Single power source posture transformation rehabilitation robot

Abstract

The application discloses a single-power-source posture conversion rehabilitation robot, which comprises a base, a back lifting device, an auxiliary standing device, a transmission device and a moving device; the moving device is used for moving; the back lifting device comprises a back support plate, a back support plate frame, a stand column, a shaft support, a seat plate, a seat plate frame, a calf support plate, a calf support plate frame, a frame connecting rod and a foot support plate; the auxiliary standing device comprises a handrail, a transmission shaft I, a standing seat plate, an electric push rod, a standing seat plate front rocker, a standing seat plate rear rocker, a transmission shaft II, a handrail front rocker and a handrail rear rocker; the transmission device comprises an incomplete gear, a swing rod, a cam shaft, a cam, a cam shaft support, a cam push rod, a guide rail support, a cam roller, a guide rail sliding block, a linear guide rail, a sliding block connecting rod and a cam shaft gear. The application only uses one original driving member, and can realize sequential conversion of three postures of a lying posture, a sitting posture and a standing posture, and reduces the complexity of control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation robots, in particular to a single power source posture transformation rehabilitation robot. BACKGROUND

[0002] In the aging population, the number of old people who lose part of self-care ability is increasing, and the semi-incompetent personnel cannot sit, lie and stand alone. For this reason, people have developed various rehabilitation equipment to assist the activities of semi-incompetent personnel. At present, the equipment that can help semi-incompetent personnel to realize posture transformation is mainly nursing bed and wheelchair. However, the posture transformation that these devices can realize is limited, and they can only realize the transformation of one or two postures, which is slightly insufficient in rehabilitation treatment, and the power elements used are more, generally at least two. Therefore, designing a robot that can realize the transformation of standing, sitting and lying postures and using only one original element can better help semi-incompetent personnel to carry out rehabilitation training. SUMMARY

[0003] In view of the deficiencies of the prior art, the technical problem to be solved by the present application is to provide a single power source posture transformation rehabilitation robot.

[0004] The technical solution for solving the technical problem of the present application is to provide a single power source posture transformation rehabilitation robot, characterized in that the robot comprises a base, a back lifting device, an auxiliary standing device, a transmission device and a moving device; the moving device is used for moving;

[0005] The back lifting device comprises a back support plate, a back support plate frame, a stand, an axle support, a seat plate, a seat plate frame, a calf support plate, a calf support plate frame, a frame connecting rod and a foot support plate;

[0006] Two seat plate frames are fixed symmetrically on both sides of the base through the stand; the two ends of the two axle supports are fixed between the respective stands; the two sides of the seat plate are fixed on the two seat plate frames respectively; the middle part of the seat plate is provided with a groove for placing and passing the standing seat plate of the auxiliary standing device; the upper end of each of the two seat plate frames is hinged to the middle part of the back support plate frame, and the lower end is hinged to one end of the respective calf support plate frame; the two sides of the calf support plate are fixed on the two calf support plate frames respectively; the foot support plate is fixed on the calf support plate; one end of each of the two frame connecting rods is hinged to the middle part of the respective calf support plate frame, and the other end is hinged to the back support plate frame; the back support plate is fixed on the back support plate frame;

[0007] The auxiliary standing device comprises a handrail, a transmission shaft I, a standing seat plate, an electric push rod, a standing seat plate front rocker, a standing seat plate rear rocker, a transmission shaft II, a handrail front rocker and a handrail rear rocker;

[0008] One end of the standing seat front rocker is hinged to the base through transmission shaft two, the middle part of transmission shaft two is fixedly connected with the end of the standing seat front rocker; the other end of the standing seat front rocker is hinged to the front end of the bottom of the standing seat; one end of the standing seat rear rocker is hinged to the base, and the other end is hinged to the rear end of the bottom of the standing seat; the shell of the electric push rod is hinged to the base, and the output end is hinged to the middle part of the standing seat rear rocker; one end of the two armrest front rockers is hinged to the base through transmission shaft two, and the two ends of transmission shaft two are fixedly connected with the end of the two armrest front rockers; the armrest front rocker and the standing seat front rocker are drivingly connected through transmission shaft two; the other end of the two armrest front rockers is respectively hinged to the front end of the bottom of the respective armrest; one end of the two armrest rear rockers is hinged to the base through transmission shaft one, and the one end of the two transmission shafts one is respectively fixedly connected with the end of the respective armrest rear rocker; the other end of the two armrest rear rockers is respectively hinged to the rear end of the bottom of the respective armrest;

