A sit-to-stand transfer robot

Abstract

The present invention relates to the field of mobile robots, and particularly to a sitting-standing transfer robot. The present invention is provided with a moving device, a first lifting device, a second lifting device, a force detection device, and a control device. The control device obtains in real time the force value detected by the force detection device, and obtains the operating states of the first lifting device and the second lifting device. When the first lifting device and the second lifting device are in an operating state, the rotation speed of the motor in the second lifting device and the pushing speed of the electric push rod in the second lifting device are adjusted based on the force state of the seat determined by the data analysis unit; when the first lifting device and the second lifting device are in a non-operating state, it is determined based on the force state of the seat whether to start the motor in the second lifting device to rotate to lower the height of the holding mechanism and whether to start the electric push rod in the first lifting device to lower the height of the seat, so as to improve the safety and comfort of the user during use and provide convenience for the user's life.

Description

Technical Field

[0001] The present invention relates to the field of mobile robots, and particularly to a sitting-standing transfer robot. Background Art

[0002] Medical robots are robots applied in places such as hospitals, clinics, and families to assist in medical treatment. In 1985, the United States first used the Puma560 industrial robot to assist in surgery, which marked the beginning of the development of medical robots. Compared with humans, medical robots have characteristics such as faster speed, higher accuracy, and better stability in motion control. With the continuous development of the robot industry, the related technologies of medical robots have become increasingly mature and the applications have become increasingly widespread.

[0003] With the aggravation of the aging degree, the total number of disabled elderly people will continue to increase in the next thirty years, and the disability rate will vary between 9.28% and 11.15%. Disabled elderly people will generally experience a disability period of about 7.44 years. In addition, due to various accidents such as work injuries and traffic accidents, the number of people with lower limb dysfunction is increasing every year. According to the results of the second sampling survey of the disabled population in 2006, the disabled population in China accounted for 6.34% of the total national population. Robots can compensate for the lost functions of patients, serve as assistants in their life and work, help solve the daily difficulties of patients, and at the same time, robots can replace the repetitive and heavy mechanical actions performed by the family members or rehabilitation therapists of patients to take care of patients, helping them get rid of the repetitive, boring, and tiring work. Most disabled, semi-disabled, and disabled patients have lower limb dysfunction, and an important problem they face is the transfer problem. Transfer robots are increasingly needed in modern society. Robots that are convenient and highly practical can not only reduce the labor intensity of nursing workers, but also greatly protect the self-esteem of patients.

[0004] For example, Chinese Patent Publication No.: CN111166631B discloses an intelligent auxiliary guiding mobile robot for the elderly to walk, including an auxiliary bracket. Adjusting mechanisms are symmetrically arranged on the outer sides of the left and right ends of the auxiliary bracket, protective mechanisms are symmetrically arranged on the inner sides of the left and right ends of the auxiliary bracket, and handrails are symmetrically arranged on the upper left and right sides of the auxiliary bracket. This intelligent auxiliary guiding mobile robot for the elderly to walk can solve the following problems existing in the existing elderly people during exercise with the help of walking assistance devices: a. Traditional walking assistance devices cannot be converted for use. The elderly perform assisted movement exercises by moving and pushing the devices during exercise. The traditional devices have a single working mode during use and cannot meet the exercise needs of the elderly; b. Traditional walking assistance devices lack protection for the elderly during exercise, and in special cases, the elderly are prone to falling and getting injured during movement.

