Standing-up movement-assisting assistive device for people with lower limb dysfunction

Abstract

The invention belongs to the technical field of nursing assistive devices, and particularly relates to a standing-up movement assisting assistive device for people with lower limb dysfunction, the standing-up movement assisting assistive device comprises a moving carrier, the moving carrier is provided with a seat, a double-side stand column type lifting mechanism and an arm supporting sliding assembly, the double-side stand column type lifting mechanism comprises a driving mechanism and two fixed stand columns, and the driving mechanism and the two fixed stand columns are installed on the upper side of the moving carrier; the two fixed stand columns are vertically and slidably connected with movable stand columns, the driving mechanism is in transmission connection with the movable stand columns, the arm supporting and sliding assembly is installed on the movable stand columns, the driving mechanism comprises a lifting action set and a driving set, and the lifting action set is in transmission connection with the driving set. According to the invention, a single core scene of'bed-chair transfer 'can be focused to realize accurate function breakthrough, the transfer process is decomposed into two independent degrees of freedom of'vertical lifting' and'horizontal translation ', and bed-chair transfer of a patient is realized by using equipment with lower complexity and smaller size.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of nursing aids, and particularly relates to a standing and moving aid for a lower limb dysfunction patient. BACKGROUND

[0002] The standing and moving aid as a type of nursing service product can help patients independently complete the transfer process from a bed to a moving body, and can greatly liberate nursing personnel from heavy and repetitive lifting and moving of the body. Comprehensive analysis of existing transfer aids at home and abroad can be divided into two categories. One is a walking and standing aid, such as a walking stick or a walking frame, which provides support through handles, sleeves and support frames to achieve assisted standing and walking. The other is an electric transfer vehicle or a lower limb exoskeleton robot. The electric transfer vehicle is similar to an upgraded version of the ordinary wheelchair, and the lower limb exoskeleton as a wearable robot can help lower limb disabled patients to stand and move.

[0003] The first type of moving aid provides static and passive support. Due to the passivity of the mechanical structure and the limitations of ergonomics, it cannot actively provide lifting or walking power, and requires high upper limb strength and trunk balance ability of the patient. At the same time, the simple mechanical structure is difficult to automatically adjust according to the gait or muscle strength of the patient, which may cause gait instability and secondary injury risk, and the degree of intelligence and individualization is low.

[0004] The second type of moving aid introduces intelligent control and human-computer interaction technology. The electric transfer vehicle is relatively large in size, and existing designs focus on the function of the moving vehicle, with relatively simple design for the transfer aid part. The battery endurance and motor torque limit its continuous working capacity. The control of the lower limb exoskeleton robot is relatively complex, and needs to combine high-precision and low-delay intention recognition, such as electroencephalogram and electromyogram information, and adaptive gait control algorithm to ensure dynamic balance and natural gait. The self-weight of the device and the energy efficiency ratio of the joint drive also affect its use efficiency. This type of aid usually has high manufacturing cost, which restricts its popularization and promotion.

[0005] Based on the above analysis of the "non-powered" shortcomings of the walking aid, the "high complexity and high cost" shortcomings of the electric transfer vehicle / exoskeleton, the moving aid should have self-moving function under low degree of freedom configuration to achieve the best experience for patients during transfer. It is particularly important to design an aid that can automatically realize the transfer function.

[0006] Therefore, it is urgent to provide a new type of moving aid to solve the above technical problems.

[0007] The present application is directed to the core pain point "transfer action" in nursing process for functional integration and automation breakthrough, to solve the problem of "no power" of traditional transfer aid and "too complicated" of high-end robot, the core function of which is to imitate and enhance the action of nursing staff, to complete the whole process of smoothly lifting the patient from the bedside, horizontally translating to the seat of the moving vehicle, etc. through motor drive, to realize safe and labor-saving transfer. The present application overcomes the "passivity" of traditional instruments, to a certain extent, solves the defects of crutches, walking frames, etc. which completely rely on the upper limb strength of the user, and provides active mechanical power for the transfer process. The present application avoids the "complexity" of high-end equipment, avoids the high technical threshold and cost of simulating gait in the whole process of exoskeleton robot, and focuses on solving the specific, reciprocating and high difficulty task of "transfer", so that the design is more focused and easy to realize. The present application solves the "manpower and risk" in nursing to a certain extent, reduces the physical burden and waist injury risk of nursing staff caused by manual handling process, and reduces the safety hazards of patient falling and injury in the transfer process.

