CN113262109B - A device for assisting the elderly to get up from bed - Google Patents

Abstract

The present invention provides an assisting bed device for the elderly, which includes a foldable wheelchair body, the wheelchair body includes a backrest, an armrest, a seat bracket and a horizontal movement mechanism, the horizontal movement mechanism is arranged outside the seat bracket, and further includes A stair-climbing module, an elderly-assisting robotic arm module, and a power supply, the stair-climbing module includes a liftable crawler structure and a crawler drive group, and the elderly-assisting robotic arm module includes a bracket, a pneumatic support arm, and a cross bar that are sequentially connected from the handrail upwards and a bionic manipulator, one end of the pneumatic arm is rotatably connected to the top of the bracket, and the other end is rotatably connected to one end of the crossbar through a pneumatically connected movable joint, and the bionic manipulator is arranged at the other end of the crossbar. The arm receiving cavity of the body, the wrist receiving cavity and the detachably connected mechanical finger, the wrist receiving cavity includes a wrist force transmission module for controlling the mechanical finger, and the armrest on one side of the installation-aiding mechanical arm module includes a control panel.

Description

A device for assisting the elderly to get up from bed

technical field

The invention belongs to the technical field of living aids, and in particular relates to a bed-assisted device for the elderly.

Background technique

Most of the existing devices to help the elderly get out of bed are medical beds designed for the paralyzed elderly. This kind of medical bed has problems such as complicated functions and high cost, and it is not necessary for the elderly with certain autonomy. To sum up, although there are some devices in our country that can help the elderly get up and stay in bed, most of the devices are for the disabled and paralyzed elderly or still need human assistance. For older adults with some autonomy, there are currently no suitable assistive devices.

SUMMARY OF THE INVENTION

The purpose of the present invention is to aim at the deficiencies of the prior art, to provide a kind of bed that can assist the elderly to get up, and has the function of climbing stairs and assisting the retrieval of objects, which is simple to operate, labor-saving in retrieval, convenient and practical, and can be used as a wheelchair and A bed-assisted wake-up device for the elderly that can be used as a bed.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

A bed-assisted device for the elderly, comprising a foldable wheelchair body, the wheelchair body comprising a backrest, an armrest, a seat support and a horizontal moving mechanism, the horizontal moving mechanism is arranged outside the seat support, and also includes a stair climbing module , The old manipulator module and power supply, the stair-climbing module includes a liftable crawler structure and a crawler drive group arranged in the seat bracket, and the old manipulator module includes a bracket, a pneumatic support that are connected in sequence from the handrail upwards Arm, crossbar and bionic manipulator, one end of the pneumatic arm is rotatably connected to the top of the bracket, the other end is rotatably connected to one end of the crossbar through a pneumatically connected movable joint, the bionic manipulator is arranged on the other end of the crossbar, and the bionic manipulator is It includes an arm receiving cavity that can be separated up and down, a wrist receiving cavity, and a detachably connected mechanical finger, the wrist receiving cavity includes a wrist force transmission module for controlling the mechanical finger, and the armrest on one side of the installation-assisting mechanical arm module includes: control panel.