[0005] However, the following problems still exist in the prior art:

[0006] In the prior art, the inconvenience of the rider's movement is not considered. When transferring, the center of gravity is prone to shaking, resulting in falling or dropping. The riding state of the rider is not detected, and the operating parameters of the device are not adjusted to ensure the stability of the patient's ride. Summary of the Invention

[0007] To solve the above problems, the present invention provides a sitting-standing transfer robot, which includes:

[0008] A moving device for moving, including a chassis and a plurality of driving wheels and a plurality of universal wheels arranged on the moving chassis, so that the driving wheels drive the chassis to move;

[0009] A first lifting device is arranged on the moving device, including a parallelogram mechanism composed of a plurality of cross bars and vertical bars, a seat connected to the vertical bar of the parallelogram mechanism, and an electric push rod connected to the first cross bar and the second cross bar of the parallelogram mechanism, so that the electric push rod pushes the first cross bar and the second cross bar to drive the seat to rise;

[0010] A second lifting device is arranged on the upper side of the first lifting device, including a lifting mechanism provided with a ball screw and a slide rail and a holding mechanism provided with a sliding block. The ball screw is connected to a motor to make the ball screw rotate. A screw hole matching the ball screw and a matching rail matching the slide rail are arranged on the sliding block, so that the lifting mechanism drives the holding mechanism to rise or fall;

[0011] A force detection device is arranged on the seat for detecting the force value on the seat;

[0012] A control device is arranged on the moving device and is connected to the motor and the electric push rod, including a data analysis unit and a control unit. The data analysis unit is used to obtain the force value detected by the force detection device in real time, construct a force change curve based on the force value, and determine the force state of the seat based on the average slope and change amplitude of each curve segment of the force change curve;

[0013] The control unit is used to obtain the operating states of the motor and the electric push rod. When the motor and the electric push rod are in the operating state, the rotation speed of the motor and the pushing speed of the electric push rod are adjusted based on the force state of the seat determined by the data analysis unit;

[0014] And, when the motor and the electric push rod are in the non-operating state, it is determined whether to start the motor to rotate to lower the height of the holding mechanism and whether to start the electric push rod to lower the height of the seat based on the force state of the seat.

[0015] Further, the seat includes a backrest and a seat portion hinged to one end of the backrest. The other end of the seat portion is connected to a vertical rod of a parallelogram mechanism. A locking device is also provided at the hinge joint between the backrest and the seat portion to lock the backrest and the seat portion after they are rotated to a preset angle, providing back support for the user.

[0016] Further, the backrest can be in any angular state between full folding and full opening with the seat. Full folding means the included angle between the backrest and the seat portion is 0°, and full opening means the included angle between the backrest and the seat portion is 180°.

[0017] Further, the holding mechanism includes a sliding block, a connecting rod connected to one end of the sliding block, and a support handle provided at the other end of the connecting rod. The support handle includes a curved rod with a hollow portion, and two sets of fixing rods perpendicular to the horizontal plane are also provided on the curved rod to fix the user's shoulder portion and prevent the user from falling off the robot.

[0018] Further, the parallelogram mechanism includes a first cross bar, a second cross bar, a third cross bar, a fourth cross bar arranged in parallel, a first vertical rod hinged to the ends of the first cross bar and the third cross bar, and a second vertical rod hinged to the ends of the second cross bar and the fourth cross bar. One ends of the first cross bar, the second cross bar, the third cross bar, and the fourth cross bar are all hinged to a fixed column.

[0019] Further, the lifting mechanism includes a supporting plate provided on the fixed column, a motor, a ball screw, and a slide rail provided on the supporting plate. The motor is connected to the ball screw to drive the ball screw to rotate. The supporting plate needs to bear a preset angle with the horizontal plane;

[0020] Among them, when setting the preset angle, it needs to be greater than 45°, so that the lifting mechanism can lift to a higher height along the slide rail.

[0021] Further, the data analysis unit constructs a force change curve based on the force values. Among them, the data analysis unit constructs a rectangular coordinate system with time as the x-axis and force values as the y-axis, and constructs a force change curve in the rectangular coordinate system.

[0022] Further, the force state of the seat is determined based on the average slope and change amplitude of each curve segment of the force change curve. Among them,

[0023] The data analysis unit compares the average slope of the curve segment generated per unit time with a preset slope comparison threshold, and also compares the change amplitude of the curve segment with a preset change amplitude comparison threshold. Under the first comparison result, the data analysis unit determines that the seat is in a sudden force state;

[0024] Under the second comparison result, the data analysis unit determines that the seat is in a stable stress state;

[0025] The first comparison result is that the absolute value of the average slope of the curve segment is greater than a preset slope comparison threshold and the change amplitude of the curve segment is greater than a preset change amplitude comparison threshold. The second comparison result is that the absolute value of the average slope of the curve segment is less than or equal to the preset slope comparison threshold and / or the change amplitude of the curve segment is less than or equal to the preset change amplitude comparison threshold.

