CN216603316U - An indoor mobile robot that helps get up - Google Patents

Abstract

The utility model provides an indoor mobile robot that assists getting up, comprising: a connecting mechanism, a lifting mechanism, a moving mechanism, a supporting mechanism and a steering mechanism; the connecting mechanism is arranged on the upper part of the robot and is used for carrying users; The lifting mechanism is arranged on the lower side of the connecting mechanism, and is used to drive the connecting mechanism to rise and fall; the moving mechanism is arranged at the lower part of the robot, and is used to drive the robot to move; the support mechanism is arranged The lower side of the moving mechanism is used for fixedly supporting the moving mechanism; the steering mechanism is arranged at the front of the robot and is used for driving the robot to turn. It can assist the elderly to get up and down directly from the robot, and has the function of automatic walking. The robot seat cushion can also be automatically raised and lowered according to different scenes such as bedroom beds, bathroom toilets, dining table seats and living room sofas to achieve height matching and facilitate getting up and down.

Description

An indoor mobile robot that helps get up

technical field

The utility model relates to the technical field of mobile robots, in particular to an indoor mobile robot that assists getting up.

Background technique

At present, in terms of elderly care machinery, electric walkers are widely used, such as electric crutches, walking frames, electric wheelchairs, etc. These machines have a single functional structure, a low degree of intelligent application, obviously insufficient safety and comfort, and cannot fully meet the special needs of ordinary users for independent travel life. Most of the elderly assistance robots on the market are stair-climbing intelligent wheelchairs, but there are almost no elderly assistance robots for indoor home life. When the elderly are at home, they need someone to help them get up and get into a wheelchair. Sometimes the wheelchair cannot stop stably in place. Difficulty getting in and out of the wheelchair, and may lead to accidents such as falling in the air. At the same time, when the wheelchair is used, it occupies a large area, and it is inconvenient to drive and turn indoors. The power-assisted stand-up toilet cover includes a toilet body and a handrail, and the handrail is connected to the side of the toilet body. When the elderly get up, their arms hold the armrests, and the armrests play the role of supporting the arms, thereby reducing the stress on the legs and waist when getting up. The toilet cover reduces the difficulty of getting up to a certain extent, but when getting up, the legs and waist are still required to exert greater force to complete the action of getting up. Generally speaking, it is inconvenient to use, and it is still not suitable for the elderly with weak waist and legs.

The above aids for the elderly are inconvenient to use indoors. Although the wheelchair can be moved, there are disadvantages such as inconvenient movement and too large size. Other assisting devices need to stand up and turn around when in use, which is inconvenient for the elderly to use and cannot stop smoothly.

Utility model content

The purpose of the present invention is to provide an indoor mobile robot that assists getting up in order to solve the above problems. It can assist the elderly to get up and down directly from the robot, and has the function of automatic walking. The robot seat cushion can also be automatically raised and lowered according to different scenes such as bedroom beds, bathroom toilets, dining table seats and living room sofas, so as to achieve height matching and facilitate getting up and down. It can prevent the elderly from falling and other secondary injuries caused by standing up and turning around.

The utility model provides an indoor mobile robot that assists getting up, comprising: a connecting mechanism, a lifting mechanism, a moving mechanism, a supporting mechanism and a steering mechanism; the connecting mechanism is arranged on the upper part of the robot and is used for carrying users; The lifting mechanism is arranged on the lower side of the connecting mechanism, and is used to drive the connecting mechanism to rise and fall; the moving mechanism is arranged at the lower part of the robot, and is used to drive the robot to move; the supporting mechanism is arranged The lower side of the moving mechanism is used for fixedly supporting the moving mechanism; the steering mechanism is arranged at the front of the robot and is used for driving the robot to turn.

Further, the connection mechanism includes a seat cushion, a first connection mechanism slider, a second connection mechanism slider, and a connection mechanism prime mover; the connection mechanism prime mover drives the first connection The mechanism slider and the second connecting mechanism slider move horizontally on their respective rails, driving the seat cushion to move back and forth.

Further, the lifting mechanism includes a lifting mechanism bracket, a first lifting mechanism sliding block, a second lifting mechanism sliding block, a first lifting mechanism prime mover, a second lifting mechanism prime mover, a third lifting mechanism sliding block and a third lifting mechanism sliding block. Four lifting mechanism sliders; the first lifting mechanism prime mover and the second lifting mechanism prime mover drive the first lifting mechanism slider, the second lifting mechanism slider, the third lifting mechanism slider and the fourth lifting mechanism The sliding blocks of the mechanism move up and down on their respective tracks, thereby driving the connecting mechanism to move up and down to realize the height adjustment of the connecting mechanism.