[0009] The transmission device comprises an incomplete gear, a swing rod, a cam shaft, a cam, a cam shaft support, a cam push rod, a guide rail support, a cam roller, a guide rail slider, a linear guide rail, a slider connecting rod and a cam shaft gear;

[0010] The other end of the two incomplete gears is fixed to the respective transmission shaft one; the two guide rail supports are fixed to the base; the two cam shaft supports are fixed to the respective guide rail supports and the base; one end of the two gear transmission mechanisms is rotatably installed on the respective shaft support, and the other end is rotatably installed on the respective guide rail support; one cam shaft gear and one cam are fixedly installed on the two cam shafts, and one end is rotatably installed on the respective shaft support, and the other end is rotatably installed on the respective cam shaft support; the two incomplete gears are respectively drivingly connected with the respective cam shaft gears through the respective gear transmission mechanisms; a track groove is formed in each cam; the two cam rollers are slidingly installed in the respective track grooves; the distance between each point in the movement track of the cam roller in the track groove and the rotation center of the cam is different;

[0011] The two guide rail supports are respectively fixed with a linear guide rail; the two guide rail sliders are slidingly installed in the respective linear guide rails; one end of each guide rail slider is fixedly connected with one end of the slider connecting rod, and the other end is fixedly connected with one end of the cam push rod; one end of each swing rod is hinged to the calf support plate, and the other end is hinged to the other end of the respective slider connecting rod; the other end of each cam push rod is fixedly connected with the respective cam roller.

[0012] Compared with the prior art, the beneficial effects of the present application are that:

[0013] (1) The present application only uses one prime mover to realize the sequential transformation of three postures of lying, sitting and standing, and reduces the complexity of control. The power of the power source is transmitted to the back-raising device through the transmission device to realize the posture transformation of single power source.

[0014] (2) The present application transfers the power of a single prime mover into two parts through two parallelogram mechanisms, controls the movement of different parts respectively, and applies multiple mechanisms to a transmission chain to complete the movement together.

[0015] (3) The present application uses the intermittent movement of the incomplete gear to make the incomplete gear disengage during the standing process, so that the back-raising device cannot obtain power from the power source; when changing from sitting to lying, the incomplete gear enters engagement, and the back-raising device obtains power from the power source.

[0016] (4) The present application uses the gear transmission mechanism to transmit the power of the incomplete gear, realizes long-distance transmission movement, and can also expand the rotation angle of the incomplete gear, so that the cam can rotate through a larger angle to prevent the profile curve of the cam from being too steep.

[0017] (5) The present application controls the rotation of the cam through the incomplete gear, and the reciprocating linear motion of the cam push rod is the linear motion of the slider in the slider-crank mechanism, which is used to control the movement of the back-raising device.

[0018] (6) The present application can make the back and lower leg of the human body move simultaneously and remain horizontal through the parallelogram mechanism, so that the transformation from sitting to lying is easier.

[0019] (7) The present application realizes the support of the human hip and armpit during the transformation from sitting to standing. During this process, the standing seat plate lifts the hips, and the handrails on both sides rise and fall with the standing seat plate, assisting the standing of the person. Since the standing seat plate and the handrails use the same prime mover, the motion is synchronous, and there is no motion error to injure the human body. The reasonable height difference between the handrails and the standing seat plate provides force support for the standing of the person, and the user can always distribute the gravity to the handrails and the standing seat plate, increasing the safety.

[0020] (8) The present application uses the parallelogram mechanism to make the handrails and the standing seat plate move forward and backward with the change of the user's posture during the standing process, which conforms to the human standing movement. Moreover, due to the existence of the parallelogram mechanism, the standing seat plate can remain in a horizontal state without additional prime mover. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the overall structure schematic diagram when the present application is in sitting posture.