[0026] Further, when the motor and the electric push rod are in an operating state, the control unit adjusts the rotation speed of the motor and the pushing speed of the electric push rod according to the stress state of the seat determined by the data analysis unit, where

[0027] When the data analysis unit determines that the seat is in a sudden stress state, the control unit controls the rotation speed of the motor to be a first rotation speed and the pushing speed of the electric push rod to be a first pushing speed;

[0028] When the data analysis unit determines that the seat is in a stable stress state, the control unit controls the rotation speed of the motor to be a second rotation speed and the pushing speed of the electric push rod to be a second pushing speed;

[0029] The first rotation speed is less than the second rotation speed, and the first pushing speed is less than the second pushing speed.

[0030] Further, when the motor and the electric push rod are in a non-operating state, the control unit determines whether to start the motor to rotate to lower the height of the holding mechanism and whether to start the electric push rod to lower the height of the seat according to the stress state of the seat determined by the data analysis unit, where

[0031] When the data analysis unit determines that the seat is in a sudden stress state, the control unit controls the motor and the electric push rod to start, and the rotation speed of the motor is the second rotation speed, and the pushing speed of the electric push rod is the second pushing speed, so that the motor and the electric push rod realize the conversion from the non-operating state to the operating state.

[0032] Compared with the prior art, the present invention provides a mobile device, a first lifting device, a second lifting device, a force detection device, and a control device. The control device obtains the force value detected by the force detection device in real time, and obtains the operating states of the first lifting device and the second lifting device. When the first lifting device and the second lifting device are in the operating state, the rotational speed of the motor in the second lifting device and the pushing speed of the electric push rod in the second lifting device are adjusted based on the force state of the seat determined by the data analysis unit; when the first lifting device and the second lifting device are in the non-operating state, it is determined whether to start the motor in the second lifting device to rotate to lower the height of the holding mechanism and whether to start the electric push rod in the first lifting device to lower the height of the seat based on the force state of the seat, so as to improve the safety and comfort of the user during use and provide convenience for the user's life.

[0033] In particular, the present invention determines the force state of the seat by the average slope and the change amplitude of each curve segment of the force change curve. In actual situations, the force value of the seat is convenient to monitor and can be continuously monitored. The present invention constructs a force change curve. The average slope of the curve segment within a unit time in the force change curve represents the mutation speed of the seat force, and the change amplitude of the curve segment represents the change amount of the force. When both the mutation speed and the change amount are higher than the preset value, it is determined that the seat is in a mutation force state, thereby indicating whether the user has actions such as unstable center of gravity or tipping. The above process can be automatically calculated through processing, enabling automated adjustment and control, improving the safety of robot use and ensuring the efficiency of robot use.

[0034] In particular, the control unit of the present invention adjusts the rotational speed of the motor and the pushing speed of the electric push rod according to the force state of the seat. In actual situations, for users with mobility difficulties, there are risks such as center of gravity shift and tipping during the lifting process of the seat and the holding mechanism. Therefore, the present invention obtains the force state of the seat to indicate whether the user has tipping actions, etc. When the seat is in a mutation force state, the rotational speed of the motor and the pushing speed of the electric push rod are automatically adjusted, thereby reducing the lifting speed of the seat and the holding mechanism, facilitating the user to stabilize the center and avoiding the risk of the user tipping due to too fast lifting speed. Moreover, it improves the safety of robot use and ensures the efficiency of robot use.

