Accompanying robot for assisting defecation

Abstract

The invention relates to the technical field of elderly people assisting robots, and discloses an accompanying robot for assisting defecation, which comprises a U-shaped base, tires are rotatably connected to the outer wall of the U-shaped base through bearings, a first moving device is fixedly connected to the top of the U-shaped base, an adjusting mechanism is fixedly connected to the top of the U-shaped base, and the accompanying robot further comprises a moving mechanism, a second moving device and a third adjusting mechanism, the moving mechanism comprises a sliding seat movably connected to the top of the first moving device, and a connecting column is fixedly connected to the top of the sliding seat. By arranging the rotating mechanism, the armpit of a user can be lifted, the user is supported, operation is simple, the moving range of the human body is small, operation of the user is convenient, and the practicability is high. The two protruding parts are arranged at the two ends of the U-shaped plate, so that when the U-shaped plate is located under the armpit of a user, the rear side of the armpit can be supported, the human body is prevented from moving backwards, and normal operation of the equipment supporting user is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of elderly care robot technology, specifically a companion robot for assisting with toileting. Background Technology

[0002] With the continuous development of society and the busy work schedules of young people, the phenomenon of elderly people living alone is becoming increasingly common. As they age, the elderly become increasingly frail and susceptible to illness, making their ability to care for themselves in daily life increasingly prominent. Currently, elderly people who have lost the ability to move their legs often require assistance to move around, and for those who rely on wheelchairs, it may even require a bedpan with a urine drainage device to facilitate bowel movements.

[0003] Patent application CN201720984105.4 discloses a toilet-assisting elderly service robot, which can promptly move an elderly person to the toilet when they need to use it, meeting the toilet needs of elderly people living alone with limited mobility. Its structure includes: a mobile chassis and a body lifting device, the body lifting device being fixedly connected to the mobile chassis; the mobile chassis is equipped with wheels; the body lifting device has the freedom of movement to lift and lower the human body in a sitting position.

[0004] When using the above-mentioned equipment, the user needs to be completely lifted up. This requires a large displacement of the human body during operation, which puts a heavy burden on the user and has a poor auxiliary effect, making it unsuitable for the use of the equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a companion robot for assisting with toileting, in order to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a companion robot for assisting toileting, comprising a U-shaped base, wherein a tire is rotatably connected to the outer wall of the U-shaped base via bearings, a moving device is fixedly connected to the top of the U-shaped base, and an adjusting mechanism is fixedly connected to the top of the U-shaped base, and further comprising: The movable mechanism includes a sliding seat movably connected to the top of a movable device one. A connecting column is fixedly connected to the top of the sliding seat, and a movable device two is fixedly connected to the top of the connecting column. A locking hole two is provided on the outer wall of the movable device two, and a rotating mechanism is movably connected to the outer wall of the movable device two. The movable device two is used to control the up and down movement of the rotating mechanism. Before the rotating mechanism enters the user's armpit, the rotating mechanism is at its lowest position. After the rotating mechanism enters the user's armpit, the movable device two raises the rotating mechanism.

[0007] According to the above technical solution, the adjustment mechanism includes a connecting plate, the bottom of which is fixedly connected to a U-shaped base. A motor is fixedly connected to the outer wall of the connecting plate, and a backrest is fixedly connected to the end of the connecting plate away from the motor. A rotating column is rotatably connected to the end of the connecting plate away from the U-shaped base via a bearing. The output end of the motor is fixedly connected to the rotating column. When it is necessary to open the seat plate at the bottom of the device, the rotating column is rotated by the motor to make the seat plate at the bottom vertical, leaving a position for the user to sit on the toilet.

[0008] According to the above technical solution, a movable plate is movably connected to the inner wall of the rotating column. A locking pin is fixedly connected to the end of the movable plate away from the connecting plate. A locking hole is opened at the end of the movable plate away from the connecting plate. A blocking plate is fixedly connected to the end of the movable plate away from the locking hole. A push rod is fixedly connected to the outer wall of the rotating column. The end of the push rod away from the rotating column is fixedly connected to the movable plate. The locking pin and locking hole at the front end of the movable plate are staggered and aligned with the opposite locking hole and locking pin. When the push rod is pushed, the locking pin is embedded into the locking hole. By setting an adjustment mechanism, after the rotating mechanism supports the human body, the bottom movable plate will be moved away, making it convenient for the user to sit on the toilet while avoiding the adjustment mechanism from affecting the movement of the equipment above the toilet.