[0022] Figure 2The overall structure schematic diagram of the invention in the transition between sitting and standing positions;

[0023] Figure 3 The overall structure schematic diagram of the invention in the standing position;

[0024] Figure 4 The overall structure schematic diagram of the invention in the transition between sitting and lying positions;

[0025] Figure 5 The overall structure schematic diagram of the invention in the lying position;

[0026] Figure 6 The installation schematic diagram of the front baffle, the box body and the rear baffle of the invention;

[0027] Figure 7 The bottom view perspective diagram of the backrest device of the invention;

[0028] Figure 8 The partial perspective diagram of the backrest device of the invention;

[0029] Figure 9 The perspective diagram of the auxiliary standing device of the invention;

[0030] Figure 10 The installation schematic diagram of the transmission device of the invention;

[0031] Figure 11 The installation schematic diagram of the gear transmission mechanism of the invention;

[0032] Figure 12 The structure schematic diagram of the cam of the invention.

[0033] In the figure, the base 1, the backrest device 2, the auxiliary standing device 3, the transmission device 4, the moving device 5, the front baffle 6, the box body 7, the rear baffle 8;

[0034] The back support plate 2-1, the back support plate frame 2-2, the support rod 2-3, the stand column 2-4, the stand column connecting rod 2-5, the shaft support 2-6, the seat plate 2-7, the seat plate frame 2-8, the calf support plate 2-9, the calf support plate frame 2-10, the frame connecting rod 2-11, the foot support plate 2-12;

[0035] The handrail 3-1, the transmission shaft one 3-2, the standing seat plate 3-3, the electric push rod 3-4, the standing seat plate front rocker 3-5, the standing seat plate rear rocker 3-6, the transmission shaft two 3-7, the handrail front rocker 3-8, the handrail rear rocker 3-9;

[0036] Incomplete gear 4-1, swing bar 4-2, transmission shaft three 4-3, transmission shaft four 4-4, gear wheel 4-5, transmission shaft five 4-6, pinion 4-7, camshaft 4-8, cam 4-9, camshaft support 4-10, cam push rod 4-11, guide rail support 4-12, cam roller 4-13, guide rail slider 4-14, linear guide rail 4-15, slider link 4-16, camshaft gear 4-17, track slot 4-18. DETAILED DESCRIPTION

[0037] The specific embodiments of the present application are given below. The specific embodiments are only used to further illustrate the present application, and do not limit the protection scope of the claims of the present application.

[0038] The present application provides a single power source posture conversion rehabilitation robot (referred to as robot), characterized in that the robot comprises a base 1, a back lifting device 2, an auxiliary standing device 3, a transmission device 4 and a moving device 5; the moving device 5 is installed below the base 1 and is used for moving;

[0039] The back lifting device 2 comprises a back support plate 2-1, a back support plate frame 2-2, a stand column 2-4, an axle support 2-6, a seat plate 2-7, a seat plate frame 2-8, a calf support plate 2-9, a calf support plate frame 2-10, a frame connecting rod 2-11 and a foot support plate 2-12;

[0040] Two seat plate frames 2-8 are symmetrically fixed to the two sides of the base 1 through the stand column 2-4; the two ends of the two axle supports 2-6 are respectively fixed between the respective stand columns 2-4; the two sides of the seat plate 2-7 are respectively fixed on the two seat plate frames 2-8; the middle part of the seat plate 2-7 is provided with a groove for placing and passing the standing seat plate 3-3 of the auxiliary standing device 3; the upper ends of the two seat plate frames 2-8 are hingedly connected with the middle part of the back support plate frame 2-2, and the lower ends are respectively hingedly connected with one end of the respective calf support plate frame 2-10; the two sides of the calf support plate 2-9 are respectively fixed on the two calf support plate frames 2-10; the foot support plate 2-12 is fixed on the calf support plate 2-9; one end of the two frame connecting rods 2-11 is respectively hingedly connected with the middle part of the respective calf support plate frame 2-10, and the other end is hingedly connected with one end of the back support plate frame 2-2; the back support plate 2-1 is fixed on the back support plate frame 2-2; the back support plate frame 2-2, the seat plate frame 2-8, the calf support plate frame 2-10 and the frame connecting rod 2-11 constitute a parallelogram mechanism, wherein the seat plate frame 2-8 is fixed, the frame connecting rod 2-11 is always parallel to the seat plate frame 2-8, and the back support plate frame 2-2 and the calf support plate frame 2-10 respectively constitute two swing rods of the parallelogram mechanism;

