Intelligent assisted standing device and standing method

Abstract

The application provides a kind of intelligent auxiliary getting-up equipment and getting-up method, belongs to the technical field of old people's aid instrument design and manufacture, including backrest plate, bottom plate, lifting unit, handrail unit, folding rocker, leg plate, turntable and main control box;Backrest plate is installed above bottom plate and is located in the upper limb bearing part of bottom plate, lifting unit is installed between backrest plate and bottom plate, backrest plate is lifted by the extension and retraction movement of electric cylinder, and the upper body of old people is lifted;The lower limb bearing part of bottom plate is provided with telescopic handrail unit, the force sensor on handrail unit detects the pressure data of old people's arm on handrail and transmits to main control box, main control box controls the movement of turntable and handrail unit, and helps old people to get up;Handrail unit can drive leg plate connected with lower limb bearing part to move through folding rocker, and help old people to stand with both feet on the ground;Handrail unit and leg plate are linked, can assist more old people to stand stably and safely, the whole equipment structure is compact, the degree of intelligence is high, and it is easy to use.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of old-age assistance device design and manufacturing, and particularly relates to an intelligent auxiliary standing-up device and a standing-up method. BACKGROUND

[0002] Since the 21st century, the proportion of the elderly population in China has been increasing, and the aging trend has been worsening. According to statistics, by the end of 2019, the population aged 65 and above in China reached 176 million, an increase of 9.45 million from the previous year (about 167 million in 2018), and the aging problem has gradually become a major problem affecting the national economy and people's livelihood. In daily life, the elderly with lower limb disorders or difficulty in standing up and sitting down need help to stand up, and improper assistance can cause harm to the elderly. Therefore, the care of such elderly people requires a lot of manpower and time, which also brings a great burden to each family.

[0003] Most of the auxiliary standing-up devices on the market have imperfect functions and cannot truly assist the elderly in standing up, cannot realize the process of assisting the elderly from lying to sitting to standing, and are very expensive. In addition, the height of the handrails of the auxiliary standing-up devices on the market is uniform and generally too high, while the height and arm length of the elderly are not uniform, which makes it difficult for some elderly people to stand up with the help of the handrails. Therefore, there is an urgent need for an auxiliary standing-up device that is perfect in function, easy to use and safe. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides an intelligent auxiliary standing-up device and a standing-up method. Under the control of the main control box at the bottom of the device, the backrest plate is lifted by the lifting unit on the bottom plate to assist the elderly in standing up, and the handrail unit can be slowly lifted according to the arm pressure of the elderly to assist the elderly in standing up. The handrail unit can also drive the folding rocker to move to lower and lift the leg plate, assisting the elderly in standing with both feet on the ground. The entire device structure is compact, safe and convenient to use.

[0005] The present application achieves the above technical purpose through the following technical means.

[0006] An intelligent auxiliary standing-up device, comprising a bottom plate, the bottom plate comprising an upper limb bearing part and a lower limb bearing part, a backrest plate being installed above the upper limb bearing part, a lifting unit being installed between the backrest plate and the upper limb bearing part; a main control box and a turntable being installed at the bottom of the lower limb bearing part, a motor and a handrail unit being symmetrically installed on both sides and connected with each other, a force sensor being arranged on the handrail unit; the lower limb bearing part being connected with a leg plate, the leg plate being connected with a folding rocker at the bottom, the other end of the folding rocker being connected with the handrail unit; the turntable, the lifting unit, the force sensor and the motor being signal-connected with the main control box.

[0007] Further, the handrail unit comprises lower handrails mounted on both sides of the lower limb bearing part, and a scissor-type lifting platform connected with the motor is mounted on the lower handrails, and the other end of the scissor-type lifting platform is connected with the upper handrail, and a force sensor is mounted on the upper handrail.

[0008] Further, the folding rocker is connected with one end of the scissor-type lifting platform in the lower handrail.

[0009] Further, the upper limb bearing part and the leg plate are both rectangular frame structures, the lower limb bearing part is a rectangular flat plate structure, the width of the upper limb bearing part is smaller than that of the lower limb bearing part, and a plurality of force sensors connected with the main control box are mounted on the bottom of the upper limb bearing part and the lower limb bearing part.

