal mechanism; and the control circuit is provided with a power switch for controlling the on-off of the whole auxiliary machine.
The backboard lifting part comprises a backboard stepping motor, a screw nut pair, a linear guide rail, a sliding connecting rod and a herringbone connecting rod, the backboard stepping motor is arranged in the front of the mounting plane of the base, and the output end of the backboard stepping motor is connected with the front end of a screw of the screw nut pair and used for driving a screw of the screw nut pair to rotate; the screw rod and nut pair comprises a screw rod, a nut and a supporting bearing, the screw rod and two end parts of the optical axis are respectively arranged on the surface of the mounting plane through corresponding supporting bearing frames, the front end of the screw rod is connected with the output end of the backboard stepping motor, the nut is sleeved outside the screw rod and is in threaded connection with the screw rod, so that the nut moves axially along the screw rod when the screw rod rotates around a self central shaft; the linear guide rail comprises an optical axis, a linear bearing and an optical axis supporting seat, the linear bearing can freely move along the axial direction of the optical axis, and the optical axis is supported on the mounting plane by the optical axis supporting seat; the sliding connecting rod is perpendicular to the screw rod, two ends of the sliding connecting rod are sleeved on the optical axis and are fixedly connected with the linear bearing with the flange on the optical axis, and the sliding connecting rod is used for realizing synchronous movement of the screw rod nut and the linear bearing on the optical axis; the herringbone connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod, the bottom end of the first connecting rod is hinged to the sliding connecting rod, and the upper end of the first connecting rod is hinged to the other two connecting rods through joint joints; the bottom end of the second connecting rod is hinged to the front part of the base, and the upper end of the second connecting rod is hinged to the upper end of the first connecting rod and the bottom end of the third connecting rod; the bottom end of the third connecting rod is hinged with the other two connecting rods, and the upper end of the third connecting rod is hinged with the back plate through a joint bearing, so that the upper end of the first connecting rod supports the back plate to lift or descend in the moving process of the first connecting rod along with the sliding connecting rod, and when the nut of the screw-nut pair moves to the rear end of the screw rod, the back plate and the seat plate are positioned on the same horizontal plane.
The back plate comprises a main back plate and two side back plates, two sides of the main back plate are respectively hinged with one side back plate, and the front end of the main back plate is hinged with the rear end of the seat plate; the two sets of herringbone connecting rods are arranged, the lower ends of the two sets of herringbone connecting rods are symmetrically hinged to the two ends of the sliding connecting rod respectively, and the upper ends of the herringbone connecting rods are hinged to the bottoms of the side back plates on the same side through corresponding joint bearings respectively.
The handrail linkage device comprises two sets of handrail linkage devices, the sliding part comprises at least one pair of first sliding rods, the same pair of first sliding rods are arranged oppositely, and gaps are directly reserved between the two first sliding rods and used for the lifting part to pass through; the upper end of the first sliding rod is provided with a handrail, and the lower part of the first sliding rod is inserted into the sliding groove of the seat plate and is in sliding fit with the sliding groove; the lifting part comprises a first push rod and a roller, the first push rod is of an ivory structure, the front end of the first push rod is hinged to the bottom of the leg plate, the rear end of the first push rod upwards tilts to form a pushing end for pushing the handrail, the roller used for reducing friction force between the first push rod and the handrail is installed at the rear end of the first push rod, when the seat plate and the leg plate are located on the same horizontal plane, the roller of the pushing end of the first push rod is not in contact with the handrail, and when the leg plate is placed down, the roller is in contact with the handrail and pushes the handrail to lift from the sliding groove of the seat plate.
The multistage transmission connecting rod assembly comprises a first leg plate connecting rod, a long pin shaft and a second leg plate connecting rod, wherein the upper end of the first leg plate connecting rod is hinged with the bottom of the leg plate, and the lower end of the first leg plate connecting rod is hinged with the long pin shaft; two ends of the long pin shaft are respectively hinged with a second leg plate connecting rod, the transfer position of the second leg plate connecting rod is hinged with the upper end of the fixed hinged support, and the lower end of the second leg plate connecting rod is respectively connected with the horizontal movable end of the gas spring and the front end of the horizontal pushing device in a sliding manner; the movement direction of the front end of the horizontal pushing device and the movement direction of the horizontal movable end of the gas spring are opposite or reverse; the horizontal pushing device comprises a second push rod, a push rod fixing sleeve, a sliding sleeve, a third push rod and a joint, wherein the rear end of the second push rod is vertical, and the sliding sleeve is sleeved outside the second push rod; the sliding sleeve is hinged with the sliding connecting rod; the front end of the second push rod is inserted into the push rod sleeve, and the front end of the second push rod and the push rod sleeve form a sliding pair, so that the second push rod axially extends and retracts along the push rod sleeve, and the sliding sleeve vertically ascends and descends along the second push rod in the extension and retraction process of the second push rod; the rear end of the third push rod is inserted into the push rod fixing sleeve and is in sliding connection with the push rod fixing sleeve, the front end of the third push rod horizontally slides in a sliding groove at the lower end of the second leg plate connecting rod, and the third push rod and the gas spring are coaxial; the sum of the maximum length of the second push rod inserted into the push rod sleeve and the maximum length of the third push rod inserted into the push rod fixing sleeve is greater than the total length of the push rod fixing sleeve, so that the leg plate lags behind the back plate to move. The first connecting rod and the third connecting rod are straight lines when the backboard is horizontally placed, and the second connecting rod and the third connecting rod are straight lines when the backboard is completely lifted, so that the backboard and the backboard are self-locked respectively when two states are formed.
The first connecting rod is divided into two sections, the lower end of the lower section is connected with a nut, the upper section is connected with the side back plate of the back plate through a joint bearing, and the second connecting rod is connected with a base with a static bottom; the lower section and the upper section of the first connecting rod are straight lines when the backboard is horizontally placed, and the second connecting rod and the upper section are straight lines when the backboard is completely lifted, so that the backboard and the backboard are self-locked when in two states.
The number of the mounting rails is two, each mounting rail comprises a transverse rail and a vertical rail, and the transverse rails are arranged along the length direction of the base plate and used for mounting the clamping parts of the pedal and the trouser legs; the vertical rails are arranged along the width direction of the base plate, keep the transverse rails and the vertical rails perpendicular to each other and are used for installing the horizontal pushing assembly;
the lifting device comprises a first stepping motor, a ball screw and a sliding block, the first stepping motor is installed at the bottom of the stand, and a signal input end of the first stepping motor is electrically connected with a signal output end of the controller and used for driving the ball screw to rotate under the control of the controller; the ball screw is vertically arranged on the vertical frame, and the lower end of the ball screw is connected with the output end of the first stepping motor; the trousers supporting frame is installed on the sliding block, the two sets of trousers supporting frames are kept right opposite, the sliding block is sleeved outside the ball screw and is in threaded connection with the ball screw, and therefore the sliding block can axially lift along the ball screw when the ball screw rotates.
The trouser leg imitating clamping parts comprise bases, connecting bent rods and elastic clamping sleeves serving as the clamping parts, the lower ends of the connecting bent rods are fixedly arranged on the transverse rails through the bases, the elastic clamping sleeves are arranged at the tops of the connecting bent rods, and the elastic clamping sleeves of the two trouser leg imitating clamping parts are positioned on the same side; the elastic clamping sleeve is an arc-shaped sleeve imitating the human shank, the clamping inlets of the arc-shaped sleeve face the rear part of the shank of a user, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and used for being matched with the clamping and supporting clamp;
the trouser leg imitation clamping part comprises a clamping and supporting clamp and a connecting rod as a movable part, the front part of the clamping and supporting clamp is provided with an arc-shaped structure which can be clamped outside the elastic clamping sleeve, the front end surface of the clamping and supporting clamp is provided with a clamping block which can be clamped in the rectangular clamping groove of the elastic clamping sleeve, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamping and supporting clamp and the elastic clamping sleeve; the two connecting rods are respectively provided with two ends for clamping and supporting the clamp, the lower ends of the two connecting rods are respectively connected with the movable part of the horizontal pushing assembly, and the movable part of the horizontal pushing assembly drives the clamping and supporting clamp to move so as to adjust the distance between the clamping and supporting clamp and the elastic clamping sleeve.
