CN111543819B - Integrated auxiliary machine for old people to get up and sleep - Google Patents
Integrated auxiliary machine for old people to get up and sleep Download PDFInfo
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- CN111543819B CN111543819B CN202010472911.XA CN202010472911A CN111543819B CN 111543819 B CN111543819 B CN 111543819B CN 202010472911 A CN202010472911 A CN 202010472911A CN 111543819 B CN111543819 B CN 111543819B
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- 230000010354 integration Effects 0.000 claims 1
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 11
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- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
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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
-
- 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
-
- 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
Landscapes
- 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
An old man's integrated auxiliary machine that goes up and go to bed includes: the lifting unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism; 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 trousers leg supporting mechanisms and a position adjusting mechanism; and the control unit comprises a controller and a man-machine interaction module and is used for controlling the back lifting mechanism, the leg plate lowering mechanism, the lumbar support lifting mechanism and the pedal mechanism to move. The beneficial effects of the invention are as follows: realize the function of integrally assisting the old people to get on and off the bed; the function of assisting in wearing trousers is realized; the trousers removing auxiliary function is realized; realizing the function of automatically lifting the back at 0-70 DEG; has a certain protection effect; realizing the function of the lower part of the leg plate linkage; realizing the armrest linkage lifting function; realizing the function of automatically moving out and retracting the trousers taking-in and taking-out mechanism; the device for helping the old integrates the functions of helping the old to lie in bed and putting on and taking off trousers, and is mainly used for facilitating living life of the old and improving life quality.
Description
Technical Field
The invention relates to an integrated auxiliary machine for the old to get up and go to bed.
Background
Along with the aggravation of the aging society, the old people in society are more and more, the four limbs coordination ability of the old people is weakened, and the old people often have certain difficulty in getting up or sleeping, for example, the problems of muscle weakness to support the action of getting up, dizziness, squatting, lying down and falling easily and the like are caused in the process of getting up, lying down and wearing trousers, so that the old people are difficult to independently finish getting up, lying down and wearing trousers, and once the falling result is not envisaged, the old people independently get up, lie down and wearing the trousers have certain danger. Therefore, related tools are needed to assist the old to safely complete the actions of putting on and taking off trousers.
Disclosure of Invention
In order to solve the problems, the invention provides an integrated auxiliary machine which can assist a user to lie on a bed, put on and take off trousers, and is safe and convenient for the old to lie on and put on and take off trousers.
The invention relates to an integrated auxiliary machine for the old to get up and sleep, which is characterized by comprising the following components:
the lifting unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism, wherein the back lifting mechanism comprises a base, a backboard lifting part and a backboard, and the upper part of the base is provided with a front high and rear low installation plane for installing the backboard 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 backboard is arranged at the upper lifting end of the backboard lifting part and is used for lifting the back of a user to synchronously lift the back of the user; the handrail linkage lifting mechanism comprises a seat plate, a handrail linkage device and a handrail, wherein the rear part of the seat plate is hinged with the front part of the back plate, and two sides of the seat plate are respectively provided with a chute for accommodating the handrail; the handrail linkage device comprises a sliding part and a lifting part, wherein the handrail is arranged at the top of the sliding part, 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 is lifted upwards to form a lifting end which is used for lifting the handrail to upwards lift the handrail; the leg plate lowering mechanism comprises a leg plate, a multi-stage transmission connecting rod assembly, a gas spring and a horizontal pushing device, wherein 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 in sliding connection with the pushing end of the horizontal pushing device and is 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 lifting part of the backboard, and the front end of the horizontal pushing device is used as a pushing end and is hinged with the lower end of the multi-stage transmission connecting rod assembly and used for putting down the leg board; the horizontal movable end of the gas spring is hinged with the lower end of the multi-stage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plates;
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 trousers 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 is used for mounting the trousers leg supporting mechanisms; the lumbar support lifting mechanisms are symmetrically arranged on two sides of the base plate respectively and comprise a vertical frame, a lifting device and a lumbar support frame, wherein 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 slidably arranged on the fixed part, a waist support frame for fixing the waist of trousers is arranged on the lifting part, and the two waist support frames are kept opposite to each other and used for driving the waist of trousers to lift so as to realize trousers wearing 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, wherein the trouser leg clamp comprises a trouser leg imitating clamping part and a trouser leg imitating clamping part, the bottom of the trouser leg imitating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg imitating 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 attached to the lower leg; the bottom of the trouser leg imitating clamping part is arranged at the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping support clamp which can be clamped outside the clamping part and is used for clamping or loosening trouser legs; the pushing mechanism comprises a mounting frame and a horizontal pushing assembly, wherein the mounting frame is mounted on a mounting rail below the clamping part and is used for mounting the horizontal pushing assembly; the horizontal pushing assembly is arranged in the mounting frame in a sliding manner, and the front end of the horizontal pushing assembly 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 is connected with the side surface of the clamping support clamp and is used for driving the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the simulated trouser leg clamping part; the pedal mechanism comprises a pedal and a wedge-shaped pushing block, the wedge-shaped pushing block is arranged at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged to the mounting 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, wherein the third stepping motor is arranged at the front end of a base of the back lifting mechanism, the third stepping motor and the second lead screw are both 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 along the axial direction of the second lead screw when the second lead screw is driven by a third stepping motor to rotate circumferentially; the rear end of the connecting framework is fixedly connected with the sliding nut, the front end of the connecting framework is fixedly connected with the vertical frame of the lumbar support lifting mechanism, and the connecting framework is used for synchronously driving the base plate and the lumbar support lifting mechanism to axially reciprocate along the second 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 backboard lifting part, the signal input end of the lifting device of the lumbar support 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 in signal or electrical connection with the signal output end of the man-machine interaction device and is used for controlling the movements of the back lifting mechanism, the leg board lowering mechanism, the lumbar support 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 comprises a back plate stepping motor, a screw nut pair, a linear guide rail, a sliding connecting rod and a herringbone connecting rod, wherein the back plate stepping motor is arranged at the front part of the installation plane of the base, and the output end of the back plate stepping motor is connected with the front end of a screw of the screw nut pair and used for driving the screw of the screw nut pair to rotate; the screw-nut pair comprises a screw, a nut and a supporting bearing, wherein the screw and the two ends of the optical axis are respectively arranged on the surface of the installation plane through corresponding supporting bearing brackets, the front end of the screw is connected with the output end of the back plate stepping motor, and the nut is sleeved outside the screw and is in threaded connection with the screw, so that the nut moves axially along the screw when the screw rotates around the central axis of the screw; the linear guide rail comprises an optical axis, a linear bearing and an optical axis supporting seat, the linear bearing can move freely along the axial direction of the optical axis, and the optical axis is supported on an installation 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 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 the screw rod nut and the linear bearing on the optical axis; the Y-shaped 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 a joint connector; 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 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 backboard through a joint bearing, so that the backboard is supported to be lifted or lowered by the upper end of the first connecting rod in the moving process of the first connecting rod along with the sliding connecting rod, and the backboard and the seat are positioned on the same horizontal plane when the nut of the screw-nut pair moves to the rear end of the screw.
