CN113288609A

CN113288609A - Automatic wheelchair

Info

Publication number: CN113288609A
Application number: CN202110598118.9A
Authority: CN
Inventors: 刘春宝; 刘瑞
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-08-24
Anticipated expiration: 2041-05-31
Also published as: CN113288609B

Abstract

The invention relates to a wheelchair. An automatic wheelchair comprises a wheelchair body, wherein a bracket is arranged below the wheelchair body, and a moving mechanism is arranged below the bracket; the wheelchair comprises a wheelchair body and a base plate, wherein the wheelchair body comprises a base plate assembly, the base plate assembly is provided with a base plate, the center of the base plate is provided with a through hole, a cover plate is arranged below the through hole, and the base plate assembly comprises a cover plate turnover mechanism, a cover plate supporting mechanism and a guide movement mechanism; the cover plate is fixed on the cover plate supporting mechanism, the cover plate supporting mechanism turns over along with the cover plate turning mechanism, and the guide movement mechanism is located on the outer side of the cover plate. The invention provides an automatic wheelchair which has a walking function, can be conveniently butted with a closestool, provides convenience for using the toilet, has wide applicable objects and is low in cost; the technical problems that the wheelchair in the prior art is limited in application scene, inconvenient to use in a toilet and high in nursing cost are solved.

Description

Automatic wheelchair

Technical Field

The invention relates to a wheelchair, in particular to a wheelchair capable of automatically moving and being in butt joint with a closestool and a bed.

Background

China enters an aging society as early as 2000 years, and the proportion of aged people at age 65 and above to the total population is estimated to exceed 20% in 2040 years. Meanwhile, the aging trend of the elderly population is increasingly obvious: elderly people aged 80 years and older are increasing at a rate of 5% per year, to as many as 7400 million people by 2040 years. According to the 'aging of population and its economic and social meaning' issued in 1956 of the united nations, the aging trend of population is further accelerated in recent years. When the old people get old, the muscle strength of the human body is continuously weakened, the human body is abnormal or lost, various chronic diseases are easy to happen, and walking is inconvenient due to various reasons. And with the advancement of urbanization, a plurality of new-period 'empty nests' appear.

The bed chair integration wheelchair bed divide into electronic and manual type, and manual type needs nursing staff just can accomplish the removal of wheelchair state and the conversion between the two kinds of states of bed chair, needs to pay nursing staff's expense, has improved the cost of life, therefore electronic type wheelchair robot obtains people's favor gradually, and the patient need not to take care of self life with the help of external force and lives.

For the old and the disabled with inconvenient actions, the toilet-taking is a necessary thing in life every day, and the existing toilet-taking nursing bed can be used for toilet-taking without moving; for a general electric wheelchair, due to the limitation of weight and structure, the wheelchair does not have a toilet function, a user is required to transfer between the wheelchair and the toilet to finish the toilet function, and the application scenes and the object facing directions are limited.

Disclosure of Invention

The invention provides an automatic wheelchair which has a walking function, can be conveniently butted with a closestool, provides convenience for using the toilet, has wide applicable objects and is low in cost; the technical problems that the wheelchair in the prior art is limited in application scene, inconvenient to use in a toilet and high in nursing cost are solved.

The technical problem of the invention is solved by the following technical scheme: an automatic wheelchair comprises a wheelchair body, wherein a bracket is arranged below the wheelchair body, and a moving mechanism is arranged below the bracket; the wheelchair comprises a wheelchair body and a base plate, wherein the wheelchair body comprises a base plate assembly, the base plate assembly is provided with a base plate, the center of the base plate is provided with a through hole, a cover plate is arranged below the through hole, and the base plate assembly comprises a cover plate turnover mechanism, a cover plate supporting mechanism and a guide movement mechanism; the cover plate is fixed on the cover plate supporting mechanism, the cover plate supporting mechanism turns over along with the cover plate turning mechanism, and the guide movement mechanism is located on the outer side of the cover plate. The through hole in the center of the seat plate is used for being butted with a closestool, and the through hole is covered by the cover plate at ordinary times. When the wheelchair needs to go to the toilet, the whole wheelchair body is abducted to the toilet through the guide movement mechanism. And then the cover plate is turned over by using the cover plate turning mechanism, so that the through hole is exposed. After the lavatory is finished, the apron tilting mechanism will lap and overturn once more, will lap and cover the through-hole, then apron supporting mechanism will lap and apron tilting mechanism fixes on the seat subassembly. The wheelchair can move again to the desired place. The moving mechanism below the bracket drives the wheelchair to automatically move to any position. The wheelchair can be in butt joint with the closestool, and the use scene of the wheelchair is widened. Is convenient for the wheelchair user to use.