The mounting frame of the pushing mechanism is mounted into a rectangular frame, and a through hole for the front end of the horizontal pushing assembly to penetrate through is formed in the front end plate of the mounting frame; two side plates of the mounting frame are respectively provided with a sliding chute arranged along the length direction of the side plates;
the horizontal pushing assembly comprises a pushing button, a rocker, a roller, a screw and a return pressure spring, wherein two sides of the pushing button are respectively and correspondingly provided with a short connecting rod, the outer end of each short connecting rod penetrates out of a sliding groove corresponding to the installation frame and then is fixedly connected with the lower end of the connecting rod on the same side, a groove is formed in the surface of the pushing button, the front end of the groove is located at the front end of the installation frame, and the rear end of the groove is sunken inwards to form a locking position; the first end of the rocker is hinged to the front end plate of the mounting frame, the second end of the rocker is provided with a roller which can be inserted into the groove, so that the roller can slide along the contour of the groove under the pulling of the rocker, and when the roller slides into the top end or the locking position of the groove, the relative fixation between the push button and the mounting frame is realized; the screw rod is inserted in the through hole of the front end plate of the installation frame, the screw rod is kept to be arranged along the direction of the vertical track, the inner end of the screw rod is fixedly connected with the front end of the push button, and the outer end of the screw rod penetrates through the installation frame and then extends forwards to form a force application end for being matched with the pedal mechanism; the return pressure spring is sleeved on a screw rod between the front end face of the installation frame and the push button, the front end of the return pressure spring abuts against the inner end face of the front end portion of the installation frame, and the rear end of the return pressure spring abuts against the front end face of the push button and is used for achieving return of the push button.
The wedge-shaped pushing block is arranged at the front end of the screw rod, and the bottom of the wedge-shaped pushing block is slidably arranged on the vertical rail, so that the wedge-shaped pushing block drives the screw rod to axially slide along the vertical rail; the surface of the wedge-shaped pushing block is provided with an inclined pushing surface, and the height of the front end of the pushing surface is lower than that of the rear end of the pushing surface; the bottom of the pedal is provided with a roller which is pressed on a pushing surface of the wedge-shaped pushing block, and the position of the wedge-shaped pushing block is adjusted by adjusting the pressure of the roller which is pressed on the pushing surface.
The installation track still include the crossbeam, the crossbeam horizontal stand dress is in the top of the same group of vertical track for under the footboard was in the level and tramples the state, the bottom of footboard just with crossbeam surface contact, in order to support in the bottom of footboard.
The invention has the beneficial effects that:
1) the design of the rising and lying unit accords with the human engineering and is convenient to operate. The bed board is divided into three parts, namely a backrest, a seat board and leg boards, and the integral linkage from the back board, the leg boards to the armrests is realized by utilizing the modularized bed board and a plurality of link mechanisms and being driven by a stepping motor. When the old gets up, the old presses the button to lift the back plate by 70 degrees, the leg plates are put down by 110 degrees after lagging, and the armrests are lifted to assist the old to get up. When the old people go to bed, the 'flat' button is pressed, the back plate and the leg plate are flat, the handrail descends, and the old people are assisted to sleep;
2) the backrest is controlled to lift through a three-link mechanism, and two limit positions in the movement of the three links are positioned at dead points, so that the stability of the backrest is improved; armrests are arranged on two sides of the seat plate, and when the leg plates are lowered, the mechanism is linked to drive the armrests to ascend, so that the safety of the old is protected, and the old can get up conveniently; the air spring is additionally arranged on the connecting rod below the leg plate, so that the movement elasticity of the leg plate is increased, and the control and fixation of the leg plate are more stable;
3) the operation is simple and convenient, the motor is controlled by a controller with a simple control interface, and the leg plate can be automatically put down after a certain time when the backrest is lifted through the linkage mechanism of the backrest part and the leg plate part, so the design is ingenious and convenient;
4) the trouser leg supporting mechanism and the waist supporting lifting mechanism of the trouser-putting-on and taking-off unit accord with ergonomics, and actions of clamping trouser legs and supporting the waist of trousers can be realized by controlling the trouser leg supporting mechanism and the waist supporting lifting mechanism respectively. After the old people enter the mechanism, the left foot and the right foot respectively step in the pedals to clamp the trouser legs, then the waist supporting frame of the waist supporting lifting mechanism is utilized to prop open the waist part of the trousers, the height of the waist supporting lifting mechanism can be adjusted, and finally the mechanism is started to realize trousers taking off; the trousers wearing process is similar to the trousers taking-off process, the trouser leg clamp can be released by triggering the trouser leg supporting mechanism again, and the old people can walk out of the mechanism after the mechanism movement is finished;
5) the device adopts step motor control ball, has realized easy operation, stable purpose of use, and the help old person has solved the difficult problem of putting on and taking off trousers.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a structural view of the back plate lifting mechanism (lifted state) of the present invention.
Fig. 3 is a structural view of a back plate lifting mechanism (in a flat state) of the present invention.
Fig. 4 shows a structure of the armrest linkage elevating mechanism of the present invention.
FIG. 5 is a view showing the structure of the leg plate and the first push rod of the present invention.
Fig. 6 is a structural view of a leg-plate lowering mechanism (in a flat state) of the present invention.
Fig. 7 is a structural view of a leg plate lowering mechanism (lowered state) of the present invention.
Fig. 8 is a view showing the structure of the wearing and taking-off unit of the present invention.
Fig. 9 is a structural view of the lumbar support elevating mechanism of the present invention.
FIG. 10 is a view showing the structure of the fastening part of the trousers-imitating leg-unit according to the present invention.
FIG. 11 is a view showing the structure of the clamping part of the imitation pants sleeve of the present invention.
Fig. 12 is a structural view of a pushing mechanism of the present invention.
Fig. 13 is a relaxed state diagram of the pedal mechanism of the present invention.
Fig. 14 is a clamping state diagram of the pedal mechanism of the present invention.
Fig. 15 is a structural view of a position adjusting mechanism of the present invention.
FIG. 16 is a grooved front view of the push button of the present invention
Detailed Description
The invention is further described below with reference to the accompanying drawings.
With reference to the accompanying drawings:
the lifting and lying unit 1 comprises a back lifting mechanism 11, a handrail linkage lifting mechanism 12 and a leg plate lowering mechanism 13, wherein the back lifting mechanism 11 comprises a base 111, a back plate lifting part 112 and a back plate 113, and the upper part of the base 111 is provided with a mounting plane with a high front part and a low back part and used for mounting the back plate lifting part; the backboard lifting part 112 is arranged on the mounting surface of the base, and the lifting end of the backboard lifting part 112 is connected with the bottom of the backboard 113 and used for driving the rear part of the backboard to lift; the back plate 113 is arranged at the upper lifting end of the back plate lifting part and is used for lifting the back of a user to enable the user to synchronously lift; the armrest linkage lifting mechanism 12 comprises a seat plate 121, an armrest linkage device 122 and an armrest 123, wherein the rear part of the seat plate 121 is hinged with the front part of the back plate 113, and two sliding chutes 1211 are respectively arranged on two sides of the seat plate 121 and used for accommodating the armrest; the armrest linkage 122 comprises a sliding part and a lifting part, wherein the top of the sliding part is provided with an armrest, and the bottom of the sliding part is inserted into the sliding groove and is in sliding fit with the sliding groove; the front end of the lifting part is fixedly arranged at the rear part of the leg plate lowering mechanism, and the rear end of the lifting part is tilted upwards to form a jacking end for jacking the handrail to turn upwards; the leg plate lowering mechanism 13 comprises a leg plate 131, a multistage transmission connecting rod assembly 132, a gas spring 133 and a horizontal pushing device 134, wherein the rear part of the leg plate 131 is hinged with the front part of the seat plate; the upper end of the multistage transmission connecting rod assembly 132 is hinged with the bottom of the leg plate 131, and the lower end is connected with the pushing end of the horizontal pushing device 134 in a sliding manner and used for lowering or lifting the leg plate; the rear end of the horizontal pushing device 134 is hinged with the lower movable end of the back plate lifting part, and the front end of the horizontal pushing device is used as a pushing end and hinged with the lower end of the multistage transmission connecting rod assembly and used for lowering the leg plate; the horizontal movable end of the gas spring 133 is hinged with the lower end of the multistage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plate;