The backboard comprises a main backboard and two side backboard, wherein two sides of the main backboard are respectively hinged with one side backboard, and the front end of the main backboard is hinged with the rear end of the seat board; the lower ends of the two sets of the herringbone connecting rods are respectively and symmetrically hinged to the two ends of the sliding connecting rod, and the upper ends of the herringbone connecting rods are respectively hinged to the bottoms of the side backboard on the same side through corresponding joint bearings.
The handrail linkage device is two sets, the sliding part comprises at least one pair of first sliding rods, the same pair of first sliding rods are arranged opposite to each other, and a gap is 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 is tilted upwards to form a pushing end for pushing the handrail, the rear end of the first push rod is provided with the roller for reducing friction force between the first push rod and the handrail, the roller at the pushing end of the first push rod is not contacted with the handrail when the seat plate and the leg plate are positioned on the same horizontal plane, and the roller is contacted with the handrail when the leg plate is lowered 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 a 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 hinge, 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 form a sliding pair, so that the second push rod axially stretches along the push rod sleeve, and in the stretching process of the second push rod, the sliding sleeve vertically lifts along the second push rod; the rear end of the third push rod is inserted into the push rod fixing sleeve, the third push rod and the push rod fixing sleeve are in sliding connection, the front end of the third push rod horizontally slides in a lower end sliding groove 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 larger than the total length of the push rod fixing sleeve, so that the leg plate lags behind the back plate. When the backboard is horizontally placed, the first connecting rod and the third connecting rod are in a straight line, and when the backboard is completely lifted, the second connecting rod and the third connecting rod are in a straight line, so that two states are respectively self-locked.
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 a side backboard of the backboard 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 in a straight line when the backboard is horizontally placed, and the second connecting rod and the upper section are in a straight line when the backboard is completely lifted, so that two states are respectively self-locking.
The mounting rails are two sets, each set of the mounting rails comprises a transverse rail and a vertical rail, wherein the transverse rails are arranged along the length direction of the base plate and are used for mounting pedals and the pants-like barrel clamping parts; the vertical rails are arranged along the width direction of the base plate, and keep the transverse rails and the vertical rails vertical to each other for installing the horizontal pushing assembly;
the lifting device comprises a first stepping motor, a ball screw and a sliding block, wherein the first stepping motor is arranged at the bottom of the vertical frame, and the signal input end of the first stepping motor is electrically connected with the 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 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 frames are arranged on the sliding blocks, the two trousers supporting frames are kept opposite, and the sliding blocks are sleeved outside the ball screw and are in threaded connection with the ball screw, so that the sliding blocks can axially lift and lower along the ball screw when the ball screw rotates.
The trousers-like barrel clamping part comprises a base, a connecting bent rod and an elastic clamping sleeve as a clamping part, wherein the lower end of the connecting bent rod is fixedly arranged on a transverse track through the base, the elastic clamping sleeve is arranged at the top of the connecting bent rod, and the elastic clamping sleeves of the two trousers-like barrel clamping parts are positioned at the same side; the elastic clamping sleeve is an arc-shaped sleeve imitating the human shank, the clamping inlets of the arc-shaped sleeve are kept to face the rear part of the user shank, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and are used for being matched with the clamping supporting clamp;
The trousers-imitating clamp comprises a clamp support clamp and a connecting rod serving as a movable part, wherein the front part of the clamp support clamp is provided with an arc-shaped structure which can be clamped outside an elastic clamping sleeve, the front end surface of the clamp support clamp is provided with a clamping block which can be clamped into a rectangular clamping groove of the elastic clamping sleeve, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamp support clamp and the elastic clamping sleeve; the connecting rods are two, two ends of the clamping support clamp are respectively installed at the upper ends of the connecting rods, the lower ends of the connecting rods are respectively connected with the movable parts of the horizontal pushing assemblies, and the movable parts of the horizontal pushing assemblies move to drive the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the elastic clamping sleeve.
The installation frame of the pushing mechanism is a rectangular frame, and a front end plate of the installation frame is provided with a through hole which penetrates through the front end of the horizontal pushing component; two side plates of the mounting frame are respectively provided with a 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 correspondingly provided with a short connecting rod, the outer ends of the short connecting rods penetrate through corresponding sliding grooves of the mounting frame and are fixedly connected with the lower ends of connecting rods on the same side, grooves are formed in the surfaces of the pushing button, the front ends of the grooves are positioned at the front ends of the mounting frame, and the rear ends of the grooves sink inwards to form locking positions; 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 a through hole of the front end plate of the mounting frame, the screw rod is kept to be arranged along the vertical track direction, 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 out of the mounting 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 positioned between the front end face of the installation frame and the push button, the front end of the return pressure spring is propped against the inner end face of the front end part of the installation frame, and the rear end of the return pressure spring is propped against the front end face of the push button and is used for realizing the 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 front end of the pushing surface is lower than the rear end of the pushing surface; the bottom of the pedal is provided with a roller, the roller is pressed on the 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 pressing on the pushing surface.
The mounting rail also comprises a cross beam, and the cross beam is horizontally arranged above the same group of vertical rails, so that the pedal is in a horizontal stepping state, and the bottom of the pedal is just contacted with the surface of the cross beam so as to be supported at the bottom of the pedal.
The beneficial effects of the invention are as follows:
1) The design of the rising and lying unit accords with ergonomics and is convenient to operate. The bed board is divided into three parts, namely a backrest, a seat board and a leg board, and the integrated linkage from the back board, the leg board and the armrests is realized by utilizing a modularized bed board and a plurality of connecting rod mechanisms and driving the bed board through a stepping motor. When the old man gets up, the 'get up' button is pressed, the back plate is lifted by 70 degrees, the legs are put down by 110 degrees after being hardened, and the armrests are lifted to assist the old man to get up. When the old people go to bed, the 'put flat' button is pressed down, the back plate and the leg plates are put flat, the armrests descend, and the old people are assisted to go to bed;
2) The backrest is controlled to lift through a three-link mechanism, and two limit positions in the motion of the three links are positioned at dead points, so that the stability of the backrest is improved; armrests are arranged at two sides of the seat plate, and when the leg plates are put down, the mechanism is linked to drive the armrests to rise, so that the safety of the old is protected, and the old can conveniently get up; the lower connecting rod at the bottom of the leg plate is additionally provided with the air spring, so that the movement elasticity of the leg plate is increased, and the control and the 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 plates can automatically descend after a certain time by the linkage mechanism of the backrest part and the leg plate part when the backrest is lifted, so that the design is ingenious and convenient;
4) The trousers taking-on and taking-off unit accords with the trouser leg supporting mechanism and the waist supporting lifting mechanism in human engineering, and the trouser leg clamping and the trouser waist supporting actions can be realized by controlling the trouser leg supporting mechanism and the waist supporting lifting mechanism respectively. After the old man enters the mechanism, the left foot and the right foot respectively step on the pedals to clamp the trouser legs, then the waist part of the trouser is propped up by the waist supporting frame of the waist supporting lifting mechanism, the waist supporting lifting mechanism can adjust the height, and finally the mechanism is started to realize the trouser removal; the trousers wearing process is similar to the trousers removing process, the trousers leg supporting mechanism is triggered again to release the trousers leg clamp, and after the movement of the mechanism is finished, the old can walk out of the mechanism;
5) The device adopts step motor control ball screw, has realized easy operation, has used stable purpose, helps the old person to have solved the difficult problem of putting on and taking off trousers.