[0041] The auxiliary standing device 3 comprises a handrail 3-1, a transmission shaft 1 3-2, a standing seat plate 3-3, an electric push rod 3-4, a standing seat plate front rocker 3-5, a standing seat plate rear rocker 3-6, a transmission shaft 2 3-7, a handrail front rocker 3-8 and a handrail rear rocker 3-9;

[0042] One end of the standing seat plate front rocker 3-5 is hinged to the base 1 through the transmission shaft 2 3-7 and a hinge seat, and the middle part of the transmission shaft 2 3-7 is fixedly connected to the end of the standing seat plate front rocker 3-5; the other end of the standing seat plate front rocker 3-5 is hinged to the front end of the bottom of the standing seat plate 3-3; one end of the standing seat plate rear rocker 3-6 is hinged to the base 1 through a hinge seat, and the other end is hinged to the rear end of the bottom of the standing seat plate 3-3; the standing seat plate front rocker 3-5, the standing seat plate rear rocker 3-6, the base 1 and the standing seat plate 3-3 form a parallelogram mechanism; the housing of the electric push rod 3-4 is hinged to the base 1, and the output end is hinged to the middle part of the standing seat plate rear rocker 3-6;

[0043] One end of each of the two handrail front rockers 3-8 is hinged to the base 1 through the transmission shaft 2 3-7 and a hinge seat, and the two ends of the transmission shaft 2 3-7 are fixedly connected to the ends of the two handrail front rockers 3-8, respectively, in an interference fit; the handrail front rocker 3-8 is in transmission connection with the standing seat plate front rocker 3-5 through the transmission shaft 2 3-7 (the transmission shaft 2 3-7 is in clearance fit with the hinge seat and can rotate in the hinge seat); the other end of each of the two handrail front rockers 3-8 is hinged to the front end of the bottom of the respective handrail 3-1; one end of each of the two handrail rear rockers 3-9 is hinged to the base 1 through the transmission shaft 1 3-2 and a hinge seat, and one end of each of the two transmission shafts 1 3-2 is fixedly connected to the end of the respective handrail rear rocker 3-9 in an interference fit (the transmission shaft 1 3-2 is in clearance fit with the hinge seat and can rotate in the hinge seat); the other end of each of the two handrail rear rockers 3-9 is hinged to the rear end of the bottom of the respective handrail 3-1; the handrail front rocker 3-8, the handrail rear rocker 3-9, the base 1 and the handrail 3-1 form a parallelogram mechanism;

[0044] The transmission device 4 comprises an incomplete gear 4-1, a swing rod 4-2, a camshaft 4-8, a cam 4-9, a camshaft support 4-10, a cam push rod 4-11, a guide rail support 4-12, a cam roller 4-13, a guide rail slider 4-14, a linear guide rail 4-15, a slider connecting rod 4-16 and a camshaft gear 4-17;

[0045] Two incomplete gears 4-1 are fixed on the other end of the respective transmission shaft 3-2; two guide rail supports 4-12 are fixed on the base 1; two cam shaft supports 4-10 are fixed on the respective guide rail supports 4-12 and are fixed on the base 1; one end of the two gear transmission mechanisms is rotatably installed on the respective shaft support 2-6, and the other end is rotatably installed on the respective guide rail support 4-12; a cam shaft gear 4-17 and a cam 4-9 are fixedly installed on the two cam shafts 4-8, and one end is rotatably installed on the respective shaft support 2-6, and the other end is rotatably installed on the respective cam shaft support 4-10; the two incomplete gears 4-1 are respectively connected in transmission with the respective cam shaft gears 4-17 through the respective gear transmission mechanisms; a track groove 4-18 is formed in each cam 4-9; two cam rollers 4-13 are slidably installed in the respective track grooves 4-18; the distance between each point in the movement track of the cam roller 4-13 in the track groove 4-18 and the center of rotation of the cam 4-9 is different; when the cam 4-9 rotates, the cam roller 4-13 moves from the position closest to the center of rotation to the position farthest from the center of rotation, completing the switching from the sitting position to the lying position; the cam roller 4-13 moves from the position farthest from the center of rotation to the position closest to the center of rotation, completing the switching from the lying position to the sitting position.