Further, the wrist force transmission module includes an upper oil cylinder and a lower oil cylinder sleeved on the outside of the wrist receiving cavity, and both sides of the upper oil cylinder and the lower oil cylinder are connected with a hydraulic oil pipe, an electric cut-off valve, an oil storage tank and a one-way valve. The lower oil cylinder includes a force transmission rod located at the lower part of the wrist receiving cavity. The wrist force transmission module further includes a hydraulic cylinder for connecting the mechanical finger and the upper oil cylinder. Preferably, a force transmission rod is also rotatably connected between the robot finger and the hydraulic cylinder. Preferably, the lower oil cylinder is provided with a hydraulic air filter, which prevents oil leakage and balances the air pressure. When the wrist is bent downward, squeeze the dowel rod, the oil in the lower cylinder will enter the upper cylinder through the one-way valve. At this time, the electric shut-off valve is closed to ensure that the squeezed oil will be used to push the dowel rod of the mechanical finger. Instead of re-entering the lower oil cylinder, after the grasping action is completed, the electric shut-off valve will cut off the oil to ensure the hydraulic pressure at the end of the robot finger, thereby locking the bending action of the robot finger; when the wrist is straightened back, the dowel rod When the parts are reset, the oil enters the oil storage tank from the upper oil cylinder through the open electric shut-off valve, and then enters the lower oil cylinder through the one-way valve to complete the reciprocating action. The oil returns, the pressure returns to zero, and the mechanical fingers are naturally released. Through the bending of the wrist joint, the wrist force transmission module is used to transmit the motion output by the wrist joint to the force transmission rod to control the volume of the lower oil cylinder, push the force transmission rod to squeeze the lower oil cylinder to change the oil volume of the lower oil cylinder, and realize the power Transmission and information transmission, convert the force of wrist bending into mechanical force on the hydraulic cylinder, so that the hydraulic cylinder and the force transmission rod complete the grasping action of the mechanical fingers, and ensure that each mechanical finger exerts the same pressure, realizing the human Effective control of the output force and the effect of the stepless transmission, due to the difference in the oil cross-sectional area of the upper and lower oil cylinders of the wrist force transmission module, the oil cross-sectional area of the lower section is much larger than that of the upper section, so according to the principle of pressure transmission, it can play an increasing role. It can significantly magnify the pushing force of the mechanical fingers. Due to the magnification of the grip force, the user can reduce the burden of use. It is only by simply turning the wrist to realize the fetching of the items. The operation is simple, the fetching is labor-saving, safe, fast, convenient and practical. .

Further, the arm receiving cavity includes an upper receiving cavity and a lower receiving cavity, and the upper receiving cavity and the lower receiving cavity are separated by a parallel four-bar mechanism. The parallel four-bar mechanism can not only conveniently control the separation of the upper-section receiving cavity and the lower-section receiving cavity, so that the user's arm can be extended or withdrawn, but also can ensure the stability of the arm receiving cavity before and after the split. The structure is simple, convenient and practical, and Can be used for different arm circumferences.

Further, the bionic manipulator further comprises a wire transmission drive structure connected to the mechanical finger, and the finger pulp of the mechanical finger further comprises a non-slip structure. The wire transmission drive structure has the characteristics of continuous transition and stable transmission. It further controls the grip and fit of each joint of the robot finger when picking up items under the hydraulic drive mode of the hydraulic cylinder driving the dowel rod, and is controlled by an independent motor. ; Preferably, the anti-slip structure of the finger pulp of the mechanical finger is a finely arranged striped protrusion, and a rubber anti-slip layer or a point-like protrusion structure can also be used, which can increase the stability when grasping the object, save the effort of fetching the object, and reduce the user's energy consumption. Item take-grip burden.

Further, the crawler track structure includes a piston rod installed obliquely below the seat bracket and a crawler track symmetrically arranged on both sides of the piston rod, the inner side of the crawler track is connected to the movable end of the piston rod, and the crawler track transmission groups are respectively symmetrically arranged on the crawler track. On the outside, each group of the crawler belt transmission group includes a side plate, a servo motor and a transmission belt respectively arranged on both sides of the side plate, and the side plate is fixedly connected with the crawler belt. The piston rod controls the movement of the piston through the motor at the power supply, thereby driving the lifting and lowering of the track and changing the angle. The servo motor is used to control the rotation of the drive belt and the track to ensure the stability of the track. The side plate is preferably a frame structure with a hollow in the middle. When the wheelchair body walks on a normal horizontal plane, the piston rod is retracted and the crawler is suspended on the ground. The horizontal movement can be realized by the horizontal movement mechanism. When climbing stairs are required, the piston rod extends to push the crawler to contact the ground at the stairs, and the servo motor drives the crawler to rotate. Climbing stairs, saves time and effort, is simple and practical, and can easily push the wheelchair user to climb stairs, which is convenient and fast.