Drawings
Fig. 1 is an overall construction diagram of the present invention.
Fig. 2 is a structural view of the back plate lifting mechanism (lifted state) of the present invention.
Figure 3 is a block diagram of the back plate lifting mechanism of the present invention (in a flattened state).
Fig. 4 is a block diagram of the handrail linked lifting mechanism of the present invention.
FIG. 5 is a block diagram of a leg plate and first pushrod of the present invention.
Fig. 6 is a view showing the construction of the leg plate lowering mechanism (flat state) of the present invention.
Fig. 7 is a view showing a structure of a leg plate lowering mechanism (lowered state) of the present invention.
Fig. 8 is a structural view of the pull-on/pull-off pant 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 structural view of the leg-like engaging portion of the present invention.
Fig. 11 is a diagram of the simulated pant collet grip of the present invention.
Fig. 12 is a structural view of the pushing mechanism of the present invention.
Fig. 13 is a view of the pedal mechanism of the present invention in a relaxed state.
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 front view of a groove of a push button of the present invention
Detailed Description
The invention is further described below with reference to the drawings.
Referring to the drawings:
Embodiment 1 an integrated auxiliary machine for getting up and going to bed for old people according to the present invention comprises:
The lifting unit 1 comprises a back lifting mechanism 11, an armrest linkage lifting mechanism 12 and a leg plate lowering mechanism 13, wherein the back lifting mechanism 11 comprises a base 111, a backboard lifting part 112 and a backboard 113, and the upper part of the base 111 is provided with a front high and rear low mounting plane for mounting the backboard lifting part; the backboard lifting part 112 is mounted 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 is used for driving the rear part of the backboard to lift; the backboard 113 is arranged at the upper lifting end of the backboard lifting part and is used for lifting the back of a user to synchronously lift the user; 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 both sides of the seat plate 121 are respectively provided with a sliding groove 1211 for accommodating the armrest; the handrail linkage device 122 comprises a sliding part and a lifting part, wherein the handrail is arranged at the top of the sliding part, 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 is lifted upwards to form a lifting end which is used for lifting the handrail to upwards lift the handrail; the leg plate lowering mechanism 13 comprises a leg plate 131, a multi-stage 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 in sliding connection with the pushing end of the horizontal pushing device 134 and is used for putting down or lifting the leg plate; the rear end of the horizontal pushing device 134 is hinged with the lower movable end of the lifting part of the backboard, and the front end of the horizontal pushing device is used as a pushing end and is hinged with the lower end of the multi-stage transmission connecting rod assembly for putting down the leg board; the horizontal movable end of the gas spring 133 is hinged with the lower end of the multi-stage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plates;
The trousers putting on 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 trousers 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 for mounting the trousers leg supporting mechanisms; the lumbar support lifting mechanisms 22 are symmetrically arranged at two sides of the base plate 21 respectively, and comprise a vertical frame 221, a lifting device 222 and a lumbar support frame 223, wherein the vertical frame 221 is vertically arranged on the base plate 21 and is 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 slidably arranged on the fixed part, a waist support frame 223 for fixing the waist of trousers is arranged on the lifting part, and the two waist support frames are kept opposite to each other and used for driving the waist of trousers to lift so as to realize putting on and taking off trousers; 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, wherein the trouser leg clamp 231 comprises a trouser leg imitating clamping part and a trouser leg imitating clamping part, the bottom of the trouser leg imitating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg imitating 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 attached to the lower leg; the bottom of the trouser leg imitating clamping part is arranged at the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping supporting clamp which can be clamped outside the clamping part and is used for supporting or loosening trouser legs; the pushing mechanism 232 includes a mounting frame 2321 and a horizontal pushing component 2322, where the mounting frame is mounted on a mounting rail below the clamping part and is used for mounting the horizontal pushing component; the horizontal pushing component 2322 is slidably arranged in the mounting frame, 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 support clamp and is used for driving the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the clamping part of the simulated trouser collet; the pedal mechanism 233 comprises a pedal 2331 and a wedge-shaped pushing block 2332, the wedge-shaped pushing block 2332 is arranged at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged on the mounting 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 24 comprises a third stepping motor 241, a third screw rod 242 and a connecting framework 243, wherein 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 screw rod 242 are both 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 screw rod 242; the third screw rod 242 is sleeved with a sliding nut, and the sliding nut is in threaded connection with the third screw rod 242, so that when the third screw rod 242 is driven by the third stepping motor 241 to circumferentially rotate, the sliding nut axially moves along the third screw rod; the rear end of the connecting framework 243 is fixedly connected with the sliding nut, and the front end is fixedly connected with a vertical frame of the lumbar support lifting mechanism, and is used for synchronously driving the base plate and the lumbar support 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 backboard lifting part, the signal input end of the lifting device of the lumbar support 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 in signal or electrical connection with the signal output end of the man-machine interaction device and is used for controlling the movements of the back lifting mechanism, the leg board lowering mechanism, the lumbar support 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 screw nut pair 1122, a linear guide rail 1123, a sliding connecting rod 1124 and a herringbone connecting rod 1125, wherein the back plate stepping motor 1121 is arranged at the front part 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 screw 11221 of the screw nut pair 1122 and is used for driving the first screw 11221 of the screw nut pair to rotate; the screw-nut pair comprises a first screw 11221, a nut 11222 and a supporting bearing frame 11223, wherein the first screw 11221 and two ends of the screw 11221 are respectively arranged on the surface of the installation plane through the corresponding supporting bearing frame 11223, the front end of the first screw 11221 is connected with the output end of the back 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 along the axial direction of the first screw when the first screw 11221 rotates around the central shaft of the first screw; the linear guide rail 1123 comprises an optical axis 11231, a linear bearing 11232 and an optical axis supporting seat 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 installation plane by the optical axis supporting seat 11233; the sliding connecting rod 1124 is perpendicular to the first lead screw 11221, and two ends of the sliding connecting rod 1124 are sleeved on the optical axis 11231 and fixedly connected with a linear bearing 11232 with a flange on the optical axis 11231, so as to realize synchronous movement of a lead screw nut and the linear bearing on the optical axis; the herringbone connecting rod 1125 comprises a first connecting rod 11251, a second connecting rod 11252 and a third connecting rod 11253, wherein 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 rest connecting rods through a joint connector 11254; 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 11253; the bottom end of the third connecting rod 1253 is hinged with the other two connecting rods, and the upper end of the third connecting rod is hinged with the back plate 13 through the joint bearing 1255, so that the back plate is supported to be lifted or lowered by the upper end of the third connecting rod 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.