[0009] According to the above technical solution, a connecting plate two is movably connected to the inner wall of the sliding seat, and an elastic component is fixedly connected to the inner wall of the sliding seat. The outer wall of the connecting plate two is fixedly connected to the elastic component, and support plates are fixedly connected to both ends of the connecting plate two. Under the connection of the elastic component, the support plate has room for movement and supports the front end of the user's lower leg. By setting a movable mechanism, the U-shaped plate can be moved to the user's armpit by the movement of the movable mechanism, while supporting the front of the user's lower leg. In this way, the equipment is convenient for the user to use for leverage while avoiding movement of the user's lower leg, ensuring the normal operation of the equipment.

[0010] According to the above technical solution, the rotating mechanism includes a slider, the inner wall of which is movably connected to the second moving device, an extension plate fixedly connected to the outer wall of the slider, a connecting rod fixedly connected to the end of the extension plate away from the slider, a right-angle plate fixedly connected to the end of the slider away from the extension plate, a circular plate rotatably connected to the end of the right-angle plate away from the slider via a bearing, a push rod 2 fixedly connected to the outer wall of the circular plate 1, and a circular plate 2 fixedly connected to the end of the push rod 2 away from the circular plate 1. When the rotating mechanism needs to deflect, the push rod 2 is activated, causing the rotating mechanism to rotate around the slider as the center.

[0011] According to the above technical solution, the outer wall of the slider is fixedly connected to a shell, and the inner wall of the shell is fixedly connected to a push rod three. The end of the push rod three away from the shell is fixedly connected to a locking pin two. The outer wall of the locking pin two is movably connected to the locking hole two. When the rotating mechanism moves to the top of the movable mechanism, the push rod two will be activated to drive the locking pin two to embed into the locking hole two. By setting the rotating mechanism, when the rotating mechanism completes its upward movement, the rotating mechanism will be fixed to prevent the rotating mechanism from suddenly moving downward due to its inability to bear the weight of the human body, thus ensuring the normal operation of the equipment.

[0012] According to the above technical solution, the inner side of the slider is rotatably connected to a connecting plate three via a bearing. A U-shaped plate is fixedly connected to the end of the connecting plate three away from the slider, and a headrest is fixedly connected to the top of the U-shaped plate. Both ends of the U-shaped plate away from the connecting plate three are provided with raised portions. In this way, after the U-shaped plate moves to the user's armpit, it can provide some support to the user's armpit. By setting a rotating mechanism, the user's armpit can be lifted up, thus supporting the user. This operation is simple, with a small range of human movement, making it convenient for the user to operate. Furthermore, two protruding portions are set at both ends of the U-shaped plate, so that when the U-shaped plate is located under the user's armpit, it can support the back of the armpit, preventing the human body from moving backward and ensuring the normal operation of the device supporting the user.

[0013] According to the above technical solution, a connecting plate four is fixedly connected to the end of the connecting plate three away from the U-shaped plate. The inner wall of the connecting plate four is rotatably connected to the circular plate two through a bearing. A ring rod is fixedly connected to the end of the connecting plate four away from the connecting plate three. The ring rod is used for the user to hold and facilitates the user's leverage.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. This invention, by setting a rotating mechanism, can lift the user under the armpits, thus lifting the user up. This operation is simple, the range of human movement is small, and it is convenient for the user to operate. In addition, two protruding parts are set at both ends of the U-shaped plate, so that when the U-shaped plate is located under the user's armpit, it can support the back of the armpit, prevent the human body from moving backward, and ensure the normal operation of the device supporting the user.

[0015] 2. By setting up a rotating mechanism, the present invention fixes the rotating mechanism when it completes its upward movement, thus preventing the rotating mechanism from suddenly moving downward due to its inability to support the weight of the human body, and ensuring the normal operation of the equipment.

[0016] 3. By setting up a movable mechanism, the U-shaped plate can be moved to the user's armpit by the movement of the movable mechanism, while supporting the front of the user's lower leg. In this way, the equipment is convenient for the user to use for leverage, while avoiding movement of the user's lower leg and ensuring the normal operation of the equipment.