Preferably, the wheelchair body further comprises a back plate assembly and a leg plate assembly which are hinged with the seat plate assembly, and the back plate assembly and the leg plate assembly are respectively positioned at two ends of the seat plate assembly; a sensor component which is butted with the bed body is arranged on the seat plate component. The back plate and the leg plate are convenient for a wheelchair user to lean against and put legs, and the use comfort is improved. When the wheelchair is in butt joint with the bed, a bed-chair butt joint area is arranged in front of the bed body unit, and the position between the wheelchair and the bed is sensed through paired sensors arranged on the wheelchair and the bed, so that the wheelchair is driven to reach the designated area, and then butt joint is realized. The mechanical mechanism on the bed body acts to fix the wheelchair.

More preferably, the backboard assembly comprises a backboard frame, and an automatic backboard pushing rod assembly is mounted on the backboard frame; the leg plate assembly comprises a leg plate frame, and an automatic leg plate push rod assembly is mounted on the leg plate frame. The back plate assembly can adjust the angle between the back plate assembly and the seat assembly through the automatic back plate push rod assembly, and the leg plate assembly can adjust the angle between the leg plate assembly and the seat assembly through the automatic leg plate push rod assembly, so that the most comfortable state is achieved, and the angle can be adjusted according to different use requirements, such as the angle during sleeping, toileting, reading or walking.

Preferably, the seat plate assembly comprises a seat plate frame, a connecting plate is installed in the seat plate frame, a first driving piece is fixed on the connecting plate, and the first driving piece is connected with a cover plate supporting mechanism through a first connecting rod structure. The first connecting rod structure is a plane hinge four-rod structure. The first driving member may be a driving motor, and may also drive a hydraulic cylinder or an electric cylinder, etc. The first driving piece rotates to drive the connecting rod of the first connecting rod structure to move, so that the cover plate supporting structure and the cover plate on the cover plate supporting structure are driven to rotate around the hinge shaft of the hinge screw rod structure, and the cover plate is turned over. Simple structure and convenient control.

Preferably, the bedplate subassembly include the bedplate frame, install the connecting plate in the bedplate frame, apron supporting mechanism include the backup pad, have the apron at the upper surface of backup pad, install the second driving piece in the backup pad, the second driving piece is connected with the bearing bar through second connecting rod structure, the bearing bar extends to on the connecting plate of both sides under the drive of second connecting rod structure. The second driving member may be a driving motor, and may also drive a hydraulic cylinder or an electric cylinder, etc. The second driving piece controls the extension or retraction of the bearing rod. The bearing rod runs through the whole cover plate supporting mechanism, and when the bearing rod stretches out, the bearing rod fixes the whole cover plate supporting mechanism above the connecting plate. When retracting, the whole cover plate supporting mechanism can be positioned in the seat plate frame, the whole cover plate supporting mechanism is turned over into the seat plate frame through the cover plate turning mechanism, and the two cover plates are separated.

More preferably, the second connecting rod structure comprises two inclined rods respectively hinged with the two bearing rods, a vertical groove is formed in the supporting plate, two inclined rod hinged shafts are located in the vertical groove, the second driving piece is connected with a driving rod, a long hole is formed in the center of the driving rod, and the hinged shafts are located in the long hole.

Preferably, the guide movement mechanism comprises a fixed guide rail and a movable guide rail, the fixed guide rail is fixed on the support, the movable guide rail is hinged on the support, the fixed guide rail and the movable guide rail can be spliced into the guide rail, a sliding groove is arranged on the lower surface of the bottom plate frame of the bottom plate assembly, and the sliding groove is matched with the guide rail. The movable guide rail is always positioned on the side surface of the wheelchair when the wheelchair is not used, when the toilet is needed, the movable guide rail is spliced with the fixed guide rail, the movable guide rail is an extension section of the fixed guide rail, the movable guide rail is erected above the toilet, and then the formed whole guide rail enables the whole wheelchair body to move to the upper part of the toilet along the guide rail, so that the action of moving a user to the upper part of the toilet from the wheelchair is completed. After the user goes to the toilet, the movable guide rail and the fixed guide rail are detached, and the movable guide rail is continuously suspended on the side face of the wheelchair.