[0008] The ultimate goal of the present application is to realize a man-machine cooperative transfer experience, and to improve the nursing efficiency and independence, so that the lower limb dysfunctioners can complete the daily transfer conveniently and safely with the least assistance. SUMMARY

[0009] The present application aims to provide a standing transfer aid for lower limb dysfunctioners, which can focus on the single core scene of "bed-chair transfer" to realize precise breakthrough of function, and decompose the transfer process into "vertical lifting" and "horizontal translation" two independent degrees of freedom, and realize the bed-chair transfer of patients by using devices with lower complexity and smaller size.

[0010] The technical solutions adopted by the present application are as follows: A standing transfer aid for lower limb dysfunctioners, comprising a mobile carrier, wherein the mobile carrier is provided with: a seat; a double-sided column lifting mechanism; an arm support sliding assembly installed on the double-sided column lifting mechanism.

[0011] Further, the double-sided column lifting mechanism comprises a driving mechanism installed on the upper side of the mobile carrier and two fixed columns, and an active column is vertically and slidably connected to each of the two fixed columns, the driving mechanism and the active column are in transmission connection, and the arm support sliding assembly is installed on the active column.

[0012] Further, the driving mechanism comprises a lifting action group and a driving group, the lifting action group and the driving group are in transmission connection, the lifting action group comprises a vertical shaft, a lifting screw rod and a threaded sleeve, the threaded sleeve is fixedly connected to the movable stand, the vertical shaft is rotationally connected to the fixed stand, the lifting screw rod is fixedly connected to the vertical shaft, and the lifting screw rod and the threaded sleeve are in threaded connection.

[0013] Further, the driving group comprises two bottom supports, the two bottom supports are fixedly connected to the left and right sides of the upper side of the mobile carrier, the two fixed stands are respectively fixedly connected to the upper sides of the two bottom supports, one of the bottom supports is fixedly connected with a driving motor one, the output end of the driving motor one is in transmission connection with a horizontal shaft rotationally connected to the two bottom supports, the outer side of the horizontal shaft is fixedly connected with two bevel gears one, the two bevel gears one are respectively located in the interiors of the two bottom supports, the lower ends of the two vertical shafts are fixedly connected with bevel gears two extending into the interiors of the bottom supports, and the bevel gears two and the bevel gears one are in meshing connection.

[0014] Further, the arm supporting and sliding assembly comprises two guide rail bodies fixedly connected to the upper sides of the movable stands, the two guide rail bodies are both slidingly connected with arm brackets, and at least one of the guide rail bodies is provided with a linear movement driving mechanism in transmission connection with the arm bracket.

[0015] Further, the linear movement driving mechanism comprises a driving motor two fixedly connected to the guide rail body, a ball screw rotationally connected to the guide rail body, an output end of the driving motor two in transmission connection with the ball screw, a screw block fixedly connected to the lower side of the arm bracket, and the screw block in threaded connection with the ball screw.

[0016] Further, the number of the linear movement driving mechanisms is one, the linear movement driving mechanism is mounted on one of the guide rail bodies, and the lower side of the arm bracket on the other guide rail body is fixedly connected with a pulley.

[0017] Further, the auxiliary forward moving assembly is further included, the auxiliary forward moving assembly includes a tension applying piece, a flexible soft belt and two chains, the upper sides of the two sides of the two fixed columns are fixedly connected with guide blocks, the two chains are slidably connected in the inner sides of the guide blocks on the fixed columns, the flexible soft belt is detachably installed on the two chains, the tension applying piece includes a front column fixedly connected with the upper side of the moving carrier and located at the front side of the seat, the upper side of the front column is slidably connected with a sliding seat, the upper side of the sliding seat is fixedly connected with a connecting column, two connecting rods are installed on the connecting column, the two connecting rods are connected with the two chains respectively, the lower side of the sliding seat is fixedly connected with a gear rack, the inside of the front column is fixedly connected with a driving motor three, the output end of the driving motor three is fixedly connected with a gear, and the gear is in meshing connection with the gear rack.