The back plate 113 comprises a main back plate 1131 and two side back plates 1132, wherein two sides of the main back plate 1131 are respectively hinged with one side back plate 1132, and the front end of the main back plate 1131 is hinged with the rear end of the seat plate; the lower ends of the two sets of the herringbone connecting rods are respectively and symmetrically hinged to the two ends of the sliding connecting rod, and the upper ends of the herringbone connecting rods are respectively hinged to the bottoms of the side backboard on the same side through corresponding joint bearings.
The handrail linkage 122 is two sets, the sliding part comprises at least one pair of first sliding rods 1221, the same pair of first sliding rods are arranged opposite to each other, 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 slide bar is provided with a handrail 1222, and the lower part of the first slide bar 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 1223 and a roller 1224, the first push rod 1223 is of an ivory structure, the front end of the first push rod 1223 is hinged to the bottom of the leg plate, the rear end of the first push rod is lifted upwards to form a pushing end for pushing the armrest, the rear end of the first push rod is provided with the roller for reducing friction force between the first push rod and the armrest, when the seat plate and the leg plate are positioned on the same horizontal plane, the roller at the pushing end of the first push rod is not contacted with the armrest, and when the leg plate is lowered, the roller is contacted with the armrest and pushes the armrest to lift from the sliding groove of the seat plate.
The multi-stage transmission link assembly 132 comprises a first leg plate link 1321, a long pin 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 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 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 way; 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 includes 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; sliding sleeve 1343 is hinged with sliding link 1124; the front end of the second push rod 1341 is inserted into the push rod fixing sleeve 1342, and the two form a sliding pair, so that the second push rod 1341 axially stretches along the push rod fixing sleeve 1342, and the sliding sleeve 1343 vertically lifts along the second push rod in the stretching process of the second push rod 1341; the rear end of the third push rod 1344 is inserted into the push rod fixing sleeve 1342, the two are in sliding connection, the front end of the third push rod 1344 horizontally slides in the lower end sliding groove 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 sleeve, so that the leg plate 131 lags behind the back plate. When the back plate 113 is flatly placed, the first connecting rod and the third connecting rod are in a straight line, and when the back plate is lifted completely, the second connecting rod and the third connecting rod are in a straight line, so that two states are respectively self-locked.
The first connecting rod 11251 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 backboard of the backboard 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 in a straight line when the backboard is horizontally placed, and the second connecting rod and the upper section are in a straight line when the backboard is completely lifted, so that two states are respectively self-locking.
The two sets of mounting rails 211 are provided, each set of mounting rails 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 pedals and a trouser leg imitating clamping part; the vertical rails 2112 are arranged in the width direction of the base plate and keep the lateral rails and the vertical rails perpendicular to each other for mounting the horizontal pushing assembly;
the lifting device 222 includes a first stepper motor 2221, a ball screw 2222 and a slider 2223, the first stepper motor 2221 is installed at the bottom of the stand, and a signal input end of the first stepper motor 2221 is electrically connected with a signal output end of the controller, so as to drive the ball screw to rotate under the control of the controller; the ball screw 2222 is vertically arranged on the vertical frame, and the lower end of the ball screw 2222 is connected with the output end of the first stepping motor 2221; the trousers supporting frames are arranged on the sliding blocks 2223, the two trousers supporting frames are kept opposite, and the sliding blocks 2223 are sleeved outside the ball screw and are in threaded connection with the ball screw, so that the sliding blocks 2223 can axially lift and lower along the ball screw when the ball screw 2222 rotates.
The pants leg imitating clamping part comprises a bottom frame 2311, a connecting bent rod 2312 and an elastic clamping sleeve 2313 serving as the clamping part, wherein the lower end of the connecting bent rod 2312 is fixedly arranged on a transverse track through the bottom frame, the elastic clamping sleeve is arranged at the top of the connecting bent rod, and the elastic clamping sleeves of the two pants 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 are kept to face the rear part of the user shank, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and are used for being matched with the clamping supporting clamp;
the trousers-like collet clamping part comprises a clamping support 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 support clamp 2314, a clamping block 2316 capable of being clamped into a rectangular clamping groove of the elastic clamping sleeve is arranged on the front end surface of the clamping support clamp, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamping support clamp and the elastic clamping sleeve; the two connecting rods 2315 are respectively provided with two ends of the clamping support clamp at the upper ends, the lower ends of the two connecting rods are respectively connected with the movable parts of the horizontal pushing assemblies, and the movable parts of the horizontal pushing assemblies move to drive the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the elastic clamping sleeve.
The installation frame of the pushing mechanism 232 is a rectangular frame, and a front end plate of the installation frame is provided with a through hole for the front end of the horizontal pushing component to penetrate; two side plates of the mounting frame are respectively provided with a chute arranged along the length direction of the side plates;
The horizontal pushing assembly 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 ends of the short connecting rods penetrate out of corresponding sliding grooves of the mounting frame and are fixedly connected with the lower ends of connecting rods on the same side, grooves are formed in the surface of the pushing button, the front ends of the grooves are positioned at the front ends of the mounting frame, and the rear ends of the grooves are sunk to form locking positions; 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 a through hole of the front end plate of the mounting frame, the screw rod is kept to be arranged along the vertical track direction, 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 out of the mounting 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 positioned between the front end face of the installation frame and the push button, the front end of the return pressure spring is propped against the inner end face of the front end part of the installation frame, and the rear end of the return pressure spring is propped against the front end face of the push button and is used for realizing the return of the push button.
The wedge-shaped pushing block 2332 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 front end of the pushing surface is lower than the rear end of the pushing surface; the bottom of the pedal 2331 is provided with a roller 2333, the roller 2333 is pressed on the 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 pressing on the pushing surface.
The mounting rail 211 further comprises a cross beam 2113, and the cross beam is horizontally arranged above the same group of vertical rails, so that the bottom of the pedal is just contacted with the surface of the cross beam to be supported at the bottom of the pedal when the pedal is in a horizontal stepping state.
Embodiment 2 the invention relates to an integrated auxiliary machine for the elderly to get up and sleep, which comprises a lying unit 1, a wearing and taking-off trousers unit 2 and a control unit, wherein the lying unit 1 comprises a back lifting mechanism 11, a handrail linkage lifting mechanism 12 and a leg plate lowering mechanism 13, the wearing and taking-off trousers unit is arranged below the leg plate lowering mechanism and comprises a base plate, at least one pair of waist supporting lifting mechanisms, at least one pair of trousers leg supporting mechanisms and a position adjusting mechanism, and the control unit comprises a controller and a man-machine interaction module;
Backboard lifting mechanism: as shown in FIG. 2, the backboard comprises a main backboard and side backboard, adopts a three-section design, and all boards are connected by adopting a hinge. Wherein two side backplates of side can at first turn up 45 degrees, lifts up the main backplate again, plays the effect of protection old man, and when lifting mechanism starts, the backplate can lift up at first, lets the old man arrive the safe position, avoids falling out of the bed at lifting or decline in-process old man, like fig. 3.