the trousers wearing and taking-off unit 2 is arranged below the leg plate lower mechanism and comprises a base plate 21, at least one pair of waist supporting lifting mechanisms 22, at least one pair of trouser leg supporting mechanisms 23 and a position adjusting mechanism 24, wherein the base plate 21 is provided with a horizontal mounting surface, and a mounting rail 211 is arranged on the mounting surface and used for mounting the trouser leg supporting mechanisms; the waist supporting lifting mechanisms 22 are respectively symmetrically arranged on two sides of the base plate 21 and comprise a vertical frame 221, a lifting device 222 and a waist supporting frame 223, wherein the vertical frame 221 is vertically arranged on the base plate 21 and used for supporting the lifting device; the lifting device 222 comprises a fixed guide part and a lifting part, wherein the fixed guide part is arranged on the vertical frame 221, the lifting part is arranged on the fixed part in a sliding manner, and the lifting part is provided with a waist support frame 223 for fixing the waist of the trousers and keeps the waist support frames opposite to each other for driving the waist of the trousers to lift so as to realize the trousers wearing and taking off; the trouser leg supporting mechanism 23 is arranged on the base plate 21 between the two vertical frames side by side and comprises a trouser leg clamp 231, a pushing mechanism 232 and a pedal mechanism 233, the trouser leg clamp 231 comprises a trouser leg simulating clamping part and a trouser leg simulating clamping part, the bottom of the trouser leg simulating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg simulating clamping part is provided with a clamping part which is used for being clamped at the rear part of the lower leg of a user and is attached to the lower leg; the bottom of the trouser leg imitating clamping part is arranged on the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping and supporting clamp which can be clamped outside the clamping part and is used for realizing the support or the release of trouser legs; the pushing mechanism 232 comprises a mounting frame 2321 and a horizontal pushing component 2322, the mounting frame is mounted on a mounting rail below the clamping part and used for mounting the horizontal pushing component; the horizontal pushing component 2322 is arranged in the mounting frame in a sliding manner, and the front end of the horizontal pushing component extends out of the mounting frame to form a force application end for being matched with the pedal mechanism; the side surface of the horizontal pushing component 2322 is connected with the bottom of the clamping and supporting clamp and is used for driving the clamping and supporting clamp to move so as to adjust the distance between the clamping and supporting clamp and the clamping part of the trouser legs; the pedal mechanism 233 comprises a pedal 2331 and a wedge-shaped pusher 2332, the wedge-shaped pusher 2332 is mounted at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged on the mounting rail, the front end extends right above the wedge-shaped pusher, and the horizontal pushing assembly is driven to move by controlling the pedal; the position adjusting mechanism 24 includes a third stepping motor 241, a third lead screw 242 and a connecting framework 243, the third stepping motor 241 is installed at the front end of the base 111 of the back lifting mechanism 11, the third stepping motor 241 and the third lead screw 242 are kept to be arranged along the movement direction of the pushing mechanism, and the output shaft of the third stepping motor 241 is connected with one end of the third lead screw 242; a sliding nut is sleeved on the third lead screw 242 and is in threaded connection with the third lead screw 242, so that when the third lead screw 242 is driven by the third stepping motor 241 to rotate circumferentially, the sliding nut moves axially along the third lead screw; the rear end of the connecting framework 243 is fixedly connected with the sliding nut, and the front end of the connecting framework is fixedly connected with the vertical frame of the waist supporting lifting mechanism and is used for synchronously driving the base plate and the waist supporting lifting mechanism to axially reciprocate along the third screw rod so as to adjust the position of the pedal mechanism;
the signal output end of the controller is electrically connected with the signal input end of the back plate lifting part, the signal input end of the lifting device of the waist supporting lifting mechanism and the signal input end of the position adjusting mechanism through a control circuit, and the signal input end of the controller is electrically connected with the signal output end of the human-computer interaction device in a signal or electric mode and used for controlling the movement of the back lifting mechanism, the leg plate lowering mechanism, the waist supporting lifting mechanism and the pedal mechanism; and the control circuit is provided with a power switch for controlling the on-off of the whole auxiliary machine.
The back plate lifting part 112 comprises a back plate stepping motor 1121, a lead screw nut pair 1122, a linear guide rail 1123, a sliding connecting rod 1124 and a herringbone connecting rod 1125, the back plate stepping motor 1121 is installed in the front of the installation plane of the base 111, and the output end of the back plate stepping motor 1121 is connected with the front end of a first lead screw 11221 of the lead screw nut pair 1122 and is used for driving the first lead screw 11221 of the lead screw nut pair to rotate; the screw-nut pair comprises a first screw 11221, a nut 11222 and a support bearing 11223, two end parts of the first screw 11221 and the screw 11221 are respectively arranged on the surface of the installation plane through corresponding support bearing brackets 11223, the front end of the first screw 11221 is connected with the output end of the backing plate stepping motor 1121, the nut 11222 is sleeved outside the first screw 11221 and is in threaded connection with the first screw 11221, so that the nut 11222 moves axially along the first screw when the first screw 11221 rotates around the self central axis; the linear guide 1123 comprises an optical axis 11231, a linear bearing 11232 and an optical axis support base 11233, the linear bearing 11232 can move freely along the axial direction of the optical axis, and the optical axis 11231 is supported on the mounting plane by the optical axis support base 11233; the sliding connecting rod 1124 is perpendicular to the first lead screw 11221, two ends of the sliding lead screw 1124 are sleeved on the optical axis 1123 and are fixedly connected with a linear bearing 11232 with a flange on the optical axis 11231, and the sliding connecting rod 1124 and the linear bearing on the optical axis are used for realizing synchronous movement of a lead screw nut and the linear bearing on the optical axis; the chevron-shaped connecting rod 1125 comprises a first connecting rod 11251, a second connecting rod 11252, and a third connecting rod 11253, the bottom end of the first connecting rod is hinged on the sliding connecting rod, and the upper end is hinged with the other connecting rods through a joint 11254; the bottom end of the second connecting rod is hinged at the front part of the base, and the upper end of the second connecting rod is hinged at the upper end of the first connecting rod and the bottom end of the third connecting rod 11253; the bottom end of the third connecting rod 1253 is hinged to the other two connecting rods, and the upper end of the third connecting rod is hinged to the back plate 13 through a joint bearing 1255, so that in the moving process of the first connecting rod along with the sliding connecting rod, the upper end of the third connecting rod supports the back plate to be lifted or lowered, and when the nut of the screw-nut pair moves to the rear end of the first screw, the back plate and the seat plate are located on the same horizontal plane.
The back plate 113 comprises a main back plate 1131 and two side back plates 1132, wherein one side back plate 1132 is hinged to each of two sides of the main back plate 1131, and the front end of the main back plate 1131 is hinged to the rear end of the seat plate; the two sets of herringbone connecting rods are arranged, the lower ends of the two sets of herringbone connecting rods are symmetrically hinged to the two ends of the sliding connecting rod respectively, and the upper ends of the herringbone connecting rods are hinged to the bottoms of the side back plates on the same side through corresponding joint bearings respectively.
The number of the handrail linkage devices 122 is two, the sliding part comprises at least one pair of first sliding rods 1221, the same pair of first sliding rods is arranged oppositely, and a gap is directly reserved between the two first sliding rods for the lifting part to pass through; the upper end of the first sliding rod is provided with a handrail 1222, and the lower part of the first sliding rod is inserted into the sliding groove of the seat plate and is in sliding fit with the sliding groove; the portion of rising includes first push rod 1223 and gyro wheel 1224, first push rod 1223 is "ivory" type structure, and the front end articulates in the bottom of leg board, and the rear end upwards perk forms the promotion end that promotes the handrail, installs the gyro wheel that is used for reducing frictional force between first push rod and the handrail at the rear end of first push rod, and wherein seat and leg board are in same horizontal plane, the gyro wheel and the handrail contactless of the promotion end of first push rod, and the gyro wheel contacts with the handrail and promotes the handrail and rise in the spout of seat when the leg board is transferred.