[0018] The technical effects obtained by the present application are as follows: The standing and moving aid for lower limb dysfunctioners of the present application focuses on the single core scene of "bed-chair transfer" to realize precise breakthrough of functions by mechanical structure innovation, control logic optimization and systematic application of TRIZ theory, decomposes the transfer process into two independent degrees of freedom of "vertical lifting" and "horizontal translation", avoids the instability risk of "moving while standing" in the traditional action through the cooperative action of the double-sided column lifting mechanism (responsible for lifting) and the arm support sliding component (responsible for translation) - lifting to a safe off-ground height first and then horizontally translating, and transforms the "non-standardized action" depending on the experience of nursing personnel into "repeatable, high-precision standardized mechanical process", breaking through the bottleneck of "uncontrollable or excessively complex action" of the prior art, so that the bed-chair transfer of the patient can be realized by using a device with lower complexity and smaller size. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structure schematic diagram when the present application is used; Figure 2 is a structure schematic diagram of the present application; Figure 3 is a partial cutaway structure schematic diagram of the present application; Figure 4 is a partial enlarged view of A in the present application Figure 3 ; Figure 5 is a partial structure schematic diagram of the present application; Figure 6 is a partial enlarged view of B in the present application Figure 5 ; Figure 7 is a structure schematic diagram of a pulley of the present application; Figure 8is a schematic diagram of the transmission structure of the invention; Figure 9 is a TRIZ theory cause and effect chain analysis diagram of the invention; Figure 10 is a TRIZ theory analysis and design diagram of the invention; Figure 11 Small gear angular velocity change diagram; Figure 12 Large gear angular velocity change diagram; Figure 13 Linear displacement change diagram of the upper part of the column moving;

[0020] In the drawings, the components represented by each reference numeral are listed as follows: 1, moving carrier; 2, bottom support; 3, fixed column; 4, movable column; 5, guide rail body; 6, arm bracket; 7, seat; 8, drive motor one; 9, horizontal shaft; 10, bevel gear one; 11, bevel gear two; 12, vertical shaft; 13, lifting screw; 14, threaded sleeve; 15, drive motor two; 16, with ball screw; 17, pulley; 18, guide block; 19, chain; 20, flexible soft belt; 21, sliding seat; 22, connecting column; 23, connecting rod; 24, drive motor three; 25, meshing gear; 26, meshing rack; 27, front column; 28, nursing bed. DETAILED DESCRIPTION

[0021] In order to make the purpose and advantages of the invention clearer and more apparent, the invention will be specifically described below in conjunction with examples. It should be understood that the following text is only used to describe one or several specific embodiments of the invention, and does not strictly limit the specific protection scope requested by the invention.

[0022] Example one: As shown in Figures 1-8 A standing and moving aid for lower extremity dysfunctioners, comprising a moving carrier 1 and a seat 7, a double-sided column lifting mechanism, an arm support sliding assembly and an auxiliary forward moving assembly installed on the moving carrier 1, the double-sided column lifting mechanism, the arm support sliding assembly and the auxiliary forward moving assembly form a moving aid system, which simulates the moving action of nursing staff, decomposes the body movement of the patient into three controllable mechanical processes of "lifting", "horizontal movement" and "descending", so as to realize safe, labor-saving and stable transfer.

[0023] The traditional transfer process is a continuous, indivisible complex action, and the design decomposes it into two independent degrees of freedom of vertical lifting and horizontal translation through mechanical structure, and is coordinated by the control system, each action is accurately executed by the motor, avoiding the instability and sudden force of manual handling, lifting to the position and then translating, ensuring that the patient is always at a safe off-ground height during the moving process, avoiding scratching with the bed edge or wheelchair, and converting the experience-dependent nursing action into a repeatable and standardized machine process, greatly reducing the technical requirements and physical consumption of nursing personnel.

[0024] As shown in Figures 1-3 The bilateral upright column lifting mechanism includes a driving mechanism mounted on the upper side of the mobile carrier 1 and two fixed columns 3, and each of the two fixed columns 3 is vertically and slidably connected with a movable column 4. The driving mechanism and the movable column 4 are in transmission connection, used to drive the movable column 4 to move vertically. The arm support sliding assembly is mounted on the movable column 4. In some embodiments, the driving mechanism is a vertical electric push rod, which can drive the movable column 4 to move vertically through the vertical electric push rod. As shown in Figures 2-4 In some other embodiments, the driving mechanism includes a lifting action group and a driving group, and the lifting action group and the driving group are in transmission connection. The lifting action group includes a vertical shaft 12, a lifting screw 13 and a threaded sleeve 14. The threaded sleeve 14 is fixedly connected to the movable column 4. The vertical shaft 12 is rotatably connected to the fixed column 3. The lifting screw 13 is fixedly connected to the vertical shaft 12. The lifting screw 13 and the threaded sleeve 14 are in threaded connection. By rotating the lifting screw 13 through the driving group, the threaded sleeve 14 can be driven to move up and down, so as to control the lifting of the movable column 4. After the lifting movement is completed, the position of the movable column 4 can be locked through the threads between the lifting screw 13 and the threaded sleeve 14.