Further, the seat bracket is a gate-type structure, and the horizontal moving mechanism includes fixed synchronizing wheels and wheel sets symmetrically arranged in two-by-two at the front and rear on both sides of the seat bracket, and the wheel set includes planetary wheels and corresponding sets of wheels. The wheel group transmission group on the inner side of the seat bracket, the wheel group transmission group includes a mounting plate, one side of the mounting plate includes a stepping motor, and the other side of the mounting plate includes a driving wheel, a driven wheel and a conveyor belt. The planetary gear is connected with the driven gear in a transmission. Preferably, the side of the mounting plate on which the stepper motor is installed also includes a gear lever passing through the hollow of the side plate, which can further ensure the stability of the suspension of the crawler structure. When the crawler is suspended, the horizontal moving mechanism contacts the ground and drives the horizontal movement of the wheelchair body. When the crawler descends to climb the stairs, the horizontal moving mechanism is suspended in the air to avoid affecting the effect of climbing. safety, without affecting the lifting and lowering of the crawler.

Further, the back of the backrest includes a seatback adjusting device for controlling the inclination angle of the backrest. Preferably, the seat back adjusting device includes a back slide bar, a connecting rod and an electric push rod. The back slide bar is vertically arranged on the back of the backrest and its end is rotatably connected with the backrest. The other end is rotatably connected with the seat bracket, the fixed end of the electric push rod is rotatably connected with the wheelchair body, and the free end is rotatably connected with the middle part of the connecting rod in a T-shape. The angle of the connecting rod can be changed through the extension and retraction of the free end of the electric push rod, so that the slider slides along the back sliding rod and pushes the backrest to incline at different angles. When the backrest is turned up, it can not only realize the function of leaning, but also assist the user to get up. The structure is simple, stable and reliable, and easy to control.

Further, the stair climbing module also includes an inclination sensor arranged at the bottom of the seat bracket for detecting the angle between the seat of the wheelchair body and the horizontal plane, and the inclination sensor outputs a signal to the control system to control the lowering speed of the crawler structure. angle. During the upward movement of the stairs, the angle between the plane where the seat bracket is located and the horizontal plane is detected by the inclination sensor, and the signal is transmitted to the control system. The inclination sensor, the control device and the hydraulic rod work in coordination to ensure that the seat part of the wheelchair body is always kept horizontal (the angle formed between the plane where the wheelchair is located and the horizontal plane is kept within the set angle) inside), until the whole device is separated from the level ground to complete the transition stage from level ground to stairs, the structure is simple, safe and practical, stable and comfortable.

Further, the wheelchair body further includes a foldable extension pad disposed on the front side of the seat, one end of the extension pad is hinged with the edge of the seat, and the other end is hinged with a folding rod that can be folded toward the back of the extension pad. When the extension pad and the folding rod are unfolded, the whole wheelchair body forms a bed, which can realize the function of lying down or lying down. After the extension pad is folded, it can form a wheelchair that assists the elderly to lift their backs. It has various functions, simple operation, and saves time and effort. ,Economical and practical.

Further, the armrest also includes a trolley adjustment rod for manually controlling the movement of the wheelchair body in the plane direction. The trolley adjustment rod is convenient for the elderly to manually control the horizontal movement of the wheelchair body, and the structure is simple, convenient and practical.

Compared with the prior art, the beneficial effects of the present invention are:

The invention can assist the elderly to get out of bed, and has the function of climbing stairs and assisting in retrieving objects. The backrest of the wheelchair body is used to assist the elderly to get out of bed; the seat bracket is arranged under the seat of the wheelchair body to support the wheelchair body; the horizontal movement mechanism is used to move on the daily horizontal plane, and the stair climbing module It can help the whole device to climb stairs, save time and effort, and can easily help the elderly to climb stairs. The elevating crawler structure is lifted and suspended when there is no need to climb stairs, so as to avoid affecting the horizontal movement mechanism to move the wheelchair body on a horizontal plane and climb stairs. When the crawler structure is lowered and the horizontal moving mechanism is suspended, it is convenient for climbing stairs; the power supply is installed under the seat bracket to provide power source; Only by extending the arm into the bionic manipulator and bending the wrist, the manipulator can be controlled to grasp the object, which is easy to operate, simple and labor-saving, and can reduce the burden of fetching. The key-controlled pneumatic arm can achieve accurate positioning at multiple angles and heights, and has the function of pressure loss and self-locking to ensure the safety and stability of the elderly when grasping with the bionic manipulator; the arm receiving cavity that can be split up and down is convenient for the elderly A person stretches into the arm or pulls out the arm, and the wrist force transmission module of the wrist receiving cavity is used to transmit and amplify the bending force of the wrist to each robotic finger, so as to control the bending of the robotic finger to realize the grasping and taking of items. The detachable robotic finger It is easy to disassemble, clean and replace a single mechanical finger, which is cost-saving, convenient and practical; the control panel is convenient for controlling the rotation angle of the backrest, climbing stairs or moving in the horizontal direction, and assisting the retrieval function.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic structural diagram of a stair climbing module of the present invention.

FIG. 3 is a schematic structural diagram of the horizontal moving mechanism of the present invention.

FIG. 4 is a schematic structural diagram of the wheel set transmission group of the present invention.

FIG. 5 is a schematic structural diagram of a robotic arm module for helping the elderly according to the present invention.

FIG. 6 is a schematic structural diagram of the bionic manipulator of the present invention.

FIG. 7 is a schematic structural diagram of the wrist force transmission module of the present invention.

FIG. 8 is a schematic diagram of the seat back adjusting device of the present invention.

Among them, 1-backrest, 2-seat back adjustment device, 3-transmission belt, 4-wheel set, 5-control panel, 6-armor module, 7-armrest, 8-extending pad, 9-folding rod, 10-fixed synchronous wheel, 11-stair climbing module, 12-servo motor, 13-piston rod, 14-side plate, 15-track, 16-seat bracket, 17-planet wheel, 18-power supply, 19-driven wheel , 20- conveyor belt, 21- driving wheel, 22- lidar, 23- camera, 24- pneumatic arm, 25- bracket, 26- bionic manipulator, 27- upper receiving cavity, 28- lower receiving cavity, 29- hydraulic cylinder , 30-robot finger, 31-upper cylinder, 32-hydraulic oil pipe, 33-lower cylinder, 34-electric globe valve, 35-check valve.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all 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.

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict.

The present invention will be further described below in conjunction with specific embodiments, but not as a limitation of the present invention.

An auxiliary bed device for the elderly shown in the figure includes a foldable wheelchair body. The wheelchair body includes a backrest 1, an armrest 7, a seat support 16 and a horizontal movement mechanism. The horizontal movement mechanism is arranged on the outside of the seat support 16. It also includes a stair-climbing module 11 , a robotic arm module 6 for helping the elderly and a power supply 18 . The climbing module 11 includes a liftable crawler structure and a crawler transmission group arranged in the seat bracket 16 , and the robotic arm module 6 for helping the elderly includes a self-handrail 7 . The bracket 25, the pneumatic support arm 24, the cross bar and the bionic manipulator 26 are connected in sequence upward, one end of the pneumatic support arm 24 is rotatably connected with the top end of the support 25, and the other end is connected in rotation with one end of the cross bar through a pneumatically connected movable joint, and the bionic manipulator 26 is set At the other end of the cross bar, the bionic manipulator 26 includes an arm receiving cavity that can be split up and down, a wrist receiving cavity and a detachable connecting mechanical finger 30. The wrist receiving cavity includes a wrist force transmission module for controlling the mechanical finger 30, and is installed with an aging-aiding machine. The armrest 7 on one side of the arm module 6 includes the control panel 5 . The backrest of the wheelchair body is used to assist the elderly to get out of bed; the seat bracket is arranged under the seat of the wheelchair body to support the wheelchair body; the horizontal movement mechanism is used to move on the daily horizontal plane, and the stair climbing module It can help the whole device to climb stairs, save time and effort, and can easily help the elderly to climb stairs. The elevating crawler structure is lifted and suspended when there is no need to climb stairs, so as to avoid affecting the horizontal movement mechanism to move the wheelchair body on a horizontal plane and climb stairs. When the crawler structure is lowered and the horizontal moving mechanism is suspended, it is convenient for climbing stairs; the power supply is installed under the seat bracket to provide power source; Only by extending the arm into the bionic manipulator and bending the wrist, the manipulator can be controlled to grasp the object, which is easy to operate, simple and labor-saving, and can reduce the burden of fetching. The key-controlled pneumatic arm can achieve accurate positioning at multiple angles and heights, and has the function of pressure loss and self-locking to ensure the safety and stability of the elderly when grasping with the bionic manipulator; the arm receiving cavity that can be split up and down is convenient for the elderly A person stretches into the arm or pulls out the arm, and the wrist force transmission module of the wrist receiving cavity is used to transmit and amplify the bending force of the wrist to each robotic finger, so as to control the bending of the robotic finger to realize the grasping and taking of items. The detachable robotic finger It is easy to disassemble, clean and replace a single mechanical finger, which is cost-saving, convenient and practical; the control panel is convenient for controlling the rotation angle of the backrest, climbing stairs or moving in the horizontal direction, and assisting the retrieval function. The invention can assist the elderly to get out of bed, and has the function of climbing stairs and assisting in retrieving objects.