The multistage transmission link assembly 132 comprises a first leg plate link 1321, a long pin shaft 1322 and a second leg plate link 1323, wherein the upper end of the first leg plate link 1321 is hinged with the bottom of the leg plate, and the lower end of the first leg plate link 1321 is hinged with the long pin shaft 1322; two ends of the long pin shaft 1322 are respectively hinged with a second leg plate connecting rod 1323, the lower corner of the second leg plate connecting rod 1323 is hinged with a fixed hinge support 1325, and the lower end of the second leg plate connecting rod 1323 is respectively connected with the horizontal movable end of the gas spring 133 and the front end of the horizontal pushing device in a sliding manner; the movement direction of the front end of the horizontal pushing device and the movement direction of the horizontal movable end of the gas spring 133 are opposite or reverse; the horizontal pushing device 134 comprises a second push rod 1341, a push rod fixing sleeve 1342, a sliding sleeve 1343, a third push rod 1344 and a joint 1345, wherein the rear end of the second push rod 1341 is vertical, and the sliding sleeve 1343 is sleeved outside; the sliding sleeve 1343 is hinged with the sliding connecting rod 1124; the front end of the second push rod 1341 is inserted into the push rod sleeve 1342, and the two form a sliding pair, so that the second push rod 1341 axially extends and retracts along the push rod sleeve 1342, and in the process of extending and retracting the second push rod 1341, the sliding sleeve 1343 vertically rises and falls along the second push rod; the rear end of the third push rod 1344 is inserted into the push rod fixing sleeve 1342, the two are connected in a sliding manner, the front end of the third push rod 1344 slides horizontally in a sliding groove at the lower end of the second leg plate connecting rod 1323, and the third push rod 1344 and the gas spring are coaxial; the sum of the maximum length of the second push rod 1341 inserted into the push rod fixing sleeve 1342 and the maximum length of the third push rod inserted into the push rod fixing sleeve is greater than the total length of the push rod sleeves, so that the leg plate 131 lags behind the back plate. When the backboard 113 is horizontally placed, the first connecting rod and the third connecting rod are straight lines, and when the backboard is completely lifted, the second connecting rod and the third connecting rod are straight lines, so that the first connecting rod and the third connecting rod are respectively self-locked when two states are formed.
The first connecting rod 11251 is two segments, the lower end of the lower segment is connected with a nut, the upper segment is connected with the side back plate of the back plate through a knuckle bearing, and the second connecting rod is connected with a base with a static bottom; the lower section and the upper section of the first connecting rod are straight lines when the backboard is horizontally placed, and the second connecting rod and the upper section are straight lines when the backboard is completely lifted, so that the backboard and the backboard are self-locked when in two states.
The number of the mounting rails 211 is two, each mounting rail comprises a transverse rail 2111 and a vertical rail 2112, wherein the transverse rails 2111 are arranged along the length direction of the base plate 21 and are used for mounting the pedal and the clamping part of the trouser legs; the vertical rails 2112 are arranged in the width direction of the base plate, and keep the horizontal and vertical rails perpendicular to each other for mounting the horizontal pushing assembly;
the lifting device 222 comprises a first stepping motor 2221, a ball screw 2222 and a sliding block 2223, the first stepping motor 2221 is installed at the bottom of the vertical frame, and a signal input end of the first stepping motor 2221 is electrically connected with a signal output end of the controller and is used for driving the ball screw to rotate under the control of the controller; the ball screw 2222 is vertically installed on the vertical frame, and the lower end of the ball screw is connected with the output end of the first stepping motor 2221; the slide block 2223 is provided with trousers supporting frames, and keeps the two sets of trousers supporting frames opposite to each other, the slide block 2223 is sleeved outside the ball screw and is in threaded connection with the ball screw, so that the slide block 2223 is lifted along the axial direction of the ball screw when the ball screw 2222 rotates.
The trouser leg imitating clamping parts comprise bottom frames 2311, connecting bent rods 2312 and elastic clamping sleeves 2313 serving as clamping parts, the lower ends of the connecting bent rods 2312 are fixedly arranged on the transverse tracks through the bottom frames, the elastic clamping sleeves are arranged at the tops of the connecting bent rods, and the elastic clamping sleeves of the two trouser leg imitating clamping parts are positioned on the same side; the elastic clamping sleeve is an arc-shaped sleeve imitating the human shank, the clamping inlets of the arc-shaped sleeve face the rear part of the shank of a user, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and used for being matched with the clamping and supporting clamp;
the trouser leg imitation clamping part comprises a clamping and supporting clamp 2314 and a connecting rod 2315 serving as a movable part, an arc-shaped structure capable of being clamped outside the elastic clamping sleeve is arranged at the front part of the clamping and supporting clamp 2314, a clamping block 2316 capable of being clamped in the rectangular clamping groove of the elastic clamping sleeve is arranged on the front end face of the clamping and supporting clamp, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamping and supporting clamp and the elastic clamping sleeve; the two connecting rods 2315 are respectively provided with two ends for clamping and supporting the clamp at the upper ends thereof, the lower ends thereof are respectively connected with the movable part of the horizontal pushing assembly, and the movement of the movable part of the horizontal pushing assembly drives the movement of the clamping and supporting clamp to adjust the distance between the clamping and supporting clamp and the elastic clamping sleeve.
The mounting frame of the pushing mechanism 232 is mounted as a rectangular frame, and a through hole for the front end of the horizontal pushing component to penetrate through is arranged on the front end plate of the mounting frame; two side plates of the mounting frame are respectively provided with a sliding chute arranged along the length direction of the side plates;
the horizontal pushing component 2322 comprises a pushing button 23221, a rocker 23222, a roller 23223, a screw 23224 and a return pressure spring 23225, wherein two sides of the pushing button are respectively and correspondingly provided with a short connecting rod, the outer end of the short connecting rod penetrates out of a sliding groove corresponding to the mounting frame and then is fixedly connected with the lower end of the connecting rod on the same side, the surface of the pushing button is provided with a groove, the front end of the groove is positioned at the front end of the mounting frame, and the rear end of the groove is recessed to form a locking position; the first end of the rocker is hinged to the front end plate of the mounting frame, the second end of the rocker is provided with a roller which can be inserted into the groove, so that the roller can slide along the contour of the groove under the pulling of the rocker, and when the roller slides into the top end or the locking position of the groove, the relative fixation between the push button and the mounting frame is realized; the screw rod is inserted in the through hole of the front end plate of the installation frame, the screw rod is kept to be arranged along the direction of the vertical track, the inner end of the screw rod is fixedly connected with the front end of the push button, and the outer end of the screw rod penetrates through the installation frame and then extends forwards to form a force application end for being matched with the pedal mechanism; the return pressure spring is sleeved on a screw rod between the front end face of the installation frame and the push button, the front end of the return pressure spring abuts against the inner end face of the front end portion of the installation frame, and the rear end of the return pressure spring abuts against the front end face of the push button and is used for achieving return of the push button.
The wedge-shaped push block 2332 is arranged at the front end of the screw rod, and the bottom of the wedge-shaped push block is slidably arranged on the vertical track, so that the wedge-shaped push block drives the screw rod to axially slide along the vertical track; the surface of the wedge-shaped pushing block is provided with an inclined pushing surface, and the height of the front end of the pushing surface is lower than that of the rear end of the pushing surface; a roller 2333 is installed at the bottom of the pedal 2331, the roller 2333 presses on the pushing surface of the wedge-shaped pusher block, and the position of the wedge-shaped pusher block is adjusted by adjusting the pressure of the roller pressing on the pushing surface.
The mounting rail 211 further comprises a cross beam 2113 horizontally mounted above the same set of vertical rails, so that the bottom of the pedal just contacts with the surface of the cross beam to be supported at the bottom of the pedal in a horizontal stepping state.
Embodiment 2 the invention provides an old man getting up and sleeping integrated auxiliary machine, which comprises a getting-up and sleeping unit 1, a trousers putting-on and taking-off unit 2 and a control unit, wherein the getting-up and sleeping unit 1 comprises a back lifting mechanism 11, an armrest linkage lifting mechanism 12 and a leg plate lowering mechanism 13, the trousers putting-on and taking-off unit is arranged below a leg plate lower mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trouser leg supporting mechanisms and a position adjusting mechanism, and the control unit comprises a controller and a man-machine interaction module;
the back plate lifting mechanism: as shown in FIG. 2, the back plate comprises a main back plate and a side back plate, and adopts a three-section design, and all the plates are connected by hinges. Wherein two side backplates of side can at first turn up 45 degrees, lift up main backplate again, play the effect of protection old man, and when lifting mechanism starts, the backplate can at first lift up, lets the old man to safe position, avoids the old man to fall out of the bed in lifting or decline in-process, as figure 3.
The power source of the lifting of the back plate is a back plate stepping motor, the motor drives a nut on a lead screw to move, a sliding connecting rod connects the nut through a bolt group, the nut drives the nuts on optical axes on two sides to move synchronously, the nut drives a herringbone connecting rod to push the back plate to lift, the first connecting rod of the herringbone connecting rod is divided into two sections, the lower end of the lower section is connected with the nut, the upper section is connected with the side back plate of the back plate through a joint bearing, and the second connecting rod is connected with a base with the static bottom. Wherein, when the backboard is horizontally placed (as shown in figure 3) (namely, the bed is in a horizontal state), the lower section and the upper section of the first connecting rod are in a straight line, when the backboard is completely lifted, the second connecting rod and the upper section are in a straight line, and when the backboard is completely lifted, the two states are respectively self-locked, and the reliability is higher. The mounting plane of the base is skillfully designed into a slope, so that the back plate lifting mechanism is arranged right below the bed back plate. Avoiding the inconvenience for installation and use caused by occupying the external space of the bed due to too long mechanism.