[0010] Further, the backrest plate is in a convex shape, one end of the convex part is connected with the upper limb bearing part, and the other end is a rectangular frame structure, and the backrest plate can rotate along one end of the upper limb bearing part.

[0011] Further, a plurality of support plates are arranged in the rectangular frames of the backrest plate, the upper limb bearing part and the leg plate.

[0012] Further, the materials of the support plates, the backrest plate and the bottom plate are all aluminum.

[0013] Further, the lifting unit comprises an electric cylinder, one end of the electric cylinder is connected with one end of the rectangular frame of the upper limb bearing part through a support hinge, and the other end of the electric cylinder is connected with the folding lifting rod through a pushing hinge.

[0014] Further, the folding lifting rod comprises a fixing piece, both ends of the fixing piece are connected with the support plates in the rectangular frame of the upper limb bearing part through shafts, a connecting piece one connected with the telescopic end of the electric cylinder is arranged on the fixing piece, a support piece one is arranged on both sides of the connecting piece one, a roller is mounted on the other end of the support piece one, and the roller is in close contact with the lower surface of the support plate in the rectangular frame of the backrest plate.

[0015] The standing-up method of the intelligent auxiliary standing-up device comprises the following processes: the main control box controls the electric cylinder to work, the electric cylinder drives the folding lifting rod to lift the backrest plate, and the upper body of the user is lifted; the user places the arms on the upper handrails, at this time, the main control box controls the electric cylinder to lower the backrest plate; the force sensor on the upper handrail detects the pressure data and transmits the pressure data to the main control box, the main control box controls the motor to rotate in the positive direction, the motor drives the scissor-type lifting platform to rise, the upper handrail is lifted, at the same time, the scissor-type lifting platform drives the folding rocker to contract, the folding rocker drives the leg plate to descend, the feet of the user are placed on the ground, and the user stands up; then, the main control box controls the motor to rotate in the reverse direction, the motor drives the scissor-type lifting platform to descend, the upper handrail is lowered, at the same time, the scissor-type lifting platform drives the folding rocker to extend, and the leg plate is lifted.

[0016] The intelligent auxiliary standing-up device has the following beneficial effects:

[0017] (1) The intelligent auxiliary getting-up device provided by the application is designed with multiple functional units, can realize all-around assistance from getting up to standing, is convenient to disassemble and assemble, and is suitable for various occasions.

[0018] (2) Under the control of the main control box, the whole intelligent auxiliary getting-up device can lift the backrest plate through the extension and retraction movement of the electric cylinder in the lifting unit, slowly lift the upper body of the old person, and when the old person's arms are placed on the handrails, the electric cylinder drives the backrest plate to descend, which can assist the old person with different arm lengths to get up and is widely used. The whole device can also be rotated through the control of the rotating disc to realize the overall steering function, which is convenient to use.

[0019] (3) The handrail unit is responsible for lifting the arms of the old person, can make extension and retraction movement according to the real-time pressure data of the arms of the old person on the handrails to help the old person get up, the control process is more coordinated, the use is safer, and it meets the ergonomic and actual use requirements. The extension and retraction movement of the handrail unit can also drive the folding rocker to move, thereby driving the leg plate to move, smoothly putting the old person down from the device, assisting the old person to get up and stand. The method of using the leg plate and the handrail unit linkage makes the whole device structure more compact, the intelligent degree is high, it is simple and convenient to use, and the cost is low.

[0020] (4) Multiple force sensors are arranged at the bottom of the bottom plate, which can assist the main control box to monitor and judge the center of gravity deviation of the user on the bottom plate in real time, and adjust the movement of the electric cylinder and the handrail in the device accordingly. The device can effectively prevent the user from falling down due to unstable center of gravity, thereby playing a certain protection role for the user. The device provided by the application considers the problems that may exist in actual application, and has high safety.

[0021] (5) The backrest plate, the bottom plate, the support plate, the upper handrail and the lower handrail are all made of aluminum as the manufacturing material, and in combination with the rectangular frame structure design of the backrest plate, the bottom plate upper limb bearing part and the leg plate, which helps to reduce the overall weight of the device, facilitating the carrying and moving of the device. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic view of the intelligent auxiliary getting-up device described in the application;

[0023] Figure 2 It is a left view of the intelligent auxiliary getting-up device described in the application;

[0024] Figure 3 It is a bottom view of the intelligent auxiliary getting-up device described in the application;

[0025] Figure 4 It is a structural schematic view of the leg plate described in the application;

[0026] Figure 5 It is a structural schematic view of the lifting unit described in the application;

[0027] Figure 6 This is a schematic diagram of the connection between the electric cylinder and the foldable lifting rod of the present invention.