Preferably, the number of the cover plates is two, the number of the cover plate turnover mechanisms is two, the number of the cover plate supporting mechanisms is two, the two cover plate turnover mechanisms are symmetrically arranged, and the two cover plate supporting mechanisms are symmetrically arranged. Two sets of mechanisms are symmetrically arranged, and are turned over or supported simultaneously, so that the structure is stable, and the cover plate is convenient to open and close.

Preferably, the moving mechanism comprises a bottom plate, the bottom plate is connected with the support, and four Mecanum wheel assemblies are mounted below the bottom plate. The four direct-current servo motors are used for driving the Mecanum wheels to travel through the speed reduction of the right-angle speed reducer, and under the operation of the control system, the four wheels rotate in different directions to synthesize the speed in four directions, namely front, back, left and right, and the rotation in situ. The flexibility is good.

Therefore, the automatic wheelchair of the invention has the following advantages: the cover plate is turned over through the cover plate turning structure, so that the through holes in the seat plate are exposed; the wheelchair body is integrally moved to the closestool through the guide movement mechanism, so that a user can go to the toilet conveniently and flexibly, and the application range of the wheelchair is improved; the wheelchair is provided with the sensor assembly which is matched and connected with the bed body, so that the butt joint of the wheelchair and the bed body can be conveniently realized, the wheelchair can automatically walk, can be matched with a bed or a closestool for use, and can meet various requirements of wheelchair users.

Drawings

Figure 1 is a perspective view of an automated wheelchair in accordance with the present invention.

Figure 2 is a perspective view of the wheelchair of figure 1 with the seat, back and leg pads removed.

Fig. 3 is a perspective view of fig. 2 in another direction.

Fig. 4 is a perspective view of the cover plate support mechanism of fig. 2 when supported.

Fig. 5 is a perspective view of the cover plate support mechanism of fig. 2 when retracted.

Fig. 6 is a perspective view of the cover plate flip structure of fig. 2 closing the cover plate.

Fig. 7 is a perspective view of the cover plate flip structure of fig. 2 with the cover plate open.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Example (b):

as shown in fig. 1, 2 and 3, an automatic wheelchair includes a wheelchair body composed of a back plate assembly, a seat plate assembly, a leg plate assembly and a foot plate assembly, which are hinged to each other. Install bedplate 2 on bedplate frame 13, there is a through-hole 5 at bedplate 2's center, installs apron 17 in bedplate 1's below, and apron 17 is fixed on apron supporting mechanism, and apron supporting mechanism exposes through-hole 5 on bedplate 2 along with the upset of apron tilting mechanism, and guiding movement mechanism is located the outside of apron 17.

A bracket 8 is arranged below the seat plate assembly, the lower part of the bracket 8 is fixed on a bottom plate 10, and four Mecanum wheels 11 are arranged below the bottom plate 10. The four direct current servo motors are driven to decelerate through the right-angle speed reducer to drive the Mecanum wheels 11 to walk, and under the operation of the control system, the four wheels rotate according to different directions to synthesize the speeds in front, back, left and right directions and rotate in situ.

The backboard component comprises a backboard frame 12, the backboard frame 12 is square, and the backboard 1 is arranged on the backboard frame 12. The back plate push rod 22 is arranged on the back plate frame 12, the back plate push rod 22 is a back plate cylinder shaft, the back plate cylinder 23 is hinged on a back plate push rod frame 24, and the back plate push rod frame 24 is fixed on the seat frame 13.

The leg plate assembly includes a leg plate frame 14, the leg plate frame 14 is square, and the leg plate 3 is mounted on the leg plate frame 14. The leg plate push rod 20 is mounted on the leg plate frame 14, the leg plate push rod 20 is a leg plate cylinder shaft, the leg plate cylinder 19 is hinged on the leg plate push rod frame 18, and the leg plate push rod frame 18 is fixed on the seat frame 13.

The foot plate assembly comprises a foot plate frame 15, the foot plate frame 15 is square, and a foot plate 4 is installed on the foot plate frame 15.

