A companion robot for assisting with toileting

Abstract

The present invention relates to the technical field of robots that assist the elderly, and discloses a companion robot for assisting toileting, comprising a U-shaped base, an outer wall of the U-shaped base being rotatably connected to a tire via a bearing, a top of the U-shaped base being fixedly connected to a moving device one, a top of the U-shaped base being fixedly connected to an adjusting mechanism, and further comprising: a movable mechanism, the movable mechanism comprising a sliding seat movably connected to the top of the moving device one, a top of the sliding seat being fixedly connected to a connecting column, by arranging a rotating mechanism, the armpits of a user can be lifted up to lift up the user, such operation is simple, the movement range of the human body is small, and the operation of the user is convenient, and two raised parts are arranged at both ends of the U-shaped plate, so that when the U-shaped plate is located under the armpits of the user, the back side of the armpits can be supported to prevent the human body from moving backwards, thereby ensuring the normal operation of the device lifting up the user.

Description

Technical Field

[0001] The present invention relates to the technical field of robots that assist the elderly, and in particular to a companion robot for assisting in going to the toilet. Background Art

[0002] With the continuous development of society, young people are busy with work, making the phenomenon of elderly people living alone more and more common. With the increase of age, the elderly are getting older and weaker, and the problem of self-care for the elderly is becoming more and more prominent. In the prior art, when solving the problem of going to the toilet, the elderly who have lost the ability to move their legs usually need to rely on human support to achieve the technical effect of moving the body. For the elderly who have been accompanied by wheelchairs for a long time, they even need to pre-place a potty on the buttocks and cooperate with a urine diversion device to achieve the technical effect of smooth defecation.

[0003] The patent application with application number CN201720984105.4 discloses a toilet-assisting elderly service robot, which is used to move the elderly to the toilet in time when they need to use the toilet, so as to meet the toilet needs of elderly people living alone with limited mobility; its structure includes: a mobile chassis and a body lifting device, the body lifting device is fastened to the mobile chassis; the mobile chassis is provided with walking wheels; the body lifting device has the freedom of movement to lift and lower the human body in a sitting position.

[0004] When the above-mentioned device is in use, the user needs to be fully lifted up, so that the position of the human body needs to be greatly displaced during operation, which places a heavy burden on the user, and the auxiliary effect is poor, which is not conducive to the use of the device. Summary of the invention

[0005] The purpose of the present invention is to provide a companion robot for assisting toileting, so as to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a companion robot for assisting toileting, comprising a U-shaped base, the outer wall of the U-shaped base is rotatably connected to a tire through a bearing, the top of the U-shaped base is fixedly connected to a moving device 1, the top of the U-shaped base is fixedly connected to an adjustment mechanism, and further comprising:

[0007] A movable mechanism, the movable mechanism includes a sliding seat movably connected to the top of a mobile device one, the top of the sliding seat is fixedly connected to a connecting column, the top of the connecting column is fixedly connected to a mobile device two, the outer wall of the mobile device two is provided with a locking hole two, the outer wall of the mobile device two is movably connected to a rotating mechanism, the mobile device two is used to control the up and down movement of the rotating mechanism, before the rotating mechanism enters the armpit of the user, the rotating mechanism is at the lowest point, after the rotating mechanism enters the armpit of the user, the rotating mechanism is lifted by the mobile device two.

[0008] According to the above technical solution, the adjustment mechanism includes a connecting plate 1, the bottom of which is fixedly connected to the U-shaped base, the outer wall of which is fixedly connected to a motor, the end of which is away from the motor is fixedly connected to a backrest, the end of which is away from the U-shaped base is rotatably connected to a rotating column via a bearing, and the output end of the motor is fixedly connected to the rotating column. When it is necessary to open the seat plate at the bottom of the device, the rotation of the rotating column is controlled by the motor to allow the seat plate at the bottom to become vertical, leaving a position for the user to sit on the toilet.

[0009] According to the above technical solution, the inner wall of the rotating column is movably connected with a movable plate, and the end of the movable plate away from the connecting plate is fixedly connected with a locking column, the end of the movable plate away from the connecting plate is provided with a locking hole, and the end of the movable plate away from the locking hole is fixedly connected with a blocking plate, and the outer wall of the rotating column is fixedly connected with a push rod, and the end of the push rod away from the rotating column is fixedly connected to the movable plate, the locking column and the locking hole arranged at the front end of the movable plate are staggered, and the locking column and the locking hole are aligned with the opposite locking hole and the locking column, and when the push rod is pushed, the locking column is embedded in the locking hole, and by setting an adjustment mechanism, after the rotating mechanism supports the human body, the movable plate at the bottom will be moved away, so that the user can sit on the toilet conveniently while avoiding the adjustment mechanism from affecting the movement of the equipment to the top of the toilet.