[0025] The driving group includes two bottom supports 2 fixedly connected to the left and right sides of the upper side of the mobile carrier 1. The two fixed columns 3 are fixedly connected to the upper sides of the two bottom supports 2. One of the two bottom supports 2 is fixedly connected with a driving motor 8. The output end of the driving motor 8 is in transmission connection with a horizontal shaft 9 rotatably connected to the two bottom supports 2. The outer side of the horizontal shaft 9 is fixedly connected with two bevel gears 10. The two bevel gears 10 are located in the interiors of the two bottom supports 2. The lower ends of the two vertical shafts 12 are fixedly connected with bevel gears 11 extending into the interiors of the bottom supports 2. The bevel gears 11 and the bevel gears 10 are in meshing connection. By starting the driving motor 8 to drive the horizontal shaft 9 to rotate, the two bevel gears 10 on the horizontal shaft 9 can synchronously drive the two bevel gears 11 to rotate, so as to convert the rotary motion into linear lifting, and synchronously control the two movable columns 4 to rise or fall synchronously.

[0026] The compact power steering and torque increasing lifting mechanism based on bevel gear pair changes the power transmission direction by adopting the scheme of horizontally arranged motor driving vertically arranged bevel gear, which efficiently converts the horizontal rotary motion of the motor into the vertical rotary motion required for lifting, has compact structure, and can place the motor flat on the bottom of the device, thereby lowering the gravity center of the whole machine and enhancing stability, avoiding the problem of head-heavy foot-light caused by installing linear motor or push rod on the top of the device, and at the same time, the bevel gear pair itself can be used as a primary reduction, combined with the lifting screw 13, to form a powerful reduction and torque increasing effect, so that a relatively small power motor can also output sufficient lifting force.

[0027] In some embodiments, the number of linear movement driving mechanisms is two, and the two linear movement driving mechanisms are respectively installed on the two guide rail bodies 5 fixedly connected to the upper side of the movable column 4 to respectively drive the two arm brackets 6 to move. Figures 2-3 and Figure 6 As shown in the drawings, a structure of the arm support sliding assembly is described in detail. The arm support sliding assembly is installed on the double-sided column lifting mechanism. The arm support sliding assembly includes two guide rail bodies 5 fixedly connected to the upper side of the movable column 4. Two arm brackets 6 are slidably connected to the two guide rail bodies 5. At least one guide rail body 5 is provided with a linear movement driving mechanism in transmission connection with the arm bracket 6. When the patient's hands are placed on the upper side of the two arm brackets 6, the linear movement driving mechanism can drive the arm bracket 6 to move away from the nursing bed 28, thereby exerting a pulling force on the patient to move the patient to the upper side of the seat 7.

[0028] The linear movement driving mechanism includes a driving motor 15 fixedly connected to the guide rail body 5. A ball screw 16 is rotatably connected to the guide rail body 5. The output end of the driving motor 15 is in transmission connection with the ball screw 16. The lower side of the arm bracket 6 is fixedly connected with a screw block. The screw block is in screw connection with the ball screw 16. The screw block cooperates with the ball screw 16 to convert rotary motion into linear motion. The stable movement of the arm bracket 6 can be realized by starting the driving motor 15 to drive the ball screw 16 to rotate. The cooperation between the arm bracket 6 and the guide rail body 5 ensures that the bracket can only slide horizontally in the front-rear direction.

[0029] In some embodiments, the number of linear movement driving mechanisms is two, and the two linear movement driving mechanisms are respectively installed on the two guide rail bodies 5 fixedly connected to the upper side of the movable column 4 to respectively drive the two arm brackets 6 to move.

[0030] In other embodiments, there is one linear motion drive mechanism, which is mounted on one of the guide rails 5. The arm bracket 6, which is connected to the linear motion drive mechanism, serves as the main moving component, while the arm bracket 6 on the other guide rail 5 serves as the driven component. A pulley 17 is fixedly connected to the lower side of the arm bracket 6, which abuts against the guide rail 5 to improve the support stability of the arm bracket 6. In this embodiment, the asymmetrical dual-arm collaborative design of "active sliding - passive following" reflects ergonomic characteristics. It does not adopt a complex dual-side active drive, but instead designs an asymmetrical structure in which the right motor drives the active sliding, and the left pulley 17 passively follows. This conforms to the natural movement form, that is, when the human body moves forward, the torso is not completely rigid, and there is a slight relative movement between the two arms. This design allows for such natural movement, avoiding the discomfort and potential risks of fixing the patient within a rigid frame. It only requires precise sliding control on one side, simplifying the control system, reducing one drive motor and related sensors, significantly lowering manufacturing costs and potential failure points, and reducing system complexity and cost. During the patient's translation, the arm support points can smoothly follow the torso's movement, avoiding jamming or strain on the shoulder joints caused by asynchrony between the two sides.