Handrail linkage elevating system: as shown in fig. 4, two sides of the seat plate of the bed are respectively provided with a rectangular groove, the rest rectangular material is used as an automatic lifting handrail of the old-people-assisting bed, the handrail and the seat plate are connected through a plurality of first sliding rods, and the first sliding rods can slide in the seat plate track. Two first push rods (the specific structure is shown in figure 5) of an 'ivory' type are designed and installed below the leg plates, so that the first push rods and the handrails are located in the same vertical plane, and rollers are installed on the first push rods to reduce friction when the push rods and the handrails move relatively. When the leg plate is placed to a certain position, the roller on the first push rod of the 'ivory' type is contacted with the handrail, and when the leg plate is continuously placed, the roller on the 'ivory' push rod jacks up the handrail, so that the situation that the handrail is placed down through the leg plate and linked to rise when the old needs to get out of bed is realized. When the old people finish getting to the bed and need to level the bed board, the leg board tends to level, and the roller on the first push rod of the ivory type loosens the handrail, and the handrail returns to the rectangular groove of the seat board through the dead weight, so that the function of automatic descending of the handrail is realized.
Leg plate transfer mechanism: as shown in fig. 6, the leg plate lowering mechanism mainly comprises a first leg plate connecting rod, a second leg plate connecting rod, a long pin, a fixed hinge, a gas spring and a horizontal pushing device, wherein the gas spring is compressed to apply a continuous leftward acting force to the joint, so that the leg plate is supported and leveled through the connecting rods. When the horizontal pushing device pushes the joint to the right, the gas spring is continuously compressed, the leg plate is lowered, and when the driving force is removed, the joint moves leftwards under the action of the gas spring to drive the leg plate to ascend and level. The horizontal pushing device is symmetrically driven by the back plate stepping motor at two sides simultaneously, and because the two sides are driven symmetrically, one side and the other side are introduced. The horizontal pushing device mainly comprises a second push rod, a push rod fixing sleeve, a sliding sleeve, a third push rod and a joint, wherein the third push rod is in threaded connection with the joint, the sliding sleeve is arranged outside the second push rod, and the sliding sleeve is hinged to the sliding connecting rod. In order to avoid the old people from rushing out of the bed when the back plate is lifted, the leg plate is placed downwards when the back plate is lifted to a certain angle. In the design of the device, the second push rod is given a section of idle stroke, namely, after the lead screw drives the push rod to rise for a certain distance, the second push rod is contacted with the third push rod to push the joint, and meanwhile, the air spring is compressed to drive the leg plate to be placed downwards, as shown in fig. 7.
Trouser legs supporting mechanism is a pair of altogether, sets up side by side on the base plate between two grudging posts, including trouser legs anchor clamps, pushing mechanism and pedal mechanism, trouser legs anchor clamps are including imitative trouser legs block portion and imitative trouser legs clamping part, imitative trouser legs block portion adopts 5mm thick ABS plastics to make into imitative trouser legs part, as shown in fig. 3, its shape is crescent, with human shank part laminating and with ground certain angle, accord with ergonomic design. The component is an elastic component, and a plurality of conditions are required in the selection of materials, because the clamping part of the trouser leg imitation clamping part is in direct contact with the shank part of a human body and is a component needing stress, ABS plastic with better strength, plasticity and safety is selected, and because the shape of the component is more complex and special, a 3D printing model is selected. The design of the trouser leg imitating clamping part strictly follows the essence of human engineering, and the diameter of the clamping part is 1-2cm larger than that of the lower leg of a normal old man, so that the lower leg of the old man can be ensured to be attached normally and is plugged between the lower leg and the trouser leg. A certain included angle is formed between the clamping part and the ground, so that the use process of the old people becomes easier and faster.
The pair of trouser leg imitating clamping portions are made of the same material and are made by adopting a 3D printing technology, as shown in figure 5, the shape of the trouser leg imitating clamping portions is attached to the clamping portions of the trouser legs imitating clamping portions, and the clamping portions of the trouser legs imitating clamping portions are designed to be hollow in consideration of stress and cost factors, so that the quality of the trouser leg imitating clamping portions is reduced, and linkage of other mechanisms is facilitated.
The trouser leg clamp is directly connected to the push button of the push mechanism and moves along with the movement of the push button. Because pushing mechanism is equipped with the return pressure spring, consequently there is "resilience" phenomenon, so there are two fixture blocks on imitative trouser legs clamping part, the rectangle draw-in groove of imitative trouser legs block portion can be filled to the fixture block when pressing from both sides tightly, and the back kick-backs, and the fixture block still has a part to fill the rectangle draw-in groove in imitative trouser legs block portion, makes the tight effect of clamp of trouser legs better.
A pushing mechanism: the mechanism design can realize the function of a self-locking switch by controlling different pushing times, and the requirement of fastening trouser legs is very met. As shown in fig. 12, the mechanism includes a mounting frame and a horizontal pushing assembly including a push button, a rocker, a roller, a screw, and a return compression spring; the rocker is connected to the roller and is slidable in a groove in the push button, and the mounting frame limits the freedom of the push button to move only along one axis. Considering that the push button needs factors such as small friction coefficient and high compressive strength, the cast iron is adopted, and the material is processed through steps such as welding, linear cutting and tapping a threaded hole. The two sides of the push button and the front threaded hole in the mechanism are provided with open sliding grooves, and the screw rod is fixed with the push button and the connecting rod of the screw rod and the trouser legs clamping part through threaded connection, so that the linkage process is realized. Calculating the groove in the push button, as shown in fig. 8, wherein the groove is approximately heart-shaped, the vertexes are respectively marked as ABCD in sequence, the position of the vertex a of the groove is defined as the front end of the groove, and the vertex of the groove is smooth and excessively forms a fillet; the edge between the vertex B and the vertex D of the groove is the bottom edge of the groove, and the vertex C formed by the bottom edge of the groove sinking towards the center is a locking position; when the pedal is not stepped on, the roller is positioned at the vertex A, the push button slides forwards under the pulling of the screw rod along with the stepping of the pedal, the ball moves to the vertex B from the vertex A along the edge of the groove at the moment, meanwhile, the pedal is in a horizontal state, when the acting force disappears, the push button is pulled in the opposite direction (namely the phenomenon of 'rebounding' in the above text) due to the contraction of the return pressure spring, and the roller is clamped at the sunken part C in the groove, so that the self-locking function is realized; when the push button is pushed again, the roller moves along the groove to reach the vertex D, when the acting force disappears, the return pressure spring contracts to pull the push button, so that the roller returns to the vertex A in the groove, and the whole process utilizes the ingenious design of the shape of the groove to realize the function of a self-locking switch. The design is very convenient for the old to use, and the process of clamping and loosening the trouser legs can be realized only by stepping on the pedal and triggering the trouser leg supporting mechanism.
A pedal mechanism: the motion characteristics of the trouser leg supporting mechanism are fully utilized, and in addition, the components such as a hinge, a pedal, a roller, a wedge-shaped pushing block, a sliding rail and the like are combined, so that the force and the motion direction are ingeniously converted. The specific implementation method comprises the following steps: the idler wheels are installed below the pedals, the idler wheels are attached to wedge-shaped pushing blocks, the wedge-shaped pushing blocks are connected with pushing buttons, the pushing buttons are installed in the horizontal vertical rails, and the pushing buttons are connected with the connecting rods through screws, so that linkage is realized. When a user steps on the pedal, the rotating pedal pushes the wedge-shaped pushing block on the horizontal guide rail by using the roller, an acting force is applied to the pushing button until the pushing button reaches the self-locking position, and the self-locking action of stepping on the pedal is finished, as shown in fig. 13. When the user steps on the pedal again, the push button is released, the spring force of the trouser leg supporting mechanism is utilized to drive the wedge-shaped push block on the vertical guide rail to return to the initial position, meanwhile, the wedge-shaped push block drives the roller below the pedal, so that the pedal returns to the initial position, and the pedal is stepped on again to rebound and release actions, as shown in fig. 14.