Further, the lifting mechanism bracket includes a horizontal bracket whose upper end extends in a horizontal direction and a vertical bracket whose periphery extends in a vertical direction, and the horizontal bracket is the first connection mechanism slider and the second connection. The track of the mechanism sliding block; the vertical support is the track of the first lifting mechanism sliding block, the second lifting mechanism sliding block, the third lifting mechanism sliding block and the fourth lifting mechanism sliding block.

Further, the moving mechanism includes a chassis frame, a first driving wheel, a second driving wheel, a first front wheel and a second front wheel; the first driving wheel and the second driving wheel are connected to the chassis frame the rear side, the first front wheel and the second front wheel are connected to the front side of the chassis frame, the first driving wheel and the second driving wheel are enabled, and are connected with the first front wheel, the second driving wheel The front wheel completes the movement of the robot.

Further, the moving mechanism further includes a first foot lever and a second foot lever; the first foot lever and the second foot lever are symmetrically connected on both sides of the chassis frame.

Further, the moving mechanism further includes a driving wheel bracket, and both the first driving wheel and the second driving wheel are connected to the chassis frame through the driving wheel bracket.

Further, the support mechanism includes a first support mechanism prime mover, a first universal foot cup, a holder, a second universal foot cup and a second support mechanism prime mover; the first support mechanism prime mover and the second supporting mechanism prime mover to make the first universal foot cup and the second universal foot cup move up and down; between the first universal foot cup and the second universal foot cup rack connected.

Further, the steering mechanism includes a steering mechanism rotating rod, a first rotating joint, a second rotating joint, a third rotating joint, a fourth rotating joint, a fifth rotating joint, a sixth rotating joint, a first connecting rod, and a lever. , a handle and a second connecting rod; the handle is drivingly connected to the steering mechanism rotating rod, and the steering mechanism rotating rod transmits force to the fourth rotating joint under the constraint of the first rotating joint through the dial The rod drives the first connecting rod and the second connecting rod to move left and right, and the second rotating joint, the third rotating joint, the fifth rotating joint and the sixth rotating joint are the four composing parallelogram bogies. The third and fifth rotating joints rotate to realize the left and right steering of the second front wheel and the first front wheel.

Further, the steering mechanism further includes a first front wheel bracket and a second front wheel bracket; the first front wheel bracket is connected with the third rotation joint, and the second front wheel bracket is connected with the fifth rotation joint The joints are connected; the first front wheel is connected to the first front wheel bracket, and the second front wheel is connected to the second front wheel bracket.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the following descriptions The accompanying drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

Fig. 1 is the structure diagram of a kind of indoor mobile robot that assists getting up of the utility model;

FIG. 2 is a side view of an indoor mobile robot that assists getting up from the utility model;

FIG. 3 is a top view of an indoor mobile robot that assists getting up according to the present invention.

Description of reference numbers:

101 Seat cushion; 102 First connecting mechanism slider; 103 Second connecting mechanism slider; 104 Connecting structure prime mover; 114 Connecting piece; 201 Lifting mechanism frame; Lifting mechanism slider; 204 The first lifting mechanism prime mover; 205 The second lifting mechanism prime mover; 206 The third lifting mechanism slider; 207 The fourth lifting mechanism slider; 301 Chassis frame; 302 The first driving wheel; 303 304 The first front wheel; 305 The second front wheel; 306 The first foot lever; 307 The second foot lever; Foot cup; 403 cage; 404 second universal foot cup; 405 second support mechanism prime mover; 501 steering mechanism lever; 502 first rotation joint; 503 second rotation joint; 504 third rotation joint; 505 Section 505 Four rotating joints; 506 fifth rotating joint; 507 sixth rotating joint; 508 first front wheel bracket; 509 first link; 510 lever; 511 grip; 512 second link; 513 second front wheel bracket.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" etc. Or the positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operation, so it cannot be construed as a limitation to the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be It is directly connected, or it can be indirectly connected through an intermediate medium, and it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