[0035] In particular, the control unit of the present invention determines whether to start the motor to rotate and lower the height of the holding mechanism and whether to start the electric push rod to lower the height of the seat according to the force state of the seat. In actual situations, for users with limited mobility, when standing, it is easy to have insufficient shoulder or leg support, resulting in loss of standing stability. Therefore, the present invention obtains the force state of the seat to characterize whether the user can maintain a standing state. When the seat is in a sudden force state, the motor is started to rotate to lower the height of the holding mechanism and the electric push rod is started to lower the height of the seat, so that the user can be switched from a standing state to a sitting state, avoiding the risk of the user tipping over when unable to maintain a standing state, improving the safety of robot use and ensuring the efficiency of robot use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic structural diagram of the sitting-standing transfer robot according to an embodiment of the invention;

[0037] Figure 2 Schematic structural diagram of the first lifting device of the sitting-standing transfer robot according to an embodiment of the invention;

[0038] Figure 3 Schematic structural diagram of the lifting mechanism in the second lifting device of the sitting-standing transfer robot according to an embodiment of the invention;

[0039] Figure 4 Schematic structural diagram of the holding mechanism in the second lifting device of the sitting-standing transfer robot according to an embodiment of the invention;

[0040] The markings of the various components in the drawings are as follows: 1, holding mechanism; 11, support handle; 12, sliding block; 13, support rod; 14, fixed rod group; 15, curved rod; 2, parallelogram mechanism; 21, first cross bar; 22, second cross bar; 23, third cross bar; 24, fourth cross bar; 25, first vertical bar; 26, second vertical bar; 3, seat; 31, seat part; 32, backrest; 33, locking device; 4, universal wheel; 5, electric push rod; 6, chassis; 7, drive wheel; 8, fixed column; 9, lifting mechanism; 91, ball screw; 92, slide rail; 93, motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] In order to make the objectives and advantages of the present invention clearer and more understandable, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0043] It should be noted that in the description of the present invention, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0044] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Please refer to Figures 1 - 4 as shown in Figure 1 the structural schematic diagram of the sitting - standing transfer robot according to the embodiment of the invention; Figure 2 the structural schematic diagram of the first lifting device of the sitting - standing transfer robot according to the embodiment of the invention; Figure 3 the structural schematic diagram of the lifting mechanism in the second lifting device of the sitting - standing transfer robot according to the embodiment of the invention; Figure 4 the structural schematic diagram of the holding mechanism in the second lifting device of the sitting - standing transfer robot according to the embodiment of the invention. The sitting - standing transfer robot of the present invention includes:

[0046] A moving device for moving, including a chassis 6 and a plurality of drive wheels 7 and a plurality of universal wheels 4 arranged on the moving chassis 6, so that the drive wheels 7 drive the chassis 6 to move;

[0047] A first lifting device arranged on the moving device, including a parallelogram mechanism 2 composed of a plurality of cross bars and vertical bars, a seat 3 connected to the vertical bar of the parallelogram mechanism 2, and an electric push rod 5 connected to the first cross bar 21 and the second cross bar 22 of the parallelogram mechanism 2, so that the electric push rod 5 pushes the first cross bar 21 and the second cross bar 22 to drive the seat 3 to rise;

[0048] A second lifting device arranged on the upper side of the first lifting device 9, including a lifting mechanism provided with a ball screw 91 and a slide rail 92 and a holding mechanism 1 provided with a sliding block 12. The ball screw 91 is connected to a motor 93 to rotate the ball screw 91. The sliding block 12 is provided with a threaded hole matching the ball screw 91 and a mating rail matching the slide rail 92, so that the lifting mechanism 9 drives the holding mechanism 1 to rise or fall;

[0049] A force detection device is provided on the seat 3 for detecting the force value of the seat 3;

[0050] A control device is provided on the mobile device and is connected to the motor 93 and the electric push rod 5. It includes a data analysis unit and a control unit. The data analysis unit is used to obtain in real time the force value detected by the force detection device, construct a force change curve based on the force value, and determine the force state of the seat 3 based on the average slope and change amplitude of each curve segment of the force change curve;

[0051] The control unit is used to obtain the operating states of the motor 93 and the electric push rod 5. When the motor 93 and the electric push rod 5 are in the operating state, it adjusts the rotation speed of the motor 93 and the pushing speed of the electric push rod 5 based on the force state of the seat 3 determined by the data analysis unit;

[0052] And when the motor 93 and the electric push rod 5 are in the non-operating state, it determines whether to start the motor 93 to rotate to lower the height of the holding mechanism 1 and whether to start the electric push rod 5 to lower the height of the seat 3 based on the force state of the seat 3.