Waist supporting lifting mechanism: the trousers wearing and taking off process of the device needs a transmission mechanism which can stably rise or fall, the ball screw has the advantages that the device can stably rise, and has the advantages of high precision, reversibility, high efficiency, easy operation and the like, data such as the height and the leg length of the old people can be obtained through investigation, the size of the whole mechanism is combined, the effective stroke of the ball screw is finally determined to be 600mm, a 57 stepping motor with the torque of 2.3 N.m is selected as a driving device, the movement of the waist support frame is further driven to replace the waist bending movement of the old people, and as shown in figure 9, the sliding block can vertically move on the ball screw and drive the waist support frame to stably move. The moving speed and the moving direction of the sliding block can be controlled by adjusting the rotating speed and the rotating direction of the stepping motor, so that the process of taking off and wearing trousers is realized.
Erecting: the device needs light and high-strength material as a vertical frame, and the aluminum profile meets the requirements in the aspects of corrosion resistance, strength, quality, price and the like, so the aluminum profile is adopted for frame erection. According to the data obtained by investigation, the height of the trousers is 800mm in most of the old people, and the equipment frame is respectively determined as the following because the height between the trouser leg clamping mechanism and the ground is 150 mm: the height is 1000mm, the length is 1200mm, the width is 400mm, so that the use requirement of most old people can be met, the floor area can be reduced, the total weight of the equipment can be reduced, and the assembly is shown in figure 8.
A position adjusting mechanism: as shown in fig. 15, the third stepping motor is a 57-step motor, drives a third lead screw, installs a slider additional plate above the sliding nut to connect the profiles, installs a connecting framework on the additional plate, and is 4040 profiles, and simultaneously, the profiles are connected with a waist supporting lifting mechanism of the trousers wearing and taking-off unit to drive the trousers wearing and taking-off unit to move horizontally.
The trousers wearing and taking-off unit is arranged below the leg plates, when the back plate starts to ascend, the trousers wearing and taking-off unit starts to move outwards under the action of the third screw rod, the trousers wearing and taking-off unit moves in place before the lower parts of the leg plates, then the leg plates start to be arranged below, the trousers wearing and taking-off unit slowly retracts to the foot positions of users and is self-locked, and then the users can wear trousers. When a user needs to take off trousers and go to bed for sleeping, after the user finishes the action of taking off the trousers and presses a lying button, a series of actions are carried out in reverse to the actions: the trousers wearing and taking-off mechanism moves outwards, meanwhile, the back plate leg plates are slowly laid flat, and after the leg plates are laid flat, the trousers wearing and taking-off mechanism retracts to the lower parts of the leg plates according to a preset program, so that the space is saved. In order to reduce the friction generated when the trousers are in relative motion with the ground, rollers are arranged below a bottom plate of the whole trousers wearing and taking-off mechanism, and the sliding friction is changed into rolling friction. The installation of the rollers also protects the ground in consideration of the environment in which the present invention is used at home.
A control unit: the control unit of the auxiliary machine is mainly composed of a controller and a man-machine interaction module. The controller has three driving parts, namely a backboard stepping motor below the backboard, a first stepping motor of the lifting device and a third stepping motor of the position adjusting mechanism. The three driving parts are all stepping motors, so that pulse rotation can be realized, and the control performance of the motor is more accurate than that of a direct current motor. The model of the power switch is S-350-48, the input voltage is 220V alternating current voltage, the output voltage is 48V direct current voltage, the rated output current is 7A, the output power is 350W, and the external power supply can be directly connected with the household general 220V alternating current by matching with the power switch, so that the normal operation of assisting the old to put on and take off the trousers is realized, an additional power supply does not need to be matched, and convenience is provided for practical use.
Specifically, the driving motor below the back plate is an 86 stepping motor, and the HBS86H driver also comprises a switching power supply. The motor is 86HSE12N in model number, can realize the rotation speed (adjustable) of the maximum load of 1000r/min, the output torque can reach 12 N.m, the output shaft mode is two-item four-line, and the motor is matched with an HBS86H driver, can realize the lifting movement of a larger load, and can reliably realize the movement process of assisting the old to lift the backrest to the 70-degree position from lying down. The control system is controlled by a Duopuncang TC55 three-axis controller, so that the auxiliary bed can be stably controlled, and the effective and stable operation of the backrest lifting process can be realized when the load is heavy.
The drive motor of the trousers wearing and taking-off unit is composed of two 57 stepping motors, a TB6600 driver and a switching power supply. The motor is 57HSZ1.2N in model number, can realize the rotation speed (adjustment) of the highest 300r/min, the output torque can reach 1.2 N.m, the output shaft mode is single output shaft, and the motor can meet the requirement of assisting the old people to put on and take off trousers by matching with an HBS57 driver. The control system is controlled by a Duopukang TC55 three-axis controller, and can control two stepping motors simultaneously, so that synchronous operation of the waist clamps is realized, and effective and stable operation in the process of putting on and taking off trousers is ensured.
The third step motor of the position adjusting mechanism is a 57 step motor, and the TB6600 driver also comprises a switch power supply. The motor is J-5718HB2401, the holding torque reaches 1.3 N.m, and the motor is matched with an HBS57 driver, so that the motor can drive a lead screw slide block to push the whole trousers wearing and taking-off mechanism. The control system is controlled by a DuPonkang TC55 three-axis controller, and the motion coordination of the auxiliary bed and the trousers wearing and taking-off mechanism can be stably realized through linear interpolation.
The controller is used for controlling the motor by a convenient and effective controller, the rotating speed of the motor can be adjusted to a reasonable value, the control is visual, and the later debugging is convenient. Duoponkang triaxial controller: automatic execution may implement actual run, dry run, single segment execution, terminate program, start and pause functions. The manual execution can realize the operations of manual high speed, manual low speed, inching operation, return sequence zero, return mechanical zero and the like. The maximum three axes can be controlled simultaneously, the space is saved, the process of assisting the old to get up from the bed and put on and take off trousers is smooth, and the control is convenient.
Wherein the working function and performance analysis of the auxiliary machine
(1) The main functions are as follows: the function of integrally assisting the old to get on or off the bed is realized; the function of assisting in wearing the trousers is realized; the function of assisting in taking off the trousers is realized; the automatic back lifting function of 0-70 degrees is realized; has a certain protection effect; the function of the lower part of the leg plate linkage is realized; the linked lifting function of the handrail is realized; the automatic shifting-out and withdrawing function of the trousers wearing and taking-off mechanism is realized.
(2) Performance analysis
TABLE 1 lead screw parameters of the rising and lying units
TABLE 2 second lead screw parameters for the donning and doffing units
TABLE 3 third lead screw parameters for the donning and doffing units
Example 3 the procedure for removing the trousers with the device for assisting the elderly to put on and take off the trousers according to example 2 is as follows:
(1) the starting device comprises: plugging a power supply to supply power to the device;
(2) and (3) clamping trouser legs: the step is a core step, before trousers are taken off, the heels of the trousers are required to be attached to a trouser leg simulating clamping part in a trouser leg supporting mechanism, then the trouser leg simulating clamping part is inserted between a shank and trouser legs downwards along the trend, a pedal is simultaneously stepped on in the process that the feet are put down along the trend to trigger a pushing mechanism, the pushing mechanism is linked with the trouser leg simulating clamping part to adjust the distance between the trouser leg simulating clamping part and the trouser leg simulating clamping part, so that the trouser leg simulating clamping part and the trouser leg simulating clamping part are in a clamping state, and the initial states of the trouser leg supporting mechanism and the pedal form a certain included angle with the ground, so that the smooth action of the process can be ensured;
(3) opening the waist of the trousers: after the trouser legs are clamped, the two waist supporting frames are simultaneously adjusted to proper heights by using the waist supporting lifting mechanism, and then the trouser waist is sleeved on the waist supporting frames, so that the trouser waist is supported and the relative position relation between the trouser waist and the waist supporting frames is fixed, and the trousers can be smoothly taken off; .
(4) Starting the stepping motor: after accomplishing above-mentioned three action, start step motor, through the perpendicular displacement realization trousers waist of screw mechanism drive waist support frame transferring, transfer accomplish the back old man alright lift up the leg, extract the foot from the trouser legs.
Example 4 trousers were worn using the device of example 2 to assist the elderly in donning and doffing the trousers as follows:
the trousers wearing process is similar to the trousers taking off process, and trousers are fixed on the mechanism after the trousers are taken off, so that the feet are only required to stretch into the trouser legs, the stepping motor is started after the trousers stand, the waist support frame is driven by the ball screw, the trouser waist is taken out from the waist support frame, then the old man treads the pedal plate again, the trouser leg support mechanism is triggered, the trouser leg clamp is linked, the state of the old man is changed into the relaxed state, and the old man can freely walk out of the device.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but includes equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.