[0010] According to the above technical solution, the inner wall of the sliding seat is movably connected with a connecting plate 2, the inner wall of the sliding seat is fixedly connected with an elastic component, the outer wall of the connecting plate 2 is fixedly connected to the elastic component, and both ends of the connecting plate 2 are fixedly connected with support plates. The support plate is connected with the elastic component so that the support plate has movable space and supports the front end of the user's calf. By setting a movable mechanism, the U-shaped plate can be moved to the user's armpit through the movement of the movable mechanism, and the front part of the user's calf is supported at the same time. In this way, the device can facilitate the user to borrow force while avoiding the movement of the user's calf, thereby ensuring the normal operation of the equipment.

[0011] According to the above technical solution, the rotating mechanism includes a slider, the inner wall of the slider is movably connected to the moving device 2, the outer wall of the slider is fixedly connected to an extension plate, the end of the extension plate away from the slider is fixedly connected to a connecting rod, the end of the slider away from the extension plate is fixedly connected to a right-angle plate, the end of the right-angle plate away from the slider is rotatably connected to a circular plate 1 through a bearing, the outer wall of the circular plate 1 is fixedly connected to a push rod 2, and the end of the push rod 2 away from the circular plate 1 is fixedly connected to the circular plate 2. When the rotating mechanism needs to be deflected, the push rod 2 is started to drive the rotating mechanism to rotate with the slider as the center.

[0012] According to the above technical solution, the outer wall of the slider is fixedly connected to the shell, the inner wall of the shell is fixedly connected to the push rod three, the end of the push rod three away from the shell is fixedly connected to the locking column two, the outer wall of the locking column two is movably connected to the locking hole two, when the rotating mechanism moves to the top of the movable mechanism, the push rod two will be started to drive the locking column two to embed into the locking hole two, and by setting the rotating mechanism, when the rotating mechanism completes the upward movement, the rotating mechanism will be fixed to avoid the rotating mechanism from suddenly moving downward due to the rotating mechanism being unable to bear the weight of the human body, thereby ensuring the normal operation of the equipment.

[0013] The U-shaped plate is fixedly connected to the back of the user's armpit by the U-shaped plate, and the back of the U-shaped plate is fixedly connected to the back of the user's armpit by the U-shaped plate.

[0014] According to the above technical solution, one end of the connecting plate three away from the U-shaped plate is fixedly connected to the connecting plate four, the inner wall of the connecting plate four is rotatably connected to the circular plate two through a bearing, and one end of the connecting plate four away from the connecting plate three is fixedly connected to an annular rod, which is used for users to hold and facilitate users to use force.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0016] 1. The present invention can lift the user's armpits by providing a rotating mechanism, so that the user can be lifted up. This operation is simple, the movement range of the human body is small, and the operation of the user is convenient. In addition, two raised parts are provided at both ends of the U-shaped plate. In this way, when the U-shaped plate is located under the user's armpits, the back side of the armpits can be supported to prevent the human body from moving backwards, thereby ensuring the normal operation of the device to lift the user.

[0017] 2. The present invention sets a rotating mechanism, and when the rotating mechanism completes the upward movement, the rotating mechanism is fixed to avoid the rotating mechanism from suddenly moving downward due to the rotating mechanism being unable to bear the weight of the human body, thereby ensuring the normal operation of the equipment.

[0018] 3. The present invention provides a movable mechanism, which can move the U-shaped plate to the user's armpits and support the front of the user's calves. This allows the user to use the device to gain leverage while avoiding movement of the user's calves, thereby ensuring the normal operation of the device.

[0019] 4. The present invention is provided with an adjustment mechanism. After the rotating mechanism supports the human body, the movable plate at the bottom will be moved away, so as to facilitate the user to sit on the toilet while avoiding the adjustment mechanism affecting the movement of the equipment to the top of the toilet. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the bottom structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the active structure of the regulating mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the activity mechanism of the present invention;

[0026] Figure 5 It is a schematic diagram of the main structure of the movable mechanism of the present invention;

[0027] Figure 6 is a schematic diagram of the rotating mechanism of the present invention;

[0028] Figure 7 It is a schematic diagram of the internal structure of the rotating mechanism of the present invention;

[0029] Figure 8 is a cross-sectional view of the internal structure of the rotating mechanism of the present invention;