[0053] Specifically, the present invention does not limit the specific structural material and casting method of the chassis 6. The specific structural material can be cast iron, aluminum alloy, stainless steel, etc., and the casting method can be gravity casting, low-pressure casting, high-pressure casting, etc. This is prior art and will not be elaborated.

[0054] Specifically, the seat 3 includes a backrest 32 and a seat part 3 whose one end is hinged to the backrest 32. The other end of the seat part 3 is connected to the vertical rod of the parallelogram mechanism 2. A locking device 33 is also provided at the hinge joint of the backrest 32 and the seat part 3 to lock the backrest 32 and the seat part 3 after they are rotated to a preset angle, providing back support for the user.

[0055] Specifically, the backrest 32 can be in any angular state between being fully folded and fully opened with the seat 3. The full fold means the included angle between the backrest and the seat part 3 is 0°, and the full open means the included angle between the backrest and the seat part 3 is 180°.

[0056] Specifically, the holding mechanism 1 includes a sliding block 12, a connecting rod whose one end is connected to the sliding block 12, and a support handle 11 provided at the other end of the connecting rod. The support handle 11 includes a bent rod 15 with a hollow part, and two fixed rod groups 14 perpendicular to the horizontal plane are also provided on the bent rod 15 to fix the user's shoulder part and prevent the user from falling off the robot.

[0057] Specifically, the parallelogram mechanism 2 includes a first cross bar 21, a second cross bar 22, a third cross bar 23, and a fourth cross bar 24 that are arranged in parallel, a first vertical bar 25 hinged to the ends of the first cross bar 21 and the third cross bar 23, and a second vertical bar 26 hinged to the ends of the second cross bar 22 and the fourth cross bar 24. One ends of the first cross bar 21, the second cross bar 22, the third cross bar 23, and the fourth cross bar 24 are all hinged to the fixed column 8.

[0058] Specifically, the lifting mechanism 9 includes a supporting plate arranged on the fixed column 8, a motor 93, a ball screw 91, and a slide rail 92 arranged on the supporting plate. The motor 93 is connected to the ball screw 91 so that the motor 93 drives the ball screw 91 to rotate. The supporting plate needs to form a preset angle with the horizontal plane.

[0059] Those skilled in the art should understand that when setting the preset angle, it needs to be greater than 45°, so that the lifting mechanism 9 can lift the height of the holding and supporting mechanism 1.

[0060] Specifically, the present invention does not limit the specific structure of the force detection device. The force detection device can be a single-point weighing sensor, a bellows weighing sensor, a shear beam weighing sensor, a double shear beam weighing sensor, etc., which will not be elaborated here.

[0061] Specifically, the present invention does not limit the specific structure of the control device. The control device can be composed of logic components. The logic components can be field programmable components, computers, and microprocessors in the computers, etc., which will not be elaborated here.

[0062] Specifically, the data analysis unit constructs a force change curve based on the force value. Among them, the data analysis unit constructs a rectangular coordinate system with time as the x-axis and the force value as the y-axis, and constructs a force change curve in the rectangular coordinate system.

[0063] Specifically, the force state of the seat 3 is determined based on the average slope and the change amplitude of each curve segment of the force change curve. Among them, the data analysis unit compares the average slope of the curve segment generated within a unit time with a preset slope comparison threshold, and compares the change amplitude of the curve segment with a preset change amplitude comparison threshold.

[0064] In the first comparison result, the data analysis unit determines that the seat 3 is in a sudden force state.