[0017] 4. By setting an adjustment mechanism, after the rotating mechanism supports the human body, the bottom movable plate will be moved away, making it convenient for the user to sit on the toilet while avoiding the adjustment mechanism from affecting the movement of the equipment above the toilet. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0019] In the attached diagram: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the present invention; Figure 3 This is a schematic diagram of the movable structure of the adjustment mechanism of the present invention; Figure 4 This is a schematic diagram of the active mechanism of the present invention; Figure 5 This is a schematic diagram of the main structure of the active mechanism of the present invention; Figure 6 This is a schematic diagram of the rotating mechanism of the present invention; Figure 7 This is a schematic diagram of the internal structure of the rotating mechanism of the present invention; Figure 8 This is a cross-sectional view of the internal structure of the rotating mechanism of the present invention; Figure 9 This is a schematic diagram of the moving structure of the rotating mechanism of the present invention; In the diagram: 1. U-shaped base; 101. Tire; 102. Moving device one; 2. Adjusting mechanism; 201. Connecting plate one; 202. Motor; 203. Backrest; 204. Rotating column; 205. Movable plate; 206. Blocking plate; 207. Locking post one; 208. Locking hole one; 209. Push rod one; 3. Movable mechanism; 301. Sliding seat; 302. Elastic component; 303. Connecting plate two; 304. Support plate; 305. Connecting... 306. Column; 307. Moving device two; 31. Locking hole two; 31. Rotating mechanism; 311. Slider; 312. Extension plate; 313. Connecting rod; 314. Right angle plate; 315. Circular plate one; 316. Push rod two; 317. Circular plate two; 318. Outer shell; 319. Push rod three; 3110. Locking column two; 3111. Connecting plate three; 3112. U-shaped plate; 3113. Headrest; 3114. Connecting plate four; 3115. Ring rod. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Example 1: See Figures 1-3 The present invention provides a technical solution: a companion robot for assisting toilet use, including a U-shaped base 1, a tire 101 rotatably connected to the outer wall of the U-shaped base 1 via a bearing, a moving device 102 fixedly connected to the top of the U-shaped base 1, and an adjustment mechanism 2 fixedly connected to the top of the U-shaped base 1.

[0024] Adjustment mechanism 2 includes a connecting plate 201, the bottom of which is fixedly connected to the U-shaped base 1. A motor 202 is fixedly connected to the outer wall of the connecting plate 201. A backrest 203 is fixedly connected to the end of the connecting plate 201 away from the motor 202. A rotating column 204 is rotatably connected to the end of the connecting plate 201 away from the U-shaped base 1 via a bearing. The output end of the motor 202 is fixedly connected to the rotating column 204. When it is necessary to open the bottom plate of the equipment, the rotation of the rotating column 204 is controlled by the motor 202, so that the bottom plate can be opened. In a vertical position, the user is positioned to sit on the toilet. A movable plate 205 is movably connected to the inner wall of the rotating column 204. A locking pin 207 is fixedly connected to the end of the movable plate 205 away from the connecting plate 201. A locking hole 208 is provided at the end of the movable plate 205 away from the connecting plate 201. A blocking plate 206 is fixedly connected to the end of the movable plate 205 away from the locking hole 208. A push rod 209 is fixedly connected to the outer wall of the rotating column 204. The end of the push rod 209 away from the rotating column 204 is fixedly connected to the movable plate 205. The locking pin 207 and locking hole 208 at the front end of the movable plate 205 are staggered, and the locking pin 207 and locking hole 208 are aligned with the opposite locking hole 208 and locking pin 207. When the push rod 209 is pushed, the locking pin 207 is inserted into the locking hole 208. When the device needs to place the user on the toilet, the movable mechanism 3 will lift the user. Then, the push rod 209 will be activated to move the movable plate 205 to both sides, so that the locking pin 207 exits the locking hole 208. After being pulled out, the motor 202 is started to drive the rotating column 204 to rotate. The rotating column 204 drives the movable plate 205 to deflect, so that the movable plate 205 is in a vertical state. This will prevent the movable plate 205 from obstructing the movement of the device. After the user finishes using the toilet, as the user is lifted by the movable mechanism 3 and leaves the vicinity of the toilet, the motor 202 is started first to deflect the movable plate 205 to the horizontal direction. Then, the push rod 209 is started to connect the two movable plates 205 to each other through the locking hole 208 and the locking column 207.