[0030] Fig. 9 It is a schematic diagram of the moving structure of the rotating mechanism of the present invention;

[0031] In the figure: 1, U-shaped base; 101, tire; 102, moving device 1; 2, adjustment mechanism; 201, connecting plate 1; 202, motor; 203, backrest; 204, rotating column; 205, movable plate; 206, blocking plate; 207, locking column 1; 208, locking hole 1; 209, push rod 1; 3, movable mechanism; 301, sliding seat; 302, elastic component; 303, connecting plate 2; 304, support plate; 305, connecting Column; 306, moving device 2; 307, locking hole 2; 31, rotating mechanism; 311, slider; 312, extension plate; 313, connecting rod; 314, right-angle plate; 315, circular plate 1; 316, push rod 2; 317, circular plate 2; 318, housing; 319, push rod 3; 3110, locking column 2; 3111, connecting plate 3; 3112, U-shaped plate; 3113, headrest; 3114, connecting plate 4; 3115, annular rod. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Example 1: See Figure 1-Figure 3 The present invention provides a technical solution: a companion robot for assisting toileting, comprising a U-shaped base 1, the outer wall of the U-shaped base 1 is rotatably connected to a tire 101 through a bearing, the top of the U-shaped base 1 is fixedly connected to a moving device 102, and the top of the U-shaped base 1 is fixedly connected to an adjustment mechanism 2.

[0036] The adjusting mechanism 2 includes a connecting plate 201, the bottom of the connecting plate 201 is fixedly connected to the U-shaped base 1, the outer wall of the connecting plate 201 is fixedly connected to a motor 202, the end of the connecting plate 201 away from the motor 202 is fixedly connected to a backrest 203, the end of the connecting plate 201 away from the U-shaped base 1 is rotatably connected to a rotating column 204 through a bearing, and the output end of the motor 202 is fixedly connected to the rotating column 204. When the seat plate at the bottom of the device needs to be opened, the rotation of the rotating column 204 is controlled by the motor 202 to make the seat plate at the bottom become In a vertical state, the user is left in the position of sitting on the toilet, the inner wall of the rotating column 204 is movably connected with a movable plate 205, and the end of the movable plate 205 away from the connecting plate 201 is fixedly connected with a locking column 207, and the end of the movable plate 205 away from the connecting plate 201 is provided with a locking hole 208, and the end of the movable plate 205 away from the locking hole 208 is fixedly connected with a blocking plate 206, and the outer wall of the rotating column 204 is fixedly connected with a push rod 209, and the end of the push rod 209 away from the rotating column 204 is fixedly connected to the movable plate 205. The locking column 207 and the locking hole 208 provided at the front end of the movable plate 205 are arranged in a staggered manner, and the locking column 207 and the locking hole 208 are aligned with the opposite locking hole 208 and the locking column 207. When the push rod 209 is pushed, the locking column 207 is embedded in the locking hole 208. When the device needs to place the user above the toilet, the user will be lifted up by the movable mechanism 3, and then the push rod 209 is started to drive the movable plate 205 to move to both sides, so that the locking column 207 is out of the locking hole 208. The movable plate 205 is pulled out and then the motor 202 is started to drive the rotating column 204 to rotate. The rotating rotating column 204 drives the movable plate 205 to deflect, so that the movable plate 205 is in a vertical state, so that the movable plate 205 no longer hinders the movement of the device. After the user finishes using the toilet, as the user is lifted up by the movable mechanism 3 and leaves the vicinity of the toilet, the motor 202 is started first to deflect the movable plate 205 to a horizontal direction, and then the push rod 209 is started to connect the two movable plates 205 to each other through the locking hole 208 and the locking column 207.

[0037] Example 2: Based on Example 1, please refer to Figure 4-Figure 9, the movable mechanism 3 includes a sliding seat 301 movably connected to the top of the mobile device 102, a connecting column 305 is fixedly connected to the top of the sliding seat 301, a mobile device 2 306 is fixedly connected to the top of the connecting column 305, a locking hole 2 307 is opened on the outer wall of the mobile device 2 306, and a rotating mechanism 31 is movably connected to the outer wall of the mobile device 2 306. The mobile device 2 306 is used to control the up and down movement of the rotating mechanism 31. Before the rotating mechanism 31 enters the armpit of the user, the rotating mechanism 31 is at the lowest point. After the rotating mechanism 31 enters the armpit of the user, the rotating mechanism 31 is lifted by the mobile device 2 306. The inner wall of the sliding seat 301 is movably connected to the connecting plate 2 3 03. The inner wall of the sliding seat 301 is fixedly connected with an elastic component 302, and the outer wall of the connecting plate 2 303 is fixedly connected with the elastic component 302. Both ends of the connecting plate 2 303 are fixedly connected with support plates 304. The support plates 304 are connected with the elastic component 302 so that there is room for movement and support the front end of the user's calf. When the user needs to be lifted, the sliding seat 301 will be driven to move toward the user through the moving device 102. At this time, the support plate 304 at the bottom will rest against the front side of the calf, and then the moving device 2 306 will be started to drive the rotating mechanism 31 to move upward, and the rotating mechanism 31 will be moved to the armpit of the user, and then the rotating mechanism 31 will be started to lift the user.