[0031] Additionally, pressure sensors can be installed on the arm sliding support assembly.

[0032] In some further embodiments, the rear end of the guide rail 5 is equipped with an ergonomic curved bracket lined with memory foam material, which can adaptively wrap around the torso of the person being cared for and provide stable support during lifting and lowering.

[0033] It should be noted that, unlike the bilateral column lifting mechanism and the arm support sliding assembly, the auxiliary forward movement assembly is an optional component, which can be selected and used in conjunction with the first two types of components depending on the patient's degree of voluntary movement.

[0034] like Figure 2 , Figure 5 and Figure 8 As shown, the auxiliary forward movement component includes a tension application element, a flexible soft belt 20, and two chains 19. The flexible soft belt 20 is preferably a high-strength nylon webbing, which has good comfort. Guide blocks 18 are fixedly connected to the upper part of the two fixed columns 3 on their respective sides. The two chains 19 are slidably connected to the inner side of the guide blocks 18 on the two fixed columns 3. The flexible soft belt 20 is detachably installed on the two chains 19, so that the flexible soft belt 20 and the two chains 19 are combined into a pocket-shaped structure to support the patient's back. The tension application element and the two connecting rods 23 are connected by transmission. By activating the tension application element to apply a forward pulling force to the two chains 19, the flexible soft belt 20 can apply a pushing force to the patient's back.

[0035] Here, the installation mode of the flexible soft belt 20 can be a clamping joint, that is, a clamping joint is installed at the end of the chain 19 to connect the flexible soft belt 20, and the installation mode of the flexible soft belt 20 can also be other installation modes capable of quick connection, such as clamping.

[0036] Wherein, the tension applying piece includes a front column 27 fixedly connected to the upper side of the mobile carrier 1 and located at the front side of the seat 7, the upper side of the front column 27 is slidingly connected with a sliding seat 21, the upper side of the sliding seat 21 is fixedly connected with a connecting column 22, two connecting rods 23 are installed on the connecting column 22, the two connecting rods 23 are connected with the two chains 19 respectively, the lower side of the sliding seat 21 is fixedly connected with a gear rack 26, the inside of the front column 27 is fixedly connected with a driving motor three 24, the output end of the driving motor three 24 is fixedly connected with a gear 25, the gear 25 is engagedly connected with the gear rack 26, the gear 25 can be driven to rotate by starting the driving motor three 24, the gear 25 can push the gear rack 26 to move forward and backward when rotating, and the sliding seat 21 can be driven to move forward and backward.

[0037] It should be noted that the connecting rod 23 can be fixedly connected with the connecting column 22, and the connecting rod 23 can also be rotatably connected with the connecting column 22, and preferably the connecting rod 23 is rotatably connected with the outside of the connecting column 22.

[0038] In this embodiment, the chain transmission flexible belt type trunk driving and supporting system replaces the traditional rigid push plate or sling, and adopts the combination of chain transmission and flexible soft belt 20 to assist in driving the trunk, which is similar to a simulated holding type horizontal conveying scheme. The flexible soft belt 20 forms a large-area contact with the back to the hips of the user, and the pushing force is dispersed into soft wrapping force, thereby improving the comfort and avoiding excessive local pressure. At the same time, the flexible soft belt 20 can adapt to the body shape and back curve of different users, ensure uniform supporting force, and has wider applicability. The chain transmission provides stable and continuous straight-line motion, which is smoother and quieter than the pushing of a pneumatic cylinder or a linear motor, and helps the user to move forward with the trunk.

[0039] Specifically, the moving assisting system can be controlled by a single-chip microcomputer, and the single-chip microcomputer can be electrically connected with an emergency stop button.

[0040] The working principle of the present application is as follows: Firstly, the double-side column type lifting mechanism lowers the guide rail body 5 to a suitable position with the nursing bed 28, simulates that the arm is placed below the shoulder joint of the patient, and then is lifted to help the patient to stand up; the two side arm supporting sliding assemblies move towards the nursing bed 28, and the auxiliary forward moving assembly serves as an optional part to assist the patient to move forward, the arm supporting sliding assembly and the auxiliary forward moving assembly work to help the patient to get off the bed, and finally the patient is moved to the moving mechanism.