The power source of backplate lifting is backplate step motor, uses the motor to pass through the nut motion on the drive lead screw, and the nut is continuous with the bolt group with the slide linkage, thereby the nut drives the nut synchronous motion on the both sides optical axis, and the nut drives the chevron shaped connecting rod and promotes the backplate and rise, and the first connecting rod of chevron shaped connecting rod is two sections, and the lower extreme of hypomere links to each other with the nut, and the side backplate of upper segment and backplate links to each other through joint bearing, and the second connecting rod links to each other with the static base in bottom. The lower section and the upper section of the first connecting rod are in a straight line when the backboard is horizontally placed (as shown in fig. 3) (namely, the bed is in a horizontal lying state), and the second connecting rod and the upper section are in a straight line when the backboard is completely lifted, so that the two states are respectively self-locked, and the reliability is higher. The installation plane of the base is skillfully designed into a slope, so that the backboard lifting mechanism is arranged right below the bed backboard. Avoiding the inconvenience to installation and use caused by the too long mechanism and occupying the external space of the bed.
Armrest linkage lifting mechanism: as shown in fig. 4, two sides of the seat of the bed are respectively provided with a rectangular groove, the rest rectangular materials are used as handrails for assisting the automatic lifting of the old bed, the handrails and the seat are connected through a plurality of first sliding rods, and the first sliding rods can slide in the seat rails. Two first push rods (specific structures are shown in fig. 5) of ivory type are designed and installed below the leg plates, so that the first push rods and the armrests 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 armrests move relatively. When the leg plate is lowered to a certain position, the idler wheel on the first push rod of the ivory type is contacted with the handrail, and when the leg plate is continuously lowered, the idler wheel on the push rod of the ivory type jacks up the handrail, so that when an old person needs to get out of the bed, the handrail is lowered through the leg plate and is lifted in a linkage manner. When the old people finish the bed, the leg plates tend to be flat when the bed plates are required to be put on, the idler wheels on the first push rod of the ivory type loosen the armrests, and the armrests return to the rectangular grooves of the seat plates through dead weight, so that the automatic descending function of the armrests is realized.
Leg plate lowering 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 shaft, a fixed hinge support, a gas spring and a horizontal pushing device, wherein the gas spring is compressed to continuously apply left acting force to the joint, so that the leg plate is supported flat through the connecting rod. When the horizontal pushing device pushes the joint to the right, the gas spring is continuously compressed, the leg plates are lowered, and when the driving force is removed, the joint moves leftwards under the action of the gas spring to drive the leg plates to rise and flatten. The horizontal pushing device is symmetrically driven by the back plate stepping motor at the two sides, and one side is introduced and the other side is the same as the driving symmetry at the two sides. The horizontal pushing device mainly comprises a second push rod, a push rod fixing sleeve, a sliding sleeve, a third push rod and a connector, wherein the third push rod is in threaded connection with the connector, the sliding sleeve is arranged outside the second push rod, and the sliding sleeve is hinged with the sliding connecting rod. In order to avoid the old man from rushing out of the bed when the backboard is lifted, the leg boards start to be lowered when the backboard rises 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 ascend for a section of 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 descend, as shown in fig. 7.
The trousers leg supporting mechanisms are paired and arranged on the base plate between the two vertical frames side by side, and comprise trousers leg clamps, pushing mechanisms and pedal mechanisms, wherein the trousers leg clamps comprise trousers leg simulating clamping parts and trousers leg simulating clamping parts, the trousers leg simulating clamping parts are made of ABS plastics with the thickness of 5mm into trousers leg simulating parts, the trousers leg simulating parts are crescent in shape as shown in fig. 3, are attached to the lower leg parts of a human body and form a certain angle with the ground, and are in accordance with the design of ergonomics. The member is an elastic member, and many conditions are satisfied in material selection, because the simulated trouser leg clamping part is in direct contact with the lower leg part of the human body and is a member needing stress, ABS plastic with better strength, plasticity and safety is selected, and because the shape of the member is complex and special, a 3D printing model is selected. The design of the simulated trouser leg clamping part strictly follows the nature of ergonomics, and the diameter design of the clamping part is 1-2cm larger than the calf of a normal old man, so that the calf of the old man can be guaranteed to be normally attached, and the old man is plugged between the calf and the trouser leg. A certain included angle is formed between the clamping part and the ground, so that the old people can use the device more easily and quickly.
The simulated trouser leg clamping part is made of the same material and is also made by adopting a 3D printing technology, as shown in fig. 5, the shape of the simulated trouser leg clamping part is attached to the simulated trouser leg clamping part, and the simulated trouser leg clamping part is designed to be hollow in consideration of stress and cost factors so as to reduce the mass of the simulated trouser leg clamping part and facilitate the linkage of other mechanisms.
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 have two fixture blocks on imitative trouser leg clamping part, the fixture block can fill imitative trouser leg block portion's rectangle draw-in groove when pressing from both sides tightly, and after the resilience, the fixture block still has a small part to fill at imitative trouser leg block portion's rectangle draw-in groove, makes the clamping effect of trouser leg better.
The pushing mechanism comprises: the mechanism design can realize the self-locking switch function by controlling different pushing times, and meets the requirement of tightening trouser legs. As shown in fig. 12, the mechanism comprises a mounting frame and a horizontal pushing assembly, wherein the horizontal pushing assembly comprises a pushing button, a rocker, a roller, a screw rod and a return pressure spring; the rocker is connected with the roller and can slide in the groove in the push button, and the mounting frame limits the freedom degree of the push button so that the push button can move along one axis only. Considering the factors of small friction coefficient, high compressive strength and the like required for pushing the button, cast iron is adopted, and the material is processed through the steps of welding, wire cutting, tapping holes and the like. Screw rods are fixed with connecting rods of the push button and the clamping parts of the simulated trouser collet through threaded connection, so that the linkage process is realized. The grooves in the push button are calculated, as shown in fig. 8, the grooves are approximately heart-shaped, 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 vertexes of the groove are smooth and excessively form fillets; the side between the vertex B and the vertex D of the groove is the bottom side of the groove, and the vertex C formed by the concave bottom side of the groove towards the center is a locking position; when the pedal is not stepped on, the roller is positioned at the top point A, with the stepping of the pedal, the push button slides forwards under the pulling of the screw rod, at the moment, the ball moves from the top point A to the top point B along the edge of the groove, meanwhile, the pedal is in a horizontal state, when the acting force disappears, the push button is pulled to the opposite direction (namely, the rebound phenomenon is generated in the above), and the roller is clamped at the concave position 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, and when the acting force disappears, the push button is pulled by the shrinkage of the return pressure spring, so that the roller returns to the vertex A in the groove, and the self-locking switch function is realized by the ingenious design of the shape of the groove in the whole process. The design is very convenient for the old to use, and the trouser leg supporting mechanism is triggered by only stepping on the pedal, so that the process of clamping and loosening the trouser legs can be realized.