[0065] In the second comparison result, the data analysis unit determines that the seat 3 is in a stable force state.

[0066] The first comparison result is that the absolute value of the average slope of the curve segment is greater than a preset slope comparison threshold, and the change amplitude of the curve segment is greater than a preset change amplitude comparison threshold. The second comparison result is that the absolute value of the average slope of the curve segment is less than or equal to the preset slope comparison threshold and / or the change amplitude of the curve segment is less than or equal to the preset change amplitude comparison threshold.

[0067] Specifically, the change amplitude is the difference between the maximum force value and the minimum force value of the seat within the curve segment.

[0068] Specifically, in this embodiment, the slope comparison threshold is obtained by pre-determination. Among them, after taking protective measures in the experimental environment, the average slope of the force change curve during the process of the user falling while sitting on the seat is measured multiple times, and the average slope is determined as the slope comparison threshold.

[0069] Specifically, in this embodiment, the change amplitude comparison threshold is obtained by pre-determination. Among them, after taking protective measures in the experimental environment, the average value of the change amplitude of the force change curve during the process of the user shaking while sitting on the seat is measured multiple times, and the average value of the change amplitude is determined as the change amplitude comparison threshold.

[0070] Specifically, the present invention determines the force state of the seat 3 through the average slope and the change amplitude of each curve segment of the force change curve. In actual situations, the force value of the seat 3 is convenient to monitor and can be continuously monitored. The present invention constructs a force change curve. The average slope of the curve segment within a unit time in the force change curve represents the mutation speed of the force on the seat 3, and the change amplitude of the curve segment represents the change amount of the force. When both the mutation speed and the change amount are higher than the preset values, it is determined that the seat 3 is in a state of sudden force, thereby characterizing whether the user has actions such as unstable center of gravity or tipping. The above process can be automatically calculated through processing, enabling automatic adjustment and control, improving the safety of robot use and ensuring the efficiency of robot use.

[0071] Specifically, when the motor 93 and the electric push rod 5 are in an operating state, the control unit adjusts the rotation speed of the motor 93 and the pushing speed of the electric push rod 5 according to the force state of the seat 3 determined by the data analysis unit. Among them, when the data analysis unit determines that the seat 3 is in a state of sudden force, the control unit controls the rotation speed of the motor 93 to be the first rotation speed and controls the pushing speed of the electric push rod 5 to be the first pushing speed;

[0072] When the data analysis unit determines that the seat 3 is in a state of stable force, the control unit controls the rotation speed of the motor 93 to be the second rotation speed and controls the pushing speed of the electric push rod 5 to be the second pushing speed;

[0073] The first rotation speed is less than the second rotation speed, and the first pushing speed is less than the second pushing speed.

[0074] Those skilled in the art should understand that the purpose of determining the first rotation speed and the second rotation speed is to adjust the rising speed of the supporting mechanism. In this embodiment, the rising speed of the supporting mechanism should be controlled within the speed range [2, 5], and the unit of the speed range is cm / s. Those skilled in the art can correspondingly set the first rotation speed and the second rotation speed so that the rising speed of the supporting mechanism meets the speed range, and to avoid too large a difference in rotation speeds while ensuring distinguishability, the ratio of the second rotation speed to the first rotation speed should be greater than 1.3.

[0075] Similarly, the purpose of determining the first pushing speed and the second pushing speed is to control the rising speed of the seat. In this embodiment, the rising speed of the seat should be controlled within the speed range [2, 5], and the unit of the speed range is cm / s. Those skilled in the art can correspondingly set the first pushing speed and the second pushing speed so that the rising speed of the supporting mechanism meets the speed range, and to avoid too large a difference in pushing speeds while ensuring distinguishability, the ratio of the second pushing speed to the first pushing speed should be greater than 1.3.