The embodiment of the present utility model provides an indoor mobile robot that assists getting up. As shown in Figures 1 to 3, the motion mechanism of the robot is composed of five parts: a connecting mechanism, a lifting mechanism, a supporting mechanism, a moving mechanism, and a steering mechanism. . The connecting mechanism is arranged on the upper part of the robot to carry the user; the lifting mechanism is arranged on the lower side of the connecting mechanism and is used to drive the connecting mechanism to rise and fall; the moving mechanism is arranged on the The lower part of the robot is used to drive the robot to move; the support mechanism is arranged on the lower side of the moving mechanism and is used to fixedly support the moving mechanism; the steering mechanism is arranged at the front of the robot, using for driving the robot to turn. The utility model can assist the elderly to get up and down directly from the robot, and has the function of automatic walking. The robot seat cushion can also be automatically raised and lowered according to different scenes such as bedroom beds, bathroom toilets, dining table seats and living room sofas, so as to achieve height matching and facilitate getting up and down. It can prevent the elderly from falling and other secondary injuries caused by standing up and turning around.

In one aspect of the embodiment of the present invention, the connection mechanism includes a seat cushion 101, a first connection mechanism slider 102, a second connection mechanism slider 103, and a connection mechanism prime mover 104; the connection mechanism The mechanism prime mover 104 drives the first connecting mechanism slider 102 and the second connecting mechanism slider 103 to move horizontally on their respective tracks, and drives the seat cushion 101 to move back and forth.

In one aspect of the embodiment of the present invention, the lifting mechanism includes a lifting mechanism bracket 201, a first lifting mechanism sliding block 202, a second lifting mechanism sliding block 203, a first lifting mechanism driving member 204, and a second lifting mechanism original moving member 205, third lifting mechanism sliding block 206 and fourth lifting mechanism sliding block 207; the first lifting mechanism driving member 204 and the second lifting mechanism driving member 205 drive the first lifting mechanism sliding block 202, The second lifting mechanism slider 203 , the third lifting mechanism slider 206 and the fourth lifting mechanism slider 207 move up and down on their respective tracks, thereby driving the connecting mechanism to move up and down to realize the height adjustment of the connecting mechanism .

Preferably, as shown in FIG. 1 , the lifting mechanism bracket 201 includes a horizontal bracket whose upper end extends in a horizontal direction and a vertical bracket whose periphery extends in a vertical direction, and the horizontal bracket is the first connecting mechanism slider. 102 and the track of the second connecting mechanism slider 103; the vertical support is the first lifting mechanism slider 202, the second lifting mechanism slider 203, the third lifting mechanism slider 206 and the fourth lifting mechanism The track of the mechanism slider 207.

In one aspect of the embodiment of the present invention, the moving mechanism includes a chassis frame 301, a first driving wheel 302, a second driving wheel 303, a first front wheel 304 and a second front wheel 305; the first driving wheel 302 and the second driving wheel 303 are connected to the rear side of the chassis frame 301, the first front wheel 304 and the second front wheel 305 are connected to the front side of the chassis frame 301, the first driving The wheel 302 and the second driving wheel 303 are enabled, and complete the movement of the robot together with the first front wheel 304 and the second front wheel 305 .

Preferably, the moving mechanism further includes a first foot lever 306 and a second foot lever 307 ; the first foot lever 306 and the second foot lever 307 are symmetrically connected to two sides of the chassis frame 301 . side. The moving mechanism further includes a driving wheel bracket 312 , and both the first driving wheel 302 and the second driving wheel 303 are connected to the chassis frame 301 through the driving wheel bracket 312 .

In one aspect of the embodiment of the present invention, the support mechanism includes a first support mechanism motive member 401, a first universal foot cup 402, a cage 403, a second universal foot cup 404 and a second support mechanism prime mover 405; the first support mechanism prime mover 401 and the second support mechanism prime mover 405 are driven to make the first universal foot cup 402 and the second universal foot cup 404 move up and down; The foot cup 402 and the second universal foot cup 404 are connected by the holder 403 .

In one aspect of the embodiment of the present invention, the steering mechanism includes a steering mechanism rotating rod 501 , a first rotating joint 502 , a second rotating joint 503 , a third rotating joint 504 , a fourth rotating joint 505 , and a fifth rotating joint 506 , the sixth rotating joint 507, the first link 509, the lever 510, the handle 511 and the second link 512; the handle 511 is drivingly connected to the steering mechanism rotating rod 501, and the steering mechanism rotating rod 501 is in the The first rotating joint 502 constrains the transmission of force to the fourth rotating joint 505 through the lever 510 to drive the first link 509 and the second link 512 to move left and right. The rotating joint 503, the third rotating joint 504, the fifth rotating joint 506 and the sixth rotating joint 507 are four joints that form a parallelogram bogie, and the third rotating joint 504 and the fifth rotating joint 506 rotate to realize the second Left and right steering of the front wheel 305 and the first front wheel 304 .