The seat plate assembly comprises a square seat plate frame 13, and two connecting plates 25 which are parallel to each other are fixed in the seat plate frame 13. Two sides of the seat frame 13 are respectively provided with a liftable armrest 6, and the armrests 6 are in a T shape.

The guide movement mechanism comprises sliding grooves 21 which are arranged on the lower surfaces of the front side and the rear side of the seat plate frame 13, and the sliding grooves 21 are parallel to the connecting plate. A fixed guide rail 7 with the same length as the sliding groove 21 is arranged on the bracket 8, and a movable guide rail 9 is hinged on one side of the bracket 8. The movable guide rail 9 and the fixed guide rail 7 can be connected together through a pin shaft or a spring buckle, the movable guide rail 9 is erected above the closestool, the fixed guide rail 7 and the movable guide rail 9 can be spliced into a guide rail, and the sliding groove 21 is matched with the guide rail. A driving electric cylinder 16 is also installed at the rear side of the seat frame 13, and the electric cylinder 16 drives the seat body to move on the guide rail.

As shown in fig. 4 and 5, two sets of slide plate supporting mechanisms are installed in the bottom plate frame 13, the two sets of slide plate supporting mechanisms are oppositely arranged, and each slide plate supporting mechanism is provided with a cover plate 17. The sliding plate supporting mechanism comprises a supporting plate 29, a cover plate 17 is mounted on the upper surface of the supporting plate 29, the supporting plate 29 is T-shaped, a second driving motor 28 is mounted on the lower surface of the supporting plate 29, the second driving motor 28 is connected with a driving rod 27, a long hole 26 is formed in the center of the driving rod 27, and a hinge shaft 30 is arranged in the long hole 26. A vertical slot 33 is formed in the support plate 29, and the hinge shaft 30 is moved in the vertical slot 33 by the driving rod 27. Two symmetrically arranged inclined rods 31 are hinged on the hinge shaft 30, the other ends of the two inclined rods 31 are hinged with a bearing rod 32, the bearing rod 32 is positioned in a transverse groove 34 of the support plate, and a vertical groove 33 and the transverse groove 34 are in a T shape.

The second driving motor 28 drives the driving rod 27 to move, the driving rod 27 drives the pin shaft 30 to move, so as to drive the inclined rod 31 to move, and after the inclined rod 31 moves, the bearing rod 32 moves to two sides along the transverse groove, so that the bearing rod 32 is connected with the connecting rods 25 at two sides, and the cover plate 17 is supported. When the cover plate needs to be turned over, the second driving motor 28 moves reversely, and the bearing rod 32 is driven to retract through the driving rod 27 and the inclined rod 31, so that the whole cover plate supporting mechanism is located in the space between the two connecting plates, and the cover plate can be turned over on the next step conveniently.

As shown in fig. 6 and 7, two sets of cover plate turnover mechanisms are installed in the seat frame, and each set of cover plate turnover mechanism drives one cover plate to turn over. The sliding plate turnover mechanism comprises a first driving motor 35 arranged on the side face of the connecting plate, the first driving motor 35 drives a group of hinged four-bar mechanisms, the group of hinged four-bar mechanisms comprises two hinged four-bar mechanisms which are parallel to each other, each hinged four-bar mechanism comprises two swing rods 36 and a connecting rod 37, one swing rod 36 is connected with the first driving motor, and two ends of the other swing rod 36 are hinged with the supporting plate 29 and the connecting plate 25 respectively. The two hinge four-bar mechanisms are respectively positioned on two sides of the supporting plate, and the supporting plate is provided with a cover plate. The group of hinge four-bar mechanisms are driven by the first driving motor to drive the cover plate to rotate.

Two first driving motors in the two sliding plate turnover mechanisms are respectively positioned on two opposite corners of the seat plate frame. The two cover plates are respectively driven by two groups of hinge four-bar mechanisms. The two first driving motors are synchronously started to synchronously drive the two cover plates to overturn downwards, so that the cover plates are opened or closed.

When a wheelchair user needs to go to a toilet, the Mecanum wheel is controlled to walk to one side of the toilet, then the movable guide rail is connected with the fixed guide rail, and the movable guide rail is positioned on the toilet. Then the electric cylinder is started, so that the whole wheelchair body reaches the upper part of the closestool through the matching of the guide rail and the sliding groove. Then drive the second motor, withdraw the bearing plate of both sides, restart first motor, drive hinge four-bar linkage, overturn the backup pad downwards to accomplish the upset of apron, let the through-hole on the bedplate correspond with the closestool through-hole, realize like the lavatory.