[0046] The two guide rail supports 4-12 are each fixed with a linear guide rail 4-15; two guide rail sliders 4-14 are slidably installed in the respective linear guide rails 4-15; one end of each guide rail slider 4-14 is fixedly connected with one end of a slider connecting rod 4-16, and the other end is fixedly connected with one end of a cam push rod 4-11; one end of each of the two swing rods 4-2 is hingedly connected with a calf support plate 2-9, and the other end is hingedly connected with the other end of the respective slider connecting rod 4-16; the other end of each of the two cam push rods 4-11 is fixedly connected with the respective cam roller 4-13; the calf support plate 2-9, the swing rod 4-2, the slider connecting rod 4-16, and the guide rail slider 4-14 form a crank slider mechanism.

[0047] Preferably, the back lifting device 2 further comprises a column connecting rod 2-5; the same side columns 2-4 are fixedly connected through the column connecting rod 2-5, for strengthening the structural strength.

[0048] Preferably, the back lifting device 2 further comprises a support rod 2-3; the support rod 2-3 is arranged in the middle of the back support plate frame 2-2, for increasing the structural strength.

[0049] Preferably, the gear transmission mechanism comprises a transmission shaft three 4-3, a transmission shaft four 4-4, a large gear 4-5, a transmission shaft five 4-6, and a small gear 4-7.

[0050] Two large gears 4-5 are fixedly mounted on each of the two drive shafts 4-4, with one end of each gear rotatably mounted on its respective shaft support 2-6 and the other end rotatably mounted on its respective guide rail support 4-12; two large gears 4-5 and small gears 4-7 are fixedly mounted on each of the two drive shafts 4-3, with one end of each gear rotatably mounted on its respective shaft support 2-6 and the other end rotatably mounted on its respective guide rail support 4-12; two large gears 4-5 and small gears 4-7 are fixedly mounted on each of the two drive shafts 4-6, with one end of each gear rotatably mounted on its respective shaft support 2-6 and the other end rotatably mounted on its respective guide rail support 4-12.

[0051] A large gear 4-5 on drive shaft 4-4 meshes with an incomplete gear 4-1, and another large gear 4-5 meshes with a small gear 4-7 on drive shaft 3-3; the large gear 4-5 on drive shaft 3-3 meshes with a small gear 4-7 on drive shaft 5-6; the large gear 4-5 on drive shaft 5-6 meshes with a camshaft gear 4-17, thereby transmitting power from the incomplete gear 4-1 to the cam 4-9, which is further away in space. At the same time, through a suitable transmission ratio, the small rotation of the incomplete gear 4-1 is amplified, allowing the cam 4-9 to rotate through a larger angle, preventing the profile curve of the cam 4-9 from being too steep.

[0052] Preferably, the cams 4-9 are geometrically closed direct-acting roller disc cams.

[0053] Preferably, the moving device 5 uses casters.

[0054] Preferably, the robot also includes a front baffle 6, a housing 7, and a rear baffle 8; the front baffle 6 is provided at the front of the base 1, the housing 7 is provided on both sides, and the rear baffle 8 is provided at the rear, thereby enclosing the base 1 and encapsulating the components installed on the base 1, which is aesthetically pleasing and prevents exposed components from injuring the human body.

[0055] The working principle and workflow of this invention are as follows:

[0056] When in a sitting position (such as Figure 1 As shown, the user sits on the seat 2-7 and standing seat 3-3, with the leg support plate 2-9 and back support plate 2-1 in a vertical and parallel position. The user's lower legs are placed in front of the leg support plate 2-9, and their back is resting on the back support plate 2-1. The auxiliary standing device 3 has not yet reached its lowest height, and the seat 2-7 and standing seat 3-3 are on the same horizontal plane. The armrest 3-1 is placed under the user's armpits. At this time, the incomplete gear 4-1 disengages from its meshing gear transmission mechanism.