[0076] Specifically, the control unit of the present invention adjusts the rotation speed of the motor 93 and the pushing speed of the electric push rod 5 according to the force state of the seat 3. In actual situations, for users with limited mobility, there are risks such as center of gravity shift and tipping during the lifting process of the seat 3 and the supporting mechanism 1. Therefore, the present invention obtains the force state of the seat 3 to characterize whether the user has tipping actions, etc. When the seat 3 is in a sudden force state, the rotation speed of the motor 93 and the pushing speed of the electric push rod 5 are automatically adjusted, thereby reducing the lifting speed of the seat 3 and the supporting mechanism 1, facilitating the user to stabilize the center, avoiding the risk of the user tipping due to too fast a lifting speed, and improving the safety of the robot during use and ensuring the efficiency of the robot during use.

[0077] Specifically, when the motor 93 and the electric push rod 5 are in a non-operating state, the control unit determines whether to start the motor 93 to rotate to lower the height of the supporting mechanism 1 and whether to start the electric push rod 5 to lower the height of the seat 3 according to the force state of the seat 3 determined by the data analysis unit, where

[0078] When the data analysis unit determines that the seat 3 is in a sudden force state, the control unit controls the motor 93 to start, and the rotation speed of the motor 93 is the second rotation speed. The control unit controls the electric push rod 5 to start, and the pushing speed of the electric push rod 5 is the second pushing speed. The motor 93 and the electric push rod 5 realize the conversion from the non-operating state to the operating state;

[0079] Specifically, the control unit of the present invention determines whether to start the rotation of the motor 93 to lower the height of the holding mechanism 1 and whether to start the electric push rod 5 to lower the height of the seat 3 according to the force state of the seat 3. In actual situations, for users with limited mobility, when standing, it is easy to have insufficient shoulder or leg support, resulting in loss of standing stability. Therefore, the present invention obtains the force state of the seat 3 to characterize whether the user can maintain a standing state. When the seat 3 is in a sudden force state, the motor 93 is started to rotate to lower the height of the holding mechanism 1 and the electric push rod 5 is started to lower the height of the seat 3, so that the user can be transferred from a standing state to a sitting state, avoiding the risk of the user falling when unable to maintain a standing state, improving the safety of the robot use and ensuring the efficiency of the robot use.

[0080] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A sit-to-stand transfer robot, characterized in that, Including: A mobile device for moving, comprising a chassis, a plurality of drive wheels and a plurality of universal wheels arranged on the mobile chassis, so that the drive wheels drive the chassis to move; A first lifting device arranged on the mobile device, comprising a parallelogram mechanism composed of a plurality of cross bars and vertical bars, a seat connected to the vertical bar of the parallelogram mechanism, and an electric push rod connected to the first cross bar and the second cross bar of the parallelogram mechanism, so that the electric push rod pushes the first cross bar and the second cross bar to drive the seat to rise; A second lifting device arranged on the upper side of the first lifting device, comprising a lifting mechanism provided with a ball screw and a slide rail and a holding mechanism provided with a sliding block. The ball screw is connected to a motor to make the ball screw rotate. The sliding block is provided with a screw hole matched with the ball screw and a mating rail matched with the slide rail, so that the lifting mechanism drives the holding mechanism to rise or fall; A force detection device arranged on the seat for detecting the force value of the seat; A control device arranged on the mobile device, connected to the motor and the electric push rod, comprising a data analysis unit and a control unit. The data analysis unit is used to obtain in real time the force value detected by the force detection device, construct a force change curve based on the force value, and determine the force state of the seat based on the average slope and change amplitude of each curve segment of the force change curve; The control unit is used to obtain the operating states of the motor and the electric push rod. When the motor and the electric push rod are in the operating state, adjust the rotation speed of the motor and the pushing speed of the electric push rod based on the force state of the seat determined by the data analysis unit; And when the motor and the electric push rod are in the non-operating state, determine whether to start the motor to rotate to lower the height of the holding mechanism and whether to start the electric push rod to lower the height of the seat based on the force state of the seat; When the motor and the electric push rod are in the operating state, the control unit adjusts the rotation speed of the motor and the pushing speed of the electric push rod according to the force state of the seat determined by the data analysis unit, wherein, When the data analysis unit determines that the seat is in a sudden force state, the control unit controls the rotation speed of the motor to be the first rotation speed and the pushing speed of the electric push rod to be the first pushing speed; When the data analysis unit determines that the seat is in a stable force state, the control unit controls the rotation speed of the motor to be the second rotation speed and the pushing speed of the electric push rod to be the second pushing speed; The first rotation speed is less than the second rotation speed, and the first pushing speed is less than the second pushing speed.