Preferably, the steering mechanism further includes a first front wheel bracket 508 and a second front wheel bracket 513; the first front wheel bracket 508 is connected with the third rotation joint 504, and the second front wheel bracket 513 is connected with The fifth rotating joint 506 is connected; the first front wheel 304 is connected to the first front wheel bracket 508 , and the second front wheel 305 is connected to the second front wheel bracket 513 .

In the specific embodiment of the present utility model:

Embodiment 1: Robot posture adjustment. When the elderly with limited mobility switch between sofas, chairs, and toilets, the premise of keeping the body stable and enabling the elderly to move safely. Before the robot is loaded with people, the first support mechanism prime mover 401 and the second support mechanism prime mover 405 are extended, so that the first universal foot cup 402 and the second universal foot cup 404 move downward to contact the ground and fix the robot. Depending on the height of the sofa, chair or bed, the first lifting mechanism motive member 204 and the second lifting mechanism motive member 205 are extended or shortened, the first lifting mechanism slider 202, the second lifting mechanism slider 203, the third lifting mechanism slider 203, the third lifting mechanism The lifting mechanism slider 206 and the fourth lifting mechanism slider 207 drive the connecting mechanism to move up and down as a whole to match the height of the sofa, chair or bed where the elderly person is located.

Embodiment 2, the robot connects the elderly. The old man puts his feet on the first pedal rod 306 and the second pedal rod 307 , and holds the handle 511 with his hands. The connecting mechanism prime mover 104 is extended, the first connecting mechanism sliding block 102 and the first connecting mechanism sliding block 103 drive the seat cushion 101 to move backwards, the arms are forced, the body leans forward, the old man gets up slightly and sits on the seat cushion, then connect the The prime mover 104 of the barge mechanism retracts, and the seat cushion 101 moves forward. After the robot is loaded with people, the first supporting mechanism prime mover 401 and the second support mechanism prime mover 405 are retracted, so that the first swivel foot cup 402 and the second swivel foot cup 404 move upward and leave the ground.

Embodiment 3, the robot is driving and turning. The first driving wheel 302 and the second driving wheel 303 are enabled, and the robot moves. The old man holds the handle 511 and rotates the steering mechanism lever 501, wherein the first rotation joint 502, the fourth rotation joint 505 and the fifth rotation joint 506 are in the same plane, and the steering mechanism lever 501 transmits force to the rotation joint 505 Drive the first link 509 and the second link 512 to move left and right. The second rotation joint 503, the third rotation joint 504, the fifth rotation joint 506, and the sixth rotation joint 507 are four joints constituting a parallelogram bogie. The axles of the second front wheel 305 and the first front wheel 304 are fixedly connected to the third rotating joint 504 and the fifth rotating joint 506, respectively. The left and right movement of the first link 509 and the second link 512 can realize the synchronous steering of the second front wheel 305 and the first front wheel 304. The four-wheeled robot is more stable than the three-wheeled robot, and it is less prone to rollover accidents when the turning angle is large. Compared with remote control steering, manual steering enables the elderly to have a better grasp of the direction and increase the stability of driving.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, but not to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that : it can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the various embodiments of the present utility model Scope of technical solutions.

Claims (7)