[0057] When the user switches from sitting to standing, the electric push rod 3-4 extends and pushes the standing seat plate rear rocker 3-6 to lift up, during which the body center of gravity is transferred from the seat plate 2-7 to the standing seat plate 3-3. At the same time, the power of the standing seat plate rear rocker 3-6 is transmitted to the standing seat plate front rocker 3-5, the transmission shaft two 3-7, the handrail front rocker 3-8 and the handrail rear rocker 3-9 in turn. Therefore, when the standing seat plate rear rocker 3-6 and the standing seat plate front rocker 3-5 lift the standing seat plate 3-3, the handrail 3-1 is also lifted by the handrail front rocker 3-8 and the handrail rear rocker 3-9, and the movements of the handrail 3-1 and the standing seat plate 3-3 are both diagonal upward movements, and the surfaces of the standing seat plate 3-3 and the handrail 3-1 are always parallel to the ground. The standing seat plate 3-3 and the handrail 3-1 are driven by the same original part, so their movements are synchronized and there is no movement error to injure the human body. The handrail rear rocker 3-9 transmits power to the transmission shaft one 3-2 during rotation, driving the incomplete gear 4-1 to rotate. Since the incomplete gear 4-1 is disengaged from the gear transmission mechanism, the back lifting device 2 does not move during this process. Figure 3 As shown, at this time the user stands on the foot support plate 2-12, and the electric push rod 3-4 stops extending.

[0058] When the user switches from standing to sitting, the user sits on the standing seat plate 3-3, the handrail 3-1 supports the armpit to provide the necessary support force, the electric push rod 3-4 retracts, driving the standing seat plate rear rocker 3-6 to rotate in the opposite direction, the standing seat plate 3-3 is lowered in height and moves backward, and at the same time through the transmission of the above movement, the handrail 3-1 is lowered in height and moves backward, and the incomplete gear 4-1 rotates in the opposite direction under the drive of the handrail rear rocker 3-9. During this process, the user's center of gravity slowly lowers until the surface of the standing seat plate 3-3 is at the same level as the seat plate 2-7, and the body center of gravity is transferred from the standing seat plate 3-3 to the seat plate 2-7, and at the same time the electric push rod 3-4 stops retracting.

[0059] When the user switches from a sitting position to a lying position, the electric push rod 3-4 continues to contract, the standing seat plate rear swing rod 3-6 and the armrest rear swing rod 3-9 continue to rotate downward and drive the incomplete gear 4-1 to rotate, the incomplete gear 4-1 is in contact with the gear transmission mechanism and enters the meshing state. The movement of the incomplete gear 4-1 is transmitted to the cam 4-9 which is far away in space through the gear transmission mechanism, and the gear transmission mechanism enlarges the rotation angle of the incomplete gear 4-1 through a suitable transmission ratio, so that the cam 4-9 can rotate at least 180 degrees, avoiding the problem that the cam profile is too steep. In the process of rotating the cam 4-9, the cam roller 4-13 and the cam push rod 4-11 move linearly along the linear guide rail 4-15. In this process, the cam push rod 4-11 moves linearly upward, thereby driving the guide rail slider 4-14 to move linearly upward. The calf support plate 2-9, the swing rod 4-2, the slider connecting rod 4-16 and the guide rail slider 4-14 form a crank slider mechanism. The guide rail slider 4-14 transmits linear motion to the slider connecting rod 4-16, which drives the calf support plate 2-9 to rotate through the swing rod 4-2. The rotation center is at the hinge between the calf support plate frame 2-10 and the seat plate frame 2-8, which drives the back lifting device 2 to move. Until the armrest rear swing rod 3-9 reaches the bottom, the electric push rod 3-4 stops contracting, and the guide rail slider 4-14 reaches the maximum displacement, and is in a lying position as shown in Figure 5

[0060] When the user switches from a lying position to a sitting position, the electric push rod 3-4 is elongated, the standing seat plate rear swing rod 3-6 and the armrest rear swing rod 3-9 are rotated upward and drive the incomplete gear 4-1 to rotate. Since the incomplete gear 4-1 is in meshing state with the large gear 4-5 at this moment, the standing seat plate 3-3 and the armrest 3-1 move upward at the same time, and the incomplete gear 4-1 rotates in the opposite direction, causing the cam 4-9 to rotate in the opposite direction, the guide rail slider 4-14 moves linearly to the obliquely downward, and the calf support plate 2-9 rotates in the opposite direction through the slider connecting rod 4-16, and the back lifting device 2 moves in the opposite direction. When the surface of the standing seat plate 3-3 is at the same horizontal plane as the seat plate 2-7, the electric push rod 3-4 stops elongating, at this time the incomplete gear 4-1 is disengaged from the meshing with the large gear 4-5, and the movement stops.