[0025] Example 2: Based on Example 1, please refer to... Figures 4-9The movable mechanism 3 includes a sliding seat 301 movably connected to the top of the movable device 102. A connecting post 305 is fixedly connected to the top of the sliding seat 301, and a movable device 306 is fixedly connected to the top of the connecting post 305. A locking hole 307 is provided on the outer wall of the movable device 306. A rotating mechanism 31 is movably connected to the outer wall of the movable device 306. The movable device 306 controls the up-and-down movement of the rotating mechanism 31. Before the rotating mechanism 31 enters the user's armpit, it is at its lowest position. After the rotating mechanism 31 enters the user's armpit, it is raised by the movable device 306. A connecting plate 3 is movably connected to the inner wall of the sliding seat 301. 03. An elastic component 302 is fixedly connected to the inner wall of the sliding seat 301. The outer wall of the connecting plate 2 303 is fixedly connected to the elastic component 302. Support plates 304 are fixedly connected to both ends of the connecting plate 2 303. With the connection of the elastic component 302, the support plate 304 has room for movement and supports the front end of the user's lower leg. When the user needs to be lifted, the sliding seat 301 will be moved towards the user by the moving device 102. At this time, the support plate 304 at the bottom will abut against the front side of the lower leg. Then, the moving device 2 306 will be activated to drive the rotating mechanism 31 to move upward, move the rotating mechanism 31 to the user's armpit, and then activate the rotating mechanism 31 to lift the user.

[0026] The rotating mechanism 31 includes a slider 311. The inner wall of the slider 311 is movably connected to the second moving device 306. An extension plate 312 is fixedly connected to the outer wall of the slider 311. A connecting rod 313 is fixedly connected to the end of the extension plate 312 away from the slider 311. A right-angle plate 314 is fixedly connected to the end of the slider 311 away from the extension plate 312. A circular plate 315 is rotatably connected to the end of the right-angle plate 314 away from the slider 311 via a bearing. A push rod 316 is fixedly connected to the outer wall of the circular plate 315. A circular plate 317 is fixedly connected to the end of the push rod 316 away from the circular plate 315. When the rotating mechanism 31 needs to deflect, the push rod 316 is activated, causing the rotating mechanism 31 to rotate around the slider 311. The rotating mechanism 311 is fixedly connected to a housing 318 on its outer wall. A push rod 319 is fixedly connected to the inner wall of the housing 318. A locking pin 3110 is fixedly connected to the end of the push rod 319 away from the housing 318. The outer wall of the locking pin 3110 is movably connected to the locking hole 307. When the rotating mechanism 31 moves to the top of the movable mechanism 3, the push rod 316 will be activated to drive the locking pin 3110 into the locking hole 307. After the rotating mechanism 31 moves to the top under the drive of the movable device 306, the push rod 319 will be activated to drive the locking pin 3110 into the locking hole 307, thus fixing the position of the rotating mechanism 31 and preventing the rotating mechanism 31 from moving downward.