[0038] The rotating mechanism 31 includes a slider 311, the inner wall of the slider 311 is movably connected to the second moving device 306, the outer wall of the slider 311 is fixedly connected to an extension plate 312, the end of the extension plate 312 away from the slider 311 is fixedly connected to a connecting rod 313, the end of the slider 311 away from the extension plate 312 is fixedly connected to a right-angle plate 314, the end of the right-angle plate 314 away from the slider 311 is rotatably connected to a circular plate 1 315 through a bearing, the outer wall of the circular plate 1 315 is fixedly connected to a push rod 2 316, and the end of the push rod 2 316 away from the circular plate 1 315 is fixedly connected to a circular plate 2 317. When the rotating mechanism 31 needs to deflect, the push rod 2 316 is started to drive the rotating mechanism 31 to take the slider 311 as the center of the circle. The slider 311 is rotated, and the outer wall of the slider 311 is fixedly connected to the shell 318, and the inner wall of the shell 318 is fixedly connected to the push rod 319, and the end of the push rod 319 away from the shell 318 is fixedly connected to the locking column 2 3110, and the outer wall of the locking column 2 3110 is movably connected to the locking hole 2 307. When the rotating mechanism 31 moves to the top of the movable mechanism 3, the push rod 2 316 will be started to drive the locking column 2 3110 to be embedded in the locking hole 2 307. After the rotating mechanism 31 moves to the top driven by the moving device 2 306, the push rod 319 will be started to drive the locking column 2 3110 to be embedded in the locking hole 2 307, so as to fix the position of the rotating mechanism 31 and prevent the rotating mechanism 31 from moving downward.