[0061] If the electric push rod 3-4 continues to elongate, since the incomplete gear 4-1 is disengaged from the meshing with the large gear 4-5, the back lifting device 2 will not change, but the human body will be lifted by the standing seat plate 3-3 and the armrest 3-1, thereby realizing a standing position.

[0062] When switching from a standing position to a lying position, it is necessary to switch from a standing position to a sitting position first, and then switch from a sitting position to a lying position.

[0063] The unmentioned parts of the present application are applicable to the prior art.​

Claims

1. A single power source postural transformation rehabilitation robot, characterized in that, The robot comprises a base (1), a back lifting device (2), an auxiliary standing device (3), a transmission device (4) and a moving device (5); the moving device (5) is used for moving; The back lifting device (2) comprises a back support plate (2-1), a back support plate frame (2-2), a stand column (2-4), an axle support (2-6), a seat plate (2-7), a seat plate frame (2-8), a calf support plate (2-9), a calf support plate frame (2-10), a frame connecting rod (2-11) and a foot support plate (2-12); Two seat plate frames (2-8) are symmetrically fixed to two sides of the base (1) through the stand columns (2-4); two ends of each axle support (2-6) are fixed between the respective stand columns (2-4); two sides of the seat plate (2-7) are fixed on the two seat plate frames (2-8) respectively; a recess is formed in the middle of the seat plate (2-7) for placing and passing the standing seat plate (3-3) of the auxiliary standing device (3); upper ends of the two seat plate frames (2-8) are hingedly connected to the middle of the back support plate frame (2-2), and lower ends are hingedly connected to one end of the respective calf support plate frame (2-10); two sides of the calf support plate (2-9) are fixed on the two calf support plate frames (2-10) respectively; the foot support plate (2-12) is fixed on the calf support plate (2-9); one end of each frame connecting rod (2-11) is hingedly connected to the middle of the respective calf support plate frame (2-10), and the other end is hingedly connected to the back support plate frame (2-2); the back support plate (2-1) is fixed on the back support plate frame (2-2); The auxiliary standing device (3) comprises a handrail (3-1), a transmission shaft I (3-2), a standing seat plate (3-3), an electric push rod (3-4), a standing seat plate front rocker (3-5), a standing seat plate rear rocker (3-6), a transmission shaft II (3-7), a handrail front rocker (3-8) and a handrail rear rocker (3-9); One end of the standing seat front rocker (3-5) is hinged to the base (1) through transmission shaft two (3-7), the middle part of the transmission shaft two (3-7) is fixedly connected with the end of the standing seat front rocker (3-5); the other end of the standing seat front rocker (3-5) is hinged to the front end of the bottom of the standing seat (3-3); one end of the standing seat rear rocker (3-6) is hinged to the base (1), and the other end is hinged to the rear end of the bottom of the standing seat (3-3); the shell of the electric push rod (3-4) is hinged to the base (1), and the output end is hinged to the middle part of the standing seat rear rocker (3-6); one end of the two handrail front rockers (3-8) is hinged to the base (1) through transmission shaft two (3-7), and the two ends of the transmission shaft two (3-7) are fixedly connected with the end of the two handrail front rockers (3-8); the handrail front rocker (3-8) and the standing seat front rocker (3-5) are drivingly connected through the transmission shaft two (3-7); the other end of the two handrail front rockers (3-8) is respectively hinged to the front end of the bottom of the respective handrail (3-1); one end of the two handrail rear rockers (3-9) is hinged to the base (1) through transmission shaft one (3-2), and one end of the two transmission shafts one (3-2) is respectively fixedly connected with the end of the respective handrail rear rocker (3-9); the other end of the two handrail rear rockers (3-9) is respectively hinged to the rear end of the bottom of the respective handrail (3-1); The transmission device (4) comprises an incomplete gear (4-1), a swing rod (4-2), a cam shaft (4-8), a cam (4-9), a cam shaft support (4-10), a cam push rod (4-11), a guide rail support (4-12), a cam roller (4-13), a guide rail slider (4-14), a linear guide rail (4-15), a slider connecting rod (4-16) and a cam shaft gear (4-17); Two incomplete gears (4-1) are fixed to the other end of the respective transmission shaft one (3-2); two guide rail supports (4-12) are fixed to the base (1); two cam shaft supports (4-10) are fixed to the respective guide rail supports (4-12) and the base (1); one end of the two gear transmission mechanisms is rotatably installed on the respective shaft support (2-6), and the other end is rotatably installed on the respective guide rail support (4-12); one cam shaft gear (4-17) and one cam (4-9) are fixedly installed on the two cam shafts (4-8), one end is rotatably installed on the respective shaft support (2-6), and the other end is rotatably installed on the respective cam shaft support (4-10); the two incomplete gears (4-1) are respectively drivingly connected with the respective cam shaft gears (4-17) through the respective gear transmission mechanisms; a track groove (4-18) is formed in each cam (4-9); two cam rollers (4-13) are slidingly installed in the respective track grooves (4-18); the distance between each point in the movement track of the cam roller (4-13) in the track groove (4-18) and the rotation center of the cam (4-9) is different; Two guide rail support pieces (4-12) are fixed with linear guides (4-15); two guide rail sliders (4-14) are slidingly installed in the linear guides (4-15); one end of each guide rail slider (4-14) is fixedly connected with one end of a slider connecting rod (4-16), and the other end is fixedly connected with one end of a cam push rod (4-11); one end of each swing rod (4-2) is hingedly connected with a calf support plate (2-9), and the other end is hingedly connected with the other end of the slider connecting rod (4-16); the other end of each cam push rod (4-11) is fixedly connected with a cam roller (4-13).