Pedal mechanism: the movement characteristics of the trouser leg supporting mechanism are fully utilized, and the force and the movement direction are skillfully converted by combining the components such as the hinge, the pedal, the roller, the wedge-shaped pushing block, the sliding rail and the like. The specific implementation method is as follows: the idler wheels are arranged below the pedals, the idler wheels are attached to the wedge-shaped pushing blocks, the wedge-shaped pushing blocks are connected with pushing buttons, the pushing buttons are arranged in horizontal vertical tracks, and the pushing buttons are connected with the connecting rods through screws, so that linkage is achieved. When a user steps on the pedal, the rotating pedal pushes the wedge-shaped pushing block on the horizontal guide rail by utilizing the idler wheels, and applies an acting force to the pushing button until the pushing button reaches the self-locking position, so that the pedal is stepped on to perform self-locking action, as shown in fig. 13. When the user steps on the pedal again, the push button is loosened, the wedge-shaped push block on the vertical guide rail is driven to return to the initial position by the spring force of the trouser leg supporting mechanism, and meanwhile, the wedge-shaped push block drives the roller below the pedal, so that the pedal returns to the initial position, and the rebound loosening action of stepping on the pedal again is completed, as shown in fig. 14.
Lumbar support lifting mechanism: the trousers taking-on and taking-off process of the trousers taking-off device needs a transmission mechanism capable of stably ascending or descending, the ball screw has the advantages of being capable of stably ascending, high in accuracy, reversibility, high in efficiency, easy to operate and the like, the height, leg length and other data of the old are 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-step motor with the torque of 2.3 N.m is selected as a driving device, further the movement of the waist support frame is driven, the waist support frame is driven to move instead of the bending movement of the old, and the sliding block can vertically move on the ball screw and drive the waist support frame to stably move as shown in fig. 9. The rotating speed and the steering of the stepping motor can be regulated to control the moving speed and the moving direction of the sliding block, so that the processes of taking off trousers and putting on trousers are realized.
And (3) standing: the device needs light and high-strength materials as the vertical frame, and aluminum profiles meet the requirements on corrosion resistance, strength, quality, price and the like, so that the aluminum profiles are adopted for framework assembly. From the data obtained by investigation, it was found that in most elderly people, the height of the pants is 800mm, and since there is a height of 150mm between the leg clamping mechanism and the ground, the dimensions of the equipment frame were respectively determined as: the height is 1000mm, the length is 1200mm, and the width is 400mm, so that the device can be used by most old people, the occupied area can be reduced, the total mass of the device can be reduced, and the total assembly is shown in figure 8.
Position adjustment mechanism: as shown in fig. 15, the third stepper motor is a 57 stepper motor, drives the third screw rod, installs a slider additional plate above the sliding nut to connect the section bars, installs a connection framework on the additional plate, is 4040 section bars, and simultaneously, the section bars are connected with a lumbar support lifting mechanism of the trousers wearing and taking-off unit to drive the trousers wearing and taking-off unit to horizontally move.
The trousers putting-on and taking-off unit is arranged below the leg plates, when the back plate starts to ascend, the trousers putting-on and taking-off unit starts to move outwards under the action of the third screw rod, before the lower parts of the leg plates, the trousers putting-on and taking-off unit moves to the right position, then the lower parts of the leg plates start to slowly retract to the foot positions of a user and are self-locked, and then the user can put on trousers. When the user needs to take off the trousers and go to bed for sleeping, after the user finishes the trousers-taking-off action and presses the lying button, a series of actions are performed in reverse to the actions: the trousers putting-on and taking-off mechanism moves outwards and simultaneously the back plate leg plates are slowly put on, after the leg plates are put on, the trousers putting-on and taking-off mechanism is retracted to the lower parts of the leg plates according to a preset program, and space is saved. In order to reduce friction generated during relative movement with the ground, rollers are arranged below the bottom plate of the trousers putting-on and taking-off integrated mechanism, and sliding friction is changed into rolling friction. Considering the environment of the invention in home use, the installation roller can also protect the ground.
And a control unit: the control unit of the auxiliary machine mainly comprises a controller and a man-machine interaction module. The controller has three driving parts, namely a back plate stepping motor below the back plate, 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 motor has more accurate control performance than a DC motor. The power switch is of the type S-350-48, the input voltage is 220V alternating current, the output voltage is 48V direct current, 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 the power switch, so that the normal operation of the old is assisted, the additional matching power supply is not needed, and the convenience is provided for practical use.
Specifically, the driving motor below the backboard is a 86 stepping motor, and the HBS86H driver also comprises a switching power supply. The motor is 86HSE12N, can realize the rotation speed (adjustable) with the highest load of 1000r/min, can output torque of 12 N.m, has a two-four-wire output shaft mode, is matched with an HBS86H driver, can realize the lifting motion of a larger load, and can reliably realize the motion process of assisting the old to lift from lying to the backrest to the position of 70 degrees. The control system is controlled by the Duopukang TC55 triaxial controller, so that the auxiliary bed can be controlled stably, and the backrest lifting process can be effectively and stably operated even when the load is heavy.
The driving motor of the trousers putting on and taking off unit is composed of two 57 stepping motors, a TB6600 driver and a switch power supply. The motor is 57HSZ1.2N in type, can realize the rotation speed (adjustment) of 300r/min at most, can output torque of 1.2 N.m, has a single output shaft mode, and can meet the requirement of assisting the old to put on and take off trousers. The control system is controlled by the Duop kang TC55 triaxial controller, so that two stepping motors can be controlled simultaneously, synchronous operation of the waist clamps is realized, and effective and stable operation in the trousers putting on and taking off process is ensured.
The third step motor of the position adjusting mechanism is composed of a 57 step motor, a TB6600 driver and a switching power supply. The motor is J-5718HB2401, the torque is kept to be 1.3 N.m, and the motor is matched with an HBS57 driver, so that the motor can sufficiently drive the screw rod slide block to push the whole trousers putting-on and taking-off mechanism. The control system is controlled by a Duop-kang TC55 triaxial controller, and the motion coordination of the auxiliary bed and the trousers putting-on 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 visualized, and the later debugging is convenient. Polytp Kang Sanzhou controller: automatic execution may implement actual run, dry run, single-segment execution, termination of programs, start and pause functions. The manual execution can realize manual high-speed, low-speed, inching operation, return sequence zero, return mechanical zero and other operations. The highest triaxial can be controlled simultaneously, so that the space is saved, the process of assisting the old in lying up, putting on and taking off trousers is smooth, and the control is convenient.
Wherein the auxiliary machine's operating functions and performance analysis
(1) The main functions are as follows: realize the function of integrally assisting the old people to get on and off the bed; the function of assisting in wearing trousers is realized; the trousers removing auxiliary function is realized; realizing the function of automatically lifting the back at 0-70 DEG; has a certain protection effect; realizing the function of the lower part of the leg plate linkage; realizing the armrest linkage lifting function; realizing the function of automatically moving out and retracting the trousers taking-in and taking-out mechanism.