Preferably, the wrist force transmission module includes an upper oil cylinder 31 and a lower oil cylinder 33 sleeved on the outside of the wrist receiving cavity. Both sides of the upper oil cylinder 31 and the lower oil cylinder 33 are connected with a hydraulic oil pipe 32, an electric cut-off valve 34, an oil storage tank and a one-way valve 35. , the lower oil cylinder 33 includes a force transmission rod at the lower part of the wrist receiving cavity, and the wrist force transmission module also includes a hydraulic cylinder 29 for connecting the manipulator finger 30 and the upper oil cylinder 31 . Preferably, a force transmission rod is also rotatably connected between the robot finger and the hydraulic cylinder. Preferably, the lower oil cylinder is provided with a hydraulic air filter, which prevents oil leakage and balances the air pressure. When the wrist is bent downward, squeeze the dowel rod, the oil in the lower cylinder will enter the upper cylinder through the one-way valve. At this time, the electric shut-off valve is closed to ensure that the squeezed oil will be used to push the dowel rod of the mechanical finger. Instead of re-entering the lower oil cylinder, after the grasping action is completed, the electric shut-off valve will cut off the oil to ensure the hydraulic pressure at the end of the robot finger, thereby locking the bending action of the robot finger; when the wrist is straightened back, the dowel rod When the parts are reset, the oil enters the oil storage tank from the upper oil cylinder through the open electric shut-off valve, and then enters the lower oil cylinder through the one-way valve to complete the reciprocating action. The oil returns, the pressure returns to zero, and the mechanical fingers are naturally released. Through the bending of the wrist joint, the wrist force transmission module is used to transmit the motion output by the wrist joint to the force transmission rod to control the volume of the lower oil cylinder, push the force transmission rod to squeeze the lower oil cylinder to change the oil volume of the lower oil cylinder, and realize the power Transmission and information transmission, convert the force of wrist bending into mechanical force on the hydraulic cylinder, so that the hydraulic cylinder and the force transmission rod complete the grasping action of the mechanical fingers, and ensure that each mechanical finger exerts the same pressure, realizing the human Effective control of the output force and the effect of the stepless transmission, due to the difference in the oil cross-sectional area of the upper and lower oil cylinders of the wrist force transmission module, the oil cross-sectional area of the lower section is much larger than that of the upper section, so according to the principle of pressure transmission, it can play an increasing role. It can significantly magnify the pushing force of the mechanical fingers. Due to the magnification of the grip force, the user can reduce the burden of use. It is only by simply turning the wrist to realize the fetching of the items. The operation is simple, the fetching is labor-saving, safe, fast, convenient and practical. . When the hydraulic cylinder is used, since the pressures in all parts of the interior are equal, the pressures acting on the ends of the five mechanical fingers are also equal. When one finger cannot move, the pressure in the cavity still exists and may gradually increase, and the rest of the fingers cannot move. The movement will still be performed, and the bending between the mechanical fingers will not affect each other, and the anti-interlocking function of the fingers can be achieved.