[0041] Specifically, the working process is divided into three stages of cooperative motion: Stand-up auxiliary stage: the drive group drives the arm bracket 6 to the bed height, and the arm support sliding assembly is placed below the shoulder joint and above the waist of the patient. Then drive motor one 8 is started to smoothly lift at a speed of 5 cm / s, and the patient realizes a natural upright posture. The pressure sensor on the upper arm sliding support assembly monitors the holding force in real time and maintains it in the safe range of 100-200 N. The specific value is calculated according to the patient's body weight and the degree of disability.

[0042] Translation transition stage: the arm support sliding assembly smoothly moves forward at a speed of 4 cm / s, and the auxiliary moving assembly moves the person being cared for 50-80 cm at a speed of 4 cm / s, and the moving trajectory is parallel to the bed edge. The configuration of the two chains 19 can reduce the translation deflection.

[0043] Switching and placing stage: when moving to the position directly above the seat 7, drive motor one 8 is started to slowly lower the arm bracket 6 by 25-35 cm, and the patient safely sits on the seat 7.

[0044] The structural innovation in the present application is that the torque amplification characteristics of the bevel gear can provide high lifting force, and the non-elastic characteristics of the chain transmission ensure that there is no risk of slipping during translation. The whole action can be controlled within 2 minutes, which greatly reduces the labor intensity of the nursing staff and avoids the risk of injury during moving. Compared with traditional auxiliary devices and exoskeleton robots, the present design has advantages in nursing efficiency, safety, ergonomics and economy.

[0045] 1. Quantitative improvement of nursing efficiency Manual moving: according to relevant research in Nursing Journal, two nursing staff can safely complete a bed-chair transfer, which takes time and requires frequent communication and adjustment during the process. The back-and-forth movement can easily cause injury to the nursing staff.

[0046] Traditional lifting device / shifting machine: although it saves physical effort, the operation process is relatively complicated, such as placing the lifting belt, operating the hydraulic pump, and moving the device. A single transfer takes more than 2 minutes.

[0047] Effect of the present application: The present application automates the process, and a complete transfer process (lifting-translation-lowering) can be preset with optimal speed by the controller. Through motor performance calculation, it is expected that the single cycle time can be controlled within 1-2 minutes. Compared with manual moving, the efficiency is improved by about 60%-80%. On the one hand, it reduces the nursing burden, and on the other hand, the user can perform the transfer more frequently and independently, improving the independence and dignity of life. At the same time, the operation load is significantly reduced, realizing the conversion from "high-intensity physical labor" to "one-key operation".

[0048] 2. Relief of nursing staff's work intensity Manual handling is the primary occupational risk source of nursing staff's waist and back injury. Studies show that when nursing staffs move patients, the pressure on the lumbar intervertebral disc is 2-3 times that of standing. The walking aid / cane method completely depends on the upper limb strength of the user, and for the elderly or patients with muscle weakness, the transfer process is extremely difficult and dangerous.

[0049] The application has the following effects: the application provides all power through a motor, and nursing staff only needs to complete the operation of assisting in wearing a soft belt and a key, thereby fundamentally eliminating the stress on the waist of the nursing staff. The nursing staff can be liberated from high-intensity physical labor and become a manager and supervisor of the equipment, thereby effectively reducing the incidence of occupational injuries in the nursing industry.

[0050] 3. Quality change of safety and comfort: from passive dependence to active protection The traditional device has the risks of slipping and unstable support, and has poor comfort. The lifting tool easily causes the user to feel uncomfortable due to being "strangled", and local pressure is concentrated.

[0051] In the application, the translation speed can be steplessly adjusted by the motor, thereby avoiding the discomfort caused by sudden acceleration. The "coordinated motion" avoids secondary injury, and the design of right-side active sliding and left-side passive following ensures that the shoulder joint of the user is not subjected to shearing force in the translation process, which is very important for patients with arthritis or periarthritis. Mechanical self-locking and synchronous control, the bevel gear-screw mechanism has a natural reverse self-locking feature, which, in cooperation with the electric control system, can be reliably locked at any position to prevent accidents.

[0052] 4. Optimization of economy and applicability The lower extremity exoskeleton robot is technically complex, has a relatively high price, and has high physical and cognitive requirements for the user. The electrically driven transfer vehicle currently has a single function and can only complete translation movement, but it is difficult to realize the composite function of active lifting and standing assistance.