[0027] A connecting plate 3111 is rotatably connected to the inner side of slider 311 via bearings. A U-shaped plate 3112 is fixedly connected to the end of connecting plate 3111 away from slider 311. A headrest 3113 is fixedly connected to the top of U-shaped plate 3112. Both ends of U-shaped plate 3112 away from connecting plate 3111 have raised portions, so that when U-shaped plate 3112 moves to the user's armpits, it can provide some support for the user's armpits. A connecting plate 3114 is fixedly connected to the end of connecting plate 3111 away from U-shaped plate 3112. The inner wall of connecting plate 3114 is rotatably connected to circular plate 317 via bearings. A ring rod 3115 is fixedly connected to one end of the connecting plate 3111 away from the connecting plate 3111. The ring rod 3115 is used for the user to hold and facilitate the user's leverage. When the equipment needs to lift the user, the U-shaped plate 3112 is first moved to the user's armpit by the movement device 102. Then, the movement device 2 306 moves the U-shaped plate 3112 upward to support the user's bottom. At this time, the user holds the ring rod 3115. Then, the push rod 319 is activated to drive the connecting plate 3111 and the connecting plate 3114 to deflect, thus lifting the user.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0029] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A companion robot for assisting toileting, comprising a U-shaped base (1), the outer wall of the U-shaped base (1) being rotatably connected to a tire (101) via a bearing, the top of the U-shaped base (1) being fixedly connected to a moving device (102), and the top of the U-shaped base (1) being fixedly connected to an adjustment mechanism (2), characterized in that: Also includes: A movable mechanism (3), the movable mechanism (3) comprising a sliding seat (301) movably connected to the top of the first movable device (102), the top of the sliding seat (301) being fixedly connected to a connecting column (305), the top of the connecting column (305) being fixedly connected to the second movable device (306), the outer wall of the second movable device (306) being provided with a locking hole (307), the outer wall of the second movable device (306) being movably connected to a rotating mechanism (31), the second movable device (306) being used to control the upward and downward movement of the rotating mechanism (31), before the rotating mechanism (31) enters the armpit of a user, the rotating mechanism (31) is at the lowest position, and after the rotating mechanism (31) enters the armpit of the user, the rotating mechanism (31) is raised by the second movable device (306).

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

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

4. The accompanying robot for assisting toileting according to claim 1, characterized in that: The inner wall of the sliding seat (301) is movably connected to a second connecting plate (303), the inner wall of the sliding seat (301) is fixedly connected to an elastic component (302), the outer wall of the second connecting plate (303) is fixedly connected to the elastic component (302), and both ends of the second connecting plate (303) are fixedly connected to support plates (304), and the support plates (304) are connected to the elastic component (302) so that there is space for movement of the support plates (304) and the front end of the calf of the user is supported.

5. The accompanying robot for assisting toileting according to claim 1, characterized in that: The rotating mechanism (31) comprises a slider (311), the inner wall of the slider (311) is movably connected to the second moving device (306), the outer wall of the slider (311) is fixedly connected to an extension plate (312), one end of the extension plate (312) away from the slider (311) is fixedly connected to a connecting rod (313), one end of the slider (311) away from the extension plate (312) is fixedly connected to a right-angle plate (314), one end of the right-angle plate (314) away from the slider (311) is rotatably connected to a first circular plate (315) via a bearing, the outer wall of the first circular plate (315) is fixedly connected to a second push rod (316), and one end of the second push rod (316) away from the first circular plate (315) is fixedly connected to a second circular plate (317), and when the rotating mechanism (31) needs to be deflected, the second push rod (316) is started to drive the rotating mechanism (31) to rotate with the slider (311) as the center of the circle.

6. The accompanying robot for assisting toileting according to claim 5, characterized in that: The outer wall of the slider (311) is fixedly connected to the outer shell (318), the inner wall of the outer shell (318) is fixedly connected to the push rod three (319), the end of the push rod three (319) away from the outer shell (318) is fixedly connected to the locking column two (3110), the outer wall of the locking column two (3110) is movably connected to the locking hole two (307), when the rotating mechanism (31) moves to the top of the movable mechanism (3), the push rod two (316) is activated to drive the locking column two (3110) to embed into the locking hole two (307), so that the rotating mechanism (31) is fixed to the top of the movable device two (306).

7. The accompanying robot for assisting toileting according to claim 6, characterized in that: The inner side of the slider (311) is rotatably connected to a connecting plate three (3111) via a bearing, and one end of the connecting plate three (3111) away from the slider (311) is fixedly connected to a U-shaped plate (3112), and the top of the U-shaped plate (3112) is fixedly connected to a headrest (3113), and both ends of the U-shaped plate (3112) away from the connecting plate three (3111) are provided with raised portions, so that after the U-shaped plate (3112) moves to the armpit of a user, it plays a role in supporting the bottom of the user.

8. The accompanying robot for assisting toileting according to claim 7, characterized in that: One end of the connecting plate three (3111) away from the U-shaped plate (3112) is fixedly connected to the connecting plate four (3114); the inner wall of the connecting plate four (3114) is rotatably connected to the circular plate two (317) via a bearing; and one end of the connecting plate four (3114) away from the connecting plate three (3111) is fixedly connected to the annular rod (3115).

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