Preferably, the arm receiving cavity includes an upper receiving cavity 27 and a lower receiving cavity 28, and the upper receiving cavity 27 and the lower receiving cavity 28 are separated by a parallel four-bar mechanism. The parallel four-bar mechanism can not only conveniently control the separation of the upper-section receiving cavity and the lower-section receiving cavity, so that the user's arm can be extended or withdrawn, but also can ensure the stability of the arm receiving cavity before and after the split. The structure is simple, convenient and practical, and Can be used for different arm circumferences.

Preferably, the bionic manipulator 26 further includes a wire transmission drive structure that is drive-connected to the manipulator finger 30 , and the finger pulp of the manipulator finger 30 further includes a non-slip structure. Preferably, the robotic finger includes a fixed pulley for winding the tendon wire of the wire drive drive structure. The wire transmission drive structure has the characteristics of continuous transition and stable transmission. It further controls the grip and fit of each joint of the robot finger when picking up items under the hydraulic drive mode of the hydraulic cylinder driving the dowel rod, and is controlled by an independent motor. ; Preferably, the anti-slip structure of the finger pulp of the mechanical finger is a finely arranged striped protrusion, and a rubber anti-slip layer or a point-like protrusion structure can also be used, which can increase the stability when grasping the object, save the effort of fetching the object, and reduce the user's energy consumption. Item take-grip burden.

Preferably, the track structure includes a piston rod 13 installed obliquely below the seat bracket 16 and a track 15 symmetrically arranged on both sides of the piston rod 13. The inner side of the track 15 is connected to the movable end of the piston rod 13, and the track drive groups are respectively symmetrically arranged on the track. Outside 15 , each track drive group includes a side plate 14 , a servo motor 12 and a drive belt 3 respectively disposed on both sides of the side plate 14 , and the side plate 14 is fixedly connected to the track 15 . The piston rod controls the movement of the piston through the motor at the power supply, thereby driving the lifting and lowering of the track and changing the angle. The servo motor is used to control the rotation of the drive belt and the track to ensure the stability of the track. The side plate is preferably a frame structure with a hollow in the middle. When the wheelchair body walks on a normal horizontal plane, the piston rod is retracted and the crawler is suspended on the ground. The horizontal movement can be realized by the horizontal movement mechanism. When climbing stairs are required, the piston rod extends to push the crawler to contact the ground at the stairs, and the servo motor drives the crawler to rotate. Climbing stairs, saves time and effort, is simple and practical, and can easily push the wheelchair user to climb stairs, which is convenient and fast.

Preferably, the seat bracket 16 is a gate-shaped structure, and the horizontal movement mechanism includes fixed synchronizing wheels 10 and wheel sets 4 symmetrically arranged on both sides of the seat bracket 16, respectively, and the wheel set 4 includes planet wheels 17 and correspondingly arranged The wheel set transmission group on the inner side of the seat bracket 16, the wheel set transmission group includes a mounting plate, one side of the mounting plate includes a stepping motor, the other side of the mounting plate includes a driving wheel 21, a driven wheel 19 and a conveyor belt 20, the planetary wheel 17 and The driven wheel 19 is drive-connected. Preferably, the side of the mounting plate on which the stepper motor is installed also includes a gear lever passing through the hollow of the side plate, which can further ensure the stability of the suspension of the crawler structure. When the crawler is suspended, the horizontal moving mechanism contacts the ground and drives the horizontal movement of the wheelchair body. When the crawler descends to climb the stairs, the horizontal moving mechanism is suspended in the air to avoid affecting the effect of climbing. safety, without affecting the lifting and lowering of the crawler.