[0053] The application focuses on the core scene of "transfer", avoids the complex joints, sensors and balance algorithms required by the exoskeleton, and mainly consists of a conventional motor, a screw, a gear and a structural member. It is expected that the manufacturing cost can be controlled at 30%-50% of the exoskeleton robot. From the perspective of energy consumption analysis, the total power consumption (estimated based on lifting a 70kg body weight and moving 1 meter) for completing a transfer can be achieved by the battery technology for long standby and several cycles of operation. The applicability is relatively wide, and is suitable for all lower extremity dysfunctioners who can maintain a sitting position, including the elderly, spinal cord injury patients and postoperative rehabilitation patients, and the target user group is much larger than the exoskeleton.

[0054] Embodiment two: In combination Figures 9-10This embodiment is based on the TRIZ theory to achieve a standing and moving aid for lower limb dysfunctioners. The evolution law of reducing artificial intervention in the eight technical system evolution laws of TRIZ theory is used to realize the replacement of artificial action by machine action, and the basic framework of the moving aid is proposed. Based on the analysis of the requirements of the human-like moving function, the scheme design of the moving function is realized by using the causal chain of TRIZ theory, as shown in Figure 9 .

[0055] Through causal chain analysis, the existing problems are obtained: 111, 112, 211, 311, 411, among which 112 is objectively existing, so the other existing problems are solved as the technical scheme of this project.

[0056] Scheme one is 111, that is, professional nursing personnel accompany all day long, but this way needs to spend a lot of time and manpower, and the implementation cost is high, especially in the case of the increasing degree of global population aging, which does not belong to the sustainable preferred solution; Scheme two is 211, that is, a simple moving tool is used, and there are conditions such as tilting or falling caused by insufficient active support force during movement. Crutches and walking frames have been used for many years as simple tools for moving, and it is difficult to realize updates in the short term; Scheme three is 311, that is, to use an automated device, such as a mobility scooter or an exoskeleton, to help the user move. This way requires a high degree of compliance from the user's body, which may cause damage to the user's body; Scheme four is 411, that is, to design a convenient and active auxiliary moving tool to achieve the goal of assisting the user to complete the transfer between bed and chair, while ensuring the flexibility and safety of the device.

[0057] After initial analysis, the design of a transfer aid between bed and chair involved in scheme four is a more feasible measure to solve the problem of user transfer obstacles at present.

[0058] Embodiment three: Combining Figures 11-13 This embodiment is a standing and moving aid for lower limb dysfunctioners, which converts the rotary motion of the motor into straight-line motion upward to lift the human body, while reducing the distance. The transmission ratio of the bevel gear pair defines the speed and torque relationship between the input shaft and the output shaft: Wherein is the speed of the driving motor, is the speed of the lifting screw, is the number of teeth of the vertical driven gear, is the number of teeth of the horizontal driving bevel gear, which is a speed reduction link .

[0059] Maximum straight thrust of the lifting system: Wherein Tout is the output torque of the driving motor 1, η is the comprehensive transmission efficiency of the bevel gear pair and the screw rod, P is the lead, which is proportional to the motor torque and the transmission ratio and inversely proportional to the lead of the screw rod. A small lead can achieve a large thrust.

[0060] Rising speed of the threaded sleeve: The lifting speed is proportional to the motor speed and the lead of the screw rod.

[0061] 2. Arm support sliding assembly: to realize the horizontal movement of the arm bracket forward and backward.

[0062] Bracket sliding speed: Wherein ω2 is the rotating speed of the driving motor 2, P2 is the lead of the sliding screw rod in the arm bracket.

[0063] Motion analysis: through transmission deceleration, the speed of the driven bevel gear (large gear) is half of that of the horizontal bevel gear (small gear).

[0064] In summary, the technical solution focuses on the single core scene of “bed-chair transfer” to realize precise breakthrough of functions, and solves the fundamental defects of “passive and powerless” or “complex and high cost” of the existing transfer aids, through mechanical structure innovation, control logic optimization and systematic application of TRIZ theory. The transfer process is divided into two independent degrees of freedom, “vertical lifting” and “horizontal translation”. Through the coordinated action of the single-chip controlled double-sided column lifting mechanism (responsible for lifting) and the arm support sliding assembly (responsible for translation), the process avoids the instability risk of “moving while lifting” in traditional actions, and converts the “non-standardized action” dependent on the experience of nursing personnel into “repeatable and high-precision standardized mechanical process”, breaking through the bottleneck of “uncontrollable action or excessive complexity” of the existing technology. The bed-chair transfer of the patient can be realized by using a device with lower complexity and smaller size.

[0065] The above only describes the preferred embodiments of the present application. It should be noted that for ordinary skilled persons in the technical field, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered within the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application are implemented according to the conventional means in the field, unless otherwise specified and limited.