[0028] In the figure: 1-backrest; 2-upper limb bearing part; 3-lower limb bearing part; 4-lower armrest; 5-turntable; 6-motor; 7-leg plate; 8-scissor-type lifting platform; 9-upper armrest; 10-connecting plate; 11-main control box; 12-electric cylinder; 13-folding rocker; 14-roller; 15-pushing hinge; 16-support hinge; 17-fixing part; 18-connecting part 1; 19-support part 1; 20-motor support frame; 21-support part 2; 22-connecting part 2. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0030] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, because they cannot be understood as limitations on the present invention; the terms "install", "connect", "fix", etc. 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 direct connection, it can be an indirect connection through an intermediate medium, or it can be a communication between the two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0031] like Figure 1 、 2 As shown, the intelligent assisting standing device of the present invention includes a backrest board 1, a bottom board, a lifting unit, an armrest unit, a folding rocker 13, a leg board 7, a turntable 5 and a main control box 11.

[0032] The base plate is an integrated structure, consisting of an upper limb support portion 2 and a lower limb support portion 3. The upper limb support portion 2 is a rectangular frame with multiple support plates installed within it, while the lower limb support portion 3 is a rectangular flat plate structure, and the upper limb support portion 2 is narrower than the lower limb support portion 3. The backrest plate 1 has a convex outer shape, with one raised end connected to the end of the upper limb support portion 2 near the center of the base plate, ensuring that the backrest plate 1 is positioned above the upper limb support portion 2 and can rotate along the end of the upper limb support portion 2. The other end of the backrest plate 1 is a rectangular frame structure, also equipped with multiple support plates.

[0033] like Figure 1 、 2As shown in , 5, the lifting unit includes an electric cylinder 12 installed in the rectangular frame of the upper limb bearing part 2, the fixed end of the electric cylinder 12 is connected to one end of the rectangular frame of the upper limb bearing part 2 away from the middle of the bottom plate through a support hinge 16, and the telescopic end of the electric cylinder 12 is connected to the foldable lifting rod through a push hinge 15; Figure 5 、 6 As shown, the foldable lifting rod includes a fixing part 17 embedded in the rectangular frame of the upper limb bearing part 2, and both ends of the fixing part 17 are connected to the support plate axis in the rectangular frame of the upper limb bearing part 2. The fixing part 17 can rotate in the rectangular frame of the upper limb bearing part 2. A connecting part 18 connected to the telescopic end of the electric cylinder 12 is provided on the fixing part 17, and a supporting part 19 is provided on the fixing part 17 on both sides of the connecting part 18. The other end of the supporting part 19 is installed with a roller 14, and the roller 14 is close to the lower surface of the support plate in the rectangular frame of the backrest plate 1.

[0034] like Figure 3 As shown, a turntable 5 and a main control box 11 are installed at the bottom of the lower limb support part 3. The turntable 5 is connected to the main control box 11 by signal. The main control box 11 can control the rotation of the turntable 5. The rotation angle of the turntable 5 is: 0~90°; the main control box 11 is provided with a switch button on the outside and a controller inside the main control box 11. The controller is based on an embedded 32-bit ARM microprocessor. Figure 1 、 2 As shown, armrest units and motor support frames 20 are symmetrically installed on both sides of the lower limb bearing part 3. The armrest unit includes an upper armrest 9 and a lower armrest 4 arranged as a groove structure. The lower armrest 4 is fixedly installed on both sides of the lower limb bearing part 3. A scissors-type lifting platform 8 is installed in the groove of the lower armrest 4. The other end of the scissors-type lifting platform 8 is installed in the groove of the upper armrest 9. A force sensor is installed on the top of the upper armrest 9; a motor 6 is installed in the motor support frame 20, and the motor 6 is connected to the scissors-type lifting platform 8.