When the robot operating system ros needs to be in butt joint with a bed body, the Mecanum wheels are controlled to walk to one side of the bed body, the robot operating system ros acquires the surrounding environment information of the wheelchair unit and the posture information of the wheelchair through an external laser radar and an imu posture sensor, the acquired data are processed, the map construction of the whole environment is realized through the slam algorithm, and the path planning and the autonomous navigation on the map can be realized through the AMCL and other algorithms after the map is provided.

A bed-chair butt joint area is arranged in front of the bed body unit, when the wheelchair unit runs indoors, obstacles can be automatically avoided, the wheelchair unit can accurately reach the butt joint area, and after the wheelchair unit reaches the butt joint area, the wheelchair unit firstly adjusts the posture and then carries out butt joint work.

Claims

1. An automatic wheelchair, comprising a wheelchair body, characterized in that: a bracket is arranged below the wheelchair body, and a moving mechanism is arranged under the bracket; the wheelchair body comprises a seat plate assembly, and the seat plate assembly A seat plate is provided, a through hole is arranged in the center of the seat plate, and a cover plate is arranged below the through hole, and the bottom plate assembly includes a cover plate turning mechanism, a cover plate supporting mechanism and a guiding movement mechanism; the cover plate is fixed On the cover plate support mechanism, the cover plate support mechanism is turned over with the cover plate turning mechanism, and the guiding movement mechanism is located on the outer side of the cover plate.

2 . The automatic wheelchair according to claim 1 , wherein the wheelchair body further comprises a back plate assembly and a leg plate assembly hinged with the seat plate assembly, and the back plate assembly and the leg plate assembly are respectively located on the seat plate. 3 . Both ends of the assembly; the seat plate assembly is provided with a sensor assembly that is butted with the bed body.

3 . The automatic wheelchair according to claim 2 , wherein the backboard assembly comprises a backboard frame, and the backboard frame is mounted with an automatic backboard push rod assembly; and the leg board assembly comprises legs. 4 . A board frame, and an automatic leg board push rod assembly is installed on the leg board frame.

4. The automatic wheelchair according to any one of claims 1 to 3, wherein the seat plate assembly comprises a seat plate frame, a connecting plate is installed in the seat plate frame, and a first plate is fixed on the connecting plate. A driving member, the first driving member is connected with the cover plate supporting mechanism through the first link structure.

5 . The automatic wheelchair according to claim 4 , wherein the first link structure is a plane hinge four-bar structure. 6 .

6. The automatic wheelchair according to any one of claims 1 to 3, wherein the seat panel assembly comprises a seat panel frame, a connecting plate is installed in the seat panel frame, and the cover panel supporting mechanism It includes a support plate, a cover plate is installed on the upper surface of the support plate, a second drive member is installed on the support plate, the second drive member is connected with a load-bearing rod through the second link structure, and the load-bearing rod is located on the second link structure. Drive down and extend to the connecting plates on both sides.

7 . The automatic wheelchair according to claim 6 , wherein the second link structure comprises an inclined rod hinged with the two load-bearing rods, respectively, and a vertical slot is opened on the support plate, and the two inclined rods are slanted. The rod hinge shaft is located in the vertical slot, the second drive member is connected with a drive rod, the center of the drive rod is provided with a long hole, and the hinge shaft is located in the long hole.

8. An automatic wheelchair according to any one of claims 1 to 3, wherein the guiding movement mechanism comprises a fixed guide rail and a movable guide rail, the fixed guide rail is fixed on a bracket, and the movable guide rail is The guide rail is hinged on the bracket, and the fixed guide rail and the movable guide rail can be spliced into a guide guide rail.

9. The automatic wheelchair according to any one of claims 1 to 3, characterized in that: there are two said cover plates, two groups of said cover plate turning mechanisms, and said cover plate supporting mechanism There are two groups, two groups of cover plate turning mechanisms are symmetrically arranged, and two groups of cover plate support mechanisms are symmetrically arranged.

10. The automatic wheelchair according to any one of claims 1 to 3, wherein the moving mechanism comprises a bottom plate, the bottom plate is connected with the bracket, and four Mecanum wheel assemblies are installed under the bottom plate.