Preferably, the back of the backrest 1 includes a backrest adjusting device 2 for controlling the inclination of the backrest 1 . Preferably, the seat back adjusting device includes a back slide bar, a connecting rod and an electric push rod. The back slide bar is vertically arranged on the back of the backrest and its end is rotatably connected with the backrest. The other end is rotatably connected with the seat bracket, the fixed end of the electric push rod is rotatably connected with the wheelchair body, and the free end is rotatably connected with the middle part of the connecting rod in a T-shape. The angle of the connecting rod can be changed through the extension and retraction of the free end of the electric push rod, so that the slider slides along the back sliding rod and pushes the backrest to incline at different angles. When the backrest is turned up, it can not only realize the function of leaning, but also assist the user to get up. The structure is simple, stable and reliable, and easy to control.

Preferably, the stair climbing module 11 further includes an inclination sensor disposed at the bottom of the seat bracket 16 for detecting the angle between the seat of the wheelchair body and the horizontal plane. The inclination sensor outputs a signal to the control system to control the lowering speed and angle of the crawler structure. During the upward movement of the stairs, the angle between the plane where the seat bracket is located and the horizontal plane is detected by the inclination sensor, and the signal is transmitted to the control system. The inclination sensor, the control device and the hydraulic rod work in coordination to ensure that the seat part of the wheelchair body is always kept horizontal (the angle formed between the plane where the wheelchair is located and the horizontal plane is kept within the set angle) inside), until the whole device is separated from the level ground to complete the transition stage from level ground to stairs, the structure is simple, safe and practical, stable and comfortable.

Preferably, the wheelchair body further includes a foldable extension pad 8 disposed on the front side of the seat. When the extension pad and the folding rod are unfolded, the whole wheelchair body forms a bed, which can realize the function of lying down or lying down. After the extension pad is folded, it can form a wheelchair that assists the elderly to lift their backs. It has various functions, simple operation, and saves time and effort. ,Economical and practical.

Preferably, the armrest 7 further includes a trolley adjustment lever for manually controlling the movement of the wheelchair body in the plane direction. The trolley adjustment rod is convenient for the elderly to manually control the horizontal movement of the wheelchair body, and the structure is simple, convenient and practical.

Preferably, the horizontal bar also includes a lidar 22 and a camera 23 that are electrically connected to the pneumatic support arm 24 . It is convenient to realize high-definition acquisition, high-definition imaging, high-definition recording and intelligent precise positioning of the surrounding open field of view, and can feed back information such as images and positioning to the receiver, which is convenient for children of the elderly to view at any time.

The above are only preferred embodiments of the present invention, and are not intended to limit the embodiments and protection scope of the present invention. Those skilled in the art should be aware of the equivalent replacements and obvious changes made by using the contents of the description of the present invention. The obtained solutions should all be included in the protection scope of the present invention.

Claims (9)

1. The utility model provides an old person assists bed device of taking up and sleeping, includes folding wheelchair body, the wheelchair body includes back (1), handrail (7), seat support (16) and horizontal migration mechanism, horizontal migration mechanism sets up in the seat support (16) outside, its characterized in that: the mechanical arm comprises a stair climbing module (11), an aging-assisting mechanical arm module (6) and a power supply (18), wherein the stair climbing module (11) comprises a liftable crawler structure and a crawler transmission group which are arranged in a seat support (16), the aging-assisting mechanical arm module (6) comprises a support (25), a pneumatic support arm (24), a cross rod and a bionic mechanical arm (26) which are sequentially connected from a handrail (7) upwards, one end of the pneumatic support arm (24) is rotationally connected with the top end of the support (25), the other end of the pneumatic support arm is rotationally connected with one end of the cross rod through a movable joint in pneumatic connection, the bionic mechanical arm (26) is arranged at the other end of the cross rod, the bionic mechanical arm (26) comprises an arm receiving cavity, a wrist receiving cavity and a mechanical finger (30) which can be separated from top to bottom, the wrist receiving cavity comprises a wrist force transmission module used for controlling the mechanical finger (30), the wrist force transmission module comprises an upper oil cylinder (31) and a lower oil cylinder (33) which are sleeved outside a wrist receiving cavity, both sides of the upper oil cylinder (31) and the lower oil cylinder (33) are connected with a hydraulic oil pipe (32), an electric stop valve (34), an oil storage tank and a one-way valve (35), the lower oil cylinder (33) comprises a force transmission rod piece positioned at the lower part of the wrist receiving cavity, the wrist force transmission module further comprises a hydraulic cylinder (29) used for connecting a mechanical finger (30) and the upper oil cylinder (31), a force transmission rod is further rotatably connected between the mechanical finger (30) and the hydraulic cylinder (29), the motion output by the wrist joint is transmitted to the force transmission rod piece to control the volume of the lower oil cylinder (33) through the wrist force transmission module, power transmission and information transmission are realized, the force of bending wrist is converted into mechanical force to the hydraulic cylinder (29), and the mechanical finger (30) is grasped by the hydraulic cylinder (29) and the force transmission rod, the handrail (7) arranged on one side of the old-assisting mechanical arm module (6) comprises a control panel (5).