Claims (10)
1. The utility model provides an old man integral type auxiliary machine of going up to bed which characterized in that includes:
the lifting and lying unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism, the back lifting mechanism comprises a base, a back plate lifting part and a back plate, and the upper part of the base is provided with a mounting plane with a high front part and a low back part and used for mounting the back plate lifting part; the backboard lifting part is arranged on the mounting surface of the base, and the lifting end of the backboard lifting part is connected with the bottom of the backboard and used for driving the rear part of the backboard to lift; the back plate is arranged at the upper lifting end of the back plate lifting part and used for lifting the back of a user to enable the user to synchronously lift; the armrest linkage lifting mechanism comprises a seat plate, an armrest linkage device and armrests, the rear part of the seat plate is hinged with the front part of the back plate, and two sliding grooves are formed in two sides of the seat plate respectively and used for containing the armrests; the handrail linkage device comprises a sliding part and a lifting part, the top of the sliding part is provided with a handrail, and the bottom of the sliding part is inserted into the sliding groove and is in sliding fit with the sliding groove; the front end of the lifting part is fixedly arranged at the rear part of the leg plate lowering mechanism, and the rear end of the lifting part is tilted upwards to form a jacking end for jacking the handrail to turn upwards; the leg plate lowering mechanism comprises a leg plate, a multistage transmission connecting rod assembly, an air spring and a horizontal pushing device, and the rear part of the leg plate is hinged with the front part of the seat plate; the upper end of the multistage transmission connecting rod assembly is hinged with the bottom of the leg plate, and the lower end of the multistage transmission connecting rod assembly is connected with the pushing end of the horizontal pushing device in a sliding mode and used for putting down or lifting the leg plate; the rear end of the horizontal pushing device is hinged with the lower movable end of the back plate lifting part, and the front end of the horizontal pushing device is used as a pushing end and hinged with the lower end of the multistage transmission connecting rod assembly and used for lowering the leg plate; the horizontal movable end of the gas spring is hinged with the lower end of the multistage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plate;
the trousers putting-on and taking-off unit is arranged below the leg plate lower mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trouser leg supporting mechanisms and a position adjusting mechanism, wherein the base plate is provided with a horizontal mounting surface, and a mounting rail is arranged on the mounting surface and used for mounting the trouser leg supporting mechanisms; the waist supporting lifting mechanisms are respectively symmetrically arranged on two sides of the base plate and comprise a vertical frame, a lifting device and a waist supporting frame, and the vertical frame is vertically arranged on the base plate and used for supporting the lifting device; the lifting device comprises a fixed guide part and a lifting part, wherein the fixed guide part is arranged on the vertical frame, the lifting part is arranged on the fixed part in a sliding manner, and a waist support frame for fixing the waist of the trousers is arranged on the lifting part and keeps the two waist support frames opposite to each other for driving the waist of the trousers to lift so as to realize the trousers putting on and taking off; the trouser leg supporting mechanism is arranged on the base plate between the two vertical frames side by side and comprises a trouser leg clamp, a pushing mechanism and a pedal mechanism, the trouser leg clamp comprises a trouser leg simulating clamping part and a trouser leg simulating clamping part, the bottom of the trouser leg simulating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg simulating clamping part is provided with a clamping part used for being clamped at the rear part of the crus of a user and being attached to the crus; the bottom of the trouser leg imitating clamping part is arranged on the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping and supporting clamp which can be clamped outside the clamping part and is used for realizing the support or the release of trouser legs; the pushing mechanism comprises an installation frame and a horizontal pushing assembly, wherein the installation frame is installed on an installation rail below the clamping part and used for installing the horizontal pushing assembly; the horizontal pushing assembly is arranged in the mounting frame in a sliding mode, and the front end of the horizontal pushing assembly extends out of the mounting frame to form a force application end which is used for being matched with the pedal mechanism; the side surface of the horizontal pushing assembly is connected with the bottom of the clamping and supporting clamp and is used for driving the clamping and supporting clamp to move so as to adjust the distance between the clamping and supporting clamp and the trouser leg simulating clamping part; the pedal mechanism comprises a pedal and a wedge-shaped pushing block, the wedge-shaped pushing block is installed at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged to the installation rail, the front end of the pedal extends to the position right above the wedge-shaped pushing block, and the horizontal pushing assembly is driven to move by controlling the pedal; the position adjusting mechanism comprises a third stepping motor, a third screw rod and a connecting framework, the third stepping motor is arranged at the front end of the base of the back lifting mechanism, the third stepping motor and the third screw rod are kept to be arranged along the movement direction of the pushing mechanism, and an output shaft of the third stepping motor is connected with one end of the third screw rod; a sliding nut is sleeved on the third screw rod and is in threaded connection with the third screw rod, so that the sliding nut moves axially along the third screw rod when the third screw rod rotates circumferentially under the driving of a third stepping motor; the rear end of the connecting framework is fixedly connected with the sliding nut, and the front end of the connecting framework is fixedly connected with the vertical frame of the waist supporting lifting mechanism and is used for synchronously driving the base plate and the waist supporting lifting mechanism to axially reciprocate along the third screw rod so as to adjust the position of the pedal mechanism;
the signal output end of the controller is electrically connected with the signal input end of the back plate lifting part, the signal input end of the lifting device of the waist supporting lifting mechanism and the signal input end of the position adjusting mechanism through a control circuit, and the signal input end of the controller is electrically connected with the signal output end of the human-computer interaction device in a signal or electric mode and used for controlling the movement of the back lifting mechanism, the leg plate lowering mechanism, the waist supporting lifting mechanism and the pedal mechanism; and the control circuit is provided with a power switch for controlling the on-off of the whole auxiliary machine.
2. The elderly getting up and sleeping integrated auxiliary machine according to claim 1, wherein: the backboard lifting part comprises a backboard stepping motor, a screw nut pair, a linear guide rail, a sliding connecting rod and a herringbone connecting rod, the backboard stepping motor is arranged in the front of the mounting plane of the base, and the output end of the backboard stepping motor is connected with the front end of a screw of the screw nut pair and used for driving a screw of the screw nut pair to rotate; the screw and nut pair comprises a first screw, a nut and a supporting bearing, the first screw and two end parts of the optical axis are respectively arranged on the surface of the mounting plane through corresponding supporting bearing frames, the front end of the screw is connected with the output end of the backboard stepping motor, the nut is sleeved outside the first screw and is in threaded connection with the first screw, so that the nut moves along the axial direction of the screw when the first screw rotates around the self central shaft; the linear guide rail comprises an optical axis, a linear bearing and an optical axis supporting seat, the linear bearing can freely move along the axial direction of the optical axis, and the optical axis is supported on the mounting plane by the optical axis supporting seat; the sliding connecting rod is perpendicular to the first lead screw, two ends of the sliding connecting rod are sleeved on the optical axis and fixedly connected with a linear bearing with a flange on the optical axis, and the sliding connecting rod is used for realizing synchronous movement of a lead screw nut and the linear bearing on the optical axis; the herringbone connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod, the bottom end of the first connecting rod is hinged to the sliding connecting rod, and the upper end of the first connecting rod is hinged to the other two connecting rods through joint joints; the bottom end of the second connecting rod is hinged to the front part of the base, and the upper end of the second connecting rod is hinged to the upper end of the first connecting rod and the bottom end of the third connecting rod; the bottom end of the third connecting rod is hinged with the other two connecting rods, and the upper end of the third connecting rod is hinged with the back plate through a joint bearing, so that the upper end of the third connecting rod supports the back plate to lift or descend in the moving process of the first connecting rod along with the sliding connecting rod, and when the nut of the screw-nut pair moves to the rear end of the first screw rod, the back plate and the seat plate are positioned on the same horizontal plane.
3. The elderly getting up and sleeping integrated auxiliary machine according to claim 2, wherein: the back plate comprises a main back plate and two side back plates, two sides of the main back plate are respectively hinged with one side back plate, and the front end of the main back plate is hinged with the rear end of the seat plate; the two sets of herringbone connecting rods are arranged, the lower ends of the two sets of herringbone connecting rods are symmetrically hinged to the two ends of the sliding connecting rod respectively, and the upper ends of the herringbone connecting rods are hinged to the bottoms of the side back plates on the same side through corresponding joint bearings respectively.