[0039] The inner side of the slider 311 is rotatably connected to a connecting plate three 3111 via a bearing, and the end of the connecting plate three 3111 away from the slider 311 is fixedly connected to a U-shaped plate 3112, and the top of the U-shaped plate 3112 is fixedly connected to a headrest 3113. Both ends of the U-shaped plate 3112 away from the connecting plate three 3111 are provided with raised parts, so that after the U-shaped plate 3112 moves to the armpits of the user, the armpits of the user can be wrapped to a certain extent, and the end of the connecting plate three 3111 away from the U-shaped plate 3112 is fixedly connected to a connecting plate four 3114, and the inner wall of the connecting plate four 3114 is rotatably connected to the circular plate two 317 via a bearing. The end of connecting plate four 3114 away from connecting plate three 3111 is fixedly connected with an annular rod 3115, and the annular rod 3115 is used for the user to hold, so that the user can use it for leverage. When the equipment needs to lift the user, the U-shaped plate 3112 is first moved to the user's armpit under the movement of moving device one 102, and then the U-shaped plate 3112 is driven to move upward through the movement of moving device two 306 to lift the bottom of the user. At this time, the user holds the annular rod 3115, and then starts the push rod three 319 to drive the connecting plate three 3111 and the connecting plate four 3114 to deflect, thereby lifting the user.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A companion robot for assisting toileting, comprising a U-shaped base (1), the outer wall of the U-shaped base (1) being rotatably connected to a tire (101) via a bearing, the top of the U-shaped base (1) being fixedly connected to a moving device (102), and the top of the U-shaped base (1) being fixedly connected to an adjustment mechanism (2), characterized in that: Also includes: The movable mechanism (3) comprises a sliding seat (301) movably connected to the top of the first moving device (102); a connecting column (305) is fixedly connected to the top of the sliding seat (301); a second moving device (306) is fixedly connected to the top of the connecting column (305); a second locking hole (307) is provided on the outer wall of the second moving device (306); a rotating mechanism (31) is movably connected to the outer wall of the second moving device (306); the second moving device (306) is used to control the up and down movement of the rotating mechanism (31); before the rotating mechanism (31) enters the armpit of the user, the rotating mechanism (31) is locked. At the lowest point, after the rotating mechanism (31) enters the armpit of the user, the rotating mechanism (31) is raised by the second moving device (306), the inner wall of the sliding seat (301) is movably connected to the second connecting plate (303), the inner wall of the sliding seat (301) is fixedly connected to the elastic component (302), the outer wall of the second connecting plate (303) is fixedly connected to the elastic component (302), and both ends of the second connecting plate (303) are fixedly connected to the support plate (304), and the support plate (304) is connected to the elastic component (302) so that the support plate (304) has a movable space and supports the front end of the user's calf; The rotating mechanism (31) comprises a slider (311), the inner wall of the slider (311) is movably connected to the second moving device (306), the outer wall of the slider (311) is fixedly connected to an extension plate (312), one end of the extension plate (312) away from the slider (311) is fixedly connected to a connecting rod (313), one end of the slider (311) away from the extension plate (312) is fixedly connected to a right-angle plate (314), one end of the right-angle plate (314) away from the slider (311) is rotatably connected to a circular plate (315) via a bearing, and the outer wall of the circular plate (315) is fixedly connected to the first circular plate (315). The first push rod (316) is fixedly connected to the first circular plate (315), and the second push rod (316) is fixedly connected to the second circular plate (317) at one end thereof away from the first circular plate (315). When the rotating mechanism (31) needs to be deflected, the second push rod (316) is started to drive the rotating mechanism (31) to rotate with the slider (311) as the center of the circle. The outer wall of the slider (311) is fixedly connected to the outer shell (318), and the inner wall of the outer shell (318) is fixedly connected to the third push rod (319). The end of the third push rod (319) away from the outer shell (318) is fixedly connected to the second locking column (3110). The second locking column (3111) is fixedly connected to the second locking column (3110). The outer wall of the slider (310) is movably connected to the second locking hole (307). When the rotating mechanism (31) moves to the top of the movable mechanism (3), the second push rod (316) is activated to drive the second locking column (3110) to be embedded in the second locking hole (307), so that the rotating mechanism (31) is fixed to the top of the second moving device (306). The inner side of the slider (311) is rotatably connected to the third connecting plate (3111) through a bearing. The end of the third connecting plate (3111) away from the slider (311) is fixedly connected to the U-shaped plate (3112). The top of the U-shaped plate (3112) is fixedly connected to the A headrest (3113) is provided. Both ends of the U-shaped plate (3112) away from the connecting plate three (3111) are provided with raised parts. In this way, after the U-shaped plate (3112) moves to the armpits of the user, it plays a role of supporting the bottom of the user. One end of the connecting plate three (3111) away from the U-shaped plate (3112) is fixedly connected to the connecting plate four (3114). The inner wall of the connecting plate four (3114) is rotatably connected to the circular plate two (317) through a bearing. One end of the connecting plate four (3114) away from the connecting plate three (3111) is fixedly connected to the annular rod (3115).

2. A companion robot for assisting toileting according to claim 1, characterized in that: The adjustment mechanism (2) comprises a connecting plate (201), the bottom of which is fixedly connected to the U-shaped base (1), the outer wall of which is fixedly connected to a motor (202), the end of which away from the motor (202) is fixedly connected to a backrest (203), the end of which away from the U-shaped base (1) is rotatably connected to a rotating column (204) via a bearing, the output end of the motor (202) is fixedly connected to the rotating column (204), and when it is necessary to open the seat plate at the bottom of the device, the motor (202) is used to control the rotation of the rotating column (204), so that the seat plate at the bottom becomes vertical, thereby leaving a position for a user to sit on the toilet.

3. A companion robot for assisting toileting according to claim 2, characterized in that: The inner wall of the rotating column (204) is movably connected to a movable plate (205); one end of the movable plate (205) away from the connecting plate (201) is fixedly connected to a locking column (207); one end of the movable plate (205) away from the connecting plate (201) is provided with a locking hole (208); one end of the movable plate (205) away from the locking hole (208) is fixedly connected to a blocking plate (206); the outer wall of the rotating column (204) is fixedly connected to a push rod (207); 9), one end of the push rod 1 (209) away from the rotating column (204) is fixedly connected to the movable plate (205), and the locking column 1 (207) and the locking hole 1 (208) arranged at the front end of the movable plate (205) are staggered, and the locking column 1 (207) and the locking hole 1 (208) are aligned with the opposite locking hole 1 (208) and the locking column 1 (207), and when the push rod 1 (209) is pushed, the locking column 1 (207) is embedded in the locking hole 1 (208).

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