2. The single power source postural transmutation rehabilitation robot according to claim 1, characterized in that, The back raising device (2) further comprises a support rod (2-3); the support rod (2-3) is arranged in the middle of the back support plate frame (2-2) to increase the structural strength.

3. The single power source postural transmutation rehabilitation robot according to claim 1, characterized in that, The back raising device (2) further comprises a column connecting rod (2-5); the columns (2-4) on the same side are fixedly connected through the column connecting rod (2-5) to strengthen the structural strength.

4. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The back support plate frame (2-2), the seat plate frame (2-8), the calf support plate frame (2-10) and the frame connecting rod (2-11) constitute a parallelogram mechanism.

5. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The standing seat plate front rocker (3-5), the standing seat plate rear rocker (3-6), the base (1) and the standing seat plate (3-3) constitute a parallelogram mechanism; the handrail front rocker (3-8), the handrail rear rocker (3-9), the base (1) and the handrail (3-1) constitute a parallelogram mechanism.

6. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The calf support plate (2-9), the swing rod (4-2), the slider connecting rod (4-16) and the guide rail slider (4-14) form a crank slider mechanism.

7. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The gear transmission mechanism comprises transmission shaft three (4-3), transmission shaft four (4-4), large gear (4-5), transmission shaft five (4-6) and small gear (4-7); Two transmission shaft four (4-4) are fixedly installed with two large gears (4-5), one end is rotatably installed on the shaft support piece (2-6) respectively, and the other end is rotatably installed on the guide rail support piece (4-12) respectively; two transmission shaft three (4-3) are fixedly installed with large gear (4-5) and small gear (4-7), one end is rotatably installed on the shaft support piece (2-6) respectively, and the other end is rotatably installed on the guide rail support piece (4-12) respectively; two transmission shaft five (4-6) are fixedly installed with large gear (4-5) and small gear (4-7), one end is rotatably installed on the shaft support piece (2-6) respectively, and the other end is rotatably installed on the guide rail support piece (4-12) respectively; One large gear (4-5) on transmission shaft four (4-4) is engaged with incomplete gear (4-1), and the other large gear (4-5) is engaged with small gear (4-7) on transmission shaft three (4-3); the large gear (4-5) on transmission shaft three (4-3) is engaged with small gear (4-7) on transmission shaft five (4-6); the large gear (4-5) on transmission shaft five (4-6) is engaged with cam shaft gear (4-17).

8. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The cam (4-9) adopts geometric closed direct-acting roller disc cam.

9. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The mobile device (5) employs omni-directional wheels.

10. The single-actuation-source postural transmutation rehabilitation robot according to claim 1, characterized in that, The robot further comprises a front apron (6), a box (7) and a rear apron (8); the front apron (6) is arranged at the front of the base (1), the box (7) is arranged at both sides, and the rear apron (8) is arranged at the rear, so as to wrap the periphery of the base (1).

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