4. The elderly getting up and sleeping integrated auxiliary machine according to claim 1, wherein: the handrail linkage device comprises two sets of handrail linkage devices, the sliding part comprises at least one pair of first sliding rods, the same pair of first sliding rods are arranged oppositely, and gaps are directly reserved between the two first sliding rods and used for the lifting part to pass through; the upper end of the first sliding rod is provided with a handrail, and the lower part of the first sliding rod is inserted into the sliding groove of the seat plate and is in sliding fit with the sliding groove; the lifting part comprises a first push rod and a roller, the first push rod is of an ivory structure, the front end of the first push rod is hinged to the bottom of the leg plate, the rear end of the first push rod upwards tilts to form a pushing end for pushing the handrail, the roller used for reducing friction force between the first push rod and the handrail is installed at the rear end of the first push rod, when the seat plate and the leg plate are located on the same horizontal plane, the roller of the pushing end of the first push rod is not in contact with the handrail, and when the leg plate is placed down, the roller is in contact with the handrail and pushes the handrail to lift from the sliding groove of the seat plate.
5. The elderly getting up and sleeping integrated auxiliary machine according to claim 1, wherein: the multistage transmission connecting rod assembly comprises a first leg plate connecting rod, a long pin shaft and a second leg plate connecting rod, wherein the upper end of the first leg plate connecting rod is hinged with the bottom of the leg plate, and the lower end of the first leg plate connecting rod is hinged with the long pin shaft; two ends of the long pin shaft are respectively hinged with a second leg plate connecting rod, the corner of the second leg plate connecting rod is hinged with the fixed hinge support, and the lower end of the second leg plate connecting rod is respectively connected with the horizontal movable end of the gas spring and the front end of the horizontal pushing device in a sliding manner; the movement direction of the front end of the horizontal pushing device and the movement direction of the horizontal movable end of the gas spring are opposite or reverse; the horizontal pushing device comprises a second push rod, a push rod fixing sleeve, a sliding sleeve, a third push rod and a joint, wherein the rear end of the second push rod is vertical, and the sliding sleeve is sleeved outside the second push rod; the sliding sleeve is hinged with the sliding connecting rod; the front end of the second push rod is inserted into the push rod sleeve, and the front end of the second push rod and the push rod sleeve form a sliding pair, so that the second push rod axially extends and retracts along the push rod sleeve, and the sliding sleeve vertically ascends and descends along the second push rod in the extension and retraction process of the second push rod; the rear end of the third push rod is inserted into the push rod fixing sleeve and is in sliding connection with the push rod fixing sleeve, the front end of the third push rod horizontally slides in a sliding groove at the lower end of the second leg plate connecting rod, and the third push rod and the gas spring are coaxial; the sum of the maximum length of the second push rod inserted into the push rod sleeve and the maximum length of the third push rod inserted into the push rod sleeve is larger than the total length of the push rod sleeve, so that the leg plate lags behind the back plate.
6. The elderly getting up and sleeping integrated auxiliary machine according to claim 1, wherein: the number of the mounting rails is two, each mounting rail comprises a transverse rail and a vertical rail, and the transverse rails are arranged along the length direction of the base plate and used for mounting the clamping parts of the pedal and the trouser legs; the vertical rails are arranged along the width direction of the base plate, keep the transverse rails and the vertical rails perpendicular to each other and are used for installing the horizontal pushing assembly;
the lifting device comprises a first stepping motor, a ball screw and a sliding block, the first stepping motor is installed at the bottom of the stand, and a signal input end of the first stepping motor is electrically connected with a signal output end of the controller and used for driving the ball screw to rotate under the control of the controller; the ball screw is vertically arranged on the vertical frame, and the lower end of the ball screw is connected with the output end of the first stepping motor; the trousers supporting frame is installed on the sliding block, the two sets of trousers supporting frames are kept right opposite, the sliding block is sleeved outside the ball screw and is in threaded connection with the ball screw, and therefore the sliding block can axially lift along the ball screw when the ball screw rotates.
7. The elderly getting up and sleeping integrated auxiliary machine according to claim 1, wherein: the trouser leg imitating clamping parts comprise bases, connecting bent rods and elastic clamping sleeves serving as the clamping parts, the lower ends of the connecting bent rods are fixedly arranged on the transverse rails through the bases, the elastic clamping sleeves are arranged at the tops of the connecting bent rods, and the elastic clamping sleeves of the two trouser leg imitating clamping parts are positioned on the same side; the elastic clamping sleeve is an arc-shaped sleeve imitating the human shank, the clamping inlets of the arc-shaped sleeve face the rear part of the shank of a user, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and used for being matched with the clamping and supporting clamp;
the trouser leg imitation clamping part comprises a clamping and supporting clamp and a connecting rod as a movable part, the front part of the clamping and supporting clamp is provided with an arc-shaped structure which can be clamped outside the elastic clamping sleeve, the front end surface of the clamping and supporting clamp is provided with a clamping block which can be clamped in the rectangular clamping groove of the elastic clamping sleeve, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamping and supporting clamp and the elastic clamping sleeve; the two connecting rods are respectively provided with two ends for clamping and supporting the clamp, the lower ends of the two connecting rods are respectively connected with the movable part of the horizontal pushing assembly, and the movable part of the horizontal pushing assembly drives the clamping and supporting clamp to move so as to adjust the distance between the clamping and supporting clamp and the elastic clamping sleeve.
8. The elderly getting up and sleeping integrated auxiliary machine according to claim 1, wherein: the mounting frame of the pushing mechanism is mounted into a rectangular frame, and a through hole for the front end of the horizontal pushing assembly to penetrate through is formed in the front end plate of the mounting frame; two side plates of the mounting frame are respectively provided with a sliding chute arranged along the length direction of the side plates;
the horizontal pushing assembly comprises a pushing button, a rocker, a roller, a screw and a return pressure spring, wherein two sides of the pushing button are respectively and correspondingly provided with a short connecting rod, the outer end of each short connecting rod penetrates out of a sliding groove corresponding to the installation frame and then is fixedly connected with the lower end of the connecting rod on the same side, a groove is formed in the surface of the pushing button, the front end of the groove is located at the front end of the installation frame, and the rear end of the groove is sunken inwards to form a locking position; the first end of the rocker is hinged to the front end plate of the mounting frame, the second end of the rocker is provided with a roller which can be inserted into the groove, so that the roller can slide along the contour of the groove under the pulling of the rocker, and when the roller slides into the top end or the locking position of the groove, the relative fixation between the push button and the mounting frame is realized; the screw rod is inserted in the through hole of the front end plate of the installation frame, the screw rod is kept to be arranged along the direction of the vertical track, the inner end of the screw rod is fixedly connected with the front end of the push button, and the outer end of the screw rod penetrates through the installation frame and then extends forwards to form a force application end for being matched with the pedal mechanism; the return pressure spring is sleeved on a screw rod between the front end face of the installation frame and the push button, the front end of the return pressure spring abuts against the inner end face of the front end portion of the installation frame, and the rear end of the return pressure spring abuts against the front end face of the push button and is used for achieving return of the push button.
9. The elderly getting up and sleeping integrated auxiliary machine according to claim 8, wherein: the wedge-shaped pushing block is arranged at the front end of the screw rod, and the bottom of the wedge-shaped pushing block is slidably arranged on the vertical rail, so that the wedge-shaped pushing block drives the screw rod to axially slide along the vertical rail; the surface of the wedge-shaped pushing block is provided with an inclined pushing surface, and the height of the front end of the pushing surface is lower than that of the rear end of the pushing surface; the bottom of the pedal is provided with a roller which is pressed on a pushing surface of the wedge-shaped pushing block, and the position of the wedge-shaped pushing block is adjusted by adjusting the pressure of the roller which is pressed on the pushing surface.
10. The elderly getting up and sleeping integrated auxiliary machine according to claim 6, wherein: the installation track still include the crossbeam, the crossbeam horizontal stand dress is in the top of the same group of vertical track for under the footboard was in the level and tramples the state, the bottom of footboard just with crossbeam surface contact, in order to support in the bottom of footboard.
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| CN114468725A (en) * | 2022-02-14 | 2022-05-13 | 四川大学华西医院 | Medical protective clothing takes off device |
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| WO2018113175A1 (en) * | 2016-12-23 | 2018-06-28 | 北京益康生活智能科技有限公司 | Intelligent nursing system |
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| CN111543819B (en) | 2024-06-07 |
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