Claims

1. A standing-up and ambulation assistive device for a lower extremity dysfunction, characterized by: The utility model relates to a mobile carrier (1) is equipped with: A seat (7); A double-side vertical column type lifting mechanism; An arm support sliding assembly is installed on the double-side vertical column type lifting mechanism.

2. The standing-up and ambulation assistive device for lower extremity disabled persons according to claim 1, characterized in that: The double-side vertical column type lifting mechanism comprises a driving mechanism and two fixed columns (3) installed on the upper side of the mobile carrier (1), and a movable column (4) is vertically and slidingly connected to each of the two fixed columns (3), the driving mechanism and the movable column (4) are in transmission connection, and the arm support sliding assembly is installed on the movable column (4).

3. The standing-assistance device for a lower extremity disabled person according to claim 2, characterized by: The driving mechanism comprises a lifting action group and a driving group, the lifting action group and the driving group are in transmission connection, the lifting action group comprises a vertical shaft (12), a lifting screw (13) and a threaded sleeve (14), the threaded sleeve (14) is fixedly connected to the movable column (4), the vertical shaft (12) is rotatably connected to the fixed column (3), the lifting screw (13) is fixedly connected to the vertical shaft (12), and the lifting screw (13) and the threaded sleeve (14) are in threaded connection.

4. The standing-assistance aid for a lower extremity dysfunction person according to claim 3, characterized by: The driving group comprises two bottom supports (2) fixedly connected to the left and right sides of the upper side of the mobile carrier (1), the two fixed columns (3) are fixedly connected to the upper sides of the two bottom supports (2) respectively, one of the bottom supports (2) is fixedly connected with a driving motor (8), the output end of the driving motor (8) is in transmission connection with a horizontal shaft (9) rotatably connected to the two bottom supports (2), the outer side of the horizontal shaft (9) is fixedly connected with two bevel gears (10), the two bevel gears (10) are arranged in the interiors of the two bottom supports (2) respectively, the lower ends of the two vertical shafts (12) are fixedly connected with bevel gears (11) extending into the interiors of the bottom supports (2), and the bevel gears (11) and the bevel gears (10) are in meshing connection.

5. The standing-assist device for a lower extremity dysfunction person according to any one of claims 2, wherein: The arm support sliding assembly comprises two guide rail bodies (5) fixedly connected to the upper side of the movable column (4), and an arm bracket (6) is slidingly connected to each of the two guide rail bodies (5), and at least one of the guide rail bodies (5) is provided with a linear movement driving mechanism in transmission connection with the arm bracket (6).

6. The standing-assistance aid for a lower extremity dysfunction person according to claim 5, characterized by: The linear movement driving mechanism comprises a driving motor (15) fixedly connected to the guide rail body (5), a ball screw (16) rotatably connected to the guide rail body (5), and the output end of the driving motor (15) is in transmission connection with the ball screw (16), and the lower side of the arm bracket (6) is fixedly connected with a screw block, and the screw block is in threaded connection with the ball screw (16).

7. A standing assist device for a person with lower extremity dysfunction according to any one of claims 5-6, characterized in that: The number of the linear movement driving mechanisms is one, the linear movement driving mechanism is arranged on one of the guide rail bodies (5), and the arm bracket (6) on the other guide rail body (5) is fixedly connected with a pulley (17).

8. The standing aid of claim 2, wherein: The auxiliary forward moving assembly comprises a tension applying piece, a flexible soft belt (20) and two chains (19), the upper part of one side of the two fixed columns (3) close to each other is fixedly connected with a guide block (18), the two chains (19) are respectively and slidably connected to the inner side of the guide block (18) on the two fixed columns (3), and the flexible soft belt (20) is detachably installed on the two chains (19).

9. The standing-assistance device for a lower extremity disabled person according to claim 8, characterized by: The tension applying piece comprises a front column (27) fixedly connected to the upper side of the moving carrier (1) and located at the front side of the seat (7), the upper side of the front column (27) is slidably connected with a sliding seat (21), the upper side of the sliding seat (21) is fixedly connected with a connecting column (22), two connecting rods (23) are installed on the connecting column (22), the two connecting rods (23) are respectively connected with the two chains (19), the lower side of the sliding seat (21) is fixedly connected with a gear rack (26), the inside of the front column (27) is fixedly connected with a driving motor three (24), the output end of the driving motor three (24) is fixedly connected with a gear (25), and the gear (25) and the gear rack (26) are in meshing connection.

10. The standing assist device for lower extremity dysfunction according to claim 8, wherein: The flexible soft belt (20) is a high-strength nylon woven belt.

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