1. An indoor mobile robot for assisting getting up is characterized in that, comprising: a docking mechanism, a lifting mechanism, a moving mechanism, a supporting mechanism and a steering mechanism; the docking mechanism is arranged on the upper part of the robot for carrying a user ; The lifting mechanism is arranged on the lower side of the connecting mechanism for driving the connecting mechanism to rise and fall; the moving mechanism is arranged on the lower part of the robot for driving the robot to move; the supporting mechanism The steering mechanism is arranged on the lower side of the moving mechanism for fixedly supporting the moving mechanism; the steering mechanism is arranged at the front of the robot for driving the robot to turn; The connection mechanism includes a seat cushion (101), a first connection mechanism slider (102), a second connection mechanism slider (103), and a connection mechanism prime mover (104); the connection mechanism originally The moving element (104) drives the first connecting mechanism slider (102) and the second connecting mechanism slider (103) to move horizontally on their respective tracks, and drives the seat cushion (101) to move back and forth; The lifting mechanism comprises a lifting mechanism bracket (201), a first lifting mechanism sliding block (202), a second lifting mechanism sliding block (203), a first lifting mechanism prime mover (204), and a second lifting mechanism prime mover (205), a third lift mechanism slider (206) and a fourth lift mechanism slider (207); the first lift mechanism prime mover (204) and the second lift mechanism prime mover (205) drive The first lifting mechanism sliding block (202), the second lifting mechanism sliding block (203), the third lifting mechanism sliding block (206) and the fourth lifting mechanism sliding block (207) are in their respective The track moves up and down, and then drives the connecting mechanism to move up and down, so as to realize the height adjustment of the connecting mechanism; The lifting mechanism bracket (201) includes a horizontal bracket whose upper end extends in a horizontal direction and a vertical bracket whose periphery extends in a vertical direction, and the horizontal bracket is the first connecting mechanism slider (102) and the second Two rails for connecting mechanism sliders (103); the vertical supports are the first lifting mechanism sliders (202), the second lifting mechanism sliders (203), and the third lifting mechanism sliders (206) and the track of the fourth lifting mechanism slider (207). 2 . The indoor mobile robot with assistance for getting up according to claim 1 , wherein the moving mechanism comprises a chassis frame ( 301 ), a first driving wheel ( 302 ), a second driving wheel ( 303 ), a first driving wheel ( 303 ), a A front wheel (304) and a second front wheel (305); the first driving wheel (302) and the second driving wheel (303) are connected to the rear side of the chassis frame (301), the first driving wheel (302) and the second driving wheel (303) A front wheel (304) and the second front wheel (305) are connected to the front side of the chassis frame (301), the first driving wheel (302) and the second driving wheel (303) are enabled, and Complete the movement of the robot with the first front wheel (304) and the second front wheel (305). 3 . The indoor mobile robot for assisting getting up according to claim 2 , wherein the moving mechanism further comprises a first foot rod ( 306 ) and a second foot rod ( 307 ); the first foot rod ( 307 ); The foot lever (306) and the second foot lever (307) are symmetrically connected on both sides of the chassis frame (301). 4. The indoor mobile robot with assistance for getting up according to claim 2, wherein the moving mechanism further comprises a driving wheel bracket (312), the first driving wheel (302) and the second driving wheel The wheels (303) are all connected with the chassis frame (301) through the drive wheel bracket (312). 5 . The indoor mobile robot for assisting getting up according to claim 3 , wherein the supporting mechanism comprises a first supporting mechanism prime mover ( 401 ), a first universal foot cup ( 402 ), and a cage. 6 . (403), a second universal foot cup (404) and a second support mechanism prime mover (405); the first support mechanism prime mover (401) and the second support mechanism prime mover (405) are driven, Make the first universal foot cup (402) and the second universal foot cup (404) move up and down; the first universal foot cup (402) and the second universal foot cup (404) pass the The cage (403) is connected. 6 . The indoor mobile robot for assisting getting up according to claim 5 , wherein the steering mechanism comprises a steering mechanism rotating rod ( 501 ), a first rotating joint ( 502 ), and a second rotating joint ( 503 ). 7 . , the third rotary joint (504), the fourth rotary joint (505), the fifth rotary joint (506), the sixth rotary joint (507), the first link (509), the lever (510), the handle ( 511) and the second connecting rod (512); The handle (511) is drivingly connected to the steering mechanism rotating rod (501), and the steering mechanism rotating rod (501) transmits force to the fourth rotating joint (502) under the constraint of the first rotating joint (502). 505) Drive the first link (509) and the second link (512) of the connecting rod to move left and right through the lever (510), the second rotating joint (503), the third rotating joint ( 504), the fifth rotating joint (506) and the sixth rotating joint (507) are four joints that form a parallelogram bogie, and the third rotating joint (504) and the fifth rotating joint (506) rotate to realize the first Left and right steering of the second front wheel (305) and the first front wheel (304). 7 . The indoor mobile robot for getting up with power assistance according to claim 6 , wherein the steering mechanism further comprises a first front wheel bracket ( 508 ) and a second front wheel bracket ( 513 ); the first front wheel bracket ( 513 ); The front wheel bracket (508) is connected with the third rotation joint (504), the second front wheel bracket (513) is connected with the fifth rotation joint (506); the first front wheel (304) is connected On the first front wheel bracket (508), the second front wheel (305) is connected to the second front wheel bracket (513).

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