2. The auxiliary getting-up and sleeping bed device for the aged as claimed in claim 1, wherein: the arm receiving cavity comprises an upper section receiving cavity (27) and a lower section receiving cavity (28), and the upper section receiving cavity (27) and the lower section receiving cavity (28) are separated through a parallel four-bar mechanism.

3. The auxiliary getting-up and sleeping bed device for the aged as claimed in claim 1, wherein: the bionic manipulator (26) further comprises a linear transmission driving structure in transmission connection with the mechanical finger (30), and the finger abdomen of the mechanical finger (30) further comprises an anti-skidding structure.

4. The auxiliary getting-up and sleeping bed device for the aged as claimed in claim 1, wherein: the crawler structure includes that piston rod (13) and symmetry that the slope was installed in seat support (16) below set up in crawler (15) of piston rod (13) both sides, crawler (15) inboard is connected with piston rod (13) expansion end, crawler drive group symmetry respectively sets up in the crawler (15) outside, every group crawler drive group all includes side board (14) and sets up respectively in servo motor (12) and driving belt (3) of side board (14) both sides, side board (14) and crawler (15) fixed connection.

5. The auxiliary getting-up and sleeping bed device for the aged as claimed in claim 1, wherein: seat support (16) are door type structure, horizontal migration mechanism includes fixed synchronizing wheel (10) and wheelset (4) that department is two bisymmetry settings respectively around seat support (16) both sides, wheelset (4) include planet wheel (17) and correspond and set up in the inboard wheelset transmission group of seat support (16), wheelset transmission group includes the mounting panel, mounting panel one side includes step motor, the mounting panel opposite side includes action wheel (21), follows driving wheel (19) and conveyer belt (20), planet wheel (17) are connected with following driving wheel (19) transmission.

6. The auxiliary getting-up and sleeping bed device for the aged as claimed in claim 1, wherein: the back rest (1) comprises a back rest adjusting device (2) used for controlling the inclination angle of the back rest (1) at the rear.

7. The device for assisting the elderly in getting up and sleeping as claimed in any one of claims 1 to 6, wherein: the stair climbing module (11) further comprises an inclination angle sensor which is arranged at the bottom of the seat support (16) and used for detecting an included angle between a seat of the wheelchair body and a horizontal plane, and the inclination angle sensor outputs signals to the control system to control the descending speed and the descending angle of the crawler belt structure.

8. The device for assisting the elderly in getting up and sleeping as claimed in any one of claims 1 to 6, wherein: the wheelchair body is still including setting up in folding extension pad (8) of seat support front side, extension pad (8) one end is articulated with the seat support edge, and the other end articulates has folding pole (9) that can be folded to extension pad (8) back direction.

9. The device for assisting the elderly in getting up and sleeping as claimed in any one of claims 1 to 6, wherein: the armrests (7) further comprise a trolley adjusting rod for manually controlling the wheelchair body to move in the plane direction.

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