[0035] like Figure 4 As shown, one end of the lower limb bearing portion 3 away from the middle of the bottom plate is connected to a convex U-shaped connecting plate 10, and the other end of the connecting plate 10 is installed with multiple hollow cylindrical support members 21. One end of the leg plate 7 is provided with multiple hollow rectangular protrusions that match the support members 21. The connecting member 22 crosses through the hollow rectangular protrusions and the support members 21 to connect the leg plate 7 with the connecting plate 10, thereby realizing an indirect connection between the lower limb bearing portion 3 and the leg plate 7. At the same time, the two ends of the connecting member 22 are fixed to the hollow rectangular protrusions by bolts to ensure that the leg plate 7 can rotate along one end of the connecting plate 10; the leg plate 7 is a rectangular frame structure, and multiple support plates are provided in the rectangular frame. Figure 2 、 4 As shown, the bottom of the leg plate 7 is symmetrically connected to a folding rocker 13, and the other end of the folding rocker 13 passes through the lower armrest 4 and is connected to the scissor-type lifting platform 8. The scissor-type lifting platform 8 can drive the folding rocker 13 to perform telescopic movement, and then the folding rocker 13 can drive the leg plate 7 to perform lifting movement.

[0036] The upper limb bearing part 2 and the lower limb bearing part 3 are provided with a plurality of force sensors (not shown in the figure) at the bottom, which are used for monitoring the movement of the user's body center of gravity. The electric cylinder 12, the motor 6 and the force sensor are connected with the main control box 11. The backrest plate 1, the bottom plate, the upper limb bearing part 2 and the leg plate 7 are designed as rectangular frame structures, and the materials of the support plate, the backrest plate 1, the bottom plate, the upper handrail 9 and the lower handrail 4 are preferably aluminum, which helps to reduce the overall weight of the equipment and facilitates the carrying and moving of the equipment.

[0037] The intelligent auxiliary standing-up equipment is suitable for people with lower limb disabilities, the elderly who have difficulty in standing up and sitting down, and the like. The present embodiment is described by taking an elderly user as an example.

[0038] Before use, the bottom plate and the leg plate 7 are on the same plane, and the scissor-type lifting platform 8 is in a retracted state. When in use, the auxiliary standing-up equipment is placed on a bed or a sofa by using the rotating disc 5 as a support, and the old person lies on the equipment. When the old person needs to stand up, the external switch button of the main control box 11 is pressed, the main control box 11 controls the electric cylinder 12 to push the folding lifting rod to lift the backrest plate 1 upward, and the upper body of the old person is lifted. In this process, the force sensor at the bottom of the upper limb bearing part 2 detects the pressure data of the old person on the upper limb bearing part 2 in real time and transmits the pressure data to the main control box 11. The main control box 11 judges the movement of the body center of gravity of the old person according to the received pressure data, and controls the electric cylinder 12 according to the judgment result: when the center of gravity moves forward, the electric cylinder 12 continues to push the folding lifting rod to lift the backrest plate 1 upward; when the center of gravity moves backward or the main control box 11 judges that the old person has no pressure on the upper limb bearing part 2, the electric cylinder 12 is retracted, the folding lifting rod is lowered, and the backrest plate 1 is lowered.

[0039] After the upper body of the old person is lifted, the main control box 11 controls the rotating disc 5 to rotate by 90°, and moves the old person to the side of the bed or the sofa. The old person places the arms on the upper handrail 9, and at this time, the main control box 11 controls the electric cylinder 12 to slowly lower the backrest plate 1 to the original position. At the same time, the force sensor on the upper handrail 9 detects the pressure data of the arms of the old person on the upper handrail 9 and transmits the pressure data to the main control box 11. The main control box 11 controls the motor 6 to rotate forward according to the received real-time pressure data, the motor 6 drives the scissor-type lifting platform 8 to rise, the upper handrail 9 is lifted, and the old person is assisted to stand up. At the same time, the scissor-type lifting platform 8 drives the folding rocker 13 to retract, the folding rocker 13 drives the leg plate 7 to descend, and the old person is assisted to put both feet on the ground. Under the linkage action of the upper handrail 9 and the leg plate 7, the old person realizes standing up.