(2) Performance analysis
Table 1 screw parameters of the lying and rising unit
Table 2 second screw parameters of pull-on/pull-off pant unit
TABLE 3 third lead screw parameters for pull-on/pull-off pant unit
Embodiment 3 the steps of taking off trousers using the apparatus for assisting the elderly to wear and take off trousers according to embodiment 2 are as follows:
(1) A starting device: inserting a power supply to supply power to the device;
(2) Clamping trouser legs: the method comprises the steps that before taking off trousers, heels are required to be closely attached to a trouser leg simulating clamping part in a trouser leg supporting mechanism, then the trouser leg simulating clamping part is plugged between a lower leg and the trouser leg in a downward direction, in the downward direction of the feet, a pedal is stepped on simultaneously 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, the trouser leg simulating clamping part and the trouser leg simulating clamping part are in a clamping state, and the trouser leg supporting mechanism and the initial state of pedal form a certain included angle with the ground, so that smooth action in the process can be ensured;
(3) Stretching the waist of trousers: after the trouser legs are clamped, the two waist support frames are simultaneously adjusted to proper heights by utilizing the waist support lifting mechanism, and then the trouser waist is sleeved on the waist support frames, so that the trouser waist is supported and the relative position relationship between the trouser waist and the waist support frames is fixed, and the trouser can be taken off smoothly; .
(4) Starting a stepping motor: after the three actions are completed, the stepping motor is started, the lead screw mechanism drives the lumbar support to vertically move so as to realize the lowering of the waist of trousers, and the old can lift the legs after the lowering is completed, and the feet are pulled out from the legs of trousers.
Embodiment 4 trousers are worn by using the apparatus for assisting the elderly to wear and take off trousers according to embodiment 2, and the process is as follows:
The trousers wearing process is basically similar to the trousers taking-off process, and the trousers are fixed on the mechanism after the trousers are taken off, so that the user only needs to stretch the feet into the trousers legs, start the stepping motor after standing, drive the waist support by the ball screw to take out the trousers waist from the waist support, then tread the pedal again by the old, trigger the trousers leg supporting mechanism and link the trousers leg clamp to enable the trousers leg clamp to be in a relaxed state, and the old can freely walk out of the trousers taking-off device at the moment.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but also equivalent technical means that can be conceived by those skilled in the art according to the inventive concept.
Claims (8)
1. An old man's integration auxiliary machine that goes up and go to bed, its characterized in that includes:
the lifting unit comprises a back lifting mechanism, a handrail linkage lifting mechanism and a leg plate lowering mechanism, wherein the back lifting mechanism comprises a base, a backboard lifting part and a backboard, and the upper part of the base is provided with a front high and rear low installation plane for installing the backboard 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 backboard is arranged at the upper lifting end of the backboard lifting part and is used for lifting the back of a user to synchronously lift the back of the user; the handrail linkage lifting mechanism comprises a seat plate, a handrail linkage device and a handrail, wherein the rear part of the seat plate is hinged with the front part of the back plate, and two sides of the seat plate are respectively provided with a chute for accommodating the handrail; the handrail linkage device comprises a sliding part and a lifting part, wherein the handrail is arranged at the top of the sliding part, 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 is lifted upwards to form a lifting end which is used for lifting the handrail to upwards lift the handrail; the leg plate lowering mechanism comprises a leg plate, a multi-stage transmission connecting rod assembly, a gas spring and a horizontal pushing device, wherein 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 in sliding connection with the pushing end of the horizontal pushing device and is 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 lifting part of the backboard, and the front end of the horizontal pushing device is used as a pushing end and is hinged with the lower end of the multi-stage transmission connecting rod assembly and used for putting down the leg board; the horizontal movable end of the gas spring is hinged with the lower end of the multi-stage transmission connecting rod assembly and is used for automatically realizing the leveling of the leg plates;
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 trousers 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 is used for mounting the trousers leg supporting mechanisms; the lumbar support lifting mechanisms are symmetrically arranged on two sides of the base plate respectively and comprise a vertical frame, a lifting device and a lumbar support frame, wherein 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 slidably arranged on the fixed part, a waist support frame for fixing the waist of trousers is arranged on the lifting part, and the two waist support frames are kept opposite to each other and used for driving the waist of trousers to lift so as to realize trousers wearing 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, wherein the trouser leg clamp comprises a trouser leg imitating clamping part and a trouser leg imitating clamping part, the bottom of the trouser leg imitating clamping part is arranged on an installation track of the base plate, and the upper part of the trouser leg imitating 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 attached to the lower leg; the bottom of the trouser leg imitating clamping part is arranged at the movable part of the pushing mechanism, and the upper part of the trouser leg imitating clamping part is provided with a clamping supporting clamp which can be clamped outside the clamping part and is used for supporting or loosening trouser legs; the pushing mechanism comprises a mounting frame and a horizontal pushing assembly, wherein the mounting frame is mounted on a mounting rail below the clamping part and is used for mounting the horizontal pushing assembly; the horizontal pushing assembly is arranged in the mounting frame in a sliding manner, and the front end of the horizontal pushing assembly 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 is connected with the bottom of the clamping support clamp and is used for driving the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the clamping part of the simulated trouser clamp; the pedal mechanism comprises a pedal and a wedge-shaped pushing block, the wedge-shaped pushing block is arranged at the front end of the horizontal pushing assembly, the rear end of the pedal is hinged to the mounting 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 lead screw and a connecting framework, wherein the third stepping motor is arranged at the front end of a base of the back lifting mechanism, the third stepping motor and the third lead screw are both 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 lead screw; the 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 along the axial direction of the third screw rod when the third screw rod is driven by the third stepping motor to rotate circumferentially; the rear end of the connecting framework is fixedly connected with the sliding nut, the front end of the connecting framework is fixedly connected with the vertical frame of the lumbar support lifting mechanism, and the connecting framework is used for synchronously driving the base plate and the lumbar support 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 backboard lifting part, the signal input end of the lifting device of the lumbar support 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 in signal or electrical connection with the signal output end of the man-machine interaction device and is used for controlling the movements of the back lifting mechanism, the leg board lowering mechanism, the lumbar support lifting mechanism and the pedal mechanism; the control circuit is provided with a power switch for controlling the on-off of the whole auxiliary machine;
The back plate lifting part comprises a back plate stepping motor, a screw nut pair, a linear guide rail, a sliding connecting rod and a herringbone connecting rod, wherein the back plate stepping motor is arranged at the front part of the installation plane of the base, and the output end of the back plate stepping motor is connected with the front end of a screw of the screw nut pair and used for driving the screw of the screw nut pair to rotate; the screw-nut pair comprises a first screw, a nut and a supporting bearing, wherein the two ends of the first screw and the optical axis are respectively arranged on the surface of the installation plane through corresponding supporting bearing brackets, the front end of the screw is connected with the output end of the back plate stepping motor, and the nut is sleeved outside the first screw and is in threaded connection with the first screw, so that the nut moves axially along the screw when the first screw rotates around the central axis of the first screw; the linear guide rail comprises an optical axis, a linear bearing and an optical axis supporting seat, the linear bearing can move freely along the axial direction of the optical axis, and the optical axis is supported on an installation plane by the optical axis supporting seat; the sliding connecting rod is perpendicular to the first screw rod, 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 screw nut and the linear bearing on the optical axis; the Y-shaped 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 a joint connector; 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 backboard through a joint bearing, so that the backboard is supported to be lifted or lowered by the upper end of the third connecting rod in the moving process of the first connecting rod along with the sliding connecting rod, and the backboard and the seat are positioned on the same horizontal plane when the nut of the screw-nut pair moves to the rear end of the first screw;
The handrail linkage device is two sets, the sliding part comprises at least one pair of first sliding rods, the same pair of first sliding rods are arranged opposite to each other, and a gap is 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 is tilted upwards to form a pushing end for pushing the handrail, the rear end of the first push rod is provided with the roller for reducing friction force between the first push rod and the handrail, the roller at the pushing end of the first push rod is not contacted with the handrail when the seat plate and the leg plate are positioned on the same horizontal plane, and the roller is contacted with the handrail when the leg plate is lowered and pushes the handrail to lift from the sliding groove of the seat plate.
2. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the backboard comprises a main backboard and two side backboard, wherein two sides of the main backboard are respectively hinged with one side backboard, and the front end of the main backboard is hinged with the rear end of the seat board; the lower ends of the two sets of the herringbone connecting rods are respectively and symmetrically hinged to the two ends of the sliding connecting rod, and the upper ends of the herringbone connecting rods are respectively hinged to the bottoms of the side backboard on the same side through corresponding joint bearings.
3. The integrated auxiliary machine for getting up and going to bed for old people as set forth in 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 a 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 form a sliding pair, so that the second push rod axially stretches along the push rod sleeve, and in the stretching process of the second push rod, the sliding sleeve vertically lifts along the second push rod; the rear end of the third push rod is inserted into the push rod fixing sleeve, the third push rod and the push rod fixing sleeve are in sliding connection, the front end of the third push rod horizontally slides in a lower end sliding groove 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.
4. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the mounting rails are two sets, each set of the mounting rails comprises a transverse rail and a vertical rail, wherein the transverse rails are arranged along the length direction of the base plate and are used for mounting pedals and the pants-like barrel clamping parts; the vertical rails are arranged along the width direction of the base plate, and keep the transverse rails and the vertical rails vertical to each other for installing the horizontal pushing assembly;
the lifting device comprises a first stepping motor, a ball screw and a sliding block, wherein the first stepping motor is arranged at the bottom of the vertical frame, and the signal input end of the first stepping motor is electrically connected with the 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 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 frames are arranged on the sliding blocks, the two trousers supporting frames are kept opposite, and the sliding blocks are sleeved outside the ball screw and are in threaded connection with the ball screw, so that the sliding blocks can axially lift and lower along the ball screw when the ball screw rotates.
5. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the trousers-like barrel clamping part comprises a base, a connecting bent rod and an elastic clamping sleeve as a clamping part, wherein the lower end of the connecting bent rod is fixedly arranged on a transverse track through the base, the elastic clamping sleeve is arranged at the top of the connecting bent rod, and the elastic clamping sleeves of the two trousers-like barrel clamping parts are positioned at the same side; the elastic clamping sleeve is an arc-shaped sleeve imitating the human shank, the clamping inlets of the arc-shaped sleeve are kept to face the rear part of the user shank, and a plurality of rectangular clamping grooves are formed in the elastic clamping sleeve and are used for being matched with the clamping supporting clamp;
The trousers-imitating clamp comprises a clamp support clamp and a connecting rod serving as a movable part, wherein the front part of the clamp support clamp is provided with an arc-shaped structure which can be clamped outside an elastic clamping sleeve, the front end surface of the clamp support clamp is provided with a clamping block which can be clamped into a rectangular clamping groove of the elastic clamping sleeve, and the clamping depth of the clamping block is adjusted by adjusting the distance between the clamp support clamp and the elastic clamping sleeve; the connecting rods are two, two ends of the clamping support clamp are respectively installed at the upper ends of the connecting rods, the lower ends of the connecting rods are respectively connected with the movable parts of the horizontal pushing assemblies, and the movable parts of the horizontal pushing assemblies move to drive the clamping support clamp to move so as to adjust the distance between the clamping support clamp and the elastic clamping sleeve.
6. The integrated auxiliary machine for getting up and going to bed for old people as set forth in claim 1, wherein: the installation frame of the pushing mechanism is a rectangular frame, and a front end plate of the installation frame is provided with a through hole which penetrates through the front end of the horizontal pushing component; two side plates of the mounting frame are respectively provided with a 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 correspondingly provided with a short connecting rod, the outer ends of the short connecting rods penetrate through corresponding sliding grooves of the mounting frame and are fixedly connected with the lower ends of connecting rods on the same side, grooves are formed in the surfaces of the pushing button, the front ends of the grooves are positioned at the front ends of the mounting frame, and the rear ends of the grooves sink inwards to form locking positions; 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 a through hole of the front end plate of the mounting frame, the screw rod is kept to be arranged along the vertical track direction, 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 out of the mounting 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 positioned between the front end face of the installation frame and the push button, the front end of the return pressure spring is propped against the inner end face of the front end part of the installation frame, and the rear end of the return pressure spring is propped against the front end face of the push button and is used for realizing the return of the push button.
7. The integrated auxiliary machine for getting up and going to bed for old people according to claim 6, 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 front end of the pushing surface is lower than the rear end of the pushing surface; the bottom of the pedal is provided with a roller, the roller is pressed on the 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 pressing on the pushing surface.
8. The integrated auxiliary machine for getting up and going to bed for old people according to claim 4, wherein: the mounting rail also comprises a cross beam, and the cross beam is horizontally arranged above the same group of vertical rails, so that the pedal is in a horizontal stepping state, and the bottom of the pedal is just contacted with the surface of the cross beam so as to be supported at the bottom of the pedal.
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| CN112922303A (en) * | 2021-01-27 | 2021-06-08 | 王鑫 | Foot platform that falls that has function of making level based on construction of slope roof |
| CN114468725B (en) * | 2022-02-14 | 2023-06-23 | 四川大学华西医院 | Medical protective clothing take-off device |
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| CN213155031U (en) * | 2020-05-29 | 2021-05-11 | 浙江工业大学 | Old man gets up integral type auxiliary machine of sleeping |
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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 |
| WO2020088552A1 (en) * | 2018-11-02 | 2020-05-07 | 常州泽辉机械有限公司 | Iron frame for stand-assisted recliner driven by duel motors and working method thereof |
| CN110279537A (en) * | 2019-08-06 | 2019-09-27 | 湖州师范学院 | Bed apparatus above and below multi-functional auxiliary |
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