2. The sit-to-stand transfer robot according to claim 1, characterized in that, The seat includes a backrest and a seat part hinged to one end of the backrest. The other end of the seat part is connected to the vertical bar of the parallelogram mechanism. A locking device is also arranged at the hinge joint of the backrest and the seat part to lock the backrest and the seat part after they are rotated to a preset angle.

3. The sit-to-stand transfer robot according to claim 2, wherein, The backrest can be maintained at any angular state between full folding and full opening with the seat. Full folding means the angle between the backrest and the seat part is 0°, and full opening means the angle between the backrest and the seat part is 180°.

4. The sit-to-stand transfer robot according to claim 1, wherein The holding mechanism includes a sliding block, a connecting rod connected to one end of the sliding block, and a support handle provided at the other end of the connecting rod. The support handle includes a curved rod with a hollow part, and two sets of fixing rods perpendicular to the horizontal plane are also provided on the curved rod to fix the shoulders of the user.

5. The sit-to-stand transfer robot according to claim 1, wherein, The parallelogram mechanism includes a first cross bar, a second cross bar, a third cross bar, a fourth cross bar arranged in parallel, a first vertical bar hinged to the ends of the first cross bar and the third cross bar, and a second vertical bar hinged to the ends of the second cross bar and the fourth cross bar. One ends of the first cross bar, the second cross bar, the third cross bar, and the fourth cross bar are all hinged to a fixed column.

6. The sit-to-stand transfer robot according to claim 5, characterized in that, The lifting mechanism includes a supporting plate provided on the fixed column, a motor, a ball screw, and a slide rail provided on the supporting plate. The motor is connected to the ball screw to drive the ball screw to rotate. The supporting plate needs to bear a preset angle with the horizontal plane. Among them, when setting the preset angle, it needs to be greater than 45°.

7. The sit-to-stand transfer robot according to claim 1, characterized in that, The data analysis unit constructs a force change curve based on the force value. Among them, the data analysis unit constructs a rectangular coordinate system with time as the x-axis and the force value as the y-axis, and constructs a force change curve in the rectangular coordinate system.

8. The sit-to-stand transfer robot according to claim 7, wherein, Judge the force state of the seat based on the average slope and change amplitude of each curve segment of the force change curve. Among them, The data analysis unit compares the average slope of the curve segment generated within a unit time with a preset slope comparison threshold, and also compares the change amplitude of the curve segment with a preset change amplitude comparison threshold. Under the first comparison result, the data analysis unit determines that the seat is in a sudden force state. Under the second comparison result, the data analysis unit determines that the seat is in a stable force state. The first comparison result is that the absolute value of the average slope of the curve segment is greater than the preset slope comparison threshold and the change amplitude of the curve segment is greater than the preset change amplitude comparison threshold. The second comparison result is that the absolute value of the average slope of the curve segment is less than or equal to the preset slope comparison threshold or / and the change amplitude of the curve segment is less than or equal to the preset change amplitude comparison threshold.

9. The sit-to-stand transfer robot according to claim 1, wherein When the motor and the electric push rod are in a non-operating state, the control unit determines whether to start the motor to rotate to lower the height of the holding mechanism and whether to start the electric push rod to lower the height of the seat according to the force state of the seat determined by the data analysis unit. Among them, when the data analysis unit determines that the seat is in a sudden force state, the control unit controls the motor and the electric push rod to start, and the rotation speed of the motor is the second rotation speed, and the pushing speed of the electric push rod is the second pushing speed, so that the motor and the electric push rod realize the conversion from the non-operating state to the operating state.

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