[0040] In the process of the old man standing up, the force sensor at the bottom of the lower limb bearing part 3 detects the pressure data of the old man on the lower limb bearing part 3 in real time and transmits the pressure data to the main control box 11; when the old man's body center of gravity is unstable, the main control box 11 can determine that the old man's body center of gravity deviates from the central axis according to the received real-time pressure data, at this time the main control box 11 controls the movement amplitude of the whole device to be reduced, and continuously receives the pressure data to determine the change of the old man's body center of gravity position; when the center of gravity deviates to the left side, the lifting speed of the left handrail is increased to help the old man correct the center of gravity position and make it close to the central axis; when the center of gravity deviates to the right side, the lifting speed of the right handrail is increased to help the old man correct the center of gravity position and make it close to the central axis. When the main control box 11 determines that the old man has no pressure on the lower limb bearing part according to the received pressure data, it means that the old man has successfully stood up, at this time the main control box 11 controls the motor 6 to reverse, the motor 6 drives the scissor-type lifting platform 8 to descend, the upper handrail 9 descends to the original position, and at the same time the scissor-type lifting platform 8 drives the folding rocker 13 to extend, so that the leg plate 7 is lifted to a position parallel to the bottom plate; then the main control box 11 controls the rotating disc 5 to rotate in the reverse direction to the original position, and the whole process of assisting the old man to stand up is completed.

[0041] The embodiments are preferred embodiments of the present application, but the present application is not limited to the above embodiments, and any obvious improvement, replacement or modification made by those skilled in the art without departing from the essential content of the present application shall fall within the protection scope of the present application.

Claims

1. An intelligent assistive device for getting up, characterized in that: The invention comprises a bottom plate, the bottom plate comprises an upper limb bearing part (2) and a lower limb bearing part (3), a backrest plate (1) is installed above the upper limb bearing part (2), and a lifting unit is installed between the backrest plate (1) and the upper limb bearing part (2); a main control box (11) and a turntable (5) are installed at the bottom of the lower limb bearing part (3), and a motor (6) and an armrest unit connected to each other are symmetrically installed on both sides, and a force sensor is provided on the armrest unit; the lower limb bearing part (3) is connected to the leg plate (7), and a folding rocker (13) is connected to the bottom of the leg plate (7), and the other end of the folding rocker (13) is connected to the armrest unit; the turntable (5), the lifting unit, the force sensor, and the motor (6) are all connected to the main control box (11) for signal connection; The armrest unit comprises lower armrests (4) mounted on both sides of the lower limb bearing portion (3), a scissor-type lifting platform (8) connected to a motor (6) being mounted on the lower armrests (4), the other end of the scissor-type lifting platform (8) being connected to an upper armrest (9), and a force sensor being mounted on the upper armrest (9); The folding rocker (13) is connected to one end of the scissor-type lifting platform (8) in the lower armrest (4); The upper limb bearing part (2) and the leg plate (7) are both rectangular frame structures, the lower limb bearing part (3) is a rectangular flat plate structure, and the width of the upper limb bearing part (2) is smaller than that of the lower limb bearing part (3); a plurality of force sensors connected to the main control box (11) are installed at the bottom of the upper limb bearing part (2) and the lower limb bearing part (3); The lifting unit comprises an electric cylinder (12), a fixed end of the electric cylinder (12) being connected to one end of the rectangular frame of the upper limb bearing portion (2) via a support hinge (16), and a telescopic end being connected to a foldable lifting rod via a push hinge (15); The foldable lifting rod includes a fixing member (17), both ends of which are connected to the support plate shaft in the rectangular frame of the upper limb bearing part (2); a connecting member (18) connected to the telescopic end of the electric cylinder (12) is provided on the fixing member (17), and a supporting member (19) is provided on the fixing member (17) on both sides of the connecting member (18); a roller (14) is installed on the other end of the supporting member (19), and the roller (14) is in close contact with the lower surface of the support plate in the rectangular frame of the backrest plate (1); The backrest plate (1) has a convex shape on its periphery, one convex end of which is connected to the upper limb bearing portion (2), and the other end of which is a rectangular frame structure; the backrest plate (1) can rotate along one end of the upper limb bearing portion (2); A plurality of support plates are provided in the rectangular frames of the backrest plate (1), the upper limb bearing portion (2) and the leg plate (7).

2. The intelligent assistive standing device according to claim 1, characterized in that: The support plate, backrest plate (1) and bottom plate are all made of aluminum.

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